Loading and unloading system

Abstract

The embodiment of the utility model provides a loading and unloading system. The loading and unloading system comprises a stacking and distributing device, a conveying line and a loading and unloading robot. The stacking and distributing device is fixedly connected to the conveying line, and a first clamp and a second clamp of the stacking and distributing device are slidably connected to the supporting frame through a first sliding assembly and a second sliding assembly correspondingly. The first clamp driving device and the second clamp driving device are respectively used for driving the first clamp and the second clamp to reciprocate along the height direction of the stacking and distributing device; the first clamp is provided with a first clamping part, the second clamp is provided with a second clamping part, and the first clamping part and the second clamping part can be close to or away from each other so as to clamp the turnover frame or separate from the turnover frame; the walking chassis of the loading-unloading robot is used for driving the loading-unloading robot to walk; the joint type mechanical arm can drive the mechanical arm gripper to grab the turnover frame on the taking and placing conveying position, or the joint type mechanical arm can drive the mechanical arm gripper to grab the turnover frame in the compartment and place the turnover frame on the taking and placing conveying position.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a loading and unloading system. Background Art

[0002] In the express delivery, fruit and vegetable, meat, instrumentation and other industries, some materials need to be loaded and transported in a uniformly customized turnover box (or turnover box, material basket, storage box, etc.). The turnover box is generally designed with the same length and width but different height dimensions to facilitate stacking.

[0003] During the loading and unloading process of turnover frames, it is often necessary to manually stack or split the turnover frames before loading them into the carriage or moving them out of the carriage, resulting in low loading and unloading efficiency. Utility Model Content

[0004] The purpose of the embodiment of the present application is to provide a loading and unloading system to improve the efficiency of loading and unloading. The specific technical solution is as follows:

[0005] An embodiment of the present application provides a loading and unloading system, which includes: a code division device, a conveyor line, and a loading and unloading robot; the conveyor line is used to transmit turnover frames and has a pick-up and placement conveying position; the code division device is fixedly connected to the conveyor line for stacking or disassembling multiple turnover frames; the loading and unloading robot includes a walking chassis, an articulated robotic arm, a visual recognition device, and a robotic arm gripper; the walking chassis is used to drive the loading and unloading robot to walk; the articulated robotic arm is arranged on the walking chassis; the robotic arm gripper is arranged at one end of the articulated robotic arm; the visual recognition device is arranged on the robotic arm gripper, or at one end of the articulated robotic arm close to the robotic arm gripper; the articulated robotic arm can drive the robotic arm gripper to grab at least one turnover frame on the pick-up and placement conveying position, or the articulated robotic arm can drive the robotic arm gripper to grab at least one turnover frame in the carriage and place it on the pick-up and placement conveying position.

[0006] In some embodiments, the code division device includes a support frame, a first clamp and a second clamp, a first clamp driving device and a second clamp driving device, a first sliding assembly and a second sliding assembly; the first clamp is slidably connected to the support frame via the first sliding assembly; the second clamp is slidably connected to the support frame via the second sliding assembly; the first clamp driving device and the second clamp driving device are respectively used to drive the first clamp and the second clamp to reciprocate along the height direction of the code division device; the first clamp has a first clamping portion, and the second clamp has a second clamping portion, and the first clamping portion and the second clamping portion can approach or move away from each other along a first direction to clamp the turnover frame or detach from the turnover frame; the first direction is perpendicular to the transmission direction of the conveyor line.

[0007] In some embodiments, the conveyor line includes a telescopic conveyor, which includes a telescopic section and a roller transmission section. The telescopic section can be telescopic along a third direction, and the third direction is the conveying direction of the conveyor line; the roller transmission section is arranged at the free telescopic end of the telescopic section, and the pick-up and place conveying position is arranged at the delivery end of the roller transmission section; when the robotic arm gripper grabs the turnover frame on the pick-up and place conveying position, the pick-up and place conveying position is located above the walking chassis.

[0008] In some embodiments, the support frame includes a first frame and a second frame spaced apart along the first direction, and the first frame and the second frame are respectively fixedly connected to the two sides of the conveyor line along the first direction; the first clamp includes a first connecting frame, a first clamping member, a first clamping driving device, and a third sliding assembly; the first connecting frame is slidably connected to the first frame along the second direction through the first sliding assembly; the first clamp driving device is used to drive the first connecting frame to slide along the second direction, thereby driving the first clamp to slide along the second direction; the first clamping member is slidably connected to the first connecting frame along the first direction through the third sliding assembly, and the first clamping driving device is used to drive the first clamping member to slide along the The first direction moves; the second direction is the height direction of the code division device; the second clamp includes a second connecting frame, a second clamping member, a second clamping driving device, and a fourth sliding component; the second connecting frame is slidably connected to the second frame along the second direction through the second sliding component; the second clamp driving device is used to drive the second connecting frame to slide along the second direction, thereby driving the second clamp to slide along the second direction; the second clamping member is slidably connected to the second connecting frame along the first direction through the fourth sliding component, and the second clamping driving device is used to drive the second clamping member to move along the first direction; the first clamping part is arranged on the first clamping member, and the second clamping part is arranged on the second clamping member.

[0009] In some embodiments, the first connecting frame includes a first side wall and a first bottom wall, the first side wall is slidably connected to the first frame via the first sliding assembly, and the first clamp is slidably connected to the first bottom wall via the third sliding assembly; the second connecting frame includes a second side wall and a second bottom wall, the second side wall is slidably connected to the second frame via the second sliding assembly, and the second clamp is slidably connected to the second bottom wall via the fourth sliding assembly.

[0010] In some embodiments, the first clamping driving device is a first cylinder, the shell of the first cylinder is fixedly connected to the side of the first side wall away from the second clamp, and the telescopic rod of the first cylinder passes through the first side wall and is fixedly connected to the first clamp; the second clamping driving device is a second cylinder, the shell of the second cylinder is fixedly connected to the side of the second side wall away from the first clamp, and the telescopic rod of the second cylinder passes through the second side wall and is fixedly connected to the second clamp.

[0011] In some embodiments, a first avoidance groove is provided on the first bottom wall, and a second avoidance groove is provided on the second bottom wall; at least a portion of the first cylinder housing is located in the first avoidance groove; and at least a portion of the second cylinder housing is located in the second avoidance groove.

[0012] In some embodiments, the first clamp driving device includes a first motor, a first rack, and a first gear. The first connecting frame also includes a first mounting plate. The first mounting plate is respectively connected to the first side wall and the first bottom wall. The first motor is fixedly connected to the first mounting plate. The output shaft of the first motor passes through the first mounting plate and is fixedly connected to the first gear. The first rack is arranged on the first frame along the second direction. The first gear is meshed with the first rack. The first motor drives the first gear to rotate, so that the first gear drives the first connecting frame to move along the second direction.

[0013] In some embodiments, the first sliding assembly includes a first sliding rail and at least one first sliding block, the first sliding rail is arranged on the first frame along the second direction, the at least one first sliding block is fixedly connected to the first connecting frame, and the first connecting frame is slidably connected to the first sliding rail through the first sliding block.

[0014] In some embodiments, the loading and unloading system also includes: a lifting baffle assembly, including a first baffle, a second baffle, a first baffle driving device and a second baffle driving device, the first baffle is arranged at the input end of the code dividing device, and the second baffle is arranged at the output end of the code dividing device, the first baffle driving device is used to drive the first baffle to rise or fall, so that the first baffle can cover the turnover frame or not cover the turnover frame; the second baffle driving device is used to drive the second baffle to rise or fall, so that the second baffle can cover the turnover frame or not cover the turnover frame.

