Handling system based on a split robot

Abstract

The utility model provides a loading and unloading system based on separation formula robot, include: a loading and unloading robot, a tow chain conveying line is connected loading and unloading robot, a plurality of mechanical arms fixed station is set around the second end of tow chain conveying line, a plurality of temporary storage pedestal, a plurality of mechanical arms, the bottom of mechanical arm is connected with a bottom plate, the bottom plate is detachably connected with mechanical arm fixed station, and mechanical arm carries loading and unloading object between temporary storage pedestal and the second end of tow chain conveying line, and a plurality of AGV chassis, each AGV chassis can independently drive into the bottom of temporary storage pedestal to carry loading and unloading object, or, drive into the bottom of mechanical arm fixed station and carry separated mechanical arm and constitute the AGV dolly with mechanical arm. The utility model can combine the automation storage and automatic loading and unloading of mobile robot, utilize the detachable mechanical arm and mobile chassis to realize the complete unmanned operation of unloading, warehousing, storage and delivery.

Description

Technical Field

[0001] This utility model relates to the field of container warehousing, and more specifically, to a loading and unloading system based on a detachable robot. Background Technology

[0002] In logistics warehouse operations, many logistics units are pallets. During unloading, warehousing, storage, and outbound processes, traditional manual labor is labor-intensive, while using unmanned forklifts is costly and cannot unload from containers that do not require pallets (many goods are transported without pallets).

[0003] Moreover, traditional automated flexible mobile robots and robotic arms require a large area and cannot achieve complete unmanned operation.

[0004] Therefore, this utility model provides a loading and unloading system based on a split robot. Utility Model Content

[0005] In view of the problems in the prior art, the purpose of this utility model is to provide a loading and unloading system based on a detachable robot, which overcomes the difficulties of the prior art and can combine the automated storage and automated loading and unloading of mobile robots with the scenario. It can realize fully unmanned operation of unloading, warehousing, storage and warehousing by using a detachable robotic arm and a mobile chassis.

[0006] An embodiment of this utility model provides a loading and unloading system based on a split robot, comprising:

[0007] One loading and unloading robot corresponds to one loading and unloading parking space;

[0008] A cable chain conveyor line, the first end of which is connected to the loading and unloading robot, receives the loading and unloading objects from the loading and unloading robot and transmits the loading and unloading objects;

[0009] Several robotic arms are fixed at workstations and arranged around the second end of the cable chain conveyor line;

[0010] Several temporary storage bases are arranged around the fixed work station of the robotic arm to temporarily store the loading and unloading objects;

[0011] Several robotic arms, the bottom of which is connected to a base plate, the base plate being detachably connected to a fixed workstation of the robotic arm, the robotic arm transporting the loading / unloading object between a temporary storage base and a second end of the cable conveyor line; and

[0012] Several AGV chassis, each of which can independently drive into the bottom of the temporary storage base to transport the loading and unloading objects, or drive into the bottom of the fixed workstation of the robotic arm to transport the separated robotic arm and form an AGV trolley with a robotic arm.

[0013] Preferably, the bottom of the robotic arm is provided with a plurality of first screw seats;

[0014] The base plate is provided with several second screw seats and several limiting holes, and the first screw seat is screwed to the second screw seat.

[0015] Preferably, the bottom of the robotic arm fixing station is provided with a channel for the AGV chassis to pass through. The robotic arm fixing station includes several limiting rods and a power and air supply assembly for supplying power and air to the robotic arm. The limiting rod is a truncated cone, and the limiting hole is a truncated cone hole. The limiting hole of the base plate engages with the limiting rod to fix the robotic arm in the robotic arm fixing station. The inner circumference of the truncated cone hole contacts the outer circumference of the limiting rod.

[0016] Preferably, the robotic arm is connected to the power supply assembly via a connecting pipeline.

[0017] Preferably, the AGV chassis includes a lifting top plate, a docking hole located in the center of the lifting top plate, and a built-in power and air source. When the AGV chassis enters the bottom of the fixed station of the robotic arm, the lifting top plate is raised to lift the bottom plate beyond the height of the limit rod, and then drives out of the fixed station of the robotic arm. After the lifting top plate is lowered, the built-in power and air source are mechanically connected, electrically connected, and pneumatically connected to the robotic arm through the docking hole to form an AGV trolley with a robotic arm.

