Loading and unloading system, method and equipment based on separated robot and storage medium

Abstract

The invention provides a loading and unloading system, method and equipment based on a separated robot and a storage medium, and the system comprises a loading and unloading robot; the drag chain conveying line is connected with the loading and unloading robot; the mechanical arm fixing stations are arranged around the second end of the drag chain conveying line; a plurality of temporary storage bases; the bottoms of the mechanical arms are connected with a bottom plate, the bottom plate is detachably connected with the mechanical arm fixing stations, and the mechanical arms carry loading and unloading objects between the temporary storage base and the second end of the drag chain conveying line; and each AGV chassis can be independently driven into the bottom of the temporary storage base to carry loading and unloading objects, or the AGV chassis can be driven into the bottom of the mechanical arm fixing station to carry the separated mechanical arm, and an AGV trolley with the mechanical arm is formed. Automatic storage, automatic loading and unloading and scenes of the mobile robot can be combined, and complete unmanned operation of unloading, warehousing, storage and ex-warehouse is achieved through the separable mechanical arm and the mobile chassis.

Description

Technical Field

[0001] The present invention relates to the field of container warehousing, and in particular to a loading and unloading system, method, equipment and storage medium based on a separate robot. Background Art

[0002] In logistics warehouse operations, many logistics units use pallets. During the unloading, warehousing, storage, and outbound processes, traditional manual labor is labor-intensive, and the cost of using unmanned forklifts is relatively high. In addition, it is impossible to unload goods from containers that are not transported with pallets (many goods are not transported with pallets).

[0003] Moreover, traditional automated flexible mobile robots and robotic arms occupy a large area and cannot be fully unmanned.

[0004] Therefore, the present invention provides a loading and unloading system, method, device and storage medium based on a separate robot. Summary of the Invention

[0005] In response to the problems in the prior art, the purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium based on a detachable robot, which overcomes the difficulties of the prior art and can combine the automated storage of mobile robots with the automated loading and unloading scenarios, and utilize a detachable robotic arm and a mobile chassis to achieve completely unmanned operations of unloading, warehousing, storage and outbound delivery.

[0006] An embodiment of the present invention provides a loading and unloading device based on a separate robot, comprising:

[0007] One loading and unloading robot corresponds to one loading and unloading parking space;

[0008] a drag chain conveyor line, a first end of which is connected to the loading and unloading robot, receives the loading and unloading objects of the loading and unloading robot and conveys the loading and unloading objects;

[0009] A plurality of fixed robot arm stations are arranged around the second end of the drag chain conveyor line;

[0010] A plurality of temporary storage bases are arranged around the fixed position of the robot arm to temporarily store the loaded and unloaded objects;

[0011] A plurality of robotic arms, each having a bottom connected to a base plate, the base plate being detachably connected to a fixed station of the robotic arm, and the robotic arm transporting the loading and unloading objects between the temporary storage base and the second end of the drag chain conveyor line; and

[0012] Several AGV chassis, each of which can independently drive into the bottom of the temporary storage base to transport the loading and unloading objects, or drive into the bottom of the robotic arm fixed station to transport the separated robotic arm and form an AGV cart with a robotic arm.

[0013] Preferably, a plurality of first screw seats are provided at the bottom of the robotic arm;

[0014] The bottom plate is provided with a plurality of second screw-connecting seats and a plurality of limiting holes, and the first screw-connecting seats are screw-connected with the second screw-connecting seats.

[0015] Preferably, a channel for the AGV chassis to pass through is provided at the bottom of the robot arm fixing station, and the robot arm fixing station includes a plurality of limit rods and a power supply and air source assembly for supplying power and air to the robot arm, the limit rod is a frustum, and the limit hole is a frustum hole. The limit hole of the bottom plate is engaged with the limit rod to fix the robot arm to the robot arm fixing station, the inner periphery of the frustum hole contacts the outer periphery of the limit rod, and the robot arm is connected to the power supply and air source assembly through a connecting pipeline.