[0015] In the embodiment of the present application, through the cooperation of the loading and unloading robot and the conveyor line, automatic loading and unloading operations can be completed, labor is saved and transportation efficiency is improved; wherein, the coding device can automatically stack multiple turnover frames or split multiple turnover frames, and the articulated robotic arm has multiple degrees of freedom, which can drive the robotic arm gripper to grab at least one turnover frame. When the robotic arm gripper grabs multiple turnover frames, it can save time for transferring turnover frames and improve work efficiency; the visual recognition device is arranged at the end of the articulated robotic arm or on the robotic arm gripper. Through the movement and rotation of the articulated robotic arm, the field of view of the visual recognition device can be expanded, thereby obtaining more comprehensive three-dimensional data of the space inside the car and the turnover frame stack, and assisting the loading and unloading robot and the robotic arm gripper to perform precise grasping and loading and unloading operations.

[0016] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0018] Figure 1a A schematic diagram of a loading and unloading system provided in an embodiment of the present application;

[0019] Figure 1b for Figure 1a A schematic diagram of one angle of the code dividing device, conveyor line and lifting baffle assembly in the loading and unloading system shown;

[0020] Figure 2 for Figure 1a A schematic diagram of one viewing angle of a code dividing device in a loading and unloading system is shown;

[0021] Figure 3 for Figure 2 A schematic diagram of the code division device from another perspective is shown;

[0022] Figure 4 for Figure 1a A schematic diagram of the cooperation between the conveyor line and the lifting baffle assembly in the loading and unloading system shown;

[0023] Figure 5 for Figure 4 A schematic diagram of the lifting baffle assembly and the code dividing device shown;

[0024] Figure 6 for Figure 2 A schematic diagram of a second clamping member in the code division device shown;

[0025] Figure 7 for Figure 1b A schematic diagram of the code dividing device, the conveying line and the lifting baffle assembly from another angle;

[0026] Figure 8 for Figure 1a A schematic diagram showing the first turnover frame in the loading and unloading system arriving at the code dividing device;

[0027] Fig. 9 for Figure 1a A schematic diagram showing the second turnover frame in the loading and unloading system arriving at the code dividing device;

[0028] Fig.10 for Figure 1a A schematic diagram showing the arrival of the third turnover frame at the code dividing device in the loading and unloading system;

[0029] Fig.11 for Fig.10 The schematic diagram of the turnover frame group arriving at the pick-up and place conveying position is shown;

[0030] Fig.12 for Figure 1a A schematic diagram showing the arrival of the turnover frame group to be separated at the code dividing device in the loading and unloading system;

[0031] Fig.13 for Fig.12 The schematic diagram of the code division device splitting the first turnover frame is shown;

[0032] Fig.14 for Fig.12 The schematic diagram of the code division device splitting the second turnover frame is shown;

[0033] Fig.15 for Fig.12 A schematic diagram showing that all turnover boxes are disassembled;

[0034] Fig.16 A schematic diagram of a loading and unloading system provided in an embodiment of the present application preparing to load a vehicle;

[0035] Fig.17 A schematic diagram of the loading and unloading system provided in an embodiment of the present application starting to load a vehicle;

[0036] Fig.18 A schematic diagram of multiple turnover frames being stacked and loaded into a truck in a loading and unloading system provided in an embodiment of the present application;

[0037] Fig.19 A schematic diagram of the loading and unloading system provided in an embodiment of the present application;

[0038] Fig. 20 A schematic diagram of a loading and unloading system provided in an embodiment of the present application preparing to unload a vehicle;

[0039] Fig.21 A schematic diagram of placing a turnover frame assembly at a pick-and-place conveying position for a loading and unloading system provided in an embodiment of the present application;

[0040] Fig. 22 A schematic diagram of disassembling a turnover frame assembly for a loading and unloading system provided in an embodiment of the present application;

[0041] Fig.23 A schematic diagram of the loading and unloading system provided in an embodiment of the present application transporting a disassembled single turnover frame out of a vehicle.

[0042] Reference numerals:

[0043] Code division device 10; support frame 11; first frame 111; first vertical beam 1112; first horizontal beam 1113; second frame 112; second vertical beam 1121; second horizontal beam 1122; connecting top plate 113;

[0044] The first clamp 12; the first connecting frame 121; the first mounting plate 1210; the first side wall 1211; the first bottom wall 1212; the first avoidance groove 1213; the first reinforcing rib 1214; the first clamping member 122; the first clamping portion 1221; the first clamping driving device 123; the third sliding assembly 124; the third slide rail 1241; the third slide block 1242;

[0045] The second clamp 13; the second connecting frame 131; the second side wall 1311; the second bottom wall 1312; the second clamping member 132; the second clamping driving device 133; the second clamping portion 1321; the third connecting plate 1322; the fourth connecting plate 1323; the fourth sliding assembly 134; the fourth slide rail 1341; the fourth slide block 1342;

[0046] The first clamp driving device 14; the first motor 141; the first rack 142; the second clamp driving device 15; the second motor 151; the second rack 152; the first sliding assembly 16; the first slide rail 161; the first slider 162; the second sliding assembly 17; the second slide rail 171; the second slider 172;

[0047] Conveyor line 20; powered roller 21; telescopic section 22; pick-up and delivery position 23; conveyor line bracket 24; side plate 25; third baffle 26; second connecting beam 27; sixth connecting plate 271;

[0048] Lifting baffle assembly 30; first baffle 31; second baffle 32; first baffle driving device 33; second baffle driving device 34; second driving cylinder 341; second linear bearing 342; second guide column 343;

[0049] Loading and unloading robot 40; walking chassis 41; articulated robotic arm 42; visual recognition device 43; robotic arm gripper 44; controller 45; turnover frame 50; carriage 60; platform 70; first direction X; second direction Y; third direction Z. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0051] The present application embodiment provides a loading and unloading system, such as Figure 1a and Figure 1b , Figure 2 As shown, the loading and unloading system includes: a code dividing device 10, a conveyor line 20, and a loading and unloading robot 40; the conveyor line 20 is used to transmit the turnover frame 50, and has a pick-up and delivery position 23; the code dividing device 10 is fixedly connected to the conveyor line 20, and is used to stack or disassemble multiple turnover frames 50, and the loading and unloading robot 40 includes a walking chassis 41, an articulated mechanical arm 42, a visual recognition device 43, and a mechanical arm gripper 44; the walking chassis 41 is used to drive the loading and unloading robot 40 to walk; the articulated mechanical arm 42 is arranged at On the walking chassis 41; the robot arm gripper 44 is arranged at one end of the articulated robot arm 42; the visual recognition device 43 is arranged on the robot arm gripper 44, or is arranged at one end of the articulated robot arm 42 close to the robot arm gripper 44; the articulated robot arm 42 can drive the robot arm gripper 44 to grab at least one turnover frame 50 on the pick-up and placement conveying position 23, or the articulated robot arm 42 can drive the robot arm gripper 44 to grab at least one turnover frame 50 in the car and place it on the pick-up and placement conveying position 23.