[0018] Preferably, each of the loading and unloading robots consists of an AGV chassis and a robotic arm. When loading and unloading, the loading and unloading robot drives into the container truck.

[0019] Preferably, before the AGV with the robotic arm is about to enter the fixed station of the robotic arm, the lifting top plate is raised so that the bottom plate is higher than the height of the limiting rod. After entering the fixed station of the robotic arm, the lifting top plate is lowered so that the limiting hole of the bottom plate engages with the limiting rod to fix the robotic arm in the fixed station of the robotic arm. After entering the fixed station of the robotic arm, the AGV moves out of the fixed station of the robotic arm to return to the AGV chassis.

[0020] Preferably, the bottom of the temporary storage base is provided with a channel for the AGV chassis to pass through, and a pallet for stacking and unloading objects is placed on the temporary storage base.

[0021] Preferably, the lifting top plate is raised to lift the pallet and then drives it out of the temporary storage base. After the lifting top plate is lowered, it forms an AGV trolley for transporting the pallet to the shelf area.

[0022] Preferably, the size of the tray is the same as the size of the base plate.

[0023] The purpose of this utility model is to provide a loading and unloading system based on a detachable robot, which can combine the automated storage and automatic loading and unloading of mobile robots with the scenario, and realize fully unmanned operation of unloading, warehousing, storage and warehousing by using a detachable robotic arm and a mobile chassis. Attached Figure Description

[0024] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0025] Figure 1 This is a top view of the loading and unloading system based on a split robot that implements this utility model.

[0026] Figure 2 This is a perspective view of the combination of the robotic arm and the base plate in the loading and unloading system based on the detachable robot of this utility model.

[0027] Figure 3 This is a three-dimensional view of the robotic arm in the loading and unloading system based on a split robot according to this utility model.

[0028] Figure 4 This is a perspective view of the base plate of the loading and unloading system based on a split robot according to this utility model.

[0029] Figure 5 This is a schematic diagram of the AGV chassis entering the fixed position of the robotic arm in the loading and unloading system based on the detachable robot of this utility model.

[0030] Figure 6 This is a schematic diagram of the AGV chassis entering the temporary storage base in the loading and unloading system based on the detachable robot of this utility model.

[0031] Figure 7 This is a schematic diagram of a pallet-carrying container in the loading and unloading system based on a split robot according to this utility model.

[0032] Figure 8 This is a flowchart of the loading and unloading method based on a split robot according to this utility model.

[0033] Figure 9 This is a structural schematic diagram of the loading and unloading equipment based on a split robot according to this utility model.

[0034] Figure 10 This is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention.

[0035] Figure Labels

[0036] Detailed Implementation

[0037] The following specific examples illustrate the implementation methods of this application. Those skilled in the art can easily understand the other advantages and effects of this application from the content disclosed herein. This application can also be implemented or applied through other different specific embodiments, and various details in this application can be modified or changed according to different viewpoints and application systems without departing from the spirit of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0038] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the application. This application may be embodied in many different forms and is not limited to the embodiments described herein.

[0039] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics represented in connection with that embodiment or example, which are included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples represented in this application, as well as features of different embodiments or examples.

[0040] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] For the purpose of clearly describing this application, devices that are not relevant to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0042] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0043] When we say that a device is "above" another device, this can mean that it is directly above the other device, or it can mean that other devices are present in between. Conversely, when we say that a device is "directly" "above" another device, there are no other devices present in between.

