Cargo handling robot and method of handling cargo

Abstract

The application discloses a cargo loading and unloading robot, which comprises a moving chassis, a cargo conveying line and a loading and unloading system. The cargo conveying line is arranged on the moving chassis. The loading and unloading system comprises a large arm connected to the cargo conveying line and a small arm rotatably arranged on the large arm. The large arm is connected to the cargo conveying line.

Description

Technical Field

[0001] This invention relates to the field of cargo loading and unloading technology, and in particular to a cargo loading and unloading robot. Background Technology

[0002] Container cargo loading and unloading is widely used in port transshipment, warehousing and logistics, and in-plant cargo loading and unloading. Currently, container cargo loading and unloading methods include manual loading and unloading and loading and unloading robots. On the one hand, manual loading and unloading has problems such as high labor costs, high labor intensity of workers, and low loading and unloading efficiency. On the other hand, the existing loading and unloading robots on the market have complex structures, large size, and need to cooperate with other equipment, resulting in high operating costs. Summary of the Invention

[0003] One objective of this invention is to provide a cargo loading and unloading robot that can replace manual labor to automatically load and unload boxed goods, reduce the number of operators and labor intensity, reduce labor costs, has a compact structure, improves loading and unloading efficiency, and reduces the occurrence of packaging box breakage and damage due to human error.

[0004] Other advantages and features of the invention will be fully apparent from the following detailed description and may be achieved by combinations of the means and apparatus specifically pointed out in the appended claims.

[0005] According to one aspect of the present invention, a cargo loading and unloading robot of the present invention, capable of achieving the aforementioned and other objectives and advantages, comprises:

[0006] Mobile chassis;

[0007] A cargo conveyor line, which is mounted on the mobile chassis;

[0008] A loading and unloading system, the loading and unloading system comprising a large arm connected to the cargo conveyor line and a small arm rotatably disposed on the large arm, the large arm being connected to the cargo conveyor line.

[0009] According to one embodiment of the invention, a vision system is also included, which is disposed on the cargo conveyor line and the loading and unloading system.

[0010] According to one embodiment of the present invention, the loading and unloading system further includes a conveying assembly, which is respectively disposed on the boom and the forearm.

[0011] According to one embodiment of the present invention, the loading and unloading system further includes a drive assembly, which is respectively disposed on the boom and the forearm.

[0012] According to one embodiment of the present invention, the drive assembly includes a boom pitch drive mechanism, a boom forward and backward drive mechanism, a forearm left and right drive mechanism, and a cargo gripping and pushing drive mechanism, wherein the boom pitch drive mechanism and the boom forward and backward drive mechanism are disposed on the boom, and the forearm left and right drive mechanism and the cargo gripping and pushing drive mechanism are disposed on the forearm.

[0013] According to one embodiment of the present invention, the loading and unloading system further includes a boom guide plate disposed on the boom and a forearm guide plate disposed on the forearm.

[0014] According to one embodiment of the present invention, the loading and unloading system further includes a front and rear rocker arm, a front and rear swing arm, and a pitch rocker arm, wherein the front and rear rocker arm, the front and rear swing arm, and the pitch rocker arm respectively drive the main arm to swing back and forth or pitch.

[0015] According to one embodiment of the present invention, the loading and unloading system further includes photoelectric sensing components respectively disposed on the upper arm and the lower arm.

[0016] According to one embodiment of the present invention, the vision system includes two optical distance detectors, which are respectively located on the cargo conveyor line and the loading and unloading system.

[0017] According to another aspect of the present invention, a cargo loading and unloading method of the present invention, which can achieve the foregoing and other objectives and advantages, includes the following steps:

[0018] (a) Extend the loading and unloading system, adjust its height and position, and align it with the interior of the car;

[0019] (b) Measure the dimensions of the cargo and identify the cargo stacking status inside the carriage;

[0020] (c) When transporting goods, push the goods forward and adjust their position. Attached Figure Description

[0021] Figure 1 This is a perspective view of a cargo loading and unloading robot according to an embodiment of the present invention.

[0022] Figure 2 This is a perspective view of the mobile chassis of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0023] Figure 3 This is a partial schematic diagram of the mobile chassis according to the above embodiment of the present invention.

[0024] Figure 4 This is a partial schematic diagram of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0025] Figure 5This is a partial schematic diagram of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0026] Figure 6 This is a partial schematic diagram of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0027] Figure 7 This is a partial schematic diagram of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0028] Figure 8 This is a partial schematic diagram of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0029] Figure 9 This is a partial schematic diagram of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0030] Figure 10 This is a partial schematic diagram of the cargo loading and unloading robot according to the above embodiment of the present invention.

