Truss loading robot and intelligent loading system

Abstract

The application relates to the field of automation equipment, in particular to a truss loading robot and an intelligent loading system, which comprises a gantry truss; a loading assembly, which comprises a moving platform, a lifting frame, a mounting frame connected between the top of the lifting frame and the moving platform, and a fork clamp connected to the lifting frame; a driving assembly, which comprises an x-axis driving module for driving the gantry truss to slide along an x direction, a y-axis driving module for driving the loading assembly to slide along a y direction, a z-axis driving module for driving the lifting frame to lift, and a rotary driving module for driving the lifting frame to rotate along a z axis; the x-axis driving module comprises two guide rails extending along the x direction, and the two guide rails are correspondingly arranged at the bottom of the two side columns and used for limiting the sliding of the gantry truss and the parking of a vehicle. The guide rails extending along the x direction are arranged, so that the guide rails can simultaneously undertake the double roles of a robot moving track and a vehicle parking positioner, and the difficulty of loading caused by the uncertainty of vehicle parking is reduced.

Description

Technical Field

[0001] This application relates to the field of automated equipment, and more specifically, to a gantry loading robot and an intelligent loading system. Background Technology

[0002] With the rapid development of the logistics industry, the efficiency and safety requirements of cargo loading are increasing. To improve the automation level of loading operations and replace the inefficient and high-load mode that relies on manual labor, automated equipment such as palletizing robots are widely used in loading scenarios. Palletizing robots are usually fixed robotic arm structures with a fixed working radius and limited coverage. For trucks of different lengths or with slight deviations in parking positions, the end effector of the robotic arm may not be able to reach the far corners or deep parts of the truck bed, resulting in the inability to complete loading or the need for manual assistance to adjust the vehicle's position, leading to low efficiency.

[0003] Therefore, there is an urgent need to design a loading equipment that can cover a large area of ​​the loading area, operate stably, be accurately positioned, and perform efficient palletizing. Utility Model Content

[0004] The purpose of this application is to provide a truss loading robot and an intelligent loading system, which aims to solve the technical problems of limited loading area coverage and low loading efficiency of existing automated loading equipment.

[0005] To achieve this objective, the technical solution adopted in this application is: The first aspect of this application provides a gantry loading robot, comprising: A gantry truss includes a frame body having x-direction and y-direction and columns respectively disposed on both sides of the frame body along the y-direction, the columns extending along the z-direction and disposed at least at the bottom of the frame body to form support; the x-direction, y-direction and z-direction are perpendicular to each other; The loading assembly includes a mobile platform mounted on the frame body, a lifting frame mounted below the mobile platform and raised and lowered along the z-direction, a mounting frame connected between the top of the lifting frame and the mobile platform, and a fork clamp fixedly connected to the bottom of the lifting frame. The drive assembly includes an x-axis drive module disposed at the bottom of the column and used to drive the gantry truss to slide in the x direction, a y-axis drive module disposed between the moving platform and the frame body and used to drive the loading assembly to slide in the y direction, a z-axis drive module disposed between the mounting frame and the lifting frame and used to drive the lifting frame to rise and fall, and a rotary drive module disposed between the moving platform and the mounting frame and used to drive the lifting frame to rotate along the z-axis. The x-axis drive module includes two guide rails extending along the x-direction. The two guide rails are respectively set at the bottom of the two side columns and are used for the sliding limit of the gantry truss and the parking limit of the vehicle.

[0006] In addition to one or more features described herein, or as an alternative, further embodiments of the gantry loading robot may include: the x-axis drive module further includes two bases corresponding to the two guide rails respectively, the guide rails being fixedly connected to the bases; the x-axis drive module further includes at least one servo motor mounted on the bottom of the gantry gantry, a first gear sleeved on the output shaft of the servo motor, and a first rack mounted on the base and meshing with the first gear.

