Loading and unloading robot and loading and unloading method

Abstract

The embodiment of the invention provides a loading and unloading robot and a loading and unloading method. The loading and unloading robot comprises a manipulator, a movable conveying assembly and a goods taking and placing assembly. Wherein the goods taking and placing assembly is arranged on the mechanical arm, and the mechanical arm is arranged on the movable conveying assembly; when the mechanical arm takes and places the goods through the goods taking and placing assembly, the moving conveying assembly and the mechanical arm synchronously get close to or away from the goods stack to receive and take the goods, the moving conveying assembly reciprocates between the goods and the conveying line to receive and take the goods, and the moving stroke of the mechanical arm for placing the goods on the moving conveying assembly is greatly shortened; and the grabbing and conveying processes of two adjacent cargoes are overlapped in time, so that the cargo loading and unloading frequency is improved, and the cargo loading and unloading efficiency is greatly improved.

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 cargo boxes (such as containers). 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 pulls 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 efficiency of the manipulator in the prior art when carrying goods is low. Summary of the invention

[0005] The embodiments of the present application provide a loading and unloading robot and a loading and unloading method to improve the loading and unloading efficiency of goods.

[0006] In a first aspect, an embodiment of the present application provides a loading and unloading robot, including a manipulator, a mobile conveying component, and a cargo picking and placing component:

[0007] The cargo picking and placing component is arranged on the manipulator, and the manipulator is arranged on the mobile conveying component;

[0008] When the manipulator picks up and places goods through the goods picking and placing component, the mobile conveying component moves toward the target goods, and the mobile conveying component receives the goods grabbed by the manipulator.

[0009] In a feasible implementation, the cargo picking and placing component includes:

[0010] a first conveying assembly;

[0011] The grabbing assembly is arranged on the first conveying assembly. The first conveying assembly drives the grabbing assembly to move. The grabbing assembly is used to pull the goods onto the first conveying assembly. The first conveying assembly and the grabbing assembly jointly transfer the goods to the target position.

[0012] In a feasible implementation, one first conveying component is provided, and a plurality of grabbing components are provided, and the plurality of grabbing components act simultaneously or separately to pull the goods;

[0013] Or, there are multiple first conveying components, and the multiple first conveying components are arranged on the fixed frame in sequence along the width direction of the fixed frame, and there are multiple grabbing components, each of which is correspondingly arranged on the corresponding first conveying component, or, each of the grabbing components is arranged between two adjacent first conveying components, and the first conveying component drives the corresponding grabbing component to approach or move away from the goods to be grabbed.

[0014] In a feasible implementation, the first conveying assembly includes a frame, a flexible conveying member and a conveying drive motor, the conveying drive motor is arranged on the frame, the flexible conveying member is wound around the frame, the conveying drive motor drives the flexible conveying member to rotate, and the grabbing assembly is connected to the flexible conveying member.

[0015] In a feasible implementation, the cargo grabbing part includes a first linear drive part, an articulated seat, a connecting rod assembly and an adsorption part, the articulated seat is arranged on the sliding seat, one end of the connecting rod assembly is hinged to the articulated seat, and the other end is hinged to the adsorption part, the first linear drive part is arranged on the sliding seat, the moving end of the first linear drive part is connected to the hinge point of the connecting rod assembly, and the first linear drive part adjusts the position of the adsorption part through the connecting rod assembly.

[0016] In a feasible implementation, the mobile conveying component includes:

[0017] A first chassis, for being set on the ground;

[0018] A first guide assembly, disposed on the first chassis;

[0019] A second conveying assembly is connected to the first chassis through the first guide assembly, and the second conveying assembly is used to grab the goods and then transfer and convey them;

[0020] The first driving component is connected to the second conveying component, and the first driving component drives the second conveying component to move along the first guiding component so as to make the second conveying component approach to or away from the goods.

[0021] In a feasible implementation, the second conveying assembly includes a first conveying portion, and a conveying direction of the first conveying portion is perpendicular to a moving direction of the first chassis.

[0022] In a feasible implementation, the second conveying assembly further includes a third conveying portion, and a conveying direction of the third conveying portion is along a moving direction of the chassis.

[0023] In a feasible implementation manner, the second conveying component includes at least one first conveying part and at least one third conveying part, at least one second conveying part is arranged between the first conveying part and the third conveying part, the second conveying part is a transfer conveying component, and the first conveying part, the second conveying part and the third conveying part are arranged in a "7" shape or a "T" shape or a "凵" shape.

[0024] In a feasible implementation manner, the first driving component is a cyclic transmission mechanism or a linear driving mechanism, the cyclic transmission mechanism is configured as a transmission chain component or a synchronous belt component, and the linear driving mechanism is configured as one of an electric cylinder, a cylinder, an oil cylinder or a lead screw component.

[0025] In a feasible implementation manner, the mobile conveying component further includes a first lifting component;

[0026] The second conveying component is connected to the first guiding component through the first lifting component, and the first lifting component is used to drive the second conveying component to lift.

[0027] In a feasible implementation manner, the mobile conveying component is configured as a split-type conveying component, and the split-type conveying component includes:

[0028] A second chassis for being arranged on the ground;

[0029] A third conveying component arranged on the second chassis;

[0030] The third conveying component selectively moves in a direction close to or away from the side cargo stack to pick up the goods on the side clamped by the manipulator and transfer the goods.

[0031] In a feasible implementation manner, one set of the third conveying components is provided, and one set of the third conveying components is arranged on the second chassis through a second driving component, and the second driving component drives the third conveying component to rise and move outwards;

[0032] Or, two sets of the third conveying components are provided, the two sets of the third conveying components are arranged in parallel, and the two sets of the third conveying components are both arranged on the second chassis through the second driving component;

[0033] The second driving component drives the two sets of the third conveying components to rise simultaneously and move outwards simultaneously;

[0034] Or, the second driving component drives the two sets of the third conveying components to descend simultaneously and move inwards simultaneously.

[0035] In a feasible implementation manner, the second driving component includes a second linear driving part and a parallelogram structure. The third conveying component is arranged on the second chassis through the parallelogram structure. Two ends of the second linear driving part are respectively hinged to the third conveying component and the second chassis, and the second linear driving part is arranged to cross at least one connecting rod of the parallelogram structure. The second linear driving part is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0036] In a feasible implementation manner, the second driving component includes a second lifting component, an intermediate bracket and a translation component. The intermediate bracket is arranged on the second chassis through the second lifting component. The third conveying component is arranged on the intermediate bracket through the translation component. The second lifting component is of a scissor structure, and the translation component is a linear driving member.

[0037] In a feasible implementation manner, the separable conveying component further includes at least one group of fourth conveying components, and the fourth conveying components are used for docking with the third conveying component to transfer the goods conveyed by the third conveying component.

[0038] The third conveying component and the fourth conveying components are arranged in a "7" shape or a "T" shape or a "U" shape.

[0039] 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 vehicle robot according to any item in the first aspect, and includes the following steps:

[0040] S1: Control the loading and unloading vehicle robot to move to a target position;

[0041] S2: Control the manipulator to grab the target goods according to the visual recognition result, and move the conveying component towards the goods grabbed by the manipulator;

[0042] S3: Control the manipulator to place the grabbed goods on the moving conveying component;

[0043] S4: Control the moving conveying component to reset and convey and transfer the goods.

[0044] In a first aspect, an embodiment of the present application provides a loading and unloading vehicle robot, including a manipulator, a moving conveying component and a goods picking and placing component. Among them, the goods picking and placing component is arranged on the manipulator, and the manipulator is arranged on the moving conveying component. When the manipulator picks and places goods through the goods picking and placing component, the moving conveying component and the manipulator move towards the target goods, and the moving conveying component receives the goods grabbed by the manipulator.