[0031] Figure 11 This is a schematic diagram of an application scenario of the cargo loading and unloading robot according to the above embodiments of the present invention.

[0032] Figure 12 This is a schematic diagram of another application scenario of the cargo loading and unloading robot according to the above embodiments of the present invention. Detailed Implementation

[0033] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0034] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0035] It is understood that the term "a" should be understood as "at least one" or "one or more," meaning that in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. The term "a" should not be construed as a limitation on the quantity. Furthermore, in the description of this invention, unless otherwise stated, "multiple" means two or more.

[0036] In the description of this invention, it should be understood that terms such as "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, terms such as "connected" or "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through a medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0038] like Figures 1 to 12 As shown, this is a cargo loading and unloading robot according to an embodiment of the present invention. The cargo loading and unloading robot includes a mobile chassis (1), a cargo conveying line (2) disposed on the mobile chassis (1), a loading and unloading system (3) connected to the cargo conveying line (2), and a vision system (4) disposed above the cargo conveying line (2) and the loading and unloading system (3). The cargo loading and unloading robot can realize automated loading and unloading of goods, replace manual labor, and save labor costs.

[0039] Preferably, the mobile chassis (1) is equipped with omnidirectional drive wheels, such as McLambert wheels, which enable flexible movement, turning, and position adjustment within a narrow carriage or space.

[0040] Preferably, the mobile chassis (1) is equipped with a collision avoidance function. By equipping it with radar or ranging sensors, it can detect obstacles in front and on the left and right sides and avoid collisions. It can also know its own position in the carriage and thus perform auxiliary positioning.

[0041] Preferably, the cargo conveying line (2) can be, but is not limited to, a telescopic roller conveyor line, which can extend or bend to a certain extent to ensure that the loading and unloading system (3) connected to the cargo conveying line (2) can always provide continuous cargo conveying when it performs actions such as extending and retracting, pitching, and swinging left and right.

[0042] Preferably, the loading and unloading system (3) can be, but is not limited to, a four-axis loading and unloading system with four degrees of freedom, which can realize forward and backward extension, pitching, left and right swinging and other actions, thereby enabling the grabbing or stacking of cargo boxes at any position in the carriage.

[0043] Preferably, the vision system (4) includes a first 3D camera and a second 3D camera. The two 3D cameras are respectively located above the cargo conveyor line (2) and the loading and unloading system (3), and are respectively responsible for measuring the size of the cargo box and identifying the cargo stacking status in the cargo compartment, so as to automatically plan the unpacking and stacking scheme in conjunction with the unpacking and stacking algorithm.

[0044] like Figures 2 to 3 As shown, the mobile chassis (1) includes a chassis frame (1-4) and an electrical cabinet (1-1), a second 3D camera bracket (1-2), and an outer cover (1-3) disposed above the chassis frame (1-4). It also includes a drive wheel assembly (1-5) and a left-right swing drive mechanism (1-7) for the loading and unloading system disposed below the electrical cabinet (1-1). The electrical cabinet (1-1) is provided with control buttons and a touch screen on its side. The top of the electrical cabinet (1-1) provides support for the cargo conveyor line (2). The top of the electrical cabinet (1-1) is provided for the cargo conveyor line (2).

[0045] The second 3D camera bracket (1-2) is used to install the second 3D camera responsible for measuring the dimensions of the cargo box. The second 3D camera measures the external dimensions of the transport cargo box (5) to facilitate the planning of automatic loading and unloading schemes.

[0046] The outer cover (1-3) not only enhances the appearance of the machine, but also prevents the loading and unloading system (3) from causing injury to the operators during operation.

[0047] The chassis frame (1-4) is a frame structure that bears the weight of the entire machine.

[0048] The drive wheel assembly (1-5) may, but is not limited to, use McLambert wheels as drive wheels. Each McLambert wheel is equipped with a separate drive motor, reducer, and shock absorber, thereby enabling free movement, positioning, or attitude adjustment in narrow spaces such as containers.

[0049] The drive mechanism (1-7) provides power for the loading and unloading system (3) to swing left and right, and the swing angle of the loading and unloading system (3) can be obtained in real time.

