Loading and unloading vehicle system based on telescopic belt conveyor

Abstract

The invention provides a loading and unloading vehicle system based on a telescopic belt conveyor. The loading and unloading vehicle system comprises a first robot, the telescopic belt conveyor, a flexible matching conveying line and a second robot. The first robot is used for placing materials to be loaded on the telescopic belt conveyor; the front end of the telescopic belt conveyor is connected with the second robot through the flexible matching conveying line; the telescopic belt conveyor is matched with the flexible matching conveying line and used for conveying materials into the operation range of the second robot. And the second robot is used for moving into a specified compartment body according to the received first control instruction and / or a second control instruction generated by a processor of the second robot, and moving and working in the compartment body according to the working progress. According to the telescopic belt conveyor, due to the fact that the movement speed of the telescopic belt conveyor is different from that of the second robot, the length difference generated when the telescopic belt conveyor is matched with the second robot is generated when the telescopic belt conveyor is stretched or shortened, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to intelligent manufacturing and high-end manufacturing, and specifically, to a loading and unloading vehicle system based on a telescopic belt conveyor. Background Art

[0002] With the widespread application of robot technology and the continuous development of manufacturing robots, existing robots have been able to adapt to various application scenarios. Especially in scenarios such as intelligent picking, logistics transportation, and warehouse management, palletizing and depalletizing robots are gradually being used to replace the high-intensity labor of workers.

[0003] Existing palletizing and depalletizing robots have complex structures and poor flexibility. Due to the limitations of the robot's own arm span length and the operating range of the robotic arm, their performance in material loading scenarios such as ports and large warehouse centers is not good, and it is difficult to adapt to the palletizing tasks of goods inside narrow spaces. Moreover, in complex operating environments, such as ramps and uneven ground, mobile robots cannot directly operate on materials. Summary of the Invention

[0004] Aiming at the defects in the prior art, the purpose of the present invention is to provide a loading and unloading vehicle system based on a telescopic belt conveyor.

[0005] The loading and unloading vehicle system based on a telescopic belt conveyor according to the present invention includes: a first robot, a telescopic belt conveyor, a flexible cooperative conveyor line, and a second robot;

[0006] The first robot is used to place the material to be loaded on the telescopic belt conveyor or place the material on the telescopic belt conveyor onto a pallet;

[0007] The front end of the telescopic belt conveyor is connected to the second robot through the flexible cooperative conveyor line;

[0008] The telescopic belt conveyor cooperates with the flexible cooperative conveyor line to transport the material to the operating range of the second robot or transport the material to the operating range of the first robot;

[0009] The second robot is used to move into a specified compartment according to a received first control instruction and / or a second control instruction generated by its own processor, and move and operate inside the compartment according to the operation progress.

[0010] Preferably, when the second robot moves away from the telescopic belt conveyor, the telescopic belt conveyor extends to cooperate with the away movement of the second robot;

[0011] When the second robot moves closer to the telescopic belt conveyor, the telescopic belt conveyor shortens to cooperate with the closer movement of the second robot.

[0012] Preferably, one end of the flexible mating conveyor line is hinged to the rear end of the second robot, and the other end is hinged to the end of the telescopic belt conveyor.

[0013] Preferably, a first sensor and a second sensor are provided on the flexible mating conveyor line;

[0014] The first sensor is used to detect the length change of the flexible mating conveyor line;

[0015] The second sensor is arranged at one end of the flexible mating conveyor line close to the telescopic belt conveyor and is used to detect the angle change of the flexible mating conveyor line.

[0016] Preferably, the telescopic belt conveyor includes: a first-stage telescopic mechanism, a second-stage telescopic mechanism, and a third-stage telescopic mechanism;

[0017] The second-stage telescopic mechanism is arranged inside the first-stage telescopic mechanism and can extend and retract along the first-stage telescopic mechanism; the third-stage telescopic mechanism is arranged inside the second-stage telescopic mechanism and can extend and retract along the second-stage telescopic mechanism.