[0045] When the manipulator picks up the goods, the mobile conveying component is synchronized with the manipulator or approaches the goods in sequence, and the manipulator places the already grabbed goods on the mobile conveying component, thereby greatly shortening the moving distance of the manipulator to grab the goods and place them on the mobile conveying component, thereby improving the efficiency of picking up and placing the goods. When the manipulator grabs the next item, the mobile conveying component simultaneously moves in the direction away from the goods to dock the mobile conveying component with the conveyor line so that the goods can be transported to the designated location through the conveyor line. Then, the mobile conveying component moves in the direction close to the goods to pick up the next item grabbed by the manipulator. It can be understood that the mobile conveying component moves back and forth between the goods and the conveyor line to pick up the goods, which greatly shortens the moving distance of the manipulator to place the goods on the mobile conveying component, and makes the grabbing and conveying processes of two adjacent goods overlap in time, thereby increasing the frequency of loading and unloading goods, thereby greatly improving the loading and unloading efficiency of goods.

[0046] In a second aspect, the 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. When loading and unloading goods, the loading and unloading robot is first controlled to move to the target position; then the manipulator is controlled to grab the target goods according to the visual recognition result, and the mobile conveying component moves toward the goods grabbed by the manipulator; then, the manipulator is controlled to place the grabbed goods on the mobile conveying component; finally, the mobile conveying component is controlled to reset and the goods are conveyed and transferred. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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.

[0048] In the attached picture:

[0049] Figure 1 It is a schematic diagram of the overall structure of the loading and unloading robot provided in the first embodiment of the present application;

[0050] Figure 2 is a schematic diagram of the overall structure of the loading and unloading robot provided in the second embodiment of the present application;

[0051] Figure 3 is a schematic diagram of the overall structure of the loading and unloading robot provided in the third embodiment of the present application;

[0052] Figure 4 yes Figure 1 A schematic diagram of a first state of the loading and unloading robot;

[0053] Figure 5 yes Figure 1 Schematic diagram of the second state of the loading and unloading robot;

[0054] Figure 6 yes Figure 1 Schematic diagram of the third state of the loading and unloading robot;

[0055] Figure 7 yes Figure 1 Schematic diagram of the fourth state of the loading and unloading robot;

[0056] Figure 8 yes Figure 1 A schematic diagram of the fifth state of the loading and unloading robot in FIG.

[0057] Fig. 9 yes Figure 1 A schematic diagram of the structure of the mobile conveying component of the loading and unloading robot;

[0058] Fig.10 is a schematic diagram of a mobile conveying assembly provided in a second embodiment of the present application;

[0059] Fig.11 is a schematic diagram of a mobile conveying assembly provided in a third embodiment of the present application;

[0060] Fig.12 is a schematic diagram of a mobile conveying assembly provided in a fourth embodiment of the present application;

[0061] Fig.13 is a schematic diagram of a mobile conveying assembly provided in a fourth embodiment of the present application;

[0062] Fig.14 yes Figure 1 Schematic diagram of a separate conveying assembly of a loading and unloading robot;

[0063] Fig.15 yes Fig.14 A schematic diagram of a first state in which the separate conveying assembly is extended into the carriage;

[0064] Fig.16 yes Fig.14 A schematic diagram of a second state in which the separate conveying assembly extends into the carriage;

[0065] Fig.17 is a schematic diagram of a separate conveying assembly provided in a second embodiment of the present application;

[0066] Fig.18 yes Fig.17 A second schematic diagram of a separate conveying assembly in FIG.

[0067] Fig.19 is a schematic diagram of a separate conveying assembly provided in the third embodiment of the present application;

[0068] Fig. 20 yes Fig.19 A first schematic diagram of a separate conveying assembly in FIG.

[0069] Fig.21 yes Fig.19 A second schematic diagram of a separate conveying assembly in FIG.

[0070] Fig. 22 A schematic diagram of the overall structure of a cargo picking and placing assembly provided in one embodiment of the present application;

[0071] Fig.23 yes Fig. 22 A schematic diagram of a first state of a cargo picking and placing component in FIG.

[0072] Fig.24 yes Fig. 22 A schematic diagram of a second state of the cargo picking and placing component in FIG.

[0073] Fig.25 It is a structural schematic diagram of a cargo picking and placing component provided in another embodiment of the present application.

[0074] Description of reference numerals:

[0075] 100-manipulator; 200-mobile conveying assembly; 300-cargo picking and placing assembly; 400-separate conveying assembly; 500-carriage;

[0076] 210-first chassis; 220-first guide assembly; 230-second conveying assembly; 240-first driving assembly; 250-first lifting assembly;

[0077] 231 - first conveying part; 232 - second conveying part; 233 - third conveying part; 241 - first driving motor; 242 - flexible transmission assembly;

[0078] 310-first conveying assembly; 320-grasping assembly; 330-fixed frame;

[0079] 311-frame; 312-flexible conveying member; 313-conveying drive motor; 321-cargo grabbing part; 322-sliding seat;

[0080] 3211- bracket; 3212- adsorption part; 3213- first linear drive part; 3214- articulated seat; 3215- connecting rod assembly;

[0081] 3212a-fixed seat; 3212b-suction cup;

[0082] 410 - second chassis; 420 - third conveying assembly; 430 - fourth conveying assembly; 440 - parallelogram structure; 450 - second linear drive unit;

[0083] 421 - first conveying unit; 422 - second conveying unit. DETAILED DESCRIPTION

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] In the logistics industry, goods need to be moved between warehouses and cargo boxes (such as containers). 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.

[0089] 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 pulls 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.

[0090] However, the efficiency of the manipulator in the prior art when carrying goods is low.

[0091] In order to solve the above problems, 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.

[0092] Figure 1 It is a schematic diagram of the overall structure of the loading and unloading robot provided in the first embodiment of the present application; Figure 2 is a schematic diagram of the overall structure of the loading and unloading robot provided in the second embodiment of the present application; Figure 3 It is a schematic diagram of the overall structure of the loading and unloading robot provided in the third embodiment of the present application.

[0093] Reference Figures 1 to 3 As shown, the embodiment of the present application provides a loading and unloading robot, including a manipulator 100, a mobile conveying assembly 200, and a cargo picking and placing assembly 300. The cargo picking and placing assembly 300 is arranged on the manipulator 100, and the manipulator 100 is arranged on the mobile conveying assembly 200; when the manipulator 100 picks and places cargo through the cargo picking and placing assembly 300, the mobile conveying assembly 200 and the manipulator 100 synchronously approach or move away from the cargo stack to pick up the cargo.

[0094] For example, the robot 100 can be fixed on the chassis of the mobile conveying assembly 200 by means of a mounting base (such as Figure 1 ), or can be fixedly mounted on the chassis of the mobile conveying assembly 200 by a fixing frame 330 (as shown in Figure 2 Or, Figure 3 As shown, the manipulator 100 can be directly fixed on a structure located above the mobile conveying assembly 200. It is understood that when the manipulator 100 is fixedly mounted on the chassis in an inverted manner through the fixing frame 330, the manipulator 100 will not affect the arrangement of the conveying components on the mobile conveying assembly 200. The manipulator 100 can be configured as a six-axis manipulator 100 to grasp the front of the goods, clamp the side of the goods, or grasp the top surface.

[0095] Figure 4 yes Figure 1 A schematic diagram of a first state of the loading and unloading robot; Figure 5 yes Figure 1 Schematic diagram of the second state of the loading and unloading robot in FIG. Figure 6 yes Figure 1 Schematic diagram of the third state of the loading and unloading robot; Figure 7 yes Figure 1 Schematic diagram of the fourth state of the loading and unloading robot; Figure 8 yes Figure 1 Schematic diagram of the fifth state of the loading and unloading robot.

