Intelligent stacking and loading robot capable of self-adapting to carriage

Abstract

The invention discloses an intelligent stacking and loading robot capable of self-adapting to a carriage, and relates to the technical field of stacking, the intelligent stacking and loading robot comprises an autonomous navigation mobile chassis, a driving device, a driving device and a driving device, the top of the autonomous navigation mobile chassis is fixedly provided with a horizontally-arranged bearing base plate; the T-shaped conveying device is fixedly installed in the middle area of the bearing base plate and comprises a main conveying module extending in the horizontal direction and an arraying module connected with the tail end of the main conveying module; the arraying module comprises a box shifting working section connected with the tail end of the main conveying module and temporary storage working sections which are symmetrically arranged on the two sides of the box shifting working section and vertically communicate with the box shifting working section; and the double-multi-shaft mechanical arm system is symmetrically assembled on the bearing base plate on the two sides of the T-shaped conveying device in a sliding mode. The robot can be automatically moved into a carriage through the autonomous navigation moving chassis, the position is adjusted through a sliding base of the double-multi-axis mechanical arm system, multi-degree-of-freedom cooperative movement is combined, the robot can adapt to carriages of different specifications, the full-range stacking position of the carriages is covered, and the fixed size adaptation limitation of traditional equipment is eliminated.

Description

Technical Field

[0001] This invention relates to the field of palletizing technology, specifically to an intelligent palletizing and loading robot that can adapt to different types of vehicles. Background Technology

[0002] In the modern logistics warehousing and transportation industry, cargo loading is a key link connecting storage and distribution. Its operational efficiency and palletizing quality directly affect the overall circulation speed and cost control of the logistics chain. With the rapid development of e-commerce and manufacturing, the demand for cargo transportation is characterized by multiple batches, multiple specifications, and large volume. The specifications (width, depth, height) of truck bodies are diversified, and the operation sites often involve complex road conditions such as unpaved roads and slopes, which puts forward higher requirements for the adaptability, stability and automation of loading equipment. Manual palletizing is labor-intensive, inefficient, and poses safety hazards, with the quality of work heavily influenced by the experience of the personnel. Existing flat-push loading machines or fixed robotic arm palletizing systems, due to their relatively fixed structural dimensions and working range, are difficult to flexibly adapt to truck compartments of different specifications (such as width, depth, and height), resulting in poor versatility in complex logistics scenarios.

[0003] Especially in the critical unloading and palletizing process, when the robotic arm moves the material box above the target stack and performs the unloading action, due to the physical thickness of the forklift mechanism itself and the safety clearance that must be reserved to prevent damage to the goods below, the center of gravity of the material box will be suspended in the air midway during the transfer from the forks to the stack, causing the box to tilt and tip over. This not only directly reduces the overall density of the stack and the utilization rate of the truck bed, but also undermines the stability of the stack structure, increases the risk of stack collapse, and poses a threat to operational safety. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent palletizing and loading robot that can adapt to different vehicle compartments, so as to solve the problems mentioned in the background art.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: This invention provides an intelligent palletizing and loading robot that can adapt to different types of wagon compartments, comprising: An autonomous navigation mobile chassis, with a horizontally arranged load-bearing base plate fixed on its top; The T-shaped conveying device is fixedly installed in the middle area of ​​the supporting substrate, including a main conveying module extending in the horizontal direction and an aligning module connected to the end of the main conveying module; the aligning module includes a box-changing section connected to the end of the main conveying module and a temporary storage section symmetrically arranged on both sides of the box-changing section and perpendicularly connected to the box-changing section. A dual multi-axis robotic arm system is symmetrically slidably mounted on the support base plates on both sides of a T-shaped conveyor. Each multi-axis robotic arm system includes a robotic arm body and a gripper mechanism installed at the end effector interface of the robotic arm body. The gripper mechanism includes a frame-type mounting body, a fork assembly horizontally set at the bottom of the frame-type mounting body, and a push assembly installed on one side of the frame-type mounting body and located directly above the fork assembly. The central integrated control system is fixedly mounted on the support base plate. It is electrically connected to the autonomous navigation mobile chassis, T-shaped conveyor and dual multi-axis robotic arm system for global coordination and process control, enabling adaptive palletizing and loading operations.

[0006] Furthermore, the fork assembly includes a mounting base installed at the bottom of the frame-type mounting body, a plurality of fork bars equidistant from and perpendicular to the mounting base along its length, and a rotation drive component; Each of the forklift bars includes a main shaft rotating section rotatably connected to the mounting base via a rotating support, and a plate-shaped forklift section disposed at one end of the main shaft rotating section. The rotation drive component drives the plate-shaped forklift section to switch between a first configuration with the wide face vertical and a second configuration with the wide face horizontal.

