Carrying device and carrying method thereof

Abstract

The invention relates to the technical field of automatic logistics, and particularly discloses a carrying device which comprises a movable vehicle body. The bracket is mounted at the front end of the vehicle body in a liftable manner; the lifting seat is mounted on the bracket in a lifting manner; the mechanical arm is mounted on the lifting seat in a lifting manner; the grabbing device is connected with the mechanical arm; the suspension type conveying device is rotatably mounted on the vehicle body; through cooperation of the components, more effective loads can be provided when goods are grabbed and carried, and the goods grabbing speed and the carrying work efficiency are greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics technology, and in particular to a transport device and a transport method thereof. Background Art

[0002] With the rapid development of the modern logistics industry, the widespread use of box trucks for transporting packaged goods has placed higher demands on efficiency, cost control, precise delivery, and intelligent management. However, the current unloading process of box trucks still relies heavily on manual labor. This method is not only labor-intensive, inefficient, and costly, but also susceptible to human factors such as fatigue, misoperation, and safety hazards. To address these challenges, automation and robotics technologies are gradually being introduced to replace traditional manual unloading. However, existing automated unloading equipment has poor adaptability in complex environments and struggles to cope with the diverse types of boxes and irregular working conditions within the truck compartment. Furthermore, while existing unloading robots have improved their adaptability, they are based on multi-degree-of-freedom serial robotic arms, which consist of a single chain structure composed of multiple joints and links. The joints are connected in sequence, and the movement of the end effector is achieved by superimposing the independent motions of each joint. Due to the large cumulative error, low structural rigidity, slow movement speed, and prone to vibration at high speeds, serial robotic arms are unable to achieve high-speed unloading operations. Summary of the Invention

[0003] In order to solve the above problems, it is urgent to develop an efficient, intelligent box carton unloading robot system that can operate stably in complex environments to meet the modern logistics industry's demand for efficient, stable and reliable unloading.

[0004] Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

[0005] Furthermore, the lifting seat is an L-shaped structure, a conveying device is installed at the front end of the horizontal part of the lifting seat, one side of the vertical part of the lifting seat is liftably assembled on the bracket, and a lifting mechanism 1 is installed on the other side.

[0006] Furthermore, the mounting base of the robotic arm is connected to a lifting mechanism of the lifting base.

[0007] Furthermore, one end of the suspended conveying device is hinged to the vehicle body, and the other end is hinged to the horizontal part of the lifting seat.

[0008] Furthermore, the bracket is a gantry, and two lifting mechanisms are installed on the front sides of the columns on both sides of the gantry. The lifting seat is an L-shaped structure, and one side of the vertical part of the lifting seat is respectively connected to the two lifting mechanisms on both sides of the bracket, and one lifting mechanism is installed on each side of the other side. A conveying device is installed at the front end of the horizontal part of the lifting seat.

[0009] Furthermore, there are two robotic arms, which are connected to the lifting mechanisms on both sides of the vertical part of the lifting base through their mounting bases.

[0010] Furthermore, one end of the suspended conveying device is hinged to the vehicle body, and the other end is hinged to the horizontal part of the lifting seat.

[0011] Furthermore, the conveying device is located below the robotic arm, and includes conveying device 1, conveying device 2, and conveying device 3 located on the same horizontal plane and arranged in a T shape, wherein conveying device 1 and conveying device 3 respectively correspond to the two robotic arms and are arranged horizontally below the robotic arms, and conveying device 2 is arranged vertically and docked with the suspended conveying device.

[0012] Furthermore, the grasping device is a vacuum suction cup grasping device, which includes a rectangular body and a plurality of suction cups arranged on the front side and the lower side of the rectangular body.

[0013] Furthermore, it also includes a chassis and a chassis driver arranged at the bottom of the vehicle body, and the chassis driver includes a drive system and universal wheels.

[0014] Furthermore, it also includes a connecting plate, one end of which is connected and assembled on the rotating mechanism, and the other end is connected to the grasping device.

[0015] Furthermore, it also includes a detection system, which includes a 3D sensor, a depth camera, and a sensor. The 3D sensor is installed at the four corners of the vehicle body, the depth camera is installed at the top of the bracket, and the sensor is installed at the top of the grasping device.

[0016] Furthermore, it also includes a control system, which controls the coordinated movement of the vehicle body, bracket, lifting seat, mechanical arm, grasping device, conveying device and suspended conveying device according to the detection signal of the detection system.

