Loading and unloading robot and loading and unloading method

Abstract

The invention provides a loading and unloading robot and a loading and unloading method. The loading and unloading robot comprises a lifting chassis, a conveying assembly and a hand grabbing assembly. Wherein the conveying assembly is used for conveying goods, the conveying assembly is arranged on the lifting chassis, and the lifting chassis can adjust the height of the lifting chassis, so that the height of the conveying assembly arranged on the lifting chassis can be adjusted to be matched with the height of a goods stack. The hand grabbing assembly is used for taking and placing the goods, is arranged at the end of the conveying assembly and can grab the designated goods or place the goods at the designated position. When cargoes are stacked, the conveying assembly and the hand grabbing assembly can stretch into the stacking device, the cargoes can reach the hand grabbing assembly through the conveying assembly, and the hand grabbing assembly places the cargoes at the designated position for stacking. Or the hand grabbing assembly grabs the specified goods and moves the goods to the conveying assembly to be conveyed.

Description

Technical Field

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

[0002] In the logistics industry, goods need to be moved between warehouses and delivery vehicles. Traditionally, the transportation of goods is done manually, but manual transportation is costly and inefficient. With the continuous development of automation equipment, some automatic loading and unloading equipment has been gradually applied to the loading and unloading of goods in the logistics industry, which reduces labor costs.

[0003] In the related art, automatic loading and unloading equipment includes a robot for loading and unloading goods and a conveyor line for conveying goods. The robot grabs the goods from the stacked goods and places them on the conveyor line, and the conveyor line then transports the goods to the designated location.

[0004] However, the robot is small in size and inconvenient to move, and cannot be inserted into the interior of the transport vehicle for transportation, resulting in low efficiency in cargo loading and unloading. Summary of the invention

[0005] The embodiments of the present application provide a loading and unloading robot and a loading and unloading method for loading and unloading goods, thereby improving the efficiency of loading and unloading goods.

[0006] In a first aspect, an embodiment of the present application provides a loading and unloading robot, comprising:

[0007] Lifting chassis for straddling cargo conveyor lines;

[0008] A conveying assembly for conveying goods, which is arranged on the lifting chassis, and the lifting chassis can adjust the height of the conveying assembly;

[0009] A hand grabbing assembly for picking up and placing goods, which is arranged at the end of the conveying assembly. The goods reach the hand grabbing assembly through the conveying assembly, and the hand grabbing assembly loads the goods;

[0010] Alternatively, the hand grabbing assembly grabs the cargo and moves it to the conveying assembly for unloading.

[0011] In a feasible embodiment, the conveying assembly includes a fixed conveying section and a movable conveying section, the fixed conveying section is arranged on the lifting chassis, the first end of the movable conveying section is slidably connected to the lifting chassis, and the first end of the fixed conveying section is spliced ​​together with one end of the movable conveying section, the second end of the movable conveying section is connected to the hand grasping assembly, and the other end of the fixed conveying section is used to connect to the conveying line.

[0012] In a feasible implementation, the movable conveying section includes a first conveying assembly, a second conveying assembly, a first pitch assembly and a first yaw assembly;

[0013] The first conveying assembly is slidably arranged on the lifting chassis, the first conveying assembly is connected to one end of the second conveying assembly, the other end of the second conveying assembly is connected to the hand grasping assembly, the first pitch assembly is used to drive the second conveying assembly to swing up and down, and the first yaw assembly is used to drive the second conveying assembly to swing left and right.

[0014] In a feasible implementation, the hand grasping assembly is connected to the second conveying assembly via a second pitch assembly and a second yaw assembly, the second pitch assembly is used to drive the hand grasping assembly to swing up and down, and the second yaw assembly is used to drive the hand grasping assembly to swing left and right.

[0015] In a feasible implementation manner, the lifting chassis includes:

[0016] Chassis frame;

[0017] A first moving assembly is arranged below the chassis frame, and the first moving assembly is hinged to the chassis frame;

[0018] A second moving assembly is arranged below the chassis frame, and the second moving assembly is hinged to the chassis frame, and the first moving assembly and the second moving assembly are respectively located at two ends of the chassis frame;

[0019] The first moving assembly and the second moving assembly control the height of the chassis frame by changing their own heights respectively.

[0020] In a feasible implementation manner, the travel drive structures of the first moving assembly and the second moving assembly are driven by a common single motor; or are driven by one motor respectively, or are driven by a wheel-side drive method.

[0021] In a feasible implementation manner, the first moving assembly includes a first lifting assembly and a first moving wheel set;

[0022] The first lifting assembly includes a first connecting rod, a first linear drive assembly and a second connecting rod, wherein the first linear drive assembly is arranged on the chassis frame, one end of the first connecting rod is hinged to the chassis frame, and the other end of the first connecting rod is hinged to the first moving wheel set;

[0023] One end of the second connecting rod is hinged to the first moving wheel set, and the other end of the second connecting rod is connected to the first linear drive assembly, and the first linear drive assembly is used to change the support angle of the first connecting rod and the second connecting rod;

[0024] The first linear drive component is one of a lead screw structure, an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0025] In a feasible implementation manner, the second moving assembly includes a second lifting assembly and a second moving wheel set;

[0026] The second lifting assembly includes an articulated rod and a second linear drive assembly, one end of the articulated rod is articulated to the chassis frame, the other end of the articulated rod is articulated to the second moving wheel set, one end of the second linear drive assembly is articulated to the chassis frame, the other end of the second linear drive assembly is articulated to the articulated rod, the second linear drive assembly adjusts the height of the chassis frame by changing the support angle of the articulated rod, and the second linear drive assembly is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0027] In a feasible embodiment, the first movable wheel group and the second movable wheel group both include a mounting seat and wheels, and one or more wheels are provided. When there are multiple wheels, the multiple wheels are arranged front and rear or coaxially and parallelly along the driving direction, and the wheels are connected to corresponding drive structures.

[0028] In a feasible implementation manner, the hand grasping assembly includes:

[0029] Hand frame;

[0030] A cargo conveying assembly is arranged on the hand frame, the cargo conveying assembly is used to convey cargo, and the cargo conveying assembly includes a plurality of conveying parts arranged at intervals;

[0031] A cargo pushing and pulling assembly is arranged on the hand frame, and the cargo pushing and pulling assembly includes a plurality of suction assemblies, and the plurality of suction assemblies are respectively arranged in the intervals of the plurality of conveying parts, and at least one group of the plurality of suction assemblies selectively extends to pull cargo to the conveying part and convey the cargo to the rear, or pushes the cargo conveyed from the rear away from the conveying part.