[0044] Although the terms first, second, etc., are used in some instances herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0045] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this application. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0046] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the content of this present application, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0047] Figure 1 This is a top view of the loading and unloading system based on a split robot that implements this utility model. Figure 2 This is a perspective view of the combination of the robotic arm and the base plate in the loading and unloading system based on the detachable robot of this utility model. Figure 3 This is a three-dimensional view of the robotic arm in the loading and unloading system based on a split robot according to this utility model. Figure 4This is a perspective view of the base plate of the loading and unloading system based on a split robot according to this utility model. Figure 5 This is a schematic diagram of the AGV chassis entering the fixed position of the robotic arm in the loading and unloading system based on the detachable robot of this utility model. Figure 6 This is a schematic diagram of the AGV chassis entering the temporary storage base in the loading and unloading system based on the detachable robot of this utility model. Figure 7 This is a schematic diagram of a pallet-supported container in the loading and unloading system based on a detachable robot, according to this utility model. Figures 1 to 7 As shown, the loading and unloading system based on a detachable robot of this utility model includes: a loading and unloading robot 21, a cable chain conveyor line 22, several fixed robotic arm stations 24, several temporary storage bases 28, several robotic arms 25, and several AGV chassis 23. The loading and unloading robot 21 corresponds to a loading and unloading parking space. The first end of the cable chain conveyor line 22 is connected to the loading and unloading robot 21, receiving and transporting the loading and unloading objects. Several fixed robotic arm stations 24 are arranged around the second end of the cable chain conveyor line 22. Several temporary storage bases 28 are arranged around the fixed robotic arm stations 24 to temporarily store the loading and unloading objects. The bottom of several robotic arms 25 is connected to a base plate 26, which is detachably connected to the fixed robotic arm stations 24. The robotic arms 25 transport the loading and unloading objects between the temporary storage bases 28 and the second end of the cable chain conveyor line 22. Each AGV chassis 23 can independently drive into the bottom of the temporary storage base 28 to transport and unload objects, or drive into the bottom of the fixed robotic arm station 24 to transport the separated robotic arm 25 and form an AGV cart with a robotic arm. (AGV stands for Automated Guided Vehicle, and the main function of AGV carts is automated logistics transportation.) This utility model can achieve unmanned operation from unloading to delivery after the truck arrives. While the robotic arm 25 is unpacking and palletizing, the AGV chassis 23 can transfer pallets, thereby greatly improving the operating rate of each device and avoiding downtime. This utility model can realize the combination and separation of various robotic arms and mobile chassis, making full use of the efficiency of mobile robots and robotic arms, improving the overall equipment utilization rate, and saving customers' investment costs in actual use.

[0048] In a preferred embodiment, the bottom of the robotic arm 25 is provided with a plurality of first screw seats 251. The base plate 26 is provided with a plurality of second screw seats 261 and a plurality of limiting holes 262. The first screw seats 251 are screwed to the second screw seats 261, but this is not a limitation.

[0049] In a preferred embodiment, the bottom of the robotic arm fixing station 24 is provided with a channel for the AGV chassis 23 to pass through. The robotic arm fixing station 24 includes several limiting rods 241 and a power and air supply assembly 242 for supplying power and air to the robotic arm 25. The limiting rod 241 is a truncated cone, and the limiting hole 262 is a truncated cone hole. The limiting hole 262 of the base plate 26 engages with the limiting rod 241 to fix the robotic arm 25 to the robotic arm fixing station 24. The inner circumference of the truncated cone hole contacts the outer circumference of the limiting rod 241. The robotic arm 25 is connected to the power and air supply assembly 242 through a connecting pipeline, but this is not a limitation.

[0050] In a preferred embodiment, the AGV chassis 23 includes a lifting top plate 231, a docking hole 232 located in the center of the lifting top plate 231, and a built-in power and air source. When the AGV chassis 23 drives into the bottom of the robotic arm fixed station 24, the lifting top plate 231 is raised to lift the bottom plate 26 beyond the height of the limit rod 241, and then drives out of the robotic arm fixed station 24. After the lifting top plate 231 is lowered, the built-in power and air source are mechanically connected, electrically connected, and pneumatically connected to the robotic arm 25 through the docking hole 232 to form an AGV trolley with a robotic arm. Each loading and unloading robot 21 consists of an AGV chassis 23 and a robotic arm 25. When loading and unloading, the loading and unloading robot 21 drives into the container 11 of the truck 10, but is not limited thereto.

[0051] In a preferred embodiment, before the AGV with the robotic arm is about to enter the robotic arm fixed station 24, the top plate 231 is raised so that the bottom plate 26 is higher than the limit rod 241. After entering the robotic arm fixed station 24, the top plate 231 is lowered so that the limit hole 262 of the bottom plate 26 engages with the limit rod 241 to fix the robotic arm 25 to the robotic arm fixed station 24. After that, the AGV drives out of the robotic arm fixed station 24 to return to the AGV chassis 23, but this is not a limitation.