[0018] Preferably, the telescopic belt conveyor further includes: a hydraulic cylinder;

[0019] The hydraulic cylinder is used to support the body of the telescopic belt conveyor and realize the adjustment of the pitching angle to adapt to operation scenarios of different heights.

[0020] Preferably, the electrical connection line of the second robot extends along the flexible mating conveyor line and the telescopic belt conveyor.

[0021] Preferably, a material sorting conveyor line is further included;

[0022] The second robot includes a moving base, and the material sorting conveyor line is arranged on the moving base;

[0023] The feeding port of the material sorting conveyor line is docked with the telescopic belt conveyor through the flexible mating conveyor line.

[0024] Preferably, the material sorting conveyor line includes:

[0025] A material sorting line main body, which is arranged on the moving base, is docked with the telescopic belt conveyor through the flexible mating conveyor line and is used for conveying the target box;

[0026] A side-guiding baffle, which is arranged on the material sorting line main body and is used to prevent the target box from slipping;

[0027] A push plate is arranged on the main body of the material sorting line and is oppositely arranged with the edge-returning baffle, and is used to push the target box body close to the edge-returning baffle.

[0028] A push plate driving mechanism is used to drive the push plate to move relative to the edge-returning baffle so as to push the target box body close to the edge-returning baffle.

[0029] Preferably, when the first sensor detects that the length of the flexible mating conveyor line becomes longer, the telescopic belt conveyor is controlled to extend; when the first sensor detects that the length of the flexible mating conveyor line becomes shorter, the telescopic belt conveyor is controlled to shorten;

[0030] When the second sensor detects that the flexible mating conveyor line is lifted upward, the telescopic belt conveyor is controlled to rise; when the second sensor detects that the flexible mating conveyor line droops, the telescopic belt conveyor is controlled to descend.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] In the present invention, the material to be loaded is placed on the telescopic belt conveyor by the first robot. The front end of the telescopic belt conveyor is connected to the second robot through the flexible mating conveyor line. The second robot moves into the specified compartment according to the received first control instruction and / or the second control instruction generated by its own processor, and moves and operates inside the compartment according to the operation progress, so as to realize automatic feeding of the material; the front end of the telescopic belt conveyor is connected to the second robot through the flexible mating conveyor line, which can conveniently adjust the length difference generated when the telescopic belt conveyor cooperates with the second robot due to different moving speeds of the telescopic belt conveyor and the second robot during extension or shortening, improves the operation efficiency, enhances the adaptability of the loading and unloading vehicle system to complex environments, enhances the stability of the loading and unloading vehicle system to movement errors, and the angles and height differences generated in situations such as ramps and height differences, allowing the robot to enter compartments of different specifications for loading and unloading operations;

[0033] In the present invention, the telescopic belt conveyor and the flexible mating conveyor line are adopted to replace only using a roller line to transfer materials between the first robot and the second robot, avoiding problems such as vibration generated during the operation of the roller line causing some materials to fall, too large a distance between adjacent rollers when stretched too long, and too small a compressible space. Brief Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0035] Figure 1 Schematic structural diagram of the loading and unloading vehicle system based on a telescopic belt conveyor in an embodiment of the present invention;

[0036] Figure 2 Schematic structural diagram of the second robot in an embodiment of the present invention;

[0037] Figure 3 Schematic structural diagram of the telescopic belt conveyor in an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of the height difference generated by the elongation of the telescopic belt conveyor in an embodiment of the present invention;

[0039] Figure 5 Schematic structural diagram of the first robot in an embodiment of the present invention;

[0040] Figure 6 Schematic structural diagram of the material sorting conveyor line in an embodiment of the present invention;

[0041] Figure 7 Schematic bottom view of the material sorting conveyor line in an embodiment of the present invention;

[0042] Figure 8 Schematic diagram of the working state of the material sorting conveyor line in an embodiment of the present invention; and

[0043] Figure 9 Schematic diagram of the working state of the loading and unloading vehicle system based on a telescopic belt conveyor in an embodiment of the present invention.

