Loading and unloading robot and automatic loading and unloading system

Abstract

The utility model provides a loading and unloading robot and an automatic loading and unloading system, the loading and unloading robot comprises a movable chassis, a lifting mechanism, a longitudinal conveyor and a loading and unloading mechanism, and the longitudinal conveyor is connected with the movable chassis through a longitudinal conveying lifting mechanism; the lifting mechanism is located on the movable chassis and connected with the loading and unloading mechanism. The loading and unloading mechanism comprises a transverse conveyor, a conveying direction switching mechanism, a mechanical arm and a base support. The lifting mechanism is connected with the base support. The mechanical arm is connected with the base support and located above the transverse conveyor. The conveying direction switching mechanism is located on one side of the transverse conveyor, and one side of the conveying direction switching mechanism is opposite to one end of the longitudinal conveyor. By the adoption of the technical scheme, a plurality of multi-layer carton cargoes can be loaded or unloaded in batches at a time, operation efficiency is high, and reliability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a loading and unloading robot and an automatic loading and unloading system. Background Art

[0002] Currently, loading and unloading of goods without pallets are done manually. This loading method has the problems of high work intensity, poor working environment, and high labor cost. There are two types of solutions currently being developed in the market. The first type is semi-automatic loading and unloading equipment that requires human operation. The equipment is expensive and the effect of saving labor costs is not obvious. The other type is automatic loading and unloading using a six-degree-of-freedom robotic arm. This method requires the goods to be transported and loaded one by one. Although it realizes the automation of loading and unloading to a certain extent, the loading and unloading efficiency is low and the reliability is poor. Utility Model Content

[0003] In view of the above technical problems, the utility model discloses a loading and unloading robot and an automatic loading and unloading system, which can load or unload a plurality of multi-layer carton goods in batches at one time, thereby improving the loading and unloading efficiency.

[0004] In this regard, the technical solution adopted by the utility model is:

[0005] A loading and unloading robot comprises a mobile chassis, a lifting mechanism, a longitudinal conveyor and a loading and unloading mechanism, wherein the longitudinal conveyor is connected to the mobile chassis via a longitudinal conveying lifting mechanism; the lifting mechanism is located on the mobile chassis, and the lifting mechanism is connected to the loading and unloading mechanism;

[0006] The loading and unloading mechanism includes a transverse conveyor, a conveying direction conversion mechanism, a mechanical arm and a base bracket, the lifting mechanism is connected to the base bracket; the mechanical arm is connected to the base bracket and is located above the transverse conveyor; the conveying direction conversion mechanism is located on one side of the transverse conveyor, and one side of the conveying direction conversion mechanism is opposite to one end of the longitudinal conveyor, and is used for transferring goods between the longitudinal conveyor and the conveying direction conversion mechanism; the front end of the mechanical arm is provided with a grabbing and pushing mechanism.

[0007] Wherein, the mobile chassis is a movable chassis, which may be provided with a mobile driving device and may adopt the existing technology. The mobile chassis may drive the loading and unloading robot body and related components to move directly in and out of the truck container. The lifting mechanism is connected to the loading and unloading mechanism, and may lift and lower the loading and unloading mechanism; the lifting mechanism may adopt the motor-driven or hydraulic-driven lift of the existing technology. The longitudinal conveying lifting mechanism may drive the longitudinal conveyor to lift and lower. The conveying direction conversion mechanism is used to convert the conveying direction, and the cargo grabbing and pushing mechanism is used to retract and grab cargo; it may adopt the plane parallel moving connecting rod grabbing mechanism, the horizontal moving grabbing mechanism, etc. of the existing technology. The transverse conveyor may adopt the conveyor of the existing technology. Wherein, the longitudinal direction corresponds to the transverse direction of the transverse conveyor. Further, the longitudinal conveyor may be connected to a retractable conveyor of any length.

[0008] By adopting this technical solution, by controlling the actions of relevant components of the loading and unloading robot, multiple multi-layer carton goods can be conveniently loaded or unloaded in batches, thereby improving the loading and unloading efficiency.

