An intelligent loading and unloading machine

Abstract

The present invention relates to an intelligent loading and unloading vehicle integrated machine, including a position recognition module, a mobile platform, a motion group, a transport group and a visual recognition component; the transport group includes a transmission component and a material receiving component; a transmission mechanism is provided between the transmission component and the material receiving component; the motion group includes a first motion component, a second motion component, a third motion component and a fourth motion component; the first motion component includes an adsorption component, a telescopic component, a rotating seat and a plurality of rotating shafts. The first motion component, the second motion component, the third motion component and the fourth motion component proposed in the present invention can flexibly and quickly grab goods, can replace traditional manual handling, and can flexibly move in a small space; a visual recognition component is provided to identify the cross section of the goods, the material receiving component can maintain horizontality and receive the goods at the shortest distance, can quickly and accurately complete the loading and unloading of goods, is more intelligent, and greatly improves work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo loading and unloading machinery, and more specifically, to an intelligent all-in-one loading and unloading machine. Background Art

[0002] At present, cargo handling on box trucks at docks is done manually, which is not only inefficient but also causes great physical loss to workers. At the same time, the environment at the dock is relatively harsh, which can easily affect human health. Therefore, intelligent equipment is urgently needed to replace traditional manual handling.

[0003] The prior art discloses a loading and unloading integrated machine and an automatic container loading and unloading system, wherein a first lifting rail, a second walking rail and a second lifting rail are arranged in the height direction; a relative walking structure is arranged between the guide beam and the beam seat to adapt to the position of goods at different heights and depths. Although this method can replace manual handling to carry goods, it has low flexibility and cannot perform flexible movement at multiple angles or directions in a small space such as a container or a truck compartment. It also requires running multiple work programs to reach the target cargo position to load or unload goods, and has a low degree of intelligence and low work efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the prior art has low flexibility and work efficiency in loading and unloading goods in a small space. In view of the above-mentioned defects of the prior art, an intelligent loading and unloading vehicle integrated machine is provided.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] An intelligent loading and unloading vehicle integrated machine is constructed, which includes a position recognition module for identifying the position of a container, a mobile platform, a motion group, a transport group and a visual recognition component for identifying cargo information, wherein the position recognition module, the motion group and the transport group are respectively arranged on the mobile platform, and the visual recognition component is arranged on one side of the motion group; the motion group and the transport group cooperate to pick up or receive materials; the transport group includes a transmission component and a material receiving component; a transmission mechanism is provided between the transmission component and the material receiving component to keep the material receiving component in a horizontal state; the motion group includes a first motion component, a second motion component, a third motion component and a fourth motion component for keeping a constant distance between the front end of the material receiving component and the cargo, the first motion component, the second motion group The third motion component and the fourth motion component are arranged in linkage and are used to grab the goods; the first motion component is arranged on one side of the transport group; the second motion component is fixedly connected to the first motion component and drives the first motion component to move; the third motion component is fixedly connected to the second motion component and drives the second motion component to move; the fourth motion component is located below the transport group and drives the transport group to move; the first motion component includes an adsorption component, a telescopic component, a rotating seat and a plurality of rotating shafts, and the adsorption component is movably arranged at one end of the rotating shaft; the telescopic component is detachably connected to the adsorption component; the rotating seat is arranged on the second motion component; the rotating shaft is movably arranged between the rotating seat and the adsorption component.

[0007] Furthermore, it includes a loading mode and an unloading mode; when in the loading mode, the telescopic components are arranged on both sides of the adsorption component and cooperate with the adsorption component to propel the goods; when in the unloading mode, the adsorption component and the first motion component cooperate to grab the goods to the transport group.

[0008] Furthermore, the transmission component is linked to the fourth motion component and is connected to the material receiving component through the transmission mechanism; the transmission component is inclined or horizontally arranged above the fourth motion component; the material receiving component is horizontally arranged at the front end of the transmission component; the transmission component includes a first transmission belt, and the fourth motion component includes a driving rod, one end of the driving rod is connected to the mobile platform, and the other end is connected to the first transmission belt, and drives the first transmission belt to move.

[0009] Furthermore, the material receiving assembly includes a frame, a wireless detector, a plurality of rolling rods and a second transmission belt, and the rolling rods and the second transmission belt are respectively arranged on the frame; the second transmission belt is arranged at the front end of the first transmission belt, and the movement direction is the same as that of the first transmission belt; the wireless detector is fixed on one side of the frame for detecting the goods; the rolling direction of the rolling rod is perpendicular to the second transmission belt.

[0010] Further, when in the unloading mode, the rolling rod rotates toward the second transmission belt, the second transmission belt is driven toward the first transmission belt, and the transmission directions of the first transmission belt and the second transmission belt are the same; when in the loading mode, the first transmission belt is driven in the direction of the second transmission belt, the second transmission belt is in the same direction as the first transmission belt, and the rolling rod rotates in a direction relative to the second transmission belt.

