Intelligent robot equipment for automatically loading and unloading containers

Abstract

The invention relates to the technical field of logistics transfer equipment, and particularly discloses intelligent robot equipment for automatically loading and unloading containers, which comprises a conveying line steering support frame which is a main support for logistics transfer, and a conveying line inspection support frame is mounted at one end of the conveying line steering support frame in a butt joint manner; the conveying line inspection supporting frame and the conveying line main line supporting frame are installed in a butt joint mode, and the conveying line steering supporting frame, the conveying line inspection supporting frame and the conveying line main line supporting frame are sequentially connected to form a logistics assembly line support. According to the intelligent robot equipment for automatic loading and unloading of the containers, a speed sensor mounting group is arranged on the top end face of a main line supporting frame of a conveying line and electrically connected with a first AGV and a second AGV, and conveying speed data of logistics boxes on electric driving roller rods can be collected in real time; and the background dynamically adapts according to the clamping rhythms of the first stacking mechanical arm body and the second stacking mechanical arm body, and positioning deviation caused by asynchronization of the conveying speed and the clamping action is avoided.

Description

Technical Field

[0001] This invention relates to the field of logistics transfer equipment technology, specifically to an intelligent robot device for automatic loading and unloading of containers. Background Technology

[0002] Currently, automated container loading and unloading equipment has gradually integrated core functional components such as telescopic roller conveyors, palletizing robots, AGVs, robotic arms, vision cameras, and LiDAR. Its basic working logic involves using LiDAR and vision cameras to collect information on the position and shape of goods, a back-end controller to plan the operational path, and then using AGVs to move robotic arms in conjunction with the telescopic roller conveyor to complete the transport, clamping, and palletizing of goods between the container and the work area. It is widely used in container loading and unloading scenarios such as logistics warehousing and port transshipment, becoming a key piece of equipment for improving cargo turnover efficiency. However, existing related equipment has some shortcomings in structural design and practical application, such as:

[0003] Some equipment uses a single robot operating mode, and there is no adaptive adjustment structure between the telescopic roller conveyor and the robot. This results in a mismatch between the cargo conveying speed and the clamping cycle, which can easily lead to positioning errors. Moreover, the conveying mechanism is mostly of fixed size, making it difficult to accommodate goods of different sizes and shapes. It has insufficient clamping and protection capabilities for fragile and thin goods, which can easily cause damage. Furthermore, key components of the equipment, such as the robotic arm joints, drive wheels, and motors, lack status monitoring structures and have no design for operation and maintenance data collection and traceability. The equipment can only be stopped and dealt with after a failure occurs. In addition, the goods are prone to misalignment during docking, requiring manual correction, which seriously affects the continuity and stability of the operation.

[0004] To address the aforementioned issues, there is an urgent need for innovative designs based on existing automated container loading and unloading equipment. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent robot device for automated container loading and unloading, in order to solve the problems mentioned in the background art, such as the lack of an adaptive adjustment structure between the telescopic roller conveyor and the robot, which leads to a mismatch between the cargo conveying speed and the clamping cycle, easily causing positioning errors, and the fact that the conveying mechanism is mostly of fixed size, making it difficult to be compatible with cargo of different sizes and shapes, and the insufficient clamping and protection capability for fragile and thin goods, which easily causes damage to the goods. In addition, the key components of the equipment, such as the robotic arm joints, drive wheels, and motors, lack status monitoring structures and have no design related to operation and maintenance data collection and traceability, and can only be stopped for handling after a failure occurs. At the same time, the cargo docking process is prone to deviation, requiring manual correction.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent robot device for automatic container loading and unloading, comprising a conveyor line turning support frame, which is the main support for logistics transfer. One end of the conveyor line turning support frame is connected to a conveyor line inspection support frame, and the conveyor line inspection support frame is connected to the main conveyor line support frame. The conveyor line turning support frame, the conveyor line inspection support frame, and the main conveyor line support frame are sequentially connected to form a logistics assembly line support.

[0007] The L-shaped turning point of the conveyor line turning support frame is provided with a positioning roller frame, and the positioning roller frame divides the L-shaped structure of the conveyor line turning support frame into a transverse conveyor channel and a longitudinal conveyor channel. An electric drive roller is installed in the transverse conveyor channel of the conveyor line turning support frame, and a spacing sliding adjustment seat is installed at both ends of the electric drive roller. Slide rails that are slidably adapted to the spacing sliding adjustment seats are opened on both sides of the transverse conveyor channel of the conveyor line turning support frame. An electric drive roller and a positioning roller group are installed in the longitudinal conveyor channel of the conveyor line turning support frame, and the positioning roller group is rotatably connected to the positioning roller frame.

