Omnibearing wheel type intelligent loading and unloading robot

Abstract

The invention relates to the field of intelligent logistics complete-set loading and unloading, in particular to an all-dimensional wheel type intelligent loading and unloading robot. The loading and unloading robot is applied to intelligent loading and unloading of goods of railway freight and mainly comprises a central control system, an intelligent loading and unloading platform, a front vision front radar and rear vision rear radar system, a loading and unloading device, an all-dimensional rotating wheel mechanism, a plug-in type conveying line and a plug-in type working platform. Wherein the central control system is an intelligent control system integrated by a controller, a memory, an integrated circuit and a central processing unit, and the central control system can control each execution mechanism of the loading and unloading robot to perform corresponding action and coordinate each execution mechanism to perform normal loading and unloading operation through written loading and unloading programs and algorithms; the omni-directional rotating wheel mechanism is installed at the bottom of the intelligent loading and unloading platform, the functions of transverse movement, oblique movement, pivot steering and the like of the loading and unloading platform can be achieved, and therefore the loading and unloading platform can flexibly work in narrow spaces such as train carriages. The central control system is connected with the warehouse material management system and the railway transportation management information system through the Internet of Things technology, so that interconnection and intercommunication among warehouse goods input and output conditions, the goods loading and unloading amount of the loading and unloading robot and the goods amount required by a railway transportation plan are realized; therefore, the railway freight loading and unloading efficiency can be improved, the loading and unloading error rate is reduced, and warehouses and railway freight managers can manage cargo conditions in real time more conveniently.

Description

Technical Field

[0001] The present invention relates to the field of intelligent logistics package loading and unloading, and specifically to an all-round wheeled intelligent loading and unloading robot. The loading and unloading robot combines various robot actuators, control systems and sensors into a whole through robot system integration technology, and can perform autonomous transportation, autonomous loading and autonomous unloading through the loading and unloading program, algorithm and visual radar technology of the control system, thus realizing the automation and integration of the whole process from goods out of the warehouse to goods in the warehouse. Background Art

[0002] Railway freight is becoming increasingly prominent in international trade and cross-border logistics. Especially in China, with the acceleration of railway infrastructure construction and the continuous improvement of transportation capacity, the railway freight industry has ushered in unprecedented development opportunities.

[0003] However, rail freight also faces many competitors, such as road transport, water transport and air transport. Road transport is flexible and extensive, water transport is low-cost and large-scale, and air transport is efficient. These modes of transportation occupy an important position in the logistics industry with their own advantages. Compared with other modes of transportation, rail freight is unique in that it has a large cargo volume. In the loading and unloading of goods, it mainly adopts the "mechanical + manual" method for loading and unloading.

[0004] Therefore, rail freight can highlight its competitiveness by "improving its loading and unloading efficiency and reducing loading and unloading costs" to meet the challenges from other modes of transportation, thereby occupying an important position in the logistics industry. Summary of the invention

[0005] In order to solve the deficiencies of the prior art, the present invention relates to an all-round wheeled intelligent loading and unloading robot, which is mainly used for intelligent loading and unloading of goods in railway freight. The loading and unloading robot has the characteristics of high intelligence, high loading and unloading efficiency, strong adaptability, etc.

[0006] To achieve the above-mentioned purpose, the present invention relates to an omnidirectional wheeled intelligent loading and unloading robot, which mainly includes a central control system, an intelligent loading and unloading platform, a monitoring system composed of front vision, front radar, rear vision, and rear radar, a loading and unloading device, an omnidirectional rotating wheel mechanism, a plug-in conveyor line and a plug-in working platform.

[0007] The central control system is placed in the intelligent loading and unloading platform, and includes a controller, a memory, an integrated circuit, a central processing unit, and a human-computer interaction interface. The controller is used to connect the various actuators and sensors of the robot system. After the loading and unloading program and algorithm are written into the controller, the controller can control the actuator to perform corresponding actions, and the controller can monitor the operating status of the actuator in real time. Once a fault is found, a signal is immediately sent to the central processing unit to stop the operation of the actuators of the loading and unloading robot and wait for maintenance personnel to repair the faulty mechanism; The memory is used to store the working parameters, loading and unloading procedures and algorithms and other configurations required by the central control system; the integrated circuit can process and convert various signals so that various signals can be correctly transmitted in the central control system; the central processing unit is responsible for receiving and processing data from various controllers, front vision radar, rear vision radar systems and various sensors, and sending instructions to them to coordinate various actuators to complete loading and unloading operations.

[0008] A further solution is that the intelligent loading and unloading platform is the main actuator of the loading and unloading robot for loading and unloading goods, and the intelligent loading and unloading platform is equipped with a loading and unloading device to perform loading and unloading operations. The intelligent loading and unloading platform can be equipped with a soft pallet loading and unloading device to load and unload soft pallet-loaded goods, and can also be equipped with a hard pallet loading and unloading device to load and unload hard pallet-loaded goods. The loading and unloading robot is adaptable to loading and unloading different types of goods.

[0009] A further solution is that the soft tray loading and unloading device is composed of a tilting mechanism, a push-pull mechanism, a clamping mechanism and a triangular wheel mechanism. The tilting mechanism is composed of an electric cylinder and a rotating gantry, and the rotating gantry is connected to the front end of the intelligent loading and unloading platform chassis through a support shaft. When the electric cylinder pushes the rotating gantry, the rotating gantry rotates at a certain angle with the support shaft as a fulcrum.

[0010] The push-pull mechanism is composed of a fork, a slide plate, a scissor-type telescopic frame, a connecting rod, a push-pull plate and an electric cylinder. The fork is connected to the revolving gantry and fixed at the front lower end of the revolving gantry; there are two first slide plates at the connection position between the fork and the revolving gantry, and there is an annular groove in the middle of the first slide plate for the connecting rod to slide; the front end of the fork is pointed and round, which is convenient for aligning with the protruding part between the soft pallet and the goods, and there are scissor-type telescopic frames on both sides of the fork.

