Loading and unloading robot and loading and unloading method

Abstract

The invention belongs to the technical field of cargo transportation, and particularly relates to a loading and unloading robot and a loading and unloading method.The loading and unloading robot comprises a base and a supporting plate which are integrally and vertically distributed, the supporting plate is provided with a movable mechanism, an object taking mechanism and a turnover mechanism, and the movable mechanism comprises an electric track fixedly installed at the upper edge of the supporting plate; an inverted-V-shaped plate is slidably connected to the electric track, and a long-strip-shaped groove located below the electric track and a first vertical groove and a second vertical groove which communicate with the two ends of the long-strip-shaped groove correspondingly are formed in the surface of the supporting plate. The movable mechanism can convey the taken cargoes to the designated position, stacking work can be completed, the cargoes can be conveyed to the high position from the low position, compared with a mechanical arm, the stacking device is more suitable for some cargoes with the light weight and the situation that the yield is not very large, and compared with the mechanical arm, the overall using cost of the stacking device is lower, and the stacking device is suitable for large-scale popularization and application. And daily conveying can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cargo transportation, in particular to a loading and unloading robot and a loading and unloading method. BACKGROUND

[0002] The mechanical arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling. Due to its unique operation flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields.

[0003] The mechanical arm is a complex system, and there are uncertainties such as parameter perturbation, external disturbance and unmodeled dynamics. Therefore, the modeling model of the mechanical arm also has uncertainties. For different tasks, the joint space motion trajectory of the mechanical arm needs to be planned, thereby cascading the end pose.

[0004] In the work of cargo transportation, the mechanical arm is often used to stack or transport goods. However, for some small-batch production and light goods, the use cost of the mechanical arm is relatively high. SUMMARY

[0005] In order to solve the above problems, the present application provides a loading and unloading robot to more accurately solve the problems raised in the background art.

[0006] The present application is realized by the following technical scheme:

[0007] The present application provides a loading and unloading robot, which comprises an integrated vertically distributed base and a support plate, the support plate is provided with a movable mechanism, a taking mechanism and a turnover mechanism, the movable mechanism comprises an electric track fixedly installed at the edge of the support plate, a reverse V plate is slidably connected to the electric track, a long slot is formed in the surface of the support plate below the electric track, and a first vertical slot and a second vertical slot are respectively communicated with both ends of the long slot.

[0008] Preferably, a plurality of third vertical slots are formed between the first vertical slot and the second vertical slot, one of the third vertical slots is close to the side of the second vertical slot, the remaining third vertical slots are close to the side of the first vertical slot and are equally distributed, the length of the third vertical slot is the same as that of the first vertical slot, and the upper end of the third vertical slot is communicated with the long slot.

[0009] Preferably, an L slot is formed at one corner of the upper end of each third vertical slot close to the side of the first vertical slot, an activity plate driven by an external motor is rotatably connected in each L slot, and a first limiting slot and a second limiting slot forming a reverse V shape are formed on the surface of the reverse V plate.

[0010] Preferably, a rectangular block is slidably connected in the long slot, and the rectangular block is slidably fitted with the first vertical slot, the second vertical slot and the third vertical slot, an electric telescopic rod is rotatably connected through the rectangular block from front to back, the electric telescopic rod is slidably fitted with the first limiting slot and the second limiting slot, and an extension frame is integrally arranged at the edge of both ends of the rectangular block and attached to the surface of the support plate.

[0011] Preferably, the taking mechanism comprises a U-shaped support fixed at the free end of the electric telescopic rod, a rectangular frame is integrally fixed on the U-shaped support, two symmetrical clamping plates are rotatably connected to the rectangular frame, a sliding frame is coaxially fixed with the clamping plates, a suction plate is integrally fixed on one side of each clamping plate, each sliding frame is of the same shape and is of a bent shape with an upper groove body and a lower groove body, a vertical rod is telescopically connected through the U-shaped support, and a sliding rod slidably fitted with the sliding frame is fixedly arranged at the lower end of the vertical rod.

[0012] Preferably, a working box is fixedly mounted on the upper surface of the U-shaped support, the lower half of the working box is longer than the upper half, the upper end of the vertical rod extends into the working box and is fixedly connected with a piston plate, and the piston plate is adapted to the upper half of the working box.