[0011] Furthermore, the visual recognition component includes an image capture component for obtaining cargo cross-sectional information, a light recognition instrument for identifying external light intensity, a light source controller, a fixed rod, a yaw axis, a first driving component and a plurality of light source components, and the first motion component includes a motion controller; the light recognition instrument is arranged on one side of the image capture component; the light source components are respectively arranged above the mobile platform; the light recognition instrument and the light source components are respectively electrically connected to the light source controller; the image capture component is electrically connected to the motion controller; the fixed rod is fixed above the second motion component, and the first driving component is fixed on the fixed rod; the image capture component is fixed on the yaw axis, and the driving part of the first driving component is fixedly connected to the yaw axis, and drives the yaw axis and the image capture component to yaw.

[0012] Furthermore, the second motion component includes a lifting shaft, a first transmission member, a placement frame and a plurality of first guide rails, and the rotating seat is arranged on the placement frame; the first transmission member is fixedly connected to the placement frame and is transmission-connected to the lifting shaft to drive the rotating seat to move; the lifting shaft and the first guide rail are vertically placed above the third motion component and are fixedly connected to the third motion component; the placement frame is provided with a slider corresponding to the first guide rail, and the slider is slidably connected to the first guide rail; the first transmission member is transmission-connected to the lifting shaft and drives the slider to slide along the first guide rail.

[0013] Furthermore, the third motion component includes a telescopic shaft, a second transmission member and a plurality of second guide rails, the telescopic shaft and the second guide rails are respectively placed under the lifting shaft, and the second guide rails are fixed on both sides of the telescopic shaft; the second transmission member is fixedly connected to the placement frame and is arranged for transmission with the telescopic shaft to drive the second motion component and the first motion component to move along the second guide rails.

[0014] Furthermore, the telescopic assembly includes a plurality of telescopic plates and a second driving member, the telescopic plates are symmetrically arranged on both sides of the adsorption assembly, and the second driving member is arranged corresponding to the telescopic plates.

[0015] Furthermore, the adsorption assembly includes a plate body and a plurality of adsorbents, the plate body is rotatably connected to the rotating shaft, and the adsorbents are arranged and distributed on the first surface of the plate body.

[0016] Furthermore, a plurality of distance measuring components are fixedly disposed on the second surface of the plate body, and the plate body is further provided with gaps, and the distance measuring components are respectively disposed toward the gaps.

[0017] The beneficial effects of the present invention are: the position of the carriage or container is identified by the position recognition module, and the mobile platform automatically navigates to the carriage or container port, and then the motion group and the transport group cooperate to pick up or receive materials. When unloading, the goods are identified by the provided visual recognition component, and the first motion component, the second motion component, the third motion component and the fourth motion component are controlled to move, so as to realize multi-axis linkage, so as to realize the purpose of automatically grabbing the goods, and the grabbed goods can be placed on the receiving component. Since the receiving component is horizontally arranged and the distance between it and the goods is constant, the goods can be transported efficiently, and at the same time, the goods can be prevented from falling from a height and being damaged. When loading, the goods are transported by the transmission component, and the position of the goods is determined by the visual recognition component, and then the goods are pushed into the carriage by the first motion component, the second motion component, the third motion component, the fourth motion component, the adsorption component and the telescopic component.

[0018] The present invention is based on the first motion component, and is supplemented with a second motion component, a third motion component and a fourth motion component to form an unloading robot arm or a loading robot arm, which can flexibly and quickly grab the goods, and through the fourth motion component, the material receiving component and the transmission component reach the specified position and maintain a constant distance from the goods, so as to efficiently receive and transport the goods; it can not only replace traditional manual handling, but also can move flexibly in a small space and grab the goods in a multi-gesture manner; at the same time, a visual recognition component is provided to identify the cross-section of the goods, so as to quickly obtain the size and location information of the goods, and can quickly and accurately complete the loading and unloading of the goods, which is more intelligent and greatly improves the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall structural diagram of an intelligent loading and unloading vehicle integrated machine in one embodiment of the present invention;

[0020] Figure 2 It is a three-dimensional schematic diagram of an intelligent loading and unloading vehicle integrated machine from another angle in one embodiment of the present invention;

[0021] Figure 3 is a three-dimensional schematic diagram of an adsorption component and a telescopic component in one embodiment of the present invention;

[0022] Figure 4 It is a three-dimensional schematic diagram of an intelligent loading and unloading vehicle integrated machine from another angle in one embodiment of the present invention;

[0023] Figure 5 is a cross-sectional schematic diagram of a material receiving assembly in one embodiment of the present invention;

[0024] Figure 6 is a three-dimensional schematic diagram of a second motion assembly in one embodiment of the present invention;

[0025] Figure 7 The present invention Figure 6 A local enlarged schematic diagram of point I in the middle;

[0026] Figure 8 is a three-dimensional schematic diagram of a third motion assembly in one embodiment of the present invention;

[0027] Fig. 9 is a three-dimensional schematic diagram of a visual identification component in one embodiment of the present invention;

[0028] Fig.10 The present invention Fig. 9 A partial enlarged schematic diagram of the middle Q;

[0029] Fig.11 It is a three-dimensional schematic diagram of the telescopic assembly of the present invention.

