CN110683368A - Intelligent loading and unloading and stacking all-in-one machine suitable for goods in container - Google Patents

Abstract

The invention discloses an intelligent loading, unloading and stacking integrated machine suitable for goods in a container, which comprises a main body mechanism, a traveling mechanism, a grabbing mechanism, a conveying mechanism I, a righting mechanism, a stacking mechanism and a conveying mechanism II, wherein the traveling mechanism consists of four driving universal wheels, the four driving principle is adopted, so that the driving force is sufficient, the four driving universal wheels are matched with four driven universal wheels, the device can be greatly moved easily, and the flexibility is strong; the grabbing mechanism consists of two groups of suckers, can suck various goods such as boxes or bags and has strong adaptability; the conveying mechanism I consists of a conveying belt and is used for conveying goods; the righting mechanism is arranged in the middle of the conveying mechanism I and is used for righting the goods with irregular placement positions again, so that the goods can be orderly stacked in the later period; the stacking mechanism can stack the goods together in order, so that the goods can be conveyed in the later period conveniently; conveying mechanism II can put orderly goods with the stack and carry to the specified area, and the fork truck of being convenient for inserts and gets the goods.

Description

An intelligent loading, unloading and stacking machine suitable for goods in containers

technical field

The invention relates to an intelligent loading, unloading and stacking integrated machine suitable for goods in a container, belonging to the loading, unloading and stacking technology of the machinery industry.

Background technique

Container transportation of goods has the advantages of large transportation volume, convenience and speed, and low price. With the increasing transportation volume of goods, more and more people choose to use containers to transport goods. Stacking has become a problem that plagues people. Due to the small space in the container and the use of iron shell, the environment inside the container is often cold in winter and hot in summer. When handling toxic and harmful goods, it is easy to endanger the safety of the porters. At this stage, although the loading and unloading of goods in the container has appeared and stacking machines, but the low degree of automation and imperfect functions have become the main problems restricting the loading and unloading of goods in containers and the actual use of stacking machines. The intelligent loading, unloading and stacking integrated machine suitable for the goods in the container of the present invention makes up for the disadvantages of the traditional loading, unloading and stacking equipment, has a high degree of automation, and can realize the loading, unloading and stacking of box goods or bag goods. Stacking, narrow and long shape can be used in most domestic containers, effectively solving many drawbacks of traditional loading and unloading and stacking equipment.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an integrated intelligent loading, unloading and stacking machine suitable for cargo in a container, integrating many functions such as loading, unloading and stacking of cargo in a container.

Technical scheme: In order to realize the above-mentioned purpose, the technical scheme adopted in the present invention is:

An intelligent loading, unloading and stacking integrated machine suitable for goods in a container, including a vehicle body floor, a locker, a walking mechanism, a loading and unloading mechanism, a conveying mechanism I, a centering mechanism, a stacking mechanism and a conveying mechanism II; a locker It is fixed above the bottom plate of the vehicle body; the traveling mechanism drives the bottom plate of the vehicle body to displace, the locker accommodates the electrical circuit, the conveying mechanism II is arranged on the bottom plate of the vehicle body, the conveying mechanism I is arranged on the locker, and the loading and unloading mechanism loads the goods to The conveying mechanism I is or is removed from the conveying mechanism I, the righting mechanism corrects the position of the goods on the conveying mechanism I, and the stacking mechanism stacks the goods on the conveying mechanism I.

Specifically, the traveling mechanism includes an active traveling mechanism and a driven traveling mechanism installed under the bottom plate of the vehicle body; the active traveling mechanism includes a universal wheel support seat, a universal wheel support frame, four hydraulic cylinders, four electric The turntable, four motors and four active universal wheels, the universal wheel support base is fixed at the bottom center of the bottom plate of the vehicle body, and an intermediate shaft is extended downward in the middle of the universal wheel support base, and the bearing passes through the upper part of the universal wheel support frame It is connected with the intermediate shaft on the support seat of the universal wheel. Four support brackets are evenly arranged under the support bracket of the universal wheel. The support bracket is fixed with the cylinder block of the hydraulic cylinder. The rotating plate of the turntable is fixed with the casing of the motor, and the output shaft of the motor is installed with a driving universal wheel; the driven running mechanism includes four driven universal wheels, and the four driven universal wheels are installed on the bottom of the vehicle body bottom plate. The bottom four corner areas;

