Intelligent loading and unloading robot and method

Abstract

An intelligent loading and unloading robot and a method. The intelligent loading and unloading robot comprises a vehicle body (5); a chassis locomotion mechanism is installed at the bottom of the vehicle body (5); a first conveying mechanism (1), a second conveying mechanism (2) and a manipulator execution mechanism (3) which are sequentially connected are provided on the vehicle body (5); a vehicle body state adjusting mechanism (8) is arranged between the vehicle body (5) and the chassis locomotion mechanism; a visual inspection system (4) is further arranged on the vehicle body (5); the vehicle body state adjusting mechanism (8) is used for adjusting the angle of the vehicle body so as to keep same level. The intelligent loading and unloading robot can improve the accuracy of cargo loading and unloading, and ensures the stability of device operation.

Description

A smart loading and unloading robot and method

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 2024104932352, filed on April 23, 2024, entitled “An Intelligent Loading and Unloading Robot and Method”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of cargo loading and unloading technology, specifically to an intelligent loading and unloading robot and method. Background Technology

[0004] Loading and unloading robots are commonly used for loading and unloading boxed goods. Current loading and unloading robots generally use tires or Mecanum wheels as their walking mechanism to achieve equipment movement. For example, CN217076301U discloses a multi-specification boxed goods loading and unloading robot, including a movable vehicle body, a telescopic conveyor, an intermediate conveyor yaw section, an intermediate conveyor section, a hand pitch and yaw mechanism, and a hand actuator. It adopts a structure combining steering wheels and steering wheels to achieve lateral and forward / backward movement of the equipment. CN112278911A discloses a loading and unloading equipment and system, including a base assembly, a cantilever assembly, and a conveyor assembly. The base assembly includes a chassis and wheels, which enable convenient movement of the entire loading and unloading equipment.

[0005] The aforementioned movement method of the loading and unloading robots is prone to slippage or deviation. On uneven train carriages, they can easily get stuck in dents, affecting equipment operation. Furthermore, since there is usually a ramp with a certain slope between the train carriage and the platform, the loading and unloading robot's arm tip tilts to a horizontal position after it reaches the ramp, affecting the accuracy of loading and unloading goods. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this disclosure is to provide an intelligent loading and unloading robot and method, which can improve the accuracy of cargo loading and unloading and ensure the stability of equipment operation.

[0007] To achieve the above objectives, this disclosure provides the following technical solution:

[0008] Optionally, embodiments of this disclosure provide an intelligent loading and unloading robot, including a vehicle body, a chassis walking mechanism mounted on the bottom of the vehicle body, and a first conveying mechanism, a second conveying mechanism, and a hand actuator connected in sequence on the vehicle body; a vehicle body state adjustment mechanism is provided between the vehicle body and the chassis walking mechanism, and a vision detection system is also provided on the vehicle body. The vehicle body state adjustment mechanism is used to adjust the angle of the vehicle body relative to the horizontal plane when climbing or descending a slope, so that it can be maintained within a set angle state range during operation.

[0009] As a further implementation, the vehicle body state adjustment mechanism includes a rotating platform and a rotating drive assembly connected to the rotating platform. The rotating platform is rotatably connected to the chassis traveling mechanism. The second conveying mechanism is disposed on the rotating platform. The rotating drive assembly is used to adjust the rotating platform to a set angle state range when climbing or descending a slope.

[0010] As a further implementation, the vehicle body detects its own tilt angle state through a tilt angle detection sensor, and determines the adjustment angle of the rotating platform based on the tilt angle detected by the tilt angle detection sensor.

[0011] As a further implementation, the rotary drive assembly includes a rotary drive element that directly drives the rotating shaft of the rotary platform to rotate.

[0012] Alternatively, the rotary drive element is indirectly connected to the rotating shaft of the rotary platform through a transmission mechanism, which is either a gear transmission mechanism or a chain transmission mechanism.

[0013] The rotary drive element is one of a drive motor, a pneumatic motor, and a hydraulic motor, and the rotary drive element has a self-locking mechanism.

[0014] As a further implementation, the rotary drive assembly includes a rotary drive element that drives the rotary platform to rotate via a crank-connecting rod structure. The rotary drive element is used to drive the crank in the crank-connecting rod structure to rotate, and the connecting rod in the connecting rod structure is hinged to a portion of the rotary platform that is off-axis.