[0011] The scissors-type telescopic frame has one end connected to the first slide plate through a connecting rod a, and has two ends connected to the lower end of the fork through a connecting rod b; the push-pull plate is located directly in front of the fork, and has second slide plates on both sides; the scissors-type telescopic frame has three ends connected to the second slide plate through a connecting rod c, and has four ends connected to the lower end of the push-pull plate through a connecting rod d; since the scissors-type telescopic frame can slide in the first slide plate and the second slide plate, the scissors-type telescopic frame can reciprocate, thereby driving the push-pull plate to reciprocate; the fixed end of the electric cylinder is connected to the connecting rod a, and the movable end is connected to the connecting rod d, and the electric cylinder can push the scissors-type telescopic frame to reciprocate.

[0012] Triangular wheel mechanisms are evenly arranged at the rear end of the loading and unloading base plate. The triangular wheel mechanisms are in contact with the ground and can roll. During the loading and unloading process of the intelligent loading and unloading platform, they can not only bear part of the cargo load for the push-pull mechanism, but also make the loading and unloading platform more labor-saving in the process of transporting cargo.

[0013] The clamping mechanism is placed on the push-pull plate, and is composed of an electric cylinder, a crossbeam, a guide rail and three adjustable clamping jaws. The guide rail is placed on the push-pull plate, and both ends of the crossbeam are connected to the guide rails and can slide in the guide rail slide grooves. The adjustable clamping jaws are connected to the crossbeam and are evenly distributed on the crossbeam, and the clamping part at the lower end is located in the empty space between the forks; the electric cylinder pushes the crossbeam to move up and down, thereby driving the adjustable clamping jaws to move up and down.

[0014] A further solution is that the adjustable clamp consists of a fixed plate and a movable plate, the movement of the movable plate is electrically controlled, and the clamp can complete the clamping and releasing actions during the up and down movement of the movable plate. The gripping algorithm based on force control can adjust the gripping force according to the weight of the goods, and the clamping surface of the movable plate is provided with an anti-slip pad, which can increase the friction when clamping the soft pallet and ensure the safety when grabbing the goods.

[0015] A further solution is that the hard pallet loading and unloading device is composed of a lifting mechanism and a braking mechanism. The lifting mechanism is composed of a fixed gantry, a loading and unloading base plate, a plurality of low-center-of-gravity casters, a plurality of rollers, a lifting plate, a lifting platform and an electric cylinder. The lifting mechanism is connected to the front end of the loading and unloading platform through a fixed gantry; the loading and unloading base plate is a rectangular plate of channel steel type, and the rear end is connected to the lower end of the fixed gantry. A plurality of slide grooves are provided in the rectangular plate, so that a plurality of low-center-of-gravity casters can slide up and down in the slide grooves; the plurality of low-center-of-gravity casters are placed in the slide grooves of the loading and unloading base plate; the plurality of rollers are placed between two adjacent low-center-of-gravity casters, and the rollers are in contact with the ground. When the intelligent loading and unloading platform is loading and unloading goods, the plurality of rollers are in contact with the ground and roll, making it more labor-saving for the loading and unloading platform to transport goods.

[0016] The lifting plate is placed on a number of low-center-of-gravity casters and connected to the low-center-of-gravity casters by bolts; the lifting platform is located at the rear end of the loading and unloading base plate, connected to the lifting plate by studs, with a groove on the top, and a slide and a low-center-of-gravity caster on the bottom. An electric cylinder is placed on the lifting platform. When the electric cylinder drives the lifting platform to move, the low-center-of-gravity caster located below it moves up and down in the slide, thereby driving the lifting platform to achieve lifting and lowering, and the force is transmitted to the number of low-center-of-gravity casters below it through the lifting plate, so that the number of low-center-of-gravity casters move up and down together, thereby realizing the lifting and lowering movement of the lifting plate; during the driving process, the electric cylinder also moves up and down with the lifting platform and the lifting plate. The slide height is the lifting height, and the slide track length is the movement distance. Therefore, the lifting height and movement distance of the number of low-center-of-gravity casters, the lifting plate, and the lifting platform are consistent each time during the lifting and lowering movement.

[0017] The brake mechanism is electrically controlled and is located at the rear end of the loading and unloading bottom plate. When the lifting platform is raised to the highest position, the brake mechanism clamping plate clamps the lifting platform groove to achieve the purpose of locking the lifting platform. When the lifting platform needs to be lowered, the brake mechanism clamping plate is released.

[0018] A further solution is that the front vision and rear vision of the monitoring system are high-definition cameras, which can identify cargo, pallets and various obstacles. The high-definition cameras transmit the captured images to the central control system, and the central control system processes the images captured by the cameras through image processing algorithms, thereby realizing target recognition; the front radar and rear radar of the monitoring system are lidars, which can detect the distance between the target position and the intelligent loading and unloading platform; the front vision and front radar systems are responsible for identifying cargo, pallets, and obstacles in the loading and unloading path, and the rear vision and rear radar systems are responsible for real-time monitoring of the surrounding environment of the intelligent loading and unloading platform to ensure the safety of the intelligent loading and unloading platform during loading and unloading.

[0019] A further solution is that the omnidirectional rotating wheel mechanism is a steering wheel, which is placed at the bottom of the intelligent loading and unloading platform chassis, and includes two parts: a walking mechanism and a steering mechanism. The walking mechanism drives the intelligent loading and unloading platform forward or backward, and the steering mechanism allows the rotating wheel mechanism to rotate 360°. The rotating wheel mechanism is controlled by a central control system to realize functions such as lateral movement, oblique movement, and on-the-spot steering of the intelligent loading and unloading platform, so that the intelligent loading and unloading platform can perform loading and unloading operations in narrow spaces such as train carriages.

[0020] A further solution is that the plug-in work platform is provided for the intelligent loading and unloading platform to perform loading and unloading operations, and is formed by plugging together a number of square frames, and the square frames are provided with a number of reinforcing ribs to make the work platform more stable and reliable.

