阅读说明：本技术 一种货物移动装置及集装箱码垛机 (Goods mobile device and container hacking machine ) 是由 宋飞刚 于 2019-11-20 设计创作，主要内容包括：本发明涉及一种货物移动装置,包括：货物运输平台,用于供货物沿直线运动；叉取装置,用于对位于货物运输平台上的货物进行移动；货物运输平台对货物进行支撑的第一平面包括间隔设置的若干第一部分,叉取装置对货物进行支撑的第二平面包括间隔设置的若干第二部分,在第二平面移动至指定位置时,第一部分和第二部分在垂直述第一平面和第二平面方向上的投影错位设置,从而使得第二部分通过自下而上贯穿第一平面的方式将货物抬离第一平面,或者,通过自上而下管贯穿第一平面的方式将货物放置在第一平面上。通过上述货物移动装置,以及应用上述货物移动装置的集装箱码垛机,可通过自动化的方式向集装箱内运输物品以及进行码垛操作,提高生产效率的同时降低劳动强度。(The invention relates to a cargo moving device, comprising: the cargo transportation platform is used for enabling the cargo to move along a straight line; the fork taking device is used for moving the goods on the goods transportation platform; the first plane that the goods transportation platform supported the goods includes a plurality of first parts that the interval set up, and the second plane that the fork gets the device to support the goods includes a plurality of second parts that the interval set up, and when the second plane moved to the assigned position, the projection dislocation set of first part and second part in perpendicular first plane and second plane direction to make the second part lift the goods off first plane through running through the mode of first plane from bottom to top, perhaps, place the goods on first plane through the mode that top-down pipe runs through first plane. Through above-mentioned goods mobile device to and the container hacking machine of using above-mentioned goods mobile device, accessible automatic mode is to the container internal transportation article and carry out the pile up neatly operation, reduces intensity of labour when improving production efficiency.)

1. A cargo moving device, comprising:

the goods transportation platform (1) is used for enabling goods to move linearly;

the forking device (2) is used for moving the goods on the goods transportation platform (1);

the goods transportation platform (1) is used for supporting goods, the first plane comprises a plurality of first portions (11) which are arranged at intervals, the second plane for supporting the goods by the forking device (2) comprises a plurality of second portions (21) which are arranged at intervals, the first plane and the second plane are arranged in parallel, and when the second plane moves to a specified position, projections of the first portions (11) and the second portions (21) in the direction perpendicular to the first plane and the second plane are arranged in a staggered mode, so that the second portions (21) lift the goods from the first plane in a mode of penetrating through the first plane from bottom to top, or the goods are placed on the first plane in a mode of penetrating through the first plane from top to bottom.

2. A container palletizer, comprising: -a loading device (3) and a transport device (4), and-a cargo moving device according to claim 1;

the loading device (3) is located outside the container and used for placing goods on the transport device (4), the transport device (4) is communicated with the inside and the outside of the container, so that the goods are transferred to the goods transport platform (1) located in the container through the transport device (4), and then the goods are stacked under the driving of the forking device (2).

3. A container palletizer according to claim 2, characterized in that the transport device (4) comprises a plurality of transport rollers (41) arranged in a row, each transport roller (41) is connected by a telescopic device (42), one end of the transport device (4) is fixedly connected with the cargo moving device, and during the movement of the cargo moving device, adaptive length change is performed by the telescopic device.

4. A container palletizer according to claim 3, wherein the telescopic device comprises a plurality of criss-cross and rotatably connected two link groups, the end parts of the links (42 a) between the two adjacent link groups are correspondingly and rotatably connected to form a diamond structure, and the connecting points of the transport rollers (41) and the telescopic device are axially movably arranged relative to the connecting points.

5. A container palletizer according to claim 2, characterised in that the power means of the forking device (2) comprise a support assembly (23) moving along the direction of conveyance of the goods, a support body (24) moving perpendicular to the direction of conveyance of the goods being provided on the support assembly (23), the support body (24) being provided with a connecting structure (25) moving up and down, the connecting structure (25) being arranged fixed relative to the second plane.

6. A container palletiser according to claim 2, wherein the forking device (2) further comprises a pushing device (26) to push the load away from the second plane, the pushing device (26) comprising an applicator body (26 a) and a power source (26 b) to move the applicator body (26 a).

