An intelligent loading and unloading robot

Abstract

The present application discloses an intelligent loading and unloading robot, which relates to the technical field of loading and unloading equipment, and includes: a mobile vehicle for transporting the loading and unloading robot, including a vehicle body, load-bearing wheels and a guide structure, wherein the load-bearing wheels are connected to the vehicle body, and the guide structure is arranged on the side of the vehicle body, and the guide structure includes a guide frame and a guide wheel, wherein the guide frame is connected to the vehicle body, and the guide wheel is connected to the guide frame; a guide rail, with guide grooves on both sides, in which the guide wheels slide, and with removable limit assemblies on both sides of the guide rail, and when the limit assemblies are removed, the guide wheels can slide out of the guide rails, so that the mobile vehicle can move away from the guide rails; a mechanical arm assembly, which is used to carry raw materials or clinkers; and a circulating silo, which is used to carry raw materials or clinkers. By arranging a guide structure on the side of the vehicle body of the mobile vehicle, the loading and unloading robot can move along a specified route through the guide rails, and the mobile vehicle is also provided with load-bearing wheels, so that it can move freely after the guide structure leaves the guide rails.

Description

Technical Field

[0001] The present application relates to the technical field of loading and unloading equipment, and in particular to an intelligent loading and unloading robot. Background Art

[0002] Existing automated loading and unloading equipment often has problems such as poor mobility and low material handling efficiency. In order to solve these problems, this application proposes an intelligent loading and unloading robot, which aims to improve the automation level and material handling efficiency of the production line. In existing automated production lines, loading and unloading links are usually completed by fixed robotic arms or conveyor belts and other equipment.

[0003] Invention patent publication number CN117124356A discloses a six-degree-of-freedom mechanical equipment for detecting loading and unloading of materials on an assembly line, belonging to the field of robotics technology, including a loading and unloading lateral moving box, a dust shield plate on the upper part of the loading and unloading lateral moving box, dust curtains connected to both sides of the dust shield plate, the end of the dust curtain away from the dust shield plate is connected to the spring storage shaft, and an automated lubrication unit is provided at the front and rear ends of the base, the lubrication unit includes an oil supply tank, and an oil supply top shaft is provided at the front end of the oil supply tank. The present invention completely encloses the loading and unloading lateral moving box through the dust shield plate installed on the upper part of the base and the dust shield curtains stored on both sides, preventing flying chips from the production line processing from entering the chute and affecting the movement of the movable arm clamp module; when the oil supply top shaft in the lubrication unit rotates and contacts the chute, the chute pushes it into the oil supply tank, and the oil blocking shaft at the rear of the oil supply top shaft is inserted into the oil supply tank, and the lubricating oil leaks from the oil supply port and falls into the chute to achieve automated lubrication. However, moving the robot arm through a mobile box limits the movement range of the robot arm. When it needs to be temporarily moved to other locations, the mobile box needs to be rearranged, which makes the operation difficult, resulting in poor applicability of the loading and unloading equipment. Summary of the invention

[0004] The purpose of this application is to provide an intelligent loading and unloading robot in order to solve the problem of poor applicability of loading and unloading equipment due to limited moving range.

[0005] In the first aspect, the intelligent loading and unloading robot provided in the present application adopts the following technical solution:

[0006] An intelligent loading and unloading robot comprises:

[0007] A mobile vehicle, used to transport a loading and unloading robot, comprises a vehicle body, load-bearing wheels and a guide structure, wherein the load-bearing wheels are connected to the vehicle body, the guide structure is arranged on the side of the vehicle body, the guide structure comprises a guide frame and a guide wheel, the guide frame is connected to the vehicle body, and the guide wheel is connected to the guide frame;

[0008] A guide rail is arranged on the outside of the mobile vehicle, and guide grooves are arranged on both sides of the guide rail. The guide wheels slide in the guide grooves so that the mobile vehicle moves along the guide rail. Removable limit assemblies are arranged on both sides of the guide rail. When the limit assemblies are removed, the guide wheels can slide out of the guide rail so that the mobile vehicle can move away from the guide rail.

[0009] A mechanical arm assembly, provided on the mobile vehicle, for carrying raw materials or clinker;

[0010] The circulating silo is arranged on the mobile vehicle and is used for transporting raw materials or clinker.

