Autonomous loading and unloading robot and control method

Abstract

The invention relates to the technical field of automatic loading and unloading robots, in particular to an autonomous loading and unloading robot. Comprising a movable chassis, a mechanical arm moving along with the chassis, a suction cup detachably connected to the tail end of the mechanical arm and used for sucking a container, a front camera module for obtaining the position and size parameters of the container to be moved, and a conveying module detachably connected to the chassis and used for bearing the container moved by the suction cup and conveying the container. The chassis is detachably connected with a lifting module capable of adjusting the height of the mechanical arm, the mechanical arm is detachably connected with a height sensor, and the height sensor and the lifting module are electrically connected with a controller, so that when the height of the container obtained by the camera module is too high, the lifting module can enable the height of the mechanical arm to be increased; and the mechanical arm can suck and move the center position of the surface of the container so as to reduce the falling possibility of the container in the moving process.

Description

Technical Field

[0001] The present application relates to the field of automatic loading and unloading robot technology, and in particular to an autonomous loading and unloading robot and a control method thereof. Background Art

[0002] During the logistics transportation process, cargo boxes need to be loaded and unloaded. The cargo boxes are generally cartons of different sizes within the corresponding standards. If the loading and unloading of cargo boxes is done manually, it will be inefficient and easy to cause the cargo boxes to be discarded at will, causing damage to the goods inside. For this reason, some automated loading and unloading robots are designed and manufactured to be suitable for a large number of cargo box loading and unloading tasks.

[0003] For example, a loading and unloading vehicle integrated machine and loading and unloading vehicle system with publication number CN220244879U has a suction cup that can move the cargo box at the end of the robotic arm, and a corresponding camera system is set at the front end of the mobile platform to locate the position of the cargo box so that the suction cup can be accurately adsorbed on the surface of the cargo box, and then the cargo box is moved to the corresponding conveying mechanism for backward transportation.

[0004] With regard to the above-mentioned related technologies, the height that the robotic arm can reach is relatively limited. When faced with some high-stacked cargo boxes, it is difficult to make the suction cup adsorb to the center of the surface of the high cargo box relying solely on the robotic arm, so that the suction cup cannot stably adsorb the cargo box, and the high cargo box is prone to fall and be damaged during the movement of the suction cup. Summary of the invention

[0005] In order to reduce the possibility of a tall cargo box falling and being damaged while moving with a suction cup, the present application provides an autonomous loading and unloading robot and a control method.

[0006] In a first aspect, the present application provides an autonomous loading and unloading robot that adopts the following technical solution.

[0007] An autonomous loading and unloading robot comprises a movable chassis, a mechanical arm moving with the chassis, a suction cup detachably connected to the end of the mechanical arm and adsorbing a cargo box, a front camera module for obtaining the position and size parameters of the cargo box to be moved, and a conveying module detachably connected to the chassis and used for receiving the cargo box moved by the suction cup and conveying the cargo box, the chassis is detachably connected to a lifting module capable of adjusting the height of the mechanical arm, the mechanical arm is detachably connected to a height sensor, and the height sensor, the front camera module and the lifting module are electrically connected to a controller.

[0008] By adopting the above technical solution, when the height of the carton is high, the lifting module can drive the robot arm to move upward, so that the height accessibility of the robot arm is improved.

[0009] Optionally, the chassis is detachably connected to a rear camera module near the rear end of the conveying module for confirming whether there is a cargo box at a specified position at the rear end of the conveying module, and the rear camera module is electrically connected to the controller.

[0010] By adopting the above technical solution, when the cargo box moves to the designated area at the rear end of the conveying module, the conveying module will stop transporting, so that the external clamps can accurately clamp and transfer cargo boxes of different sizes and different positions within a certain area.

[0011] Optionally, a rotating module is detachably connected to a position where the height of the lifting module can be changed, a mechanical arm is detachably connected to a position where the rotating module can rotate, and the front camera module is detachably connected to the mechanical arm.

