An intelligent grabbing, handling and loading and unloading system for airport luggage

Abstract

The present invention discloses an intelligent grabbing, handling and loading and unloading system for airport luggage, which belongs to the field of intelligent logistics technology, and includes a transmission component and a grabbing assembly, wherein the transmission component includes a slide and a luggage cart arranged on both sides of the grabbing assembly, and the grabbing assembly includes a support component, and a manipulator component and a camera component are respectively arranged on the top and side of the support component. The present invention (or invention) discloses an intelligent grabbing, handling and loading and unloading system for airport luggage, which can realize the front and back, left and right, and up and down movement of the manipulator, so that the manipulator can better adjust the grabbing position when grabbing luggage, thereby realizing automatic grabbing and stacking of luggage and freeing up manpower. The manipulator moves and grabs the luggage when the luggage comes over. After encountering the luggage, the manipulator shrinks on both sides to clamp the luggage. After transferring the luggage, the manipulator retracts to the original position to avoid accidental injury to other people or objects.

Description

Technical Field

[0001] The invention discloses an intelligent grabbing, handling and loading and unloading system for airport luggage, belonging to the technical field of intelligent logistics. Background Art

[0002] With the rapid development of domestic civil aviation, the number of passengers entering and leaving airports has continued to increase, and baggage throughput has reached a new height. Baggage handling has always been a huge and complex task for large airports. At present, airport terminals use advanced automatic baggage sorting systems, which greatly improves the efficiency of baggage handling. However, the sorted baggage still needs to be manually moved to the consignment vehicle, especially during the Spring Festival and major holidays. While the number of passengers traveling has increased sharply, the amount of baggage has also increased significantly. The labor intensity of sorting staff is extremely high. How to achieve the "last mile" of baggage handling is an urgent problem that needs to be solved.

[0003] The present invention aims to set up multiple intelligent baggage grabbing, handling and loading and unloading systems in the baggage sorting hall of the airport terminal, beside the chute of the baggage sorting system, at the outbound baggage carousel and the inbound baggage claim carousel, to perform the loading, unloading and handling of inbound and outbound baggage, change the previous manual handling work mode, and thus realize the intelligent loading and unloading of inbound and outbound baggage. The present invention will realize the intelligent grabbing, handling and loading and unloading of all the outbound checked and inbound baggage of passengers in the airport terminal. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an airport baggage intelligent grabbing, handling and loading and unloading system to achieve intelligent loading and unloading of inbound and outbound baggage.

[0005] The problem to be solved by the present invention is achieved by the following technical solutions:

[0006] An airport baggage intelligent grabbing, handling and loading and unloading system comprises a transmission component and a grabbing assembly, wherein the transmission component comprises a slideway and a baggage trolley arranged on both sides of the grabbing assembly, and the grabbing assembly comprises a support component, wherein a manipulator component and a camera component are respectively arranged on the top and side of the support component;

[0007] The support assembly includes a support frame assembly arranged on a fixed plate, the support frame assembly can move on the fixed plate through a support frame sliding assembly, a lifting platform is arranged on the top of the support frame assembly, the lifting platform can slide on the top of the support frame assembly through a lifting sliding assembly, and the lifting platform is connected to the manipulator assembly through a manipulator connecting frame fixed on the top thereof.

[0008] Preferably, the slide trough comprises a slide section and a horizontal section, and a plurality of bull's eye wheels are evenly arranged on the horizontal section.

[0009] Preferably, the support frame assembly includes an abdominal connecting plate and a first connecting plate respectively connected at both ends by four movable connecting parts, and the support frame sliding assembly includes a first lead screw and a first stepper motor rotatably arranged on a fixed plate, the main shaft of the first stepper motor is connected to one end of the first lead screw, and the first connecting plate can move on the first lead screw through a first nut fixed at the bottom.

[0010] Preferably, the abdominal connecting plate and the four movable connecting parts are connected together by reinforcing ribs, two first linear guides and a second linear guide are fixed on the fixed plate, and the bottom of the first connecting plate moves on the first linear guide and the second linear guide by fixing a first connecting plate slider.

