Loading system based on mobile robot

Abstract

The utility model provides a loading system based on mobile robots, which comprises a first mobile robot used for placing materials to be unloaded on a material tray on a telescopic roller conveying line; the front end of the telescopic roller conveying line is connected with the first mobile robot, the rear end of the telescopic roller conveying line is connected with the second mobile robot, and materials are conveyed into the operation range of the second mobile robot; the second mobile robot is used for loading the materials conveyed by the telescopic roller conveying line; the multiple material trays are sequentially arranged to form tray arrays, and a moving channel is formed between every two rows of material tray arrays; the moving channel is used for movement of the first moving robot during moving and feeding; the first moving robot moves along the moving channel to sequentially place the materials on the trays on the telescopic roller conveying line, and then the second moving robot carries out loading operation on the materials. According to the utility model, the situation that the position of the telescopic roller conveying line needs to be continuously adjusted in the loading process is avoided, and the loading efficiency is improved.

Description

Technical Field

[0001] The utility model relates to a logistics robot, and in particular to a loading system based on a mobile robot. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses and electro-optical systems, and can quickly perform goods sorting and handling.

[0003] More and more visual sensors and force sensors will be used on industrial robots, and industrial robots will become more and more intelligent. With the progress of technologies such as sensing and recognition systems and artificial intelligence, robots are developing from being unidirectionally controlled to storing and applying data by themselves, and are gradually becoming informatized.

[0004] In order to expand the application scenarios and scopes of industrial robots, in the prior art, mobile robots are manufactured by installing industrial robots on mobile bases, so as to realize the movement of industrial robots to achieve functions such as mobile palletizing and depalletizing and mobile picking.

[0005] Container loading is one of the core links in warehousing logistics and factory logistics, and its automation level and efficiency are crucial for the turnover efficiency of the entire factory and warehouse. Mobile robots are also gradually replacing manual labor in loading containers in intelligent factories. How to improve the loading efficiency is the core link to improve the warehousing logistics efficiency. Summary of the Utility Model

[0006] Aiming at the defects in the prior art, the purpose of the utility model is to provide a loading system based on a mobile robot.

[0007] The loading system based on a mobile robot according to the utility model includes: a first mobile robot, a material tray, a telescopic roller conveyor line and a second mobile robot;

[0008] The first mobile robot is used to place the materials to be unloaded on the material tray on the telescopic roller conveyor line;

[0009] The telescopic roller conveyor line, the front end of which is connected to the first mobile robot and the rear end of which is connected to the second mobile robot, is used to convey the materials to the working range of the second mobile robot;

[0010] The second mobile robot is used to perform loading operations on the materials conveyed by the telescopic roller conveyor line;

[0011] Material trays, multiple of which are arranged in sequence to form a tray array, and a moving channel is formed between two columns of the tray arrays; the moving channel is used for the movement of the first mobile robot during mobile loading; the first mobile robot moves along the moving channel and sequentially places the materials on the trays on the telescopic roller conveyor line, so that the second mobile robot can perform the loading operation on the materials.

[0012] Preferably, in the initial state, the first mobile robot is located at the rear end of the moving channel;

[0013] As the material loading process progresses, the first mobile robot moves to the front end of the moving channel.

[0014] Preferably, the telescopic roller conveyor line is used to obtain a movement space for the first mobile robot by stretching when the first mobile robot moves along the moving channel and rotates to both sides.

[0015] Preferably, a material sorting conveyor platform is provided on the second mobile robot;

[0016] The front end of the material sorting conveyor platform is docked with the rear end of the telescopic roller conveyor line;

[0017] The material sorting conveyor platform is used to sort multiple materials conveyed by the telescopic roller conveyor line to form a material combination for the second mobile robot to grab at one time.