[0009] As a further improvement of the utility model, the lifting mechanism includes a motor, a gantry, a chain, and a sprocket. The upper and lower ends of the gantry are respectively provided with sprockets. The chain is sleeved between the sprockets. The chain is fixedly connected to the base bracket. The motor is connected to the sprocket to drive the sprocket to rotate, drive the chain to move up and down, thereby driving the base bracket to rise and fall.

[0010] As a further improvement of the present invention, the transverse conveyor and the conveying direction conversion mechanism are connected to the base support.

[0011] As a further improvement of the present invention, the robotic arm is a planar joint type robotic arm; the robotic arm comprises a robotic arm housing, a motor is arranged in the robotic arm housing, the motor is connected to a push rod, and the push rod is connected to a grabbing and pushing mechanism.

[0012] As a further improvement of the utility model, the grabbing and pushing mechanism includes a plurality of vacuum suction cups.

[0013] As a further improvement of the present invention, the vacuum suction cup is connected to a vacuum generator, and the vacuum generator is connected to a solenoid valve; further, the vacuum suction cup is arranged in a multi-layer matrix.

[0014] As a further improvement of the present invention, the conveying direction conversion mechanism is a lifting and transferring machine, which is arranged on one side of the transverse conveyor.

[0015] As a further improvement of the utility model, the longitudinal conveying lifting mechanism is a fork-scissor type lifting conveyor. Wherein, the fork-scissor type lifting conveyor can adopt the scissor-fork type telescopic mechanism of the prior art.

[0016] As a further improvement of the present invention, the transverse conveyor is a roller conveyor.

[0017] As a further improvement of the utility model, the mobile chassis includes a chassis bracket, one side of the chassis bracket is provided with a driving wheel, and the other side of the chassis bracket is provided with a steering wheel.

[0018] As a further improvement of the utility model, a depth camera is provided on the base support, and the depth camera can measure the depth of the object distance and generate image information at the same time. With this technical solution, the stacking situation of the carton goods can be identified by the depth camera and the current loading and unloading situation can be fed back.

[0019] The utility model also discloses an automatic loading and unloading system, which comprises a controller and a loading and unloading robot as described in any one of the above items, wherein a depth camera is provided on the base bracket;

[0020] The controller is electrically connected to the driving mechanism of the lifting mechanism, the driving mechanism of the longitudinal conveyor, the driving mechanism of the longitudinal conveying lifting mechanism, the driving mechanism of the mobile chassis, the driving mechanism of the transverse conveyor, the driving mechanism of the conveying direction conversion mechanism, and the driving mechanism of the robotic arm, and is used to control the actions of the lifting mechanism, the longitudinal conveyor, the longitudinal conveying lifting mechanism, the mobile chassis, the conveying direction conversion mechanism, the transverse conveyor, and the robotic arm.

[0021] Furthermore, the controller controls the actions of the lifting mechanism, the longitudinal conveyor, the longitudinal conveying lifting mechanism, the mobile chassis, the conveying direction conversion mechanism, the transverse conveyor, and the robotic arm, including:

[0022] When unloading, the controller issues a control instruction to start the mobile chassis, so that the loading and unloading robot moves to the position to be unloaded; then, the controller starts the lifting mechanism, adjusts the loading and unloading mechanism to the height of the unloading position, and controls the mechanical arm, and the mechanical arm extends so that the grabbing and pushing mechanism on the mechanical arm is in full contact with the cargo carton; after the controller controls the mechanical arm to grab the cargo carton, it pulls back and places the cargo on the transverse conveyor, and then controls the mechanical arm to lift up so that the cargo is transported to the longitudinal conveyor through the conveying direction conversion mechanism; the transverse conveyor transports the cargo to the conveying direction conversion mechanism, and the longitudinal conveying lifting mechanism is lifted to the same height as the conveying direction conversion mechanism, and the controller controls the conveying direction conversion mechanism to operate, transports the cargo to the longitudinal conveyor, and outputs it through the longitudinal conveyor;

[0023] After unloading, the controller controls the lifting mechanism to move the loading and unloading mechanism to the next unloading position, and repeats the above-mentioned actions;

[0024] After a whole row of cartons has been grabbed, the controller controls the mobile chassis to move and prepare for loading at the next location;

