Automatic loading and unloading robot and automatic loading and unloading system

Abstract

The present invention provides an automated loading and unloading robot and an automated loading and unloading system, comprising a walking body, a plurality of tracks arranged on the walking body for horizontal sliding along its own feeding direction, the plurality of tracks corresponding one to one with each flow channel on a multi-flow channel function detection device; the walking body is further provided with a driving component and a positioning signal receiving assembly, the driving component and the positioning signal receiving assembly being arranged correspondingly to the tracks, the driving component being used to drive the tracks to slide horizontally, the positioning signal receiving assembly being used to identify the positioning signal transmitting assembly arranged corresponding to each flow channel on the multi-flow channel function detection device, so as to obtain the deviation value between the corresponding track and the corresponding flow channel; when the deviation value between the corresponding track and the corresponding flow channel is zero, the driving component drives the track to slide toward the multi-flow channel function detection device, so that the corresponding track and the corresponding flow channel are smoothly docked. In this way, each track is positioned and calibrated relative to the corresponding flow channel, effectively reducing the material tray jamming rate and improving the detection operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic loading and unloading, and in particular to an automatic loading and unloading robot and an automatic loading and unloading system. Background Art

[0002] In recent years, with the development of traditional production factors towards digitalization, intelligence and globalization, lights-out factories have emerged, characterized by lights-out workshops, where all production activities are controlled by computers and the front lines of production are equipped with robots without the need for workers.

[0003] For example, in a lights-out chip factory, after the chips are completed and loaded onto trays, an intelligent handling robot transports the trays to functional testing equipment, where the chips on the trays are tested for various functions to prevent defective products from entering the market and affecting the company's image. Furthermore, to improve testing efficiency, intelligent handling robots in the industry are typically equipped with multiple feeding or receiving tracks and a positioning device. These multiple feeding or receiving tracks are connected to the various product flow channels of the multi-channel functional testing equipment through this positioning device.

[0004] Regarding the above-mentioned related technologies, the inventor believes that due to reasons such as the ground road conditions in the factory with the lights turned off and the installation accuracy of the positioning device, the positioning accuracy between the feeding or receiving track on the intelligent handling robot and the product flow channel on the multi-flow channel functional testing equipment is poor, which easily leads to height differences. When the material tray is loaded or unloaded between the two, it is easy for the material to get stuck, affecting the efficiency of the detection operation. There is room for improvement. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated loading and unloading robot and an automated loading and unloading system to improve the positioning accuracy between the feeding or receiving track and the corresponding flow channel on the multi-flow channel functional testing equipment, reduce the jamming rate between the two, and thereby improve the efficiency of the functional testing operation.

[0006] The technical solutions provided by the present invention are as follows:

[0007] The present invention provides an automatic loading and unloading robot for loading and unloading the flow channels of a multi-flow channel function testing device, which is characterized by comprising:

[0008] Walking body;

[0009] A plurality of tracks are arranged in parallel and at intervals, and are all slidably arranged on the walking body along a first direction and correspond one-to-one to the flow channels on the multi-flow channel function detection device; the first direction is the feed direction of the track itself;

[0010] a driving component, the driving component being disposed on the walking body and corresponding to the track, and being configured to drive the corresponding track to slide horizontally toward or away from the corresponding flow channel along the first direction;

[0011] a positioning signal receiving component, the positioning signal receiving component being arranged on the walking body and corresponding one-to-one with the track, the positioning signal receiving component being used to identify the positioning signal transmitting component arranged corresponding to each of the flow channels on the multi-flow channel function detection device, so as to obtain a deviation value between the track and the corresponding flow channel; the deviation value includes a deviation value in a second direction and a third direction, the third direction being a vertical direction, and the second direction being perpendicular to the first direction and the third direction in each case;

[0012] When the deviation value between the track and the corresponding flow channel is zero, the driving component drives the track to slide toward the multi-flow channel function detection device, and the track is smoothly docked with the corresponding flow channel.

[0013] By providing an automatic loading and unloading robot provided by the present invention, in actual operation, when the walking body is running and positioned at the loading end and / or unloading end of the multi-channel function detection equipment, each positioning signal receiving component thereon respectively identifies each positioning signal transmitting component set corresponding to each channel on the multi-channel function detection equipment, and obtains the deviation value of each track relative to the corresponding channel; when the deviation value is detected to be zero, that is, there is no deviation between the corresponding track and the corresponding channel, the driving component drives the track to slide toward the side of the multi-channel function detection equipment along its own feeding direction, so that the corresponding track is smoothly docked with the corresponding channel, and the corresponding loading and unloading operation process is performed; and when the deviation value is detected to be not zero, that is, there is a deviation between the corresponding track and the corresponding channel, the corresponding track is controlled to move relative to the walking body, and the deviation value between it and the corresponding channel is compensated until the deviation value between the two is zero; thereafter, the driving component is started to drive the track to slide horizontally along its own feeding direction until the corresponding track is smoothly docked with the corresponding channel on the multi-channel function detection equipment.

[0014] In this way, a positioning signal receiving component is respectively set on the walking body corresponding to each track, so that each track on the walking body can be positioned and calibrated relative to each channel of the multi-channel functional testing equipment. This replaces the operation of using one positioning device to simultaneously adjust multiple tracks and channels in the related technology, which helps to improve the positioning accuracy between each track on the automated loading and unloading robot and each channel on the multi-channel functional testing equipment, reduce the occurrence of height difference between the two, and effectively reduce the material jamming rate when the material tray is transferred between the two, improve the stability of the corresponding automated loading and unloading robot in transferring and / or receiving materials to each channel of the multi-channel functional testing equipment, and ensure the efficiency of the corresponding functional testing operation.

