Insertion-Type Loading and Unloading Robot and Loading and Unloading Control Method

Abstract

The present application provides an intrusive loading and unloading robot and a loading and unloading control method, relating to the technical field of robots. The robot includes a rotating arm mechanism, a suction cup mechanism, a support trolley, and a conveyor belt; the conveyor belt is installed on the support trolley, and the support trolley is used to adjust the horizontal position and height of the conveyor belt; the rotating arm mechanism includes a rotating arm component and a displacement adjustment component; the suction cup mechanism includes a suction cup component and an angle adjustment component; the displacement adjustment component is used to adjust the position of the suction cup component relative to the conveyor belt; the rotating arm component is used to adjust the angle of the suction cup component relative to the conveyor belt; the angle adjustment component is used to adjust the angle of the suction cup component relative to the rotating arm component; the suction cup component is used to cooperate with the conveyor belt for loading and unloading goods. Through the rotating arm mechanism and the suction cup mechanism, loading and unloading operations can be carried out in areas that the conveyor belt cannot reach, improving the adaptability to different loading and unloading scenarios.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to an in-depth loading and unloading robot and a loading and unloading control method. Background Art

[0002] In the logistics industry, most goods are transferred and transported in the form of containers. The loading and unloading of containers is involved. Currently, the loading and unloading of containers mainly relies on manual labor, but there are drawbacks such as high labor intensity and low efficiency in manual loading and unloading of containers.

[0003] To facilitate the loading and unloading of containers, a loading and unloading robot is a relatively effective solution at present, especially an in-depth robot. The in-depth robot is equipped with a conveyor belt system, which can be adjusted according to the loading scenario. For example, when applied in a van, the conveyor belt system can extend into the interior of the van compartment. After reaching the stacking position of the containers, the containers are sent out through the conveyor belt in cooperation with the suction cup device. However, the existing in-depth robots have the following disadvantages: The suction cup device can only assist in pushing or pulling the container forward or backward on the conveyor belt, and there are no other further operations. When it comes to scenarios where the conveyor belt cannot reach, such as when the lowest height that the conveyor belt can lower is higher than the height of the unloading position, the suction cup device on the existing loading and unloading robots cannot send out the container. Even if the container can be forcibly sent out, it may cause the container to fall, resulting in damage to the container. Therefore, the current loading and unloading robots have poor adaptability in loading and unloading scenarios and need to be improved.

[0004] Therefore, a new in-depth loading and unloading robot is needed, which can better adapt to different loading and unloading scenarios and complete the loading and unloading of containers. Summary of the Invention

[0005] In view of this, the embodiments of this specification provide an in-depth loading and unloading robot and a loading and unloading control method, which can better adapt to different loading and unloading scenarios and complete the loading and unloading of packed containers.

[0006] The embodiments of this specification provide the following technical solutions:

[0007] The embodiments of this specification provide an in-depth loading and unloading robot, including: a rotating arm mechanism, a suction cup mechanism, a support trolley, and a conveyor belt;

[0008] The conveyor belt is installed on the support trolley, and the support trolley is used to adjust the horizontal position and height of the conveyor belt;

[0009] The rotating arm mechanism includes a rotating arm component and a displacement adjustment component;

[0010] The suction cup mechanism includes a suction cup component and an angle adjustment component;

[0011] The displacement adjustment component and the rotating arm component are sequentially connected to the conveyor belt. The angle adjustment component is connected to the rotating arm component, and the suction cup component is connected to the angle adjustment component;

[0012] The displacement adjustment component is used to drive the rotating arm component to slide relative to the conveyor belt to adjust the position of the suction cup component relative to the conveyor belt. The sliding direction of the rotating arm component relative to the conveyor belt is parallel to the conveying direction of the conveyor belt;

[0013] The rotating arm component is used to drive the angle adjustment component to rotate relative to the conveyor belt to adjust the angle of the suction cup component relative to the conveyor belt. The axis direction of the angle adjustment component relative to the conveyor belt is horizontally arranged and perpendicular to the conveying direction of the conveyor belt;

[0014] The angle adjustment component is used to drive the suction cup component to rotate relative to the rotating arm component to adjust the angle of the suction cup component relative to the rotating arm component. The axis direction of the suction cup component relative to the rotating arm component is parallel to the axis direction of the rotating arm component relative to the conveyor belt;

[0015] The suction cup component is used to cooperate with the conveyor belt for loading and unloading goods.

[0016] Preferably, the displacement adjustment component includes two sets of displacement adjustment assemblies respectively arranged on both sides of the conveyor belt;

[0017] The displacement adjustment assembly includes a linear motor and a slide table mounted on the linear motor. The slide table is connected to the rotating arm component;

[0018] The linear motor is used to drive the slide table to slide to drive the rotating arm component to slide relative to the conveyor belt.

[0019] Preferably, the rotating arm component includes two sets of rotating arm assemblies, and the two sets of rotating arm assemblies are respectively located on both sides of the conveyor belt;

[0020] The rotating arm assembly includes a rotating arm body and a first driving member. The rotating arm body is rotationally connected to the conveyor belt through the displacement adjustment component and the first driving member; the first driving member is used to drive the rotating arm body to rotate relative to the conveyor belt to drive the angle adjustment component to rotate relative to the conveyor belt.

[0021] Preferably, the angle adjustment component includes a suction cup bracket and a second driving member;

[0022] The suction cup bracket is rotationally connected to the rotating arm component. The axis direction of the suction cup bracket is horizontally arranged and also perpendicular to the conveying direction of the conveyor belt. The suction cup component is mounted on the suction cup bracket;

[0023] The second driving member is mounted on the rotating arm component and is used to drive the suction cup bracket to rotate to adjust the angle of the suction cup component relative to the rotating arm component.

[0024] Preferably, the suction cup component includes a suction cup mounting bracket, a third driving member, and a plurality of suction cup bodies;

[0025] The suction cup mounting bracket is rotatably connected to the suction cup support, the rotation axis of the suction cup mounting bracket is perpendicular to the rotation axis of the suction cup support, and the third driving member is used to drive the suction cup mounting bracket to rotate;

[0026] A plurality of suction cup bodies are respectively installed at one end of the suction cup mounting bracket facing away from the suction cup support for adsorbing the cargo box.