[0015] The rotary drive element includes one of a drive motor, a pneumatic motor, and a hydraulic motor, and the rotary drive element has a self-locking mechanism.

[0016] As a further implementation, the rotary drive assembly includes a linear drive element that directly acts on a position on the rotary platform that is offset from the axis of rotation.

[0017] Alternatively, the linear drive element drives the rotating platform's shaft to rotate via a crank-connecting rod structure;

[0018] The linear drive element is one of a linear motor, an electric cylinder, a pneumatic cylinder, and a hydraulic cylinder.

[0019] As a further implementation, the chassis traveling mechanism is a tracked traveling mechanism or a wheeled traveling mechanism, wherein the wheel of the wheeled traveling mechanism is one of a regular wheel, a Mecanum wheel, and a steering wheel.

[0020] As a further implementation, the second conveying mechanism is mounted on a rotating platform via an intermediate pitch-yaw mechanism, which is used to drive the second conveying mechanism to perform up-and-down and left-and-right swinging actions relative to the vehicle body.

[0021] As a further implementation, the first conveying mechanism is a telescopic conveying mechanism, and the first conveying mechanism is connected to the second conveying mechanism through a universal joint.

[0022] As a further implementation, the hand actuator is provided with a hand pitch-yaw mechanism, which is used to drive the hand actuator to complete the up-and-down and left-and-right swinging actions.

[0023] As a further implementation, the hand actuator is provided with a cable quick-connect connector and an air pipe quick-connect connector, and the cable and air pipe laid by the second conveying mechanism are connected to the hand actuator through the cable quick-connect connector and the air pipe quick-connect connector, respectively.

[0024] Optionally, embodiments of this disclosure also provide a loading method for an intelligent loading and unloading robot. During loading, the tilt angle of the vehicle body relative to the horizontal plane is obtained, and the vehicle body state adjustment mechanism adjusts the vehicle body to a set angle range in real time.

[0025] The goods are sequentially transported to the conveying end via the first conveying mechanism, the second conveying mechanism, and the manual actuator, and then pushed to the identified loading position by the manual actuator to complete the loading.

[0026] Optionally, embodiments of this disclosure also provide an unloading method for an intelligent loading and unloading robot, wherein during unloading, the angle of the vehicle body relative to the horizontal plane is obtained, and the vehicle body state adjustment mechanism adjusts the vehicle body to a set angle range in real time;

[0027] The hand actuator pulls the identified goods to the end of the conveyor, and then conveys them sequentially through the hand actuator, the second conveyor and the first conveyor to the tail of the conveyor to complete the unloading.

[0028] The beneficial effects of the embodiments of this disclosure described above are as follows:

[0029] (1) This disclosure enables the arm pitch angle to be finely adjusted by setting a vehicle body state adjustment mechanism, so that the loading and unloading robot can remain horizontal on the slope, and the vision detection system can also remain horizontal, thereby improving detection accuracy and loading and unloading accuracy.

[0030] (2) By setting up a tracked walking mechanism, this disclosure avoids problems such as slipping and getting stuck in pits; when two walking drive motors are powered on at the same time, the drive wheels rotate and drive the track to move forward and backward. When one walking drive motor is stationary and the other walking drive motor is powered on, the loading and unloading robot can turn left and right. The tracked chassis can adapt to various ground environments and various car body environments.

[0031] (3) The hand actuator of this disclosure is equipped with a cable quick-connect connector and an air pipe quick-connect connector for quick switching of hand cables and air circuits, reducing installation time and improving loading and unloading efficiency. Attached Figure Description

[0032] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0033] Figure 1 is a schematic diagram of the overall structure of an intelligent loading and unloading robot according to one or more embodiments of the present disclosure;

[0034] Figure 2 is a side view of a vehicle body according to one or more embodiments of this disclosure;

[0035] Figure 3 is a front view of the vehicle body according to one or more embodiments of this disclosure;

[0036] Figure 4 is a perspective view of a vehicle body according to one or more embodiments of this disclosure;

[0037] Figure 5 is a schematic diagram of a vehicle body state adjustment mechanism with a gear transmission structure according to one or more embodiments of the present disclosure;

[0038] Figure 6 is a schematic diagram of a vehicle body state adjustment mechanism with a chain drive structure according to one or more embodiments of the present disclosure;

[0039] Figure 7 is a schematic diagram of the tracked walking mechanism structure of one or more embodiments of the present disclosure;

[0040] Figure 8 is a schematic diagram of the structure of a hand actuator according to one or more embodiments of the present disclosure;

[0041] Figure 9 is a partial structural schematic diagram of a hand actuator according to one or more embodiments of the present disclosure.