[0096] like Figures 4 to 8 As shown, when the manipulator 100 picks up the goods, the mobile conveying assembly 200 is synchronized with the manipulator 100 or approaches the goods in sequence, and the manipulator 100 places the already grabbed goods on the mobile conveying assembly 200, so that the moving stroke of the manipulator 100 to grab the goods and place them on the mobile conveying assembly 200 is greatly shortened, and the efficiency of picking and placing goods is improved. Specifically, when disassembling the upper layer of the goods stack, the mobile conveying assembly 200 and the manipulator 100 move toward the target goods synchronously. When disassembling the lower layer of goods, since the mobile conveying assembly 200 may interfere with the movement of the manipulator 100, the two cannot move toward the target goods at the same time. At this time, the manipulator 100 moves toward the target goods first, and after the manipulator 100 grabs and lifts the height of the goods, the mobile conveying assembly 200 moves in the direction of the target goods, and the manipulator 100 moves toward the direction of the mobile conveying assembly 200, and the two meet at the middle position.

[0097] When the manipulator 100 places the goods on the transfer conveyor assembly 200 to grab the next piece of goods, the mobile conveyor assembly 200 simultaneously moves in the direction away from the goods to dock the mobile conveyor assembly 200 with the conveyor line so that the goods can be transported to the designated location through the conveyor line. Then, the mobile conveyor assembly 200 moves in the direction close to the goods to pick up the next piece of goods grabbed by the manipulator 100. It can be understood that the mobile conveyor assembly 200 moves back and forth between the goods and the conveyor line to pick up the goods, which greatly shortens the moving stroke of the manipulator 100 to place the goods on the mobile conveyor assembly 200, and makes the grabbing and conveying processes of two adjacent goods overlap in time, which increases the frequency of loading and unloading goods, thereby greatly improving the loading and unloading efficiency of goods.

[0098] Fig. 9 yes Figure 1 A schematic structural diagram of a mobile conveying assembly 200 of a loading and unloading robot; Fig.10 is a schematic diagram of a mobile conveying assembly 200 provided in a second embodiment of the present application; Fig.11 is a schematic diagram of a mobile conveying assembly 200 provided in a third embodiment of the present application; Fig.12 is a schematic diagram of a mobile conveying assembly 200 provided in a fourth embodiment of the present application; Fig.13 It is a schematic diagram of the mobile conveying assembly 200 provided in the fourth embodiment of the present application.

[0099] Reference Figures 9 to 13As shown in some examples, the mobile conveying assembly 200 includes a first chassis 210, a first guide assembly 220, a second conveying assembly 230 and a first drive assembly 240. Among them, the first chassis 210 is used to be set on the ground to provide a mounting base for other components. The manipulator 100 can be fixedly mounted on the first chassis 210 through a mounting seat, and can also be invertedly mounted on the first chassis 210 through a mounting frame. The first guide assembly 220 is arranged on the first chassis 210; the second conveying assembly 230 is connected to the first guide assembly 220, the second conveying assembly 230 is used to convey goods, and the first guide assembly 220 is used to guide the second conveying assembly 230 to move. The first drive assembly 240 is connected to the second conveying assembly 230, and the first drive assembly 240 drives the second conveying assembly 230 to move along the first guide assembly 220, so that the second conveying assembly 230 is close to or away from the goods.

[0100] Exemplarily, the first chassis 210 is used to provide a mounting base for each component, and it has various forms. Exemplarily, the first chassis 210 can be a bracket structure welded from multiple profiles, and the first chassis 210 is directly fixed on the ground. In order to facilitate moving the first chassis 210 to a specified position, a plurality of wheels can be provided at the bottom of the first chassis 210. Alternatively, a track assembly can be provided at the lower part of the first chassis 210.

[0101] The first guide assembly 220 can be configured as a track assembly or a chute pulley assembly. Exemplarily, the first guide assembly 220 is configured as a track assembly, including a track arranged along the length direction of the first chassis 210 and a pulley sliding with the track, the pulley is arranged at the bottom of the second conveying assembly 230, and the second conveying assembly 230 slides along the track through the pulley. Both the track assembly and the chute pulley assembly are prior art, and their specific structures are not repeated here.

[0102] Exemplarily, the second conveying assembly 230 is configured as a conveyor belt assembly, a conveyor roller assembly or a transfer conveying assembly to convey the goods to a designated location. The conveyor belt assembly, the conveyor roller assembly and the transfer conveying assembly are all prior art and will not be described in detail herein.

[0103] In addition, the second conveying assembly 230 can be a straight conveying line or a conveying line with a turning function, and the overall line is L-shaped.

[0104] In some examples, the second conveying assembly 230 includes a first conveying portion 231, and the conveying direction of the first conveying portion 231 is perpendicular to the travel direction of the first chassis 210. In other examples, the second conveying assembly 230 also includes a third conveying portion 233, and the conveying direction of the third conveying portion 233 is along the travel direction of the first chassis 210. It should be noted that the travel direction of the first chassis 210 can refer to Figure 7 The x direction.

[0105] In some examples, the second conveying assembly 230 includes at least one first conveying part 231, at least one second conveying part 232, and at least one third conveying part 233. The second conveying part 232 is disposed between the first conveying part 231 and the third conveying part 233. The second conveying part 232 is configured as a transfer conveying assembly for transferring the goods on the first conveying part 231 to the third conveying part 233.

[0106] Referring to Figures 10 to 13 As shown, the first conveying part 231, the second conveying part 232, and the third conveying part 233 can be arranged in one of the shapes of "7", "T", or "凵". It can be understood that the arrangement of the first conveying part 231, the second conveying part 232, and the third conveying part 233 can be selected according to the setting of the manipulator 100. When there is one manipulator 100, the first conveying part 231, the second conveying part 232, and the third conveying part 233 can be arranged in the shape of "7" or "凵". When there are multiple manipulators 100, the first conveying part 231, the second conveying part 232, and the third conveying part 233 can be arranged in the shape of "T". Multiple manipulators 100 are arranged on both sides of the "T". In addition, as Fig.11 shown, when the manipulator 100 is inversely installed through the fixing frame 330, the first conveying part 231, the second conveying part 232, and the third conveying part 233 can also be arranged in the shape of "T".

[0107] Referring to Fig. 9 As shown, exemplarily, the first conveying part 231, the second conveying part 232, and the third conveying part 233 are all slidably connected to the first chassis 210, and the first conveying part 231 is connected to the second conveying part 232, the second conveying part 232 is connected to the third conveying part 233, and the first conveying part 231 and the third conveying part 233 are arranged perpendicular to each other. Among them, the first conveying part 231 and the third conveying part 233 are respectively configured as a conveyor belt assembly or a conveying roller assembly for conveying goods. The second conveying part 232 can be configured as a transfer conveying assembly, which is disposed at the corner of the first conveying part 231 and the third conveying part 233 to change the conveying direction of the goods. The conveyor belt assembly, the conveying roller assembly, or the transfer first conveying assembly 310 are all prior arts and will not be elaborated here. The transfer conveying assembly can be the McNam wheel first conveying assembly 310.

[0108] In addition, in some examples, the second conveying assembly 230 further includes a first carriage (not shown in the figure). The first conveying part 231, the second conveying part 232, and the third conveying part 233 are all disposed on the first carriage. The first carriage is connected to the first guiding assembly 220, and the first driving assembly 240 is connected to the first carriage.