[0027] Preferably, a lifting component is further provided between the suction cup support and the rotating arm component;

[0028] The lifting component includes a fourth driving assembly and a lifting seat slidably connected to the rotating arm component, and the suction cup support is rotatably connected to the rotating arm component through the lifting seat;

[0029] The fourth driving assembly is used to drive the lifting seat to slide relative to the rotating arm component to adjust the height of the suction cup support relative to the conveyor belt.

[0030] Preferably, the support cart includes a vehicle body, a height adjustment component and a horizontal adjustment component provided on the vehicle body;

[0031] The height adjustment component includes a telescopic strut and a robotic arm;

[0032] The telescopic strut is hinged to the conveyor belt, and the conveyor belt is lifted by the telescopic movement of the telescopic strut;

[0033] The robotic arm is hinged to the conveyor belt and cooperates with the telescopic strut to adjust the height of the conveyor belt;

[0034] The horizontal adjustment component includes a plurality of rollers provided outside the vehicle body, and the plurality of rollers are used to drive the vehicle body to move to adjust the horizontal position of the conveyor belt.

[0035] Preferably, the robotic arm is a two-degree-of-freedom robotic arm;

[0036] The first arm of the two-degree-of-freedom robotic arm is rotatably connected to the vehicle body, and the rotation axis of the first arm is vertically arranged;

[0037] The second arm of the two-degree-of-freedom robotic arm is rotatably connected to the first arm, and the rotation axis of the second arm is perpendicular to the rotation axis of the first arm;

[0038] The horizontal adjustment component further includes a strut base, the strut base is fixedly connected to the first arm, and the telescopic strut is installed on the strut base;

[0039] When the first arm rotates, the strut base rotates with the first arm to drive the conveyor belt to rotate relative to the vehicle body.

[0040] Preferably, it further includes a sensor system and a control system;

[0041] The sensor system includes a vision sensor, an ultrasonic anti-collision sensor, and a laser sensor;

[0042] The vision sensor is used to detect the image information in the area to be loaded / unloaded and on the conveyor belt, and output the image information to the control system;

[0043] The ultrasonic anti-collision sensor is used to detect the position information of the area to be loaded / unloaded relative to the conveyor belt, and output the position information to the control system;

[0044] The laser sensor is used to detect the distance information of the area to be loaded / unloaded relative to the conveyor belt, and output the distance information to the control system;

[0045] The control system receives the image information, position information, and distance information, and controls the rotation arm mechanism, the suction cup mechanism, the support trolley, and the conveyor belt to cooperate with each other to load and unload the cargo box.

[0046] The embodiment of this specification also provides a control method for an intrusive loading and unloading robot, including a loading method and an unloading method;

[0047] The steps of the loading method are as follows:

[0048] S11. The vision sensor, the ultrasonic anti-collision sensor, and the laser sensor are turned on to detect the position information, distance information of the area to be loaded / unloaded relative to the conveyor belt, and the image information between the area to be loaded / unloaded and on the conveyor belt, and output the image information, position information, and distance information to the control system;

[0049] S12. The control system controls the loading and unloading end of the conveyor belt to penetrate into the area to be loaded / unloaded according to the image information, distance information, and position information;

[0050] S13. The control system obtains the cargo box size information on the conveyor belt according to the image information;

[0051] S14. The control system adjusts the penetration degree of the loading and unloading end of the conveyor belt relative to the area to be loaded / unloaded according to the cargo box size information, and reserves a placement space for the cargo box;

[0052] S15. The conveyor belt starts to move, and the rotation arm mechanism and the suction cup mechanism cooperate with each other to place the cargo box on the conveyor belt into the area to be loaded / unloaded;

[0053] S16. The rotation arm mechanism drives the suction cup mechanism to try to push the cargo box;

[0054] The steps of the unloading method are as follows:

[0055] S21. The visual sensor, ultrasonic anti-collision sensor, and laser sensor are activated to detect the position information, distance information of the area to be loaded and unloaded relative to the conveyor belt, and the image information of the area to be loaded and unloaded on the conveyor belt, and output the image information, position information, and distance information to the control system;

[0056] S22. The control system controls the loading and unloading end of the conveyor belt to approach the area to be loaded and unloaded according to the image information, position information, and distance information;

[0057] S23. The control system adjusts the height of the loading and unloading end of the conveyor belt according to the image information;

[0058] S24. The rotating arm mechanism and the suction cup mechanism cooperate with each other to suck and pull the cargo box to the loading and unloading end of the conveyor belt.

[0059] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification at least include:

[0060] 1. By setting the rotating arm mechanism, the adjustable degree of freedom of the suction cup mechanism is increased, and thus it can adapt to more loading and unloading situations. For example, when the height of the conveyor belt cannot be adjusted to be lower than the height of the area to be loaded and unloaded, the rotating arm mechanism can be used to adjust the angle of the suction cup mechanism relative to the conveyor belt, so that the suction cup mechanism rotates below the conveyor belt to perform loading and unloading operations on the area to be loaded and unloaded that is lower than the conveyor belt; or when the height of the conveyor belt cannot be adjusted to be higher than the height of the area to be loaded and unloaded, the rotating arm mechanism can be used to adjust the angle of the suction cup structure relative to the conveyor belt, so that the suction cup mechanism rotates above the conveyor belt to perform loading and unloading operations on the area to be loaded and unloaded that is higher than the conveyor belt; it has stronger adaptability to different loading and unloading scenarios;

[0061] 2. The displacement adjustment component in the rotating arm mechanism can also translate relative to the conveyor belt through the rotating arm component, cooperate with the suction cup component, and complete a simple and efficient pulling action to achieve the rapid loading and unloading of the cargo box. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Figure 1 is the overall structural schematic diagram of the in-depth loading and unloading robot in this embodiment;

[0064] Figure 2 is the partial structural schematic diagram of the support trolley in this embodiment;

[0065] Figure 3It is a schematic structural diagram of the conveyor belt, the rotating arm mechanism and the suction cup mechanism in this embodiment;

[0066] Figure 4 It is a schematic structural diagram of the rotating arm body driving the suction cup body to move above the loading and unloading end of the conveyor belt in this embodiment;

[0067] Figure 5 It is a schematic structural diagram of the rotating arm body driving the suction cup body to move below the loading and unloading end of the conveyor belt in this embodiment;

[0068] Figure 6 It is a schematic flow diagram of the control method of the probing type loading and unloading robot in this embodiment;

[0069] Figure 7 It is a schematic flow diagram of the loading method in this embodiment;

[0070] Figure 8 It is a schematic flow diagram of the unloading method in this embodiment.

