An intelligent handling robot with unloading process parking stability and a control method thereof

Abstract

The present application relates to a kind of unloading process parking stability intelligent handling robot and its control method, comprising: travel load plate;A pair of shaping mechanism, the shaping push plate is opened with exposure port;A pair of clamping mechanism is respectively arranged in a pair of the shaping mechanism, the clamping mechanism includes the friction plate of the position corresponding to the exposure port in the back of the shaping push plate;Handling trolley, left and right ends of the handling trolley are respectively provided with clamping seat, when the baffle shields the exposure port, the shaping push plate is advanced to the middle of the travel load plate, and the goods forked by the handling trolley is shaped in left and right directions, when the baffle opens the exposure port, the shaping push plate is advanced to the middle of the travel load plate, and the goods forked by the handling trolley can be shaped in front and back directions by the friction plate abutting against the clamping seat, the shaping mechanism driving piece drives the handling trolley to advance forward, so that the goods forked by the handling trolley is shaped in front and back directions.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transport robots, and in particular to an intelligent transport robot with stable parking during an unloading process and a control method thereof. Background Art

[0002] In automated material handling and transportation, materials are loaded into containers from the supply point and unloaded from the containers to the destination, requiring basic handling and loading functions to meet user requirements. Loading and unloading are very important links in the logistics process. With the rapid development of modern cargo loading and transportation technology, more and more users need to achieve rapid material loading and transfer.

[0003] During container loading, the internal space of a container is fixed. If the gaps between cargo exceed a preset distance, or if the cargo (e.g., bags of sand, cement, rice, etc.) naturally deforms and extends beyond the corresponding upper space on the bottom pallet, the combined length of the cargo will exceed the total length of the container once all the cargo is placed inside. The last row of cargo will protrude from the container door, preventing it from closing. Existing technologies address this issue by shaping the cargo. After each portion of cargo is loaded, the cargo that exceeds the pallet edge is pushed forward and shaped to ensure a close fit. When an intelligent handling robot pushes the cargo forward to shape the cargo, if the force exerted by the robot exceeds the robot's friction with the ground or braking force, the reaction force from the cargo on the intelligent handling robot will cause the robot to retreat, preventing it from shaping the cargo. Existing technology, such as the existing patent with application number CN202311448775.0, entitled A Double-Push-Out Intelligent Handling Robot and Its Control Method, generates friction by extending the sliding shoe assembly downward and sticking to the ground when shaping the goods. However, when the goods are heavy, the sliding shoe assembly is still not enough to provide the corresponding friction.

[0004] In view of the above problems in the prior art, the purpose of the present invention is to design an intelligent handling robot with stable parking during the unloading process and a control method thereof. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides an intelligent handling robot with stable parking during the unloading process and a control method thereof, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the present invention is:

[0007] An intelligent handling robot capable of stable parking during unloading, comprising:

[0008] A traveling carrier plate is arranged along the front-rear direction, and the traveling carrier plate is provided with shaping mechanism driving parts at its left and right ends;

[0009] A pair of shaping mechanisms are arranged at the left and right ends of the traveling carrier plate and can move forward and backward. The shaping mechanisms include shaping push plates and shaping push plate driving members for driving the shaping push plates to move left and right. The shaping push plates are provided with exposed openings.

[0010] a pair of clamping mechanisms, respectively provided on the pair of shaping mechanisms, the clamping mechanisms comprising friction plates provided on the back of the shaping push plates at positions corresponding to the exposure openings, a shielding plate provided on the back of the shaping push plates on one side of the exposure openings, the shielding plate being driven by a shielding plate driving member to shield or open the exposure openings;

[0011] The transport trolley travels in the front and rear directions of the traveling carrier, and clamping seats are respectively provided at the left and right ends of the transport trolley. When the shielding plate blocks the exposed opening, the shaping push plate is pushed toward the middle of the traveling carrier to shape the goods forked by the transport trolley in the left and right directions. When the shielding plate opens the exposed opening, the shaping push plate is pushed toward the middle of the traveling carrier and can be pressed against the clamping seat through the friction plate. The shaping mechanism driving component drives the transport trolley forward to shape the goods forked by the transport trolley in the front and rear directions.

[0012] Furthermore, the shaping mechanism driving member includes:

[0013] A pair of slide rails are respectively provided at the left and right ends of the travel carrier plate, and the shaping mechanism is connected to the slide rails via sliders;

[0014] a pair of rotating sprockets provided at the left and right ends of the travel carrier plate, the shaping mechanism being connected to the rotating sprockets;

[0015] The motor is rotated to drive the rotating sprocket to rotate.