[0016] Preferably, the AGV chassis includes a lifting top plate, a docking hole located in the center of the lifting top plate and a built-in power supply and gas source. When the AGV chassis drives into the bottom of the fixed position of the robotic arm, the lifting top plate is lifted to lift the bottom plate beyond the height of the limit rod, and then drives out of the fixed position of the robotic arm. After the lifting top plate is lowered, the built-in power supply and gas source are mechanically connected, electrically connected and gas-connected with the robotic arm through the docking hole to form an AGV cart with a robotic arm. Each of the loading and unloading robots consists of an AGV chassis and a robotic arm. When loading and unloading, the loading and unloading robot drives into the container.

[0017] Preferably, when the AGV trolley with a robotic arm is about to enter the robotic arm fixing position, the lifting top plate is lifted so that the bottom plate is higher than the height of the limit rod. After entering the robotic arm fixing position, the lifting top plate is lowered so that the limit hole of the bottom plate is socketed with the limit rod to fix the robotic arm in the robotic arm fixing position and then drive out of the robotic arm fixing position to restore to the AGV chassis.

[0018] Preferably, a passage for the AGV chassis to pass through is provided at the bottom of the temporary storage base, and a pallet for stacking loading and unloading objects is placed on the temporary storage base. The lifting top plate is lifted to lift the pallet and then drive it out of the temporary storage base. After the lifting top plate is lowered, an AGV trolley for carrying the pallet is formed to transport the pallet to the shelf area. The size of the pallet is the same as that of the bottom plate.

[0019] Preferably, it also includes multiple types of robotic arms, each type of robotic arm has a different maximum load, and the corresponding robotic arm type and the quantity of each type are matched according to the number of containers in the container truck to be unloaded and the weight information of each container, and the idle AGV cart with the corresponding robotic arm type is matched to transport the robotic arm to the corresponding robotic arm fixed position.

[0020] An embodiment of the present invention further provides a method for loading and unloading cargo based on a separate robot, using the above-mentioned loading and unloading device based on a separate robot, comprising the following steps:

[0021] S110, obtaining the number of containers in the container truck to be unloaded and the weight information of each container;

[0022] S120, matching corresponding robotic arm types and the quantity of each type according to the number and weight information of the containers to generate parking space robotic arm requirement information;

[0023] S130: Traverse the types and quantities of existing machines corresponding to each loading and unloading parking space, obtain an available loading and unloading parking space with the highest similarity to the parking space robot arm's request information, and direct the container truck to the loading and unloading parking space;

[0024] S140: Use the AGV chassis to move the robot arm that does not meet the parking space robot arm requirement information, and drive the idle AGV with the robot arm that does not meet the parking space robot arm requirement into the robot arm fixed position corresponding to the loading and unloading parking space, and install the robot arm at the robot arm fixed position;

[0025] S150: After the container truck stops, the loading and unloading robot drives into the container and moves the container to the first end of the drag chain conveyor line. The robot transmits the weight and sequence number of each container to the backend server. Containers that require different load carrying manipulators are spaced apart in the drag chain conveyor line.

[0026] S160. Different types of robotic arms, at the second end of the drag chain conveyor line, respectively transport corresponding containers to pallets in the surrounding temporary storage bases;

[0027] S170. Several AGV chassis enter the temporary storage base and move the pallets loaded with containers to the shelf area.

[0028] An embodiment of the present invention further provides a loading and unloading device based on a separate robot, comprising:

[0029] processor;

[0030] a memory storing executable instructions for the processor;

[0031] Wherein, the processor is configured to perform the steps of the above-mentioned loading and unloading method based on a separate robot by executing the executable instructions.

[0032] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the above-mentioned method of loading and unloading cargo based on a separate robot.

[0033] The purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium based on a detachable robot, which can combine the automated storage of mobile robots with the automated loading and unloading scenarios, and use a detachable robotic arm and a mobile chassis to achieve completely unmanned operations of unloading, warehousing, storage and outbound delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0035] Figure 1 It is a top view of a loading and unloading device based on a separate robot according to the present invention.

[0036] Figure 2 It is a three-dimensional diagram of the combination of the robot arm and the base plate in the loading and unloading device based on the separate robot of the present invention.

[0037] Figure 3 It is a three-dimensional diagram of a robotic arm in a loading and unloading device based on a separate robot according to the present invention.

[0038] Figure 4 It is a three-dimensional view of the bottom plate in the loading and unloading device based on the separate robot of the present invention.

[0039] Figure 5 It is a schematic diagram of the AGV chassis entering the fixed position of the robotic arm in the loading and unloading device based on the separate robot of the present invention.