[0071] Reference numerals: 1, rotating arm mechanism; 11, rotating arm component; 111, rotating arm body; 12, displacement adjusting component; 121, linear motor; 122, sliding table; 13, lifting component; 2, suction cup mechanism; 21, suction cup component; 211, suction cup mounting frame; 212, suction cup body; 22, angle adjusting component; 221, suction cup support; 3, support trolley; 31, vehicle body body; 32, height adjusting component; 321, telescopic support column; 322, robotic arm; 33, horizontal adjusting component; 331, support column base; 332, roller; 4, conveyor belt; 5, bottom vision sensor. Detailed implementation manners

[0072] The following will describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0073] The following illustrates the implementation manners of the present application through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0074] It should be noted that the following description relates to various aspects of embodiments within the scope of the appended claims. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device can be implemented and this method can be practiced using other structures and / or functionality in addition to one or more of the aspects set forth herein.

[0075] It should also be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of this application. Only the components related to this application are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the layout type of its components may also be more complex.

[0076] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that these examples can be practiced without these specific details.

[0077] The inventor has found that current loading and unloading robots have poor adaptability to loading and unloading scenarios. They can only load and unload goods in loading and unloading scenarios that the conveyor belt can reach, and it is difficult to load and unload goods in loading and unloading scenarios that the conveyor belt cannot reach in terms of height or position.

[0078] Based on this, the embodiments of this specification propose a probing type loading and unloading robot: as Figure 1 shown, it includes a rotating arm mechanism 1, a suction cup mechanism 2, a support trolley 3, and a conveyor belt 4; through the mutual cooperation of the rotating arm mechanism 1 and the suction cup mechanism 2, the degree of freedom of the suction cup mechanism 2 is increased, and the suction cup mechanism 2 can complete the loading and unloading of the cargo box in more loading and unloading scenarios, improving the adaptability to loading and unloading scenarios.

[0079] The following will describe the technical solutions provided by the embodiments of this application with reference to the accompanying drawings.

[0080] Refer to Figure 1 , the embodiments of this specification provide a probing type loading and unloading robot, including a rotating arm mechanism 1, a suction cup mechanism 2, a support trolley 3, a conveyor belt 4, a sensor system, and a control system.

[0081] Refer to Figure 1 and Figure 2 , the support trolley 3 includes a vehicle body main body 31, a height adjustment component 32, and a horizontal adjustment component 33.

[0082] The height adjustment component 32 includes a telescopic support 321 and a robotic arm 322.

[0083] The robotic arm 322 is specifically a two-degree-of-freedom robotic arm. The first arm of the two-degree-of-freedom robotic arm is rotatably connected to the base of the vehicle body 31, and the rotation axis of the first arm is arranged in the vertical direction. The second arm of the two-degree-of-freedom robotic arm is rotatably connected to the first arm, and the direction of the rotation axis of the second arm is perpendicular to the direction of the rotation axis of the first arm. The end of the second arm away from the first arm is hinged to the lower end of the conveyor belt 4, and specifically, it can be connected through a movable ball joint to achieve the hinge between the second arm and the lower end of the conveyor belt 4.

[0084] The telescopic support 321 can be hydraulic, electric, or pneumatic, as long as it can achieve the lifting of the conveyor belt 4, and no further limitations are made here. The telescopic support 321 can be two, one, or other quantities, specifically depending on the load capacity required by the conveyor belt 4.

[0085] The horizontal adjustment component 33 includes a support base 331 and several rollers 332.

[0086] A chute is provided at the bottom of the support base 331, and a semi-circular guide rail is provided at the bottom of the vehicle body 31. The support base 331 is slidably connected to the semi-circular guide rail through the chute. The support base 331 is fixedly connected to the first arm and rotates relative to the vehicle body 31 following the rotation of the first arm. One end of the telescopic support 321 is fixedly connected to the support base 331, and the other end of the telescopic support 321 is hinged to the lower end of the conveyor belt 4 through a movable ball joint. Thus, when the first arm rotates, the second arm and the telescopic support 321 will drive the conveyor belt 4 to rotate horizontally relative to the vehicle body 31 for position adjustment in the horizontal direction. When the telescopic support 321 adjusts the height of the conveyor belt 4, the robotic arm 322 can cooperate to adjust the height, and the robotic arm 322 can also independently adjust the height of the conveyor belt 4.

[0087] The several rollers 332 are evenly divided into four groups and are respectively rotatably connected to the four corners of the vehicle body 31, facilitating driving the vehicle body 31 to move in the horizontal direction to adjust the position of the conveyor belt 4 in the horizontal direction.

[0088] The rotary arm mechanism 1 includes a rotary arm component 11, a displacement adjustment component 12, and a lifting component 13.

[0089] The displacement adjustment component 12 includes two sets of displacement adjustment assemblies respectively arranged on both sides of the conveyor belt 4.

[0090] Refer to Figure 1 and Figure 3, the displacement adjustment component includes a linear motor 121 installed on the side of the conveyor belt 4 and a slide table 122 installed on the linear motor 121. The linear motor 121 is used to drive the slide table 122 to slide, and the sliding direction of the slide table 122 is parallel to the conveying direction of the conveyor belt 4. First limit blocks and second limit blocks are respectively arranged at both ends of the linear motor 121 to limit the sliding stroke of the slide table 122. The first limit block is arranged near the loading and unloading end of the conveyor belt 4, and the loading and unloading end of the conveyor belt 4 specifically refers to the end where the conveyor belt 4 extends into the area to be loaded and unloaded.

