Loading and unloading robot

Abstract

The embodiment of the utility model provides a loading and unloading robot. The loading and unloading robot comprises a manipulator, a movable conveying assembly and a goods taking and placing assembly. Wherein the goods taking and placing assembly is arranged on the mechanical arm, and the mechanical arm is arranged on the movable conveying assembly; when the mechanical arm takes and places the goods through the goods taking and placing assembly, the moving conveying assembly and the mechanical arm synchronously get close to or away from the goods stack to receive and take the goods, the moving conveying assembly reciprocates between the goods and the conveying line to receive and take the goods, and the moving stroke of the mechanical arm for placing the goods on the moving conveying assembly is greatly shortened; and the grabbing and conveying processes of two adjacent cargoes are overlapped in time, so that the cargo loading and unloading frequency is improved, and the cargo loading and unloading efficiency is greatly improved.

Description

Technical Field

[0001] This application relates to the field of logistics equipment technology, and in particular to a loading and unloading robot. Background Technology

[0002] In the logistics industry, goods need to be moved between warehouses and containers. Traditionally, this was done manually, which is costly and inefficient. With the continuous development of automated equipment, automated loading and unloading equipment has been gradually applied to loading and unloading in the logistics industry, reducing labor costs.

[0003] In related technologies, automated loading and unloading equipment includes robotic arms for handling goods and conveyor lines for transporting goods. The robotic arms pull goods from stacked goods and place them on the conveyor lines, which then transport the goods to designated locations.

[0004] However, existing robotic arms are inefficient when handling goods. Utility Model Content

[0005] This application provides a loading and unloading robot to improve the efficiency of loading and unloading goods.

[0006] This application provides a loading and unloading robot, including a robotic arm, a mobile conveying component, and a cargo picking and placing component;

[0007] The cargo handling component is mounted on the robotic arm, and the robotic arm is mounted on the mobile conveying component;

[0008] When the robotic arm picks up or places goods using the goods picking and placing component, the mobile conveying component moves toward the target goods and receives the goods picked up by the robotic arm.

[0009] In one feasible implementation, the cargo handling component includes:

[0010] First conveying component;

[0011] A gripping component is disposed on the first conveying component. The first conveying component drives the gripping component to move. The gripping component is used to pull the goods onto the first conveying component. The first conveying component and the gripping component together transfer the goods to the target location.

[0012] In one feasible implementation, there is one first conveying component and multiple gripping components, which simultaneously or separately pull the goods.

[0013] Alternatively, multiple first conveying components may be provided, and these components may be sequentially arranged on the fixed frame along the width direction of the fixed frame. Multiple gripping components may be provided, with each gripping component corresponding to a specific first conveying component. Alternatively, each gripping component may be arranged between two adjacent first conveying components, and the first conveying component may drive the corresponding gripping component to move closer to or away from the goods to be gripped.

[0014] In one feasible implementation, the first conveying assembly includes a frame, a flexible conveyor, and a conveying drive motor. The conveying drive motor is mounted on the frame, the flexible conveyor is wound around the frame, the conveying drive motor drives the flexible conveyor to rotate, and the gripping assembly is connected to the flexible conveyor.

[0015] In one feasible implementation, the cargo gripping unit includes a first linear drive unit, a hinge seat, a linkage assembly, and an adsorption unit. The hinge seat is disposed on the slide. One end of the linkage assembly is hinged to the hinge seat, and the other end is hinged to the adsorption unit. The first linear drive unit is disposed on the slide. The moving end of the first linear drive unit is connected to the hinge point of the linkage assembly. The first linear drive unit adjusts the position of the adsorption unit through the linkage assembly.

[0016] In one feasible implementation, the mobile conveying component includes:

[0017] The first chassis is for mounting on the ground;

[0018] A first guide assembly is mounted on the first chassis;

[0019] The second conveying component is connected to the first chassis via the first guiding component. The second conveying component is used to grab goods and then transfer and transport them.

[0020] A first drive assembly is connected to the second conveying assembly, which drives the second conveying assembly to move along the first guide assembly so that the second conveying assembly moves closer to or away from the goods.

[0021] In one feasible implementation, the second conveying assembly includes a first conveying section, the conveying direction of which is perpendicular to the travel direction of the first chassis.

[0022] In one feasible implementation, the second conveying assembly further includes a third conveying section, the conveying direction of which is along the travel direction of the chassis.

[0023] In one feasible implementation, the second conveying assembly includes at least one first conveying section and at least one third conveying section, with at least one second conveying section disposed between the first conveying section and the third conveying section. The second conveying section is a transfer conveying assembly, and the first conveying section, the second conveying section, and the third conveying section are arranged in a figure-7, a T, or a U-shape.

[0024] In one feasible implementation, the first drive component is a cyclic transmission mechanism or a linear drive mechanism, wherein the cyclic transmission mechanism is configured as a transmission chain assembly or a timing belt assembly, and the linear drive mechanism is configured as one of an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, or a lead screw assembly.

[0025] In one feasible implementation, the mobile conveying assembly further includes a first lifting assembly;

[0026] The second conveying component is connected to the first guide component through the first lifting component, and the first lifting component is used to drive the second conveying component to move up and down.

[0027] In one feasible implementation, the mobile conveying assembly is configured as a separate conveying assembly, the separate conveying assembly comprising:

[0028] The second chassis is used for mounting on the ground;

[0029] The third conveying assembly is mounted on the second chassis;

[0030] The third conveying assembly selectively moves along the direction of approaching or moving away from the side stack of goods to pick up the goods held by the robotic arm on the side and transfer the goods.

[0031] In one feasible implementation, the third conveying component is provided as a set, and the set of the third conveying components is mounted on the second chassis via a second driving component, the second driving component driving the third conveying components to rise and move outward;

[0032] Alternatively, the third conveying component may be provided in two sets, with the two sets of the third conveying component arranged side by side, and both sets of the third conveying component being mounted on the second chassis via the second drive component;

[0033] The second driving component drives both sets of the third conveying components to rise simultaneously and move outward simultaneously;

[0034] Alternatively, the second drive component drives both sets of the third conveying components to descend simultaneously and move inward simultaneously.

[0035] In a feasible implementation manner, the second driving component includes a second linear driving part and a parallelogram structure. The third conveying component is arranged on the second chassis through the parallelogram structure. Two ends of the second linear driving part are respectively hinged to the third conveying component and the second chassis, and the second linear driving part is arranged in a cross manner with at least one connecting rod of the parallelogram structure. The second linear driving part is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0036] In a feasible implementation manner, the second driving component includes a second lifting component, an intermediate bracket and a translation component. The intermediate bracket is arranged on the second chassis through the second lifting component. The third conveying component is arranged on the intermediate bracket through the translation component. The second lifting component is a scissor structure, and the translation component is a linear driving part.

[0037] In a feasible implementation manner, the separable conveying component further includes at least one set of fourth conveying components, and the fourth conveying components are used for docking with the third conveying components to transfer the goods conveyed by the third conveying components.

[0038] The third conveying component and the fourth conveying component are arranged in a "7" shape or a "T" shape or a "凵" shape.

[0039] An embodiment of the present application provides a loading and unloading vehicle robot, including a manipulator, a mobile conveying component and a goods picking and placing component. Among them, the goods picking and placing component is arranged on the manipulator, and the manipulator is arranged on the mobile conveying component; when the manipulator picks and places goods through the goods picking and placing component, the mobile conveying component and the manipulator move towards the target goods, and the mobile conveying component picks up the goods grabbed by the manipulator.

