Mobile loading and unloading vehicle and unloading system based on mobile robot

Abstract

The utility model provides a mobile loading and unloading vehicle and an unloading system based on a mobile robot, and the mobile loading and unloading vehicle comprises a first mobile base which is used for moving to any position or pausing at any position according to a received control instruction and determining an orientation angle; the vehicle-mounted conveying mechanism is arranged on the first moving base, extends from the front end of the first moving base to the rear end of the first moving base and is used for conveying materials; the material loading device is used for placing materials on a vehicle-mounted conveying mechanism or grabbing the materials on the vehicle-mounted conveying mechanism and then loading the materials on the vehicle-mounted conveying mechanism. The material conveying mechanism is used for conveying materials from the vehicle-mounted conveying mechanism to the material conveying mechanism; the first mechanical arm is arranged on the first moving base and used for placing the materials on the vehicle-mounted conveying mechanism or the material conveying mechanism. According to the utility model, materials can be placed on the vehicle-mounted conveying mechanism by rotating 90 degrees after being subjected to side suction or top suction, and the materials are conveyed to the material conveying mechanism by the vehicle-mounted conveying mechanism, so that the unloading efficiency of the materials is improved.

Description

Technical Field

[0001] The utility model relates to a logistics robot, and more specifically, to a mobile loading and unloading vehicle and a truck unloading 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, which can quickly perform cargo sorting and handling.

[0003] More and more visual sensors and force sensors are used in 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 truck unloading 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 unloading containers in intelligent factories. How to improve the efficiency of truck unloading is the core link to improve the efficiency of warehousing logistics. Summary of the Utility Model

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

[0007] The mobile loading and unloading vehicle provided by the utility model includes:

[0008] A first mobile base, configured to move to any position or pause at any position according to a received control instruction and determine the orientation angle;

[0009] A vehicle-mounted conveying mechanism, arranged on the first mobile base, extending from the front end of the first mobile base to the rear end of the first mobile base, and used for conveying materials;

[0010] A first robotic arm, arranged on the first mobile base, and used for placing materials on the vehicle-mounted conveying mechanism or grasping the materials on the vehicle-mounted conveying mechanism for loading operations.

[0011] Preferably, it further includes:

[0012] A material conveying mechanism, the front end of the material conveying mechanism is connected to the rear end of the first moving base and is docked with the vehicle-mounted conveying mechanism to realize the conveyance of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism;

[0013] The first robotic arm is used to place materials onto the vehicle-mounted conveying mechanism or the material conveying mechanism.

[0014] Preferably, it further includes:

[0015] A front conveying mechanism, the front conveying mechanism is arranged on the front side of the first moving base;

[0016] One end of the front conveying mechanism is docked with the vehicle-mounted conveying mechanism, and is used to realize the conveyance of materials from the front conveying mechanism to the vehicle-mounted conveying mechanism;

[0017] The first robotic arm is used to suck and pull the materials placed higher than the side consistent with the front conveying mechanism to the front conveying mechanism.

[0018] Preferably, the vehicle-mounted conveying mechanism includes a first vehicle-mounted conveying section and a second vehicle-mounted conveying section;

[0019] An S-shaped structure is formed between the first vehicle-mounted conveying section and the second vehicle-mounted conveying section;

[0020] The first vehicle-mounted conveying section and the second vehicle-mounted conveying section cooperate to convey the conveyed materials along an S-shaped route to the material conveying mechanism. -

[0021] Preferably, the first vehicle-mounted conveying section includes a plurality of first rollers arranged in sequence; the diameter of the first roller gradually increases in the direction from the inner end to the outer end of the first roller;

[0022] The second vehicle-mounted conveying section includes a plurality of second rollers arranged in sequence; the diameter of the second roller gradually decreases in the direction from the inner end to the outer end of the second roller.

[0023] The unloading system based on a mobile robot provided by the present invention includes: the mobile loading and unloading vehicle, the material tray, the telescopic roller conveyor line and the mobile robot;

[0024] The mobile loading and unloading vehicle is used to place the materials to be unloaded on the vehicle-mounted conveying mechanism or the telescopic roller conveyor line;

[0025] The telescopic roller conveyor line, its front end is connected to the mobile loading and unloading vehicle, and the rear end is connected to the mobile robot, and is used to convey materials to the working range of the mobile robot;

[0026] A mobile robot is used to stack the materials conveyed by the telescopic roller conveyor line onto the material tray.

