cargo handling equipment

Abstract

The utility model discloses a kind of loading and unloading equipment, belong to robot technical field.The loading and unloading equipment includes: mobile car body, mechanical arm device, lifting device, load platform and control component, through lifting device adjustment load platform height, make goods always be in the work interval of the more adaptation of mechanical arm device, to reduce the joint movement amplitude and energy consumption of mechanical arm device;Meanwhile, when empty, platform can be lowered to adapt mobile fork truck operation, improve replenishment safety and efficiency.And, the load platform and lifting device jointly constitute a three-dimensional buffer area following the principle of last-in first-out, realize the asynchronous operation of loading and unloading equipment and mobile fork truck, to reduce waiting time, improve equipment utilization and overall operation efficiency.In addition, the load platform capable of carrying multi-layer stacking can alleviate upstream and downstream operation fluctuation, provide buffer for mechanical arm when material is broken or congested, enhance system anti-interference capability, guarantee operation continuity and stability.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a loading and unloading device. Background Technology

[0002] Currently, in cargo handling systems, weighing, sorting, and transportation have gradually become automated and intelligent. However, in some end-of-line operation scenarios, such as the transfer of cargo from buffer containers to trailers, loading and unloading at platforms, and container loading, manual operation is still generally required. These operating environments often involve harsh conditions such as high temperatures and high workloads. For example, in summer, the high temperature inside containers not only increases the labor intensity for workers but also significantly impacts their efficiency, leading to high staff turnover and greater difficulty in loading and unloading cargo. Utility Model Content

[0003] This utility model provides a loading and unloading device. The technical solution is as follows: The loading and unloading equipment includes: a mobile vehicle body, a robotic arm device, a lifting device, a cargo platform, and control components; The robotic arm device is mounted on the mobile vehicle body; The lifting device is installed on the side of the moving vehicle body; The cargo platform is connected to the lifting device, which is used to raise or lower the cargo platform. The control component is electrically connected to the moving vehicle body, the robotic arm, and the lifting device.

[0004] Optionally, the loading and unloading equipment further includes a height detection device; The height detection device is installed above the mobile vehicle body and is used to detect the height of the goods on the cargo platform. The height detection device is electrically connected to the control component. The control component is used to control the lifting device to adjust the height of the cargo platform based on the detection data from the height detection device.

[0005] Optionally, the robotic arm device includes a robotic arm body, a three-dimensional vision device, and an end effector; The robotic arm body is mounted on top of the mobile vehicle body; Both the 3D vision device and the end effector are mounted on the end of the robotic arm body and are electrically connected to the control component.

[0006] Optionally, the mobile vehicle body includes a vehicle frame and multiple distance sensors; The plurality of distance sensors are all mounted on the vehicle frame, and the plurality of distance sensors are used to detect the distance between the vehicle frame and an obstacle located in a target direction, the target direction including the traveling direction and the lateral direction of the moving vehicle; The plurality of distance sensors are all electrically connected to the control component, which is used to adjust the movement path of the moving vehicle body based on the detection data of the plurality of distance sensors.

[0007] Optionally, the loading and unloading equipment further includes an ultrasonic sensor; The ultrasonic sensor is installed at the end of the robotic arm device. The ultrasonic sensor is used to emit ultrasonic signals to the surrounding environment and receive reflected signals of the ultrasonic signals. The ultrasonic sensor is electrically connected to the control component.

[0008] Optionally, the mobile vehicle body also includes multiple collision sensors; The plurality of collision sensors are all mounted on the vehicle frame and distributed around the vehicle frame, and the plurality of collision sensors are all electrically connected to the control component; The control component is configured to stop the moving vehicle body in response to receiving a trigger signal from any of the collision sensors.

[0009] Optionally, the loading and unloading equipment also includes photoelectric sensors; The photoelectric sensor is mounted on the end effector and electrically connected to the control component. The photoelectric sensor is used to detect whether the goods fall off during the process of the end effector grasping the goods.

[0010] Optionally, the lifting device includes a drive assembly and a mounting base, and the cargo platform includes multiple load-bearing plates; The drive assembly is mounted on the mobile vehicle body, and the mounting base is connected to the drive assembly. The drive assembly is used to drive the mounting base to rise and fall. One end of each of the plurality of support plates is fixedly connected to the mounting base.

[0011] Optionally, the drive assembly includes a drive motor, a transmission mechanism, a screw, and a limiting mechanism; The drive motor is installed inside the mobile vehicle body, and the transmission mechanism is connected to one end of the drive motor and one end of the screw, respectively. The limiting mechanism is installed on the side of the mobile vehicle body. The mounting seat is movably connected to the screw and the limiting mechanism. The limiting mechanism is used to move the mounting seat along the extension direction of the screw.