[0017] Furthermore, the present invention applies to a handling method for a handling device as follows: controlling the movement of the handling device; the handling device uses a 3D sensor to detect the boundary of the carriage and a depth camera to detect the boundary of the carriage and the cross-section of the carton stack in the carriage, and obtains the moving distance and posture adjustment amount of the handling device according to the above detection results; after the handling device moves a suitable distance from the cross-section of the carton stack, the robot chassis driver is controlled according to the above posture adjustment device, and the posture of the handling device is adjusted so that the forward direction of the handling device is perpendicular to the cross-section of the carton stack and is centered on the carriage. After the posture adjustment of the chassis driver is completed, the cross-section of the carton stack is detected; first, the bracket is controlled to descend to the lowest point, and the depth camera is started to detect the cross-section of the carton stack for the first time, and then the bracket is controlled to Lift to the highest point and start the depth camera to detect the cross-section of the carton stack for the second time; splice and process the two detected images to obtain the cross-section information of the carton stack; plan the grasping method and sequence according to the grasping task, the coordinate information of the robot arm, and the cross-section information of the carton stack; control the lifting frame to cooperate with the robot arm, and the front side suction cups of the grasping devices of the two robot arms alternately grasp the carton stack cross-section from top to bottom; when it is detected that the lowest layer of the carton stack cross-section is grasped, the lower side suction cups of the grasping devices of the two robot arms alternately grasp it; after grasping the carton in a carton stack cross-section, control the transport device to move forward a certain distance, repeat the above steps until the grasping task is completed, and give a prompt to the operator, and control the transport device to automatically exit the carton compartment.

[0018] Furthermore, the coordinate information of the robot arm in the handling method includes the coordinates of the first swing arm (6) picking up the goods and the coordinates of the second swing arm (7) picking up the goods, and the cross-sectional information of the carton stack includes the carton size, carton coordinates, the number of boxes corresponding to the first swing arm (6), the number of boxes corresponding to the second swing arm (7), the total number of layers, the total number of columns, and the height of each layer.

[0019] Furthermore, in the handling method, the two robotic arms place the grabbed cartons on the corresponding conveying device 1 and conveying device 3. The cartons are conveyed to the conveying device 2 through the conveying device 1 and conveying device 3, and finally conveyed out through the suspended conveying device.

[0020] Compared with the existing technology, the robotic arm of the handling device applied for in the present invention has the advantages of high structural rigidity and small inertia, can provide more effective load, is more suitable for high-speed movement, makes the unloading process more stable, and brings a more ideal mechanism life; two parallel robotic arms are set up, and a control scheme is designed for the two parallel robotic arms to alternately grab the goods, which greatly improves the cargo grabbing speed of the unloading robotic arm and the working efficiency of the system; through the setting of 3D sensors and depth cameras, the depth information of the three-dimensional space is captured, and accurate distance measurement and object shape data are provided to achieve precise positioning and status monitoring of cartons. Through the configuration of two dual-parallel robotic arms and dual-arm collaboration and adaptive grabbing control, combined with a multi-module conveyor belt device and a laser and visual sensor system, high-speed and stable automated unloading operations of carton goods in the complex environment of a van compartment are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 : Front view of the transport device Figure 2 : Top view of the transport device Figure 3 :Top view of transport device AA section side view Figure 4 : Front view of the robotic arm of the handling device Figure 5 : Top view of the robotic arm of the handling device Figure numerals: 1. Vehicle body, 2. Bracket, 3. Lifting seat, 4. Robotic arm, 5. Mounting seat, 6. Swing arm 1, 7. Swing arm 2, 8. Driving mechanism 1, 9. Driving mechanism 2, 10. Swing arm 3, 11. Swing arm 4, 12. Connecting seat, 13. Driving mechanism 3, 14. Rotating mechanism, 15. Connecting plate, 16. Grabbing device, 17. Suspended conveying device, 18. 3D sensor, 19. Depth camera, 20. Lidar, 21. Chassis, 22. Chassis drive, 23. Drive system, 24. Universal wheel, 25. Horizontal part of lifting seat, 26. Vertical part of lifting seat, 27. Lifting mechanism 1, 28. Lifting mechanism 2, 29. Conveying device, 30. Conveying device 1, 31. Conveying device 3, 32. Conveying device 2, 33. Rectangular body, 34. Suction cup DETAILED DESCRIPTION

[0022] like Figure 1-3 As shown, the handling device of the present invention includes a movable body 1, a bracket 2, a lifting seat 3, a robotic arm 4, a gripping device 16, a suspended conveying device 17, a conveying device 29, a chassis 21, a chassis drive 22, a detection system and a control system.