[0021] A further solution is that the plug-in conveyor line connects the warehouse with the train carriage, and its function is to transport the goods in the warehouse to the train carriage, and it can also run in the reverse direction to transport the goods in the train carriage to the warehouse. The plug-in conveyor line is located on both sides of the plug-in work platform, and is composed of several unit conveyor lines plugged in. Each unit conveyor line can operate independently. When the motor is driven, the power is transmitted to the roller and the belt through the chain drive, so that the conveyor line runs.

[0022] A further solution is that the length and position of the plug-in conveyor line and the work platform can be flexibly adjusted according to the layout between the warehouse and the train carriage, so that the loading and unloading robot is adaptable to different loading and unloading environments.

[0023] A further solution is that the plug-in conveyor line is provided with a push-pull device at the place where it connects with the warehouse, which can de-stacking and stacking the goods; an RFID reader is provided next to the push-pull device and close to the train carriage. When the goods are transported out of the warehouse, the RFID reader A or C sends a signal to the RFID tag on the goods, thereby identifying the information of the goods leaving the warehouse and sending the information of the goods leaving the warehouse to the warehouse material management system; when the goods are transported to the loading and unloading position, the RFID reader B also sends a signal to the RFID tag on the goods, thereby identifying the information of the goods entering the warehouse and sending the information of the goods entering the warehouse to the railway transportation management information system; the RFID reader can identify objects moving at high speed and can perform group reading and identification on the RFID tags on the goods.

[0024] A further solution is that when the plug-in conveyor line transports the train carriage cargo to the warehouse, the RFID reader sends the cargo outbound information to the railway transportation management information system and sends the cargo inbound information to the warehouse material management system.

[0025] A further solution is that when the intelligent loading and unloading platform is loading and unloading soft pallet-carrying goods, it first accurately identifies the specific positions of the goods and the soft pallet through the front vision radar system, and the central control system uses the compiled loading program 1 to align the tip of the push-pull mechanism fork with the protruding part of the soft pallet; then the central control system drives the electric cylinder to move the push-pull mechanism forward to the extreme position, at which time the central control system drives the tilting mechanism electric cylinder to rotate the fork upward by about 10°, so that the fork lifts the protruding part of the soft pallet to facilitate the adjustable claws to clamp; then the central control system drives the clamping mechanism electric cylinder to move the three adjustable claws downward to the soft pallet clamping position, the claws clamp the soft pallet, and the central control system drives the electric cylinder to move back to drag the entire pallet of goods onto the fork; finally, the intelligent loading and unloading platform identifies the route into the carriage according to the front vision radar system and transports the goods into the train carriage.

[0026] A further solution is that when the intelligent loading and unloading platform is loading and unloading hard pallet-borne goods, it first accurately identifies the slot position below the hard pallet through the front vision radar system; the central control system drives the lifting device into the hard pallet slot through the compiled loading program 2, and when the lifting plate step is about to touch the hard pallet, the lifting device stops moving in; then the central control system drives the electric cylinder to move backward, and during the backward movement of the electric cylinder, a number of low-center-of-gravity casters located in the loading and unloading bottom plate slide groove roll from the bottom of the slide groove to the top of the slide groove along the trajectory of the slide groove, and when the low-center-of-gravity casters touch the top edge of the slide groove, the electric cylinder stops moving; during the upward movement of the several low-center-of-gravity casters, they drive the lifting platform and the lifting plate to rise together, thereby lifting the hard pallet and the goods off the ground; then the central control system controls the braking mechanism to clamp the lifting platform to prevent the goods from rolling back due to their own weight; finally, the intelligent loading and unloading platform identifies the route into the carriage according to the front vision radar system, and transports the goods into the train carriage.

[0027] A further solution is that the intelligent loading and unloading platform adopts the solution of "loading and unloading the two ends of the carriage first and then loading and unloading the middle of the carriage" during the process of loading and unloading goods. When the intelligent loading and unloading platform transports the goods to the carriage, the central control system rotates the omnidirectional rotating wheels about 90 degrees toward the carriage, and the intelligent loading and unloading platform drives sideways into the carriage, and then rotates the omnidirectional rotating wheels back to the original position, and the intelligent loading and unloading platform drives directly to the cargo stacking position.

[0028] A further solution is that, after the intelligent loading and unloading platform has stacked the goods through the unloading procedure, it observes the rear environment and obstacles through the rear vision and rear radar system, identifies the exit route, reverses to the middle of the carriage through the reverse function of the omnidirectional rotating wheels at the bottom, and then rotates the omnidirectional rotating wheels about 90 degrees to drive out of the carriage horizontally.

[0029] A further solution is that when the intelligent loading and unloading platform is loading and unloading goods in the middle compartment, the intelligent loading and unloading platform reverses through the reverse function of the omnidirectional rotating wheels, rotates the rotating wheels at the same time, and avoids obstacles in time through the rear vision and rear radar system to achieve curved reverse, and after aligning the goods with the middle compartment, drives straight into the compartment; after unloading the goods, it finally reverses out.

[0030] A further solution is that when the train loads and unloads a large amount of cargo, two loading and unloading platforms can be used for loading and unloading. At this time, the central control system starts two conveyor lines at the same time, and the two conveyor lines transport the cargo in an alternating manner. When the cargo on the left conveyor line arrives at the loading and unloading position, the loading and unloading platform located next to the left conveyor line loads the cargo, first drives horizontally into the middle car, then drives straight to the left car, and unloads the cargo to the stacking position; While the left loading and unloading platform is moving horizontally into the carriage, the loading and unloading platform located next to the right conveyor line loads the goods, then moves horizontally into the middle carriage, and then drives straight to the cargo stacking position in the right carriage; after the right loading and unloading platform reaches the cargo stacking position, the left loading and unloading platform drives out of the carriage, and then the right loading and unloading platform drives out of the carriage; the two loading and unloading platforms load and unload the next batch of goods in the same staggered driving plan as mentioned above; when the left and right sides of the carriage are full of goods, the two loading and unloading platforms drive alternately to the middle carriage and fill the middle carriage with goods.

