An autonomous loading and unloading robot and control method

Abstract

This application relates to the field of automatic loading and unloading robot technology, and particularly to an autonomous loading and unloading robot, which includes a movable chassis, a robotic arm that moves along with the chassis, a suction cup detachably connected to the end of the robotic arm and adsorbing the cargo box, a front camera module for obtaining the position and size parameters of the cargo box to be moved, 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 with a lifting module capable of adjusting the height of the robotic arm. The robotic arm is detachably connected with a height sensor. The height sensor and the lifting module are electrically connected to a controller, so that when the height of the cargo box obtained by the camera module is too high, the lifting module can lift the height of the robotic arm until the robotic arm can suck and move the central position of the cargo box surface, thereby reducing the possibility of the cargo box falling during the movement.

Description

Technical Field

[0001] This application relates to the field of automatic loading and unloading robot technology, and particularly to an autonomous loading and unloading robot and a control method. Background Art

[0002] During the logistics transportation process, it is necessary to load and unload cargo boxes. The cargo boxes are generally cardboard boxes of different sizes within corresponding standards. If the cargo boxes are loaded and unloaded manually, the efficiency is slow, and at the same time, it is easy to discard the cargo boxes randomly, resulting in damage to the internal goods. For this reason, some automated loading and unloading robots are designed and manufactured to be applicable to a large number of cargo box loading and unloading operations.

[0003] For example, a loading and unloading vehicle integrated machine and a loading and unloading vehicle system with the publication number of CN220244879U have a suction cup capable of moving the cargo box at the end of the robotic arm, and a corresponding camera system is provided at the front end of the moving platform to locate the position of the cargo box, so that the suction cup can accurately adsorb on the surface of the cargo box, and then the cargo box is moved onto the corresponding conveying mechanism and conveyed backward.

[0004] In view of the above related technologies, the height that the robotic arm can reach is relatively limited. Facing some cargo boxes stacked relatively high, it is difficult to make the suction cup adsorb at the center of the surface of the cargo box with a relatively high height only relying on the robotic arm, so that the suction cup cannot stably adsorb the cargo box, and it is easy for the cargo box with a relatively high height to fall and be damaged during the movement along with the suction cup. Summary of the Invention

[0005] In order to reduce the possibility of the cargo box with a relatively high height falling and being damaged during the movement along with the suction cup, this application provides an autonomous loading and unloading robot and a control method.

[0006] In a first aspect, an autonomous loading and unloading robot provided by this application adopts the following technical solutions.

[0007] An autonomous loading and unloading robot includes a movable chassis, a robotic arm that moves along with the chassis, a suction cup detachably connected to the end of the robotic arm and adsorbing the cargo box, a front camera module for obtaining the position and size parameters of the cargo box to be moved, 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 with a lifting module capable of adjusting the height of the robotic arm, the robotic arm is detachably connected with 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 solutions, when the height of the cardboard box is relatively high, the lifting module can drive the robotic arm to move upward, so as to improve the reachability of the robotic arm in terms of height.

[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, improving the moving range of the robotic arm to adapt to a conveying module with a larger width, and also helping to reduce the overall space occupation of the present application.

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

[0022] By adopting the above technical solution, the external force borne at the connection between the upper belt block, the lower belt block and the synchronous belt is not likely to be too large, enabling the middle block and the upper block to move effectively for a long time.

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

[0024] By adopting the above technical solution, even if there is a problem with 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, a control method for an autonomous loading and unloading robot provided by the present application 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 including the following steps.

[0027] Step 1: Obtain the position and size parameters of the cargo box by the front camera module, and judge whether the height of the cargo box exceeds the preset height;

[0028] Step 2: If the height of the cargo box exceeds the preset height, calculate the difference between the height of the cargo box and the preset height to obtain the rising height, and lift the robotic arm by the lifting module with the lifting value being the rising height;

[0029] Step 3: Adsorb the center of the surface of the cargo box by the suction cup and transfer the cargo box to directly above the front end of the conveying module by the robotic arm;

[0030] Step 4: Lower the cargo box by the suction cup and convey the cargo box to the rear end of the conveying module by the conveying module;

[0031] Step 5: Obtain the position and size parameters of the cargo box located at the rear end of the conveying module by the rear camera module;

[0032] Step 6: Grasp and transfer the cargo box at the rear end of the conveying module by the external gripper.

[0033] By adopting the above technical solution, when the height of the cargo box is relatively high, the height of the robotic arm can be lifted, so as to improve the reachability of the robotic arm in terms of height, and it is not easy to cause the cargo box to fall and be damaged during the loading and unloading process due to improper adsorption position of the cargo box.

[0034] In summary, the present application includes at least the following beneficial effects:

[0035] When the height of the cardboard box is relatively high, the lifting module can drive the robotic arm to move upward, so as to improve the reachability of the robotic arm in terms of height. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present application;

[0037] Figure 2 is a partial control system block diagram of Embodiment 1 of the present application;

[0038] Figure 3 is a schematic diagram of the structure between the base block and the slider in Embodiment 2;

[0039] Figure 4 is a schematic diagram of the sectional view of the fastening blocks corresponding to the base block, the slider and the lower belt block in Embodiment 2.

