A loading and unloading integrated machine and a loading and unloading vehicle system

Abstract

The present application relates to the technical field of vehicle, especially relates to a loading and unloading integrated machine and a loading and unloading system.The loading and unloading integrated machine provided by the present application comprises a moving platform, a conveying module and a six-axis manipulator, the conveying module comprises a first conveying mechanism, a lifting conveying mechanism and a second conveying mechanism, through the cooperation of the lifting movement of the lifting conveying mechanism and the translation movement of the second conveying mechanism, the six-axis manipulator can conveniently take goods by using a top suction mode or a side suction mode according to needs, thereby expanding the stacking range of the six-axis manipulator in the height space, and the interference between the six-axis manipulator and the second conveying assembly when stacking or taking goods at a lower position can be avoided, the control difficulty of the six-axis manipulator is reduced, and the automatic operation of loading and unloading operation is facilitated.The loading and unloading system provided by the present application applies the above loading and unloading integrated machine, takes goods by using a six-axis manipulator, the load universality of the goods is good, and the control difficulty of the six-axis manipulator can be reduced, and the automatic operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to an integrated loading and unloading machine and a loading and unloading system for vehicles. Background Technology

[0002] In the logistics industry, during the loading process, goods are typically transferred from the warehouse to the transportation terminal using handling vehicles, and then manually palletized. However, manual palletizing has the following problems: 1) Manual labor is labor-intensive and the working environment is poor, making workers easily fatigued and resulting in short effective working hours; 2) Manual labor has a low degree of automation and low efficiency; 3) With changes in the social human resource structure, labor resources are scarce and labor costs are increasing.

[0003] To address the aforementioned issues, existing technologies largely utilize integrated loading and unloading machines for cargo handling and palletizing. These machines primarily consist of conveyor belts and robotic arms. There are two main types of robotic arms to choose from: First, multi-axis robotic arms. Multi-axis robotic arms offer flexible output end movement and can adapt to a wider range of cargo heights during palletizing. However, existing commercially available multi-axis robotic arms have relatively low load capacities, mostly below 20kg, limiting their use to unloading or loading lighter goods. Furthermore, their material handling postures are limited by their drive structure, resulting in poor versatility. Second, standard six-axis robotic arms offer high load capacities, up to 300kg, sufficient for unloading and loading most goods. They are technologically mature and reliable, and offer flexible and diverse material handling postures, meeting a wider range of loading posture requirements and providing good versatility.

[0004] However, due to the high difficulty in controlling the movement of the output end of a six-axis robot within a limited area, when it is necessary to pick up goods at higher positions or stack goods at higher positions, the six-axis robot needs to use a side suction method to pick up the goods (the side suction method has better stability). In this case, the conveyor mechanism needs to extend its moving platform and be far away from the six-axis robot so that the six-axis robot can extend to achieve side suction to pick up the goods. When it is necessary to pick up goods at lower positions or stack goods at lower positions, the six-axis robot needs to use a top suction method to pick up the goods. In this case, if the conveyor mechanism extends its moving platform and is far away from the six-axis robot, the movement of the six-axis robot is prone to interference with the conveyor mechanism, further increasing the control difficulty of the six-axis robot and hindering the realization of automated operation.

[0005] Therefore, there is an urgent need for an integrated loading and unloading machine to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide an integrated loading and unloading machine and a loading and unloading system, which uses a six-axis robotic arm to pick up goods, has good versatility in cargo load, can be compatible with various loading postures, and can reduce the control difficulty of the six-axis robotic arm and improve the efficiency of automated operation.

[0007] To achieve the above objectives, the following technical solution is provided:

[0008] Firstly, a loading and unloading integrated machine is provided, including:

[0009] Mobile platform;

[0010] A conveying module is installed on the mobile platform. The conveying module is capable of reciprocating the transport of goods along a first direction. The conveying module includes a first conveying mechanism, a lifting conveying mechanism, and a second conveying mechanism arranged in sequence.

[0011] The lifting and conveying mechanism includes a lifting and conveying component and a lifting and driving component. The lifting and driving component can drive the lifting and conveying component to move up and down, so that the lifting and conveying component has a conveying position that is flush with the first conveying mechanism and the second conveying mechanism and a clearance position that is lower than the first conveying mechanism and the second conveying mechanism.

[0012] The second conveying mechanism includes a second conveying component and a translation drive component. The translation drive component can drive the second conveying component to reciprocate along a first direction, so that the second conveying component has a first position for receiving the first conveying mechanism and a second position for receiving the lifting conveying component.

[0013] A six-axis robot arm is mounted on the mobile platform. The six-axis robot arm is capable of picking up goods from the second conveying assembly and stacking them, or the six-axis robot arm is capable of transferring goods to the second conveying assembly.

