A master-slave caterpillar trolley piece box automatic loading and unloading robot

Abstract

The present application relates to the technical field of logistics handling equipment, and discloses a kind of automatic loading and unloading vehicle robot of sub-mother track trolley piece box, it includes sub-track car, mother track car, mechanical arm, conveyor and handling clamp;The lift car is vertically arranged on the mother track car, and the drive device for driving the lift car vertically is lifted;The lift car is used to carry the sub-track car;The mechanical arm and conveyor are all installed on the sub-track car;The handling clamp is installed on the mechanical arm.The loading and unloading vehicle robot of the present application has good vehicle model adaptive capacity, can automatically identify whether there is a swan neck plate and make corresponding operation strategy.The servo control lift car equipped with the mother track car can automatically adjust the height according to the detection data, realize accurate docking with different vehicle models, and enhance the intelligentization and self-adaptive capacity of the system.

Description

Technical Field

[0001] This invention relates to the field of logistics loading and unloading equipment technology, specifically to an automated loading and unloading robot for a mother-daughter tracked trolley and its cargo box. Background Technology

[0002] In the modern logistics industry, efficient inbound and outbound operations of parcel boxes (such as express parcel boxes and e-commerce order boxes) are a key link in improving overall warehousing and transportation efficiency. Traditional inbound and outbound loading and unloading operations during truck transportation mainly rely on manual labor. This involves operators manually removing the boxes from the automated warehouse and carrying them to the trucks parked at the platform, or unloading them one by one from the trucks upon arrival and transporting them to the warehousing system. This manual operation mode is not only labor-intensive and inefficient, but also prone to errors due to factors such as operator skill and fatigue, making it difficult to meet the demands of modern logistics for high efficiency, high accuracy, and low-cost operations.

[0003] With the development of automation technology, some warehousing systems have begun to introduce automated conveyor equipment to replace some manual handling work. However, in the connection between trucks and warehousing systems, especially in the automated loading and unloading of trucks of different specifications (such as models with or without gooseneck ramps), existing technologies still have significant shortcomings. As a structure unique to some trucks, the height of the gooseneck ramp varies depending on the model, and conventional loading platforms are difficult to adapt to the universal operational needs of various truck types.

[0004] To solve the above problems, there is an urgent need for an automated loading and unloading robot that can adapt to various truck structures and has a high degree of self-adaptive adjustment capability. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an automated loading and unloading robot for mother-daughter tracked trolleys that is applicable to loading and unloading various types of truck parts boxes.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] An automated loading and unloading robot for a mother-daughter tracked vehicle and its parts boxes includes a child tracked vehicle, a mother tracked vehicle, a robotic arm, a conveyor, and a loading and unloading fixture. The mother tracked vehicle is equipped with a vertically lifting car and a drive device for driving the car to lift vertically. The car is used to carry the child tracked vehicle. The robotic arm and the conveyor are both mounted on the child tracked vehicle. The loading and unloading fixture is mounted on the robotic arm.

[0008] Preferably, the car includes a base frame, a support plate fixed to the base frame for supporting the sub-tracked vehicle, guide columns fixed to the four corners of the base and vertically connected to the parent tracked vehicle, and connecting frames fixed to both sides of the base; the drive device includes a dual-output shaft motor mounted on the parent tracked vehicle, a gearbox respectively connected to the two output ends of the dual-output shaft motor, a lead screw vertically rotatably mounted on the parent tracked vehicle and fixed at one end to the output end of the gearbox, and a lead nut fitted on the lead screw and fixed to the corresponding connecting frame.

[0009] Preferably, the mother tracked vehicle includes a mother tracked vehicle frame, mother track traveling devices mounted on both sides of the mother tracked vehicle frame, and a mother drive mechanism mounted on the mother tracked vehicle frame for driving the mother track traveling devices.

[0010] Preferably, the loading and unloading fixture includes a loading and unloading frame, a suction cup assembly slidably mounted on the loading and unloading frame, a tray slidably mounted on the loading and unloading frame and located below the suction cup assembly, at least one set of synchronous belt assemblies mounted on the loading and unloading frame and located below the tray, and a telescopic power motor for driving the synchronous belt assembly to rotate; the suction cup assembly is fixedly connected to one layer of the synchronous belt assembly via a connector, and the tray is fixedly connected to the other layer of the synchronous belt assembly via a connector; when the telescopic power motor drives the synchronous belt assembly to rotate in both directions, the suction cup assembly and the tray move towards each other or away from each other.