[0018] Preferably, the material sorting conveyor platform includes:

[0019] A material sorting line main body for conveying the materials;

[0020] A side baffle, which is arranged on the material sorting line main body and is used to prevent the materials from sliding off;

[0021] A push plate, which is arranged on the material sorting line main body and is oppositely arranged with the side baffle, and is used to push the materials towards the side baffle;

[0022] A push plate driving mechanism for driving the push plate to move relative to the side baffle to push the materials towards the side baffle.

[0023] Preferably, the first mobile robot includes:

[0024] A first mobile base for moving to any position or pausing at any position according to the received control instruction and determining the orientation angle;

[0025] A first robotic arm, which is arranged on the first mobile base and is used to continuously grab the materials on the material trays and place them on the telescopic roller conveyor line;

[0026] The first visual perception module is arranged at the end of the first robotic arm and is used to collect image information of the materials on the material tray.

[0027] Preferably, the second mobile robot includes:

[0028] A second mobile base for moving to any position or pausing at any position according to the received control instruction and determining the orientation angle;

[0029] A second robotic arm is arranged on the second mobile base and is used to continuously grab the material combination on the material sorting line main body and stack it.

[0030] A camera support rod, the camera support rod is arranged on the rotating seat of the second robotic arm to rotate with the rotating seat, or is arranged on the second mobile base. At least a second visual perception module is arranged on the camera support rod. The second visual perception module includes a 2D camera and a lidar. The 2D camera and the lidar are used to cooperate to collect image information of the materials and the box stack formed by the materials.

[0031] Preferably, it further includes a mobile platform that can move freely;

[0032] The mobile platform is used to move to the lower side of the material tray, and then drag away the material tray that has completed unloading, and drag the material tray loaded with materials to the working area of the first mobile robot to form the tray array.

[0033] Preferably, a bottom support fixture is arranged at the end of the second robotic arm. The bottom support fixture includes:

[0034] A fixture main body;

[0035] A suction cup support bracket, a suction cup array is arranged on the suction cup support bracket. The suction cup array is used to suck the target box body. The suction cup support bracket is arranged on one side surface of the fixture main body and can move along a first direction;

[0036] A bottom support mechanism is located on the fixture main body and can move along a second direction opposite to the first direction;

[0037] A driving module, the driving module is connected to the suction cup support bracket and the bottom support mechanism through a driving transmission mechanism, and is used to drive the suction cup support bracket and the bottom support mechanism to move in opposite directions simultaneously.

[0038] Preferably, the length ratio between the stretched state and the compressed state of the telescopic roller conveyor is between 2 and 3.

[0039] Preferably, first support rods and second support rods are arranged on both sides of the front end of the material sorting and conveying table;

[0040] A first safety radar is arranged at the end of the first support rod, and a second safety radar is arranged at the end of the second support rod;

[0041] The visual fields of the first support rod, the second support rod, the first safety radar, and the second safety radar enclose the safe operation range of the second mobile robot.

[0042] Preferably, safety fences are arranged on at least one side of the material tray;

[0043] The safety fences are used to isolate the safe operation range of the first mobile robot.

[0044] Compared with the prior art, the utility model has the following beneficial effects:

[0045] In the utility model, the materials to be unloaded on the material tray are placed on the telescopic roller conveyor line by the first mobile robot; the front end of the telescopic roller conveyor line is connected to the first mobile robot, and the rear end is connected to the second mobile robot, and is used to convey the materials to the operation range of the second mobile robot. The second mobile robot performs the loading operation on the materials conveyed by the telescopic roller conveyor line. A plurality of material trays are placed on both sides of the first mobile robot, and the plurality of material trays are arranged in sequence to form a tray array, and a moving channel is formed between the two rows of the material tray arrays; when the first mobile robot moves for loading, it moves in the moving channel, obtains the movement space by stretching the telescopic roller conveyor line, and sequentially places the materials on the material trays on both sides on the telescopic roller conveyor line, so that the second mobile robot performs the loading operation on the materials, avoiding the need to continuously adjust the position of the telescopic roller conveyor line during the loading process and improving the loading efficiency. Description of the Drawings