[0007] Furthermore, the mounting base is installed on the bottom of the frame-type mounting body via a lifting component. The lifting component drives the mounting base together with the fork assembly to rise and fall vertically, so that the fork assembly, which has switched to the second wide-face horizontal form, fits against the top surface of the lower material box.

[0008] Furthermore, the rotary drive component includes a mounting base strip fixed to the back of the bottom of the frame-type mounting body, a first fixing post corresponding to the fork strip and vertically fixed to the mounting base strip, a second fixing post eccentrically fixed to the end of the main shaft rotation section, and a connecting rod disposed between the first fixing post and the corresponding second fixing post; wherein, the two ends of the connecting rod form a rotating pair with the second fixing post and the first fixing post respectively through sleeves.

[0009] Furthermore, the lifting component includes a base shell with an open bottom, a high-precision lead screw structure, and a wedge structure. The mounting base is vertically slidably assembled inside the base shell, and the base shell is fixed to the bottom of the frame-type mounting body by bolts. The high-precision lead screw structure includes a bidirectional lead screw and a stepper motor that is driven and connected to the bidirectional lead screw. The stepper motor is equipped with an encoder. The wedge structure includes a first wedge symmetrically fixed at both ends of the mounting base, and a second wedge that is slidably connected to the inclined surface of the first wedge through a keyway. The two second wedges are respectively threaded into the threaded sections with opposite rotation directions at both ends of the bidirectional lead screw.

[0010] Furthermore, the width of the sheet-like forked segment increases continuously from both ends to the middle, forming a rhomboid cross-section sheet structure with central symmetry, and the long sides of the sheet-like forked segment are provided with smooth transition chamfers.

[0011] Furthermore, the surface of the sheet-shaped fork section is covered with a polyetheretherketone wear-resistant coating; the free end of the sheet-shaped fork section away from the main shaft rotation section is machined with an inlet ramp, which extends obliquely from the top wide surface of the sheet-shaped fork section to the bottom wide surface to form a wedge-shaped guide.

[0012] Furthermore, the central integrated control system has a built-in database of common truck model parameters, supports receiving sensor data via CAN bus, and realizes automatic vehicle model matching, optimal path planning, and collaborative scheduling of the dual-multi-axis robotic arm system. The dual-multi-axis robotic arm system can operate synchronously in parallel or in differentiated collaborative operation.

[0013] Furthermore, the main conveying module is a roller conveyor that supports stepless speed regulation; the box-turning section has a built-in servo motor-driven turntable; the temporary storage section consists of multiple parallel electric rollers, with a uniform gap between adjacent electric rollers to accommodate the thickness of the forklift assembly, and the electric rollers are independently controlled by a central integrated control system.

[0014] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. This invention utilizes a tracked autonomous navigation mobile chassis combined with a high-precision laser rangefinder and a visual positioning camera to scan carriage parameters in real time and automatically match the vehicle model, generating the optimal travel path and achieving precise alignment with carriages of different specifications. The dual multi-axis robotic arm system adjusts its position through a sliding base and combines multi-degree-of-freedom coordinated motion, which can flexibly adapt to carriages of different specifications such as wide-body and narrow-body, covering the entire range of carriage stacking positions, completely eliminating the limitations of fixed size adaptation of traditional equipment. 2. The T-shaped conveying device of this invention adopts a combination design of main conveying module and dual temporary storage section, and with the real-time feedback of infrared limit sensor, it realizes orderly conveying, positioning and arrangement of material boxes and supply and demand balance control, avoiding accumulation and collision; the two sets of multi-axis robotic arm systems support synchronous parallel operation or differentiated collaborative operation, and avoid interference between the two arms through the dynamic path planning of the central integrated control system, which greatly improves the operation efficiency. 3. This invention solves the problems of material box center of gravity shift and posture tilt during unloading by structurally improving the forklift component, namely dual-mode switching, lifting compensation, and diamond cross-section design. Combined with the linkage operation of the pushing component, it achieves zero-gap close stacking of material boxes, improving the density and structural stability of the stack. 4. This invention not only has efficient palletizing and loading functions, but also expands to realize the unloading function of the truck bed by relying on the sheet-like structure, diamond cross-section and wedge-shaped guide of the forklift assembly. Through progressive insertion and smooth clamping, the material boxes in the truck bed can be safely and efficiently transferred to the outside, realizing two uses for one vehicle and improving the utilization rate of the equipment.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the gripper mechanism of the present invention; Figure 3 This is a schematic diagram of the second configuration of the fork-and-take component of the present invention; Figure 4 This is a first-view structural diagram of the fork-and-grab component in its first configuration according to the present invention. Figure 5 This is a second-view structural diagram of the fork-and-grab component in its first configuration according to the present invention; Figure 6 yes Figure 4 A top-view structural diagram; Figure 7 yes Figure 6 A schematic diagram of the AA-direction structure; Figure 8 yes Figure 3 Schematic diagram of the structure after the base shell is hidden; Figure 9 This is a schematic diagram of the fork-shaped strip structure of the present invention.