[0052] In the embodiment of the present application, through the cooperation of the loading and unloading robot 40 and the conveyor line 20, automatic loading and unloading operations can be completed, labor is saved, and transportation efficiency is improved; the coding device 10 can automatically stack multiple turnover frames 50 or split multiple turnover frames 50, and the articulated robotic arm 42 has multiple degrees of freedom, which can drive the robotic arm gripper 44 to grab at least one turnover frame. When the robotic arm gripper 44 grabs multiple turnover frames 50, it can save time for transporting the turnover frames 50 and improve work efficiency; the visual recognition device 43 is arranged at the end of the articulated robotic arm 42 or on the robotic arm gripper 44. Through the movement and rotation of the articulated robotic arm, the field of view of the visual recognition device 43 can be expanded, thereby obtaining more comprehensive three-dimensional data of the space inside the car and the turnover frame stack, and assisting the loading and unloading robot and the robotic arm gripper 44 to perform precise grasping and loading and unloading operations.

[0053] Specifically, the articulated robotic arm is an industrial robot or collaborative robot or robotic arm with at least 6 degrees of freedom. The articulated robotic arm is used to drive the robotic arm gripper 44 to move in the space of the carriage 60 to grab, move and load and unload the turnover frame 50, and drive the visual recognition device 43 to move in the space of the carriage 60 so that the visual recognition device 43 can collect image data at different positions. The articulated robotic arm can flexibly drive the visual recognition device to perform multiple images and three-dimensional data collection on objects of interest at multiple specified positions, thereby expanding the field of view of the loading and unloading robot 40 and facilitating the precise operation of the loading and unloading robot 40.

[0054] The loading and unloading system further includes a controller 45 , which is electrically connected to the walking chassis 41 , the articulated robotic arm 42 , the visual recognition device 43 , and the robotic arm gripper 44 .

[0055] It should be noted that the visual recognition device 43 can be a three-dimensional camera or a three-dimensional laser radar. The mechanical arm gripper 44 can adopt an internal support mechanism, that is, a special fixture is used to align with the groove inside the turnover frame 50 and prop it up, and then lift and move it. The loading and unloading robot 40 walks in the carriage 60 through the walking chassis 41. The walking chassis 41 can be equipped with a walking navigation system, and the walking navigation system is used to navigate the loading and unloading robot 40. The visual recognition device 43 is electrically connected to the controller 45. The controller 45 can receive the internal space of the carriage 60 and the turnover frame stack image data recognized by the visual recognition device 43, and plan the loading and unloading tasks. The intelligent degree is high. The loading and unloading robot 40 can load and unload the turnover frame 50. It has a high degree of flexibility and strong adaptability. It is used to control the action of the loading and unloading robot 40, process the information collected by the visual recognition device, and plan the unloading and loading operations of the turnover frame 50 in the carriage 60.

[0056] When performing loading operations, the turnover frames 50 transported by the telescopic conveyor are stacked into groups in the code dividing device 10, and then transported to the pick-and-place conveying position 23, and then provided to the loading and unloading robot 40 for grabbing and loading.

[0057] In some embodiments of the present application, the code division device 10 includes a support frame 11, a first clamp 12 and a second clamp 13, a first clamp driving device 14 and a second clamp driving device 15, a first sliding component 16 and a second sliding component 17; the first clamp 12 is slidably connected to the support frame 11 through the first sliding component 16; the second clamp 13 is slidably connected to the support frame 11 through the second sliding component 17; the first clamp driving device 14 and the second clamp driving device 15 are respectively used to drive the first clamp 12 and the second clamp 13 to reciprocate along the height direction of the code division device 10; Figure 2 and Figure 7As shown, the first clamp 12 has a first clamping portion 1221, and the second clamp 13 has a second clamping portion 1321. The first clamping portion 1221 and the second clamping portion 1321 can approach or move away from each other along a first direction X to clamp the turnover frame 50 or detach from the turnover frame 50; the first direction X is perpendicular to the transmission direction of the conveyor line 20.

[0058] In some embodiments of the present application, Figure 1a and Figure 1b , Figure 2 As shown, the conveyor line 20 includes a telescopic conveyor, which includes a telescopic section 22 and a roller transmission section. The telescopic section 22 can be telescopic along a third direction Z, and the third direction Z is the conveying direction of the conveyor line; the roller transmission section is arranged at the free telescopic end of the telescopic section 22, and the pick-and-place conveying position 23 is arranged at the delivery end of the roller transmission section; when the robot arm gripper 44 grabs the turnover frame 50 on the pick-and-place conveying position 23, the pick-and-place conveying position 23 is located above the walking chassis 41. The code division device 10 is arranged at the delivery end of the roller transmission section.

[0059] Specifically, Figure 1b As shown, the telescopic section 22 and the roller transmission section can transmit goods in the positive direction or the reverse direction of the third direction Z, and can deliver the turnover frame 50 to the loading and unloading robot 40 in the carriage 60 for loading by the loading and unloading robot 40; or deliver the turnover frame 50 unloaded from the carriage 60 by the loading and unloading robot 40 to the outside of the carriage 60. The telescopic section 22 of the telescopic conveyor can be extended and retracted, and the conveying line 20 is connected to the telescopic end of the telescopic section 22, and can be extended or retracted with the telescopic end, so as to follow and dock with the loading and unloading robot 40 to deliver the turnover frame 50.

[0060] like Figure 1b As shown, the conveyor line 20 may include a conveyor line support 24, and the conveyor line support 24 can support the conveying surface of the conveyor line 20 to a preset height. Fig.19 As shown, when the floor of the carriage is higher, the loading and unloading system may further include a platform 70 , and the conveying line 20 is arranged on the platform 70 .

[0061] like Figure 1b and Figure 2 , Figure 7As shown, the support frame 11 includes a first frame 111 and a second frame 112 arranged at intervals along a first direction X, and the first frame 111 and the second frame 112 are respectively fixedly connected to the two sides of the conveyor line 20 along the first direction X, the first direction X is perpendicular to the transmission direction of the conveyor line 20, and the transmission direction of the conveyor line 20 is the third direction Z; the first clamp 12 includes a first connecting frame 121, a first clamping member 122, a first clamping driving device 123, and a third sliding component 124; the first connecting frame 121 is slidably connected to the first frame 111 along the second direction Y through the first sliding component 16; the first clamp driving device 14 is used to drive the first connecting frame 121 to slide along the second direction Y, thereby driving the first clamp 12 to slide along the second direction Y; the first clamping member 122 is slidably connected to the first connecting frame 121 along the first direction X through the third sliding component 124, and the first clamping driving device 123 is used to drive the first clamping member 122 to move along the first direction X; as shown Figure 1b , Figure 2 and Figure 3 , Figure 7 As shown, the second clamp 13 includes a second connecting frame 131, a second clamping member 132, a second clamping driving device 133, and a fourth sliding component 134; the second connecting frame 131 is slidably connected to the second frame 112 along the second direction Y through the second sliding component 17; the second clamp driving device 15 is used to drive the second connecting frame 131 to slide along the second direction Y, thereby driving the second clamp 13 to slide along the second direction Y; the second clamping member 132 is slidably connected to the second connecting frame 131 along the first direction X through the fourth sliding component 134, and the second clamping driving device 133 is used to drive the second clamping member 132 to move along the first direction X; the first clamping portion 1221 is provided on the first clamping member 122, and the second clamping portion 1321 is provided on the second clamping member 132; the second direction Y is the height direction of the code division device.