[0013] Preferably, a pipeline one is fixedly arranged on the surface of the working box and communicates with the interior of the working box, the suction plate is of a hollow structure and a plurality of circular holes are formed in the lower surface of the suction plate, a pipeline two is fixedly arranged on the upper surface of the suction plate and communicates with the interior of the suction plate, and a hose is fixedly arranged between the pipeline two and the pipeline one.

[0014] Preferably, the turnover mechanism comprises a positioning rod sleeved on the electric telescopic rod, two symmetrical blocking columns are perpendicularly fixed on the surface of one of the extension frames, a long plate is integrally fixed at the edge of the long plate, a mounting piece is rotatably connected to the lower end of the long plate and the free end of the positioning rod, and a spring is fixedly connected between the two mounting pieces.

[0015] Preferably, a V-shaped support is sleeved on the electric telescopic rod, a pushing rod is perpendicularly fixed on each end of the V-shaped support, an open frame is slidably connected to the surface of the support plate, an access slot is formed in the upper edge of the open frame for the V-shaped support to pass through, and a triangular plate is integrally fixed at the lower edge of the open frame.

[0016] A loading and unloading method applied to a loading and unloading robot, comprising the following steps: S1, taking: the taking mechanism can not only clamp goods, but also can use negative pressure to suck some special goods, such as some fragile or easily deformed goods, which are not suitable for clamping.

[0017] S2, overturning: through the overturning mechanism, the goods are overturned after being taken by the device, so as to paste labels or some warning words on the lower surface of the box; S3, placing: through the movable mechanism, the taken goods are transported to the designated position, so as to complete the stacking work or transport the goods from the low position to the high position.

[0018] Compared with the prior art, the present application provides a loading and unloading robot, which has the following beneficial effects:

[0019] The taking mechanism can not only clamp the goods, but also can take some special goods by negative pressure, for example, some fragile or easily deformed goods, which are not suitable for clamping.

[0020] The movable mechanism can transport the taken goods to the designated position, so as to complete the stacking work or transport the goods from the low position to the high position, which is more suitable for some light goods and low yield compared with the mechanical arm, the overall use cost of the device is lower than that of the mechanical arm, and the device can meet the daily transportation.

[0021] In the transportation process, it is often necessary to paste labels on the surface of the boxed goods, and when the goods are on the conveying belt, the labels or some warning words can be pasted on the periphery, but the lower surface of the goods cannot be pasted. The overturning mechanism can overturn the goods after being taken by the device, so as to paste labels or some warning words on the lower surface of the box. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A structure diagram of a loading and unloading robot is provided for the present application;

[0023] Figure 2 A structure diagram of a loading and unloading robot is provided for the present application Figure 1 An enlarged structure diagram of A in the present application;

[0024] Figure 3 A structure diagram of the movable plate in the vertical state in the present application;

[0025] Figure 4 An enlarged structure diagram of B in the present application Figure 1 An enlarged structure diagram of B in the present application

[0026] Figure 5 A structure diagram of the extension frame in the present application;

[0027] Figure 6 A structure diagram of the position of the U-shaped support in the present application;

[0028] Figure 7 A sectional structure diagram of the working box in the present application;

[0029] Figure 8The structure schematic view of the position of the piston plate in the application;

[0030] Figure 9 The structure schematic view of the position of the opening frame in the application Figure 6 The enlarged structure schematic view of F in the application;

[0031] Figure 10 The structure schematic view of the position of the opening frame in the application

[0032] Figure 11 The structure schematic view of the position of the opening frame in the application Figure 10 The enlarged structure schematic view of D in the application;

[0033] Figure 12 The method flow chart in the application.

[0034] In the figure: 1, base; 2, support plate; 31, electric track; 32, inverted V plate; 33, long slot; 34, first vertical slot; 35, second vertical slot; 36, third vertical slot; 37, L slot; 38, movable plate; 39, first limiting slot; 310, second limiting slot; 311, rectangular block; 312, electric telescopic rod; 313, extension frame; 41, U-shaped support; 42, rectangular frame; 43, clamping plate; 44, suction plate; 45, sliding frame; 46, vertical rod; 47, sliding rod; 48, working box; 49, piston plate; 410, pipeline one; 411, pipeline two; 51, positioning rod; 52, blocking column; 53, long plate; 54, mounting piece; 55, spring; 56, V-shaped support; 57, push rod; 58, opening frame; 59, triangular plate; 510, access slot. DETAILED DESCRIPTION

[0035] In order to more clearly and completely illustrate the technical solutions of the application, the application will be further described below with reference to the drawings.