[0011] By adopting the above technical solution, a guide structure is provided on the side of the body of the mobile vehicle, and in conjunction with a guide rail, the loading and unloading robot can move along a specified route through the guide rail, and the mobile vehicle is also provided with load-bearing wheels, so that after the guide structure leaves the guide rail, the loading and unloading robot can move freely, thereby improving the applicability of the loading and unloading robot, and transferring materials from the circulation silo to the processing equipment, or transferring materials from the processing equipment to the circulation silo, through the mechanical arm assembly.

[0012] Optionally, a contact wire is provided in one of the guide slide grooves, and the guide wheel includes a contact wheel, and the contact wheel contacts the contact wire to provide power to the moving vehicle.

[0013] By adopting the above technical solution, the contact wire and the contact wheel maintain contact during the movement of the mobile vehicle along the guide rail, so that they can slide relatively and maintain electrical connection at the same time, and power can be provided to the mobile vehicle through the contact wire.

[0014] Optionally, the robotic arm assembly includes a six-axis robotic arm and a control electrical box, the control electrical box is disposed on the mobile vehicle, and the six-axis robotic arm is disposed on the mobile vehicle.

[0015] By adopting the above technical solution, the six-axis robotic arm can be applied to different handling scenarios. The control electrical box is used to control and support the six-axis robotic arm. As the mobile vehicle moves, the robotic arm assembly can perform handling operations in different locations.

[0016] Optionally, the circulating silo includes a feeding tray and a circulating rack. The number of the feeding trays is multiple. The feeding trays circulate in the circulating rack. The circulating rack has an operating platform. The feeding tray is provided on the operating platform for the robotic arm assembly to perform loading and unloading operations. An ascending channel and a descending channel are provided below the operating platform. The circulating rack also includes a conveying component and a bottom conveyor belt. The conveying component is provided on the sides of the ascending channel and the descending channel to control the ascending or descending of the feeding tray. The bottom conveyor belt is used to move the feeding tray from the ascending channel to the descending channel.

[0017] By adopting the above technical solution, the feeding tray moves in the circulation rack so that the feeding tray can pass through the operating platform once, so that the robot arm assembly can load and unload materials from the feeding tray. The ascending channel and the descending channel are located below the operating platform. The feeding tray is transported from the ascending channel to the operating platform, and after loading and unloading on the operating platform, it leaves the operating platform through the descending channel. After the feeding tray accumulates in the descending channel, it can be transported away from the circulation silo at one time. If it needs to be loaded to other equipment again, the stacked feeding trays can be operated from the descending channel to the ascending channel through the bottom conveyor belt, and then transported to the operating platform again through the ascending channel for loading and unloading operations.

[0018] Optionally, the conveying component includes an ascending control plate and a descending control plate, the ascending control plate is arranged on the side of the ascending channel, the descending control plate is arranged on the side of the descending channel, the ascending control plate is connected with a plurality of first clamping parts, the first clamping parts can rotate relative to the ascending control plate, a first elastic part is arranged between the first clamping part and the ascending control plate for rebounding the first clamping part, the descending control plate is connected with a plurality of second clamping parts, the second clamping parts can rotate relative to the descending control plate, a second elastic part is arranged between the second clamping part and the descending control plate for rebounding the second elastic part, the clamping directions of the first clamping part and the second clamping part are opposite, and the feeding tray is provided with an operating opening, and the operating opening corresponds to the first clamping part and the second clamping part.

[0019] By adopting the above technical solution, the first clamping part can clamp the feed tray in the falling direction, and when the feed tray is pushed upward, the first clamping part rotates to allow the feed tray to pass through the first clamping part. On the contrary, the second clamping part is provided with elasticity, so that the feed tray will be buffered when it falls through the second clamping part, thereby avoiding excessive impact of the feed tray falling in the descending channel. Therefore, the elasticity of the first elastic part is weaker, while the elastic force of the second elastic part is stronger, so that the feed tray can move by gravity in the descending channel, which is conducive to simplifying the movement of the circulating silo. And through the cooperation of the second clamping part and the operating opening, the feed tray can remain stable during the falling process, ensuring the stable transportation of the feed tray in the circulating silo.

[0020] Optionally, the transport component further includes an ascending pusher, which is disposed at the bottom of the ascending channel and is used to push the feeding tray to move upward.