[0015] In some embodiments, the vehicle further comprises an adjusting assembly disposed on the walking body, wherein a plurality of adjusting assemblies are provided and correspond one to one with the tracks;

[0016] When the deviation value between the track and the corresponding flow channel is not zero, the adjustment component drives the track to move relative to the walking body to compensate for the deviation value.

[0017] In some embodiments, the adjustment assembly includes a support seat, the support seat is arranged on the walking body to be lifted along the third direction, and the walking body is further provided with a lifting component for driving the support seat to be lifted;

[0018] The apparatus further comprises a carrier, the carrier being arranged on the support seat and being capable of sliding along the second direction, and the support seat being further provided with a sliding component for driving the carrier to slide;

[0019] The track is slidably arranged on the carrier along a first direction, and the positioning signal receiving component is fixedly arranged on one end of the carrier close to the multi-channel function detection device.

[0020] In some embodiments, a master controller is further included, and the positioning signal receiving component, the lifting component, the sliding component, and the driving component are all electrically connected to the master controller.

[0021] Through the automatic loading and unloading robot provided by the present invention, in actual operation, when the walking body is running and positioned at the loading end and / or unloading end of the multi-channel function detection equipment, each positioning signal receiving component thereon respectively identifies each positioning signal transmitting component set corresponding to each flow channel on the multi-channel function detection equipment, and respectively collects its position information, and then sends the corresponding position information to the main controller; the main controller receives the corresponding position information and judges the deviation value between the two; if the deviation value is zero, the main controller controls the driving component to start, and drives the track to slide along its own feeding direction toward one side of the multi-channel function detection equipment until the corresponding track is docked with the corresponding flow channel; then, the corresponding loading or unloading operation is carried out. Industry; if the deviation value is not zero, the main controller will feed back the corresponding deviation value information to the lifting component and the sliding component, and the lifting component will drive the support seat to rise and fall vertically relative to the walking body, so that the support seat drives the carrier and the track to rise and fall synchronously, so as to compensate for the deviation value of the corresponding track relative to the corresponding flow channel in the vertical direction; the sliding component will drive the carrier and the track on it to move relative to the support seat in a direction perpendicular to the track feeding direction, so as to compensate for the deviation value of the corresponding track relative to the corresponding flow channel in the vertical track feeding direction, until the deviation value between the two is calibrated to zero; after that, the driving component will be controlled to start, so that the track will slide horizontally along its own feeding direction until the corresponding track is smoothly docked with the corresponding flow channel on the multi-channel function detection equipment.

[0022] In this way, by setting the track on the carrier, driving the carrier to slide horizontally with the help of sliding components, and driving the support seat to lift vertically with the help of lifting components, the position adjustment of the track relative to the walking body is achieved, that is, the positioning and calibration of the corresponding track relative to the corresponding flow channel is achieved. The adjustment structure is simple and easy to manufacture, which helps to save the company's production costs.

[0023] On the other hand, an automated loading and unloading system is also provided, comprising any of the automated loading and unloading robots described above, and also comprising a multi-channel function detection device, wherein the multi-channel function detection device is provided with multiple channels for conveying material trays, and the multiple channels correspond one-to-one to the tracks; the multi-channel function detection device is provided with a positioning signal transmitting component adapted to the positioning signal identification component corresponding to any of the channels.

[0024] Through the automated loading and unloading system provided by the present invention, during actual operation, after the automated loading and unloading robot runs through the ground positioning device and is positioned at the loading end and / or unloading end of the multi-channel function detection equipment, each positioning signal receiving component respectively identifies each positioning signal transmitting component set corresponding to each channel on the multi-channel function detection equipment, and respectively obtains the deviation value between the corresponding track and the corresponding channel; and when the corresponding positioning signal receiving component detects that the deviation value between the two is zero, the corresponding driving component starts to drive the corresponding track to slide along its own feeding direction toward the side of the multi-channel function detection equipment until the corresponding track is docked with the corresponding channel; and when it is detected that the deviation value is not zero, the corresponding track is controlled to move relative to the walking body to compensate for the deviation between the corresponding track and the corresponding channel until the corresponding deviation value is detected to be calibrated to zero; thereafter, the corresponding driving component is restarted and drives the corresponding track to slide horizontally along its own feeding direction until it is smoothly connected with the corresponding channel.

[0025] In some embodiments, a support base is provided on the walking body for vertical lifting, and a lifting component for driving the support base to lift and lower is also provided on the walking body; a carrier is provided on the support base for horizontal sliding, and the sliding direction of the carrier is perpendicular to the feeding direction of the track, and a sliding component for driving the carrier to slide is also provided on the support base; the positioning signal receiving component is fixedly provided at one end of the carrier close to the multi-channel function detection device;

[0026] A carrier plate is provided on the carrier platform for sliding along the feeding direction of the track, a mounting bracket is provided on the carrier plate, and the track is fixedly mounted on the carrier plate by corresponding to the mounting bracket.

