Intelligent loading and unloading robot

Abstract

This invention discloses an intelligent loading and unloading robot, relating to the field of automated loading and unloading equipment technology. The robot includes a walking device, with a primary conveyor mounted on its upper side. Electrical control cabinets are mounted on both sides of the primary conveyor. Secondary conveyor lifting modules are mounted on both sides of a secondary conveyor. A secondary lifting device is mounted on top of the primary lifting device. A tertiary conveyor is mounted on the lower inner side of the two modules at the front inner side of the secondary lifting device. Guide devices are mounted on both sides of the tertiary conveyor. Four-way moving devices are mounted on the upper inner side of the four modules of the secondary lifting device. Three gripping devices are connected to the four-way moving devices via the tertiary lifting devices. A box-turning machine and a flexible telescopic conveyor are connected to the rear of the robot. This invention provides a more convenient, simpler, more flexible, and more user-friendly product, making it more suitable for long-distance transportation of finished cigarettes, reducing labor costs, increasing loading rates, and improving loading and unloading efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated loading and unloading equipment technology, specifically an intelligent loading and unloading robot. Background Technology

[0002] Currently, the vast majority of finished cigarette pack transportation and handling is done manually, with only a small portion using robotic palletizing and loading. The main loading and unloading methods include: belt conveyor, double-arm mechanical, single-robot, and double-robot methods. These methods have the following drawbacks:

[0003] 1) Low loading and unloading efficiency;

[0004] 2) Strict requirements are placed on the vehicle type used for transportation;

[0005] 3) The items are placed vertically in the carriage so that the gaps are aligned. Loose placement makes the items unstable, causing them to rub against each other during transportation, damaging the cardboard boxes or barcodes, making the barcodes unreadable and unsuitable for long-distance transportation.

[0006] 4) It restricts the promotion of automatic loading and unloading devices.

[0007] To address the aforementioned problems, an improved intelligent loading and unloading robot is now designed. Summary of the Invention

[0008] The purpose of this invention is to provide an intelligent loading and unloading robot to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] An intelligent loading and unloading robot includes a walking device and a connecting plate. A primary conveying device is horizontally mounted on the upper end of the walking device. A secondary conveying device lifting module is vertically mounted on the upper end of the walking device on one side of the output end of the primary conveying device. A secondary conveying device is horizontally mounted on the output end of the secondary conveying device lifting module.

[0011] A primary lifting device is vertically installed on the upper end of the traveling device on the side of the secondary conveying device lifting module away from the primary conveying device. Two secondary lifting devices are vertically installed at the output end of the primary lifting device, and the two secondary lifting devices are connected together by a connecting plate. A tertiary conveying device is horizontally installed at the output end of the secondary lifting device close to the secondary conveying device lifting module. Guide devices are provided on both sides of the tertiary conveying device. A four-way moving device is installed at the output end of the secondary lifting device away from the secondary conveying device lifting module. A tertiary lifting device is installed at the output end of the four-way moving device. A three-piece gripping device is installed at the output end of the tertiary lifting device.

[0012] The traveling device includes a chassis and a support frame. The chassis is provided with a steering wheel mounting connection plate, a primary lifting device mounting connection plate, a support frame mounting connection plate, and a shared mounting connection plate for the support frame and the secondary conveying device. A steering wheel is mounted on the lower end of the steering wheel mounting connection plate. The primary lifting device is located on the upper end of the primary lifting device mounting connection plate. The support frame is mounted on the upper end of the support frame mounting connection plate and the shared mounting connection plate for the support frame and the secondary conveying device. The lifting module of the secondary conveying device is located on the upper end of the support frame.

[0013] As a further aspect of the present invention: the primary conveying device includes a first roller frame, on which a plurality of first electric rollers are mounted. A first baffle is provided on the first roller frame on one side of the output end of the first electric rollers. A first baffle lifting cylinder for raising and lowering the first baffle is installed on the first roller frame. A push-pull module is installed on the first roller frame below the first electric rollers. A push-pull slide rod is installed at the output end of the push-pull module. A push-pull plate is vertically provided at the upper end of the first electric roller. The push-pull plate and the push-pull slide rod are connected by a plurality of connecting columns. The connecting columns are arranged in the gap between adjacent first electric rollers. Electrical control cabinets are installed on both sides of the first roller frame. The electrical control cabinets are installed on the upper end of the chassis.