[0023] Among them, such as Figure 1-3As shown, the bracket 2 can be assembled to the front end of the vehicle body 1 via a lifting mechanism, allowing the bracket 2 to be raised and lowered relative to the vehicle body 1. A second lifting mechanism 28 is provided on the other side of the bracket 2 relative to the vehicle body 1, and the lifting seat 3 is assembled to the bracket 2 via the second lifting mechanism 28, allowing the lifting seat 3 to be raised and lowered relative to the bracket 2. Furthermore, a first lifting mechanism 27 is provided in the lifting seat 3, and the robotic arm 4 is assembled to the lifting seat 3 via the first lifting mechanism 27. This arrangement accelerates the movement speed of the robotic arm in the vertical direction and enables rapid adjustment of the relative height position of the robotic arm and the vehicle body. The aforementioned lifting mechanisms, first lifting mechanism, and second lifting mechanism can utilize conventional conventional drive mechanisms such as servo motors, electric cylinders, or hydraulic cylinders, transmission mechanisms such as screw nuts, rack and pinions, and transmission guide mechanisms such as slide rails. Through these transmission mechanisms, the lifting bracket 2 is assembled to the front side of the vehicle body 1, the lifting seat 3 is assembled to the other side of the bracket 2 relative to the vehicle body, and the robotic arm 4 is assembled to the lifting seat 3.

[0024] Among them, such as Figure 1-3 As shown, the lifting platform 3 has an L-shaped structure. A conveyor device 29 is mounted at the front end of the lifting platform's horizontal portion 25. One side of the lifting platform's vertical portion 26 is mounted on the bracket 2 via a second lifting mechanism 28 for liftability. A first lifting mechanism 27 is mounted on the other side of the lifting platform's vertical portion 26. The robotic arm 4 is mounted on the lifting platform's vertical portion 26 via this mechanism. This arrangement allows for relative height movement between the robotic arm 4 and the conveyor device 29, allowing for height adjustment when the robotic arm 4 is positioned to grab cargo and place it on the conveyor device 29.

[0025] Among them, such as Figure 1-3 As shown, the suspended conveyor 17 is rotatably mounted on the vehicle body 1. One end of the suspended conveyor 17 is slidably hingedly mounted on the vehicle body 1, and the other end is hingedly mounted on the horizontal portion 25 of the lifting base. This arrangement allows the suspended conveyor 17 to be adjusted in real time according to the height of the unloading location, moving in tandem with the conveyor 29 on the lifting base 3 to maintain the connection between the conveyor devices.

[0026] Among them, such as Figure 4-5As shown, the robot arm 4 includes a mounting base 5, which is provided with two assembly holes. One end of the swing arm 1 6 and the swing arm 2 7 can be rotatably mounted on the assembly holes of the mounting base 5. The driving mechanism 1 8 and the driving mechanism 2 9 are mounted on the mounting base 5 and are respectively connected to the swing arm 1 6 and the swing arm 2 7 to drive the corresponding swing arms to swing. The other ends of the swing arm 1 6 and the swing arm 2 7 are respectively hinged to one end of the swing arm 3 10 and the swing arm 4 11. The other end of the swing arm 3 10 is connected to the proximal side wall of the connecting base 12. The other end of the swing arm 4 11 is hinged to the proximal end of the connecting base 12. The distal end of the connecting base 12 is provided with the driving mechanism 3 13 and the rotating mechanism 14 connected thereto. Through the above arrangement, the structural rigidity of the robot arm 4 can be effectively improved, the inertia of the robot arm 4 during movement can be reduced, and the movement of the robot arm 4 can be easily controlled. It can not only provide more effective load, but also enable the robot arm 4 to achieve high-speed movement, greatly improving the efficiency of unloading and handling. The driving mechanism may adopt the combination of a servo motor and a reducer in the prior art to drive the robot arm 4 .

[0027] Among them, such as Figure 1-3 As shown, the gripping device 16 is assembled with the rotating mechanism 14 on the robot arm connecting base 12. The gripping device 16 is a vacuum suction cup gripping device, which includes a rectangular body 33. A plurality of suction cups 34 are provided on the front side of the rectangular body 33, and a plurality of suction cups 34 are provided on the bottom side of the rectangular body 33. Through the above arrangement, the gripping device 16 can adjust the suction cups on the gripping device 16 to be parallel to the surface of the goods to be sucked according to the movement and position of the robot arm 4, thereby facilitating the suction of the goods. At the same time, when grabbing goods on the upper layer of the goods stack, the suction cups on the front side are used for grabbing, and when grabbing goods on the lowest layer of the goods stack, the suction cups on the bottom side are used for grabbing, thereby reducing the difficulty of grabbing goods and improving the grabbing efficiency.

