Loading and unloading vehicle operation docking system

Abstract

The utility model provides a loading and unloading vehicle operation docking system. The loading and unloading vehicle operation docking system comprises a first robot, a telescopic belt conveyor, a flexible matching conveying line and a second robot. The first robot is used for placing materials to be loaded on the telescopic belt conveyor; the front end of the telescopic belt conveyor is connected with the second robot through the flexible matching conveying line; the telescopic belt conveyor is matched with the flexible matching conveying line and used for conveying materials into the operation range of the second robot. And the second robot is used for moving into a specified compartment body according to a first control instruction sent remotely and / or a second control instruction generated by a processor of the second robot, and moving and working in the compartment body according to the working progress. According to the telescopic belt conveyor, due to the fact that the movement speed of the telescopic belt conveyor is different from that of the second robot, the length difference generated when the telescopic belt conveyor is matched with the second robot is generated when the telescopic belt conveyor is stretched or shortened, and operation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to intelligent manufacturing and high-end manufacturing, and in particular to a docking system for loading and unloading vehicles. Background Art

[0002] With the popularization of robot technology and the continuous development of manufacturing robots, existing robots have been able to adapt to various application scenarios. Especially in scenarios such as intelligent picking, logistics transportation, and warehouse management, palletizing robots are gradually being used to replace workers' high-intensity labor.

[0003] Existing palletizing robots have complex structures and poor flexibility. Due to the limited arm span and the range of the robot's arm, they perform poorly in material loading scenarios such as ports and large storage centers, and are difficult to adapt to the task of palletizing goods in narrow spaces. Moreover, in complex operating environments, such as ramps and uneven ground, mobile robots cannot directly operate on materials. Utility Model Content

[0004] In view of the defects in the prior art, the purpose of the utility model is to provide a docking system for loading and unloading vehicles.

[0005] The loading and unloading vehicle docking system provided by the utility model comprises: a first robot, a telescopic belt conveyor, a flexible matching conveyor line and a second robot;

[0006] The first robot is used to place the material to be loaded on the telescopic belt conveyor or to place the material on the telescopic belt conveyor onto a pallet;

[0007] The front end of the telescopic belt conveyor is connected to the second robot through the flexible matching conveyor line;

[0008] The telescopic belt conveyor cooperates with the flexible conveyor line to convey materials into the operating range of the second robot, or to convey materials into the operating range of the first robot;

[0009] The second robot is used to move to the inside of a designated compartment according to a first control instruction sent remotely and / or a second control instruction generated by its own processor, and to move and operate inside the compartment according to the progress of the operation.

[0010] Preferably, when the second robot moves in a direction away from the telescopic belt conveyor, the telescopic belt conveyor extends to cooperate with the moving away of the second robot;

[0011] When the second robot moves toward the direction approaching the telescopic belt conveyor, the telescopic belt conveyor shortens to cooperate with the approaching movement of the second robot.

[0012] Preferably, one end of the flexible cooperation conveyor line is hinged to the rear end of the second robot, and the other end is hinged to the end of the telescopic belt conveyor.

[0013] Preferably, the flexible matching conveyor line is used for flexible adjustment of the telescopic belt conveyor when it is extended and shortened;

[0014] When the second robot moves to the target position, and the telescopic belt conveyor is extended too long so that the flexible matching conveyor line is compressed and lifted, the telescopic belt conveyor is controlled to fall so that the flexible matching conveyor line falls to the ground;

[0015] When the second robot moves to the target position and the telescopic belt conveyor is extended too short so that the flexible cooperative conveyor line is stretched, the telescopic belt conveyor is controlled to continue to extend to shorten the distance between adjacent rollers in the flexible cooperative conveyor line.

[0016] Preferably, the telescopic belt conveyor comprises: a first-stage telescopic mechanism, a second-stage telescopic mechanism and a third-stage telescopic mechanism;

[0017] The second-stage telescopic mechanism is arranged in the first-stage telescopic mechanism, and can be extended and retracted along the first-stage telescopic mechanism; the third-stage telescopic mechanism is arranged in the second-stage telescopic mechanism, and can be extended and retracted along the second-stage telescopic mechanism;

[0018] The upper surfaces of the first-stage telescopic mechanism, the second-stage telescopic mechanism and the third-stage telescopic mechanism are kept flush and share the same conveyor belt.