[0050] The turntable detection sensor (1-8) detects the turntable detection plate (3-12) to achieve the position correction of the left and right swing point of the loading and unloading system (3) and the detection of the left and right swing limit, so as to avoid the excessive left and right swing amplitude of the loading and unloading system (3) from causing damage to the components.

[0051] The mobile chassis (1) can be equipped with radar or ranging sensors to detect obstacles around it and avoid collisions. At the same time, it can obtain the position of the cargo loading and unloading robot in the compartment, so as to make position and posture adjustments when automatically loading and unloading cargo boxes.

[0052] like Figures 4 to 10 As shown, the loading and unloading system (3) includes a turntable (3-1), front and rear rocker arms (3-2), front and rear rocker arm detection plates (3-3), front and rear connecting rods (3-4), short tie rods (3-5), two side triangular plates (3-6), boom pitch drive mechanism (3-28), boom front and rear drive mechanism (3-29), front and rear swing arms (3-11), pitch rocker arms (3-14), pitch connecting rods (3-15), boom (3-16), pitch rocker arm detection sensor (3-26), pitch rocker arm detection plate (3-13), long tie rods (3-10), forearm mounting bracket (3-17), forearm (3-19), and connecting shaft (3-24).

[0053] The turntable (3-1) is mounted above the left-right swing drive mechanism (1-7) of the loading and unloading system. The turntable (3-1) provides mounting support for the boom pitch drive mechanism (3-28), the boom front-rear drive mechanism (3-29), the front and rear swing arms (3-11), and the short tie rod (3-5). The front and rear rocker arms (3-2) are mounted on the flange of the boom front-rear drive mechanism (3-29). The front and rear rocker arms (3-2) are connected to the front and rear swing arms (3-11) through the front and rear connecting rods (3-4) to form a four-bar linkage.

[0054] The front and rear drive mechanism (3-29) of the upper arm drives the front and rear rocker arms (3-2) to swing back and forth, and drives the front and rear swing arms (3-11) to swing back and forth.

[0055] The front and rear rocker arm detection sensor (3-27) detects the front and rear rocker arm detection plate (3-3) to correct the front and rear rocker arm (3-2) swing angle and realize front and rear limit detection.

[0056] The boom pitch drive mechanism (3-28) drives the pitch rocker arm (3-14) to swing up and down, and drives the boom (3-16) to pitch through the pitch linkage (3-15).

[0057] The pitch rocker detection sensor (3-26) detects the pitch rocker detection plate (3-13), thereby correcting the pitch angle of the pitch rocker (3-14) and realizing pitch limit detection.

[0058] The short pull rod (3-5), the two triangular plates (3-6) on both sides, the long pull rod (3-10), and the forearm mounting bracket (3-17) form a double quadrilateral structure, thereby ensuring that the forearm (3-19) is always in a horizontal state. The connecting shaft (3-24) connects the two triangular plates (3-6) on both sides, thereby ensuring that the movement of the two triangular plates (3-6), the short pull rod (3-5), and the long pull rod (3-10) is synchronized.

[0059] The loading and unloading system (3) also includes a boom conveyor belt (3-8), a belt conveyor mounting plate (3-9), a boom guide plate (3-7), a boom photoelectric sensor 1 (3-21), a boom photoelectric sensor 2 (3-22), a boom photoelectric sensor 3 (3-23), a forearm left and right drive mechanism (3-18), a forearm detection sensor (3-25), a forearm detection plate (3-19-2), a first 3D camera bracket (3-20), a suction cup (3-19-32), a forearm conveyor belt 1 (3-19-30), a forearm conveyor belt 2 (3-19-34), a distance sensor 1 (3-19-14), a distance sensor 2 (3-19-15), a distance sensor 3 (3-19-16), a distance sensor 4 (3-19-17), a distance sensor 5 (3-19-42), and a forearm frame (3-19-1).

[0060] The boom conveyor belt (3-8) is fixed to the boom (3-16) via the belt conveyor mounting plate (3-9), and can transport the goods from the cargo conveyor line (1) to the forearm (3-19) for subsequent loading or transport the goods unloaded from the forearm (3-19) to the cargo conveyor line (1).

[0061] The long tie rod (3-10) is equipped with the boom guide plate (3-7), which provides guidance for transporting goods, so that the goods can pass smoothly through the boom conveyor belt (3-8).

[0062] The large arm photoelectric sensor 1 (3-21), the large arm photoelectric sensor 2 (3-22), and the large arm photoelectric sensor 3 (3-23) are used to detect passing goods and provide detection signals for the control system of the cargo loading and unloading robot.