[0030] Description of reference numerals: position identification module 10, mobile platform 20, motion group 30, transport group 40, visual identification component 50, first motion component 310, second motion component 320, third motion component 330, fourth motion component 340, adsorption component 311, telescopic component 312, rotating seat 313, rotating shaft 314, transmission component 301, material receiving component 302, transmission mechanism 401, first transmission belt 303, driving rod 341, frame 304, wireless detector 305, rolling rod 306, second transmission belt 307, lifting shaft 321, first transmission member 322, placement frame 323, first guide rail 324, slider 325, telescopic shaft 331, second transmission member 332, second guide rail 333, fixed rod 501, image capturing member 502, first driving member 504, light recognition device 505, light source member 506, telescopic plate 315, second driving member 316, plate body 317, suction member 318, distance measuring member 319, gap 300. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] Please refer to Figure 1 and Figure 2 The present invention proposes an intelligent loading and unloading vehicle integrated machine, including a position recognition module 10 for identifying the position of a container, a mobile platform 20, a motion group 30, a transport group 40 and a visual recognition component 50 for identifying cargo information. The position recognition module 10, the motion group 30 and the transport group 40 are respectively arranged on the mobile platform 20, and the visual recognition component 50 is arranged on one side of the motion group 30; the motion group 30 and the transport group 40 cooperate to take or receive materials; the transport group 40 includes a transmission component 301 and a receiving component 302; a transmission mechanism 401 is provided between the transmission component 301 and the receiving component 302 to keep the receiving component 302 in a horizontal state; the motion group 30 includes a first motion component 310, a second motion component 320, and a second motion component 330. The first moving assembly 310, the second moving assembly 320, the third moving assembly 330 and the fourth moving assembly 340 for maintaining a constant distance between the front end of the receiving assembly 302 and the goods, the first moving assembly 310, the second moving assembly 320, the third moving assembly 330 and the fourth moving assembly 340 are linked and used to grab the goods; the first moving assembly 310 is arranged on one side of the transport group 40; the second moving assembly 320 is fixedly connected to the first moving assembly 310 and drives the first moving assembly 310 to move; the third moving assembly 330 is fixedly connected to the second moving assembly 320 and drives the second moving assembly 320 to move; the fourth moving assembly 340 is located below the transport group 40 and drives the transport group 40 to move; Figure 3As shown, the first motion component 310 includes an adsorption component 311, a telescopic component 312 for propelling goods, a rotating seat 313 and a plurality of rotating shafts 314. The adsorption component 311 is movably arranged at the front end of the rotating shaft 314, and the telescopic component 312 is detachably connected to the adsorption component 311; the rotating seat 313 is arranged on the second motion component 320; and the rotating shaft 314 is movably arranged between the rotating seat 313 and the adsorption component 311.

[0033] In this embodiment, the position identification module 10 is a radar for identifying the position of a carriage or container; the mobile platform 20 is an AGV omnidirectional motion platform, wherein the AGV is an Automated Guided Vehicle, which can automatically drive to a designated location according to a set route. Specifically, the position identification module 10 is electrically connected to the mobile platform 20. After the position identification module 10 identifies the position of the carriage opening or container opening, the external control system controls the mobile platform 20 to automatically navigate to the work position, i.e., the carriage opening or container opening. The motion group 30 grabs the goods through a multi-axis transmission, and cooperates with the transport group 40 to pick up or receive materials. Figure 2As shown, specifically, the motion group 30 includes a first motion component 310, a second motion component 320, a third motion component 330 and a fourth motion component 340. The first motion component 310, the second motion component 320, the third motion component 330 and the fourth motion component 340 are arranged in linkage and grab the goods; the first motion component 310 includes a rotating seat 313 and a plurality of rotating shafts 314, the rotating seat 313 is rotatably arranged above the second motion component 320, and the plurality of rotating shafts 314 are rotatably arranged between the rotating seat 313 and the adsorption component 311, so that the adsorption component 311 can rotate at multiple angles and move in multiple directions; the second motion component 320 can drive the first motion component 310 to move in the vertical direction, the third motion component 330 can drive the first motion component 310 to move in the horizontal direction, and the fourth motion component 340 is arranged at the bottom of the transport group 40, and can drive the transport group 40 to move to adapt to the loading and unloading of goods at different heights. In a specific embodiment, the first motion component 310 is a 6-axis robot capable of 6-axis motion, the second motion component 320, the third motion component 330 and the fourth motion component 340 are external 3-axis motion components, and the first motion component 310, the second motion component 320, the third motion component 330 and the fourth motion component 340 constitute a 9-axis linkage control, capable of 9-axis motion, to achieve the purpose of automatically grabbing goods, with high flexibility, and capable of quickly grabbing goods at a designated position. In another specific embodiment, the first motion component 310, the second motion component 320, the third motion component 330 and the fourth motion component 340 form a unloading robot arm, and the unloading robot arm is loaded on the AGV omnidirectional motion platform, which can realize flexible movement in a small space, such as in a container or a truck compartment, and can quickly grab goods in multiple postures, thereby improving work efficiency.