[0040] Figure 6 It is a schematic diagram of the AGV chassis entering the temporary storage base in the loading and unloading device based on the separate robot of the present invention.

[0041] Figure 7 It is a schematic diagram of a pallet carrying a container in a loading and unloading device based on a separate robot of the present invention.

[0042] Figure 8 It is a flow chart of the loading and unloading method based on the separate robot of the present invention.

[0043] Figure 9 It is a structural schematic diagram of the loading and unloading equipment based on the separate robot of the present invention.

[0044] Figure 10 It is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

[0045] Reference numerals

[0046] 10 sets of cards

[0047] 11 Container

[0048] 12 containers

[0049] 21 Loading and unloading robots

[0050] 22 drag chain conveyor line

[0051] 23 AGV chassis

[0052] 231 Lifting the top plate

[0053] 232 docking hole

[0054] 24 robotic arm fixed stations

[0055] 241 Limit rod

[0056] 242 Power supply and gas source components

[0057] 25 Robotic Arm

[0058] 251 first screw seat

[0059] 26 bottom plate

[0060] 261 Second screw seat

[0061] 262 limit hole

[0062] 27 pallets

[0063] 28 Temporary storage base

[0064] 3 Shelf Area

[0065] 31 Preset Routes DETAILED DESCRIPTION

[0066] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through different specific embodiments. The details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0067] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0068] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this application, as well as features of different embodiments or examples, unless otherwise contradictory.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of this application, "plurality" means two or more, unless otherwise specifically defined.

[0070] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0071] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[0072] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly on" another device, there are no other devices between it.

[0073] Although the terms first, second, etc. are used in some instances herein to represent various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are represented. Furthermore, as used in this article, the singular forms "one," "an," and "the" are intended to also include the plural forms, unless there is a contrary indication in the context. It should be further understood that the terms "comprise," "include," and "include" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition only occur when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0074] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0075] Although not defined differently, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current teachings, and unless otherwise defined, they should not be overly interpreted as ideal or highly formalized meanings.

[0076] Figure 1 It is a top view of a loading and unloading device based on a separate robot according to the present invention. Figure 2 It is a three-dimensional diagram of the combination of the robot arm and the base plate in the loading and unloading device based on the separate robot of the present invention. Figure 3 It is a three-dimensional diagram of a robotic arm in a loading and unloading device based on a separate robot according to the present invention. Figure 4 It is a three-dimensional view of the bottom plate in the loading and unloading device based on the separate robot of the present invention. Figure 5 It is a schematic diagram of the AGV chassis entering the fixed position of the robotic arm in the loading and unloading device based on the separate robot of the present invention. Figure 6 It is a schematic diagram of the AGV chassis entering the temporary storage base in the loading and unloading device based on the separate robot of the present invention. Figure 7 Schematic diagram of a pallet carrying container in a loading and unloading device based on a separate robot of the present invention. Figures 1 to 7 As shown, the loading and unloading device based on a detachable robot of the present invention includes: a loading and unloading robot 21, a drag chain conveyor line 22, a plurality of robot arm fixed stations 24, a plurality of temporary storage bases 28, a plurality of robot arms 25, and a plurality of AGV chassis 23. Among them, the loading and unloading robot 21 corresponds to a loading and unloading parking space. The first end of the drag chain conveyor line 22 is connected to the loading and unloading robot 21, receives the loading and unloading objects of the loading and unloading robot 21, and transmits the loaded and unloaded objects. A plurality of robot arm fixed stations 24 are arranged around the second end of the drag chain conveyor line 22. A plurality of temporary storage bases 28 are arranged around the robot arm fixed stations 24 to temporarily store the loaded and unloaded objects. The bottoms of the plurality of robot arms 25 are connected to a base plate 26, and the base plate 26 is detachably connected to the robot arm fixed stations 24. The robot arms 25 transport the loaded and unloaded objects between the temporary storage base 28 and the second end of the drag chain conveyor line 22. Each AGV chassis 23 can independently drive into the bottom of the temporary storage base 28 to transport the loaded and unloaded objects, or drive into the bottom of the robot arm fixed station 24 to transport the separated robot arm 25 and form an AGV cart with a robot arm. (AGV is Automated Guided Vehicle, abbreviated as AGV, and the main function of the AGV cart is concentrated on automatic logistics transportation) The present invention can be unmanned from unloading to shipping after the truck is in place. When the robot arm 25 is dismantling the pallet, the AGV chassis 23 can transport the pallet, thereby greatly improving the operating rate of each equipment and avoiding the idle time of the equipment. The present invention can realize the combination and separation of multiple robot arms and mobile chassis, fully utilize the efficiency of mobile robots and robot arms, improve the overall equipment utilization rate, and save customers' investment costs during actual use.