[0042] Among them, 1. First conveying mechanism, 2. Second conveying mechanism, 3. Hand actuator, 4. Vision inspection system, 5. Vehicle body, 6. Tracked walking mechanism, 7. Hand pitch-yaw mechanism, 8. Vehicle body state adjustment mechanism, 9. First intermediate pitch mechanism, 10. Support arm, 11. Support arm, 12. Second intermediate pitch mechanism, 13. Rotary support gear, 14. Rotary drive gear, 15. Pitch and yaw mounting plate, 16. Arm end rotary gear, 17. Rotary platform, 18. Rotary shaft, 19. Crank connecting rod mechanism, 20. Electric cylinder, 21. Drive wheel, 22. Support wheel, 23. Tensioner wheel, 24. Track, 25. Support plate, 26. Connector lower shell, 27. Connector upper shell, 28. Rotary drive motor, 29. Pitch drive gear, 30. Chain belt drive structure. Detailed Implementation

[0043] In a typical embodiment of this disclosure, as shown in Figures 1-9, an intelligent loading and unloading robot is provided.

[0044] Existing loading and unloading robots suffer from problems such as unstable operation and limitations in loading and unloading goods on sloped surfaces. For example, loading ramps, which are erected between the truck bed and the loading platform to allow loading and unloading robots to board, typically have a certain slope. When loading and unloading robots board the ramp, due to the slope, they tend to face upwards along the slope, affecting the effective visual recognition range (facing non-loading areas within the visual area). Based on this, this embodiment provides an intelligent loading and unloading robot. By adding a vehicle body state adjustment mechanism 8, in conjunction with the second conveying mechanism 2, the entire device operates stably and can maintain the vehicle body and the vision detection system 4 within a set angle range, achieving precise delivery through accurate identification of the pick-up and put-down positions. The setting angle state mentioned here can be understood as the state in which the vision detection system 4 can correctly identify the goods to be loaded and unloaded. For example, when the vehicle body and the vision detection system are in a horizontal state, the effective range of goods that the vision detection system 4 can identify is larger, that is, it can take into account the range of goods in both the upper and lower ranges. If the height of the goods exceeds the recognition range of the vision detection system, then the viewing angle of the vision detection system needs to be adjusted to be higher. Therefore, the setting state here should be based on the range of goods that the vision recognition system can identify and the maximum adjustment range of the loading and unloading robot itself. Based on the most common usage scenario, it is preferred to set it to a horizontal state. The horizontal state here does not mean that the second conveying mechanism is horizontal, but rather that the vehicle body and the vision recognition system on the vehicle body are horizontal.

[0045] The intelligent loading and unloading robot will now be described in detail with reference to the accompanying drawings.

[0046] The intelligent loading and unloading robot of this embodiment can be applied to loading and unloading of boxed goods. As shown in Figure 1, it mainly includes a vehicle body 5, a first conveying mechanism 1, a second conveying mechanism 2, a hand actuator 3, a chassis walking mechanism, a hand pitching mechanism 7, a vehicle body state adjustment mechanism 8, a first intermediate pitching mechanism 9, and a first intermediate pitching mechanism 12. The first conveying mechanism 1, the second conveying mechanism 2, and the hand actuator 3 are connected in sequence. The first conveying mechanism 1 can be adjusted up and down and forward and backward to meet the needs of telescopic conveying. The second conveying mechanism can meet the bidirectional conveying function of goods. The hand actuator 3 can realize the loading and unloading action of goods, and complete the loading and unloading functions of goods.

[0047] It should be noted that in this embodiment, "front", "back", "left" and "right" are defined according to the walking direction of the intelligent loading and unloading robot. The hand actuator 3 is located at the front end of the second conveying mechanism 2, and the first conveying mechanism 1 is located at the rear end of the second conveying mechanism 2.