[0027] The material trays are arranged on both sides of the mobile robot.

[0028] Preferably, a material sorting conveyor platform is connected to the front end of the mobile robot.

[0029] The front end of the material sorting conveyor platform is docked with the rear end of the telescopic roller conveyor line.

[0030] The material sorting conveyor platform is used to sort the multiple materials conveyed by the telescopic roller conveyor line to form a material combination for the mobile robot to grasp at one time.

[0031] Preferably, the material sorting conveyor platform includes:

[0032] A material sorting line main body for conveying the materials.

[0033] A side baffle, which is arranged on the material sorting line main body and is used to prevent the materials from slipping.

[0034] A push plate, which is arranged on the material sorting line main body and is opposite to the side baffle, and is used to push the materials towards the side baffle.

[0035] A push plate driving mechanism is used to drive the push plate to move relative to the side baffle to push the materials towards the side baffle.

[0036] Preferably, the mobile robot includes:

[0037] A second mobile base, which is used to move to any position or pause at any position according to the received control instruction and determine the orientation angle.

[0038] A second robotic arm, which is arranged on the second mobile base and is used to continuously grasp the material combination on the material sorting line main body and stack it.

[0039] A bottom support fixture is arranged at the end of the second robotic arm.

[0040] Preferably, the bottom support fixture includes:

[0041] A fixture main body;

[0042] A suction cup bracket, on which a suction cup array is arranged. The suction cup array is used to suck the target box body. The suction cup bracket is arranged on one side surface of the fixture main body and can move along a first direction.

[0043] A bottom support mechanism, which is located on the fixture main body and can move along a second direction opposite to the first direction.

[0044] A driving module, which is connected to the sucker bracket and the bottom supporting mechanism through a driving transmission mechanism, and is used to drive the sucker bracket and the bottom supporting mechanism to move in the opposite direction simultaneously.

[0045] Preferably, at least one side of the material tray is provided with a safety fence;

[0046] The safety fence is used to isolate the safe operation range of the mobile loading and unloading vehicle.

[0047] Compared with the prior art, the utility model has the following beneficial effects:

[0048] In the utility model, the first mobile base moves to any position or pauses at any position according to the received control instruction and determines the orientation angle. The vehicle-mounted conveying mechanism is arranged on the first mobile base and extends from the front end of the first mobile base to the rear end of the first mobile base for conveying materials. The front end of the material conveying mechanism is connected to the rear end of the first mobile base and is docked with the vehicle-mounted conveying mechanism to realize the conveying of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism; the first robotic arm is arranged on the first mobile base, and can suck the material from the side or from the top and then rotate 90° to place the material on the vehicle-mounted conveying mechanism, and the material is conveyed to the material conveying mechanism by the vehicle-mounted conveying mechanism to improve the unloading efficiency of the material. When there are requirements for the placement angle of the material, the material can also be sucked from the side and then rotated 180° to place the material on the material conveying mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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 for 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, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present utility model will become more obvious:

[0050] Figure 1 It is a schematic diagram of the working state of the vehicle unloading system based on a mobile robot in the embodiment of the present utility model;

[0051] Figure 2 It is a schematic diagram of the safety mechanism of the vehicle unloading system based on a mobile robot in the embodiment of the present utility model;

[0052] Figure 3 It is a schematic diagram of the working state of the vehicle unloading system based on a mobile robot in the variant embodiment of the present utility model;

[0053] Figure 4 This is a schematic structural diagram of the mobile loading and unloading vehicle in the embodiment of the present utility model;

[0054] Figure 5 This is a schematic structural diagram of the mobile loading and unloading vehicle in the variant example of the present utility model;

[0055] Figure 6 This is a schematic structural diagram of the material sorting conveyor table in the embodiment of the present utility model;

[0056] Figure 7 This is a schematic structural diagram of the mobile robot in the embodiment of the present utility model;

[0057] Figure 8 This is a schematic structural diagram of the bottom supporting fixture in the embodiment of the present utility model; and

[0058] Figure 9 This is a schematic diagram of the working state of the bottom supporting fixture in the embodiment of the present utility model.