[0014] As an optional solution for the loading and unloading integrated machine, the lifting drive assembly includes:

[0015] The support member is used to support the lifting and conveying assembly.

[0016] A lifting driver is installed on the mobile platform; the output end of the lifting driver is connected to the carrier, and the lifting driver is used to drive the carrier to move up and down in the vertical direction.

[0017] As an optional solution for the loading and unloading integrated machine, the translation drive component includes:

[0018] Mounting bracket for supporting the second conveyor assembly;

[0019] A translation driver is mounted on the mobile platform, and the output end of the translation driver is connected to the mounting bracket. The translation driver is used to drive the mounting bracket to move along a first direction.

[0020] As an optional solution for the loading and unloading integrated machine, the lifting and conveying mechanism further includes a vertical guide assembly, which includes a guide rod and a sleeve that slide together in the vertical direction. One of the guide rod and the sleeve is installed on the moving platform, and the other is installed on the carrier.

[0021] As an optional solution for the loading and unloading integrated machine, the second conveying mechanism further includes a horizontal guide assembly, which includes a guide rail and a guide groove that slide together in the horizontal direction. One of the guide rail and the guide groove is mounted on the mobile platform, and the other is mounted on the mounting frame.

[0022] As an optional solution for the loading and unloading integrated machine, the second conveying component includes a buffer conveyor and a receiving and discharging conveyor. The receiving and discharging conveyor is provided with side baffles at both ends in the second direction, and the receiving and discharging conveyor is provided with an end baffle at the end in the first direction away from the buffer conveyor.

[0023] As an optional solution for the loading and unloading integrated machine, the loading and unloading integrated machine also includes a positioning mechanism, which is used to position the goods on the receiving and discharging conveyor.

[0024] As an optional solution for the loading and unloading integrated machine, the positioning mechanism includes:

[0025] The positioning component includes a fixing member and a positioning fork fixed to the fixing member. The receiving and discharging conveyor is a roller conveyor, and the positioning fork extends out of the conveying surface of the receiving and discharging conveyor.

[0026] A positioning driver is used to drive the fixing member to move in a second direction so that the positioning fork pushes the goods on the receiving and discharging conveyor to the side baffle for positioning.

[0027] As an optional solution for the loading and unloading machine, the first conveying mechanism is a diversion conveying mechanism, the second conveying mechanism is capable of conveying at least two trains of goods, and a plurality of the positioning mechanisms are arranged symmetrically in two groups along the second direction on the mobile platform.

[0028] As an optional solution for the loading and unloading integrated machine, the loading and unloading integrated machine also includes a camera system, including a camera, which is used to collect image information of the space to be stacked or the goods to be unloaded, and the camera is mounted on the six-axis robot or the mobile platform.

[0029] As an optional solution for the loading and unloading machine, when the camera is installed on the mobile platform, the camera includes a first camera and a second camera. The first camera is located at one end of the mobile platform near the first conveying mechanism, and the second camera is located at one end of the mobile platform near the second conveying mechanism. The first camera is installed on the upright of the mobile platform and is higher than the second camera.

[0030] As an optional configuration of the loading and unloading machine, at least two first cameras are arranged along a second direction on the upright of the mobile platform; at least two second cameras are arranged along a second direction on the mobile platform, the second direction being perpendicular to the first direction.

[0031] Secondly, a loading and unloading system is provided, including a conveying device and a loading and unloading machine as described in any of the above embodiments, wherein one end of the conveying device is located at the storage end and the other end is located at the transportation end and can be connected to the conveying module of the loading and unloading machine, and the conveying device can reciprocate to transport goods along a first direction.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] The loading and unloading integrated machine provided by this invention includes a mobile platform, a conveying module, and a six-axis robot. The conveying module includes a first conveying mechanism, a lifting conveying mechanism, and a second conveying mechanism. Through the coordination of the lifting movement of the lifting conveying mechanism and the translational movement of the second conveying mechanism, the six-axis robot can conveniently pick up goods as needed using top suction or side suction, thereby expanding the stacking range of the six-axis robot in terms of height space. It can also avoid interference between the six-axis robot and the second conveying component when stacking or picking up goods at lower positions, reducing the control difficulty of the six-axis robot and facilitating the automated operation of loading and unloading.

[0034] The loading and unloading system provided by this invention, by applying the above-mentioned integrated loading and unloading machine, uses a six-axis robot to pick up goods, has good versatility in cargo load, can be compatible with various loading postures, and can reduce the control difficulty of the six-axis robot and improve the efficiency of automated operation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of the loading and unloading integrated machine provided in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the conveying module in the first state according to an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the conveying module provided in an embodiment of the present invention in an intermediate state;

[0039] Figure 4 This is a schematic diagram of the conveying module provided in the second state according to an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the lifting and conveying mechanism provided in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of the material receiving and discharging conveyor and the positioning mechanism provided in an embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the positioning mechanism provided in an embodiment of the present invention.