[0027] In some embodiments, clamps are provided on both sides of the carrier plate in the feeding direction of the track, and any of the clamps is provided on the carrier plate for horizontal sliding perpendicular to the feeding direction of the track; an adjusting component is also provided on the carrier plate, and the adjusting component corresponds one-to-one to the clamps and drives the corresponding clamps to slide horizontally.

[0028] The automated loading and unloading system provided by the present invention utilizes splints to block both sides of the track in the feeding direction, thereby helping to reduce the occurrence of material trays sliding off the corresponding sides of the track, thereby improving the stability of the automated loading and unloading robot in loading material trays; at the same time, an adjusting component is utilized to drive the splints to slide and adjust the width between the two splints, thereby meeting the loading requirements of material trays of different sizes on the track, helping to expand the scope of application of the automated loading and unloading robot, thereby enhancing the practicality of the automated loading and unloading system.

[0029] In some embodiments, a first sensor is provided on the mounting frame in the middle of the track, and the first sensor is used to detect whether there is a tray on the track;

[0030] A second sensor is provided on the mounting frame at one end of the track close to the multi-channel function detection device, and the second sensor is used to identify the end wall corresponding to the channel close to one end of the walking body.

[0031] Through the automated loading and unloading system provided by the present invention, in actual operation, after the corresponding track is calibrated relative to the corresponding flow channel to a deviation value of zero, the second sensor identifies the end wall of the corresponding flow channel close to the corresponding track side, thereby further positioning the corresponding track and the corresponding flow channel, which helps to further improve the positioning accuracy between each track on the automated loading and unloading robot and each flow channel on the multi-flow channel function detection equipment.

[0032] In some embodiments, a photoelectric switch is provided at the edge of the carrier, a plurality of the photoelectric switches are provided at intervals along the feeding direction of the track, and a light blocking member is provided on the carrier corresponding to the photoelectric switch.

[0033] Through the automated loading and unloading system provided by the present invention, in actual operation, when the carrier plate drives the corresponding track to move along the track feeding direction, the light-blocking member moves synchronously with the carrier plate, and the photoelectric switches on the edge of the carrier platform sense the light-blocking member in turn, thereby realizing automatic judgment of the corresponding track movement position, that is, realizing judgment of the operating status of the automated loading and unloading robot. The system has a high level of automation and a simple structure, which helps to reduce the production difficulty of the automated loading and unloading system.

[0034] In some embodiments, a master controller is provided on the walking body, and the positioning signal receiving component, the lifting component, the sliding component, the driving component, the first sensor, and the second sensor are all electrically connected to the master controller;

[0035] A visual camera is provided on the upper side of any of the tracks on the walking body. The visual camera is used to monitor the loading and unloading process between the track and the corresponding flow channel, and the visual camera is electrically connected to the main controller.

[0036] Through the automated loading and unloading system provided by the present invention, in actual operation, the visual camera obtains the loading and unloading operation image between the corresponding track and the corresponding flow channel, and sends the corresponding image information to the main controller. The main controller receives the corresponding image information and analyzes it to determine whether the material is stuck. If the material is stuck, the automated loading and unloading robot is immediately controlled to stop running, so as to avoid the situation where subsequent material trays continue to get stuck, thereby effectively improving the intelligence level of the automated loading and unloading system.

[0037] In some embodiments, the positioning signal receiving component includes a visual navigation sensor, which is installed at one end of the carrier close to the multi-channel function detection device; the positioning signal transmitting component includes a QR code for the visual navigation sensor to identify and locate, and the QR code is attached to one end of the multi-channel function detection device close to the walking body.

[0038] Through the automated loading and unloading system provided by the present invention, the positioning signal receiving component is set as a visual navigation sensor, and the positioning signal transmitting component is set as a QR code. The positioning device has a simple structure and is easy to produce, which effectively saves the production cost of the enterprise.

[0039] Compared with the prior art, the automated loading and unloading robot and automated loading and unloading system provided by this application have at least one of the following beneficial effects:

[0040] 1. By respectively setting a positioning signal receiving component on the walking body corresponding to any track, and respectively setting a positioning signal transmitting component on the multi-channel function detection equipment corresponding to each flow channel, and making each positioning signal receiving component correspond to each positioning signal transmitting component one by one, so that when the automatic loading and unloading robot loads and unloads the multi-channel function detection equipment, each track can be independently positioned and calibrated relative to the corresponding flow channel, thereby improving the positioning accuracy between each track on the automatic loading and unloading robot and each flow channel on the multi-channel function detection equipment, thereby effectively reducing the occurrence of the height difference between the two, reducing the material jamming rate when the material tray is transferred between the two, and improving the efficiency of the corresponding function detection operation.

[0041] Furthermore, when a material jam occurs between a track and the corresponding flow channel, the operator only needs to inspect the corresponding track and the corresponding flow channel, or the positioning signal receiving component and the corresponding positioning signal transmitting component, instead of inspecting all the tracks and the flow channels in the related art. This has a simple structure and is easy to operate, effectively reducing the difficulty and time of inspection, thereby helping to further improve the efficiency of the corresponding multi-flow channel function inspection operation.

[0042] 2. By setting the track on the platform, and the platform on the support base, when the platform and the support base move, the track is driven to run synchronously, so as to achieve the positioning calibration of the corresponding track relative to the corresponding flow channel. The structure is simple and easy to produce, which effectively ensures the production convenience of the automatic loading and unloading robot and saves the production cost of the enterprise;

[0043] 3. Using a second sensor to further locate the corresponding track on the automated loading and unloading robot and the corresponding flow channel on the multi-flow channel functional testing equipment will help to further improve the positioning accuracy between the two, thereby effectively reducing the material jam rate and improving the efficiency of functional testing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of this solution.