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts. By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes, and advantages of the present utility model will become more obvious:

[0047] Figure 1 It is a schematic diagram of the initial working state of the loading system based on a mobile robot in the embodiment of the present utility model;

[0048] Figure 2 Schematic diagram of the working progress status of the loading system based on a mobile robot in an embodiment of the present utility model;

[0049] Figure 3 Schematic diagram of the safety mechanism of the loading system based on a mobile robot in an embodiment of the present utility model;

[0050] Figure 4 Schematic diagram of the relationship between the second mobile robot and the material sorting conveyor in an embodiment of the present utility model;

[0051] Figure 5 Schematic diagram of the structure of the first mobile robot in an embodiment of the present utility model;

[0052] Figure 6 Schematic diagram of the structure of the bottom support fixture in an embodiment of the present utility model;

[0053] Figure 7 Schematic diagram of the working state of the bottom support fixture in an embodiment of the present utility model; and

[0054] Figure 8 Schematic diagram of the control system of the loading system based on a mobile robot in an embodiment of the present utility model.

[0055] In the figure:

[0056] 1 is the first mobile robot; 101 is the first mobile base; 102 is the first robotic arm; 103 is the fixture; 2 is the second mobile robot; 201 is the second mobile base; 2031 is the bottom support mechanism; 2032 is the suction cup array; 2033 is the suction cup; 2034 is the conveyor belt; 202 is the second robotic arm; 203 is the bottom support fixture; 3 is the telescopic roller conveyor line; 4 is the material sorting conveyor; 401 is the main body of the material sorting line; 402 is the edge-returning baffle; 403 is the push plate; 404 is the pushing mechanism; 5 is the container; 6 is the material tray; 7 is the mobile platform; 8 is the first support rod; 9 is the second support rod; 10 is the second safety radar; 11 is the first safety radar; 12 is the safety fence; 13 is the control and management system. Detailed implementation manners

[0057] The present utility model will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can be made. These all belong to the protection scope of the present utility model.

[0058] In the description, claims and the above-mentioned drawings of the present utility model, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present utility model described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0059] The technical solution of the present utility model will be described in detail below with specific embodiments. These specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0060] The technical solution of the present utility model and how the technical solution of this application solves the above technical problems will be described in detail below with specific embodiments. These specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present utility model will be described below with reference to the drawings.

[0061] Figure 1 It is a schematic diagram of the initial working state of the loading system based on a mobile robot in the embodiment of the present utility model, as Figure 1 shown, the loading system based on a mobile robot provided by the present utility model includes: a first mobile robot 1, a material tray 6, a telescopic roller conveyor line 3, and a second mobile robot 2;

[0062] The first mobile robot 1 is used to place the materials to be unloaded on the material tray 6 on the telescopic roller conveyor line 3;

[0063] The telescopic roller conveyor line 3, whose front end is connected to the first mobile robot 1 and the rear end is connected to the second mobile robot 2, is used to convey the materials to the working range of the second mobile robot 2;

[0064] The second mobile robot 2 is used to perform the loading operation on the materials conveyed by the telescopic roller conveyor line 3;

[0065] The material tray 6, and a plurality of the material trays 6 are arranged in sequence to form a tray array, and a moving channel is formed between two columns of the tray arrays; the moving channel is used for the movement of the first mobile robot 1 during moving loading; the first mobile robot 1 moves along the moving channel and sequentially places the materials on the trays on the telescopic roller conveyor line 3, so that the second mobile robot 2 performs the loading operation on the materials.

[0066] In the embodiment of the present invention, the length ratio between the stretched state and the compressed state of the telescopic roller conveyor line 3 is between 2 and 3, and preferably 2.5.

[0067] The material is the target box.