7. A container palletiser according to claim 2, wherein a plurality of strip-like projections (27) are provided side by side on the second plane, the strip-like projections (27) being arranged perpendicular to the direction of transport of the goods.

8. A container palletizer according to claim 2, characterised in that the forking device (2) further comprises a stacking mechanism (210), and the stacking mechanism (210) comprises at least one swing arm, a first power source for driving the swing arm to move close to and away from the second plane, and a second power source for driving the swing arm to move in parallel in the width direction of the forking device (2).

9. A container palletizer as in claim 2, characterized in that said goods moving means are provided with a moving system comprising at least three rotating wheels (14) which movably support the bottom thereof.

10. A container palletizer according to claim 9, wherein the moving system further comprises floating runners (15) on both side walls, the floating runners (15) comprising at least one wheel (15 a) engaging with a container side wall, and a support structure (15 b) for mounting the wheel (15 a), the support structure (15 b) being mounted by means of a resilient structure.

Technical Field

The invention belongs to the technical field of automation equipment, and particularly relates to a cargo moving device and a container stacker crane.

Background

In the material transportation such as bagging, case dress and in commercial logistics, storage, often need container shipment, at present, at the in-process of container vanning, use fork truck usually to treat that the vanning article is delivered to chamber door department, carries out the vanning pile up neatly through the manual work mode afterwards, workman's intensity of labour is great under this kind of mode, and has certain danger at the loading in-process, and the use cost and the production efficiency who has increased the manpower are low in the intangible.

In view of the above, the inventor of the present invention has made extensive research and innovation based on practical experience and professional knowledge in many years of engineering application of such products and by using the theory, so as to create a cargo moving device and a container stacker, which are more practical.

Disclosure of Invention

The invention aims to provide a cargo moving device, and the cargo moving device and a container stacker crane using the cargo moving device can transport objects into a container and perform stacking operation in an automatic mode, so that the production efficiency is improved, and the labor intensity is reduced.

In order to achieve the purpose, the invention adopts the technical scheme that: the method comprises the following steps:

a cargo moving device comprising:

the cargo transportation platform is used for enabling the cargo to move along a straight line;

the forking device is used for moving the goods positioned on the goods transportation platform;

the first plane for supporting the goods by the goods transportation platform comprises a plurality of first parts which are arranged at intervals, the second plane for supporting the goods by the forking device comprises a plurality of second parts which are arranged at intervals, the first plane and the second plane are arranged in parallel, and when the second plane moves to a specified position, the projections of the first parts and the second parts in the direction vertical to the first plane and the second plane are arranged in a staggered mode, so that the second parts lift the goods from the first plane in a mode of penetrating through the first plane from bottom to top, or the goods are placed on the first plane in a mode of penetrating through the first plane from top to bottom.

Furthermore, the cargo transportation platform at least comprises a plurality of groups of support rods arranged in parallel, each group of support rods is used for mounting a support roller, the top of each support roller forms the first part, and gaps between every two adjacent groups of support rods are used for the second part to move.

Furthermore, the second parts are connected through a frame, and the frame is connected with a power device which drives the second plane to move.

A container palletizer comprising: a loading device and a transporting device, and a cargo moving device as described above;

the loading device is located outside the container and used for placing goods on the transport device, and the transport device is communicated with the inside and the outside of the container, so that the goods are transferred to the goods transport platform located in the container through the transport device, and then the goods are stacked under the driving of the forking device.

Furthermore, the transportation device comprises a plurality of transportation rollers arranged in parallel, each transportation roller is connected through a telescopic device, one end of the transportation device is fixedly connected with the goods moving device, and adaptive length change is carried out through the telescopic device in the moving process of the goods moving device.

Furthermore, the telescopic device comprises a plurality of connecting rod groups which are crossed in a cross manner and are connected in a rotating manner, the end parts of the connecting rods between the two adjacent connecting rod groups are correspondingly connected in a rotating manner to form a diamond structure, and the connecting points of the conveying rollers and the telescopic device are arranged in a moving manner relative to the axial direction of the conveying rollers.

Furthermore, the power device of the forking device comprises a support assembly moving along the goods conveying direction, a support body moving perpendicular to the goods conveying direction is arranged on the support assembly, a connecting structure moving up and down is arranged on the support body, and the connecting structure and the second plane are relatively fixedly arranged.