[0091] The rotating arm component 11 includes two groups of rotating arm assemblies respectively arranged on both sides of the conveyor belt 4. The two groups of rotating arm assemblies are arranged in one-to-one correspondence with the two groups of displacement adjustment components.

[0092] The rotating arm assembly includes a rotating arm body 111 and a first driving member. The first driving member is a servo motor. The first driving member is installed on the slide table 122 in the corresponding displacement adjustment component, and the rotating arm body 111 is fixedly connected to the output shaft of the first driving member. The output shaft of the first driving member rotates to drive the rotating arm body 111 to rotate relative to the conveyor belt 4. The rotation axis of the rotating arm body 111 is horizontally arranged, and the direction of the rotation axis of the rotating arm body 111 is perpendicular to the conveying direction of the conveyor belt 4.

[0093] Alternatively, the first driving member can also be a stepping motor, or the first driving member can also be a combination of a servo motor and a speed reducer, so as to increase the torque and improve the load capacity of the rotating arm.

[0094] There are two groups of lifting components 13 in total, and the two groups of lifting components 13 are respectively arranged on two rotating arm bodies 111.

[0095] The lifting component 13 includes a fourth driving assembly and a lifting seat. The fourth driving assembly is a linear module. The fourth driving assembly is installed on the corresponding rotating arm body 111, and the lifting seat is fixed on the slide seat of the fourth driving assembly and slides relative to the rotating arm body 111 under the drive of the fourth driving assembly. The sliding direction of the lifting seat is parallel to the length direction of the rotating arm body 111. The two lifting seats are respectively located at the opposite ends of the two rotating arm bodies 111.

[0096] Alternatively, the fourth driving assembly can also be a synchronous belt structure or a synchronous chain structure, as long as it can drive the lifting seat to slide relative to the rotating arm body 111.

[0097] The suction cup mechanism 2 includes a suction cup component 21 and an angle adjustment component 22.

[0098] The angle adjustment component 22 includes a suction cup bracket 221 and a second driving member.

[0099] Refer to Figures 3 to 5The second driving member is a servo motor. There are two second driving members in total. The two second driving members are respectively installed on the opposite ends of the two lifting seats. The output shafts of the two second driving members are arranged opposite to each other, and the axes of the output shafts of the two second driving members coincide. The two ends of the suction cup bracket 221 are respectively fixedly connected to the output shafts of the two second driving members, and under the drive of the two driving members, the suction cup bracket 221 rotates relative to the two rotating arm bodies 111. The rotation axis of the suction cup bracket 221 is arranged horizontally, and the rotation axis direction of the suction cup bracket 221 is perpendicular to the conveying direction of the conveyor belt 4.

[0100] Alternatively, the second driving member may be a stepper motor, and the second driving member may be provided as one, and the single second driving member may drive the suction cup bracket 221 to rotate relative to the two rotating arm bodies 111. Alternatively, the second driving member may be a combination of a servo motor and a reducer to increase the torque of the suction cup bracket 221.

[0101] The suction cup component 21 includes a suction cup mounting frame 211 , a third driving member and a plurality of suction cup bodies 212 .

[0102] The suction cup mounting frame 211 is rotatably connected to the suction cup bracket 221, and the rotation axis direction of the suction cup mounting frame 211 is perpendicular to the rotation axis direction of the suction cup bracket 221. The third driving member is a servo motor, and the third driving member is used to drive the suction cup mounting frame 211 to rotate. A plurality of suction cup bodies 212 are fixed to one end of the suction cup mounting frame 211 away from the suction cup bracket 221, and the plurality of suction cup bodies 212 are arranged in sequence along the length direction of the suction cup mounting frame 211. In actual use, the suction cup body 212 is used to adsorb the cargo box.

[0103] Alternatively, the third driving member may also be a stepping motor.

[0104] In other embodiments, the displacement adjustment component 12 may also be a combination of a displacement adjustment component and a sliding component, wherein the sliding component includes a linear guide rail and a slide 122 slidably connected to the linear guide rail. Thus, only one set of displacement adjustment components and the sliding component are required to cooperate to drive the two sets of rotating arm components to move. The displacement adjustment component 12 may also be a combination of other types of motion mechanisms, such as synchronous belts, chains, etc.

[0105] Reference Figure 1 , Figure 4 and Figure 5 The cooperative relationship between the rotating arm component 11, the displacement adjustment component 12, the lifting component 13, the suction cup component 21 and the angle adjustment component 22 is as follows:

[0106] The two sets of displacement adjustment components in the displacement adjustment component 12 are respectively used to drive the two sets of rotating arm components to slide relative to the conveyor belt 4 in the conveying direction, so as to adjust the relative position of the suction cup body 212 relative to the conveyor belt 4 in the conveying direction. Furthermore, when the suction cup body 212 adsorbs the cargo box, the cargo box can be conveyed above the conveyor belt 4 through the displacement adjustment component.

[0107] The two sets of rotating arm components drive the suction cup bracket 221 to rotate relative to the conveyor belt 4 by rotating relative to the conveyor belt 4, and then adjust the angle of the suction cup body 212 relative to the conveyor belt 4. And the suction cup body 212 can move above or below the conveyor belt 4 by rotating the rotating arm body 111, and is used to adsorb the cargo box above or below the loading and unloading end of the conveyor belt 4.

[0108] The two sets of lifting components 13 are used to adjust the relative position between the suction cup bracket 221 and the two rotating arm bodies 111, and then adjust the position of the suction cup body 212 relative to the rotating arm body 111, so as to realize the height adjustment of the suction cup body 212 and realize the lifting of the cargo box.

[0109] The suction cup bracket 221 rotates relative to the two rotating arm bodies 111 through the adjustment of the second driving part, and adjusts the angle of the suction cup body 212 relative to the two rotating arms, mainly used to adjust the adsorption position between the suction cup body 212 and the cargo box to adapt to different cargo box surfaces.