[0032] In a feasible embodiment, all conveying parts of the cargo conveying assembly are driven by a single driving element;

[0033] Alternatively, each conveying section is independently driven by a separate driving element;

[0034] Alternatively, all the conveying parts are driven by a plurality of driving elements, and the plurality of conveying parts share one driving element.

[0035] In a feasible embodiment, each of the suction components is independently driven by a separate power element;

[0036] Alternatively, a plurality of the suction components share one power element.

[0037] In a feasible embodiment, the suction assembly includes a third linear drive assembly, a second connecting rod assembly and an adsorption portion, one end of the third linear drive assembly is hinged to the third mounting seat slidably arranged on the hand frame, and the other end is hinged to the second connecting rod assembly, one end of the second connecting rod assembly is connected to the third mounting seat, and the other end is connected to the adsorption portion, and the third linear drive assembly drives the adsorption portion to move through the second connecting rod assembly to pull the goods to the goods conveying assembly.

[0038] In a feasible implementation manner, the adsorption portion includes a fixing seat and at least one suction cup, the fixing seat is connected to the second connecting rod assembly, and at least two suction cups are arranged in parallel on the fixing seat.

[0039] In a second aspect, an embodiment of the present application further provides a loading and unloading method, which is applied to a loading and unloading robot as described in any one of the first aspects.

[0040] In the first aspect, the embodiment of the present application provides a loading and unloading robot, including a lifting chassis, a conveying assembly and a hand grabbing assembly. Among them, the conveying assembly is used to convey goods, and the conveying assembly is arranged on the lifting chassis. The lifting chassis can adjust its own height, and then can adjust the height of the conveying assembly arranged thereon, so as to match the height of the cargo stack. The hand grabbing assembly is used to pick up and put goods, and it is arranged at the end of the conveying assembly to grab the specified goods, or place the goods at a specified position. When stacking goods, the conveying assembly and the hand grabbing assembly can extend into the interior, and the goods can reach the hand grabbing assembly through the conveying assembly, and the hand grabbing assembly places the goods at a specified position for stacking; or the hand grabbing assembly grabs the specified goods and moves the goods to the conveying assembly for transportation. Since the conveying assembly and the hand grabbing assembly can extend into the interior of the cargo storage location (for example, the interior of the carriage) to directly transport the goods, there is no need for intermediate equipment to transfer the goods, thereby greatly improving the loading and unloading efficiency of the goods.

[0041] In a second aspect, an embodiment of the present application further provides a loading and unloading method, which is applied to a loading and unloading robot as described in any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present application and do not constitute improper limitations on the present invention.

[0043] In the attached picture:

[0044] Figure 1 is a first structural schematic diagram of a loading and unloading robot provided in one embodiment of the present application;

[0045] Figure 2 yes Figure 1 A schematic diagram of the side structure of the loading and unloading robot;

[0046] Figure 3 yes Figure 1 The overall structural diagram of the lifting chassis of the loading and unloading robot;

[0047] Figure 4 yes Figure 3 A schematic structural diagram of the first mobile component in FIG.

[0048] Figure 5 yes Figure 3 A schematic structural diagram of the second mobile component in FIG.

[0049] Figure 6 is a structural schematic diagram of a second moving assembly provided in another embodiment of the present application;

[0050] Figure 7 yes Figure 1 Schematic diagram of the overall structure of the hand grasping assembly of the loading and unloading robot;

[0051] Figure 8 yes Figure 7 Schematic diagram of the structure of the middle hand grasping assembly after removing the hand frame;

[0052] Fig. 9 yes Figure 7 A schematic diagram of a first state of a cargo push-pull assembly;

[0053] Fig.10 yes Figure 7 A schematic diagram of a second state of the cargo push-pull assembly;

[0054] Fig.11 yes Figure 7 A first schematic diagram of the hand grasping assembly in picking up and placing goods;

[0055] Fig.12 yes Figure 7 A second schematic diagram of the hand grasping assembly in picking up and placing goods;

[0056] Fig.13 yes Figure 7 A third schematic diagram of the hand grasping component in picking up and placing goods.

[0057] Description of reference numerals:

[0058] 100-lifting chassis; 200-conveying component; 300-hand grabbing component; 400-cargo;

[0059] 110- chassis frame; 120- first moving assembly; 130- second moving assembly; 210- fixed conveying section; 220- movable conveying section; 310- hand frame; 320- cargo conveying assembly; 330- cargo pushing and pulling assembly; 340- baffle;

[0060] 121-first lifting assembly; 122-first moving wheel group; 131-second lifting assembly; 132-second moving wheel group; 221-first conveying assembly; 222-second conveying assembly; 223-first pitch assembly; 224-first yaw assembly; 321-fourth driving motor; 322-transmission part; 323-conveying part; 331-driving member; 332-third mounting seat; 333-suction assembly;

[0061] 1211-first connecting rod assembly; 1212-first linear drive assembly; 1221-first mounting seat; 1222-first drive motor; 1223-first wheel; 1311-hinged rod; 1312-second linear drive assembly; 1321-second mounting seat; 1322-second wheel; 1323-second drive motor; 1324-second transmission assembly; 3331-third linear drive assembly; 3332-second connecting rod assembly; 3333-adsorption part;

[0062] 1212a- bracket; 1212b- first transmission assembly; 1212c- third driving motor; 33321- first rod; 33322- second rod; 33323- third rod; 33324- fourth rod; 333a- fixed seat; 333b- suction cup. DETAILED DESCRIPTION

[0063] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0064] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0065] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0066] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0067] In the logistics industry, goods need to be moved between warehouses and delivery vehicles. Traditionally, the transportation of goods is done manually, but manual transportation is costly and inefficient. With the continuous development of automation equipment, some automatic loading and unloading equipment has been gradually applied to the loading and unloading of goods in the logistics industry, which reduces labor costs.

[0068] In the related art, automatic loading and unloading equipment includes a robot for loading and unloading goods and a conveyor line for conveying goods. The robot grabs the goods from the stacked goods and places them on the conveyor line, and the conveyor line then transports the goods to the designated location.

[0069] However, the robot is small in size and inconvenient to move, and cannot be inserted into the interior of the conveyor vehicle for transportation, resulting in low efficiency in cargo loading and unloading.