[0011] Preferably, the sub-track vehicle includes a sub-frame, sub-track traveling devices mounted on both sides of the sub-frame, and a sub-drive mechanism mounted on the sub-frame for driving the sub-track traveling devices.

[0012] Preferably, the conveyor includes a conveyor frame mounted on a sub-track vehicle, a transition conveyor hinged to one end of the conveyor frame, a plurality of electric rollers mounted on the conveyor frame, and a blocking mechanism mounted on the conveyor frame.

[0013] Preferably, the blocking mechanism includes a connecting plate fixed to the conveyor frame, an electric cylinder fixed to the connecting plate with its push rod extending upward, and a baffle fixed to the end of the push rod of the electric cylinder; the baffle is located between two adjacent electric rollers and can extend beyond the upper edge of the electric rollers.

[0014] Preferably, the conveyor frame is further provided with a camera bracket, and a vision camera is mounted on the camera bracket.

[0015] Preferably, the conveyor frame is also equipped with supplementary lighting.

[0016] Preferably, there are two sets of robotic arms, which are installed on the tracked vehicle and located on both sides of the conveyor.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. This invention achieves full automation of the entire process of cargo box inbound and outbound operations. By using a mother-and-child tracked automated loading and unloading trolley, it replaces the traditional manual handling method, effectively reducing labor costs and improving operational efficiency and safety. This loading and unloading robot has excellent vehicle adaptability, automatically identifying whether a truck has a gooseneck and implementing corresponding operational strategies. For trucks with goosenecks, the height of the gooseneck is detected by a vision system, and the servo motor drives the lifting car to adjust to the matching height, ensuring a smooth transition for the child tracked vehicle. It adopts a composite structure where the mother tracked vehicle carries the child tracked vehicle. The mother tracked vehicle is responsible for transportation and lifting adjustment, while the child tracked vehicle performs precise operations inside the cargo box. The compact structure and clear division of labor improve mobility and operational efficiency in confined spaces. The servo-controlled lifting car equipped on the mother tracked vehicle can automatically adjust its height based on detection data, achieving precise docking with different vehicle models and enhancing the system's intelligence and adaptability. For vehicles without goosenecks, the child tracked vehicle can drive directly into the cargo box from the platform without the need for height adjustment assistance from the mother tracked vehicle, improving operational flexibility and versatility.

[0019] 2. During operation inside the cargo box, the mother-and-child tracked vehicles integrate vision and radar systems for real-time environmental perception and autonomous positioning, controlling loading and unloading positioning errors to within 10mm, ensuring high precision and stability in stacking and depalletizing operations. Simultaneously, this invention supports automatic palletizing and loading according to orders during outbound operations, and automatic depalletizing, unloading, and transporting to the warehousing system during inbound operations, achieving bidirectional fully automated operation, comprehensively covering core logistics links, and significantly improving the automation level and overall operational efficiency of the logistics system. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a front view of one embodiment of the present invention.

[0022] Figure 2 for Figure 1 The left view.

[0023] Figure 3 for Figure 1 Top view.

[0024] Figure 4 for Figure 1 A three-dimensional image.

[0025] Figure 5 for Figure 4 The structural diagram omits some components.

[0026] Figure 6 for Figure 5 Enlarged view of section A.

[0027] Figure 7 for Figure 1 A 3D view of a neutron tracked vehicle.

[0028] Figure 8 for Figure 1 A 3D view of the Chinese-made tracked vehicle.

[0029] Figure 9 for Figure 1 A three-dimensional view of the middle car.

[0030] Figure 10 for Figure 1 A three-dimensional view of the conveyor and its components.

[0031] Figure 11 for Figure 10 A magnified 3D view of the middle blocking mechanism.

[0032] Figure 12 for Figure 1 A three-dimensional view of the loading and unloading fixture.

[0033] Figure 13 for Figure 12 3D exploded view.

[0034] Figure 14 for Figure 12 An exploded view from another perspective.