[0062] In the present application embodiment, Figure 1b , Figure 2 and Figure 3As shown, the code division device 10 is fixedly connected to the conveyor line 20 through the support frame 11. When the turnover frame 50 on the conveyor line 20 is transmitted to the corresponding position of the code division device 10, the first clamping driving device 123 and the second clamping driving device respectively drive the positions of the first clamping member 122 and the second clamping member 132 in the first direction X, so that the first clamping part of the first clamping member 122 and the second clamping part 1321 of the second clamping member 132 respectively clamp the two sides of the turnover frame 50; after the first clamping part and the second clamping part 1321 clamp the turnover frame 50, Driven by the first clamping drive device 123 and the second clamping drive device, the first clamp 12 and the second clamp 13 slide upward along the support frame 11, thereby driving the turnover frame 50 to be lifted upward to a specified height, and the conveyor line 20 continues to convey another turnover frame 50 to the corresponding position of the code dividing device 10, and the first clamp drive device 14 and the second clamp drive device 15 drive the turnover frame 50 to move downward, so that the first turnover frame 50 is stacked on the second turnover frame 50, thereby realizing automatic stacking of multiple turnover frames 50, without the need for manual labor, and improving work efficiency.

[0063] It should be noted that the code division device 10 provided in the embodiment of the present application can also disassemble the turnover frames 50 stacked together, and the corresponding part of the conveyor line 20 of the code division device 10 can convey the turnover frame group stacked by the code division device 10 or the single turnover frame disassembled by the code division device 10.

[0064] The first clamping part and the second clamping part 1321 of the first clamping member 122 and the second clamping member 132 can be designed to correspond to the grooves on the side of the turnover frame 50. It should be noted that when the turnover frame 50 is a cuboid, the first clamping member 122 and the second clamping member 132 can clamp the narrower side of the cuboid.

[0065] In some embodiments of the present application, Figure 1b and Figure 2 As shown, the first connecting frame 121 includes a first side wall 1211 and a first bottom wall 1212, the first side wall 1211 is slidably connected to the first frame 111 through the first sliding component 16, and the first clamping member 122 is slidably connected to the first bottom wall 1212 through the third sliding component 124; the second connecting frame 131 includes a second side wall 1311 and a second bottom wall 1312, the second side wall 1311 is slidably connected to the second frame 112 through the second sliding component 17, and the second clamping member 132 is slidably connected to the second bottom wall 1312 through the fourth sliding component 134.

[0066] In the embodiment of the present application, the first connecting frame 121 is slidably connected to the first frame 111 through the first side wall 1211, and is slidably connected to the first clamping member 122 through the first bottom wall 1212, and the structure is simple and compact. The first connecting frame 121 may also include a first reinforcing rib 1214, which is arranged between the first side wall 1211 and the first bottom wall 1212, and plays a structural reinforcement role for the first connecting frame 121.

[0067] Specifically, Figure 1b and Figure 2 , Figure 3 As shown, the first frame 111 includes two first vertical beams 1112 arranged in parallel and a first cross beam 1113. The first vertical beam 1112 extends along the second direction Y, and the first cross beam 1113 extends along the third direction Z. The third direction Z is the transmission direction of the conveyor line 20 at the code division device 10. The two first vertical beams 1112 are spaced apart in the third direction Z, and the first cross beam 1113 is fixedly connected to the bottom ends of the two first vertical beams 1112, respectively, and the first cross beam 1113 is connected to the side plate 25 of the conveyor line 20, so as to realize that the first frame 111 is fixedly connected to the conveyor line 20.

[0068] Similarly, the second frame 112 includes two second vertical beams 1121 arranged in parallel and a second horizontal beam 1122. The second vertical beam 1121 extends along the second direction Y, and the second horizontal beam 1122 extends along the third direction Z. The third direction Z is the transmission direction of the conveyor line 20 at the code division device 10. The two second vertical beams 1121 are spaced apart in the third direction Z, and the second horizontal beam 1122 is fixedly connected to the bottom ends of the two second vertical beams 1121, respectively, and the second horizontal beam 1122 is connected to the side plate 25 of the conveyor line 20, so as to realize the fixed connection of the second frame 112 to the conveyor line 20.

[0069] More specifically, Figure 2 As shown, the first sliding assembly 16 includes two first slide rails 161 arranged along the second direction Y and at least two first sliders 162. The two first slide rails 161 are respectively fixedly connected to the two first vertical beams 1112 on one side close to the second frame 112, and the connection method can be welding, bonding or threaded connection. The first slider 162 is fixedly connected to the first side wall 1211 of the first connecting frame 121, and the first slider 162 is also slidably connected to the first slide rail 161. The first connecting frame 121 is slidably connected to the first slide rail 161 through the first slider 162.

[0070] Similarly, the second sliding assembly 17 includes two second slide rails 171 arranged along the second direction Y and at least two second sliders 172. The two second slide rails 171 are respectively fixedly connected to the side of the two second vertical beams 1121 close to the first frame, and the connection method can be welding, bonding or threaded connection. The second slider 172 is fixedly connected to the second side wall 1311 of the second connecting frame 131, and the second slider 172 is also slidably connected to the second slide rail 171. The second connecting frame 131 is slidably connected to the second slide rail 171 through the second slider 172.

[0071] like Figure 2 and Figure 3 , Figure 7 As shown, the third sliding assembly 124 includes a third sliding rail 1241 and a third slider 1242. The third sliding rail 1241 is slidably connected to the third slider 1242. The third sliding rail 1241 is fixedly connected to the upper surface of the first clamping member 122. The third slider 1242 is fixedly connected to the lower surface of the first bottom wall 1212 of the first connecting frame 121.

[0072] Similarly, if Figure 6 As shown, the fourth sliding assembly 134 includes a fourth sliding rail 1341 and a fourth slider 1342. The fourth sliding rail 1341 is slidably connected to the fourth slider 1342. The fourth sliding rail 1341 is fixedly connected to the upper surface of the second clamping member 132. The fourth slider 1342 is fixedly connected to the lower surface of the second bottom wall 1312 of the second connecting frame 131.

[0073] In some embodiments of the present application, the first clamping drive device 123 is a first cylinder, the shell of the first cylinder is fixedly connected to the side of the first side wall 1211 away from the second clamp 13, and the telescopic rod of the first cylinder passes through the first side wall 1211 and is fixedly connected to the first clamping member 122; the second clamping drive device 133 is a second cylinder, the shell of the second cylinder is fixedly connected to the side of the second side wall 1311 away from the first clamp 12, and the telescopic rod of the second cylinder passes through the second side wall 1311 and is fixedly connected to the second clamping member 132.

[0074] In the embodiment of the present application, since the shell of the first cylinder is fixedly connected to the side of the first side wall 1211 away from the second clamp 13, that is, the shell of the cylinder is not located in the clamping space between the first clamp 12 and the second clamp 13, the clamping space can be guaranteed, so that the size range of the turnover frame 50 that can be clamped between the first clamp 12 and the second clamp 13 is larger. By extending or retracting the telescopic rod of the first cylinder in the first direction X, the first clamping member 122 can reciprocate in the first direction X. So that the first clamping part of the first clamping member 122 and the second clamping part 1321 of the second clamping member 132 are close to or away from each other. The principle and structure of the cylinder are simple, easy to install and maintain, and have high reliability, so the code division device 10 can work more reliably and be easy to install and maintain.

