Intelligent loading and unloading robot

Abstract

The utility model discloses an intelligent loading and unloading vehicle robot, which relates to the technical field of cargo loading and unloading, and comprises a vehicle body, the bottom of the vehicle body is provided with a chassis walking mechanism, and the vehicle body is provided with a first conveying mechanism, a second conveying mechanism and a hand actuating mechanism which are connected in sequence; a vehicle body state adjusting mechanism is arranged between the vehicle body and the chassis walking mechanism, a visual detection system is further arranged on the vehicle body, and the vehicle body state adjusting mechanism is used for adjusting the angle of the vehicle body so that the vehicle body can be kept horizontal. According to the utility model, the cargo loading and unloading accuracy can be improved, and the stability of equipment operation is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of cargo loading and unloading, and in particular to an intelligent loading and unloading robot. Background Art

[0002] Loading and unloading robot is usually used for loading and unloading box cargo. At present, loading and unloading robot generally adopts tire or Mecanum wheel structure as walking mechanism to realize equipment movement. For example: CN217076301 U discloses a multi-specification box cargo loading and unloading robot, including a movable body part, a telescopic conveying part, an intermediate conveying yaw part, an intermediate conveying part, a hand pitch-yaw mechanism and a hand actuator, and adopts a structure combining a steering wheel and a steering wheel to realize lateral movement and forward and backward movement of the equipment; CN112278911A discloses a loading and unloading equipment and a loading and unloading system, including a base assembly, a cantilever assembly and a conveying assembly, the base assembly includes a chassis and walking wheels, and the walking wheels are used to realize the convenient change of movement of the entire loading and unloading equipment.

[0003] The above-mentioned loading and unloading robot's walking mode is prone to slipping or deviation problems. For uneven carriages, it is easy to fall into pits, affecting the operation of the equipment. In addition, since there is usually a certain slope of the boarding bridge between the carriage and the platform, after the loading and unloading robot drives to the boarding bridge, the arm end is equivalent to the horizontal plane deflection, affecting the accuracy of cargo loading and unloading. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of the utility model is to provide an intelligent loading and unloading robot that can improve the accuracy of cargo loading and unloading and ensure the stability of equipment operation.

[0005] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0006] In the first aspect, an embodiment of the utility model provides an intelligent loading and unloading robot, comprising a vehicle body, a chassis walking mechanism being installed at the bottom of the vehicle body, a first conveying mechanism, a second conveying mechanism and a hand actuator being provided on the vehicle body which are connected in sequence; a vehicle body state adjustment mechanism is provided between the vehicle body and the chassis walking mechanism, a visual detection system is also provided on the vehicle body, and the vehicle body state adjustment mechanism is used to adjust the angle of the vehicle body to keep it level.

[0007] As a further implementation method, the vehicle body state adjustment mechanism includes a rotating platform and a rotating drive assembly connected to the rotating platform, the rotating platform is rotatably connected to the chassis walking mechanism, the second conveying mechanism is arranged on the rotating platform, and the rotating drive assembly is used to adjust the rotating platform to a horizontal state when climbing or descending a slope.

[0008] As a further implementation manner, the vehicle body detects its own inclination state through a horizontal detection sensor, and determines the adjustment angle of the rotating platform based on the inclination angle detected by the horizontal detection sensor.

[0009] As a further implementation method, the rotation drive assembly includes a rotation drive motor, which is directly or indirectly connected to the rotating shaft of the rotating platform; the rotation drive motor is indirectly connected to the rotating platform by: connecting through a gear transmission structure, or connecting through a chain belt transmission structure, and the rotation drive motor has a self-locking mechanism.

[0010] As a further implementation, the chassis traveling mechanism includes two sets of symmetrically installed crawler traveling mechanisms, and the traveling drive motors driving the two sets of crawler traveling mechanisms can be started simultaneously, or one traveling drive motor can be started separately.

[0011] As a further implementation, the second conveying mechanism is arranged on the rotating platform through an intermediate pitch-yaw mechanism, and the intermediate pitch-yaw mechanism is used to drive the second conveying mechanism to complete up and down pitch and left and right yaw movements relative to the vehicle body.

[0012] As a further implementation, the first conveying mechanism is a telescopic conveying mechanism, and the first conveying mechanism is connected to the second conveying mechanism via a universal joint.

[0013] As a further implementation, the hand actuator is provided with a hand pitch-yaw mechanism, and the hand pitch-yaw mechanism is used to drive the hand actuator to complete up and down pitch and left and right yaw actions.

