Crawler-type automatic loading and unloading robot

Abstract

This application relates to a tracked automated loading and unloading robot, comprising a walking track mounted under a chassis; a frame mounted on the chassis, with a conveyor belt mounted on the frame; a front fork located at the front end of the frame and rotatably connected to it, and equipped with a transverse roller group and a longitudinal roller group. The transverse roller group includes a left-side roller group and a right-side roller group, capable of conveying goods from both sides of the transverse roller group towards the center or from the center of the transverse roller group to both sides; the longitudinal roller group is located between the transverse roller group and the conveyor belt, used to transfer goods from the transverse roller group to the conveyor belt or from the conveyor belt to the transverse roller group; a gripping component is mounted on the front fork, used to transfer goods from external mechanisms to the transverse roller group or to transfer goods on the transverse roller group to external mechanisms. This loading and unloading machine integrates tracked walking, dual pitch adjustment, negative pressure gripping, lateral centering conveying, and intelligent positioning functions, and can independently complete the entire process from alignment to loading and unloading without manual assistance or multi-machine coordination.

Description

Technical Field

[0001] This application relates to the field of automated loading and unloading equipment technology, and in particular to a tracked automated loading and unloading robot. Background Technology

[0002] Currently, the loading and unloading process in logistics generally uses methods such as manual handling, forklift operation, fixed belt conveyors, and simple palletizing equipment, which have many shortcomings in actual use: The equipment has a single function, which can only achieve simple conveying or simple handling. It requires the coordination of multiple equipment and manual assistance, resulting in a long process, complex connection, and low overall loading and unloading efficiency. The conveying mechanism only supports unidirectional linear conveying and cannot center, correct, or divert goods. Goods are prone to uneven loading, tilting, and falling, and are not neatly stacked inside the carriage. Traditional wheeled equipment has difficulty moving around in the cargo box, muddy ground, and narrow passages, and has poor steering and positioning accuracy. The frame and the front docking mechanism have a fixed posture, making it impossible to flexibly adjust the pitch angle and making it difficult to adapt to carriages and cargo platforms of different heights and tilt angles. The lack of automated gripping mechanisms means that loading and unloading of goods relies on manual labor, which is labor-intensive and poses high safety risks. Lacking visual and ranging sensing systems, the level of automation and intelligence is low, making it difficult to achieve unmanned and precise docking. Summary of the Invention

[0003] This application provides a tracked automatic loading and unloading robot that integrates walking, adjustment, grasping, multi-directional conveying, and intelligent positioning to achieve fully automatic loading and unloading of a single device.

[0004] This application provides a tracked automated loading and unloading robot, comprising: Chassis, with tracks installed underneath; The frame is mounted on the chassis and has a conveyor belt installed on it. The front fork is located at the front end of the frame and is rotatably connected to the frame. A conveyor roller assembly is mounted on the front fork, and the conveyor roller assembly includes: The transverse roller assembly, which includes a left roller assembly and a right roller assembly, is capable of conveying goods from both sides of the transverse roller assembly toward the middle or from the middle of the transverse roller assembly toward both sides. Longitudinal roller group, which is set between transverse roller group and conveyor belt, is used to transfer goods from transverse roller group to conveyor belt or from conveyor belt to transverse roller group; A gripping assembly, mounted on the fork, is used to transfer goods from an external mechanism to a transverse roller assembly or to transfer goods from the transverse roller assembly to an external mechanism.

[0005] In one possible design, the conveying direction of the transverse roller group is parallel to the width direction of the frame, and the conveying direction of the left roller group is opposite to that of the right roller group.

[0006] In one possible design, the conveying direction of the left roller group is at an acute angle to the conveying direction of the right roller group.

[0007] In one possible design, one end of the longitudinal roller group is close to the middle of the rear side of the transverse roller group, and the other end is close to one end of the conveyor belt.

[0008] In one possible design, the conveying direction of the longitudinal roller assembly and the conveying direction of the conveyor belt are both parallel to the length direction of the vehicle frame.