[0068] In the embodiment of the present invention, inclined rollers are arranged on the telescopic roller conveyor line 3. Through the arrangement of the inclined rollers, the edge alignment of the target boxes on the telescopic roller conveyor line 3 can be realized, and the target boxes are edge-aligned to a sorting table. The camera unit is arranged to collect the images of the target boxes on the sorting table, and then control the second mobile robot 2 to grab and place the edge-aligned target boxes.

[0069] Figure 2 It is a schematic diagram of the working progress state of the loading system based on the mobile robot in the embodiment of the present invention. As Figure 1 、 Figure 2 shown, in the initial state, the first mobile robot 1 is located at the rear end of the moving channel;

[0070] As the material loading process progresses, the first mobile robot 1 moves to the front end of the moving channel.

[0071] In the embodiment of the present invention, when the first mobile robot 1 moves from the front end of the moving channel to the rear end of the moving channel, the materials on both sides of the moving channel are sequentially placed on the telescopic roller conveyor line 3.

[0072] In the embodiment of the present invention, the telescopic roller conveyor line 3 is used to obtain a movement space for the first mobile robot 1 by stretching when the first mobile robot 1 moves along the moving channel and rotates to both sides.

[0073] For example, when the first mobile robot 1 places all the materials on the trays on both sides at the rear end of the moving channel onto the telescopic roller conveyor line 3, it needs to move forward to the space between two adjacent material trays 6. During this process, the movements of the first mobile robot 1 and the second mobile robot 2 are not synchronized. Therefore, it is necessary to stretch or compress the telescopic roller conveyor line 3 to obtain a movement space.

[0074] Figure 3 This is a schematic diagram of the safety mechanism of the loading system based on a mobile robot in an embodiment of the present invention. As Figure 3 shown, first support rods 8 and second support rods 9 are arranged on both sides of the front end of the material sorting conveyor table;

[0075] A first safety radar 11 is arranged at the end of the first support rod 8, and a second safety radar 10 is arranged at the end of the second support rod 9;

[0076] The visual fields of the first support rod 8, the second support rod 9, the first safety radar 11, and the second safety radar 10 enclose the safe operation range of the second mobile robot.

[0077] When the first safety radar 11 and the second safety radar 10 detect that a moving object enters the safe operation range, the control and management system 13 controls the second robotic arm of the second mobile robot 2 to reduce the movement speed or stop moving.

[0078] The first support rod 8 and the second support rod 9 are hinged to both sides of the front end of the material sorting conveyor table. When it is necessary to form the safe operation range, the first support rod 8 and the second support rod 9 extend to be perpendicular to both sides of the material sorting conveyor table. When it is not necessary to form the safe operation range, the first support rod 8 and the second support rod 9 are retracted to fit with both sides of the material sorting conveyor table.

[0079] In an embodiment of the present invention, at least one side of the material tray is provided with a safety fence; the safety fence is used to isolate the safe operation range of the first mobile robot.

[0080] For example, a safety fence 12 is arranged between adjacent material trays, so as to avoid collision with the materials on the adjacent material tray or with the people near the empty material tray when the first mobile robot 1 picks up and places the materials on a material tray, and isolate the empty material tray outside the operation range of the first mobile robot.

[0081] Figure 4 This is a schematic diagram of the relationship between the second mobile robot and the material sorting conveyor table in an embodiment of the present invention. As Figure 4 shown, a material sorting conveyor table 4 is arranged on the second mobile robot 2;

[0082] The front end of the material sorting conveyor table 4 is docked with the rear end of the telescopic roller conveyor line 3;

[0083] The material sorting conveyor table 4 is used to sort the multiple materials conveyed by the telescopic roller conveyor line 3 to form a material combination for the second mobile robot 2 to grasp at one time.

[0084] In the embodiment of the present utility model, the material sorting and conveying table 4 includes:

[0085] A material sorting line main body 401 for conveying the materials;

[0086] A side return baffle 402 disposed on the material sorting line main body 401 for preventing the materials from slipping;

[0087] A push plate 403 disposed on the material sorting line main body 401 and opposite to the side return baffle 402 for pushing the materials close to the side return baffle 402;

[0088] A push plate driving mechanism for driving the push plate 403 to move relative to the side return baffle 402 so as to push the materials close to the side return baffle 402.