[0035] In the picture:

[0036] 1-Sub-tracked vehicle, 2-Mother tracked vehicle, 3-robotic arm, 4-conveyor, 5-loading and unloading fixture, 6-carriage, 7-drive unit, 8-control box assembly;

[0037] 11-Sub-frame, 12-Sub-track running gear, 13-Sub-drive mechanism;

[0038] 21-Main track frame, 22-Main track running gear, 23-Main drive mechanism;

[0039] 41-Conveyor frame, 42-Transition conveyor, 43-Electric roller, 44-Blocking mechanism, 45-Connecting plate, 46-Electric cylinder, 47-Baffle, 48-Camera bracket, 49-Vision camera, 50-Supplemental light;

[0040] 51-Loading and unloading frame, 52-Suction cup assembly, 53-Pattern, 54-Synchronous belt assembly, 55-Telescopic power motor, 56-Connector 1, 57-Connector 2;

[0041] 61-Base frame, 62-Bearing plate, 63-Guide column, 64-Connecting frame;

[0042] 71-Dual output shaft motor, 72-Gearbox, 73-Lead screw, 74-Lead nut. Detailed Implementation

[0043] To more clearly illustrate the objectives, technical solutions, and advantages of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are merely some embodiments of this invention, and not all embodiments. Based on the embodiments described below, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0044] Example 1

[0045] As attached Figure 1-14 As shown, an automated loading and unloading robot for a mother-daughter tracked vehicle and its parts box includes a child tracked vehicle 1, a mother tracked vehicle 2, a robotic arm 3, a conveyor 4, and a loading and unloading fixture 5. The mother tracked vehicle 2 is equipped with a vertically lifting car 6 and a drive device 7 for driving the car 6 to lift vertically. The car 6 is used to carry the child tracked vehicle 1. The robotic arm 3 and the conveyor 4 are both installed on the child tracked vehicle 1. The loading and unloading fixture 5 is installed on the robotic arm 3.

[0046] As a preferred technical solution in this embodiment, the car 6 includes a base frame 61, a support plate 62 fixed to the base frame 61 for supporting the sub-tracked vehicle 1, guide columns 63 fixed to the four corners of the base and vertically connected to the parent tracked vehicle 2, and connecting frames 64 fixed to both sides of the base; the drive device 7 includes a dual-output shaft motor 71 mounted on the parent tracked vehicle 2, a gearbox 72 respectively connected to the two output ends of the dual-output shaft motor 71, a lead screw 73 vertically rotatably mounted on the parent tracked vehicle 2 and fixed at one end to the output end of the gearbox 72, and a nut 74 fitted on the lead screw 73 and fixed to the corresponding connecting frame 64. Obviously, the drive device 7 can also adopt other applicable existing drive devices 7, such as electric lifting cylinders or hydraulic lifting cylinders. The lifting structure, which uses lead screw 73 and lead nut 74 in conjunction with guide column 63, has the advantages of high transmission accuracy, good self-locking performance and strong load-bearing capacity. It can realize the smooth and precise vertical lifting of the car 6, and ensure the safe transition of the sub-track vehicle 1 between different height models (such as trucks with gooseneck plates).

[0047] As a preferred technical solution in this embodiment, the mother tracked vehicle 2 includes a mother tracked vehicle frame 21, mother tracked walking devices 22 mounted on both sides of the mother tracked vehicle frame 21, and a mother drive mechanism 23 mounted on the mother tracked vehicle frame 21 for driving the mother tracked walking devices 22. The mother tracked walking devices 22 and the mother drive mechanism 23 can adopt existing tracked vehicle drive methods, which will not be elaborated further. Compared with wheeled structures, tracked walking structures have a larger ground contact area and stronger ground adaptability, enabling stable travel on platforms, ramps, and uneven ground, avoiding slippage or getting stuck, ensuring reliable operation of equipment under complex working conditions, and improving overall operational stability.