[0077] In a preferred embodiment, the bottom of the robot arm 25 is provided with a plurality of first screw seats 251. The bottom plate 26 is provided with a plurality of second screw seats 261 and a plurality of limiting holes 262. The first screw seats 251 and the second screw seats 261 are screwed together, but the present invention is not limited thereto.

[0078] In a preferred embodiment, a channel for the AGV chassis 23 to pass through is provided at the bottom of the robot arm fixing station 24. The robot arm fixing station 24 includes a plurality of limit rods 241 and a power supply and gas source assembly 242 for supplying power and gas to the robot arm 25. The limit rod 241 is a cone, and the limit hole 262 is a cone hole. The limit hole 262 of the base plate 26 is engaged with the limit rod 241 to fix the robot arm 25 to the robot arm fixing station 24. The inner periphery of the cone hole contacts the outer periphery of the limit rod 241. The robot arm 25 is connected to the power supply and gas source assembly 242 through a connecting pipeline, but is not limited to this.

[0079] In a preferred embodiment, the AGV chassis 23 includes a lifting top plate 231, a docking hole 232 located in the center of the lifting top plate 231, and a built-in power supply and gas source. When the AGV chassis 23 drives into the bottom of the robotic arm fixed station 24, the lifting top plate 231 is lifted to lift the bottom plate 26 beyond the height of the limit rod 241, and then drives out of the robotic arm fixed station 24. After the lifting top plate 231 is lowered, the built-in power supply and gas source are mechanically connected, circuit-connected, and gas-connected with the robotic arm 25 through the docking hole 232 to form an AGV cart with a robotic arm. Each loading and unloading robot 21 consists of an AGV chassis 23 and a robotic arm 25. When loading and unloading, the loading and unloading robot 21 drives into the container 11 of the container truck 10, but this is not limited to this.

[0080] In a preferred embodiment, when the AGV trolley with a robotic arm is about to enter the robotic arm fixing station 24, the lifting top plate 231 is lifted so that the bottom plate 26 is higher than the height of the limit rod 241. After entering the robotic arm fixing station 24, the lifting top plate 231 is lowered so that the limit hole 262 of the bottom plate 26 is socketed with the limit rod 241 to fix the robotic arm 25 at the robotic arm fixing station 24 and then drive out of the robotic arm fixing station 24 to restore to the AGV chassis 23, but this is not limited to this.

[0081] In a preferred embodiment, a passage is provided at the bottom of the temporary storage base 28 for the AGV chassis 23 to pass through, and a pallet 27 for stacking loading and unloading objects is placed on the temporary storage base 28. The lifting top plate 231 is lifted to lift the pallet 27 and then drive it out of the temporary storage base 28. After the lifting top plate 231 is lowered, an AGV cart for transporting the pallet 27 is formed to transport the pallet 27 to the shelf area 3. A preset route 31 for the AGV chassis 23 to travel is provided around the shelf area 3. The size of the pallet 27 is the same as that of the bottom plate 26. In the present invention, the pallet 27 and various robotic arms can be transported by the same AGV chassis 23, but this is not limited to this.

[0082] In a preferred embodiment, multiple types of robotic arms are also included, each type of robotic arm has a different maximum load. The corresponding robotic arm type and the number of each type are matched according to the number of containers in the container truck to be unloaded and the weight information of each container, and the idle AGV cart with the corresponding robotic arm type is matched to transport the robotic arm to the corresponding robotic arm fixed station 24. For example: a robotic arm with a corresponding load is selected according to the maximum weight of the containers in the container; if the containers in the container are mostly empty, a larger number of low-load robotic arms are configured; if the containers in the container are mostly high-mass containers, a larger number of high-load robotic arms are configured. The details are not repeated here. The arrival and delivery of trucks at different times can replace robotic arms of different specifications and models, further improving the flexibility of the system in loading and unloading, but the invention is not limited to this.