[0045] Figure 1 This is an axonometric diagram of an embodiment of the present invention, which mainly reflects a state where a material tray is loaded on a track;

[0046] Figure 2 This is an axonometric diagram mainly showing the arrangement position of the driving components in an embodiment of the present invention;

[0047] Figure 3 This is an axonometric diagram mainly showing the arrangement position of the sprocket structure according to an embodiment of the present invention;

[0048] Figure 4 It is an axonometric diagram mainly showing the arrangement position of the carrier plate according to an embodiment of the present invention.

[0049] Description of reference numerals:

[0050] 1. Walking machine body; 11. Walking machine base; 12. Seat plate; 13. Machine body frame; 131. Vertical plate; 14. Casing; 2. Track; 21. Pulley; 3. Driving component; 31. Third slide rail; 32. Third slide seat; 4. Positioning signal receiving component; 5. Adjusting component; 51. Support seat; 52. Lifting component; 521. First slide rail; 522. First slide seat; 523. Sprocket structure; 53. Carrier; 531. Carrier plate; 532. Mounting frame; 533. First sensor; 534. Clamp; 535. Adjusting component; 5351. Fourth slide rail; 5352. Fourth slide seat; 536. Second sensor; 54. Sliding component; 541. Second slide rail; 542. Second slide seat; 6. Photoelectric switch; 7. Light blocking member; 8. Cover; 9. Visual camera; 10. Material tray. DETAILED DESCRIPTION

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0052] To simplify the drawings, only the parts relevant to the present invention are schematically shown in each figure. They do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. As used herein, "one" not only means "only one" but also "more than one."

[0053] In one embodiment, referring to the accompanying drawings Figures 1 to 2 An automated loading and unloading robot is used to load and unload the various channels of the multi-channel function testing equipment from the loading end and / or unloading end of the multi-channel function testing equipment, while improving the positioning accuracy between its own feeding or receiving tracks 2 and the various channels of the multi-channel function testing equipment, thereby reducing the material jamming rate between the two and improving the operating efficiency of the multi-channel function testing equipment.

[0054] The present invention includes a walking body 1 and a plurality of tracks 2 disposed on the walking body 1. The plurality of tracks 2 are each horizontally movable relative to the walking body 1 along a first direction. A driving component 3 is provided on the walking body 1 corresponding to each track 2. The driving component 3 is used to drive the corresponding track 2 to slide independently relative to the walking body 1. In this embodiment of the present invention, the first direction is set as the feed direction of the track 2 itself. Simultaneously, the walking body 1 is also provided with a positioning signal receiving component 4. The positioning signal receiving component 4 corresponds one-to-one with the track 2 and the driving component 3 and is used to identify the positioning signal transmitting component corresponding to each flow channel on the multi-channel function detection device to obtain a deviation value between the corresponding track 2 and the corresponding flow channel. In this embodiment of the present invention, the deviation value includes deviation values ​​in a second direction and a third direction, the third direction being a vertical direction, and the second direction is perpendicular to the first and third directions. When the deviation value between the corresponding track 2 and the corresponding flow channel is zero, that is, when the deviation values ​​in the second and third directions are both zero, the driving component 3 drives the corresponding track 2 to slide toward the multi-channel function detection device so that the corresponding track 2 and the corresponding flow channel are smoothly connected.

[0055] In actual operation, when the walking body 1 is running and positioned at the loading end and / or unloading end of the multi-channel function detection equipment, each positioning signal receiving component 4 on the walking body 1 respectively identifies each positioning signal transmitting component set corresponding to each channel on the multi-channel function detection equipment, and obtains the deviation value of each track 2 relative to the corresponding channel; at this time, the track 2 that has no deviation from the corresponding channel is driven by the corresponding driving component 3 to slide toward the corresponding channel along its own feeding direction so that the two can dock and perform subsequent loading and unloading operations; and the track 2 that has a deviation from the corresponding channel moves relative to the walking body 1 to compensate for the deviation between the two until the deviation value is calibrated to zero; after that, the corresponding driving component 3 drives it to slide toward the corresponding channel along its own feeding direction until it docks with the corresponding channel and performs subsequent loading and unloading operations. In this way, each track 2 on the walking body 1 and the corresponding flow channel on the multi-channel function detection equipment are positioned and calibrated separately, instead of using a positioning device to simultaneously calibrate the deviation between multiple tracks 2 and the flow channel in the related technology, effectively improving the positioning accuracy between each track 2 on the automated loading and unloading robot and the corresponding flow channel on the multi-channel function detection equipment, reducing the height difference between the two, thereby effectively reducing the material jamming rate of the material tray 10 when transferring between the two, and improving the operating efficiency of the corresponding multi-channel function detection equipment.

[0056] In one embodiment, based on the above embodiment, specifically, referring to Figures 1 to 3In this embodiment of the present invention, the walking machine body 1 includes a generally rectangular walking machine base 11 and a seat plate 12 vertically mounted on the walking machine base 11. Two seat plates 12 are provided on the upper side of the walking machine base 11, and are mounted at either end of the walking machine base 11 in its longitudinal direction. The two seat plates 12 are arranged parallel and spaced apart, forming an installation space for the walking machine body 1 between them. The track 2, drive component 3, and positioning signal receiving assembly 4 are all disposed within this installation space.