[0016] Furthermore, a distance sensor is provided at the rear end of the traveling carrier plate, and the distance sensor is used to measure the distance between the rear end of the traveling carrier plate and the transport trolley.

[0017] Furthermore, it includes a control system, which is used to control the shaping mechanism driving member according to the distance between the rear end of the traveling carrier and the transport trolley, so that the exposed port is opposite to the clamping seat.

[0018] Furthermore, the transport trolley is provided with a plurality of rotating wheels, a fork assembly is provided at the front end of the transport trolley, and a fork push plate is provided at the front side of the fork assembly;

[0019] A sliding wedge assembly is provided at the bottom end of the transport trolley. When the fork push plate is shaped forward to push the goods forked by the fork assembly, the sliding wedge assembly extends downward and is inserted under one or more of the rotating wheels.

[0020] Furthermore, the sliding wedge assembly includes a wedge head, which is swingably arranged at the bottom end of the transport trolley, and the wedge head is inserted under one or more of the rotating wheels after being swung downward.

[0021] Furthermore, the sliding wedge assembly includes a mounting frame, the mounting frame is provided with a swing rod, the bottom end of the swing rod is provided with a sliding shoe, the wedge head is fixedly connected to the front end of the sliding shoe, and a swing rod drive cylinder is hinged between the mounting frame and the swing rod.

[0022] Furthermore, rubber plates are provided on the bottom surface of the sliding shoe and the surface of the clamping seat.

[0023] A control method for an intelligent transport robot that can park stably during unloading is further provided. The method comprises the following steps based on the intelligent transport robot that can park stably during unloading:

[0024] When the transport vehicle is transporting goods:

[0025] S11, controlling the shielding plate to shield the exposed opening, and when the transport trolley passes the shaping push plate, controlling the shaping push plate to advance toward the middle of the traveling carrier plate to shape the cargo picked up by the transport trolley in the left and right directions;

[0026] After the transport vehicle places the last pallet of cargo into the carriage:

[0027] S21, control the shielding plate to open the exposure port, control the shaping push plate to move to a position relative to the exposure port and the clamping seat, control the shaping push plate to advance toward the middle of the traveling carrier, and press the clamping seat against the friction plate, control the shaping mechanism driving member to drive the transport trolley forward, thereby shaping the goods picked up by the transport trolley in the front and rear directions.

[0028] Furthermore, before step S21, execute:

[0029] S20, control the sliding wedge assembly to extend downward and insert it under one or more of the rotating wheels, control the transport trolley to extend the fork push plate forward, so as to push the goods picked up by the transport trolley into the carriage, and monitor whether the transport trolley slides backward through the distance sensor. If so, enter step S21.

[0030] Therefore, the present invention provides the following effects and / or advantages:

[0031] The present application can clamp the transport trolley through the cooperation between the clamping mechanism and the clamping seat of the transport trolley, and then push the transport trolley forward through the pushing action of the shaping mechanism driving part, so that the transport trolley squeezes and shapes the rear end of the forked goods so that it is flush with the entrance of the carriage, thereby solving the technical problem that the transport trolley may slip backward when shaping the rear end of the goods.

[0032] The present application provides a sliding wedge assembly at the bottom of the transport trolley, which can increase the friction of the transport trolley against the ground when it is parked. When the transport trolley squeezes and shapes the goods, the parking stability of the transport trolley can be greatly improved to prevent it from sliding backward.

[0033] The present application combines the sliding wedge assembly of the transport trolley, as well as the clamping mechanism and the clamping seat of the transport trolley. The position of the transport trolley is detected by a distance sensor. When the friction force provided by the sliding wedge assembly is insufficient to stably park the transport trolley, the clamping mechanism and the clamping seat of the transport trolley are activated to cooperate with each other to push the transport trolley to shape the goods, thereby improving loading efficiency.

[0034] A shielding plate is provided on one side of the exposure opening of the present application, and the shielding plate can open or cover the exposure opening. When the shielding plate covers the exposure opening, the shaping push plate can be used to shape the goods, preventing the goods from forming an outward bulging shape at the exposure opening, and preventing the friction plate from rubbing against the goods and damaging the packaging of the goods. When the shielding plate opens the exposure opening, the friction plate can be exposed, so that the friction plate contacts the clamping seat.