Furthermore, the forking device also comprises a pushing device for pushing the goods away from the second plane, and the pushing device comprises a force application body and a power source for driving the force application body to move.

Furthermore, a plurality of strip-shaped bulges are arranged on the second plane in parallel and are perpendicular to the transportation direction of the goods.

Further, the cross section of the strip-shaped protrusion is of an arch structure.

Furthermore, the forking device further comprises a stacking mechanism, wherein the stacking mechanism comprises at least one swing arm, a first power source for driving the swing arm to be close to and far away from the second plane, and a second power source for driving the swing arm to move in parallel in the width direction of the forking device.

Further, the goods moving device is provided with a moving system, and the moving system comprises at least three rotating wheels for movably supporting the bottom of the moving system.

Furthermore, the moving system further comprises floating guide wheels positioned on the two side walls, each floating guide wheel comprises at least one wheel body attached to the side wall of the container, and a support structure for mounting the wheel body, and the support structure is mounted through an elastic structure.

Further, the forking device comprises two plate bodies which are arranged in parallel up and down, through hole positions are correspondingly arranged on the two plate bodies to form a dislocation position with the first part, a cavity is arranged between the two plate bodies, an auxiliary discharging device is arranged in the cavity, and the auxiliary discharging device moves out of the through hole positions under the indirect pulling of the force applying body when the pushing device pushes away the goods and exceeds the second plane to form a local protruding structure for supporting the goods.

Furthermore, the auxiliary discharging device comprises a plurality of supporting rollers which are arranged in one-to-one correspondence with the gaps between the two adjacent second parts, two ends of each supporting roller are connected with a frame structure, the frame structure is hinged with one end of each connecting rod structure, and the other end of each connecting rod structure is hinged with the bottom of the plate body positioned at the top;

the frame structure is connected with the force applying body through the flexible body, so that the supporting rollers can move in parallel under the pulling action when the force applying body pushes away the goods, and the supporting rollers can exceed the second plane of the top of the plate body at the top through the through hole part.

Through the technical scheme, the invention has the beneficial effects that:

in the cargo moving device, when the cargo is placed on the first plane, the cargo can be contacted and lifted through the second part by lifting the second plane, and the required movement is carried out under the condition of no interference and shielding after the second plane is lifted.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic illustration of a structure of a cargo transportation platform;

FIG. 2 is a front view of the cargo transport platform of FIG. 1;

FIG. 3 is a schematic view of a part of the construction of the forking device (embodying the second plane);

FIG. 4 is a schematic view of a relative positional relationship of a first plane and a second plane;

FIG. 5 is a schematic view of an optimized version of the cargo transportation platform;

FIG. 6 is an overall schematic view of a container stacker;

FIG. 7 is an enlarged view of a portion of the transport unit of FIG. 6 at A;

FIG. 8 is a comparison of the telescoping devices in both expanded and contracted states;

FIG. 9 is a schematic view of the construction of the forking device;

FIG. 10 is a schematic structural view of a base;

FIG. 11 is an enlarged view of a portion of FIG. 9 at B;

FIG. 12 is an enlarged view of a portion of FIG. 9 at C;

FIGS. 13-16 are schematic views of different operating states of the container palletizer;

FIG. 17 is a schematic view of an optimized forking device;

FIG. 18 is a top view of FIG. 17;

FIG. 19 is a schematic view of an optimized construction of the forking device;

FIG. 20 is a schematic view of the internal construction of the forking device of FIG. 19;

FIG. 21 is a schematic view of the auxiliary discharge apparatus when not in operation;

FIG. 22 is a schematic view of the auxiliary discharge device in operation;

FIG. 23 is a comparison of D in FIG. 21 and E in FIG. 22;

FIG. 24 is a schematic view of the swing arm of the stacker mechanism shown in a position away from the second plane;

FIG. 25 is a top view (rotated 90 degrees) of FIG. 24;

FIG. 26 is a side view of FIG. 24;

fig. 27 is an optimized schematic view of the cargo moving device setting moving system;

reference numerals: the device comprises a cargo transportation platform 1, a first part 11, a support rod 12, a support roller 13, a rotating wheel body 14, a floating guide wheel 15, a wheel body 15a, a support structure 15b, a forking device 2, a second part 21, a frame 22, a support assembly 23, a support body 24, a connecting structure 25, a pushing device 26, a force applying body 26a, a power source 26b, a cavity 28, a plate body 29, a through hole position 29a, a box stacking mechanism 210, a loading device 3, a transportation device 4, a transportation roller 41, a telescopic device 42, a connecting rod 42a, a base 5, an auxiliary unloading device 6, a support roller 61, a frame structure 62, a connecting rod structure 63 and a flexible body 64.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. This embodiment is written in a progressive manner.