[0059] In the figure:

[0060] 1 is the mobile loading and unloading vehicle; 101 is the first mobile base; 102 is the first robotic arm; 2 is the mobile robot; 201 is the second mobile base; 2031 is the bottom supporting 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 supporting fixture; 3 is the telescopic roller conveyor line; 4 is the container; 5 is the vehicle-mounted conveying mechanism; 6 is the material tray; 7 is the safety fence; 8 is the material sorting conveyor table; 801 is the main body of the sorting line; 802 is the edge-returning baffle; 803 is the pushing plate; 804 is the edge-pushing mechanism; 9 is the front conveying mechanism; 10 is the camera support rod; 10 is the second safety radar. Specific embodiments

[0061] The present utility model will be described in detail below in conjunction with 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 still be made. These all fall within the protection scope of the present utility model.

[0062] In the description, claims and 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 steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0063] The technical solutions of the present utility model will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and for the same or similar concepts or processes, they may not be repeated in some embodiments.

[0064] The technical solutions of the present utility model and how the technical solutions of this application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and for the same or similar concepts or processes, they may not be repeated in some embodiments. The embodiments of the present utility model will be described below with reference to the drawings.

[0065] Figure 1 It is a schematic diagram of the working state of the truck unloading system based on a mobile robot in the embodiment of the present utility model. As Figure 1 shown, the truck unloading system based on a mobile robot provided by the present utility model includes: a mobile loading and unloading vehicle 1, a material tray 6, a telescopic roller conveyor line 3, and a mobile robot 2;

[0066] The mobile loading and unloading vehicle 1 is used to place the material to be unloaded on the vehicle-mounted conveying mechanism 5 or the telescopic roller conveyor line 3;

[0067] The telescopic roller conveyor line 3, with its front end connected to the mobile loading and unloading vehicle 1 and its rear end connected to the mobile robot 2, is used to convey the material to the working range of the mobile robot 2;

[0068] The mobile robot 2 is used to stack the material conveyed by the telescopic roller conveyor line 3 on the material tray 6;

[0069] The material tray 6 is arranged on both sides of the mobile robot 1.

[0070] In the embodiment of the present utility model, 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 mobile loading and unloading vehicle 1 during mobile loading; the mobile loading and unloading vehicle 1 moves along the moving channel and stacks the materials on the telescopic roller conveyor line 3 onto the material trays 6 in sequence.

[0071] In the embodiment of the present utility model, 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.

[0072] The material is a target box body.

[0073] In the embodiment of the present utility model, inclined rollers are arranged on the telescopic roller conveyor line 3. Through the arrangement of the inclined rollers, the edge alignment of the target box bodies on the telescopic roller conveyor line 3 can be realized, and the target box bodies are edge-aligned to a sorting table. The images of the target box bodies on the sorting table are collected by the arranged camera unit, and then the mobile robot 2 is controlled to grab and place the edge-aligned target box bodies.

[0074] Figure 2 It is a schematic diagram of the safety mechanism of the unloading system based on a mobile robot in the embodiment of the present utility model, as Figure 1 、 Figure 2 shown, in the embodiment of the present utility model, safety fences 7 are arranged on one side or opposite sides of the material tray; the safety fences 7 are used to isolate the safe operation range of the mobile robot 2.

[0075] In the variant embodiment of the present utility model, safety fences 7 can be arranged between adjacent material trays, so as to avoid the collision of the materials on the adjacent material tray 6 when the mobile robot 2 picks and places the materials on a material tray 6, or the collision with the people near the empty material tray, and isolate the empty material tray outside the operation range of the mobile loading and unloading vehicle 1.

[0076] In the variant embodiment of the present utility model, a safety fence is arranged on the opening side of the container 4, which is used to isolate the safe operation range of the mobile loading and unloading vehicle 1.

[0077] In the embodiment of the present utility model, the telescopic roller conveyor line 3 is used to obtain a movement space for the mobile loading and unloading vehicle 1 by stretching when the mobile loading and unloading vehicle 1 moves along the moving channel and rotates to both sides.

[0078] For example, when the mobile loading and unloading vehicle 1 finishes palletizing the pallets on both sides of the front end of the mobile channel, it needs to move backward to between two adjacent material pallets 6. During this process, the movements of the mobile loading and unloading vehicle 1 and the mobile robot 2 are not synchronized. Therefore, it is necessary to stretch or compress the telescopic roller conveyor line 3 to obtain the movement space.

[0079] For example, the mobile robot 2 determines the product information of the material according to the identification code on the material, and then determines the corresponding material pallet 6 of the material according to the product information. Then, the mobile robot 2 moves to the side of the material pallet 6 by stretching or compressing the telescopic roller conveyor line 3 to place the material on the material pallet 6.