[0014] As a further implementation method, the hand actuator is provided with a cable quick-connect connector and an air pipe quick-connect connector, and the cables and air pipes laid by the second conveying mechanism are connected to the hand actuator through the cable quick-connect connector and the air pipe quick-connect connector respectively.

[0015] In a second aspect, an embodiment of the utility model further provides a method for loading and unloading cargo by an intelligent loading and unloading robot, wherein the loading and unloading robot moves to a loading and unloading location, and the vehicle state adjustment mechanism adjusts the vehicle body and the visual detection system to a horizontal state in real time by obtaining the vehicle body tilt angle;

[0016] The goods are transported to the loading position via the first conveying mechanism, the second conveying mechanism and the hand actuator in sequence;

[0017] Alternatively, the goods are transported from the packing position to the unloading position via the hand actuator, the second conveying mechanism and the first conveying mechanism.

[0018] The beneficial effects of the above-mentioned embodiments of the utility model are as follows:

[0019] (1) The utility model can achieve fine adjustment of the arm pitch angle by setting a vehicle body state adjustment mechanism, so that the loading and unloading robot can still remain level on the slope, and the visual inspection system can also remain level, thereby improving the inspection accuracy and loading and unloading accuracy.

[0020] (2) The utility model avoids problems such as slipping and falling into pits by setting up a crawler walking mechanism; the two walking drive motors are energized at the same time, so that the drive wheels rotate and drive the crawler tracks forward and backward. When the walking drive motor on one side is stationary and the walking drive motor on the other side is energized, the loading and unloading robot can rotate left and right, and the crawler chassis can adapt to a variety of ground environments and a variety of car compartment environments.

[0021] (3) The hand actuator of the utility model is provided with a cable quick-connect connector and an air pipe quick-connect connector, which are used for rapid switching of hand cables and air lines, thereby reducing installation time and improving loading and unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0023] Figure 1 This is a schematic diagram of the overall structure of an intelligent loading and unloading robot according to one or more embodiments of the utility model;

[0024] Figure 2 A side view of a vehicle body according to one or more embodiments of the present invention;

[0025] Figure 3 A front view of a vehicle body according to one or more embodiments of the present utility model;

[0026] Figure 4 A three-dimensional diagram of a vehicle body according to one or more embodiments of the present invention;

[0027] Figure 5 A schematic diagram of a vehicle body state adjustment mechanism with a gear transmission structure according to one or more embodiments of the utility model;

[0028] Figure 6 A schematic diagram of a vehicle body state adjustment mechanism with a chain belt transmission structure according to one or more embodiments of the utility model;

[0029] Figure 7 A schematic diagram of the structure of a crawler walking mechanism according to one or more embodiments of the utility model;

[0030] Figure 8 A schematic diagram of the structure of a hand actuator according to one or more embodiments of the present invention.

[0031] Among them, 1. the first conveying mechanism, 2. the second conveying mechanism, 3. the hand actuator, 4. the visual detection system, 5. the vehicle body, 6. the crawler walking mechanism, 7. the hand pitch-yaw mechanism, 8. the vehicle body state adjustment mechanism, 9. the intermediate pitch-yaw mechanism, 10. the front end pitch support arm, 11. the rear extension support beam, 12. the rear extension connecting rod, 13. the slewing support gear, 14. the slewing drive gear, 15. the pitch-yaw mounting plate, 16. the arm end rotating gear, 17. the rotating platform, 18. the rotating shaft, 19. the arm end rotating bearing seat, 20. the visual support, 21. the driving wheel, 22. the supporting wheel, 23. the tensioning wheel, 24. the crawler, 25. the support plate, 26. the connector lower shell, 27. the connector upper shell, 28. the rotating drive motor, 29. the pitch drive gear, 30. the counterweight, 31. the chain belt transmission structure. DETAILED DESCRIPTION

[0032] Embodiment 1:

[0033] In a typical embodiment of the present invention, Figure 1-Figure 8 As shown, an intelligent loading and unloading robot is given.

[0034] Since existing loading and unloading robots have unstable operation and cannot keep the arm end horizontal on a slope, which affects the accuracy of loading and unloading, based on this, the present embodiment provides an intelligent loading and unloading robot. By adding a vehicle body state adjustment mechanism 8 and cooperating with a second conveying mechanism 2, the entire equipment can operate stably and maintain the horizontal state of the arm end and the visual inspection system 4, and precise conveying can be achieved by accurately identifying the pick-up and placement positions.