[0057] Reference Figure 1 and Figure 2 In this embodiment of the present invention, two tracks 2 are installed within the installation space. These tracks 2 correspond to the two seat plates 12, and are located on the side of the corresponding seat plate 12 closest to the installation space. Both tracks 2 are arranged horizontally. Furthermore, the walking body 1 is provided with an adjustment assembly 5 for driving the corresponding track 2 relative to the walking body 1. When the deviation between the track 2 and the corresponding flow channel is non-zero, the adjustment assembly 5 drives the track 2 to move relative to the walking body 1 to compensate for the deviation.

[0058] Reference Figure 2 and Figure 3 The walking machine body 1 also includes a machine frame 13 fixedly mounted on the upper side of the walking machine base 11. One machine frame 13 is provided at each end of the walking machine base 11 in the longitudinal direction, and two seat plates 12 are mounted on the side of the corresponding machine frame 13 near the other machine frame 13. In this embodiment of the present invention, each machine frame 13 includes two vertically arranged upright plates 131, and both upright plates 131 of each machine frame 13 are fixed to the opposite sides of the corresponding width direction of the walking machine base 11. The adjustment assembly 5 includes a support base 51 disposed in the installation space. The support base 51 corresponds to the seat plate 12 one-to-one. A fixing plate is mounted on the side of each support base 51 near the corresponding seat plate 12, and each fixing plate is arranged parallel to the seat plate 12. Furthermore, a lifting component 52 is provided between each fixing plate and the machine frame 13. Each fixing plate slides relative to the corresponding seat plate 12 in a third direction, i.e., in a vertical direction, via the lifting component 52, thereby causing the corresponding support base 51 to be vertically raised and lowered within the installation space.

[0059] In this embodiment of the present invention, referring to Figure 3The lifting component 52 includes a first slide rail 521 and a first slide seat 522 adapted to the first slide rail 521. Specifically, the first slide rail 521 is vertically mounted on the two vertical plates 131 corresponding to the body frame 13, and the first slide seat 522 is mounted on the side of the fixed plate facing away from the support base 51, corresponding to the first slide rail 521. Simultaneously, the lifting component 52 also includes a sprocket structure 523, in which the movement direction of the chain near the vertical plate 131 is vertically arranged. The first slide seat 522 is fixedly connected to a predetermined link of this portion of the chain, thereby enabling the support base 51 to hover at any height. Of course, the lifting component 52 also includes a first motor that drives the drive wheel in the sprocket structure 523.

[0060] When in use, the first motor starts and drives the corresponding sprocket structure 523 to rotate. The preset chain of the sprocket drives the first slide 522 to slide relative to the first slide rail 521 along the length direction of the first slide rail 521. The first slide 522 drives the fixed plate and the upper support seat 51 to slide synchronously in the vertical direction, thereby realizing the vertical lifting setting of the support seat 51 on the walking body 1.

[0061] In this embodiment of the present invention, referring to Figure 1 and Figure 3 The first slide rail 521, the first slide seat 522, and the sprocket structure 523 are all arranged between the two vertical plates 131 of the corresponding body frame 13, and the corresponding body frame 13 is fixedly installed with a shell 14 on the side away from the corresponding seat plate 12. The shell 14 is used to cover the first slide rail 521, the first slide seat 522, and the sprocket structure 523.

[0062] Reference Figure 2 and Figure 3 , the adjustment component 5 also includes a carrier 53, and the carrier 53 is slidingly arranged on the support seat 51 along the second direction. In this embodiment of the present invention, the upper side of the support seat 51 is horizontally arranged, and the carrier 53 is horizontally slidingly arranged on the upper side of the support seat 51, and the sliding direction of the carrier 53 is perpendicular to the feeding direction of the track 2, and the track 2 is installed on the carrier 53; in this embodiment of the present invention, the positioning signal receiving component 4 includes a visual navigation sensor, and the visual navigation sensor is fixedly installed on one end of the carrier 53 close to the multi-channel function detection equipment, and is located at the midpoint of the feeding or unloading end of the track 2. The carrier 53 is arranged parallel to the upper side of the support seat 51, and a sliding component 54 is provided on the upper side of the support seat 51 corresponding to the carrier 53, and the sliding component 54 is used to drive the carrier 53 to slide horizontally. Refer to Figure 2In this embodiment of the present invention, the sliding component 54 includes a second slide rail 541 and a second slide seat 542 adapted to the second slide rail 541. Specifically, the second slide rail 541 is horizontally mounted on the upper side of the support seat 51, and the length direction of the second slide rail 541 is perpendicular to the feed direction of the track 2. The second slide seat 542 is mounted on the lower side of the carrier 53. The sliding component 54 also includes a second motor that drives the second slide seat 542 to slide relative to the second slide rail 541 along the length direction of the second slide rail 541. During use, the second motor is started to drive the second slide seat 542 to slide relative to the second slide rail 541 along the length direction of the second slide rail 541. The second slide seat 542 drives the carrier 53 and the track 2 thereon to slide synchronously, thereby realizing the horizontal sliding setting of the track 2 on the walking body 1 in a direction perpendicular to its own feed direction. In this embodiment of the present invention, a gear rack structure can be provided to drive the second slide 542 to slide relative to the second slide rail 541, so as to improve the stability of the second slide 542 sliding relative to the second slide rail 541 and facilitate the second slide 542 to hover at any position of the second slide rail 541; of course, a linear module can also be directly provided to replace the above-mentioned sliding component 54 structure. In this embodiment of the present invention, there is no specific restriction on the specific setting form of the driving component 3.