[0014] As a further embodiment of the present invention: the secondary conveying device includes a second roller frame, on which a plurality of second electric rollers are mounted, a second baffle is provided on the second roller frame on one side of the output end of the second electric rollers, a second baffle lifting cylinder for lifting the second baffle is mounted on the second roller frame, and a first connecting bracket is installed on both sides of the second roller frame.

[0015] The secondary conveying device lifting module includes a first moving module, which is installed on the upper end of the support frame. A first geared motor is installed at the power input end of the first moving module, and a secondary conveyor connector is installed at the output end of the first moving module. The secondary conveyor connector is fixedly connected to the first connecting bracket.

[0016] As a further embodiment of the present invention: the three-stage conveying device includes a third roller frame, on which a plurality of third electric rollers are installed, a third baffle is installed on the third electric roller on one side of the output end of the third electric roller, third connecting brackets are installed on both sides of the third roller frame, and guide devices are provided on both sides of the third roller frame.

[0017] As a further embodiment of the present invention: the guiding device includes a mounting plate and a hinge. The mounting plate is installed on both sides of the third roller frame. A guide cylinder is installed on the mounting plate. The output end of the guide cylinder is rotatably connected to a guide plate through the hinge. A guide plate guide rod that cooperates with the guide plate is provided on the third roller frame.

[0018] As a further embodiment of the present invention: the first-stage lifting device includes a coupling and an electric cylinder connector. The electric cylinder connector is installed on the upper end of the mounting connection plate of the first-stage lifting device. Electric cylinder lead screws are installed at the output ends of the electric cylinder connectors on both sides of the chassis. The electric cylinder connectors are connected to each other through a coupling. A second reduction motor is installed at the input end of one of the electric cylinder connectors.

[0019] As a further embodiment of the present invention: the secondary lifting device includes a second moving module and a guide rail. The second moving module is installed at the output end of the electric cylinder screw. The second moving module is connected to the support frame through the guide rail. A third reduction motor is installed at the power input end of the second moving module. A connector is installed at the output end of the second moving module. The second moving modules on the two secondary lifting devices are connected together by a connecting plate. The connector at the output end of the second moving module near the lifting module of the secondary conveying device is fixedly connected to the third connecting bracket.

[0020] As a further embodiment of the present invention: the four-way moving device includes a module bracket, which is mounted on a connector at the output end of a second moving module away from the secondary conveying device lifting module. A front-to-back moving module is mounted on the module bracket, and a left-to-right moving module is mounted at the output end of the front-to-back moving module. A U-shaped bracket is mounted at the output end of the left-to-right moving module. The tertiary lifting device is mounted on the U-shaped bracket, and a fourth reduction motor is mounted at the power input end of both the front-to-back moving module and the left-to-right moving module.

[0021] As a further embodiment of the present invention: the three-piece gripping device includes a second connecting bracket, which is installed at the output end of the three-stage lifting device. A suction cup mounting plate is installed on the second connecting bracket, and a suction cup assembly is installed on the suction cup mounting plate. The suction cup assembly is provided with six independent suction cups.

[0022] As a further embodiment of the present invention: the electrical control cabinet includes a positioning system, a video recognition system, an information system, and a control system.

[0023] The positioning system consists of infrared sensors and ultrasonic sensors. The infrared sensors can more accurately detect the distance of the loading and unloading robot when it enters the carriage, while the ultrasonic sensors can detect the distance from the sides of the carriage, which can eliminate the interference of unevenness on the left and right sides of the carriage and reduce the positioning error of the system.

[0024] The video recognition system consists of cameras that monitor the automatic loading and unloading process and trigger alarms when errors occur.

[0025] The information system consists of scanners that scan the cigarettes entering the carriage and record various information about each pack of cigarettes.