[0028] Among them, such as Figure 1-3 As shown, a chassis 21 is also assembled at the bottom of the vehicle body 1, and a chassis drive 22 is mounted on the chassis 21. The chassis drive 22 includes a drive system 23 and universal wheels 24. Through the above arrangement, the transport device can adjust its movement trajectory and posture according to the signals from the detection and control system during the movement process.

[0029] The detection system for the handling device includes a 3D sensor 18, a depth camera 19, and a laser radar 20. The 3D sensors 18 are mounted at the four corners of the vehicle body 1. They generate point cloud data through 3D scanning and transmit this point cloud data to the control system, which processes and integrates the point cloud data to generate environmental information, such as obstacles, around the vehicle body 1 during movement. The depth camera 19 is mounted on the top of the support 2. The depth camera 19 can be a time-of-flight (TOF) depth camera, which uses infrared light to capture three-dimensional depth information and provide accurate distance measurement and object shape data. Mounting the TOF depth camera on the top of the support 2 can obtain overall position information for the cargo in front. The laser radar 20 is mounted on the top of the gripping device 16. The laser radar 20 can be a 3D laser sensor, which calculates distance by emitting and receiving laser beams, accurately measuring the distance and orientation of objects in the environment. This configuration enables timely detection of the position and posture of the handling device, as well as the stacking and gripping of cargo, during movement and during the gripping process, enabling timely control and adjustment.

[0030] Among them, the control system of the handling device can control the moving speed, moving force, and posture of the vehicle body 1 according to the detection signal of the detection system. At the same time, it controls the lifting speed and height of the bracket 2, the lifting seat 3, and the robotic arm 4, controls the left and right moving direction, speed and distance of the robotic arm 4, controls the posture of the grasping device 16, the adsorption and grasping of suction cups on different surfaces, controls the conveying direction and speed of the conveying device 29 and the suspended conveying device 17, and realizes the coordinated movement between the various parts of the handling device.

[0031] Furthermore, the support 2 of the transport device can be set as a gantry, and a lifting mechanism 2 28 is installed on the front side of the columns on both sides of the gantry. The vertical part 26 of the L-shaped lifting seat is assembled on the gantry through the lifting mechanisms 28 on both sides. A lifting mechanism 1 27 is set on both sides of the vertical part of the lifting seat, and a mechanical arm is set on each lifting mechanism 1 27 to form a dual parallel mechanical arm. The two mechanical arms can achieve high-speed and high-efficiency collaborative work through alternating cooperation and precise beat control; at the same time, the front end of the horizontal part 25 of the lifting seat is There are multiple conveying devices, including conveying device 1 30, conveying device 2 32, and conveying device 3 31 located on the same horizontal plane. Conveying device 1 30, conveying device 2 32, and conveying device 3 31 are arranged in a T shape, wherein conveying device 1 30 and conveying device 3 31 correspond to two robotic arms 4 respectively and are arranged horizontally under the robotic arms 4, and conveying device 2 32 is arranged vertically and docked with the suspended conveying device 17. After the robot grabs the goods, the goods fall on the horizontal conveying device and are transported to the longitudinal conveying device, and then transferred to the suspended conveying device.