The loading and unloading mechanism includes an upper frame, a motor II support, a motor II, a gear I, a slide rail, a horizontal column, a gear rack, an electric turntable II, a connecting column, an electric turntable I, a vertical column, a chain drive mechanism, a suction cup seat I and a suction cup seat II, the chain transmission mechanism includes motor I, sprocket I, sprocket II and chain I; the upper frame is fixed on the locker; the motor II support is installed on the upper frame, and the motor II is installed on the motor II support, The gear I is installed on the output shaft of the motor II, the cross column is installed in the slide rail and can move back and forth along the slide rail, the slide rail is installed on the inner wall of the locker, the gear rack is fixed on the cross column, the gear rack and gear Phase I meshes; one end of the connecting column is installed on the horizontal column through the electric turntable II, and the upper end of the vertical column is installed on the other end of the connecting column through the electric turntable I; a vertical inner cavity is arranged inside the vertical column, and the chain transmission mechanism is installed in the vertical Towards the inner cavity, the sprocket II is installed on the output shaft of the motor I, the sprocket II is installed above the vertical cavity, the sprocket I is installed under the vertical cavity, the chain I is installed on the sprocket I and the sprocket II On the suction cup seat I and the suction cup seat II, there are transmission teeth matching with the chain I, and the suction cup seat I and the suction cup seat II are driven by the chain transmission mechanism; The sucker seat II is provided with a slider, the slider is installed in the chute, the sucker seat I is located below the sucker seat II, two rows of sucker groups I are arranged under the sucker seat I, and two rows of sucker groups II are arranged on the side of the sucker seat II, Infrared ranging sensor group is arranged on the upper part of the suction cup seat II;

Described conveying mechanism I comprises conveying roller group I and conveying roller group I drive mechanism, synchronous belt group, conveying roller group II and conveying roller group II drive mechanism, blocking mechanism, conveying roller group I, synchronous belt group and conveying roller group II It is arranged in a T-shaped plane; the conveying roller group I includes conveying rollers, and the driving mechanism of the conveying roller group I includes a motor holder I, a motor III, a belt I, a double pulley, a sprocket III and a chain II, and the motor holder I is installed on the locker, the motor III is installed on the motor fixing base I, the output shaft of the motor III is connected with the double pulley through the belt I to form a belt transmission mechanism, the double pulley is coaxially fixed with one of the sprocket III, and the conveyor roller The two ends are respectively installed on the inner wall of the locker through bearing I and bearing II, and a sprocket III is installed on each conveying roller at the same time. The sprocket III is connected with the chain II to form a chain transmission mechanism; all conveying rollers are divided into two parts along the transmission direction A timing belt group is set in the middle of the two zones; the timing belt group includes a belt roller I, a belt roller II and a timing belt, and both ends of the belt roller I and the belt roller II are installed on the locker through the bearing III, The position of the belt roller I and the belt roller II are parallel, the position of the belt roller I and the conveying roller are perpendicular, and the synchronous belt is connected with the belt roller I to form a belt transmission mechanism; the conveying roller group II is arranged on the side where the belt roller II is installed in the synchronous belt group; The conveying roller group II includes conveying roller II, and the driving mechanism of conveying roller group II includes motor fixing seat II, motor IV, belt III, pulley and gear. Motor fixing seat II is installed on the locker, and motor IV is installed on the motor fixing seat II. The output shaft of the motor IV is connected with the pulley through the belt III to form a belt transmission mechanism. The pulley is coaxially fixed with one of the gears. A gear is installed on each conveying roller II at the same time. The gears on the adjacent conveying rollers II are meshed, and the belt The position of the roller II is parallel to the conveying roller II, and the belt roller II is connected with the conveying roller II through the belt II; the blocking mechanism includes a blocking plate fixing seat, a blocking plate and a hydraulic cylinder I, and a convex block is arranged on the blocking plate fixing seat. The inner wall of the blocking plate is provided with a groove, and the bump is connected with the groove to form a sliding mechanism, the cylinder body of the hydraulic cylinder I is fixed with the blocking plate fixing seat, and the piston of the hydraulic cylinder I is fixed with the blocking plate; On the side of roller group II, when the blocking plate is extended, it is located above the synchronous belt group;

The centering mechanism includes an infrared sensor, an optical axis, a linear bearing, a suction cup seat III, a suction cup group III, an electric push rod I and an electric turntable III, the optical shaft is vertically fixed on the upper frame, and the suction cup seat III is installed on the optical shaft through a linear bearing. Above, the housing of the electric push rod I is fixed on the upper frame, the telescopic shaft of the electric push rod I is fixed with the fixed plate of the electric turntable III, the rotating plate of the electric turntable III is fixed with the suction cup seat III, and the suction cup group III is arranged on the suction cup seat III. Below, towards the conveying roller group I; the infrared sensor detects whether there is goods on the conveying roller group I;