[0011] Preferably, the lifting platform includes: a lifting platform bottom plate, a lifting platform top plate, a round rod, a hydraulic cylinder and a first elliptical plate and a second elliptical plate hinged in the middle, the first elliptical plate and the second elliptical plate are two and symmetrically arranged on both sides of the lifting platform bottom plate and the lifting platform top plate and the middle is hinged to the two ends of the round rod respectively, one side of the lifting platform top plate is hinged to one end of the first elliptical plate and the second elliptical plate respectively, one side of the lifting platform bottom plate is hinged to the other end of the first elliptical plate and the second elliptical plate respectively, and the two ends of the hydraulic cylinder are fixed to the lifting platform bottom plate and the lifting platform top plate respectively.

[0012] Preferably, the lifting and sliding assembly includes a second lead screw and a first stepper motor rotatably arranged on the belly connecting plate, the main shaft of the second stepper motor is connected to one end of the second lead screw, a second connecting plate is fixed to the bottom of the lifting platform bottom plate, the second connecting plate can move on the second lead screw through a second nut fixed to the bottom, two third linear guides and a fourth linear guide are fixed to the belly connecting plate, and the bottom of the second connecting plate moves on the third linear guide and the fourth linear guide through a second connecting plate slider fixed thereto.

[0013] Preferably, the camera assembly includes a first camera group and a second camera group with the same structure symmetrically arranged at the bottom of the abdominal connecting plate, the second camera group includes: a first motor and a second motor symmetrically fixed inside a camera group mounting box, a first camera and a second camera are fixed on the main shafts of the first motor and the second motor, respectively, and two groups of proximity sensors are symmetrically arranged on the outside of the four movable connecting parts, and the two groups of proximity sensors correspond to the first camera group and the second camera group.

[0014] Preferably, the manipulator assembly includes two manipulator finger assemblies symmetrically arranged at the bottom of an aluminum profile frame, the top of the aluminum profile frame is connected to the manipulator connecting frame through a manipulator connecting plate, the manipulator finger assembly includes a first cylinder fixed to the bottom of the aluminum profile frame, a hollow plate is fixed to the output end of the first cylinder, a right-angle spring rod is fixed to the bottom end of the hollow plate, a second cylinder is fixed to the outside of the hollow plate, the right-angle spring rod is movably provided with 2-4 right-angle springs, a fixed rod is fixed to the output end of the second cylinder, one end of the 2-4 right-angle springs is connected to the fixed rod through a right-angle spring connector, and a corresponding number of manipulator fingers are fixed to the other end of the 2-4 right-angle springs.

[0015] Preferably, two sliding rails are provided at the bottom of the aluminum profile frame, and the hollow plate can slide on the two sliding rails through two fixed sliders at the inner top, a friction plate is fixed on the inner side of the hollow plate, and a trigger switch is fixed on the friction plate.

[0016] Preferably, the manipulator connecting frame is connected to the top plate of the lifting platform through a top connecting assembly, and the top connecting assembly includes a top connecting plate, and the top connecting plate is connected to the top plate of the lifting platform through a top supporting frame.

[0017] Beneficial effects of the present invention:

[0018] (1) The present invention can realize the front-back, left-right, and up-down movement of the manipulator, so that the manipulator can better adjust the grabbing position when grabbing luggage, thereby realizing automatic grabbing and stacking of luggage and freeing up manpower. The manipulator moves and grabs the luggage when the luggage comes over. After encountering the luggage, the manipulator retracts its two sides to clamp the luggage. After transferring the luggage, the manipulator retracts to its original position to avoid accidental injury to other people or objects.

[0019] (2) The present invention uses a camera group located in the center of the system to identify the shape and structure of objects and give command to the robot arm, so that it can accurately identify the luggage and grab it, avoiding grabbing other non-luggage objects and causing wasteful operations. A proximity sensor is installed on the outside of the mobile connecting frame. When a human body approaches the entire system, the proximity sensor senses the human body and immediately cuts off all power supplies to avoid accidental injuries and other serious problems.