[0109] As Fig. 9 As shown, illustratively, the first drive assembly 240 includes a first drive motor 241 and a flexible transmission assembly 242. The first drive motor 241 can be arranged on the first chassis 210, or arranged on the ground. The flexible transmission assembly 242 is arranged on the first chassis 210, and the flexible transmission assembly 242 is respectively connected to the first drive motor 241 and the first conveying assembly 310.

[0110] The first driving motor 241 drives the first conveying assembly 310 to move along the first guide assembly 220 through the flexible transmission assembly 242. Exemplarily, the flexible transmission assembly 242 may be a transmission chain assembly or a transmission belt assembly.

[0111] In some examples, the flexible transmission assembly 242 is configured as a transmission chain assembly, the transmission chain assembly is arranged on the first chassis 210, and the first drive motor 241 is connected to the first conveying assembly 310 through the transmission chain assembly. Specifically, the transmission chain assembly includes a transmission chain and a sprocket, the sprocket is rotatably arranged on the first chassis 210, the transmission chain is wound around two sprockets, the first drive motor 241 is connected to the sprocket through a transmission shaft, and the transmission chain rotates. The transmission chain is connected to the first conveying assembly 310, and the second conveying assembly 230 is driven to move along the length direction of the first chassis 210 during its rotation.

[0112] In order to ensure the stable movement of the second conveying assembly 230, the first driving assembly 240 includes at least two sets of flexible transmission assemblies 242, which are respectively arranged on both sides of the first driving motor 241 and respectively connected to the second conveying assembly 230. The first driving motor 241 drives at least two sets of flexible transmission assemblies 242 to move simultaneously through the synchronous shaft, so that all the flexible transmission assemblies 242 drive the second conveying assembly 230 to move at the same time.

[0113] Since the second conveying assembly 230 only moves in a straight line, it is understandable that the first drive assembly 240 can be configured as a linear drive assembly. Specifically, one end of the linear drive assembly is connected to the first chassis 210, and the other end is connected to the second conveying assembly 230, and the linear drive assembly drives the second conveying assembly 230 to move along the first guide assembly 220. For example, the linear drive assembly can be a cylinder assembly, a hydraulic cylinder assembly, an electric cylinder assembly, or a screw assembly, a gear rack assembly. The above-mentioned linear drive assemblies are all prior art, and the detailed structure is not repeated here.

[0114] Reference Figure 6As shown, in some other examples, the mobile conveying assembly 200 also includes a first lifting assembly 250, the lower end of the first lifting assembly 250 is connected to the first guide assembly 220, and the upper end of the first lifting assembly 250 is fixedly connected to the second conveying assembly 230, that is, the second conveying assembly 230 is connected to the first guide assembly 220 through the first lifting assembly 250, and the first lifting assembly 250 is used to drive the second conveying assembly 230 to rise and fall, so that the second conveying assembly 230 can be closer to the end of the manipulator 100, further shortening the moving stroke of the manipulator 100, saving the time of the manipulator 100 to transfer goods, and improving the efficiency of cargo loading and unloading. Exemplarily, the first lifting assembly 250 can be configured as a scissor lift assembly. The scissor lift assembly is a prior art, and its specific structure is not repeated here.

[0115] When the width of the carriage 500 is much larger than the width of the conveyor line, the distance of loading and unloading goods by the manipulator 100 is greatly extended, resulting in low loading and unloading efficiency. To solve this problem, in some examples, the mobile conveyor assembly 200 is configured as a separate conveyor assembly 400 .

[0116] Fig.14 yes Figure 1 Schematic diagram of a separate conveying assembly 400 of a loading and unloading robot; Fig.15 yes Fig.14 A schematic diagram of a first state in which the separate conveying assembly 400 extends into the carriage 500; Fig.16 yes Fig.14 A schematic diagram of a second state in which the separate conveying assembly 400 extends into the carriage 500; Fig.17 is a schematic diagram of a separate conveying assembly 400 provided in a second embodiment of the present application; Fig.18 yes Fig.17 A second schematic diagram of the separate conveying assembly 400; Fig.19 is a schematic diagram of a separate conveying assembly 400 provided in a third embodiment of the present application; Fig. 20 yes Fig.19 A first schematic diagram of the separate conveying assembly 400; Fig.21 yes Fig.19 A second schematic diagram of the separate conveying assembly 400 in FIG.

[0117] Reference Figures 14 to 21 As shown, the separate conveying assembly 400 includes a second chassis 410 and a third conveying assembly 420. The second chassis 410 is used to be set on the ground to provide a mounting base for other components; the third conveying assembly 420 is set on the second chassis 410, and the third conveying assembly 420 selectively moves in a direction close to or away from the side cargo stack to receive the side cargo clamped by the manipulator 100 and transfer the cargo. That is, the third conveying assembly 420 moves along the first direction. It should be noted that the first direction can refer to Fig.14 The y direction is shown in the figure, and the second direction can be referred to Fig.14 The x direction is shown in .

[0118] When the manipulator 100 extends into the carriage 500 to pick up the goods, the third conveyor assembly 420 simultaneously extends into the carriage 500, and the third conveyor assembly 420 simultaneously moves along the first direction and approaches the goods stack on the inner side of the carriage 500. After the manipulator 100 grabs the first piece of goods and places it on the third conveyor assembly 420, the manipulator 100 moves toward the goods stack to grab the second piece of goods, and the third conveyor assembly 420 moves in the opposite direction (away from the direction of the goods) and docks with the conveyor line, and the third conveyor assembly 420 moves the goods on it to the conveyor line, thereby transferring them to the designated position.

[0119] After the goods move to the conveyor line, the third conveyor assembly 420 immediately moves in the direction close to the goods stack at the same time to pick up the second piece of goods grabbed by the manipulator 100. It can be understood that since the third conveyor assembly 420 moves synchronously and approaches the goods stack during the process of the manipulator 100 moving to pick up the goods, the moving stroke of the manipulator 100 for picking up and placing the goods can be greatly reduced, thereby improving the efficiency of picking up and placing the goods. The third conveyor assembly 420 moves back and forth between the goods stack and the conveyor line, which greatly shortens the moving stroke of the manipulator 100, and makes the grabbing and conveying processes of two adjacent goods overlap in time, thereby increasing the frequency of loading and unloading goods, thereby greatly improving the efficiency of the logistics system. It should be noted that the conveyor line is a logistics conveying assembly fixedly arranged in the storage area for turnover and conveying of goods.

[0120] In some examples, the third conveying assembly 420 is provided with a group, and a group of the third conveying assembly 420 is arranged on the second chassis 410 through the second driving assembly, and the second driving assembly drives the third conveying assembly 420 to rise and move outward at the same time, or the second driving assembly drives the second conveying assembly 230 to descend and move inward. It should be noted that the outside refers to a direction perpendicular to the moving direction of the second chassis 410 and extending to both sides, that is, the outside refers to a direction perpendicular to the moving direction of the second chassis 410 and away from the second chassis 410.

[0121] like Fig.14 As shown, in some examples, two groups of third conveying assemblies 420 are provided, and the two groups of third conveying assemblies 420 are arranged in parallel, and the two groups of third conveying assemblies 420 are both arranged on the second chassis 410 through the second driving assembly. The second driving assembly drives the two groups of third conveying assemblies 420 to rise and move outward at the same time to approach the side of the carriage 500; or, the second driving assembly drives the two groups of second conveying assemblies 230 to descend and move inward at the same time to transfer goods.

[0122] Exemplarily, the second drive component includes a second linear drive unit 450 and a parallelogram structure 440, and the third conveying component 420 is designed on the second chassis 410 through the parallelogram structure 440. The two ends of the second linear drive unit 450 are respectively hinged on the third conveying component 420 and the second chassis 410, and the second linear drive unit 450 and at least one connecting rod of the parallelogram structure 440 are cross-arranged.