A cargo moving device comprising: the cargo transportation platform 1 is used for enabling the cargo to move linearly; the forking device 2 is used for moving the goods positioned on the goods transportation platform 1; the first plane that goods transportation platform 1 supported the goods includes a plurality of first parts 11 that the interval set up, the second plane that the fork is got device 2 and is supported the goods includes a plurality of second parts 21 that the interval set up, first plane and second plane parallel arrangement, when the second plane removes to the assigned position, first part 11 and second part 21 are in the projection dislocation set of perpendicular to first plane and second plane orientation, thereby make second part 21 lift the goods from first plane through running through the mode of first plane from bottom to top, perhaps, place the goods on first plane through the mode that the top-down pipe runs through first plane.

Specifically, as shown in fig. 1 to 4, the above technical solutions are explained, wherein fig. 1 and fig. 2 show a schematic structural diagram of a cargo transportation platform 1, wherein tops of the parts arranged at intervals form a first part 11, fig. 3 shows a schematic partial structural diagram of a forking device 2, and mainly shows an arrangement manner of a second plane, wherein the intervals of the second parts 21 are embodied, and fig. 4 shows a schematic structural diagram of the second parts 21 penetrating the first plane from bottom to top and then being located at the bottom of the first plane, at this time, when cargo is placed on the first plane, the cargo can be contacted with and lifted by the second parts 21 in a manner of lifting the second plane, and the cargo can be moved as required without interference and shielding after being lifted.

As an embodiment, the cargo transportation platform 1 at least includes a plurality of sets of support rods 12 arranged in parallel, each set of support rods 12 is used for mounting a support roller 13, the top of the support roller 13 forms a first portion 11, and a gap between two adjacent sets of support rods 12 is used for moving a second portion 21. Through the setting of backing roll 13 for the straight line transportation of goods can comparatively convenient realization, wherein, the power accessible of freight including the active roll of thrust unit or backing roll 13 including the cylinder and realize, can specifically see figure 1 and figure 2, and the structure of each group of bracing piece 12 bottom accessible integration is connected, thereby makes whole cargo transport platform 1 can carry out integration preloads in advance and uses.

And each second part 21 is connected through frame 22, and frame 22 is connected with the power device that drives the second plane and carry out the removal, and frame 11 can be with second part 21 integrated into one piece to guarantee the wholeness and the stability of whole mobile device structure, also be convenient for simultaneously install and be connected with power device.

In order to automate the process of bringing the load onto the first level, a continuous supporting roller structure for transport only may be provided before each set of supporting bars 12, as shown in fig. 5, so that the load is brought onto the first level by its active transport.

A container palletizer comprising: the loading device 3 and the transporting device 4, and the cargo moving device in the above embodiment; the feeding device 3 is located outside the container and used for placing goods on the transporting device 4, the transporting device 4 is communicated with the inside and the outside of the container, so that the goods are transferred to the goods transporting platform 1 located in the container through the transporting device 4, and stacking is carried out under the driving of the forking device 2. As shown in fig. 6, under the action of the whole container stacker, the loading, transferring and stacking processes of goods can be automatically realized, so that the labor cost is effectively reduced, and the operation efficiency is improved. The feeding device 3 in this embodiment adopts a manipulator structure, thereby achieving multi-degree-of-freedom precise position control.