[0063] Reference Figure 2 In this embodiment of the present invention, the track 2 is arranged on the carrier 53 so as to slide horizontally along its own feed direction, and the driving component 3 is arranged between the carrier 53 and the track 2. The driving component 3 is configured as a third slide rail 31 arranged along the feed direction of the track 2, a third slide 32 adapted to the third slide rail 31, and a third motor that drives the third slide 32 to slide relative to the third slide rail 31. The arrangement of the third slide rail 31, the third slide 32, and the third motor between the carrier 53 and the corresponding track 2 is the same as the arrangement of the second slide rail 541, the second slide 542, and the second motor between the support base 51 and the corresponding carrier 53, and will not be repeated here.

[0064] It also includes a main controller, and the visual navigation sensor, the first motor, the second motor and the third motor are all electrically connected to the main controller.

[0065] The implementation principle of the embodiment of the present application is: during actual operation, after the walking body 1 runs through the ground positioning device and is positioned at the loading end and / or unloading end of the multi-channel function detection equipment, each visual navigation sensor identifies the positioning signal transmitting component corresponding to each flow channel on the multi-channel function detection equipment, collects its position information, and sends the corresponding position information to the main controller; the main controller receives the corresponding position information and calculates the deviation value between the corresponding track 2 and the corresponding flow channel; if the deviation value is zero, the main controller controls the third motor to start, and drives the track 2 to slide along its own feeding direction toward one side of the multi-channel function detection equipment until the corresponding track 2 is smoothly docked with the corresponding flow channel, and starts the corresponding loading and unloading operation process; if the deviation value is not zero, the main controller will feedback the corresponding deviation value information It is fed to the first motor and the second motor, and the first motor drives the support base 51 to rise and fall vertically relative to the walking body 1, and the support base 51 drives the carrier 53 and the track 2 to rise and fall synchronously, so as to compensate for the deviation value of the corresponding track 2 relative to the corresponding flow channel in the vertical direction; the second motor drives the carrier 53 and the track 2 on it to slide relative to the support base 51 in a direction perpendicular to the feeding direction of the track 2, so as to compensate for the deviation value of the corresponding track 2 relative to the corresponding flow channel in the vertical feeding direction of the track 2, until the deviation value between the two is calibrated to zero; then, the third motor is controlled to start, and the track 2 is driven to slide horizontally along its own feeding direction toward the side of the multi-channel function detection equipment until the corresponding track 2 is smoothly docked with the corresponding flow channel; then, the corresponding loading and unloading operation process is started between the corresponding track 2 and the corresponding flow channel.

[0066] In this way, by setting the track 2 on the platform 53, using the second motor to drive the platform 53 to slide horizontally, and using the first motor to drive the support seat 51 to rise and fall vertically, the position of the track 2 relative to the walking body 1 is adjusted, that is, the positioning and calibration of the corresponding track 2 relative to the corresponding flow channel is achieved. The adjustment structure is simple and easy to manufacture, which helps to save the company's production costs.

[0067] In one embodiment, an automated loading and unloading system includes the automated loading and unloading robot described in the above embodiment, and also includes a multi-channel function detection device. The multi-channel function detection device is provided with multiple channels for conveying a material tray 10. The multiple channels are arranged in parallel, and a positioning signal transmitting component is provided corresponding to any channel on the multi-channel function detection device. After the automated loading and unloading robot runs through the ground positioning device and is positioned at the loading end and / or unloading end of the multi-channel function detection device, each positioning signal recognition component respectively identifies the corresponding positioning signal transmitting component to identify the relative position of the corresponding track 2 and the corresponding channel.

[0068] Specifically, in this embodiment of the present invention, two flow channels are arranged in parallel at intervals, and the positioning signal transmitting component includes a QR code for identification and positioning by the visual navigation sensor. The QR codes correspond one-to-one to the flow channels, and are all attached to the end wall of the loading end and / or unloading end of the flow channel close to the automatic loading and unloading robot, and any QR code is located in the middle of the corresponding flow channel opening.

[0069] Reference Figures 2 to 4 In this embodiment of the present invention, a carrier plate 531 is further provided on the carrier platform 53, and the carrier plate 531 is arranged horizontally; any track 2 includes two parallel pulleys 21 arranged at intervals and running synchronously; a mounting bracket 532 is provided on the carrier plate 531 corresponding to any pulley 21, and any pulley 21 is fixed on the corresponding carrier plate 531 through the corresponding mounting bracket 532.

[0070] At the same time, a first sensor 533 is provided on the mounting frame 532 at a position corresponding to the middle of the track 2 , and a plurality of first sensors 533 are arranged at intervals along the feeding direction of the track 2 to monitor whether there is a material tray 10 on the track 2 .

