Highly elevated loading and unloading system

Abstract

The application provides a highly-raised loading and unloading system, which comprises a first robot, a telescopic belt conveyor, a loading bridge and a second robot; the first robot is used for placing materials to be loaded on the telescopic belt conveyor or placing materials on the telescopic belt conveyor on a tray; the telescopic belt conveyor is connected with the second robot at the front end and is used for conveying materials to the working range of the second robot or conveying materials to the working range of the first robot; the second robot is used for moving to the inside of a specified compartment according to a received first control instruction and / or a second control instruction generated by a self processor, and moving work in the compartment according to work progress to realize loading of materials or unloading of materials placed on the telescopic belt conveyor; and the loading bridge is arranged at a feeding port of the compartment and is used for lifting the second robot so that the second robot can move to the inside of the compartment. The application expands the application scenario of the loading and unloading system and improves the loading and unloading efficiency.

Description

Technical Field

[0001] This invention relates to intelligent manufacturing and high-end manufacturing, and more specifically, to a loading and unloading system based on height lifting. Background Technology

[0002] A robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and move goods.

[0003] More and more visual and force sensors will be used in robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] To expand the application scenarios and scope of robots, existing technologies involve mounting robots on mobile bases to create mobile robots, enabling them to move and perform functions such as mobile palletizing and picking. When performing rapid palletizing or depalletizing in confined environments such as inside containers, two mobile robots often need to operate simultaneously, with materials transferred between them via telescopic roller conveyors or belt conveyors. However, height differences between the two mobile robots, and between the mobile robots and the containers, often create difficulties for loading and unloading operations. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a loading and unloading system based on height lifting.

[0006] The height-lift-based loading and unloading system provided by the present invention includes: a first robot, a telescopic belt conveyor, a loading ramp, and a second robot;

[0007] The first robot is used to place the material to be loaded onto the telescopic conveyor or to place the material on the telescopic conveyor onto a pallet;

[0008] The telescopic belt conveyor is connected to the second robot at its front end, and is used to transport materials to the working range of the second robot or to the working range of the first robot;

[0009] The second robot is used to move to the designated compartment according to the received first control command and / or the second control command generated by its own processor, and to move and perform operations inside the compartment according to the work progress, so as to load the material or unload the material onto the telescopic belt conveyor.

[0010] The loading ramp is located at the feed inlet of the compartment and is used to lift the second robot so that the second robot can move into the compartment.

[0011] Preferably, the telescopic belt conveyor includes: a feeding conveyor mechanism, a first-stage telescopic mechanism, a second-stage telescopic mechanism, and a third-stage telescopic mechanism;

[0012] The second-stage telescopic mechanism is disposed within the first-stage telescopic mechanism and can extend and retract along the first-stage telescopic mechanism; the third-stage telescopic mechanism is disposed within the second-stage telescopic mechanism and can extend and retract along the second-stage telescopic mechanism.

[0013] The rear end of the feeding conveyor is hinged to the first-stage telescopic mechanism, and is used to convey materials from the feeding conveyor to the first-stage telescopic mechanism.

[0014] Preferably, the feeding and conveying mechanism is tilted toward the first robot.

[0015] Preferably, the loading ramp includes a base frame and a lifting frame;

[0016] The lifting frame is mounted on the base frame and can be raised and lowered along the height direction of the base frame;

[0017] The lifting frame is used to carry the second robot for lifting and lowering the second robot.

[0018] Preferably, the front end of the telescopic belt conveyor is hinged to the second robot via the flexible mating conveyor line.

[0019] Preferably, when the second robot moves away from the telescopic conveyor belt, the telescopic conveyor belt extends to match the away movement of the second robot;

[0020] As the second robot moves toward the telescopic conveyor belt, the telescopic conveyor belt shortens to accommodate the robot's approach.

[0021] Preferably, a first sensor and a second sensor are provided on the flexible mating conveyor line;

[0022] The first sensor is used to detect changes in the length of the flexible mating conveyor line;

[0023] The second sensor is disposed at one end of the flexible mating conveyor line near the telescopic belt conveyor, and is used to detect changes in the angle of the flexible mating conveyor line.

[0024] Preferably, when the first sensor detects that the length of the flexible mating conveyor line has increased, the telescopic belt conveyor is controlled to extend; when the first sensor detects that the length of the flexible mating conveyor line has decreased, the telescopic belt conveyor is controlled to shorten.