[0020] (3) The present invention uses bull's eye wheels evenly distributed at the bottom of the slideway, so that when grabbing luggage, the robot fingers can be better inserted into the bottom of the luggage. When grabbing luggage, the friction force of the robot friction plate and the lifting force of the robot fingers can be used to better grab and stack the luggage. When the robot is not grabbing, the fingers are in a vertical state. After receiving the grabbing signal, the robot moves to the specified position, the fingers extend into the bottom of the luggage, the gripper closes and grabs, the robot moves to the specified position where the luggage trolley is stacked, the fingers become vertical, and the luggage falls, which can effectively avoid the robot interfering with the change of the luggage position when grabbing and stacking the luggage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall isometric view of the present invention.

[0022] Figure 2 It is an isometric view of the gripping assembly of the present invention.

[0023] Figure 3 It is a structural schematic diagram of the grab assembly of the present invention.

[0024] Figure 4 It is a partial structural schematic diagram of the lifting platform in the grab assembly of the present invention.

[0025] Figure 5 It is a schematic structural diagram of the support frame sliding assembly in the grab assembly of the present invention.

[0026] Figure 6 It is an isometric view of the lifting platform and the lifting slide assembly in the grab assembly of the present invention.

[0027] Figure 7 It is an isometric view of the second camera group in the grab assembly of the present invention.

[0028] Figure 8 It is an isometric view of the manipulator component in the gripping assembly of the present invention.

[0029] Fig. 9 It is a schematic diagram of the structure of the manipulator component in the grabbing assembly of the present invention.

[0030] Fig.10 It is a bottom view of the manipulator component in the grabbing assembly of the present invention.

[0031] Among them: 1-transmission component, 101-slideway, 102-bull's eye wheel, 103-luggage cart, 2-support component, 201-electric control box, 202-fixed plate, 203-first linear guide, 204-second linear guide, 205-first connecting plate, 206-first connecting plate slider, 207-movable connecting piece, 208-proximity sensor, 209-transverse reinforcement rib, 210-longitudinal reinforcement rib, 211-abdominal connection plate, 212-third straight Linear guide rail, 213-reinforcement rod, 214-manipulator connecting frame, 215-top connecting plate, 216-top support frame, 217-lifting platform top plate, 218-second connecting plate slider, 219-fourth linear guide rail, 220-first longitudinal reinforcing rib, 221-second longitudinal reinforcing rib, 223-first stepper motor, 224-first bearing seat, 225-first connecting plate slider fixing plate, 226-first lead screw, 227-second bearing seat, 228 - hydraulic cylinder, 229- first elliptical plate, 230- third bearing seat, 231- second lead screw, 232- second stepping motor, 233- second connecting plate, 234- fourth bearing seat, 235- bottom plate of lifting platform, 236- round rod, 237- second elliptical plate, 3- camera assembly, 301- first camera group, 302- second camera group, 3021- first motor, 3022- first camera, 3023- second camera, 3024 -Second motor, 3025-camera assembly box, 4-manipulator assembly, 401-manipulator connecting plate, 402-aluminum profile frame, 403-right-angle spring, 404-manipulator finger, 405-right-angle spring rod, 406-sliding guide rail, 407-fixed slider, 408-fixed rod, 409-first cylinder, 410-hollow plate, 411-friction plate, 412-trigger switch, 413-second cylinder, 414-right-angle spring connector. DETAILED DESCRIPTION

[0032] The following is based on the attached Figure 1-10 The present invention is further described:

[0033] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] like Figure 1 As shown, the first embodiment of the present patent provides an airport baggage intelligent grabbing, handling and loading and unloading system based on the prior art, including a transmission component 1 and a grabbing assembly, the transmission component 1 includes a slide 101 and a luggage trolley 103 installed on both sides of the grabbing assembly, the grabbing assembly includes a support component 2, and a manipulator component 4 and a camera component 3 are respectively arranged on the top and side of the support component 2. Next, the specific structure and connection method of the above-mentioned components will be introduced one by one.