[0034] The transport group 40 includes a transmission component 301 and a material receiving component 302, and a transmission mechanism 401 is provided between the transmission component 301 and the material receiving component 302, and the transmission mechanism 401 can keep the material receiving component 302 in a horizontal state; specifically, during the lifting process, a gap will be generated between the transmission component 301 and the material receiving component 302 and the goods. When the material receiving component 302 is in a horizontal state, the distance between the material receiving component 302 and the goods is the shortest and the material receiving component 302 is closest to the goods; in the present application, a compensation mechanism is set, that is, a constant distance is set to indicate that the material receiving component 302 has reached a specified position; and the material receiving component 302 can always maintain a horizontal state through the transmission mechanism 401, and the material receiving component 302 can be moved to a constant distance from the goods through the fourth motion component 340; wherein, the transmission mechanism 401 can be a connecting rod mechanism or a crank rocker mechanism. By moving the receiving component 302 to a constant distance from the cargo through the fourth moving component 340 and keeping the receiving component 302 in a horizontal state through the transmission mechanism 401, the distance between the cargo and the receiving component 302 can be reduced, making the work more efficient and preventing the cargo from falling from a height and causing damage.

[0035] Specifically, before unloading, firstly, unloading preparation is performed, and the motion group 30 and the transport group 40 are respectively returned to the initial working position. When unloading, the position of the carriage is first identified by the position identification module 10, and then the mobile platform 20 automatically navigates to the unloading work position, that is, the carriage mouth or the container mouth, and then the visual identification component 50 is used to identify the goods, and the goods information is obtained, and then the first motion component 310, the second motion component 320, the third motion component 330 and the fourth motion component 340 are controlled to move to the cargo position, and the goods are grabbed by the adsorption component 311, and then the goods are placed on the transport group 40, and finally the goods are transported to the warehouse or stacking position by the transport group 40, and the cycle is executed until the unloading is completed. Through the cooperation of the first motion component 310, the second motion component 320, the third motion component 330, the fourth motion component 340 and the transport group 40, the work efficiency can be greatly improved, and 1,200 pieces of goods can be unloaded per hour.

[0036] Specifically, before loading, the motion group 30 and the transport group 40 return to their initial working positions respectively. First, the position of the carriage is identified by the position recognition module 10, and then the mobile platform 20 automatically navigates to the loading position. The goods are transported by the transport group 40. During this period, the position of the goods is identified by the visual recognition component 50, and the goods are stacked by the first motion component 310. After the goods are arranged in rows, the telescopic component 312 and the adsorption component 311 cooperate to push the goods into the cargo box to achieve loading of the goods into the cargo box.

[0037] In one embodiment, it includes a loading mode and an unloading mode; when in the loading mode, the telescopic components 312 are arranged on both sides of the adsorption component 311, and cooperate with the adsorption component 311 to propel the goods; when in the unloading mode, the adsorption component 311 and the first motion component 310 cooperate to grab the goods to the transport group 40.

[0038] Specifically, Figure 3 As shown, when in loading mode, the telescopic components 312 are installed on both sides of the adsorption component 311. First, the transport group 40 determines whether the goods have arrived at the designated location, and then the visual recognition component 50 determines whether the goods have been arranged. Then, the first motion component 310 cooperates with the adsorption component 311 and the telescopic component 312 to push the goods into the cargo box. During this period, the visual recognition component 50 will record the cross section of the goods and send the cross section information to the first motion component 310. The first motion component 310 then moves according to the cross section information to prevent collisions between goods.

[0039] Please refer to Figure 2 The transmission component 301 is linked with the fourth motion component 340 and is connected to the material receiving component 302 through the transmission mechanism 401; the transmission component 301 is inclined or horizontally arranged above the fourth motion component 340; the material receiving component 302 is horizontally arranged at the front end of the transmission component 301.

[0040] In specific implementation: the transmission component 301 is linked to be arranged above the fourth motion component 340, and is connected to the receiving component 302 through the transmission mechanism 401. When the fourth motion component 340 is driven, the transmission component 301 and the receiving component 302 can be driven to move to adapt to the loading and unloading of goods at different heights. In a specific embodiment, after the adsorption component 311 grabs the goods, the transmission component 301 and the receiving component 302 are lifted by the fourth motion component 340, and then the adsorption component 311 places the grabbed goods on the receiving component 302, and the receiving component 302 transports the goods to the transmission component 301, and finally transports them to the warehouse or stacking position. The fourth motion component 340 is provided to adjust the height of the transport group 40, which can shorten the placement distance of the goods, better undertake and transport the goods, and avoid damage caused by the goods falling from a high place. At the same time, after the goods are adsorbed, they can be quickly placed on the transport group 40 for transportation, which can shorten the transportation time of the goods and improve work efficiency. Similarly, when loading, the transport group 40 is moved to a designated position by the fourth transport group 40, and the goods are pushed into the cargo box by the first motion component 310, the telescopic component 312 and the adsorption component 311, so that the loading of the entire container or carriage can be completed quickly.