[0025] When the vehicle needs to be loaded, the controller issues a control instruction to start the mobile chassis to move to the loading location, and places the carton on the longitudinal conveyor. The controller controls the longitudinal conveying lifting mechanism and the lifting mechanism so that the longitudinal conveying lifting mechanism is at the same height as the conveying direction conversion mechanism, and then controls the robotic arm to lift up so that the goods can be transported from the longitudinal conveyor to the conveying direction conversion mechanism, and controls the longitudinal conveyor to transport the carton to the conveying direction conversion mechanism, and then controls the conveying direction conversion mechanism to transport the carton to the transverse conveyor. The transverse conveyor moves the carton goods to the position to be pushed, the controller controls the lifting mechanism to move the loading and unloading mechanism to the specified position, and the robotic arm pushes the goods out of the transverse conveyor to the specified position; the controller controls the robotic arm to retreat, completes one unloading, and then controls the lifting mechanism to move the loading and unloading mechanism to the next unloading position.

[0026] Compared with the prior art, the beneficial effects of the utility model are:

[0027] By adopting the technical solution of the utility model, a plurality of multi-layer carton goods can be loaded or unloaded in batches at one time, realizing uninterrupted transportation of goods, the robot does not need to turn back and forth, and the operation efficiency is high and the reliability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a loading and unloading robot according to an embodiment of the utility model.

[0029] Figure 2 It is a structural schematic diagram of the lifting mechanism of an embodiment of the utility model.

[0030] Figure 3 It is a schematic diagram of the mechanical arm rising according to an embodiment of the utility model.

[0031] Figure 4 It is a schematic diagram of the mechanical arm of the embodiment of the utility model being folded.

[0032] Figure 5 This is a schematic diagram of the loading and unloading robot of the embodiment of the utility model when unloading begins.

[0033] Figure 6 It is a schematic diagram of the robotic arm of the embodiment of the utility model delivering goods to the horizontal conveyor.

[0034] Figure 7It is a schematic diagram of an embodiment of the utility model for controlling the mechanical arm to lift up so that the goods can be transported from the longitudinal conveyor to the conveying direction conversion mechanism.

[0035] Figure 8 It is a schematic diagram of conveying goods onto the longitudinal conveyor according to an embodiment of the utility model.

[0036] Reference numerals include:

[0037] 1-mobile chassis, 2-lifting mechanism, 3-longitudinal conveyor, 4-loading and unloading mechanism, 5-longitudinal conveying and lifting mechanism;

[0038] 11- chassis bracket, 12- driving wheel, 13- steering wheel;

[0039] 21-motor, 22-gantry, 23-chain, 24-sprocket;

[0040] 41-base support, 42-lateral conveyor, 43-conveying direction conversion mechanism, 44-mechanical arm, 45-grasping and pushing mechanism, 46-push rod;

[0041] 451 - Vacuum suction cup. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present utility model are described in further detail below.

[0043] like Figures 1 to 8 As shown, a loading and unloading robot comprises a mobile chassis 1, a lifting mechanism 2, a longitudinal conveyor 3 and a loading and unloading mechanism 4, wherein the longitudinal conveyor 3 is connected to the mobile chassis 1 through a longitudinal conveying lifting mechanism 52; the lifting mechanism 2 is located on the mobile chassis 1, and the lifting mechanism 2 is connected to the loading and unloading mechanism 4;

[0044] The loading and unloading mechanism 4 includes a transverse conveyor 42, a conveying direction conversion mechanism 43, a mechanical arm 44 for grabbing goods and placing them on the transverse conveyor 42, and a base bracket 41. The mechanical arm 44 is connected to the base bracket 41 and is located above the transverse conveyor 42. The conveying direction conversion mechanism 43 is located on one side of the transverse conveyor 42, and one side of the conveying direction conversion mechanism 43 is opposite to one end of the longitudinal conveyor 3, and is used for transferring goods between the longitudinal conveyor 3 and the conveying direction conversion mechanism 43. A grabbing and pushing mechanism 45 is provided at the front end of the mechanical arm 44.

[0045] The mobile chassis 1 comprises a chassis support 11 , one side of the chassis support 11 is provided with two driving wheels 12 , and the middle part of the other side is provided with a steering wheel 13 .