[0048] As shown in Figures 2-4, the second conveying mechanism 2 is connected to the upper side of the vehicle body 5 via a first intermediate pitch mechanism 9 and a second intermediate pitch mechanism 12. Both the first intermediate pitch mechanism 9 and the second intermediate pitch mechanism 12 are crank-connecting rod mechanisms. The first intermediate pitch mechanism 9 is hinged to the second conveying mechanism 2 via a support arm 10, and the second intermediate pitch mechanism 12 is hinged to the second conveying mechanism 2 via a support arm 11. The first intermediate pitch mechanism 9 is used to drive the front part of the second conveying mechanism 2 to complete the up-and-down swinging motion relative to the vehicle body. The second intermediate pitch mechanism 12, in conjunction with the support arm 11, is used to drive the second conveying mechanism 2 to move forward and backward with smaller motions. To achieve the left-and-right swinging motion of the second conveying mechanism 2, a rotary support gear 13 is also provided inside the vehicle body 5. The rotary support gear 13 meshes with a rotary drive gear 14 and is driven to rotate by a rotary drive motor. The hand actuator 3 is provided with a hand pitch-yaw mechanism 7, which is used to drive the hand actuator 3 to complete the up-and-down and left-and-right swinging motions.

[0049] In this embodiment, the first conveying mechanism 1 is a telescopic conveying mechanism, and the first conveying mechanism 1 is connected to the second conveying mechanism 2 via a universal joint. The specific connection methods of the first conveying mechanism 1, the second conveying mechanism 2, the hand pitch-yaw mechanism 7 and the intermediate pitch mechanism 9 are described in the scheme disclosed in CN217076301U, and will not be repeated here.

[0050] As shown in Figure 9, the hand actuator 3 is equipped with a cable quick-connect connector and an air pipe quick-connect connector. The cable quick-connect connector includes an upper connector shell 27 and a lower connector shell 26. The cable and air pipe laid by the second conveying mechanism 2 are connected to the hand actuator 3 through the cable quick-connect connector and the air pipe plug-in connector, respectively, which facilitates the replacement and plugging of the cable and air pipe, reduces installation time, and improves loading and unloading efficiency.

[0051] On level surfaces, the vehicle body 5 can remain level, maintaining a large working range. However, when the loading and unloading robot moves to ramps or other slopes, the second conveying mechanism 2 tilts relative to the horizontal plane along with the vehicle body 5. At this time, the vehicle body 5 needs to be finely adjusted to maintain a level position so that the vision detection system 4 can identify goods within a larger effective range and the second conveying mechanism 2 can effectively pull or transport goods within a larger effective range.

[0052] Therefore, this embodiment adds a vehicle body state adjustment mechanism 8, which further adjusts the angle of the second conveying mechanism 2 so that it is preferably set to a horizontal state relative to the horizontal plane.

[0053] The vehicle body state adjustment mechanism 8 includes a rotating platform 17 and a rotating drive assembly connected to the rotating platform 17. The rotating drive assembly is used to adjust the rotating platform 17 to a set working state when the vehicle body is climbing or descending a slope. There are various ways to drive the rotating platform. Depending on the drive source, a rotary drive element or a linear drive element can be used. The rotary drive element can be one of a stroke-controllable drive motor, pneumatic motor, or hydraulic motor. The linear drive element can be one of a stroke-controllable electric cylinder, pneumatic cylinder, or hydraulic cylinder.

[0054] The following are some examples of driving methods, using the rotary drive motor 28 as the rotary drive element:

[0055] 1. When the rotary drive motor 28 and the rotary platform 17 are directly connected, the rotary drive motor 28 with a reducer is connected to the rotary shaft 18 of the rotary platform 17 through a coupling.

[0056] 2. When the rotary drive motor 28 and the rotary platform 17 are indirectly connected, they are connected through a gear transmission structure or through a chain drive structure 31.

[0057] Further, as shown in Figure 3, the rotation drive assembly is realized through a gear transmission structure driven by a motor. The rotation drive assembly includes a rotation drive motor 28, a pitch drive gear 29, and an arm-end rotation gear 16. The pitch drive gear 29 is connected to the rotation drive motor 28 and meshes with the arm-end rotation gear 16. The arm-end rotation gear 16 is fixed to one side of the rotating platform 17, and a rotating shaft seat is installed on the other side of the rotating platform 17. A rotating shaft 18 is connected to the outside of both the arm-end rotation gear 16 and the rotating shaft seat. The rotating shaft 18 cooperates with the arm-end rotation bearing seat, thereby realizing the rotation of the rotating platform 17 with the arm-end rotation gear 16.