[0041] Please refer to Figure 4The transmission component 301 includes a first transmission belt 303; the fourth motion component 340 includes a driving rod 341, one end of the driving rod 341 is connected to the mobile platform 20, and the other end is connected to the first transmission belt 303, and drives the first transmission belt 303 to move.

[0042] In specific implementation: one end of the driving rod 341 is connected to the mobile platform 20, and the other end is connected to the first transmission belt 303; when the driving rod 341 provided in the fourth moving component 340 is driven to move, the first transmission belt 303 will be driven to rise or fall.

[0043] Please refer to Figure 5 The material receiving assembly 302 includes a frame 304, a wireless detector 305, a plurality of rolling rods 306 and a second transmission belt 307. The rolling rods 306 and the second transmission belt 307 are arranged on the frame 304 respectively; the second transmission belt 307 is arranged at the front end of the first transmission belt 303, and the movement direction is the same as that of the first transmission belt 303; the wireless detector 305 is fixed on one side of the frame 304 for detecting the goods; the rolling direction of the rolling rod 306 is perpendicular to the second transmission belt 307.

[0044] In specific implementation: the wireless detector 305 is arranged on one side of the receiving assembly 302. In a specific embodiment, the wireless detector 305 is a laser radar. When unloading, the laser radar checks whether there is any cargo in the receiving assembly 302. If there is, the cargo is transported to avoid cargo accumulation. When loading, the laser radar determines whether the cargo has been placed on the receiving assembly 302 to facilitate the alignment of the cargo.

[0045] During loading, the goods are transported from the first transmission belt 303 to the material receiving assembly 302, and after being arranged into rows in the material receiving assembly 302, they are pushed into the carriage by the telescopic assembly 312 and the adsorption assembly 311; during unloading, the adsorption assembly 311 grabs the goods and places them on the material receiving assembly 302, and the goods are transported to the first transmission belt 303 by the material receiving assembly 302, and finally the goods flow out to the warehouse or stacking position.

[0046] Furthermore, the rolling rod 306 and the second transmission belt 307 are arranged on the frame 304, and the movement direction of the rolling rod 306 is perpendicular to the movement direction of the second transmission belt 307. When unloading, the adsorption component 311 places the goods on the rolling rod 306, and the rolling rod 306 rolls toward the second transmission belt 307. The goods move toward the direction of the second transmission belt 307 driven by the plurality of rolling rods 306, and the second transmission belt 307 transmits the goods toward the first transmission belt 303. When the goods are located above the second transmission belt 307, they are transferred to the first transmission belt 303 under the action of the second transmission belt 307, and then the first transmission belt 303 transports the goods to the warehouse or stacking position. When loading, the goods are transported to the receiving component 302 via the first transmission belt 303, and are arranged in rows in the receiving component 302, and then the goods are pushed into the cargo box through the movement between the rotating shafts 314 and the telescopic component 312.

[0047] In one embodiment, when in unloading mode, the rolling rod 306 rotates toward the second transmission belt 307, the second transmission belt 307 is driven toward the first transmission belt 303, and the transmission directions of the first transmission belt 303 and the second transmission belt 307 are the same; when in loading mode, the first transmission belt 303 is driven in the direction of the second transmission belt 307, the second transmission belt 307 is in the same direction as the first transmission belt 303, and the rolling rod 306 rotates in a direction relative to the second transmission belt 307.

[0048] In specific implementation: the rolling rod 306, the first transmission belt 303 and the second transmission belt 307 are respectively provided with corresponding servo motors to drive them to rotate or transmit. When in unloading mode, the motion group 30 grabs the goods and places them on the rolling rod 306, and the rolling rod 306 rotates in the direction where the second transmission belt 307 is provided, and the goods are transported from the rolling rod 306 to the second transmission belt 307, and then the second transmission belt 307 transmits in the direction where the first transmission belt 303 is provided, and transports the goods to the first transmission belt 303. Since the transmission directions of the first transmission belt 303 and the second transmission belt 307 are the same, the goods are moved from the second transmission belt 307 to the first transmission belt 303, and finally transported from the first transmission belt 303 to the warehouse or stacking position.

[0049] When in loading mode, the first transmission belt 303 will transmit in the direction of the second transmission belt 307, and the goods will move from the first transmission belt 303 to the second transmission belt 307. The rolling rod 306 will rotate in the opposite direction to the second transmission belt 307 and transport the goods, so that the goods can be arranged in rows on the frame 304, and finally pushed into the cargo box with the cooperation of the adsorption component 311 and the telescopic component 312.