[0070] In order to improve the efficiency of cargo loading and unloading, an embodiment of the present application provides a loading and unloading robot and a loading and unloading method. The solution provided by the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.

[0071] Figure 1 is a first structural schematic diagram of a loading and unloading robot provided in one embodiment of the present application; Figure 2 yes Figure 1 Schematic diagram of the side structure of the loading and unloading robot.

[0072] First, refer to Figure 1 and Figure 2As shown, an embodiment of the present application provides a loading and unloading robot, including a lifting chassis 100, a conveying assembly 200 and a hand grabbing assembly 300. The lifting chassis 100 is used to straddle the cargo conveying line, the conveying assembly 200 is used to convey cargo, and the conveying assembly 200 is arranged on the lifting chassis 100. The lifting chassis 100 can adjust its own height, and then adjust the height of the conveying assembly 200 arranged thereon, so as to match the height of the cargo stack. The hand grabbing assembly 300 is used to pick up and place cargo 400, which is arranged at the end of the conveying assembly 200 and can grab the designated cargo 400, or place the cargo 400 at a designated position.

[0073] When loading and stacking goods, the conveying assembly 200 and the hand grabbing assembly 300 can extend into the interior, and the goods 400 can reach the hand grabbing assembly 300 through the conveying assembly 200, and the hand grabbing assembly 300 places the goods 400 at a designated location for stacking and loading; or the hand grabbing assembly 300 grabs the designated goods 400 and moves the goods to the conveying assembly 200 for transportation to unload. Since the conveying assembly 200 and the hand grabbing assembly 300 can extend into the interior of the goods storage location (such as the interior of the carriage), the goods 400 can be directly transported without the need for intermediate equipment to transfer the goods 400, thereby greatly improving the loading and unloading efficiency of the goods 400.

[0074] Reference Figure 1 and Figure 2 As shown, in some examples, the conveying assembly 200 includes a fixed conveying section 210 and a movable conveying section 220, the fixed conveying section 210 is fixedly arranged on the lifting chassis 100, the first end of the movable conveying section 220 is slidably connected to the lifting chassis 100, and one end of the fixed conveying section 210 is spliced ​​together with one end of the movable conveying section 220, the other end of the movable conveying section 220 is connected to the hand grasping assembly 300, and the other end of the fixed conveying section 210 is used to connect with other conveying lines. In other words, the fixed conveying section 210 is connected end to end with the movable conveying section 220, and the goods can move between the two. It should be noted that the first end and the second end of the movable conveying section 220 refer to the first and last ends of the movable conveying section 220, respectively. Exemplarily, the fixed conveying section 210 and the movable conveying section 220 can be roller conveying assemblies 200, conveyor belt conveying assemblies 200, or other conveying assemblies 200.

[0075] Continue to refer to Figure 1 and Figure 2As shown, illustratively, the movable conveying section 220 includes a first conveying assembly 221, a second conveying assembly 222, a first pitch assembly 223 and a first yaw assembly 224. The first conveying assembly 221 is slidably connected to the lifting chassis 100. In addition, the first conveying assembly 221 is overlapped on the fixed conveying section 210. The second conveying assembly 222 is docked with the first conveying assembly 221, and the other end of the second conveying assembly 222 is connected to the hand grasping assembly 300. In addition, one end of the second conveying assembly 222 docked with the first conveying assembly 221 is connected to the first yaw assembly 224 through the first pitch assembly 223, the first yaw assembly 224 is connected with the first conveying assembly 221, and the first yaw assembly 224 is slidably connected to the lifting chassis 100. In other words, the first yaw assembly 224 and the first conveying assembly 221 move along the lifting chassis 100 together.

[0076] The first pitch assembly 223 is used to control the second conveying assembly 222 to swing up and down, thereby controlling its pitch angle, and the first yaw assembly 224 is used to drive the second conveying assembly 222 to swing left and right. Exemplarily, the first pitch assembly 223 includes a rotary motor and a pitch adjustment unit, the rotary motor is fixedly mounted on the frame of the first yaw assembly 224 through a motor mounting frame, the pitch adjustment unit is fixedly mounted on the end of the second conveying assembly 222, the rotary motor is connected to the pitch adjustment unit, and the rotary motor can control the pitch angle of the second conveying assembly 222 by forward and reverse rotation. In addition, exemplary, the first yaw assembly 224 can be configured as a rotary platform, which is a prior art, and the rotary platform is slidably connected to the lifting chassis 100 through a guide rail assembly. The first yaw assembly 224 can control the rotation angle of the second conveying assembly 222, thereby enabling the hand grab assembly 300 at the end of the second conveying assembly 222 to reach a specified position.

[0077] The first conveying assembly 221 and the second conveying assembly 222 can be configured as a roller conveying assembly 200, or can be configured as a conveyor belt conveying assembly 200. Since the first conveying assembly 221 and the second conveying assembly 222 need to be tilted at a certain angle, in order to ensure the conveying effect of the goods, the two can preferably be configured as conveyor belt conveying assemblies 200. It can be understood that the conveyor belt conveying assembly 200 has a larger contact area with the goods, which can avoid the goods from slipping during the conveying process as much as possible. It should be noted that the roller conveying assembly 200 and the conveyor belt conveying assembly 200 are both prior arts, and the specific structures are not repeated here.

[0078] In addition, it can be understood that since the first conveying assembly 221 and the first yaw assembly 224 are slidably arranged on the lifting chassis 100, the position of the hand grasping assembly 300 at the end of the second conveying assembly 222 can be fine-tuned by moving the first conveying assembly 221 and the first yaw assembly 224 without moving the lifting chassis 100.

[0079] In some other examples, the hand gripping assembly 300 is connected to the second conveying assembly 222 via a second pitch assembly and a second yaw assembly. The second pitch assembly is used to drive the hand gripping assembly 300 to swing up and down, and the second yaw assembly is used to drive the hand gripping assembly 300 to swing left and right. It should be noted that the second pitch assembly and the second yaw assembly are both prior art, and can be set with reference to the patent scheme disclosed in publication number US10815075B2, which will not be described in detail here.

[0080] Figure 3 yes Figure 1 The overall structural diagram of the lifting chassis 100 of the loading and unloading robot; Figure 4 yes Figure 3 A schematic structural diagram of the first moving assembly 120; Figure 5 yes Figure 3 Schematic diagram of the structure of the second moving component 130.