[0083] Figure 8 Flowchart of the present invention is based on the separation robot loading and unloading method. Figure 8 As shown, the cargo loading and unloading method based on the detachable robot of the present invention adopts the above-mentioned cargo loading and unloading device based on the detachable robot, and includes the following steps:

[0084] S110: Obtain the number of containers in the container of the truck to be unloaded and the weight information of each container.

[0085] S120 , matching corresponding robotic arm types and the quantity of each type according to the number and weight information of the containers to generate parking space robotic arm requirement information.

[0086] S130. Traverse the types and quantities of existing machines corresponding to each loading and unloading parking space, obtain an idle loading and unloading parking space with the highest similarity to the parking space robot arm's requirement information, and drive the container truck to the loading and unloading parking space.

[0087] S140. Use the AGV chassis to move the robot arm that does not meet the parking space robot arm requirement information, and drive the idle AGV car with the robot arm that does not meet the parking space robot arm requirement into the robot arm fixed position corresponding to the loading and unloading parking space, and install the robot arm to the robot arm fixed position.

[0088] S150: After the container truck stops, the loading and unloading robot drives into the container and moves the container to the first end of the drag chain conveyor line. The weight and sequence number of each container are transmitted to the backend server. Containers that need to be moved by different load-bearing manipulators are spaced apart from each other in the drag chain conveyor line.

[0089] S160. Different types of robotic arms at the second end of the drag chain conveyor line respectively carry their corresponding containers to pallets in the surrounding temporary storage bases.

[0090] S170, several AGV chassis enter the temporary storage base and move the pallets loaded with containers to the shelf area.

[0091] The loading and unloading method based on the detachable robot of the present invention can combine the automated storage and automated loading and unloading scenarios of the mobile robot, and utilize the detachable robotic arm and mobile chassis to realize completely unmanned operations of unloading, warehousing, storage, and outbound delivery.

[0092] Specific embodiments of the present invention include:

[0093] refer to Figures 1 to 7In the separate robot-based loading and unloading device of the present invention, a loading and unloading robot 21 corresponds to a loading and unloading parking space. The first end of the drag chain conveyor 22 is connected to the loading and unloading robot 21, receiving and transferring the objects to and from the loading and unloading robot 21. Several robotic arm fixed stations 24 are arranged around the second end of the drag chain conveyor 22. Several temporary storage bases 28 are arranged around the robotic arm fixed stations 24 to temporarily store the objects to be loaded and unloaded. The bottoms of several robotic arms 25 are connected to a base plate 26, which is detachably connected to the robotic arm fixed stations 24. The robotic arms 25 transport the objects to and from the temporary storage bases 28 and the second end of the drag chain conveyor 22. Each AGV chassis 23 can independently drive into the bottom of the temporary storage base 28 to transport the objects to be loaded and unloaded, or it can drive into the bottom of the robotic arm fixed stations 24 to transport the separated robotic arms 25 and form an AGV vehicle with the robotic arms. The bottoms of the robotic arms 25 are provided with several first screw connectors 251. The base plate 26 is provided with a plurality of second threaded seats 261 and a plurality of limiting holes 262. The first threaded seats 251 are threadedly connected to the second threaded seats 261. A passage for the AGV chassis 23 to pass through is provided at the bottom of the robot arm fixing station 24. The robot arm fixing station 24 includes a plurality of limiting rods 241 and a power supply assembly 242 for supplying power and air to the robot arm 25. The limiting rods 241 are frustums, and the limiting holes 262 are frustum holes. The limiting holes 262 of the base plate 26 engage with the limiting rods 241 to secure the robot arm 25 to the robot arm fixing station 24. The inner periphery of the frustum holes contacts the outer periphery of the limiting rods 241. The robot arm 25 is connected to the power supply assembly 242 via a connecting pipeline. The AGV chassis 23 includes a lifting top plate 231, a docking hole 232 located in the center of the lifting top plate 231, and a built-in power supply and gas source. When the AGV chassis 23 drives into the bottom of the robotic arm fixed position 24, the lifting top plate 231 is lifted to lift the bottom plate 26 beyond the height of the limit rod 241, and then drives out of the robotic arm fixed position 24. After the lifting top plate 231 is lowered, the built-in power supply and gas source are mechanically connected, electrically connected, and gas-connected with the robotic arm 25 through the docking hole 232 to form an AGV cart with a robotic arm. Each loading and unloading robot 21 consists of an AGV chassis 23 and a robotic arm 25. When loading and unloading, the loading and unloading robot 21 drives into the container 11 of the container truck 10.