[0036] As Figures 1-12 shown, an embodiment of the application proposes a loading and unloading robot, which comprises an integrated vertically distributed base 1 and a support plate 2, and the support plate 2 is provided with a movable mechanism, a taking mechanism and a turnover mechanism.

[0037] Among them, the lower surface of the base 1 is provided with a roller for moving the whole device, which is not shown in the figure.

[0038] The taking mechanism can not only clamp the goods, but also can perform negative pressure suction on some special goods, such as some fragile or easily deformed goods, which are not suitable for clamping.

[0039] The movable mechanism can deliver the taken goods to the designated position, can complete the stacking work, or can deliver the goods from the low position to the high position. Compared with the mechanical arm, the movable mechanism is more suitable for some goods with light weight and small output. The overall device has lower use cost than the mechanical arm and can meet the daily delivery.

[0040] During transportation, the surface of the boxed goods often needs to be labeled. When the goods are on the conveyor belt, labels or some warning words can be attached to the periphery of the goods, but the lower surface of the goods cannot be attached.

[0041] The turnover mechanism can turn over the goods taken by the device to facilitate labeling or some warning words on the lower surface of the box.

[0042] The movable mechanism includes an electric track 31 fixedly installed at the edge of a support plate 2. A reverse V plate 32 is slidably connected to the electric track 31. A long groove 33 is formed in the surface of the support plate 2 below the electric track 31. A first vertical groove 34 and a second vertical groove 35 are respectively formed in communication with both ends of the long groove 33. A plurality of third vertical grooves 36 are formed between the first vertical groove 34 and the second vertical groove 35. One of the third vertical grooves 36 is located near the second vertical groove 35, and the remaining third vertical grooves 36 are located near the first vertical groove 34 and are equally distributed. The length of the third vertical groove 36 is the same as that of the first vertical groove 34, and the upper end of the third vertical groove 36 is in communication with the long groove 33.

[0043] An L-shaped groove 37 is formed at one corner of the upper end of each third vertical groove 36 near the first vertical groove 34. An activity plate 38 driven by an external motor is rotatably connected in each L-shaped groove 37.

[0044] When the activity plate 38 is in a horizontal state, the upper end of the corresponding third vertical groove 36 is closed.

[0045] When the activity plate 38 is in a vertical state, the corresponding third vertical groove 36 is in communication with the long groove 33, and the activity plate 38 forms an interception in the long groove 33.

[0046] The reverse V plate 32 has a first limiting groove 39 and a second limiting groove 310 formed in a reverse V shape. A rectangular block 311 is slidably connected in the long groove 33, and the rectangular block 311 is slidably adapted to the first vertical groove 34, the second vertical groove 35, and the third vertical groove 36. An electric telescopic rod 312 is rotatably connected to the rectangular block 311. The electric telescopic rod 312 is slidably adapted to the first limiting groove 39 and the second limiting groove 310. An extension frame 313 is integrally arranged at the edges of both ends of the rectangular block 311, and the extension frame 313 is attached to the surface of the support plate 2.

[0047] The extension frame 313 can prevent the rectangular block 311 from being separated from the surface groove of the support plate 2, which refers to the long groove 33, the first vertical groove 34, the second vertical groove 35 and the third vertical groove 36.

[0048] When all the movable plates 38 are in the horizontal state, all the third vertical grooves 36 cannot communicate with the long groove 33, and the movable range of the rectangular block 311 is the long groove 33, the first vertical groove 34 and the second vertical groove 35.

[0049] When the rectangular block 311 is located in the long groove 33, the electric telescopic rod 312 is located at the top of the first limiting groove 39 and the second limiting groove 310, and the inverted V-shaped plate 32 slides along the electric track 31, the inverted V-shaped plate 32 can push the electric telescopic rod 312 and the rectangular block 311 to slide along the long groove 33, when the rectangular block 311 and the electric telescopic rod 312 move to the top of the second vertical groove 35, and the inverted V-shaped plate 32 continues to move in the direction of the arrow C, the electric telescopic rod 312 will be limited by the second limiting groove 310, causing the electric telescopic rod 312 and the rectangular block 311 to move downward along the second vertical groove 35.

