A carton intelligent loading robot system and method

Abstract

The present invention relates to an intelligent carton loading robot system and method thereof, comprising a supporting platform, a telescopic roller feeding line, a box truck and an intelligent loading robot, wherein the feeding end of the telescopic roller feeding line is placed on the supporting platform, the discharging end of the telescopic roller feeding line is connected to the intelligent loading robot, the intelligent loading robot is located in the box truck, and the intelligent loading robot includes an arrangement and combination mechanism, a feeding buffer mechanism and a loading and feeding stacking mechanism in sequence along the positive direction of the X-axis. The present invention can comprehensively realize the feeding and conveying, arrangement and combination, feeding buffer and loading and feeding stacking operations of the product through the structural arrangement of the telescopic roller feeding line, the box truck and the intelligent loading robot, with a high degree of automation, effectively improving the loading efficiency of the product and reducing the production cost of the enterprise.

Description

Technical Field

[0001] The present invention relates to the technical field related to logistics and transportation, and in particular to an intelligent carton loading robot system and method thereof. Background Art

[0002] With the development of the economy, the market has higher and higher requirements for product production, transportation and loading, and higher requirements for product logistics efficiency. For example, if the loading of grain packaging and cement packaging is done by manpower, the efficiency is low, the loading is hard, the logistics time is prolonged, and the market competitiveness of product production is reduced. How to achieve fast loading of products and accurate loading in sequence is a problem that material production companies need to consider.

[0003] In view of the above-mentioned defects, the designers have actively carried out research and innovation in order to create an intelligent carton loading robot system and method to make it more valuable for industrial use. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide an intelligent carton loading robot system and method.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] One of the purposes of the present invention:

[0007] A carton intelligent loading robot system comprises a supporting platform, a telescopic roller feeding line, a box truck and an intelligent loading robot, wherein the feeding end of the telescopic roller feeding line is placed on the supporting platform, the discharging end of the telescopic roller feeding line is connected to the intelligent loading robot, the intelligent loading robot is located in the box truck, and the intelligent loading robot comprises an arrangement and combination mechanism, a feeding buffer mechanism and a loading, feeding and stacking mechanism in sequence along the positive direction of the X-axis, the feeding buffer mechanism is connected to the arrangement and combination mechanism via a first mounting bracket, and the feeding buffer mechanism is connected to the loading, feeding and stacking mechanism via a second mounting bracket.

[0008] As a further improvement of the present invention, the arrangement and combination mechanism includes an arrangement transmission belt and a first Y-axis driving mechanism from top to bottom, the movement direction of the arrangement transmission belt is set along the X-axis direction, the first Y-axis driving mechanism includes a first Y-axis driving base plate, a first Y-axis driving device is arranged on the middle position of the first Y-axis driving base plate along the negative Y-axis direction, the first Y-axis driving head on the first Y-axis driving device along the positive direction of the Y-axis is connected to the arrangement transmission belt above through a first Y-axis connecting plate, the first Y-axis driving base plate on both sides of the first Y-axis driving device along the X-axis direction is provided with a first Y-axis support rail, the first Y-axis support rail is set along the Y-axis direction, the outer side of the first Y-axis support rail is provided with a first Y-axis slide groove, and the bottom of the arrangement transmission belt is connected to the first Y-axis slide groove through a first Y-axis pulley.

[0009] As a further improvement of the present invention, the first Y-axis driving device is installed on the first Y-axis driving base plate through a first Y-axis fixing seat, and the first Y-axis driving device is an electric cylinder.

[0010] As a further improvement of the present invention, the feeding buffer mechanism includes a feeding buffer conveyor belt and a Z-axis lifting vehicle from top to bottom. The movement direction of the feeding buffer conveyor belt is set along the X-axis direction. The Z-axis lifting vehicle drives the upper feeding buffer conveyor belt to move up and down in the Z-axis direction. A driving steering wheel is set at the bottom of the Z-axis lifting vehicle.

[0011] As a further improvement of the present invention, the Z-axis lifting vehicle includes a lifting base plate, a scissors-type lifting arm and a lifting vehicle electric cylinder. The bottom of the lifting vehicle electric cylinder is installed on the lifting base plate through a first mounting rod, and the driving end of the top of the lifting vehicle electric cylinder is connected to the scissors-type lifting arm through a second mounting rod. The bottom of the scissors-type lifting arm is installed in the lifting base plate, and the lifting plate on the top of the scissors-type lifting arm is connected to the feeding buffer conveyor belt for lifting and lowering.

[0012] As a further improvement of the present invention, the loading, feeding and stacking mechanism includes, from top to bottom, a loading, feeding and stacking conveyor belt, an X-axis driving mechanism and a second Y-axis driving mechanism. The movement direction of the loading, feeding and stacking conveyor belt is set along the X-axis direction. The X-axis driving mechanism drives the upper loading, feeding and stacking conveyor belt to move in the X-axis direction. The second Y-axis driving mechanism drives the upper loading, feeding and stacking conveyor belt to move in the Y-axis direction.