[0007] In addition to one or more features described herein, or as an alternative, further embodiments of the gantry loading robot may include: the y-axis drive module includes two slide rails extending along the y-direction, the two slide rails being correspondingly disposed on the top surfaces of the frame body on both sides along the x-direction and used for sliding limit of the moving platform; the y-axis drive module further includes at least one drive motor mounted on the side end of the moving platform, a second gear sleeved on the output shaft of the drive motor, and a second rack mounted on the frame body and meshing with the second gear.

[0008] In addition to one or more features described herein, or as an alternative, further embodiments of the gantry loading robot may include: the z-axis drive module comprising a hydraulic station disposed on the mounting frame and at least one hydraulic actuator connected between the mounting frame and the lifting frame, the at least one hydraulic actuator being fluidly connected to the hydraulic station via hydraulic lines, such that the hydraulic station is able to supply pressurized oil to the hydraulic actuator to drive the hydraulic actuator to move.

[0009] In addition to one or more features described herein, or as an alternative, further embodiments of the gantry loading robot may include: the lifting frame including an active frame and at least one follower support, the active frame being connected to the at least one hydraulic actuator; the z-axis drive module further including a linkage mechanism for driving the at least one follower support in linkage when the active frame is raised or lowered, the active frame being slidably connected to the topmost follower support, and the fork clamps being mounted on the bottommost follower support.

[0010] A second aspect of this application provides an intelligent loading system, including the aforementioned truss loading robot.

[0011] In addition to one or more features described herein, or alternatively, further embodiments of the intelligent loading system may include: the system further includes the following modules: The vehicle recognition module includes a vision module and a verification module that is communicatively connected to the vision module and the warehouse management system, respectively. The vision module is used to recognize the license plate number, and the verification module is used to obtain and verify the target loading work order based on the license plate number. The vehicle guidance module includes a PDA terminal that is communicatively connected to the verification module, used to display the target loading position when the verification result of the target loading work order is valid; The modeling module includes a lidar located at the target loading position for scanning the carriage to generate point cloud data, a point cloud processing unit connected to the lidar for outputting a carriage size model based on the point cloud data, and a stacking planning unit that is communicatively connected to the point cloud processing unit and the warehouse management system to output a stacking scheme. The cargo conveying module includes a conveyor line, a picking station located at the end of the conveyor line, a cargo sensing element for detecting the arrival of cargo, and a conveying control unit. The conveying control unit is used to receive an outbound instruction and transport the cargo on the target loading order sequentially to the picking station via the conveyor line. The gantry loading robot also includes a gantry control component, which communicates with the cargo sensing element and the stacking planning unit respectively, and controls the start and stop of each drive module in the drive component to grab the cargo based on the stacking scheme when the cargo sensing element detects the cargo at the picking station.

[0012] In addition to one or more features described herein, or as an alternative, further embodiments of the intelligent loading system may include: the modeling module further comprising a path correction unit communicatively connected to the lidar and the truss control assembly, the path correction unit being used to dynamically update the stacking scheme based on data generated by the periodic scanning of the lidar.

[0013] In addition to one or more features described herein, or as an alternative, further embodiments of the intelligent loading system may include: the truss control component being configured with a mode switching interface, the mode switching interface being connected to an automatic mode trigger port, a semi-automatic remote control console, and a manual remote control terminal, respectively.

[0014] In addition to one or more features described herein, or as an alternative, further embodiments of the intelligent loading system may include: the vehicle guidance module further includes an LED indicator that is communicatively connected to the verification module, the LED indicator being used to guide the vehicle to the target loading position if the verification result of the target loading work order is valid.

[0015] One of the above technical solutions has the following advantages or beneficial effects: This application upgrades the loading robot from a fixed ground structure to a gantry truss structure that can move along the length direction (x direction) of the vehicle compartment. By setting guide rails extending along the x direction, it simultaneously assumes the dual roles of robot movement track and vehicle parking locator, reducing the loading difficulty caused by the uncertainty of vehicle parking and providing basic support for fully unmanned loading. By setting drive components, the spatial pose deviation of the loading components can be corrected in real time, forming a dual fault-tolerant mechanism of rigid guide rail limit and flexible compensation of drive components. The multi-degree-of-freedom controlled drive components enable the fork clamps to cover a large area of ​​the loading area while ensuring loading stability and improving loading and palletizing efficiency.