[0026] The control system consists of photoelectric switches, servo drivers, PLCs, control cabinets, and control programs. It is responsible for the positioning, image recognition, information collection, simulation, information verification and tracking, error correction, and system operation control of the loading and unloading robot. It is the nervous system and control execution system of the loading and unloading robot, ensuring that the automatic loading and unloading system can stack goods reasonably and efficiently, avoid waste of space in the vehicle, and is suitable for long-distance transportation.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] This invention significantly improves loading and unloading efficiency by employing a three-stage conveying, three-stage lifting, and three-piece grasping system, simultaneously discharging all three pieces of tobacco. The three-stage conveying system includes a first-stage conveyor with a push-pull function to ensure the three pieces of tobacco are neatly clamped and properly arranged, while simultaneously delivering them to the second-stage conveyor. The second-stage conveyor has a lifting function, eliminating the need for frequent lifting and lowering of the first-stage lifting device. This ensures the third-stage conveyor can directly receive the tobacco boxes from the second-stage conveyor at any height. The third-stage conveyor's lifting function directly delivers the three pieces of tobacco to the grasping device, reducing the need for the grasping device to descend and grasp. Except for the first stage, the four-way moving devices operate in a plane, minimizing lifting and lowering movements and improving grasping and discharging efficiency. The system employs a three-stage conveyor system, with each stage operating independently yet synchronously. While the three-piece grabbing device discharges three pieces, the third-stage conveyor has already prepared three pieces for grabbing and discharge. Simultaneously, the second-stage conveyor has lifted three pieces to the appropriate height, ready to be conveyed to the third-stage conveyor. Meanwhile, the first-stage conveyor has already organized three pieces of cigarettes, ready to be conveyed to the second-stage conveyor. When placing the last three pieces on each level, the guiding device coordinates with the three-piece grabbing device to ensure smoother placement of the final three pieces. The entire process is synchronized, coordinated, smooth, and efficient.

[0029] This invention employs a three-stage lifting device to ensure increased transport loading efficiency. The first and second stages ensure the loading and unloading height, while the third stage ensures precise loading and unloading to both the bottom and top layers. This expands the height range of loading and unloading vehicles.

[0030] This invention employs a servo controller-driven four-wheel drive walking device, enabling the robot to move forward, backward, left, and right, ensuring it is more suitable for various vehicle conditions. It is more flexible and convenient than tracked robots, and its walking and positioning are more accurate. Thus, together with the four-way movement device, it expands the width range of loading and unloading vehicles.

[0031] This invention employs a three-piece gripping device, with each piece picked up by two suction cups on the left and right. The suction cups are divided into two groups for control, which can control the position of the gap in each layer, making the loading and arrangement of the piece more compact and compacted, suitable for long-distance transportation, thus making the invention more practical.

[0032] This invention employs an intelligent information control system to ensure that the robot-driven flexible telescopic conveyor can move freely in all directions within the vehicle, thereby guaranteeing the smooth operation of automatic loading and unloading. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the present invention.

[0034] Figure 2 This is a schematic diagram of the walking device in this invention.

[0035] Figure 3 This is a top view of the chassis structure in this invention.

[0036] Figure 4 This is a top view of the primary conveying device in this invention.

[0037] Figure 5 This is a side view of the primary conveying device in this invention.

[0038] Figure 6 This is a top view of the secondary conveying device in this invention.

[0039] Figure 7 This is a side view of the secondary conveying device in this invention.

[0040] Figure 8 This is a schematic diagram of the lifting module of the secondary conveying device in this invention.

[0041] Figure 9 This is a schematic diagram of the three-stage conveying device in this invention.

[0042] Figure 10 This is a schematic diagram of the guiding device in this invention.

[0043] Figure 11 This is a schematic diagram of the main structure of the first-stage lifting device in this invention.

[0044] Figure 12 This is a side view of the primary lifting device in this invention.

[0045] Figure 13 This is a schematic diagram of the main structure of the secondary lifting device in this invention.

[0046] Figure 14 This is a side view of the secondary lifting device in this invention.

[0047] Figure 15 This is a schematic diagram of the four-way moving device in this invention.