[0094] When the container truck to be unloaded enters the unloading station, the backend server obtains the number of containers in the container of the container truck to be unloaded and the weight information of each container.

[0095] The number and weight of containers are matched to the corresponding robot arm type and the number of each type to generate parking space robot arm requirements. Each robot arm type has a different maximum load, and the number of robots of each type is matched based on the number of containers in the truck to be unloaded and the weight of each container.

[0096] Traverse the existing machine types and quantities corresponding to each loading and unloading parking space, obtain an idle loading and unloading parking space with the highest similarity to the parking space robot arm's requirement information, and drive the container truck to the loading and unloading parking space.

[0097] The robot arm that does not meet the parking space robot arm requirement information is moved away by the AGV chassis, and the idle AGV with the robot arm that does not meet the parking space robot arm requirement is driven into the robot arm fixed station corresponding to the loading and unloading parking space, and the robot arm is installed in the robot arm fixed station (matching the idle AGV with the corresponding robot arm type to move the robot arm to the corresponding robot arm fixed station 24). Specifically, before the AGV with the robot arm is about to enter the robot arm fixed station 24, the lifting top plate 231 is raised to make the bottom plate 26 higher than the height of the limit rod 241. After entering the robot arm fixed station 24, the lifting top plate 231 is lowered to make the limit hole 262 of the bottom plate 26 engage the limit rod 241 to fix the robot arm 25 in the robot arm fixed station 24, and then the AGV is driven out of the robot arm fixed station 24 to return to the AGV chassis 23. The robotic arm 25 is connected to the power and air source assembly 242 via a connecting pipeline. Since most robotic arms utilize an air pump and power source during unloading and palletizing operations, the present invention integrates the power supply and air pump into the base. Multiple robotic arms can share a single base, automatically powering and airing them when in operation. Robotic arms of different specifications and models can be replaced to accommodate truck arrivals and shipments at different times, further enhancing the system's loading and unloading flexibility. When handling and unloading objects, the robotic arm is disconnected from the mobile chassis and connected to a fixed workstation, allowing it to operate with less error and significantly reducing grasping failures caused by chassis instability. (Since the robotic arm experiences inertia during high-speed rotation or movement, causing the base to shake, the mobile chassis moves away after delivering the robotic arm to the fixed base. The robotic arm's operation in conjunction with the fixed base improves the stability of the robotic arm's visual recognition.) The utilization rate, also known as the operating rate, refers to the proportion of time a device spends creating value within its available timeframe. It reflects the time utilization of the equipment, and the calculation formula is: utilization rate = actual working time / planned working time (or utilization time / load time).

[0098] After the container truck stops, the loading and unloading robot drives into the container, moves the container to the first end of the drag chain conveyor line, and transmits the weight and sequence number of each container to the background server. The containers that need to be moved by different load robotic arms are spaced apart from each other in the drag chain conveyor line, so that each robotic arm located at the robotic arm fixed station 24 can work with higher efficiency, avoiding waiting time and improving the overall loading and unloading efficiency.

[0099] At the second end of the drag chain conveyor line, different types of robotic arms transport their corresponding containers to pallets on the surrounding temporary storage bases 28. A passage is provided at the bottom of the temporary storage base 28 for the AGV chassis 23 to pass through. A pallet 27 stacked with objects is placed on the temporary storage base 28. The lifting plate 231 is raised to lift the pallet 27 and drive it out of the temporary storage base 28. When the lifting plate 231 is lowered, the pallet 27 is transported to the shelf area 3 by the AGV.

[0100] Finally, several AGV chassis enter the temporary storage base 28 and travel along the preset route 31 to transport the pallets loaded with containers to the shelf area 3.

[0101] An embodiment of the present invention further provides a separate robot-based loading and unloading device, comprising a processor and a memory storing executable instructions for the processor. The processor is configured to execute the executable instructions to perform the steps of a separate robot-based loading and unloading method.