[0050] Please refer to Fig. 9 and Fig.10 The visual recognition component 50 includes an image capturing component 502 for acquiring cargo cross-sectional information, a light recognition device 505 for identifying external light intensity, a light source controller, a fixed rod 501, a yaw axis, a first driving component 504 and a plurality of light source components 506. The first motion component 310 includes a motion controller; the light recognition device 505 is arranged on one side of the image capturing component 502; the light source components 506 are respectively arranged above the mobile platform 20; the light recognition device 505 and the light source components 506 are respectively electrically connected to the light source controller; the image capturing component 502 is electrically connected to the motion controller; the first driving component 504 and the light recognition device 505 are respectively fixed on the fixed rod 501; the image capturing component 502 is fixed on the yaw axis, the driving part of the first driving component 504 is fixedly connected to the yaw axis, and drives the yaw axis and the image capturing component 502 to yaw; the light source components 506 are distributed above the mobile platform 20.

[0051] In specific implementation: the image pickup component 502 is electrically connected to the motion controller, and the image pickup component 502 can identify the cross section of the goods in the cargo box, and at the same time identify the coordinate position of each goods in space, and send the data to the motion controller, and the motion controller controls the first motion component 310 to place the goods on the transport group 40 to automatically avoid collisions between goods when placing the goods at the target position. At the same time, the visual recognition component 50 can judge the size and position information of the goods on the transport group 40, and send the data to the first motion component 310, so that the first motion component 310 can accurately reach the material collection position and take away the goods.

[0052] More specifically, the image pickup unit 502 is a 3D camera, which identifies the state of the goods in the cargo box, obtains the XYZ coordinate position of each cargo in space, and sends the position information to the controller of the motion group 30, so that the motion group 30 can accurately grab the cargo and place it at the target location. At the same time, the 3D camera can obtain the size and position information of the incoming cargo on the transport group 40, and send the data to the motion group 30, so that the motion group 30 can accurately reach the material collection position and take the cargo away.

[0053] The intensity of the light source 506 can be adjusted by the light source controller. More specifically, the light identification device 505 identifies the external light intensity and feeds back to the light source controller, and then the light source controller controls the brightness of the light source 506 according to the external light intensity. It can adapt to a variety of light environments and is not limited by time.

[0054] More specifically, there are four light source components 506, and the illumination intensity of the light source components 506 can be automatically adjusted by the controller. At the same time, the illumination identifier 505 can identify the external light intensity and feed it back to the light source controller. The light source controller then controls the brightness of the light source component 506 according to the external light intensity, so as to achieve all-weather lighting and is not easily affected by external light. Among them, the setting position and orientation of the light source component 506 can be adjusted. In a specific embodiment, the light source component 506 includes a first strong light source, a second strong light source, a third strong light source and a fourth strong light source. The first strong light source is arranged below the 3D camera, the second strong light source and the third strong light source are arranged on the right side of the 3D camera, and the fourth strong light source is located in front of the first motion component 310. It can achieve all-round lighting, avoid the occurrence of blind spots in illumination, and improve the stability and reliability of 3D camera photography.

[0055] The first driving member 504 is a servo motor. The yaw axis can yaw in the up and down directions under the drive of the first driving member 504, thereby driving the 3D camera to yaw, thereby expanding the 3D camera's field of view, and the coverage range is 3 meters in width. The height is 1 meter, so as to identify cargo information within a larger range.

[0056] Please refer to Figure 6 and Figure 7 The second motion assembly 320 includes a lifting shaft 321, a first transmission member 322, a placement frame 323 and a plurality of first guide rails 324. The rotating seat 313 is arranged on the placement frame 323. The first transmission member 322 is fixedly connected to the placement frame 323 and is in transmission connection with the lifting shaft 321 to drive the rotation seat 313 to move. The lifting shaft 321 and the first guide rail 324 are vertically placed above the third motion assembly 330 and are fixedly connected to the third motion assembly 330. The placement frame 323 is provided with a slider 325 corresponding to the first guide rail 324, and the slider 325 is slidably connected to the first guide rail 324. The first transmission member 322 is in transmission with the lifting shaft 321 and drives the slider 325 to slide along the first guide rail 324.

[0057] In the specific implementation, the lifting shaft 321 and the first guide rail 324 are respectively fixedly arranged above the third motion component 330, the inner side of the lifting shaft 321 is provided with a rack, the first transmission member 322 is a gear, and the first transmission member 322 and the rack of the lifting shaft 321 are meshed with each other. The placement frame 323 is fixedly arranged with the first transmission member 322, and the rotating seat 313 provided with the first motion component 310 is fixedly arranged on the placement frame 323. When the first transmission member 322 is displaced in the vertical direction along the lifting shaft 321, the placement frame 323 and the first motion component 310 provided on the placement frame 323 also move accordingly. There are four first guide rails 324, which are symmetrically arranged on both sides of the lifting shaft 321, and the placement frame 323 is provided with a slider 325 corresponding to the first guide rail 324; when the first transmission member 322 is transmitted along the lifting shaft 321, the slider 325 provided on the placement frame 323 slides along the first guide rail 324. Providing a plurality of first guide rails 324 can make the placement rack 323 move more smoothly.