[0012] Optionally, the limiting mechanism includes a slider and a strip-shaped sliding mating component; The sliding member is fixedly connected to the mounting base; The sliding fitting is installed on the side of the moving vehicle body. The sliding member is slidably connected to the sliding fitting, and the extending direction of the sliding fitting is parallel to the extending direction of the screw.

[0013] The beneficial effects of the technical solution provided by this utility model embodiment include at least the following: A loading and unloading device is provided, comprising a mobile vehicle body, a robotic arm, a lifting device, a loading platform, and control components. The robotic arm can be used for automated loading and unloading of goods. The loading platform is connected to the lifting device, which raises or lowers the loading platform. The loading platform carries a preset amount of goods. By adjusting the height of the loading platform through the lifting device, the goods are always kept within a suitable working range for the robotic arm, thereby reducing the joint movement range and energy consumption of the robotic arm. Simultaneously, when unloaded, the platform can be lowered to accommodate forklift operations, improving the safety and efficiency of replenishment. Furthermore, the loading platform and the lifting device together form a three-dimensional buffer zone following the last-in-first-out principle, enabling asynchronous operation of the loading and unloading equipment and forklifts, thereby reducing waiting time and improving equipment utilization and overall operational efficiency. In addition, the loading platform, capable of supporting multi-layer stacks, can mitigate fluctuations in upstream and downstream operations, providing a buffer for the robotic arm during material shortages or congestion, enhancing the system's anti-interference capability, and ensuring operational continuity and stability. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the application environment of a loading and unloading equipment provided in an embodiment of this utility model; Figure 2 This is a schematic diagram of the structure of a loading and unloading device and goods provided in an embodiment of this utility model; Figure 3 This is a structural schematic diagram of a loading and unloading equipment provided in an embodiment of this utility model; Figure 4 This utility model provides another structural diagram of loading and unloading equipment and goods; Figure 5 This is a schematic diagram of the structure of a robotic arm device provided in an embodiment of this utility model; Figure 6This is a schematic diagram of another loading and unloading equipment provided in an embodiment of this utility model.

[0016] Explanation of reference numerals in the attached figures: Loading and unloading equipment 10; mobile vehicle body 11, vehicle frame 111, distance sensor 112, collision sensor 113; robotic arm device 12, robotic arm body 121, 3D vision device 122, end effector 123; lifting device 13, drive assembly 131, transmission mechanism 1311, screw 1312, limit mechanism 1313, mounting base 132; cargo platform 14; height detection device 15; ultrasonic sensor 16; photoelectric sensor 17; cargo box 20; motorized forklift 30; platform 40; cargo 50. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0018] Although the present invention can be readily embodied in various forms, only some specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. It is understood that this specification should be regarded as an exemplary illustration of the principles of the present invention and is not intended to limit the present invention to what is described herein.

[0019] Therefore, a feature pointed out in this specification is used to describe one feature of one embodiment of the present invention, and does not imply that every embodiment of the present invention must have the described feature. Furthermore, it should be noted that this specification describes many features. Although certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0020] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of the various elements of this invention are relative rather than absolute. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the descriptions of the positions of these elements change, these directional indications also change accordingly.

[0021] Please refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a schematic diagram illustrating the application environment of a loading and unloading device 10 provided in this embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a loading and unloading device 10 and cargo 50 provided in an embodiment of this utility model. Figure 3This is a schematic diagram of the structure of a loading and unloading equipment 10 provided in an embodiment of the present utility model. The loading and unloading equipment 10 may include: a mobile body 11, a robotic arm device 12, a lifting device 13, a cargo platform 14, and a control component. The control component may be installed inside the mobile body 11.

[0022] The robotic arm device 12 is mounted on the mobile vehicle body 11; the robotic arm device 12 can be mounted on the side or top of the mobile vehicle body 11. For example, the robotic arm device 12 can be mounted on the top of the mobile vehicle body 11, thereby providing the robotic arm device 12 with a larger working space and improving its flexibility. The robotic arm device 12 can be used for automated loading and unloading operations of goods 50. By mounting the robotic arm device 12 on the mobile vehicle body 11, the loading and unloading equipment 10 can flexibly change the loading and unloading location according to operational needs, thereby improving the applicability of the loading and unloading equipment 10.

[0023] A lifting device 13 is installed on the side of the mobile vehicle body 11; at least a portion of the lifting device 13 can be installed in front of the mobile vehicle body 11 and fixedly connected to the side of the mobile device. A cargo platform 14 is connected to the lifting device 13, which is used to raise or lower the cargo platform 14; the cargo platform 14 is used to carry a preset amount of cargo 50. A control component is electrically connected to the mobile vehicle body 11, the robotic arm device 12, and the lifting device 13, and is used to control the movement of the mobile vehicle body 11, the robotic arm device 12, and the lifting device 13.