[0009] In one possible design, the fetching component includes: The lifting seat is mounted on the front fork and located above the transverse roller group and the longitudinal roller group. The suction cups consist of multiple suction cups, each mounted on a lifting base. They generate negative pressure to transfer goods from an external mechanism to a horizontal roller assembly or vice versa.

[0010] In one possible design, the crawling component also includes: The vertical lifting frame is mounted on the front fork and located on both sides of the longitudinal roller assembly; A horizontal lifting frame is installed on a vertical lifting frame, and a lifting seat is installed on the horizontal lifting frame.

[0011] In one possible design, the rear end of the frame is rotatably connected to the rear end of the chassis via a first hinge axis. The automated loading and unloading robot also includes a first driver mounted on the chassis with its drive end connected to the frame. The first driver can drive the frame to rotate around the first hinge axis to adjust the pitch angle of the frame.

[0012] In one possible design, the fork is connected to the frame via a second hinge axis. The automated loading and unloading robot also includes a second driver mounted on the chassis, with the drive end connected to the fork. The second driver can drive the fork to rotate around the second hinge axis to adjust the pitch angle of the fork.

[0013] In one possible design, cameras and distance sensors are also mounted on the chassis.

[0014] The beneficial effects of this application are as follows: The tracked automatic loading and unloading robot of this application integrates track walking, dual pitch adjustment, negative pressure gripping, lateral centering, longitudinal conveying and intelligent positioning functions in a single unit. It can independently complete the entire process from alignment to loading and unloading without human assistance or the cooperation of multiple machines, improving loading and unloading efficiency by more than 60% and reducing labor costs by more than 70%.

[0015] The horizontal roller group enables automatic centering or bidirectional diversion of goods, while the vertical roller group and the conveyor belt form a straight and stable conveyor, ensuring that the goods do not shift, tilt, jam, or fall off. The goods are neatly stacked inside the carriage, eliminating the need for manual reshaping.

[0016] The gripping components support lifting, extension, and retraction, allowing for deep operation inside the truck bed. The front fork can be finely adjusted for pitch to achieve seamless docking with the truck bed floor, ensuring smooth cargo transition and a high success rate for loading and unloading. Furthermore, the multi-suction cup negative pressure grip provides even force and strong adhesion, suitable for various regular-shaped goods such as cartons, plastic boxes, and bags, preventing pinching or scratches and ensuring a high rate of cargo integrity.

[0017] The tracked walking structure has good passability and can move freely in warehouses, freight yards, muddy roads, and narrow cargo compartments; the frame and front fork have independent pitch adjustment, which can be adapted to various loading and unloading objects such as trucks, containers, and loading platforms of different heights and angles, making it a multi-purpose machine.

[0018] The visual camera and the ranging sensor work together to automatically identify the position, height and distance of the carriage, automatically plan the route, automatically adjust the posture and automatically avoid obstacles, and realize unmanned operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the tracked automatic loading and unloading robot provided in the embodiments of this application; Figure 2 This is a schematic diagram of the transverse roller group and longitudinal roller group of the tracked automatic loading and unloading robot provided in the embodiment of this application; Figure 3 This is a structural diagram of the tracked automatic loading and unloading robot in the lifted state provided in the embodiments of this application; Figure 4 A schematic diagram of the transport route of the tracked automatic loading and unloading robot in the unloading state, provided in the embodiments of this application; Figure 5 A side view of a tracked automated loading and unloading robot provided in an embodiment of this application; Figure 6 This is a front view of a tracked automated loading and unloading robot provided in an embodiment of this application.

[0021] Figure label: 1. Chassis; 2. Track; 3. Frame; 4. Conveyor belt; 5. Front fork; 6. Lateral roller assembly; 7. Longitudinal roller assembly; 8. Lifting seat; 9. Suction cup; 10. Vertical lifting frame; 11. Horizontal lifting frame; 12. First drive; 13. Camera. Detailed Implementation

[0022] The technical solutions of this application will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The following is combined Figures 1-6 This describes the tracked automated loading and unloading robot provided in the embodiments of this application.