[0040] When the manipulator picks up goods, the mobile conveying component and the manipulator approach the goods synchronously or in sequence. The manipulator places the already grabbed goods on the mobile conveying component, thereby greatly shortening the moving stroke of the manipulator to grab goods and place them on the mobile conveying component, and improving the goods picking and placing efficiency. When the manipulator picks up the next piece of goods, the mobile conveying component moves away from the goods at the same time to dock the mobile conveying component with the conveying line, so that the goods can be conveyed to the designated position through the conveying line. Then, the mobile conveying component moves towards the goods to pick up the next piece of goods grabbed by the manipulator. It can be understood that the mobile conveying component reciprocates between the goods and the conveying line to pick up goods, greatly shortening the moving stroke of the manipulator to place the goods on the mobile conveying component, and making the grasping and conveying processes of two adjacent goods overlap in time, improving the frequency of loading and unloading goods, and thus greatly improving the loading and unloading efficiency of goods. Description of the Drawings

[0041] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, but do not constitute an undue limitation of the present invention.

[0042] In the attached diagram:

[0043] Figure 1 This is a schematic diagram of the overall structure of the loading and unloading robot provided in the first embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the overall structure of the loading and unloading robot provided in the second embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the overall structure of the loading and unloading robot provided in the third embodiment of this application;

[0046] Figure 4 yes Figure 1 A schematic diagram of the first state of the loading and unloading robot in the diagram;

[0047] Figure 5 yes Figure 1 A schematic diagram of the second state of the loading and unloading robot in the image;

[0048] Figure 6 yes Figure 1 A schematic diagram of the third state of the loading and unloading robot in the image; Figure 7 yes Figure 1 A schematic diagram of the fourth state of the loading and unloading robot in the image;

[0049] Figure 8 yes Figure 1 A schematic diagram of the fifth state of the loading and unloading robot in the image;

[0050] Figure 9 yes Figure 1 A schematic diagram of the mobile conveying component of the loading and unloading robot in the image;

[0051] Figure 10 This is a schematic diagram of the mobile conveying assembly provided in the second embodiment of this application;

[0052] Figure 11 This is a schematic diagram of the mobile conveying assembly provided in the third embodiment of this application;

[0053] Figure 12 This is a schematic diagram of the mobile conveying assembly provided in the fourth embodiment of this application;

[0054] Figure 13 This is a schematic diagram of the mobile conveying assembly provided in the fourth embodiment of this application;

[0055] Figure 14 yes Figure 1 A schematic diagram of the detachable conveying component of the loading and unloading robot in the image;

[0056] Figure 15 yes Figure 14 A schematic diagram of the first state in which the separate conveyor assembly extends into the carriage;

[0057] Figure 16 yes Figure 14 A schematic diagram of the second state in which the separate conveyor assembly extends into the carriage;

[0058] Figure 17 This is a schematic diagram of the separate conveying assembly provided in the second embodiment of this application;

[0059] Figure 18 yes Figure 17 A second schematic diagram of the separate conveyor assembly in the diagram;

[0060] Figure 19 This is a schematic diagram of the detachable conveying assembly provided in the third embodiment of this application;

[0061] Figure 20 yes Figure 19 First schematic diagram of the separate conveying assembly in the middle;

[0062] Figure 21 yes Figure 19 A second schematic diagram of the separate conveyor assembly in the diagram;

[0063] Figure 22 A schematic diagram of the overall structure of a cargo handling component provided in an embodiment of this application;

[0064] Figure 23 yes Figure 22 A schematic diagram of the first state of the goods handling components in the process;

[0065] Figure 24 yes Figure 22 A schematic diagram of the second state of the goods handling component in the middle;

[0066] Figure 25 This is a schematic diagram of the structure of a cargo handling component provided in another embodiment of this application.

[0067] Explanation of reference numerals in the attached figures:

[0068] 100 - Robotic arm; 200 - Mobile conveyor assembly; 300 - Cargo handling assembly; 400 - Separate conveyor assembly; 500 - Carriage;

[0069] 210 - First chassis; 220 - First guide assembly; 230 - Second conveyor assembly; 240 - First drive assembly; 250 - First lifting assembly;

[0070] 231-First conveyor section; 232-Second conveyor section; 233-Third conveyor section; 241-First drive motor; 242-Flexible transmission assembly;

[0071] 310 - First conveying assembly; 320 - Gripping assembly; 330 - Fixing frame;

[0072] 311-Frame; 312-Flexible conveyor; 313-Conveyor drive motor; 321-Cargo gripping unit; 322-Slide base;

[0073] 3211-Bracket; 3212-Adsorption unit; 3213-First linear drive unit; 3214-Hinge seat; 3215-Link assembly;

[0074] 3212a - Mounting base; 3212b - Suction cup;

[0075] 410 - Second chassis; 420 - Third conveyor assembly; 430 - Fourth conveyor assembly; 440 - Parallelogram structure; 450 - Second linear drive unit;

[0076] 421 - First conveying unit; 422 - Second conveying unit. Detailed Implementation

[0077] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0078] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0079] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0080] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0081] In the logistics industry, goods need to be moved between warehouses and containers. Traditionally, this was done manually, which is costly and inefficient. With the continuous development of automated equipment, automated loading and unloading equipment has been gradually applied to loading and unloading in the logistics industry, reducing labor costs.

[0082] In related technologies, automated loading and unloading equipment includes robotic arms for handling goods and conveyor lines for transporting goods. The robotic arms pull goods from stacked goods and place them on the conveyor lines, which then transport the goods to designated locations.

[0083] However, existing robotic arms are inefficient when handling goods.

[0084] To address the aforementioned problems, this application provides a loading and unloading robot and a loading and unloading method. The solution provided by this application will be described in detail below with reference to the accompanying drawings.

[0085] Figure 1 This is a schematic diagram of the overall structure of the loading and unloading robot provided in the first embodiment of this application; Figure 2 This is a schematic diagram of the overall structure of the loading and unloading robot provided in the second embodiment of this application; Figure 3 This is a schematic diagram of the overall structure of the loading and unloading robot provided in the third embodiment of this application.

[0086] Reference Figures 1 to 3As shown in the figure, this application provides a loading and unloading robot, including a robotic arm 100, a mobile conveying assembly 200, and a cargo picking and placing assembly 300. The cargo picking and placing assembly 300 is mounted on the robotic arm 100, and the robotic arm 100 is mounted on the mobile conveying assembly 200. When the robotic arm 100 picks up or places cargo via the cargo picking and placing assembly 300, the mobile conveying assembly 200 and the robotic arm 100 synchronously move closer to or further away from the cargo stack to receive the cargo.

[0087] For example, the robotic arm 100 can be fixed to the chassis of the mobile conveying assembly 200 via a mounting base (e.g., Figure 1 As shown), it can also be fixedly mounted on the chassis of the mobile conveying assembly 200 via the mounting bracket 330 (e.g. Figure 2 (As shown). Or, as... Figure 3 As shown, the robot arm 100 can be directly fixed to the structure located above the mobile conveyor assembly 200. It is understood that when the robot arm 100 is fixed to the chassis in an inverted manner via the mounting bracket 330, the robot arm 100 will not affect the arrangement of the conveying components on the mobile conveyor assembly 200. The robot arm 100 can be configured as a six-axis robot arm 100, capable of gripping the front of a cargo, clamping the side of a cargo, or gripping the top surface.