[0089] A pushing edge mechanism 404 is disposed at the feeding port of the material sorting line main body 401;

[0090] The pushing edge mechanism 404 is used for guiding the target box flowing into the material sorting line main body 401 so that the target box moves to the other side of the material sorting line main body 401.

[0091] In addition, when it is not necessary to sort the materials in the target box, the electric cylinder drives the guiding plate away from the upper side of the telescopic conveyor 100 so that the target box can directly pass through.

[0092] The pushing edge mechanism 404 includes a telescopic mechanism and a front pushing frame; the front pushing frame is disposed at the front end of the telescopic mechanism; the rear end of the telescopic mechanism is connected to the material sorting line main body 401 through a fixed frame;

[0093] A first sensor is disposed on the fixed frame. The first sensor 8 is used for triggering the pushing edge mechanism. When the first sensor 8 detects the target box, the pushing edge mechanism performs the pushing edge operation on the target box.

[0094] A second sensor is disposed at the discharging port end of the material sorting line main body 401. The second sensor is used for triggering the material sorting action of the material sorting conveyor line. When the second sensor detects the target box, the push plate driving mechanism drives the push plate to push the target box for material sorting operation.

[0095] Figure 5 It is a structural schematic diagram of the first mobile robot in the embodiment of the present utility model. As Figure 5 shown, the first mobile robot 1 includes:

[0096] A first mobile base 101 for moving to any position or pausing at any position according to the received control instruction and determining the orientation angle;

[0097] The first robotic arm 102 is disposed on the first mobile base 101 and is configured to continuously grab the materials on the material tray 6 and place them on the telescopic roller conveyor line 3.

[0098] The first visual perception module is disposed at the end of the first robotic arm 102 and is configured to collect image information of the materials on the material tray 6.

[0099] In an embodiment of the present utility model, the second mobile robot 2 includes:

[0100] The second mobile base 201 is configured to move to any position or pause at any position according to the received control instruction and determine the orientation angle.

[0101] The second robotic arm 202 is disposed on the second mobile base 201 and is configured to continuously grab the material combinations on the sorting line main body 401 and stack them.

[0102] The camera support rod is disposed on the rotating base of the second robotic arm 202 to rotate with the rotating base, or is disposed on the second mobile base 201. At least a second visual perception module is disposed on the camera support rod. The second visual perception module includes a 2D camera and a lidar. The 2D camera and the lidar are configured to cooperate to collect image information of the materials and the box stacks formed by the materials.

[0103] In an embodiment of the present utility model, the loading system based on a mobile robot provided by the present utility model further includes a mobile platform that can move freely.

[0104] The mobile platform is configured to move to the lower side of the material tray 6, and then tow away the unloaded material tray 6, and tow the material tray 6 loaded with materials to the working area of the first mobile robot 1 to form the tray array.

[0105] A bottom support fixture 203 is disposed at the end of the second robotic arm 202. Figure 6 This is a schematic structural diagram of the bottom support fixture in an embodiment of the present utility model. Figure 7 This is a schematic diagram of the working state of the bottom support fixture in an embodiment of the present utility model. As shown in Figure 6 、 Figure 7 shown, the bottom support fixture includes:

[0106] The fixture main body;

[0107] The suction cup support is provided with the suction cup array 2032 thereon. The suction cup array 2032 is used to suck the target box body. The suction cup support is arranged on one side surface of the fixture main body and can move along the first direction; a plurality of suction cups 2033 arranged in a matrix are provided on the suction cup array 2032.

[0108] The bottom supporting mechanism 2031 is located on the fixture main body and can move along the second direction opposite to the first direction;

[0109] The driving module is connected to the suction cup support and the bottom supporting mechanism 2031 through a driving transmission mechanism, and is used to drive the suction cup support and the bottom supporting mechanism 2031 to move in the opposite direction simultaneously.