[0043] Figure label:

[0044] 1. Mobile platform;

[0045] 2. Conveying module; 21. First conveying mechanism; 22. Lifting conveying mechanism; 221. Lifting conveying assembly; 222. Lifting drive assembly; 2221. Bearing component; 2222. Lifting driver; 223. Vertical guide assembly; 2231. Guide rod; 2232. Sleeve; 23. Second conveying mechanism; 231. Second conveying assembly; 2311. Buffer conveying component; 2312. Incoming and outgoing conveying component; 2313. Side baffle; 2314. End baffle; 232. Translation drive assembly; 2321. Mounting bracket; 2322. Translation driver; 233. Horizontal guide assembly; 2331. Guide rail; 2332. Guide groove;

[0046] 3. Six-axis robotic arm;

[0047] 4. Camera system; 41. First camera; 42. Second camera;

[0048] 5. Positioning mechanism; 51. Positioning driver; 52. Positioning component; 521. Fixing component; 522. Positioning fork; 53. Positioning guide component; 531. Slide rail; 532. Slider. Detailed Implementation

[0049] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0050] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] In the description of this invention, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used merely for distinction in description and have no special meaning.

[0053] This embodiment provides a loading and unloading system, including a conveying device and an integrated loading and unloading machine. The integrated loading and unloading machine can be used for loading, stacking, or unloading goods. The conveying device is used to dock with the integrated loading and unloading machine and transport the goods. Exemplarily, one end of the conveying device is located at the storage end, and the other end is located at the transportation end and can dock with the integrated loading and unloading machine. The integrated loading and unloading machine can enter the vehicle compartment at the transportation end to realize loading or unloading operations. It is understood that when the conveying device transfers goods from the storage end to the transportation end, it works with the integrated loading and unloading machine to stack the goods in the vehicle compartment at the transportation end, thus realizing the loading operation; when the conveying device transfers goods from the transportation end to the storage end, it works with the integrated loading and unloading machine to transfer the goods in the vehicle compartment to the conveying device, thus realizing the unloading operation. Exemplarily, the transportation end can be a box truck, flatbed truck, high-sided truck, etc., and the storage end can be a warehouse. During loading, the conveyor transports goods from the warehouse to the loading and unloading machine, which then transfers and stacks the goods into the truck bed. This eliminates the need for the loading and unloading machine to repeatedly travel between the warehouse and the truck, thus enabling the loading and stacking of goods, saving time and labor, and reducing equipment costs.

[0054] Alternatively, the conveying device can be other types of long-distance conveyors such as belt conveyors or chain conveyors. Belt conveyors and chain conveyors are relatively mature long-distance conveyors in the existing technology, and will not be described in detail here.

[0055] Figure 1 A structural schematic diagram of the loading and unloading integrated machine provided in this embodiment is shown. Figure 1 As shown, the loading and unloading machine includes a mobile platform 1, a conveying module 2, and a six-axis robot 3. The mobile platform 1 can enter and move inside the carriage. The conveying module 2 is installed on the mobile platform 1 and is used to cooperate with the conveying device to transport goods. The six-axis robot 3 is installed on the mobile platform 1 to pick up the goods from the conveying module 2 and stack them into the carriage or transfer the goods in the carriage to the conveying module 2.

[0056] In this embodiment, the mobile platform 1 can be a tracked mobile platform, with the left and right tracks moving independently driven by a hydraulic pump and hydraulic valves. Because the quality of existing truck bed floors varies greatly, with some truck bed floors having uneven surfaces, the tracked mobile platform, compared to ordinary wheeled mobile platforms, is better able to adapt to different types and qualities of truck bed floors, ensuring the stability of the loading and unloading machine.

[0057] In order to automatically control the mobile platform 1, a camera system 4 is provided at the front end of the mobile platform 1. The camera system 4 can scan the data inside the carriage or the data of the stacked goods, so as to accurately control the position of the mobile platform 1 and the six-axis robot 3 to perform loading, stacking or unloading operations, so as to realize closed-loop control.