[0025] When the second sensor detects that the flexible mating conveyor line is raised, the telescopic belt conveyor is controlled to rise; when the second sensor detects that the flexible mating conveyor line is lowered, the telescopic belt conveyor is controlled to descend.

[0026] Preferably, it also includes a material handling conveyor line;

[0027] The second robot includes a mobile base, and the material handling conveyor line is disposed on the mobile base;

[0028] The feed inlet of the material handling conveyor line is connected to the telescopic conveyor via the flexible mating conveyor line.

[0029] Preferably, the material handling conveyor line includes:

[0030] The main body of the material handling line is set on the mobile base and is connected to the telescopic conveyor through the flexible conveyor line for conveying the target box.

[0031] A side-returning baffle is provided on the main body of the material handling line to prevent the target box from slipping off;

[0032] A pusher plate is disposed on the main body of the material handling line and is positioned opposite to the edge return baffle. It is used to push the target box closer to the edge return baffle.

[0033] A push plate drive mechanism is used to drive the push plate to move relative to the side baffle to push the target box closer to the side baffle.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] In this invention, a first robot places the material to be loaded onto the telescopic conveyor belt or places the material on the telescopic conveyor belt onto a pallet. The front end of the telescopic conveyor belt connects to a second robot, transporting the material to the working range of the second robot or the first robot. The second robot moves to the designated compartment and operates within the compartment according to the work progress, thus loading the material onto the truck or unloading the material from the telescopic conveyor belt. The loading ramp is located at the inlet of the compartment and is used to lift the second robot so that it can move into the compartment. This allows the second robot to move into the compartment even when there is no loading platform, expanding the application scenarios of the loading and unloading system and improving loading and unloading efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0037] Figure 1 This is a schematic diagram of the loading and unloading system based on height lifting in an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the second robot in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the telescopic belt conveyor in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the height difference caused by the extension of the telescopic belt conveyor in an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the structure of the first robot in an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the material handling conveyor line in an embodiment of the present invention;

[0043] Figure 7 This is a bottom view of the material conveying line in an embodiment of the present invention;

[0044] Figure 8 This is a schematic diagram of the working state of the material conveying line in an embodiment of the present invention; and

[0045] Figure 9 This is a schematic diagram of the fixture in an embodiment of the present invention.

[0046] In the picture:

[0047] 1 is the first robot; 2 is the telescopic belt conveyor; 3 is the flexible conveyor line; 4 is the second robot; 5 is the loading ramp; 6 is the cargo box; 7 is the clamp; 101 is the first moving base; 102 is the third robotic arm; 201 is the first-stage telescopic mechanism; 202 is the second-stage telescopic mechanism; 203 is the third-stage telescopic mechanism; 204 is the hydraulic cylinder; 205 is the feeding conveyor mechanism; 401 is the material handling conveyor line; 4011 is the main body of the material handling line; 4012 is the edge-gathering baffle; 4013 is the push plate; 4014 is the push plate drive mechanism; 4015 is the front lifting mechanism; 40111 is the left side mounting plate; 40 112 is the right-side mounting plate; 40113 is the roller; 40141 is the first drive motor; 40142 is the lead screw; 40143 is the lead screw output block; 40144 is the crossbeam; 40145 is the first synchronous pulley; 40146 is the second synchronous pulley; 40151 is the second drive motor; 40152 is the lifting arm; 40153 is the front lifting plate; 40154 is the second guide rail; 40155 is the third guide rail; 40156 is the mounting base plate; 402 is the second movable base; 701 is the fixture body; 702 is the suction cup bracket; 703 is the bottom support mechanism; 704 is the suction cup array. Detailed Implementation

[0048] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0049] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0050] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and 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 the present invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0052] Figure 1 This is a schematic diagram of the loading and unloading system based on height lifting in an embodiment of the present invention, as shown below. Figure 1 As shown, the height-lift-based loading and unloading system provided by the present invention includes: a first robot 1, a telescopic belt conveyor 2, a loading ramp 5, and a second robot 4;

[0053] The first robot 1 is used to place the material to be loaded onto the telescopic conveyor belt 2 or to place the material on the telescopic conveyor belt 2 onto a pallet;

[0054] The telescopic belt conveyor 2 is connected to the second robot 4 at its front end, and is used to transport materials to the working range of the second robot 4 or to the working range of the first robot 1;

[0055] The second robot 4 is used to move to the interior of the designated cargo box 6 according to the received first control command and / or the second control command generated by its own processor, and to move and perform operations inside the box according to the work progress, so as to load the material or unload the material onto the telescopic belt conveyor 2.