[0016] Other advantages of this application and the technical effects of preferred embodiments will be further described in the detailed embodiments below. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional schematic diagram of the gantry loading robot provided in the embodiments of this application. Figure 1 ; Figure 2 yes Figure 1 Enlarged view of section A; Figure 3 This is a three-dimensional schematic diagram of the gantry loading robot provided in the embodiments of this application. Figure 2 ; Figure 4 This is a three-dimensional schematic diagram of the gantry loading robot provided in the embodiments of this application. Figure 3 ; Figure 5 This is a schematic diagram of the intelligent loading system provided in the embodiments of this application.

[0019] The following are the labeling elements in the figure: Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] Furthermore, in the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] by Figures 1 to 4 Taking an example, this application provides a description and introduction of a gantry loading robot. The gantry loading robot provided in this application includes a gantry gantry 1, a loading assembly 2, and a drive assembly 3. The gantry gantry 1 includes a frame body 11 with x-direction and y-direction, and columns 12 respectively disposed on both sides of the frame body 11 along the y-direction. The columns 12 extend along the z-direction and are at least disposed at the bottom of the frame body 11 to form support. The x-direction, y-direction, and z-direction are mutually perpendicular. Figure 1 As shown. The frame body 11 is preferably a rectangular frame structure, which can be enclosed by longitudinal beams extending along the x-direction and transverse beams extending along the y-direction. The x-direction can be understood as the length direction of the vehicle body, the y-direction can be understood as the width direction of the vehicle body, and the z-direction can be understood as the height direction of the vehicle body.

[0026] The loading assembly 2 may include a mobile platform 21, a lifting frame 22, and a fork clamp 24. The fork clamp 24 can be used to clamp goods or pallets. The loading assembly 2 can achieve three-dimensional and rotary motion through the drive assembly 3. The drive assembly 3 is used to adjust the spatial orientation of the loading assembly 2 so that the fork clamp 24 can accurately clamp goods in different orientations. Specifically, the drive assembly 3 includes X, Y, and Z axis drive modules 33 and a rotary drive module 34. The X-axis drive module 31 defines the movement trajectory of the gantry truss 1 and the parking area of ​​the truck through two parallel guide rails 311. Figure 1 As shown, the guide rail 311 can be configured as a high-precision linear track and can be fixedly installed on the ground or on the base 312 on the ground; the vehicle parking limit refers to the physical constraint of the vehicle position by configuring the spacing of the guide rail 311 to match the width of the truck.

[0027] This application upgrades the loading robot from a fixed ground structure to a gantry truss structure 1 that can move along the length (x-direction) of the vehicle compartment. By setting a guide rail 311 extending along the x-direction, it simultaneously serves as the robot's moving track and the vehicle's parking locator, ensuring that the truss's movement trajectory is synchronized and accurate with the truck's positioning. This reduces the loading difficulties caused by the uncertainty of vehicle parking, avoids manual adjustment of the parking position, and provides a basic support for fully unmanned loading. By setting a drive component 3, the spatial pose deviation of the loading component 2 can be corrected in real time, forming a dual fault-tolerant mechanism of rigid limit of guide rail 311 and flexible compensation of drive component 3. The multi-degree-of-freedom controlled drive component 3 enables the fork clamps 24 to cover a large area of ​​the loading area while ensuring loading stability and improving loading and palletizing efficiency.