[0024] The tracked automatic loading and unloading robot of this application embodiment includes a chassis 1, a frame 3, a conveyor belt 4, a front fork 5, a transverse roller group 6, a longitudinal roller group 7, and a gripping component.

[0025] A track 2 is mounted under the chassis 1. The track 2 includes a drive motor, a reducer, and track wheels, enabling forward, backward, and on-the-spot turning, adapting to confined spaces and complex road surfaces. A frame 3 is mounted on the chassis 1, and a conveyor belt 4 is installed on the frame 3. The conveying direction of the conveyor belt 4 is parallel to the length direction of the frame 3. A front fork 5 is mounted on the front end of the frame 3 and rotatably connected to it. The front fork 5 is equipped with a conveyor roller assembly, which includes a transverse roller assembly 6 and a longitudinal roller assembly 7.

[0026] In some specific embodiments, the transverse roller group 6 includes a left roller group and a right roller group. The conveying direction of the transverse roller group 6 is parallel to the width direction of the frame 3, and the conveying direction of the left roller group is opposite to that of the right roller group. The left roller group and the right roller group cooperate with each other to convey goods from both sides of the transverse roller group 6 to the middle or from the middle of the transverse roller group 6 to both sides.

[0027] In other embodiments, the conveying direction of the left roller group and the conveying direction of the right roller group form an acute angle, creating a confluence conveying trend towards the center and towards the longitudinal roller group 7. This results in smoother centering of goods, stronger guidance, and more stable conveying, making it particularly suitable for centering larger goods.

[0028] The longitudinal roller group 7 is positioned between the transverse roller group 6 and the conveyor belt 4. One end of the longitudinal roller group 7 is located near the middle of the rear side of the transverse roller group 6, and the other end is located near one end of the conveyor belt 4. The conveying direction of the longitudinal roller group 7 is parallel to the length direction of the frame 3. The longitudinal roller group 7 is used to transfer goods from the transverse roller group 6 to the conveyor belt 4 or from the conveyor belt 4 to the transverse roller group 6.

[0029] The gripping assembly is mounted on the front fork 5 and is used to transfer goods from the external mechanism to the transverse roller group 6 or to transfer goods on the transverse roller group 6 to the external mechanism.

[0030] Specifically, the gripping assembly includes a lifting seat 8, suction cups 9, a vertical lifting frame 10, and a horizontal lifting frame 11. The vertical lifting frame 10 is mounted on the front fork 5 and located on both sides of the longitudinal roller group 7. The horizontal lifting frame 11 is mounted on the vertical lifting frame 10. The lifting seat 8 is mounted on the horizontal lifting frame 11 and located above the transverse roller group 6 and the longitudinal roller group 7. Multiple suction cups 9 are mounted on the lifting seat 8 and generate negative pressure to transfer goods from the external mechanism to the transverse roller group 6 or vice versa. The negative pressure gripping structure of the suction cups 9 can stably adsorb regular goods such as boxed and bagged goods, with uniform gripping force and no damage to the goods. The simultaneous operation of multiple suction cups 9 allows for adaptation to goods of different sizes, offering strong versatility.

[0031] In this way, the goods are centered in the middle or diverted to both sides by the horizontal roller group 6, transferred and conveyed by the vertical roller group 7, and automatically picked up and placed by the gripping component, thus realizing the upgrade from manual semi-automation to full automation.

[0032] The rear end of the frame 3 is rotatably connected to the rear end of the chassis 1 via a first hinge shaft. The automated loading and unloading robot also includes a first driver 12, which is mounted on the chassis 1 and connected to the frame 3 at its drive end. The first driver 12 can drive the frame 3 to rotate around the first hinge shaft, adjusting the pitch angle of the frame 3. The pitch angle of the frame 3 can be independently adjusted by the first driver 12, flexibly adapting to different cargo box heights and platform tilt angles, resulting in a wide range of docking capabilities and high versatility.