[0080] Figure 3 It is a schematic diagram of the working state of the vehicle unloading system based on the mobile robot in the variant embodiment of the present invention. As Figure 3 shown, a material sorting conveyor table 8 is connected to the front end of the mobile robot 2;

[0081] The rear end of the material sorting conveyor table 8 is docked with the front end of the telescopic roller conveyor line 3;

[0082] The material sorting conveyor table 8 is used to sort a plurality of materials conveyed by the telescopic roller conveyor line 3 to form a material combination for the mobile robot 2 to grasp at one time.

[0083] Figure 6 It is a schematic diagram of the structure of the material sorting conveyor table in the embodiment of the present invention. As Figure 6 shown, in the embodiment of the present invention, the material sorting conveyor table 8 includes:

[0084] A material sorting line main body 801 for conveying the materials;

[0085] A side baffle 802 is arranged on the material sorting line main body 801 for preventing the materials from slipping;

[0086] A push plate 803 is arranged on the material sorting line main body 801, opposite to the side baffle 802, for pushing the materials towards the side baffle 402;

[0087] A push plate driving mechanism for driving the push plate 403 to move relative to the side baffle 802 to push the materials towards the side baffle 802.

[0088] A pushing edge mechanism 804 is arranged at the feeding port of the material sorting line main body 801;

[0089] The edge-pushing mechanism 804 is used to guide the target box flowing into the main body 801 of the material sorting line, so that the target box moves to the other side of the main body 801 of the material sorting line.

[0090] In addition, when it is not necessary to sort the target box, the electric cylinder drives the guide plate away from the upper side of the telescopic conveyor 100 to allow the target box to pass directly.

[0091] The edge-pushing mechanism 804 includes a telescopic mechanism and a front push frame; the front push frame is arranged at the front end of the telescopic mechanism; the rear end of the telescopic mechanism is connected to the main body 801 of the material sorting line through a fixed frame;

[0092] A first sensor is arranged on the fixed frame. The first sensor is used to trigger the edge-pushing mechanism. When the first sensor detects the target box, the edge-pushing mechanism performs the edge-pushing operation on the target box.

[0093] A second sensor is arranged at the discharge port end of the main body 801 of the material sorting line. The second sensor is used to trigger the 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 sorting operation.

[0094] Figure 4 It is a schematic structural diagram of the mobile loading and unloading vehicle in the embodiment of the present invention, as Figure 4 shown, the mobile loading and unloading vehicle includes:

[0095] A first mobile base 101, which is used to move to any position or pause at any position according to the received control instruction and determine the orientation angle;

[0096] A vehicle-mounted conveyor mechanism 5 is arranged on the first mobile base 101 and extends from the front end of the first mobile base 101 to the rear end of the first mobile base 101 for conveying materials;

[0097] A first robotic arm 102 is arranged on the first mobile base 101, which is used to place materials on the vehicle-mounted conveyor mechanism 5 or grab the materials on the vehicle-mounted conveyor mechanism 5 for loading operations.

[0098] A material conveying mechanism, the front end of the material conveying mechanism is connected to the rear end of the first mobile base and is docked with the vehicle-mounted conveyor mechanism to realize the conveyance of materials from the vehicle-mounted conveyor mechanism to the material conveying mechanism;

[0099] In the embodiment of the present invention, the material conveying mechanism adopts the telescopic roller conveyor line 3;

[0100] The first robot arm can rotate 90° when side-sucking the target box to place the material on the vehicle-mounted conveying mechanism, or rotate the material side-sucking 180° to place the material on the material conveying mechanism.

[0101] Among them, it is preferred to rotate the target box 90 degrees after side suction or top suction to place the material on the vehicle-mounted conveying mechanism, and then transfer it to the material conveying mechanism by the vehicle-mounted conveying mechanism to improve the unloading efficiency of the material;

[0102] When there is a requirement for the placement angle of the material, the material can be placed on the material conveying mechanism by rotating 180°.

[0103] In the embodiment of the utility model, the vehicle-mounted conveying mechanism 5 includes a first vehicle-mounted conveying section and a second vehicle-mounted conveying section;

[0104] An S-shaped structure is formed between the first vehicle-mounted conveying section and the second vehicle-mounted conveying section;

[0105] The first vehicle-mounted conveying section and the second vehicle-mounted conveying section cooperate to convey the conveyed material to the material conveying mechanism in an S-shaped route.