[0024] For example, such as Figure 1 As shown, the application scenario of the loading and unloading equipment 10 in this embodiment of the present invention can include loading goods 50 into the compartment 20 (or container). This scenario may also include a truck with the compartment 20, a forklift 30, a platform 40, and goods 50. The goods 50 can be goods packaged in cardboard boxes and neatly stacked on pallets. During the loading of goods 50 into the container, the truck can first be driven to the edge of the platform 40, and the rear of the compartment 20 can be aligned with the platform 40. Workers can then use the forklift 30 to transfer the pallets on the platform 40 and the goods 50 on the pallets to the loading platform 14 of the loading and unloading equipment 10. The loading and unloading equipment 10 then performs the loading operation of the goods 50 inside the compartment 20.

[0025] In one exemplary embodiment, during the loading and unloading process using the loading and unloading equipment 10, the loading platform 14 of the loading and unloading equipment 10 may have multiple layers of goods 50. For example, the loading platform 14 may carry eight layers of goods 50. After the robotic arm device 12 transfers four layers of goods 50 from the loading platform 14 and stacks them in the carriage 20, the height of the remaining four layers of goods 50 on the loading platform 14 is lower than the original height of the eight layers of goods 50. At this time, if the robotic arm device 12 then retrieves goods from the loading platform 14, the retrieval stroke of the robotic arm device 12 is relatively long. Based on this, in this embodiment of the present invention, the lifting device 13 drives the loading platform 14 to move upward, thereby increasing the height of the remaining goods 50 on the lifting platform and reducing the distance between the remaining goods 50 and the robotic arm device 12, thereby reducing the retrieval stroke of the robotic arm device 12.

[0026] Thus, in this embodiment of the invention, the robotic arm device 12 can be located above the loading platform 14. Since the goods 50 are concentrated and stacked on the loading platform 14, the range of motion of the robotic arm device 12 in picking up goods can be reduced, that is, the picking path of the robotic arm device 12 can be shortened, so that the movement range of the robotic arm device 12 is concentrated in a preset area. Therefore, this centralized feeding method allows the robotic arm device 12 to operate in a short-distance, highly repeatable standard motion during operation, reducing the idle movement of the robotic arm device 12, shortening the single operation cycle, thereby increasing the operation frequency per unit time and improving the loading and unloading efficiency of the robotic arm device 12.

[0027] In other words, the height of the loading platform 14 can be adjusted by the lifting device 13, so that the 50 layers of goods to be grabbed can be within the working range of the matching robotic arm device 12, thereby reducing the joint movement range and energy consumption of the robotic arm device 12. At the same time, the lifting loading platform 14 also facilitates cooperation with the motorized forklift 30. When the loading platform 14 is unloaded, it can be lowered to a suitable height, thereby improving the safety and efficiency of the replenishment operation.

[0028] Furthermore, in this embodiment of the present invention, the structure of combining the cargo platform 14 with the lifting device 13 forms a three-dimensional buffer zone in the loading and unloading equipment 10 that follows the last-in-first-out principle. This three-dimensional buffer zone can provide a dedicated centralized feeding platform for the robotic arm device 12, thereby realizing the continuous transfer of goods 50.

[0029] During the operation of the robotic arm device 12, the motorized forklift 30 can replenish the loading platform 14 in batches. After the motorized forklift 30 stacks the goods 50 onto the loading platform 14, it can perform material transfer or other tasks without waiting for the robotic arm device 12 to complete the pick-and-place operation. The robotic arm device 12 can independently and continuously grab goods 50 from the three-dimensional buffer area on the loading platform 14, reducing the mutual waiting time between interactive devices. This enables asynchronous operation between the motorized forklift 30 and the robotic arm device 12, improving the utilization rate of both devices and enhancing the overall operating efficiency of the loading and unloading equipment 10.

[0030] In addition, the cargo platform 14 can be used to stack multiple layers of goods 50, so that the loading and unloading equipment 10 can alleviate the operation fluctuations caused by upstream material supply interruption or downstream congestion during loading or unloading. That is, the robotic arm device 12 can continue to work for a period of time when there is a material shortage or the material discharge is not smooth, thereby enhancing the anti-interference ability of the loading and unloading equipment 10 and ensuring the continuity and stability of the operation.

[0031] In summary, this utility model embodiment provides a loading and unloading device 10 including a mobile vehicle body 11, a robotic arm device 12, a lifting device 13, a loading platform 14, and control components. The robotic arm device 12 can be used for automatic loading and unloading of goods 50. The loading platform 14 is connected to the lifting device 13, which is used to raise or lower the loading platform 14. The loading platform 14 is used to carry a preset amount of goods 50. By adjusting the height of the loading platform 14 through the lifting device 13, the goods 50 are always kept within a suitable working range for the robotic arm device 12, thereby reducing the joint movement range and energy consumption of the robotic arm device 12. At the same time, when unloaded, the platform can be lowered to accommodate the operation of the forklift 30, improving the safety and efficiency of material replenishment. Furthermore, the loading platform 14 and the lifting device 13 together form a three-dimensional buffer zone following the last-in-first-out principle, realizing asynchronous operation of the loading and unloading device 10 and the forklift 30, thereby reducing waiting time and improving equipment utilization and overall operational efficiency. In addition, the cargo platform 14, which can support multi-layer stacking, can alleviate fluctuations in upstream and downstream operations, provide a buffer for the robotic arm in case of material shortages or congestion, enhance the system's anti-interference ability, and ensure the continuity and stability of operations.