[0075] Similarly, since the shell of the second cylinder is fixedly connected to the side of the second side wall 1311 away from the first clamp 12, that is, the shell of the cylinder is not located in the clamping space between the first clamp 12 and the second clamp 13, the clamping space can be guaranteed, so that the size range of the turnover frame 50 that can be clamped between the first clamp 12 and the second clamp 13 is larger. By extending or retracting the telescopic rod of the second cylinder in the first direction X, the second clamping member 132 can reciprocate in the first direction X. So that the first clamping part of the first clamping member 122 and the second clamping part 1321 of the second clamping member 132 are close to or away from each other. The principle and structure of the cylinder are simple, easy to install and maintain, and have high reliability, so the code division device 10 can work more reliably and be easy to install and maintain.

[0076] In some embodiments of the present application, Figure 2 As shown, a first avoidance groove 1213 is provided on the first bottom wall 1212, and a second avoidance groove (not shown) is provided on the second bottom wall; at least part of the first cylinder housing is located in the first avoidance groove 1213; at least part of the second cylinder housing is located in the second avoidance groove.

[0077] In the present application embodiment, Figure 2 As shown, the first avoidance groove 1213 is a through hole on the first bottom wall 1212. By setting the first avoidance groove 1213, the weight of the first bottom wall 1212 can be reduced, and then the weight of the first connecting frame 121 can be reduced; in addition, the outer shell of the first cylinder is placed in the first avoidance groove 1213, and the space of the first avoidance groove 1213 can be fully utilized, so that the structure is more compact, and the space occupied by the first clamp 12 is smaller; similarly, the second avoidance groove is a through hole on the second bottom wall. By setting the second avoidance groove, the weight of the second bottom wall can be reduced, and then the weight of the second connecting frame 131 can be reduced; in addition, the outer shell of the second cylinder is placed in the second avoidance groove, and the space of the second avoidance groove can be fully utilized, so that the structure is more compact, and the space occupied by the second clamp 13 is smaller.

[0078] In some embodiments of the present application, Figure 2 As shown, the first clamp driving device 14 includes a first motor 141, a first rack 142, and a first gear. The first connecting frame 121 also includes a first mounting plate 1210. The first mounting plate 1210 is respectively connected to the first side wall 1211 and the first bottom wall 1212. The first motor 141 is fixedly connected to the first mounting plate 1210. The output shaft of the first motor 141 passes through the first mounting plate 1210 and is fixedly connected to the first gear. The first rack 142 is arranged on the first frame 111 along the second direction Y; the first gear is meshed with the first rack 142, and the first motor 141 drives the first gear to rotate, so that the first gear drives the first connecting frame 121 to move along the second direction Y.

[0079] In the embodiment of the present application, the advantages of the gear rack meshing connection are: high transmission accuracy, stable transmission, and reliable operation, so that the operation of the first connecting frame 121 is more stable and reliable. It should be noted that the second clamping drive device can also adopt a chain sprocket.

[0080] Similarly, the second clamping driving device includes a second motor 151, a second rack 152, and a second gear. The second connecting frame 131 also includes a second mounting plate, which is respectively connected to the second side wall 1311 and the second bottom wall. The second motor 151 is fixedly connected to the second mounting plate. The output shaft of the second motor 151 passes through the second mounting plate and is fixedly connected to the second gear. The second rack 152 is arranged on the second frame 112 along the second direction Y. The second gear is meshed with the second rack 152, and the second motor 151 drives the second gear to rotate, so that the second gear drives the second connecting frame 131 to move along the second direction Y. The gear rack transmission method makes the operation of the first connecting frame 121 on the second frame 112 more stable and reliable.

[0081] In some embodiments of the present application, the first clamping member 122 also includes a first connecting plate (not shown) and a second connecting plate (not shown) that are perpendicular to each other, the first clamping portion 1221 is arranged on a side of the second connecting plate close to the second clamp 13, the first connecting plate is arranged on the top of the first connecting plate, and the telescopic rod of the first cylinder is fixedly connected to the first connecting plate.

[0082] In the embodiment of the present application, the telescopic rod of the first cylinder is fixedly connected through the first connecting plate, so that the telescopic rod of the first cylinder can drive the first connecting plate to move, and then drive the first clamping member 122 to move along the first direction X.

[0083] Similarly, the second clamping member 132 also includes a third connecting plate 1322 and a fourth connecting plate 1323 which are perpendicular to each other. The second clamping portion 1321 is arranged on a side of the fourth connecting plate 1323 close to the first clamp 12, and the third connecting plate 1322 is arranged on the top of the fourth connecting plate 1323. The telescopic rod of the second cylinder is fixedly connected to the third connecting plate 1322.

[0084] In some embodiments of the present application, the support frame 11 further includes a connecting top plate 113 , and two ends of the connecting top plate 113 are respectively connected to the top end of the first frame 111 and the top end of the second frame 112 .

[0085] In the embodiment of the present application, the connecting top plate 113 is connected to the top ends of the first frame 111 and the second frame 112 respectively, which can make the first frame 111 and the second frame 112 more stable, thereby improving the stability of the code division device 10.

[0086] In some embodiments of the present application, the first sliding assembly 16 includes a first sliding rail 161 and at least one first slider 162. The first sliding rail 161 is arranged on the first frame 111 along the second direction Y. At least one first slider 162 is fixedly connected to the first connecting frame 121. The first connecting frame 121 is slidably connected to the first sliding rail 161 through the first slider 162.

[0087] In the embodiment of the present application, the first slider 162 is fixedly connected to the first connecting frame 121, the first slide rail 161 is fixedly connected to the first frame 111, and the first slide rail 161 is arranged along the second direction Y. The first slider 162 is slidably connected to the first slide rail 161, so the first connecting frame 121 can achieve reciprocating movement along the second direction Y on the first frame 111. Through the above arrangement, not only the sliding connection between the first connecting frame 121 and the first frame 111 is achieved through the first sliding assembly 16, but also a guiding effect is provided for the movement of the first connecting frame 121 along the second direction Y, so that the movement of the first connecting frame 121 in the second direction Y is more accurate and stable.

[0088] Similarly, if Figure 2 As shown, the second sliding assembly 17 includes a second slide rail 171 and at least one second slider 172. The second slide rail 171 is arranged on the second frame 112 along the second direction Y. At least one second slider 172 is fixedly connected to the second connecting frame 131. The second connecting frame 131 is slidably connected to the second slide rail 171 through the second slider 172.

[0089] In the embodiment of the present application, the second slider 172 is fixedly connected to the second connecting frame 131, the second slide rail 171 is fixedly connected to the second frame 112, and the second slide rail 171 is arranged along the second direction Y. The second slider 172 is slidably connected to the second slide rail 171, so the second connecting frame 131 can realize reciprocating movement along the second direction Y on the second frame 112. Through the above arrangement, not only the sliding connection between the second connecting frame 131 and the second frame 112 is realized through the second sliding assembly 17, but also the movement of the second connecting frame 131 along the second direction Y is guided, so that the movement of the second connecting frame 131 in the second direction Y is more accurate and stable.

[0090] In some embodiments of the present application, Figure 2 , Figure 4 and Figure 5 As shown, the roller transmission section includes a plurality of power rollers 21, and the power rollers 21 are used to transmit goods; the loading and unloading system also includes: a lifting baffle assembly 30, including a first baffle 31, a second baffle 32, a first baffle driving device 33 and a second baffle driving device 34, the first baffle 31 is arranged at the inlet end of the code dividing device 10, and the second baffle 32 is arranged at the outlet end of the code dividing device 10, and the first baffle 31 and the second baffle 32 are respectively arranged between two adjacent power rollers 21, the first baffle driving device 33 is used to drive the first baffle 31 to rise or fall, so that the first baffle 31 can cover the turnover frame 50 or not cover the turnover frame 50; the second baffle driving device 34 is used to drive the second baffle 32 to rise or fall, so that the second baffle 32 can cover the turnover frame 50 or not cover the turnover frame 50.