The stacking mechanism includes a support frame, a motor V, a commutator, a chain wheel VI, a chain III, a chain wheel V, a support column, a motor VI, a chain wheel VI, a chain IV, a chain wheel VII, a clamping jaw fixing plate, a fixed Gripper, electric push rod, moving clamp, baffle plate, push plate and electric push rod II; the support frame is vertically fixed on the bottom plate of the vehicle body, the casing of the motor V is fixed on the upper part of the support frame, and the sprocket VI passes through The commutator is installed on the output shaft of the motor V, the sprocket V is installed on the lower part of the support frame through the bearing I, and the chain III, the sprocket VI and the sprocket V constitute a chain transmission mechanism; the support frame is provided with a vertical groove, A sliding block is arranged on the support column, the sliding block is installed in the vertical groove, the support column is installed horizontally, and the support column is installed on the chain III; the casing of the motor VI is installed on the support column, and the sprocket VI is installed on the motor VI On the output shaft, the sprocket VII is installed on the support column through the bearing, and the chain IV, the sprocket VI and the sprocket VII constitute a chain transmission mechanism; On the board, the fixed end of the electric push rod is fixed with the fixed clamping jaw, the telescopic end of the electric push rod is fixed with the moving clamping jaw, and the moving clamping jaw reciprocates above the conveying roller group I and the synchronous belt group; the baffle is fixed on the locker , There is a bump on the baffle, a chute on the push plate, the bump is installed in the chute, the fixed end of the electric push rod II is fixed with the baffle, and the telescopic end of the electric push rod II is fixed with the push plate , the push plate reciprocates above the conveying roller group II;

Described conveying mechanism II comprises conveying roller group III and conveying roller group III drive mechanism, conveying roller group VI and conveying roller group VI drive mechanism, conveying roller group IV and conveying roller group IV drive mechanism, conveying roller group III, conveying roller group VI and conveying roller group IV are arranged in a rectangular plane; the conveying roller group III includes conveying roller III, and the driving mechanism of conveying roller group III includes motor placement plate, motor VII, belt IV, sprocket I, chain V, motor The placement plate is fixed on the bottom plate of the vehicle body, the motor VII is installed on the motor placement plate, the output shaft of the motor VII is connected with the central axis of one of the sprockets I through the belt IV to form a belt transmission mechanism, and a chain is installed on each conveying roller III. Wheel I, all sprockets I are driven by chain V; the conveying roller group VI includes conveying roller VI, and the driving mechanism of conveying roller group VI includes motor VIII, belt VI, sprocket II and chain VI, and motor VIII is installed on the motor placement plate , the output shaft of the motor VIII is connected with the central shaft of one of the sprockets II through the belt VI to form a belt transmission mechanism, a sprocket II is installed on each conveying roller VI, and all sprockets II are driven by the chain VI; the conveying rollers Group IV includes conveying roller IV, and the driving mechanism of conveying roller group IV includes motor IX, belt V, sprocket III and chain VII. Motor IX is installed on the motor mounting plate, and the output shaft of motor IX passes through belt V and one of the sprockets III. The central shaft of the belt drive mechanism is connected to form a belt transmission mechanism, a sprocket III is installed on each conveying roller IV, and all sprockets III are driven by the chain VII; conveying roller group III and conveying roller group VI are located on the same side of conveying roller group IV, and the conveying roller The conveying directions of the group III and the conveying roller group IV are parallel, and the conveying directions of the conveying roller group III and the conveying roller group VI are perpendicular.

Specifically, a glass enclosure I and a glass enclosure II are respectively provided on both sides of the vehicle body bottom plate.

Beneficial effects: the intelligent loading, unloading and stacking integrated machine suitable for goods in the container provided by the present invention can realize the loading, unloading and stacking functions of box and bag goods, and integrate the loading, unloading and stacking of goods; The bottom of the device adopts adjustable height universal wheels, the user can independently adjust the movement and steering of the equipment, and at the same time adjust the height of the equipment according to the height of the container, so that the equipment can enter the container for loading, unloading and stacking of goods; the device is long and narrow, and its size is suitable for domestic Most of the containers have strong applicability and can load, unload and stack most of the goods in the containers.

Description of drawings

1 is a schematic diagram of the structure of the whole machine from one perspective of the present invention;

FIG. 2 is a schematic diagram of the whole machine structure from another perspective of the present invention;

Fig. 3 (a) and Fig. 3 (b) are the structural schematic diagrams of two different viewing angles of the traveling mechanism of the present invention;

4(a) and 4(b) are schematic structural views of the loading and unloading mechanism of the present invention from two different perspectives;

Fig. 5 (a) and Fig. 5 (c) are the structural representations of two different viewing angles of the conveying mechanism I of the present invention, and Fig. 5 (b) is the partial enlarged schematic diagram of part I in Fig. 5 (a);

Fig. 6 is the structural representation of the righting mechanism of the present invention;

Fig. 7(a), Fig. 7(b), Fig. 7(c) and Fig. 7(d) are schematic structural diagrams of the stacking mechanism of the present invention from four different viewing angles;

8 is a schematic structural diagram of the conveying mechanism II of the present invention;

9 is a schematic diagram of the transport direction of the goods when the present invention is used;