[0032] In one exemplary embodiment, the loading and unloading equipment 10 may further include an interactive device for enabling information interaction between the user and the control component. This interaction includes user input of control commands and feedback of the operating status information of the loading and unloading equipment 10 from the control component. The interactive device may be at least one of a mobile terminal or a touchscreen installed on the mobile vehicle body 11. For example, the mobile terminal may include a mobile phone, tablet computer, etc. Thus, the user can control the lifting device 13 to raise and lower the cargo platform 14, or a preset lifting program for the lifting device 13 can be pre-stored in the control component.

[0033] Please refer to Figure 4 , Figure 4 This utility model embodiment provides another structural schematic diagram of loading and unloading equipment 10 and cargo 50. In an optional embodiment, loading and unloading equipment 10 may further include a height detection device 15; the height detection device 15 is installed above the mobile vehicle body 11, and the height detection device 15 is used to detect the height of cargo 50 on the cargo platform 14. The height detection device 15 is electrically connected to the control component; the control component may also be used to control the lifting device to adjust the height of the cargo platform according to the detection data of the height detection device 15.

[0034] For example, the height detection device 15 may include a height detection sensor and a height comparator. The height detection sensor is electrically connected to the height comparator, and the height comparator is electrically connected to the control component or the lifting device 13. The positive input terminal of the height comparator is electrically connected to the output terminal of the height detection sensor, and the negative input terminal is connected to a preset temperature threshold or a reference voltage. When the height detected by the height detection sensor is lower than the height threshold, the sampling signal voltage will be lower than the reference voltage, and the height comparator can output a low-level signal. Conversely, when the height detected by the height detection sensor exceeds the height threshold, the sampling signal voltage will be higher than the reference voltage, and the height comparator can output a high-level signal. The lifting device 13 receives the output signal from the height comparator or the control component and adjusts the lifting or lowering state according to the high or low level of the signal. The height comparator can also be integrated into the control component.

[0035] Alternatively, the control component may include a processor that can receive measurement data from the height detection device 15 in real time, parse and process the data through a built-in algorithm, and generate lifting control commands accordingly to drive the lifting device to perform corresponding actions, thereby dynamically adjusting the vertical height of the cargo platform so that the cargo 50 on the cargo platform is within a preset height range.

[0036] For example, the height detection device 15 may include a 3D vision sensor. The 3D vision sensor can perform non-contact measurement of the height of the cargo 50 on the cargo platform 14. The 3D vision sensor can be mounted on the mobile vehicle body 11 or at the end of the robotic arm device 12. The 3D vision sensor can scan the cargo 50 on the cargo platform 14 to acquire high-density point cloud data and construct a 3D model. Based on point cloud processing algorithms, the highest point height of the stacked cargo 50, the overall outline, and the placement posture of a single cargo box 50 can be calculated. This allows for the detection of the height of the cargo 50 on the cargo platform 14.

[0037] For example, the height detection device 15 may include one or more laser rangefinders. These sensors can be mounted on the mobile vehicle body 11 via a mounting bracket, positioned above the cargo platform 14. They measure the distance from the laser rangefinder to the surface of the cargo 50 in real time, and calculate the absolute height of the cargo 50 based on the known sensor mounting height. When the height detection device 15 includes a single laser rangefinder, the control assembly can pre-store the cargo-retrieving sequence of the robotic arm device 12. The laser rangefinder can then be positioned above the cargo 50 last retrieved by the robotic arm device 12 in each layer of cargo 50. Thus, when the laser rangefinder detects a change in the height of the cargo 50, it can be determined that all cargo 50 in that layer has been retrieved by the robotic arm device 12.

[0038] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of a robotic arm device 12 provided in an embodiment of the present invention. In an optional embodiment, the robotic arm device 12 may include a robotic arm body 121, a three-dimensional vision device 122, and an end effector 123. The robotic arm body 121 is mounted on top of the mobile vehicle body 11. The three-dimensional vision device 122 and the end effector 123 are both mounted on the end of the robotic arm body 121 and are both electrically connected to the control components.

[0039] The 3D vision device 122 is used to acquire images of the interior of the carriage 20 and the gripping area of ​​the cargo 50 and send them to the control component. Based on this, the control component identifies the size and pose information of the interior of the carriage 20 and the cargo 50, plans the gripping path and the palletizing path, and sends motion commands to the robotic arm so that the robotic arm body 121 moves according to the gripping path and at a preset moving speed.