[0035] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0036] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the structure of an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of the transport trolley's structure from one perspective.

[0039] Figure 3 This is a structural diagram of the transport trolley from another perspective.

[0040] Figure 4 Schematic diagram of the structure of the sliding wedge assembly.

[0041] Figure 5 for Figure 2 A partial enlarged view of part A.

[0042] Figure 6 Schematic diagram of the structure of the clamping mechanism.

[0043] Figure 7 This is a schematic diagram of the state when the shaping push plate is blocked and the exposed opening is exposed.

[0044] Figure 8 This is a schematic diagram of the state when the shaping push plate is opened to expose the opening. DETAILED DESCRIPTION

[0045] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the embodiments and the accompanying drawings:

[0046] refer to Figure 1-8 , an intelligent handling robot with stable parking during unloading, comprising:

[0047] The traveling carrier plate 7 is arranged along the front-to-back direction, and the traveling carrier plate 7 is provided with shaping mechanism driving parts 10 at its left and right ends; in this embodiment, the traveling carrier plate 7 is used to provide a path for the transport trolley 1 to travel, and to provide a docking structure for the transport trolley 1 to travel into the carriage.

[0048] A pair of shaping mechanisms 8 can be moved forward and backward and are arranged at the left and right ends of the traveling carrier 7. The shaping mechanism 8 includes a shaping push plate 801 and a shaping push plate driving member 802 that drives the shaping push plate 801 to move left and right. The shaping push plate 801 is provided with an exposed opening 803; the shaping mechanism 8 of this embodiment is used when the transport cart 1 travels to the shaping mechanism 8, the shaping mechanism 8 can move toward the middle, thereby clamping the left and right sides of the goods transported by the transport cart 1 to make them flush, thereby facilitating the goods to enter the car.

[0049] A pair of clamping mechanisms 9 are respectively provided on the pair of shaping mechanisms 8, the clamping mechanisms 9 including a friction plate 901 provided on the back side of the shaping push plate 801 at a position corresponding to the exposure opening 803, and a shielding plate 902 is provided on the back side of the shaping push plate 801 on one side of the exposure opening 803, the shielding plate 902 is driven by a shielding plate driving member 903 to shield or open the exposure opening;

[0050] The carrying trolley 1 travels in the front-rear direction of the running load plate 7, and the left and right ends of the carrying trolley 1 are respectively provided with clamping seats 102. When the shielding plate 902 shields the exposure opening 803, the shaping push plate 801 is pushed to the middle of the running load plate 7 to shape the goods forked by the carrying trolley 1 in the left-right direction. When the shielding plate 803 opens the exposure opening, the shaping push plate 801 is pushed to the middle of the running load plate 7, and the friction plate 901 can abut against the clamping seat 102, the shaping mechanism driving element 10 drives the carrying trolley 1 to move forward, so as to shape the goods forked by the carrying trolley 1 in the front-rear direction.

[0051] In the embodiment, the clamping mechanism 9 moves left-right or front-rear together with the shaping push plate 801. The shaping push plate 801 is driven by the shaping mechanism driving element 10 to move front-rear, and the shaping push plate 801 is driven by the shaping push plate driving element 802 to move left-right, so as to realize the front-rear and left-right movement of the clamping mechanism 9. When the shielding plate 902 shields the exposure opening 803, the shaping push plate 801 can have a nearly complete planar structure, so as to clamp the goods, and prevent the exposure opening 803 of the shaping push plate 801 from forming a protruding shape at the left and right ends of the goods after clamping. When the shielding plate 902 opens the exposure opening 803, the friction plate 901 is exposed, so as to greatly improve the friction coefficient between the friction plate 901 and the clamping seat 102. The clamping mechanism 9 is tightly abutted against the clamping seat 102 under the pushing of the shaping push plate driving element 802, so as to have a large friction force between the clamping seat 102 and the friction plate 901, thereby pushing the carrying trolley 1 to move forward, so as to extrude the part of the goods forked by the carrying trolley 1 outside the vehicle compartment into the vehicle compartment, so that the goods are finally flush with the opening of the vehicle compartment, and the vehicle compartment can be smoothly closed.

[0052] The embodiment changes the working mode of the existing patent with the application number CN202311448775.0 and the name of a double-pushing intelligent carrying robot and a control method thereof, and improves the working mode / structure of the single shaping of the rear end face of the goods by the carrying trolley 1 to the shaping of the rear end face of the goods by the carrying trolley 1 driven by the shaping push plate 801. In this process, the carrying trolley 1 is in the neutral state, and only the pushing force of the carrying trolley 1 driven by the shaping push plate 801 is used, so as to avoid the situation that the carrying trolley 1 slides backward under the reverse force.