[0050] When the inverted V-shaped plate 32 moves in the opposite direction of the arrow C, the electric telescopic rod 312 and the rectangular block 311 will move upward along the second vertical groove 35 and gradually enter the long groove 33, and then move along the long groove 33 to the top of the first vertical groove 34, and then the inner wall of the first limiting groove 39 will push the electric telescopic rod 312 to move downward along the first vertical groove 34, while the rectangular block 311 will move downward along the first vertical groove 34.

[0051] When one of the movable plates 38 rotates to the vertical state, the movable range of the rectangular block 311 becomes one third vertical groove 36 corresponding to the vertical movable plate 38, part of the long groove 33 and one second vertical groove 35.

[0052] When the rectangular block 311 is blocked by the movable plate 38 and cannot continue to move in the opposite direction of the arrow C along the long groove 33, the inner wall of the first limiting groove 39 will push the electric telescopic rod 312 to move downward along the third vertical groove 36, while the rectangular block 311 will move downward along the third vertical groove 36.

[0053] The taking mechanism comprises a U-shaped support 41 fixed at the free end of the electric telescopic rod 312, a rectangular frame 42 integrally fixed on the U-shaped support 41, two symmetrical clamping plates 43 rotatably connected to the rectangular frame 42, a sliding frame 45 coaxially fixed with the clamping plates 43, and a suction plate 44 integrally fixed on one side of each clamping plate 43.

[0054] The U-shaped support 41 is provided with a vertical rod 46 connected with the U-shaped support 41 in an extendable and retractable manner, and the lower end of the vertical rod 46 is vertically fixed with a sliding rod 47 which is slidably connected with the sliding frame 45.

[0055] The vertical rod 46 is driven by an external electric telescopic rod to move up and down.

[0056] The U-shaped support 41 is provided with a working box 48 fixedly installed on the upper surface of the U-shaped support 41, the length of the lower half of the working box 48 is greater than the length of the upper half, the upper end of the vertical rod 46 extends into the working box 48 and is fixedly connected with a piston plate 49, and the piston plate 49 is adapted to the upper half of the working box 48.

[0057] The working box 48 is fixedly provided with a pipeline I 410 which is in communication with the inside of the working box 48, the suction plate 44 is a hollow structure and is provided with a plurality of circular holes in the lower surface, the upper surface of the suction plate 44 is fixedly provided with a pipeline II 411 which is in communication with the inside of the suction plate 44, and the pipeline II 411 and the pipeline I 410 are fixedly installed with a hose.

[0058] The hose is not shown in the figure.

[0059] When the vertical rod 46 and the sliding rod 47 move upward, the sliding rod 47 slides along the lower groove of the sliding frame 45, which can drive the sliding frame 45 to rotate, and the sliding frame 45 can drive the clamping plates 43 and the suction plate 44 fixedly connected with the sliding frame 45 to rotate, so that the two clamping plates 43 clamp and fix the goods to be transported.

[0060] When the sliding rod 47 is located at the bending position of the sliding frame 45, the upper groove of the sliding frame 45 is in a vertical state, the suction plate 44 is in a horizontal state at this time, and the piston plate 49 is located in the upper half of the working box 48, at the same time, the lower surface of the suction plate 44 is attached to the upper surface of the goods, so that the circular holes in the lower surface of the suction plate 44 are blocked, thereby forming a sealed space between the working box 48, the pipeline I 410, the hose, the pipeline II 411 and the suction plate 44, at this time, the vertical rod 46 drives the piston plate 49 to move downward, which expands the internal space of the working box 48, so that the internal space of the working box 48 is in a negative pressure state, thereby adsorbing the goods on the lower surface of the suction plate 44, and completing the work of negative pressure suction.

[0061] The turnover mechanism includes a positioning rod 51 sleeved on the electric telescopic rod 312, one of the extension frames 313 is vertically fixed with two symmetrically distributed blocking columns 52 on the surface, and a long plate 53 is integrally fixed at the edge, the lower end of the long plate 53 and the free end of the positioning rod 51 are both rotatably connected with a mounting piece 54, and the two mounting pieces 54 are fixedly connected with a spring 55.

[0062] The two blocking columns 52 can limit the rotating range of the positioning rod 51 and the electric telescopic rod 312, so that the positioning rod 51 and the electric telescopic rod 312 can only rotate 180 degrees.

[0063] The spring 55 can provide a pulling force to the positioning rod 51 to lock the horizontal state of the positioning rod 51.

