Loading and unloading vehicle system based on telescopic belt conveyor

Abstract

The utility model provides a loading and unloading vehicle system based on a telescopic belt conveyor. The loading and unloading vehicle system comprises a first robot, the telescopic belt conveyor, a flexible matching conveying line and a second robot. The first robot is used for placing materials to be loaded on the telescopic belt conveyor; the front end of the telescopic belt conveyor is connected with the second robot through the flexible matching conveying line; the telescopic belt conveyor is matched with the flexible matching conveying line and used for conveying materials into the operation range of the second robot. And the second robot is used for moving into a specified compartment body according to the received first control instruction and / or a second control instruction generated by a processor of the second robot, and moving and working in the compartment body according to the working progress. According to the telescopic belt conveyor, due to the fact that the movement speed of the telescopic belt conveyor is different from that of the second robot, the length difference generated when the telescopic belt conveyor is matched with the second robot is generated when the telescopic belt conveyor is stretched or shortened, and operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent manufacturing and high -end manufacturing, specifically, relate to a kind of based on telescopic belt conveyor's loading and unloading system. BACKGROUND

[0002] With the universal application of robot technology and the continuous development of manufacturing robots, existing robots can already adapt to a variety of environmental application occasions. Especially in intelligent picking, logistics transportation, warehouse management and other scenarios, unstacking and restacking robots are gradually used to replace the high-intensity labor of workers.

[0003] Existing unstacking and restacking robots have complex structure and poor flexibility. Due to the length of the robot's arm span and the limitation of the mechanical arm's working range, the performance of the robot in material loading scenarios such as ports and large warehouse centers is not good, and it is difficult to adapt to the restacking task of goods in narrow spaces. Moreover, in complex working environments such as slopes and uneven ground, mobile robots cannot directly work on materials. SUMMARY

[0004] In view of the defects in the prior art, the utility model aims to provide a loading and unloading system based on a telescopic belt conveyor.

[0005] The loading and unloading system based on the telescopic belt conveyor according to the utility model comprises a first robot, a telescopic belt conveyor, a flexible matching conveying line and a second robot.

[0006] The first robot is used to place the material to be loaded on the telescopic belt conveyor or place the material on the telescopic belt conveyor onto a pallet.

[0007] The front end of the telescopic belt conveyor is connected to the second robot through the flexible matching conveying line.

[0008] The telescopic belt conveyor cooperates with the flexible matching conveying line to convey the material into the working range of the second robot or into the working range of the first robot.

[0009] The second robot is used to move to a specified compartment according to the received first control instruction and / or the second control instruction generated by its own processor, and move to work in the compartment according to the work progress.

[0010] Preferably, when the second robot moves away from the telescopic belt conveyor, the telescopic belt conveyor is elongated to match the movement of the second robot away from it.

[0011] When the second robot moves towards the telescopic belt conveyor, the telescopic belt conveyor is shortened to match the movement of the second robot towards it.

[0012] Preferably, one end of the flexible matching conveying line is hinged to the rear end of the second robot, and the other end is hinged to the end of the telescopic belt machine.

[0013] Preferably, the flexible matching conveying line is provided with a first sensor and a second sensor.

[0014] The first sensor is used to detect the length change of the flexible matching conveying line.

[0015] The second sensor is arranged on the flexible matching conveying line close to one end of the telescopic belt machine, and is used to detect the angle change of the flexible matching conveying line.

[0016] Preferably, the telescopic belt machine comprises a first-stage telescopic mechanism, a second-stage telescopic mechanism and a third-stage telescopic mechanism.

[0017] The second-stage telescopic mechanism is arranged in the first-stage telescopic mechanism and can be extended and retracted along the first-stage telescopic mechanism; and the third-stage telescopic mechanism is arranged in the second-stage telescopic mechanism and can be extended and retracted along the second-stage telescopic mechanism.

[0018] Preferably, the telescopic belt machine further comprises a hydraulic cylinder.

[0019] The hydraulic cylinder is used to support the body of the telescopic belt machine and realize adjustment of the pitch angle to adapt to different height working scenes.

[0020] Preferably, the electrical connection line of the second robot extends along the flexible matching conveying line and the telescopic belt machine.

[0021] Preferably, it further comprises a material sorting conveying line.

[0022] The second robot comprises a mobile base, and the material sorting conveying line is arranged on the mobile base.