[0019] Preferably, the telescopic belt conveyor further comprises: at least one lifting column, the lifting column being used to support the body of the telescopic belt conveyor and to adjust the pitch angle to adapt to working scenes at different heights;

[0020] A roller, the roller is located below the chassis of the telescopic belt conveyor, and the roller is connected to a servo motor to realize autonomous movement of the telescopic belt conveyor;

[0021] The telescopic belt conveyor is located close to one side of the second robot. When operating, it extends a preset length into the working space or retracts a preset length according to a first control instruction sent remotely and / or a second control instruction generated by its own processor.

[0022] Preferably, the electrical connection line of the second robot extends along the flexible matching conveyor line and the telescopic belt conveyor;

[0023] A plurality of automatic wire reels are arranged on the electrical connection line, and each of the automatic wire reels corresponds to each level of the telescopic mechanism.

[0024] Preferably, the second robot comprises:

[0025] A first mobile base, used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0026] A conveyor, arranged on the upper side of the first movable base, the rear end of the conveyor being docked with the flexible matching conveyor line;

[0027] A first mechanical arm is disposed at one end of the first mobile base and is used to move a target box transported by the conveyor to a target position, or to move a target box on a discharge position to the conveyor;

[0028] The second robotic arm is arranged on the other side end of the first mobile base, and is used to move the target box transported by the conveyor to a target position, or move the target box on the discharge position to the conveyor; wherein the first robotic arm and the second robotic arm alternately grasp and place the target box according to a preset control logic.

[0029] Preferably, the first robot and the second robot are provided with a fixture, and the fixture comprises:

[0030] The fixture body;

[0031] A suction cup bracket, on which a suction cup array is arranged, the suction cup array is used to suck the target box, and the suction cup bracket is arranged on a side surface of the clamp body and can move along a first direction;

[0032] A bottom supporting mechanism, located on the clamp body, capable of moving in a second direction opposite to the first direction;

[0033] A driving module, wherein the driving module is connected to the suction cup bracket and the bottom supporting mechanism via a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom supporting mechanism to perform reverse movements simultaneously.

[0034] Preferably, a code scanning mechanism is provided on the conveying path of the telescopic belt conveyor or the flexible matching conveyor line, and is used to read the identification code on the material to determine the product information of the material according to the identification code;

[0035] A quality inspection mechanism is arranged on the conveying path of the telescopic belt conveyor or the flexible matching conveyor line, and is used to obtain an image of the material to perform quality inspection based on the image of the material.

[0036] Compared with the prior art, the utility model has the following beneficial effects:

[0037] In the utility model, the material to be loaded is placed on the telescopic belt conveyor by a first robot; the front end of the telescopic belt conveyor is connected to the second robot through the flexible matching conveyor line; the second robot moves to the inside of a designated compartment according to a first control instruction sent remotely and / or a second control instruction generated by its own processor, and moves and operates inside the compartment according to the progress of the operation, thereby realizing automatic loading of materials; the front end of the telescopic belt conveyor is connected to the second robot through the flexible matching conveyor line, which can conveniently adjust the telescopic belt conveyor caused by the different movement speeds with the second robot when extending or shortening The length difference generated when cooperating with the second robot improves the working efficiency, enhances the adaptability of the loading and unloading vehicle system to complex environments, enhances the stability of the loading and unloading vehicle system to motion errors, and the angles and height differences generated in situations such as ramps and height differences, allowing the robot to enter carriages of different specifications for loading and unloading operations; in the utility model, a telescopic belt conveyor and a flexible cooperative conveyor line are used instead of only a roller line to transmit materials between the first robot and the second robot, avoiding the problem that the vibration generated when the roller line is working will cause part of the material to fall, the distance between adjacent rollers is too large when stretched too long, and the space that can be compressed is too small. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the utility model will become more obvious:

[0039] Figure 1 This is a structural schematic diagram of a docking system for loading and unloading vehicles in an embodiment of the utility model;

[0040] Figure 2 This is a schematic diagram of the cooperation between the second robot and the flexible cooperation conveyor line in the embodiment of the utility model;