The picture includes: 1- accumulator, 2- battery and distribution box, 3- cab and operating room, 4- body floor, 5- storage cabinet, 6- glass enclosure I, 7- glass enclosure II, 8- driven universal wheel, 9- universal wheel support base, 10- universal wheel support frame, 11- motor, 12- driving universal wheel, 13- electric turntable, 14- hydraulic cylinder, 15- chain Wheel I, 16-chain I, 17-column, 18-suction cup group I, 19-suction cup seat I, 20-suction cup group II, 21-suction cup seat II, 22-infrared distance measuring sensor group, 23-sprocket II, 24-electric turntable I, 25-motor I, 26-connecting column, 27-electrical turntable II, 28-cross column, 29-gear I, 30-motor II, 31-motor II support, 32-slide rail, 33 -Gear rack, 34-Motor mount I, 35-Motor III, 36-Belt I, 37-Sprocket III, 38-Bearing I, 39-Chain II, 40-Double pulley, 41-Conveying roller I, 42 -Bearing II, 43-belt roller I, 44-synchronous belt, 45-bearing group III, 46-hydraulic cylinder I, 47-blocking plate fixing seat, 48-blocking plate, 49-belt roller II, 50-belt II, 51-gear I, 52-conveyor roller II, 53-belt III, 54-pulley, 55-motor holder II, 56-motor IV, 57-infrared sensor, 58-optical axis, 59-suction cup seat III, 60- Electric turntable III, 61-electric push rod I, 62-suction cup group III, 63-commutator, 64-chain III, 65-sprocket VI, 66-motor V, 67-support frame, 68-sprocket V, 69-bearing I, 70-motor VI, 71-sprocket VI, 72-chain IV, 73-claw fixing plate, 74-support column, 75-sprocket VII, 76-fixed clamping claw, 77-electric push rod , 78-moving gripper, 79-baffle plate, 80-push plate, 81-electric push rod II, 82-motor placement plate, 83-belt IV, 84-motor VII, 85-chain V, 86-sprocket I , 87-conveyor roller III, 88-chain VI, 89-sprocket II, 90-chain VII, 91-conveyor roller IV, 92-sprocket III, 93-conveyor roller IV, 94-belt VI, 95-motor VIII , 96-belt V, 97-motor IX.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1 and Figure 2, an intelligent loading, unloading and stacking integrated machine suitable for goods in containers includes a main body, a walking mechanism, a grabbing mechanism, a conveying mechanism I, a centering mechanism, a stacking mechanism and a conveying mechanism II , the walking mechanism is composed of four active universal wheels, which adopts the principle of four-wheel drive so that the driving force is sufficient. In cooperation with the four driven universal wheels, the device can be easily moved and has strong flexibility; the grasping mechanism is composed of two It is composed of a group of suction cups, which can absorb a variety of goods such as boxes or bags, and has strong adaptability; the conveying mechanism I is composed of a conveyor belt, which is used to transport the goods; Irregular goods can be straightened again, which is convenient for orderly stacking of goods in the later stage; the stacking mechanism can stack the goods neatly together, which is convenient for later transportation; the conveying mechanism II can transport the neatly stacked goods to the designated area. , which is convenient for forklifts to insert and pick up goods. The intelligent loading, unloading and stacking integrated machine suitable for goods in the container of the present invention has high efficiency for loading, unloading and stacking of goods, can be applied to various goods, saves a lot of manpower and material resources, has a high degree of automation and reliable performance.

As shown in the figure, the all-in-one machine includes: accumulator 1, battery and distribution box 2, cab and operating room 3, vehicle body bottom plate 4, storage cabinet 5, glass enclosure I6 and glass enclosure II7, so The accumulator 1 is installed on the vehicle body bottom plate 4, and the top is hemispherical and the middle part is a cylinder; the battery and the power distribution box 2 are installed on the vehicle body bottom plate 4 to provide energy for the work of the whole device; the cab and the The operation room 3 is installed on the bottom plate 4 of the vehicle body to realize the integration of the operation of the device; the locker 5 is hollow, and the electrical circuits of the device are placed inside, and can be used to store other objects at the same time, which can play a protective role; The glass enclosure I6 and the glass enclosure II7 both protect the conveying mechanism inside, which is convenient for beautiful installation and protects the conveyor belt from being damaged by external foreign objects;

As shown in Figure 3, the driven universal wheel set is composed of four driven universal wheels 8, which are installed on the vehicle body bottom plate 4; On the vehicle body bottom plate 4; the universal wheel support frame 10 is composed of four support frames for supporting four universal wheels, and the universal wheel support frame 10 is connected with the intermediate shaft of the universal wheel support seat 9 through a bearing; The motor group is composed of four motors 11, which are used to drive the driving universal wheel 12; the driving universal wheel group is composed of four universal wheels; the electric turntable group is composed of four electric The steering function of the device; the hydraulic cylinder group is composed of four hydraulic cylinders 14, which are used to control the height of the active universal wheel, thereby controlling the height of the entire vehicle body, and it is convenient for the device to enter the container for loading and unloading goods;