[0064] The V-shaped support 56 is sleeved on the electric telescopic rod 312, the two ends of the V-shaped support 56 are vertically fixed with the push rods 57, the surface of the support plate 2 is slidably connected with the open frame 58, the upper edge of the open frame 58 is provided with the access slot 510 for the V-shaped support 56, and the lower edge of the open frame 58 is integrally fixed with the triangular plate 59.

[0065] When the electric telescopic rod 312 and the rectangular block 311 move downwards along a third vertical groove 36 close to the open frame 58, the V-shaped support 56 and the push rods 57 can move into the open frame 58 through the access slot 510, and one side wall of the V-shaped support 56 can push the triangular plate 59 to move in the direction opposite to the arrow E, the triangular plate 59 can drive the open frame 58 to move in the direction opposite to the arrow E, when the V-shaped support 56 and the push rods 57 move upwards along with the electric telescopic rod 312, one of the push rods 57 is limited by one end of the open frame 58 and rotates, since the rotating angle of the electric telescopic rod 312 is limited, the electric telescopic rod 312, the V-shaped support 56 and the push rods 57 can only rotate 180 degrees, and the electric telescopic rod 312 can drive the U-shaped support 41 and the clamped goods or the goods adsorbed by the suction plate 44 to rotate 180 degrees.

[0066] When the electric telescopic rod 312 and the rectangular block 311 move downwards again, the other side wall of the V-shaped support 56 can push the triangular plate 59 to move in the direction of the arrow E, the triangular plate 59 can drive the open frame 58 to move in the direction of the arrow E, so that the open frame 58 and the triangular plate 59 return to the original position, when the V-shaped support 56 and the push rods 57 move upwards along with the electric telescopic rod 312, the other push rod 57 is limited by the other end of the open frame 58 and rotates 180 degrees back, so that the electric telescopic rod 312 can drive the U-shaped support 41 and the clamped goods or the goods adsorbed by the suction plate 44 to rotate 180 degrees back to restore the initial state.

[0067] A loading and unloading method applied to a loading and unloading robot, comprising the following steps: S1, taking goods: the taking mechanism can not only clamp goods, but also can perform negative pressure suction on some special goods, such as some fragile or easily deformed goods, which are not suitable for clamping.

[0068] S2, turn over: after the device takes the goods, the goods are turned over by the turnover mechanism, so as to paste labels or some warning words on the lower surface of the box; S3, place: the taken goods are transported to the designated position by the movable mechanism, which can complete the stacking work or send the goods from the low position to the high position.

[0069] Working principle:

[0070] When the device is conveying or stacking the goods, the end of the external conveying belt is located below the second vertical groove 35;

[0071] When all the movable plates 38 are in a horizontal state, all the third vertical grooves 36 cannot communicate with the long groove 33, and the movable range of the rectangular block 311 is the long groove 33, the first vertical groove 34 and the second vertical groove 35;

[0072] When the rectangular block 311 is located in the long groove 33, and the electric telescopic rod 312 is located at the top of the first limiting groove 39 and the second limiting groove 310, the inverted V plate 32 can push the electric telescopic rod 312 and the rectangular block 311 to slide along the long groove 33 when it slides along the electric track 31, and when the rectangular block 311 and the electric telescopic rod 312 move to the top of the second vertical groove 35, the inverted V plate 32 continues to move in the direction indicated by the arrow C, and at this time the electric telescopic rod 312 is limited by the second limiting groove 310, causing the electric telescopic rod 312 and the rectangular block 311 to move downward along the second vertical groove 35;

[0073] Then drive the vertical rod 46 and the sliding rod 47 to move upward, the sliding rod 47 slides along the lower groove body of the sliding frame 45, which can drive the sliding frame 45 to rotate, and the sliding frame 45 can drive the clamping plate 43 and the suction plate 44 fixed coaxially with it to rotate, so that the two clamping plates 43 clamp and fix the goods to be conveyed;

[0074] When the sliding rod 47 is located at the bending part of the sliding frame 45, the upper groove body of the sliding frame 45 is in a vertical state, and at this time the suction plate 44 is in a horizontal state, and the piston plate 49 is located in the upper half of the working tank 48, and at the same time the lower surface of the suction plate 44 is attached to the upper surface of the goods, so that the circular hole on the lower surface of the suction plate 44 is blocked, thereby forming a sealed space between the working tank 48, the pipeline one 410, the hose, the pipeline two 411 and the suction plate 44, at this time the vertical rod 46 drives the piston plate 49 to move downward, which expands the internal space of the working tank 48, so that the internal space of the working tank 48 is in a negative pressure state, thereby adsorbing the goods on the lower surface of the suction plate 44, completing the work of negative pressure suction;