[0037] First, let me introduce the transmission component 1. The chute 101 includes a slide section and a horizontal section. The chute 101 is continuously inclined at different angles from a high place to above the ground to prevent the luggage from sliding too fast and causing blockage during transportation. The width of both sides is just enough to accommodate one piece of luggage. Several bull's eye wheels 102 are evenly arranged on the horizontal section to support the luggage to be grabbed after sliding down from the chute 101. The model of the bull's eye wheel 102 is CY-25A bull's eye wheel; the luggage cart 103 is used to check in luggage.

[0038] The support component 2 is introduced below. Figure 2 As shown, it includes a support frame assembly installed on a fixed plate 201, the support frame assembly can move on the fixed plate 201 through a support frame sliding assembly, a lifting platform is installed on the top of the support frame assembly, the lifting platform can slide on the top of the support frame assembly through a lifting sliding assembly, and the lifting platform is connected to the manipulator assembly 3 by a manipulator connecting frame 214 fixed on the top thereof by bolts.

[0039] like Figure 2-5As shown, the support frame assembly includes a belly connecting plate 211 and a first connecting plate 205 respectively connected at both ends by four movable connecting members 207, and the support frame sliding assembly includes a first lead screw 226 and a first stepper motor 223 rotatably mounted on the fixed plate 202 through a first bearing seat 224 and a second bearing seat 227, the electric control box 201 is fixed to the fixed plate 202 by bolts, the main shaft of the first stepper motor 223 is connected to one end of the first lead screw 226, the first stepper motor 223 is fixed by bolts, and a first nut is fixed by bolts at the bottom of the first connecting plate 205 and can move on the first lead screw 226.

[0040] The belly connecting plate 211 and the four movable connecting members 207 are connected together by reinforcing ribs, and the reinforcing ribs include: transverse reinforcing ribs 209 and longitudinal reinforcing ribs 210, and the transverse reinforcing ribs 209 are connected to the movable connecting member 207, and the longitudinal reinforcing ribs 210 include: first longitudinal reinforcing ribs 220 and second longitudinal reinforcing ribs 221, and the first longitudinal reinforcing ribs 220 and the second longitudinal reinforcing ribs 221 are connected to the belly connecting plate 211 and the transverse reinforcing ribs 209. Two first linear guide rails 203 and second linear guide rails 204 are fixed to the fixed plate 202 by bolts, and four first connecting plate sliders 206 are fixed to the bottom of the first connecting plate 205 by bolts, and move on the first linear guide rails 203 and second linear guide rails 204, and the four first connecting plate sliders 206 are connected together by the first connecting plate slider fixing plate 225.

[0041] like Figure 6 As shown, the lifting platform includes: a lifting platform bottom plate 235, a lifting platform top plate 217, a round rod 236, a hydraulic cylinder 228 and a first elliptical plate 229 and a second elliptical plate 237 hinged in the middle, the first elliptical plate 229 and the second elliptical plate 237 are two and symmetrically arranged on both sides of the lifting platform bottom plate 235 and the lifting platform top plate 217 and the middle is hinged to the two ends of the round rod 236 respectively, one side of the lifting platform top plate 217 is hinged to one end of the first elliptical plate 229 and the second elliptical plate 237 respectively, one side of the lifting platform bottom plate 235 is hinged to the other end of the first elliptical plate 229 and the second elliptical plate 237 respectively, and the two ends of the hydraulic cylinder 228 are fixed to the lifting platform bottom plate 235 and the lifting platform top plate 217 respectively.