[0021] By adopting the above technical solution, the rising pushing member is used to push the feeding tray upward on the bottom surface. After the feeding tray is pushed upward, it can be clamped on the first clamping member, so that the rising pushing member can be reset after being pushed upward, allowing the next feeding tray to enter the bottom layer of the rising channel, thereby pushing the feeding tray to move upward in the rising channel again.

[0022] Optionally, the transport component includes a first moving member, a second moving member and a partition plate, the first moving member is respectively connected to the ascending control plate and the descending control plate, and is used to move the ascending control plate and the descending control plate so that the first clamping member and the second clamping member are separated from the operating opening, the partition plate is used to divide the ascending channel and the descending channel, and the second moving member is connected to the partition plate, and is used to move the partition plate.

[0023] By adopting the above technical solution, the first moving member can simultaneously move the ascending control plate and the descending control plate, so that the first clamping member and the second clamping member leave the operating opening of the feed tray, thereby releasing the clamping control of the feed tray, so that the feed tray can be taken out of the circulation rack, or the feed tray can be transferred from the descending channel to the ascending channel through the bottom conveyor belt. The partition plate can ensure that the feed tray maintains a stable position when moving in the ascending channel and the descending channel. The second moving member is used to move the partition plate. When the feed tray needs to be moved in batches, the separation of the partition plate needs to be released.

[0024] Optionally, the feeding plate further includes a limiting protrusion and a limiting opening, and the limiting protrusion fits with the limiting opening to connect adjacent feeding plates.

[0025] By adopting the above technical solution, since the feed trays are stacked in both the ascending channel and the descending channel, and by providing limit protrusions and limit openings, the stacked feed trays can maintain stable positions relative to each other, which is beneficial to the stable transportation of the feed trays in the circulation rack.

[0026] Optionally, the circulation rack also includes an operating rack, which corresponds to the operating platform, and has a translation track, a hooking drive and a hooking member, the hooking drive moves on the translation track, and the hooking member moves on the hooking drive, and the hooking member can be hung on the operating opening through the hooking drive, so as to move the feeding tray on the operating platform.

[0027] By adopting the above technical solution, since the feeding tray needs to move horizontally on the operating platform from the top of the ascending channel to the top of the descending channel, a translation track is provided and a hook drive is used to control the hook to hook the operating opening, so that the feeding tray can move in parallel under the drive of the operating frame.

[0028] Optionally, the mobile vehicle is also provided with an obstacle avoidance radar and an electrical interface.

[0029] By adopting the above technical solution, the obstacle avoidance radar is used to detect whether there are obstacles around the mobile vehicle to ensure the normal movement of the mobile vehicle. The electrical interface is used to connect the mobile vehicle and external equipment, so that the mobile vehicle can be regulated and supplemented with electricity through external equipment.

[0030] In summary, the present application includes at least one of the following beneficial technical effects:

[0031] 1. By providing a guide structure on the side of the mobile vehicle and cooperating with a guide rail, the loading and unloading robot can move along a specified route through the guide rail, and the mobile vehicle is also provided with a load-bearing wheel, so that after the guide structure leaves the guide rail, it can move freely, thereby improving the applicable occasions of the loading and unloading robot and improving the applicability of the loading and unloading robot;

[0032] 2. The first clamping piece can clamp the feed tray in the falling direction, and when the feed tray is pushed upward, the first clamping piece rotates to allow the feed tray to pass through the first clamping piece. The second clamping piece is the opposite. Through the elasticity provided by the second elastic piece, the feed tray will be buffered when it falls through the second clamping piece, thereby avoiding excessive impact when the feed tray falls in the descending channel. Therefore, the elasticity of the first elastic piece is relatively weak, while the elastic force of the second elastic piece is relatively strong, so that the feed tray can move by gravity in the descending channel, which is conducive to simplifying the movement of the circulating silo. And through the cooperation of the second clamping piece and the operating opening, the feed tray can remain stable during the falling process, ensuring the stable transportation of the feed tray in the circulating silo;

[0033] 3. The first moving member can simultaneously move the ascending control plate and the descending control plate, so that the first clamping member and the second clamping member leave the operating opening of the feed tray, thereby releasing the clamping control of the feed tray, so that the feed tray can be taken out of the circulation rack, or the feed tray can be transferred from the descending channel to the ascending channel through the bottom conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the overall structure of the first angle of the embodiment of the present application;