[0041] Figure 3 This is a schematic diagram of the structure of the telescopic belt conveyor in the embodiment of the utility model;

[0042] Figure 4 It is a schematic diagram of the height difference caused by the extension of the telescopic belt conveyor in the embodiment of the utility model;

[0043] Figure 5 This is a schematic diagram of the structure of the first robot in the embodiment of the utility model;

[0044] Figure 6 A schematic diagram of a state of the clamp in the embodiment of the utility model;

[0045] Figure 7 This is a schematic diagram of another state of the clamp in the embodiment of the utility model;

[0046] Figure 8 A schematic diagram of the working state of the clamp in the embodiment of the utility model; and

[0047] Fig. 9 It is a schematic diagram of the working state of the docking system for loading and unloading vehicles in an embodiment of the utility model.

[0048] In the figure:

[0049] 1 is the first robot; 2 is the telescopic belt conveyor; 3 is the flexible matching conveyor line; 4 is the second robot; 5 is the cargo box; 101 is the second mobile base; 102 is the third robotic arm; 103 is the second clamp; 201 is the first-level telescopic mechanism, 202 is the second-level telescopic mechanism, 203 is the third-level telescopic mechanism, 204 is the lifting column; 205 is the conveyor belt, 206 is the material; 401 is the first mobile base; 402 is the second robotic arm; 403 is the conveyor; 404 is the first robotic arm; 405 is the first clamp; 4051 is the clamp body; 4052 is the suction cup bracket; 4053 is the bottom supporting mechanism; 4054 is the driving module; 4055 is the first suction cup array. DETAILED DESCRIPTION

[0050] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0051] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0052] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and 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 therefore cannot be understood as a limitation on the utility model.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0054] Figure 1 FIG. 1 is a schematic diagram of the structure of the docking system for loading and unloading vehicles in an embodiment of the utility model. Figure 1 As shown, the loading and unloading vehicle docking system provided by the utility model comprises: a first robot 1, a telescopic belt conveyor 2, a flexible matching conveyor line 3 and a second robot 4;

[0055] The first robot 1 is used to place the material 206 to be loaded on the telescopic belt conveyor 2 or to place the material on the telescopic belt conveyor 2 onto a pallet;

[0056] The front end of the telescopic belt conveyor 2 is connected to the second robot 4 through the flexible matching conveyor line 3;

[0057] The telescopic belt conveyor 2 cooperates with the flexible conveyor line 3 to convey the material 206 into the operating range of the second robot 4 or to convey the material into the operating range of the first robot 1;

[0058] The second robot 4 is used to move to the inside of a designated compartment according to a first control instruction sent remotely and / or a second control instruction generated by its own processor, and to move and operate inside the compartment according to the operation progress.

[0059] When the second robot 4 moves away from the telescopic belt conveyor 2, the telescopic belt conveyor 2 extends to cooperate with the movement of the second robot away;

[0060] When the second robot 4 moves toward the direction approaching the telescopic belt conveyor 2 , the telescopic belt conveyor 2 shortens to cooperate with the approaching movement of the second robot 4 .

[0061] In the embodiment of the utility model, one end of the flexible cooperation conveyor line 3 is hinged to the rear end of the second robot 4 , and the other end is hinged to the end of the telescopic belt conveyor 2 .

[0062] In the embodiment of the utility model, the flexible matching conveyor line 3 is used for flexible adjustment of the telescopic belt conveyor 2 when it is extended and shortened;

[0063] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 is extended too long so that the flexible cooperation conveyor line 3 is compressed and lifted, the telescopic belt conveyor 2 is controlled to fall so that the flexible cooperation conveyor line 3 falls to the ground;

[0064] When the second robot 4 moves to the target position and the telescopic belt conveyor 2 is stretched too short so that the flexible matching conveyor line 3 is pressed down, the telescopic belt conveyor 2 is controlled to rise.