[0123] like Fig.15 and Fig.16 As shown, the two third conveying assemblies 420 are respectively fixedly arranged at the upper ends of the two parallelogram structures 440, and the lower ends of the two parallelogram structures 440 are respectively fixedly connected to the second chassis 410. And the two second linear drive parts 450 are respectively connected to the corresponding third conveying assemblies 420 and the second chassis 410, when the two second linear drive parts 450 are extended, the two third conveying assemblies 420 are simultaneously raised in height and move outward at the same time (moving away from each other). On the contrary, when the two second linear drive parts 450 are contracted, the two third conveying assemblies 420 are simultaneously reduced in height and move inwards until they contact each other (relative movement). Exemplarily, the second linear drive part 450 can be configured as one of an electric cylinder, a cylinder or a hydraulic cylinder.

[0124] In some other examples, the second driving assembly includes a second lifting assembly, an intermediate bracket and a translation assembly, wherein the intermediate bracket is arranged on the second chassis 410 through the second lifting assembly, the third conveying assembly 420 can be slidably arranged on the intermediate bracket through a guide rail, the translation assembly is arranged on the intermediate bracket, and the translation assembly drives the third conveying assembly 420 to move along the intermediate bracket, and then can move to the side of the carriage 500. The second lifting assembly is a lifting structure, which is used to drive the third conveying assembly 420 to rise and fall, and the translation assembly is a linear driving component, which can be one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder. It can be understood that the intermediate is arranged on the second chassis 410 along a direction perpendicular to the movement of the second chassis 410.

[0125] In some examples, the separate conveying assembly 400 in some embodiments further includes a second slide and a slide drive assembly, the second slide is slidably arranged on the second chassis 410, the slide drive assembly is arranged on the second chassis 410, the third conveying assembly 420 is arranged on the second slide, and the slide drive assembly drives the second slide to move along the travel direction of the second chassis 410, thereby enabling the third conveying assembly 420 to move along the travel direction (i.e., the second direction) of the second chassis 410. Exemplarily, the second slide can be a profile frame 311 structure, the surface of which is slidably matched with the chassis through a pulley. The slide drive assembly can be configured as one of a synchronous belt drive structure, a screw drive structure, or a linear power unit.

[0126] In addition, some of the separable conveying assemblies 400 further include at least one set of fourth conveying assemblies 430. The fourth conveying assemblies 430 are arranged on the second carriage and are used to dock with the third conveying assemblies 420 and transfer the goods conveyed by the third conveying assemblies 420. It can be understood that the second carriage can drive the third conveying assemblies 420 and the fourth conveying assemblies 430 to move simultaneously, and thus can extend into the interior of the carriage 500 to facilitate the transfer of goods, thereby improving the loading and unloading efficiency of the goods. Exemplarily, each of the third conveying assemblies 420 and the fourth conveying assemblies 430 includes at least one of a conveyor belt assembly, a conveying roller assembly, and a transfer conveying assembly. The conveyor belt assembly, the conveying roller assembly, and the transfer conveying assembly are all prior arts and will not be elaborated herein.

[0127] In addition, exemplarily, the third conveying assemblies 420 and the fourth conveying assemblies 430 can be arranged in a "7" shape, a "T" shape, or a "凵" shape.

[0128] Referring to Figures 17 to 21 As shown, in some examples, the separable conveying assembly 400 includes a second chassis 410, a third conveying assembly 420, and a fourth conveying assembly 430. Among them, the second chassis 410 is used to be arranged on the ground to provide an installation basis for other components; the fourth conveying assembly 430 is slidably connected to the second chassis 410 along a second direction; the third conveying assembly 420 is slidably connected to the fourth conveying assembly 430, and the third conveying assembly 420 selectively moves in a direction close to or away from the goods stack to pick up the goods clamped by the manipulator 100 and convey the goods to the fourth conveying assembly 430. It should be noted that in these examples, the first direction can be referred to as Fig.18 shown by the y direction in Fig.18 and the second direction can be referred to as

[0129] shown by the x direction in

[0130] When the manipulator 100 extends into the carriage 500 to pick up the goods, the fourth conveying assembly 430 synchronously moves along the second direction to extend into the carriage 500, and the third conveying assembly 420 synchronously moves along the first direction and approaches the cargo stack inside the carriage 500. After the manipulator 100 grabs the first piece of goods and places it on the third conveying assembly 420, the manipulator 100 moves toward the cargo stack to grab the second piece of goods, and the third conveying assembly 420 moves in the opposite direction (away from the cargo stack) and docks with the fourth conveying assembly 430. The third conveying assembly 420 moves the goods on it to the fourth conveying assembly 430. At the same time, the fourth conveying assembly 430 moves in the opposite direction (away from the cargo stack) in the second direction to dock with the conveying line fixed on the ground, and the fourth conveying assembly 430 conveys the goods on it to the conveying line. After the goods are moved to the conveying line, the third conveying assembly 420 and the fourth conveying assembly 430 immediately move in the direction close to the cargo stack at the same time to pick up the second piece of goods grabbed by the manipulator 100.

[0131] It is understandable that, since the third conveyor assembly 420 and the fourth conveyor assembly 430 move synchronously and approach the cargo stack during the process of the manipulator 100 moving to pick up the cargo, the moving stroke of the manipulator 100 for picking up and placing the cargo can be greatly reduced, thereby improving the efficiency of picking up and placing the cargo. The third conveyor assembly 420 and the fourth conveyor assembly 430 move back and forth between the cargo stack and the conveyor line, which greatly shortens the moving stroke of the manipulator 100, and makes the grabbing and conveying processes of two adjacent cargoes overlap in time, thereby increasing the frequency of loading and unloading cargo, thereby greatly improving the logistics efficiency of the logistics system.

[0132] Exemplarily, the separated conveying assembly 400 also includes a second guide assembly and a second drive assembly (not shown in the figure). Wherein, the second guide assembly is arranged on the second chassis 410 along the second direction; the fourth conveying assembly 430 is connected to the second chassis 410 through the second guide assembly; that is, the second guide assembly is used to guide the fourth conveying assembly 430 to move along the second direction on the second chassis 410. The second drive assembly is connected to the fourth conveying assembly 430, and the second drive assembly drives the fourth conveying assembly 430 to move along the second direction, thereby making the third conveying assembly 420 at the end of the fourth conveying assembly 430 close to or away from the cargo stack. Exemplarily, the second guide assembly can be configured as a sliding guide rail assembly, or can be configured as a chute and guide wheel assembly, which are all prior art, and the specific structure is not repeated. In some examples, wheels are provided at the bottom of the second chassis 410 to facilitate moving the second chassis 410 to a specified position.

[0133] In addition, illustratively, the second drive assembly includes a second drive motor and a second flexible transmission assembly 242, the second drive motor is fixedly mounted on the second chassis 410, and the second drive motor drives the fourth conveying assembly 430 to move in the second direction through the second flexible transmission assembly 242. Specifically, the second flexible transmission assembly 242 can be mounted on the second chassis 410, the second drive motor is connected to the second flexible transmission assembly 242, and the second flexible transmission assembly 242 is connected to the fourth conveying assembly 430. The second drive motor rotates to drive the flexible transmission member of the second flexible transmission assembly 242 to rotate, and the rotation of the flexible transmission member drives the fourth conveying assembly 430 to move in the second direction on the second chassis 410. In addition, the second flexible transmission assembly 242 can be configured as a transmission chain assembly or a transmission belt assembly, both of which are prior arts and will not be repeated here.