[0058] Please refer to Figure 8 The third motion component 330 includes a telescopic shaft 331, a second transmission member 332 and a plurality of second guide rails 333. The telescopic shaft 331 and the second guide rails 333 are respectively placed under the lifting shaft 321, and the second guide rails 333 are fixed on both sides of the telescopic shaft 331; the second transmission member 332 is fixedly connected to the placement frame 323, and is transmitted to the telescopic shaft 331, and drives the second motion component 320 and the first motion component 310 to move along the second guide rails 333.

[0059] In the specific implementation: two telescopic shafts 331 are provided, and the telescopic shafts 331 are provided with racks, and the racks provided on the two telescopic shafts 331 are arranged opposite to each other; the second transmission member 332 is a gear, and is arranged to transmit with the telescopic shaft 331. The second transmission member 332 is fixedly connected to the placement rack 323. When the second transmission member 332 is displaced horizontally along the telescopic shaft 331, the placement rack 323 fixed thereto also moves, and the first motion component 310 placed on the placement rack 323 also moves. The second guide rails 333 are symmetrically arranged on both sides of the telescopic shaft 331, and a plurality of sliding blocks corresponding to the second guide rails 333 are arranged at the bottom of the placement rack 323, and the sliding blocks are respectively provided with slide grooves. When the second transmission member 332 is transmitting with the telescopic shaft 331, the slide grooves provided on the sliding blocks will move along the second guide rails 333.

[0060] Please refer to Fig.11 The telescopic component 312 includes a plurality of telescopic plates 315 and a second driving member 316 . The telescopic plates 315 are symmetrically arranged on both sides of the adsorption component 311 , and the second driving member 316 is arranged corresponding to the telescopic plates 315 .

[0061] In specific implementation: the telescopic plates 315 are stacked, and the second driving member 316 is arranged on the bottom telescopic plate 315. The second driving member 316 can be a servo motor or a cylinder. When the second driving member 316 is a servo motor, the telescopic plate 315 can be moved by screw drive or gear rack drive; when the second driving member 316 is a cylinder, the cylinder can be directly driven to move the telescopic plate 315. The telescopic assembly 312 is installed in the loading mode and installed on both sides of the adsorption assembly 311. After the goods are arranged in rows on the receiving assembly 302, the second driving member 316 is driven to open the telescopic plate 315 and push the goods into the cargo box.

[0062] Please refer to the attached Figure 3 The adsorption assembly 311 includes a plate body 317 and a plurality of adsorption members 318 . The plate body 317 is rotatably connected to the rotation shaft 314 . The adsorption members 318 are arranged and distributed on the first surface of the plate body 317 .

[0063] In the specific implementation: the suction member 318 is a suction cup, and the first surface is the surface of the plate body 317 facing the goods, and a plurality of suction cups are arranged on the first surface. The suction cup is threadedly connected to the plate body 317. In a specific embodiment, the suction cups are respectively provided with threads, and the plate body 317 is provided with a plurality of threaded holes. The suction cups are respectively rotated into the threaded holes provided on the plate body 317 to fix the suction cups on the plate body 317. When unloading, the goods are sucked by the plurality of suction cups provided on the plate body 317 and placed on the transport group 40 for transportation. Having a plurality of suction cups to suck the goods can increase the gripping force of the goods and facilitate placement. When loading, the goods are arranged in rows on the receiving assembly 302, and then the plurality of suction members and the telescopic plate 315 jointly push the arranged goods into the cargo box. In another specific example, the suction member 318 is a vacuum pump or a suction nozzle, and can suck the goods.

[0064] Please refer to Figure 3 and Fig.11 A plurality of distance measuring members 319 are fixedly disposed on the second surface of the plate 317 . The plate 317 is also provided with gaps 300 , and the distance measuring members 319 are respectively disposed toward the gaps 300 .

[0065] In specific implementation: the second surface of the plate body 317 is the back side of the plate body 317, and the distance measuring member 319 is a distance meter, which can measure the distance between the plate body 317 and the goods; in a specific embodiment, three distance measuring members 319 are provided on the back side of the plate body 317, and the gap 300 is provided in the middle of the plate body 317. The distance measuring members 319 are evenly distributed on the back side of the plate body 317, and the measuring port of the distance measuring member 319 faces the gap 300, so that the distance measuring member 319 can measure the distance to the goods through the gap 300, and transmit the measurement data to the motion controller for calculation, so as to accurately grasp the goods and avoid collision when grasping the goods.

