Loading and unloading system based on telescopic belt conveyor

Abstract

The present disclosure provides a loading and unloading system based on a telescopic belt conveyor, comprising: a first robot, a telescopic belt conveyor, a flexible matching conveyor line, and a second robot. The first robot is configured to place a material to be loaded onto the telescopic belt conveyor; a front end of the telescopic belt conveyor is connected to the second robot by means of the flexible matching conveyor line; the telescopic belt conveyor, in coordination with the flexible matching conveyor line, is configured to convey the material to within a working range of the second robot; the second robot is configured to move into a specified compartment on the basis of a received first control instruction and / or a second control instruction generated by a processor of the second robot, and to move and work inside the compartment according to a work progress. The present disclosure can eliminate the impact of a distance difference caused by the speed mismatch between the telescopic belt conveyor and the second robot, thereby improving the work efficiency.

Description

Loading and unloading system based on telescopic belt conveyor Technical Field

[0001] This disclosure relates to intelligent manufacturing and high-end manufacturing, specifically to a loading and unloading system based on a telescopic belt conveyor. Background Technology

[0002] With the widespread application of robotics technology and the continuous development of manufacturing robots, existing robots are now able to adapt to various application environments. In particular, in scenarios such as intelligent picking, logistics transportation, and warehouse management, palletizing and depalletizing robots are gradually being used to replace the high-intensity labor of workers.

[0003] Existing depalletizing and palletizing robots have drawbacks such as complex structure and poor flexibility. Due to the limitations of the robot's own arm span and the working range of the robotic arm, they perform poorly in material loading scenarios such as ports and large warehouses. They are also difficult to adapt to palletizing tasks in narrow spaces. Moreover, in complex working environments, such as ramps and uneven ground, depalletizing and palletizing robots cannot directly operate on materials, which affects their applicability and reduces their working efficiency. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of this disclosure is to provide a loading and unloading system based on a telescopic belt conveyor that can solve the above-mentioned technical problems.

[0005] According to this disclosure, a loading and unloading system based on a telescopic belt conveyor is provided, comprising: a first robot, a telescopic belt conveyor, a flexible conveyor line, and a second robot;

[0006] The first robot is configured to place the material to be loaded onto the telescopic conveyor or to place the material on the telescopic conveyor onto a pallet;

[0007] The front end of the telescopic belt conveyor is connected to the second robot via the flexible mating conveyor line;

[0008] The telescopic belt conveyor, in conjunction with the flexible conveyor line, is configured to transport materials to the working range of the second robot or to the working range of the first robot.

[0009] The second robot is configured to move to the interior of a designated container according to a first control command received and / or a second control command generated by its own processor, and to perform operations within the container according to the work progress.

[0010] Optionally, when the second robot moves away from the telescopic conveyor belt, the telescopic conveyor belt extends to match the away movement of the second robot;

[0011] As the second robot moves toward the telescopic conveyor belt, the telescopic conveyor belt shortens to accommodate the robot's approach.

[0012] Optionally, one end of the flexible conveyor line is hinged to the rear end of the second robot, and the other end is hinged to the end of the telescopic belt conveyor.

[0013] Optionally, a first sensor is provided on the flexible mating conveyor line, the first sensor being configured to detect changes in the length of the flexible mating conveyor line; and / or,

[0014] A second sensor is installed on the flexible conveyor line. The second sensor is located at one end of the flexible conveyor line near the telescopic belt conveyor and is configured to detect changes in the angle of the flexible conveyor line.

[0015] Optionally, the telescopic belt conveyor includes: a first-stage telescopic mechanism, a second-stage telescopic mechanism, and a third-stage telescopic mechanism;

[0016] The second-stage telescopic mechanism is located within the first-stage telescopic mechanism and can extend and retract along the first-stage telescopic mechanism;

[0017] The third-level telescopic mechanism is located inside the second-level telescopic mechanism and can extend and retract along the second-level telescopic mechanism.

[0018] Optionally, the telescopic belt conveyor also includes a hydraulic cylinder configured to support the telescopic belt conveyor and adjust the pitch angle to adapt to different working scenarios.

[0019] Optionally, the electrical connection lines of the second robot extend along the flexible mating conveyor line and the telescopic belt conveyor.

[0020] Optional, a material handling conveyor line may also be included;

[0021] The second robot includes a second mobile base, and the material handling conveyor line is disposed on the second mobile base;

[0022] The feed inlet of the material handling conveyor line is connected to the telescopic belt conveyor via the flexible fit conveyor line.