[0102] As shown above, the loading and unloading device based on a detachable robot of this embodiment of the present invention can combine the automated storage of mobile robots with the automated loading and unloading scenarios, and utilize a detachable robotic arm and a mobile chassis to realize completely unmanned operations of unloading, warehousing, storage, and outbound delivery.

[0103] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as "circuits," "modules," or "platforms."

[0104] Figure 9 This is a schematic diagram of the structure of the loading and unloading equipment based on the separate robot of the present invention. Figure 9 An electronic device 600 according to this embodiment of the present invention will be described. Figure 9 The electronic device 600 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0105] like Figure 9 As shown, electronic device 600 is implemented as a general-purpose computing device. Components of electronic device 600 may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), and a display unit 640.

[0106] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the electronic prescription circulation processing method section of this specification. For example, the processing unit 610 can execute the following steps: Figure 6 Follow the steps shown in .

[0107] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0108] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0109] Bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0110] The electronic device 600 can also communicate with one or more external devices 700 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 via the bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0111] An embodiment of the present invention further provides a computer-readable storage medium for storing a program that, when executed, implements the steps of a separate robot-based loading and unloading method. In some possible implementations, various aspects of the present invention may also be implemented as a program product, which includes program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the aforementioned electronic prescription circulation processing method section of this specification.

[0112] As shown above, the loading and unloading device based on a detachable robot of this embodiment of the present invention can combine the automated storage of mobile robots with the automated loading and unloading scenarios, and utilize a detachable robotic arm and a mobile chassis to realize completely unmanned operations of unloading, warehousing, storage, and outbound delivery.

[0113] Figure 10 Schematic diagram of the structure of the computer readable storage medium of the present invention. Figure 10 , a program product 800 for implementing the above method according to an embodiment of the present invention is described. The program product 800 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0114] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0115] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0116] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0117] In summary, the purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium based on a detachable robot, which can combine the automated storage of mobile robots with the automated loading and unloading scenarios, and use a detachable robotic arm and a mobile chassis to achieve completely unmanned operations of unloading, warehousing, storage and outbound delivery.

[0118] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A loading and unloading device based on a separate robot, characterized in that: include: A loading and unloading robot (21) corresponds to a loading and unloading parking space; a drag chain conveyor line (22), a first end of the drag chain conveyor line (22) being connected to the loading and unloading robot (21), receiving the loading and unloading objects of the loading and unloading robot (21) and conveying the loading and unloading objects; A plurality of mechanical arm fixed stations (24) are arranged around the second end of the drag chain conveyor line (22); A plurality of temporary storage bases (28) are arranged around the robot arm fixed station (24) to temporarily store the loading and unloading objects; A plurality of robotic arms (25), the bottom of each robotic arm (25) being connected to a base plate (26), the base plate (26) being detachably connected to the robotic arm fixed station (24), the robotic arm (25) transporting the loading and unloading object between the temporary storage base (28) and the second end of the drag chain conveyor line (22); and A plurality of AGV chassis (23), each of the AGV chassis (23) can independently drive into the bottom of the temporary storage base (28) to transport the loading and unloading objects, or drive into the bottom of the robot arm fixed station (24) to transport the separated robot arm (25) and form an AGV vehicle with a robot arm.

2. The loading and unloading device based on a separate robot according to claim 1, characterized in that: A plurality of first screw-connecting seats (251) are provided at the bottom of the mechanical arm (25); The bottom plate (26) is provided with a plurality of second screw connection seats (261) and a plurality of limiting holes (262), and the first screw connection seat (251) is screwed to the second screw connection seat (261).

3. The loading and unloading device based on a separate robot according to claim 2, characterized in that: The bottom of the robot arm fixing station (24) is provided with a passage for the AGV chassis (23) to pass through, and the robot arm fixing station (24) includes a plurality of limiting rods (241) and a power supply and gas source assembly (242) for supplying power and gas to the robot arm (25), the limiting rod (241) is a frustum, and the limiting hole (262) is a frustum hole. The limiting hole (262) of the base plate (26) is engaged with the limiting rod (241) to fix the robot arm (25) to the robot arm fixing station (24), the inner periphery of the frustum hole contacts the outer periphery of the limiting rod (241), and the robot arm (25) is connected to the power supply and gas source assembly (242) through a connecting pipeline.