[0106] The first vehicle-mounted conveying section includes a plurality of first rollers arranged in sequence; the diameter of the first rollers gradually increases in a direction from the inner end of the first rollers to the outer end of the first rollers;

[0107] The second vehicle-mounted conveying section includes a plurality of second rollers arranged in sequence; the diameter of the second rollers gradually decreases in a direction from the inner end of the second roller to the outer end of the second roller.

[0108] Figure 5 FIG. 1 is a schematic diagram of the structure of a mobile loading and unloading vehicle in a modified example of the utility model, as shown in FIG. Figure 5 As shown, the mobile loading and unloading vehicle provided by the utility model also includes a front conveying mechanism 9;

[0109] The front conveying mechanism 9 is arranged at the front side of the first mobile base 101;

[0110] One end of the front conveying mechanism 9 is connected to the vehicle conveying mechanism 5, so as to realize the conveyance of materials from the front conveying mechanism 9 to the vehicle conveying mechanism 5;

[0111] The first robot arm 102 is used to suck the materials placed higher than the front conveying mechanism 9 and then pull them onto the front conveying mechanism.

[0112] In a modified example of the present utility model, the front conveying mechanism 9 can also be arranged to be able to rise and fall in the height direction, so as to achieve rapid unloading of materials after side suction.

[0113] It further includes a camera support rod 10, which is arranged on the rotating seat of the first robotic arm 102 to rotate with the rotating seat, or is arranged on the first mobile base 101. At least a visual perception module is arranged on the camera support rod 10. The 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 material and the stack of boxes formed by the material. The rotating seat can be set as the first rotating joint of the first robotic arm 102.

[0114] Figure 5 It is a schematic structural diagram of the mobile loading and unloading vehicle in the embodiment of the present invention, as Figure 5 shown. The mobile loading and unloading vehicle 1 includes:

[0115] A first mobile base 101, which is used to move to any position or pause at any position according to the received control instruction and determine the orientation angle;

[0116] A first robotic arm 102, which is arranged on the first mobile base 101 and is used to continuously grab the material on the material tray 6 and place it on the telescopic roller conveyor line 3;

[0117] A first visual perception module, which is arranged at the end of the first robotic arm 102 and is used to collect image information of the material on the material tray 6.

[0118] Figure 7 It is a schematic structural diagram of the mobile robot in the embodiment of the present invention, as Figure 7 shown. The mobile robot 2 includes:

[0119] A second mobile base 201, which is used to move to any position or pause at any position according to the received control instruction and determine the orientation angle;

[0120] A second robotic arm 202, which is arranged on the second mobile base 201 and is used to continuously grab the material combination on the material sorting line main body 401 and stack it;

[0121] A bottom supporting fixture 203 is arranged at the end of the second robotic arm 202, Figure 8 It is a schematic structural diagram of the bottom supporting fixture in the embodiment of the present invention, Figure 9 It is a schematic diagram of the working state of the bottom supporting fixture in the embodiment of the present invention, as Figure 8 、 Figure 9 shown. The bottom supporting fixture includes:

[0122] A fixture main body;

[0123] A suction cup bracket is provided with a suction cup array 2032 thereon. The suction cup array 2032 is used to suck a target box body. The suction cup bracket is arranged on one side surface of the fixture body and can move along a first direction. A plurality of suction cups 2033 arranged in a matrix are provided on the suction cup array 2032.

[0124] A bottom support mechanism 2031 is located on the fixture body and can move along a second direction opposite to the first direction.

[0125] A drive module is connected to the suction cup bracket and the bottom support mechanism 2031 through a drive transmission mechanism, and is used to drive the suction cup bracket and the bottom support mechanism 2031 to move in opposite directions simultaneously.

[0126] In an embodiment of the present utility model, the drive transmission mechanism includes: a driving wheel, a driven wheel, and a conveyor belt 2034.

[0127] The driving wheel is arranged on the output shaft of the drive module.

[0128] The driven wheel is arranged at the front end of the fixture body. The driving wheel is connected to the driven wheel through the conveyor belt.

[0129] One side of the suction cup bracket is connected to the conveyor belt 2034, and the other side of the bottom support mechanism 2031 is connected to the conveyor belt 2034, so as to realize the reverse linkage between the suction cup bracket and the bottom support mechanism 2031.

[0130] In an embodiment of the present utility model, the drive 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 a connecting cross bar at the front end of the fixture body. The driven wheel is connected to the connecting cross bar through a synchronous wheel mounting plate. Four support rods are provided on the synchronous wheel mounting plate. 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.