[0023] Optionally, the material handling conveyor line includes:

[0024] The main body of the material handling line is set on the second movable base and is connected to the telescopic belt conveyor through the flexible matching conveyor line, configured for conveying the material;

[0025] A settling baffle is provided on the main body of the material handling line to prevent the material from slipping off.

[0026] A pusher plate is disposed on the main body of the material handling line and is positioned opposite to the edge return baffle. It is configured to push the material closer to the edge return baffle.

[0027] A pusher drive mechanism is configured to drive the pusher plate to move relative to the edge baffle to push the material closer to the edge baffle.

[0028] Optionally, when the first sensor detects that the length of the flexible mating conveyor line has increased, the telescopic belt conveyor is controlled to extend; when the first sensor detects that the length of the flexible mating conveyor line has decreased, the telescopic belt conveyor is controlled to shorten.

[0029] When the second sensor detects that the flexible mating conveyor line is raised, the telescopic belt conveyor is controlled to descend; when the second sensor detects that the flexible mating conveyor line is drooping, the telescopic belt conveyor is controlled to rise.

[0030] Compared with the prior art, this disclosure has the following beneficial effects:

[0031] This disclosure describes a system where a first robot places materials to be loaded onto a telescopic conveyor belt. The front end of the telescopic conveyor belt is connected to a second robot via a flexible conveyor line. The second robot moves to a designated container based on a received first control command and / or a second control command generated by its own processor. It then moves within the container according to the work progress, thereby achieving automatic material loading. The connection of the front end of the telescopic conveyor belt to the second robot via the flexible conveyor line eliminates the impact of distance differences caused by the different movement speeds of the telescopic conveyor belt and the second robot, improving work efficiency and enhancing the adaptability of the loading and unloading system to complex environments, stability against motion errors, and the angle and elevation differences generated in situations such as ramps and height differences. This allows the second robot to enter different sized carriages for loading and unloading operations.

[0032] This disclosure uses a telescopic belt conveyor and a flexible conveyor line instead of just using a roller conveyor for material transfer between the first and second robots. This avoids problems such as vibrations caused by the roller conveyor causing some material to fall, excessive distance between adjacent rollers when stretched too long, and insufficient space for compression. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this disclosure will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0034] Figure 1 is a schematic diagram of the loading and unloading system based on a telescopic belt conveyor in an embodiment of this disclosure;

[0035] Figure 2 is a schematic diagram of the structure of the second robot in an embodiment of this disclosure;

[0036] Figure 3 is a schematic diagram of the telescopic belt conveyor in an embodiment of this disclosure;

[0037] Figure 4 is a schematic diagram of the height difference caused by the extension of the telescopic belt conveyor in an embodiment of this disclosure;

[0038] Figure 5 is a schematic diagram of the structure of the first robot in an embodiment of this disclosure;

[0039] Figure 6 is a schematic diagram of the material conveying line in an embodiment of this disclosure;

[0040] Figure 7 is a bottom view of the material conveying line in an embodiment of this disclosure;

[0041] Figure 8 is a schematic diagram of the working state of the material conveying line in an embodiment of this disclosure; and

[0042] Figure 9 is a schematic diagram of the working state of the loading and unloading system based on the telescopic belt conveyor in an embodiment of this disclosure.

[0043] In the diagram: 1 is the first robot; 2 is the telescopic belt conveyor; 3 is the flexible conveyor line; 4 is the second robot; 5 is the cargo box; 101 is the first mobile base; 102 is the first robotic arm; 103 is the first clamp; 201 is the first-stage telescopic mechanism, 202 is the second-stage telescopic mechanism, 203 is the third-stage telescopic mechanism, 204 is the hydraulic cylinder; 205 is the conveyor belt; 206 is the material; 401 is the material handling conveyor line; 4011 is the main body of the material handling line; 4012 is the edge-gathering baffle; 4013 is the push plate; 4014 is the push plate drive mechanism; 4015 is the front baffle. Lifting mechanism; 40111 is the left mounting plate; 40112 is the right mounting plate; 40113 is the roller; 40141 is the first drive motor; 40142 is the lead screw; 40143 is the lead screw output block; 40144 is the crossbeam; 40145 is the first synchronous pulley; 40146 is the second synchronous pulley; 40151 is the second drive motor; 40152 is the lifting arm; 40153 is the front lifting plate; 40154 is the second guide rail; 40155 is the third guide rail; 40156 is the mounting base plate; 402 is the second movable base. Detailed Implementation

[0044] The present disclosure will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present disclosure, but do not limit the present disclosure in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure. These all fall within the protection scope of the present disclosure.

[0045] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be configured for either a fixing function or a circuit connection function.