[0044] In the figure:

[0045] 1 is the first robot; 2 is the telescopic belt conveyor; 3 is the flexible mating conveyor line; 4 is the second robot; 5 is the cargo box; 101 is the first mobile base; 102 is the first robotic arm; 103 is the second fixture; 201 is the first-stage telescopic mechanism, 202 is the second-stage telescopic mechanism, 203 is the third-stage telescopic mechanism, 204 is the hydraulic cylinder; 205 is the conveyor belt, 206 is the material; 401 is the sorting conveyor line; 4011 is the main body of the sorting line; 4012 is the edge-aligning baffle; 4013 is the pushing plate; 4014 is the pushing plate drive mechanism; 4015 is the front baffle lifting mechanism; 40111 is the left mounting plate; 40112 is the right mounting plate; 40113 is the roller; 40141 is the first drive motor; 40142 is the lead screw; 40143 is the lead screw output block; 40144 is the cross beam; 40145 is the first synchronous pulley; 40146 is the second synchronous pulley; 40151 is the second drive motor; 40152 is the lifting arm; 40153 is the front baffle lifting plate; 40154 is the second guide rail; 40155 is the third guide rail; 40156 is the mounting base plate; 402 is the second mobile base. Detailed implementation mode

[0046] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those of ordinary skill in the art can make several deformations and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit connection.

[0048] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention.

[0049] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0050] Figure 1 FIG. is a schematic structural diagram of the loading and unloading vehicle system based on the telescopic belt conveyor in the embodiments of the present invention, as Figure 1 shown, the loading and unloading vehicle system based on the telescopic belt conveyor provided by the present invention includes: a first robot 1, a telescopic belt conveyor 2, a flexible cooperative conveyor line 3, and a second robot 4;

[0051] The first robot 1 is configured to place the material 206 to be loaded on the telescopic belt conveyor 2 or place the material on the telescopic belt conveyor 2 onto a pallet;

[0052] The front end of the telescopic belt conveyor 2 is connected to the second robot 4 through the flexible cooperative conveyor line 3;

[0053] The telescopic belt conveyor 2 cooperates with the flexible cooperative conveyor line 3 to convey the material 206 to the working range of the second robot 4 or convey the material to the working range of the first robot 1;

[0054] The second robot 4 is configured to move into the specified compartment according to the received first control instruction and / or the second control instruction generated by its own processor, and move and work inside the compartment according to the operation progress.

[0055] When the second robot 4 moves away from the telescopic belt conveyor 2, the telescopic belt conveyor 2 extends to cooperate with the away movement of the second robot;

[0056] When the second robot 4 moves closer to the telescopic belt conveyor 2, the telescopic belt conveyor 2 shortens to cooperate with the closer movement of the second robot 4.

[0057] In the embodiments of the present invention, one end of the flexible cooperative conveyor line 3 is hinged to the rear end of the second robot 4, and the other end is hinged to the end of the telescopic belt conveyor 2.

[0058] In the embodiments of the present invention, the flexible cooperative conveyor line 3 is used for flexible adjustment when the telescopic belt conveyor 2 extends and shortens;

[0059] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 extends too long so that the flexible mating conveyor line 3 is compressed and lifted, control the telescopic belt conveyor 2 to drop so that the flexible mating conveyor line 3 lands on the ground;

[0060] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 extends too short so that the flexible mating conveyor line 3 is pressed down, control the telescopic belt conveyor 2 to rise.

[0061] A first sensor and a second sensor are provided on the flexible mating conveyor line 3;

[0062] The first sensor is used to detect the length change of the flexible mating conveyor line 3;

[0063] The second sensor is arranged at one end of the flexible mating conveyor line 3 close to the telescopic belt conveyor 2 and is used to detect the angle change of the flexible mating conveyor line 3.

