Robot loading equipment and working method

Abstract

The invention relates to robot loading equipment which comprises a loading module, a leveling module and an information acquisition module, the loading module and the leveling module are horizontally placed, the information acquisition module is arranged above the loading module, and the loading module is composed of a first mechanical loading assembly, a second mechanical loading assembly, a rack and a guide rail assembly. The first mechanical loading assembly and the second mechanical loading assembly are each composed of a mechanical arm, a first gripper, a second gripper, a base and a driving motor, the leveling module comprises a bottom frame, a short belt, a barrier strip, a leveling roller, a shell, a chain, a motor and a supporting frame, and the information collecting module comprises a laser 3D camera and a rotating assembly. The leveling module is designed to level and assemble material packages, the material packages are grabbed at the same time through the four tongs, the loading efficiency is remarkably improved, the labor cost is reduced, safety is high, the laser 3D camera is adopted to automatically recognize the size of a compartment, the loading path is autonomously planned, and the flexibility and applicability of the loading process are improved.

Description

Technical Field

[0001] This invention relates to the field of logistics loading, specifically to a robotic loading device and its working method. Background Technology

[0002] In today's rapidly developing manufacturing industry, logistics and transportation efficiency has become a key factor in corporate competitiveness. As a crucial component of logistics and transportation, the efficiency and quality of the loading process directly impact the operation of the entire logistics chain. Currently, loading primarily relies on manual labor and forklift operations, which are not only inefficient and labor-intensive but also pose potential safety risks. Furthermore, manual labor and forklifts cannot adapt to loading processes involving trucks of different sizes, limiting loading flexibility. Summary of the Invention

[0003] To address the above problems, the present invention aims to provide a robotic loading device.

[0004] This invention provides the following technical solution: a robotic loading device, comprising a loading module, a leveling module, and an information acquisition module. The loading module and the leveling module are placed horizontally, and the information acquisition module is positioned above the loading module. The loading module consists of a first mechanical loading assembly, a second mechanical loading assembly, a frame, and a guide rail assembly. Both the first and second mechanical loading assemblies consist of a robotic arm, a first gripper, a second gripper, a base, and a drive motor. The leveling module includes a base frame, a short belt, baffles, leveling rollers, a housing, a chain, a motor, and a support frame. The information acquisition module includes a laser 3D camera and a rotating assembly.

[0005] In the loading module, a guide rail assembly is provided at the upper end of the frame, and the first mechanical loading assembly and the second mechanical loading assembly slide on the guide rail assembly respectively.

[0006] In the first mechanical loading assembly and the second mechanical loading assembly, a slider is provided at the lower end of the base, the slider slides on the guide rail assembly, a mechanical arm is provided at the upper end of the base, and the end of the mechanical arm is connected to the first gripper and the second gripper through a connecting component. A drive motor is provided at the left end of the base.

[0007] In the leveling module, a pair of baffles are set at the upper end of the base frame, a short belt is set on the left half of the upper end of the base frame, several rollers are set on the right half of the upper end of the base frame, a support frame is set in the middle of the upper end of the base frame, and a housing is set at the rear end of the support frame. The output end of the motor passes through the housing and is connected to the chain. The motor is placed on one side of the support frame. The chain is connected to the output end of the leveling roller through a connecting component. The leveling roller is placed at the front end of the housing and above the rollers.

[0008] In the information acquisition module, the laser 3D camera is placed on the rotating assembly, which consists of a rotating motor and a flange.

[0009] Furthermore, the loading module, leveling module, and information acquisition module are controlled by an independent controller group. The controller group is connected to the CNC display screen via wires. The CNC display screen has an embedded host computer that sends instructions to the controller group.

[0010] Furthermore, the guide rail assembly includes rollers, a transmission belt, and a rack.

[0011] Furthermore, the first and second grippers are controlled to open and close by independent pneumatic cylinders.

[0012] Furthermore, the output end of the drive motor is connected to a gear, and the gear and rack cooperate.

[0013] Furthermore, the rotation angle range of the laser 3D camera is 0-360°.

[0014] The working method of the above-mentioned robot loading equipment includes the following steps:

[0015] Step 1: The vehicle to be loaded enters the loading module and leveling module. The laser 3D camera captures the dimensions of the vehicle compartment and transmits the information to the CNC display screen. The CNC display screen performs data conversion processing and automatically plans the loading path. The CNC display screen assigns loading tasks to the first mechanical loading component and the second mechanical loading component through the host computer. The first mechanical loading component and the second mechanical loading component are placed in the set positions.

[0016] Step 2: The material packages to be loaded first pass through the leveling module. Start the motor, and the leveling rollers rotate. The material packages pass through the rollers and leveling rollers in sequence and are placed on the short belt. By controlling the conveying speed of the short belt, the material packages can be assembled.

[0017] Step 3: The packaged parts after passing through the leveling module are placed on the conveyor belt on the roller. Driven by the conveyor belt, the packaged parts move to the position to be grasped. The height of the first and second grippers is controlled by the robotic arm, and the opening and closing of the first and second grippers is controlled by the pneumatic cylinder. The packaged parts are then grasped and placed into the carriage.