[0110] The relative rotation between the suction cup mounting frame 211 and the suction cup bracket 221 is realized through the third driving part, and the cargo box adsorbed by the suction cup body 212 can be driven to rotate by rotating the suction cup mounting frame 211, so as to adjust the angle of the cargo box relative to the conveyor belt 4 and solve the situation that the conveyor belt 4 cannot transport the cargo box because the length of the cargo box exceeds the width of the conveyor belt 4.

[0111] The sensor system includes a vision sensor, an ultrasonic anti-collision sensor and a laser sensor.

[0112] Refer to Figure 1 and Figure 2 As shown in

[0113] There are multiple ultrasonic anti-collision sensors, which are respectively arranged on the vehicle body 31 and the conveyor belt 4. The ultrasonic anti-collision sensors arranged on the vehicle body 31 are used to detect the position information of the surrounding environment of the loading and unloading area relative to the vehicle body 31, and output the position information to the control system, so as to adjust the position of the vehicle body 31 in time to avoid collision. The ultrasonic anti-collision sensors arranged on the conveyor belt 4 are used to detect the position information of the surrounding environment of the loading and unloading area relative to the conveyor belt 4, and output the position information to the control system, so as to adjust the position of the conveyor belt 4 in time to avoid collision. The specific number of ultrasonic anti-collision sensors depends on the actual situation and is not limited too much in this embodiment.

[0114] There are multiple laser sensors, which are respectively located on the vehicle body 31 and the conveyor belt 4. The laser sensors arranged on the vehicle body 31 are used to detect the distance information of the loading and unloading area relative to the vehicle body 31, and output the distance information to the control system, so that the control system can adjust the distance between the vehicle body 31 and the loading and unloading area. The laser sensors arranged on the conveyor belt 4 are used to detect the distance information of the loading and unloading area relative to the conveyor belt 4, and output the distance information to the control system, so that the control system can adjust the distance between the conveyor belt 4 and the loading and unloading area.

[0115] Refer to Figure 6 , this embodiment of the specification also provides a control method for a probing type loading and unloading robot, including a loading method and an unloading method.

[0116] Refer to Figure 6 and Figure 7 , the steps of the loading method are as follows:

[0117] S11, the vision sensor, the ultrasonic anti-collision sensor and the laser sensor are turned on to detect the position information, distance information of the loading and unloading area relative to the conveyor belt 4, and the image information on the conveyor belt 4 and the loading and unloading area, and output the image information, position information and distance information to the control system.

[0118] This step is mainly used to detect the position relationship, distance relationship between the conveyor belt 4 and the loading and unloading area, and the cargo situation on the conveyor belt 4, and collect and feedback the information to the control system for subsequent operations. During this process, the vision sensor, ultrasonic anti-collision sensor and laser sensor on the vehicle body 31 will also timely feedback the position information, distance information and image information of the vehicle body 31 relative to the loading and unloading area to the control system, so as to adjust the position of the support trolley 3 relative to the loading and unloading area in time.

[0119] S12, the control system controls the loading and unloading end of the conveyor belt 4 to penetrate into the loading and unloading area according to the image information, distance information and position information.

[0120] By detecting the position information and distance information between the conveyor belt 4 and the loading and unloading area, the control system gives corresponding instructions to control the movement of the support trolley 3, driving the conveyor belt 4 to extend into the loading and unloading area.

[0121] S13. The control system obtains the size information of the cargo box on the conveyor belt 4 according to the image information.

[0122] After the conveyor belt 4 extends near the loading and unloading area, the size information of the cargo box is detected by the vision sensor to judge the situation of the cargo box on the conveyor belt 4.

[0123] S14. The control system adjusts the penetration degree of the loading and unloading end of the conveyor belt 4 relative to the loading and unloading area according to the size information of the cargo box, reserving a placement space for the cargo box.

[0124] According to the size and quantity of the cargo box, the penetration degree of the loading and unloading end of the conveyor belt 4 relative to the loading and unloading area is adjusted by the support trolley 3, reserving a placement space for stacking the cargo box on the loading and unloading area.

[0125] S1401. The control system calculates the lifting angle or lowering angle of the second arm and the lifting height or lowering height of the telescopic support 321 according to the position information and distance information between the conveyor belt 4 and the loading and unloading area, and adjusts the height of the conveyor belt 4 relative to the loading and unloading area.

[0126] This process is mainly to reserve the space for loading and the space for the rotating arm body 111 to move, facilitating rapid loading.

[0127] S1402. The control system adjusts the angles and distances of the rotating arm body 111 and the suction cup body 212 relative to the conveyor belt 4 according to the position information and distance information between the conveyor belt 4 and the loading and unloading area.

[0128] This process is to complete the initialization of the rotating arm body 111 and the suction cup body 212, facilitating subsequent loading operations.

[0129] S15. The conveyor belt 4 starts to move, and the rotating arm mechanism 1 and the suction cup mechanism 2 cooperate with each other to place the cargo box on the conveyor belt 4 in the loading and unloading area.

[0130] The process of the rotating arm mechanism 1 and the suction cup mechanism 2 cooperating with each other to load the cargo box with a width meeting the requirements of the conveyor belt 4 is as follows:

[0131] S1501. The conveyor belt 4 first moves the cargo box to the preset adsorption position, and the linear motor 121 drives the rotating arm body 111 to move to the middle position between the first limit block and the second limit block;

[0132] S1502, the second driving member drives the suction cup support 221 to rotate, adjusts the suction cup body 212 so that the suction cup body 212 aligns with the cargo box;

[0133] S1503, the fourth driving assembly drives the lifting seat to slide relative to the rotating arm body 111, lowers the suction cup body 212 until it fits against the cargo box, so that the suction cup body 212 adsorbs the cargo box;

[0134] S1504, after the cargo box is adsorbed, the fourth driving assembly drives the lifting seat to move upward, so that the suction cup body 212 drives the cargo box to separate from the conveyor belt 4;

[0135] S1505, the linear motor 121 drives the rotating arm body 111 to move to the first limit block, so that the cargo box is moved above the loading and unloading end of the conveyor belt 4;

[0136] S1506, the support cart 3 drives the conveyor belt 4 to retreat a certain distance relative to the area to be loaded and unloaded, and the first driving member drives the rotating arm body 111 to rotate below the loading and unloading end of the conveyor belt 4, so that the cargo box aligns with the area to be loaded and unloaded;

[0137] S1507, the suction of the suction cup body 212 on the cargo box is cancelled, and the cargo box is lowered to the area to be loaded and unloaded.