[0046] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" 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 the embodiments of this disclosure 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 disclosure.

[0047] Furthermore, the terms "first" and "second" are configured 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0048] Figure 1 is a structural schematic diagram of the loading and unloading system based on the telescopic belt conveyor in an embodiment of the present disclosure. As shown in Figure 1, the loading and unloading system based on the telescopic belt conveyor provided in this disclosure includes: a first robot 1, a telescopic belt conveyor 2, a flexible conveyor line 3, and a second robot 4.

[0049] The first robot 1 is configured to place the material 206 to be loaded onto the telescopic conveyor belt 2 or to place the material on the telescopic conveyor belt 2 onto a pallet;

[0050] The front end of the telescopic belt conveyor 2 is connected to the second robot 4 via the flexible mating conveyor line 3;

[0051] The telescopic belt conveyor 2, in conjunction with the flexible conveyor line 3, is configured to transport material 206 to the working range of the second robot 4 or to the working range of the first robot 1;

[0052] The second robot 4 is configured to move to the interior of a designated container according to a first control command received and / or a second control command generated by its own processor, and to perform operations within the container according to the work progress.

[0053] When the second robot 4 moves away from the telescopic conveyor belt 2, the telescopic conveyor belt 2 extends to match the away movement of the second robot 4.

[0054] When the second robot 4 moves toward the telescopic conveyor belt 2, the telescopic conveyor belt 2 shortens to match the approaching movement of the second robot 4.

[0055] In this embodiment of the present disclosure, one end of the flexible mating conveyor line 3 is hinged to the rear end of the second robot 4, and the other end is hinged to the end of the telescopic belt conveyor 2.

[0056] In this embodiment of the disclosure, the flexible conveyor line 3 is configured to flexibly adjust the telescopic belt conveyor 2 when it extends and shortens;

[0057] When the second robot 4 moves to the target position, if the telescopic belt conveyor 2 extends too far, causing the flexible mating conveyor line 3 to be compressed and lifted, the telescopic belt conveyor 2 is controlled to fall so that the flexible mating conveyor line 3 lands.

[0058] When the second robot 4 moves to the target position, if the telescopic belt conveyor 2 is extended too short, causing the flexible mating conveyor line 3 to be pressed down, the telescopic belt conveyor 2 is controlled to rise.

[0059] The flexible conveyor line 3 is equipped with a first sensor and a second sensor.

[0060] The first sensor is configured to detect changes in the length of the flexible mating conveyor line 3;

[0061] The second sensor is disposed on one end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2, and is configured to detect changes in the angle of the flexible mating conveyor line 3.

[0062] When the first sensor detects that the length of the flexible mating conveyor line 3 has increased, it controls the telescopic belt conveyor 2 to extend; when the first sensor detects that the length of the flexible mating conveyor line 3 has decreased, it controls the telescopic belt conveyor 2 to shorten.

[0063] When the second sensor detects that the flexible mating conveyor line 3 is raised, the telescopic belt conveyor 2 is controlled to descend; when the second sensor detects that the flexible mating conveyor line 3 is lowered, the telescopic belt conveyor 2 is controlled to rise.

[0064] In this embodiment, the first sensor is a pull-rope sensor. The main body of the pull-rope sensor is disposed at one end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2, and the end of the steel wire rope of the pull-rope sensor is connected to the end of the flexible mating conveyor line 3 near the telescopic belt conveyor 2. Therefore, when the flexible mating conveyor line 3 is stretched, the steel wire rope is also pulled, so that the pull-rope sensor can detect the change in length of the flexible mating conveyor line 3.

[0065] The second sensor is an angle sensor. When the flexible conveyor line 3 is raised or lowered, the second sensor can detect the corresponding angle change, thereby controlling the telescopic belt conveyor 2 to rise or fall. The flexible conveyor line 3 can be a telescopic roller line.

[0066] Figure 3 is a schematic diagram of the structure of the telescopic belt conveyor 2 in the embodiment of this disclosure. As shown in Figure 3, the telescopic belt conveyor 2 includes: a first-stage telescopic mechanism 201, a second-stage telescopic mechanism 202 and a third-stage telescopic mechanism 203.

[0067] The second-stage telescopic mechanism 202 is disposed within the first-stage telescopic mechanism 201 and can extend and retract along the first-stage telescopic mechanism 201; the third-stage telescopic mechanism 203 is disposed within the second-stage telescopic mechanism 202 and can extend and retract along the second-stage telescopic mechanism 202.