[0063] The forearm left and right drive mechanism (3-18) provides power for the left and right swing of the forearm (3-19).

[0064] The forearm detection sensor (3-25) corrects the left and right swing angle and detects the left and right limit of the forearm (3-19) by detecting the forearm detection plate (3-19-2).

[0065] The first 3D camera bracket (3-20) is used to install the first 3D camera for cargo status recognition in the carriage and can adjust the camera pitch angle.

[0066] The suction cup (3-19-32) is provided on the forearm (3-19), and the suction cup (3-19-32) is used for directly grasping or stacking goods.

[0067] The forearm conveyor belt 1 (3-19-30) and forearm conveyor belt 2 (3-19-34) are responsible for transporting goods.

[0068] The distance sensors 1 (3-19-14), 2 (3-19-15), 3 (3-19-16), 4 (3-19-17), and 5 (3-19-42) are responsible for detecting the distance of the forearm (3-19) from obstacles (or goods) in front, to the left, to the right, above, and below, providing safety protection and positioning reference for the movement of the forearm (3-19).

[0069] Preferably, the forearm frame (3-19-1) is made of aluminum alloy plates, which ensures overall strength while being lightweight, thus reducing the load on the drive mechanism and connecting structure.

[0070] The loading and unloading system (3) also includes a forearm conveyor belt 1 (3-19-30), a forearm conveyor belt 1 drive roller (3-19-35), a tension block 1 (3-19-36), a tension block 2 (3-19-40), a forearm conveyor belt 2 (3-19-34), a forearm conveyor belt 2 drive roller (3-19-33), a guide plate mounting bracket 1 (3-19-19), a guide plate mounting bracket 2 (3-19-26), two forearm guide plates (3-19-18), a forearm photoelectric sensor 1 (3-19-27), a forearm photoelectric sensor 2 (3-19-28), and a forearm photoelectric sensor 3 (3-19-29).

[0071] The forearm conveyor belt 1 (3-19-30) is driven by the forearm conveyor belt 1 drive roller (3-19-35) and tensioned by the tensioning block 1 (3-19-36).

[0072] The forearm conveyor belt 2 (3-19-34) is driven by the forearm conveyor belt 2 drive roller (3-19-33) and tensioned by the tensioning block 2 (3-19-40).

[0073] The guide plate mounting bracket 1 (3-19-19) and the guide plate mounting bracket 2 (3-19-26) are mounted on the forearm frame (3-19-1). The guide plate mounting bracket 1 (3-19-19) and the guide plate mounting bracket 2 (3-19-26) can adjust the left and right spacing so that the forearm guide plates (3-19-18) on both sides can adapt to goods of different specifications.

[0074] The forearm photoelectric sensor 1 (3-19-27), the forearm photoelectric sensor 2 (3-19-28), and the forearm photoelectric sensor 3 (3-19-29) are used to detect passing goods and provide detection signals for the control system of the cargo loading and unloading robot.

[0075] The loading and unloading system (3) also includes a cargo gripping and pushing drive mechanism (3-19-3), a synchronous pulley 1 (3-19-4), a synchronous belt 1 (3-19-5), a synchronous pulley 2 (3-19-6), a pulley shaft (3-19-7), a synchronous pulley 3 (3-19-8), a synchronous pulley 4 (3-19-20), a synchronous belt 2 (3-19-10), a synchronous belt 3 (3-19-24), and a left-side synchronous idler pulley (3-19-13). Right synchronous idler wheel (3-19-25), left synchronous belt pressure plate (3-19-11), left sliding mechanism (3-19-12), right synchronous belt pressure plate (3-19-22), right sliding mechanism (3-19-23), swing rod 1 (3-19-37), grab push rod (3-19-38), swing rod 2 (3-19-39), suction cup mounting bracket (3-19-31), and two side guide plates (3-19-41).

[0076] The cargo gripping and pushing drive mechanism (3-19-3) drives the synchronous pulley 1 (3-19-4) to rotate back and forth, and transmits power through the synchronous belt 1 (3-19-5), the synchronous pulley 2 (3-19-6), the pulley shaft (3-19-7), the synchronous pulley 3 (3-19-8), the synchronous pulley 4 (3-19-20), the synchronous belt 2 (3-19-10), the synchronous belt 3 (3-19-24), the left synchronous idler pulley (3-19-13), and the right synchronous idler pulley (3-19-25), and drives the left sliding mechanism (3-19-12) fixed by the left synchronous belt pressure plate (3-19-11) and the right sliding mechanism (3-19-23) fixed by the right synchronous belt pressure plate (3-19-22) to slide synchronously.