[0023] The feeding port of the material sorting conveying line is connected to the telescopic belt machine through the flexible matching conveying line.

[0024] Preferably, the material sorting conveying line comprises:

[0025] A material sorting line body is arranged on the mobile base, connected to the telescopic belt machine through the flexible matching conveying line, and used for conveying the target box.

[0026] An edge returning baffle is arranged on the material sorting line body and used for preventing the target box from sliding.

[0027] A push plate is arranged on the sorting line body and is arranged opposite to the edge returning baffle, and is used to push the target box to be close to the edge returning baffle.

[0028] A push plate driving mechanism is used to drive the push plate to move relative to the edge returning baffle, so as to push the target box to be close to the edge returning baffle.

[0029] Preferably, when the first sensor detects that the length of the flexible matching conveying line is lengthened, the telescopic belt conveyor is controlled to be lengthened; and when the first sensor detects that the length of the flexible matching conveying line is shortened, the telescopic belt conveyor is controlled to be shortened.

[0030] When the second sensor detects that the flexible matching conveying line is lifted upward, the telescopic belt conveyor is controlled to be lifted upward; and when the second sensor detects that the flexible matching conveying line is drooped, the telescopic belt conveyor is controlled to be drooped.

[0031] Compared with the prior art, the utility model has the beneficial effects that:

[0032] In the utility model, the first robot is used to place the material to be loaded on the telescopic belt conveyor, the front end of the telescopic belt conveyor is connected with the second robot through the flexible matching conveying line, the second robot is moved to the inside of the designated compartment according to the received first control instruction and / or the second control instruction generated by the self processor, and moves the work in the compartment according to the work progress, so that the automatic feeding of the material is realized; the front end of the telescopic belt conveyor is connected with the second robot through the flexible matching conveying line, the length difference caused by the cooperation with the second robot when the telescopic belt conveyor is lengthened or shortened due to the different movement speeds of the second robot can be conveniently adjusted, the work efficiency is improved, the adaptability of the loading and unloading system to the complex environment is enhanced, the stability of the loading and unloading system to the movement error is enhanced, and the angle and height difference caused by the slope, height difference and other situations are allowed to allow the robot to enter the carriages of different specifications to carry out the loading and unloading work.

[0033] In the utility model, the telescopic belt conveyor and the flexible matching conveying line are used to replace the roller line to transmit the material between the first robot and the second robot, so that the problem that the vibration of the roller line during work causes some materials to fall is avoided, the problems that the distance between adjacent rollers is too large when the roller line is stretched too long and the space that can be compressed is too small are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the provided drawings without creative labor. Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0035] Figure 1 The structure diagram of the loading and unloading system based on the telescopic belt conveyor in the embodiment of the present application;

[0036] Figure 2 The structure diagram of the second robot in the embodiment of the present application;

[0037] Figure 3 The structure diagram of the telescopic belt conveyor in the embodiment of the present application;

[0038] Figure 4 The height difference diagram generated by the telescopic belt conveyor in the embodiment of the present application;

[0039] Figure 5 The structure diagram of the first robot in the embodiment of the present application;

[0040] Figure 6 The structure diagram of the material sorting conveying line in the embodiment of the present application;

[0041] Figure 7 The bottom structure diagram of the material sorting conveying line in the embodiment of the present application;

[0042] Figure 8 The working state diagram of the material sorting conveying line in the embodiment of the present application; and

[0043] Figure 9 The working state diagram of the loading and unloading system based on the telescopic belt conveyor in the embodiment of the present application.

[0044] In the drawings:

[0045] 1 is a first robot; 2 is a telescopic belt conveyor; 3 is a flexible matching conveying line; 4 is a second robot; 5 is a box; 101 is a first mobile base; 102 is a first mechanical arm; 103 is a second clamp; 201 is a first telescopic mechanism, 202 is a second telescopic mechanism, 203 is a third telescopic mechanism, 204 is a hydraulic cylinder; 205 is a conveying belt, 206 is a material; 401 is a sorting conveying line; 4011 is a sorting line body; 4012 is an edge returning baffle; 4013 is a push plate; 4014 is a push plate driving mechanism; 4015 is a front stop lifting mechanism; 40111 is a left mounting plate; 40112 is a right mounting plate; 40113 is a roller; 40141 is a first driving motor; 40142 is a screw rod; 40143 is a screw rod output block; 40144 is a cross beam; 40145 is a first synchronous pulley; 40146 is a second synchronous pulley; 40151 is a second driving motor; 40152 is a lifting arm; 40153 is a front stop lifting plate; 40154 is a second guide rail; 40155 is a third guide rail; 40156 is a mounting bottom plate; 402 is a second mobile base. DETAILED DESCRIPTION

[0046] The utility model will be explained in detail below in combination with specific embodiments. The following embodiments will help the person skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the utility model, a number of modifications and improvements can be made. These all belong to the protection scope of the utility model.