[0008] The transverse conveyor sidewall of the conveyor line steering support frame is equipped with a movable AGV trolley, and a palletizing robot arm body is installed on the upper end of the AGV trolley. An end effector connecting flange plate is installed at the end of the palletizing robot arm body, and a negative pressure suction cup plate is installed at the bottom of the end effector connecting flange plate by bolts. A limit gripper assembly is symmetrically arranged on the upper surface of the end effector connecting flange plate, and the limit gripper assembly includes a positioning mounting plate, a ball screw and an anti-detachment gripper plate, and the anti-detachment gripper plate is arranged parallel to the side of the negative pressure suction cup plate.

[0009] Electric drive rollers are equidistantly installed inside the conveyor line inspection support frame and the main conveyor line support frame. These electric drive rollers are parallel to the electric drive rollers in the transverse conveyor channel of the conveyor line steering support frame at the same height. A five-sided scanning DWS device is installed above the conveyor line inspection support frame. A guide frame is installed at the output end of the main conveyor line support frame. An AGV trolley II is configured in the working area outside the guide frame. A palletizing robot arm body II is installed at the top of the AGV trolley II. An end effector connecting flange plate is installed at the end of the palletizing robot arm body II.

[0010] By adopting the above technical solution, the logistics boxes are stably transferred through a three-section connected logistics assembly line support. The dual palletizing robotic arm, together with the adjustable electric drive roller and positioning guide structure, solves the problems of mismatch between conveying and clamping cycles, large positioning errors, and limited compatibility with a single size, thereby improving loading and unloading efficiency and cargo clamping stability.

[0011] Preferably, a guide plate is installed on the upper end face of the conveyor line turning support frame, and the guide plate is adapted to the L-shaped structure of the conveyor line turning support frame for installation.

[0012] By adopting the above technical solution, the guide plate is adapted to the L-shaped conveyor channel, which can guide the logistics box to turn smoothly, avoid deviation and jamming during the transportation process, and further improve the smoothness of transfer.

[0013] Preferably, the conveyor line inspection support frame and the conveyor line main support frame are provided with slide rails that are adapted to the sliding adjustment seat.

[0014] With the above technical solution, both the conveyor line inspection support frame and the main line support frame are equipped with a spacing sliding adjustment seat, which realizes the adjustable spacing of the electric drive rollers throughout the conveying path, is compatible with more sizes of goods, and enhances the versatility of the equipment.

[0015] Preferably, a speed sensor mounting group is installed on the top surface of the main support frame of the conveyor line, and the speed sensor mounting group is electrically connected to AGV trolley one and AGV trolley two.

[0016] Using the above technical solution, the speed sensor installation group collects the conveying speed in real time and links it with the control unit to dynamically match the clamping cycle, reduce positioning errors, and provide data support for monitoring the equipment's operating status.

[0017] Preferably, a suction cup body is installed at the bottom suction port of the negative pressure suction cup plate, and the suction cup body is a corrugated tubular structure made of silicone material.

[0018] Using the above technical solution, the silicone corrugated tubular suction cup body has both adsorption force and cushioning, which can avoid damage to fragile and thin goods and improve the clamping protection effect.

[0019] Preferably, the positioning mounting plate of the limiting gripper assembly is bolted to the top surface of the end effector connecting flange plate, and two positioning mounting plates are installed on the top of the end effector connecting flange plate.

[0020] By adopting the above technical solution, the two symmetrically arranged positioning mounting plates ensure that the limiting gripper assembly is subjected to balanced force, ensuring that the force on the left and right sides is consistent when the logistics box is clamped, and reducing the risk of falling off.

[0021] Preferably, the positioning mounting plate has a strip-shaped opening, and an anti-detachment gripper plate is slidably connected in the opening. A ball screw is installed in the opening, and the slider seat of the ball screw passes through and is rotatably connected to the top surface of the anti-detachment gripper plate. The positioning mounting plate and the anti-detachment gripper plate form an L-shaped frame structure, and the length of the anti-detachment gripper plate is greater than the thickness of the negative pressure suction cup plate.

[0022] By adopting the above technical solution, the L-shaped frame structure and ball screw drive structure enable the anti-detachment gripper plate to slide accurately and smoothly. The length of the gripper plate is adapted to the negative pressure suction cup plate, which enhances the gripping and anti-detachment effect and improves the gripping accuracy.

[0023] Preferably, a vision camera is mounted on the top surface of the second AGV vehicle via a bracket, and a lidar is mounted on the outer wall of the vision camera's housing. The vision camera and lidar are electrically connected to the second AGV vehicle.