[0048] As a preferred technical solution in this embodiment, the loading and unloading fixture 5 includes a loading and unloading frame 51, a suction cup assembly 52 slidably mounted on the loading and unloading frame 51, a support plate 53 slidably mounted on the loading and unloading frame 51 and located below the suction cup assembly 52, two sets of synchronous belt assemblies 54 mounted on the loading and unloading frame 51 and located below the support plate 53, and a telescopic power motor 55 that drives the synchronous belt assembly 54 to rotate. The telescopic power motor 55 can be driven and connected to the synchronous belt assembly 54 by belt drive, and the two sets of synchronous belt assemblies 54 transmit power through corresponding rotating shafts. The suction cup assembly 52 is fixedly connected to one layer of the synchronous belt assembly 54 by a connector 56, and the support plate 53 is fixedly connected to the other layer of the synchronous belt assembly 54 by a connector 57. The sliding installation in this embodiment adopts a linear guide rail. When the telescopic power motor 55 drives the synchronous belt assembly 54 to rotate forward and backward, the suction cup assembly 52 and the support plate 53 move towards each other or away from each other. This driving method effectively improves response speed; the relative movement distance between the suction cup assembly 52 and the pallet 53 is twice the movement distance of the synchronous belt assembly 54. This structure achieves synchronous opening and closing of the suction cup assembly 52 and the pallet 53 through double-layer reverse transmission of the synchronous belt. It features high transmission efficiency, fast response speed, and significant stroke amplification effect, enabling a wide range of movements within a limited installation space. It adapts to the gripping needs of different sized boxes, improving the versatility of the fixture and operational efficiency. Specifically, when a box needs to be gripped, the pallet 53 retracts behind the end face of the suction cup assembly 52. ​​At this time, the suction cup assembly 52 uses the robotic arm 3 to pick up (grip) the box. Then, the suction cup assembly 52 and the pallet 53 move towards each other, causing the pallet 53 to extend below the suction cup assembly 52, providing support for the box and ensuring that it does not accidentally fall off during transport.

[0049] As a preferred technical solution in this embodiment, the sub-tracked vehicle 1 includes a sub-frame 11, sub-tracked traveling devices 12 mounted on both sides of the sub-frame 11, and a sub-drive mechanism 13 mounted on the sub-frame 11 for driving the sub-tracked traveling devices 12. The sub-tracked traveling devices 12 and the sub-drive mechanism 13 can adopt existing tracked vehicle drive methods, and will not be described in detail here. The sub-tracked vehicle 1 adopts an independent drive structure, possessing good obstacle-crossing ability and narrow space passability. It can operate stably under complex ground conditions inside the cargo box, cooperating with the parent tracked vehicle to complete precise positioning and operations, ensuring reliable entry and exit and operation execution within cargo boxes of different vehicle types.

[0050] As a preferred technical solution in this embodiment, the conveyor 4 includes a conveyor frame 4 mounted on the sub-tracked vehicle 1, a transition conveyor 42 hinged to one end of the conveyor frame 4, several electric rollers 43 mounted on the conveyor frame 4, and a blocking mechanism 44 mounted on the conveyor frame 4. The transition conveyor 42 can adjust its pitch angle to adapt to different extended conveying equipment. The transition conveyor 42 can be a roller conveyor, and its adjustable angle design allows it to flexibly connect with automated warehouse conveyor lines or platform conveyor lines, eliminating docking difficulties caused by height differences and positional deviations, ensuring smooth transition of boxes, avoiding jamming or falling, and improving the continuity and safety of the conveying process.

[0051] As a preferred embodiment, the blocking mechanism 44 includes a connecting plate 45 fixed to the conveyor frame 4, an electric cylinder 46 fixed to the connecting plate 45 with its push rod extending upward, and a baffle 47 fixed to the end of the push rod of the electric cylinder 46. The baffle 47 is located between two adjacent electric rollers 43 and can extend beyond the upper edge of the electric rollers 43. The blocking mechanism 44 can control the number and rhythm of the passing boxes. The blocking mechanism 44 drives the baffle 47 to rise and fall through the electric cylinder 46, providing rapid response and precise control. It can release single or multiple items sequentially according to system instructions, effectively cooperating with order stacking logic, preventing box stacking or misordering, and ensuring the orderly progress of outbound stacking and inbound depalletizing. The electric cylinder 46 can also be replaced by a pneumatic cylinder or other similar device.

[0052] As a preferred technical solution in this embodiment, a camera bracket 48 is also provided on the conveyor frame 4, and a vision camera 49 is mounted on the camera bracket 48. The vision camera 49 acquires images of the site, providing reliable real-time information for the operation of each piece of equipment. The vision camera 49 can be used to identify the internal structure of the cargo box, detect the position and height of the gooseneck plate, locate the stacking status of the parts boxes, and calibrate its own position, providing key data support for servo lifting, path planning, and fixture movements, thereby improving the system's intelligence level and operational accuracy.