[0046] The lifting mechanism 2 includes a motor 21, a door frame 22, a chain 23 and a sprocket 24. The upper and lower ends of the door frame 22 are respectively provided with sprockets 24. The chain 23 is sleeved between the sprockets 24. The chain 23 is fixedly connected to the base bracket 41. The motor 21 is connected to the sprocket 24, drives the sprocket 24 to rotate, drives the chain 23 to move up and down, thereby driving the base bracket 41 to rise and fall.

[0047] The transverse conveyor 42 and the conveying direction conversion mechanism 43 are connected to the base support 41 .

[0048] The robotic arm 44 is a planar joint type robotic arm; the robotic arm 44 includes a robotic arm housing, a motor is disposed inside the robotic arm housing, the motor is connected to a push rod 46 , and the push rod 46 is connected to a grabbing and pushing mechanism 45 .

[0049] The grabbing and pushing mechanism 45 includes a plurality of vacuum suction cups 451 arranged in an array. Further, the vacuum suction cups 451 are connected to a vacuum generator, and the vacuum generator is connected to a solenoid valve. Further, the vacuum suction cups 451 are arranged in a multi-layer matrix.

[0050] Furthermore, a depth camera is provided on the base bracket 41 .

[0051] Furthermore, the conveying direction conversion mechanism 43 is a lifting and transferring machine, which is arranged on one side of the transverse conveyor 42; the longitudinal conveying lifting mechanism 52 adopts a fork-scissor lifting conveyor of the prior art; the transverse conveyor 42 adopts a roller conveyor of the prior art. The longitudinal conveyor 3 adopts a belt conveyor of the prior art; the conveying direction conversion mechanism 43 and the mechanical arm 44 adopt the prior art.

[0052] The present embodiment discloses an automatic loading and unloading system, which includes a controller and the loading and unloading robot as described above, wherein the controller is electrically connected to a driving mechanism of the lifting mechanism 2, a driving mechanism of the longitudinal conveyor 3, a driving mechanism of the longitudinal conveying lifting mechanism 52, a driving mechanism of the mobile chassis 1, a driving mechanism of the transverse conveyor 42, a driving mechanism of the conveying direction conversion mechanism 43, a robotic arm 44, and a driving mechanism of the grabbing and pushing mechanism 45, and is used to control the actions of the lifting mechanism 2, the longitudinal conveyor 3, the longitudinal conveying lifting mechanism 52, the mobile chassis 1, the transverse moving mechanism 44, the conveying direction conversion mechanism 43, the transverse conveyor 42, and the robotic arm 44.

[0053] The working process of the above automatic loading and unloading system includes:

[0054] When the robot unloads the truck, the controller sends out a command to start the mobile chassis 1, so that the loading and unloading robot moves to the position in front of the goods to be unloaded; the controller identifies the current cargo placement pattern (number of cartons rows and columns), the placement position and calculates the distance between the loading and unloading mechanism 4 and the goods through the depth camera, and the controller calculates the first grabbing and unloading position; then, the controller starts the lifting mechanism 2, adjusts the loading and unloading mechanism 4 to the height of the unloading position, and controls the mechanical arm 44, and the mechanical arm 44 extends so that the grabbing and pushing mechanism 45 on the mechanical arm 44 is in full contact with the cargo carton;

[0055] The controller controls the mechanical arm 44 to grab the cargo carton, pull it back and place the cargo on the transverse conveyor 42, and then controls the mechanical arm 44 to lift up so that the cargo is transported to the longitudinal conveyor 3 through the transport direction conversion mechanism 43; the transverse conveyor 42 transports the cargo to the transport direction conversion mechanism 43, and the longitudinal transport lifting mechanism 5 is lifted to the same height as the transport direction conversion mechanism 43, and the controller controls the transport direction conversion mechanism 43 to operate, transport the cargo to the longitudinal conveyor 3, and output it through the longitudinal conveyor 3;

[0056] After unloading, the controller controls the lifting mechanism 2 to move the loading and unloading mechanism 4 to the next unloading position, and repeats the above-mentioned actions;

[0057] After a whole row of cartons has been grabbed, the controller controls the mobile chassis 1 to move and prepare for loading at the next location;