[0056] The loading ramp 5 is located at the feed inlet of the compartment and is used to lift the second robot 4 so that the second robot 4 can move into the compartment.

[0057] In one embodiment of the present invention, the loading ramp 5 includes a base frame and a lifting frame;

[0058] The lifting frame is mounted on the base frame and can be raised and lowered along the height direction of the base frame;

[0059] The lifting frame is used to support the second robot 4 for lifting and lowering. The second robot 4, with the assistance of the loading ramp 5, can enter the interior of the cargo box 6, enabling loading without a platform or when there is a significant height difference between the cargo box 6 and the ground.

[0060] Figure 3 This is a schematic diagram of the telescopic belt conveyor in an embodiment of the present invention, as shown below. Figure 3 As shown, the telescopic belt conveyor 2 includes: a feeding conveyor mechanism 205, a first-stage telescopic mechanism 201, a second-stage telescopic mechanism 202, and a third-stage telescopic mechanism 203;

[0061] The second-stage telescopic mechanism 202 is disposed within the first-stage telescopic mechanism 201 and can extend and retract along the first-stage telescopic mechanism 201; the third-stage telescopic mechanism 203 is disposed within the second-stage telescopic mechanism 202 and can extend and retract along the second-stage telescopic mechanism 202.

[0062] The rear end of the feeding conveying mechanism 205 is hinged to the first-stage telescopic mechanism 201, and is used to convey materials from the feeding conveying mechanism 205 to the first-stage telescopic mechanism 201.

[0063] In one embodiment of the present invention, the feeding and conveying mechanism 205 is tilted toward the first robot.

[0064] The upper surfaces of the first-stage telescopic mechanism 201, the second-stage telescopic mechanism 202, and the third-stage telescopic mechanism 203 are kept flush and share the same conveyor belt 205.

[0065] In one embodiment of the present invention, the telescopic belt conveyor 2 can also be configured as a five-stage telescopic mechanism.

[0066] In one embodiment of the present invention, the telescopic belt conveyor 2 further includes a hydraulic cylinder 204, which is used to support the body of the telescopic belt conveyor 2 and to adjust the pitch angle to adapt to different working scenarios.

[0067] In one embodiment of the present invention, rollers can also be set below the chassis of the telescopic belt conveyor 2. The rollers can be set to be connected to a servo motor to realize the autonomous movement of the telescopic belt conveyor 2, or only the rollers can be set to realize the pushing of the telescopic belt conveyor 2.

[0068] The telescopic belt conveyor 2, located on the side closest to the second robot 4, extends into the work space by a preset length or retracts by a preset length during operation, according to the first control command received and / or the second control command generated by its own processor.

[0069] For example, the telescopic belt conveyor 2, located near the second robot 4, extends into the work space by a preset length or retracts by a preset length during operation, according to the received first control command and / or the second control command generated by its own processor.

[0070] In this embodiment of the invention, the telescopic conveyor belt 2 can automatically extend and retract to adapt to different operational scenarios. Taking a container as an example, during initial loading, the telescopic conveyor belt 2 can extend to a deeper part of the container. As the loading task is executed, the telescopic conveyor belt 2 gradually retracts outward as needed, allowing the second robot 4 operating inside the container to load materials more efficiently. Conversely, in the unloading scenario, the telescopic conveyor belt 2 extends gradually into the container according to the unloading task.

[0071] In one embodiment of the present invention, the electrical connection line of the second robot 4 extends along the flexible mating conveyor line 3 and the telescopic belt conveyor 2.

[0072] In one embodiment of the present invention, the front end of the telescopic belt conveyor is hinged to the second robot 4 via the flexible mating conveyor line 3. Specifically, one end of the flexible mating conveyor line 3 is hinged to the rear end of the second robot 4, and the other end is hinged to the end of the telescopic belt conveyor 2.

[0073] In one embodiment of the present invention, when the second robot 4 moves away from the telescopic belt conveyor 2, the telescopic belt conveyor 2 extends to match the away movement of the second robot 4;

[0074] When the second robot 4 moves toward the telescopic conveyor belt 2, the telescopic conveyor belt 2 shortens to match the approaching movement of the second robot 4.