[0048] Figure 16 This is a schematic diagram of the loading and placement method in this invention. Represents cigarette boxes, (Represents the gap between tobacco boxes).

[0049] The components include: 1. Walking device; 2. Primary conveying device; 3. Secondary conveying device; 4. Secondary conveying device lifting module; 5. Tertiary conveying device; 6. Primary lifting device; 7. Secondary lifting device; 8. Tertiary lifting device; 9. Three-piece gripping device; 10. Four-way moving device.

[0050] 11. Support frame; 12. Guide rail; 13. Electrical control cabinet; 14. Guiding device; 15. Steering wheel; 16. Chassis; 17. Steering wheel mounting plate; 18. Primary lifting device mounting plate; 19. Support frame mounting plate; 20. Support frame and secondary conveying device shared mounting plate;

[0051] 21. Push-pull plate; 22. First baffle; 23. First baffle lifting cylinder; 24. First roller frame; 25. Push-pull module; 26. Push-pull slide bar; 27. First electric roller;

[0052] 31. First connecting bracket; 32. Second electric roller; 33. Second baffle; 34. Second baffle lifting cylinder; 35. Second roller frame; 36. First moving module; 37. First geared motor; 38. Secondary conveyor connector;

[0053] 41. Second geared motor; 42. Coupling; 43. Electric cylinder connector; 44. Electric cylinder lead screw;

[0054] 51. Connecting plate; 52. Second moving module; 53. Third geared motor; 54. Connecting component;

[0055] 61. Suction cup assembly; 62. Suction cup mounting plate; 63. Second connecting bracket;

[0056] 71. Third connecting bracket; 72. Third electric roller; 73. Third roller frame; 74. Third baffle; 75. Guide cylinder; 76. Mounting plate; 77. Hinge; 78. Guide plate guide rod; 79. Guide plate;

[0057] 81. Forward and backward moving module; 82. Left and right moving module; 83. Fourth geared motor; 84. Module bracket; 85. U-shaped bracket. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Please see Figures 1-16 In this embodiment of the invention, an intelligent loading and unloading robot includes a walking device 1 and a connecting plate 51. A primary conveying device 2 is horizontally installed on the upper end of the walking device 1. A secondary conveying device lifting module 4 is vertically installed on the upper end of the walking device 1 on one side of the output end of the primary conveying device 2. A secondary conveying device 3 is horizontally installed on the output end of the secondary conveying device lifting module 4.

[0060] A primary lifting device 6 is vertically installed on the upper end of the traveling device 1 on the side of the secondary conveying device lifting module 4 away from the primary conveying device 2. Two secondary lifting devices 7 are vertically installed at the output end of the primary lifting device 6. The two secondary lifting devices 7 are connected together by a connecting plate 51. A tertiary conveying device 5 is horizontally installed at the output end of the secondary lifting device 7 close to the secondary conveying device lifting module 4. Guide devices 14 are provided on both sides of the tertiary conveying device 5. A four-way moving device 10 is installed at the output end of the secondary lifting device 7 away from the secondary conveying device lifting module 4. A tertiary lifting device 8 is installed at the output end of the four-way moving device 10. A three-piece gripping device 9 is installed at the output end of the tertiary lifting device 8.

[0061] The walking device 1 includes a chassis 16 and a support frame 11. The chassis 16 is provided with a steering wheel mounting connection plate 17, a primary lifting device mounting connection plate 18, a support frame mounting connection plate 19, and a shared mounting connection plate 20 for the support frame and the secondary conveying device. A steering wheel 15 is installed at the lower end of the steering wheel mounting connection plate 17. The primary lifting device 6 is located on the upper end of the primary lifting device mounting connection plate 18. The support frame 11 is installed on the upper end of the support frame mounting connection plate 19 and the shared mounting connection plate 20 for the support frame and the secondary conveying device. The secondary conveying device lifting module 4 is located on the upper end of the support frame 11.