[0138] The process of the rotating arm mechanism 1 and the suction cup mechanism 2 cooperating to load a cargo box whose width exceeds the maximum width allowed by the conveyor belt 4 is as follows:

[0139] S1511, the conveyor belt 4 first moves the cargo box to the preset adsorption position, and the linear motor 121 drives the rotating arm body 111 to move to the middle position between the first limit block and the second limit block;

[0140] S1512, the second driving member drives the suction cup support 221 to rotate, adjusts the angle of the suction cup body 212 relative to the cargo box, and at the same time the third driving member drives the suction cup mounting frame 211 to rotate 90 degrees relative to the suction cup support 221, so that the suction cup body 212 aligns with the cargo box;

[0141] S1513, the fourth driving assembly drives the lifting seat to slide relative to the rotating arm body 111, lowers the suction cup body 212 until it fits against the cargo box, so that the suction cup body 212 adsorbs the cargo box;

[0142] S1514, after the cargo box is adsorbed, the fourth driving assembly drives the lifting seat to move upward, so that the suction cup body 212 drives the cargo box to separate from the conveyor belt 4;

[0143] S1515, the linear motor 121 drives the rotating arm body 111 to move to the first limit block, so that the cargo box is moved above the loading and unloading end of the conveyor belt 4;

[0144] S1516. The support cart 3 drives the conveyor belt 4 to retreat a certain distance relative to the loading and unloading area. The first driving member drives the rotating arm body 111 to rotate below the loading and unloading end of the conveyor belt 4, aligning the cargo box with the loading and unloading area. At the same time, the third driving member drives the suction cup mounting bracket 211 to rotate 90 degrees in the opposite direction relative to the suction cup support 221, rotating the cargo box 90 degrees in the opposite direction in the horizontal direction so that the cargo box can be in a normal palletizing state.

[0145] S1517. The suction cup body 212 cancels the adsorption of the cargo box and lowers the cargo box to the loading and unloading area.

[0146] For a cargo box whose width exceeds the maximum width allowed by the conveyor belt 4, when being transported on the conveyor belt 4, the width direction of the cargo box will be parallel to the conveying direction of the conveyor belt 4 to facilitate the conveyance of the cargo box. By rotating the suction cup mounting bracket 211, the stacking angle of the cargo box during palletizing is adjusted to ensure that the cargo box can be palletized in a normal palletizing state subsequently.

[0147] In other embodiments, for a small-sized cargo box, the linear motor 121 can also directly drive the rotating arm body 111 to slide, enabling the suction cup body 212 to directly adsorb the cargo box and, in a pushing or pulling manner, cooperate with the transportation of the conveyor belt 4 to convey the small-sized cargo box to the loading and unloading area.

[0148] S16. The rotating arm mechanism 1 drives the suction cup mechanism 2 to try to push the cargo box.

[0149] This process is to ensure the stable placement of the cargo box to facilitate subsequent palletizing operations of the cargo box.

[0150] S17. Repeat steps S12 - S16 to perform the palletizing of the cargo box.

[0151] Refer to Figure 6 and Figure 8 , the unloading method steps are as follows:

[0152] S21. The vision sensor, ultrasonic anti-collision sensor, and laser sensor are turned on to detect the position information, distance information of the loading and unloading area relative to the conveyor belt 4, and the image information of the loading and unloading area and the second conveyor belt, and output the image information, position information, and distance information to the control system.

[0153] S22. The control system controls the loading and unloading end of the conveyor belt 4 to approach the loading and unloading area according to the image information, position information, and distance information.

[0154] S23. The control system adjusts the height of the loading and unloading end of the conveyor belt 4 according to the image information.

[0155] Among them, the height of the loading and unloading end of the conveyor belt 4 needs to be adjusted to be lower than the height of the bottom of the cargo box to facilitate subsequent unloading. In special cases, if the height of the loading and unloading end of the conveyor belt 4 cannot be adjusted to be lower than the height of the bottom of the cargo box, it is necessary to cooperate with the rotating arm mechanism 1 and the suction cup mechanism 2 to unload the goods.

[0156] S24. The rotating arm mechanism 1 and the suction cup mechanism 2 cooperate with each other to suck and pull the cargo box to the loading and unloading end of the conveyor belt 4.

[0157] The process of the rotating arm mechanism 1 and the suction cup mechanism 2 cooperating with each other to unload the goods is as follows:

[0158] S2401. The linear motor 121 drives the rotating arm body 111 to move to the position of the first limit block;

[0159] S2402. The first driving member drives the rotating arm body 111 to rotate, driving the suction cup body 212 to move above the loading and unloading end of the conveyor belt 4;

[0160] S2403. The second driving member drives the suction cup support 221 to rotate, adjusting the suction cup body 212 so that the suction cup body 212 aligns with the cargo box and adsorbs the cargo box;

[0161] S2404. The first driving member drives the rotating arm body 111 to rotate, lifting the cargo box;

[0162] S2405. The linear motor 121 drives the rotating arm body 111 to move in the direction close to the second limit block, so that the cargo box moves above the conveyor belt 4;

[0163] S2406. The first driving member drives the rotating arm body 111 to rotate, and the fourth driving member drives the lifting seat to descend, cooperating with each other to lower the cargo box to the upper surface of the conveyor belt 4;

[0164] S2407. The suction cup body 212 releases the adsorption of the cargo box and places the cargo box on the upper surface of the conveyor belt 4.