[0018] In the picture: 1-Autonomous navigation mobile chassis; 11-Bearing base plate; 2-T-type conveyor device; 21-Main conveyor module; 22-Ordering module; 221-Box handling section; 222-Temporary storage section; 3-Multi-axis robotic arm system; 4-Central integrated control system; 5-Sliding base; 6-Robotic arm body; 7-Gripper mechanism; 71-Frame-type mounting body; 72-Forklift assembly; 721-Mounting base; 722-Forklift bar; 7221-Main shaft rotation section; 7222-Sheet-shaped forklift section; 72221-Wedge-shaped guide Guide section; 723- Rotary drive structure; 7231- Mounting base strip; 7232- First fixed column; 7233- Second fixed column; 7234- Connecting rod; 724- Rotating support; 725- Lifting structure; 7251- Base shell; 7252- High-precision lead screw structure; 72521- Bidirectional lead screw; 72522- Stepper motor; 7253- Wedge structure; 72531- First wedge; 72532- Second wedge; 73- Pushing assembly; 731- Pusher plate; 732- Scissor hinge frame. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0020] Please see Figures 1-9 This invention provides an intelligent palletizing and loading robot that can adapt to different specifications of carriages. Through multi-module design, it realizes efficient and accurate loading operations in complex logistics scenarios. It includes an autonomous navigation mobile chassis 1, a T-shaped conveyor device 2, two sets of multi-axis robotic arm systems 3 and a central integrated control system 4. The components work together to form a complete automated operation system.

[0021] Among them, the autonomous navigation mobile chassis 1 adopts a tracked structure design. The main body is a high-strength manganese steel integrated welded frame. The bottom is equipped with two independent track drive units. The tracks are driven by a high-power hydraulic motor. With the anti-slip teeth on the track surface, it can travel stably on unpaved roads, slopes and uneven work sites, and is suitable for various complex road conditions in logistics and warehousing scenarios.

[0022] To ensure the installation stability of core components, the top of the autonomous navigation mobile chassis 1 is horizontally fixed to the bearing base plate 11 by 8 sets of high-strength shock-absorbing bolts. The high-strength shock-absorbing bolts have built-in elastic shock-absorbing washers, which can effectively buffer the vibration generated by the movement of the robotic arm and the operation of the conveying device during the operation. This provides a flat and stable installation foundation for core components such as the T-shaped conveying device 2 and the two sets of multi-axis robotic arm systems 3, and avoids the impact of vibration on the operation accuracy.

[0023] To achieve precise alignment with the truck bed, four high-precision laser rangefinders are symmetrically mounted on the four sides of the autonomous navigation mobile chassis 1, while a high-definition visual positioning camera is embedded in the center of the front. These two types of sensors work together to scan key parameters such as the truck bed's outline, length, width, and ground clearance in real time. The collected data is transmitted at high speed to the central integrated control system 4 via a CAN bus. The central integrated control system 4 has a built-in parameter database of various common truck models, enabling it to quickly and automatically match the model and generate the optimal travel path based on the on-site scanning data. By controlling two sets of tracked drive units, it achieves differential steering, straight-line driving, and other actions, driving the robot to precisely move to the designated work position.

[0024] The T-shaped conveyor 2 is fixedly installed in the middle area of ​​the support base plate 11 by a detachable mounting bracket. Specifically, the T-shaped conveyor 2 includes a main conveying module 21 extending in the horizontal direction and an alignment module 22 connected to the end of the main conveying module 21. The main conveying module 21 adopts a roller conveyor, which achieves stepless speed regulation through a central integrated control system 4. The conveying efficiency can be flexibly adjusted according to the gripping speed of the two sets of multi-axis robotic arm systems 3 and the weight of the material box, ensuring a balance between supply and demand in the feeding and gripping rhythm.

[0025] The assemblies module 22 includes a box-shifting section 221 coaxially connected to the main conveying module 21, and temporary storage sections 222 symmetrically arranged on both sides of the box-shifting section 221 and vertically connected. The box-shifting section 221 has a built-in servo motor-driven pusher plate, which can push the material boxes conveyed by the main conveying module 21 one by one to the temporary storage section 222 for orderly arrangement. The temporary storage section 222 consists of multiple parallel electric rollers, with uniform gaps between adjacent electric rollers to match the thickness of the forklift assembly 72. The electric rollers are independently controlled by the central integrated control system 4 and can work with the pusher plate to complete the orderly conveying and positioning of the material boxes, facilitating the smooth forklift transfer of the multi-axis robotic arm system 3 and preventing the material boxes from shifting or tipping over during the grasping process.