[0053] As a preferred technical solution in this embodiment, the conveyor frame 4 is also equipped with supplementary lighting 50 to provide on-site supplementary lighting and meet the illumination requirements for image acquisition by the vision camera 49. The supplementary lighting 50 ensures that clear images can still be acquired in low-light environments, guaranteeing the stable operation of the vision system and improving recognition accuracy and system robustness.

[0054] As a preferred technical solution in this embodiment, there are two sets of robotic arms 3, installed on the sub-tracked vehicle 1 and located on both sides of the conveyor 4. The symmetrical arrangement of the two robotic arms 3 can realize alternating operation or collaborative gripping, improve loading and unloading efficiency, and is especially suitable for the stable gripping and handling of large or heavy-duty boxes, enhancing the system's operational capabilities and adaptability.

[0055] In this embodiment, a control box assembly 8 is also shown. The control box assembly 8 is integrated onto the sub-tracked vehicle 1 or detachably mounted on it, and is used to centrally house core control components such as the PLC controller, servo driver, power module, communication module, and safety relays. The control box assembly 8 achieves high-speed communication and real-time data interaction with the walking drive system of the mother tracked vehicle 2, the lifting drive device 7 of the car 6, the walking mechanism of the sub-tracked vehicle 1, the robotic arm 3, the conveyor 4, the actuators of the loading and unloading fixture 5, and sensors such as the vision camera 49, radar, and electric cylinder 46 via an industrial-grade bus. The control box assembly 8 possesses excellent sealing and vibration resistance, adapting to complex working conditions in logistics sites and ensuring stable and reliable operation of the control system. Simultaneously, its modular design facilitates maintenance and functional expansion, and supports remote monitoring and fault diagnosis, improving the intelligent management level of the equipment.

[0056] The loading process of this invention is as follows:

[0057] Step 1, Automatic Loading and Unloading Trolley: Driven by a motor, the sub-tracked vehicle 1 enters the cargo box, simultaneously detecting its relative position to the cargo box. (For cargo boxes with gooseneck ramps, the height of the gooseneck ramp is visually detected and fed back to the system. Then, the sub-tracked vehicle 1 can be placed onto the gooseneck ramp via the car bed 6 on the mother tracked vehicle 2.) This step ensures that the sub-tracked vehicle 1 can accurately enter the cargo box and automatically adjusts its working position according to the vehicle model, adapting to the operational needs of different vehicle models.

[0058] Step 2: Cartons are shipped from the automated storage and retrieval system (AS / RS): Cartons are retrieved from the AS / RS via an automated outbound system (existing equipment) and transported to the unloading station via a conveyor system. This process achieves seamless integration between the warehouse and loading systems, improving overall operational efficiency.

[0059] Step 3, Disassembly Robot: The disassembly robot disassembles the pallet into individual pieces and sends them out. This step prepares for subsequent individual piece loading, ensuring flexibility and accuracy during loading.

[0060] Step 4, Telescopic Belt Conveyor: The parts box enters the next station via a telescopic belt conveyor (existing equipment). The telescopic belt conveyor can automatically extend and retract to adapt to different loading lengths. This design allows the system to flexibly respond to different vehicle models and loading requirements, improving the system's versatility and adaptability.

[0061] Step 5, Transition Conveyor 42 Receives Part Boxes: Part boxes from the upper station arrive at transition conveyor 42. This step smoothly transfers the part boxes from the dismantling station to the next processing stage, ensuring the continuity of material flow.

[0062] Step 6, Posture Adjustment Station: The part boxes conveyed by the transition conveyor 42 can have their posture adjusted by the posture adjustment mechanism on the sub-track vehicle 1 (added as needed, existing equipment can be used) according to different loading postures. The posture can be upright or inverted. This step ensures that the part boxes can be placed in the predetermined manner during loading, improving space utilization and stability.

[0063] Step 7: Sorting of parts boxes on conveyor 4: The parts boxes enter the sorting position and are sorted. Depending on the loading requirements, 1-2 parts boxes can be sorted at each position. This step provides an orderly environment for the robotic arm 3 to grasp the parts, facilitating efficient and accurate completion of the loading task.