[0024] Using the above technical solution, the vision camera and LiDAR work together to accurately identify the location of the goods and plan the path, improving the accuracy of AGV movement and clamping positioning, while also assisting in monitoring the operating posture of the equipment.

[0025] Preferably, the two end structures of the palletizing robot arm body are the same as the one end structure of the palletizing robot arm body, both of which are equipped with an end effector connecting flange plate, a negative pressure suction cup plate, a suction cup body and a limit gripper assembly.

[0026] By adopting the above technical solution, the end structures of the two robotic arms are consistent, ensuring uniform loading and unloading clamping actions, improving the continuity of operation, and simplifying the equipment maintenance and spare parts replacement process.

[0027] Preferably, the positioning roller group includes at least three positioning rollers arranged in parallel, and the top height of the positioning rollers is flush with the top height of the electric drive rollers, and the spacing between the positioning rollers is less than the spacing between the electric drive rollers.

[0028] By adopting the above technical solution, the positioning roller group ensures the stability of the logistics box during turning and conveying, and the reduced positioning roller spacing avoids small-sized goods from getting stuck, further improving the stability of the transfer.

[0029] Compared with the prior art, the beneficial effects of the present invention are: the intelligent robot equipment for automatic container loading and unloading:

[0030] 1. This equipment, by installing a speed sensor assembly on the top surface of the main support frame of the conveyor line and electrically connecting it to AGV trolley one and AGV trolley two, can collect real-time conveying speed data of the logistics boxes on the electrically driven rollers. The background dynamically adapts to the clamping rhythm of palletizing robot arm body one and palletizing robot arm body two to avoid positioning deviations caused by asynchronous conveying speed and clamping action. At the same time, the vision camera and LiDAR on AGV trolley two can accurately identify the position and posture of the logistics boxes. Together with the L-shaped guide plate on the conveyor line turning support frame, the guide frame at the output end of the main support frame of the conveyor line, and the positioning roller group on the positioning roller frame, it forms a full-path guiding positioning.

[0031] 2. This equipment features slide rails adapted to the spacing adjustment seat within the conveyor line turning support frame, conveyor line inspection support frame, and conveyor line main support frame. The electric drive rollers can flexibly adjust the spacing via the spacing adjustment seat, making it compatible with logistics boxes of different widths. The clamping end adopts a composite structure of negative pressure adsorption and mechanical limiting. The negative pressure suction cup plate at the bottom of the end actuator connecting flange plate, combined with the silicone corrugated suction cup body, can buffer the clamping impact force and is suitable for fragile and thin goods. At the same time, the limiting gripper assembly is driven by a ball screw to precisely clamp the anti-detachment gripper plate. The L-shaped frame structure and the gripper plate design, which is thicker than the negative pressure suction cup plate, can prevent the logistics box from falling off and reduce the damage rate of goods.

[0032] 3. The vision camera and lidar on AGV trolley 2 are used not only for positioning but also to indirectly provide feedback on the operating posture of the palletizing robot arm body 2. Combined with the speed sensor installation group to collect the operating status of the electric drive rollers, the working status of key components such as robot arm joints, drive wheels, and motors can be monitored in real time, providing early warning of potential faults and avoiding the passive situation of only stopping the machine after a failure, as is the case with traditional equipment. At the same time, the five-sided scanning DWS device above the inspection support frame of the conveyor line can collect the size, weight, and barcode information of each batch of logistics boxes. The speed sensor installation group records the conveying speed, and AGV trolley 1 and AGV trolley 2 store clamping parameters, operation time, and other data, forming a complete operation data chain to meet the needs of logistics traceability and improve the efficiency of equipment operation and maintenance management. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall external three-dimensional structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the installation structure of the conveyor line turning support frame, the conveyor line inspection support frame, and the conveyor line main support frame of the present invention;

[0035] Figure 3 This is a three-dimensional structural diagram of the conveyor line steering support frame and AGV trolley installation position of the present invention;

[0036] Figure 4 This is a schematic diagram of the installation structure of the palletizing robot arm body and the end effector connecting flange plate of the present invention;

[0037] Figure 5 This is a three-dimensional structural diagram of the installation of the end effector connecting flange plate and the limiting gripper assembly of the present invention;

[0038] Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A in the middle;

[0039] Figure 7 This is a three-dimensional structural diagram of the installation of the negative pressure suction cup plate, suction cup body and limiting gripper assembly of the present invention;

[0040] Figure 8 This is a schematic diagram of the installation structure of the main support frame of the conveyor line and the AGV trolley of the present invention;

[0041] Figure 9 This is a three-dimensional structural diagram of the main support frame and speed sensor mounting assembly of the conveyor line according to the present invention.