[0042] The lifting and sliding assembly includes a second lead screw 231 and a first stepper motor 232 which are rotatably mounted on the belly connecting plate 211 through a third bearing seat 230 and a fourth bearing seat 234. The main shaft of the second stepper motor 232 is connected to one end of the second lead screw 231 through a coupling. The second stepper motor 232 is fixed to the belly connecting plate 211 by bolts. The bottom of the lifting platform base plate 235 is fixed with a second connecting plate 233 by bolts. The second connecting plate 233 is fixed with a second nut by bolts at the bottom and can move on the second lead screw 231. Two third linear guides 212 and a fourth linear guide 219 are fixed with bolts on the belly connecting plate 211. The bottom of the second connecting plate 233 is fixed with a second connecting plate slider 218 by bolts so as to move on the third linear guide 212 and the fourth linear guide 219.

[0043] like Figure 7 As shown, the camera assembly 4 includes a first camera group 301 and a second camera group 302 with the same structure symmetrically arranged at the bottom of the abdominal connecting plate 211. The second camera group 302 includes: a first motor 3021 and a second motor 3024 symmetrically fixed inside the camera group installation box 3025. The first camera 3022 and the second camera 3023 are fixed on the main shafts of the first motor 3021 and the second motor 3024 respectively. Two groups of proximity sensors 208 are symmetrically arranged on the outside of the four mobile connecting parts 207. The two groups of proximity sensors 208 correspond to the first camera group 301 and the second camera group 302. When a human body approaches the entire system, the proximity sensor 208 immediately cuts off all power supplies when it senses the human body to avoid other serious problems such as accidental injury. The manipulator connecting frame 214 is connected to the top plate 217 of the lifting platform through the top connecting assembly. The top connecting assembly includes a top connecting plate 215. The top connecting plate 215 is connected to the top plate 217 of the lifting platform through a top supporting frame 216.

[0044] like Figure 8-10 As shown, the manipulator assembly 4 includes two manipulator finger assemblies symmetrically arranged at the bottom of the aluminum profile frame 402, the top of the aluminum profile frame 402 is connected to the manipulator connecting frame 214 through the manipulator connecting plate 401, and the manipulator finger assembly includes a first cylinder 409 fixed to the bottom of the aluminum profile frame 402, the output end of the first cylinder 409 is fixed with a hollow plate 410 by bolts, the bottom end of the hollow plate 410 is fixed with a right-angle spring rod 405 by bolts, and the outer side of the hollow plate 410 is fixed with a second cylinder 413, and the right-angle spring rod 405 is movably mounted with 2-4 right-angle springs 403, and this embodiment has 4 right-angle springs 403. The output end of the second cylinder 413 is fixed with a fixed rod 408, one end of the four right-angle springs 403 is connected to the fixed rod 408 through a right-angle spring connector 414, and the other end of the four right-angle springs 403 is fixed with a corresponding number of manipulator fingers 404 by welding.

[0045] Two sliding rails 406 are fixed to the bottom of the aluminum profile frame 402 by bolts, and the hollow plate 410 can slide on the two sliding rails 406 through two fixed sliders 407 on the inner top. A friction plate 411 is fixed to the inner side of the hollow plate 410 by bolts, and a trigger switch 412 is fixed to the friction plate 411 by bolts.

[0046] How it works:

[0047] After the passenger has checked in the luggage, the luggage is conveyed to the upper part of the chute 101 through the conveyor belt, and the luggage slides from the upper part of the chute 101 to the lower part of the chute 101. The luggage stopped at the lower part of the chute 101 waits to be grabbed. A total of four cameras in the camera assembly 3 accurately identify the position and size of the luggage. The manipulator 4 is installed on the support assembly 2, and the support assembly 2 can drive the first lead screw 226 to rotate on the first linear guide 203 and the second linear guide 204 through the first stepper motor 223, and can also drive the second lead screw 231 to rotate on the third linear guide 212 and the fourth linear guide 219 to move left and right through the second stepper motor 232, and can be driven by the hydraulic cylinder 228 to achieve up and down movement. At this time, the manipulator 4 can move to the luggage placement position.