[0091] In the embodiment of the present application, the power roller 21 is used to transport goods, and compared with other transport directions, it has the advantages of high load capacity and adjustable speed. The first baffle 31 and the second baffle 32 are respectively located at the inlet end and the outlet end of the code dividing device 10. Driven by the first baffle driving device 33 and the second baffle driving device 34, the first baffle 31 and the second baffle 32 can rise or fall; when the first baffle 31 and the second baffle 32 rise and at least partially exceed the transmission surface of the conveyor line 20, the first baffle 31 and the second baffle 32 can play a role in shielding the turnover frame 50. When the first baffle 31 and the second baffle 32 are lowered to the point where the top ends of the first baffle 31 and the second baffle 32 are lower than the transmission surface of the conveyor line 20, the first baffle 31 and the second baffle 32 will not block the goods, and the turnover frame 50 can be transported on the conveyor line 20.

[0092] Specifically, the first baffle driving device 33 includes a first driving cylinder, a first linear bearing, and a first guide column; the conveyor line also includes a first connecting beam, the first connecting beam is perpendicular to the side plate of the conveyor line, and the two ends of the first connecting beam along the first direction X are fixedly connected to the side plates on both sides of the conveyor line. A fifth connecting plate is provided on the first connecting beam, and the first driving cylinder and the first linear bearing are fixedly connected to the fifth connecting plate through the first connecting member, respectively, and the first guide column is slidably connected to the first linear bearing along the second direction Y. The top end of the telescopic rod of the first driving cylinder is fixedly connected to the first baffle, and the first driving cylinder drives the first baffle to move up and down through the telescopic rod, thereby driving the first guide column to move up and down in the first linear bearing.

[0093] Similarly, if Figure 2 , Figure 5 As shown, the second baffle driving device 34 includes a second driving cylinder 341, a second linear bearing 342, and a second guide column 343; the conveyor line 20 also includes a second connecting beam 27, the second connecting beam 27 is perpendicular to the side plate 25 of the conveyor line 20, and the two ends of the second connecting beam 27 along the first direction X are respectively fixedly connected to the side plates 25 on both sides of the conveyor line 20. A sixth connecting plate 271 is provided on the second connecting beam 27, and the second driving cylinder 341 and the second linear bearing 342 are respectively fixedly connected to the sixth connecting plate 271 through a second connecting member, and the second guide column 343 is slidably connected to the second linear bearing 342 along the second direction Y. The top end of the telescopic rod of the second driving cylinder 341 is fixedly connected to the second baffle 32, and the second driving cylinder 341 drives the second baffle 32 to move up and down through the telescopic rod (not shown), thereby driving the second guide column 343 to move up and down in the second linear bearing.

[0094] Specifically, Figure 4 As shown, the conveying line 20 is further provided with a third baffle 26, which is provided at one end of the pick-and-place conveying position 23 to prevent the turnover frame 50 from falling off.

[0095] Specifically, in the actual application process, the stacking and splitting process of the code dividing device 10 is described by taking the stacking of three turnover frames 50 as an example. Among them, the three turnover frames 50 are all L in length, W in width, and H1, H2, and H3 in height respectively. When loading, the height of each conveying turnover frame 50 is given by the intelligent control system according to the loading task and the information of the upper system. When unloading, the height of each turnover frame 50 in the turnover frame group is obtained by the intelligent control system through the visual recognition positioning of the visual recognition device 43.

[0096] Stacking process:

[0097] S1: The code division device 10 obtains through the intelligent control system that the number of turnover frames 50 constituting the current turnover frame group is 3, and the heights of the 3 turnover frames 50 are H1, H2, and H3 respectively.

[0098] S2: Figure 2 , Figure 4 , Figure 7 , Figure 8 As shown, when the first turnover frame 50 is conveyed to the corresponding position of the code division device 10 through the conveyor line 20 , the second baffle 32 is in a raised state, and the second baffle 32 abuts against the turnover frame 50 , so that the turnover frame 50 is restricted to the corresponding position of the code division device 10 .

[0099] S3: Figure 2 , Figure 7 , Figure 8 , Fig. 9 As shown, the first clamp driving device 14 and the second clamp driving device 15 respectively drive the first clamp 12 and the second clamp 13 to move in the second direction Y to adjust the positions of the first clamping member 122 and the second clamping member 132 in the second direction Y; the first clamping driving device 123 and the second clamping driving device respectively adjust the positions of the first clamping member 122 and the second clamping member 132 in the first direction X to make the first clamping part 122 and the second clamping part 1321 of the second clamping member 132 respectively clamp the two sides of the first turnover frame 50.

[0100] S4: Figure 2 , Figure 7 , Fig. 9 As shown, after the first clamping portion 1221 and the second clamping portion 1321 clamp the turnover frame 50, under the drive of the first clamping drive device 123 and the second clamping drive device, the first clamp 12 and the second clamp 13 slide upward along the support frame 11, thereby driving the first turnover frame 50 to be lifted upward to the first specified height.

[0101] It should be noted that in this step, the first specified height is greater than the height of the second turnover frame 50 , that is, the height of the turnover frame 50 to be lifted needs to be greater than the total height of the bottom turnover frame located on the conveyor line 20 .

[0102] S5: The second turnover frame 50 is transported by the conveyor line 20 to a position corresponding to the code division device 10 , and the second baffle 32 blocks the second turnover frame 50 .

[0103] S6: The first clamp driving device 14 and the second clamp driving device 15 drive the turnover frame 50 to move downward, so that the first turnover frame 50 is stacked on the second turnover frame 50 , thereby achieving the stacking of the first turnover frame 50 and the second turnover frame 50 .

[0104] S7: The first clamping driving device 123 and the second clamping driving device respectively adjust the positions of the first clamping member 122 and the second clamping member 132 in the first direction X, so that the first clamping portion of the first clamping member 122 and the second clamping portion 1321 of the second clamping member 132 respectively leave the first turnover frame 50, that is, the first clamping portion and the second clamping portion 1321 are away from each other; under the drive of the first clamping driving device 123 and the second clamping driving device, the first clamp 12 and the second clamp 13 slide downward along the support frame 11, so that the first clamping portion and the second clamping portion 1321 jointly clamp the second turnover frame 50.

[0105] In this step, since the first turnover frame 50 and the second turnover frame 50 are in a stacked state, the first clamping member 122 and the second clamping member 132 can clamp the second turnover frame 50 to move the turnover frame group consisting of the first turnover frame 50 and the second turnover frame 50, so that the first turnover frame 50 and the second turnover frame 50 rise to a specified height together.

[0106] S8: The first clamp 12 and the second clamp 13 are moved upward along the support frame 11 by means of the first clamp driving device 14 and the second clamp driving device 15 .

[0107] S9: Figure 2 , Figure 7 , Fig.10 As shown, the third turnover frame 50 is transported to the corresponding position of the code division device 10 through the conveyor line 20 , and the second baffle 32 blocks the third turnover frame 50 .

[0108] S10: The first fixture driving device 14 and the second fixture driving device 15 drive the first fixture 12 and the second fixture 13 to descend, so that the second turnover frame 50 descends and is stacked on the third turnover frame 50. Thus, the stacking of the three turnover frames 50 is achieved.