[0065] Figure 3 Schematic diagram of the structure of the telescopic belt conveyor in the embodiment of the utility model, as shown in FIG. Figure 3 As shown, the telescopic belt conveyor 2 includes: a first-level telescopic mechanism 201, a second-level telescopic mechanism 202 and a third-level telescopic mechanism 203;

[0066] The second-stage telescopic mechanism 202 is disposed in the first-stage telescopic mechanism 201, and can be extended and retracted along the first-stage telescopic mechanism 201; the third-stage telescopic mechanism 203 is disposed in the second-stage telescopic mechanism 202, and can be extended and retracted along the second-stage telescopic mechanism 202;

[0067] The upper surfaces of the first-stage telescopic mechanism 201 , the second-stage telescopic mechanism 202 , and the third-stage telescopic mechanism 203 are kept flush and share the same conveyor belt 205 .

[0068] In the embodiment of the utility model, the telescopic belt conveyor 2 can also be set as a five-stage telescopic mechanism.

[0069] In the embodiment of the utility model, the telescopic belt conveyor 2 further includes: at least one lifting column 204, the lifting column 204 is used to support the body of the telescopic belt conveyor 2 and adjust the pitch angle to adapt to working scenes at different heights;

[0070] In the embodiment of the present utility model, the lifting column 204 is a hydraulic cylinder.

[0071] A roller, the roller is located below the chassis of the telescopic belt conveyor 2, and the roller is connected to a servo motor to realize the autonomous movement of the telescopic belt conveyor 2;

[0072] The telescopic belt conveyor 2 is located close to the side of the second robot 4. When operating, it extends a preset length into the working space or retracts a preset length according to a first control instruction sent remotely and / or a second control instruction generated by its own processor.

[0073] Exemplarily, the telescopic belt conveyor 2 is close to one side of the second robot 4. When operating, it extends a preset length into the working space or retracts a preset length according to a first control instruction sent remotely and / or a second control instruction generated by its own processor.

[0074] In this embodiment, the telescopic belt conveyor 2 can be automatically extended and retracted to meet the needs of different operation scenarios. Taking a container as an example, during initial loading, the telescopic belt conveyor 2 can be extended to a deeper position inside the container. As the loading task is executed, the telescopic belt conveyor 2 slowly retracts outside the container as needed, so that the second robot 4 operating inside the container can load the material 206 more efficiently. Correspondingly, in the unloading scenario, the opposite is true. The telescopic belt conveyor 2 slowly extends into the container according to the execution of the unloading task.

[0075] In the embodiment of the utility model, the electrical connection line of the second robot 4 extends along the flexible matching conveyor line 3 and the telescopic belt conveyor 2;

[0076] A plurality of automatic wire reels are arranged on the electrical connection line, and each of the automatic wire reels corresponds to each level of the telescopic mechanism.

[0077] Therefore, when the primary telescopic mechanism is extended or retracted, the automatic cord reel rotates to store the electrical connection wires, and when the primary telescopic mechanism is extended or retracted, the automatic cord reel rotates to release the electrical connection wires.

[0078] Figure 4 Schematic diagram of the height difference caused by the extension of the telescopic belt conveyor in the embodiment of the utility model, as shown in Figure 4 As shown, when the telescopic belt conveyor 2 is extended, due to the change in angle when the belt conveyor is extended, the target position at the end of the telescopic belt conveyor 2 has a height difference relative to the original position at the end. At this time, if the telescopic belt conveyor 2 is directly docked with the conveyor 403, the target box cannot be transported to the conveyor 403. It is necessary to accurately and repeatedly adjust the height of the end of the telescopic belt conveyor 2 and the length of the extension for multiple times to achieve accurate docking of the end of the telescopic belt conveyor 2 with the conveyor 403.

[0079] When the telescopic belt conveyor 2 is docked with the conveyor 403 through the flexible matching conveyor line 3, only the flexible matching conveyor line 3 can alleviate the problem of being unable to transport the target box caused by the height difference through deformation. In addition, the deformation of the flexible matching conveyor line 3 can also provide a visual reference for adjusting the height of the end of the telescopic belt conveyor 2, thereby facilitating the adjustment of the end of the telescopic belt conveyor 2.