[0165] The process of the rotating arm mechanism 1 and the suction cup mechanism 2 cooperating with each other to unload a cargo box whose width exceeds the maximum width allowed by the conveyor belt 4 is as follows:

[0166] S2411. The linear motor 121 drives the rotating arm body 111 to move to the position of the first limit block;

[0167] S2412. The first driving member drives the rotating arm body 111 to rotate, driving the suction cup body 212 to move above the loading and unloading end of the conveyor belt 4;

[0168] S2413. The second driving member drives the suction cup support 221 to rotate, adjusting the suction cup body 212 so that the suction cup body 212 aligns with the cargo box and adsorbs the cargo box;

[0169] S2414. The first driving member drives the rotating arm body 111 to rotate, lifting the cargo box.

[0170] S2415. The third driving member drives the suction cup mounting bracket 211 to rotate 90 degrees relative to the suction cup support 221, rotating the cargo box so that the width direction of the cargo box is parallel to the conveying direction of the conveyor belt 4.

[0171] S2416. The linear motor 121 drives the rotating arm body 111 to move towards the direction close to the second limit block, moving the cargo box above the conveyor belt 4.

[0172] S2417. The first driving member drives the rotating arm body 111 to rotate, and the fourth driving member drives the lifting seat to descend, cooperating with each other to lower the cargo box to the upper surface of the conveyor belt 4.

[0173] S2418. The suction cup body 212 releases the adsorption of the cargo box, placing the cargo box on the upper surface of the conveyor belt 4.

[0174] The rotating arm mechanism 1 and the suction cup mechanism 2 cooperate with each other. The process of unloading the cargo box in the case where the height of the loading and unloading end of the conveyor belt 4 cannot be lowered below the bottom height of the cargo box is as follows:

[0175] S2421. The linear motor 121 drives the rotating arm body 111 to move to the position of the first limit block.

[0176] S2422. The first driving member drives the rotating arm body 111 to rotate, driving the suction cup body 212 to move below the loading and unloading end of the conveyor belt 4.

[0177] S2423. The second driving member drives the suction cup support 221 to rotate, adjusting the suction cup body 212 so that the suction cup body 212 aligns with the cargo box and adsorbs the cargo box.

[0178] S2424. The first driving member drives the rotating arm body 111 to rotate, lifting the cargo box.

[0179] S2425. The linear motor 121 drives the rotating arm body 111 to move towards the direction close to the second limit block, moving the cargo box above the conveyor belt 4.

[0180] S2426. The first driving member drives the rotating arm body 111 to rotate, and the fourth driving member drives the lifting seat to descend, cooperating with each other to lower the cargo box to the upper surface of the conveyor belt 4.

[0181] S2407. The suction cup body 212 releases the adsorption of the cargo box, placing the cargo box on the upper surface of the conveyor belt 4.

[0182] S25. Repeat steps S22 - S24 to unload the cargo box in sequence.

[0183] Each embodiment in this specification is described in a progressive manner. For the identical or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the product embodiments described later, since they correspond to the methods, the descriptions are relatively simple, and for the relevant parts, reference can be made to the partial descriptions of the system embodiments.

[0184] As mentioned above, the above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. An in - depth loading and unloading robot, characterized in that, include: A rotating arm mechanism (1), a suction cup mechanism (2), a supporting trolley (3) and a conveyor belt (4); The conveyor belt (4) is installed on a supporting trolley (3), and the supporting trolley (3) is used to adjust the horizontal position and height of the conveyor belt (4); The rotating arm mechanism (1) comprises a rotating arm component (11) and a displacement adjustment component (12); The suction cup mechanism (2) comprises a suction cup component (21) and an angle adjustment component (22); The displacement adjustment component (12) and the rotating arm component (11) are sequentially connected to the conveyor belt (4), the angle adjustment component (22) is connected to the rotating arm component (11), and the suction cup component (21) is connected to the angle adjustment component (22); The displacement adjustment component (12) is used to drive the rotating arm component (11) to slide relative to the conveyor belt (4) so ​​as to adjust the position of the suction cup component (21) relative to the conveyor belt (4); the sliding direction of the rotating arm component (11) relative to the conveyor belt (4) is parallel to the conveying direction of the conveyor belt (4); The rotating arm component (11) is used to drive the angle adjustment component (22) to rotate relative to the conveyor belt (4) so ​​as to adjust the angle of the suction cup component (21) relative to the conveyor belt (4); the angle adjustment component (22) is arranged horizontally relative to the rotation axis direction of the conveyor belt (4) and is perpendicular to the conveying direction of the conveyor belt (4); The angle adjustment component (22) comprises a suction cup bracket (221) and a second driving component; The suction cup bracket (221) is rotatably connected to the rotating arm component (11), the rotation axis direction of the suction cup bracket (221) is horizontally arranged, and the rotation axis direction of the suction cup bracket (221) is also perpendicular to the conveying direction of the conveyor belt (4), and the suction cup component (21) is installed on the suction cup bracket (221); The second driving member is mounted on the rotating arm component (11) and is used to drive the suction cup bracket (221) to rotate so as to adjust the angle of the suction cup component (21) relative to the rotating arm component (11); The angle adjustment component (22) is used to drive the suction cup component (21) to rotate relative to the rotating arm component (11) so as to adjust the angle of the suction cup component (21) relative to the rotating arm component (11); the rotation axis direction of the suction cup component (21) relative to the rotating arm component (11) is parallel to the rotation axis direction of the rotating arm component (11) relative to the conveyor belt (4); The suction cup component (21) is used to cooperate with the conveyor belt (4) to load and unload goods; The suction cup component (21) comprises a suction cup mounting frame (211), a third driving member and a plurality of suction cup bodies (212); The suction cup mounting frame (211) is rotatably connected to the suction cup bracket (221), the rotation axis of the suction cup mounting frame (211) is perpendicular to the rotation axis of the suction cup bracket (221), and the third driving member is used to drive the suction cup mounting frame (211) to rotate; A plurality of suction cup bodies (212) are respectively mounted on one end of the suction cup mounting frame (211) away from the suction cup bracket (221) and are used for adsorbing the cargo box; A lifting member (13) is further provided between the suction cup bracket (221) and the rotating arm member (11); The lifting member (13) includes a fourth driving assembly and a lifting seat slidably connected to the rotating arm member (11), and the suction cup bracket (221) is rotatably connected to the rotating arm member (11) through the lifting seat; The fourth driving assembly is used to drive the lifting seat to slide relative to the rotating arm member (11) to adjust the height of the suction cup bracket (221) relative to the conveyor belt (4); A lifting member (13) is further provided between the suction cup bracket (221) and the rotating arm member (11); The lifting member (13) includes a fourth driving assembly and a lifting seat slidably connected to the rotating arm member (11), and the suction cup bracket (221) is rotatably connected to the rotating arm member (11) through the lifting seat; The fourth driving assembly is used to drive the lifting seat to slide relative to the rotating arm member (11) to adjust the height of the suction cup bracket (221) relative to the conveyor belt (4).