[0088] Figure 4 yes Figure 1 A schematic diagram of the first state of the loading and unloading robot in the diagram; Figure 5 yes Figure 1 A schematic diagram of the second state of the loading and unloading robot in the image. Figure 6 yes Figure 1 A schematic diagram of the third state of the loading and unloading robot in the image; Figure 7 yes Figure 1 A schematic diagram of the fourth state of the loading and unloading robot in the image; Figure 8 yes Figure 1 The diagram shows the fifth state of the loading and unloading robot.

[0089] like Figures 4 to 8As shown, when the robotic arm 100 picks up goods, the mobile conveyor assembly 200 approaches the goods synchronously or sequentially with the robotic arm 100. The robotic arm 100 places the already grasped goods onto the mobile conveyor assembly 200, thereby significantly shortening the travel distance of the robotic arm 100 in grasping and placing the goods onto the mobile conveyor assembly 200, and improving the efficiency of goods retrieval and placement. Specifically, when dismantling the upper layer of goods in a stack, the mobile conveyor assembly 200 and the robotic arm 100 move towards the target goods synchronously. When dismantling the lower layer of goods, since the mobile conveyor assembly 200 can interfere with the movement of the robotic arm 100, the two cannot move towards the target goods simultaneously. In this case, the robotic arm 100 moves towards the target goods first. After the robotic arm 100 grasps and lifts the goods to a certain height, the mobile conveyor assembly 200 moves towards the target goods, while the robotic arm 100 moves towards the mobile conveyor assembly 200, and the two meet at an intermediate position.

[0090] When the robotic arm 100 places goods on the transfer conveyor assembly 200 to pick up the next item, the transfer conveyor assembly 200 simultaneously moves away from the goods to align with the conveyor line, allowing the goods to be transported to the designated location. Then, the transfer conveyor assembly 200 moves closer to the goods to receive the next item picked up by the robotic arm 100. It is understood that the reciprocating movement of the transfer conveyor assembly 200 between the goods and the conveyor line significantly shortens the travel distance of the robotic arm 100 when placing goods on the transfer conveyor assembly 200, and allows the picking and conveying processes of adjacent goods to overlap in time, increasing the frequency of loading and unloading, thereby greatly improving the efficiency of loading and unloading.

[0091] Figure 9 yes Figure 1 A schematic diagram of the mobile conveying component 200 of the loading and unloading robot in the image; Figure 10 This is a schematic diagram of the mobile conveying assembly 200 provided in the second embodiment of this application; Figure 11 This is a schematic diagram of the mobile conveying assembly 200 provided in the third embodiment of this application; Figure 12 This is a schematic diagram of the mobile conveying assembly 200 provided in the fourth embodiment of this application; Figure 13 This is a schematic diagram of the mobile conveying assembly 200 provided in the fourth embodiment of this application.

[0092] Reference Figures 9 to 13In some examples, the mobile conveying assembly 200 includes a first chassis 210, a first guide assembly 220, a second conveying assembly 230, and a first drive assembly 240. The first chassis 210 is mounted on the ground, providing a mounting base for other components. The robot arm 100 can be fixedly mounted on the first chassis 210 via a mounting bracket or mounted upside down on the first chassis 210 via a mounting frame. The first guide assembly 220 is disposed on the first chassis 210; the second conveying assembly 230 is connected to the first guide assembly 220, and the second conveying assembly 230 is used to convey goods, while the first guide assembly 220 guides the movement of the second conveying assembly 230. The first drive assembly 240 is connected to the second conveying assembly 230, and the first drive assembly 240 drives the second conveying assembly 230 to move along the first guide assembly 220, causing the second conveying assembly 230 to move closer to or further away from the goods.

[0093] For example, the first chassis 210 provides a mounting base for various components and can take many forms. For example, the first chassis 210 can be a bracket structure welded from multiple profiles, and the first chassis 210 is directly fixed to the ground. To facilitate moving the first chassis 210 to a designated location, multiple wheels can be provided at the bottom of the first chassis 210. Alternatively, a track assembly can be provided at the lower part of the first chassis 210.

[0094] The first guide component 220 can be configured as a track component or a chute pulley component. For example, the first guide component 220 is configured as a track component, including a track arranged along the length of the first chassis 210 and pulleys that slide in cooperation with the track. The pulleys are located at the bottom of the second conveying component 230, and the second conveying component 230 slides along the track via the pulleys. Both the track component and the chute pulley component are prior art, and their specific structures will not be described in detail here.

[0095] For example, the second conveying assembly 230 is configured as a conveyor belt assembly, a conveyor roller assembly, or a transfer conveying assembly to transport goods to a designated location. Conveyor belt assemblies, conveyor roller assemblies, and transfer conveying assemblies are all prior art and will not be described in detail here.

[0096] In addition, the second conveying component 230 can be a straight conveying line or a conveying line with a turning function, and the overall line is L-shaped.

[0097] In some examples, the second conveying assembly 230 includes a first conveying section 231, the conveying direction of which is perpendicular to the traveling direction of the first chassis 210. In other examples, the second conveying assembly 230 further includes a third conveying section 233, the conveying direction of which is along the traveling direction of the first chassis 210. It should be noted that the traveling direction of the first chassis 210 can be referenced... Figure 7 The x-direction.

[0098] In some examples, the second conveying assembly 230 includes at least one first conveying section 231, at least one second conveying section 232, and at least one third conveying section 233. The second conveying section 232 is disposed between the first conveying section 231 and the third conveying section 233. The second conveying section 232 is configured as a transfer conveying assembly for transferring goods on the first conveying section 231 to the third conveying section 233.

[0099] Reference Figures 10 to 13 As shown, the first conveying section 231, the second conveying section 232, and the third conveying section 233 can be arranged in a figure-7, a T, or a U-shape. It is understood that the arrangement of the first conveying section 231, the second conveying section 232, and the third conveying section 233 can be selected according to the configuration of the robot arm 100. When there is one robot arm 100, the first conveying section 231, the second conveying section 232, and the third conveying section 233 can be arranged in a figure-7 or a U-shape; when there are multiple robot arms 100, the first conveying section 231, the second conveying section 232, and the third conveying section 233 can be arranged in a T-shape. Multiple robot arms 100 are arranged on both sides of the T-shape. Furthermore, as... Figure 11 As shown, when the robot arm 100 is installed upside down via the mounting bracket 330, the first conveying section 231, the second conveying section 232, and the third conveying section 233 can also be arranged in a "T" shape.

[0100] Reference Figure 9 As shown, exemplarily, the first conveying section 231, the second conveying section 232, and the third conveying section 233 are all slidably connected to the first chassis 210, with the first conveying section 231 connected to the second conveying section 232, and the second conveying section 232 connected to the third conveying section 233, and the first conveying section 231 and the third conveying section 233 arranged perpendicularly to each other. The first conveying section 231 and the third conveying section 233 are respectively configured as conveyor belt assemblies or conveyor roller assemblies for conveying goods. The second conveying section 232 can be configured as a transfer conveying assembly, located at the corner of the first conveying section 231 and the third conveying section 233 to change the conveying direction of the goods. Conveyor belt assemblies, conveyor roller assemblies, or transfer first conveying assemblies 310 are all prior art and will not be described in detail here. The transfer conveying assembly can be a Mecanum wheel first conveying assembly 310.