[0058] When it is necessary to load the vehicle, the controller issues a control instruction to start the mobile chassis 1 to move to the loading location, and places the carton on the longitudinal conveyor 3. The controller controls the longitudinal conveying lifting mechanism 5 and the lifting mechanism 2 so that the longitudinal conveying lifting mechanism 5 is at the same height as the conveying direction conversion mechanism 43, and then controls the mechanical arm 44 to lift up so that the goods can be transported from the longitudinal conveyor 3 to the conveying direction conversion mechanism 43, and controls the longitudinal conveyor 3 to transport the carton to the conveying direction conversion mechanism 43, and then controls the conveying direction conversion mechanism 43 to transport the carton to the transverse conveyor 42, and the transverse conveyor 42 moves the carton goods to the position to be pushed, the controller controls the lifting mechanism 2 to move the loading and unloading mechanism 4 to the specified position, and the mechanical arm 44 pushes the goods out of the transverse conveyor 42 to the specified position; the controller controls the mechanical arm 44 to retreat, completes one unloading, and then controls the lifting mechanism 2 to move the loading and unloading mechanism 4 to the next unloading position. If a whole row of cartons is grabbed, the controller controls the mobile chassis 1 to move backward to prepare for loading at the next location.

[0059] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementations, and the specific implementation of the present invention cannot be considered to be limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A loading and unloading robot, characterized in that: It includes a mobile chassis, a lifting mechanism, a longitudinal conveyor and a loading and unloading mechanism, wherein the longitudinal conveyor is connected to the mobile chassis through the longitudinal conveying lifting mechanism; the lifting mechanism is located on the mobile chassis, and the lifting mechanism is connected to the loading and unloading mechanism; The loading and unloading mechanism includes a transverse conveyor, a conveying direction conversion mechanism, a mechanical arm and a base bracket, the lifting mechanism is connected to the base bracket; the mechanical arm is connected to the base bracket and is located above the transverse conveyor; the conveying direction conversion mechanism is located on one side of the transverse conveyor, and one side of the conveying direction conversion mechanism is opposite to one end of the longitudinal conveyor, and is used for transferring goods between the longitudinal conveyor and the conveying direction conversion mechanism; the front end of the mechanical arm is provided with a grabbing and pushing mechanism.

2. The loading and unloading robot according to claim 1, characterized in that: The lifting mechanism includes a motor, a door frame, a chain, and a sprocket. The upper and lower ends of the door frame are respectively provided with sprockets. The chain is sleeved between the sprockets. The chain is fixedly connected to the base bracket. The motor is connected to the sprocket to drive the sprocket to rotate, drive the chain to move up and down, thereby driving the base bracket to rise and fall.

3. The loading and unloading robot according to claim 2, characterized in that: The transverse conveyor and the conveying direction conversion mechanism are connected to the base support.

4. The loading and unloading robot according to claim 3, characterized in that: The robotic arm is a planar joint type robotic arm; the robotic arm comprises a robotic arm housing, in which a motor and a push rod are arranged, and the push rod is connected to a grabbing and pushing mechanism.

5. The loading and unloading robot according to claim 4, characterized in that: The mobile chassis comprises a chassis bracket, one end of which is provided with a driving wheel, and the other end of which is provided with a steering wheel.

6. The loading and unloading robot according to claim 1, characterized in that: The longitudinal conveying lifting mechanism is a fork-scissor type lifting conveyor; the transverse conveyor is a roller conveyor.

7. An automatic loading and unloading system, characterized in that: It comprises a controller and a loading and unloading robot as claimed in any one of claims 1 to 6, wherein a depth camera is provided on the base support; The controller is electrically connected to the driving mechanism of the lifting mechanism, the driving mechanism of the longitudinal conveyor, the driving mechanism of the longitudinal conveying lifting mechanism, the driving mechanism of the mobile chassis, the driving mechanism of the transverse conveyor, the driving mechanism of the conveying direction conversion mechanism, and the driving mechanism of the robotic arm, and is used to control the actions of the lifting mechanism, the longitudinal conveyor, the longitudinal conveying lifting mechanism, the mobile chassis, the conveying direction conversion mechanism, the transverse conveyor, and the robotic arm.

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