[0064] When the first sensor detects that the length of the flexible mating conveyor line 3 becomes longer, control the telescopic belt conveyor 2 to extend; when the first sensor detects that the length of the flexible mating conveyor line 3 becomes shorter, control the telescopic belt conveyor 2 to shorten;

[0065] When the second sensor detects that the flexible mating conveyor line 3 is lifted upward, control the telescopic belt conveyor 2 to rise; when the second sensor detects that the flexible mating conveyor line 3 sags, control the telescopic belt conveyor 2 to drop.

[0066] In the embodiment of the present invention, the first sensor adopts a pull rope sensor. The main body of the pull rope sensor is arranged at one end of the flexible mating conveyor line 3 close to the telescopic belt conveyor 2, and the end of the steel wire rope of the pull rope sensor is connected to one end of the flexible mating conveyor line 3 close to the telescopic belt conveyor 2; therefore, when the flexible mating conveyor line 3 is stretched, the steel wire rope is also pulled, so that the pull rope sensor can detect the length change of the flexible mating conveyor line 3;

[0067] The second sensor adopts an angle sensor. When the flexible mating conveyor line 3 is lifted upward or sags, the second sensor can detect the corresponding angle change, so as to control the telescopic belt conveyor 2 to rise or drop; the flexible mating conveyor line 3 adopts a telescopic roller line.

[0068] Figure 3 It is a schematic structural diagram of the telescopic belt conveyor in the embodiment of the present invention, as Figure 3 shown, the telescopic belt conveyor 2 includes: a first-stage telescopic mechanism 201, a second-stage telescopic mechanism 202, and a third-stage telescopic mechanism 203;

[0069] The second-level telescopic mechanism 202 is arranged inside the first-level telescopic mechanism 201 and can extend and retract along the first-level telescopic mechanism 201; the third-level telescopic mechanism 203 is arranged inside the second-level telescopic mechanism 202 and can extend and retract along the second-level telescopic mechanism 202;

[0070] The upper surfaces of the first-level telescopic mechanism 201, the second-level telescopic mechanism 202, and the third-level telescopic mechanism 203 are flush and share the same conveyor belt 205.

[0071] In the embodiment of the present invention, the telescopic belt conveyor 2 can also be set as a five-level telescopic mechanism.

[0072] In the embodiment of the present invention, the telescopic belt conveyor 2 further includes: a hydraulic cylinder 204, which is used to support the body of the telescopic belt conveyor 2 and realize the adjustment of the pitching angle to adapt to working scenarios of different heights;

[0073] In an embodiment of the present invention, rollers are arranged under the chassis of the telescopic belt conveyor 2. The rollers can be set to be connected to a servo motor to realize the autonomous movement of the telescopic belt conveyor 2, or only the rollers can be arranged to realize the pushing of the telescopic belt conveyor 2;

[0074] On one side of the telescopic belt conveyor 2 close to the second robot 4, during operation, according to the received first control instruction and / or the second control instruction generated by its own processor, it extends a preset length into the operation space or retracts a preset length.

[0075] Exemplarily, on one side of the telescopic belt conveyor 2 close to the second robot 4, during operation, according to the received first control instruction and / or the second control instruction generated by its own processor, it extends a preset length into the operation space or retracts a preset length.

[0076] In this embodiment, the telescopic belt conveyor 2 can realize automatic telescoping, so as to adapt to different operation scenario requirements. Taking a container as an example, during initial loading, the telescopic belt conveyor 2 can extend to a deeper position inside the container. As the loading task is executed, the telescopic belt conveyor 2 slowly retracts out of the container according to the need, so that the second robot 4 operating inside the container can load the material 206 more efficiently. Correspondingly, in the unloading scenario, it is just the opposite, and the telescopic belt conveyor 2 slowly extends into the container according to the execution of the unloading task.