[0101] In some examples, the second conveying assembly 230 also includes a first carriage (not shown in the figure), the first conveying section 231, the second conveying section 232 and the third conveying section 233 are all disposed on the first carriage, the first carriage is connected to the first guide assembly 220, and the first drive assembly 240 is connected to the first carriage.

[0102] like Figure 9 As shown, exemplarily, the first drive assembly 240 includes a first drive motor 241 and a flexible transmission assembly 242. The first drive motor 241 may be mounted on the first chassis 210 or on the ground. The flexible transmission assembly 242 is mounted on the first chassis 210 and is connected to both the first drive motor 241 and the first conveying assembly 310.

[0103] The first drive motor 241 drives the first conveying component 310 to move along the first guide component 220 via the flexible transmission component 242. For example, the flexible transmission component 242 may be a transmission chain component or a transmission belt component.

[0104] In some examples, the flexible transmission assembly 242 is configured as a transmission chain assembly, which is disposed on the first chassis 210. The first drive motor 241 is connected to the first conveying assembly 310 via the transmission chain assembly. Specifically, the transmission chain assembly includes a transmission chain and sprockets. The sprockets are rotatably mounted on the first chassis 210, and the transmission chain is wound around the two sprockets. The first drive motor 241 is connected to the sprockets via a drive shaft, and the transmission chain rotates. The transmission chain is connected to the first conveying assembly 310, and during its rotation, it drives the second conveying assembly 230 to move along the length of the first chassis 210.

[0105] To ensure stable movement of the second conveying component 230, the first drive component 240 includes at least two sets of flexible transmission components 242, which are respectively disposed on both sides of the first drive motor 241 and connected to the second conveying component 230. The first drive motor 241 drives the at least two sets of flexible transmission components 242 to operate simultaneously via a synchronous shaft, thereby causing all flexible transmission components 242 to simultaneously drive the second conveying component 230 to move.

[0106] Since the second conveying assembly 230 moves only in a straight line, it can be understood that the first drive assembly 240 can be configured as a linear drive assembly. Specifically, one end of the linear drive assembly is connected to the first chassis 210, and the other end is connected to the second conveying assembly 230. The linear drive assembly drives the second conveying assembly 230 to move along the first guide assembly 220. For example, the linear drive assembly can be a cylinder assembly, a hydraulic cylinder assembly, an electric cylinder assembly, or it can be a lead screw assembly or a rack and pinion assembly. The above-mentioned linear drive assemblies are all prior art, and their detailed structures will not be described in detail here.

[0107] Reference Figure 6As shown, in some other examples, the mobile conveying assembly 200 also includes a first lifting assembly 250. The lower end of the first lifting assembly 250 is connected to the first guide assembly 220, and the upper end of the first lifting assembly 250 is fixedly connected to the second conveying assembly 230. That is, the second conveying assembly 230 is connected to the first guide assembly 220 through the first lifting assembly 250. The first lifting assembly 250 is used to drive the second conveying assembly 230 to rise and fall, thereby allowing the second conveying assembly 230 to be closer to the end of the robot arm 100, further shortening the travel distance of the robot arm 100, saving the time for the robot arm 100 to transfer goods, and improving the efficiency of loading and unloading goods. For example, the first lifting assembly 250 can be configured as a scissor lift assembly. Scissor lift assemblies are prior art, and their specific structure will not be described in detail here.

[0108] When the width of the carriage 500 is much larger than the width of the conveyor line, the distance that the robot arm 100 needs to travel to load and unload goods is greatly increased, resulting in low loading and unloading efficiency. To solve this problem, in some examples, the moving conveyor assembly 200 is configured as a separate conveyor assembly 400.

[0109] Figure 14 yes Figure 1 A schematic diagram of the detachable conveying component 400 of the loading and unloading robot in the diagram; Figure 15 yes Figure 14 A schematic diagram of the first state in which the separate conveying assembly 400 extends into the carriage 500; Figure 16 yes Figure 14 A schematic diagram of the second state in which the separate conveying assembly 400 extends into the carriage 500; Figure 17 This is a schematic diagram of the separate conveying assembly 400 provided in the second embodiment of this application; Figure 18 yes Figure 17 A second schematic diagram of the separate conveying assembly 400 in the middle; Figure 19 This is a schematic diagram of the separate conveying assembly 400 provided in the third embodiment of this application; Figure 20 yes Figure 19 A first schematic diagram of the separate conveying assembly 400 in the middle; Figure 21 yes Figure 19 A second schematic diagram of the separate conveying assembly 400 in the middle.

[0110] Reference Figures 14 to 21 As shown, the separate conveying assembly 400 includes a second chassis 410 and a third conveying assembly 420. The second chassis 410 is mounted on the ground, providing a mounting base for other components. The third conveying assembly 420 is mounted on the second chassis 410 and selectively moves along a direction close to or away from the edge of the stack of goods to pick up goods held by the robot arm 100 and transfer them. That is, the third conveying assembly 420 moves along a first direction. It should be noted that the first direction can be referred to as... Figure 14 As shown in the y-direction, the second direction can be referenced. Figure 14 The x-direction is shown in the figure.

[0111] When the robotic arm 100 extends into the carriage 500 to retrieve goods, the third conveying assembly 420 simultaneously extends into the carriage 500. The third conveying assembly 420 moves synchronously along the first direction and approaches the stack of goods on the inner side of the carriage 500. After the robotic arm 100 grabs the first item and places it on the third conveying assembly 420, the robotic arm 100 moves towards the stack of goods to grab the second item. The third conveying assembly 420 then moves in the opposite direction (away from the goods) and connects with the conveyor line, transferring the goods on it to the conveyor line, thereby transferring them to the designated location.

[0112] Once the goods have moved onto the conveyor line, the third conveyor component 420 immediately moves towards the stack of goods to pick up the second item grabbed by the robotic arm 100. Understandably, because the third conveyor component 420 moves synchronously with the robotic arm 100 during its retrieval process, it significantly reduces the travel distance of the robotic arm 100, improving the efficiency of goods handling. The reciprocating movement of the third conveyor component 420 between the stack of goods and the conveyor line drastically shortens the travel distance of the robotic arm 100 and overlaps the grabbing and conveying processes of adjacent goods in time, increasing the frequency of loading and unloading, thereby greatly improving the efficiency of the logistics system. It should be noted that the conveyor line is a logistics conveying component fixedly installed in the storage area for the turnover and transport of goods.

[0113] In some examples, a set of third conveying components 420 is provided, and the set of third conveying components 420 is mounted on the second chassis 410 via a second drive component. The second drive component drives the third conveying components 420 to rise and move outward simultaneously, or the second drive component drives the second conveying components 230 to descend and move inward. It should be noted that "outward" refers to a direction perpendicular to the direction of movement of the second chassis 410 and extending to both sides; that is, "outward" refers to a direction perpendicular to the direction of movement of the second chassis 410 and away from the second chassis 410.