[0035] Figure 2 This is a schematic diagram of the overall structure of the second angle of the embodiment of the present application;

[0036] Figure 3 It is a schematic diagram of the structure of the mobile vehicle of the embodiment of the present application;

[0037] Figure 4 It is a schematic diagram of the structure of the circulation rack of the embodiment of the present application;

[0038] Figure 5 This is a schematic diagram of the first angle structure of the feeding tray of an embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of the second angle structure of the feeding tray in the embodiment of the present application;

[0040] Figure 7 This is a schematic diagram of the first angle structure of the conveying component of the embodiment of the present application;

[0041] Figure 8 It is a schematic diagram of the structure of the conveying component of the embodiment of the present application from a second angle;

[0042] Fig. 9 It is a schematic diagram of the structure of the operating frame of the embodiment of the present application.

[0043] Figure numerals: 1, mobile vehicle; 11, vehicle body; 12, load-bearing wheel; 13, guide structure; 14, guide frame; 15, guide wheel; 16, sliding contact wheel; 17, obstacle avoidance radar; 18, electrical interface; 2, guide rail; 21, guide slide; 22, limit assembly; 23, sliding contact wire; 3, mechanical arm assembly; 31, six-axis mechanical arm; 32, control electric box; 4, circulation silo; 41, circulation frame; 42, feeding tray; 421, operation opening; 422, limit 423, a positioning protrusion; 423, a limiting opening; 43, a transport component; 431, a first moving component; 432, a second moving component; 44, a bottom conveyor belt; 45, an ascending control plate; 451, a first clamping component; 452, a first elastic component; 46, a descending control plate; 461, a second clamping component; 462, a second elastic component; 47, an ascending pusher; 48, an operating frame; 481, a translation track; 482, a hooking drive component; 483, a hooking component; 49, a partition plate. DETAILED DESCRIPTION

[0044] The following is a further detailed description of the application with reference to the accompanying drawings.

[0045] An intelligent loading and unloading robot, referring to Figure 1 and Figure 3 , including a mobile vehicle 1, a guide rail 2, a mechanical arm assembly 3 and a circulating silo 4. The mobile vehicle 1 carries the mechanical arm assembly 3 and the circulating silo 4, and the upper part of the circulating silo 4 has an operating platform. The circulating silo 4 can transport the loaded materials to the operating platform in sequence for the mechanical arm assembly 3 to load and unload materials. The mobile vehicle 1 includes a vehicle body 11, a load-bearing wheel 12 and a guide structure 13, wherein the load-bearing wheel 12 is arranged below the vehicle body 11, so that the mobile vehicle 1 can move freely between different processing locations. The guide structure 13 is arranged on the side of the vehicle body 11, and the guide structure 13 includes a guide frame 14 and a guide wheel 15. The guide frame 14 is connected to the vehicle body 11, and the guide wheel 15 is arranged horizontally and can clamp the guide rail 2, so that the mobile vehicle 1 can move along the guide rail 2. In addition, an obstacle avoidance radar 17 and an electrical interface 18 are also provided on the edge of the mobile vehicle 1. The obstacle avoidance radar 17 is used to detect whether there are obstacles around the mobile vehicle 1, and the electrical interface 18 is used to connect the mobile vehicle 1 and external equipment, so that the mobile vehicle 1 can be regulated and supplemented with electric energy through external equipment.

[0046] Reference Figure 2 and Figure 3, guide grooves 21 are provided on both sides of the guide rail 2, and the guide wheel 15 slides in the guide grooves 21. In addition, a limit assembly 22 is provided at each end of the guide rail 2, and the limit assembly 22 can be separated from the guide rail 2, so that the guide wheel 15 can slide out of the guide rail 2 from both ends of the guide rail 2, so that the mobile vehicle 1 can move freely outside the guide rail 2. In addition, a sliding contact wire 23 is provided in the guide groove 21 on one side, and the wheel on one side of the guide wheel 15 is a sliding contact wheel 16. The sliding contact wheel 16 is in contact with the sliding contact wire 23, and can realize electrical connection between the sliding contact wire 23 and the sliding contact wheel 16 while sliding relative to each other, thereby providing power for the mobile vehicle 1 during the movement process.