[0040] Description of the reference numerals: 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 power member; 59, belt pulley. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] The following further describes the present application in detail with reference to the accompanying drawings. Embodiment 1:

[0042] Embodiment 1 of the present application discloses an autonomous loading and unloading robot. Refer to Figure 1, including a chassis 1 that can be crawler-type and move freely. A horizontal conveying module 5 is detachably connected to the upper surface of the chassis 1. The conveying module 5 can be a belt line and a telescopic roller line located at the tail of the chassis 1 to convey the cargo box to a designated position. There is a robotic arm 2 directly above the chassis 1. A suction cup 3 capable of adsorbing the cargo box is detachably connected to the end of the robotic 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 robotic arm 2. The front camera module 4 can be composed of a 3D camera, 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 adsorb the center of the surface of the cargo box with different positions and sizes.

[0043] Refer to Figure 1 and Figure 2 , at a position near the conveying module 5 at the front end of the chassis 1, a lifting module 51 is detachably connected. The lifting module 51 can be composed of a servo ball screw module and a scissor lifting mechanism. A rotating module 55 is detachably connected to the top of the lifting module 51 that can change its height. The rotating module 55 can be a servo rotating electric cylinder. The rotating platform of the rotating module 55 is for the detachable connection of the base of the robotic arm 2. And a height sensor 52 is detachably connected to the robotic arm 2. 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. When the height of the cardboard box is relatively high, the lifting module 51 will lift the robotic arm. When the placement range of the cargo box to be loaded and unloaded is relatively wide, the rotating module 55 can drive the robotic arm and the front camera module 4 to rotate synchronously to ensure that the front camera module 4 can effectively cover the cargo box to be loaded and unloaded. In addition, the lifting module 51 is located at the side where the conveying direction of the conveying module 5 is located, so as to minimize the overall size of the chassis 1 as much as possible, so that the chassis 1 can enter a smaller space for the loading and unloading work of the cargo box.

[0044] Refer to Figure 1 , at a position near the rear end of the conveying module 5 of the chassis 1, a rear camera module 54 is detachably connected. The rear camera module 54 is set in the same way as the front camera module 4. The rear camera module 54 can obtain the position and size of the cargo box entering a designated area at the rear end of the conveying module 5, so that the external gripper can accurately grip the cargo box on 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 vertical rod of the rear camera module 54 to identify the spatial position relationship of the objects around the chassis 1 and establish a map in real time to guide the movement and obstacle avoidance of the chassis 1.

[0045] Embodiment 1 of the present application also discloses a control method for an autonomous loading and unloading robot, which specifically includes the following steps.

[0046] Step 1: Obtain the position and size parameters of the cargo box by the front camera module 4, and judge whether the height of the cargo box exceeds the preset height;

[0047] 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;

[0048] 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;

[0049] 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;

[0050] 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;

[0051] Step 6: Use the external gripper to grab and transfer the cargo box at the rear end of the conveying module 5.

[0052] 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:

[0053] 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.

[0054] Reference Figure 3 and Figure 4, a lower belt block 42 is detachably connected to the upper surface of the base block 56 near one side of the conveying module 5. 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 at a side far from the conveying module 5 is detachably connected to an upper belt block 45. The upper belt block 45 is fixedly connected to the upper surface of the synchronous belt 41. A translational power member 58 with an output shaft coaxially and detachably connected to a belt pulley 59 is detachably connected to the side surface of the middle block 43. The translational power member 58 can be a servo motor, so that when the cargo box is located at a side of the conveying module 5 far from the lifting module 51, the middle block 43 and the upper block 44 move synchronously, so that the robotic arm 2 moves to directly above the conveying module 5, and the reachability of the robotic arm 2 in the width direction of the conveying module 5 is improved.

[0055] Referring to Figure 4 , both the upper belt block 45 and the lower belt block 42 are detachably connected to a concave fastening block 46. The fastening block 46 is fixedly connected to 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 stably move synchronously with the synchronous belt 41 to ensure the stable movement of the middle block 43 and the upper block 44.

[0056] The implementation principle of an autonomous loading and unloading robot according to the second embodiment of the present application is: through the movement of the middle block 43 and the upper block 44 in the width direction of the conveying module 5, the robotic arm 2 can move to directly above the front end of the conveying module 5, so that the reachable range of the robotic arm 2 in the horizontal plane is improved.

[0057] The above are all the preferred embodiments of the present application. The protection scope of the present application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A control method for an autonomous loading and unloading robot, controlling the operation of the autonomous loading and unloading robot, the 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, wherein 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); The lifting module (51) is located on the side of the conveying direction of the conveying module (5); 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 mechanical arm (2) can move along with the slider (57), and the base block (56) is detachably connected to a translation force member (58) that enables the slider (57) to move; 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 translation force member (58) drives the pulley (59) to rotate; 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 the upper block (44) is detachably connected to an upper belt block (45) fixedly connected to the synchronous belt (41) on a side away from the conveying module (5); 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); It is 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: If the cargo box is located on a side of the conveying module (5) away from the robot arm (2), the translation force member (58) is operated to cause the middle block (43) and the upper block (44) to move synchronously, so that the robot arm (2) moves to the top of the conveying module (5); Step 4: 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 5: 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 six: using the rear camera module (54) to obtain the position and size parameters of the cargo box located at the rear end of the conveying module (5); Step 7: The cargo box at the rear end of the conveying module (5) is grasped and transferred by the external gripper.

2. The control method of an 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).

3. The control method of an autonomous loading and unloading robot according to claim 1, 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).

4. The control method of an autonomous loading and unloading robot according to claim 3, characterized in that: The fastening block (46) is fixedly connected to a block rack (47) that can mesh with the synchronous belt (41).

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