[0058] Of course, in other embodiments, arm-end rotating gears 16 may also be symmetrically installed on both sides of the rotating platform 17.

[0059] The rotary drive motor 28 and the rotary platform 17 are connected via a chain drive structure 30 as shown in Figure 4. The other end of the chain drive structure 30 is connected to the rotary drive motor 28. Here, the chain drive structure 30 refers to a sprocket drive mechanism or a pulley drive mechanism.

[0060] 3. The rotary drive motor 28 drives the rotary platform 17 to rotate through the crank-connecting rod structure 19. The rotary drive motor 28 is used to drive the crank in the crank-connecting rod structure 19 to rotate. The connecting rod in the crank-connecting rod structure 19 is hinged to the front or rear of the rotary platform 17 away from the axis of rotation, as shown in Figure 5.

[0061] The following are some examples of driving methods using an electric cylinder as a linear drive element:

[0062] 1. As shown in Figure 6, the cylinder body of the electric cylinder 20 is hinged to the chassis traveling mechanism, and the telescopic rod of the electric cylinder 20 is hinged to the front or rear part of the rotating platform off-axis.

[0063] 2. As shown in Figure 7, the cylinder body of the electric cylinder 20 is hinged to the chassis traveling mechanism, and the rotating shaft 18 of the rotating platform 17 is provided with an extension arm in the radial direction. The telescopic rod of the electric cylinder 20 is hinged to the extension arm.

[0064] The vehicle body 5 is also equipped with a tilt angle detection sensor. The vehicle body detects its own tilt angle through the tilt angle detection sensor, and determines the adjustment angle of the rotating platform 17 based on the tilt angle detected by the tilt angle detection sensor. It should be noted that the tilt angle of the vehicle body can also be detected by a level or gyroscope.

[0065] The slewing support gear 13 is rotatably mounted on the rotating platform 17, and is used to achieve left and right yaw movements based on the adjustment of the vehicle body 5.

[0066] The intelligent loading and unloading robot is also equipped with a vision inspection system 4, which can identify the shape of goods, accurately grasp and count them. In this embodiment, the vision inspection system 4 is installed on one side of the vehicle body 5. Of course, if necessary, the vision inspection system 4 can also be installed on both sides of the vehicle body 5. As shown in Figure 4, the vision inspection system 4 includes a camera and a vision support 20. The camera is fixedly connected to the arm-end rotating gear 16 through the vision support 20 so as to adjust the angle of the camera and keep both the camera and the second conveying mechanism 2 horizontal. This allows the vision inspection system 4 to accurately identify and encode the goods. The hand actuator 3 accurately grasps the cargo box based on the information fed back by the vision inspection system 4, thereby meeting the requirements of the vehicle body 5 for use on loading ramps with different inclines.

[0067] The chassis travel mechanism can be configured as a wheeled travel mechanism, with the wheels being either ordinary wheels or Mecanum wheels. Using Mecanum wheels enables the lateral movement of the loading and unloading robot. Due to the unevenness inside the vehicle body, tire travel is prone to getting stuck in potholes or experiencing slippage and deviation. Therefore, in this embodiment, the chassis travel mechanism can also be a tracked travel mechanism 6, with two sets of tracked travel mechanisms 6 symmetrically installed relative to the vehicle body 5.

[0068] As shown in Figure 8, the tracked walking mechanism 6 includes a track 24, a drive wheel 21, a tensioner 23, and support wheels 22. The drive wheel 21 is installed at one end of the track 24, and the tensioner 23 is installed at the other end of the track 24. The tensioner 23 adjusts the track 24 to maintain appropriate tension. To maintain the overall tension and levelness of the track 24 and ensure good support and walking performance, multiple support wheels 22 are also installed inside the track 24. The support wheels 22 are mounted via support plates 25, and each support wheel 22 is rotatably connected to the support plate 25. One end of the support plate 25 has a groove that mates with the axle of the tensioner 23.

[0069] In this embodiment, multiple support wheels 22 are evenly distributed on the lower side of the support plate 25, and one or more support wheels 22 can be installed on the upper side of the support plate 25; each support wheel 22 contacts the inner side of the track 24 and plays the role of supporting the track 24.