[0047] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit communication.

[0048] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0049] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood to indicate or imply relative importance or imply the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the utility model, the meaning of "multiple" is two or more than two, unless otherwise explicitly specified.

[0050] Figure 1 For the structure diagram of the loading and unloading system based on the telescopic belt conveyor in the embodiments of the utility model, as shown in Figure 1 The loading and unloading system based on the telescopic belt conveyor provided by the utility model comprises a first robot 1, a telescopic belt conveyor 2, a flexible matching conveying line 3 and a second robot 4.

[0051] The first robot 1 is used for placing the material to be loaded 206 on the telescopic belt conveyor 2 or placing the material on the telescopic belt conveyor 2 on a tray.

[0052] The front end of the telescopic belt conveyor 2 is connected with the second robot 4 through the flexible matching conveying line 3.

[0053] The telescopic belt conveyor 2 cooperates with the flexible matching conveying line 3 and is used for conveying the material 206 to the working range of the second robot 4 or conveying the material to the working range of the first robot 1.

[0054] The second robot 4 is used for moving to the inside of a specified compartment according to the received first control instruction and / or the second control instruction generated by the processor itself and moving work in the compartment according to the work progress.

[0055] When the second robot 4 moves away from the telescopic belt conveyor 2, the telescopic belt conveyor 2 is elongated to cooperate with the moving away of the second robot.

[0056] When the second robot 4 moves towards the telescopic belt conveyor 2, the telescopic belt conveyor 2 is shortened to cooperate with the moving of the second robot 4.

[0057] In the embodiments of the utility model, one end of the flexible matching conveying line 3 is hinged with the rear end of the second robot 4, and the other end is hinged with the end of the telescopic belt conveyor 2.

[0058] In the embodiments of the utility model, the flexible matching conveying line 3 is used for flexible adjustment when the telescopic belt conveyor 2 is elongated and shortened.

[0059] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 extends too far, causing the flexible mating conveyor line 3 to be compressed and lifted, the telescopic belt conveyor 2 is controlled to fall so that the flexible mating conveyor line 3 lands.

[0060] When the second robot 4 moves to the target position, and the telescopic belt conveyor 2 is too short to cause the flexible mating conveyor line 3 to be pressed down, the telescopic belt conveyor 2 is controlled to rise.

[0061] The flexible conveyor line 3 is equipped with a first sensor and a second sensor.

[0062] The first sensor is used to detect changes in the length of the flexible mating conveyor line 3;

[0063] The second sensor is installed on one end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2, and is used to detect changes in the angle of the flexible mating conveyor line 3.

[0064] When the first sensor detects that the length of the flexible mating conveyor line 3 has increased, it controls the telescopic belt conveyor 2 to extend; when the first sensor detects that the length of the flexible mating conveyor line 3 has decreased, it controls the telescopic belt conveyor 2 to shorten.

[0065] When the second sensor detects that the flexible mating conveyor line 3 is raised, the telescopic belt conveyor 2 is controlled to rise; when the second sensor detects that the flexible mating conveyor line 3 is lowered, the telescopic belt conveyor 2 is controlled to descend.

[0066] In this embodiment of the present invention, the first sensor is a pull rope sensor. The main body of the pull rope sensor is disposed at one end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2, and the end of the steel wire rope of the pull rope sensor is connected to the end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2. Therefore, when the flexible mating conveyor line 3 is stretched, the steel wire rope is also pulled, so that the pull rope sensor can detect the change in length of the flexible mating conveyor line 3.

[0067] The second sensor is an angle sensor. When the flexible conveyor line 3 is raised or lowered, the second sensor can detect the corresponding angle change, thereby controlling the telescopic belt conveyor 2 to rise or fall. The flexible conveyor line 3 is a telescopic roller conveyor.