[0080] Figure 2 Schematic diagram of the cooperation between the second robot and the flexible cooperation conveyor line in the embodiment of the utility model, as shown in Figure 2 As shown, the second robot 4 includes:

[0081] A first mobile base 401 is used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0082] A conveyor 403 is arranged on the upper side of the first mobile base 401, and the rear end of the conveyor 403 is connected to the flexible matching conveyor line 3;

[0083] The first mechanical arm 404 is disposed at one end of the first mobile base 401 and is used to move the target box conveyed by the conveyor 403 to a target position, or to move the target box on the discharge position to the conveyor 403;

[0084] The second robotic arm 402 is arranged on the other side end of the first mobile base 401, and is used to move the target box transported by the conveyor 403 to a target position, or move the target box on the discharge position to the conveyor 403; wherein the first robotic arm 404 and the second robotic arm 402 alternately grasp and place the target box according to a preset control logic.

[0085] In an embodiment of the utility model, the conveyor 403 is arranged between the first robotic arm 404 and the first robotic arm 404, and the rear end of the conveyor 403 is docked with the flexible cooperative conveyor line 3, so that the target box on the flexible cooperative conveyor line 3 can be moved onto the conveyor, and the target box on the conveyor 403 can also be moved onto the flexible cooperative conveyor line 3.

[0086] In an embodiment of the utility model, the pre-set control logic is specifically that when the first robot arm 404 grabs the target box on the conveyor 403, the second robot arm 402 places the target box grabbed from the conveyor 403 at a target position on the discharge position, or when the first robot arm 404 grabs the target box on the discharge position, the second robot arm 402 places the target box grabbed from the discharge position on the conveyor 403, thereby improving the stability of the mobile robot.

[0087] In the embodiment of the utility model, the first robot arm 404 and the second robot arm 402 can be selected from multi-axis robots such as six-axis robots, four-axis robots, eight-axis robots, or Scara robots with three rotating joints that can be used for assembly operations, or Delta robots that can achieve high-precision material picking, etc. It is worth noting that in actual application scenarios, any automated device that can achieve the functions of grasping and transporting can be applied to the technical solution of the utility model.

[0088] Figure 5 Schematic diagram of the structure of the first robot in the embodiment of the utility model, as shown in Figure 5 As shown, in the embodiment of the utility model, the first robot 1 includes:

[0089] The second mobile base 101 can move to any position or pause at any position and determine the orientation angle according to the received control command;

[0090] The third robot arm 102 is disposed on the second mobile base 101 and is used to move the target box of the pallet to the telescopic belt conveyor 2 .

[0091] In a modified example of the present invention, the first robot 1 may be a fixed-position robot.

[0092] Figure 6 This is a schematic diagram of a state of the clamp in the embodiment of the utility model. Figure 7 FIG. 1 is a schematic diagram of another state of the clamp in the embodiment of the utility model. Figure 8 Schematic diagram of the working state of the clamp in the embodiment of the utility model, as shown in Figures 6 to 7 As shown, the first robot 1 and the second robot 4 are provided with a fixture, and the fixture includes:

[0093] Clamp body 4051;

[0094] A suction cup bracket 4052, on which a suction cup array is disposed, the suction cup array is used to suck the target box, and the suction cup bracket 4052 is disposed on a side surface of the clamp body 4051 and can move along a first direction;

[0095] A bottom supporting mechanism 4053, located on the clamp body 4051, capable of moving in a second direction opposite to the first direction;

[0096] The driving module 4054 is connected to the suction cup bracket 4052 and the bottom supporting mechanism 4053 via a driving transmission mechanism, and is used to drive the suction cup bracket 4052 and the bottom supporting mechanism 4053 to move in opposite directions at the same time.

[0097] After the suction cup bracket 4052 absorbs the target box, the driving module 4054 drives the suction cup bracket 4052 to move from the front end of the clamp body 4051 to the rear end of the clamp body 4051, and the bottom supporting mechanism 4053 extends from the front end of the clamp body 4051;

[0098] When the target box is released, the driving module 4054 drives the suction cup bracket 4052 to move from the rear end of the clamp body 4051 to the front end of the clamp body 4051 to push the target box out, and at the same time the bottom supporting mechanism 4053 retracts into the clamp body 4051.

[0099] In the embodiment of the utility model, the driving transmission mechanism includes: a driving wheel, a driven wheel and a transmission belt;

[0100] The driving wheel is arranged on the output shaft of the driving module 4054;

[0101] The driven wheel is arranged at the front end of the suction cup bracket 4052; the driving wheel is connected to the driven wheel through the transmission belt;

[0102] The suction cup bracket 4052 is connected to one side of the conveyor belt, and the bottom supporting mechanism 4053 is connected to the other side of the conveyor belt.