[0048] When the manipulator 4 grabs the luggage, the two second cylinders 413 contract, and the two groups of four mechanical fingers 404 are driven to close through the two groups of four right-angle springs 403. The fingers are staggered with each other and cross-shaped in a canine tooth manner, and can go deep into the slide groove 101. The slide groove 101 is provided with a bull's eye wheel 102, which allows the mechanical fingers to extend into the slide groove 101.

[0049] When the manipulator 4 is closed and the luggage touches the trigger switches 412 on both sides of the gripper, the trigger switches 412 are closed, so that the two second cylinders 413 stop contracting, and the gripper 4 stops at the middle position, thereby grabbing the luggage; the manipulator 4 moves to the designated position where the luggage cart 103 is stacked, the first cylinder 409 extends, the fingers return to the vertical state, the luggage falls, and the whole cycle ends; the luggage is moved to the luggage cart 103, and then the luggage cart 103 moves the luggage to the aircraft.

[0050] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. An airport baggage intelligent grabbing, handling and loading and unloading system, characterized in that: It comprises a transmission component (1) and a grabbing assembly, wherein the transmission component (1) comprises a slideway (101) and a luggage trolley (103) arranged on both sides of the grabbing assembly, and the grabbing assembly comprises a support component (2), and a manipulator component (4) and a camera component (3) are respectively arranged on the top and side of the support component (2); The support assembly (2) comprises a support frame assembly arranged on a fixed plate (202), the support frame assembly being movable on the fixed plate (202) via a support frame sliding assembly, a lifting platform being arranged on the top of the support frame assembly, the lifting platform being able to slide on the top of the support frame assembly via the lifting sliding assembly, the lifting platform being connected to the manipulator assembly (4) via a manipulator connecting frame (214) fixed on the top thereof; the slide groove (101) comprises a slide section and a horizontal section, a plurality of bull's eye wheels (102) being evenly arranged on the horizontal section; The support frame assembly comprises a belly connecting plate (211) and a first connecting plate (205) respectively connected at two ends via four movable connecting members (207); the support frame sliding assembly comprises a first lead screw (226) rotatably arranged on a fixed plate (202) and a first stepper motor (223); the main shaft of the first stepper motor (223) is connected to one end of the first lead screw (226); and the first connecting plate is movable on the first lead screw (226) via a first nut fixed at the bottom; The belly connecting plate (211) and the four movable connecting members (207) are connected together via reinforcing ribs; a first linear guide rail (203) and a second linear guide rail (204) are fixed to the fixed plate (202); the bottom of the first connecting plate (205) moves on the first linear guide rail (203) and the second linear guide rail (204) by fixing a first connecting plate slider (206); The lifting platform comprises: a lifting platform bottom plate (235), a lifting platform top plate (217), a round rod (236), a hydraulic cylinder (228), and a first elliptical plate (229) and a second elliptical plate (237) hinged in the middle, wherein the first elliptical plate (229) and the second elliptical plate (237) are respectively two and symmetrically arranged on both sides of the lifting platform bottom plate (235) and the lifting platform top plate (217), and the middle part is respectively hinged to the two ends of the round rod (236), one side of the lifting platform top plate (217) is respectively hinged to one end of the first elliptical plate (229) and the second elliptical plate (237), one side of the lifting platform bottom plate (235) is respectively hinged to the other end of the first elliptical plate (229) and the second elliptical plate (237), and the two ends of the hydraulic cylinder (228) are respectively fixed to the lifting platform bottom plate (235) and the lifting platform top plate (217); The lifting and sliding assembly comprises a second lead screw (231) and a second stepping motor (232) rotatably arranged on the belly connecting plate (211); the main shaft of the second stepping motor (232) is connected to one end of the second lead screw (231); a second connecting plate (233) is fixed to the bottom of the lifting platform bottom plate (235); the second connecting plate (233) can move on the second lead screw (231) by having a second nut fixed to the bottom; a third linear guide rail (212) and a fourth linear guide rail (219) are fixed to the belly connecting plate (211); the second connecting plate (233) moves on the third linear guide rail (212) and the fourth linear guide rail (219) by having a second connecting plate slider (218) fixed to the bottom; The camera assembly (3) comprises a first camera group (301) and a second camera group (302) of the same structure, which are symmetrically arranged at the bottom of the belly connecting plate (211); the second camera group (302) comprises: a first motor (3021) and a second motor (3024) symmetrically fixed inside a camera group installation box (3025); a first camera (3022) and a second camera (3023) are respectively fixed on the main shafts of the first motor (3021) and the second motor (3024); two groups of proximity sensors (208) are symmetrically arranged outside the four movable connecting members (207); the two groups of proximity sensors (208) correspond to the first camera group (301) and the second camera group (302); The robot assembly (4) comprises two robot finger assemblies symmetrically arranged at the bottom of an aluminum profile frame (402); the top of the aluminum profile frame (402) is connected to a robot connecting frame (214) via a robot connecting plate (401); the robot finger assembly comprises a first cylinder (409) fixed at the bottom of the aluminum profile frame (402); a hollow plate (410) is fixed at the output end of the first cylinder (409); a right-angle spring rod (410) is fixed at the bottom end of the hollow plate (410); 05), a second cylinder (413) is fixed on the outside of the hollow plate (410), 2-4 right-angle springs (403) are movably provided on the right-angle spring rod (405), a fixing rod (408) is fixed on the output end of the second cylinder (413), one end of the 2-4 right-angle springs (403) is connected to the fixing rod (408) via a right-angle spring connector (414), and a corresponding number of mechanical fingers (404) are fixed on the other end of the 2-4 right-angle springs (403); Two sliding guide rails (406) are arranged at the bottom of the aluminum profile frame (402); the hollow plate (410) can slide on the two sliding guide rails (406) via two fixed sliders (407) at the top of the inner side; a friction plate (411) is fixed on the inner side of the hollow plate (410); and a trigger switch (412) is fixed on the friction plate (411); The manipulator connecting frame (214) is connected to the lifting platform top plate (217) via a top connecting assembly, wherein the top connecting assembly comprises a top connecting plate (215), and the top connecting plate (215) is connected to the lifting platform top plate (217) via a top supporting frame (216); The luggage is conveyed to the upper part of the slide (101) by a conveyor belt, and the luggage slides from the upper part of the slide (101) to the lower part of the slide (101). The luggage stopped at the lower part of the slide (101) waits to be grabbed. A total of four cameras in the camera assembly (3) accurately identify the position and size of the luggage. The manipulator assembly (4) is installed on the support assembly (2). The support assembly (2) can drive the first lead screw (226) to rotate on the first linear guide rail (203) and the second linear guide rail (204) through the first stepper motor (223) to move forward and backward on the first linear guide rail (203) and the second linear guide rail (204). The second lead screw (231) is driven by the second stepper motor (232) to rotate on the third linear guide rail (212) and the fourth linear guide rail (219) to move left and right. The luggage is driven by the hydraulic cylinder (228) to achieve up and down movement. The manipulator assembly (4) can move to the luggage placement position. When the mechanical hand assembly (4) grabs the luggage, the two second cylinders (413) contract, and drive the two groups of four mechanical fingers (404) to close through the two groups of four right-angle springs (403), and the fingers are mutually staggered and cross-shaped in a canine tooth manner, so that they can penetrate into the slide groove (101). The slide groove (101) is provided with a bull's eye wheel (102), so that the mechanical fingers can be inserted; When the luggage touches the trigger switches (412) on both sides when the manipulator assembly (4) is closed, the trigger switches (412) are closed, the two second cylinders (413) stop contracting, and the mechanical fingers (404) stop at the middle position, thereby achieving the grabbing of the luggage; the manipulator assembly (4) moves to the designated position where the luggage cart (103) is stacked, the first cylinder (409) extends, the fingers return to the vertical state, the luggage falls, and the whole cycle ends; the luggage is moved to the luggage cart (103), and the luggage cart (103) moves the luggage to the aircraft.

Images