[0068] Figure 3 This is a schematic diagram of the telescopic belt conveyor in an embodiment of the present invention, as shown below. Figure 3 As shown, the telescopic belt conveyor 2 includes: a first-stage telescopic mechanism 201, a second-stage telescopic mechanism 202, and a third-stage telescopic mechanism 203;

[0069] The second level telescopic mechanism 202 is arranged in the first level telescopic mechanism 201 and can be extended and retracted along the first level telescopic mechanism 201; the third level telescopic mechanism 203 is arranged in the second level telescopic mechanism 202 and can be extended and retracted along the second level telescopic mechanism 202.

[0070] The upper surfaces of the first level telescopic mechanism 201, the second level telescopic mechanism 202 and the third level telescopic mechanism 203 are flush and share the same conveying belt 205.

[0071] In the embodiment of the utility model, the telescopic belt conveyor 2 can also be provided as a five-level telescopic mechanism.

[0072] In the embodiment of the utility model, the telescopic belt conveyor 2 further comprises a hydraulic cylinder 204, which is used to support the body of the telescopic belt conveyor 2 and realize adjustment of the pitch angle to adapt to different working scenarios of different heights.

[0073] In the embodiment of the utility model, the rollers are arranged below the chassis of the telescopic belt conveyor 2, and the rollers can be connected with the servo motor to realize autonomous movement of the telescopic belt conveyor 2, or only the rollers are arranged to realize pushing of the telescopic belt conveyor 2.

[0074] The side of the telescopic belt conveyor 2 close to the second robot 4 extends into the working space by a preset length or retracts by a preset length according to the received first control instruction and / or the second control instruction generated by the processor of the telescopic belt conveyor 2 during work.

[0075] For example, the side of the telescopic belt conveyor 2 close to the second robot 4 extends into the working space by a preset length or retracts by a preset length according to the received first control instruction and / or the second control instruction generated by the processor of the telescopic belt conveyor 2 during work.

[0076] In the embodiment, the telescopic belt conveyor 2 can realize automatic telescoping to adapt to different working scenario requirements. For example, for a container, during initial loading, the telescopic belt conveyor 2 can be extended to a deep position inside the container, and as the loading task is performed, the telescopic belt conveyor 2 slowly retracts towards the outside of the container as needed, so that the second robot 4 working inside the container can more efficiently load the materials 206. Correspondingly, in the unloading scenario, it is just the opposite, and the telescopic belt conveyor 2 slowly extends into the container according to the unloading task.

[0077] In the embodiment of the utility model, the electrical connection line of the second robot 4 extends along the flexible matching conveying line 3 and the telescopic belt conveyor 2.

[0078] Figure 4 A height difference schematic diagram generated by the telescopic belt conveyor elongation in the embodiment of the utility model, as shown in Figure 4 When the telescopic belt conveyor 2 is elongated, because there is an angle change when the belt conveyor is elongated, the end target position of the telescopic belt conveyor 2 has a height difference relative to the end original position, at this time, if the telescopic belt conveyor 2 is directly connected to the conveyor 403, the target box cannot be transported to the conveyor 403, and the end height and the elongated length of the telescopic belt conveyor 2 need to be adjusted accurately and repeatedly for multiple times to realize the accurate connection of the end of the telescopic belt conveyor 2 and the conveyor 403.

[0079] When the telescopic belt conveyor 2 is connected to the conveyor 403 through the flexible matching conveying line 3, at this time, only the flexible matching conveying line 3 can relieve the problem of being unable to transport the target box caused by the height difference through deformation, and the deformation of the flexible matching conveying line 3 can also give a visual reference for adjusting the end height of the telescopic belt conveyor 2, thereby facilitating the adjustment of the end of the telescopic belt conveyor 2.

[0080] Figure 2 A structure schematic diagram of the second robot in the embodiment of the utility model, as shown in Figure 2 The loading and unloading system based on the telescopic belt conveyor provided by the utility model further comprises a material sorting conveying line 401.

[0081] The second robot comprises a second mobile base 402, and the material sorting conveying line 401 is arranged on the second mobile base 402.

[0082] The feeding port of the material sorting conveying line 401 is connected to the telescopic belt conveyor 2 through the flexible matching conveying line 3.

[0083] A second mechanical arm is arranged at the front end of the second mobile base 402 and is used for moving the target box conveyed by the material sorting conveying line 401 to a target position or moving the target box on the material placing position to the material sorting conveying line 401.