[0075] In one embodiment of the present invention, the flexible conveyor line 3 is used for flexible adjustment when the telescopic belt conveyor 2 extends and shortens;

[0076] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 extends too far, causing the flexible mating conveyor line 3 to be compressed and lifted, the telescopic belt conveyor 2 is controlled to fall so that the flexible mating conveyor line 3 lands.

[0077] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 is too short to cause the flexible mating conveyor line 3 to be pressed down, the telescopic belt conveyor 2 is controlled to rise.

[0078] In one embodiment of the invention, a first sensor and a second sensor are provided on the flexible mating conveyor line 3;

[0079] The first sensor is used to detect changes in the length of the flexible mating conveyor line 3;

[0080] The second sensor is installed on one end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2, and is used to detect changes in the angle of the flexible mating conveyor line 3.

[0081] When the first sensor detects that the length of the flexible mating conveyor line 3 has increased, it controls the telescopic belt conveyor 2 to extend; when the first sensor detects that the length of the flexible mating conveyor line 3 has decreased, it controls the telescopic belt conveyor 2 to shorten.

[0082] When the second sensor detects that the flexible mating conveyor line 3 is raised, the telescopic belt conveyor 2 is controlled to rise; when the second sensor detects that the flexible mating conveyor line 3 is lowered, the telescopic belt conveyor 2 is controlled to descend.

[0083] In one embodiment of the present invention, the first sensor is a pull rope sensor. The main body of the pull rope sensor is disposed at one end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2, and the end of the steel wire rope of the pull rope sensor is connected to the end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2. Therefore, when the flexible mating conveyor line 3 is stretched, the steel wire rope is also pulled, so that the pull rope sensor can detect the change in length of the flexible mating conveyor line 3.

[0084] The second sensor is an angle sensor. When the flexible conveyor line 3 is raised or lowered, the second sensor can detect the corresponding angle change, thereby controlling the telescopic belt conveyor 2 to rise or fall. The flexible conveyor line 3 is a telescopic roller conveyor.

[0085] Figure 4 This is a schematic diagram illustrating the height difference caused by the extension of the telescopic belt conveyor in an embodiment of the present invention, as shown below. Figure 4 As shown, when the telescopic belt conveyor 2 extends, due to the change in angle during the extension, the target position at the end of the telescopic belt conveyor 2 has a height difference relative to the original position. If the telescopic belt conveyor 2 is directly connected to the conveyor 403, the target box cannot be transported to the conveyor 403. It is necessary to repeatedly and precisely adjust the height of the end of the telescopic belt conveyor 2 and the length of the extension to achieve precise connection between the end of the telescopic belt conveyor 2 and the conveyor 403.

[0086] When the telescopic belt conveyor 2 is connected to the conveyor 403 via the flexible mating conveyor line 3, only the flexible mating conveyor line 3 can alleviate the problem of not being able to transport the target box due to the height difference by deformation. In addition, the deformation of the flexible mating conveyor line 3 can also provide a visual reference for adjusting the height of the end of the telescopic belt conveyor 2, thereby facilitating the adjustment of the end of the telescopic belt conveyor 2.

[0087] Figure 2 This is a schematic diagram of the structure of the second robot in an embodiment of the present invention, as shown below. Figure 2 As shown, the height-lift-based loading and unloading system provided by the present invention also includes a material handling conveyor line 401;

[0088] The second robot 4 includes a second mobile base 402, and the material handling conveyor line 401 is disposed on the second mobile base 402;

[0089] The feed inlet of the material handling conveyor line 401 is connected to the telescopic conveyor via the flexible mating conveyor line 3.

[0090] The first robotic arm is located at the front end of the movable base 402 and is used to move the target box conveyed by the material handling conveyor line 401 to a target position, or to move the target box on the unloading position to the material handling conveyor line 401.

[0091] Figure 5 This is a schematic diagram of the structure of the first robot in an embodiment of the present invention, as shown below. Figure 5 As shown, in one embodiment of the present invention, the first robot 1 includes:

[0092] The first mobile base 101 is capable of moving to any position or pausing at any position and determining the orientation angle according to the received control command;

[0093] The first robotic arm 102 is mounted on the first mobile base 101 and is used to move the target box of the pallet onto the telescopic belt conveyor 2.