[0035] Below, the intelligent loading and unloading robot is described in detail with reference to the accompanying drawings.

[0036] The intelligent loading and unloading robot of this embodiment can be applied to loading and unloading of boxed goods, such as Figure 1 As shown, it mainly includes a vehicle body 5, a first conveying mechanism 1, a second conveying mechanism 2, a hand actuator 3, a chassis walking mechanism, a hand pitch-yaw mechanism 7, a vehicle body state adjustment mechanism 8 and an intermediate pitch-yaw mechanism 9, wherein the first conveying mechanism 1, the second conveying mechanism 2 and the hand actuator 3 are connected in sequence; the first conveying mechanism 1 can be adjusted up and down, front and back to meet the telescopic conveying requirements, the intermediate conveying mechanism can meet the two-way conveying function of goods, and the hand actuator 3 can realize the cargo loading and unloading actions, completing the cargo loading and unloading functions.

[0037] It should be noted that, in this embodiment, “front”, “back”, “left” and “right” are defined according to the walking direction of the intelligent loading and unloading robot, and the hand actuator 3 is located at the front end of the second conveying mechanism 2, and the first conveying mechanism 1 is located at the rear end of the second conveying mechanism 2.

[0038] like Figure 2-Figure 4 As shown, the second conveying mechanism 2 is connected to the upper side of the rotating platform 17 through the intermediate pitch-yaw mechanism 9, and the intermediate pitch-yaw mechanism 9 is used to drive the second conveying mechanism 2 to complete the up and down pitch and left and right yaw movements relative to the vehicle body. The hand actuator 3 is provided with a hand pitch-yaw mechanism 7, and the hand pitch-yaw mechanism 7 is used to drive the hand actuator 3 to complete the up and down pitch and left and right yaw movements.

[0039] In this embodiment, the first conveying mechanism 1 is a telescopic conveying mechanism, and the first conveying mechanism 1 is connected to the second conveying mechanism 2 through a universal joint. The hand pitch-yaw mechanism 7 and the intermediate pitch-yaw mechanism 9 are both installed on the upper side of the rotating platform 17; the hand pitch-yaw mechanism 7 includes a rear extension support beam 11 and a rear extension connecting rod 12, and the hand pitch-yaw mechanism 7 includes a front pitch support arm 10. The specific connection method of the first conveying mechanism 1, the second conveying mechanism 2, the hand pitch-yaw mechanism 7 and the intermediate pitch-yaw mechanism 9 is shown in the scheme disclosed in CN217076301U, which will not be repeated here.

[0040] like Figure 8 As shown, the hand actuator 3 is provided with a cable quick-connect connector and an air pipe quick-connect connector, and the cable quick-connect connector includes a connector upper shell 27 and a connector lower shell 26; the cables and air pipes laid by the second conveying mechanism 2 are connected to the hand actuator 3 through the cable quick-connect connector and the air pipe plug-in connector respectively, which facilitates the replacement and plugging of cables and air pipes, reduces installation time, and improves loading and unloading efficiency.

[0041] For horizontal roads, the intermediate pitch-yaw mechanism 9 can adjust the second conveying mechanism 2 to a horizontal state; but when the loading and unloading robot moves to a slope such as a loading ramp, the second conveying mechanism 2 has an inclination angle relative to the horizontal plane together with the vehicle body 5. At this time, the second conveying mechanism 2 needs to be fine-tuned to keep it in a horizontal state.

[0042] Therefore, in this embodiment, a vehicle body state adjustment mechanism 8 is additionally provided, and the vehicle body state adjustment mechanism 8 is used to further adjust the angle of the second conveying mechanism 2 so that the second conveying mechanism 2 is in a horizontal state relative to the horizontal plane.

[0043] The vehicle state adjustment mechanism 8 includes a rotating platform 17 and a rotating drive assembly connected to the rotating platform 17. The rotating drive assembly is used to adjust the rotating platform 17 to a horizontal state when the vehicle body is climbing or descending a slope. The rotating drive assembly includes a rotating drive motor 28, which is directly or indirectly connected to the rotating shaft 18 of the rotating platform 17; the rotating drive motor 28 has a self-locking mechanism.

[0044] When the rotary drive motor 28 is directly connected to the rotary platform 17, the rotary drive motor 28 with a reducer is connected to the rotating shaft 18 of the rotary platform 17 through a coupling. When the rotary drive motor 28 is indirectly connected to the rotary platform 17, it is connected through a gear transmission structure or a chain belt transmission structure 31.