[0047] Reference Figure 1 The robot arm assembly 3 includes a six-axis robot arm 31 and a control electrical box 32. The six-axis robot arm 31 can be applied to different handling scenarios. The control electrical box 32 is used to control and support the six-axis robot arm 31. As the mobile vehicle 1 moves, the robot arm assembly 3 can perform handling operations at different locations.

[0048] Reference Figure 1 and Figure 4 , the circulation bin 4 is arranged on one side of the robot arm assembly 3, and the circulation bin 4 includes a circulation rack 41 and a feeding tray 42, wherein the number of the feeding tray 42 is multiple, which can load materials and move in the circulation rack 41 under the transportation of the circulation rack 41. An ascending channel and a descending channel are arranged below the operation space, and the circulation rack 41 includes a conveying component 43, a bottom conveyor belt 44 and an ascending pusher 47, wherein the conveying component 43 is arranged in the circulation rack 41, and is used to control the up and down movement of the feeding tray 42, and the ascending pusher 47 is arranged at the bottom of the ascending channel, and is used to push the feeding tray 42 located in the ascending channel to move upward, and the bottom conveyor belt 44 is arranged on the bottom surface of the circulation rack 41, and is located on both sides of the ascending pusher 47, and is used to convey the feeding tray 42 from the descending channel to the ascending channel, thereby realizing the circulation of the feeding tray 42. The transport component 43 includes an ascending control plate 45, a descending control plate 46 and a partition plate 49, wherein the number of the ascending control plate 45 and the number of the descending control plate 46 are two, and the two ascending control plates 45 are respectively arranged on both sides of the ascending channel, and the two descending control plates 46 are arranged on both sides of the descending channel. The partition plate 49 is arranged between the ascending channel and the descending channel, and is used to separate the ascending channel and the descending channel, and is used to limit the stability of the feeding tray 42 moving in the ascending channel and the descending channel. The lower end of the partition plate is higher than the ascending control plate 45 and the descending control plate 46, so that there is space between the partition plate 49 and the bottom conveyor belt 44, when the feeding tray 42 at the bottom of the descending channel can be transferred from the descending channel to the ascending channel from below the partition plate 49 under the operation of the bottom conveyor belt 44.

[0049] Reference Figure 5 and Figure 6, operation openings 421 are provided in the middle of both sides of the feed tray 42, and the operation openings 421 are used to insert the operation components in the conveying component 43, so as to control the movement of the feed tray 42. The upper side of the feed tray 42 is also provided with a limiting protrusion 422, and the lower side is provided with a limiting opening 423. The limiting protrusion 422 and the limiting opening 423 are matched to maintain the adjacent feed trays 42. Since the feed trays 42 are stacked in the ascending channel and the descending channel, the stacked feed trays 42 can maintain a stable position relative to each other by providing the limiting protrusion 422 and the limiting opening 423, which is conducive to the stable transportation of the feed trays 42 in the circulation rack 41.

[0050] Reference Figure 7 A plurality of first clips 451 are provided on the rising control plate 45, and the first clips 451 can rotate relative to the rising control plate 45. A first elastic member 452 is provided between each first clip 451 and the rising control plate 45, so that the first clips 451 can be in a horizontal state without the action of external force. When the first clips 451 are in a horizontal state, they can only rotate upward but cannot rotate downward, so that the first clips 451 can support the feeding tray 42 in the rising channel by inserting into the operating opening 421. When the feeding tray 42 moves upward, the first clips 451 can be pushed to move upward but cannot move downward. A plurality of second clips 461 are provided on the descending control plate 46. The second clips 461 can rotate relative to the descending control plate 46. A second elastic member 462 is provided between the second clips 461 and the descending control plate 46. The second elastic member 462 can reset the second clips 461 to a horizontal state when no external force is applied. The second clips 461 can rotate downward when in a horizontal state. Under the action of the second elastic member 462, the second clips 461 will encounter rotation resistance when rotating downward. When the feed tray 42 falls in the descending channel, the operating opening 421 of the feed tray 42 will collide with the second clips 461 in turn, thereby slowing down the descending speed, so that the feed tray 42 can move in the descending channel by gravity without being subjected to excessive impact.