[0062] The primary conveying device 2 includes a first roller frame 24, on which a plurality of first electric rollers 27 are mounted. A first baffle 22 is provided on the first roller frame 24 on one side of the output end of the first electric rollers 27. A first baffle lifting cylinder 23 for raising and lowering the first baffle 22 is installed on the first roller frame 24. A push-pull module 25 is installed on the first roller frame 24 below the first electric rollers 27. A push-pull slide rod 26 is installed at the output end of the push-pull module 25. A push-pull plate 21 is vertically arranged at the upper end of the first electric rollers 27. The push-pull plate 21 and the push-pull slide rod 26 are connected by a plurality of connecting columns. The connecting columns are arranged in the gap between adjacent first electric rollers 27. An electrical control cabinet 13 is installed on both sides of the first roller frame 24. The electrical control cabinet 13 is installed on the upper end of the chassis 16.

[0063] The secondary conveying device 3 includes a second roller frame 35, on which a plurality of second electric rollers 32 are mounted. A second baffle 33 is provided on the second roller frame 35 on one side of the output end of the second electric rollers 32. A second baffle lifting cylinder 34 for raising and lowering the second baffle 33 is installed on the second roller frame 35. A first connecting bracket 31 is installed on both sides of the second roller frame 35.

[0064] The secondary conveying device lifting module 4 includes a first moving module 36, which is mounted on the upper end of the support frame 11. A first reduction motor 37 is installed at the power input end of the first moving module 36, and a secondary conveyor connector 38 is installed at the output end of the first moving module 36. The secondary conveyor connector 38 is fixedly connected to the first connecting bracket 31.

[0065] The three-stage conveying device 5 includes a third roller frame 73, on which a plurality of third electric rollers 72 are mounted. A third baffle 74 is mounted on the third electric roller 72 on one side of the output end of the third electric roller 72. A third connecting bracket 71 is mounted on both sides of the third roller frame 73. A guide device 14 is provided on both sides of the third roller frame 73.

[0066] The guiding device 14 includes a mounting plate 76 and a hinge 77. The mounting plate 76 is installed on both sides of the third roller frame 73. A guide cylinder 75 is installed on the mounting plate 76. The output end of the guide cylinder 75 is rotatably connected to a guide plate 79 through the hinge 77. A guide rod 78 that cooperates with the guide plate 79 is provided on the third roller frame 73.

[0067] The first-stage lifting device 6 includes a coupling 42 and an electric cylinder connector 43. The electric cylinder connector 43 is installed on the upper end of the first-stage lifting device mounting connection plate 18. Electric cylinder lead screws 44 are installed at the output ends of the electric cylinder connectors 43 on both sides of the chassis 16. The electric cylinder connectors 43 are connected to each other through the coupling 42. A second reduction motor 41 is installed at the input end of one of the electric cylinder connectors 43.

[0068] The secondary lifting device 7 includes a second moving module 52 and a guide rail 12. The second moving module 52 is installed at the output end of the electric cylinder lead screw 44. The second moving module 52 is connected to the support frame 11 through the guide rail 12. A third reduction motor 53 is installed at the power input end of the second moving module 52. A connector 54 is installed at the output end of the second moving module 52. The second moving modules 52 on the two secondary lifting devices 7 are connected together through a connecting plate 51. The connector 54 near the output end of the second moving module 52 of the secondary conveying device lifting module 4 is fixedly connected to the third connecting bracket 71.

[0069] The four-way moving device 10 includes a module bracket 84, which is mounted on a connector 54 on the output end of the second moving module 52, which is away from the secondary conveying device lifting module 4. A front-to-back moving module 81 is mounted on the module bracket 84, and a left-to-right moving module 82 is mounted on the output end of the front-to-back moving module 81. A U-shaped bracket 85 is mounted on the output end of the left-to-right moving module 82. The tertiary lifting device 8 is mounted on the U-shaped bracket 85. A fourth reduction motor 83 is mounted on the power input end of both the front-to-back moving module 81 and the left-to-right moving module 82.

[0070] The three-piece gripping device 9 includes a second connecting bracket 63, which is installed at the output end of the three-stage lifting device 8. A suction cup mounting plate 62 is installed on the second connecting bracket 63, and a suction cup assembly 61 is installed on the suction cup mounting plate 62. The suction cup assembly 61 is provided with six independent suction cups.