[0058] See also Figure 1The camera system 4 includes a first camera 41 and a second camera 42. The first camera 41 is located at the end of the mobile platform 1 near the first conveying mechanism 21, and the second camera 42 is located at the end of the mobile platform 1 near the second conveying mechanism 23. The first camera 41 is mounted on the upright of the mobile platform 1 and is higher than the second camera 42. The first camera 41 and the second camera 42 work together to capture a larger vertical space, facilitating the automated operation of the six-axis robot 3 and the mobile platform 1. Optionally, at least two first cameras 41 are arranged along a second direction on the upright of the mobile platform 1; at least two second cameras 42 are arranged along a second direction on the mobile platform 1, the second direction being perpendicular to the first direction. In this embodiment, two first cameras 41 are fixed to the upright of the mobile platform 1, and two second cameras 42 are fixed to the end face of the mobile platform 1 facing the goods. After the four cameras capture images, the control and display module of the camera system 4 combines the images captured by the four cameras to display the image information of the entire compartment. Of course, in other embodiments, the number of cameras can be selected according to the size of the compartment, which will not be described in detail here. Of course, in other embodiments, the camera system may also include a camera mounted on the output end of the six-axis manipulator 3. By adjusting the position of the output end of the six-axis manipulator 3 to acquire image information from different positions, the above effect can also be achieved.

[0059] This embodiment uses a six-axis robotic arm 3. Compared to multi-axis robotic arms (whose load capacity is mostly below 20kg and can only be used for unloading or loading lighter goods, resulting in poor versatility), the six-axis robotic arm 3 has a high load capacity of up to 300kg, which can meet the unloading and loading needs of most goods. It is technologically mature and reliable, and has good versatility. Furthermore, the six-axis robotic arm 3 can achieve more diverse ways of handling goods, reducing the design complexity of grippers.

[0060] However, due to the high difficulty of controlling the six-axis robot 3 within a limited space, and the fact that when loading and unloading goods, goods at lower positions need to be picked up using a top suction method (due to space constraints), while goods at higher positions need to be picked up using a side suction method (which offers better stability), the existing conveying mechanism cannot simultaneously meet the requirements of reducing the control difficulty of the six-axis robot 3 and picking up goods using either a side suction or top suction method as needed.

[0061] Based on the above problems, the conveying module 2 provided in this embodiment is improved to enable position adjustment as needed to adapt to different picking methods of the six-axis robot 3. While increasing the height range of the six-axis robot 3 in the vertical space of the stacking, the control difficulty of the six-axis robot 3 is reduced, and the efficiency of automated loading and unloading operations is improved.

[0062] Figure 2 A schematic diagram of the structure of the conveying module 2 provided in this embodiment in the first state is shown. Figure 3A schematic diagram of the conveying module 2 provided in this embodiment in an intermediate state is shown. Figure 4 A schematic diagram of the structure of the conveying module 2 provided in this embodiment in the second state is shown. Figure 5 An exploded view of the lifting and conveying mechanism 22 provided in this embodiment is shown. Figures 2 to 5 As shown, the conveying module 2 includes a first conveying mechanism 21, a lifting conveying mechanism 22, and a second conveying mechanism 23 arranged sequentially. The lifting conveying mechanism 22 includes a lifting conveying component 221 and a lifting drive component 222. The lifting drive component 222 can drive the lifting conveying component 221 to move up and down, so that the lifting conveying component 221 has a conveying position flush with the first conveying mechanism 21 and the second conveying mechanism 23, and a clearance position lower than the first conveying mechanism 21 and the second conveying mechanism 23. The second conveying mechanism 23 includes a second conveying component 231 and a translation drive component 232. The translation drive component 232 can drive the second conveying component 231 to reciprocate along a first direction, so that the second conveying component 231 has a first position receiving the first conveying mechanism 21 and a second position receiving the lifting conveying component 221. The conveying module 2, through the cooperation of the second conveying mechanism 23 and the lifting conveying mechanism 22, enables the six-axis robot 3 to conveniently pick up goods as needed using top suction or side suction, thereby expanding the stacking range of the six-axis robot 3 in terms of height space without the need to frequently adjust the position of the moving platform 1. At the same time, the second conveying mechanism 23 can retract the moving platform 1, thereby avoiding interference between the six-axis robot 3 and the second conveying component 231, reducing the control difficulty of the six-axis robot 3, and facilitating the automation of loading and unloading operations.

[0063] When goods need to be stacked or retrieved from lower positions, the six-axis robot 3 needs to use a top-suction method to pick up the goods. To avoid interference between the six-axis robot 3 and the second conveying mechanism 23 when stacking goods on the ground or other goods, or retrieving goods from the stacking layer, the lifting drive assembly 222 drives the lifting conveying assembly 221 to descend to a clearance position, and the translation drive assembly 232 drives the second conveying assembly 231 to move towards the first conveying mechanism 21 to a first position, where the second conveying assembly 231 receives the goods from the first conveying mechanism 21. This shortens the entire conveying module 2, and the second conveying assembly 231 is retracted to the moving platform 1, thus preventing interference between the six-axis robot 3 and the second conveying assembly 231, thereby reducing the control difficulty of the six-axis robot 3. Because the six-axis robot 3 uses a top-suction method to pick up goods, compared to a side-suction method, it can stack goods to a lower position. Furthermore, when the conveying module 2 is shortened, the second conveying mechanism 23 retracts onto the mobile platform 1, which also prevents the second conveying mechanism 23 from obstructing the shooting area of ​​the second camera 42, ensuring the accuracy of the camera system 4 and improving the automation level of the equipment.