[0026] To prevent material boxes from accumulating and colliding within the temporary storage section 222, an infrared limit sensor is embedded at the entrance, middle, and exit of each section 222. These infrared limit sensors maintain real-time communication with the central integrated control system 4. When the number of material boxes in the temporary storage section 222 reaches a first preset value, the infrared limit sensors send a signal to the central integrated control system 4, which immediately triggers the main conveyor module 21 to decelerate. If the number of material boxes reaches a second preset value, the main conveyor module 21 automatically pauses operation until the material boxes in the temporary storage section 222 are removed, at which point it resumes operation. Both the first and second preset values ​​can be manually adjusted via the control system's touchscreen.

[0027] The multi-axis robotic arm system 3 is symmetrically slidably mounted on the support base plate 11 on both sides of the T-shaped conveyor device 2 via a sliding base 5 driven by a linear actuator, and its position can be adjusted according to the operation requirements. Each multi-axis robotic arm system 3 includes a robotic arm body 6 and a gripper mechanism 7 installed at the end effector interface of the robotic arm body 6. The gripper mechanism 7 includes a frame-type mounting body 71, a fork assembly 72 horizontally set at the bottom of the frame-type mounting body 71, and a push assembly 73 installed on one side of the frame-type mounting body 71 and located directly above the fork assembly 72.

[0028] During operation, under the real-time scheduling of the central integrated control system 4, the two multi-axis robotic arm systems 3 first precisely align the forklift assembly 72 with the gap of the electric roller in the temporary storage section 222 and insert it into the preset forklift position at the bottom of the material box, smoothly picking up the neatly arranged material box. Subsequently, the central integrated control system 4 combines the real-time dimensions of the truck bed, the remaining loading space, the target stack layout, and the effective working envelope of the robotic arm to generate a collision-free optimal path. The two multi-axis robotic arm systems 3 adjust the arm extension posture and working angle through multi-degree-of-freedom coordinated motion to flexibly adapt to truck beds of different widths and depths. For example, when facing wide-body trucks, the robotic arm can extend to the maximum working radius to cover the stack positions on both sides of the truck bed; for narrow-body trucks, by retracting the arm extension and optimizing the movement trajectory, it completes precise operations in a limited space, getting rid of the adaptation limitations caused by the fixed component size of traditional flat-push loading machines.

[0029] When the material box arrives at its designated stacking position within the carriage, the robotic arm 6 adjusts the placement height and horizontal orientation of the forklift assembly 72 to ensure the material box is placed in an optimal, compact, and gap-free position. During the unloading phase, the robotic arm 6 drives the forklift assembly 72 to move backward in the horizontal direction, while the pushing assembly 73 simultaneously moves forward in the horizontal direction. This keeps the material box stationary relative to the stacking position within the carriage, allowing it to smoothly detach from the forklift assembly 72 and seamlessly fit into the existing stack, significantly improving the overall density of the stacking. Throughout the entire operation, the two multi-axis robotic arm systems 3 can operate synchronously and in parallel, efficiently handling the material supply from the dual temporary storage sections 222. They can also coordinate differently based on the stacking position distribution within the carriage. For example, one robotic arm can handle the bottom layer of basic stacking, while the other handles the upper layer filling. Dynamic path planning by the central integrated control system 4 avoids interference between the two arms, maximizing operational efficiency.

[0030] However, during the unloading operation, when the forklift assembly 72 moves the material box directly above the target stack and performs the coordinated unloading action of horizontal backward movement and forward movement of the push assembly 73, the center of gravity may shift and the posture may become skewed after the material box has been pushed halfway.

[0031] The problem arises primarily from the inherent physical thickness of the forklift assembly 72 and the safety clearance that must be reserved during unloading to ensure smooth operation and the safety of the lower stacking structure. The combined effect of these two constraints has triggered a series of cascading technical defects.

[0032] Specifically, the physical thickness of the forklift assembly 72 creates a fixed support space when it carries the material box. When the push assembly 73 pushes the material box forward to more than halfway, the center of gravity of the material box shifts from the support area of ​​the forklift assembly 72 to a suspended state. The existence of the safety gap prevents the material box from receiving effective support from the lower stack in time, directly causing the center of gravity to be suspended and unbalanced in advance, resulting in a tilted posture. At the same time, the safety gap creates a vertical drop step when the material box is pushed from the forklift assembly 72 to the top surface of the lower stack. The moment the material box falls and contacts the lower stack, it will generate impact vibration, which will not only further aggravate the tilt of the material box, but also disturb the structural stability of the lower stack.