[0013] As a further improvement of the present invention, the X-axis driving mechanism includes an X-axis driving base plate, a servo driving motor is arranged on one side along the negative direction of the X-axis in the middle position of the X-axis driving base plate, the driving shaft of the servo driving motor is connected to the driving connection of the transmission wheel group, the transmission wheel group is installed on the X-axis driving base plate through a transmission wheel mounting seat, a driven wheel group is arranged on one side along the positive direction of the X-axis on the X-axis driving base plate, the driven wheel group is installed on the X-axis driving base plate through the driven wheel mounting seat, a transmission chain is connected between the transmission wheel group and the driven wheel group, the transmission chain is connected to the upper loading, feeding and coding conveyor belt through the X-axis transmission connecting plate, X-axis support rails are arranged on both sides of the X-axis driving base plate along the Y-axis direction, the X-axis support rails are arranged along the X-axis direction, an X-axis slide groove is opened on the outer side of the X-axis support rail, and the bottom of the loading, feeding and coding conveyor belt is connected to the X-axis slide groove through the X-axis pulley.

[0014] As a further improvement of the present invention, the second Y-axis driving mechanism includes a second Y-axis driving base plate, a second Y-axis driving device is arranged on one side of the middle position of the second Y-axis driving base plate along the negative Y-axis direction, the second Y-axis driving head on the second Y-axis driving device along the positive direction of the Y-axis is connected to the upper X-axis driving mechanism through a second Y-axis connecting plate, and second Y-axis support rails are arranged on the second Y-axis driving base plates on both sides of the second Y-axis driving device along the X-axis direction, the second Y-axis support rails are arranged along the Y-axis direction, and second Y-axis slide grooves are opened on the outer sides of the second Y-axis support rails, and the bottom of the X-axis driving mechanism is connected to the second Y-axis slide groove through a second Y-axis pulley.

[0015] As a further improvement of the present invention, the second Y-axis driving device is installed on the second Y-axis driving base plate through a second Y-axis fixing seat, and the second Y-axis driving device is an electric cylinder.

[0016] The second object of the present invention: a method for an intelligent carton loading robot system, comprising the following steps in sequence: step 1, a depalletizing robot is provided at the front end to disassemble the pallet boxes or woven bags and put them onto the telescopic roller feeding line; step 2, the products enter the interior of the box truck along the telescopic roller feeding line and approach the intelligent loading robot; step 3, the intelligent loading robot is equipped with a carton size scanning device to adjust the direction of the products according to the arrangement needs, and the arrangement and combination mechanism has the function of autonomously moving and adjusting the matching product arrangement and combination, and performs loading stack shape menu matching; step 4, when a group of products are arranged and combined as needed, they are transported to the loading, feeding and stacking mechanism position, and the loading, feeding and stacking mechanism is a pushable device, which drives the loading, feeding and stacking mechanism to move forward / backward, switch left / right, rise to the position and then deliver the products to the designated stacking position.

[0017] As a further improvement of the present invention, in step 4, first, the intelligent loading robot is located on one side of the floor of the carriage along the negative direction of the Y-axis to perform stacking operations. When the first layer of stacked products is stacked in place, it is pushed down to the floor of the carriage and then slowly retreats. After unloading is completed, it is immediately moved to the side of the carriage along the positive direction of the Y-axis for stacking operations. After stacking is completed, it can rise one carton layer height to prepare for pushing the second layer height. The products that have been adjusted and arranged and combined again are pushed to the top of the lower carton to wait for pushing. This cycle is repeated from one side of the carriage along the negative direction of the Y-axis to the other side of the carriage along the positive direction of the Y-axis, and then stacked layer by layer from bottom to top, until the top of the carriage cannot be pushed in one layer, and then it retreats along the negative direction of the X-axis to load the first layer of the second row, and adopts segmented backward loading until the carriage is finished.

[0018] As a further improvement of the present invention, it also includes a wireless signal scheduling system and intelligent control laser graphic modeling. The intelligent loading robot also includes a vehicle information and carriage positioning map system. The intelligent loading robot can move its own position coordinates according to the map to adjust the moving trajectory, and calculate the carriage stacking arrangement according to the product size and guide the direction adjustment of product delivery. The wireless signal scheduling system guides and drives the depalletizing robot and controls the intelligent loading robot or unmanned forklift to remove the pallet at the front end for delivery. The intelligent control laser graphic modeling controls the intelligent loading robot to calibrate the driving trajectory, and laser mapping modeling is performed from one end of the truck carriage along the negative direction of the X-axis to guide the intelligent loading robot to drive into the carriage along the positive direction of the X-axis, and the arrangement and combination mechanism and telescopic roller wheel feed the material. The line stretches forward along the positive direction of the X-axis and the device is in place. The permutation and combination mechanism receives the products conveyed by the telescopic roller feeding line and arranges and combines them according to the stacking shape. After the combination is completed, it is transported to the feeding buffer mechanism, and the feeding buffer mechanism pushes it out and then pushes it to the loading feeding and stacking mechanism to stack it on the car floor. After completion, it immediately moves to the side along the positive direction of the Y-axis for the next stacking and prepares for another operation. After completion along the side of the positive direction of the Y-axis, the device rises one layer height to stack the second layer height, and pushes the stacking to the products on the first layer. This operation is repeated, and the highest layer of stacking is retreated for line change and position change. While retreating and changing position, the permutation and combination mechanism has started the combination and arrangement work of the next layer, waiting for the loading feeding and stacking mechanism to be in place before transporting and pushing it out again until the loading is completed.