[0033] The front fork 5 is connected to the frame 3 via a second hinge shaft. The automated loading and unloading robot also includes a second driver, which is mounted on the chassis 1 and connected to the front fork 5. The second driver can drive the front fork 5 to rotate around the second hinge shaft, adjusting the pitch angle of the front fork 5. The independent pitch adjustment of the front fork 5 through the second driver allows for precise fitting with the floor of the truck bed, forming a seamless connection and making it easier for goods to enter and exit the truck bed.

[0034] Specifically, the first actuator 12 and the second actuator are hydraulic cylinders.

[0035] The chassis 3 is also equipped with a camera 13 and a distance sensor. By equipping the chassis with the camera 13 and the distance sensor, the position of the carriage, the posture of the cargo, and the docking distance can be identified in real time, enabling automatic walking and alignment, automatic posture adjustment, and automatic obstacle avoidance, significantly improving the level of intelligence and automation.

[0036] The working principle of the tracked automated loading and unloading robot in this application is as follows: Unloading operation process: Once the loading and unloading robot is powered on, the controller performs a self-check of all motors, sensors, drivers, and the negative pressure system. After confirming that everything is normal, it enters standby mode.

[0037] The operator issues the unloading command, and the loading and unloading robot walks to the side of the carriage via the walking track 2. The camera 13 and the distance sensor scan in real time to identify the position of the carriage, the opening height, and the distance information, and automatically plan the route to slowly approach the target carriage.

[0038] The controller drives the first drive 12 to adjust the pitch angle of the frame 3 according to the height and tilt angle of the carriage, so that the height of the conveyor belt 4 matches the height inside the carriage; at the same time, it drives the second drive to adjust the pitch angle of the front fork 5, so that the end of the front fork 5 is seamlessly aligned with the floor of the carriage, completing the precise docking.

[0039] The horizontal lifting frame 11 extends forward into the carriage, the lifting seat 8 moves upward, and the suction cup 9 adsorbs the goods; after the negative pressure is locked, the lifting seat 8 descends, takes the goods out of the carriage and places them on the horizontal roller group 6.

[0040] Start conveyor belt 4, longitudinal roller group 7, and transverse roller group 6, as per [reference]. Figure 4 As shown, the left and right roller groups rotate in opposite directions, gathering the goods from both sides towards the middle and centering them.

[0041] The longitudinal roller group 7 and the conveyor belt 4 transport the goods from the transverse roller group 6 to the external conveyor line or pallet to complete the unloading.

[0042] The loading and unloading machines sequentially grab and transport goods until the cargo compartment is empty; then the machines automatically reset and depart, completing the unloading operation.

[0043] Loading operation process: Once the loading and unloading robot is powered on, the controller performs a self-check of all motors, sensors, drivers, and the negative pressure system. After confirming that everything is normal, it enters standby mode.

[0044] The operator issues a loading instruction, and the loading and unloading robot moves to the side of the truck via the walking track 2; the camera 13 and the distance sensor scan in real time to identify the position of the truck, the opening height, and the distance information, and automatically plan the route to slowly approach the target truck.

[0045] The controller drives the first drive 12 to adjust the pitch angle of the frame 3 according to the height and tilt angle of the carriage, so that the height of the conveyor belt 4 matches the height inside the carriage; at the same time, it drives the second drive to adjust the pitch angle of the front fork 5, so that the end of the front fork 5 is seamlessly aligned with the floor of the carriage, completing the precise docking.

[0046] The conveyor belt 4, longitudinal roller group 7, and transverse roller group 6 are started in reverse. The goods on the conveyor belt 4 enter the middle of the transverse roller group 6 through the longitudinal roller group 7. The left roller group and the right roller group rotate in opposite directions, pushing the goods from the middle to both sides.