[0033] The combination of these problems will lead to multiple adverse consequences: material boxes cannot be placed in a compact and seamless manner, significantly reducing the overall density of the pallet and resulting in low utilization of the vehicle space; skewed material boxes will disrupt the force balance between stack layers, easily causing the upper material boxes to be stacked unstablely, or even causing the stack to collapse, seriously threatening the safety of loading operations; impact and vibration may cause wear on the surface of the material boxes or damage to the internal goods, increasing logistics loss costs; after the material boxes are skewed, manual or robotic intervention is required to repeatedly adjust them, interrupting the automated operation process and significantly reducing overall operation efficiency.

[0034] To specifically address this technical bottleneck, this embodiment features a structural improvement to the forklift assembly 72. Specifically, the forklift assembly 72 includes a mounting base 721 mounted on the bottom front of the frame-type mounting body 71, a plurality of forklift bars 722 equidistantly and vertically arranged along the length of the mounting base 721, and a rotary drive component for driving the forklift bars 722 to change posture. Each forklift bar 722 includes a main shaft rotating section 7221 rotatably connected to the mounting base 721 via a rotating support 724, and a plate-shaped forklift section 7222 fixed to one end of the main shaft rotating section 7221. The rotary drive component drives the main shaft rotating section 7221 to rotate around the rotating support 724, enabling the plate-shaped forklift section 7222 to achieve a first posture (e.g., ...). Figure 4 (as shown) and the second form (as shown) Figure 3 Switching between (as shown).

[0035] Among them, the first form (such as Figure 4 (As shown) This is applied to the entire process of transferring material boxes from the temporary storage section 222 to directly above the target stack. In the first configuration, the sheet-like forklift section 7222 is arranged in a wide, vertical orientation. On the one hand, this minimizes the horizontal space occupied by the forklift section, allowing it to precisely match the preset gap between the electric rollers of the temporary storage section 222, achieving smooth, interference-free forking. On the other hand, the vertically oriented wide-face structure significantly improves the bending section modulus of the forklift bar 722, enhancing its bending load-bearing capacity, effectively resisting the instantaneous stress generated by the load of the material box during the transfer process, avoiding structural deformation of the forklift section, and ensuring the stability of the transfer operation and the service life of the equipment.

[0036] Second form (such as) Figure 3 (As shown) This is applied during the unloading operation. In the second configuration, the sheet-shaped forklift section 7222 is switched to a wide, horizontal layout. In this state, the sheet-shaped forklift section 7222 can minimize the vertical gap with the top surface of the lower stacked material box, significantly reducing the height of the drop step and decreasing the potential energy accumulation during the material box's descent. Combined with the coordinated operation of the pushing component 73 and the forklift component 72, while the sheet-shaped forklift section 7222 maintains horizontal support, the pushing component 73 smoothly advances the material box, and the forklift component 72 simultaneously and slowly retreats. This effectively weakens the impact vibration during descent, solves the technical defects of material box tilting and lower stack structure disturbance during unloading, and further improves stacking density and operational safety.

[0037] To further optimize unloading, the mounting base 721 is installed at the bottom of the frame-type mounting body 71 via a lifting component. The lifting component includes at least one set of linear drive modules. Simultaneously with the switching of the sheet-like fork section 7222 from the first to the second state, the lifting component, through closed-loop control of the linear drive modules, moves the mounting base 721 downwards, ensuring that the horizontally positioned sheet-like fork section 7222 achieves near-zero gap contact with the top surface of the lower material box, eliminating residual vertical drop and further reducing the impact vibration of the falling material box. This process eliminates safety gaps through active height compensation of the lifting component rather than the high-precision posture adjustment of the robotic arm, effectively reducing the operational precision requirements of the robotic arm and the computational load on the control system. Simultaneously, the horizontally positioned sheet-like fork section 7222, due to its close contact support with the lower box, can evenly distribute the stress generated by the material box load, avoiding local structural deformation. Ultimately, this, combined with the dual-state switching function, significantly improves the accuracy and stability of palletizing operations and the equipment's adaptability and versatility to different pallet heights and material specifications.

[0038] In this embodiment, the lifting component specifically includes a base shell 7251 with an open bottom, a high-precision lead screw structure 7252 installed in the base shell 7251, and a wedge structure 7253 disposed between the high-precision lead screw structure 7252 and the mounting base 721.