[0040] In one exemplary embodiment, during the visual positioning stage, the control component can establish a mapping relationship between the image and the world coordinate system through image preprocessing, distortion correction, and system calibration. Then, by combining target detection and instance segmentation, it identifies the position and contour of the cargo 50 in the image and calculates its pose in the world coordinate system through coordinate transformation. Based on this pose information, the target position of the end effector 123 (e.g., the top of the cargo 50) can be determined. The loading / unloading equipment 10 can have two robotic arms 12.

[0041] The grasping path generation employs existing robot motion control algorithms. Based on the target's 3D coordinates and pose acquired visually, a collision-free path search is performed in the robotic arm's configuration space. Then, inverse kinematics is used to solve the joint angle sequence, followed by trajectory optimization. Specifically, firstly, the control component acquires an image through the 3D vision device 122, identifying the size and pose of the cargo 50: the outline and position of the cargo 50 are extracted from the pixel coordinate system and then converted to the world coordinate system using camera calibration parameters. Subsequently, based on the target's 3D coordinates and pose, a collision-free path search is performed in the robotic arm's configuration space using motion planning algorithms (such as random sampling algorithms). Next, inverse kinematics is used to convert the desired path points at the end effector into a joint angle sequence. Furthermore, by combining grasping point calculation and clamping parameter adaptation, the end effector's operational posture is optimized, and a smooth, efficient motion trajectory is generated through trajectory optimization algorithms. Finally, the control component drives the robotic arm body 121 to complete the grasping motion according to this optimized trajectory command.

[0042] In one exemplary embodiment, the end effector 123 is a mechanical structure capable of grasping the goods 50, such as a gripper or suction cup. Any existing structure capable of grasping the goods 50 can be used as the end effector 123 in this invention. The end effector 123 is located at the end of the robotic arm body 121. The main function of the end effector 123 is to grasp the goods 50. After the end effector 123 has grasped and stabilized the goods 50, the robotic arm body 121 performs a transfer action to realize the handling and transfer of the goods 50, thereby realizing unloading or loading.

[0043] For example, the end effector 123 includes a suction cup type end effector 123. The process of the suction cup type end effector 123 grasping an object is to first attach the suction cup to the object, and then use a vacuum generator or vacuum pump to generate a vacuum negative pressure inside the suction cup, thereby creating a pressure difference inside and outside the suction cup to press the object onto the suction cup.

[0044] Please refer to Figure 3In one optional embodiment, the mobile vehicle body 11 may include a vehicle frame 111 and a plurality of distance sensors 112; the plurality of distance sensors 112 are all mounted on the vehicle frame 111, and the plurality of distance sensors 112 are used to detect the distance between the vehicle frame 111 and an obstacle located in a target direction, the target direction including the travel direction and the lateral direction of the mobile vehicle body 11; the plurality of distance sensors 112 are all electrically connected to a control component, and the control component is used to adjust the movement path of the mobile vehicle body 11 based on the detection data of the plurality of distance sensors 112.

[0045] The distance sensor 112 can be a laser distance sensor 112. Distance sensors 112 can be installed on both sides and the front of the moving vehicle body 11. The distance sensors 112 can be used to detect the distance between the moving vehicle body 11 and the inner walls on both sides of the carriage 20, as well as the front end of the carriage 20. The control component adjusts the moving path of the moving vehicle body 11 based on the distances detected by the distance sensors 112, so that the moving vehicle body 11 can travel along the central axis inside the carriage 20. For example, the control component can include multiple distance comparators, each electrically connected to a corresponding laser distance sensor 112, and electrically connected to the moving vehicle body 11.

[0046] Alternatively, the control component may include a processor that can receive measurement data from the distance sensor 112 in real time, parse and process the data through a built-in algorithm, and generate movement control commands accordingly to drive the moving vehicle body 11 to perform corresponding actions, thereby dynamically adjusting the travel route of the moving vehicle body 11 so that the moving vehicle body 11 moves along a preset route.

[0047] Please refer to Figure 3 and Figure 5 In an optional embodiment, the loading and unloading equipment 10 may further include an ultrasonic sensor 16; the ultrasonic sensor 16 is installed at the end of the robotic arm device 12, and the ultrasonic sensor 16 is used to emit ultrasonic signals to the surrounding environment and receive reflected ultrasonic signals. The ultrasonic sensor 16 is electrically connected to the control component; the control unit is used to calculate the distance value between the robotic arm device 12 and the obstacle based on the reflected signal.

[0048] The ultrasonic sensor 16 can collect information about obstacles in a preset area ahead of the moving vehicle body 11 or robotic arm device 12 during its movement. This includes information such as whether there are people or objects 0.25 meters to 1.5 meters ahead, and their distance. The control component can determine whether there is a risk of collision with obstacles based on the situation in this preset area. If a risk exists, the control component can reduce the moving speed of the moving vehicle body 11 or robotic arm device 12, or stop the moving vehicle body 11 and robotic arm device 12 altogether.