[0077] The left sliding mechanism (3-19-12) and the right sliding mechanism (3-19-23) are equipped with guide wheels, which can slide freely back and forth in the groove of the forearm frame (3-19-1).

[0078] The swing rod 1 (3-19-37), the grab push rod (3-19-38), the swing rod 2 (3-19-39), and the suction cup mounting bracket (3-19-31), which are connected to the left sliding mechanism (3-19-12) and the right sliding mechanism (3-19-23), form two four-bar linkages.

[0079] like Figure 9As shown, when the left sliding mechanism (3-19-12) and the right sliding mechanism (3-19-23) move back and forth, the guide wheel of the grab push rod (3-19-38) rolls on the guide plates (3-19-41) on both sides. Due to the motion law of the four-bar linkage, when the suction cup mounting bracket (3-19-31) moves to the rear end, the suction cup mounting bracket (3-19-31) achieves a retracted state.

[0080] The loading and unloading system (3) also includes a left tension idler wheel (3-19-9), a right tension idler wheel (3-19-21), a sliding detection plate (3-19-43), a gripping mechanism photoelectric sensor 1 (3-19-44), and a gripping mechanism photoelectric sensor 2 (3-19-45).

[0081] like Figure 10 As shown, when the suction cup mounting bracket (3-19-31) moves to the front end, the suction cup mounting bracket (3-19-31) extends. The left tension idler pulley (3-19-9) and the right tension idler pulley (3-19-21) tension the synchronous belt 2 (3-19-10) and the synchronous belt 3 (3-19-24) by adjusting their up and down positions.

[0082] The sliding detection plate (3-19-43) is installed on the right sliding mechanism (3-19-23). ​​The sliding detection plate (3-19-43) works with the photoelectric sensor 1 (3-19-44) and the photoelectric sensor 2 (3-19-45) of the gripping mechanism to detect and confirm the front and rear positions of the suction cup mounting bracket (3-19-31).

[0083] like Figure 11 As shown, in a specific implementation scenario, such as during the loading and unloading of a container truck cargo box, the automatic cargo loading process steps of the cargo loading and unloading robot are as follows:

[0084] (a) The cargo loading and unloading robot (7) moves from the platform (8) to the lifting platform (9) (that is, the initial position of the lifting platform (9) is flush with the platform (8) to facilitate the movement of the cargo loading and unloading robot (7). After the cargo loading and unloading robot (7) has completely moved to the lifting platform (9), the height of the lifting platform (9) is adjusted to be flush with the height of the container truck (10) and the cargo loading and unloading robot (7) enters the truck until it reaches the loading and unloading position.

[0085] (b) The cargo loading and unloading robot (7) activates "automatic mode". The cargo loading and unloading robot (7) automatically moves and positions itself to a suitable loading and unloading position inside the truck bed through the control algorithm. At the same time, the telescopic roller conveyor (6) starts to transport the cargo box (5). The cargo loading and unloading robot (7) starts to move autonomously to the designated position according to the stacking algorithm and starts to automatically load the cargo box. The loading procedure can be, but is not limited to, starting from the bottom left side of the inner wall of the truck bed, loading one row from left to right, then starting to load the second row from bottom to top, and so on until a layer is filled. The layer is stacked vertically (other loading methods can also be used according to the characteristics of the cargo box). When each layer is filled, the cargo loading and unloading robot (7) retreats a certain distance, completes autonomous positioning, and starts loading a new layer of cargo boxes again until the entire container truck (10) is filled.

[0086] (c) When the cargo loading and unloading robot (7) is completely back onto the lifting platform (9), the lifting platform (8) is raised to the same height as the platform (8) to facilitate the smooth retreat of the cargo loading and unloading robot;

[0087] (d) In the event of an unexpected emergency, such as the cargo box (5) falling or collapsing, the emergency stop button of the cargo loading and unloading robot is pressed or the cargo loading and unloading robot (7) is stopped by remote control.

[0088] In another embodiment of the present invention, the automatic cargo unloading process of the cargo loading and unloading robot is simply the reverse of the above steps.

[0089] It is worth noting that the cargo loading and unloading robot can also be used in factory logistics warehouses, cold storage facilities and other scenarios.