[0053] In the embodiment, the carrying trolley 1 comprises:

[0054] A plurality of rotating wheels 101;

[0055] A portal frame (not shown) is hingedly arranged at the front end of the carrying trolley 1, and the portal frame 2 comprises a longitudinal driving mechanism;

[0056] A fork assembly 2 is provided at the front end of the transport trolley 1 and at the front end of the mast 2 and is driven by the longitudinal drive mechanism to move up and down;

[0057] A mounting frame 3, which is arranged at the front end of the mast and is driven by the longitudinal drive mechanism to move up and down together with the fork assembly 2;

[0058] A plurality of fork push plates 4 are provided on the front side of the fork assembly 2 and on the front end of the mounting frame 3. The fork push plates 4 are located in front of the vertical portion of the fork assembly 2. The mounting frame 3 is provided with a plurality of fork push plate driving members 5. The fork push plate driving members 5 can drive the fork push plates 4 to move forward and backward. After being pushed out, the fork push plates 4 can shape the goods picked up by the fork assembly 2 so that the side of the goods corresponding to the fork push plates 4 is flat;

[0059] In this embodiment, the transport trolley 1, fork assembly 2, mounting frame 3, fork push plate 4, and fork push plate driving component 5 are all directly adopted from the existing technology and will not be described in detail here. For details, please refer to the application number: CN202311448775.0, which is an existing application entitled "A dual-push intelligent transport robot and its control method."

[0060] Furthermore, the shaping mechanism driving member 10 includes:

[0061] A pair of slide rails 1001 are respectively provided at the left and right ends of the travel carrier 7, and the shaping mechanism 8 is connected to the slide rails 1001 via sliders;

[0062] A pair of rotating sprockets 1002 are provided at the left and right ends of the travel carrier plate 7, and the shaping mechanism 8 is connected to the rotating sprockets;

[0063] The rotating motor 1003 drives the rotating sprocket 1002 to rotate.

[0064] In this embodiment, the rotating sprocket 1002 is driven by the rotating motor 1003, thereby driving the shaping mechanism 8 to move along the front-to-back direction of the traveling carrier 7 at the left and right ends of the traveling carrier 7. When the shaping mechanism 8 is clamped on the clamping mechanism 9, it can drive the transport cart 1 forward, thereby squeezing the portion of the cargo picked up by the transport cart 1 on the outside of the carriage into the carriage, so that the cargo is finally flush with the opening of the carriage, allowing the carriage to be closed smoothly.

[0065] Furthermore, a distance sensor (not shown) is provided at the rear end of the traveling carrier plate 7 , and the distance sensor is used to measure the distance between the rear end of the traveling carrier plate 7 and the transport trolley 1 .

[0066] Furthermore, a control system is included, which is used to control the shaping mechanism driving member 10 according to the distance between the rear end of the traveling carrier 7 and the transport trolley 1 so that the exposed opening 803 is opposite to the clamping seat 102.

[0067] Through the distance sensor, the distance between the rear end of the traveling carrier plate 7 and the transport trolley 1 can be measured, thereby obtaining the position of the transport trolley 1 on the traveling carrier plate 7, thereby accurately controlling the front and rear positions of the shaping push plate 801 so that the exposed opening 803 is opposite to the clamping seat 102. At this time, after the shaping push plate 801 is extended, the friction plate 901 is in direct contact with the clamping seat 102.

[0068] Furthermore, it includes a sliding wedge assembly 6, which is arranged at the bottom end of the transport trolley 1. When the fork push plate 4 is shaped to push the goods forked on the fork assembly 2, the sliding wedge assembly 6 extends downward and is inserted under one or more of the rotating wheels 101.

[0069] When the fork push plate 4 pushes forward to push the cargo on the shaped fork assembly 2, the fork push plate 4 receives a reverse force, which may cause the transport cart to slide backward. In this embodiment, a sliding wedge assembly 6 is added to the bottom end of the transport cart 1. After extending downward and inserting into the rotating wheel 101, it not only increases the friction of the transport cart 1 against the ground, but also hinders the rotation of the rotating wheel 101, thereby preventing the transport cart 1 from sliding backward, achieving the technical effect of stable parking.