[0070] Drive wheel 21 is connected to walking drive motor. When both walking drive motors are powered on at the same time, the drive wheel 21 rotates, driving the track 24 to move forward and backward. When one walking drive motor is stationary and the other walking drive motor is powered on, the loading and unloading robot can turn left and right. The track 24 chassis can adapt to various ground environments and various car body environments.

[0071] This embodiment enables fine-tuning of the arm's pitch angle by setting the vehicle body state adjustment mechanism 8, allowing the loading and unloading robot to maintain a horizontal position even on slopes. At the same time, the vision detection system 4 can also maintain a horizontal position, improving detection accuracy and loading and unloading accuracy. By setting the tracked walking mechanism 6, it can adapt to different vehicle environments.

[0072] Optionally, this embodiment provides a loading method for an intelligent loading and unloading robot. Based on the intelligent loading and unloading robot, during loading, the tilt angle of the vehicle body 5 relative to the horizontal plane is obtained, and the vehicle body state adjustment mechanism 8 adjusts the vehicle body 5 to a set angle range in real time, which can preferably be set to horizontal.

[0073] The goods are sequentially transported to the conveying end via the first conveying mechanism 1, the second conveying mechanism 2, and the hand actuator 3, and then pushed to the identified loading position by the hand actuator 3 to complete the loading.

[0074] Optionally, this embodiment provides an unloading method for an intelligent loading and unloading robot. Based on the intelligent loading and unloading robot of the above embodiment, when unloading, the angle of the vehicle body 5 relative to the horizontal plane is obtained, and the vehicle body state adjustment mechanism adjusts the vehicle body to a set angle range in real time, which can preferably be set to horizontal.

[0075] The hand actuator 3 pulls the identified goods to the end of the conveyor, and then conveys them sequentially through the hand actuator 3, the second conveyor 2 and the first conveyor 1 to the end of the conveyor to complete the unloading.

[0076] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure. Industrial applicability

[0077] The above-described scheme includes a chassis running gear mounted at the bottom of the vehicle body, and a first conveying mechanism, a second conveying mechanism, and a hand-operated actuator connected sequentially on the vehicle body. A vehicle body adjustment mechanism is installed between the vehicle body and the chassis running gear, and a vision detection system is also installed on the vehicle body. The vehicle body adjustment mechanism is used to adjust the angle of the vehicle body to keep it level. This disclosure improves the accuracy of cargo loading and unloading and ensures the stability of equipment operation.

Claims

1. An intelligent loading and unloading robot, comprising a vehicle body, a chassis walking mechanism mounted on the bottom of the vehicle body, and a first conveying mechanism, a second conveying mechanism, and a hand-operated execution mechanism sequentially connected on the vehicle body; characterized in that, A vehicle body state adjustment mechanism is provided between the vehicle body and the chassis running mechanism. A vision detection system is also provided on the vehicle body. The vehicle body state adjustment mechanism is used to adjust the angle of the vehicle body relative to the horizontal plane when climbing or descending a slope, so that it can be maintained within a set angle state range.

2. The intelligent loading and unloading robot according to claim 1, characterized in that, The vehicle body state adjustment mechanism includes a rotating platform and a rotating drive assembly connected to the rotating platform. The rotating platform is rotatably connected to the chassis walking mechanism. The second conveying mechanism is disposed on the rotating platform. The rotating drive assembly is used to adjust the rotating platform to a set angle state range when climbing or descending a slope.

3. The intelligent loading and unloading robot according to claim 2, characterized in that, The vehicle body detects its own tilt angle using a tilt angle detection sensor, and determines the adjustment angle of the rotating platform based on the tilt angle detected by the tilt angle detection sensor.

4. The intelligent loading and unloading robot according to claim 2, characterized in that, The rotary drive assembly includes a rotary drive element, which directly drives the rotating shaft of the rotary platform to rotate. Alternatively, the rotary drive element is indirectly connected to the rotating shaft of the rotary platform through a transmission mechanism, which is either a gear transmission mechanism or a chain transmission mechanism. The rotary drive element is one of a drive motor, a pneumatic motor, and a hydraulic motor, and the rotary drive element has a self-locking mechanism.

5. The intelligent loading and unloading robot according to claim 4, characterized in that, The rotary drive element includes a drive motor with a reducer. When the drive motor is directly connected to the rotary platform, the drive motor is connected to the rotary shaft of the rotary platform through a coupling. When the drive motor is indirectly connected to the rotary platform, it is connected through a gear transmission structure or a chain drive structure.