[0068] The upper surfaces of the first-stage telescopic mechanism 201, the second-stage telescopic mechanism 202, and the third-stage telescopic mechanism 203 are kept flush and share the same conveyor belt 205.

[0069] In this embodiment of the disclosure, the telescopic belt conveyor 2 can also be configured as a five-stage telescopic mechanism.

[0070] In this embodiment of the present disclosure, the telescopic belt conveyor 2 further includes a hydraulic cylinder 204, which is used to support the body of the telescopic belt conveyor 2 and to adjust the pitch angle to adapt to different working scenarios.

[0071] In one embodiment of this disclosure, rollers are disposed below the chassis of the telescopic belt conveyor 2. The rollers can be configured to be connected to a servo motor to enable autonomous movement of the telescopic belt conveyor 2, or simply by disposing of rollers to enable movement of the telescopic belt conveyor 2.

[0072] The telescopic belt conveyor 2, located on the side closest to the second robot 4, extends into the work space by a preset length or retracts by a preset length during operation, according to the first control command received and / or the second control command generated by its own processor.

[0073] For example, the telescopic belt conveyor 2, located near the second robot 4, extends into the work space by a preset length or retracts by a preset length during operation, according to the received first control command and / or the second control command generated by its own processor.

[0074] In this embodiment, the telescopic conveyor belt 2 can automatically extend and retract to adapt to different operational scenarios. Taking a container as an example, during initial loading, the telescopic conveyor belt 2 can extend to a deeper part of the container. As the loading task is executed, the telescopic conveyor belt 2 gradually retracts outward as needed, allowing the second robot 4 operating inside the container to load materials 206 more efficiently. Conversely, in the unloading scenario, the telescopic conveyor belt 2 extends slowly into the container according to the unloading task.

[0075] In this embodiment of the disclosure, the electrical connection line of the second robot 4 extends along the flexible mating conveyor line 3 and the telescopic belt conveyor 2.

[0076] Figure 4 is a schematic diagram of the height difference generated by the extension of the telescopic belt conveyor 2 in this embodiment of the present disclosure. As shown in Figure 4, when the telescopic belt conveyor 2 extends, due to the change in angle during the extension, the target position at the end of the telescopic belt conveyor 2 has a height difference relative to the original position at the end. If the telescopic belt conveyor 2 is directly connected to the material handling conveyor line 401, the material 206 will not be able to be transported to the material handling conveyor line 401. It is necessary to repeatedly and precisely adjust the end height and extension length of the telescopic belt conveyor 2 to achieve precise connection between the end of the telescopic belt conveyor 2 and the material handling conveyor line 401.

[0077] When the telescopic belt conveyor 2 is connected to the material handling conveyor 401 via the flexible matching conveyor line 3, only the flexible matching conveyor line 3 can alleviate the problem of not being able to convey the material 206 due to the height difference by deforming. In addition, the deformation of the flexible matching conveyor line 3 can also provide a visual reference for adjusting the height of the end of the telescopic belt conveyor 2, thereby facilitating the adjustment of the end of the telescopic belt conveyor 2.

[0078] Figure 2 is a schematic diagram of the structure of the second robot in the embodiment of this disclosure. As shown in Figure 2, the loading and unloading system based on telescopic belt conveyor provided in this disclosure also includes a material handling conveyor line 401.

[0079] The second robot includes a second mobile base 402, and the material handling conveyor line 401 is disposed on the second mobile base 402;

[0080] The feed inlet of the material handling conveyor line 401 is connected to the telescopic belt conveyor 2 via the flexible mating conveyor line 3.

[0081] The second robotic arm is located at the front end of the second mobile base 402 and is configured to move the material 206 conveyed by the material handling conveyor line 401 to the target position, or to move the material 206 on the discharge position to the material handling conveyor line 401.

[0082] Figure 5 is a structural schematic diagram of the first robot in this embodiment of the present disclosure. As shown in Figure 5, in this embodiment of the present disclosure, the first robot 1 includes:

[0083] The first mobile base 101 is capable of moving to any position or pausing at any position and determining the orientation angle according to the received control command;

[0084] The first robotic arm 102 is mounted on the first movable base 101 and is configured to move the material 206 on the pallet onto the telescopic belt conveyor 2.

[0085] The first gripper 103 is located at the end of the first robotic arm 102 to grasp the material 206. The first gripper 103 can be a suction cup, a claw, or other structure, and no specific limitation is made here.

[0086] In a variation of this disclosure, the first robot 1 may be a fixed-position robot.