[0052] In a preferred embodiment, the bottom of the temporary storage base 28 is provided with a channel for the AGV chassis 23 to pass through. A pallet 27 for stacking and unloading objects is placed on the temporary storage base 28. The lifting top plate 231 is raised to lift the pallet 27 and drive it out of the temporary storage base 28. After the lifting top plate 231 is lowered, an AGV trolley for transporting the pallet 27 is formed to transport the pallet 27 to the shelf area 3. A preset route 31 for the AGV chassis 23 to travel around the shelf area 3 is provided. The size of the pallet 27 is the same as the size of the base plate 26. In this utility model, the pallet 27 and various robotic arms can be transported by the same AGV chassis 23, but it is not limited to this.

[0053] In a preferred embodiment, the system also includes multiple types of robotic arms, each with a different maximum load. The type and quantity of each type of robotic arm are matched based on the number of containers in the truck to be unloaded and the weight of each container. Idle AGVs with the corresponding robotic arm type are then matched to transport the robotic arm to the designated robotic arm station 24. For example, a robotic arm with a corresponding load is selected based on the maximum weight of the containers in the container; if most of the containers are empty, more low-load robotic arms are configured; if most of the containers are heavy-duty, more high-load robotic arms are configured. Further details are omitted here. Different specifications and models of robotic arms can be used for truck arrivals and departures at different times, further improving the flexibility of the system's loading and unloading operations, but this is not a limitation.

[0054] Figure 8 This is a flowchart of the loading and unloading method based on a detachable robot according to this utility model. Figure 8 As shown, the loading and unloading method based on a detachable robot of this utility model, using the above-mentioned loading and unloading system based on a detachable robot, includes the following steps:

[0055] S110. Obtain the number of containers in the container truck to be unloaded and the weight information of each container.

[0056] S120. Match the corresponding robotic arm type and the quantity of each type according to the number and weight information of the containers to generate the parking space robotic arm requirement information.

[0057] S130. Traverse the existing mechanical types and quantities corresponding to each loading and unloading parking space, obtain the available loading and unloading parking space with the highest similarity to the requirements of the parking space's robotic arm, and command the truck to drive to the loading and unloading parking space.

[0058] S140. Remove the robotic arm that does not meet the requirements of the parking space robotic arm using the AGV chassis, and drive the idle AGV trolley with the robotic arm that does not meet the parking space robotic arm requirements into the fixed position of the robotic arm corresponding to the loading and unloading parking space, and install the robotic arm into the fixed position of the robotic arm.

[0059] S150 After the container truck stops, the loading and unloading robot drives into the container, moves the container to the first end of the cable chain conveyor, and transmits the weight and sequence number of each container to the back-end server. Containers that need to be moved by robotic arms with different loads are spaced apart in the cable chain conveyor.

[0060] S160. Different types of robotic arms at the second end of the cable conveyor line transport their respective containers to pallets in the surrounding temporary storage base.

[0061] S170 and several AGV chassis enter the temporary storage base and move the pallets loaded with containers to the shelving area.

[0062] This utility model's loading and unloading method based on a detachable robot can combine the automated storage and automated loading and unloading of mobile robots with the scenario, and use a detachable robotic arm and mobile chassis to achieve fully unmanned operations for unloading, warehousing, storage, and warehousing.

[0063] The specific embodiments of this utility model include:

[0064] refer to Figures 1 to 7 In the loading and unloading system based on a detachable robot of this utility model, the loading and unloading robot 21 corresponds to a loading and unloading parking space. The first end of the cable chain conveyor 22 is connected to the loading and unloading robot 21, receiving and transporting the loading and unloading objects from the robot 21. Several fixed robotic arm stations 24 are arranged around the second end of the cable chain conveyor 22. Several temporary storage bases 28 are arranged around the fixed robotic arm stations 24 to temporarily store the loading and unloading objects. The bottom of several robotic arms 25 is connected to a base plate 26, which is detachably connected to the fixed robotic arm stations 24. The robotic arms 25 transport the loading and unloading objects between the temporary storage bases 28 and the second end of the cable chain conveyor 22. Each AGV chassis 23 can independently drive into the bottom of the temporary storage base 28 to transport the loading and unloading objects, or drive into the bottom of the fixed robotic arm station 24 to transport the detached robotic arms 25 and form an AGV trolley with robotic arms. The bottom of the robotic arm 25 is provided with several first screw seats 251. The base plate 26 is provided with several second screw seats 261 and several limiting holes 262. The first screw seat 251 is screwed to the second screw seats 261. The bottom of the robotic arm fixing station 24 is provided with a channel for the AGV chassis 23 to pass through. The robotic arm fixing station 24 includes several limiting rods 241 and a power supply and air supply assembly 242 for supplying power and air to the robotic arm 25. The limiting rod 241 is a truncated cone, and the limiting hole 262 is a truncated cone hole. The limiting hole 262 of the base plate 26 engages with the limiting rod 241 to fix the robotic arm 25 to the robotic arm fixing station 24. The inner circumference of the truncated cone hole contacts the outer circumference of the limiting rod 241. The robotic arm 25 is connected to the power supply and air supply assembly 242 through a connecting pipeline. The AGV chassis 23 includes a lifting top plate 231, a docking hole 232 located in the center of the lifting top plate 231, and a built-in power and air source. When the AGV chassis 23 enters the bottom of the fixed station 24 of the robotic arm, the lifting top plate 231 is raised to lift the bottom plate 26 beyond the height of the limit rod 241, and then it drives out of the fixed station 24 of the robotic arm. After the lifting top plate 231 is lowered, the built-in power and air source are mechanically connected, electrically connected, and pneumatically connected to the robotic arm 25 through the docking hole 232 to form an AGV trolley with a robotic arm. Each loading and unloading robot 21 consists of an AGV chassis 23 and a robotic arm 25. When loading and unloading, the loading and unloading robot 21 drives into the container 11 of the truck 10.

[0065] When a truck waiting to be unloaded enters the unloading station, the backend server obtains the number of containers in the truck's container and the weight of each container.

[0066] The system matches the corresponding robotic arm type and the quantity of each type based on the number and weight of the containers to generate parking space robotic arm requirements. Each type of robotic arm has a different maximum load, and the matching process is based on the number of containers in the truck to be unloaded and the weight of each container.

[0067] Iterate through the existing mechanical types and quantities corresponding to each loading and unloading parking space, obtain the available loading and unloading parking space with the highest similarity to the requirements of the parking space's robotic arm, and then command the truck to drive to the loading and unloading parking space.

[0068] The AGV chassis removes robotic arms that do not meet the requirements of the parking space, and an idle AGV trolley with a robotic arm that does not meet the parking space requirements drives into the corresponding robotic arm fixed station of the loading and unloading parking space, and installs the robotic arm into the robotic arm fixed station (matching an idle AGV trolley with the corresponding robotic arm type to transport the robotic arm to the corresponding robotic arm fixed station 24). Specifically, before the AGV trolley with the robotic arm is about to enter the robotic arm fixed station 24, the top plate 231 is raised, making the bottom plate 26 higher than the limit rod 241. After entering the robotic arm fixed station 24, the top plate 231 is lowered, so that the limit hole 262 of the bottom plate 26 engages with the limit rod 241 to fix the robotic arm 25 to the robotic arm fixed station 24, and then the AGV trolley drives out of the robotic arm fixed station 24 to return to the AGV chassis 23. The robotic arm 25 is connected to the power and air supply assembly 242 via a connecting pipeline. Since the robotic arm primarily uses an air pump and power supply during unloading and depalletizing operations, this invention integrates the power supply and air pump onto the base. Multiple robotic arms can share a single base, and automatic power and air supply will occur when they are in operation. Different specifications and models of robotic arms can be used to handle different truck arrivals and departures, further enhancing the system's loading and unloading flexibility. When handling objects, the robotic arm is detached from the mobile chassis and connected to a fixed workstation, resulting in smaller movement errors and significantly reducing gripping failures caused by chassis instability (because the robotic arm has inertia during high-speed rotation or movement, causing the base to shake, the mobile chassis moves the robotic arm after delivering it to the fixed base, and the robotic arm works in conjunction with the fixed base, improving the stability of the robotic arm's visual recognition). The utilization rate, also known as the operating rate, refers to the proportion of time that equipment occupies to create value within its available time. It reflects the time utilization of the equipment, and the calculation formula is: utilization rate = actual working time / planned working time (or utilization time / load time).