[0103] The suction cup bracket 4052 is provided with a first suction cup array 4053 .

[0104] In an embodiment of the utility model, the loading and unloading vehicle docking system provided by the utility model further includes:

[0105] A code scanning mechanism, which is arranged on the conveying path of the telescopic belt conveyor 2 or the flexible matching conveyor line 3, and is used to read the identification code on the material 206 to determine the product information of the material 206 according to the identification code;

[0106] A quality inspection mechanism is provided on the conveying path of the telescopic belt conveyor 2 or the flexible matching conveyor line 3 and is used to obtain an image of the material 206 so as to perform quality inspection based on the image of the material 206 .

[0107] Fig. 9 FIG. 1 is a schematic diagram of the working state of the docking system for loading and unloading vehicles in an embodiment of the utility model. Fig. 9 As shown, the docking system for loading and unloading vehicles provided by the utility model includes the following steps when working:

[0108] Step S1: After the second robot reaches the designated working space, the length of the telescopic belt conveyor 2 is adjusted, and then the height of the end of the telescopic belt conveyor 2 is adjusted to alleviate the deformation of the flexible matching conveyor line.

[0109] In the embodiment of the utility model, the telescopic belt conveyor 2 is used to realize the transmission relay between the first robot and the second robot, that is, it is adapted to the operating range of the first robot and the second robot in the height direction and the length direction.

[0110] Step S2: Determine the operation parameters of the first robot and the second robot.

[0111] The operation parameters in this embodiment include: the interval step length of the grasping or placing task, the motion parameters of the robot arm, the stack type information, etc.

[0112] Step S3: Execute the material grabbing or placing task according to the operation parameters.

[0113] In the embodiment of the utility model, the first robot places the material to be loaded on the telescopic belt conveyor 2, so that the telescopic belt conveyor 2 and the flexible matching conveyor line deliver the material to the working range of the second robot; when the second robot performs the loading operation, it determines the position of the working space according to its own visual positioning system and moves to the designated working space, which includes: containers, carriages, flatbed trucks, warehouses, cabins, and engine rooms. This can break through the limitations of the robot's own arm span and the operating range of the robot arm, solve the problem of unpacking and stacking goods in a narrow space, replace manual labor, fully realize automation, and effectively improve the efficiency of loading.

[0114] In an embodiment of the utility model, the material to be loaded is placed on the telescopic belt conveyor by a first robot; the front end of the telescopic belt conveyor is connected to the second robot through the flexible cooperation conveyor line, and the second robot moves to the designated interior of the compartment according to the first control instruction sent remotely and / or the second control instruction generated by its own processor, and moves and operates inside the compartment according to the work progress, thereby realizing automatic loading of materials; the front end of the telescopic belt conveyor is connected to the second robot through the flexible cooperation conveyor line, which can conveniently adjust the length difference caused by the extension or shortening of the telescopic belt conveyor and the cooperation with the second robot, thereby reducing the debugging time of the loading and unloading vehicle system and improving the working efficiency.

[0115] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the utility model. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

[0116] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention.

Claims

1. A docking system for loading and unloading vehicles, characterized in that: include: A first robot, a telescopic belt conveyor, a flexible matching conveyor line and a second robot; The first robot is used to place the material to be loaded on the telescopic belt conveyor or to place the material on the telescopic belt conveyor onto a pallet; The front end of the telescopic belt conveyor is connected to the second robot through the flexible matching conveyor line; The telescopic belt conveyor cooperates with the flexible conveyor line to convey materials into the operating range of the second robot or to convey materials into the operating range of the first robot; The second robot is used to move to the inside of a designated compartment according to a first control instruction sent remotely and / or a second control instruction generated by its own processor, and to move and operate inside the compartment according to the progress of the operation.

2. The docking system for loading and unloading vehicles according to claim 1, characterized in that: When the second robot moves in a direction away from the telescopic belt conveyor, the telescopic belt conveyor extends to cooperate with the movement of the second robot away; When the second robot moves toward the direction approaching the telescopic belt conveyor, the telescopic belt conveyor shortens to cooperate with the approaching movement of the second robot.