[0019] By means of the above scheme, the present invention has at least the following advantages:

[0020] 1. The present invention can comprehensively realize the product feeding, conveying, arrangement and combination, feeding buffering and loading, feeding and coding operations through the structural setting of the telescopic roller feeding line, box truck and intelligent loading robot. The automation degree is high, which effectively improves the loading efficiency of the product and reduces the production cost of the enterprise.

[0021] 2. The structure of the intelligent loading robot of the present invention includes an arrangement and combination mechanism, a feeding buffer mechanism and a loading, feeding and stacking mechanism. The arrangement and combination mechanism can realize movement in the Y-axis direction, the feeding buffer mechanism can drive the whole to realize lifting in the Z-axis direction, and the loading, feeding and stacking mechanism can realize movement in the X-axis and Y-axis directions simultaneously. The integrity and coordination of the three are high, so that the process of product handling and stacking is smoother and the processing efficiency is higher;

[0022] 3. Through the structural setting of the telescopic roller feeding line, it can be suitable for the transportation of longer products and can solve the problem of actual site limitations of the products.

[0023] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a structural schematic diagram of an intelligent carton loading robot system of the present invention;

[0026] Figure 2 yes Figure 1 The schematic diagram of the structure after removing the box truck;

[0027] Figure 3 yes Figure 2 The schematic diagram of the structure after removing the telescopic roller feeding line;

[0028] Figure 4 yes Figure 3 The structural diagram of the permutation and combination mechanism;

[0029] Figure 5 yes Figure 3 Structural diagram of the feeding buffer mechanism;

[0030] Figure 6 yes Figure 3 A schematic diagram of the structure of the first side of the feeding and stacking mechanism of the mid-loader;

[0031] Figure 7 yes Figure 3 Schematic diagram of the structure of the second side of the feeding and stacking mechanism of the mid-loader.

[0032] The meanings of the various reference numerals in the figures are as follows.

[0033] 1 Support platform 2 Telescopic roller feeding line

[0034] 3 Box Trucks4 Products

[0035] 5 Intelligent loading robot 6 Arrangement and combination mechanism

[0036] 7 Feeding buffer mechanism 8 Loading feeding stacking mechanism

[0037] 9 First mounting bracket 10 Second mounting bracket

[0038] 11 First Y-axis driving base plate 12 First Y-axis fixing seat

[0039] 13 First Y-axis driving device 14 First Y-axis driving head

[0040] 15 First Y-axis connecting plate 16 First Y-axis supporting rail

[0041] 17 Arrangement and combination conveyor belt 18 First Y-axis pulley

[0042] 19 First Y-axis slide 20 First Y-axis drive mechanism

[0043] 21 Z-axis lift 22 Feeding buffer conveyor

[0044] 23 Driving steering wheel 24 Lifting floor

[0045] 25 Scissor lift arm 26 First mounting rod

[0046] 27 Lifting cylinder 28 Second mounting rod

[0047] 29 X-axis drive mechanism 30 Second Y-axis drive mechanism

[0048] 31 X-axis drive base plate 32 Second Y-axis drive base plate

[0049] 33 Servo drive motor 34 Drive chain

[0050] 35 X-axis transmission connecting plate 36 Loading, feeding and stacking conveyor belt

[0051] 37 Second Y-axis support rail 38 Second Y-axis slideway

[0052] 39 Transmission wheel mounting seat 40 X-axis pulley

[0053] 41 Second Y-axis pulley 42 X-axis support rail

[0054] 43 X-axis slide 44 Second Y-axis drive device

[0055] 45 Second Y-axis fixed seat 46 Driven wheel mounting seat

[0056] 47 Second Y-axis drive head 48 Second Y-axis connecting plate DETAILED DESCRIPTION

[0057] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0058] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, rather than all the embodiments. The components of the embodiment of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiment of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiment of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0059] Example

[0060] like Figure 1 to Figure 7 As shown,

[0061] One of the purposes of the present invention:

[0062] A carton intelligent loading robot system comprises a supporting platform 1, a telescopic roller feeding line 2, a box truck 3 and an intelligent loading robot 5. The feeding end of the telescopic roller feeding line 2 is placed on the supporting platform 1, and the discharging end of the telescopic roller feeding line 2 is connected to the intelligent loading robot 5. The intelligent loading robot 5 is located in the box truck 3. The intelligent loading robot 5 comprises an arrangement and combination mechanism 6, a feeding buffer mechanism 7 and a loading, feeding and stacking mechanism 8 in sequence along the positive direction of the X-axis. The feeding buffer mechanism 7 is connected to the arrangement and combination mechanism 6 via a first mounting bracket 9, and the feeding buffer mechanism 7 is connected to the loading, feeding and stacking mechanism 8 via a second mounting bracket 10.