[0051] Reference Figure 8The transport component 43 further includes a first moving member 431 and a second moving member 432. The number of the first moving members 431 is two, which are connected to the ascending control plate 45 and the descending control plate 46 respectively, and can move the ascending control plate 45 and the descending control plate 46 left and right. When the first moving member 431 moves the ascending control plate 45 and the descending control plate 46 away from the feed tray 42, the first clamping member 451 and the second clamping member 461 are separated from the operating opening 421 of the feed tray 42, so that the feed tray 42 is no longer restricted from moving forward and backward, and can be taken out or transported by the bottom conveyor belt 44, and the feed tray 42 can be moved from the descending channel to the ascending channel. The second moving member 432 is connected to the partition plate 49, and the second moving member 432 can move the partition plate 49 left and right, so that the ascending channel and the descending channel are connected to each other, so that the stacked feed trays 42 can move as a whole between the ascending channel and the descending channel, which is convenient for taking out or putting in the feed trays 42.

[0052] Reference Fig. 9 , an operating frame 48 is also provided above the transport component 43, and the operating frame 48 is correspondingly arranged on both sides of the operating platform, and the operating frame 48 includes a translation track 481, a hooking driving member 482 and a hooking member 483, and the hooking member 483 can move inward and outward of the feed tray 42 under the drive of the ditch driving member, so as to be able to hook the feed tray 42 through the operating opening 421. Since the upper and lower adjacent feed trays 42 are limited by the limiting protrusions 422 and the limiting openings 423, the horizontally moving feed tray 42 needs to release the connection between the limiting protrusions 422 and the limiting openings 423 first, and the hooking member 483 hooks the front feed tray 42, and the stacked feed trays 42 need to be slightly lifted by the rising driving member, and after the hooking is completed, the feed tray 42 is dropped as a whole, so that the connection between the top feed tray 42 and the lower feed tray 42 is separated. The translation track 481 can move the hook drive 482, thereby moving the feed tray 42 from above the ascending channel to above the descending channel. The feed tray 42 is within the range of the operating space above the ascending channel or above the descending channel, and can be loaded and unloaded by the robot arm assembly 3. After the loading and unloading operation is completed, the hook member 483 moves the feed tray 42 above the descending channel, and releases the hook of the operating opening 421 by moving the hook drive 482. The feed tray 42 can move in the descending channel under the action of gravity and the buffering of the second clamping member 461, and moves to the bottom of the descending channel.

[0053] The implementation principle of the embodiment of the present application is as follows: the mobile vehicle 1 can move along the guide rail 2 under the guidance of the guide structure 13. When it moves to the loading and unloading position, the robot arm assembly 3 can perform loading and unloading operations on the feed tray 42 located on the operating platform, and the circulation rack 41 can circulate the feed tray 42 to the operating platform for the robot arm assembly 3 to perform loading and unloading operations. After the loading and unloading operations are completed, the mobile vehicle 1 can leave the guide rail 2 at the end of the guide rail 2, so that it can move freely to the next loading and unloading position. When the feed tray 42 finishes loading and unloading, the first moving member 431 and the second moving member 432 move the rising control plate 45, the descending control plate 46 and the partition plate 49 to both sides, so that the feed tray 42 loses its position restriction and can be transferred to the rising channel or taken out from the circulation rack 41 under the push of the bottom conveyor belt 44, which is conducive to improving the loading and unloading efficiency.