[0012] By adopting the above technical solution, the robotic arm and the front adding module rotate synchronously, so that the reachable range of the robotic arm in the horizontal plane is improved, and the field of view coverage of the front camera module is improved.

[0013] Optionally, the lifting module is located on the side where the conveying direction of the conveying module is located.

[0014] By adopting the above technical solution, the overall space occupation of the present application is reduced, so that the present application can load and unload cargo boxes in a smaller space such as a carriage.

[0015] Optionally, the lifting module is detachably connected to a base block at a position where the height can be changed, the base block is slidably connected to a slider that can be moved to just above the conveying module, the robotic arm can move along with the slider, and the base block is detachably connected to a translational force member that moves the slider.

[0016] By adopting the above-mentioned technical solution, the robot arm can be moved to the position directly above the side of the conveying module set on the chassis to further improve the accessibility of the robot arm, so that the accessibility of the robot arm is not easily affected while reducing the space occupied by the present application.

[0017] Optionally, the slider is internally rotatably connected to two pulleys, a synchronous belt is transmission-connected between the two pulleys, a lower belt block fixedly connected to the synchronous belt is detachably connected to one side of the base block close to the conveying module, and the translational force member drives the pulley to rotate.

[0018] By adopting the above technical solution, there is no need to set up a linear actuator such as an electric cylinder with a longer length to move the slider, thereby reducing the overall space occupied by the present application.

[0019] Optionally, the slider includes a middle block slidably connected to the base block and an upper block slidably connected to the middle block, the middle block and the upper block have the same sliding direction, and the upper block is detachably connected to an upper belt block fixedly connected to the synchronous belt on the side away from the conveying module.

[0020] By adopting the above technical solution, while the middle block moves, the upper block can also move synchronously relative to the middle block, thereby increasing the moving range of the robot arm to adapt to a larger width conveying module, and also helping to reduce the overall space occupancy of the present application.

[0021] Optionally, the upper belt block and the lower belt block are both detachably connected with a fastening block that can be tightly attached to the synchronous belt drive and connected to the surface of the pulley.

[0022] By adopting the above technical solution, the external force on the connection between the upper belt block, the lower belt block and the synchronous belt is not easy to be too large, so that the middle block and the upper block can move effectively for a longer time.

[0023] Optionally, the fastening block is fixedly connected with a block rack that can engage with the synchronous belt.

[0024] By adopting the above technical solution, even if there is a problem in the connection between the upper belt block, the lower belt block and the synchronous belt, as long as the connection between the fastening block and the upper belt block and the lower belt block is not released, the upper belt block and the lower belt block can still move stably along with the synchronous belt.

[0025] In a second aspect, the present application provides a control method for an autonomous loading and unloading robot adopts the following technical solution.

[0026] A control method for an autonomous loading and unloading robot controls the operation of the above-mentioned autonomous loading and unloading robot, specifically comprising the following steps.

[0027] Step 1: The front camera module obtains the position and size parameters of the cargo box and determines whether the height of the cargo box exceeds a preset height; Step 2: If the height of the cargo box exceeds the preset height, the difference between the cargo box height and the preset height is calculated to obtain the lifting height, and the lifting module lifts the robotic arm and the lifting value is the lifting height; Step 3: The suction cup is attached to the center of the cargo box surface and the robot arm transfers the cargo box to the top of the front end of the conveying module; Step 4: The suction cup lowers the cargo box and the conveying module conveys the cargo box to the rear end of the conveying module; Step 5: The rear camera module obtains the position and size parameters of the cargo box located at the rear end of the conveying module; Step 6: Use the external gripper to grab and transfer the cargo box at the rear end of the conveying module.

[0028] By adopting the above technical solution, when the height of the cargo box is high, the height of the robotic arm can be raised, so that the height accessibility of the robotic arm is improved, and it is not easy for the cargo box to fall and be damaged during loading and unloading due to improper adsorption position of the cargo box.