[0109] S11: Figure 2 , Figure 7 , Fig.11 As shown, the first clamping member 122 and the second clamping member 132 move away from each other along the first direction X, so that the first clamping portion and the second clamping portion 1321 are separated from the turnover frame 50.

[0110] S12: The conveyor line 20 corresponding to the code division device 10 conveys the turnover frame set to the pick-and-place conveying position 23.

[0111] In this way, the code division device 10 stacks multiple turnover frames 50 of the same height or different heights into a turnover frame group, and the loading and unloading robot 40 can grab multiple turnover frames 50 at a time for stacking and loading, thereby improving the loading efficiency of the loading and unloading robot 40.

[0112] The steps of the code dividing device 10 for splitting the turnover frame group into individual turnover frames 50 for unloading operation are as follows:

[0113] S13: Figure 2 , Figure 7 , Fig.12 As shown, after the loading and unloading robot 40 places the unloaded current turnover frame group at the pick-and-place conveying position 23, the turnover frame group is conveyed to the bottom of the code dividing device 10 and stops at the first baffle.

[0114] S14: The code division device 10 obtains from the intelligent control system that the number of the current turnover frame groups is three and the heights of the turnover frames 50 from top to bottom are H1, H2, and H3 respectively.

[0115] S15: The first clamp driving device and the second clamp driving device drive the first clamp and the second clamp respectively, so that the first clamping part and the second clamping part reach the groove on the side of the second turnover frame 50 from top to bottom, and the first clamping driving device and the second clamping driving device drive the first clamping part and the second clamping part to clamp the second turnover frame 50.

[0116] S16: The first clamp driving device and the second clamp driving device drive the second turnover frame 50 and the first turnover frame 50 to a specified height by lifting the first clamp and the second clamp, that is, the lower surface height of the second turnover frame 50 is slightly higher than H3, so that the third turnover frame 50 at the bottom remains on the conveyor line 20.

[0117] At this time, since the first turnover frame 50 and the second turnover frame 50 are stacked, the first clamping part and the second clamping part can lift the turnover frame group consisting of the first turnover frame 50 and the second turnover frame 50 by clamping the second turnover frame 50 .

[0118] S17: Figure 2 , Figure 7 , Fig.13 As shown, the first baffle is lowered, and the third turnover frame 50 on the conveyor line 20 is conveyed from under the code dividing device 10 to the rear of the telescopic conveyor.

[0119] S18: The first clamp driving device and the second clamp driving device drive the second turnover frame 50 and the first turnover frame 50 to descend onto the conveyor line 20.

[0120] S19: The first clamping part and the second clamping part move away from each other, and the first clamp driving device and the second clamp driving device drive the first clamping part and the second clamping part to reach the groove on the side of the first turnover frame 50 , and the first clamping part and the second clamping part clamp the first turnover frame 50 .

[0121] S20: Figure 2 , Figure 7 , Fig.14 As shown, the first clamp driving device and the second clamp driving device drive the first turnover frame 50 to a specified height through the first clamping part and the second clamping part, that is, the lower surface height of the first turnover frame 50 is slightly higher than H2, so that the second turnover frame 50 at the bottom remains on the conveyor line 20.

[0122] S21: The second turnover frame 50 on the conveyor line 20 is conveyed from below the code dividing device 10 to the rear of the telescopic conveyor.

[0123] S22: Figure 2 , Figure 7 , Fig.15 As shown, the first clamp driving device and the second clamp driving device drive the first turnover frame 50 to descend onto the conveyor line 20 .

[0124] S23: The first clamping portion and the second clamping portion move away from each other, and the first turnover frame 50 on the conveyor line 20 is conveyed from below the code dividing device 10 to the rear of the telescopic conveyor.

[0125] In this way, the loading and unloading robot 40 can grab multiple turnover frames 50 for unloading at a time, and the code division device 10 splits multiple turnover frame groups of the same height or different heights into turnover frames 50 one by one and transports them to the rear. That is, the unloading efficiency of the loading and unloading robot 40 is improved, and it is convenient for other equipment at the rear, such as material identification equipment, weighing equipment, and stacking equipment. Of course, when the loading and unloading robot 40 is unloading, the code division device 10 can also directly transport the disassembled turnover frame group to the rear without splitting it according to needs, or re-split and combine the turnover frame 50, such as splitting and combining it into a new turnover frame group of 2, which significantly improves the flexibility of the loading and unloading robot 40 unloading and post-unloading processing.

[0126] The loading and unloading operation steps of the loading and unloading robot are as follows: Figures 16 to 23 shown.

[0127] S01: Figure 1a , Fig.16 , Fig.17 As shown, the loading and unloading robot 40 walks into the designated position inside the carriage 60 , lifts the visual recognition device 43 to a proper position and angle through an articulated robotic arm, collects image data inside the carriage 60 , and identifies the internal spatial position of the carriage 60 .

[0128] S02: The loading and unloading robot 40 plans the loading task according to the space size of the carriage 60, the loading task and the size of the turnover frame 50.

[0129] S03: The turnover frames 50 are transported one by one from the rear of the telescopic conveyor to the code dividing device 10 at the front.

[0130] S04: Figure 1a, Fig.16 , Fig.17 , Fig.18 As shown, the code division device 10 stacks the turnover frames 50 into a turnover frame group consisting of multiple turnover frames 50 according to the specifications and sizes of the turnover frames 50.

[0131] S05: The turnover frame group is transported to the pick-up and placement transport position 23, and the loading and unloading robot 40 grabs the turnover frame group through the articulated robot arm and the robot arm gripper, and stacks and loads it into the carriage 60.

[0132] S06: Figure 1a , Fig.19 As shown, the loading and unloading robot 40 stacks the turnover frame groups and retreats after completing the loading task at the current position.

[0133] S07: After the loading and unloading robot 40 retreats to a new stacking position, steps S01-S06 are repeated until the vehicle loading task is completed.

[0134] Unloading steps:

[0135] S001: Figure 1a , Fig. 20 As shown, the unloading robot walks to the rear of the carriage 60, lifts the visual recognition device 43 to a proper position and angle through an articulated robotic arm, collects image data of the current turnover frame stack at the rear of the carriage 60, and identifies the size and position of the turnover frame 50.

[0136] S002: The unloading robot plans the current turnover frame pallet grouping grabbing rules and unloading sequence based on the results of three-dimensional visual recognition.

[0137] S003: Figure 1a , Fig.21 As shown, the unloading robot grabs multiple turnover frames 50 at a time according to the planned sequence through the articulated mechanical arm and the gripper, and places them at the pick-and-place conveying position 23.

[0138] S004: Figure 1a , Fig. 22 As shown, the turnover frame group is transported backward from the pick-and-place conveying position 23 to the code division device 10. The code division device 10 splits the turnover frame group into individual turnover frames 50 according to the specifications of the turnover frames 50 identified in step 1, and transports them backward one by one through a telescopic conveyor.

[0139] S005: Figure 1a , Fig.23 As shown, after the unloading robot completes unloading the turnover frame stack that can be removed at the current position, it moves into the carriage 60 to a new unloading position.

[0140] Repeat steps S001-S005 until all unloading tasks are completed.