[0084] Figure 5 A structure schematic diagram of the first robot in the embodiment of the utility model, as shown in Figure 5 In the embodiment of the utility model, the first robot 1 comprises:

[0085] A first mobile base 101 can move to any position or pause at any position and determine the angle of orientation according to the received control instruction.

[0086] A first mechanical arm 102 is arranged on the first mobile base 101 and is used for moving the target box of the tray to the telescopic belt conveyor 2.

[0087] In the deformation example of the utility model, the first robot 1 can adopt a fixed-position robot.

[0088] Figure 6 For the structural schematic view of the material sorting conveying line in the embodiment of the utility model, as shown in the figure, the material sorting conveying line 401 comprises: Figure 6

[0089] The material sorting line body 401 is arranged on the moving base, is connected with the telescopic belt conveyor through the flexible matching conveying line, and is used for conveying the target box body.

[0090] The edge returning baffle 4012 is arranged on the material sorting line body 401 and is used for preventing the target box body from falling off.

[0091] The push plate 4013 is arranged on the material sorting line body 401 and is arranged opposite to the edge returning baffle 4012, and is used for pushing the target box body to be close to the edge returning baffle 4012.

[0092] The push plate driving mechanism 4014 is used for driving the push plate 4013 to move relative to the edge returning baffle 4012, so that the target box body is pushed to be close to the edge returning baffle 4012.

[0093] The front baffle lifting mechanism 4015 is arranged at the discharge port of the material sorting line body 401; the front baffle lifting mechanism 4015 is used for blocking the target box body from passing through the discharge port of the material sorting line body 401 when being lifted, and allowing the target box body to pass through the discharge port of the material sorting line body 401 when being retracted.

[0094] The baffle driving mechanism is used for driving the edge returning baffle 4012 to move relative to the push plate 4013, so as to accelerate the relative movement between the push plate 4013 and the edge returning baffle 4012.

[0095] In the embodiment of the utility model, the push plate 4013 and the edge returning baffle 4012 are arranged in parallel relative to each other.

[0096] Figure 7 For the structural schematic view of the material sorting conveying line in the embodiment of the utility model, as shown in the figure, the push plate driving mechanism 4014 comprises a lead screw 40142, a lead screw nut, a lead screw output block 40143 and a first driving motor 40141. Figure 7

[0097] The first driving motor 40141 is used for driving the lead screw 40142 to rotate.

[0098] ​​The lead screw nut is disposed on the lead screw 40142 and can rotate with the lead screw 40142 and move along the lead screw 40142.

[0099] The lead screw output block 40143 is mounted on the lead screw nut and moves under the drive of the lead screw nut; the push plate 4013 is connected to the lead screw output block 40143.

[0100] The baffle drive mechanism includes a baffle screw, a baffle screw nut, a baffle screw output block, and a baffle drive motor.

[0101] The baffle drive motor is used to drive the baffle screw to rotate;

[0102] The baffle screw nut is mounted on the baffle screw and can move along the screw as the baffle screw rotates.

[0103] The baffle screw output block is mounted on the baffle screw nut and moves under the drive of the baffle screw nut; the return baffle is connected to the baffle screw output block.

[0104] One end of the lead screw is mounted on the left mounting plate 40111 via a bearing lead screw support fixing assembly, and the other end is mounted on the right mounting plate via a bearing lead screw support assembly.

[0105] In this embodiment of the utility model, the lead screw output block 40143 is provided with a plurality of push plate support rods arranged in sequence;

[0106] The material handling line body 401 includes a plurality of rollers 40113 arranged in sequence;

[0107] Each of the push plate support rods is disposed between two adjacent rollers 40113 and is movable along the length extension direction of the rollers 40113;

[0108] The push plate 4013 is mounted on the push plate support rod.

[0109] The multiple push plate support rods are parallel to each other.

[0110] The first drive motor 40141 is mounted on the left mounting plate 40111 or the right mounting plate 40112 via a synchronous pulley tensioning plate;

[0111] A first synchronous pulley 40145 is provided on the output shaft of the first drive motor 40141; a second synchronous pulley 40146 is provided at the end of the lead screw 40142;

[0112] The first synchronous pulley 40145 and the second synchronous pulley 40146 are connected by a synchronous belt.

[0113] The windshield lifting mechanism 4015 includes: a second drive motor 40151, a reducer, a lifting arm 40152, a mounting base plate 40156, and a windshield lifting plate 40153.

[0114] The mounting base plate 40156 is located at the discharge port of the material handling line body 401;

[0115] The reducer is mounted on the mounting base plate 40156, and the second drive motor 40151 drives the lifting arm 40152 through the reducer.