[0064] Step 8: Robotic arm 3 operates by driving the loading and unloading fixture 5 to grasp and sort the parts boxes. The high-precision operation of robotic arm 3 ensures stable grasping and handling of the parts boxes, reduces human intervention, and improves the safety and efficiency of the operation.

[0065] Step 9, Loading / Unloading Fixture 5: Loading / unloading fixture 5 uses suction cups to grip the parts box. It can grip the parts box from the top or from the side. Next, robotic arm 3 moves the parts box to the loading position and performs visual inspection to check if it can be stacked. Then, the parts box is stacked inside the truck. This step uses visual guidance to achieve precise positioning and stacking, improving the quality and efficiency of loading.

[0066] Step 10: Loading of boxes completed: All boxes are loaded into the truck in the planned order, completing the entire loading process.

[0067] The unloading process of this invention is as follows:

[0068] Step 1, Sub-tracked Vehicle 1: Driven by a motor, sub-tracked vehicle 1 moves to the grab position inside the cargo box of the truck, simultaneously detecting its relative position to the truck. The onboard vision camera 49 performs an inspection of the cargo box wall. (For trucks with gooseneck ramps, the height of the gooseneck ramp is detected visually and fed back to the system. Sub-tracked vehicle 1 can then be placed onto the gooseneck ramp via the caravan 6 on the mother tracked vehicle 2.) This step ensures that sub-tracked vehicle 1 can be accurately positioned inside the cargo box, providing a foundation for subsequent unloading.

[0069] Step 2, Loading / Unloading Fixture 5 Operation: The vision guidance system controls the robotic arm 3 to move the loading / unloading fixture 5 to the unloading position of the part box, and uses the vision system on the loading / unloading fixture 5 to detect the position of the part box. When unloading the top layer, the suction cup of the loading / unloading fixture 5 picks up the part box, and the robot pulls the loading / unloading fixture 5 outward. When the part box reaches the outer edge, the suction cup retracts while the bottom support extends. This step uses vision technology to achieve precise positioning and safe gripping, avoiding damage to the part box.

[0070] Step 3, Robotic Arm 3's Operation: Driven by robotic arm 3, the loading and unloading fixture 5 transports the disassembled parts boxes to the next workstation. The operation of robotic arm 3 ensures stable transport of the parts boxes and improves unloading efficiency.

[0071] Step 4, Conveyor 4: After the gripped box is transported to this end of conveyor 4, the loading / unloading fixture 5 releases the box, and the robot moves it away to execute the next unloading process. Conveyor 4 delivers the box to the next location. This step enables the smooth transfer of boxes from cargo containers to the warehousing system, ensuring the smooth flow of logistics.

[0072] Step 5, Telescopic Belt Conveyor: The telescopic belt conveyor (existing equipment) receives the parts boxes from conveyor 4. The telescopic belt conveyor can automatically extend and retract to adapt to different loading lengths and receive the delivered parts boxes before sending them to the next workstation. This design enhances the system's flexibility and adaptability, making it suitable for handling parts boxes of different sizes and types.

[0073] Step 6, Posture Adjustment Station: The delivered parts boxes are adjusted to the required posture for palletizing via a posture adjustment mechanism. This step provides the necessary preparation for subsequent automated palletizing, ensuring that the parts boxes are stacked neatly and stably.

[0074] Step 7: Palletizing Robot: The palletized boxes, with their posture adjusted, are palletized into pallets by the palletizing robot and then transported into the warehouse. The application of palletizing robots significantly improves work efficiency, reduces manual intervention, and lowers labor intensity.

[0075] Step 8, Pallet Receiving: The stacked pallets are delivered to the designated location, and then the receiving system stores the entire pallet of pallets in the warehouse. This step completes the closed-loop management of the entire process from unloading to warehousing, ensuring the integrity and efficiency of the logistics chain.