[0081] Reference Figure 3 As shown, in some examples, the lifting chassis 100 includes a chassis frame 110, a first moving assembly 120 and a second moving assembly 130, wherein the first moving assembly 120 is arranged below the chassis frame 110, and the first moving assembly 120 is hinged to the chassis frame 110; the second moving assembly 130 is arranged below the chassis frame 110, and the second moving assembly 130 is hinged to the chassis frame 110, and the first moving assembly 120 and the second moving assembly 130 are respectively located at both ends of the chassis frame 110; the first moving assembly 120 and the second moving assembly 130 are used to drive the chassis frame 110 to move. In addition, the first moving assembly 120 and the second moving assembly 130 can control the height of the chassis frame 110 by changing their own heights, so as to expand the range of picking and placing goods of the cargo picking and placing mechanism arranged on the chassis frame 110, and facilitate the cargo picking and placing mechanism to pick and place goods.

[0082] In some examples, the first moving assembly 120 and the second moving assembly 130 have the same structure, can be raised and lowered separately, and are used to drive the chassis frame 110 to move at the same time. For the convenience of description, the moving direction of the chassis frame 110 is taken as the front, and the corresponding direction is taken as the rear. Figure 3 As shown in the x direction in FIG. 1 , the second moving assembly 130 is disposed at the front end of the chassis frame 110, and the first moving assembly 120 is disposed at the rear end of the chassis frame 110. The number of the first moving assembly 120 and the second moving assembly 130 can be set according to actual needs.

[0083] Exemplarily, the chassis frame 110 may be a truss structure formed by welding profiles, or may be a plane structure formed by welding profiles. This is prior art and will not be described in detail herein.

[0084] Continue to refer to Figure 3 As shown, illustratively, the first moving assembly 120 has at least two groups, and all the first moving assemblies 120 are coaxially arranged along the width direction of the chassis frame 110; and / or, the second moving assembly 130 has at least two groups, and all the second moving assemblies 130 are coaxially arranged along the width direction of the chassis frame 110. It should be noted that the width direction of the chassis frame 110 refers to a direction perpendicular to the moving direction of the chassis frame 110.

[0085] In order to keep the chassis frame 110 stable, two groups of second moving components 130 may be arranged in front of the chassis frame 110, and two groups of first moving components 120 may be arranged at the rear to support the chassis frame 110; alternatively, one second moving component 130 may be arranged in front of the chassis frame 110, and two groups of first moving components 120 may be arranged at the rear; alternatively, one second moving component 130 may be arranged in front of the chassis frame 110, and two groups of first moving components 120 may be arranged at the rear.

[0086] In some examples, the travel drive structures of the first moving assembly 120 and the second moving assembly 130 are driven by a common single motor; or are driven by one motor respectively, or are driven by a wheel-side drive method.

[0087] In some other examples, the first moving assembly 120 includes a first lifting assembly 121 and a first moving wheel set 122. The first lifting assembly 121 includes a first connecting rod, a first linear drive assembly 1212 and a second connecting rod. The first linear drive assembly 1212 is disposed on the chassis frame 110. One end of the first connecting rod is hinged to the chassis frame 110, and the other end of the first connecting rod is hinged to the first moving wheel set 122. One end of the second connecting rod is hinged to the first moving wheel set 122, and the other end of the second connecting rod is connected to the first linear drive assembly 1212. The first linear drive assembly 1212 is used to change the support angle of the first connecting rod and the second connecting rod.

[0088] Exemplarily, the first lifting assembly 121 includes a first connecting rod, a first linear drive assembly 1212 and a second connecting rod. The first linear drive assembly 1212 is arranged on the lower surface of the chassis frame 110 along the front-to-back direction. One end of the first connecting rod is hinged to the chassis frame 110 through a pin, and the other end is hinged to the first movable wheel group 122 through a pin. One end of the second connecting rod is hinged to the first movable wheel group 122, and the other end is hinged to the movable part on the first linear drive assembly 1212 through a pin. The first linear drive assembly 1212 drives the end of the second connecting rod to move by driving the movable part to move, thereby changing the support angle of the first connecting rod and the second connecting rod, and then changing the height of the rear end of the chassis frame 110.

[0089] Reference Figure 3and Figure 4 As shown, in some other examples, the first lifting assembly 121 includes two first connecting rod assemblies 1211 and a first linear drive assembly 1212, one end of one first connecting rod assembly 1211 is connected to the chassis frame 110, and the other end is connected to the first moving wheel set 122; one end of another first connecting rod assembly 1211 is connected to the first linear drive assembly 1212, and the other end is connected to the first moving wheel set 122, and the first linear drive assembly 1212 is used to change the support angle of the two first connecting rod assemblies 1211. It can be understood that the first connecting rod assembly 1211 is stronger, and it can more stably connect the first moving wheel set 122 and the chassis frame 110, so that the chassis frame 110 can bear a greater load.

[0090] like Figure 3 As shown, the first linear drive assembly 1212 includes a bracket 1212a, a first transmission assembly 1212b and a third drive motor 1212c, the bracket 1212a is arranged on the chassis frame 110, the first transmission assembly 1212b is arranged on the bracket 1212a, the third drive motor 1212c is arranged on the bracket 1212a, the third drive motor 1212c is connected to the first transmission assembly 1212b, and the third drive motor 1212c drives the ends of all second connecting rods to move through the first transmission assembly 1212b. Exemplarily, the first transmission assembly 1212b is configured as a screw nut transmission assembly, including a transmission screw and a matching nut, the transmission screw is arranged on the bracket 1212a, and the transmission screw is connected to the first drive motor 1222, the matching nut is matched and arranged on the transmission screw, and the end of the second connecting rod is fixedly connected to the matching nut. That is to say, the third drive motor 1212c drives the end of the second connecting rod to move through the transmission screw and the matching nut.

[0091] In addition, it is understandable that the first linear drive component 1212 can also be an electric cylinder, a pneumatic cylinder, a hydraulic cylinder or other linear drive components, as long as it can drive the end of the first connecting rod component 1211 to move, and no more examples are given here.