[0090] like Figure 12 As shown, in another embodiment of the present invention, the baggage loading process of the cargo loading and unloading robot is as follows:

[0091] 1. Staff drive a baggage tractor (14) and tow baggage trailer 1 (15), baggage trailer 2 (16), and baggage trailer 3 (17) to the designated positions, and automatically load baggage in the order of baggage trailer 1 (15), baggage trailer 2 (16), and baggage trailer 3 (17). The 3D camera installed in the loading and unloading system (11) uses a visual algorithm to determine the relative position of the loading and unloading system (11) and baggage trailer 1 (15) (or baggage trailer 2 (16) and baggage trailer 3 (17)).

[0092] 2. The loading and unloading system (11) can move left and right on the mobile platform (12), mainly for parking position error compensation. The moving distance of the loading and unloading system (11) on the mobile platform (12) is analyzed and calculated by 3D camera and vision algorithm. After the first luggage trailer (15) is full, the loading and unloading system (11) is raised to a position that does not obstruct the towing vehicle's movement. Then, the staff drives the luggage towing vehicle (14) to pull the three luggage trailers forward a preset distance so that the second luggage trailer (16) reaches below the loading and unloading system (11), and then the loading of the second luggage trailer (16) begins. After loading is completed, the same process is repeated until all luggage trailers are loaded.

[0093] 3. After loading is complete, staff drive the baggage tractor (14) towing the three baggage trailers filled with luggage away, and prepare for subsequent loading. In other embodiments of the invention, the number of baggage trailers is not limited.

Claims

1. A cargo loading and unloading robot, characterized in that, include: Mobile chassis; A cargo conveyor line, which is mounted on the mobile chassis; A loading and unloading system, the loading and unloading system comprising a large arm connected to the cargo conveyor line and a small arm rotatably disposed on the large arm, the large arm being connected to the cargo conveyor line; The loading and unloading system also includes a conveying assembly, which is respectively disposed on the boom and the forearm; The loading and unloading system further includes a drive assembly, which is respectively disposed on the boom and the forearm; the drive assembly includes a boom pitch drive mechanism, a boom forward and backward drive mechanism, a forearm left and right drive mechanism, and a cargo gripping and pushing drive mechanism, wherein the boom pitch drive mechanism and the boom forward and backward drive mechanism are disposed on the boom, and the forearm left and right drive mechanism and the cargo gripping and pushing drive mechanism are disposed on the forearm. The loading and unloading system also includes front and rear rocker arms, front and rear swing arms, and a pitch rocker arm. The front and rear rocker arms, the front and rear swing arms, and the pitch rocker arm respectively drive the boom to swing back and forth or pitch. The front and rear rocker arms are mounted on the flange of the boom's front and rear drive mechanism. The front and rear rocker arms are connected to the front and rear swing arms through front and rear connecting rods to form a four-bar linkage. The boom's front and rear drive mechanism drives the front and rear rocker arms to swing back and forth, and also drives the front and rear swing arms to swing back and forth. The loading and unloading system also includes a pitch linkage, a short tie rod, a triangular plate, a long tie rod, a connecting shaft, and a forearm mounting bracket. The boom pitch drive mechanism drives the pitch rocker arm to swing up and down, and drives the boom to pitch through the pitch linkage. The short tie rod, the triangular plates on both sides, the long tie rod, and the forearm mounting bracket form a double quadrilateral structure, so that the forearm is always in a horizontal state. The connecting shaft connects the triangular plates on both sides, so that the triangular plates on both sides, the short tie rod, and the long tie rod move synchronously.

2. The cargo loading and unloading robot according to claim 1, characterized in that, It also includes a vision system, which is installed on the cargo conveyor line and the loading and unloading system.

3. The cargo loading and unloading robot according to claim 1, characterized in that, The loading and unloading system also includes a boom guide plate located on the boom and a forearm guide plate located on the forearm.

4. The cargo loading and unloading robot according to claim 3, characterized in that, The loading and unloading system also includes photoelectric sensing components, which are respectively installed on the boom and the forearm.

5. The cargo loading and unloading robot according to claim 2, characterized in that, The vision system includes two optical distance detectors, which are respectively located on the cargo conveyor line and the loading and unloading system.

6. A cargo loading and unloading method, based on the cargo loading and unloading robot as described in claim 1, characterized in that, Includes the following steps: (a) Extend the loading and unloading system, adjust its height and position, and align it with the interior of the car; (b) Measure the dimensions of the cargo and identify the cargo stacking status inside the carriage; (c) When transporting goods, push the goods forward and adjust their position.

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