[0032] The specific handling method of the handling device applied for in the present invention is as follows: start and control the movement of the handling device, and plan the moving path of the handling device according to the detection signal of the surrounding environment by the 3D sensor 18 during the movement; after the handling device enters the cargo box of the truck, the 3D sensor 18 is used to detect the boundary of the carton compartment, and the depth camera 19 is used to detect the boundary of the carton compartment and the cross-section of the carton stack in the carton compartment, and the moving distance and posture adjustment amount of the handling device are obtained according to the above detection results; after the handling device moves a suitable distance from the cross-section of the carton stack, the robot chassis driver 22 is controlled according to the above posture adjustment device to adjust the posture of the handling device so that the handling device is perpendicular to the cross-section of the carton stack in the forward direction and centered on the carton compartment; after the posture adjustment of the handling device is completed, the cross-section of the carton stack is scanned and detected; first, the bracket 2 is controlled to descend to the lowest point, and the depth camera 19 is started to detect the cross-section of the carton stack for the first time, and then the bracket 2 is controlled to rise to the highest point, and the depth camera 19 is started to detect the cross-section of the carton stack for the second time; the images detected by the two scans are spliced ​​and processed to obtain the cross-section information of the carton stack, such as the total number of layers, the total number of columns, the height of each layer, and the size of the carton. , carton coordinates, the number of boxes in the corresponding grabbing area of ​​the two robotic arms 4, etc. At the same time, the control system combines the coordinate information of the two robotic arms 4, plans the grabbing mode according to the handling grabbing, controls the lifting frame 2, the lifting seat 3 and the robotic arm 4 to lift and lower, controls the robotic arm 4 to swing, drives the grabbing device 16 to move to the grabbing position, and adjusts the front side of the grabbing device 16 to be parallel to the cross section of the carton according to the detection signal of the laser radar 20. The front side suction cups 34 of the two grabbing devices 16 grab the cartons of the carton stack cross section alternately from top to bottom; when it is detected that the carton is being grabbed, the ... When it comes to the lowest layer of cartons in the box stack section, the cartons are alternately grabbed by the lower side suction cups 34 of the two grabbing devices 16; the two robotic arms 4 place the grabbed cartons on the corresponding conveying device 1 30 and conveying device 3 31, and the cartons are conveyed to conveying device 2 32 through conveying device 1 30 and conveying device 3 31, and finally transported out through the suspended conveying device 17; after the cartons in a carton stack section are grabbed, the handling device is controlled to move forward a certain distance, and the above steps are repeated until the grabbing task is completed, and a prompt is given to the operator, and the handling device is controlled to automatically exit the car.

[0033] The above is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A transport device comprising: movable body (1); A bracket (2) is mounted on the front end of the vehicle body (1) in a liftable manner; A lifting seat (3) is mounted on the bracket (2) in a liftable manner; A mechanical arm (4) which is mounted on the lifting seat (3) in a liftable manner; the mechanical arm (4) includes a mounting seat (5), the mounting seat (5) being provided with two assembly holes, one end of a swing arm 1 (6) and a swing arm 2 (7) being rotatably mounted on the assembly holes of the mounting seat (5), a driving mechanism 1 (8) and a driving mechanism 2 (9) being mounted on the mounting seat (5) and respectively correspondingly connected to the swing arm 1 (6) and the swing arm 2 (7) to drive the corresponding swing arms to swing, the other ends of the swing arm 1 (6) and the swing arm 2 (7) being respectively hinged to one end of a swing arm 3 (10) and a swing arm 4 (11), the other end of the swing arm 3 (10) being connected to the proximal side wall of the connecting seat (12), the other end of the swing arm 4 (11) being hinged to the proximal end of the connecting seat (12), and the distal end of the connecting seat (12) being provided with a driving mechanism 3 (13) and a rotating mechanism (14) connected thereto; A gripping device (16) connected to the rotating mechanism (14); A suspended conveying device (17) is rotatably mounted on the vehicle body (1).

2. The transport device according to claim 1, wherein: The lifting seat (3) is an L-shaped structure, and a conveying device (29) is installed at the front end of the horizontal part (25) of the lifting seat. One side of the vertical part (26) of the lifting seat can be lifted and assembled on the bracket (2), and the other side is installed with a lifting mechanism (27).

3. The transport device according to claim 2, wherein: The mounting seat (5) of the robotic arm (4) is connected to a lifting mechanism (27) of the lifting seat (3).

4. The transport device according to claim 2, wherein: One end of the suspended conveying device (17) is hinged to the vehicle body (1), and the other end is hinged to the horizontal part (25) of the lifting seat.

5. The transport device according to claim 1, wherein: The bracket (2) is a gantry, and two lifting mechanisms (28) are installed on the front side of the columns on both sides of the gantry. The lifting seat (3) is an L-shaped structure, and one side of the vertical part (26) of the lifting seat is connected to the two lifting mechanisms (28) on both sides of the gantry, and the other side is installed with one lifting mechanism (27) on both sides. A conveying device (29) is installed at the front end of the horizontal part (25) of the lifting seat.

6. The transport device according to claim 5, characterized in that: There are two robotic arms (4), which are connected to the lifting mechanism (27) on both sides of the vertical part (26) of the lifting seat through their mounting seats (5).

7. The transport device according to claim 6, characterized in that: One end of the suspended conveying device (17) is hinged to the vehicle body (1), and the other end is hinged to the horizontal part (25) of the lifting seat.