[0039] The mounting base 721 is vertically slidably assembled inside the base shell 7251. The base shell 7251 is fixedly installed at the bottom of the frame-type mounting body 71 by bolts, forming a closed protection and installation reference. The high-precision lead screw structure 7252 includes a bidirectional lead screw 72521 rotatably installed in the bearing seats at both ends of the base shell 7251, and a stepper motor 72522 fixed to one end of the base shell 7251 by a coupling and drivenly connected to the bidirectional lead screw 72521. The stepper motor 72522 is equipped with an encoder to realize closed-loop displacement feedback.

[0040] The wedge structure 7253 includes a first wedge 72531 symmetrically fixed to both ends of the mounting base 721 by countersunk bolts, and a second wedge 72532 slidably connected to the inclined surface of the first wedge 72531 through a trapezoidal keyway. The two second wedges 72532 are respectively threaded into the threaded sections of the two ends of the bidirectional lead screw 72521 with opposite rotation directions through internal threaded holes. The inclined surface of the wedge is nitrided to form a low-friction wear-resistant layer, and a self-lubricating bushing is embedded in the keyway to reduce relative sliding resistance.

[0041] In use, the stepper motor 72522 drives the bidirectional lead screw 72521 to rotate at a preset angular velocity. Since the threads at both ends of the bidirectional lead screw 72521 rotate in opposite directions, the two second wedges 72532, which are threaded together, move synchronously towards each other along the axial direction of the lead screw. Their inclined surfaces and the inclined surfaces of the first wedge 72531 form a precise guiding sliding fit through a trapezoidal keyway, converting the horizontal transmission displacement into a vertical displacement. This drives the first wedge 72531, along with the mounting base 721, to move smoothly downwards along a preset guide rail inside the base shell 7251. When the downward displacement reaches a preset value (the... When the preset value is dynamically generated after the high-precision displacement sensor fixed on the frame-type mounting body 71 identifies the height of the top surface of the lower material box in real time, the stepper motor 72522 stops rotating, and the bidirectional lead screw 72521 and the wedge structure 7253 form a mechanical self-locking to ensure that the mounting base 721 maintains a fixed height. At this time, the bottom surface of the horizontally set plate-shaped fork section 7222 is in close contact with the top surface of the lower material box with almost zero gap. After unloading is completed, the stepper motor 72522 rotates in the opposite direction, driving the second wedge 72532 to move in the opposite direction, and the mounting base 721 moves up and resets to the initial position.

[0042] The design of the rotary drive component also balances simplicity and reliability. Specifically, the rotary drive component includes a mounting base 7231 fixed to the back of the bottom of the frame-type mounting body 71, a first fixing post 7232 corresponding one-to-one with the forklift bar 722 and vertically fixed to the mounting base 7231, a second fixing post 7233 eccentrically fixed to the end of the spindle rotating section 7221 away from the plate-shaped forklift section 7222, and a connecting rod 7234 disposed between the first fixing post 7232 and the corresponding second fixing post 7233. The two ends of the connecting rod 7234 form a rotating pair with the second fixing post 7233 and the first fixing post 7232 respectively through wear-resistant sleeves. The inner wall of the sleeve is embedded with a self-lubricating graphite bushing to reduce rotational friction resistance and improve transmission smoothness.

[0043] In use, the first fixed column 7232 is fixed on the frame-type mounting body 71 along with the mounting base 7231, and its position remains constant. When the lifting component drives the mounting base 721, together with the main shaft rotating section 7221 and the second fixed column 7233, to move downward in the vertical direction, since the second fixed column 7233 is eccentrically arranged and rotatably connected to the end of the connecting rod 7234, the first fixed column 7232 in the fixed position forms a traction force on the downward moving second fixed column 7233 through the connecting rod 7234. This force is converted into a torque that drives the main shaft rotating section 7221 to rotate around its rotating support 724 with the mounting base 721, thereby driving the plate-shaped fork section 7222 to synchronously complete the posture switch from the first form (wide face vertical) to the second form (wide face horizontal). After the unloading operation is completed, the lifting component drives the mounting base 721 to move vertically upwards and reset. At this time, the second fixed column 7233 moves upwards synchronously with the mounting base 721. The fixed first fixed column 7232 generates a reverse thrust on the second fixed column 7233 through the connecting rod 7234. This reverse force drives the main shaft rotating section 7221 to rotate in the opposite direction, thereby pulling the plate-shaped fork section 7222 to synchronously reset from the second form (wide side horizontal) to the first form (wide side vertical) initial fork posture, waiting for the next round of fork operation command. The entire posture switching process does not require an additional drive source, and relies entirely on the movement of the lifting component to realize the force transmission and posture conversion, simplifying the structural design and reducing the equipment failure rate.