[0110] In the embodiment of the present utility model, the driving transmission mechanism includes: a driving wheel, a driven wheel and a conveyor belt 2034;

[0111] The driving wheel is arranged on the output shaft of the driving module;

[0112] The driven wheel is arranged at the front end of the fixture main body; the driving wheel is connected to the driven wheel through the conveyor belt;

[0113] One side of the suction cup support is connected to the conveyor belt 2034, and the other side of the bottom supporting mechanism 2031 is connected to the conveyor belt 2034, so as to realize the reverse linkage between the suction cup support and the bottom supporting mechanism 2031.

[0114] In the embodiment of the present utility model, the driving module is connected to the driving wheel through a speed reducer to drive the driving wheel to rotate; the driven wheel is arranged in the middle area of the connecting cross bar at the front end of the fixture main body, the driven wheel is connected to the connecting cross bar through a synchronous wheel mounting plate, four support rods are arranged on the synchronous wheel mounting plate, and a synchronous wheel cover plate is arranged at the top end of the support rods. The synchronous wheel cover plate and the four support rods form a protective cover for the driven wheel.

[0115] Figure 8 It is a schematic diagram of the control system of the loading system based on the mobile robot in the embodiment of the present utility model. As Figure 8 shown, the first mobile robot 1, the second mobile robot 2, the mobile platform 7 and the sorting and conveying table 3 are wirelessly connected to the control and management system through a network, so as to realize the overall orderly operation of the first mobile robot 1, the second mobile robot 2, the mobile platform 7 and the sorting and conveying table 3.

[0116] In the embodiment of the present utility model, the first mobile robot is used to place the materials to be unloaded on the material tray on the telescopic roller conveyor line; the front end of the telescopic roller conveyor line is connected to the first mobile robot, and the rear end is connected to the second mobile robot, which is used to convey the materials to the working range of the second mobile robot. The second mobile robot is used to load the materials conveyed by the telescopic roller conveyor line. A plurality of material trays are placed on both sides of the first mobile robot, and the plurality of material trays are arranged in sequence to form a tray array. A moving channel is formed between the two rows of the tray arrays. When the first mobile robot moves for loading, it moves in the moving channel, obtains a moving space by stretching the telescopic roller conveyor line, and sequentially places the materials on the material trays on both sides on the telescopic roller conveyor line, so that the second mobile robot can load the materials, avoiding the need to continuously adjust the position of the telescopic roller conveyor line during the loading process and improving the loading efficiency.

[0117] The various embodiments in this specification are described in a progressive manner. The key point of each embodiment is the difference from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0118] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific implementation manners, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present utility model.

Claims

1. A loading system based on a mobile robot, characterized in that: include: A first mobile robot, a material tray, a telescopic roller conveyor line, and a second mobile robot; A first mobile robot is used to place the material to be unloaded from the material tray on the telescopic roller conveyor line; A telescopic roller conveyor line, the front end of which is connected to the first mobile robot and the rear end of which is connected to the second mobile robot, and is used to convey materials to the operating range of the second mobile robot; The second mobile robot is used to load the materials conveyed by the telescopic roller conveyor line into a vehicle; A material pallet, wherein a plurality of the material pallets are arranged in sequence to form a pallet array, and a moving channel is formed between two columns of the material pallet array; the moving channel is used for the movement of the first mobile robot when loading materials; the first mobile robot moves along the moving channel to place the materials on the pallet on the telescopic roller conveyor line in sequence, thereby enabling the second mobile robot to load the materials.

2. The loading system based on mobile robots according to claim 1 is characterized in that: In an initial state, the first mobile robot is located at the rear end of the moving channel; As the material loading progresses, the first mobile robot moves the front end of the moving channel.