[0092] Continue to refer to Figure 3 and Figure 4As shown, the first mobile wheel group 122 and the second mobile wheel group 132 each include a mounting seat and a wheel, and one or more wheels are provided. When multiple wheels are provided, the multiple wheels are arranged front and rear along the driving direction or coaxially arranged in parallel, and the wheels are connected to the corresponding drive structure. Exemplarily, the first mobile wheel group 122 includes a first mounting seat 1221, a first drive motor 1222 and a first wheel 1223, the first connecting rod and the second connecting rod are respectively hinged to the first mounting seat 1221, the first drive motor 1222 is arranged on the first mounting seat 1221, the first wheel 1223 is rotatably arranged on the first mounting seat 1221, the first drive motor 1222 is connected to the first wheel 1223, and the first drive motor 1222 drives the first wheel 1223 to rotate. In other examples, the first mobile wheel group 122 is configured to drive an integrated wheel, and the first connecting rod and the second connecting rod are respectively hinged to the drive integrated wheel. In addition, one or more first wheels 1223 may be provided. When there are multiple first wheels 1223 , the multiple first wheels 1223 are arranged front and back along the driving direction, and all the first wheels 1223 are respectively connected to the first driving motor 1222 .

[0093] Continue to refer to Figure 3 and Figure 5 As shown, exemplarily, the second moving assembly 130 includes a second lifting assembly 131 and a second moving wheel group 132. The second lifting assembly 131 includes an articulated rod 1311 and a second linear drive assembly 1312. One end of the articulated rod 1311 is articulated to the chassis frame 110, the other end of the articulated rod 1311 is articulated to the second moving wheel group 132, one end of the second linear drive assembly 1312 is articulated to the chassis frame 110, and the other end of the second linear drive assembly 1312 is articulated to the articulated rod 1311. The second linear drive assembly 1312 changes the support angle of the articulated rod 1311 by extending or shortening, thereby adjusting the height of the chassis frame 110. Exemplarily, the second linear drive assembly 1312 is configured as one of an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0094] like Figure 3 and Figure 5As shown, the second movable wheel group 132 includes a second mounting seat 1321 and at least two second wheels 1322, the second mounting seat 1321 is hinged to the hinge rod 1311, the at least two second wheels 1322 are respectively connected to the second mounting seat 1321, and the at least two second wheels 1322 are respectively arranged at both ends of the second mounting seat 1321, and the at least two second wheels 1322 are connected to the walking drive structure. Exemplarily, the second movable wheel group 132 also includes a second drive motor 1323 and a second transmission assembly 1324, wherein the second drive motor 1323 is arranged on the second mounting seat 1321, the second transmission assembly 1324 is arranged on the second mounting seat 1321, and the second drive motor 1323 drives all the second wheels 1322 to rotate through the second transmission assembly 1324. Since the second mounting seat 1321 is provided with second wheels 1322 at both the front and rear ends, when passing through an obstacle, one of the two second wheels 1322 will always be in contact with the ground, thereby ensuring that the chassis frame 110 always remains in a horizontal state and ensuring the overall smooth movement of the device.

[0095] Figure 6 It is a structural schematic diagram of a second moving component 132 provided in another embodiment of the present application.

[0096] Reference Figure 6 As shown, in some examples, the second mobile wheel group 132 includes a second mounting seat 1321, a second drive motor 1323 and a second wheel 1322. The second mounting seat 1321 is fixedly connected to one end of the hinge rod 1311, the second drive motor 1323 is fixed on the second mounting seat 1321, the second wheel 1322 is mounted on the second mounting seat 1321, and the second wheel 1322 is fixedly connected to the output end of the second drive motor 1323. The second mobile wheel group 1320 is a single-motor, single-wheel drive, and the second mounting seat 1321 in the second mobile wheel group 1320 is smaller in size than the second mounting seat 321 in the second mobile wheel group 1320 with multi-wheel drive.

[0097] Figure 7 yes Figure 1 The overall structural diagram of the hand grasping assembly 300 of the loading and unloading robot; Figure 8 yes Figure 7 A schematic diagram of the structure of the middle hand grasping assembly 300 after removing the hand frame 310.

[0098] Reference Figure 7 and Figure 8As shown, in some examples, the hand grasping assembly 300 includes a hand frame 310, a cargo conveying assembly 320 and a cargo pushing and pulling assembly 330. Among them, the cargo conveying assembly 320 is arranged on the hand frame 310, and the cargo conveying assembly 320 includes a plurality of conveying parts 323 arranged at intervals, which are used to convey cargo. The cargo pushing and pulling assembly 330 is arranged on the hand frame 310, and the cargo pushing and pulling assembly 330 includes a plurality of suction assemblies 333, and the plurality of suction assemblies 333 are respectively arranged in the intervals of the plurality of conveying parts 323, and at least one group of suction assemblies 333 in the plurality of suction assemblies 333 selectively extends to pull cargo to the conveying part 323 and convey the cargo to the rear, or push the cargo conveyed from the rear away from the conveying part 323. Exemplarily, the plurality of conveying parts 323 are arranged at intervals along the width direction of the hand frame 310, and a certain gap is left between two adjacent conveying parts 323, and the distance of the gap can be set according to actual needs.

[0099] It is understood that when picking up goods is required, the conveying portion 323 of the cargo conveying assembly 320 can rotate counterclockwise and convey the goods, and the suction assembly 333 of the cargo push-pull assembly 330 pulls the goods to the conveying portion 323 to complete the picking process. When loading is required, the conveying portion 323 of the cargo conveying assembly 320 can rotate clockwise and convey the goods, and the suction assembly 333 can push the goods to move so that the goods are separated from the conveying portion 323. It should be noted that the rear refers to the place where the goods are stored.

[0100] In some examples, the suction component 333 can be controlled to move by a telescopic component. The conveying part 323 can be driven to move by a driving component.

[0101] In some examples, each suction assembly 333 is independently driven by a separate power element; or, multiple suction assemblies 333 share one power element.

[0102] All conveying parts 323 in the cargo conveying assembly 320 are driven by a single driving element; or, each conveying part 323 is independently driven by a separate driving element; or, all conveying parts 323 are driven by multiple driving elements, and the conveying parts share one driving element.

[0103] Specifically and exemplarily, the cargo conveying assembly 320 includes a fourth driving motor 321, a transmission part 322 and a plurality of conveying parts 323. The transmission part 322 is arranged on the hand frame 310 along the width direction of the hand frame 310, and the plurality of conveying parts 323 are arranged at intervals along the width direction of the hand frame 310, and at least two conveying parts 323 are connected to the transmission part 322. The fourth driving motor 321 is arranged on the hand frame 310, and the fourth driving motor 321 is connected to the transmission part 322. The fourth driving motor 321 drives all conveying parts 323 to move through the transmission part 322. At least part of the cargo push-pull assembly 330 selectively extends from the side of the conveying part 323 to pull the cargo to the conveying part 323.