[0031] A further solution is that the loading and unloading robot connects the central control system, warehouse material management system and railway transportation management information system through Internet of Things technology, so as to realize real-time interconnection and intercommunication between the goods in and out information of the warehouse material management system, the freight information of the railway transportation management information system and the loading and unloading information of the central control system, so that the three can receive each other's change information in real time without any information gap, thereby improving the loading and unloading efficiency, reducing the loading and unloading error rate, and making it more convenient for management personnel to manage the goods situation.

[0032] Beneficial effects of the present invention: 1. The present invention builds a working environment through a plug-in conveyor line and a plug-in work platform. The plug-in conveyor line and the work platform are both plugged together by a number of independent units. The total length and position layout can be flexibly adjusted according to the on-site loading and unloading requirements, and the intelligent loading and unloading platform can load and unload both soft pallet-loaded goods and hard pallet-loaded goods. The loading and unloading robot is adaptable to different loading and unloading requirements and different load-bearing goods of railway freight.

[0033] 2. The present invention controls the omnidirectional rotating wheel mechanism through the central control system, so that the intelligent loading and unloading platform can perform multiple driving schemes such as straight driving, reverse driving, sideways driving and curved reverse driving during the loading and unloading process, so that the loading and unloading platform can adopt different driving schemes according to different loading and unloading paths and environments. Compared with the "mechanical + manual" loading and unloading method, the loading and unloading operation method of the loading and unloading robot is more flexible and intelligent, which not only reduces labor costs, but also improves the cargo loading and unloading efficiency of railway freight.

[0034] 3. The present invention connects the warehouse material management system, the central control system, and the railway transportation management information system through the Internet of Things technology, thereby realizing real-time interconnection and intercommunication among the warehouse cargo in-and-out information, the central control system cargo loading and unloading information, and the railway transportation management information system freight information, without generating information asymmetry, thereby improving the efficiency of loading and unloading cargo; secondly, warehouse managers and railway freight managers can monitor the flow of cargo in real time, thereby reducing the loading and unloading error rate; and thirdly, railway transportation managers can promptly discover and deal with potential safety hazards in the loading and unloading process, thereby improving the safety of railway freight. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1It is a control framework diagram of the present invention.

[0036] Figure 2 , Figure 3 It is the overall structural diagram of the present invention.

[0037] Figure 4 It is a structural diagram of the soft pallet type cargo intelligent loading and unloading platform of the present invention.

[0038] Figure 5 It is a structural diagram of the push-pull mechanism of the present invention.

[0039] Figure 6 It is a structural diagram of the hard pallet type cargo intelligent loading and unloading platform of the present invention.

[0040] Figure 7 This is a diagram of the loading and unloading of soft pallet-bearing cargo according to the present invention.

[0041] Figure 8 This is a schematic diagram of the completion of loading of the soft pallet-type cargo of the present invention.

[0042] Fig. 9 This is a schematic diagram of the intelligent loading and unloading platform of the present invention moving horizontally into a carriage.

[0043] Fig.10 This is a diagram of the unloading soft pallet load-bearing cargo scheme of the present invention.

[0044] Fig.11 It is a structural diagram of the clamping mechanism of the present invention.

[0045] Fig.12 This is a structural diagram of the adjustable clamping jaw of the present invention.

[0046] Fig.13 This is a diagram of the curved reversing scheme of the intelligent loading and unloading platform of the present invention.

[0047] Fig.14 This is a diagram of the loading and unloading of hard pallet-loaded cargo according to the present invention.

[0048] Fig.15 This is a schematic diagram of the completion of loading of cargo on a hard pallet according to the present invention.

[0049] Fig.16 It is a structural diagram of the lifting mechanism of the present invention.

[0050] Fig.17 This is a structural diagram of the lifting mechanism loading and unloading base plate of the present invention.

[0051] Fig.18 It is a schematic diagram of the lifting trajectory of the lifting mechanism of the present invention.

[0052] Fig.19 This is a diagram of the clamping structure of the brake mechanism of the present invention.

[0053] Fig. 20 It is a structural diagram of the lifting plate of the lifting mechanism of the present invention.

[0054] Fig.21 It is a structural diagram of the omnidirectional rotating wheel mechanism of the present invention.

[0055] Fig. 22 This is a schematic diagram of the principle of the RFID reader of the present invention for identifying goods.

[0056] Fig.23 It is a structural diagram of the triangular wheel of the present invention.

[0057] Fig.24 , 25 This is a loading and unloading scheme diagram of two loading and unloading platforms of the present invention.

[0058] Fig.26 This is a structural diagram of the independent unit conveyor line of the present invention.

[0059] Fig. 27 It is a structural diagram of the square stand of the present invention. Attached photos

[0060] 1-Cargo; 101-Soft pallet; 102-Hard pallet; 2-Push-pull device; 3-RFID reader; 4-Plug-in conveyor line; 401-Plug-in conveyor line independent unit; 5-Plug-in work platform; 501-Square platform; 6-Push-pull mechanism; 601-Connecting rod; 602 Scissor-type telescopic frame; 603-Fork; 604-Push-pull plate; 605-Second slide plate; 606-Push-pull mechanism electric cylinder; 607-First slide plate; 7-Tilt mechanism; 701-Revolving gantry; 702-Support shaft; 703-Tilt mechanism electric cylinder; 8-All-round rotating wheel mechanism; 801-Revolving wheel steering mechanism; 802-Revolving wheel walking mechanism; 9-Intelligent loading and unloading platform; 901; Intelligent loading and unloading platform chassis; 902-Intelligent Able to load and unload the platform body; 10-central control system; 11-rear radar; 12-rear vision; 13-front radar; 14-front vision; 15-gripping mechanism; 1501-gripping mechanism electric cylinder; 1502-guide rail; 1503 adjustable clamping jaw; 1505-adjustable clamping jaw fixed plate; 1506-adjustable clamping jaw movable plate; 16-triangular wheel mechanism; 17-lifting mechanism; 1701-fixed door frame; 1702-loading and unloading base plate; 1703-loading and unloading base plate roller; 1704-low center of gravity caster; 1705-lifting plate; 1706-lifting platform; 1707-stud stud; 1708-lifting mechanism electric cylinder; 1709-low center of gravity caster slideway; 18-brake mechanism; 19-the second intelligent loading and unloading platform. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0063] The present invention discloses an omnidirectional wheeled intelligent loading and unloading robot, which mainly includes a central control system 10, an intelligent loading and unloading platform 9, a monitoring system composed of a front vision system 14, a front radar 13, a rear vision system 12, and a rear radar 11, a loading and unloading device, an omnidirectional rotating wheel mechanism 8, a plug-in conveyor line 4, and a plug-in working platform 5.