[0134] Exemplary, the second drive assembly can also be configured as a linear drive assembly, such as a cylinder, an electric cylinder or a hydraulic cylinder. Specifically, the fixed end of the linear drive assembly can be fixedly connected to the second chassis 410, and the movable end is connected to the fourth conveying assembly 430, and the linear drive assembly drives the fourth conveying assembly 430 to move on the second chassis 410 along the second direction.

[0135] In some examples, the separated conveying assembly 400 further includes a third guide assembly and a third drive assembly. The third guide assembly is arranged on the fourth conveying assembly 430 along the first direction; the third drive assembly is connected to the third conveying assembly 420, and the third drive assembly drives the third conveying assembly 420 to move along the first direction so that the third conveying assembly 420 is close to or away from the cargo stack. Exemplarily, the third guide assembly is arranged on the mounting frame of the fourth conveying assembly 430 along the first direction, and the third conveying assembly 420 is arranged on the fourth conveying assembly 430 through the third guide assembly. In addition, the third guide assembly can also be configured as a sliding guide rail assembly, and can also be configured as a slideway and guide wheel assembly, which will not be repeated.

[0136] Similarly, the third drive assembly includes a third drive motor and a third flexible transmission assembly 242. The third drive motor is disposed on the fourth conveying assembly 430. The third drive motor drives the third conveying assembly 420 to move along the first direction through the third flexible transmission assembly 242. Exemplarily, the third drive motor is fixedly mounted on the mounting frame of the fourth conveying assembly 430, the third flexible transmission assembly 242 is also mounted on the mounting frame of the fourth conveying assembly 430, the third drive motor is connected to the third flexible transmission assembly 242, and the third flexible transmission assembly 242 is connected to the third conveying assembly 420.

[0137] Exemplarily, the third driving assembly may also be configured as a linear driving assembly, such as a pneumatic cylinder, an electric cylinder or a hydraulic cylinder. The linear driving assembly drives the second conveying assembly 230 to move along the second direction, which will not be described in detail.

[0138] Reference Fig.17 and Fig.18 As shown, in some examples, a third conveying assembly 420 is provided on one side of the fourth conveying assembly 430, and the third conveying assembly 420 can move along the first direction to receive the goods picked up and placed by the manipulator 100, thereby improving the efficiency of cargo loading and unloading. In other examples, at least one third conveying assembly 420 is provided on both sides of the fourth conveying assembly 430. The third conveying assembly 420 of the fourth conveying assembly 430 can be moved separately to approach the cargo stack. In these examples, the third conveying assembly 420 and the fourth conveying assembly 430 are respectively configured as a conveyor belt assembly or a conveyor roller assembly.

[0139] Reference Figures 19 to 21 As shown, in some other examples, the third conveying assembly 420 is provided at the end of the fourth conveying assembly 430, and the third conveying assembly 420 includes a first conveying unit 421 and a second conveying unit 422. The first conveying unit 421 is fixedly connected to the second conveying unit 422, and the goods on the first conveying unit 421 are transferred to the fourth conveying assembly 430 via the second conveying unit 422. For example, the first conveying unit 421 can be provided at one end or both ends of the second conveying unit 422. Figure 20 to Figure 22 As shown, a first conveying unit 421 is respectively provided at both ends of the second conveying unit 422. When the manipulator 100 grabs the goods located on one side of the fourth conveying assembly 430, the third conveying assembly 420 moves to that side to get close to the goods stack. It can be understood that, since the third conveying assembly 420 can move to both sides, when the manipulator 100 grabs the goods located on either side of the fourth conveying assembly 430, the third conveying assembly 420 can get closer to the goods stack, thereby improving the loading and unloading efficiency of the goods.

[0140] In these examples, the first conveying unit 421 and the fourth conveying assembly 430 are respectively configured as a conveyor belt assembly or a conveyor roller assembly; the second conveying unit 422 is configured as a Mecanum wheel assembly or a lifting and transferring assembly. It is understandable that the second conveying unit 422 is configured as a Mecanum wheel assembly or a lifting and transferring assembly, which can change the direction of movement of the goods, facilitate the goods to move from the second direction to the first direction, and then move to the third conveying assembly 420.

[0141] In some other examples, the separate conveying assembly 400 also includes a second lifting assembly (not shown in the figure), the lower end of the second lifting assembly is connected to the second guide assembly, and the upper end of the second lifting assembly is fixedly connected to the fourth conveying assembly 430, that is, the fourth conveying assembly 430 is connected to the second guide assembly through the second lifting assembly, and the second lifting assembly is used to drive the fourth conveying assembly 430 to lift and lower, so that the fourth conveying assembly 430 can be closer to the end of the manipulator 100, further shortening the moving stroke of the manipulator 100, saving the time of the manipulator 100 to transfer goods, and improving the efficiency of cargo loading and unloading. Exemplarily, the second lifting assembly can be configured as a scissors lift assembly. The scissors lift assembly is a prior art, and its specific structure is not repeated here.

[0142] Fig. 22 An overall structural diagram of a cargo picking and placing assembly 300 provided in an embodiment of the present application; Fig.23 yes Fig. 22 A schematic diagram of a first state of the cargo picking and placing component 300; Fig.24 yes Fig. 22 A schematic diagram of a second state of the cargo picking and placing component 300, Fig.25 It is a structural schematic diagram of a cargo picking and placing assembly 300 provided in another embodiment of the present application.

[0143] Reference Figure 22 to Figure 24 As shown, in some examples, the cargo pick-up and placement assembly 300 includes a first conveying assembly 310 and a grabbing assembly 320. The grabbing assembly 320 is arranged on the first conveying assembly 310, and the first conveying assembly 310 drives the grabbing assembly 320 to move, and the grabbing assembly 320 pulls the cargo onto the first conveying assembly 310. When the first conveying assembly 310 and the grabbing assembly 320 move above the conveying line, the first conveying assembly 310 reverses to transport the cargo to the target position, such as the conveying line. The cargo grabbing assembly 320 pulls the cargo onto the first conveying assembly 310, and the first conveying assembly 310 can lift the cargo, thereby avoiding the occurrence of the cargo falling problem caused by the manipulator 100 in the prior art due to the cargo being too heavy or the grabbing assembly 320 not pulling the cargo firmly, thereby improving the cargo pick-up and placement efficiency.

[0144] The cargo pick-up and placement assembly 300 is arranged at the end of the manipulator 100. When picking up and placing cargo from the cargo box, the manipulator 100 extends into the cargo box, the first conveying assembly 310 rotates clockwise, and drives the grabbing assembly 320 to move toward the end of the first conveying assembly 310 until the grabbing assembly 320 contacts the cargo. Then, the first conveying assembly 310 rotates counterclockwise, drives the grabbing assembly 320 to move in the opposite direction, and the cargo moves to the first conveying assembly 310 under the combined action of the grabbing assembly 320 pulling and the first conveying assembly 310 driving. Then, the end of the manipulator 100 moves to the target position (for example, a designated conveying line), the grabbing assembly 320 disconnects from the cargo, and the first conveying assembly 310 rotates clockwise again, and the cargo moves to the end of the first conveying assembly 310 under the driving of the first conveying assembly 310 and the pushing of the grabbing assembly 320 until it is separated and falls to the designated position.

[0145] Exemplarily, the first conveying assembly 310 may be a conveyor belt assembly or a conveyor chain assembly. The grabbing assembly 320 may be a suction cup adsorption assembly or an assembly of other structures, which can grab or pull the goods to move.

[0146] Exemplarily, one first conveying assembly 310 may be provided, and at least one grabbing assembly 320 may be provided. The grabbing assembly 320 is provided on the first conveying assembly 310 , and the first conveying assembly 310 drives all the grabbing assemblies 320 to move.