[0028] In one or more embodiments, such as Figure 2 As shown, the x-axis drive module 31 also includes two bases 312 corresponding to the two guide rails 311 respectively. The guide rails 311 are fixedly connected to the bases 312. Optionally, the guide rails 311 can be fixed to the bases 312 by bolts. The bases 312 can be concrete-embedded steel bases 312. The x-axis drive module 31 may also include at least one servo motor 313 installed at the bottom of the gantry truss 1, a first gear 314 sleeved on the output shaft of the servo motor 313, and a first rack 315 installed on the base 312 and meshing with the first gear 314. It should be noted that one servo motor 313 corresponds to one first gear 314, and the same first rack 315 can mesh with multiple first gears 314. Preferably, one first rack 315 is provided on each side of the bottom of the gantry truss 1, and each first rack 315 corresponds to multiple first gears 314. In this embodiment, the rack and pinion drive can provide high torque driving force to meet the needs of large-span truss movement; in addition, the base 312 can distribute the pressure on the track and prevent track deformation caused by foundation settlement.

[0029] In one or more embodiments, such as Figure 3 As shown, the y-axis drive module 32 includes two slide rails 321 extending along the y-direction. The two slide rails 321 are correspondingly arranged on the top surfaces of the frame body 11 along the x-direction and are used for sliding limit of the moving platform 21. The y-axis drive module 32 also includes at least one drive motor 322 installed on the side of the moving platform 21, a second gear 323 sleeved on the output shaft of the drive motor 322, and a second rack 324 installed on the frame body 11 and meshing with the second gear 323. The correspondence between the drive motor 322, the second gear 323 and the second rack 324 can be referred to the correspondence between the servo motor 313, the first gear 314 and the first rack 315, which will not be repeated here. The first gear 314 and the second gear 323 are both preferably helical gears. Helical gear meshing transmission has high stability and can reduce transmission noise. Rollers can be set between the bottom of the gantry truss 1 and the guide rail 311, and between the moving platform 21 and the slide rail 321 to reduce frictional resistance and increase the moving speed.

[0030] In one or more embodiments, further reference may be made. Figure 3 The Z-axis drive module 33 can be a hydraulic drive module, including a hydraulic station 331 mounted on the mounting frame 23 and at least one hydraulic actuator 332 connected between the mounting frame 23 and the lifting frame 22. The at least one hydraulic actuator 332 is fluidly connected to the hydraulic station 331 via hydraulic lines, enabling the hydraulic station 331 to supply pressurized oil to the hydraulic actuator 332 to drive its movement. The hydraulic actuator 332 can be understood as a hydraulic cylinder. By configuring the Z-axis drive module 33 as a hydraulic system, it helps to provide large-tonnage lifting force, adapting to the clamping of heavy goods. Simultaneously, the self-locking characteristic of the cylinder ensures safe suspension of goods during lifting, resulting in excellent lifting stability.

[0031] In one or more embodiments, such as Figure 4 As shown, the lifting frame 22 includes a drive frame 221 and at least one nested follower support 222. The drive frame 221 is connected to at least one hydraulic actuator 332. The Z-axis drive module 33 also includes a linkage mechanism for driving at least one follower support 222 in conjunction with the drive frame 221 during lifting. The drive frame 221 is slidably connected to the topmost follower support 222, and the fork clamp 24 is mounted on the bottommost follower support 222. It should be noted that the drive frame 221 can be linked to the follower support 222 via a sprocket and chain, or other methods can be used for linkage. By configuring the lifting frame 22 as a nested structure of the drive frame 221 and the follower support 222, the Z-axis travel of the lifting frame 22 can be effectively extended, which helps to meet the needs of double-layer palletizing of trucks.

[0032] In one or more embodiments, the rotary drive module 34 can be implemented by a motor, gears and a ring rack, or of course, it can be configured in other structural forms, which are not limited here.

[0033] A second aspect of this application provides an intelligent loading system, including the aforementioned truss loading robot. By integrating the truss loading robot into the intelligent loading system, fully automated loading can be achieved, improving loading efficiency.