[0104] In some other examples, the cargo conveying assembly 320 further includes a plurality of fourth drive motors 321 and a plurality of transmission parts 322. The plurality of fourth drive motors 321 and the plurality of transmission parts 322 are respectively mounted on the hand frame 310, at least one of the plurality of conveying parts 323 is connected to the corresponding transmission part 322, and the plurality of fourth drive motors 321 respectively drive the corresponding conveying parts 323 to move through the corresponding transmission parts 322. For example, a group of fourth drive motors 321 is connected to a group of conveying parts 323 through a group of transmission parts 322, and the fourth drive motors 321 drive the conveying parts 323 to move through the transmission parts 322 to convey the cargo.

[0105] Exemplarily, the conveying part 323 may be a narrow belt conveying assembly 200, and the transmission part 322 may be a transmission shaft, which may be installed on the hand frame 310 by setting bearings at both ends thereof, and the transmission shaft may be connected to the output shaft of the fourth drive motor 321 through a synchronous belt, and the fourth drive motor 321 drives the transmission shaft to rotate, and the transmission shaft drives the narrow belts of all the narrow belt conveying assemblies 200 to rotate synchronously. It should be noted that the width direction of the hand frame 310 can refer to Figure 7 The y direction is shown in the figure, and the length direction can be referred to Figure 7 Shown in the x direction.

[0106] Exemplarily, in the present application, there are multiple conveying parts 323, and the multiple conveying parts 323 are spaced apart along the width direction of the hand frame 310, and at least part of the cargo push-pull assembly 330 extends from the gap between two groups of conveying parts 323. One end of all conveying parts 323 is connected to the transmission shaft, and the rotation of the transmission shaft drives all conveying parts 323 to rotate, thereby transporting the cargo. Exemplarily, the conveying part 323 can be configured as a conveyor belt assembly or a conveyor chain assembly. The hand frame 310 provides an installation position for each component, which is connected using profiles, and the size and structure can be adjusted according to the installation requirements of other components.

[0107] In some examples, baffles 340 are provided on both sides of the hand frame 310. The baffles 340 are located on the sides of the outermost conveying portion 323 to block the conveyed goods and prevent them from falling.

[0108] Continue to refer to Figure 7 and Figure 8 As shown, the cargo push-pull assembly 330 includes a driving member 331, a guide assembly (not shown in the figure), a third mounting seat 332 and a suction assembly 333. The driving member 331 is arranged on the hand frame 310, the guide assembly is arranged along the length direction of the hand frame 310, the third mounting seat 332 is arranged on the guide assembly, the suction assembly 333 is arranged on the third mounting seat 332, the driving member 331 is connected to the third mounting seat 332, the suction assembly 333 selectively extends from the conveying part 323, and the driving member 331 drives the third mounting seat 332 to move along the guide assembly, thereby moving the suction assembly inward.

[0109] After the suction component 333 is sucked onto the goods, the driving member 331 drives the suction component to pull the goods to move inward along the length direction of the hand frame 310 through the third mounting seat 332, and drags the goods to the goods conveying component 320. Then, the suction component is separated from the goods, and the driving member 331 continues to drive the suction component to move inward quickly through the third mounting seat 332. At the same time, the suction component descends below the upper surface of the goods conveying component 320 to avoid interfering with the movement of the goods on the goods conveying component 320.

[0110] For example, the driving member 331 can be a motor and a transmission belt assembly. The motor is connected to the third mounting seat 332 through the transmission belt assembly. The rotation of the motor drives the transmission belt to rotate, and then drives the third mounting seat 332 to move. This is the existing technology and will not be repeated here.

[0111] The guide assembly can be a slide pulley assembly or a guide rail slider assembly. If the guide assembly is configured as a guide rail slider assembly, the guide rail in the guide rail slider assembly can be arranged along the length direction of the hand frame 310, and the slider in the guide rail slider assembly is fixedly connected to the third mounting seat 332, and the slider is matched with the guide rail, so that the third mounting seat 332 can move smoothly along the guide rail.

[0112] Reference Figure 7 As shown, in some examples, the cargo push-pull assembly 330 includes a plurality of suction assemblies 333, which are arranged at intervals along the width direction of the hand frame 310, and each suction assembly 333 selectively and independently extends from the conveying portion 323. Exemplarily, the interval between two adjacent suction assemblies 333 can be the same as the interval between two adjacent conveying portions 323, so that the suction assemblies 333 and the conveying portion 323 are staggered, and each suction assembly can independently extend to absorb cargo according to demand.

[0113] In some other examples, all the suction components 333 can be extended from the conveying portion 323 at the same time. After the goods are pulled onto the conveying portion 323, all the suction components 333 are simultaneously lowered to the bottom of the conveying portion 323 to avoid interfering with the transportation of the goods.

[0114] In some examples, the cargo push-pull assembly 330 further includes a plurality of driving members 331, a plurality of guide assemblies, a plurality of third mounting seats 332, and a plurality of suction assemblies 333; each suction assembly 333 is separately arranged on a third mounting seat 332, each third mounting seat 332 is cooperatively arranged on a corresponding guide assembly, and each driving member 331 drives a corresponding third mounting seat 332 to move along the guide assembly. In addition, in some other examples, the cargo push-pull assembly 330 includes two driving members 331, two guide assemblies, two third mounting seats 332, and a plurality of suction assemblies 333. The plurality of suction assemblies 333 are divided into two groups and fixedly installed on two third mounting seats 332, respectively, and one driving member 331 drives one third mounting seat 332 to move along a corresponding guide assembly.

[0115] In some other examples, the cargo pushing and pulling assembly 330 includes a guide assembly, a driving member 331, a third mounting seat 332 and multiple suction assemblies 333, and the multiple suction assemblies 333 are all installed on a third mounting seat 332. A driving member 331 drives the third mounting seat 332 to move along the guide assembly, that is, the multiple suction assemblies 333 move simultaneously.

[0116] It can be understood that the plurality of conveying parts 323 are arranged at intervals, and there is a certain distance of gap between adjacent conveying parts 323, and the suction component 333 can extend from or drop down from the gap.

[0117] Fig. 9 yes Figure 7 A schematic diagram of a first state of the cargo push-pull assembly 330; Fig.10 yes Figure 7 Schematic diagram of the second state of the cargo pushing and pulling assembly 330.