[0029] In summary, the present application includes at least the following beneficial effects: When the height of the carton is high, the lifting module can drive the robotic arm to move upward so that the height accessibility of the robotic arm is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present application; Figure 2 It is a block diagram of a part of the control system of Embodiment 1 of the present application; Figure 3 is a schematic diagram of the structure between the base block and the slider in the second embodiment; Figure 4 It is a structural schematic diagram of a cross-section of the base block, the slider and the fastening blocks corresponding to the lower belt block in the second embodiment.

[0031] Explanation of the accompanying drawings: 1. chassis; 2. robotic arm; 3. suction cup; 4. front camera module; 41. synchronous belt; 42. lower belt block; 43. middle block; 44. upper block; 45. upper belt block; 46. fastening block; 47. block rack; 5. conveying module; 51. lifting module; 52. height sensor; 53. controller; 54. rear camera module; 55. rotating module; 56. base block; 57. slider; 58. translational force member; 59. pulley. DETAILED DESCRIPTION

[0032] The present application is further described in detail below in conjunction with the accompanying drawings. Embodiment 1:

[0033] The first embodiment of the present application discloses an autonomous loading and unloading robot, referring to Figure 1 , including a crawler-type and freely movable chassis 1, a horizontal conveying module 5 is detachably connected to the upper surface of the chassis 1, and the conveying module 5 can be a belt line and a telescopic roller line located at the rear of the chassis 1 to convey the cargo box to a designated location. There is a mechanical arm 2 directly above the chassis 1, and a suction cup 3 that can absorb the cargo box is detachably connected to the end of the mechanical arm 2, so that the cargo box can be placed at the front end of the conveying module 5. A front camera module 4 is detachably connected to a rotating shaft of the mechanical arm 2, and the front camera module 4 can be composed of a 3D camera and a fill light, etc., to obtain the position and size parameters of the cargo box to be loaded and unloaded, so that the suction cup 3 can stably absorb the center of the surface of the cargo box of different positions and sizes.

[0034] Reference Figure 1 and Figure 2, a lifting module 51 is detachably connected to the front end of the chassis 1 near the conveying module 5. The lifting module 51 can be composed of a servo ball screw module and a scissors lifting mechanism. The top of the lifting module 51 that can change the height is detachably connected to a rotating module 55. The rotating module 55 can be a servo rotating electric cylinder. The rotating platform of the rotating module 55 is detachably connected to the base of the robot arm 2, and the robot arm 2 is detachably connected to a height sensor 52. The height sensor 52, the rotating module 55, the lifting module 51 and the front camera module 4 are electrically connected to a controller 53, so that when the height of the carton is high, the lifting module 51 lifts the robot arm. When the range of the cargo boxes to be loaded and unloaded is wide, the rotating module 55 can drive the robot arm and the front camera module 4 to rotate synchronously to ensure that the front camera module 4 can effectively cover the cargo boxes to be loaded and unloaded. In addition, the lifting module 51 is located on the side of the transmission direction of the conveying module 5 to reduce the overall size of the chassis 1 as much as possible, so that the chassis 1 can enter a smaller space for loading and unloading of cargo boxes.

[0035] Reference Figure 1 The chassis 1 is detachably connected to a rear camera module 54 near the rear end of the conveying module 5. The rear camera module 54 is configured in the same manner as the front camera module 4. The rear camera module 54 can obtain the position and size of the cargo box entering the designated area at the rear end of the conveying module 5, so that the external gripper can accurately grip the cargo box at the rear end of the conveying module 5 and transfer it. At the same time, a navigation radar module can also be integrated on the pole on which the rear camera module 54 is set to identify the spatial position relationship of objects around the chassis 1, and to establish a map in real time to guide the chassis 1 to move and avoid obstacles.

[0036] Embodiment 1 of the present application also discloses a control method for an autonomous loading and unloading robot, which specifically includes the following steps.