As shown in Figure 4, the sprocket I15 is matched with the sprocket II 23, and the chain I16 is matched respectively to form a chain transmission; the interior of the column 17 is a hollow structure, and symmetrical chutes are designed on both sides of the outer wall, and the suction cup seat The I 19 and the suction cup seat II 21 are respectively provided with bumps on both sides of the outer wall, the bumps are installed in the chute, the sprocket I 15, the sprocket II 23 and the chain I 16 are installed in the upright column 17, which can protect their internal structure, and at the same time It plays a fixed support role for the grabbing mechanism; the suction cup group I 18 is symmetrically installed on the suction cup base I 19, and the suction cup group II 20 is symmetrically installed on the suction cup base II 21. When sucking the upper cargo of the container, the suction cup is used. Group I 18, when sucking the goods in the middle and lower part of the container, the suction cup group II 20 is used; the infrared distance measuring sensor group 22 is composed of a plurality of infrared distance measuring sensors, when the sensor detects a certain distance from the grasped goods, the grasping Take the mechanism and carry out the grabbing work; the bottom welding column 17 of the electric turntable I24 drives the grabbing mechanism to rotate through the rotation of the electric turntable I24; the motor I25 drives the sprocket II23 to rotate, thereby driving the chain I16 to rotate, Then drive the grab mechanism to move up and down; the connecting column 26 connects the electric turntable I 24 and the electric turntable II 27, and rotates by the electric turntable II 27, thereby driving the other end of the connecting column 26 to rotate the electric turntable I 24; the horizontal column 28 It is a semi-cylindrical structure, the slide rail 32 is a semi-cylindrical hollow structure, the transverse column 28 is installed in the slide rail 32, and the transverse column 28 can smoothly reciprocate in the slide rail 32; the gear I 29 is installed on the motor II30, the gear The bar 33 is installed on the cross column 28, meshes with the gear I 29, and drives the gear I 29 to rotate through the rotation of the motor II 30, thereby driving the cross column 28 welded with the gear rack 33 to slide back and forth. Motor II 30;

As shown in FIG. 5 , the motor III 35 is installed on the motor fixing base I 34; the belt I 36 is connected to the double pulley 40 for driving the entire conveying mechanism I; the conveying roller group I consists of a plurality of conveying rollers It consists of I41, bearing I 38 and bearing II 42 are respectively installed on both sides of a single conveying roller, and at the same time, the bearing I 38 and bearing II 42 are fixed on the inner wall of the locker 5; the sprocket III 37 and the chain II 39 are matched, both Installed on the same side of the double pulley 40; the belt roller I 43 and the belt roller II 49 are of the same structure and specification, with a synchronous belt 44 installed in the middle, and the belt roller I 43 is installed on the bearing group III 45. When the goods are conveyed to At the time of the synchronous belt 44, it will move with the synchronous belt 44 to reach the stacking mechanism; the front of the blocking plate fixing seat 47 is designed with two bumps, which are matched with the two chutes on the inner wall of the blocking plate 48, and the hydraulic cylinder I 46 A blocking plate 48 is installed, and the blocking plate 48 can be controlled to move back and forth through the expansion and extension of the hydraulic cylinder. According to the demand, when the blocking plate 48 blocks the goods, the goods will move to the stacking mechanism, and when not blocked, the goods will be along the original conveying track. Move, increase the selectivity of loading and unloading personnel; the belt II 50 is connected with the gear I 51 and the belt roller II 49; the conveying roller II 52 is composed of multiple conveying rollers, and the gear I 51 is installed on one side of the conveying roller II 52, The gears are meshed with each other for transmission; the pulley 54 is a structure welded on the gears and is used to connect the belt III 53; a motor IV 56 is installed on the motor fixing base II 55, and the motor IV 56 is connected to the belt III 53;

The infrared sensor 57 is used to detect whether the goods are placed according to the regulations; the suction cup seat III 59 is installed with two linear bearings, which are installed on the optical axis 58, and the suction cup seat III 59 is installed on the electric push rod I 61. The extension and retraction of the rod I 61 drives the suction cup seat III 59 to slide up and down; a suction cup group III 62 is installed below the electric turntable III 60, and the suction cup group III 62 is installed on the suction cup seat III 59 for sucking goods;

The commutator 63 is mounted on the motor V 66, the sprocket VI 65 is mounted on the commutator 63; the sprocket V 68 is mounted on the bearing I 69, the chain III 64 is mounted on the sprocket VI 65 and the sprocket V 68 The supporting frame 67 supports the stacking mechanism of the entire device; the sprocket VI 71 is installed on the motor VI 70, and the chain IV 72 is installed on the sprocket VI 71 and the sprocket VII 75; the support column 74 is The hollow structure has a chain IV 72, a chain wheel VI 71 and a chain wheel VII 75 installed inside to protect the internal parts from damage; the clamping jaw fixing plate 73 is installed on the chain IV 72, through the rotation of the chain IV 72 Drive the clamping jaw fixing plate 73 to move back and forth; the fixed clamping jaw 76 is composed of a plurality of clamping jaws welded on one side of the clamping jaw fixing plate 73, and each clamping jaw is provided with an electric push rod to form an electric push rod 77; the said The moving clamping jaw 78 is installed on the electric push rod 77, and the goods are clamped and released with the movement of the electric push rod 77; The electric push rod II 81 can push the push plate 80 to move forward, and the goods are stacked forward under the push of the push plate 80, which is convenient for the gripper to grasp;