[0018] Step 4: Repeat steps 1 to 3 according to the planned loading route until loading is completed.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. This invention designs a leveling module to level and assemble material packages. By using four grippers to simultaneously grab the material packages, loading efficiency is significantly improved, labor costs are greatly reduced, the occurrence of package breakage is reduced, and the fully automated process improves safety.

[0021] 2. This invention uses a laser 3D camera to automatically identify the dimensions and specifications of the vehicle compartment, autonomously plan the loading route, make full use of the loading space, and improve the flexibility and applicability of the loading process. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the vehicle mounting module of the present invention;

[0024] Figure 3 This is a front view of the vehicle mounting module of the present invention;

[0025] Figure 4 This is a schematic diagram of the leveling module of the present invention;

[0026] Figure 5 This is a flowchart illustrating the information transmission control process of the present invention.

[0027] In the diagram: 1. Loading module; 2. Leveling module; 201. Base frame; 202. Short belt; 203. Stop bar; 204. Leveling roller; 205. Housing; 206. Chain; 207. Motor; 208. Bracket; 3. First mechanical loading assembly; 4. Second mechanical loading assembly; 5. Frame; 6. Guide rail assembly; 7. Robotic arm; 8. First gripper; 9. Second gripper; 10. Base; 11. Drive motor; 12. Material bag; 13. Laser 3D camera; 14. CNC display screen; 15. Host computer; 16. Controller group. Detailed Implementation

[0028] 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.

[0029] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Please see Figures 1-5 This invention provides a technical solution: a robotic loading device, comprising a loading module 1, a leveling module 2, and an information acquisition module. The loading module 1 and the leveling module 2 are placed horizontally, and the information acquisition module is positioned above the loading module 1. The loading module 1 consists of a first mechanical loading assembly 3, a second mechanical loading assembly 4, a frame 5, and a guide rail assembly 6. Both the first mechanical loading assembly 3 and the second mechanical loading assembly 4 consist of a robotic arm 7, a first gripper 8, a second gripper 9, a base 10, and a drive motor 11. The leveling module 2 includes a base frame 201, a short belt 202, a baffle 203, a leveling roller 204, a housing 205, a chain 206, a motor 207, and a support frame 208. The information acquisition module includes a laser 3D camera 13 and a rotating assembly.

[0032] In the loading module 1, a guide rail assembly 6 is provided on the upper end of the frame 5, and the first mechanical loading assembly 3 and the second mechanical loading assembly 4 slide on the guide rail assembly 6 respectively.

[0033] In the first mechanical loading assembly 3 and the second mechanical loading assembly 4, a slider is provided at the lower end of the base 10, and the slider slides on the guide rail assembly 6. A mechanical arm 7 is provided at the upper end of the base 10, and the end of the mechanical arm 7 is connected to the first gripper 8 and the second gripper 9 through a connecting component. A drive motor 11 is provided at the left end of the base 10.

[0034] In the leveling module 2, a pair of baffles 203 are provided on the upper end of the base frame 201, a short belt 202 is provided on the left half of the upper end of the base frame 201, several rollers are provided on the right half of the upper end of the base frame 201, a support frame 208 is provided in the middle of the upper end of the base frame 201, and a housing 205 is provided at the rear end of the support frame 208. The output end of the motor 207 passes through the housing 205 and is connected to the chain 206. The motor 207 is placed on one side of the support frame 208. The chain 206 is connected to the output end of the leveling roller 204 through a connecting component. The leveling roller 204 is placed at the front end of the housing 205 and above the rollers.

[0035] In the information acquisition module, the laser 3D camera 13 is placed on the rotating assembly, which consists of a rotating motor and a flange.

[0036] Preferably, the loading module 1, leveling module 2 and information acquisition module are controlled by an independent controller group 16. The controller group 16 is connected to the CNC display screen 14 via wires. The CNC display screen 14 has an embedded host computer 15, which sends instructions to the controller group 16.

[0037] Preferably, the guide rail assembly 6 includes a roller, a transmission belt, and a rack.

[0038] Preferably, the first gripper 8 and the second gripper 9 are controlled to open and close by independent pneumatic cylinders.

[0039] Preferably, the output end of the drive motor 11 is connected to a gear, and the gear and rack cooperate.

[0040] Preferably, the rotation angle of the laser 3D camera 13 is 360°.

[0041] The working method of the above-mentioned robot loading equipment includes the following steps:

[0042] Step 1: The vehicle to be loaded enters one side of the loading module 1 and leveling module 2. The laser 3D camera 13 captures the dimensions of the vehicle compartment and transmits the obtained information to the CNC display screen 14. The CNC display screen 14 performs data conversion processing and automatically plans the loading path. The CNC display screen 14 assigns loading tasks to the first mechanical loading component 3 and the second mechanical loading component 4 through the host computer 15. The first mechanical loading component 3 and the second mechanical loading component 4 are placed in the set positions.