6. The intelligent loading and unloading robot according to claim 2, characterized in that, The rotary drive assembly includes a rotary drive element, which drives the rotary platform to rotate via a crank-connecting rod structure. The rotary drive element drives the crank in the crank-connecting rod structure to rotate, and the connecting rod in the connecting rod structure is hinged to a part of the rotary platform that is off-axis. The rotary drive element includes one of a drive motor, a pneumatic motor, and a hydraulic motor, and the rotary drive element has a self-locking mechanism.

7. The intelligent loading and unloading robot according to claim 2, characterized in that, The rotary drive assembly includes a linear drive element, which directly acts on a position on the rotary platform that is offset from the axis of rotation. Alternatively, the linear drive element drives the rotating platform's shaft to rotate via a crank-connecting rod structure; The linear drive element is one of a linear motor, an electric cylinder, a pneumatic cylinder, and a hydraulic cylinder.

8. The intelligent loading and unloading robot according to claim 7, characterized in that, The linear drive element includes an electric cylinder, the cylinder body of which is hinged to the chassis traveling mechanism, and the telescopic rod of which is hinged to the front or rear of the rotating platform off-axis; or, the cylinder body of which is hinged to the chassis traveling mechanism, and the rotating platform has an extension arm arranged radially along the rotating axis, and the telescopic rod of which is hinged to the extension arm.

9. An intelligent loading and unloading robot according to any one of claims 1-8, characterized in that, The chassis running mechanism is either a tracked running mechanism or a wheeled running mechanism, and the wheels of the wheeled running mechanism are one of the following: ordinary wheels, Mecanum wheels, and steering wheels.

10. The intelligent loading and unloading robot according to claim 9, characterized in that, The chassis traveling mechanism is a tracked traveling mechanism, which includes a track, a drive wheel, a tension wheel, and a support wheel. The drive wheel is installed at one end of the track, and the tension wheel is installed at the other end of the track. The tension wheel is used to adjust the tension of the track.

11. The intelligent loading and unloading robot according to claim 10, characterized in that, Multiple support wheels are also installed on the inner side of the track. The support wheels are mounted through the support plate, and each support wheel is rotatably connected to the support plate. One end of the support plate is provided with a groove that cooperates with the tension wheel axle.

12. An intelligent loading and unloading robot according to any one of claims 2-8, characterized in that, The second conveying mechanism is mounted on a rotating platform via an intermediate pitch-yaw mechanism, which drives the second conveying mechanism to perform up-and-down and left-and-right swinging actions relative to the vehicle body.

13. An intelligent loading and unloading robot according to any one of claims 1-12, characterized in that, The first conveying mechanism is a telescopic conveying mechanism, and the first conveying mechanism is connected to the second conveying mechanism through a universal joint.

14. The intelligent loading and unloading robot according to claims 1-13, characterized in that, The hand actuator is equipped with a hand pitch-yaw mechanism, which is used to drive the hand actuator to complete the up-and-down and left-and-right swinging actions.

15. An intelligent loading and unloading robot according to claims 1-14, characterized in that, The hand actuator is equipped with a cable quick-connect connector and an air pipe quick-connect connector. The cable and air pipe laid by the second conveying mechanism are connected to the hand actuator through the cable quick-connect connector and the air pipe quick-connect connector, respectively.

16. A loading method for an intelligent loading and unloading robot according to any one of claims 1-15, characterized in that, During loading, the tilt angle of the vehicle body relative to the horizontal plane is obtained, and the vehicle body state adjustment mechanism adjusts the vehicle body to the set angle range in real time; The goods are sequentially transported to the conveying end via the first conveying mechanism, the second conveying mechanism, and the manual actuator, and then pushed to the identified loading position by the manual actuator to complete the loading.

17. A method for unloading goods using an intelligent loading and unloading robot according to any one of claims 1-16, characterized in that: During unloading, the angle of the vehicle body relative to the horizontal plane is obtained, and the vehicle body state adjustment mechanism adjusts the vehicle body to the set angle range in real time; The hand actuator pulls the identified goods to the end of the conveyor, and then conveys them sequentially through the hand actuator, the second conveyor and the first conveyor to the tail of the conveyor to complete the unloading.

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