[0077] In the embodiment of the present invention, the electrical connection line of the second robot 4 extends along the flexible cooperative conveyor line 3 and the telescopic belt conveyor 2.

[0078] Figure 4 Schematic diagram of the height difference generated by the elongation of the telescopic belt conveyor in the embodiment of the present invention. As Figure 4 shown, when the telescopic belt conveyor 2 elongates, due to the change in angle during the elongation of the belt conveyor, there is a height difference between the target position at the end of the telescopic belt conveyor 2 and the original position at the end. At this time, if the telescopic belt conveyor 2 is directly docked with the conveyor 403, it will be impossible to transport the target box onto the conveyor 403, and it is necessary to accurately and repeatedly adjust the end height and the elongation length of the telescopic belt conveyor 2 multiple times to achieve the precise docking of the end of the telescopic belt conveyor 2 with the conveyor 403;

[0079] When the telescopic belt conveyor 2 is docked with the conveyor 403 through the flexible cooperation conveyor line 3, at this time, only the flexible cooperation conveyor line 3 can relieve the problem of inability to transport the target box caused by the height difference through deformation. In addition, the deformation of the flexible cooperation conveyor line 3 can also give a visual reference for adjusting the end height of the telescopic belt conveyor 2, thereby facilitating the adjustment of the end of the telescopic belt conveyor 2.

[0080] Figure 2 Schematic diagram of the structure of the second robot in the embodiment of the present invention. As Figure 2 shown, the loading and unloading vehicle system based on the telescopic belt conveyor provided by the present invention further includes a material sorting conveyor line 401;

[0081] The second robot includes a second mobile base 402, and the material sorting conveyor line 401 is arranged on the second mobile base 402;

[0082] The feeding port of the material sorting conveyor line 401 is docked with the telescopic belt conveyor 2 through the flexible cooperation conveyor line 3.

[0083] A second robotic arm is arranged at the front end of the second mobile base 402, and is used to move the target box conveyed by the material sorting conveyor line 401 to a target position, or to move the target box on the discharging position onto the material sorting conveyor line 401;

[0084] Figure 5 Schematic diagram of the structure of the first robot in the embodiment of the present invention. As Figure 5 shown, in the embodiment of the present invention, the first robot 1 includes:

[0085] A first mobile base 101, which can move to any position or pause at any position according to the received control instruction and determine the orientation angle;

[0086] A first robotic arm 102 is arranged on the first mobile base 101 and is used to move the target box on the tray onto the telescopic belt conveyor 2.

[0087] In a modified example of the present invention, the first robot 1 may adopt a fixed-position robot.

[0088] Figure 6 It is a schematic structural diagram of the sorting conveyor line in an embodiment of the present invention. As Figure 6 shown, the sorting conveyor line 401 includes:

[0089] A sorting line main body 401, which is arranged on the moving base and is docked with the telescopic belt conveyor through the flexible mating conveyor line for conveying the target box body;

[0090] A side-edge baffle 4012, which is arranged on the sorting line main body 401 to prevent the target box body from slipping;

[0091] A push plate 4013, which is arranged on the sorting line main body 401 and is arranged opposite to the side-edge baffle 4012 for pushing the target box body close to the side-edge baffle 4012;

[0092] A push plate driving mechanism 4014 for driving the push plate 4013 to move relative to the side-edge baffle 4012 to push the target box body close to the side-edge baffle 4012;

[0093] A front baffle lifting mechanism 4015, which is arranged at the discharge port of the sorting line main body 401; the front baffle lifting mechanism 4015 is used to block the target box body from passing through the discharge port of the sorting line main body 401 when lifted, and allow the target box body to pass through the discharge port of the sorting line main body 401 when retracted;

[0094] A baffle driving mechanism for driving the side-edge baffle 4012 to move relative to the push plate 4013, thereby accelerating the relative movement between the push plate 4013 and the side-edge baffle 4012.

[0095] In an embodiment of the present invention, the push plate 4013 and the side-edge baffle 4012 are arranged relatively parallel.