[0147] When there are multiple grabbing assemblies 320, the multiple grabbing assemblies 320 are sequentially arranged on the first conveying assembly 310 along the width direction of the first conveying assembly 310, and the multiple grabbing assemblies 320 act simultaneously or separately to pull the goods. It should be noted that the width direction of the first conveying assembly 310 refers to the direction perpendicular to the action of the first conveying assembly 310.

[0148] In some examples, there are multiple grabbing assemblies 320, and the first conveying assembly 310 has one, and the multiple grabbing assemblies 320 are sequentially arranged on the first conveying assembly 310 along the width direction of the first conveying assembly 310, and the multiple grabbing assemblies 320 pull the goods at the same time, thereby ensuring that the goods can be pulled onto the first conveying assembly 310. In these embodiments, the width of the first conveying assembly 310 is relatively large, and one first conveying assembly 310 is provided with multiple grabbing assemblies 320. The first conveying assembly 310 drives all grabbing assemblies 320 to move simultaneously.

[0149] In some other examples, there are multiple grabbing assemblies 320, and the multiple grabbing assemblies 320 are arranged between two adjacent first conveying assemblies 310. The grabbing assemblies 320 are connected to the adjacent first conveying assemblies 310, and the adjacent first conveying assemblies 310 drive the grabbing assemblies 320 to approach or move away from the goods.

[0150] Reference Fig. 22 As shown, in some examples, the cargo picking and placing component 300 has multiple first conveying components 310 and multiple grabbing components 320. The grabbing components 320 are arranged one-to-one corresponding to the first conveying components 310, and each first conveying component 310 can drive the corresponding grabbing component 320 to move.

[0151] The plurality of first conveying assemblies 310 are fixed to the fixing frame 330 in parallel in the width direction of the fixing frame 330, and the fixing frame 330 is fixed to the end of the manipulator 100. It is understandable that since each grabbing assembly 320 can be flexibly moved, the appropriate grabbing assembly 320 can be selected according to the size and storage location of the goods to pick up and place the goods, making the picking and placing of the goods more flexible, quick and efficient. The width direction of the fixing frame 330 is the same as the width direction of the first conveying assembly 310, which can be referred to Fig. 22 The x direction is shown in .

[0152] Continue to refer to Fig.23 and Fig.24 As shown, the first conveying assembly 310 includes a frame 311, a flexible conveying member 312 and a conveying drive motor 313. The conveying drive motor 313 is arranged on the frame 311, the flexible conveying member 312 is wound around the frame 311, and the conveying drive motor 313 drives the flexible conveying member 312 to rotate. It should be noted that steering shafts are arranged at both ends of the frame 311, the flexible conveying member 312 is arranged on the steering shaft, and the conveying drive motor 313 is connected to the steering shaft through a transmission member, so that the conveying drive motor 313 drives the flexible conveying member 312 to rotate. Exemplarily, the flexible conveying member 312 can be a conveyor belt or a conveyor chain. The conveying drive motor 313 can be a servo motor, and the servo motor can be connected to the steering shaft at the end of the frame 311 through a transmission chain.

[0153] For example, the grabbing assembly 320 is slidably disposed on the frame 311 through a guide rail, and the grabbing assembly 320 is connected to the flexible conveying member 312. The conveying drive motor 313 drives the flexible conveying member 312 to rotate, and the flexible conveying member 312 drives the grabbing assembly 320 to move along the length direction of the frame 311. It should be noted that the length direction of the frame 311 can refer to Fig. 22 The y direction is shown in FIG. 1 , and the width direction of the frame 311 can be referred to Fig. 22 The x direction is shown.

[0154] For example, Fig.23As shown, the grabbing assembly 320 includes a cargo grabbing portion 321 and a slide 322. The slide 322 can be slidably arranged on the frame 311 through a guide rail, and the slide 322 is connected to the flexible conveying member 312. The cargo grabbing portion 321 is arranged on the slide 322, and the flexible conveying member 312 drives the cargo grabbing portion 321 to move along the frame 311, and the cargo grabbing portion 321 is used to pull the cargo. Exemplarily, the cargo grabbing portion 321 can be set as a suction cup grabbing assembly 320, and can also be set as a robot 100 grabbing assembly 320.

[0155] Reference Fig.25 As shown, in some examples, the cargo grabbing portion 321 includes a bracket 3211 and an adsorption portion 3212, the bracket 3211 is arranged on the slide 322, the adsorption portion 3212 is arranged on the bracket 3211, and the adsorption portion 3212 is used to adsorb cargo. The bracket 3211 is L-shaped, the upper end of the bracket 3211 is at a certain distance from the slide 322, and the adsorption portion 3212 is arranged at the upper end of the bracket 3211. Exemplarily, the distance between the adsorption portion 3212 and the slide 322 can be 1 / 2 of the cargo height, so that the adsorption portion 3212 can be adsorbed near the center of the cargo, ensuring that the cargo moves stably during being pulled by the adsorption portion 3212. In other examples, the bracket 3211 can be arranged to be height-adjustable, and then can be adjusted to a suitable height according to cargo of different volumes, ensuring that the adsorption portion 3212 can be adsorbed near the center of the cargo.

[0156] like Fig.23 and Fig.24 As shown, in some other examples, the cargo grabbing part 321 includes a first linear driving part 3213, an articulated seat 3214, a connecting rod assembly 3215 and an adsorption part 3212. The articulated seat 3214 is arranged on the sliding seat 322, one end of the connecting rod assembly 3215 is hinged to the articulated seat 3214, and the other end is hinged to the adsorption part 3212, the first linear driving part 3213 is arranged on the sliding seat 322, the moving end of the first linear driving part 3213 is connected to the hinge point of the connecting rod assembly 3215, and the first linear driving part 3213 adjusts the position of the adsorption part 3212 through the connecting rod assembly 3215. Exemplarily, the connecting rod assembly 3215 can be configured as a four-link assembly 3215, one end of the four-link assembly 3215 is connected to the adsorption part 3212, and the other end is connected to the articulated seat 3214, and the action end of the first linear driving part 3213 is connected to another hinge point of the four-link assembly.

[0157] like Fig.24 As shown, when the action end of the first linear drive part 3213 is extended, the adsorption part 3212 moves downward under the action of the four-bar linkage assembly 3215, and when the action end of the first linear drive part 3213 is retracted, the adsorption part 3212 is raised under the action of the four-bar linkage assembly 3215, as shown in FIG. Fig.23 That is, the lifting and lowering of the adsorption part 3212 can be controlled by the extension and retraction of the action end of the first linear drive part 3213 to adapt to goods of different volumes. Fig.23 and Fig.24 As shown, illustratively, the adsorption part 3212 includes a fixed seat 3212a and a suction cup 3212b, the fixed seat 3212a is hinged with the connecting rod assembly 3215, the suction cup 3212b is arranged on the fixed seat 3212a, the suction cup 3212b is connected with an external vacuum assembly (this is the prior art, not shown in the figure), and the suction cup 3212b is used to adsorb the goods. In order to ensure that the goods can be moved stably, a plurality of suction cups 3212b can be arranged on the fixed seat 3212a, and the plurality of suction cups 3212b are evenly distributed on the fixed seat 3212a.

[0158] In addition, it should be noted that the first linear drive unit 3213 may be a cylinder, a hydraulic cylinder, an electric cylinder or other components, which is the prior art and will not be described in detail here.

[0159] In the second aspect, the embodiments of the present application also provide a loading and unloading method, which is applied to the loading and unloading robot as described in any one of the first aspects. When loading and unloading goods, first control the loading and unloading robot to move to the target position; then control the manipulator to grab the target goods according to the visual recognition results, and move the mobile conveying component to the goods grabbed by the manipulator; then, control the manipulator to place the grabbed goods on the mobile conveying component; finally, control the mobile conveying component to reset and transport and transfer the goods. 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.