[0034] In one or more embodiments, such as Figure 5 As shown, the intelligent loading system may also include the following modules: a vehicle recognition module, a vehicle guidance module, a modeling module, and a conveying module. The vehicle recognition module includes a vision module and a verification module that communicates with both the vision module and the warehouse management system. The vision module can be used to recognize license plate numbers, and the verification module can be used to obtain and verify target loading work orders based on the license plate number. The vision module can be a camera. After the camera captures the license plate, the verification module can automatically query whether the license plate belongs to a delivery vehicle and whether it has a corresponding loading work order. If so, it obtains the corresponding work order from the warehouse management system and verifies the validity of the work order. Once the vehicle and the corresponding work order are confirmed to be valid, the vehicle can be released.

[0035] The vehicle guidance module may include a PDA terminal that communicates with the verification module. This terminal displays the target loading location when the verification result of the target loading work order is valid. Specifically, by pushing the target loading location information to the PDA terminal, the driver is guided to drive the vehicle to the loading location. Preferably, the vehicle guidance module can be integrated with access control and unmanned systems to control the order of vehicle queuing, entry, weighing, and loading, thus standardizing the shipping process. The vehicle guidance module may also include voice prompts, indicator lights, and a large screen display to guide each vehicle to its designated location, improving vehicle safety and preventing collisions and scrapes. The large screen can display real-time information such as the vehicle queuing progress, ensuring orderly loading and significantly improving shipping efficiency.

[0036] The modeling module may include a LiDAR located at the target loading position for scanning the vehicle compartment to generate point cloud data; a point cloud processing unit connected to the LiDAR for outputting a vehicle compartment size model based on the point cloud data; and a stacking planning unit that communicates with both the point cloud processing unit and the warehouse management system to output a stacking plan. The LiDAR identifies the vehicle's external dimensions and outputs point cloud information. The point cloud processing unit uses a GPU-accelerated point cloud registration algorithm to process the point cloud information, constructing a model of the vehicle compartment's length, width, and height. The stacking planning unit generates a corresponding 3D stacking plan based on the vehicle compartment model and the cargo dimensions on the work order. Furthermore, the modeling module can display and provide real-time feedback on the loading model diagram, facilitating operators' control and adjustment of the loading plan and schedule.

[0037] The cargo conveying module may include a conveyor line, a picking station located at the end of the conveyor line, a cargo sensing element for detecting the arrival of cargo, and a conveying control unit. The cargo sensing element may be a photoelectric sensor. The conveying control unit may receive outbound instructions and transport the cargo on the target loading order sequentially to the picking station via the conveyor line. Specifically, the warehouse management system stores shipping plans and batching information, and can send outbound instructions to control the conveying control unit to automatically select cargo as required after the vehicle arrives at the target loading station.

[0038] In this embodiment, the gantry loading robot may further include a gantry control component. The gantry control component communicates with both the cargo sensing element and the stacking planning unit. When the cargo sensing element detects cargo at the picking station, it controls the start and stop of each drive module in the drive component 3 based on the stacking scheme to grasp the cargo. In other words, after receiving a cargo arrival signal, the gantry control component can control the actions of each drive module according to the stacking scheme. By combining LiDAR and AI modeling, high measurement accuracy can be ensured, achieving efficient and precise cargo grasping. Simultaneously, through multi-system linkage, manual intervention can be reduced, significantly shortening loading preparation time.

[0039] In one or more embodiments, further reference is made. Figure 5 The modeling module also includes a path correction unit that communicates with both the LiDAR and the truss control components. The LiDAR periodically scans the point cloud of the cargo compartment, for example, performing a full-vehicle scan every 5 seconds. Based on this, the path correction unit can dynamically adjust the stacking scheme and robot path, updating the stacking scheme in real time. For example, the path correction unit can identify cargo displacement based on point cloud differential algorithms. By correcting the stacking scheme in real time through the path correction unit, deviations caused by truck swaying or cargo shifting can be compensated for, ensuring stacking alignment accuracy and avoiding loading accidents.