[0076] Step 9: Unloading of boxes completed: All boxes are unloaded and stored in the warehouse according to the planned sequence, completing the entire unloading process.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, any modifications, equivalent substitutions, and improvements made to the technical solutions or some technical features described in the above specific embodiments within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A kind of automatic loading and unloading vehicle robot of sub-mother track dolly piece box, including sub-track vehicle (1), mother track vehicle (2), mechanical arm (3), conveyor (4) and loading and unloading clamp (5);Its characterized in that, The mother track vehicle (2) is provided with a vertically lifting car (6) and a driving device (7) for driving the car (6) to vertically lift; the car (6) is used for carrying the child track vehicle (1); the mechanical arm (3) and the conveyor (4) are both mounted on the child track vehicle (1); and the loading and unloading clamp (5) is mounted on the mechanical arm (3). The car (6) comprises a bottom frame (61), a bearing plate (62) fixedly connected to the bottom frame (61) and used for bearing the child track vehicle (1), guide columns (63) fixedly connected to four corners of the bottom frame (61) and vertically connected with the mother track vehicle (2), and connecting frames (64) fixedly connected to two sides of the bottom frame (61); the driving device (7) comprises a double-output shaft motor (71) mounted on the mother track vehicle (2), gearboxes (72) respectively in transmission connection with two output ends of the double-output shaft motor (71), a screw rod (73) vertically rotatably mounted on the mother track vehicle (2) and fixedly connected at one end with an output end of the gearbox (72), and a screw nut (74) sleeved on the screw rod (73) and fixedly connected with the corresponding connecting frame (64).

2. The master slave caterpillar cart piece box automatic transfer machine robot according to claim 1, characterized in that, The mother track vehicle (2) comprises a mother track vehicle frame (21), mother track walking devices (22) mounted on two sides of the mother track vehicle frame (21), and a mother driving mechanism (23) mounted on the mother track vehicle frame (21) and used for driving the mother track walking devices (22) to work.

3. The master slave caterpillar cart piece box automatic transfer machine robot according to claim 1, characterized in that, The loading and unloading clamp (5) comprises a loading and unloading frame (51), a suction disc assembly (52) slidingly mounted on the loading and unloading frame (51), a supporting plate (53) slidingly mounted on the loading and unloading frame (51) and located below the suction disc assembly (52), at least one group of synchronous belt assemblies (54) mounted on the loading and unloading frame (51) and located below the supporting plate (53), and a telescopic power motor (55) for driving the synchronous belt assemblies (54) to rotate; one layer of a belt surface of the synchronous belt assemblies (54) is fixedly connected with the suction disc assembly (52) through a connecting piece one (56), and the other layer of the belt surface of the synchronous belt assemblies (54) is fixedly connected with the supporting plate (53) through a connecting piece two (57); when the telescopic power motor (55) drives the synchronous belt assemblies (54) to reversely rotate, the suction disc assembly (52) and the supporting plate (53) move towards each other or move away from each other.

4. The master slave caterpillar cart piece bin automated transfer machine robot of claim 1, wherein, The child track vehicle (1) comprises a child vehicle frame (11), child track walking devices (12) mounted on two sides of the child vehicle frame (11), and a child driving mechanism (13) mounted on the child vehicle frame (11) and used for driving the child track walking devices (12) to work.

5. The master slave caterpillar cart piece bin automated transfer machine robot of claim 1, wherein, The conveyor (4) comprises a conveyor frame (41) mounted on the child track vehicle (1), a transition conveyor (42) hingedly connected at one end of the conveyor frame (41), a plurality of electric rollers (43) mounted on the conveyor frame (41), and a blocking mechanism (44) mounted on the conveyor frame (41).

6. The master slave caterpillar cart piece bin automated transfer machine robot of claim 5, wherein, The blocking mechanism (44) comprises a connecting plate (45) fixed to the conveyor frame (41), an electric cylinder (46) fixed to the connecting plate (45) and having a push rod extending upward, and a blocking plate (47) fixed to the end of the push rod of the electric cylinder (46); the blocking plate (47) is located between two adjacent electric rollers (43) and can extend beyond the upper edge of the electric roller (43).

7. The master slave caterpillar cart piece bin automated transfer machine robot of claim 6, wherein, A camera support (48) is further arranged on the conveyor frame (41), and a visual camera (49) is installed on the camera support (48).

8. The master slave caterpillar cart piece bin automated transfer machine robot of claim 7, wherein, A light supplement lamp (50) is further arranged on the conveyor frame (41).

9. The masterless track dolly piece bin automated transfer machine robot of claim 1, wherein, The mechanical arms (3) are two sets, which are installed on the sub-track vehicle (1) and are located on the two sides of the conveyor (4) respectively.

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