[0160] 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: It comprises a robot (100), a mobile conveying component (200) and a cargo picking and placing component (300): The cargo picking and placing component (300) is arranged on the manipulator (100), and the manipulator (100) is arranged on the mobile conveying component (200); When the manipulator (100) takes or places goods via the goods taking or placing component (300), the mobile conveying component (200) moves in the direction of the target goods, and the mobile conveying component (200) receives the goods grabbed by the manipulator.

2. The loading and unloading robot according to claim 1, characterized in that: The cargo picking and placing assembly (300) comprises: A first conveying assembly (310); A grabbing assembly (320) is arranged on the first conveying assembly (310); the first conveying assembly (310) drives the grabbing assembly (320) to move; the grabbing assembly (320) is used to pull the goods onto the first conveying assembly (310); the first conveying assembly (310) and the grabbing assembly (320) jointly transfer the goods to a target location.

3. The loading and unloading robot according to claim 2, characterized in that: The first conveying component (310) is provided with one, the grabbing component (320) is provided with a plurality, and the plurality of grabbing components (320) act simultaneously or separately to pull the goods; Alternatively, a plurality of the first conveying components (310) are provided, and the plurality of the first conveying components (310) are sequentially arranged on the fixed frame (330) along the width direction of the fixed frame (330); a plurality of the grabbing components (320) are provided, and each of the grabbing components (320) is correspondingly arranged on a corresponding first conveying component (310); or, each of the grabbing components (320) is arranged between two adjacent first conveying components, and the first conveying component (310) drives the corresponding grabbing component (320) to approach or move away from the goods to be grabbed.

4. The loading and unloading robot according to any one of claims 2-3, characterized in that: The first conveying component (310) comprises a frame (311), a flexible conveying member (312) and a conveying drive motor (313); the conveying drive motor (313) is arranged on the frame (311); the flexible conveying member (312) is wound around the frame (311); the conveying drive motor (313) drives the flexible conveying member (312) to rotate; and the grabbing component (320) is connected to the flexible conveying member (312).

5. The loading and unloading robot according to claim 4, characterized in that: The cargo grabbing part (321) includes a first linear driving part (3213), an articulated seat (3214), a connecting rod assembly (3215) and an adsorption part (3212); the articulated seat (3214) is arranged on the sliding seat (322); one end of the connecting rod assembly (3215) is hinged to the articulated seat (3214), and the other end is hinged to the adsorption part (3212); the first linear driving part (3213) is arranged on the sliding seat (322); the moving end of the first linear driving part (3213) is connected to the hinge point of the connecting rod assembly (3215); the first linear driving part (3213) adjusts the position of the adsorption part (3212) through the connecting rod assembly (3215).

6. The loading and unloading robot according to claim 1, characterized in that: The mobile conveying assembly (200) includes: A first chassis (210) for being arranged on the ground; A first guiding assembly (220) arranged on the first chassis (210); A second conveying assembly (230) connected to the first chassis (210) through the first guiding assembly (220), and the second conveying assembly (230) is used for picking up goods and then performing transfer and conveyance; A first driving assembly (240) connected to the second conveying assembly (230), and the first driving assembly (240) drives the second conveying assembly (230) to move along the first guiding assembly (220) so that the second conveying assembly (230) approaches or moves away from the goods.

7. The loading and unloading robot according to claim 6, characterized in that: The second conveying assembly (230) includes a first conveying part (231), and the conveying direction of the first conveying part (231) is perpendicular to the traveling direction of the first chassis (210).

8. The loading and unloading robot according to claim 6, characterized in that: The second conveying assembly (230) further includes a third conveying part (233), and the conveying direction of the third conveying part (233) is along the traveling direction of the chassis.

9. The loading and unloading robot according to claim 6, characterized in that: The second conveying assembly (230) includes at least one first conveying part (231) and at least one third conveying part (233), and at least one second conveying part (232) is arranged between the first conveying part (231) and the third conveying part (233). The second conveying part (232) is a transfer conveying assembly, and the first conveying part (231), the second conveying part (232) and the third conveying part (233) are arranged in a "7" shape or a "T" shape or a "凵" shape.

10. The loading and unloading robot according to claim 6, characterized in that: The first driving assembly (240) is a circulating transmission mechanism or a linear driving mechanism. The circulating transmission mechanism is configured as a transmission chain assembly or a synchronous belt assembly, and the linear driving mechanism is configured as one of an electric cylinder, a cylinder, an oil cylinder or a lead screw assembly.

11. The loading and unloading robot according to claim 6, characterized in that: The mobile conveying assembly (200) further includes a first lifting assembly; The second conveying assembly (230) is connected to the first guiding assembly (220) through the first lifting assembly, and the first lifting assembly is used for driving the second conveying assembly (230) to lift.

12. The loading and unloading robot according to claim 1, characterized in that: The mobile conveying assembly (200) is configured as a split-type conveying assembly (400), and the split-type conveying assembly (400) includes: A second chassis (410) for being arranged on the ground; A third conveying assembly (420) arranged on the second chassis (410); The third conveying assembly (420) selectively moves in a direction close to or away from the side cargo stack to pick up the goods on the side clamped by the manipulator (100) and transfer the goods.

13. The loading and unloading robot according to claim 12, characterized in that: One group of the third conveying assemblies (420) is arranged, and one group of the third conveying assemblies (420) is arranged on the second chassis (410) through a second driving assembly, and the second driving assembly drives the third conveying assembly (420) to rise and move outwards; Alternatively, two sets of the third conveying assemblies (420) are provided, and the two sets of the third conveying assemblies (420) are arranged in parallel. Both sets of the third conveying assemblies (420) are disposed on the second chassis (410) through the second driving assembly; The second driving assembly drives the two sets of the third conveying assemblies (420) to rise simultaneously and move outward simultaneously; Alternatively, the second driving assembly drives the two sets of the third conveying assemblies (420) to descend simultaneously and move inward simultaneously.

14. The loading and unloading robot according to claim 13, characterized in that: The second driving assembly includes a second linear driving portion (450) and a parallelogram structure (440). The third conveying assembly (420) is disposed on the second chassis (410) through the parallelogram structure (440). Two ends of the second linear driving portion (450) are respectively hinged to the third conveying assembly (420) and the second chassis (410), and the second linear driving portion (450) is cross - arranged with at least one connecting rod of the parallelogram structure (440). The second linear driving portion (450) is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

15. The loading and unloading robot according to claim 13, characterized in that: The second driving assembly includes a second lifting assembly, an intermediate bracket and a translation assembly. The intermediate bracket is disposed on the second chassis (410) through the second lifting assembly. The third conveying assembly (420) is disposed on the intermediate bracket through the translation assembly. The second lifting assembly is a scissor - type structure, and the translation assembly is a linear driving component.

16. The loading and unloading robot according to claim 12, characterized in that: The separable conveying assembly (400) further includes at least one set of fourth conveying assemblies (430). The fourth conveying assemblies (430) are used to dock with the third conveying assemblies (420) to transfer the goods conveyed by the third conveying assemblies (420); The third conveying assemblies (420) and the fourth conveying assemblies (430) are arranged in a "7" shape or a "T" shape or a "凵" shape.

17. A loading and unloading method, characterized in that: Applied to the loading and unloading vehicle robot according to any one of claims 1 - 16, it includes the following steps: S1: Control the loading and unloading vehicle robot to move to the target position; S2: Control the manipulator to grab the target goods according to the visual recognition result, and the moving conveying assembly moves towards the goods grabbed by the manipulator; S3: Control the manipulator to place the grabbed goods on the moving conveying assembly; S4: Control the moving conveying assembly to reset and convey and transfer the goods.

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