The motor VII 84 is installed on the motor mounting plate 82, and the belt IV 83 is installed on the motor VII 84; the other end of the belt IV 83 is installed on the sprocket I 86, and the sprockets I 86 are transmitted to each other through the chain V 85; Described conveying roller III 87 is made up of a plurality of conveying rollers, and one end is equipped with a sprocket, and the conveying roller is driven to rotate by the sprocket; the described sprocket II 89 is made up of a plurality of sprockets, installed on conveying roller IV 93, and the belt VI 94 is installed on the motor VIII 95, the other end is connected to the sprocket II 89, the chain VI 88 is connected to the sprocket II 89; the sprocket III 92 is installed on the conveying roller IV 91, the chain VII 90 is connected to the sprocket III 92, Belt V 96 connects motor IX 97 and sprocket III 92.

In this case, an intelligent loading, unloading and stacking machine suitable for goods in containers is in operation. The traveling mechanism is composed of two sets of universal wheels. The active universal wheel set can realize omnidirectional steering. Adjust the height of the device, and the driven universal wheel set assists the rotation of the active universal wheel set;

After adjusting the position of the device, the loading and unloading mechanism starts to work. The electric turntable I 24 and the electric turntable II 27 can control the loading and unloading mechanism and the position of the goods to be loaded and unloaded in the container. The suction cup group II 20 is placed vertically on the suction cup seat I19, which can absorb goods of different heights;

After the goods are picked up by the loading and unloading mechanism, they are placed on the conveyor belt of the conveying mechanism I. The conveying mechanism I transports the goods. When the blocking plate 48 blocks the goods, the goods will move to the stacking mechanism. When not blocked, the goods will be along the original conveying track. Move, increase the selectivity of loading and unloading personnel;

After entering the stacking mechanism, the fixed gripper 76 and the movable gripper 78 cooperate with each other to grab the goods. move to the conveying mechanism;

The conveying mechanism II is composed of three sets of conveyor belts. The wooden boards for stacking goods are first conveyed to the inner conveyor belt through the outer conveyor belt, and then conveyed to the left by the inner conveyor belt. The goods are placed on the wooden boards stacked by the stacking mechanism. delivered to the outside of the device.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (3)