[0070] Furthermore, the sliding wedge assembly 6 includes a wedge head 601 , which is swingably arranged at the bottom end of the transport trolley 1 . After the wedge head 601 swings downward, it is inserted under one or more of the rotating wheels 101 .

[0071] In this embodiment, after the wedge head 601 swings downward, on the one hand, it can move forward and be squeezed under one or more of the rotating wheels 101, and on the other hand, it can be pressed against the ground downward, thereby converting the driving force for the downward swing of the wedge head 601 into friction force of the wedge head 601 on the ground, preventing the transport cart 1 from slipping backward.

[0072] Furthermore, the sliding wedge assembly 6 includes a mounting frame 603, the mounting frame is provided with a swing rod 604, the bottom end of the swing rod 604 is provided with a sliding shoe 602, the sliding shoe 602 is fixedly connected to the bottom end of the swing rod 604, the wedge head 601 is fixedly connected to the front end of the sliding shoe 602, and a swing rod driving cylinder 605 is hinged between the mounting frame 603 and the swing rod 604.

[0073] Furthermore, a rubber plate 606 is provided on the bottom surface of the sliding shoe 602 and the surface of the clamping seat 102 .

[0074] Further, the wedge head 601 is a structure with a low front end and a high back end.

[0075] Further, the wedge head 601 is a triangular or arc-shaped structure. If the wedge head 601 is an arc-shaped structure, the arc-shaped surface is an arc-shaped surface matched with the rotating wheel 101.

[0076] Through the structure of the wedge head 601 with a low front end and a high back end, especially the triangular or arc-shaped structure, the wedge head 601 can extend into the lower part of the rotating wheel 101 and be inserted into the lower part of the rotating wheel 101 under the action of the swing rod driving cylinder 605, so that the wedge head 601 plays a role of hindering the rotation of the rotating wheel 101. At the same time, the wedge head 601 and the rotating wheel 101 are matched, so that part of the pressure of the rotating wheel 101 on the ground is applied to the wedge head 601, thereby improving the friction of the rubber plate below the wedge head 601.

[0077] Further, a control method of an intelligent carrying robot for unloading process parking stability is provided, based on the intelligent carrying robot for unloading process parking stability, comprising the following steps:

[0078] When the carrying trolley 1 carries goods:

[0079] S11, control the shielding plate 902 to shield the exposure port 803, and control the shaping push plate 801 to advance to the middle of the running load plate 7 when the carrying trolley 1 passes through the shaping push plate 801, so as to shape the goods forked by the carrying trolley 1 in the left-right direction;

[0080] The working process of the present application can refer to the working process of the existing patent with the application number CN202311448775.0 and the name of a double-push intelligent carrying robot and a control method thereof.

[0081] After the carrying trolley puts the last goods into the compartment:

[0082] S21, control the shielding plate 902 to open the exposure port 803, control the shaping push plate 801 to run to a position opposite to the clamping seat 102, control the shaping push plate 801 to advance to the middle of the running load plate 7, and control the shaping mechanism driving member 10 to drive the carrying trolley 1 to advance forward so as to shape the goods forked by the carrying trolley 1 in the front-back direction by means of the friction plate 901 abutting against the clamping seat 102.

[0083] Further, before step S21, the following steps are performed:

[0084] S20, control the sliding wedge assembly 6 to extend downward and insert it under one or more of the rotating wheels 101, control the transport trolley 1 to extend the fork push plate 4 forward, so as to push the goods picked up by the transport trolley 1 into the carriage, and monitor whether the transport trolley 1 slides backward through the distance sensor. If so, enter step S21.

[0085] In this embodiment, the position of the transport trolley 1 can be detected by the distance sensor. When the transport trolley 1 pushes the goods into the carriage through the fork push plate 4, if the transport trolley 1 does not slide backward, it means that the friction force provided by the sliding wedge assembly 6 is sufficient to enable the transport trolley 1 to shape the rear end of the goods alone. At this time, there is no need to start the clamping mechanism 9 to work, thereby completing the loading of the goods more efficiently.

[0086] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third etc. does not indicate any order. These words may be interpreted as names.