[0044] To further optimize the picking and support effects, the sheet-shaped picking segment 7222 has a continuously increasing thickness from both ends to the middle in the width direction, forming a rhomboid cross-section sheet structure with central symmetry. Both long sides of the sheet-shaped picking segment 7222 have rounded chamfers. The rhomboid cross-section design ensures structural stress balance in both the first and second configurations. In the first configuration (vertical width), the rounded chamfers on both long sides prevent sharp edges from scratching the material box packaging. In the second configuration (horizontal width), the rhomboid cross-section, thickened in the middle and thinned at both ends, significantly increases the bending section modulus of the picking segment, resulting in a centrally symmetrical distribution of structural stiffness along the width direction. Under load, stress concentrates in the stiffer central region. Compared to a uniformly thick plate, the bending performance is greatly improved, effectively resisting the bending stress caused by heavy loads on the material box. It also reduces frictional resistance during the removal of the material box, ensuring stability when the box detaches from the picking segment.

[0045] Furthermore, the surface of the fork-shaped fork section 7222 of the gripper mechanism 7 is covered with a polyetheretherketone wear-resistant coating. This coating not only has excellent friction resistance and impact resistance, but also reduces the sliding resistance when the material box is detached due to its low coefficient of friction. At the same time, it avoids wear on the bottom of the material box caused by direct contact between metal materials. It can be adapted to various packaging types of material boxes such as cardboard boxes and plastic boxes.

[0046] Furthermore, the free end of the plate-shaped fork section 7222 away from the main shaft rotating section 7221 is machined with an inlet ramp, which extends obliquely from the top wide surface of the plate-shaped fork section 7222 to its bottom wide surface to form a wedge-shaped guide portion 72221.

[0047] Furthermore, thanks to the sheet-like structure design of the forklift assembly 72, the intelligent palletizing and loading robot of this invention can not only complete efficient palletizing and loading operations, but also expand to realize the function of unloading cargo from the truck bed. During the unloading operation, the multi-axis robotic arm system 3 can drive the forklift assembly 72 to align with the gaps between the stacked material boxes in the truck bed. With the help of the wedge-shaped guide part 72221 formed by the guide slope at the free end of the sheet-like forklift section 7222, it can smoothly extend into the gap between adjacent material boxes. Then, through the multi-degree-of-freedom coordinated movement of the robotic arm, the target material box is smoothly gripped and pulled away from the stack, transferred in the opposite direction to the temporary storage section 222, and then transported in the opposite direction to the outside of the truck bed by the main conveying module 21.

[0048] It is worth mentioning that, combined with the diamond-shaped cross-section design of the plate-shaped forklift section 7222, the wedge-shaped guide section 72221 naturally forms a gradual point-to-surface contact during insertion. Initially, the tip of the wedge-shaped guide section 72221 contacts the gap between the material boxes. As the insertion action progresses, the contact area gradually expands to the side of the plate-shaped forklift section 7222, rather than the rigid surface contact of traditional forklift structures. This contact method can effectively disperse the force during insertion, avoiding squeezing deformation or scratch damage to the side walls of the material box, and is suitable for packaging of material boxes of various materials and strengths.

[0049] In this embodiment, the central integrated control system 4 supports multi-mode operation and data traceability. In addition to local touch screen operation, it can also be remotely controlled via industrial Ethernet or 4G / 5G modules via PC or mobile terminal (phone / tablet), which is convenient for managers to monitor the progress of the operation in real time. The system automatically records data such as vehicle parameters, palletizing efficiency, number of material boxes, and fault information for each operation, with a storage period of up to 1 year. The data can be exported via USB flash drive or synchronized to the cloud, which is convenient for production scheduling and equipment operation and maintenance analysis.

[0050] In this specific embodiment, the pushing component 73 includes a pushing plate 731, a scissor-type articulated frame 732, and a driving unit. The pushing plate 731 is vertically arranged directly above the fork-taking component 72. Two sets of scissor-type articulated frames 732 are symmetrically arranged along the length of the pushing plate 731. The fixed end of each set of scissor-type articulated frames 732 is detachably hinged to the frame-type mounting body 71 via an ear seat, and the movable end is slidably hinged to the strip groove of the pushing plate 731 via a slider. The driving unit is connected to the scissor-type articulated frame 732 for transmission. By driving the telescopic movement of the scissor-type articulated frame 732, the pushing plate 731 is driven to perform linear reciprocating movement along the horizontal pushing direction, and the movement trajectory of the pushing plate 731 is parallel to the fork-taking plane of the fork-taking component 72.