[0064] When goods need to be stacked or retrieved from higher positions, the side-suction method of the six-axis robot 3 is typically chosen due to its better stability and safety. In this case, the translation drive assembly 232 drives the second conveying assembly 231 to move away from the first conveying mechanism 21 to a second position, i.e., the entire conveying module 2 extends, and the second conveying assembly 231 extends beyond the moving platform 1. The second conveying assembly 231 is positioned further away from the six-axis robot 3 to facilitate its extension for side-suction retrieval. To ensure the continuity of the conveying module 2, the lifting drive assembly 222 drives the lifting conveying assembly 221 to rise to the conveying position. The lifting conveying assembly 221 is used to transfer goods from the first conveying mechanism 21 to the second conveying assembly 231. Because the six-axis robot 3 retrieves goods using the side-suction method, it can stack goods to higher positions compared to the top-suction method.

[0065] In summary, this integrated loading and unloading machine uses a six-axis robotic arm to pick up goods, offering good versatility in cargo load and adaptability to various loading postures. Furthermore, by adjusting the position of the second conveying component 231 in the first direction within the conveying module 2, the six-axis robotic arm 3 can pick up goods using either top suction or side suction as needed. This allows for lower and higher cargo stacking ranges in the vertical space without frequent adjustments to the position of the moving platform 1. It also avoids interference between the six-axis robotic arm 3 and the second conveying component 231 when stacking or picking up goods at lower positions, reducing the control difficulty of the six-axis robotic arm 3 and facilitating automated operation.

[0066] Continue as Figure 4 As shown, the translation drive assembly 232 includes a mounting frame 2321 and a translation driver 2322. The mounting frame 2321 supports the second conveying assembly 231. The translation driver 2322 is mounted on the mobile platform 1, and its output end is connected to the mounting frame 2321, driving the mounting frame 2321 to reciprocate the second conveying assembly 231 along a first direction. For example, the translation driver 2322 can be a pneumatic cylinder or a hydraulic cylinder.

[0067] To ensure that the mounting frame 2321 can move stably along the first direction, the second conveying mechanism 23 further includes a horizontal guide assembly 233. The horizontal guide assembly 233 includes a guide rail 2331 and a guide groove 2332 that are slidably engaged along the first direction. The guide rail 2331 is mounted on the mounting frame 2321, and the guide groove 2332 is mounted on the moving platform 1. For example, the moving platform 1 is provided with a fixed guide block, and the fixed guide block is provided with a guide groove 2332. The guide rail 2331 is slidably mounted within the guide groove 2332. In this embodiment, there are two sets of horizontal guide assemblies 233, which are arranged parallel to each other along the second direction to ensure that the mounting frame 2321 has stable support and guidance on both sides of the second direction. Of course, in other embodiments, the guide rail 2331 can be mounted on the moving platform 1, and the fixed guide block can be mounted on the mounting frame 2321. It is understood that those skilled in the art can choose other forms for the guiding structure of the mounting frame 2321 based on the above description, which will not be described in detail here.

[0068] To improve loading and unloading efficiency, the first conveying mechanism 21 is a diversion conveying mechanism, and the lifting conveying assembly 221 includes several lifting conveying components arranged side by side along a second direction, which is perpendicular to the first direction. With this configuration, the first conveying mechanism 21 can divide the goods into several groups. During loading, a six-axis robot 3 picks up the goods from the corresponding group and stacks them, improving loading efficiency; during unloading, two six-axis robots 3 can work simultaneously and place the picked-up goods at different positions on the conveying module 2 in the second direction, thereby facilitating the diversion of goods and improving unloading efficiency. In this embodiment, the first conveying mechanism 21 can perform two-group diversion, and the lifting conveying assembly 221 includes two lifting conveying components arranged side by side along the second direction. Exemplarily, the lifting conveying components can be belt conveyors. The first conveying mechanism 21 can be a diversion conveyor.

[0069] To facilitate cargo buffering, the second conveying assembly 231 includes a buffer conveyor 2311 and a receiving / discharging conveyor 2312. The buffer conveyor 2311 can receive cargo from the lifting conveying assembly 221 or the first conveying mechanism 21 and transport the cargo to the receiving / discharging conveyor 2312. The buffer conveyor 2311 serves a certain cargo buffering function, preventing a large amount of cargo from accumulating on the receiving / discharging conveyor 2312.

[0070] When the first conveying mechanism 21 performs two-group flow, two buffer conveyors 2311 arranged side by side along the second direction form a group, and the number of discharge conveyors 2312 is one, the width of which is equivalent to the width of a group of buffer conveyors 2311. For example, the buffer conveyors 2311 can be belt conveyors. The discharge conveyors 2312 can be roller conveyors.