[0087] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0088] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0089] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

Claims

1. An intelligent handling robot with stable parking during unloading, characterized by: include: A traveling carrier plate is arranged along the front-rear direction, and the traveling carrier plate is provided with shaping mechanism driving parts at its left and right ends; A pair of shaping mechanisms are arranged at the left and right ends of the traveling carrier plate and can move forward and backward. The shaping mechanisms include shaping push plates and shaping push plate driving members for driving the shaping push plates to move left and right. The shaping push plates are provided with exposed openings. a pair of clamping mechanisms, respectively provided on the pair of shaping mechanisms, the clamping mechanisms comprising friction plates provided on the back of the shaping push plates at positions corresponding to the exposure openings, a shielding plate provided on the back of the shaping push plates on one side of the exposure openings, the shielding plate being driven by a shielding plate driving member to shield or open the exposure openings; The transport trolley travels in the front and rear directions of the traveling carrier, and clamping seats are respectively provided at the left and right ends of the transport trolley. When the shielding plate blocks the exposed opening, the shaping push plate is pushed toward the middle of the traveling carrier to shape the goods forked by the transport trolley in the left and right directions. When the shielding plate opens the exposed opening, the shaping push plate is pushed toward the middle of the traveling carrier and can be pressed against the clamping seat through the friction plate. The shaping mechanism driving component drives the transport trolley forward to shape the goods forked by the transport trolley in the front and rear directions.

2. The intelligent handling robot with stable parking during unloading according to claim 1, characterized in that: The shaping mechanism driving member includes: A pair of slide rails are respectively provided at the left and right ends of the travel carrier plate, and the shaping mechanism is connected to the slide rails via sliders; a pair of rotating sprockets provided at the left and right ends of the travel carrier plate, the shaping mechanism being connected to the rotating sprockets; The rotating motor drives the rotating sprocket to rotate.

3. The intelligent handling robot with stable parking during unloading according to claim 1, characterized in that: A distance sensor is provided at the rear end of the traveling carrier plate, and the distance sensor is used to measure the distance between the rear end of the traveling carrier plate and the transport trolley.

4. The intelligent handling robot with stable parking during unloading according to claim 3, characterized in that: A control system is included, which is used to control the shaping mechanism driving component according to the distance between the rear end of the traveling carrier and the transport trolley, so that the exposed port is opposite to the clamping seat.

5. The intelligent handling robot with stable parking during unloading according to claim 3, characterized in that: The transport trolley is provided with a plurality of rotating wheels, a fork assembly is provided at the front end of the transport trolley, and a fork push plate is provided at the front side of the fork assembly; A sliding wedge assembly is provided at the bottom end of the transport trolley. When the fork push plate is shaped forward to push the goods forked by the fork assembly, the sliding wedge assembly extends downward and is inserted under one or more of the rotating wheels.

6. The intelligent handling robot with stable parking during unloading according to claim 5, characterized in that: The sliding wedge assembly includes a wedge head, which is swingably arranged at the bottom end of the transport trolley. After the wedge head swings downward, it is inserted under one or more of the rotating wheels.

7. The intelligent handling robot with stable parking during unloading according to claim 6, characterized in that: The sliding wedge assembly includes a mounting frame, the mounting frame is provided with a swing rod, the bottom end of the swing rod is provided with a sliding shoe, the wedge head is fixedly connected to the front end of the sliding shoe, and a swing rod driving cylinder is hinged between the mounting frame and the swing rod.

8. The intelligent handling robot with stable parking during unloading according to claim 7, characterized in that: The bottom surface of the sliding shoe and the surface of the clamping seat are provided with rubber plates.

9. A control method for an intelligent handling robot that can park stably during unloading, characterized by: The intelligent handling robot with stable parking during unloading according to claim 5 comprises the following steps: When the transport vehicle is transporting goods: S11, controlling the shielding plate to shield the exposed opening, and when the transport trolley passes the shaping push plate, controlling the shaping push plate to advance toward the middle of the traveling carrier plate to shape the cargo picked up by the transport trolley in the left and right directions; After the transport vehicle places the last pallet of cargo into the carriage: S21, control the shielding plate to open the exposure port, control the shaping push plate to move to a position relative to the exposure port and the clamping seat, control the shaping push plate to advance toward the middle of the traveling carrier, and press the clamping seat against the friction plate, control the shaping mechanism driving member to drive the transport trolley forward, thereby shaping the goods picked up by the transport trolley in the front and rear directions.

10. The method for controlling a stable parking intelligent handling robot during unloading according to claim 9, characterized in that: Before step S21, execute: S20, control the sliding wedge assembly to extend downward and insert it under one or more of the rotating wheels, control the transport trolley to extend the fork push plate forward, so as to push the goods picked up by the transport trolley into the carriage, and monitor whether the transport trolley slides backward through the distance sensor. If so, enter step S21.

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