[0042] Figure 10 This is a three-dimensional structural diagram of the installation of the internal spacing sliding adjustment seat and positioning roller assembly of the main support frame of the conveyor line of the present invention.

[0043] In the diagram: 1. Conveyor line steering support frame; 2. Conveyor line inspection support frame; 3. Conveyor line main support frame; 4. Five-sided scanning DWS device; 5. AGV trolley one; 6. Palletizing robot arm body one; 7. End effector connecting flange plate; 8. Negative pressure suction cup plate; 9. Suction cup body; 10. Limiting gripper assembly; 1001. Positioning mounting plate; 1002. Ball screw; 1003. Anti-detachment gripper plate; 11. AGV trolley two; 12. Palletizing robot arm body two; 13. Guide frame; 14. Speed ​​sensor mounting group; 15. Positioning roller frame; 16. Electric drive roller; 17. Spacing sliding adjustment seat; 18. Positioning roller group; 19. Guide plate; 20. Vision camera; 21. LiDAR. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please see Figures 1-10 This invention provides a technical solution: an intelligent robot device for automatic container loading and unloading, comprising a conveyor line steering support frame 1, a conveyor line inspection support frame 2, a conveyor line main support frame 3, a five-sided scanning DWS device 4, an AGV trolley 1 5, a palletizing robot arm body 1 6, an end effector connecting flange plate 7, a negative pressure suction cup plate 8, a suction cup body 9, a limit gripper assembly 10, a positioning mounting plate 1001, a ball screw 1002, an anti-detachment gripper plate 1003, an AGV trolley 2 11, a palletizing robot arm body 2 12, a guide frame 13, a speed sensor mounting group 14, a positioning roller frame 15, an electric drive roller 16, a spacing sliding adjustment seat 17, a positioning roller group 18, a guide plate 19, a vision camera 20, and a lidar 21;

[0046] Among them, the conveyor line turning support frame 1 is the main support for logistics transfer. One end of the conveyor line turning support frame 1 is connected to the conveyor line inspection support frame 2, and the conveyor line inspection support frame 2 is connected to the conveyor line main support frame 3. The conveyor line turning support frame 1, the conveyor line inspection support frame 2 and the conveyor line main support frame 3 are connected in sequence to form the logistics assembly line support.

[0047] A positioning roller frame 15 is provided at the L-shaped turning point of the conveyor line turning support frame 1, and the positioning roller frame 15 divides the L-shaped structure of the conveyor line turning support frame 1 into a transverse conveyor channel and a longitudinal conveyor channel. A guide plate 19 is installed on the upper end face of the conveyor line turning support frame 1, and the guide plate 19 is installed to match the L-shaped structure of the conveyor line turning support frame 1. An electric drive roller 16 is installed in the transverse conveyor channel of the conveyor line turning support frame 1, and a spacing sliding adjustment seat 17 is installed at both ends of the electric drive roller 16. Slide rails that are slidably adapted to the spacing sliding adjustment seat 17 are opened on both sides of the transverse conveyor channel of the conveyor line turning support frame 1. An electric drive roller 16 and a positioning roller group 18 are installed in the longitudinal conveyor channel of the conveyor line turning support frame 1, and the positioning roller group 18 is rotatably connected to the positioning roller frame 15.

[0048] A movable AGV trolley 5 is configured on the transverse conveyor sidewall of the conveyor line steering support frame 1, corresponding to the working area. A palletizing robotic arm body 6 is mounted on the upper end of the AGV trolley 5. An end effector connecting flange plate 7 is installed at the end of the palletizing robotic arm body 6. A negative pressure suction cup plate 8 is bolted to the bottom of the end effector connecting flange plate 7. A suction cup body 9 is installed at the suction port at the bottom of the negative pressure suction cup plate 8. The suction cup body 9 is a corrugated tubular structure made of silicone. A limit gripper assembly 10 is symmetrically arranged on the upper surface of the end effector connecting flange plate 7. The limit gripper assembly 10 includes a positioning mounting plate 1001, a ball screw 1002, and an anti-detachment gripper plate 1003. Plate 1003 is arranged parallel to the side of the negative pressure suction cup plate 8. The positioning mounting plate 1001 of the limiting gripper assembly 10 is installed on the top surface of the end actuator connecting flange plate 7 by bolts. Two positioning mounting plates 1001 are installed on the top of the end actuator connecting flange plate 7. The positioning mounting plate 1001 has a strip-shaped opening. The anti-detachment gripper plate 1003 is slidably connected in the opening. A ball screw 1002 is installed in the opening. The slider seat of the ball screw 1002 passes through and is rotatably connected to the top surface of the anti-detachment gripper plate 1003. The positioning mounting plate 1001 and the anti-detachment gripper plate 1003 form an L-shaped frame structure. The length of the anti-detachment gripper plate 1003 is greater than the thickness of the negative pressure suction cup plate 8.