[0131] In the embodiment of the present utility model, the first moving base moves to any position or pauses at any position according to the received control instruction and determines the orientation angle. The vehicle-mounted conveying mechanism is arranged on the first moving base and extends from the front end to the rear end of the first moving base for conveying materials. The front end of the material conveying mechanism is connected to the rear end of the first moving base and is docked with the vehicle-mounted conveying mechanism to realize the conveyance of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism. The first robotic arm is arranged on the first moving base and can suck or push the material from the side and then rotate 90° to place the material on the vehicle-mounted conveying mechanism, and the material is conveyed to the material conveying mechanism by the vehicle-mounted conveying mechanism to improve the unloading efficiency of the material. When there are requirements for the placement angle of the material, the material can also be sucked from the side and then rotated 180° to place the material on the material conveying mechanism.

[0132] The various embodiments in this specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the 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.

[0133] 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 embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present utility model.

Claims

1. A mobile loading and unloading vehicle, characterized in that: include: 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 vehicle-mounted conveying mechanism is arranged on the first mobile base, extending from the front end of the first mobile base to the rear end of the first mobile base, and is used for conveying materials; The first mechanical arm is arranged on the first mobile base, and is used for placing materials on the vehicle-mounted conveying mechanism, or for grabbing materials from the vehicle-mounted conveying mechanism and then loading them onto the vehicle.

2. The mobile loading and unloading vehicle according to claim 1, characterized in that: Also includes: A material conveying mechanism, the front end of which is connected to the rear end of the first mobile base and is connected to the vehicle-mounted conveying mechanism to realize the conveyance of materials from the vehicle-mounted conveying mechanism to the material conveying mechanism; The first mechanical arm is used to place materials onto the vehicle-mounted conveying mechanism or the material conveying mechanism.

3. The mobile loading and unloading vehicle according to claim 1, characterized in that: Also includes: A front conveying mechanism, the front conveying mechanism is arranged at the front side of the first moving base; One end of the front conveying mechanism is connected to the vehicle-mounted conveying mechanism, and is used to realize the conveyance of materials from the front conveying mechanism to the vehicle-mounted conveying mechanism; The first mechanical arm is used to suck the material placed higher than the front conveying mechanism and then pull it onto the front conveying mechanism.

4. The mobile loading and unloading vehicle according to claim 2, characterized in that: The vehicle-mounted conveying mechanism comprises a first vehicle-mounted conveying section and a second vehicle-mounted conveying section; An S-shaped structure is formed between the first vehicle-mounted conveying section and the second vehicle-mounted conveying section; The first vehicle-mounted conveying section and the second vehicle-mounted conveying section cooperate to convey the conveyed material to the material conveying mechanism in an S-shaped route.

5. The mobile loading and unloading vehicle according to claim 4, characterized in that: The first vehicle-mounted conveying section includes a plurality of first rollers arranged in sequence; the diameter of the first rollers gradually increases in a direction from the inner end of the first rollers to the outer end of the first rollers; The second vehicle-mounted conveying section includes a plurality of second rollers arranged in sequence; the diameter of the second rollers gradually decreases in a direction from the inner end of the second roller to the outer end of the second roller.

6. A mobile robot-based unloading system, characterized in that: include: The mobile loading and unloading vehicle, material pallet, telescopic roller conveyor line and mobile robot according to any one of claims 1 to 5; A mobile loading and unloading vehicle, used to place the materials to be unloaded on the vehicle-mounted conveying mechanism or the telescopic roller conveying line; A telescopic roller conveyor line, the front end of which is connected to the mobile loading and unloading vehicle and the rear end is connected to the mobile robot, and is used to convey materials to the operating range of the mobile robot; A mobile robot, used for stacking the materials conveyed by the telescopic roller conveyor line on the material tray; Material trays are arranged on both sides of the mobile robot.

7. The mobile robot-based unloading system according to claim 6, characterized in that: The front end of the mobile robot is connected to 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 mobile robot to grasp at one time.

8. The mobile robot-based unloading system according to claim 7, 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.

9. The mobile robot-based unloading system according to claim 8, characterized in that: The 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 bottom supporting fixture is arranged at the end of the second mechanical arm.

10. The mobile robot-based vehicle unloading system according to claim 9, characterized in that: 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.

11. The mobile robot-based vehicle unloading system according to claim 6, 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 mobile loading and unloading vehicle.

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