[0049] Please refer to Figure 6 , Figure 6 This is a schematic diagram of another loading and unloading device 10 provided in an embodiment of the present invention. In an optional embodiment, the mobile vehicle body 11 may further include multiple collision sensors 113; the multiple collision sensors 113 are all mounted on the vehicle body frame 111 and distributed around the vehicle body frame 111, and the multiple collision sensors 113 are all electrically connected to the control component; the control component is configured to control the mobile vehicle body 11 to stop moving in response to receiving a trigger signal from any one of the collision sensors 113. The collision sensor 113 may also be called an anti-collision switch, and the collision sensor 113 may be a mechanical switch installed on the outermost periphery of the mobile vehicle body 11. The collision sensor 113 may include a micro switch and a movable arm (or a buffer plate).

[0050] For example, when the moving vehicle body 11 is in normal movement, the movable arm of the collision sensor 113 is not touched, and the microswitch is in its normal state (normally open or normally closed). When the moving vehicle body 11 encounters an obstacle, the obstacle will press against the movable arm, causing it to shift. At this time, the microswitch is triggered, that is, the mechanical displacement triggers the internal microswitch, instantly changing the on / off state of the microswitch. In this case, the change in the circuit state in the collision sensor 113 will be immediately sent to the control system in the form of an emergency signal.

[0051] The collision sensor 113 forms a passive safety barrier, immediately sending a signal to the control components upon the occurrence of a contact collision. This compensates for the blind spots or failure risks of ultrasonic, infrared, and laser ranging sensors. Regardless of whether an obstacle is detected, the collision sensor 113 will trigger upon physical contact. Furthermore, the control components will execute an emergency stop based on this signal, taking precedence over other control commands, to minimize damage caused by the collision. In other words, once triggered, the collision sensor 113 will send a highest-priority stop signal to the control system, causing the equipment to immediately cut off power and brake, thereby minimizing the damage and risks associated with the collision.

[0052] Furthermore, the collision sensor 113 relies on physical contact and is a passive safety device. Because the collision sensor 113 has a relatively simple mechanical structure and circuitry, it is less susceptible to interference from ambient light, dust, smoke, and other factors, thus improving its reliability.

[0053] In this embodiment of the utility model, the loading and unloading equipment 10 achieves graded obstacle avoidance through multiple sensors. For example, at a distance of several meters away, the loading and unloading equipment 10 uses a distance sensor 112 (LiDAR) or a visual sensor to detect obstacles and perform preliminary path planning. When the distance enters the medium-short range of less than two meters, the ultrasonic sensor 16 confirms the obstacle and initiates deceleration. If the equipment continues to approach to an extremely close range of centimeters, conventional distance measuring sensors may fail due to the surface characteristics of the object (such as light-absorbing materials or transparent glass). At this time, at the moment of physical contact, the collision sensor 113 is triggered and immediately issues an emergency stop command to achieve collision protection.

[0054] Please refer to Figure 3 and Figure 5 In an optional embodiment, the loading and unloading equipment may further include a photoelectric sensor 17; the photoelectric sensor 17 is mounted on the end effector 123 and electrically connected to the control component, and the photoelectric sensor 17 is used to detect whether the cargo 50 has fallen off during the process of the end effector 123 gripping the cargo 50.

[0055] The photoelectric sensor 17 may include a diffuse reflection photoelectric sensor 17. During the loading operation of the robotic arm device 12 into the carriage 20, the transmitter in the photoelectric sensor 17 emits modulated infrared light at a certain frequency onto the surface of the cargo 50. After diffuse reflection from the surface of the cargo 50, part of the light is captured by the receiver and converted into an electrical signal. The control system determines the actual distance between the cargo 50 and the photoelectric sensor 17 by identifying the intensity of the received signal: when the cargo 50 is reliably adsorbed, the distance between the photoelectric sensor 17 and the surface of the cargo 50 is small, the intensity of the reflected light is high, and the photoelectric sensor 17 outputs a high level; if the cargo 50 falls off during the transfer, the intensity of the received light drops sharply, the photoelectric sensor 17 switches to a low level, and the control component immediately interrupts the current action and executes the corresponding fault handling procedure.

[0056] In one optional embodiment, the lifting device 13 may include a drive assembly 131 and a mounting base 132, and the cargo platform 14 includes multiple support plates; the drive assembly 131 is mounted on the mobile vehicle body 11, and the mounting base 132 is connected to the drive assembly 131, the drive assembly 131 being used to drive the mounting base 132 to lift; one end of each of the multiple support plates is fixedly connected to the mounting base 132. The multiple support plates may be evenly arranged along the length direction of the mounting base 132, and one end of each support plate may be bolted to the mounting base 132.