[0049] Referring to the attached diagrams in the instruction manual Figures 1-10As shown, first fix the conveyor line turning support frame 1 to the working foundation position, then connect the conveyor line inspection support frame 2 to one end of the conveyor line turning support frame 1, and then connect the conveyor line main line support frame 3 to the other end of the conveyor line inspection support frame 2. The three are connected in sequence to form a complete logistics assembly line support.

[0050] In the L-shaped turning area of ​​the conveyor line turning support frame 1, a positioning roller frame 15 is fixedly arranged. Slide rails adapted to the spacing sliding adjustment seat 17 are installed on both sides of the transverse conveyor. The two ends of the electric drive roller 16 are mounted on the spacing sliding adjustment seat 17, and the adjustment seat is then inserted into the transverse conveyor slide rail. At the same time, the electric drive roller 16 is installed in the longitudinal conveyor, and the positioning roller group 18 is rotatably connected to the positioning roller frame 15.

[0051] Slide rails adapted to the spacing sliding adjustment seat 17 are respectively opened in the conveyor line inspection support frame 2 and the main conveyor line support frame 3. The electric drive roller 16 is installed in the corresponding slide rail through the adjustment seat, so that the electric drive roller 16 of the three are kept at the same height and parallel. Temperature sensor and vibration sensor are embedded in the housing of the roller motor corresponding to each electric drive roller 16. The sensor signal output end is electrically connected to the background controller built into the AGV trolley 5. Guide plate 19 is installed on the upper end face of the conveyor line turning support frame 1 along the L-shaped direction, and guide frame 13 is installed on the output end of the main conveyor line support frame 3.

[0052] On one side of the transverse conveyor channel of the conveyor line steering support frame 1, the AGV trolley 5 can move fully within the carriage. It has a built-in back-end controller connected to the sensors of the conveyor line steering support frame 1, the conveyor line inspection support frame 2, and the conveyor line main support frame 3. The bottom of the palletizing robot arm body 6 is mounted on the upper surface of the AGV trolley 5. Temperature and vibration sensors are embedded at each joint of the palletizing robot arm body 6. The sensors are electrically connected to the back-end controller via wires, and the end effector... The device connects to the flange plate 7, one end of which is installed at the end of the palletizing robot arm body 6. A negative pressure suction cup plate 8 is installed at the bottom of the flange plate by bolts, and a silicone corrugated suction cup body 9 is installed at the suction port at the bottom of the suction cup plate. Two positioning mounting plates 1001 are symmetrically installed at the top of the flange plate. A ball screw 1002 is installed in the strip opening of each mounting plate. The anti-detachment gripper plate 1003 is slidably connected in the opening, and the slider seat of the ball screw 1002 is fixed to the top of the gripper plate to form a limiting gripper assembly 10.

[0053] A five-sided scanning DWS device 4 is mounted on a bracket above the conveyor line inspection support frame 2 so that the scanning area covers the logistics box conveying path.

[0054] A speed sensor mounting group 14 is installed on the top surface of the main support frame 3 of the conveyor line, and it is electrically connected to AGV trolley 1 5 and AGV trolley 2 11.

[0055] Temperature and vibration sensors are installed near the axle of the drive wheel of AGV 21. The sensors are electrically connected to the built-in control module of AGV 21. This module communicates with the back-end controller of AGV 15. The bottom of the palletizing robot arm body 22 is mounted on the top of the AGV. Temperature and vibration sensors are embedded in each joint of the palletizing robot arm body 22. The sensors are electrically connected to the control module of AGV 21. Referring to the end installation method of palletizing robot arm body 16, the end effector connecting flange plate 7, negative pressure suction cup plate 8, suction cup body 9, and limit gripper assembly 10 are installed at the end of the palletizing robot arm body 22. A vision camera 20 is mounted on the top of AGV 21 through a bracket. A lidar 21 is mounted on the outer wall of the camera housing. Both are electrically connected to the control module of AGV 21.