[0040] In one or more embodiments, the truss control component is equipped with a mode switching interface, which is connected to an automatic mode trigger port, a semi-automatic remote control console, and a manual remote control terminal, respectively. In this embodiment, the truss control component is equipped with a three-mode interface: automatic mode (fully unmanned operation), semi-automatic mode (remote video-assisted positioning), and manual mode (remote control operation). By configuring the truss control component to be mode-switchable, abnormal working conditions, such as return processing, can be effectively handled, enabling the safe and smooth loading of various goods.

[0041] It should be noted that the automatic mode can be understood as the mode mentioned in the above embodiments, that is, when the vehicle arrives, the loading plan and loading path are automatically calculated through automatic modeling, and finally the automatic material picking and loading are achieved. The semi-automatic loading mode can be understood as the gantry loading robot can automatically run to the picking position, and the operator can remotely assist in precise positioning through video, and then grab the material after manual confirmation; when loading and placing, the gantry loading robot automatically walks to a certain distance from the loading position, and then the operator can remotely assist in precise placement through video. The manual mode can be understood as a remote control operation mode, with manual operation as the main method and LiDAR and video visualization as auxiliary methods.

[0042] In one or more embodiments, the vehicle guidance module further includes an LED indicator that is communicatively connected to the verification module. The LED indicator can be used to guide the vehicle to the target loading position when the verification result of the target loading work order is valid. By setting the LED indicator, the driver can be guided to the target loading position quickly, shortening the vehicle parking and positioning time and avoiding vehicle congestion or collisions without manual intervention. The LED indicator and the PDA terminal form a dual guidance system, which helps to improve the robustness of the vehicle guidance module.

[0043] In one specific implementation, the operation process of the intelligent loading system can be as follows: (1) Position the vehicle at the target loading position and start loading; (2) The conveyor line moves the goods from the shelf to the picking position near the gantry loading robot; (3) The gantry robot moves the Z-axis to the picking position by moving the XY axis, and the Z-axis is raised and lowered to grab the goods; (4) The gantry robot moves the Z-axis to the vehicle loading position by moving the XY-axis, and the Z-axis is raised and lowered to place the goods; (5) Return to step (3) and repeat the process sequentially.

[0044] In conclusion, the intelligent loading system proposed in this application enables unmanned or minimally manned loading operations, significantly reducing labor intensity and laying the foundation for further development of smart factories. By designing this intelligent loading system integrating a gantry loading robot, enterprise production management can be made more intelligent, improving production efficiency, increasing economic benefits, reducing the number of workers required in the loading process, and lowering the workload of loading workers. It should be noted that this intelligent loading system is not only suitable for intelligent loading of palletized goods, but also for loading other bagged materials, such as cement, grain, fertilizer, and feed; specific limitations are not specified here.

[0045] Obviously, the above embodiments of this application are merely examples for clear illustration and are not intended to limit the implementation of this application. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of the claims of this application.

Claims

1. A gantry loading robot, characterized in that, include: A gantry truss includes a frame body having x-direction and y-direction and columns respectively disposed on both sides of the frame body along the y-direction, the columns extending along the z-direction and disposed at least at the bottom of the frame body to form support; the x-direction, y-direction and z-direction are perpendicular to each other; The loading assembly includes a mobile platform mounted on the frame body, a lifting frame mounted below the mobile platform and raised and lowered along the z-direction, a mounting frame connected between the top of the lifting frame and the mobile platform, and a fork clamp fixedly connected to the bottom of the lifting frame. The drive assembly includes an x-axis drive module disposed at the bottom of the column and used to drive the gantry truss to slide in the x direction, a y-axis drive module disposed between the moving platform and the frame body and used to drive the loading assembly to slide in the y direction, a z-axis drive module disposed between the mounting frame and the lifting frame and used to drive the lifting frame to rise and fall, and a rotary drive module disposed between the moving platform and the mounting frame and used to drive the lifting frame to rotate along the z-axis. The x-axis drive module includes two guide rails extending along the x-direction. The two guide rails are respectively set at the bottom of the two side columns and are used for the sliding limit of the gantry truss and the parking limit of the vehicle.