8. The transport device according to claim 7, characterized in that: The conveying device (29) is located below the robotic arm (4), and includes a conveying device 1 (30), a conveying device 2 (32), and a conveying device 3 (31) located on the same horizontal plane, and the three are arranged in a T-shape, wherein the conveying device 1 (30) and the conveying device 3 (31) respectively correspond to the two robotic arms (4) and are arranged horizontally below the robotic arms (4), and the conveying device 2 (32) is arranged vertically and docked with the suspended conveying device (17).

9. The transport device according to claim 1 or 8, characterized in that: The gripping device (16) is a vacuum suction cup gripping device, comprising a rectangular body (33) and a plurality of suction cups (34) arranged on the front side and the lower side of the rectangular body (33).

10. The transport device according to claim 1 or 8, characterized in that: It also includes a chassis (21) and a chassis drive (22) arranged at the bottom of the vehicle body (1), wherein the chassis drive (22) includes a drive system (23) and a universal wheel (24).

11. The transport device according to claim 1 or 8, characterized in that: It also includes a connecting plate (15), one end of which is connected and assembled on the rotating mechanism (14), and the other end of which is connected to the grasping device (16).

12. The transport device according to claim 10, wherein: The vehicle also includes a detection system, which includes a 3D sensor (18), a depth camera (19), and a laser radar (20). The 3D sensor (18) is installed at the four corners of the vehicle body (1), the depth camera (19) is installed at the top of the bracket (2), and the laser radar (20) is installed at the top of the grasping device (16).

13. The transport device according to claim 12, wherein: It also includes a control system, which controls the coordinated movement of the vehicle body (1), the bracket (2), the lifting seat (3), the mechanical arm (4), the grasping device (16), the conveying device (29) and the suspended conveying device (17) according to the detection signal of the detection system.

14. A method for transporting the transport device according to claim 13, comprising: 1) Start and control the movement of the handling device; During the movement process, the moving path of the transport device is planned based on the detection signal of the surrounding environment by the 3D sensor (18); 2) After the transport device enters the cargo box of the truck, the 3D sensor (18) detects the boundary of the compartment, and the depth camera (19) detects the boundary of the compartment and the cross-section of the cardboard stack in the compartment. Based on the above detection results, the moving distance and posture adjustment amount of the transport device are obtained; 3) After the transport device moves to a suitable distance from the cross section of the carton stack, the robot chassis driver (22) is controlled according to the above-mentioned attitude adjustment gauge to adjust the attitude of the transport device so that the transport device is perpendicular to the cross section of the carton stack in the forward direction and is aligned with the center of the carriage; 4) After the posture adjustment of the handling device is completed, the cross-section of the carton stack is scanned and detected; first, the support (2) is controlled to descend to the lowest point, and the depth camera (19) is activated to detect the cross-section of the carton stack for the first time; then, the support (2) is controlled to rise to the highest point, and the depth camera (19) is activated to detect the cross-section of the carton stack for the second time; the images detected by the two scans are spliced ​​and processed to obtain the cross-section information of the carton stack; 5) planning a grasping method according to the handling grasping task, the coordinate information of the robot arm (4), and the cross-section information of the carton stack; controlling the lifting frame (2), the lifting seat (3) and the robot arm (4) to rise and fall, controlling the swing of the robot arm (4), and driving the grasping device (16) to move to the grasping position; adjusting the front side of the grasping device (16) to be parallel to the cross-section of the carton according to the detection signal of the laser radar (20), and using the front side suction cups (34) of the two grasping devices (16) to alternately grasp the cartons in the cross-section of the carton stack from top to bottom; when it is detected that the lowest layer of the carton in the cross-section of the carton stack is grasped, the lower side suction cups (34) of the two grasping devices (16) alternately grasp the cartons; 6) After grabbing all the cartons in a carton stack, control the transport device to move forward a certain distance and repeat the above steps until the grabbing task is completed. The operator is prompted and the transport device is controlled to automatically exit the carriage.

15. The transport method according to claim 13, wherein: The cross-sectional information of the carton stack in step 6) includes the total number of layers, the total number of columns, the height of each layer, the carton size, the carton coordinates, and the number of cartons in the corresponding grasping areas of the two robotic arms (4).

16. The transport method according to claim 14, wherein: In the step (7), the two robotic arms (4) place the grabbed cartons on the corresponding conveying device 1 (30) and conveying device 3 (31). The cartons are conveyed to conveying device 2 (32) via conveying device 1 (30) and conveying device 3 (31), and finally conveyed out via the suspended conveying device (17).

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