[0114] like Figure 14 As shown, in some examples, two sets of third conveying components 420 are provided, arranged side by side, and both sets of third conveying components 420 are mounted on the second chassis 410 via a second drive component. The second drive component drives both sets of third conveying components 420 to rise and move outward simultaneously to approach the side of the carriage 500; or, the second drive component drives both sets of second conveying components 230 to descend and move inward simultaneously to transfer goods.

[0115] For example, the second drive assembly includes a second linear drive unit 450 and a parallelogram structure 440. The third conveying assembly 420 is designed on the second chassis 410 through the parallelogram structure 440. The two ends of the second linear drive unit 450 are respectively hinged to the third conveying assembly 420 and the second chassis 410, and the second linear drive unit 450 is arranged to cross at least one link of the parallelogram structure 440.

[0116] like Figure 15 and Figure 16 As shown, two third conveying assemblies 420 are fixedly mounted on the upper ends of two parallelogram structures 440, and the lower ends of the two parallelogram structures 440 are fixedly connected to the second chassis 410. Two second linear drive units 450 are connected to the corresponding third conveying assemblies 420 and the second chassis 410, respectively. When the two second linear drive units 450 extend, the two third conveying assemblies 420 simultaneously increase in height and move outwards (moving in opposite directions). Conversely, when the two second linear drive units 450 retract, the two third conveying assemblies 420 decrease in height and move inwards until they contact each other (relative movement). For example, the second linear drive unit 450 can be configured as an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0117] In other examples, the second drive assembly includes a second lifting assembly, an intermediate support, and a translation assembly. The intermediate support is mounted on the second chassis 410 via the second lifting assembly. The third conveying assembly 420 is slidably mounted on the intermediate support via guide rails. The translation assembly is mounted on the intermediate support and drives the third conveying assembly 420 to move along the intermediate support, thereby moving towards the side of the carriage 500. The second lifting assembly is a lifting structure used to drive the third conveying assembly 420 to rise and fall. The translation assembly is a linear drive component, specifically an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder. It is understood that the intermediate support is mounted on the second chassis 410 in a direction perpendicular to the direction of movement of the second chassis 410.

[0118] In some examples, the separate conveying assembly 400 in certain embodiments further includes a second carriage and a carriage drive assembly. The second carriage is slidably mounted on a second chassis 410, the carriage drive assembly is mounted on the second chassis 410, and a third conveying assembly 420 is mounted on the second carriage. The carriage drive assembly drives the second carriage to move along the travel direction of the second chassis 410, thereby enabling the third conveying assembly 420 to move along the travel direction (i.e., the second direction) of the second chassis 410. Exemplarily, the second carriage may be a profile frame structure 311, the surface of which is slidably engaged with the chassis via pulleys. The carriage drive assembly may be configured as one of a synchronous belt drive structure, a lead screw drive structure, or a linear power unit.

[0119] Additionally, some separate conveyor assemblies 400 also include at least one fourth conveyor assembly 430, which is mounted on a second carriage for docking with and transferring goods conveyed by the third conveyor assembly 420. It is understood that the second carriage can simultaneously move both the third conveyor assembly 420 and the fourth conveyor assembly 430, thereby extending into the interior of the carriage 500 to facilitate the transfer of goods and improve loading and unloading efficiency. Exemplarily, both the third conveyor assembly 420 and the fourth conveyor assembly 430 include at least one of a conveyor belt assembly, a conveyor roller assembly, and a transfer conveyor assembly. The conveyor belt assembly, conveyor roller assembly, and transfer conveyor assembly are all prior art and will not be described in detail here.

[0120] Alternatively, by way of example, the third conveying assembly 420 and the fourth conveying assembly 430 may be arranged in a “7” shape, a “T” shape, or a “U” shape.

[0121] Reference Figures 17 to 22 As shown, in some examples, the separate conveying assembly 400 includes a second chassis 410, a third conveying assembly 420, and a fourth conveying assembly 430. The second chassis 410 is mounted on the ground, providing a mounting base for other components; the fourth conveying assembly 430 is slidably connected to the second chassis 410 along a second direction; the third conveying assembly 420 is slidably connected to the fourth conveying assembly 430, and the third conveying assembly 420 selectively moves along a direction closer to or farther from the stack of goods to pick up goods held by the robot arm 100 and convey the goods to the fourth conveying assembly 430. It should be noted that in these examples, the first direction can be referred to as... Figure 18 As shown in the y-direction, the second direction can be referenced. Figure 18 The x-direction is shown in the figure.

[0122] For example, the third conveying assembly 420 is slidably connected to the fourth conveying assembly 430 along the first direction and is disposed perpendicular to the fourth conveying assembly 430. The third conveying assembly 420 selectively moves along the first direction to pick up goods held by the robot arm 100 and convey the goods onto the third conveying assembly 420.

[0123] When the robotic arm 100 extends into the carriage 500 to retrieve goods, the fourth conveying component 430 simultaneously moves along the second direction and extends into the carriage 500, while the third conveying component 420 simultaneously moves along the first direction and approaches the stack of goods inside the carriage 500. After the robotic arm 100 grabs the first item and places it on the third conveying component 420, the robotic arm 100 moves towards the stack of goods to grab the second item. Meanwhile, the third conveying component 420 moves in the opposite direction (away from the stack of goods) and docks with the fourth conveying component 430. The third conveying component 420 moves the item on it to the fourth conveying component 430. Simultaneously, the fourth conveying component 430 moves in the opposite direction (away from the stack of goods) along the second direction to dock with the conveyor line fixed to the ground, and conveys the item on it onto the conveyor line. Once the item is on the conveyor line, the third conveying component 420 and the fourth conveying component 430 immediately move simultaneously towards the stack of goods to receive the second item grabbed by the robotic arm 100.

[0124] Understandably, because the third conveyor assembly 420 and the fourth conveyor assembly 430 move synchronously and approach the stack of goods during the movement of the robot arm 100 to pick up goods, the travel distance of the robot arm 100 for picking up and placing goods can be greatly reduced, thus improving the efficiency of goods picking and placing. The reciprocating movement of the third conveyor assembly 420 and the fourth conveyor assembly 430 between the stack of goods and the conveyor line significantly shortens the travel distance of the robot arm 100 and causes the picking and conveying processes of two adjacent goods to overlap in time, increasing the frequency of loading and unloading goods, thereby greatly improving the logistics efficiency of the logistics system.

[0125] For example, the separate conveying assembly 400 further includes a second guide assembly and a second drive assembly (neither shown in the figure). The second guide assembly is disposed on the second chassis 410 along a second direction; the fourth conveying assembly 430 is connected to the second chassis 410 via the second guide assembly; that is, the second guide assembly guides the fourth conveying assembly 430 to move along the second direction on the second chassis 410. The second drive assembly is connected to the fourth conveying assembly 430 and drives the fourth conveying assembly 430 to move along the second direction, thereby causing the third conveying assembly 420 at the end of the fourth conveying assembly 430 to move closer to or away from the stack of goods. For example, the second guide assembly can be configured as a sliding guide rail assembly or as a chute and guide wheel assembly, both of which are prior art and their specific structures will not be described in detail. In some examples, wheels are provided at the bottom of the second chassis 410 to facilitate moving the second chassis 410 to a designated position.