[0069] After the truck stops, the loading and unloading robot drives into the container, moves the container to the first end of the cable chain conveyor, and transmits the weight and sequence number of each container to the back-end server. Containers that need to be moved by robotic arms with different loads are spaced apart in the cable chain conveyor, so that each robotic arm located at the fixed work station 24 can work more efficiently, avoid waiting time, and improve the overall loading and unloading efficiency.

[0070] Different types of robotic arms at the second end of the cable conveyor line transport their respective containers to pallets in the surrounding temporary storage bases 28. The bottom of the temporary storage base 28 has a passage for the AGV chassis 23 to pass through. A pallet 27 of stacked loading and unloading objects is placed on the temporary storage base 28. The lifting top plate 231 is raised to lift the pallet 27 and drive it out of the temporary storage base 28. After the lifting top plate 231 is lowered, it forms an AGV trolley to transport the pallet 27 to the racking area 3.

[0071] Finally, several AGV chassis enter the temporary storage base 28 and travel along the preset route 31 to move the pallets loaded with containers to the shelf area 3.

[0072] This utility model embodiment also provides a loading and unloading device based on a detachable robot, including a processor and a memory storing executable instructions of the processor. The processor is configured to execute steps of a loading and unloading method based on a detachable robot by executing the executable instructions.

[0073] As shown above, this embodiment of the present invention’s loading and unloading system based on a detachable robot can combine the automated storage and automated loading and unloading of mobile robots with the scenario, and use a detachable robotic arm and a mobile chassis to achieve fully unmanned operation of unloading, warehousing, storage and warehousing.

[0074] Those skilled in the art will understand that various aspects of this invention can be implemented as systems, methods, or program products. Therefore, various aspects of this invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "platform."

[0075] Figure 9 This is a structural schematic diagram of the loading and unloading equipment based on a detachable robot according to this utility model. See below for reference. Figure 9 To describe an electronic device 600 according to this embodiment of the present invention. Figure 9 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this utility model.

[0076] like Figure 9As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0077] The storage unit stores program code, which can be executed by the processing unit 610 to perform the steps described in the above-described section on the electronic prescription circulation processing method according to various exemplary embodiments of the present invention. For example, the processing unit 610 can perform actions such as... Figure 6 The steps are shown in the figure.

[0078] Storage unit 620 may include readable media in the form of volatile storage units, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include read-only memory (ROM) 6203.

[0079] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0080] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0081] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0082] This invention also provides a computer-readable storage medium for storing a program that, when executed, implements the steps of a loading and unloading method based on a detachable robot. In some possible implementations, various aspects of this invention can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps according to various exemplary embodiments of this invention described in the above-described electronic prescription processing method section of this specification.

[0083] As shown above, this embodiment of the present invention’s loading and unloading system based on a detachable robot can combine the automated storage and automated loading and unloading of mobile robots with the scenario, and use a detachable robotic arm and a mobile chassis to achieve fully unmanned operation of unloading, warehousing, storage and warehousing.

[0084] Figure 10 This is a schematic diagram of the structure of the computer-readable storage medium of this utility model. (Reference) Figure 10 As shown, a program product 800 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0085] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0086] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0087] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0088] In summary, the purpose of this utility model is to provide a loading and unloading system based on a detachable robot, which can combine the automated storage and automated loading and unloading of mobile robots with the scenario, and realize fully unmanned operation of unloading, warehousing, storage and warehousing by using a detachable robotic arm and a mobile chassis.