[0075] When the inverted V-shaped plate 32 moves in the opposite direction of the arrow C, the electric telescopic rod 312 and the rectangular block 311 will move upward along the second vertical slot 35 and gradually enter the long slot 33, and then move along the long slot 33 to the top end of the first vertical slot 34, and then the inner wall of the first limiting slot 39 will push the electric telescopic rod 312 to move downward along the first vertical slot 34, and the rectangular block 311 will move downward along the first vertical slot 34, so as to transport the goods to the preset position;

[0076] When one of the movable plates 38 rotates to the vertical state, the movable range of the rectangular block 311 will become a third vertical slot 36 corresponding to the vertical movable plate 38, part of the long slot 33 and a second vertical slot 35;

[0077] When the rectangular block 311 is blocked by the movable plate 38 and cannot continue to move in the opposite direction of the arrow C along the long slot 33, the inner wall of the first limiting slot 39 will push the electric telescopic rod 312 to move downward along the third vertical slot 36, and the rectangular block 311 will move downward along the third vertical slot 36, so as to transport the goods to the preset position;

[0078] When it is necessary to perform the turnover work on the goods, the electric telescopic rod 312 and the rectangular block 311 move downward along a third vertical slot 36 close to the opening frame 58, the V-shaped support 56 and the push rod 57 can move into the opening frame 58 through the access slot 510, and one of the side walls of the V-shaped support 56 can push the triangular plate 59 to move in the opposite direction of the arrow E, the triangular plate 59 can drive the opening frame 58 to move in the opposite direction of the arrow E, when the V-shaped support 56 and the push rod 57 move upward following the electric telescopic rod 312, one of the push rods 57 will be limited by one end of the opening frame 58 and rotate, since the rotation angle of the electric telescopic rod 312 is limited, the electric telescopic rod 312 and the V-shaped support 56 and the push rod 57 can only rotate one hundred and eighty degrees, and the electric telescopic rod 312 can drive the U-shaped support 41 and the goods clamped or the goods adsorbed by the suction plate 44 to rotate one hundred and eighty degrees;

[0079] When the electric telescopic rod 312 and the rectangular block 311 move downward again, the other side wall of the V-shaped support 56 can push the triangular plate 59 to move in the direction of the arrow E, the triangular plate 59 can drive the opening frame 58 to move in the direction of the arrow E, so as to restore the opening frame 58 and the triangular plate 59 to the original position, when the V-shaped support 56 and the push rod 57 move upward following the electric telescopic rod 312, the other push rod 57 will be limited by the other end of the opening frame 58 and rotate, rotate one hundred and eighty degrees back, so that the electric telescopic rod 312 can drive the U-shaped support 41 and the goods clamped or the goods adsorbed by the suction plate 44 to rotate one hundred and eighty degrees back, and restore the initial state.

[0080] It should be understood that all the details provided above are merely exemplary and do not limit the present specification. Although not explicitly described, one skilled in the art can make various modifications, improvements and corrections to the present specification. Such modifications, improvements and corrections are suggested in the present specification, and still belong to the spirit and scope of the exemplary embodiments of the present specification. Also, specific words are used in the present specification to describe the embodiments of the present specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure or characteristic related to at least one embodiment of the present specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "one alternative embodiment" mentioned in different places in the present specification does not necessarily mean the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present specification can be properly combined. In addition, unless explicitly stated in the claims, the order of processing elements and sequences, the use of numerical letters, or the use of other names in the present specification are not intended to limit the order of processes and methods of the present specification.

[0081] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify, improve and correct the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A loading and unloading robot, comprising an integrated, vertically distributed base (1) and a support plate (2), characterized in that, The support plate (2) is provided with an active mechanism, a picking mechanism and a flipping mechanism. The active mechanism includes an electric track (31) fixedly installed on the upper edge of the support plate (2). An inverted V plate (32) is slidably connected on the electric track (31). The surface of the support plate (2) is provided with a long groove (33) located below the electric track (31), and a first vertical groove (34) and a second vertical groove (35) that are respectively connected to both ends of the long groove (33).