2. The gantry loading robot according to claim 1, characterized in that, The x-axis drive module also includes two bases corresponding to the two guide rails respectively, and the guide rails are fixedly connected to the bases; the x-axis drive module also includes at least one servo motor installed at the bottom of the gantry truss, a first gear sleeved on the output shaft of the servo motor, and a first rack installed on the base and meshing with the first gear.

3. The gantry loading robot according to claim 1, characterized in that, The y-axis drive module includes two slide rails extending along the y-direction. The two slide rails are correspondingly arranged on the top surfaces of the frame body on both sides along the x-direction and are used for sliding and limiting the movement of the mobile platform. The y-axis drive module also includes at least one drive motor installed on the side end of the mobile platform, a second gear sleeved on the output shaft of the drive motor, and a second rack installed on the frame body and meshing with the second gear.

4. The gantry loading robot according to any one of claims 1 to 3, characterized in that, The z-axis drive module includes a hydraulic station mounted on the mounting frame and at least one hydraulic actuator connected between the mounting frame and the lifting frame. The at least one hydraulic actuator is fluidly connected to the hydraulic station through hydraulic pipelines, so that the hydraulic station can provide pressurized oil to the hydraulic actuator to drive the hydraulic actuator to move.

5. The gantry loading robot according to claim 4, characterized in that, The lifting frame includes an active frame and at least one follower bracket. The active frame is connected to the at least one hydraulic actuator. The z-axis drive module also includes a linkage mechanism for driving the at least one follower bracket to move together when the active frame is raised or lowered. The active frame is slidably connected to the topmost follower bracket, and the fork clamp is mounted on the bottommost follower bracket.

6. An intelligent loading system, characterized in that, Including the gantry loading robot as described in any one of claims 1 to 5.

7. The intelligent loading system according to claim 6, characterized in that, The system also includes the following modules: The vehicle recognition module includes a vision module and a verification module that is communicatively connected to the vision module and the warehouse management system, respectively. The vision module is used to recognize the license plate number, and the verification module is used to obtain and verify the target loading work order based on the license plate number. The vehicle guidance module includes a PDA terminal that is communicatively connected to the verification module, used to display the target loading position when the verification result of the target loading work order is valid; The modeling module includes a lidar located at the target loading position for scanning the carriage to generate point cloud data, a point cloud processing unit connected to the lidar for outputting a carriage size model based on the point cloud data, and a stacking planning unit that is communicatively connected to the point cloud processing unit and the warehouse management system to output a stacking scheme. The cargo conveying module includes a conveyor line, a picking station located at the end of the conveyor line, a cargo sensing element for detecting the arrival of cargo, and a conveying control unit. The conveying control unit is used to receive an outbound instruction and transport the cargo on the target loading order sequentially to the picking station via the conveyor line. The gantry loading robot also includes a gantry control component, which communicates with the cargo sensing element and the stacking planning unit respectively, and controls the start and stop of each drive module in the drive component to grab the cargo based on the stacking scheme when the cargo sensing element detects the cargo at the picking station.

8. The intelligent loading system according to claim 7, characterized in that, The modeling module also includes a path correction unit that is communicatively connected to the lidar and the truss control component, respectively. The path correction unit is used to dynamically update the stacking scheme based on the data generated by the periodic scanning of the lidar.

9. The intelligent loading system according to claim 7, characterized in that, The truss control component is equipped with a mode switching interface, which is connected to the automatic mode trigger port, the semi-automatic remote control console, and the manual remote control terminal, respectively.

10. The intelligent loading system according to claim 7, characterized in that, The vehicle guidance module also includes an LED indicator that is communicatively connected to the verification module. The LED indicator is used to guide the vehicle to the target loading position when the verification result of the target loading work order is valid.

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