[0063] Preferably, the arrangement and combination mechanism 6 includes an arrangement transmission belt 17 and a first Y-axis driving mechanism 20 from top to bottom, the movement direction of the arrangement transmission belt 17 is set along the X-axis direction, the first Y-axis driving mechanism 20 includes a first Y-axis driving base plate 11, and a first Y-axis driving device 13 is arranged on the middle position of the first Y-axis driving base plate 11 along the negative Y-axis direction. The first Y-axis driving head 14 on the first Y-axis driving device 13 along the positive direction of the Y-axis is connected to the upper arrangement transmission belt 17 through a first Y-axis connecting plate 15, and the first Y-axis driving base plate 11 on both sides of the first Y-axis driving device 13 along the X-axis direction is provided with a first Y-axis support rail 16, the first Y-axis support rail 16 is set along the Y-axis direction, and the outer side of the first Y-axis support rail 16 is opened with a first Y-axis slide groove 19, and the bottom of the arrangement transmission belt 17 is connected to the first Y-axis slide groove 19 through a first Y-axis pulley 18.

[0064] Preferably, the first Y-axis driving device 13 is installed on the first Y-axis driving base plate 11 through the first Y-axis fixing seat 12, and the first Y-axis driving device 13 is an electric cylinder.

[0065] Preferably, the feeding buffer mechanism 7 includes a feeding buffer conveyor belt 22 and a Z-axis lifting vehicle 21 from top to bottom. The movement direction of the feeding buffer conveyor belt 22 is set along the X-axis direction. The Z-axis lifting vehicle 21 drives the upper feeding buffer conveyor belt 22 to move up and down in the Z-axis direction. A driving steering wheel 23 is set at the bottom of the Z-axis lifting vehicle 21 for moving the vehicle in all directions.

[0066] Preferably, the Z-axis lifting vehicle 21 includes a lifting base plate 24, a scissors-type lifting arm 25 and a lifting vehicle electric cylinder 27. The bottom of the lifting vehicle electric cylinder 27 is installed on the lifting base plate 24 through a first mounting rod 26. The driving end of the top of the lifting vehicle electric cylinder 27 is connected to the scissors-type lifting arm 25 through a second mounting rod 28. The bottom of the scissors-type lifting arm 25 is installed in the lifting base plate 24. The lifting plate on the top of the scissors-type lifting arm 25 is connected to the feeding buffer conveyor belt 22 for lifting.

[0067] Preferably, the loading, feeding and stacking mechanism 8 includes, from top to bottom, a loading, feeding and stacking conveyor belt 36, an X-axis drive mechanism 29 and a second Y-axis drive mechanism 30. The movement direction of the loading, feeding and stacking conveyor belt 36 is set along the X-axis direction. The X-axis drive mechanism 29 drives the upper loading, feeding and stacking conveyor belt 36 to move in the X-axis direction, and the second Y-axis drive mechanism 30 drives the upper loading, feeding and stacking conveyor belt 36 to move in the Y-axis direction.

[0068] Preferably, the X-axis driving mechanism 29 includes an X-axis driving base plate 31, a servo driving motor 33 is arranged at a middle position on the X-axis driving base plate 31 along one side of the negative direction of the X-axis, the driving shaft of the servo driving motor 33 is connected to the driving arrangement of the transmission wheel set, the transmission wheel set is mounted on the X-axis driving base plate 31 through a transmission wheel mounting seat 39, a driven wheel set is arranged on one side of the X-axis driving base plate 31 along the positive direction of the X-axis, and the driven wheel set is mounted on the X-axis driving base plate 31 through a driven wheel mounting seat 46 A transmission chain 34 is connected between the driving wheel group and the driven wheel group, and the transmission chain 34 is connected to the loading, feeding and coding conveyor belt 36 above through the X-axis transmission connecting plate 35. X-axis support rails 42 are arranged on both sides of the X-axis driving base plate 31 along the Y-axis direction. The X-axis support rails 42 are arranged along the X-axis direction, and an X-axis slide groove 43 is opened on the outer side of the X-axis support rail 42. The bottom of the loading, feeding and coding conveyor belt 36 is connected to the X-axis slide groove 43 through the X-axis pulley 40.