[0037] Step 1: The front camera module 4 obtains the position and size parameters of the cargo box, and determines whether the height of the cargo box exceeds a preset height; Step 2: If the height of the cargo box exceeds the preset height, the difference between the cargo box height and the preset height is calculated to obtain the lifting height, and the lifting module 51 lifts the robot arm 2 and the lifting value is the lifting height; Step 3: The suction cup 3 is attached to the center of the cargo box surface and the robot arm 2 transfers the cargo box to the top of the front end of the conveying module 5; Step 4: The suction cup 3 lowers the cargo box and the conveying module 5 conveys the cargo box to the rear end of the conveying module 5; Step 5: The rear camera module 54 obtains the position and size parameters of the cargo box at the rear end of the conveying module 5; Step 6: Use the external gripper to grab and transfer the cargo box at the rear end of the conveying module 5.

[0038] The implementation principle of an autonomous loading and unloading robot and control method of the first embodiment of the present application is as follows: when the height of the cargo box is relatively high, the lifting module 51 can lift the robot arm 2 to a suitable height, and then the robot arm 2 can adsorb the center of the higher cargo box surface, so that the cargo box can move stably. Embodiment 2:

[0039] Embodiment 2 of the present application discloses an autonomous loading and unloading robot, referring to Figure 3 and Figure 4 , which is different from the first embodiment, is that the upper part of the lifting module 51 whose height can be changed is detachably connected to a base block 56, and a slider 57 is slidably connected to the upper surface of the base block 56 along the width direction of the conveying module 5, that is, the moving direction of the slider 57 is perpendicular to the conveying direction of the conveying module 5, the slider 57 includes a middle block 43 slidably connected to the base block 56 and an upper block 44 slidably connected to the middle block 43, and the upper surface of the upper block 44 is detachably connected to the rotating module 55, and two pulleys 59 are rotatably connected inside the middle block 43, and the rotation axis direction of the pulley 59 is consistent with the conveying direction of the conveying module 5, and a synchronous belt 41 is transmission-connected between the two pulleys 59, and the moving direction of the synchronous belt 41 is consistent with the width direction of the middle block 43 and the conveying module 5.

[0040] Reference Figure 3 and Figure 4 The upper surface of the base block 56 is detachably connected to a lower belt block 42 near the conveying module 5, and the lower belt block 42 is fixedly connected to the lower surface of the synchronous belt 41; the lower surface of the upper block 44 away from the conveying module 5 is detachably connected to an upper belt block 45, and the upper belt block 45 is fixedly connected to the upper surface of the synchronous belt 41; the side of the middle block 43 is detachably connected to a translational force member 58 whose output shaft is coaxially detachably connected to the pulley 59; the translational force member 58 can be a servo motor, so that when the cargo box is located at the side of the conveying module 5 away from the lifting module 51, the middle block 43 and the upper block 44 move synchronously, so that the robot arm 2 moves to the top of the conveying module 5, so that the accessibility of the robot arm 2 in the width direction of the conveying module 5 is improved.

[0041] Reference Figure 4 The upper belt block 45 and the lower belt block 42 are both detachably connected with a concave fastening block 46, and the fastening block 46 is fixedly connected with a block rack 47 that can engage with the synchronous belt 41, so that the upper belt block 45 and the lower belt block 42 can stably move synchronously with the synchronous belt 41 to ensure the stable movement of the middle block 43 and the upper block 44.

[0042] The implementation principle of an autonomous loading and unloading robot in the second embodiment of the present application is: by moving the middle block 43 and the upper block 44 along the width direction of the conveying module 5, the robot arm 2 can be moved to just above the front end of the conveying module 5, so that the reachable range of the robot arm 2 in the horizontal plane is improved.