[0116] One end of the lifting arm 40152 is connected to the output shaft of the reducer, and the other end is connected to the front lift plate 40153;

[0117] The second drive motor 40151 is used to drive the front lift plate 40153 to rise to block the target box from passing through the discharge port of the material handling line body 401, and to drive the front lift plate 40153 to retract to allow the target box to pass through the discharge port of the material handling line body 401.

[0118] The two ends of the mounting base plate 40156 are fixed to the front ends of the left mounting plate 40111 and the right mounting plate 40112, and are perpendicularly connected to the left mounting plate 40111 and the right mounting plate 40112.

[0119] In this embodiment of the utility model, a second guide rail 40154 and a third guide rail 40155 are provided on the mounting base plate 40156;

[0120] The front windshield lift plate 40153 is connected to the second guide rail 40154 via the second slider and to the third guide rail 40155 via the third slider;

[0121] The front windshield lift plate 40153 can slide along the height direction of the mounting base plate 40156 via the second guide rail 40154 and the third guide rail 40155.

[0122] In this embodiment of the utility model, the material handling line body 401 includes a left mounting plate 40111, a right mounting plate 40112, a roller 40113, and a roller driving mechanism.

[0123] The left mounting plate 40111 and the right mounting plate 40112 are arranged opposite to each other;

[0124] Multiple rollers 40113 are sequentially arranged on the left mounting plate 40111 and the right mounting plate 40112, and are rotatably connected to the left mounting plate 40111 and the right mounting plate;

[0125] The roller drive mechanism is used to drive the roller 40113 to rotate, thereby driving the movement of the target box.

[0126] In this embodiment of the utility model, the material handling conveyor line provided by the utility model further includes a first guide rail and a crossbeam 40144;

[0127] One end of the crossbeam 40144 is mounted on the left mounting plate 40111, and the other end is mounted on the right mounting plate; the first guide rail is mounted on the crossbeam 40144;

[0128] One end of the lead screw 40142 is mounted on the left mounting plate 40111 via the lead screw support fixing side assembly, and the other end is mounted on the right mounting plate via the lead screw support support assembly.

[0129] The lead screw output block 40143 is connected to the first guide rail via a first slider and can slide along the first guide rail. The baffle lead screw output block is connected to the first guide rail via a baffle slider and can slide along the first guide rail.

[0130] Figure 9 This is a schematic diagram of the working state of the loading and unloading system based on the telescopic belt conveyor in an embodiment of this utility model, as shown below. Figure 9 As shown, the loading and unloading system based on a telescopic belt conveyor provided by this utility model includes the following steps during operation:

[0131] Step S1: After the second robot arrives inside the designated work space, adjust the length of the telescopic belt conveyor 2, and then adjust the end height of the telescopic belt conveyor 2 to alleviate the deformation of the flexible conveyor line.

[0132] In this embodiment of the utility model, the telescopic belt conveyor 2 is used to realize the transmission relay between the first robot and the second robot, that is, it is adapted to the working range of the first robot and the second robot in the height direction and the length direction.

[0133] Step S2: Determine the operating parameters of the first robot and the second robot.

[0134] The operational parameters in this embodiment include: the interval step size for grasping or placing tasks, the motion parameters of the robotic arm, stack type information, etc.

[0135] Step S3: Based on the operation parameters, perform the task of grabbing or placing materials.

[0136] In this embodiment of the invention, a first robot places the material to be loaded onto a telescopic conveyor belt 2, which, in conjunction with the flexible conveyor line, delivers the material to the working range of a second robot. When the second robot performs loading operations, it determines the location of the working space based on its own visual positioning system and moves into the designated working space, which includes containers, carriages, flatbed trucks, warehouses, ship holds, and engine rooms. This overcomes the limitations of robot arm reach and working range, solving the problem of unpacking and stacking goods in narrow spaces, replacing manual labor, achieving full automation, and effectively improving loading efficiency.

[0137] In this embodiment of the invention, a first robot places the material to be loaded onto the telescopic conveyor belt. The front end of the telescopic conveyor belt is connected to a second robot via the flexible coupling conveyor line. The second robot moves to the designated compartment according to a received first control command and / or a second control command generated by its own processor, and performs operations within the compartment according to the work progress, thereby achieving automatic material loading. The connection of the front end of the telescopic conveyor belt to the second robot via the flexible coupling conveyor line allows for easy adjustment of the length and height differences caused by the extension or shortening of the telescopic conveyor belt when it engages with the second robot, reducing the debugging time of the loading and unloading system and improving work efficiency.