[0118] Reference Fig. 9 and Fig.10 As shown, the suction assembly 333 includes a third linear drive assembly 3331, a second connecting rod assembly 3332 and a suction portion 3333. One end of the third linear drive assembly 3331 is hinged to the third mounting seat 332, and the other end is hinged to the second connecting rod assembly 3332. One end of the second connecting rod assembly 3332 is connected to the third mounting seat 332, and the other end is connected to the suction portion 3333. When the third linear drive assembly 3331 is extended, it pushes the second connecting rod assembly 3332 to move, and the suction portion 3333 rises, so that the goods can be suctioned. Figure 4As shown. After the goods are pulled to the goods conveying assembly 320, the third linear drive assembly 3331 contracts, pulling the second connecting rod assembly 3332 to move in the opposite direction, and the adsorption portion 3333 is lowered and hidden under the conveying portion 323. It can be understood that the third linear drive assembly 3331 can drive the adsorption portion 3333 to move through the second connecting rod assembly 3332 to pull the goods to the goods conveying assembly 320. Exemplarily, the third linear drive assembly 3331 can be a cylinder, an electric cylinder or a hydraulic cylinder, or a screw nut assembly. Preferably, it is an electric cylinder, which has a simple structure and setting, and does not need to be connected to an air source or a hydraulic oil circuit.

[0119] like Fig. 9 As shown, exemplarily, the second connecting rod assembly 3332 is configured as a four-link assembly. The four-link assembly includes a first rod 33321, a second rod 33322, a third rod 33323 and a fourth rod 33324, wherein the first rod 33321 and the third rod 33323 are smaller in size, and the second rod 33322 and the fourth rod 33324 are longer in size. The first rod 33321 is fixedly connected to the third mounting seat 332, and the first rod 33321 is vertically arranged, one end of which is hinged to one end of the second rod 33322, and the other end is hinged to one end of the fourth rod 33324. The other end of the second rod 33322 is hinged to one end of the third rod 33323, the other end of the fourth rod 33324 is hinged to the other end of the third rod 33323, and the third linear drive assembly 3331 is hinged to another hinge point of the fourth rod 33324. The adsorption portion 3333 and the third rod 33323 are fixedly connected.

[0120] like Fig. 9 As shown, when the third linear drive assembly 3331 is in a contracted state, the second rod 33322 and the fourth rod 33324 are in a horizontal state, and the third rod 33323 is in a vertical state.

[0121] In order to ensure the adsorption effect of the adsorption part 3333 on the goods and prevent the goods from falling, the adsorption part 3333 includes a fixed seat 333a and at least two suction cups 333b. The fixed seat 333a is connected to the second connecting rod assembly 3332, and at least two suction cups 333b are arranged in an up-down manner on the fixed seat 333a. It can be understood that the more the number of suction cups 333b, the greater the adsorption force generated by the adsorption part 3333 on the goods, and the more stable the goods can be, and the less likely they will fall. The number of suction cups 333b can be adjusted according to the volume and weight of the goods. The suction cup 333b is a conventional suction cup 333b, which needs to be connected to the air source to generate adsorption force. The air source pipeline is not shown in the figure.

[0122] In order to increase the range of picking up goods, the hand grabbing assembly 300 also includes a second rotating assembly and a lifting assembly. Among them, the second rotating assembly is connected to the hand frame 310, and the lifting assembly is connected to the second rotating assembly. The lifting assembly is used to swing the hand frame 310 up and down, and the second rotating assembly is used to swing the hand frame 310 left and right. The lifting assembly can be a pitch lifting assembly, for example, including a pitch motor and a driving gear, which cooperate to drive the end of the hand frame 310 to pitch and increase the range of picking up goods. The second rotating assembly can be a rotating support platform, which is used to increase the circumferential mobility of the hand frame 310.

[0123] Fig.11 yes Figure 7 A first schematic diagram of the hand grasping assembly 300 picking up and placing goods; Fig.12 yes Figure 7 A second schematic diagram of the hand grasping assembly 300 picking up and placing goods; Fig.13 yes Figure 7 A third schematic diagram of the hand grasping assembly 300 in picking up and placing goods.

[0124] like Fig.11 As shown, when transporting goods, the driving member 331 will drive the cargo push-pull assembly 330 to move to the front end of the cargo conveying assembly 320, and then the movable part of the third linear driving assembly 3331 in the cargo push-pull assembly 330 (such as the telescopic rod in the electric cylinder) will gradually extend, driving the second connecting rod assembly 3332 to move, thereby causing the adsorption part 3333 at the end of the second connecting rod assembly 3332 to gradually rise and adsorb and pull the goods, and then the driving member 331 will drive the cargo push-pull assembly 330 to move in the opposite direction, pulling the cargo push-pull assembly 330 and the goods to move onto the cargo conveying assembly 320.

[0125] Reference Fig.12 As shown, after the goods are pulled onto the goods conveying device, the suction cup 333b in the goods push-pull assembly 330 is separated from the goods, and then the driving member 331 drives the goods push-pull assembly 330 to move rapidly in a direction away from the goods at a speed greater than the moving speed of the goods. At the same time, the movable part of the linear drive assembly in the goods push-pull assembly 330 (such as the telescopic rod in the electric cylinder) contracts, and the height of the adsorption part 3333 is lowered to below the upper surface of the goods conveying assembly 320 through the second connecting rod assembly 3332 to avoid affecting the movement of the goods. The state in which the second connecting rod assembly 3332 causes the adsorption part 3333 to drop to below the upper surface of the goods conveying assembly 320 can be referred to Fig.13 shown.

[0126] In a second aspect, an embodiment of the present application further provides a loading and unloading method, which is applied to the loading and unloading robot as described in any one of the first aspects.

[0127] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0128] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A loading and unloading robot, characterized in that: include: A lifting chassis (100) is used to straddle a cargo conveying line; A conveying assembly (200) for conveying goods (400), which is arranged on the lifting chassis (100), and the lifting chassis (100) is capable of adjusting the height of the conveying assembly (200); A hand grabbing assembly (300) for picking up and placing goods, arranged at the end of the conveying assembly (200), the goods (400) arrive at the hand grabbing assembly (300) via the conveying assembly (200), and the hand grabbing assembly (300) loads the goods (400) onto a vehicle; Alternatively, the hand grabbing assembly (300) grabs the cargo (400) and moves it to the conveying assembly (200) for unloading.