1. an intelligent loading and unloading and stacking integrated machine suitable for goods in a container, is characterized in that: comprise vehicle body bottom plate (4), locker (5), traveling mechanism, loading and unloading mechanism, conveying mechanism 1, righting mechanism , stacking mechanism and conveying mechanism II; the locker (5) is fixed above the bottom plate (4) of the vehicle body; the traveling mechanism drives the bottom plate (4) of the vehicle body to displace, and the locker (5) accommodates electrical circuits and transports The mechanism II is arranged on the bottom plate of the vehicle body (4), the conveying mechanism I is arranged on the locker (5), the loading and unloading mechanism loads the goods to the conveying mechanism I or unloads from the conveying mechanism I, and the righting mechanism corrects the goods in the conveying mechanism I. The stacking mechanism stacks the goods on the conveying mechanism I. 2. The intelligent loading, unloading and stacking integrated machine suitable for goods in the container according to claim 1, characterized in that: The traveling mechanism includes an active traveling mechanism and a driven traveling mechanism installed under the bottom plate (4) of the vehicle body; the active traveling mechanism includes a universal wheel support seat (9), a universal wheel support frame (10), four A hydraulic cylinder (14), four electric turntables (13), four motors (11) and four driving universal wheels (12), the universal wheel support seat (9) is fixed on the bottom center of the vehicle body bottom plate (4) , an intermediate shaft is extended downward in the middle of the universal wheel support base (9), the upper part of the universal wheel support frame (10) is connected with the intermediate shaft on the universal wheel support base (9) through a bearing, and the universal wheel support frame is connected with the intermediate shaft on the universal wheel support base (9). (10) Four support frames are evenly arranged below, the support frames are fixed with the cylinder body of the hydraulic cylinder (14), the piston rod of the hydraulic cylinder (14) is fixed with the fixed plate of the electric turntable (13), and the The rotating disk is fixed to the casing of the motor (11), and a driving universal wheel (12) is installed on the output shaft of the motor (11); The moving universal wheel (8) is installed on the bottom four corner areas of the bottom plate (4) of the vehicle body; The loading and unloading mechanism includes an upper frame, a motor II support (31), a motor II (30), a gear I (29), a slide rail (32), a horizontal column (28), a gear rack (33), and an electric turntable II (27) ), connecting column (26), electric turntable I (24), upright column (17), chain drive mechanism, suction cup seat I (19) and suction cup seat II (21), the chain drive mechanism includes motor I (25), Sprocket I (15), sprocket II (23) and chain I (16); the upper frame is fixed on the locker (5); the motor II support (31) is installed on the upper frame, the motor II (30) Installed on the motor II support (31), the gear I (29) is installed on the output shaft of the motor II (30), and the cross column (28) is installed in the slide rail (32) and can move along the slide rail (32) Reciprocating movement, the slide rail (32) is installed on the inner wall of the locker (5), the gear rack (33) is fixed on the cross column (28), and the gear rack (33) meshes with the gear I (29); the connecting column One end of (26) is installed on the horizontal column (28) through the electric turntable II (27), and the upper end of the column (17) is installed on the other end of the connecting column (26) through the electric turntable I (24); The interior of the motor is provided with a vertical inner cavity, the chain transmission mechanism is installed in the vertical inner cavity, the sprocket II (23) is installed on the output shaft of the motor I (25), and the chain wheel II (23) is installed in the vertical inner cavity. Above, the sprocket I (15) is installed under the vertical inner cavity, the chain I (16) is installed on the sprocket I (15) and the sprocket II (23), and the suction cup seat I (19) and the suction cup seat II ( 21) is provided with a transmission tooth that matches the chain I (16), and the suction cup seat I (19) and the suction cup seat II (21) are driven by the chain transmission mechanism; The suction cup seat I (19) and the suction cup seat II (21) are provided with sliders, the sliders are installed in the chute, and the suction cup seat I (19) is located under the suction cup seat II (21) and below the suction cup seat I (19). Two rows of suction cup groups I (18) are arranged, two rows of suction cup groups II (20) are arranged on the side of the suction cup seat II (21), and an infrared distance measuring sensor group (22) is arranged on the upper part of the suction cup seat II (21); Described conveying mechanism I comprises conveying roller group I and conveying roller group I drive mechanism, synchronous belt group, conveying roller group II and conveying roller group II drive mechanism, blocking mechanism, conveying roller group I, synchronous belt group and conveying roller group II It is arranged in a T-shaped plane; the conveying roller group I includes conveying rollers I (41), and the driving mechanism of the conveying roller group I includes a motor holder I (34), a motor III (35), a belt I (36), a double Pulley (40), sprocket III (37) and chain II (39), motor holder I (34) is installed on the locker (5), motor III (35) is installed on the motor holder I (34) On the upper side, the output shaft of the motor III (35) is connected with the double pulley (40) through the belt I (36) to form a belt transmission mechanism, and the double pulley (40) is coaxially fixed with one of the sprocket III (37), and the conveying roller Both ends of I (41) are installed on the inner wall of the locker (5) through bearings I (38) and II (42) respectively, and a sprocket III (37) is simultaneously installed on each conveying roller I (41), The sprocket III (37) is connected with the chain II (39) to form a chain transmission mechanism; all the conveying rollers I (41) are divided into two areas along the transmission direction, and a synchronous belt group is arranged in the middle of the two areas; the synchronous belt group includes a belt Roller I (43), belt roller II (49) and timing belt (44), both ends of belt roller I (43) and belt roller II (49) are mounted on locker (5) through bearing III (45) The position of belt roller I (43) is parallel to belt roller II (49), the position of belt roller I (43) is perpendicular to conveying roller I (41), and the synchronous belt (44) is connected with belt roller I (43) to form a belt transmission. Mechanism; the conveying roller group II is arranged on the side of the synchronous belt group where the belt roller II (49) is installed; the conveying roller group II includes the conveying roller II (52), and the driving mechanism of the conveying roller group II includes the motor fixing seat II (55 ), motor IV (56), belt III (53), pulley (54) and gear (51), motor mount II (55) is mounted on the locker (5), motor IV (56) is mounted on the motor mount On the seat II (55), the output shaft of the motor IV (56) is connected with the pulley (54) through the belt III (53) to form a belt transmission mechanism, and the pulley (54) is coaxially fixed with one of the gears (51). A gear (51) is installed on the roller II (52) at the same time, the gears (51) on the adjacent conveying roller II (52) are meshed, the belt roller II (49) is parallel to the conveying roller II (52), and the belt roller II (49) is connected with the conveying roller II (52) through the belt II (50); the blocking mechanism includes a blocking plate fixing seat (47), a blocking plate (48) and a hydraulic cylinder I (46). 