[0064] In one embodiment of the present invention, the central control system 10 is placed in the intelligent loading and unloading platform 9, including a controller, a memory, an integrated circuit, a central processing unit and a human-computer interaction interface. Before starting the loading and unloading operation, the staff starts the loading and unloading robot central control system 10, and connects the central control system 10 with the railway transportation management information system and the warehouse material management system. At this time, the railway transportation management information system sends freight information to the central control system 10 and the warehouse material management system, such as the type of goods, freight volume, loading and unloading time, etc. After receiving the freight information, the warehouse material management system first counts the quantity of various types of goods in the warehouse.

[0065] The central control system 10 first loads the programmed working parameters, loading and unloading procedures and algorithms, then checks whether each actuator and each sensor is normal, and then starts the front vision 14 front radar 13 rear vision 12 rear radar 11 system to scan the surrounding environment in all directions. The central control system 10 will first make a rough loading and unloading path based on the recognized map. After checking that everything is correct, the central control system 10 starts the left conveyor line, push-pull device (2) I and RFID reader (3) A, and sends a signal to the warehouse material management system and the railway transportation management information system to start loading and unloading operations. Then, the warehouse material management system transports batches of goods intermittently through the left conveyor line.

[0066] Another embodiment of the present invention, as Figure 2 As shown, the push-pull device (2) I is ready for depalletizing. When the goods 2 are transported to the position of the push-pull device (2) I, the push-pull device (2) I accurately identifies the position of the goods pallet through its own visual radar system and depalletizes the goods 1 in units of pallets.

[0067] Another embodiment of the present invention, as Figure 2 As shown, the unpalletized goods 1 pass through the front RFID reader (3) A channel door, and the RFID reader 3 identifies the goods information and sends the goods outbound information to the warehouse material management system.

[0068] The intelligent loading and unloading platform 9 quickly drives to the left conveyor line, waiting to load and unload the goods 1. When the goods 1 are about to be transported to the front of the loading and unloading platform 9, the loading and unloading platform 9 accurately identifies the position of the cargo pallet through the front vision 14 and front radar 13 systems.

[0069] Another embodiment of the present invention, as Figure 7 As shown, the intelligent loading and unloading platform 9 is equipped with a soft pallet loading and unloading device to load and unload soft pallet-carrying goods. The central control system 10 first aligns the tip of the fork 603 with and touches the protruding part of the soft pallet 101 compared to the goods 1 through the written loading program 1; then drives the electric cylinder 606 to move forward, pushes the push-pull plate 604 to the front limit position, and drives the electric cylinder 703 of the tilting mechanism 7 to rotate the rotating door frame 701 upward by about 10°, so that the fork 603 is tilted upward, so that the soft pallet 603 protrudes compared to the goods 1. The fork 603 is used to lift the soft pallet 101 and lift the fork 603. The electric cylinder 1501 is then driven to push the crossbeam 1504 downward, so that the three adjustable jaws 1503 move downward. When the jaws 1503 move to the protruding part of the soft pallet 101, they stop and clamp the soft pallet 101 with appropriate force. Finally, the central control system 10 drives the electric cylinder 606 to move back, so as to lift the entire pallet 1 onto the fork 603. When the entire surface of the soft pallet 101 is on the fork 603, the electric cylinder 606 stops moving, and the loading process of the cargo 1 is completed.

[0070] In this embodiment, the tip of the fork 603 of the loading and unloading platform is tilted upward at a slight angle through the tilting function of the tilting mechanism 7, so that the soft pallet 101 is tilted compared to the protruding part of the cargo 1, thereby facilitating the clamping of the adjustable clamp 1503; at the same time, the fork 603 forms a "high front end and low rear end" terrain, and in the process of the push-pull mechanism 6 dragging the entire pallet of cargo 1 to the fork 603, the center of gravity of the entire pallet of cargo 1 can be inclined toward the loading and unloading platform body 902, which makes loading of the cargo 1 more stable and transportation of the cargo 1 safer.

[0071] Another embodiment of the present invention, as Fig. 9 As shown, after the loading and unloading platform 9 loads the goods 1, it reverses to the middle of the working platform 5 through the reverse function of the omnidirectional rotating wheel mechanism 8; then the central control system 10 controls the front vision 14 and the omnidirectional rotating wheel mechanism 8 to rotate 90° toward the direction of the carriage, turns on the lighting 141 to illuminate the interior environment of the carriage, and the front vision 14 and front radar 13 systems detect the interior environment of the carriage and plan the driving route; then the loading and unloading platform 9 drives horizontally into the middle of the carriage, and the central control system 10 controls the front vision 14 and the omnidirectional rotating wheel mechanism 8 to rotate back 90° and drive directly to the cargo stacking position.

[0072] In another embodiment of the present invention, an RFID reader (3) B channel door is installed at the door of the carriage. When the loading and unloading platform 9 passes through the channel door during the process of transporting goods, the RFID reader (3) B identifies the goods information and sends the goods storage information to the railway transportation management information system.

[0073] Another embodiment of the present invention, as Fig.10 As shown, the central control system 10 drives the electric cylinder 703 of the tilting mechanism 7 through the programmed unloading program 1, so that the rotating gantry 701 rotates downward by about 15°. At this time, the fork 603 of the loading and unloading platform 9 also rotates downward by about 15°, forming a "low front end and high rear end" terrain; then the electric cylinder 606 and the push-pull plate 604 are driven to move forward, and at the same time the loading and unloading platform 9 moves backward, and the whole pallet of goods 1 is slowly pushed to the stacking position; then the adjustable clamping jaw 1503 is controlled to release, so that the clamping jaw 1503 moves up to the initial position; finally, the electric cylinder 606 is driven to move back, and the push-pull plate 604 is pulled back to the initial position to complete the unloading of the goods.