[0057] Please refer to Figure 3In one optional embodiment, the drive assembly 131 includes a drive motor (not shown), a transmission mechanism 1311, a screw 1312, and a limiting mechanism 1313. The drive motor is installed inside the mobile vehicle body 11, and the transmission mechanism 1311 is connected to one end of both the drive motor and the screw 1312. The limiting mechanism 1313 is installed on the side of the mobile vehicle body 11, and a mounting seat 132 is movably connected to the screw 1312 and the limiting mechanism 1313. The limiting mechanism 1313 is used to move the mounting seat 132 along the extending direction of the screw 1312. The transmission mechanism 1311 may include a drive wheel and a drive belt.

[0058] Optionally, the limiting mechanism 1313 may include a sliding member and a strip-shaped sliding mating member; the sliding member is fixedly connected to the mounting base 132; the sliding mating member is installed on the side of the movable vehicle body 11, the sliding member and the sliding mating member are slidably connected, and the extension direction of the sliding mating member is parallel to the extension direction of the screw 1312. The sliding member may include a slider, the sliding mating member may include a limiting slide rail, and the slider can be slidably connected with the limiting slide rail.

[0059] The screw 1312 can rotate around its central axis to move the mounting base 132 along its length, thereby causing the slider fixedly connected to the mounting base 132 to slide on the limiting guide rail, thus moving the mounting base 132 and the cargo platform 14 along the length of the screw 1312. Exemplarily, the rotation of the screw 1312 around its central axis includes two cases: rotation in a first direction and rotation in a second direction. The first direction can be either clockwise or counterclockwise, and the second direction can be either clockwise or counterclockwise. When the screw 1312 rotates around its central axis in the first direction, it can cause the mounting base 132 to rise. When the screw 1312 rotates around its central axis in the second direction, it can cause the mounting base 132 to fall.

[0060] It should be noted that the direction in which the screw 1312 rotates clockwise and counterclockwise around its own central axis, causing the slider to move, depends on the direction of the screw 1312's thread and the direction of the thread in the threaded hole of the slider.

[0061] In one exemplary embodiment, the mobile vehicle body 11 also includes four steering wheels, and the control component controls the steering wheels via a drive to achieve omnidirectional displacement, including forward, backward, leftward, and rightward movement.

[0062] The mobile body 11 also has a battery pack, which can be installed inside the mobile body 11. The battery pack can be converted from 48V voltage to 220V voltage by an inverter to power the robotic arm device 12 and the vacuum pump.

[0063] The loading and unloading equipment 10 may also include an alarm module, which is used to issue an alarm when the moving vehicle body 11 collides, when the robotic arm device 12 malfunctions, or when the cargo 50 falls.

[0064] In one exemplary implementation, such as Figure 1 As shown, the container truck has a load capacity of 1000KG, and the loading / unloading equipment 10 has a load capacity of 35KG. The container truck has a climbing ability of 10 degrees, and the loading / unloading equipment 10 has a range of 6 hours. The battery pack has a capacity of 48V 600Ah, the maximum operating speed of the moving vehicle body 11 is 1.5 m / s, and the crossing ability of the moving vehicle body 11 is 50mm.

[0065] In one exemplary embodiment, a loading method for a loading and unloading device 10 is provided for use in any of the above embodiments. The method may include the following steps: Step 201: The operator remotely moves the loading / unloading equipment 10 to the container opening of the cargo compartment 20 to be loaded. The loading / unloading equipment 10 determines its position using a 3D vision sensor and a laser distance sensor 112, generates a running path, and enters the cargo compartment 20 from the container opening. During the movement, the laser distance sensors 112 located on the left and right sides of the moving vehicle 11 ensure that the moving vehicle 11 remains on the central axis of the container. When the laser distance sensor 112 located at the front of the moving vehicle 11 detects that the distance between the moving vehicle 11 and the end of the container is less than or equal to 1.2 meters, the moving vehicle 11 stops moving forward.

[0066] Step 202: The robotic arm body 121 drives the three-dimensional vision device 122 to move and collect images of the space at the end of the container. The control component then identifies the stacking area and stacking position inside the carriage 20.

[0067] Step 203: The operator drives the motorized forklift 30 to move the entire pallet of goods 50 onto the loading platform 14 of the loading and unloading equipment 10.

[0068] Step 204: The robotic arm body 121 moves the three-dimensional vision device 122 to acquire images of the goods 50 on the cargo platform 14. The control component identifies the size and pose information of the goods 50 based on this, plans the grasping path, palletizing path and palletizing placement posture, and sends motion commands to the robotic arm device 12.

[0069] Step 205: The robotic arm device 12 picks up the cargo 50 through the end effector 123 and places the cargo 50 at the preset position.

[0070] Step 206: When the height detection device 15 detects that the height of the cargo 50 on the cargo platform 14 has dropped to the height threshold, the control component controls the lifting device 13 to raise the cargo platform 14 to a preset height.