[0054] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent loading and unloading robot, characterized in that: include: A mobile vehicle (1) is used to transport a loading and unloading robot, comprising a vehicle body (11), a load-bearing wheel (12) and a guide structure (13), wherein the load-bearing wheel (12) is connected to the vehicle body (11), the guide structure (13) is arranged on the side of the vehicle body (11), the guide structure (13) comprises a guide frame (14) and a guide wheel (15), the guide frame (14) is connected to the vehicle body (11), and the guide wheel (15) is connected to the guide frame (14); A guide rail (2) is arranged on the outer side of the mobile vehicle (1), and guide grooves (21) are arranged on both sides of the guide rail (2). The guide wheels (15) slide in the guide grooves (21) so that the mobile vehicle (1) moves along the guide rail (2). Removable limit assemblies (22) are arranged on both sides of the guide rail (2). When the limit assemblies (22) are removed, the guide wheels (15) can slide out of the guide rail (2) so that the mobile vehicle (1) can move away from the guide rail (2); A mechanical arm assembly (3) is arranged on the mobile vehicle (1) and is used for transporting raw materials or clinker; A circulating silo (4), arranged on the mobile vehicle (1), for transporting raw materials or clinker; The circulating material bin (4) comprises a feeding tray (42) and a circulating frame (41), wherein the number of the feeding trays (42) is plural, and the feeding trays (42) circulate in the circulating frame (41), and the circulating frame (41) has an operating platform, and the feeding tray (42) is provided on the operating platform for the mechanical arm assembly (3) to perform loading and unloading operations, and an ascending channel and a descending channel are provided below the operating platform, and the circulating frame (41) further comprises a conveying component (43) and a bottom conveyor belt (44), wherein the conveying component (43) is provided on the sides of the ascending channel and the descending channel, and is used to control the ascending or descending of the feeding tray (42), and the bottom conveyor belt (44) is used to move the feeding tray (42) from the ascending channel to the descending channel; The transport component (43) comprises an ascending control plate (45) and a descending control plate (46), wherein the ascending control plate (45) is arranged on the side of the ascending channel, and the descending control plate (46) is arranged on the side of the descending channel. The ascending control plate (45) is connected to a plurality of first clamping members (451), wherein the first clamping members (451) can rotate relative to the ascending control plate (45), and a first elastic member (452) is arranged between the first clamping member (451) and the ascending control plate (45) for rebounding the first clamping member (451). The descending control plate (46) is connected to a plurality of second clamping members (461), the second clamping members (461) can rotate relative to the descending control plate (46), a second elastic member (462) is provided between the second clamping member (461) and the descending control plate (46), used to rebound the second elastic member (462), the clamping directions of the first clamping member (451) and the second clamping member (461) are opposite, the feeding tray (42) is provided with an operating opening (421), and the operating opening (421) corresponds to the first clamping member (451) and the second clamping member (461); The transport component (43) further comprises an ascending pusher (47), wherein the ascending pusher (47) is arranged at the bottom of the ascending channel and is used for pushing the feeding tray (42) to move upward.

2. The intelligent loading and unloading robot according to claim 1, characterized in that: A sliding contact wire (23) is arranged in one of the guide slide grooves (21), and the guide wheel (15) includes a sliding contact wheel (16). The sliding contact wheel (16) contacts the sliding contact wire (23) to provide power to the moving vehicle (1).

3. The intelligent loading and unloading robot according to claim 1, characterized in that: The mechanical arm assembly (3) comprises a six-axis mechanical arm (31) and a control electric box (32); the control electric box (32) is arranged on the mobile vehicle (1); and the six-axis mechanical arm (31) is arranged on the mobile vehicle (1).

4. The intelligent loading and unloading robot according to claim 1, characterized in that: The transport component (43) further comprises a first moving member (431), a second moving member (432) and a partition plate (49); the first moving member (431) is respectively connected to the ascending control plate (45) and the descending control plate (46) and is used to move the ascending control plate (45) and the descending control plate (46) so as to separate the first clamping member (451) and the second clamping member (461) from the operating opening (421); the partition plate (49) is used to divide the ascending channel and the descending channel; the second moving member (432) is connected to the partition plate (49) and is used to move the partition plate (49).

5. The intelligent loading and unloading robot according to claim 1, characterized in that: The feeding tray (42) further comprises a limiting protrusion (422) and a limiting opening (423), wherein the limiting protrusion (422) fits with the limiting opening (423) and is used to connect adjacent feeding trays (42).

6. The intelligent loading and unloading robot according to claim 1, characterized in that: The circulation rack (41) also includes an operating rack (48), the operating rack (48) corresponds to the operating platform, the operating rack (48) has a translation track (481), a hooking drive member (482) and a hooking member (483), the hooking drive member (482) moves on the translation track (481), the hooking member (483) moves on the hooking drive member (482), and the hooking member (483) can be hung on the operating opening (421) through the hooking drive member (482) to move the feeding tray (42) on the operating platform.

7. The intelligent loading and unloading robot according to claim 1, characterized in that: The mobile vehicle (1) is also provided with an obstacle avoidance radar (17) and an electrical interface (18).

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