[0074] In this embodiment, the fork 603 is rotated downward by a certain angle through the tilting mechanism 7, so that the fork 603 forms a "low front end and high rear end" terrain, so that the center of gravity of the entire pallet of goods 1 tends to the stacking position, which is conducive to unloading the goods on the loading and unloading platform 9.

[0075] Another embodiment of the present invention, as Figure 7As shown, the rear end of the cargo fork 603 is evenly provided with a triangular wheel mechanism 16, which is in contact with the ground and can roll. During the process of loading and unloading the cargo 1 on the intelligent loading and unloading platform 9, it can not only bear part of the cargo load for the push-pull mechanism 6, but also make the loading and unloading platform 9 more labor-saving during the transportation of the cargo; Another embodiment of the present invention, as Fig.12 As shown, the adjustable clamp 1503 is composed of a fixed plate 1505 and a movable plate 1506. The movement of the movable plate 1506 is electrically controlled. During the up and down movement of the movable plate 1506, the clamping action and the releasing action of the clamp 1503 can be completed. Based on the force-controlled grasping algorithm, the grasping force can be adjusted according to the weight of the goods 1, and the clamping surface of the movable plate 1506 is provided with an anti-skid pad. In this embodiment, three adjustable clamps 1503 are arranged on the clamping mechanism 15, so that the force of the clamp 1503 when grasping the goods is more uniform; the anti-skid pad is arranged on the clamping surface of the clamp movable plate 1506, which can increase the friction force of the clamp 1503 when grasping the goods, and ensure the safety of the clamp 1503 when grasping the goods.

[0076] In another embodiment of the present invention, after the loading and unloading platform 9 unloads the goods 1, the rear vision system 12 and the rear radar system 11 are used to observe the environment behind the loading and unloading platform 9 and plan the exit route. The loading and unloading platform 9 reverses to the middle of the carriage 15 through the backward function of the omnidirectional rotating wheel mechanism 8; then the central control system 10 controls the front vision system 14 and the omnidirectional rotating wheel mechanism 8 to rotate 90 degrees outside the carriage, and the loading and unloading platform 9 moves horizontally out of the carriage to load and unload the next cargo.

[0077] In another embodiment of the present invention, when the loading and unloading platform 9 is full of the goods 1 in the left compartment, the central control system 10 sends a "stop transporting goods" signal to the warehouse material management system, so that the left conveyor line, the push-pull device (2) I and the RFID reader (3) A stop running, and the right conveyor line, the push-pull device (2) II and the RFID reader (3) C start running. When the right conveyor line and the push-pull device (2) II are both running, the central control system (10) sends a "start transporting goods from the right conveyor line" signal to the warehouse material management system, and the warehouse transports the goods out from the right side, and the push-pull device (2) II prepares to unstack.

[0078] The loading and unloading platform 9 quickly drives to the right conveyor line, and when the goods 1 are transported to the loading and unloading position, the loading and unloading platform 9 loads and unloads the goods into the right compartment. When the right compartment is full of goods, the loading and unloading platform 9 loads and unloads the goods into the middle compartment.

[0079] Another embodiment of the present invention, as Fig.13As shown, when loading and unloading the middle carriage, the loading and unloading platform 9 reverses through the backward function of the omnidirectional rotating wheel 8, and at the same time rotates the rotating wheel 8, and avoids obstacles in time through the rear vision 12 and rear radar 11 systems, realizes curved reverse, and after aligning the goods 1 with the middle carriage, drives straight into the carriage; after unloading the goods, finally reverses out. In this embodiment, the central control system 10 controls the omnidirectional rotating wheel mechanism 8, and the driving direction of the loading and unloading platform 9 can be changed in real time according to the requirements of the loading and unloading route, so that the loading and unloading platform 9 can operate more flexibly, thereby improving the loading and unloading efficiency of railway freight.

[0080] Another embodiment of the present invention, as Fig.14 As shown, the intelligent loading and unloading platform 9 is equipped with a hard pallet loading and unloading device to load and unload hard pallet-borne goods. First, the loading and unloading platform 9 accurately identifies the slot position below the hard pallet 102 based on the front vision 14 and front radar 13 systems, and drives the lifting device into the slot. When the step of the lifting plate 1705 is about to touch the hard pallet 102, the lifting device stops driving in; through the written loading program 2, the central control system 10 drives the electric cylinder 1708 to move backward. After the force is transmitted, a number of low-center-of-gravity casters 1704 located below the lifting platform 1706 and the lifting plate 1705 slide up along the track of the slide 1709. When the low When the center of gravity caster 1704 touches the uppermost edge of the slide 1709, the electric cylinder 1708 stops moving, and the lifting platform 1706 and the lifting plate 1705 rise to the maximum height, thereby lifting the entire pallet of goods 1 off the ground; then the central control system 10 controls the braking mechanism 18 to clamp the lifting platform 1706, thereby preventing the entire pallet of goods from rolling back due to the weight of the goods; finally, the loading and unloading platform 9 identifies the environment inside the car through the front vision 14 and front radar 13 systems, plans the driving route, and transports the goods into the car.

[0081] After the loading and unloading platform 9 transports the goods 1 to the goods stacking position, through the programmed unloading program 2, the central control system 10 first releases the braking mechanism 18; then it drives the electric cylinder 1708 to move forward, and after the force is transmitted, a number of low-center-of-gravity casters 1704 located under the lifting platform 1706 and the lifting plate 1705 slide down along the trajectory of the slide 1709. When the low-center-of-gravity casters 1704 touch the lowest edge line of the slide 1709, the electric cylinder 1708 stops moving, and the lifting platform 1706 and the lifting plate 1705 descend to the initial position. At this time, the lifting plate 1705 is separated from the hard pallet 102, and the entire pallet of goods and the hard pallet 102 have touched the ground, and the loading and unloading platform 9 completes the unloading of the goods; finally, the loading and unloading platform 9 observes the rear environment through the rear vision 12 and rear radar 11 system, and after identifying the exit route, it drives out of the car. In this embodiment, the intelligent loading and unloading platform 9 realizes the loading and unloading of hard pallet-borne goods by assembling a hard pallet-type loading and unloading device, which reflects the adaptability of the loading and unloading robot to different types of goods.