[0047] The horizontal lifting frame 11 extends forward, and the suction cup 9 activates negative pressure after contacting the goods to firmly adhere to them. Then the lifting seat 8 rises, lifting the goods and conveying them forward (into the carriage) along the length direction. The goods smoothly enter the carriage, and multiple items are grabbed, centered, and conveyed in sequence to achieve continuous loading.

[0048] After all loading and unloading are completed, the controller resets the gripping assembly, front fork 5, and frame 3, waiting for the next instruction.

[0049] During operation, the ranging sensor detects obstacles in real time. Once a person or foreign object is detected, the robot immediately stops walking and conveying to ensure safety. If the goods are deviated, the grab fails, or the negative pressure is lost, the controller will automatically alarm and stop the machine, prompting manual handling.

[0050] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0054] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A tracked automatic loading and unloading robot, characterized in that, include: Chassis, on which tracks are mounted; A vehicle frame, which is mounted on the chassis, and a conveyor belt is provided on the vehicle frame; A front fork, wherein the front fork is disposed at the front end of the frame and rotatably connected to the frame, and a conveyor roller assembly is disposed on the front fork, the conveyor roller assembly comprising: A transverse roller assembly, comprising a left roller assembly and a right roller assembly, capable of conveying goods from both sides of the transverse roller assembly toward the middle or from the middle of the transverse roller assembly toward both sides; A longitudinal roller group is disposed between the transverse roller group and the conveyor belt, and is used to transfer goods from the transverse roller group to the conveyor belt or from the conveyor belt to the transverse roller group; A gripping assembly, disposed on the fork, is used to transfer goods from an external mechanism to the transverse roller assembly or to transfer goods from the transverse roller assembly to an external mechanism.

2. The tracked automatic loading and unloading robot according to claim 1, characterized in that, The conveying direction of the transverse roller group is parallel to the width direction of the vehicle frame, and the conveying direction of the left roller group is opposite to that of the right roller group.

3. The tracked automatic loading and unloading robot according to claim 1, characterized in that, The conveying direction of the left roller group is at an acute angle to the conveying direction of the right roller group.

4. The tracked automatic loading and unloading robot according to claim 1, characterized in that, One end of the longitudinal roller group is close to the middle of the rear side of the transverse roller group, and the other end is close to one end of the conveyor belt.

5. The tracked automatic loading and unloading robot according to claim 1, characterized in that, The conveying direction of the longitudinal roller assembly and the conveying direction of the conveyor belt are both parallel to the length direction of the vehicle frame.

6. The tracked automated loading and unloading robot according to any one of claims 1-5, characterized in that, The crawling component includes: A lifting seat is mounted on the front fork and located above the transverse roller group and the longitudinal roller group; The suction cups, including multiple suction cups, are respectively installed on the lifting base. They transfer goods from the external mechanism to the horizontal roller group or transfer goods on the horizontal roller group to the external mechanism by generating negative pressure.

7. The tracked automatic loading and unloading robot according to claim 6, characterized in that, The crawling component also includes: A vertical lifting frame is mounted on the front fork and located on both sides of the longitudinal roller assembly; A horizontal lifting frame is provided on the vertical lifting frame, and a lifting seat is installed on the horizontal lifting frame.

8. The tracked automatic loading and unloading robot according to claim 7, characterized in that, The rear end of the vehicle frame is rotatably connected to the rear end of the chassis via a first hinge shaft. The automatic loading and unloading robot also includes a first driver, which is mounted on the chassis and connected to the vehicle frame. The first driver can drive the vehicle frame to rotate around the first hinge shaft and adjust the pitch angle of the vehicle frame.

9. The tracked automatic loading and unloading robot according to claim 8, characterized in that, The front fork is connected to the frame via a second hinge axis. The automatic loading and unloading robot also includes a second driver, which is mounted on the chassis and connected to the front fork. The second driver can drive the front fork to rotate around the second hinge axis to adjust the pitch angle of the front fork.

10. The tracked automatic loading and unloading robot according to claim 1, characterized in that, The vehicle frame is also equipped with a camera and a distance sensor.

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