[0043] Step 2: The material package 12 to be loaded first passes through the leveling module 2. The motor 207 is started and the leveling roller 204 rotates. The material package 12 passes through the roller and the leveling roller 204 in sequence and is placed on the short belt 202. By controlling the conveying speed of the short belt 202, the material package 12 can be assembled.

[0044] Step 3: The packaged parts after passing through the leveling module 2 are placed on the conveyor belt on the roller. Driven by the conveyor belt, the packaged parts move to the position to be grabbed. The height of the first gripper 8 and the second gripper 9 are controlled by the robotic arm, and the opening and closing of the first gripper 8 and the second gripper 9 are controlled by the pneumatic cylinder. The packaged parts are then grabbed and placed into the carriage.

[0045] Step 4: Repeat steps 1 to 3 according to the planned loading route until loading is completed.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic loading device, characterized in that: It consists of a loading module (1), a leveling module (2) and an information acquisition module. The loading module (1) and the leveling module (2) are placed horizontally, and the information acquisition module is placed above the loading module (1). The loading module (1) consists of a first mechanical loading assembly (3), a second mechanical loading assembly (4), a frame (5) and a guide rail assembly (6). The first mechanical loading assembly (3) and the second mechanical loading assembly (4) are both composed of a robotic arm (7), a first gripper (8), a second gripper (9), a base (10) and a drive motor (11). The leveling module (2) includes a base frame (201), a short belt (202), a baffle (203), a leveling roller (204), a housing (205), a chain (206), a motor (207) and a support frame (208). The information acquisition module includes a laser 3D camera (13) and a rotating assembly. In the loading module (1), a guide rail assembly (6) is provided on the upper end of the frame (5), and the first mechanical loading assembly (3) and the second mechanical loading assembly (4) slide on the guide rail assembly (6) respectively; In the first mechanical loading assembly (3) and the second mechanical loading assembly (4), a slider is provided at the lower end of the base (10), the slider slides on the guide rail assembly (6), a mechanical arm (7) is provided at the upper end of the base (10), the end of the mechanical arm (7) is connected to the first gripper (8) and the second gripper (9) through a connecting component, and a drive motor (11) is provided at the left end of the base (10). In the leveling module (2), a pair of baffles (203) are provided on the upper end of the base frame (201), a short belt (202) is provided on the left half of the upper end of the base frame (201), several rollers are provided on the right half of the upper end of the base frame (201), a support frame (208) is provided in the middle of the upper end of the base frame (201), and a housing (205) is provided at the rear end of the support frame (208). The output end of the motor (207) passes through the housing (205) and is connected to the chain (206). The motor (207) is placed on one side of the support frame (208), and the chain (206) is connected to the output end of the leveling roller (204) through the connecting component. The leveling roller (204) is placed at the front end of the housing (205) and above the roller. In the information acquisition module, the laser 3D camera (13) is placed on the rotating assembly, which consists of a rotating motor and a flange.

2. The robotic loading equipment according to claim 1, characterized in that: The loading module (1), leveling module (2) and information acquisition module are controlled by an independent controller group (16). The controller group (16) is connected to the CNC display screen (14) via wires. The CNC display screen (14) has an embedded host computer (15) which sends instructions to the controller group (16).

3. The robotic loading equipment according to claim 1, characterized in that: The guide rail assembly (6) includes rollers, a transmission belt, and a rack.

4. The robotic loading equipment according to claim 1, characterized in that: The first gripper (8) and the second gripper (9) are controlled to open and close by independent pneumatic cylinders.

5. A robotic loading device according to claims 1 and 3, characterized in that: The output end of the drive motor (11) is connected to the gear, and the gear and rack cooperate.

6. The robotic loading equipment according to claim 1, characterized in that: The rotation angle range of the laser 3D camera (13) is 0-360°.

7. The working method of the robot loading equipment according to claim 1, characterized in that: Includes the following steps: Step 1: The vehicle to be loaded enters the loading module (1) and leveling module (2) side. The laser 3D camera (13) takes pictures of the dimensions of the car body and transmits the obtained information to the CNC display screen (14). The CNC display screen (14) performs data conversion processing and automatically plans the loading path. The CNC display screen (14) assigns loading tasks to the first mechanical loading component (3) and the second mechanical loading component (4) through the host computer (15). The first mechanical loading component (3) and the second mechanical loading component (4) are placed in the set position. Step 2: The material package (12) to be loaded first passes through the leveling module (2), the motor (207) is started, the leveling roller (204) rotates, and the material package (12) passes through the roller and the leveling roller (204) in sequence and is placed on the short belt (202). By controlling the conveying speed of the short belt (202), the material package (12) can be packaged. Step 3: The packaged parts after passing through the leveling module (2) are placed on the conveyor belt on the roller. Driven by the conveyor belt, the packaged parts move to the position to be grabbed. The height of the first gripper (8) and the second gripper (9) are controlled by the robotic arm. The opening and closing of the first gripper (8) and the second gripper (9) are controlled by the pneumatic cylinder. The packaged parts are grabbed and placed into the carriage. Step 4: Repeat steps 1 to 3 according to the planned loading route until loading is completed.

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