[0056] Electric drive rollers 16 are equidistantly installed inside the conveyor line inspection support frame 2 and the main conveyor line support frame 3. These electric drive rollers 16 are parallel to each other at the same height as the electric drive rollers 16 in the transverse conveyor channel of the conveyor line steering support frame 1. Slide rails that slide and adapt to the spacing sliding adjustment seat 17 are provided inside the conveyor line inspection support frame 2 and the main conveyor line support frame 3. A speed sensor mounting assembly 14 is installed on the top surface of the main conveyor line support frame 3, and the speed sensor mounting assembly 14 is electrically connected to AGV trolley 1 5 and AGV trolley 2 11. A five-sided scanning DWS device 4 is mounted above the conveyor line inspection support frame 2. A guide frame 13 is installed at the output end of the main conveyor line support frame 3, and AGV trolley 2 11 is configured in the working area outside the guide frame 13. The second AGV trolley 11 is equipped with a palletizing robot arm body 22, and an end effector connecting flange plate 7 is installed at the end of the palletizing robot arm body 22. A vision camera 20 is installed on the top surface of the AGV trolley 11 via a bracket, and a lidar 21 is installed on the outer wall of the housing of the vision camera 20. The vision camera 20 and the lidar 21 are electrically connected to the AGV trolley 11. The end structure of the second AGV trolley 12 is the same as that of the first AGV trolley 6, both of which are equipped with an end effector connecting flange plate 7, a negative pressure suction cup plate 8, a suction cup body 9, and a limiting gripper assembly 10. The positioning roller group 18 includes at least three parallel positioning rollers, and the top height of the positioning rollers is flush with the top height of the electric drive roller 16, and the spacing between the positioning rollers is less than the spacing between the electric drive roller 16.

[0057] Referring to the attached diagrams in the instruction manual Figures 1-10As shown, the starting conveyor line steering support frame 1, AGV trolley 1 5 and AGV trolley 2 11 are activated, and a full system self-check is performed: confirming that the electric drive roller 16 rotates, the spacing sliding adjustment seat 17 slides, the limit gripper assembly 10 moves, and the suction force of the suction cup body 9 is normal. On the other hand, the temperature and vibration sensors at the robotic arm joints, AGV drive wheels, and roller motors begin to collect initial data. The background controller uses big data analysis algorithms to determine whether each key component is in a normal initial state and generates a self-check report. According to the size of the logistics box to be loaded and unloaded, the spacing of the electric drive rollers 16 of each conveyor is adjusted by the adjustment seat. At the same time, the background controller combines the initial data from the sensors to calibrate the threshold values ​​of the equipment operating parameters.

[0058] The logistics box to be loaded and unloaded is placed within the working range of AGV trolley 5. As AGV trolley 5 moves to the periphery of the logistics box, the palletizing robot arm body 6 moves, driving the end effector connecting flange plate 7 to move above the logistics box. The negative pressure suction cup plate 8 is activated, causing the suction cup body 9 to adsorb the logistics box. At the same time, the ball screw 1002 drives the anti-detachment gripper plate 1003 to clamp the side of the logistics box. The clamping is achieved by a dual-stable structure of adsorption and gripping. During this process, the temperature and vibration sensors at the joints of the palletizing robot arm body 6 collect operating data in real time. The background controller continuously analyzes the data. If an abnormal increase in joint temperature or a vibration frequency exceeding the threshold is detected, the operation is immediately suspended and a maintenance prompt is pushed. The palletizing robot arm body 6 drives the logistics box to move and place it on the electric drive roller 16 of the transverse conveyor of the conveyor line steering support frame 1. Then the gripper assembly is released, the suction cup is released, and the palletizing robot arm body 6 is reset.

[0059] The electric drive roller 16 of the transverse conveyor rotates, driving the logistics box to be conveyed to the L-shaped turning point. When the logistics box contacts the positioning roller group 18, the positioning roller assists in turning, and the logistics box enters the longitudinal conveyor. It is then conveyed by the longitudinal electric drive roller 16 to the conveyor line inspection support frame 2. During this period, the temperature and vibration sensors installed at the motor of the roller collect the motor operation data in real time. The background controller analyzes the data to determine whether the motor is working properly, so as to avoid the motor failure causing the conveying to be interrupted. When the logistics box contacts the positioning roller group 18, the positioning roller assists in turning, and the logistics box enters the longitudinal conveyor. It is then conveyed by the longitudinal electric drive roller 16 to the conveyor line inspection support frame 2. The logistics box is conveyed by the electric drive roller 16 of the conveyor line inspection support frame 2. After the five-sided scanning DWS equipment 4 completes the scanning and verification of size, weight and barcode, it is conveyed to the main support frame 3 of the conveyor line after the verification is passed.

[0060] After the logistics box enters the main support frame 3 of the conveyor line, the speed sensor installation group 14 collects the conveying speed and feeds it back to the control cabinet. When the logistics box shakes, the spacing of the electric drive roller 16 is finely adjusted by sliding the spacing adjustment seat 17 along the slide rail to ensure that the logistics box is stably conveyed to the guide frame 13. During the conveying process, the background controller continuously receives the temperature and vibration data of each roller motor and performs linkage analysis in combination with the speed data. When an abnormal operation of a certain motor is detected, the speed of the adjacent motors in that area is automatically adjusted for compensation, and an early warning signal is issued at the same time.