[0094] In a variation of the present invention, the first robot 1 may be a fixed-position robot.

[0095] Figure 6 This is a schematic diagram of the material handling conveyor line in an embodiment of the present invention, as shown below. Figure 6 As shown, the material handling conveyor line 401 includes:

[0096] The material handling line body 401 is set on the mobile base and is connected to the telescopic conveyor via the flexible conveyor line 3 for conveying the target box.

[0097] The edge baffle 4012 is disposed on the material handling line body 401 to prevent the target box from slipping off;

[0098] Push plate 4013 is disposed on the material handling line body 401 and is disposed opposite to the edge baffle 4012, and is used to push the target box to be close to the edge baffle 4012.

[0099] The push plate drive mechanism 4014 is used to drive the push plate 4013 to move relative to the edge baffle 4012 so as to push the target box closer to the edge baffle 4012.

[0100] A front windshield lifting mechanism 4015 is disposed at the discharge port of the material handling line body 401. The front windshield lifting mechanism 4015 is used to block the target box from passing through the discharge port of the material handling line body 401 when it is raised, and to allow the target box to pass through the discharge port of the material handling line body 401 when it is retracted.

[0101] A baffle driving mechanism is used to drive the edge-returning baffle 4012 to move relative to the push plate 4013, thereby accelerating the relative movement between the push plate 4013 and the edge-returning baffle 4012.

[0102] In one embodiment of the present invention, the push plate 4013 and the side-returning baffle 4012 are arranged in parallel relative to each other.

[0103] Figure 7 This is a bottom view of the material conveying line in an embodiment of the present invention, as shown below. Figure 7 As shown, the push plate drive mechanism 4014 includes a lead screw 40142, a lead screw nut, a lead screw output block 40143, and a first drive motor 40141;

[0104] The first drive motor 40141 is used to drive the lead screw 40142 to rotate;

[0105] The lead screw nut is disposed on the lead screw 40142 and can rotate with the lead screw 40142 and move along the lead screw 40142.

[0106] The lead screw output block 40143 is mounted on the lead screw nut and moves under the drive of the lead screw nut; the push plate 4013 is connected to the lead screw output block 40143.

[0107] The baffle drive mechanism includes a baffle screw, a baffle screw nut, a baffle screw output block, and a baffle drive motor.

[0108] The baffle drive motor is used to drive the baffle screw to rotate;

[0109] The baffle screw nut is mounted on the baffle screw and can rotate with the baffle screw and move along the screw.

[0110] The baffle screw output block is mounted on the baffle screw nut and moves under the drive of the baffle screw nut; the return baffle is connected to the baffle screw output block.

[0111] One end of the lead screw is mounted on the left mounting plate 40111 via a bearing lead screw support fixing assembly, and the other end is mounted on the right mounting plate via a bearing lead screw support assembly.

[0112] In one embodiment of the present invention, the lead screw output block 40143 is provided with a plurality of push plate support rods arranged in sequence;

[0113] The main body 401 of the material handling line includes a plurality of rollers 40113 arranged in sequence;

[0114] Each of the push plate support rods is disposed between two adjacent rollers 40113 and is movable along the length extension direction of the rollers 40113;

[0115] The push plate 4013 is mounted on the push plate support rod.

[0116] The multiple push plate support rods are parallel to each other.

[0117] The first drive motor 40141 is mounted on the left mounting plate 40111 or the right mounting plate 40112 via a synchronous pulley tensioning plate;

[0118] A first synchronous pulley 40145 is provided on the output shaft of the first drive motor 40141; a second synchronous pulley 40146 is provided at the end of the lead screw 40142;

[0119] The first synchronous pulley 40145 and the second synchronous pulley 40146 are connected by a synchronous belt.

[0120] The windshield lifting mechanism 4015 includes: a second drive motor 40151, a reducer, a lifting arm 40152, a mounting base plate 40156, and a windshield lifting plate 40153.

[0121] The mounting base plate 40156 is located at the discharge port of the material handling line body 401;

[0122] The reducer is mounted on the mounting base plate 40156, and the second drive motor 40151 drives the lifting arm 40152 through the reducer.