[0138] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0139] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A truck loading and unloading system based on a telescopic belt conveyor, characterized in that, The application relates to a flexible cooperation conveying line and a method for loading and unloading materials. The first robot, the flexible belt conveyor, the flexible cooperation conveying line and the second robot; The first robot is used for placing materials to be loaded on the flexible belt conveyor or placing materials on the flexible belt conveyor on a tray; The front end of the flexible belt conveyor is connected with the second robot through the flexible cooperation conveying line; The flexible belt conveyor cooperates with the flexible cooperation conveying line and is used for conveying materials to the working range of the second robot or conveying materials to the working range of the first robot; The second robot is used for moving to a specified compartment according to a received first control instruction and / or a second control instruction generated by a self processor and moving work in the compartment according to work progress.

2. The telescopic belt conveyor based truck loading and unloading system as claimed in claim 1, wherein, When the second robot moves away from the flexible belt conveyor, the flexible belt conveyor is elongated to cooperate with the moving away of the second robot; When the second robot moves towards the flexible belt conveyor, the flexible belt conveyor is shortened to cooperate with the moving towards of the second robot.

3. The telescopic belt-based car loading and unloading system according to claim 1, characterized in that, One end of the flexible cooperation conveying line is hinged with the rear end of the second robot, and the other end is hinged with the tail end of the flexible belt conveyor.

4. The telescopic belt conveyor based truck loading and unloading system as claimed in claim 2, wherein, The flexible cooperation conveying line is provided with a first sensor and a second sensor; The first sensor is used for detecting the length change of the flexible cooperation conveying line; The second sensor is arranged on one end of the flexible cooperation conveying line close to the flexible belt conveyor and is used for detecting the angle change of the flexible cooperation conveying line.

5. The telescopic belt-based truck loading and unloading system according to claim 1, characterized in that, The flexible belt conveyor comprises a first-stage telescopic mechanism, a second-stage telescopic mechanism and a third-stage telescopic mechanism; The second-stage telescopic mechanism is arranged in the first-stage telescopic mechanism and can be extended and retracted along the first-stage telescopic mechanism; The third-stage telescopic mechanism is arranged in the second-stage telescopic mechanism and can be extended and retracted along the second-stage telescopic mechanism.

6. The telescoping belt-based car loading and unloading system of claim 1, wherein, The flexible belt conveyor further comprises a hydraulic cylinder; The hydraulic cylinder is used for supporting the body of the flexible belt conveyor and adjusting the pitch angle to adapt to different height work scenes.

7. The telescopic belt-based truck loading and unloading system according to claim 5, characterized in that, The electric connection line of the second robot extends along the flexible cooperation conveying line and the flexible belt conveyor.

8. The telescopic belt-based truck loading and unloading system according to claim 1, characterized in that, The application further relates to a material sorting conveying line. The second robot comprises a moving base, and the material sorting conveying line is arranged on the moving base; The feeding port of the material sorting conveying line is connected with the flexible belt conveyor through the flexible cooperation conveying line.

9. The telescopic belt-based truck loading and unloading system according to claim 8, characterized in that, The material sorting line body is arranged on the moving base, is connected with the flexible belt conveyor through the flexible cooperation conveying line and is used for conveying target boxes; The edge returning baffle is arranged on the material sorting line body and is used for preventing the target boxes from sliding; The push plate is arranged on the material sorting line body and is arranged opposite to the edge returning baffle and is used for pushing the target boxes close to the edge returning baffle; The push plate driving mechanism is used for driving the push plate to move relative to the edge returning baffle so as to push the target boxes close to the edge returning baffle. ​ 10. The telescopic belt conveyor based truck loading and unloading system as claimed in claim 4, wherein, When the first sensor detects that the length of the flexible matching conveying line is getting longer, the retractable belt conveyor is controlled to elongate; when the first sensor detects that the length of the flexible matching conveying line is getting shorter, the retractable belt conveyor is controlled to shorten; When the second sensor detects that the flexible matching conveying line is lifted upward, the retractable belt conveyor is controlled to ascend; when the second sensor detects that the flexible matching conveying line is drooping, the retractable belt conveyor is controlled to descend.

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