[0096] Figure 7 It is a schematic bottom view structure diagram of the sorting conveyor line in an embodiment of the present invention. As Figure 7 shown, the push plate driving mechanism 4014 includes a lead screw 40142, a lead screw nut, a lead screw output block 40143 and a first driving motor 40141;

[0097] The first driving motor 40141 is used to drive the lead screw 40142 to rotate;

[0098] The lead screw nut is arranged on the lead screw 40142 and can move along the lead screw 40142 as the lead screw 40142 rotates;

[0099] The lead screw output block 40143 is arranged on the lead screw nut and moves driven by the lead screw nut; the push plate 4013 is connected to the lead screw output block 40143.

[0100] The baffle driving mechanism includes a baffle lead screw, a baffle lead screw nut, a baffle lead screw output block and a baffle driving motor;

[0101] The baffle driving motor is used to drive the baffle lead screw to rotate;

[0102] The baffle lead screw nut is arranged on the baffle lead screw and can move along the lead screw as the baffle lead screw rotates;

[0103] The baffle lead screw output block is arranged on the baffle lead screw nut and moves driven by the baffle lead screw nut; the edge-returning baffle is connected to the baffle lead screw output block.

[0104] One end of the lead screw is fixed to the left mounting plate 40111 through the bearing lead screw support fixed side assembly, and the other end is supported on the right mounting plate through the bearing lead screw support support assembly.

[0105] In the embodiment of the present invention, a plurality of push plate support rods arranged in sequence are provided on the lead screw output block 40143;

[0106] The material handling line main body 401 includes a plurality of rollers 40113 arranged in sequence;

[0107] Each push plate support rod is arranged between two adjacent rollers 40113 and can move along the length extension direction of the roller 40113;

[0108] The push plate 4013 is arranged on the push plate support rod.

[0109] The plurality of push plate support rods are parallel to each other.

[0110] The first driving motor 40141 is arranged on the left mounting plate 40111 or the right mounting plate 40112 through a synchronous pulley tensioning plate;

[0111] A first synchronous pulley 40145 is arranged on the output shaft of the first driving motor 40141; a second synchronous pulley 40146 is arranged at the end of the lead screw 40142;

[0112] The first synchronous pulley 40145 and the second synchronous pulley 40146 are connected by a synchronous belt.

[0113] The front baffle lifting mechanism 4015 includes: a second drive motor 40151, a speed reducer, a lifting arm 40152, a mounting base plate 40156, and a front baffle lifting plate 40153;

[0114] The mounting base plate 40156 is arranged at the discharge port of the sorting line main body 401;

[0115] The speed reducer is arranged on the mounting base plate 40156, and the second drive motor 40151 drives the lifting arm 40152 through the speed reducer;

[0116] One end of the lifting arm 40152 is connected to the output shaft of the speed reducer, and the other end is connected to the front baffle lifting plate 40153;

[0117] The second drive motor 40151 is used to drive the front baffle lifting plate 40153 to rise to block the target box body from passing through the discharge port of the sorting line main body 401, and to drive the front baffle lifting plate 40153 to retract to allow the target box body to pass through the discharge port of the sorting line main body 401.

[0118] Both ends of the mounting base plate 40156 are fixed to the front ends of the left mounting plate 40111 and the right mounting plate 40112, and are perpendicularly connected to the left mounting plate 40111 and the right mounting plate 40112.

[0119] In the embodiment of the present invention, a second guide rail 40154 and a third guide rail 40155 are arranged on the mounting base plate 40156;

[0120] The front baffle lifting plate 40153 is connected to the second guide rail 40154 through a second slider and to the third guide rail 40155 through a third slider;

[0121] The front baffle lifting plate 40153 can slide along the height direction of the mounting base plate 40156 through the second guide rail 40154 and the third guide rail 40155.