[0071] The electrical control cabinet 13 includes a positioning system, a video recognition system, an information system, and a control system.

[0072] The positioning system consists of infrared sensors and ultrasonic sensors. The infrared sensors can more accurately detect the distance of the loading and unloading robot when it enters the carriage, while the ultrasonic sensors can detect the distance from the sides of the carriage, which can eliminate the interference of unevenness on the left and right sides of the carriage and reduce the positioning error of the system.

[0073] The video recognition system consists of cameras that monitor the automatic loading and unloading process and trigger alarms when errors occur.

[0074] The information system consists of scanners that scan the cigarettes entering the carriage and record various information about each pack of cigarettes.

[0075] The control system consists of photoelectric switches, servo drivers, PLCs, control cabinets, and control programs. It is responsible for the positioning, image recognition, information collection, simulation, information verification and tracking, error correction, and system operation control of the loading and unloading robot. It is the nervous system and control execution system of the loading and unloading robot, ensuring that the automatic loading and unloading system can stack goods reasonably and efficiently, avoid waste of space in the vehicle, and is suitable for long-distance transportation.

[0076] A method for using an intelligent loading and unloading robot:

[0077] During loading, the lifting platform raises the intelligent loading and unloading robot to the same height as the truck bed. The walking device 1 drags the tipping device and the flexible telescopic conveyor into the truck bed, automatically moving to the front of the truck bed. When it is one cigarette box away from the front, it moves to the left and stops at the far left. At the same time, it automatically detects the dimensions of the truck bed and automatically provides the optimal arrangement. The cigarettes are transferred one by one from the flexible conveyor to the tipping machine, changing from flat to upright, and enter the primary conveyor 2. The output end of the push-pull module 25 drives the push-pull plate 21 to move, so that the push-pull plate 21 pushes the first cigarette to the middle position of the primary conveyor 2, and then the second cigarette enters. The push-pull plate 21 pushes the first and second cigarettes to the other side, and then the third cigarette enters. The push-pull plate 21 clamps the three cigarettes and sends them to the secondary conveyor 3. The secondary conveyor 3 lifts the three cigarettes to the same height as the tertiary conveyor 5 through the secondary conveyor lifting module 4, and then sends them to the tertiary conveyor 5. The secondary lifting device 7 lifts the tertiary conveying device 5, raising it and the three cigarettes on it to a position where the three-piece gripping device 9 can reach them. The three-piece gripping device 9 simultaneously grips all three cigarettes. The forward / backward moving module 81 and the left / right moving module 82 move the tertiary lifting device 8, which in turn moves the three-piece gripping device 9 forward beyond the distance of the first cigarette. Then, the three-piece gripping device 9 is moved to the far left, and the tertiary lifting device 8 lowers it to its lowest position, placing the three cigarettes on the far left. The traveling device 1 moves three cigarettes to the right and then grips a second set of three cigarettes, placing it close to the first set. The robot moves to the far right and automatically calculates the required quantity. As needed, the push-pull structure on the primary conveyor 2 delivers one, two, or three cigarettes (depending on the width of the carriage) to the far right. Then, via the secondary conveyor 3 and tertiary conveyor 5, the robot grabs and places them on the far right of the first layer, leaving three cigarettes. The three-piece grabbing device 9 moves left between the second and third grabbing points to place the last three cigarettes, thus completing the bottom row of cigarettes. Then, the robot raises the height by one cigarette and places the second layer of cigarettes from right to left, following the same method. The third layer is then placed from the left, and so on. When necessary, the primary lifting device 6 assists by raising the robot to a certain height, and the tertiary lifting device 8 lowers the first layer to its lowest point and raises the top layer to its highest point, ensuring that both the top and bottom layers are placed. This placement creates a gap on the right side for the first layer and on the left side for the second layer, staggered placement that provides compaction, suitable for long-distance transport. After the first layer is placed, the robot moves back one cigarette's distance and places the second layer, repeating the previous operation until the last row of cigarettes in the carriage is full.