[0126] Additionally, exemplarily, the second drive assembly includes a second drive motor and a second flexible transmission assembly 242. The second drive motor is fixedly mounted on the second chassis 410, and drives the fourth conveying assembly 430 to move along a second direction via the second flexible transmission assembly 242. Specifically, the second flexible transmission assembly 242 can be mounted on the second chassis 410, and the second drive motor is connected to the second flexible transmission assembly 242, while the second flexible transmission assembly 242 is also connected to the fourth conveying assembly 430. The rotation of the second drive motor drives the flexible transmission element of the second flexible transmission assembly 242 to rotate, and the rotation of the flexible transmission element causes the fourth conveying assembly 430 to move along the second direction on the second chassis 410. Furthermore, the second flexible transmission assembly 242 can be configured as a transmission chain assembly or a transmission belt assembly, both of which are prior art and will not be described in detail here.

[0127] For example, the second drive assembly can also be configured as a linear drive assembly, such as a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder. Specifically, the fixed end of the linear drive assembly can be fixedly connected to the second chassis 410, and the movable end can be connected to the fourth conveying assembly 430. The linear drive assembly drives the fourth conveying assembly 430 to move along the second direction on the second chassis 410.

[0128] In some examples, the separate conveying assembly 400 further includes a third guide assembly and a third drive assembly. The third guide assembly is disposed on the fourth conveying assembly 430 along a first direction; the third drive assembly is connected to the third conveying assembly 420 and drives the third conveying assembly 420 to move along the first direction, causing the third conveying assembly 420 to move closer to or away from the stack of goods. For example, the third guide assembly is disposed on the mounting bracket of the fourth conveying assembly 430 along the first direction, and the third conveying assembly 420 is disposed on the fourth conveying assembly 430 via the third guide assembly. Alternatively, the third guide assembly can also be configured as a sliding guide rail assembly, or as a chute and guide wheel assembly, which will not be described further.

[0129] Similarly, the third drive assembly includes a third drive motor and a third flexible transmission assembly 242. The third drive motor is mounted on the fourth conveying assembly 430, and drives the third conveying assembly 420 to move along the first direction via the third flexible transmission assembly 242. For example, the third drive motor is fixedly mounted on the mounting bracket of the fourth conveying assembly 430, and the third flexible transmission assembly 242 is also mounted on the mounting bracket of the fourth conveying assembly 430. The third drive motor is connected to the third flexible transmission assembly 242, and the third flexible transmission assembly 242 is connected to the third conveying assembly 420.

[0130] For example, the third drive component can also be configured as a linear drive component, such as a cylinder, electric cylinder or hydraulic cylinder, which drives the second conveying component 230 to move in the second direction, and the specific details will not be elaborated further.

[0131] Reference Figure 17 and Figure 18 As shown, in some examples, a third conveyor assembly 420 is provided on one side of the fourth conveyor assembly 430. The third conveyor assembly 420 can move along a first direction to receive goods picked up and placed by the robot arm 100, thereby improving the efficiency of loading and unloading goods. In other examples, at least one third conveyor assembly 420 is provided on each side of the fourth conveyor assembly 430. Each of the third conveyor assemblies 420 of the fourth conveyor assembly 430 can move independently to approach the stack of goods. In these examples, the third conveyor assembly 420 and the fourth conveyor assembly 430 are configured as a conveyor belt assembly or a conveyor roller assembly, respectively.

[0132] Reference Figures 19 to 21 As shown, in some other examples, the fourth conveying assembly 430 has a third conveying assembly 420 at its end. This third conveying assembly 420 includes a first conveying unit 421 and a second conveying unit 422. The first conveying unit 421 is fixedly connected to the second conveying unit 422, and goods on the first conveying unit 421 are conveyed to the fourth conveying assembly 430 via the second conveying unit 422. Exemplarily, the first conveying unit 421 can be simultaneously provided at one or both ends of the second conveying unit 422. For example... Figures 20 to 22 As shown, a first conveying unit 421 is provided at each end of the second conveying unit 422. When the robot arm 100 grabs goods located on one side of the fourth conveying assembly 430, the third conveying assembly 420 moves to that side to get closer to the stack of goods. It can be understood that because the third conveying assembly 420 can move to both sides, when the robot arm 100 grabs goods located on either side of the fourth conveying assembly 430, the third conveying assembly 420 can get closer to the stack of goods, improving the loading and unloading efficiency.

[0133] In these examples, the first conveying unit 421 and the fourth conveying assembly 430 are configured as conveyor belt assemblies or conveyor roller assemblies, respectively; the second conveying unit 422 is configured as a Mecanum wheel assembly or a lifting and transferring assembly. It is understood that the second conveying unit 422, configured as a Mecanum wheel assembly or a lifting and transferring assembly, is capable of changing the direction of cargo movement, facilitating a change from movement in a second direction to movement in a first direction, and thus enabling the cargo to move onto the third conveying assembly 420.

[0134] In other examples, the separate conveying assembly 400 also includes a second lifting assembly (not shown in the figure). The lower end of the second lifting assembly is connected to the second guide assembly, and the upper end of the second lifting assembly is fixedly connected to the fourth conveying assembly 430. That is, the fourth conveying assembly 430 is connected to the second guide assembly through the second lifting assembly. The second lifting assembly is used to drive the fourth conveying assembly 430 to rise and fall, thereby allowing the fourth conveying assembly 430 to be closer to the end of the robot 100, further shortening the travel distance of the robot 100, saving the time for the robot 100 to transfer goods, and improving the efficiency of loading and unloading goods. For example, the second lifting assembly can be configured as a scissor lift assembly. Scissor lift assemblies are prior art, and their specific structure will not be described in detail here.

[0135] Figure 22 A schematic diagram of the overall structure of a cargo handling component 300 provided in an embodiment of this application; Figure 23 yes Figure 22 A schematic diagram of the first state of the goods handling component 300 in the middle; Figure 24 yes Figure 22 A schematic diagram of the second state of the goods handling component 300. Figure 25 This is a schematic diagram of the structure of a cargo handling component 300 provided in another embodiment of this application.

[0136] Reference Figures 22 to 24 As shown, in some examples, the goods handling assembly 300 includes a first conveying assembly 310 and a gripping assembly 320. The gripping assembly 320 is mounted on the first conveying assembly 310. The first conveying assembly 310 drives the gripping assembly 320 to move, and the gripping assembly 320 pulls the goods onto the first conveying assembly 310. When the first conveying assembly 310 and the gripping assembly 320 move above the conveyor line, the first conveying assembly 310 reverses its rotation to transport the goods to the target location, such as on the conveyor line. The goods gripping assembly 320 pulls the goods onto the first conveying assembly 310, and the first conveying assembly 310 can lift the goods, avoiding the problem of goods falling due to excessive weight or weak gripping by the gripping assembly 320, as seen in the prior art, thus improving the efficiency of goods handling.

[0137] The cargo handling component 300 is located at the end of the robotic arm 100. When handling cargo from a cargo box, the robotic arm 100 extends into the cargo box, and the first conveying component 310 rotates clockwise, driving the gripping component 320 to move towards the end of the first conveying component 310 until the gripping component 320 contacts the cargo. Next, the first conveying component 310 rotates counterclockwise, driving the gripping component 320 to move in the opposite direction. The cargo moves onto the first conveying component 310 under the combined action of the gripping component 320 pulling and the first conveying component 310 moving. Then, the end of the robotic arm 100 moves to the target position (e.g., a designated conveyor line), the gripping component 320 disconnects from the cargo, and the first conveying component 310 rotates clockwise again. The cargo moves towards the end of the first conveying component 310 under the action of the first conveying component 310 and the push of the gripping component 320 until it detaches and falls to the designated position.