[0069] Preferably, the second Y-axis driving mechanism 30 includes a second Y-axis driving base plate 32, a second Y-axis driving device 44 is arranged on one side along the negative Y-axis direction in the middle position of the second Y-axis driving base plate 32, a second Y-axis driving head 47 on the second Y-axis driving device 44 along the positive Y-axis direction is connected to the upper X-axis driving mechanism 29 through a second Y-axis connecting plate 48, and second Y-axis supporting rails 37 are arranged on the second Y-axis driving base plate 32 on both sides of the second Y-axis driving device 44 along the X-axis direction, the second Y-axis supporting rails 37 are arranged along the Y-axis direction, and second Y-axis slide grooves 38 are opened on the outer sides of the second Y-axis supporting rails 37, and the bottom of the X-axis driving mechanism 29 is connected to the second Y-axis slide groove 38 through a second Y-axis pulley 41.

[0070] Preferably, the second Y-axis driving device 44 is installed on the second Y-axis driving base plate 32 through the second Y-axis fixing seat 45, and the second Y-axis driving device 44 is an electric cylinder.

[0071] The second purpose of the present invention is:

[0072] A method for an intelligent carton loading robot system includes the following steps in sequence: step 1, a depalletizing robot is provided at the front end to disassemble the pallet boxes or woven bags and put them onto the telescopic roller feeding line 2; step 2, the product 4 enters the compartment of a box truck 3 along the telescopic roller feeding line 2 and approaches the intelligent loading robot 5; step 3, the intelligent loading robot 5 is provided with a carton size scanning device to adjust the direction of the product 4 according to the arrangement needs, and the arrangement and combination mechanism 6 has the function of autonomously moving and adjusting the arrangement and combination of the matching products 4 to match the loading stack shape menu; step 4, when a group of products 4 is arranged and combined as needed, they are transported to the loading feeding and stacking mechanism 8 position, and the loading feeding and stacking mechanism 8 is a pushable device, which drives the loading feeding and stacking mechanism 8 to move forward / backward, switch left / right movement, rise to a certain position, and then deliver the product 4 to a designated stacking position.

[0073] The forward movement refers to movement along the positive direction of the X-axis, the backward movement refers to movement along the negative direction of the X-axis, the left movement refers to movement along the negative direction of the Y-axis, and the right movement refers to movement along the positive direction of the Y-axis.

[0074] Preferably, in step 4, first, the intelligent loading robot 5 is located on the side of the car floor along the negative direction of the Y-axis to perform stacking operations. When the first layer of stacked products 4 is stacked in place, it is pushed down to the car floor and then slowly retreats. After unloading is completed, it is immediately moved to the side of the car along the positive direction of the Y-axis for stacking operations. After stacking is completed, it can rise one carton layer height to prepare for pushing the second layer height. The product 4 that has been adjusted and arranged and combined again is pushed to the top of the lower carton to wait for pushing. This cycle is repeated from the car on one side along the negative direction of the Y-axis to the car on the side along the positive direction of the Y-axis, and then stacked layer by layer from bottom to top, and loading is continued until the top of the car cannot be pushed into one layer, and then retreat along the negative direction of the X-axis to load the first layer of the second row, and adopts segmented backward loading until the car is finished.

[0075] Preferably, it also includes a wireless signal dispatching system and intelligent control laser graphic modeling. The intelligent loading robot 5 also includes a vehicle information and carriage positioning map system. The intelligent loading robot 5 can move its own position coordinates according to the map to adjust the moving trajectory, and calculate the carriage stacking arrangement mode and guide the direction adjustment of the product 4 according to the size of the product 4. The wireless signal dispatching system guides and drives the depalletizing robot and controls the intelligent loading robot 5 or the unmanned forklift to remove the pallet at the front end for delivery. The intelligent control laser graphic modeling controls the intelligent loading robot 5 to calibrate the driving trajectory, and laser mapping modeling is performed from one end of the truck carriage along the negative direction of the X-axis to guide the intelligent loading robot 5 to drive into the carriage along the positive direction of the X-axis. The arrangement and combination mechanism 6 and the telescopic roller feeding line 2 are arranged along the X The device is extended forward in the positive direction of the axis and is in place. The arranging and combining mechanism 6 receives the products 4 conveyed by the telescopic roller feeding line 2 and arranges and combines them according to the stacking shape. After the combination is completed, it is transported to the feeding buffer mechanism 7, and the feeding buffer mechanism 7 pushes it out and then pushes it to the loading feeding and stacking mechanism 8 to stack it on the car floor. After completion, it immediately moves to the side along the positive direction of the Y axis for the next stacking and prepares for operation again. After completion along the side of the positive direction of the Y axis, the device rises one layer height to stack the second layer height, and pushes the stacking to the product 4 on the first layer. This operation is repeated, and the highest layer of stacking is retreated for line change and position change. While retreating and changing position, the arranging and combining mechanism 6 has started the combination and arranging work of the next layer, waiting for the loading feeding and stacking mechanism 8 to be in place before transporting and pushing it out again until the loading is completed.