[0089] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A loading and unloading system based on a detachable robot, characterized in that, include: One loading and unloading robot (21) corresponds to one loading and unloading parking space; A drag chain conveyor line (22) is provided, the first end of which is connected to the loading and unloading robot (21), which accepts the loading and unloading objects from the loading and unloading robot (21) and transmits the loading and unloading objects. Several robotic arm fixed stations (24) are arranged around the second end of the drag chain conveyor line (22); Several temporary storage bases (28) are arranged around the fixed station (24) of the robotic arm to temporarily store the loading and unloading objects; A plurality of robotic arms (25), the bottom of which is connected to a base plate (26), the base plate (26) being detachably connected to the robotic arm fixed station (24), the robotic arms (25) transporting the loading and unloading objects between the temporary storage base (28) and the second end of the cable conveyor line (22); and Several AGV chassis (23), each of the AGV chassis (23) can independently drive into the bottom of the temporary storage base (28) to transport the loading and unloading objects, or drive into the bottom of the fixed station of the robotic arm (24) to transport the separated robotic arm (25) and form an AGV trolley with a robotic arm.

2. The loading and unloading system based on a detachable robot as described in claim 1, characterized in that, The bottom of the robotic arm (25) is provided with several first screw seats (251); The base plate (26) is provided with a plurality of second screw seats (261) and a plurality of limiting holes (262), and the first screw seat (251) is screwed to the second screw seat (261).

3. The loading and unloading system based on a detachable robot as described in claim 2, characterized in that, The bottom of the robotic arm fixed station (24) is provided with a channel for the AGV chassis (23) to pass through. The robotic arm fixed station (24) includes several limiting rods (241) and a power supply and air supply assembly (242) for supplying power and air to the robotic arm (25). The limiting rod (241) is a truncated cone, and the limiting hole (262) is a truncated cone hole. The limiting hole (262) of the base plate (26) is engaged with the limiting rod (241) to fix the robotic arm (25) to the robotic arm fixed station (24). The inner circumference of the truncated cone hole is in contact with the outer circumference of the limiting rod (241).

4. The loading and unloading system based on a detachable robot as described in claim 3, characterized in that, The robotic arm (25) is connected to the power supply assembly (242) via a connecting line.

5. The loading and unloading system based on a detachable robot as described in claim 3, characterized in that, The AGV chassis (23) includes a lifting top plate (231), a docking hole (232) located in the center of the lifting top plate (231), and a built-in power supply and air source. When the AGV chassis (23) drives into the bottom of the fixed station (24) of the robotic arm, the lifting top plate (231) is raised to lift the bottom plate (26) beyond the height of the limit rod (241) and then drives out of the fixed station (24). After the lifting top plate (231) is lowered, the built-in power supply and air source are mechanically connected, electrically connected and air-connected to the robotic arm (25) through the docking hole (232) to form an AGV trolley with a robotic arm.

6. The loading and unloading system based on a detachable robot as described in claim 5, characterized in that, Each of the loading and unloading robots (21) consists of an AGV chassis (23) and a robotic arm (25). When loading and unloading, the loading and unloading robot (21) drives into the container (11) of the truck (10).

7. The loading and unloading system based on a detachable robot as described in claim 5, characterized in that, Before the AGV with the robotic arm is about to enter the robotic arm fixed station (24), the lifting top plate (231) is raised, so that the bottom plate (26) is higher than the height of the limiting rod (241). After entering the robotic arm fixed station (24), the lifting top plate (231) is lowered, so that the limiting hole (262) of the bottom plate (26) is fitted with the limiting rod (241) to fix the robotic arm (25) in the robotic arm fixed station (24). After that, it drives out of the robotic arm fixed station (24) to return to the AGV chassis (23).

8. The loading and unloading system based on a detachable robot as described in claim 7, characterized in that, The bottom of the temporary storage base (28) is provided with a channel for the AGV chassis (23) to pass through, and a pallet (27) for stacking loading and unloading objects is placed on the temporary storage base (28).

9. The loading and unloading system based on a detachable robot as described in claim 8, characterized in that, The lifting top plate (231) is raised to lift the pallet (27) and drive it out of the temporary storage base (28). After the lifting top plate (231) is lowered, it forms an AGV trolley to transport the pallet (27) to the shelf area (3).

10. The loading and unloading system based on a detachable robot as described in claim 8, characterized in that, The dimensions of the tray (27) are the same as those of the base plate (26).

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