[0066] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0067] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An intelligent loading and unloading vehicle integrated machine, characterized in that: It includes a position recognition module for identifying the position of a container, a mobile platform, a motion group, a transport group and a visual recognition component for identifying cargo information, wherein the position recognition module, the motion group and the transport group are respectively arranged on the mobile platform, and the visual recognition component is arranged on one side of the motion group; The movement group and the transport group cooperate to retrieve or receive materials; The transport group includes a transmission component and a material receiving component; a transmission mechanism is provided between the transmission component and the material receiving component to keep the material receiving component in a horizontal state; The motion group includes a first motion component, a second motion component, a third motion component and a fourth motion component for maintaining a constant distance between the front end of the receiving component and the goods. The first motion component, the second motion component, the third motion component and the fourth motion component are arranged in linkage and are used to grab the goods. The first motion component is arranged on one side of the transport group; the second motion component is fixedly connected to the first motion component and drives the first motion component to move; the third motion component is fixedly connected to the second motion component and drives the second motion component to move; the fourth motion component is located below the transport group and drives the transport group to move; The first motion component includes an adsorption component, a telescopic component, a rotating seat and a plurality of rotating shafts, the adsorption component is movably arranged at one end of the rotating shaft; the telescopic component is detachably connected to the adsorption component; the rotating seat is arranged on the second motion component; the rotating shaft is movably arranged between the rotating seat and the adsorption component; The transmission component is linked with the fourth motion component and is connected to the material receiving component through the transmission mechanism; the transmission component is inclined or horizontally arranged above the fourth motion component; the material receiving component is horizontally arranged at the front end of the transmission component; The transmission assembly includes a first transmission belt, and the fourth motion assembly includes a driving rod, one end of the driving rod is connected to the mobile platform, and the other end of the driving rod is connected to the first transmission belt, and drives the first transmission belt to move; The material receiving assembly includes a frame, a wireless detector, a plurality of rolling rods and a second transmission belt, wherein the rolling rods and the second transmission belt are arranged on the frame respectively; The second transmission belt is arranged at the front end of the first transmission belt, and has the same movement direction as the first transmission belt; the wireless detector is fixedly arranged on one side of the frame, and is used to detect the goods; the rolling direction of the rolling rod is perpendicular to the second transmission belt; The second motion assembly includes a lifting shaft, a first transmission member, a placement frame and a plurality of first guide rails, the rotating seat is arranged on the placement frame; the first transmission member is fixedly connected to the placement frame and is transmission-connected to the lifting shaft to drive the rotating seat to move; the lifting shaft and the first guide rail are vertically placed above the third motion assembly and are fixedly connected to the third motion assembly; The placement frame is provided with a slider corresponding to the first guide rail, and the slider is slidably connected to the first guide rail; the first transmission member is transmitted to the lifting shaft and drives the slider to slide along the first guide rail; The third motion component includes a telescopic shaft, a second transmission member and a plurality of second guide rails. The telescopic shaft and the second guide rails are respectively placed under the lifting shaft, and the second guide rails are fixed on both sides of the telescopic shaft. The second transmission member is fixedly connected to the placement frame and is arranged for transmission with the telescopic shaft to drive the second motion component and the first motion component to move along the second guide rails.

2. The intelligent loading and unloading vehicle integrated machine according to claim 1, characterized in that: Includes loading mode and unloading mode; When in the loading mode, the telescopic components are arranged on both sides of the adsorption component and cooperate with the adsorption component to propel the cargo; When in the unloading mode, the adsorption assembly and the first movement assembly cooperate to grab the cargo onto the transport group.

3. The intelligent loading and unloading vehicle integrated machine according to claim 2, characterized in that: When in the unloading mode, the rolling rod rotates toward the second transmission belt, the second transmission belt is driven toward the first transmission belt, and the first transmission belt and the second transmission belt have the same transmission direction; When in the loading mode, the first transmission belt is driven in the direction of the second transmission belt, the second transmission belt is in the same direction as the first transmission belt, and the rolling rod is rotated in a direction relative to the second transmission belt.

4. The intelligent loading and unloading vehicle integrated machine according to claim 1, characterized in that: The visual recognition component includes an image pickup component for obtaining cargo cross-sectional information, a light identification instrument for identifying external light intensity, a light source controller, a fixing rod, a deflection shaft, a first driving component and a plurality of light source components, and the first motion component includes a motion controller; The illumination recognition device is arranged on one side of the image pickup component; the light source components are arranged above the mobile platform respectively; The illumination recognition device and the light source component are electrically connected to the light source controller respectively; the image pickup component is electrically connected to the motion controller; The fixed rod is fixed above the second motion component, and the first driving member is fixed on the fixed rod; the image capturing member is fixed on the yaw shaft, and the driving part of the first driving member is fixedly connected to the yaw shaft and drives the yaw shaft and the image capturing member to yaw.

5. The intelligent loading and unloading vehicle integrated machine according to claim 1, characterized in that: The telescopic assembly includes a plurality of telescopic plates and a second driving member. The telescopic plates are symmetrically arranged on both sides of the adsorption assembly, and the second driving member is arranged corresponding to the telescopic plates.

6. The intelligent loading and unloading vehicle integrated machine according to claim 1, characterized in that: The adsorption assembly includes a plate body and a plurality of adsorption members, the plate body is rotatably connected to the rotation shaft, and the adsorption members are arranged and distributed on the first surface of the plate body.

7. The intelligent loading and unloading vehicle integrated machine according to claim 6, characterized in that: A plurality of distance measuring components are fixedly disposed on the second surface of the plate body. The plate body is also provided with gaps, and the distance measuring components are respectively disposed toward the gaps.

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