[0123] One end of the lifting arm 40152 is connected to the output shaft of the reducer, and the other end is connected to the front lift plate 40153;

[0124] The second drive motor 40151 is used to drive the front lift plate 40153 to rise to block the target box from passing through the discharge port of the material handling line body 401, and to drive the front lift plate 40153 to retract to allow the target box to pass through the discharge port of the material handling line body 401.

[0125] The two ends of the mounting base plate 40156 are fixed to the front ends of the left mounting plate 40111 and the right mounting plate 40112, and are perpendicularly connected to the left mounting plate 40111 and the right mounting plate 40112.

[0126] In one embodiment of the present invention, a second guide rail 40154 and a third guide rail 40155 are provided on the mounting base plate 40156;

[0127] The front windshield lift plate 40153 is connected to the second guide rail 40154 via the second slider and to the third guide rail 40155 via the third slider;

[0128] The front windshield lift plate 40153 can slide along the height direction of the mounting base plate 40156 via the second guide rail 40154 and the third guide rail 40155.

[0129] In one embodiment of the present invention, the material handling line body 401 includes a left mounting plate 40111, a right mounting plate 40112, a roller 40113, and a roller driving mechanism.

[0130] The left mounting plate 40111 and the right mounting plate 40112 are arranged opposite to each other;

[0131] Multiple rollers 40113 are sequentially arranged on the left mounting plate 40111 and the right mounting plate 40112, and are rotatably connected to the left mounting plate 40111 and the right mounting plate;

[0132] The roller drive mechanism is used to drive the roller 40113 to rotate, thereby driving the movement of the target box.

[0133] In one embodiment of the present invention, the material handling conveyor line provided by the present invention further includes a first guide rail and a crossbeam 40144;

[0134] One end of the crossbeam 40144 is mounted on the left mounting plate 40111, and the other end is mounted on the right mounting plate; the first guide rail is mounted on the crossbeam 40144;

[0135] One end of the lead screw 40142 is mounted on the left mounting plate 40111 via the lead screw support fixing side assembly, and the other end is mounted on the right mounting plate via the lead screw support support assembly.

[0136] The lead screw output block 40143 is connected to the first guide rail via a first slider and can slide along the first guide rail. The baffle lead screw output block is connected to the first guide rail via a baffle slider and can slide along the first guide rail.

[0137] Figure 9 This is a schematic diagram of the fixture structure in an embodiment of the present invention. The first robot 1 and the second robot 4 are provided with fixtures 7 at their ends. The fixtures 7 include:

[0138] Fixture body 701;

[0139] A suction cup bracket 702 is provided with a suction cup array, which is used to pick up the target box. The suction cup bracket 702 is disposed on one side of the clamp body 701 and can move along a first direction.

[0140] The bottom support mechanism 703 is located on the clamp body 701 and is capable of moving in a second direction opposite to the first direction;

[0141] The driving module is connected to the suction cup bracket 702 and the bottom support mechanism 703 through a driving transmission mechanism, and is used to drive the suction cup bracket 702 and the bottom support mechanism 703 to move in opposite directions at the same time.

[0142] After the suction cup bracket 702 picks up the target box, the drive module drives the suction cup bracket 702 to move from the front end of the clamp body 701 to the rear end of the clamp body 701, and the bottom support mechanism 703 extends from the front end of the clamp body 701.

[0143] When the target box is released, the drive module drives the suction cup bracket 702 to move from the rear end of the clamp body 701 to the front end of the clamp body 701 to push out the target box, while the bottom support mechanism 703 retracts into the clamp body 701.

[0144] In this embodiment of the invention, the drive transmission mechanism includes: a driving wheel, a driven wheel, and a transmission belt;

[0145] The drive wheel is mounted on the output shaft of the drive module;

[0146] The driven wheel is disposed at the front end of the suction cup bracket 702; the driving wheel is connected to the driven wheel via the transmission belt;

[0147] The suction cup bracket 702 is connected to one side of the conveyor belt, and the bottom support mechanism 703 is connected to the other side of the conveyor belt.

[0148] The suction cup bracket 702 is equipped with a suction cup array.

[0149] In this embodiment of the invention, a first robot places the material to be loaded onto the telescopic conveyor belt or places the material on the telescopic conveyor belt onto a pallet. The front end of the telescopic conveyor belt connects to a second robot, transporting the material to the working range of the second robot or the first robot. The second robot moves to the designated compartment and operates within the compartment according to the work progress, thus loading the material onto the truck or unloading the material from the telescopic conveyor belt. The loading ramp is located at the inlet of the compartment and is used to lift the second robot so that it can move into the compartment. This allows the second robot to move into the compartment even when there is no loading platform, expanding the application scenarios of the loading and unloading system and improving loading and unloading efficiency.