[0071] In addition, a clamping plate 54 is provided on the carrier plate 531 at positions where the two pulleys 21 of any track 2 are away from each other, and any clamping plate 54 is vertically arranged, and the length direction of any clamping plate 54 is parallel to the feeding direction of the track 2; an adjusting component 535 is provided on the carrier plate 531 corresponding to any clamping plate 54, and any clamping plate 54 is horizontally slidably set on the carrier plate 531 along a direction perpendicular to the feeding direction of the track 2 through the adjusting component 535. In this embodiment of the present invention, the adjusting component 535 includes a fourth slide rail 5351, a fourth slide 5352 adapted to the fourth slide rail 5351, and a fourth motor driving the fourth slide 5352 to slide relative to the fourth slide rail 5351. The length direction of the fourth slide rail 5351 is perpendicular to the feed direction of the track 2, and the fourth slide 5352 is installed on the corresponding clamping plate 54. The arrangement of the fourth slide rail 5351, the fourth slide 5352 and the fourth motor between the carrier plate 531 and the clamping plate 54 is the same as the arrangement of the second slide rail 541, the second slide 542 and the second motor between the support seat 51 and the corresponding carrier 53, and will not be repeated here.

[0072] During use, the distance between the two clamping plates 54 of the corresponding track 2 is adjusted according to the different sizes of different material trays 10, so as to meet the loading requirements of material trays 10 of different sizes on the track 2, expand the scope of application of the automatic loading and unloading system, and enhance its practicality.

[0073] Furthermore, to further enhance the positioning accuracy between the corresponding track 2 and the corresponding flow channel, a second sensor 536 is also provided on the mounting bracket 532. The second sensor 536 is mounted on the end of the corresponding track 2 proximal to the multi-flow channel function testing device. The second sensor 536 is used to identify the end wall of the corresponding flow channel on the multi-flow channel function testing device proximal to the loading and / or unloading end of the automated loading and unloading robot. During operation, after the corresponding track 2 is calibrated relative to the corresponding flow channel to a zero deviation, the second sensor 536 identifies the end wall of the corresponding flow channel proximal to the corresponding track 2, thereby further aligning the corresponding track 2 with the corresponding flow channel.

[0074] Reference Figure 2 and Figure 4 , photoelectric switches 6 are also provided on the carrier 53, and the photoelectric switches 6 are all provided at the edges of the two carriers 53 close to each other. Multiple photoelectric switches 6 are evenly spaced along the feeding direction of the track 2. A light blocking member 7 is provided on the side of the edge of any carrier plate 531 close to the photoelectric switch 6. When the carrier plate 531 drives the corresponding track 2 to move along the feeding direction of the track 2, the light blocking member 7 moves synchronously with the carrier plate 531, and the photoelectric switches 6 on the edge of the carrier 53 sequentially sense the light blocking member 7 to determine the movement position of the corresponding track 2, that is, to determine the operating status of the automatic loading and unloading robot.

[0075] At the same time, a cover shell 8 is provided on the upper side of the corresponding track 2 on the mounting frame 532. The cover shell 8 is used to cover the top of the track 2 to reduce the impact of the external environment on the track 2 and its loading tray 10, and further improve the stability of the automated loading and unloading robot in conveying the tray 10.

[0076] In addition, a visual camera 9 is provided on the housing 8 in the middle of the corresponding track 2. The camera's imaging end faces the connection point between the corresponding track 2 and the corresponding flow channel, and is used to monitor the loading and unloading process between the corresponding track 2 and the corresponding flow channel. The visual camera 9 is electrically connected to the main controller. During use, the visual camera 9 captures images of the loading and unloading operation between the corresponding track 2 and the corresponding flow channel, and transmits the corresponding image information to the main controller. The main controller receives the corresponding image information and analyzes it to determine whether a material jam has occurred. If a material jam has occurred, the automatic loading and unloading robot is immediately stopped to prevent the subsequent material tray 10 from continuing to jam, effectively improving the intelligence level of the automatic loading and unloading system.

[0077] The implementation principle of the embodiment of the present application is as follows: during actual operation, after the automated loading and unloading robot runs through the ground positioning device and is positioned at the loading end and / or unloading end of the multi-channel function detection equipment, the two visual navigation sensors respectively identify the two-digit code of the corresponding channel to respectively collect its position information, and send the corresponding position information to the main controller; the main controller receives the corresponding position information and judges the deviation value between the corresponding track 2 and the corresponding channel; if the deviation value is not zero, the main controller feeds back the corresponding deviation value information to the first motor and the second motor of the corresponding track, and the first motor drives the support seat 51 to rise and fall vertically relative to the walking body 1, and the support seat 51 The platform 53 is driven to rise and fall synchronously with the track 2, thereby compensating for the deviation of the corresponding track 2 relative to the corresponding flow channel in the vertical direction; the second motor drives the platform 53 and the track 2 on it to slide relative to the support seat 51 in a direction perpendicular to the feed direction of the track 2, thereby compensating for the deviation of the corresponding track 2 relative to the corresponding flow channel in the vertical feed direction of the track 2, until the deviation between the two is calibrated to zero; then, the third motor is controlled to start, driving the track 2 to slide horizontally along its own feed direction toward the side of the multi-channel function detection equipment until the corresponding track 2 and the corresponding flow channel are smoothly docked; then, the corresponding loading and unloading operation process begins between the corresponding track 2 and the corresponding flow channel. If the deviation value is zero, the main controller controls the third motor to start, driving the track 2 to slide along its own feed direction toward the side of the multi-channel function detection equipment until the corresponding track 2 and the corresponding flow channel are smoothly docked, and the corresponding loading and unloading operation process begins.