[0043] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An autonomous loading and unloading robot, comprising a movable chassis (1), a mechanical arm (2) moving with the chassis (1), a suction cup (3) detachably connected to the end of the mechanical arm (2) and adsorbing a cargo box, a front camera module (4) for obtaining the position and size parameters of the cargo box to be moved, and a conveying module (5) detachably connected to the chassis (1) and used to receive the cargo box moved by the suction cup (3) and convey the cargo box, characterized in that: The chassis (1) is detachably connected to a lifting module (51) capable of adjusting the height of the mechanical arm (2); the mechanical arm (2) is detachably connected to a height sensor (52); and the height sensor (52), the front camera module (4) and the lifting module (51) are electrically connected to a controller (53).

2. The autonomous loading and unloading robot according to claim 1, characterized in that: The chassis (1) is detachably connected to a rear camera module (54) near the rear end of the conveying module (5) for confirming whether a cargo box exists at a designated position at the rear end of the conveying module (5), and the rear camera module (54) is electrically connected to the controller (53).

3. The autonomous loading and unloading robot according to claim 1, characterized in that: The position where the height of the lifting module (51) can be changed is detachably connected to the rotating module (55), the position where the rotating module (55) can rotate is detachably connected to the mechanical arm (2), and the front camera module (4) is detachably connected to the mechanical arm (2).

4. The autonomous loading and unloading robot according to claim 1, characterized in that: The lifting module (51) is located on the side where the conveying direction of the conveying module (5) is located.

5. The autonomous loading and unloading robot according to claim 4, characterized in that: The lifting module (51) is detachably connected to a base block (56) at a position where the height can be changed. The base block (56) is slidably connected to a slider (57) that can be moved to just above the conveying module (5). The robot arm (2) can move along with the slider (57). The base block (56) is detachably connected to a translation force member (58) that enables the slider (57) to move.

6. The autonomous loading and unloading robot according to claim 5, characterized in that: The slider (57) is internally rotatably connected to two pulleys (59), a synchronous belt (41) is transmission-connected between the two pulleys (59), a lower belt block (42) fixedly connected to the synchronous belt (41) is detachably connected to a side of the base block (56) close to the conveying module (5), and a translational force member (58) drives the pulley (59) to rotate.

7. The autonomous loading and unloading robot according to claim 6, characterized in that: The slider (57) comprises a middle block (43) slidably connected to the base block (56) and an upper block (44) slidably connected to the middle block (43); the middle block (43) and the upper block (44) have the same sliding direction; and an upper belt block (45) fixedly connected to the synchronous belt (41) is detachably connected to a side of the upper block (44) away from the conveying module (5).

8. The autonomous loading and unloading robot according to claim 7, characterized in that: The upper belt block (45) and the lower belt block (42) are both detachably connected to a fastening block (46) that can be closely attached to the synchronous belt (41) and transmission-connected to the surface of the pulley (59).

9. The autonomous loading and unloading robot according to claim 8, characterized in that: The fastening block (46) is fixedly connected to a block rack (47) that can mesh with the synchronous belt (41).

10. A control method for an autonomous loading and unloading robot, for controlling the operation of an autonomous loading and unloading robot according to any one of claims 1 to 9, characterized in that: The specific steps include: Step 1: The front camera module (4) obtains the position and size parameters of the cargo box, and determines whether the height of the cargo box exceeds a preset height; Step 2: If the height of the cargo box exceeds the preset height, the difference between the cargo box height and the preset height is calculated to obtain the lifting height, and the lifting module (51) lifts the mechanical arm (2) and the lifting value is the lifting height; Step 3: The suction cup (3) is attached to the center of the surface of the cargo box and the robot arm (2) transfers the cargo box to the top of the front end of the conveying module (5); Step 4: The suction cup (3) lowers the cargo box and the conveying module (5) conveys the cargo box to the rear end of the conveying module (5); Step 5: The rear camera module (54) obtains the position and size parameters of the cargo box located at the rear end of the conveying module (5); Step 6: Use the external gripper to grab and transfer the cargo box at the rear end of the conveying module (5).

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