[0082] Another embodiment of the present invention, as Fig.18 As shown, during the horizontal pushing process of the electric cylinder 1708, the moving direction of the object receiving the force can only be parallel to the thrust direction of the electric cylinder 1708. However, during the rising or falling process of the lifting platform 1706 and the lifting plate 1705, the moving direction is not parallel to the thrust direction of the electric cylinder 1708. Therefore, a low-center-of-gravity caster and a slide groove that are the same as the low-center-of-gravity caster 1704 and the slide groove 1709 under the lifting plate 1705 are arranged under the lifting platform 1706, so that during the process of the electric cylinder 1708 pushing the lifting platform 1706, the electric cylinder 1708 can maintain the same motion trajectory as the lifting platform 1706 and the lifting plate 1705, which naturally ensures that the thrust direction of the electric cylinder 1708 is consistent with the motion direction of the lifting platform 1706 and the lifting plate 1705.

[0083] In another embodiment of the present invention, a plurality of rollers 1703 are disposed under the loading and unloading bottom plate 1702. When the loading and unloading platform 9 is transporting the goods 1, the plurality of rollers 1703 are in contact with the ground and roll, making it easier to save effort when the loading and unloading platform 9 is transporting the goods.

[0084] In another embodiment of the present invention, when the cargo loading and unloading of this carriage is completed, a data handover is performed on the cargo loading and unloading quantity of the central control system 10, the cargo incoming quantity of the railway transportation management information system, and the cargo outgoing quantity of the warehouse material management system to check whether there are any errors in the cargo loading and unloading of this carriage.

[0085] In another embodiment of the present invention, when the amount of cargo to be loaded and unloaded by the train is large, two loading and unloading platforms can be used to load and unload the cargo 1. At this time, the central control system 10 simultaneously starts the two conveyor lines 4, and the two conveyor lines 4 transport the cargo in an alternating manner. When the cargo on the left conveyor line arrives at the loading and unloading position, the loading and unloading platform 9 located next to the left conveyor line loads the cargo, first drives horizontally into the middle carriage, then drives straight to the left carriage, and unloads the cargo to the stacking position.

[0086] When the left loading and unloading platform 9 moves horizontally into the carriage, the loading and unloading platform 19 located next to the right conveyor line loads the goods, then moves horizontally into the middle carriage, and then drives straight to the cargo stacking position in the right carriage; after the right loading and unloading platform 19 moves to the cargo stacking position, the left loading and unloading platform 9 moves out of the carriage, and then the right loading and unloading platform 19 moves out of the carriage; the two loading and unloading platforms load and unload the next batch of goods in the same staggered driving scheme as above; when the goods on both sides of the carriage are full, the two loading and unloading platforms move staggered to the middle carriage and fill the middle carriage with goods. In this embodiment, the central control system 10 coordinates and controls the loading and unloading of goods by two loading and unloading platforms, and the loading and unloading efficiency is greatly improved compared with the loading and unloading of goods by one loading and unloading platform.

[0087] Another embodiment of the present invention, as Fig.24As shown, the plug-in conveyor line 4 is formed by plugging together several unit conveyor lines 401, and each section of the unit conveyor line 401 is equipped with a motor, which can be individually controlled by the central control system 10; Fig.25 As shown, the working platform 5 is formed by plugging together a number of unit square frames 501, and a number of reinforcing ribs are provided under the square frames 501 to ensure the stability and reliability of the operation process of the loading and unloading platform 9; the length and position of the plug-in conveyor line 4 and the working platform 5 can be flexibly adjusted according to the layout between the warehouse and the train carriage, and the loading and unloading robot is adaptable to different loading and unloading environments.

[0088] In another embodiment of the present invention, the central control system 10 controls the conveyor line 4 to run toward the warehouse, so as to realize the loading and unloading requirements of the goods 1 from the train carriage to the warehouse.

[0089] The electric cylinders in the present invention can all be replaced by oil cylinders or air cylinders.

Claims

1. An omnidirectional wheeled intelligent loading and unloading robot, characterized in that: The invention comprises a central control system (10), an intelligent loading and unloading platform (9), a monitoring system composed of a front vision system (14), a front radar (13), a rear vision system (12), and a rear radar (11), a loading and unloading device, an omnidirectional rotating wheel mechanism (8), a plug-in conveyor line (4), and a plug-in working platform (5), wherein the central control system (10) is placed in the intelligent loading and unloading platform (9).

2. The omnidirectional wheeled intelligent loading and unloading robot according to claim 1, characterized in that: The central control system (10) comprises a controller, a memory, an integrated circuit, a central processing unit and a human-machine interface; the controller is used to connect various actuators and sensors of the robot system; the memory is used to store the working parameters, loading and unloading procedures and algorithm configurations required by the central control system (10); the integrated circuit can process and convert various signals; the central processing unit is responsible for receiving and processing data from various controllers, monitoring systems and various sensors, and sending instructions to them, coordinating various actuators to complete loading and unloading operations.

3. The omnidirectional wheeled intelligent loading and unloading robot according to claim 1, characterized in that: The intelligent loading and unloading platform (9) is equipped with a soft pallet type loading and unloading device or a hard pallet type loading and unloading device.