[0071] Step 207: When the distance between the goods 50 stacked in the carriage 20 and the loading and unloading device is less than the distance threshold, the control component controls the moving carriage 11 to move backward.

[0072] Step 208: After stacking, the empty pallets on the loading platform 14 can be transported to the platform 40 by the motorized forklift 30. Then, the operator drives the motorized forklift 30 to place the next batch of goods 50 on the loading platform 14 of the loading and unloading equipment 10.

[0073] Step 209: Repeat steps 202 to 208 until the loading task is completed. The operator then remotely moves the loading and unloading equipment 10 to the next loading location.

[0074] It should be noted that the dimensions of the areas may have been exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element is referred to as "on top of" another element, it can be directly on the other element, or there may be intermediate elements. Additionally, it is understood that when an element is referred to as "below" another element, it can be directly below the other element, or there may be more than one intermediate element. Furthermore, it is also understood that when an element is referred to as "between" two elements, it can be the only layer between the two elements, or there may be more than one intermediate element. Similar reference numerals throughout indicate similar elements.

[0075] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0076] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0077] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0078] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0079] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0080] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0081] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A loading and unloading device, characterized in that, include: Mobile vehicle body, robotic arm device, lifting device, cargo platform and control components; The robotic arm device is mounted on the mobile vehicle body; The lifting device is installed on the side of the moving vehicle body; The cargo platform is connected to the lifting device, which is used to raise or lower the cargo platform. The control component is electrically connected to the moving vehicle body, the robotic arm, and the lifting device.

2. The loading and unloading equipment according to claim 1, characterized in that, The loading and unloading equipment also includes a height detection device; The height detection device is installed above the mobile vehicle body and is used to detect the height of the goods on the cargo platform. The height detection device is electrically connected to the control component. The control component is used to control the lifting device to adjust the height of the cargo platform based on the detection data from the height detection device.

3. The loading and unloading equipment according to claim 1, characterized in that, The robotic arm device includes a robotic arm body, a three-dimensional vision device, and an end effector; The robotic arm body is mounted on top of the mobile vehicle body; Both the 3D vision device and the end effector are mounted on the end of the robotic arm body and are electrically connected to the control component.

4. The loading and unloading equipment according to claim 1, characterized in that, The mobile vehicle body includes a vehicle frame and multiple distance sensors; The plurality of distance sensors are all mounted on the vehicle frame, and the plurality of distance sensors are used to detect the distance between the vehicle frame and an obstacle located in a target direction, the target direction including the traveling direction and the lateral direction of the moving vehicle; The plurality of distance sensors are all electrically connected to the control component, which is used to adjust the movement path of the moving vehicle body based on the detection data of the plurality of distance sensors.

5. The loading and unloading equipment according to claim 1, characterized in that, The loading and unloading equipment also includes ultrasonic sensors; The ultrasonic sensor is installed at the end of the robotic arm device. The ultrasonic sensor is used to emit ultrasonic signals to the surrounding environment and receive reflected signals of the ultrasonic signals. The ultrasonic sensor is electrically connected to the control component.

6. The loading and unloading equipment according to claim 4, characterized in that, The mobile vehicle body also includes multiple collision sensors; The plurality of collision sensors are all mounted on the vehicle frame and distributed around the vehicle frame, and the plurality of collision sensors are all electrically connected to the control component; The control component is configured to stop the moving vehicle body in response to receiving a trigger signal from any of the collision sensors.

7. The loading and unloading equipment according to claim 3, characterized in that, The loading and unloading equipment also includes photoelectric sensors; The photoelectric sensor is mounted on the end effector and electrically connected to the control component. The photoelectric sensor is used to detect whether the goods fall off during the process of the end effector grasping the goods.

8. The loading and unloading equipment according to claim 1, characterized in that, The lifting device includes a drive assembly and a mounting base, and the cargo platform includes multiple load-bearing plates; The drive assembly is mounted on the mobile vehicle body, and the mounting base is connected to the drive assembly. The drive assembly is used to drive the mounting base to rise and fall. One end of each of the plurality of support plates is fixedly connected to the mounting base.

9. The loading and unloading equipment according to claim 8, characterized in that, The drive assembly includes a drive motor, a transmission mechanism, a screw, and a limiting mechanism; The drive motor is installed inside the mobile vehicle body, and the transmission mechanism is connected to one end of the drive motor and one end of the screw, respectively. The limiting mechanism is installed on the side of the mobile vehicle body. The mounting seat is movably connected to the screw and the limiting mechanism. The limiting mechanism is used to move the mounting seat along the extension direction of the screw.

10. The loading and unloading equipment according to claim 9, characterized in that, The limiting mechanism includes a sliding member and a strip-shaped sliding mating member; The sliding member is fixedly connected to the mounting base; The sliding fitting is installed on the side of the moving vehicle body. The sliding member is slidably connected to the sliding fitting, and the extending direction of the sliding fitting is parallel to the extending direction of the screw.

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