3. The docking system for loading and unloading vehicles according to claim 1, characterized in that: One end of the flexible cooperation conveyor line is hinged to the rear end of the second robot, and the other end is hinged to the end of the telescopic belt conveyor.

4. The docking system for loading and unloading vehicles according to claim 2, characterized in that: The flexible matching conveyor line is used for flexible adjustment of the telescopic belt conveyor when it is extended or shortened; When the second robot moves to the target position, and the telescopic belt conveyor is extended too long so that the flexible matching conveyor line is compressed and lifted, the telescopic belt conveyor is controlled to fall so that the flexible matching conveyor line falls to the ground; When the second robot moves to the target position and the telescopic belt conveyor is extended too short so that the flexible cooperative conveyor line is stretched, the telescopic belt conveyor is controlled to continue to extend to shorten the distance between adjacent rollers in the flexible cooperative conveyor line.

5. The docking system for loading and unloading vehicles according to claim 1, characterized in that: The telescopic belt conveyor comprises: a first-stage telescopic mechanism, a second-stage telescopic mechanism and a third-stage telescopic mechanism; The second-stage telescopic mechanism is arranged in the first-stage telescopic mechanism, and can be extended and retracted along the first-stage telescopic mechanism; the third-stage telescopic mechanism is arranged in the second-stage telescopic mechanism, and can be extended and retracted along the second-stage telescopic mechanism; The upper surfaces of the first-stage telescopic mechanism, the second-stage telescopic mechanism and the third-stage telescopic mechanism are kept flush and share the same conveyor belt.

6. The docking system for loading and unloading vehicles according to claim 1, characterized in that: The telescopic belt conveyor further comprises: at least one lifting column, the lifting column being used to support the body of the telescopic belt conveyor and to adjust the pitch angle to adapt to working scenes at different heights; The telescopic belt conveyor is located close to one side of the second robot. When operating, it extends a preset length into the working space or retracts a preset length according to a first control instruction sent remotely and / or a second control instruction generated by its own processor.

7. The docking system for loading and unloading vehicles according to claim 5, characterized in that: The electrical connection line of the second robot extends along the flexible matching conveyor line and the telescopic belt conveyor; A plurality of automatic wire reels are arranged on the electrical connection line, and each of the automatic wire reels corresponds to each level of the telescopic mechanism.

8. The docking system for loading and unloading vehicles according to claim 1, characterized in that: The second robot comprises: A first mobile base, used to move to any position or pause at any position and determine a direction angle according to a received control instruction; A conveyor, arranged on the upper side of the first movable base, the rear end of the conveyor being docked with the flexible matching conveyor line; A first mechanical arm is disposed at one end of the first mobile base and is used to move a target box transported by the conveyor to a target position, or to move a target box on a discharge position to the conveyor; The second robotic arm is arranged on the other side end of the first mobile base, and is used to move the target box transported by the conveyor to a target position, or move the target box on the discharge position to the conveyor; wherein the first robotic arm and the second robotic arm alternately grasp and place the target box according to a preset control logic.

9. The docking system for loading and unloading vehicles according to claim 1, characterized in that: The first robot and the second robot are provided with a fixture, and the fixture includes: The fixture body; A suction cup bracket, on which a suction cup array is arranged, the suction cup array is used to suck the target box, and the suction cup bracket is arranged on a side surface of the clamp body and can move along a first direction; A bottom supporting mechanism, located on the clamp body, capable of moving in a second direction opposite to the first direction; A driving module, wherein the driving module is connected to the suction cup bracket and the bottom supporting mechanism via a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom supporting mechanism to perform reverse movements simultaneously.

10. The docking system for loading and unloading vehicles according to claim 1, characterized in that: Also includes: A code scanning mechanism, which is arranged on the conveying path of the telescopic belt conveyor or the flexible matching conveyor line and is used to read the identification code on the material to determine the product information of the material according to the identification code; A quality inspection mechanism is arranged on the conveying path of the telescopic belt conveyor or the flexible matching conveyor line, and is used to obtain an image of the material to perform quality inspection based on the image of the material.

11. The docking system for loading and unloading vehicles according to claim 7, characterized in that: The electrical connection line passes through the inside of the telescopic belt conveyor.

Images