[0138] For example, the first conveying component 310 can be a conveyor belt component or a conveyor chain component. The gripping component 320 can be a suction cup adsorption component or a component of other structures, as long as it can grip or pull goods to move.

[0139] For example, there may be one first conveying component 310 and at least one gripping component 320. The gripping component 320 is disposed in the first conveying component 310, and the first conveying component 310 drives all gripping components 320 to move.

[0140] When multiple gripping components 320 are provided, the multiple gripping components 320 are sequentially arranged on the first conveying component 310 along the width direction of the first conveying component 310, and the multiple gripping components 320 operate simultaneously or separately to pull the goods. It should be noted that the width direction of the first conveying component 310 refers to the direction perpendicular to the operation of the first conveying component 310.

[0141] In some examples, there are multiple gripping components 320 and one first conveying component 310. The multiple gripping components 320 are sequentially arranged on the first conveying component 310 along its width. The multiple gripping components 320 simultaneously pull the goods, thereby ensuring that the goods can be pulled onto the first conveying component 310. In these embodiments, the first conveying component 310 has a larger width, and one first conveying component 310 is provided with multiple gripping components 320. The first conveying component 310 drives all gripping components 320 to move simultaneously.

[0142] In other examples, there are multiple gripping components 320, which are arranged between two adjacent first conveying components 310. The gripping components 320 are connected to the adjacent first conveying components 310, and the adjacent first conveying components 310 drive the gripping components 320 to move closer to or away from the goods.

[0143] Reference Figure 22 As shown, in some examples, the goods handling component 300 has a plurality of first conveying components 310 and a plurality of gripping components 320, with each gripping component 320 corresponding to one of the first conveying components 310, and each first conveying component 310 can drive the corresponding gripping component 320 to move.

[0144] Multiple first conveying components 310 are sequentially and parallelly fixed to the fixed frame 330 along its width direction. The fixed frame 330 is then fixed to the end of the robotic arm 100. It is understood that because each gripping component 320 can move flexibly, the appropriate gripping component 320 can be selected to pick up and place goods according to their size and storage location, making goods handling more flexible, faster, and more efficient. The width direction of the fixed frame 330 is the same as the width direction of the first conveying components 310, which can be referred to... Figure 23 The x-direction is shown in the figure.

[0145] Continue to refer to Figure 23 and Figure 24 As shown, the first conveying assembly 310 includes a frame 311, a flexible conveyor 312, and a conveying drive motor 313. The conveying drive motor 313 is mounted on the frame 311, and the flexible conveyor 312 is wound around the frame 311. The conveying drive motor 313 drives the flexible conveyor 312 to rotate. It should be noted that steering shafts are provided at both ends of the frame 311, and the flexible conveyor 312 is fitted onto the steering shafts. The conveying drive motor 313 is connected to the steering shafts via a transmission component, thereby driving the flexible conveyor 312 to rotate. For example, the flexible conveyor 312 can be a conveyor belt or a conveyor chain. The conveying drive motor 313 can be a servo motor, which can be connected to the steering shafts at the ends of the frame 311 via a transmission chain.

[0146] For example, the gripping component 320 is slidably mounted on the frame 311 via a guide rail, and is connected to the flexible conveyor 312. The conveyor drive motor 313 drives the flexible conveyor 312 to rotate, and the flexible conveyor 312 causes the gripping component 320 to move along the length of the frame 311. It should be noted that the length of the frame 311 can be referenced... Figure 22 As shown in the y-direction, the width direction of frame 311 can be referenced. Figure 22 As shown in the x-direction.

[0147] For example, such as Figure 23As shown, the gripping assembly 320 includes a cargo gripping part 321 and a slide 322. The slide 322 is slidably mounted on the frame 311 via a guide rail and is connected to the flexible conveyor 312. The cargo gripping part 321 is mounted on the slide 322, and the flexible conveyor 312 drives the cargo gripping part 321 to move along the frame 311. The cargo gripping part 321 is used to pull cargo. For example, the cargo gripping part 321 can be configured as a suction cup gripping assembly 320 or as a gripping assembly 320 of a robotic arm 100.

[0148] Reference Figure 25 As shown, in some examples, the cargo gripping unit 321 includes a support 3211 and an adsorption unit 3212. The support 3211 is mounted on a slide 322, and the adsorption unit 3212 is mounted on the support 3211. The adsorption unit 3212 is used to adsorb cargo. The support 3211 is L-shaped, and its upper end is a certain distance from the slide 322. The adsorption unit 3212 is located at the upper end of the support 3211. For example, the distance between the adsorption unit 3212 and the slide 322 can be half the height of the cargo, so that the adsorption unit 3212 can adsorb near the center of the cargo, ensuring that the cargo moves stably when pulled by the adsorption unit 3212. In other examples, the support 3211 can be height-adjustable, thereby adjusting to a suitable height according to cargo of different volumes, ensuring that the adsorption unit 3212 can adsorb near the center of the cargo.

[0149] like Figure 23 and Figure 24 As shown, in some other examples, the cargo gripping unit 321 includes a first linear drive unit 3213, a hinge seat 3214, a linkage assembly 3215, and an adsorption unit 3212. The hinge seat 3214 is mounted on a slide 322. One end of the linkage assembly 3215 is hinged to the hinge seat 3214, and the other end is hinged to the adsorption unit 3212. The first linear drive unit 3213 is mounted on the slide 322, and its moving end is connected to the hinge point of the linkage assembly 3215. The first linear drive unit 3213 adjusts the position of the adsorption unit 3212 via the linkage assembly 3215. For example, the linkage assembly 3215 can be configured as a four-bar linkage 3215, with one end connected to the adsorption unit 3212 and the other end connected to the hinge seat 3214. The moving end of the first linear drive unit 3213 is connected to another hinge point of the four-bar linkage.

[0150] like Figure 24 As shown, when the actuating end of the first linear drive unit 3213 extends, the adsorption unit 3212 moves downward under the action of the four-bar assembly 3215; when the actuating end of the first linear drive unit 3213 retracts, the adsorption unit 3212 moves upward under the action of the four-bar assembly 3215, as... Figure 23 As shown. That is, the lifting and lowering of the suction unit 3212 can be controlled by the extension and retraction of the moving end of the first linear drive unit 3213 to accommodate goods of different sizes. For example... Figure 23 and Figure 24 As shown, exemplarily, the adsorption unit 3212 includes a fixed base 3212a and a suction cup 3212b. The fixed base 3212a is hinged to the connecting rod assembly 3215. The suction cup 3212b is disposed on the fixed base 3212a and is connected to an external vacuum assembly (this is prior art and is not shown in the figure). The suction cup 3212b is used to adsorb goods. To ensure stable movement of goods, multiple suction cups 3212b can be disposed on the fixed base 3212a, with the multiple suction cups 3212b evenly distributed on the fixed base 3212a.

[0151] Additionally, it should be noted that the first linear drive unit 3213 can be a cylinder, hydraulic cylinder, electric cylinder, or other components, which are existing technologies and will not be described in detail here.