Preferably, the transportation device 4 includes a plurality of transportation rollers 41 arranged in parallel, each transportation roller 41 is connected by a telescopic device 42, one end of the transportation device 4 is fixedly connected with the cargo moving device, and the length of the transportation device is adaptively changed by the telescopic device during the movement of the cargo moving device. The telescopic device comprises a plurality of criss-cross connecting rod groups which are rotatably connected, the end parts of the connecting rods 42a between the two adjacent connecting rod groups are correspondingly rotatably connected to form a diamond structure, and the connecting points of the conveying rollers 41 and the telescopic device are axially movably arranged relative to the connecting points. As shown in fig. 8, a comparison diagram of the telescopic device 42 in two states of expansion and contraction is shown, and by the arrangement of the telescopic device 42, effective transportation of goods can be always maintained in the moving process of the goods moving device, wherein the change of the distance between two adjacent transportation rollers 41 is not enough to affect the transportation of the goods.

Preferably, the power device of the forking device 2 comprises a support assembly 23 moving along the goods conveying direction, a support body 24 moving perpendicular to the goods conveying direction is arranged on the support assembly 23, the support body 24 is provided with a connecting structure 25 moving up and down, and the connecting structure 25 is fixedly arranged opposite to the second plane. Referring to fig. 9, the arrangement of the support assembly 23, the support body 24 and the connecting structure 25 forms a three-axis power system, so that the goods can move in any directions including up and down, left and right, and front and back after reaching the second plane, and the precise control of the stacking position is realized. Specifically, as shown in fig. 9, the whole supporting assembly 23 can be mounted on a base 5 fixedly arranged relative to the container, wherein a guiding structure such as a guide rail can be arranged between the two for guiding linear position movement, two parallel guide rails are shown in the figure, and only a guide block needs to be mounted at the bottom of the supporting assembly 23, wherein the movement of the whole forking device 2 can be realized by moving the base 5; the support body 24 can be arranged in the above manner, and only the mounting seat type structure for guiding the support assembly 23 is arranged in the support assembly 23, and the corresponding power output is arranged, so that the required linear motion can be obtained, although the corresponding guide structure is also preferably arranged in the motion, and referring to fig. 11, the support body 24 is arranged on the plate-shaped structure with the guide rail in the support assembly 23 for moving; with continued reference to fig. 9, the up and down movement of the connecting structure 25 may be accomplished by transmission through a chain or belt, etc.

In order to ensure accurate palletization of the goods, the forking device 2 further comprises a pushing device 26 for pushing the goods away from the second plane, wherein the pushing device 26 comprises a force application body 26a and a power source 26b for driving the force application body 26a to move. Referring to fig. 12, the power source 26b is installed by arranging an installation portion perpendicular to the second plane, so that the power output direction thereof is parallel to the second plane, thereby stably pushing away the goods from the second plane, wherein the power source 26b may adopt a linear cylinder structure, or a screw rod assembly driven by a motor, etc., all of which are within the protection scope of the present invention.

With reference to fig. 13-16, the working principle of the container stacker of the invention is described:

specifically, fig. 13 shows a schematic diagram of a state of the forking device 2 when waiting for goods, at this time, it needs to be ensured that no part protruding from the first plane exists in a goods transportation range on the forking device 2, so as to ensure smooth transportation of goods;

referring to fig. 14, a schematic diagram (not shown) of the fork-picking apparatus 2 is shown in a state that the goods are lifted by penetrating the first plane from bottom to top after the goods are in place, in this figure, the force applying body 26a of the pushing device 26 is pushed out to show the action of pushing the goods away from the second plane;

with reference to fig. 15, a schematic view of the situation is shown in which the fork-lift 2 is pushed forward relative to the direction of transport of the goods under the influence of the drive, in such a way that the goods can be brought into the position to be palletized.

With reference to fig. 16, cargo is placed on the above structure to allow a better understanding of the present invention.

As an optimized way of the forking device 2, the forking device 2 is formed by welding pipes, as shown in fig. 17 and 18, so that the structural strength of the forking device 2 is higher.

As another optimization mode of the forking device 2, the forking device 2 includes two plate bodies 29 arranged in parallel up and down, through hole sites 29a are correspondingly arranged on the two plate bodies 29 to form a dislocation position with the first portion 11, wherein a cavity 28 is arranged between the two plate bodies 29, an auxiliary discharging device 6 is arranged in the cavity 28, and the auxiliary discharging device 6 moves out from the through hole sites 29a under indirect pulling of the force applying body 26a when the pushing device 26 pushes away the goods, and exceeds the second plane to form a local protruding structure for supporting the goods.