[0071] The receiving / discharging conveyor 2312 is provided with side baffles 2313 at both ends in the second direction, and with an end baffle 2314 at the end in the first direction away from the buffer conveyor 2311. The two side baffles 2313 and the end baffle 2314 limit the movement of goods, preventing them from falling off the receiving / discharging conveyor 2312. Preferably, the guide channel formed by the two side baffles 2313 is flared at the end facing the buffer conveyor 2311, so that goods on the buffer conveyor 2311 can smoothly enter the guide channel formed by the two side baffles 2313.

[0072] like Figure 5 Combination Figure 4 As shown, the lifting drive assembly 222 includes a lifting driver 2222 and a carrier 2221. The lifting driver 2222 is mounted on the mobile platform 1. The carrier 2221 is connected to the drive end of the lifting driver 2222. The lifting driver 2222 drives the carrier 2221 to lift and lower, and the carrier 2221 carries the lifting conveyor assembly 221. When goods need to be stacked at a lower position, the lifting driver 2222 drives the carrier 2221 to lower the lifting conveyor assembly 221 to a clearance position, so that the second conveyor assembly 231 of the second conveying mechanism 23 can retract into the mobile platform 1 and directly dock with the first conveying mechanism 21. When goods need to be stacked at a higher position, the second conveyor assembly 231 of the second conveying mechanism 23 extends out of the mobile platform 1. At this time, the second conveying mechanism 23 and the first conveying mechanism 21 are disconnected, and the lifting driver 2222 drives the carrier 2221 to raise the lifting conveyor assembly 221 to the conveying position to ensure the continuity of the conveying module 2.

[0073] To ensure the stable lifting and lowering of the support member 2221, the lifting and conveying mechanism 22 further includes a vertical guide assembly 223. The vertical guide assembly 223 includes a guide rod 2231 and a sleeve 2232 that slide in a vertical direction. The guide rod 2231 is fixed to the support member 2221, and the sleeve 2232 is fixed to the moving platform 1 via a mounting plate. In this embodiment, the vertical guide assembly 223 has four sets, arranged at rectangular intervals to ensure stable support and guidance around the support member 2221. Of course, in other embodiments, the guide rod 2231 can also be fixed to the moving platform 1, and the sleeve 2232 can be installed on the support member 2221, achieving the same effect. It is understood that those skilled in the art, based on the above description, can choose other forms for the guide support structure of the support member 2221, which will not be described in detail here.

[0074] In this embodiment, the support member 2221 is a frame structure composed of multiple beams. This frame structure has good structural strength, which can better support the lifting and conveying assembly 221 and ensure the stability of the lifting and conveying assembly 221.

[0075] Figure 6 This is a schematic diagram of the structure of the material receiving and discharging conveyor 2312 and the positioning mechanism 5 provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the positioning mechanism 5 provided in an embodiment of the present invention. Figures 6 to 7 As shown, to facilitate the six-axis robot 3 in picking up goods from the receiving / discharging conveyor 2312, the loading and unloading integrated machine also includes a positioning mechanism 5, which is used to position the goods. For example, the positioning mechanism 5 drives the goods to move along a second direction to push the goods to the side baffle 2313, and works with the side baffle 2313 to position the goods, making it easier for the six-axis robot 3 to pick them up.

[0076] In this embodiment, two positioning mechanisms 5 are symmetrically arranged at both ends of the receiving / discharging conveyor 2312 in the second direction. The two positioning mechanisms 5 cooperate with two side baffles 2313 to position the goods on the receiving / discharging conveyor 2312 on both sides of the conveyor 2312, so that the two six-axis robotic arms 3 can pick up the goods. Of course, in other embodiments, several positioning mechanisms 5 can be arranged symmetrically in two groups along the second direction on the moving platform 1, with each group of positioning mechanisms 5 cooperating with its corresponding side baffle 2313 to position the goods.

[0077] The positioning mechanism 5 includes a positioning driver 51 and a positioning component 52. The positioning component 52 includes a fixing member 521 and a plurality of positioning forks 522. The positioning driver 51 can drive the fixing member 521 to move the positioning forks 522 along the second direction. Exemplarily, the receiving / discharging conveyor 2312 is a roller conveyor, and the positioning forks 522 extend through the gap between the rollers onto the conveying surface of the receiving / discharging conveyor 2312. The positioning forks 522 have a plate-like structure, and the flat portion of the positioning fork 522 is perpendicular to the second direction. This maximizes the contact area between the positioning fork 522 and the goods, facilitating better movement of the goods; it also reduces the obstruction force of the positioning fork 522 on the movement of the goods in the first direction. In this embodiment, there are three positioning forks 522, which are fixed to the fixing member 521 at intervals along the first direction. Of course, in other embodiments, the number of positioning forks 522 can be any number, which will not be exemplified here.