2. The probing type loading and unloading robot according to claim 1, wherein The displacement adjusting member (12) includes two sets of displacement adjusting assemblies respectively arranged on both sides of the conveyor belt (4); Each displacement adjusting assembly includes a linear motor (121) and a sliding table (122) mounted on the linear motor (121), and the sliding table (122) is connected to the rotating arm member (11); The linear motor (121) is used to drive the sliding table (122) to slide to drive the rotating arm member (11) to slide relative to the conveyor belt (4).

3. The inserted loading and unloading robot according to claim 1, wherein The rotating arm member (11) includes two sets of rotating arm assemblies, and the two sets of rotating arm assemblies are respectively located on both sides of the conveyor belt (4); Each rotating arm assembly includes a rotating arm body (111) and a first driving member. The rotating arm body (111) is rotatably connected to the conveyor belt (4) through the displacement adjusting member (12) and the first driving member; the first driving member is used to drive the rotating arm body (111) to rotate relative to the conveyor belt (4) to drive the angle adjusting member (22) to rotate relative to the conveyor belt (4).

4. The probing type loading and unloading robot according to claim 1, wherein The support trolley (3) includes a vehicle body main body (31), a height adjusting member (32) and a horizontal adjusting member (33) arranged on the vehicle body main body (31); The height adjusting member (32) includes a telescopic support column (321) and a robotic arm (322); The telescopic support column (321) is hinged to the conveyor belt (4), and the telescopic movement of the telescopic support column (321) drives the conveyor belt (4) to lift; The robotic arm (322) is hinged to the conveyor belt (4) and cooperates with the telescopic support column (321) to adjust the height of the conveyor belt (4); The horizontal adjusting member (33) includes a plurality of rollers (332) arranged outside the vehicle body main body (31), and the plurality of rollers (332) are used to drive the vehicle body main body (31) to move to adjust the horizontal position of the conveyor belt (4).

5. The inserted loading and unloading robot according to claim 4, wherein, The robotic arm (322) is a two-degree-of-freedom robotic arm (322); The first arm of the two-degree-of-freedom robotic arm (322) is rotatably connected to the vehicle body main body (31), and the rotation axis of the first arm is vertically arranged; The second arm of the two-degree-of-freedom robotic arm (322) is rotatably connected to the first arm, and the rotation axis of the second arm is perpendicular to the rotation axis of the first arm; The horizontal adjustment component (33) further includes a pillar base (331), the pillar base (331) is fixedly connected to the first arm, and the telescopic pillar (321) is installed on the pillar base (331); When the first arm rotates, the pillar base (331) rotates with the first arm to drive the conveyor belt (4) to rotate relative to the vehicle body (31).

6. The in-depth loading and unloading robot according to any one of claims 1-5, characterized in that It further includes a sensor system and a control system; The sensor system includes a vision sensor, an ultrasonic anti-collision sensor, and a laser sensor; The vision sensor is used to detect the image information in the area to be loaded and unloaded and on the conveyor belt (4), and output the image information to the control system; The ultrasonic anti-collision sensor is used to detect the position information of the area to be loaded and unloaded relative to the conveyor belt (4), and output the position information to the control system; The laser sensor is used to detect the distance information of the area to be loaded and unloaded relative to the conveyor belt (4), and output the distance information to the control system; The control system receives the image information, position information, and distance information, and controls the rotating arm mechanism (1), the suction cup mechanism (2), the support trolley (3), and the conveyor belt (4) to cooperate with each other to load and unload the cargo box.

7. A control method for an in-depth loading and unloading robot, characterized in that, Using the probing type loading and unloading robot according to any one of claims 1-6 to load and unload goods, including a loading method and an unloading method; The steps of the loading method are as follows: S11, the vision sensor, the ultrasonic anti-collision sensor, and the laser sensor are turned on, detect the position information, distance information of the area to be loaded and unloaded relative to the conveyor belt (4), and the image information between the area to be loaded and unloaded and on the conveyor belt (4), and output the image information, position information, and distance information to the control system; S12, the control system controls the loading and unloading end of the conveyor belt (4) to penetrate into the area to be loaded and unloaded according to the image information, distance information, and position information; S13, the control system obtains the cargo box size information on the conveyor belt (4) according to the image information; S14, the control system adjusts the penetration degree of the loading and unloading end of the conveyor belt (4) relative to the area to be loaded and unloaded according to the cargo box size information, and reserves a placement space for the cargo box; S15, the conveyor belt (4) starts to move, and the rotating arm mechanism (1) and the suction cup mechanism (2) cooperate with each other to place the cargo box on the conveyor belt (4) in the area to be loaded and unloaded; S16, the rotating arm mechanism (1) drives the suction cup mechanism (2) to try to push the cargo box; The steps of the unloading method are as follows: S21, the vision sensor, the ultrasonic anti-collision sensor, and the laser sensor are turned on, detect the position information, distance information of the area to be loaded and unloaded relative to the conveyor belt (4), and the image information between the area to be loaded and unloaded and on the conveyor belt (4), and output the image information, position information, and distance information to the control system; S22, the control system controls the loading and unloading end of the conveyor belt (4) to approach the area to be loaded and unloaded according to the image information, position information, and distance information; S23, the control system adjusts the height of the loading and unloading end of the conveyor belt (4) according to the image information; S24. The rotating arm mechanism (1) and the suction cup mechanism (2) cooperate with each other to suck and pull the cargo box to the loading and unloading end of the conveyor belt (4).

Images