[0061] After the logistics box arrives at the guide frame 13, the AGV trolley 2 11 uses the vision camera 20 to identify the position of the logistics box and the lidar 21 to plan the path, and moves to the working area outside the guide frame 13. During the movement of the AGV trolley 2 11, the temperature and vibration sensors at the drive wheels collect data in real time. The back-end controller analyzes the data to determine whether there are problems such as wear or jamming of the drive wheels, to ensure driving stability. The palletizing robot arm body 2 12 moves, driving the end effector to clamp the logistics box by adsorption and gripping. During this process, the temperature and vibration sensors at the joints of the palletizing robot arm body 2 12 transmit data in real time. The back-end controller dynamically monitors the joint operation status to avoid the clamping box falling off due to joint failure.

[0062] Finally, AGV trolley 21 moves along the path to the container station, and palletizing robot arm 212 adjusts its posture to place the logistics box in the designated position inside the container. Then, it releases the clamp and resets. The background controller summarizes the equipment operation data of this operation, forms an equipment health report and operation record, and the AGV returns to guide frame 13 to wait for the next operation.

[0063] Working principle: When using this intelligent robot equipment for automatic container loading and unloading, the AGV trolley 5 first moves to the designated working area. The logistics box is attracted by the negative pressure suction cup plate 8 mounted on the flange plate 7 of the end effector at the end of the palletizing robot arm body 6, which works in conjunction with the silicone corrugated suction cup body 9 at its bottom. The limiting gripper assembly 10 drives the anti-detachment gripper plate 1003 to clamp and hold the box through the ball screw 1002 on the positioning mounting plate 1001. Then, the palletizing robot arm body 6 moves to place the logistics box in the transverse conveyor channel of the conveyor line turning support frame 1.

[0064] The logistics box placed in the transverse conveyor of the conveyor line turning support frame 1 is driven forward by the electric drive roller 16 in the transverse conveyor. When the logistics box reaches the L-shaped turning point of the conveyor line turning support frame 1, the positioning roller group 18 on the positioning roller frame 15 assists the logistics box to turn. The logistics box enters the longitudinal conveyor of the conveyor line turning support frame 1 and is continued to be conveyed to the conveyor line inspection support frame 2 by the electric drive roller 16 in the longitudinal conveyor.

[0065] After the logistics box enters the inspection support frame 2 of the conveyor line, it is conveyed forward by the electric drive roller 16 inside. During the process, it passes through the five-sided scanning DWS device 4 installed above the inspection support frame 2 of the conveyor line to complete the scanning and verification of the size, weight and barcode information of the logistics box. The logistics box that has completed the verification is conveyed to the electric drive roller 16 inside the main support frame 3 of the conveyor line. During the conveying, the speed sensor installation group 14 monitors the conveying speed inside the main support frame 3 of the conveyor line and uploads the data to control the loading speed.

[0066] When the size of the logistics box does not match the current spacing of the electric drive roller 16, the spacing of the electric drive roller 16 can be adjusted by sliding the sliding adjustment seat 17 at both ends of the electric drive roller 16 along the slide rails at the corresponding positions of the conveyor line turning support frame 1, the conveyor line inspection support frame 2, and the conveyor line main support frame 3 to adapt to the width of the logistics box for stable conveying.

[0067] After the logistics box is conveyed to the guide frame 13 by the electric drive roller 16 of the main support frame 3 of the conveyor line, the AGV trolley 2 11 moves to the working area outside the guide frame 13. The end effector of the stacking robot arm body 2 12 at the top of the AGV trolley 2 11 connects the flange plate 7, the negative pressure suction cup plate 8, the suction cup body 9, and the limit gripper assembly 10 to clamp the logistics box. Finally, the AGV trolley 2 11 moves along the planned path to transport the logistics box into the container to complete the loading and unloading operation.