[0078] To ensure that the fixing member 521 moves smoothly along the second direction, the positioning mechanism 5 further includes a positioning guide component 53. The positioning guide component 53 includes a slide rail 531 and a slider 532 that slide along the second direction. The slide rail 531 extends along the second direction and is fixed to the moving platform 1, and the slider 532 is fixed to the fixing member 521. In this embodiment, both positioning mechanisms 5 include positioning guide components 53, and the fixing members 531 in both positioning mechanisms 5 are fixed to the sliders 532 of the two positioning guide components 53, thereby ensuring that each fixing member 531 has two positioning guide components 53 for guidance and support.

[0079] To facilitate understanding, the working process of the integrated loading and unloading machine provided in this embodiment will be explained as follows:

[0080] During loading, the mobile platform 1 enters the truck bed, and the camera system 4 on the mobile platform 1 scans the data of the truck bed to facilitate the control of the mobile platform 1 to move to the appropriate position. The conveying device transports the goods in the warehouse to the conveying module 2 on the mobile platform 1. When goods are stacked at a lower position, the lifting conveyor 22 is in a clearance position, and the second conveyor 23 is in a first position and directly docks with the first conveyor 21. The goods on the conveying module 2 are conveyed in the order from the first conveyor 21 to the second conveyor 23. Finally, the six-axis robot 3 picks up the goods on the second conveyor 23 and stacks them in the truck bed. When goods are stacked at a higher position, the second conveyor 23 is in a second position and extends out of the mobile platform 1, and the lifting conveyor 22 is in the conveying position. The goods on the conveying module 2 are conveyed in the order from the first conveyor 21, the lifting conveyor 22 to the second conveyor 23. Finally, the six-axis robot 3 picks up the goods on the second conveyor 23 and stacks them in the truck bed. In addition, during the loading process, the first conveying mechanism 21 divides the goods into two columns for transport, and the two six-axis robotic arms 3 work together to improve overall work efficiency.

[0081] During unloading, the camera system 4 on the mobile platform 1 photographs and detects the goods inside the truck bed. When retrieving goods at a lower position, the lifting conveyor 22 is in a clearance position, the second conveyor 23 is in a first position and directly docks with the first conveyor 21, and the six-axis robot 3 picks up the goods from the truck bed and places them on the second conveyor 23. The goods are transported in sequence from the second conveyor 23 to the first conveyor 21, and finally, the goods are transported to the warehouse by the conveying device. When retrieving goods at a higher position, the second conveyor 23 is in a second position and extends out of the mobile platform 1, the lifting conveyor 22 is in a conveying position, the six-axis robot 3 picks up the goods from the truck bed and places them on the second conveyor 23; then, the goods are transported in sequence from the second conveyor 23, the lifting conveyor 22 to the first conveyor 21, and the first conveyor 21 transports the goods to the conveying device; finally, the goods are transported to the warehouse by the conveying device. In addition, during the unloading process, the two six-axis robotic arms 3 work together to divide the goods into two columns and place them on the second conveying mechanism 23. Then, the two columns of goods are transported synchronously to the first conveying mechanism 21 under the conveying of the lifting conveying mechanism 22, which can improve the overall unloading efficiency.

[0082] Among them, the six-axis robot 3 has a better load capacity, so that the loading and unloading machine can adapt to more products of different weights and has a wider range of applications.

[0083] Note that in the description of this specification, references to terms such as "an embodiment," "in other embodiments," 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.

[0084] The above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A loading and unloading integrated machine, characterized in that, include: Mobile platform (1); A conveying module (2) is installed on the mobile platform (1). The conveying module (2) can reciprocate the conveying of goods in a first direction. The conveying module (2) includes a first conveying mechanism (21), a lifting conveying mechanism (22), and a second conveying mechanism (23) arranged in sequence. The lifting and conveying mechanism (22) includes a lifting and conveying component (221) and a lifting and driving component (222). The lifting and driving component (222) can drive the lifting and conveying component (221) to move up and down, so that the lifting and conveying component (221) has a conveying position flush with the first conveying mechanism (21) and the second conveying mechanism (23) and a clearance position lower than the first conveying mechanism (21) and the second conveying mechanism (23). The second conveying mechanism (23) includes a second conveying component (231) and a translation drive component (232). The translation drive component (232) can drive the second conveying component (231) to reciprocate along a first direction, so that the second conveying component (231) has a first position for receiving the first conveying mechanism (21) and a second position for receiving the lifting conveying component (221). A six-axis robot (3) is mounted on the mobile platform (1). The six-axis robot (3) can pick up goods on the second conveying component (231) and stack them, or the six-axis robot (3) can transfer goods to the second conveying component (231). When palletizing or picking up goods at a lower position, the lifting conveyor (22) is in a clearance position, and the second conveyor (23) is in a first position and directly docks with the first conveyor (21); When palletizing or picking up goods at higher positions, the second conveying mechanism (23) is in the second position and extends out of the moving platform (1), while the lifting conveying mechanism (22) is in the conveying position; By coordinating the lifting and lowering motion of the lifting and conveying mechanism (22) with the translational motion of the second conveying mechanism (23), the six-axis robot (3) can pick up goods by top suction or side suction, thereby expanding the stacking range of the six-axis robot (3) in height space and avoiding interference between the six-axis robot (3) and the second conveying assembly (231) when stacking or picking up goods at lower positions.