[0122] In the embodiment of the present invention, the sorting line main body 401 includes a left mounting plate 40111, a right mounting plate 40112, a roller 40113, and a roller drive mechanism;

[0123] The left mounting plate 40111 and the right mounting plate 40112 are arranged opposite to each other;

[0124] A plurality of the rollers 40113 are sequentially arranged on the left mounting plate 40111 and the right mounting plate 40112, and are rotatably connected to the left mounting plate 40111 and the right mounting plate 40112;

[0125] The roller driving mechanism is used to drive the rotation of the roller 40113 to drive the movement of the target box body.

[0126] In an embodiment of the present invention, the sorting and conveying line provided by the present invention further includes a first guide rail and a cross beam 40144;

[0127] One end of the cross beam 40144 is arranged on the left mounting plate 40111, and the other end is arranged on the right mounting plate; the first guide rail is arranged on the cross beam 40144;

[0128] One end of the lead screw 40142 is arranged on the left mounting plate 40111 through the lead screw support fixed side assembly, and the other end is arranged on the right mounting plate through the lead screw support component;

[0129] The lead screw output block 40143 is connected to the first guide rail through a first slider and can slide along the first guide rail. The baffle lead screw output block is connected to the first guide rail through a baffle slider and can slide along the first guide rail.

[0130] Figure 9 It is a schematic diagram of the working state of the loading and unloading vehicle system based on the telescopic belt conveyor in an embodiment of the present invention. As Figure 9 shown, when the loading and unloading vehicle system based on the telescopic belt conveyor provided by the present invention is working, it includes the following steps:

[0131] Step S1: After the second robot arrives inside the specified working space, adjust the length of the telescopic belt conveyor 2, and then adjust the end height of the telescopic belt conveyor 2 to relieve the deformation of the flexible mating conveyor line.

[0132] In an embodiment of the present invention, the telescopic belt conveyor 2 is used to achieve the transfer relay between the first robot and the second robot, that is, it is adapted to the working ranges of the first robot and the second robot in the height direction and the length direction.

[0133] Step S2: Determine the working parameters of the first robot and the second robot.

[0134] The working parameters in this embodiment include: the interval step of the grasping or placing task, the movement parameters of the robotic arm, the stack type information, etc.

[0135] Step S3: Execute the grasping or placing task of the material according to the working parameters.

[0136] In the embodiments of the present invention, a first robot places the material to be loaded on the telescopic belt conveyor 2, so that the telescopic belt conveyor 2 and the flexible cooperative conveyor line send the material to the working range of the second robot; when the second robot performs the loading operation, it determines the position of the working space according to its own vision positioning system and moves into the specified working space, which includes: container, carriage, flatbed truck, cargo warehouse, cabin, engine room. Thus, the limitation of the robot's own arm reach length and the working range of the robotic arm can be broken through, the unpacking and palletizing of goods in a narrow space can be solved, manual labor can be replaced, full automation can be achieved, and the loading efficiency can be effectively improved.

[0137] In the embodiments of the present invention, a first robot places the material to be loaded on the telescopic belt conveyor; the front end of the telescopic belt conveyor is connected to the second robot through the flexible cooperative conveyor line. The second robot moves into the specified compartment according to the received first control instruction and / or the second control instruction generated by its own processor, and moves and operates inside the compartment according to the operation progress, thereby realizing automatic feeding of the material; the front end of the telescopic belt conveyor is connected to the second robot through the flexible cooperative conveyor line, which can conveniently adjust the length difference and height difference generated when the telescopic belt conveyor extends or shortens and cooperates with the second robot, reduces the debugging time of the loading and unloading vehicle system, and improves the operation efficiency.