[0141] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A loading and unloading system, characterized in that: include: Code dividing device (10), conveyor line (20), loading and unloading robot (40); The conveyor line (20) is used to transport the turnover frame (50) and has a pick-up and place conveying position (23); The code dividing device (10) is fixedly connected to the conveyor line (20) and is used for stacking or disassembling a plurality of turnover frames (50); The loading and unloading robot (40) comprises a walking chassis (41), an articulated robotic arm (42), a visual recognition device (43), and a robotic arm gripper (44); the walking chassis (41) is used to drive the loading and unloading robot (40) to walk; the articulated robotic arm (42) is arranged on the walking chassis (41); the robotic arm gripper (44) is arranged at one end of the articulated robotic arm (42); the visual recognition device (43) is arranged on the robotic arm gripper (44), or is arranged at one end of the articulated robotic arm (42) close to the robotic arm gripper (44); The articulated robotic arm (42) can drive the robotic arm gripper (44) to grab at least one turnover frame (50) on the pick-and-place conveying position (23), or the articulated robotic arm (42) can drive the robotic arm gripper (44) to grab at least one turnover frame (50) in the carriage and place it on the pick-and-place conveying position (23).

2. The loading and unloading system according to claim 1, characterized in that: The code division device (10) comprises a support frame (11), a first clamp (12) and a second clamp (13), a first clamp driving device (14) and a second clamp driving device (15), a first sliding assembly (16) and a second sliding assembly (17); The first clamp (12) is slidably connected to the support frame (11) via the first sliding assembly (16); The second clamp (13) is slidably connected to the support frame (11) via the second sliding assembly (17); The first clamp driving device (14) and the second clamp driving device (15) are respectively used to drive the first clamp (12) and the second clamp (13) to move back and forth along the height direction of the code division device (10); The first clamp (12) has a first clamping portion (1221), and the second clamp (13) has a second clamping portion (1321). The first clamping portion (1221) and the second clamping portion (1321) can move closer to or farther from each other along a first direction (X) to clamp the turnover frame (50) or detach from the turnover frame (50); the first direction (X) is perpendicular to the transmission direction of the conveyor line (20).

3. The loading and unloading system according to claim 1, characterized in that: The conveyor line comprises a telescopic conveyor, the telescopic conveyor comprises a telescopic section (22) and a roller transmission section, the telescopic section (22) is capable of telescoping along a third direction (Z), and the third direction (Z) is the conveying direction of the conveyor line; The roller transmission section is provided at the free telescopic end of the telescopic section (22), and the pick-up and delivery position (23) is provided at the delivery end of the roller transmission section; When the robotic arm gripper (44) grabs the turnover frame (50) on the pick-and-place conveying position (23), the pick-and-place conveying position (23) is located above the walking chassis (41).

4. The loading and unloading system according to claim 2, characterized in that: The support frame (11) comprises a first frame (111) and a second frame (112) spaced apart along the first direction (X), the first frame (111) and the second frame (112) being respectively fixedly connected to two sides of the conveyor line (20) along the first direction (X); The first clamp (12) comprises a first connecting frame (121), a first clamping member (122), a first clamping driving device (123), and a third sliding assembly (124); The first connecting frame (121) is connected to the first frame (111) in a sliding manner along the second direction (Y) via the first sliding assembly (16); the first clamp driving device (14) is used to drive the first connecting frame (121) to slide along the second direction (Y), thereby driving the first clamp (12) to slide along the second direction (Y); the first clamping member (122) is connected to the first connecting frame (121) in a sliding manner along the first direction (X) via the third sliding assembly (124), and the first clamping driving device (123) is used to drive the first clamping member (122) to move along the first direction (X); the second direction (Y) is the height direction of the code division device; The second clamp (13) comprises a second connecting frame (131), a second clamping member (132), a second clamping driving device (133), and a fourth sliding assembly (134); the second connecting frame (131) is connected to the second frame (112) by sliding along the second direction (Y) through the second sliding assembly (17); the second clamp driving device (15) is used to drive the second connecting frame (131) to slide along the second direction (Y), thereby driving the second clamp (13) to slide along the second direction (Y); the second clamping member (132) is connected to the second connecting frame (131) by sliding along the first direction (X) through the fourth sliding assembly (134), and the second clamping driving device (133) is used to drive the second clamping member (132) to move along the first direction (X); The first clamping portion (1221) is provided on the first clamping member (122), and the second clamping portion (1321) is provided on the second clamping member (132).

5. The loading and unloading system according to claim 4, characterized in that: The first connecting frame (121) comprises a first side wall (1211) and a first bottom wall (1212); the first side wall (1211) is slidably connected to the first frame (111) via the first sliding assembly (16); and the first clamping member (122) is slidably connected to the first bottom wall (1212) via the third sliding assembly (124); The second connecting frame (131) comprises a second side wall (1311) and a second bottom wall (1312); the second side wall (1311) is slidably connected to the second frame (112) via the second sliding assembly (17); and the second clamping member (132) is slidably connected to the second bottom wall (1312) via the fourth sliding assembly (134).

6. The loading and unloading system according to claim 5, characterized in that: The first clamping drive device (123) is a first cylinder, the shell of the first cylinder is fixedly connected to the side of the first side wall (1211) away from the second clamp (13), and the telescopic rod of the first cylinder passes through the first side wall (1211) and is fixedly connected to the first clamping member (122); The second clamping drive device (133) is a second cylinder, the shell of the second cylinder is fixedly connected to the side of the second side wall (1311) away from the first clamp (12), and the telescopic rod of the second cylinder passes through the second side wall (1311) and is fixedly connected to the second clamping member (132).

7. The loading and unloading system according to claim 6, characterized in that: A first avoidance groove (1213) is provided on the first bottom wall (1212), and a second avoidance groove is provided on the second bottom wall (1312); at least a portion of the first cylinder housing is located in the first avoidance groove (1213); and at least a portion of the second cylinder housing is located in the second avoidance groove.

8. The loading and unloading system according to claim 5, characterized in that: The first clamp driving device (14) includes a first motor (141), a first rack (142), and a first gear. The first connecting frame (121) also includes a first mounting plate (1210). The first mounting plate (1210) is connected to the first side wall (1211) and the first bottom wall (1212) respectively. The first motor (141) is fixedly connected to the first mounting plate (1210). The output shaft of the first motor (141) passes through the first mounting plate (1210) and is fixedly connected to the first gear. The first rack (142) is arranged on the first frame (111) along the second direction (Y); the first gear is engaged with the first rack (142), and the first motor (141) drives the first gear to rotate, so that the first gear drives the first connecting frame (121) to move along the second direction (Y).

9. The loading and unloading system according to claim 4, characterized in that: The first sliding assembly (16) includes a first sliding rail (161) and at least one first sliding block (162). The first sliding rail (161) is arranged on the first frame (111) along the second direction (Y). The at least one first sliding block (162) is fixedly connected to the first connecting frame (121). The first connecting frame (121) is slidably connected to the first sliding rail (161) through the first sliding block (162).

10. The loading and unloading system according to any one of claims 1 to 9, characterized in that: The loading and unloading system also includes: The lifting baffle assembly (30) comprises a first baffle (31), a second baffle (32), a first baffle driving device (33) and a second baffle driving device (34), wherein the first baffle (31) is provided at the inlet end of the code dividing device (10), and the second baffle (32) is provided at the outlet end of the code dividing device (10), the first baffle driving device (33) is used to drive the first baffle (31) to rise or fall so that the first baffle (31) can cover the turnover frame (50) or not; the second baffle driving device (34) is used to drive the second baffle (32) to rise or fall so that the second baffle (32) can cover the turnover frame (50) or not.

Images