4. The omnidirectional wheeled intelligent loading and unloading robot according to claim 3, characterized in that: The soft tray type loading and unloading device is composed of a tilting mechanism (7), a push-pull mechanism (6), a clamping mechanism (15) and a triangular wheel mechanism (16); the tilting mechanism (7) is composed of an electric cylinder (703) and a rotating gantry (701); the rotating gantry (701) is connected to the front end of the intelligent loading and unloading platform chassis (901) via a support shaft (702); when the electric cylinder (703) pushes the rotating gantry (701), the rotating gantry (701) rotates at a certain angle with the support shaft (702) as a fulcrum; The push-pull mechanism (6) is composed of a cargo fork (603), a first slide plate (607), a second slide plate (605), a scissor-type telescopic frame (602), a connecting rod (601), a push-pull plate (604) and an electric cylinder (606); the cargo fork (603) is connected to the revolving gantry (701) and fixed to the front lower end of the revolving gantry (701); two first slide plates (607) are provided at the connection position between the cargo fork (603) and the revolving gantry (701), and an annular groove is provided in the middle of the first slide plates (607); the front end of the cargo fork (603) is pointed and round, and scissor-type telescopic frames (602) are provided on both sides of the cargo fork (603); The 1 end of the scissor-type telescopic frame (602) is connected to the first slide plate (607) through a connecting rod (601) a, and the 2 ends are connected to the lower end of the fork (603) through a connecting rod (601) b; the push-pull plate (604) is located directly in front of the fork (603), and is provided with a second slide plate (605) on both sides; the 3 end of the scissor-type telescopic frame (602) is connected to the second slide plate (605) through a connecting rod (601) c, and the 4 end is connected to the lower end of the push-pull plate (604) through a connecting rod (601) d; the fixed end of the electric cylinder (606) is connected to the connecting rod (601) a, and the movable end is connected to the connecting rod (601) d; A triangular wheel mechanism (16) is evenly arranged at the rear end of the cargo fork (603), and the triangular wheel mechanism (16) is in contact with the ground and can roll; The clamping mechanism (15) is placed on the push-pull plate (604), and is composed of an electric cylinder (1501), a crossbeam (1504), a guide rail (1502) and three adjustable clamping jaws (1503); the guide rail (1502) is placed on the push-pull plate (604); both ends of the crossbeam (1504) are connected to the guide rail (1502) and can slide in the guide rail (1502) slide groove; the adjustable clamping jaws (1503) are connected to the crossbeam (1504) and are evenly distributed on the crossbeam (1504); the clamping portion at the lower end is located in the empty space between the forks (603) and the forks (603); the electric cylinder (1501) pushes the crossbeam (1504) to move up and down, thereby driving the adjustable clamping jaws (1503) to move up and down.

5. The omnidirectional wheeled intelligent loading and unloading robot according to claim 4, characterized in that: The adjustable clamping jaw (1503) is composed of a fixed plate (1505) and a movable plate (1506). The movement of the movable plate (1506) is electrically controlled, and a non-slip pad is provided on the clamping surface of the movable plate (1506).

6. The omnidirectional wheeled intelligent loading and unloading robot according to claim 3, characterized in that: The hard pallet type loading and unloading device is composed of a lifting mechanism (17) and a braking mechanism (18); The lifting mechanism (17) is composed of a fixed door frame (1701), a loading and unloading base plate (1702), a plurality of low-center-of-gravity casters (1704), a plurality of rollers (1703), a lifting plate (1705), a lifting platform (1706) and an electric cylinder (1708); the lifting mechanism (17) is connected to the front end of the intelligent loading and unloading platform (9) through the fixed door frame (1701); the loading and unloading base plate (1702) is a rectangular plate of channel steel type, the rear end of which is connected to the lower end of the fixed door frame (1701), and a plurality of sliding grooves (1709) are provided in the rectangular plate, so that the plurality of low-center-of-gravity casters (1704) can slide up and down in the sliding grooves (1709); the plurality of low-center-of-gravity casters (1704) are placed on the loading and unloading base plate (1701) 2) in a slide groove; the plurality of rollers (1703) are placed between two adjacent low-center-of-gravity casters (1704), and the rollers (1703) are in contact with the ground; the lifting plate (1705) is placed on the plurality of low-center-of-gravity casters (1704) and is connected to the low-center-of-gravity casters (1704) by bolts; the lifting platform (1706) is located at the rear end of the loading and unloading base plate (1702), is connected to the lifting plate (1705) by studs (1707), is provided with a groove on the top, and has a slide groove (1709) and a low-center-of-gravity caster (1704) at the bottom; an electric cylinder (1708) is provided above the lifting platform (1706); the braking mechanism (18) is electrically controlled and is located at the rear end of the loading and unloading base plate (1702).

7. The omnidirectional wheeled intelligent loading and unloading robot according to claim 1, characterized in that: The front vision (14) and rear vision (12) of the monitoring system are high-definition cameras that can identify goods, pallets and various obstacles. The high-definition cameras transmit the captured images to the central control system (10). The central control system (10) processes the images captured by the cameras through an image processing algorithm, thereby realizing target recognition. The front radar (13) and rear radar (11) of the monitoring system are laser radars that can detect the distance between the target position and the intelligent loading and unloading platform (9).

8. The omnidirectional wheeled intelligent loading and unloading robot according to claim 1, characterized in that: The omnidirectional rotating wheel mechanism (8) is a steering wheel, which is placed at the bottom of the chassis of the intelligent loading and unloading platform (9) and comprises a walking mechanism (802) and a steering mechanism (801). The walking mechanism (802) drives the intelligent loading and unloading platform (9) forward or backward, and the steering mechanism (801) allows the rotating wheel mechanism to rotate 360 ​​degrees.

9. The omnidirectional wheeled intelligent loading and unloading robot according to claim 1, characterized in that: The plug-in work platform (5) is formed by plugging together a plurality of square frames (501), and the square frames (501) are provided with a plurality of reinforcing ribs.

10. The omnidirectional wheeled intelligent loading and unloading robot according to claim 1, characterized in that: The plug-in conveyor line (4) connects the warehouse and the train carriage, is located on both sides of the plug-in operation platform (5), and is formed by plugging together a number of unit conveyor lines (401), and each section of the unit conveyor line (401) can operate independently.

11. The omnidirectional wheeled intelligent loading and unloading robot according to claim 1, characterized in that: A push-pull device (2) is provided at the location where the plug-in conveyor line (4) is connected to the warehouse; and an RFID reader (3) is provided next to the push-pull device (2) and close to the train carriage.

Images