2. The loading and unloading integrated machine according to claim 1, characterized in that, The lifting drive assembly (222) includes: The support member (2221) is used to support the lifting and conveying assembly (221). A lifting driver (2222) is installed on the mobile platform (1); the output end of the lifting driver (2222) is connected to the carrier (2221), and the lifting driver (2222) is used to drive the carrier (2221) to move up and down in the vertical direction.

3. The loading and unloading integrated machine according to claim 2, characterized in that, The translation drive assembly (232) includes: Mounting bracket (2321) is used to carry the second conveying assembly (231); A translation driver (2322) is mounted on the mobile platform (1). The output end of the translation driver (2322) is connected to the mounting bracket (2321). The translation driver (2322) is used to drive the mounting bracket (2321) to move along a first direction.

4. The loading and unloading integrated machine according to claim 3, characterized in that, The lifting and conveying mechanism (22) further includes a vertical guide assembly (223), which includes a guide rod (2231) and a sleeve (2232) that slide in the vertical direction. One of the guide rod (2231) and the sleeve (2232) is mounted on the moving platform (1), and the other is mounted on the carrier (2221); and / or The second conveying mechanism (23) further includes a horizontal guide assembly (233), which includes a guide rail (2331) and a guide groove (2332) that slide in a horizontal direction. One of the guide rail (2331) and the guide groove (2332) is mounted on the mobile platform (1), and the other is mounted on the mounting frame (2321).

5. The loading and unloading integrated machine according to claim 1, characterized in that, The second conveying assembly (231) includes a buffer conveyor (2311) and a receiving / discharging conveyor (2312). The receiving / discharging conveyor (2312) has side baffles (2313) at both ends in the second direction. The receiving / discharging conveyor (2312) has an end baffle (2314) at the end in the first direction away from the buffer conveyor (2311). The second direction is perpendicular to the first direction.

6. The loading and unloading integrated machine according to claim 5, characterized in that, The loading and unloading integrated machine also includes a positioning mechanism (5), which includes: The positioning component (52) includes a fixing member (521) and a positioning fork (522) fixed on the fixing member (521). The receiving and discharging conveyor (2312) is a roller conveyor. The positioning fork (522) extends out of the conveying surface of the receiving and discharging conveyor (2312). A positioning driver (51) is used to drive the fixing member (521) to move in a second direction so that the positioning fork (522) pushes the goods on the receiving and discharging conveyor (2312) to the side baffle (2313) for positioning.

7. The loading and unloading integrated machine according to claim 6, characterized in that, The first conveying mechanism (21) is a diversion conveying mechanism, the second conveying mechanism (23) is capable of conveying at least two trains of goods, and several of the positioning mechanisms (5) are arranged symmetrically in two groups along the second direction on the mobile platform (1).

8. The loading and unloading integrated machine according to any one of claims 1-7, characterized in that, The loading and unloading machine also includes a camera system (4), which includes a camera used to collect image information of the space to be stacked or the goods to be unloaded. The camera is mounted on the six-axis manipulator (3) or the mobile platform (1).

9. The loading and unloading integrated machine according to claim 8, characterized in that, When the camera is installed on the mobile platform (1), the camera includes a first camera (41) and a second camera (42). The first camera (41) is located at one end of the mobile platform (1) near the first conveying mechanism (21), and the second camera (42) is located at one end of the mobile platform (1) near the second conveying mechanism (23). The first camera (41) is installed on the stand of the mobile platform (1) and is higher than the second camera (42). At least two of the first cameras (41) are arranged along the second direction on the stand of the mobile platform (1); at least two of the second cameras (42) are arranged along the second direction on the mobile platform (1).

10. A loading and unloading system, characterized in that, Includes a conveying device and a loading and unloading machine as described in any one of claims 1-9, wherein one end of the conveying device is located at the storage end and the other end is located at the transportation end and can be connected to the conveying module (2) of the loading and unloading machine, and the conveying device can reciprocate to transport goods along a first direction.

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