[0076] The present invention provides a solution for an intelligent carton loading robot system. Carton-packaged products are first depalletized by the front end, and then the system performs telescopic conveying of the cartons, vehicle identification, adjustment and arrangement of the cartons, loading and stacking in containers, vans or guardrail trucks, and neat arrangement and stacking to complete the entire loading process.

[0077] There is a depalletizing robot at the front end which disassembles the pallet boxes or woven bags and puts them onto the telescopic roller feeding line 2. The telescopic roller feeding line 2 can extend up to 60 meters in length. The cartons, i.e., products 4, enter the interior of the box truck 3 along the telescopic roller feeding line 2 and approach the intelligent loading robot 5. The intelligent loading robot 5 is equipped with a carton size scanning device which adjusts the direction of the cartons according to the arrangement needs. The carton arrangement and combination mechanism 6 has the function of autonomously moving and adjusting the matching carton arrangement and combination to match the loading stack shape menu. When a group of cartons is arranged and combined as needed, they are transported to the loading, feeding and stacking mechanism 8. The loading, feeding and stacking mechanism 8 is a pushable device that pushes the terminal forward / backward, switches the left / right moving mechanism, and rises to the position to deliver the cartons to the designated stacking position.

[0078] When the first layer of stacked cartons is in place, it is pushed down to the floor of the carriage and then slowly retreats. At this time, the belt is slowly rotating to feed the material. When the material is unloaded, it moves to the right to the other half of the carriage for stacking. After stacking, it can rise one carton layer to prepare for pushing the second layer. The cartons that have been adjusted and arranged are pushed to the top of the lower carton to wait for pushing, and the operation is repeated in this way. From the left half of the carriage to the right half of the carriage, and then from the bottom to the top, layer by layer, until the top of the carriage cannot be pushed in one more layer, then back from the front to the back to load the first layer of the second row, using segmented backward loading until the end of the carriage.

[0079] When the pushing terminal, i.e. the loading and feeding stacking mechanism 8, is pushing, stacking and moving left and right, the arrangement and combination mechanism 6 at the combination arrangement position is still continuously performing the next layer of arrangement and combination operations, and the arrangement and stacking sides cooperate to keep them in continuous progress; the operation is circulated layer by layer until it is stacked to the extreme position on the top of the carriage, and then the next row of operations is switched.

[0080] The intelligent loading robot 5 system has vehicle information and carriage positioning maps. It can move its own position coordinates according to the maps to adjust the movement trajectory, and calculate the carriage stack arrangement according to the carton size and guide the direction adjustment of the carton conveying.

[0081] When loading reaches the rear of the vehicle, a finishing function is activated. If it detects that there is less than one row, it will be discarded without being stacked.

[0082] The complete solution system combined with the control system includes: a front-end depalletizing and shipping robot, a robot control system and a positioning patrol system, a machine vision recognition system, an ultrasonic and laser sensing system, an omnidirectional mobile robot chassis lateral left / right positioning calibration system, a retractable conveying and stacking device, namely a retractable roller feeding line 2, a direction adjustment and arrangement combination device, namely an arrangement and combination mechanism 6, a terminal pushing and stacking device, namely a loading and feeding and stacking mechanism 8, and a hydraulic lifting device, namely a Z-axis lifting vehicle 21 at the feeding buffer mechanism 7.

[0083] The wireless signal dispatching system guides and drives the depalletizing robot and can control the shuttle intelligent loading robot 5 or the unmanned forklift to remove the pallet and ship the goods at the front end. The intelligent control laser graphic modeling controls the intelligent loading robot 5 to calibrate the driving trajectory, and starts the laser mapping modeling from the rear end of the truck compartment to guide the intelligent loading robot 5 to drive into the frontmost part of the compartment, adjust the arrangement and combination device, that is, the arrangement and combination mechanism 6 and the telescopic roller feeding line 2 to extend the device forward to the appropriate position, adjust the arrangement and combination device to receive the boxes, that is, the products conveyed by the telescopic roller feeding line 2, and arrange and combine them according to the needs of the stack shape, and assemble After the combination is completed, it is transported to the buffer line part and the feeding buffer mechanism 7, and the buffer line is pushed out to the loading feeding and stacking mechanism 8 terminal to push and stack it to the car floor. After completion, it is immediately moved to the right to stack the next side and prepare for another operation. After the right side is completed, the device rises one layer height to stack the second layer height, and the terminal pushes the stacking to the carton on the first layer. This operation is repeated, and the highest layer is stacked, that is, the line is changed and the position is changed. While changing the position, the arrangement device has started the combination arrangement work of the next layer, and waits for the loading feeding and stacking mechanism 8 to be in place before it is transported and pushed out again until the loading is completed.