[0068] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A container automatic loading and unloading box intelligent robot device, comprising: a conveying line turning support frame (1) which is a main support for logistics transfer, one end of the conveying line turning support frame (1) is connected and installed with a conveying line inspection support frame (2), and the conveying line inspection support frame (2) is connected and installed with a conveying line main line support frame (3), and the conveying line turning support frame (1), the conveying line inspection support frame (2) and the conveying line main line support frame (3) are sequentially connected to form a logistics assembly line support frame; characterized in that a positioning roller frame (15) is arranged at the L-shaped turning part of the conveying line turning support frame (1), and the positioning roller frame (15) divides the L-shaped structure of the conveying line turning support frame (1) into a horizontal conveying path and a vertical conveying path, an electric drive roller (16) is installed in the horizontal conveying path of the conveying line turning support frame (1), the two ends of the electric drive roller (16) are respectively installed with a spacing sliding adjustment seat (17), and sliding rails which are slidably matched with the spacing sliding adjustment seats (17) are formed on the two sides of the horizontal conveying path of the conveying line turning support frame (1), and the electric drive roller (16) and a positioning roller group (18) are installed in the vertical conveying path of the conveying line turning support frame (1), and the positioning roller group (18) is rotationally connected to the positioning roller frame (15); an AGV trolley one (5) is arranged on the side wall of the horizontal conveying path of the conveying line turning support frame (1) corresponding to the working area, a stacking mechanical arm body one (6) is installed on the upper end of the AGV trolley one (5), an end effector connecting flange plate (7) is installed at the tail end of the stacking mechanical arm body one (6), a negative pressure suction disc plate (8) is bolted to the bottom end of the end effector connecting flange plate (7), limit clamping jaw assemblies (10) are symmetrically arranged on the upper end face of the end effector connecting flange plate (7), the limit clamping jaw assemblies (10) comprise positioning mounting plates (1001), ball screws (1002) and anti-dropping clamping jaw plates (1003), and the anti-dropping clamping jaw plates (1003) are arranged in parallel with the side edges of the negative pressure suction disc plate (8); electric drive rollers (16) are installed at equal intervals in the conveying line inspection support frame (2) and the conveying line main line support frame (3), the electric drive rollers (16) are arranged in parallel with the electric drive rollers (16) in the horizontal conveying path of the conveying line turning support frame (1) at the same height, a five-surface scanning DWS device (4) is arranged above the conveying line inspection support frame (2), a guide frame (13) is installed at the output end of the conveying line main line support frame (3), an AGV trolley two (11) is arranged in the working area outside the guide frame (13), a stacking mechanical arm body two (12) is installed on the top end of the AGV trolley two (11), and an end effector connecting flange plate (7) is installed at the tail end of the stacking mechanical arm body two (12).

2. The container automated handling system according to claim 1, wherein: a guide plate (19) is installed on the upper end face of the conveying line turning support frame (1), and the guide plate (19) is installed in adaptation to the L-shaped structure of the conveying line turning support frame (1).

3. The container automated handling system according to claim 1, wherein: The conveying line inspection support frame (2) and the conveying line main line support frame (3) are internally provided with sliding rails which are slidably matched with the spacing sliding adjusting seat (17).

4. The container automated handling system according to claim 1, wherein: The speed sensor installation group (14) is installed on the top end surface of the conveying line main line support frame (3) and is electrically connected with the AGV small car I (5) and the AGV small car II (11).

5. The container automated handling system according to claim 1, wherein: The bottom suction port of the negative pressure suction disc plate (8) is provided with a suction disc body (9) which is a corrugated pipe structure made of silica gel.

6. The container automated handling system according to claim 1, wherein: The positioning installation plate (1001) of the limiting clamping jaw assembly (10) is bolted on the top end surface of the end effector connecting flange plate (7), and the end effector connecting flange plate (7) is provided with two positioning installation plates (1001) on the top end.

7. The automated container handling system of claim 6, wherein: A strip-shaped opening is formed in the positioning installation plate (1001), and a anti-falling clamping jaw plate (1003) is slidably connected in the opening, and a ball screw (1002) is installed in the opening, the slider seat of the ball screw (1002) penetrates and is ball rotatably connected to the top end surface of the anti-falling clamping jaw plate (1003), the positioning installation plate (1001) and the anti-falling clamping jaw plate (1003) form an L-shaped frame structure, and the length of the anti-falling clamping jaw plate (1003) is greater than the thickness of the negative pressure suction disc plate (8).

8. The container automated handling system according to claim 1, wherein: The top end surface of the AGV small car II (11) is provided with a visual camera (20) through a support, and the shell outer wall of the visual camera (20) is provided with a laser radar (21), and the visual camera (20) and the laser radar (21) are electrically connected with the AGV small car II (11).

9. The container automated handling system according to claim 1, wherein: The end structure of the code stacking mechanical arm body II (12) is identical to the end structure of the code stacking mechanical arm body I (6) and is provided with an end effector connecting flange plate (7), a negative pressure suction disc plate (8), a suction disc body (9) and a limiting clamping jaw assembly (10).

10. The container automated handling system according to claim 1, wherein: The positioning roller group (18) includes at least three parallel arranged positioning rollers, the top height of the positioning rollers is flush with the top height of the electric drive roller (16), and the spacing of the positioning rollers is smaller than the spacing of the electric drive roller (16).

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