3. The loading system based on a mobile robot according to claim 1 or 2, characterized in that: The telescopic roller conveyor line is used to stretch the first mobile robot to obtain movement space when the first mobile robot moves along the moving channel and rotates to both sides.

4. The loading system based on mobile robots according to claim 1, characterized in that: The second mobile robot is provided with a material handling and conveying platform; The front end of the material handling conveying platform is butted against the rear end of the telescopic roller conveying line; The material sorting and conveying platform is used to sort the multiple materials conveyed by the telescopic roller conveyor line to form a material assembly for the second mobile robot to grasp at one time.

5. The loading system based on mobile robots according to claim 4 is characterized in that: The material handling and conveying platform comprises: The material handling line body is used for conveying the materials; A return baffle, which is arranged on the main body of the material sorting line and is used to prevent the material from sliding down; A push plate, arranged on the main body of the material sorting line, arranged opposite to the edge return baffle, and used for pushing the material close to the edge return baffle; The push plate driving mechanism is used to drive the push plate to move relative to the edge return baffle plate to push the material close to the edge return baffle plate.

6. The loading system based on mobile robots according to claim 1, characterized in that: The first mobile robot comprises: A first mobile base, used to move to any position or pause at any position and determine a direction angle according to a received control instruction; A first mechanical arm, disposed on the first mobile base, for continuously grabbing the materials on the material tray and placing them on the telescopic roller conveyor line; The first visual perception module is arranged at the end of the first mechanical arm and is used to collect image information of the material on the material tray.

7. The loading system based on mobile robots according to claim 5, characterized in that: The second mobile robot comprises: A second mobile base is used to move to any position or pause at any position and determine a direction angle according to a received control instruction; A second robotic arm is disposed on the second mobile base and is used to continuously grab and palletize the material assemblies on the main body of the material sorting line; A camera support rod, wherein the camera support rod is arranged on the rotating seat of the second robot arm so as to rotate with the rotating seat, or is arranged on the second mobile base, and at least a second visual perception module is arranged on the camera support rod, and the second visual perception module includes a 2D camera and a laser radar, and the 2D camera and the laser radar are used to cooperate to realize the image information collection of the material and the box stack formed by the material.

8. The loading system based on mobile robots according to claim 1, characterized in that: Also included: a mobile platform capable of free movement; The mobile platform is used to move to the lower side of the material pallet, and then drag away the material pallet that has completed unloading, and drag the material pallet loaded with materials to the working area of ​​the first mobile robot to form the pallet array.

9. The vehicle loading system based on a mobile robot according to claim 7, characterized in that: A bottom supporting fixture is provided at the end of the second mechanical arm, and the bottom supporting fixture comprises: The fixture body; A suction cup bracket, on which a suction cup array is arranged, the suction cup array is used to suck the target box, and the suction cup bracket is arranged on a side surface of the clamp body and can move along a first direction; A bottom supporting mechanism, located on the clamp body, capable of moving in a second direction opposite to the first direction; A driving module is provided, wherein the driving module is connected to the suction cup bracket and the bottom supporting mechanism via a driving transmission mechanism, and is used for driving the suction cup bracket and the bottom supporting mechanism to simultaneously perform reverse motion.

10. The vehicle loading system based on mobile robots according to claim 1, characterized in that: The length ratio between the stretched state of the telescopic roller conveyor line and the compressed state of the telescopic roller conveyor line is between 2 and 3.

11. The vehicle loading system based on a mobile robot according to claim 4, characterized in that: The front ends of the material handling and conveying platform are provided with a first support rod and a second support rod at both sides; A first safety radar is disposed at the end of the first support rod, and a second safety radar is disposed at the end of the second support rod; The fields of view of the first support rod, the second support rod, the first safety radar, and the second safety radar form a safe operating range of the second mobile robot.

12. The mobile robot-based loading system according to claim 1, characterized in that: A safety fence is provided on at least one side of the material tray; The safety fence is used to isolate the safe operating range of the first mobile robot.

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