[0152] Secondly, embodiments of this application also provide a loading and unloading method applied to the loading and unloading robot as described in any of the first aspects. When loading and unloading goods, firstly, the loading and unloading robot is controlled to move to a target position; then, the robotic arm is controlled to grasp the target goods based on visual recognition results, and a moving conveyor component moves towards the goods grasped by the robotic arm; next, the robotic arm is controlled to place the grasped goods onto the moving conveyor component; finally, the moving conveyor component is controlled to reset and the goods are transported and transferred. It is readily understood that those skilled in the art can combine, separate, and reassemble the embodiments of this application based on the several embodiments provided in this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0153] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A loading and unloading robot, characterized in that, Includes a robotic arm (100), a mobile conveyor assembly (200), and a cargo handling assembly (300): The cargo handling assembly (300) is mounted on the robotic arm (100), and the robotic arm (100) is mounted on the mobile conveying assembly (200); When the robotic arm (100) picks up or places goods through the goods picking and placing component (300), the mobile conveying component (200) moves toward the target goods and receives the goods picked up by the robotic arm.

2. The loading and unloading robot according to claim 1, characterized in that, The cargo handling assembly (300) includes: First conveying assembly (310); A gripping component (320) is disposed on the first conveying component (310). The first conveying component (310) drives the gripping component (320) to move. The gripping component (320) is used to pull the goods onto the first conveying component (310). The first conveying component (310) and the gripping component (320) together transfer the goods to the target location.

3. The loading and unloading robot according to claim 2, characterized in that: There is one first conveying component (310) and multiple gripping components (320), which can simultaneously or separately pull the goods. Alternatively, multiple first conveying components (310) may be provided, and multiple first conveying components (310) may be sequentially arranged on the fixed frame (330) along the width direction of the fixed frame (330). Multiple gripping components (320) may be provided, and each gripping component (320) may be correspondingly arranged on a corresponding first conveying component (310). Alternatively, each gripping component (320) may be arranged between two adjacent first conveying components, and the first conveying component (310) may drive the corresponding gripping component (320) to move closer to or away from the goods to be gripped.

4. The loading and unloading robot according to any one of claims 2-3, characterized in that, The first conveying assembly (310) includes a frame (311), a flexible conveyor (312), and a conveying drive motor (313). The conveying drive motor (313) is mounted on the frame (311), and the flexible conveyor (312) is mounted around the frame (311). The conveying drive motor (313) drives the flexible conveyor (312) to rotate. The gripping assembly (320) is connected to the flexible conveyor (312).

5. The loading and unloading robot according to claim 4, characterized in that, The gripping assembly (320) includes the cargo gripping part (321) and the slide (322). The cargo gripping part (321) includes a first linear drive part (3213), a hinge seat (3214), a connecting rod assembly (3215), and an adsorption part (3212). The hinge seat (3214) is disposed on the slide (322). One end of the connecting rod assembly (3215) is hinged to the hinge seat (3214), and the other end is hinged to the adsorption part (3212). The first linear drive part (3213) is disposed on the slide (322). The moving end of the first linear drive part (3213) is connected to the hinge point of the connecting rod assembly (3215). The first linear drive part (3213) adjusts the position of the adsorption part (3212) through the connecting rod assembly (3215).

6. The loading and unloading robot according to claim 1, characterized in that, The mobile conveying assembly (200) includes: The first chassis (210) is used to be mounted on the ground; The first guide assembly (220) is disposed on the first chassis (210); The second conveying assembly (230) is connected to the first chassis (210) via the first guiding assembly (220). The second conveying assembly (230) is used to pick up goods and then transfer and transport them. A first drive assembly (240) is connected to the second conveying assembly (230), and the first drive assembly (240) drives the second conveying assembly (230) to move along the first guide assembly (220) so that the second conveying assembly (230) moves closer to or away from the goods.

7. The loading and unloading robot according to claim 6, characterized in that, The second conveying assembly (230) includes a first conveying section (231), the conveying direction of the first conveying section (231) being perpendicular to the traveling direction of the first chassis (210).

8. The loading and unloading robot according to claim 6, characterized in that, The second conveying assembly (230) further includes a third conveying section (233), the conveying direction of which is along the traveling direction of the chassis.

9. The loading and unloading robot according to claim 6, characterized in that, The second conveying assembly (230) includes at least one first conveying section (231) and at least one third conveying section (233), with at least one second conveying section (232) disposed between the first conveying section (231) and the third conveying section (233). The second conveying section (232) is a transfer conveying assembly, and the first conveying section (231), the second conveying section (232) and the third conveying section (233) are arranged in a "7" shape, a "T" shape or a "U" shape.

10. The loading and unloading robot according to claim 6, characterized in that, The first drive assembly (240) is a cyclic transmission mechanism or a linear drive mechanism. The cyclic transmission mechanism is configured as a transmission chain assembly or a synchronous belt assembly, and the linear drive mechanism is configured as one of an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, or a lead screw assembly.

11. The loading and unloading robot according to claim 6, characterized in that, The mobile conveying assembly (200) also includes a first lifting assembly; The second conveying component (230) is connected to the first guide component (220) through the first lifting component, and the first lifting component is used to drive the second conveying component (230) to rise and fall.

12. The loading and unloading robot according to claim 1, characterized in that, The mobile conveying component (200) is configured as a separable conveying component (400), and the separable conveying component (400) includes: A second chassis (410) for being arranged on the ground; A third conveying component (420) arranged on the second chassis (410); The third conveying component (420) selectively moves in a direction close to or away from the side cargo stack to pick up the cargo on the side clamped by the manipulator (100) and transfer the cargo.

13. The loading and unloading robot according to claim 12, characterized in that, One set of the third conveying components (420) is provided. One set of the third conveying components (420) is arranged on the second chassis (410) through a second driving component, and the second driving component drives the third conveying component (420) to rise and move outwards; Alternatively, two sets of the third conveying components (420) are provided. The two sets of the third conveying components (420) are arranged in parallel, and both sets of the third conveying components (420) are arranged on the second chassis (410) through the second driving component; The second driving component drives the two sets of the third conveying components (420) to rise simultaneously and move outwards simultaneously; Alternatively, the second driving component drives the two sets of the third conveying components (420) to descend simultaneously and move inwards simultaneously.

14. The loading and unloading robot according to claim 13, characterized in that, The second driving component includes a second linear driving part (450) and a parallelogram structure (440). The third conveying component (420) is arranged on the second chassis (410) through the parallelogram structure (440). Two ends of the second linear driving part (450) are respectively hinged to the third conveying component (420) and the second chassis (410), and the second linear driving part (450) is cross-arranged with at least one connecting rod of the parallelogram structure (440). The second linear driving part (450) is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

15. The loading and unloading robot according to claim 13, characterized in that, The second driving component includes a second lifting component, an intermediate bracket and a translation component. The intermediate bracket is arranged on the second chassis (410) through the second lifting component, and the third conveying component (420) is arranged on the intermediate bracket through the translation component. The second lifting component is a scissor structure, and the translation component is a linear driving component.

16. The loading and unloading robot according to claim 12, characterized in that, The separable conveying component (400) further includes at least one set of fourth conveying components (430). The fourth conveying components (430) are used for docking with the third conveying components (420) to transfer the cargo conveyed by the third conveying components (420); The third conveying components (420) and the fourth conveying components (430) are arranged in a "7" shape or a "T" shape or a "凵" shape.

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