[0084] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly referring to the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0085] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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 an indirect connection through an intermediate medium; it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for an intelligent carton loading robot system, comprising a support platform (1), a telescopic roller feeding line (2), a box truck (3) and an intelligent loading robot (5), wherein the feeding end of the telescopic roller feeding line (2) is placed on the support platform (1), the discharging end of the telescopic roller feeding line (2) is connected to the intelligent loading robot (5), the intelligent loading robot (5) is located in the box truck (3), and the intelligent loading robot (5) comprises an arrangement and combination mechanism (6), a feeding buffer mechanism (7) and a loading, feeding and stacking mechanism (8) in sequence along the positive direction of the X-axis, the feeding buffer mechanism (7) is connected to the arrangement and combination mechanism (6) via a first mounting bracket (9), and the feeding buffer mechanism (7) is connected to the loading, feeding and stacking mechanism (8) via a second mounting bracket (10); The arrangement and combination mechanism (6) comprises, from top to bottom, an arrangement transmission belt (17) and a first Y-axis driving mechanism (20), wherein the movement direction of the arrangement transmission belt (17) is arranged along the X-axis direction, and the first Y-axis driving mechanism (20) comprises a first Y-axis driving base plate (11), a first Y-axis driving device (13) is arranged at a middle position on the first Y-axis driving base plate (11) on one side along the negative Y-axis direction, and a first Y-axis driving head (14) on the first Y-axis driving device (13) on one side along the positive Y-axis direction is connected to the first Y-axis driving head (14) through the first Y-axis driving head (14) The first Y-axis driving device (13) is connected to the arrangement transmission belt (17) above through the first Y-axis connecting plate (15); the first Y-axis driving bottom plate (11) on both sides along the X-axis direction is provided with a first Y-axis support track (16); the first Y-axis support track (16) is arranged along the Y-axis direction; the outer side of the first Y-axis support track (16) is provided with a first Y-axis slide groove (19); the bottom of the arrangement transmission belt (17) is connected to the first Y-axis slide groove (19) through a first Y-axis pulley (18); The feeding buffer mechanism (7) comprises, from top to bottom, a feeding buffer conveyor belt (22) and a Z-axis lifting vehicle (21), wherein the movement direction of the feeding buffer conveyor belt (22) is arranged along the X-axis direction, the Z-axis lifting vehicle (21) drives the feeding buffer conveyor belt (22) above to move up and down in the Z-axis direction, and a driving steering wheel (23) is arranged at the bottom of the Z-axis lifting vehicle (21); The loading, feeding and stacking mechanism (8) comprises, from top to bottom, a loading, feeding and stacking conveyor belt (36), an X-axis driving mechanism (29) and a second Y-axis driving mechanism (30), wherein the movement direction of the loading, feeding and stacking conveyor belt (36) is arranged along the X-axis direction, the X-axis driving mechanism (29) drives the upper loading, feeding and stacking conveyor belt (36) to move in the X-axis direction, and the second Y-axis driving mechanism (30) drives the upper loading, feeding and stacking conveyor belt (36) to move in the Y-axis direction; Features: The method comprises the following steps in sequence: step 1, a depalletizing robot is provided at the front end to disassemble the pallet boxes or woven bags and place them onto the telescopic roller feeding line (2); step 2, the products (4) enter the compartment of the box truck (3) along the telescopic roller feeding line (2) and approach the intelligent loading robot (5); step 3, the intelligent loading robot (5) is provided with a carton size scanning device to adjust and combine the products (4) in the direction according to the arrangement requirements, and the arrangement and combination mechanism (6) has the function of autonomously moving and adjusting the arrangement and combination of the matching products (4) to match the loading stacking menu; step 4, when a group of products (4) is arranged and combined as required, they are transported to the loading feeding and stacking mechanism (8) position, and the loading feeding and stacking mechanism (8) is a pushable device, which drives the loading feeding and stacking mechanism (8) to move forward / backward, switch left / right movement, rise to a certain position, and then deliver the products (4) to the designated stacking position; In step 4, first, the intelligent loading robot (5) is located on the side of the carriage floor along the negative direction of the Y axis to perform stacking operations. When the first layer of stacked products (4) is stacked in place, it is pushed down to the carriage floor and then slowly retreats. After unloading is completed, it is immediately moved to the side of the carriage along the positive direction of the Y axis to perform stacking operations. After stacking is completed, it can rise one carton layer height to prepare for pushing the second layer height. The products (4) that have been adjusted and arranged and combined again are pushed to the top of the lower carton to wait for pushing. This cycle is repeated from the side of the carriage along the negative direction of the Y axis to the side of the carriage along the positive direction of the Y axis, and then stacked layer by layer from bottom to top, until the top of the carriage cannot be pushed in one layer, and then it retreats along the negative direction of the X axis to load the first layer of the second row, and adopts segmented backward loading until the carriage is finished. It also includes a wireless signal dispatching system and intelligent control laser graphics modeling. The intelligent loading robot (5) also includes a vehicle information and carriage positioning map system. The intelligent loading robot (5) can move its own position coordinates according to the map to adjust the moving trajectory, and calculate the carriage stacking arrangement according to the product (4) size and guide the adjustment of the product (4) conveying direction. The wireless signal dispatching system guides and drives the depalletizing robot and controls the intelligent loading robot (5) or an unmanned forklift to remove the pallet at the front end for delivery. The intelligent control laser graphics modeling controls the intelligent loading robot (5) to align and calibrate the driving trajectory. Laser mapping modeling is performed from one end of the truck carriage along the negative direction of the X-axis to guide the intelligent loading robot (5) to drive into the carriage along the positive direction of the X-axis. The arrangement and combination mechanism (6) and the telescopic roller feeding line (2) are arranged along the X-axis. The forward stretching device in the positive direction is in place, and the arrangement and combination mechanism (6) receives the products (4) delivered by the telescopic roller feeding line (2) and arranges and combines them according to the stacking shape. After the combination is completed, the products are delivered to the feeding buffer mechanism (7). The feeding buffer mechanism (7) pushes out the products and then pushes them to the loading feeding stacking mechanism (8) to be stacked on the carriage floor. After the completion, the products are immediately moved to the side along the positive direction of the Y axis to stack the products for the next time and prepare for another operation. After the completion is completed along the side along the positive direction of the Y axis, the device rises one layer height to stack the products at the second layer height and pushes them to be stacked on the products (4) on the first layer. The operation is repeated in this way. The highest layer of stacking is retreated and changed. While retreating and changing positions, the arrangement and combination mechanism (6) has already started the combination and arrangement work of the next layer, and waits for the loading feeding stacking mechanism (8) to be in place before transporting and pushing out the products again until the loading is completed.