[0045] Furthermore, if Figure 5 As shown, the rotation drive assembly is realized by a gear transmission structure driven by a motor, and the rotation drive assembly includes a rotation drive motor 28, a pitch drive gear 29 and an arm end rotation gear 16, the pitch drive gear 29 is connected to the rotation drive motor 28, and the pitch drive gear 29 is meshed with the arm end rotation gear 16, the arm end rotation gear 16 is fixed to one side of a rotating platform 17, and a rotating shaft seat is installed on the other side of the rotating platform 17, the arm end rotation gear 16 and the outer side of the rotating shaft seat are connected to a rotating shaft 18, and the rotating shaft 18 cooperates with the arm end rotation bearing seat 19, so as to realize the rotation of the rotating platform 17 along with the arm end rotation gear 16.

[0046] Of course, in other embodiments, the arm-end rotating gears 16 may also be symmetrically installed on both sides of the rotating platform 17 .

[0047] The rotary drive motor 28 is connected to the rotary platform 17 via a chain belt transmission structure 31. Figure 6 As shown, counterweights 30 are symmetrically installed on both sides of the rotating platform 17, and the counterweights 30 are connected to one end of a chain belt transmission structure 31 through a rotating shaft 18, and the other end of the chain belt transmission structure 31 is connected to a rotation drive motor 28. Here, the chain belt transmission structure 31 refers to a sprocket transmission mechanism or a belt wheel transmission mechanism.

[0048] The vehicle body 5 is also equipped with a level detection sensor, which detects its own inclination state through the level detection sensor, and determines the adjustment angle of the rotating platform 17 based on the inclination angle detected by the level detection sensor. It should be noted that the vehicle body inclination state can also be detected by a level meter or a gyroscope.

[0049] The arm end rotating gear 16 is an eccentric gear with a certain range of gear teeth to meet the requirements of adjusting the angle of the second conveying mechanism 2 .

[0050] The rotary drive assembly may be replaced by other means, such as a cam mechanism.

[0051] In order to realize the left-right rotation of the second conveying mechanism 2 , a slewing support gear 13 is further provided inside the vehicle body 5 . The slewing support gear 13 is meshed with a slewing drive gear 14 and is driven to rotate by a slewing drive motor.

[0052] The upper side of the slewing support gear 13 is connected to a pitch and yaw mounting plate by bolts, and the pitch and yaw mounting plate is used to install the yaw mechanism. The yaw mechanism is a prior art and will not be described in detail here.

[0053] The intelligent loading and unloading robot is also equipped with a visual inspection system 4, which can identify the shape of the goods, accurately grab the goods and count them. In this embodiment, the visual inspection system 4 is installed on one side of the vehicle body 5. Of course, if necessary, the visual inspection system 4 can also be installed on both sides of the vehicle body 5. Figure 4 As shown, the visual inspection system 4 includes a camera and a visual support 20. The camera is fixedly connected to the arm end rotating gear 16 through the visual support 20 to adjust the angle of the camera so that the camera and the second conveying mechanism 2 are kept horizontal, so that the visual inspection system 4 can accurately identify and encode, and the hand actuator 3 can accurately grasp the cargo box based on the information feedback from the visual inspection system 4, thereby meeting the requirements for the vehicle body 5 to be used on boarding bridges with different slopes.

[0054] Since the interior of the vehicle is uneven, the tires may easily sink into pits or slip or deflect. Therefore, the chassis traveling mechanism of this embodiment adopts a crawler traveling mechanism 6 , and two groups of crawler traveling mechanisms 6 are symmetrically installed relative to the vehicle body 5 .

[0055] like Figure 7 As shown, the crawler walking mechanism 6 includes a crawler 24, a driving wheel 21, a tensioning wheel 23, and a supporting wheel 22. The driving wheel 21 is installed at one end of the crawler 24, and the tensioning wheel 23 is installed at the other end of the crawler 24. The crawler 24 is adjusted by the tensioning wheel 23 to maintain appropriate tension. In order to maintain the overall tension and horizontality of the crawler 24 and to enable it to have good support and walking performance, a plurality of supporting wheels 22 are also installed inside the crawler 24. The supporting wheels 22 are installed through the supporting plate 25, and each supporting wheel 22 is rotatably connected to the supporting plate 25. A slot is provided at one end of the supporting plate 25 to match the wheel axle of the tensioning wheel 23.