4. The cargo loading and unloading device based on a separate robot according to claim 3, characterized in that: The AGV chassis (23) includes a lifting top plate (231), a docking hole (232) located in the center of the lifting top plate (231) and a built-in power supply and gas source. When the AGV chassis (23) enters the bottom of the mechanical arm fixed position (24), the lifting top plate (231) is lifted to lift the bottom plate (26) beyond the height of the limit rod (241) and then drives out of the mechanical arm fixed position (24). After the lifting top plate (231) is lowered, the built-in power supply and gas source are mechanically connected, electrically connected and gas-connected with the mechanical arm (25) through the docking hole (232), forming an AGV trolley with a mechanical arm. Each of the loading and unloading robots (21) is composed of an AGV chassis (23) and a mechanical arm (25). When loading and unloading, the loading and unloading robot (21) enters the container (11) of the container truck (10).

5. The cargo loading and unloading device based on a separate robot according to claim 4, characterized in that: When the AGV trolley with a robotic arm is about to enter the robotic arm fixing station (24), the lifting top plate (231) is lifted so that the bottom plate (26) is higher than the height of the limiting rod (241). After entering the robotic arm fixing station (24), the lifting top plate (231) is lowered so that the limiting hole (262) of the bottom plate (26) is sleeved with the limiting rod (241) to fix the robotic arm (25) at the robotic arm fixing station (24) and then drive out of the robotic arm fixing station (24) to restore to the AGV chassis (23).

6. The cargo loading and unloading device based on a separate robot according to claim 4, characterized in that: The bottom of the temporary storage base (28) is provided with a passage for the AGV chassis (23) to pass through. A pallet (27) for stacking loading and unloading objects is placed on the temporary storage base (28). The lifting top plate (231) is lifted to lift the pallet (27) and then drive it out of the temporary storage base (28). After the lifting top plate (231) is lowered, an AGV trolley for carrying the pallet (27) is formed to transport the pallet (27) to the shelf area (3). The size of the pallet (27) is the same as that of the bottom plate (26).

7. The cargo loading and unloading device based on a separate robot according to claim 1, characterized in that: It also includes multiple types of robotic arms, each type of robotic arm has a different maximum load, and the corresponding robotic arm type and the quantity of each type are matched according to the number of containers in the container truck to be unloaded and the weight information of each container, and the idle AGV car with the corresponding robotic arm type is matched to transport the robotic arm to the corresponding robotic arm fixed position (24).

8. A method for loading and unloading cargo based on a separate robot, characterized in that: The loading and unloading device based on the separate robot as claimed in claim 7 comprises the following steps: S110, obtaining the number of containers in the container (11) of the truck to be unloaded and the weight information of each container; S120, matching corresponding robotic arm types and the quantity of each type according to the number and weight information of the containers to generate parking space robotic arm requirement information; S130: Traverse the types and quantities of existing machines corresponding to each loading and unloading parking space, obtain an available loading and unloading parking space with the highest similarity to the parking space robot arm's request information, and direct the container truck to the loading and unloading parking space; S140, using the AGV chassis (23) to move the robot arm that does not meet the parking space robot arm requirement information, and to drive the idle AGV car with the robot arm that does not meet the parking space robot arm requirement into the robot arm fixed station (24) corresponding to the loading and unloading parking space, and install the robot arm to the robot arm fixed station (24); S150, after the container truck stops, the loading and unloading robot (21) drives into the container (11), moves the container to the first end of the drag chain conveyor line (22), and transmits the weight and sequence number of each container to the backend server, and the containers that need to be moved by different load manipulators are spaced apart from each other in the drag chain conveyor line (22); S160, different types of robotic arms at the second end of the drag chain conveyor line (22) respectively transport their corresponding containers to the pallets (27) in the surrounding temporary storage bases (28); S170, several AGV chassis (23) enter the temporary storage base (28) and move the pallets (27) loaded with containers to the shelf area (3).

9. A loading and unloading equipment based on a separate robot, characterized in that: include: processor; a memory storing executable instructions for the processor; Wherein, the processor is configured to perform the steps of the method for loading and unloading cargo based on a separate robot according to claim 8 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed by the processor, the steps of the loading and unloading method based on the separate robot as claimed in claim 8 are implemented.

Images