[0078] During unloading, the lifting platform raises the intelligent loading and unloading robot to the same height as the truck bed. The robot moves to the rear of the truck bed, where a camera takes a picture. The image recognition system automatically determines the placement rules during loading (through gaps) and unloads the truck in the reverse order of loading. The robot is raised to the top layer, grabs the last three cigarette cases, and sends them to the third-level conveyor 5. The third-level conveyor 5 descends to the same height as the second-level conveyor 3 and sends the three cigarette cases to the second-level conveyor 3. The second-level conveyor 3 descends to the height of the first-level conveyor 2 and sends the three cigarette cases to the first-level conveyor 2. The first-level conveyor 2 first sends the first cigarette case to the tipping machine, which flips the upright cigarette case flat and sends it to the flexible telescopic conveyor. The flexible conveyor then sends the first cigarette case to the warehouse. The push-pull device on the first-level conveyor 2 pushes the second cigarette case to the tipping machine, then the third cigarette case, and so on until unloading is complete.

[0079] Unloading is the reverse of loading, so the unloading of the boxed items can be achieved simply by reversing the operation. This structure is convenient and quick to operate, has high handling efficiency and a stable structure. At the same time, the three-stage lifting device 8 makes the loading and unloading position of the items more precise and efficient.

[0080] For specific loading and placement methods, taking commonly used vehicle models as examples, six optimal loading and placement methods suitable for long-distance transportation and their corresponding effects are as follows, please refer to... Figure 16 :

[0081]

[0082] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

Claims

1. An intelligent loading and unloading robot, comprising a walking device (1) and a connecting plate (51), characterized in that, The upper end of the walking device (1) is horizontally equipped with a primary conveying device (2), and the upper end of the walking device (1) on one side of the output end of the primary conveying device (2) is vertically equipped with a secondary conveying device lifting module (4), and the output end of the secondary conveying device lifting module (4) is horizontally equipped with a secondary conveying device (3). The secondary conveying device lifting module (4) has a first-level lifting device (6) vertically installed on the upper end of the walking device (1) on the side away from the first-level conveying device (2). Two secondary lifting devices (7) are vertically installed at the output end of the first-level lifting device (6). The two secondary lifting devices (7) are connected together by a connecting plate (51). A tertiary conveying device (5) is horizontally installed at the output end of the secondary lifting device (7) close to the secondary conveying device lifting module (4). Guide devices (14) are provided on both sides of the tertiary conveying device (5). A four-way moving device (10) is installed at the output end of the secondary lifting device (7) away from the secondary conveying device lifting module (4). A tertiary lifting device (8) is installed at the output end of the four-way moving device (10). A three-piece gripping device (9) is installed at the output end of the tertiary lifting device (8). The walking device (1) includes a chassis (16) and a support frame (11). The chassis (16) is provided with a steering wheel mounting connection plate (17), a primary lifting device mounting connection plate (18), a support frame mounting connection plate (19), and a shared mounting connection plate (20) for the support frame and the secondary conveying device. A steering wheel (15) is installed at the lower end of the steering wheel mounting connection plate (17). The primary lifting device (6) is installed on the upper end of the primary lifting device mounting connection plate (18). The support frame (11) is installed on the upper end of the support frame mounting connection plate (19) and the shared mounting connection plate (20) for the support frame and the secondary conveying device. The secondary conveying device lifting module (4) is installed on the upper end of the support frame (11).

2. The intelligent loading and unloading robot according to claim 1, characterized in that, The primary conveying device (2) includes a first roller frame (24), on which a plurality of first electric rollers (27) are mounted. A first baffle (22) is provided on the first roller frame (24) on one side of the output end of the first electric roller (27). A first baffle lifting cylinder (23) for lifting the first baffle (22) is installed on the first roller frame (24). A pusher is installed on the first roller frame (24) below the first electric roller (27). The push-pull module (25) has a push-pull slide rod (26) installed at its output end. The upper end of the first electric roller (27) is vertically provided with a push-pull plate (21). The push-pull plate (21) and the push-pull slide rod (26) are connected by several connecting columns. The connecting columns are set in the gap between adjacent first electric rollers (27). Both sides of the first roller frame (24) are equipped with electrical control cabinets (13). The electrical control cabinets (13) are installed on the upper end of the chassis (16).