[0056] In this embodiment, a plurality of support wheels 22 are evenly distributed on the lower side of the support plate 25 , and one or more support wheels 22 can be installed on the upper side of the support plate 25 ; each support wheel 22 contacts the inner side of the crawler track 24 to support the crawler track 24 .

[0057] The driving wheel 21 is connected to the travel driving motor, and the two travel driving motors are energized at the same time, so that the driving wheel 21 rotates to drive the crawler 24 forward and backward. When the travel driving motor on one side is stationary and the travel driving motor on the other side is energized, the loading and unloading robot can rotate left and right. The crawler 24-type chassis can adapt to a variety of ground environments and a variety of car compartment environments.

[0058] This embodiment can achieve fine adjustment of the arm pitch angle by setting the body state adjustment mechanism 8, so that the loading and unloading robot can still remain level on the slope, and the visual inspection system 4 can also remain level, thereby improving the inspection accuracy and loading and unloading accuracy; by setting the crawler walking mechanism 6, it can adapt to different car environment.

[0059] Embodiment 2:

[0060] The present embodiment provides a method for loading and unloading cargo by an intelligent loading and unloading robot. Based on the intelligent loading and unloading robot described in Embodiment 1, the loading and unloading robot moves to the loading and unloading location. By acquiring the inclination angle of the vehicle body, the vehicle body state adjustment mechanism 8 adjusts the vehicle body and the visual detection system 4 to a horizontal state in real time; the cargo is sequentially transported to the loading position via the first conveying mechanism 1, the second conveying mechanism 2 and the hand actuator 3; or, the cargo is transported from the packing position to the unloading position via the hand actuator 3, the second conveying mechanism 2 and the first conveying mechanism 1.

[0061] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An intelligent loading and unloading robot, comprising a vehicle body, a chassis walking mechanism is installed at the bottom of the vehicle body, and a first conveying mechanism, a second conveying mechanism and a hand actuator connected in sequence are arranged on the vehicle body; characterized in that: A vehicle body state adjustment mechanism is arranged between the vehicle body and the chassis running mechanism, and a visual detection system is also arranged on the vehicle body. The vehicle body state adjustment mechanism is used to adjust the angle of the vehicle body to keep it horizontal.

2. The intelligent loading and unloading robot according to claim 1, characterized in that: The vehicle body state adjustment mechanism includes a rotating platform and a rotating drive assembly connected to the rotating platform. The rotating platform is rotatably connected to the chassis walking mechanism. The second conveying mechanism is arranged on the rotating platform. The rotating drive assembly is used to adjust the rotating platform to a horizontal state when climbing or descending a slope.

3. The intelligent loading and unloading robot according to claim 2, characterized in that: The vehicle body detects its own inclination state through a horizontal detection sensor, and determines the adjustment angle of the rotating platform based on the inclination angle detected by the horizontal detection sensor.

4. The intelligent loading and unloading robot according to claim 2, characterized in that: The rotary drive assembly includes a rotary drive motor, which is directly or indirectly connected to the rotating shaft of the rotary platform; the rotary drive motor is indirectly connected to the rotary platform by: connecting through a gear transmission structure, or connecting through a chain belt transmission structure, and the rotary drive motor has a self-locking mechanism.

5. The intelligent loading and unloading robot according to claim 1, characterized in that: The chassis traveling mechanism comprises two sets of symmetrically installed crawler traveling mechanisms, and the traveling drive motors driving the two sets of crawler traveling mechanisms can be started simultaneously, or one traveling drive motor can be started separately.

6. The intelligent loading and unloading robot according to claim 2, characterized in that: The second conveying mechanism is arranged on the rotating platform through an intermediate pitch-yaw mechanism, and the intermediate pitch-yaw mechanism is used to drive the second conveying mechanism to complete up and down pitch and left and right yaw actions relative to the vehicle body.

7. The intelligent loading and unloading robot according to claim 6, characterized in that: The first conveying mechanism is a telescopic conveying mechanism, and the first conveying mechanism is connected to the second conveying mechanism through a universal joint.

8. The intelligent loading and unloading robot according to claim 1, characterized in that: The hand actuator is provided with a hand pitch-yaw mechanism, and the hand pitch-yaw mechanism is used to drive the hand actuator to complete up and down pitch and left and right yaw actions.

9. The intelligent loading and unloading robot according to claim 1, characterized in that: The hand actuator is provided with a cable quick-connect connector and an air pipe quick-connect connector, and the cable and air pipe laid by the second conveying mechanism are connected to the hand actuator through the cable quick-connect connector and the air pipe quick-connect connector respectively.

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