[0150] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0151] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A loading and unloading system based on height lifting, characterized in that, include: The first robot, the telescopic belt conveyor, the loading ramp, and the second robot; The first robot is used to place the material to be loaded onto the telescopic conveyor or to place the material on the telescopic conveyor onto a pallet; The telescopic belt conveyor is connected to the second robot at its front end, and is used to transport materials to the working range of the second robot or to the working range of the first robot; The second robot is used to move to the designated compartment according to the received first control command and / or the second control command generated by its own processor, and to move and perform operations inside the compartment according to the work progress, so as to load the material or unload the material onto the telescopic belt conveyor. The loading ramp is located at the feed inlet of the compartment and is used to lift the second robot so that the second robot can move into the compartment.

2. The loading and unloading system based on height lifting according to claim 1, characterized in that, The telescopic belt conveyor includes: a feeding conveyor mechanism, a first-stage telescopic mechanism, a second-stage telescopic mechanism, and a third-stage telescopic mechanism; The second-stage telescopic mechanism is disposed within the first-stage telescopic mechanism and can extend and retract along the first-stage telescopic mechanism; the third-stage telescopic mechanism is disposed within the second-stage telescopic mechanism and can extend and retract along the second-stage telescopic mechanism. The rear end of the feeding conveyor is hinged to the first-stage telescopic mechanism, and is used to convey materials from the feeding conveyor to the first-stage telescopic mechanism.

3. The loading and unloading system based on height lifting according to claim 2, characterized in that, The feeding and conveying mechanism is tilted toward the first robot.

4. The loading and unloading system based on height lifting according to claim 1, characterized in that, The loading ramp includes a base frame and a lifting frame; The lifting frame is mounted on the base frame and can be raised and lowered along the height direction of the base frame; The lifting frame is used to carry the second robot for lifting and lowering the second robot.

5. The loading and unloading system based on height lifting according to claim 1, characterized in that, The front end of the telescopic belt conveyor is hinged to the second robot via a flexible mating conveyor line.

6. The loading and unloading system based on height lifting according to claim 5, characterized in that, As the second robot moves away from the telescopic conveyor belt, the telescopic conveyor belt extends to match the away movement of the second robot. As the second robot moves toward the telescopic conveyor belt, the telescopic conveyor belt shortens to accommodate the robot's approach.

7. The loading and unloading system based on height lifting according to claim 5, characterized in that, The flexible conveyor line is equipped with a first sensor and a second sensor. The first sensor is used to detect changes in the length of the flexible mating conveyor line; The second sensor is disposed at one end of the flexible mating conveyor line near the telescopic belt conveyor, and is used to detect changes in the angle of the flexible mating conveyor line.

8. The loading and unloading system based on height lifting according to claim 7, characterized in that, When the first sensor detects that the length of the flexible conveyor line has increased, it controls the telescopic belt conveyor to extend; when the first sensor detects that the length of the flexible conveyor line has decreased, it controls the telescopic belt conveyor to shorten. When the second sensor detects that the flexible mating conveyor line is raised, the telescopic belt conveyor is controlled to rise; when the second sensor detects that the flexible mating conveyor line is lowered, the telescopic belt conveyor is controlled to descend.

9. The loading and unloading system based on height lifting according to claim 5, characterized in that, It also includes material handling conveyor lines; The second robot includes a mobile base, and the material handling conveyor line is disposed on the mobile base; The feed inlet of the material handling conveyor line is connected to the telescopic conveyor via the flexible mating conveyor line.

10. The loading and unloading system based on height lifting according to claim 9, characterized in that, The material handling conveyor line includes: The main body of the material handling line is set on the mobile base and is connected to the telescopic conveyor via the flexible conveyor line for conveying the target box. A side-returning baffle is installed on the main body of the material handling line to prevent the target box from slipping off; A pusher plate is disposed on the main body of the material handling line and is positioned opposite to the edge return baffle. It is used to push the target box closer to the edge return baffle. A push plate drive mechanism is used to drive the push plate to move relative to the side baffle to push the target box closer to the side baffle.

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