3. The intelligent loading and unloading robot according to claim 1, characterized in that, The secondary conveying device (3) includes a second roller frame (35), on which a plurality of second electric rollers (32) are installed. A second baffle (33) is provided on the second roller frame (35) on one side of the output end of the second electric roller (32). A second baffle lifting cylinder (34) for lifting the second baffle (33) is installed on the second roller frame (35). A first connecting bracket (31) is installed on both sides of the second roller frame (35). The secondary conveying device lifting module (4) includes a first moving module (36), which is installed on the upper end of the support frame (11). A first geared motor (37) is installed at the power input end of the first moving module (36), and a secondary conveyor connector (38) is installed at the output end of the first moving module (36). The secondary conveyor connector (38) is fixedly connected to the first connecting bracket (31).

4. The intelligent loading and unloading robot according to claim 1, characterized in that, The three-stage conveying device (5) includes a third roller frame (73), on which a plurality of third electric rollers (72) are installed. A third baffle (74) is installed on the third electric roller (72) on one side of the output end of the third electric roller (72). A third connecting bracket (71) is installed on both sides of the third roller frame (73), and a guide device (14) is provided on both sides of the third roller frame (73).

5. The intelligent loading and unloading robot according to claim 4, characterized in that, The guiding device (14) includes a mounting plate (76) and a hinge (77). The mounting plate (76) is installed on both sides of the third roller frame (73). A guide cylinder (75) is installed on the mounting plate (76). The output end of the guide cylinder (75) is rotatably connected to a guide plate (79) through the hinge (77). A guide rod (78) for use with the guide plate (79) is provided on the third roller frame (73).

6. The intelligent loading and unloading robot according to claim 1, characterized in that, The first-stage lifting device (6) includes a coupling (42) and an electric cylinder connector (43). The electric cylinder connector (43) is installed on the upper end of the first-stage lifting device mounting connection plate (18). The output ends of the electric cylinder connectors (43) on both sides of the chassis (16) are equipped with electric cylinder lead screws (44). The electric cylinder connectors (43) are connected to each other through the coupling (42). A second geared motor (41) is installed at the input end of one of the electric cylinder connectors (43).

7. The intelligent loading and unloading robot according to claim 6, characterized in that, The secondary lifting device (7) includes a second moving module (52) and a guide rail (12). The second moving module (52) is installed at the output end of the electric cylinder screw (44). The second moving module (52) is connected to the support frame (11) through the guide rail (12). A third geared motor (53) is installed at the power input end of the second moving module (52). A connector (54) is installed at the output end of the second moving module (52). The second moving modules (52) on the two secondary lifting devices (7) are connected together through a connecting plate (51). The connector (54) at the output end of the second moving module (52) near the secondary conveying device lifting module (4) is fixedly connected to the third connecting bracket (71).

8. The intelligent loading and unloading robot according to claim 7, characterized in that, The four-way moving device (10) includes a module bracket (84), which is mounted on a connector (54) at the output end of the second moving module (52) away from the secondary conveying device lifting module (4). A front-to-back moving module (81) is mounted on the module bracket (84). A left-to-right moving module (82) is mounted at the output end of the front-to-back moving module (81). A U-shaped bracket (85) is mounted at the output end of the left-to-right moving module (82). The tertiary lifting device (8) is mounted on the U-shaped bracket (85). A fourth geared motor (83) is mounted at the power input end of both the front-to-back moving module (81) and the left-to-right moving module (82).

9. The intelligent loading and unloading robot according to claim 8, characterized in that, The three-piece gripping device (9) includes a second connecting bracket (63), which is installed at the output end of the three-stage lifting device (8). A suction cup mounting plate (62) is installed on the second connecting bracket (63), and a suction cup assembly (61) is installed on the suction cup mounting plate (62). The suction cup assembly (61) is provided with six independent suction cups.

10. The intelligent loading and unloading robot according to claim 2, characterized in that, The electrical control cabinet (13) includes a positioning system, a video recognition system, an information system, and a control system.

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