2. The method of the intelligent carton loading robot system according to claim 1, characterized in that: The Z-axis lifting vehicle (21) comprises a lifting base plate (24), a scissor-type lifting arm (25) and a lifting vehicle electric cylinder (27); the bottom of the lifting vehicle electric cylinder (27) is mounted on the lifting base plate (24) via a first mounting rod (26); the driving end at the top of the lifting vehicle electric cylinder (27) is connected to the scissor-type lifting arm (25) via a second mounting rod (28); the bottom of the scissor-type lifting arm (25) is mounted in the lifting base plate (24); and the lifting plate at the top of the scissor-type lifting arm (25) is connected to the feeding buffer conveyor belt (22) in a lifting manner.

3. The method of the intelligent carton loading robot system according to claim 1, characterized in that: The X-axis drive mechanism (29) comprises an X-axis drive base plate (31), a servo drive motor (33) is arranged at a middle position on the X-axis drive base plate (31) on one side along the negative direction of the X-axis, a drive shaft of the servo drive motor (33) is arranged in driving connection with a transmission wheel group, the transmission wheel group is mounted on the X-axis drive base plate (31) via a transmission wheel mounting seat (39), a driven wheel group is arranged on one side of the X-axis drive base plate (31) along the positive direction of the X-axis, the driven wheel group is mounted on the X-axis drive base plate (31) via a driven wheel mounting seat (46), and the transmission A transmission chain (34) is connected between the driving wheel group and the driven wheel group, and the transmission chain (34) is connected to the upper loading, feeding and coding conveyor belt (36) through an X-axis transmission connecting plate (35). X-axis support rails (42) are arranged on both sides of the X-axis driving bottom plate (31) along the Y-axis direction, and the X-axis support rails (42) are arranged along the X-axis direction. An X-axis slide groove (43) is opened on the outer side of the X-axis support rail (42), and the bottom of the loading, feeding and coding conveyor belt (36) is connected to the X-axis slide groove (43) through an X-axis pulley (40).

4. The method of the intelligent carton loading robot system according to claim 1, characterized in that: The second Y-axis driving mechanism (30) comprises a second Y-axis driving base plate (32); a second Y-axis driving device (44) is arranged at a middle position on one side along the negative Y-axis direction on the second Y-axis driving base plate (32); a second Y-axis driving head (47) on the second Y-axis driving device (44) along one side along the positive Y-axis direction is connected to the upper X-axis driving mechanism (29) through a second Y-axis connecting plate (48); second Y-axis supporting rails (37) are arranged on the second Y-axis driving base plates (32) on both sides of the second Y-axis driving device (44) along the X-axis direction; the second Y-axis supporting rails (37) are arranged along the Y-axis direction; second Y-axis sliding grooves (38) are arranged on the outer sides of the second Y-axis supporting rails (37); and the bottom of the X-axis driving mechanism (29) is connected to the second Y-axis sliding grooves (38) through a second Y-axis pulley (41).

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