47) is provided with a convex block, a groove is provided on the inner wall of the blocking plate (48), the convex block is connected with the groove to form a sliding mechanism, the cylinder of the hydraulic cylinder I (46) is fixed with the blocking plate fixing seat (47) , hydraulic The piston of the cylinder I (46) is fixed with the blocking plate (48); when the blocking plate (48) is retracted, it is located on the side of the conveying roller group II, and when the blocking plate (48) is extended, it is located above the synchronous belt group; The centering mechanism includes an infrared sensor (57), an optical axis (58), a linear bearing, a suction cup seat III (59), a suction cup group III (62), an electric push rod I (61) and an electric turntable III (60), and the light The shaft (58) is vertically fixed on the upper frame, the suction cup seat III (59) is installed on the optical shaft (58) through a linear bearing, the housing of the electric push rod I (61) is fixed on the upper frame, and the electric push rod I (61) ) of the telescopic shaft is fixed with the fixed plate of the electric turntable III (60), the rotating plate of the electric turntable III (60) is fixed with the suction cup seat III (59), and the suction cup group III (62) is arranged below the suction cup seat III (59) , towards the conveying roller group I; the infrared sensor (57) detects whether there is goods on the conveying roller group I; The stacking mechanism includes a support frame (67), a motor V (66), a commutator (63), a sprocket VI (65), a chain III (64), a sprocket V (68), and a support column (74) , Motor VI (70), Sprocket VI (71), Chain IV (72), Sprocket VII (75), Claw Fixing Plate (73), Fixing Claw (76), Electric Push Rod (77), Moving The clamping jaw (78), the baffle plate (79), the push plate (80) and the electric push rod II (81); the support frame (67) is vertically fixed on the vehicle body bottom plate (4), and the motor V (66) The casing is fixed on the upper part of the support frame (67), the sprocket VI (65) is installed on the output shaft of the motor V (66) through the commutator (63), and the sprocket V (68) is installed through the bearing I (69) In the lower part of the support frame (67), the chain III (64), the sprocket VI (65) and the chain wheel V (68) constitute a chain transmission mechanism; the support frame (67) is provided with a vertical groove, and the support column (67) is provided with a vertical groove. 74) is provided with a sliding block, the sliding block is installed in the vertical groove, the support column (74) is installed horizontally, and the support column (74) is installed on the chain III (64); the housing of the motor VI (70) is installed on the On the support column (74), the sprocket VI (71) is mounted on the output shaft of the motor VI (70), the sprocket VII (75) is mounted on the support column (74) through a bearing, and the chain IV (72) is connected to the sprocket VI (71) and sprocket VII (75) constitute a chain transmission mechanism; the clamping jaw fixing plate (73) is installed on the chain wheel VII (75), and the fixing clamping jaw (76) is fixed on the clamping jaw fixing plate (73), The fixed end of the electric push rod (77) is fixed with the fixed clamping jaw (76), the telescopic end of the electric push rod (77) is fixed with the moving clamping jaw (78), and the moving clamping jaw (78) is in the conveying roller group I and the timing belt. The top of the group moves back and forth; the baffle plate (79) is fixed on the storage cabinet (5), the baffle plate (79) is provided with a bump, and the push plate (80) is provided with a chute, and the bump is installed on the chute Inside, the fixed end of the electric push rod II (81) is fixed with the baffle plate (79), the telescopic end of the electric push rod II (81) is fixed with the push plate (80), and the push plate (80) reciprocates above the conveying roller group II move; Described conveying mechanism II comprises conveying roller group III and conveying roller group III drive mechanism, conveying roller group VI and conveying roller group VI drive mechanism, conveying roller group IV and conveying roller group IV drive mechanism, conveying roller group III, conveying roller group VI and conveying roller group IV are arranged in a rectangular plane; the conveying roller group III includes conveying roller III (87), and the driving mechanism of conveying roller group III includes motor placement plate (82), motor VII (84), belt IV (83), sprocket I (86), chain V (85), the motor mounting plate (82) is fixed on the vehicle body bottom plate (4), the motor VII (84) is mounted on the motor mounting plate (82), the motor VII The output shaft of (84) is connected with the central shaft of one of the sprockets I (86) through the belt IV (83) to form a belt transmission mechanism, and a sprocket I (86) is installed on each conveying roller III (87). Wheel I (86) is driven by chain V (85); the conveying roller group VI includes conveying roller IV (93), and the driving mechanism of conveying roller group VI includes motor VIII (95), belt VI (94), sprocket II ( 89) and chain VI (88), the motor VIII (95) is mounted on the motor mounting plate (82), the output shaft of the motor VIII (95) passes through the belt VI (94) and the central shaft of one of the sprockets II (89) Connected to form a belt transmission mechanism, a sprocket II (89) is installed on each conveying roller IV (93), and all sprockets II (89) are driven by the chain VI (88); the conveying roller group IV includes conveying rollers IV ( 91), the drive mechanism of the conveying roller group IV includes a motor IX (97), a belt V (96), a sprocket III (92) and a chain VII (90), and the motor IX (97) is installed on the motor placement plate (82), The output shaft of the motor IX (97) is connected with the central shaft of one of the sprockets III (92) through the belt V (96) to form a belt transmission mechanism, and a sprocket III (92) is installed on each conveying roller IV (91), All the sprockets III (92) are driven by the chain VII (90); the conveying roller group III and the conveying roller group VI are located on the same side of the conveying roller group IV, the conveying direction of the conveying roller group III and the conveying roller group IV are parallel, and the conveying roller group The conveying directions of III and conveying roller group VI are perpendicular. 3. The intelligent loading, unloading and stacking integrated machine suitable for goods in the container according to claim 1, is characterized in that: glass enclosures 1 (6) and glass enclosures 1 (6) and glass are respectively provided on both sides of the vehicle body bottom plate (4). Fence II (7).

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