The auxiliary discharging device 6 comprises a plurality of supporting rollers 61 which are arranged in one-to-one correspondence with the gaps between the two adjacent second parts 21, two ends of each supporting roller 61 are connected with a frame structure 62, the frame structure 62 is hinged with one end of a plurality of connecting rod structures 63, and the other end of each connecting rod structure 63 is hinged with the bottom of the plate body 29 positioned at the top; the frame structure 62 is connected to the force applying body 26a through the flexible body 64 so as to be moved in parallel by pulling when the force applying body 26a pushes away the load, so that the supporting roller 61 partially protrudes through the through hole 29a beyond the second plane of the top of the plate body 29 at the top.

Fig. 19 shows a schematic view of an optimized way of forking device 2; as shown in fig. 20, in specific operation, referring to fig. 21, when the force applying body 26a is not yet operated, the flexible body 64 is in a relaxed state, the frame structure 62 naturally hangs down under the action of gravity, at this time, the supporting rollers 61 are located at the bottom of the plate body 29 and outside the projected area of the through hole site 29a, when the force applying body 26a pushes away the goods, the flexible body 64 connected with the frame structure 62 and penetrating out of the cavity 28 is pulled, so that the frame structure 62 moves in parallel under the restriction of the link structures 63, and there is an offset in the moving process, the offset causes the supporting rollers 61 to move upward while moving horizontally, so that the supporting rollers reach the through hole site 29a and extend out of the top of the through hole site to exceed the second plane to support the goods, in the process that the first plane and the second plane penetrate each other, frame construction 62 and supporting roller 61 all can not cause the influence to this process, and when supplementary discharge apparatus 6 did not work, the relatively level and smooth second plane can make the material loading of goods easier, avoids passing through the dead phenomenon of card that the roller structure pay-off in-process takes place.

Because the flexible body 64 itself has elasticity, the force applying body 26a has room for pushing even if the frame structure 62 moves to the extreme position, and the elastic modulus of the flexible body 64 is specifically set as needed. In the invention, the supporting roller 61 is only used for supporting and guiding goods to a certain extent, the friction force can be effectively reduced in the process that the goods roll on the supporting roller, and meanwhile, the goods can be better pushed away to realize stacking through the acting force trend exerted by the supporting roller in the process of applying force to the goods. The auxiliary discharging device 6 is preferably disposed at the opposite end position where the goods are pushed away, and at this position, on the one hand, the force applied by the force applying body 26a is relatively reduced, and on the other hand, the pulling force of the flexible body 64 on the frame structure 62 is relatively large, so that the supporting roller 61 can provide enough supporting force to ensure smooth discharging of the goods during the stacking process.

As a preferred example of the above embodiment, the forking device 2 further includes a stacking mechanism 210, and the stacking mechanism 210 includes at least one swing arm, a first power source for driving the swing arm to approach and be away from the second plane, and a second power source for driving the swing arm to move in parallel in the width direction of the forking device 2, as shown in fig. 24-26, wherein the first power source is preferably a rotary power source, and although the swing arm can be raised upward to avoid the cargo, the swing arm has a larger moving distance and is more convenient to rotate, and when the swing arm is rotated to a position parallel to the second plane, the swing arm can move the cargo through the movement of the swing arm, so as to achieve accurate control of the position of the swing arm.

Because the cargo moving device has moving action in the process of entering the container and using the cargo moving device in the container, as an optimized mode, the cargo moving device is provided with a moving system which comprises at least three rotating wheels 14 for movably supporting the bottoms of the moving system, as shown in fig. 27, the setting positions and the power of the rotating wheels 14 can be set according to actual requirements.

In order to ensure that the goods moving device obtains a relatively stable position when working in the container, the moving system further comprises floating guide wheels 15 positioned on two side walls, each floating guide wheel 15 comprises at least one wheel body 15a attached to the side wall of the container, the goods moving device is prevented from shaking left and right due to the attaching property, the moving system further comprises a support structure 15b for mounting the wheel bodies 15a, and the support structure 15b is mounted through an elastic structure, so that the goods moving device can be more smoothly guided by rolling of the wheel bodies 15a and appropriate buffering of the elastic structure when entering the container.

It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.