2. The loading and unloading robot according to claim 1, characterized in that: The conveying assembly (200) comprises a fixed conveying section (210) and a movable conveying section (220); the fixed conveying section (210) is arranged on the lifting chassis (100); the first end of the movable conveying section (220) is slidably connected to the lifting chassis (100); the first end of the fixed conveying section (210) is spliced ​​with one end of the movable conveying section (220); the second end of the movable conveying section (220) is connected to the hand grasping assembly (300); and the other end of the fixed conveying section (210) is used for connecting to a conveying line.

3. The loading and unloading robot according to claim 2, characterized in that: The movable conveying section (220) comprises a first conveying assembly (221), a second conveying assembly (222), a first pitch assembly (223) and a first yaw assembly (224); The first conveying assembly (221) is slidably arranged on the lifting chassis (100), the first conveying assembly (221) is connected to one end of the second conveying assembly (222), the other end of the second conveying assembly (222) is connected to the hand grasping assembly (300), the first pitch assembly (223) is used to drive the second conveying assembly (222) to swing up and down, and the first yaw assembly (224) is used to drive the second conveying assembly (222) to swing left and right.

4. The loading and unloading robot according to claim 3, characterized in that: The hand grasping assembly (300) is connected to the second conveying assembly (222) via a second pitch assembly and a second yaw assembly; the second pitch assembly is used to drive the hand grasping assembly (300) to swing up and down, and the second yaw assembly is used to drive the hand grasping assembly (300) to swing left and right.

5. The loading and unloading robot according to claim 1, characterized in that: The lifting chassis (100) comprises: Chassis frame (110); A first moving assembly (120) is disposed below the chassis frame (110), and the first moving assembly (120) is hingedly connected to the chassis frame (110); a second movable assembly (130) disposed below the chassis frame (110), wherein the second movable assembly (130) is hingedly connected to the chassis frame (110), and the first movable assembly (120) and the second movable assembly (130) are respectively located at two ends of the chassis frame (110); The first moving assembly (120) and the second moving assembly (130) control the height of the chassis frame (110) by respectively changing their own heights.

6. The loading and unloading robot according to claim 5, characterized in that: The travel drive structures of the first moving assembly (120) and the second moving assembly (130) are driven by a common single motor; or are driven by one motor respectively, or are driven by a wheel-side drive method.

7. The loading and unloading robot according to claim 5, characterized in that: The first moving assembly (120) comprises a first lifting assembly (121) and a first moving wheel assembly (122); The first lifting assembly (121) comprises a first connecting rod, a first linear drive assembly (1212) and a second connecting rod, the first linear drive assembly (1212) being arranged on the chassis frame (110), one end of the first connecting rod being hinged to the chassis frame (110), and the other end of the first connecting rod being hinged to the first moving wheel assembly (122); One end of the second connecting rod is hinged to the first moving wheel group (122), and the other end of the second connecting rod is connected to the first linear drive component (1212), and the first linear drive component (1212) is used to change the support angle of the first connecting rod and the second connecting rod; The first linear drive component (1212) is one of a lead screw structure, an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

8. The loading and unloading robot according to claim 5, characterized in that: The second moving assembly (130) comprises a second lifting assembly (131) and a second moving wheel set (132); The second lifting assembly (131) comprises an articulated rod (1311) and a second linear drive assembly (1312); one end of the articulated rod (1311) is articulated to the chassis frame (110), and the other end of the articulated rod (1311) is articulated to the second movable wheel group (132); one end of the second linear drive assembly (1312) is articulated to the chassis frame (110), and the other end of the second linear drive assembly (1312) is articulated to the articulated rod (1311); the second linear drive assembly (1312) adjusts the height of the chassis frame (110) by changing the support angle of the articulated rod (1311); the second linear drive assembly (1312) is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

9. The loading and unloading robot according to claim 7 or 8, characterized in that: The first movable wheel group (122) and the second movable wheel group (132) both include a mounting seat and a wheel. One or more wheels are provided. When there are multiple wheels, the multiple wheels are arranged front and rear or coaxially in parallel along the driving direction. The wheels are connected to corresponding drive structures.

10. The loading and unloading robot according to claim 1, characterized in that: The hand grasping assembly (300) comprises: Hand frame (310); A cargo conveying assembly (320) is arranged on the hand frame (310), the cargo conveying assembly (320) is used to convey cargo, and the cargo conveying assembly (320) comprises a plurality of conveying parts (323) arranged at intervals; A cargo pushing and pulling assembly (330) is arranged on the hand frame (310), and the cargo pushing and pulling assembly (330) includes a plurality of suction assemblies (333), and the plurality of suction assemblies (333) are respectively arranged in the intervals of the plurality of conveying parts (323), and at least one group of the suction assemblies (333) among the plurality of suction assemblies (333) is selectively extended to pull cargo to the conveying part (323) and convey the cargo to the rear, or push the cargo conveyed from the rear away from the conveying part (323).

11. The loading and unloading robot according to claim 9, characterized in that: All conveying parts (323) in the cargo conveying assembly (320) are driven by a single driving element; Alternatively, each conveying portion (323) is independently driven by a separate driving element; Alternatively, all the conveying parts (323) are driven by a plurality of driving elements, and the plurality of conveying parts (323) share one driving element.

12. The loading and unloading robot according to claim 10, characterized in that: Each of the suction components (333) is independently driven by a separate power element; Alternatively, a plurality of the suction components (333) share one power element.

13. The loading and unloading robot according to claim 10, characterized in that: The suction component (333) includes a third linear drive component (3331), a second connecting rod component (3332) and an adsorption portion (3333). One end of the third linear drive component (3331) is hinged to the third mounting seat (332), and the other end is hinged to the second connecting rod component (3332). One end of the second connecting rod component (3332) is connected to the third mounting seat (332) slidably arranged on the hand frame (310), and the other end is connected to the adsorption portion (3333). The third linear drive component (3331) drives the adsorption portion (3333) to move through the second connecting rod component (3332) to pull the goods to the goods conveying component (320).

14. The loading and unloading robot according to claim 13, characterized in that: The adsorption portion (3333) comprises a fixed seat (333a) and at least one suction cup (333b), the fixed seat (333a) is connected to the second connecting rod assembly (3332), and at least two suction cups (333b) are arranged in parallel on the fixed seat (333a).

15. A loading and unloading method, characterized in that: Applicable to the loading and unloading robot as described in any one of claims 1-14.

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