[0138] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0139] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A loading and unloading vehicle system based on a telescopic belt conveyor, characterized in that, Including: A first robot, a telescopic belt conveyor, a flexible cooperative conveyor line, and a second robot; The first robot is used to place the material to be loaded on the telescopic belt conveyor or place the material on the telescopic belt conveyor onto a tray; The front end of the telescopic belt conveyor is connected to the second robot through the flexible cooperative conveyor line; The telescopic belt conveyor cooperates with the flexible cooperative conveyor line to convey the material to the working range of the second robot or convey the material to the working range of the first robot; The second robot is used to move into the specified compartment according to the received first control instruction and / or the second control instruction generated by its own processor, and move and work inside the compartment according to the operation progress.

2. The loading and unloading vehicle system based on a telescopic belt conveyor according to claim 1, wherein When the second robot moves away from the telescopic belt conveyor, the telescopic belt conveyor extends to cooperate with the away movement of the second robot; When the second robot moves towards the telescopic belt conveyor, the telescopic belt conveyor shortens to cooperate with the approaching movement of the second robot.

3. The truck loading and unloading system based on a telescopic belt conveyor according to claim 1, wherein One end of the flexible cooperative conveyor line is hinged to the rear end of the second robot, and the other end is hinged to the end of the telescopic belt conveyor.

4. The loading and unloading vehicle system based on a telescopic belt conveyor according to claim 2, wherein, A first sensor and a second sensor are arranged on the flexible cooperative conveyor line; The first sensor is used to detect the length change of the flexible cooperative conveyor line; The second sensor is arranged at one end of the flexible cooperative conveyor line close to the telescopic belt conveyor and is used to detect the angle change of the flexible cooperative conveyor line.

5. The loading and unloading vehicle system based on a telescopic belt conveyor according to claim 1, wherein The telescopic belt conveyor includes: a first-stage telescopic mechanism, a second-stage telescopic mechanism, and a third-stage telescopic mechanism; The second-stage telescopic mechanism is arranged inside the first-stage telescopic mechanism and can extend and retract along the first-stage telescopic mechanism; The third-stage telescopic mechanism is arranged inside the second-stage telescopic mechanism and can extend and retract along the second-stage telescopic mechanism.

6. The loading and unloading vehicle system based on a telescopic belt conveyor according to claim 1, wherein The telescopic belt conveyor further includes: a hydraulic cylinder; The hydraulic cylinder is used to support the body of the telescopic belt conveyor and realize the adjustment of the pitching angle to adapt to working scenarios of different heights.

7. The loading and unloading vehicle system based on the telescopic belt conveyor according to claim 5, wherein The electrical connection line of the second robot extends along the flexible cooperative conveyor line and the telescopic belt conveyor.

8. The truck loading and unloading system based on a telescopic belt conveyor according to claim 1, wherein It further includes a sorting conveyor line; The second robot includes a moving base, and the sorting conveyor line is arranged on the moving base; The feeding port of the sorting conveyor line is docked with the telescopic belt conveyor through the flexible cooperative conveyor line.

9. The loading and unloading vehicle system based on the telescopic belt conveyor according to claim 8, wherein The sorting conveyor line includes: A sorting line main body, which is arranged on the moving base and is docked with the telescopic belt conveyor through the flexible cooperative conveyor line for conveying the target box; A side-aligning baffle, which is arranged on the sorting line main body and is used to prevent the target box from slipping; A pushing plate, which is arranged on the sorting line main body and is arranged opposite to the side-aligning baffle, and is used to push the target box towards the side-aligning baffle; A pushing plate driving mechanism, which is used to drive the pushing plate to move relative to the side-aligning baffle to push the target box towards the side-aligning baffle.

10. The loading and unloading vehicle system based on a telescopic belt conveyor according to claim 4, wherein When the first sensor detects that the length of the flexible mating conveyor line becomes longer, control the telescopic belt conveyor to extend; when the first sensor detects that the length of the flexible mating conveyor line becomes shorter, control the telescopic belt conveyor to retract; When the second sensor detects that the flexible mating conveyor line is lifted upward, control the telescopic belt conveyor to rise; when the second sensor detects that the flexible mating conveyor line droops, control the telescopic belt conveyor to lower.

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