2. The loading and unloading robot according to claim 1, characterized in that, A plurality of third vertical grooves (36) are provided between the first vertical groove (34) and the second vertical groove (35). One of the third vertical grooves (36) is close to the side of the second vertical groove (35), and the remaining third vertical grooves (36) are close to the side of the first vertical groove (34) and are distributed at equal intervals. The length of the third vertical groove (36) is the same as that of the first vertical groove (34), and the upper end of the third vertical groove (36) is connected to the elongated groove (33).

3. A loading and unloading robot according to claim 2, characterized in that, Each of the third vertical grooves (36) has an L-groove (37) at a corner near the first vertical groove (34) at its upper end. Each L-groove (37) is rotatably connected to a movable plate (38) driven by an external motor. The surface of the inverted V plate (32) has a first limiting groove (39) and a second limiting groove (310) forming an inverted V shape.

4. A loading and unloading robot according to claim 3, characterized in that, A rectangular block (311) is slidably connected in the long groove (33), and the rectangular block (311) is slidably adapted to the first vertical groove (34), the second vertical groove (35) and the third vertical groove (36). An electric telescopic rod (312) is rotatably connected to the rectangular block (311) through the front and back. The electric telescopic rod (312) is slidably adapted to the first limiting groove (39) and the second limiting groove (310). An extension frame (313) is integrally provided at the edges of both ends of the rectangular block (311), and the extension frame (313) is attached to the surface of the support plate (2).

5. A loading and unloading robot according to claim 4, characterized in that, The object retrieval mechanism includes a U-shaped bracket (41) fixed to the free end of the electric telescopic rod (312). A rectangular frame (42) is integrally fixed on the U-shaped bracket (41). Two symmetrically distributed clamps (43) are rotatably connected to the rectangular frame (42), and a sliding frame (45) is fixed coaxially with the clamps (43). A suction plate (44) is integrally fixed on one side of each of the two clamps (43). Each sliding frame (45) has the same shape, is bent, and has an upper groove and a lower groove. A vertical rod (46) is telescopically connected to the U-shaped bracket (41). A sliding rod (47) that is adapted to slide with the sliding frame (45) is vertically fixed at the lower end of the vertical rod (46).

6. A loading and unloading robot according to claim 5, characterized in that, The upper surface of the U-shaped bracket (41) is fixedly installed with a work box (48). The length of the lower half of the work box (48) is greater than the length of the upper half. The upper end of the upright (46) extends into the work box (48) and is fixedly connected with a piston plate (49). The piston plate (49) is adapted to the upper half of the work box (48).

7. A loading and unloading robot according to claim 6, characterized in that, The surface of the work box (48) is fixed with a pipe (410) that communicates with its interior. The suction plate (44) is hollow and has several round holes on its lower surface. The upper surface of the suction plate (44) is fixed with a pipe (411) that communicates with its interior. A flexible hose is fixed between the pipe (411) and the pipe (410).

8. A loading and unloading robot according to claim 4, characterized in that, The flipping mechanism includes a positioning rod (51) sleeved on the electric telescopic rod (312), and two symmetrically distributed blocking posts (52) are vertically fixed on the surface of one of the extension frames (313), and a long plate (53) is integrally fixed at the edge. Mounting plates (54) are rotatably connected to the lower end of the long plate (53) and the free end of the positioning rod (51), and a spring (55) is fixedly connected between the two mounting plates (54).

9. A loading and unloading robot according to claim 8, characterized in that, A V-shaped bracket (56) is sleeved on the electric telescopic rod (312). A lever (57) is vertically fixed at both ends of the V-shaped bracket (56). An opening frame (58) is slidably connected to the surface of the support plate (2). An inlet / outlet groove (510) for the V-shaped bracket (56) to pass through is provided at the upper edge of the opening frame (58). A triangular plate (59) is integrally fixed at the lower edge of the opening frame (58).

10. A loading and unloading method, applied to a loading and unloading robot as described in claim 1, characterized in that, Includes the following steps: S1. Picking up goods: The picking mechanism can not only grip the goods, but also perform negative pressure suction on some special goods, such as some fragile or easily deformable goods that are not suitable for gripping. S2. Flipping: After the device retrieves the goods, it flips the goods over so that labels or warning messages can be affixed to the lower surface of the box. S3. Placing: The moving mechanism transports the retrieved goods to the designated position, which can complete the palletizing work or move the goods from the lower position to the higher position.

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