[0051] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A self-adaptable car body intelligent palletizing and loading robot, characterized in that, include: An autonomous navigation mobile chassis, with a horizontally arranged load-bearing base plate fixed on its top; The T-shaped conveying device is fixedly installed in the middle area of ​​the supporting substrate, including a main conveying module extending in the horizontal direction and an aligning module connected to the end of the main conveying module; the aligning module includes a box-changing section connected to the end of the main conveying module and a temporary storage section symmetrically arranged on both sides of the box-changing section and perpendicularly connected to the box-changing section. A dual multi-axis robotic arm system is symmetrically slidably mounted on the support base plates on both sides of a T-shaped conveyor. Each multi-axis robotic arm system includes a robotic arm body and a gripper mechanism installed at the end effector interface of the robotic arm body. The gripper mechanism includes a frame-type mounting body, a fork assembly horizontally set at the bottom of the frame-type mounting body, and a push assembly installed on one side of the frame-type mounting body and located directly above the fork assembly. The central integrated control system is fixedly mounted on the support base plate. It is electrically connected to the autonomous navigation mobile chassis, T-shaped conveyor and dual multi-axis robotic arm system for global coordination and process control, and to realize adaptive palletizing and loading operations. The fork assembly includes a mounting base installed at the bottom of the frame-type mounting body, a plurality of fork bars equidistant from the mounting base along its length and perpendicular to it, and a rotation drive component; Each of the fork bars includes a main shaft rotating section rotatably connected to the mounting base via a rotating support, and a plate-shaped fork section disposed at one end of the main shaft rotating section. The rotation drive component drives the plate-shaped fork section to switch between a first configuration with the wide face vertical and a second configuration with the wide face horizontal.

2. The smart palletizing and loading robot with self-adaptive carriage according to claim 1, characterized in that, The mounting base is installed on the bottom of the frame-type mounting body via a lifting component. The lifting component drives the mounting base and the forklift assembly to rise and fall vertically, so that the forklift assembly, which has switched to the second wide-face horizontal form, fits against the top surface of the lower material box.

3. The smart palletizing and loading robot with self-adaptive carriage according to claim 1, characterized in that, The rotary drive component includes a mounting base strip fixed to the back of the bottom of the frame-type mounting body, a first fixing post corresponding to the fork strip and vertically fixed to the mounting base strip, a second fixing post eccentrically fixed to the end of the main shaft rotation section, and a connecting rod disposed between the first fixing post and the corresponding second fixing post; wherein, the two ends of the connecting rod form a rotating pair with the second fixing post and the first fixing post respectively through sleeves.

4. The intelligent palletizing and loading robot with adaptive carriage as described in claim 2, characterized in that, The lifting component includes a base shell with an open bottom, a high-precision lead screw structure, and a wedge structure. The mounting base is vertically slidably assembled inside the base shell, and the base shell is fixed to the bottom of the frame-type mounting body by bolts. The high-precision lead screw structure includes a bidirectional lead screw and a stepper motor that is driven and connected to the bidirectional lead screw. The stepper motor is equipped with an encoder. The wedge structure includes a first wedge symmetrically fixed at both ends of the mounting base, and a second wedge slidably connected to the inclined surface of the first wedge through a keyway. The two second wedges are respectively threaded into the threaded sections with opposite rotation directions at both ends of the bidirectional lead screw.

5. The intelligent palletizing and loading robot with adaptive carriage as described in claim 1, characterized in that, The width of the sheet-like forked section increases continuously from both ends to the middle, forming a rhomboid cross-section sheet structure with central symmetry, and the long sides of the sheet-like forked section are provided with smooth transition chamfers.

6. The intelligent palletizing and loading robot with adaptive carriage as described in claim 1, characterized in that, The surface of the sheet-shaped fork section is covered with a polyetheretherketone wear-resistant coating; the free end of the sheet-shaped fork section away from the main shaft rotation section is machined with an inlet ramp, which extends obliquely from the top wide surface of the sheet-shaped fork section to the bottom wide surface to form a wedge-shaped guide.

7. The intelligent palletizing and loading robot with adaptive carriage as described in claim 1, characterized in that, The central integrated control system has a built-in database of parameters for common truck models and supports receiving sensor data via CAN bus to achieve automatic vehicle matching, optimal path planning, and coordinated scheduling of the dual-multi-axis robotic arm system. The dual-multi-axis robotic arm system can operate synchronously in parallel or in a differentiated collaborative manner.

8. The intelligent palletizing and loading robot with adaptive carriage as described in claim 1, characterized in that, The main conveying module is a roller conveyor that supports stepless speed regulation; the box-turning section has a built-in servo motor-driven turntable; the temporary storage section consists of multiple parallel electric rollers, with a uniform gap between adjacent electric rollers to accommodate the thickness of the forklift assembly, and the electric rollers are independently controlled by a central integrated control system.

Images