[0078] In this way, a visual navigation sensor is set for each track 2 on the walking body 1, and a positioning QR code is set for each flow channel on the multi-channel function detection device, and each visual navigation sensor is made to correspond to each positioning QR code one by one, so that when the automatic loading and unloading robot loads and unloads the multi-channel function detection device, each track 2 can be independently positioned and calibrated relative to the corresponding flow channel, thereby improving the positioning accuracy between each track 2 on the automatic loading and unloading robot and each flow channel on the multi-channel function detection device, thereby effectively reducing the occurrence of height differences between the two and reducing the jam rate of the material tray 10 when transferring between the two. At the same time, when jamming occurs, it helps to reduce the difficulty of maintenance and shorten the maintenance time, thereby effectively ensuring the operating efficiency of the corresponding multi-channel function detection equipment.

[0079] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automated loading and unloading robot for loading and unloading the various flow channels of a multi-flow channel function testing device, characterized in that: include; Walking body; A plurality of tracks are arranged in parallel and at intervals, and are all slidably arranged on the walking body along a first direction and correspond one-to-one to the flow channels on the multi-flow channel function detection device; the first direction is the feed direction of the track itself; a driving component, the driving component being disposed on the walking body and corresponding to the track, and being configured to drive the corresponding track to slide horizontally toward or away from the corresponding flow channel along the first direction; a positioning signal receiving component, the positioning signal receiving component being arranged on the walking body and corresponding one-to-one with the track, the positioning signal receiving component being used to identify the positioning signal transmitting component arranged corresponding to each of the flow channels on the multi-flow channel function detection device, so as to obtain a deviation value between the track and the corresponding flow channel; the deviation value includes a deviation value in a second direction and a third direction, the third direction being a vertical direction, and the second direction being perpendicular to the first direction and the third direction in each case; When the deviation value between the track and the corresponding flow channel is zero, the driving component drives the track to slide toward the multi-flow channel function detection device, and the track smoothly docks with the corresponding flow channel; It also includes an adjustment component provided on the walking body, wherein a plurality of the adjustment components are provided and correspond one to one with the tracks; When the deviation value between the track and the corresponding flow channel is not zero, the adjustment component drives the track to move relative to the walking body to compensate for the corresponding deviation.

2. The automatic loading and unloading robot according to claim 1, characterized in that: The adjustment assembly includes a support seat, the support seat is arranged on the walking body to be lifted along the third direction, and the walking body is also provided with a lifting component for driving the support seat to be lifted; The apparatus further comprises a carrier, the carrier being arranged on the support seat and being capable of sliding along the second direction, and the support seat being further provided with a sliding component for driving the carrier to slide; The track is slidably arranged on the carrier along the first direction, and the positioning signal receiving component is fixedly arranged on one end of the carrier close to the multi-channel function detection device.

3. The automatic loading and unloading robot according to claim 2, characterized in that: It also includes a main controller, and the positioning signal receiving component, the lifting component, the sliding component, and the driving component are all electrically connected to the main controller.

4. An automatic loading and unloading system, characterized in that: It includes the automated loading and unloading robot described in any one of claims 1-3, and also includes a multi-channel function detection device, wherein the multi-channel function detection device is provided with multiple channels for conveying material trays, and the multiple channels correspond one-to-one to the tracks; the multi-channel function detection device is provided with a positioning signal transmitting component adapted to the positioning signal identification component corresponding to any of the channels.

5. The automatic loading and unloading system according to claim 4, characterized in that: A support base is provided on the walking body for vertical lifting, and a lifting component for driving the support base to lift is also provided on the walking body; a carrier is provided on the support base for horizontal sliding, and the sliding direction of the carrier is perpendicular to the feeding direction of the track, and a sliding component for driving the carrier to slide is also provided on the support base; the positioning signal receiving component is fixedly provided on one end of the carrier close to the multi-channel function detection device; A carrier plate is provided on the carrier platform for sliding along the feeding direction of the track, a mounting bracket is provided on the carrier plate, and the track is fixedly mounted on the carrier plate by corresponding to the mounting bracket.

6. The automatic loading and unloading system according to claim 5, characterized in that: Clamps are provided on both sides of the carrier plate in the feeding direction of the track, and any of the clamps is horizontally slidably provided on the carrier plate perpendicular to the feeding direction of the track; an adjusting component is also provided on the carrier plate, and the adjusting component corresponds to the clamp one by one and drives the corresponding clamp to slide horizontally.

7. The automatic loading and unloading system according to claim 5, characterized in that: A first sensor and a second sensor are provided on the mounting frame. The first sensor is located in the middle of the track and is used to detect whether there is a material tray on the track; the second sensor is located at one end of the track close to the multi-channel function detection device and is used to identify the end wall corresponding to the flow channel on the multi-channel function detection device.

8. The automatic loading and unloading system according to claim 7, characterized in that: The walking body is provided with a master controller, and the positioning signal receiving component, the lifting component, the sliding component, the driving component, the first sensor and the second sensor are all electrically connected to the master controller; A visual camera is provided on the upper side of any of the tracks on the walking body. The visual camera is used to monitor the loading and unloading process between the track and the corresponding flow channel, and the visual camera is electrically connected to the main controller.

9. The automatic loading and unloading system according to claim 5, characterized in that: The positioning signal receiving component includes a visual navigation sensor, which is installed at one end of the platform close to the functional detection device; the positioning signal transmitting component includes a QR code for identification and positioning by the visual navigation sensor, and the QR code is attached to one end of the functional detection device close to the walking body.

Images