[0087] Figure 6 is a schematic diagram of the material handling conveyor line in an embodiment of this disclosure. As shown in Figure 6, the material handling conveyor line 401 includes:

[0088] The material handling line body 4011 is set on the second movable base 402 and is connected to the telescopic belt conveyor 2 through the flexible matching conveyor line 3, and is configured to convey materials 206;

[0089] Edge-returning baffle 4012 is disposed on the material handling line body 401 and configured to prevent the material 206 from slipping off.

[0090] Push plate 4013 is disposed on the main body 4011 of the material handling line and is disposed opposite to the edge baffle 4012. It is configured to push the material 206 to be close to the edge baffle 4012.

[0091] The push plate drive mechanism 4014 is configured to drive the push plate 4013 to move relative to the edge baffle 4012 so as to push the material 206 closer to the edge baffle 4012.

[0092] A front windshield lifting mechanism 4015 is disposed at the discharge port of the material handling line body 401. The front windshield lifting mechanism 4015 is configured to block the material 206 from passing through the discharge port of the material handling line body 4011 when it is raised, and to allow the material 206 to pass through the discharge port of the material handling line body 4011 when it is retracted.

[0093] The baffle driving mechanism is configured to drive the edge-returning baffle 4012 to move relative to the push plate 4013, thereby accelerating the relative movement between the push plate 4013 and the edge-returning baffle 4012.

[0094] In this embodiment of the disclosure, the push plate 4013 and the side-returning baffle 4012 are arranged in parallel relative to each other.

[0095] Figure 7 is a bottom view of the material conveying line 401 in the embodiment of this disclosure. As shown in Figure 7, the push plate driving mechanism 4014 includes a lead screw 40142, a lead screw nut, a lead screw output block 40143, and a first drive motor 40141.

[0096] The first drive motor 40141 is configured to drive the lead screw 40142 to rotate;

[0097] The lead screw nut is disposed on the lead screw 40142 and can rotate with the lead screw 40142 and move along the lead screw 40142.

[0098] The lead screw output block 40143 is mounted on the lead screw nut and moves under the drive of the lead screw nut; the push plate 4013 is connected to the lead screw output block 40143.

[0099] The baffle drive mechanism includes a baffle screw, a baffle screw nut, a baffle screw output block, and a baffle drive motor.

[0100] The baffle drive motor is configured to drive the baffle lead screw to rotate;

[0101] The baffle screw nut is mounted on the baffle screw and can move along the screw as the baffle screw rotates.

[0102] The baffle screw output block is mounted on the baffle screw nut and moves under the drive of the baffle screw nut; the return baffle is connected to the baffle screw output block.

[0103] One end of the lead screw is fixed on the left mounting plate 40111 via a bearing lead screw support assembly, and the other end is fixed on the right mounting plate 40112 via a bearing lead screw support assembly.

[0104] In this embodiment of the disclosure, the lead screw output block 40143 is provided with a plurality of push plate support rods arranged in sequence;

[0105] The main body of the material handling line 4011 includes a plurality of rollers 40113 arranged in sequence;

[0106] Each of the push plate support rods is disposed between two adjacent rollers 40113 and is movable along the length extension direction of the rollers 40113;

[0107] The push plate 4013 is mounted on the push plate support rod.

[0108] The multiple push plate support rods are parallel to each other.

[0109] The first drive motor 40141 is mounted on the left mounting plate 40111 or the right mounting plate 40112 via a synchronous pulley tensioning plate;

[0110] A first synchronous pulley 40145 is provided on the output shaft of the first drive motor 40141; a second synchronous pulley 40146 is provided at the end of the lead screw 40142;

[0111] The first synchronous pulley 40145 and the second synchronous pulley 40146 are connected by a synchronous belt.

[0112] The windshield lifting mechanism 4015 includes: a second drive motor 40151, a reducer, a lifting arm 40152, a mounting base plate 40156, and a windshield lifting plate 40153.

[0113] The mounting base plate 40156 is located at the discharge port of the material handling line body 4011;

[0114] The reducer is mounted on the mounting base plate 40156, and the second drive motor 40151 drives the lifting arm 40152 through the reducer.

[0115] One end of the lifting arm 40152 is connected to the output shaft of the reducer, and the other end is connected to the front lift plate 40153;

[0116] The second drive motor 40151 is configured to drive the front lift plate 40153 to rise to block the material 206 from passing through the discharge port of the material handling line body 4011, and to drive the front lift plate 40153 to retract to allow the material 206 to pass through the discharge port of the material handling line body 4011.

[0117] The two ends of the mounting base plate 40156 are fixed to the front ends of the left mounting plate 40111 and the right mounting plate 40112, and are perpendicularly connected to the left mounting plate 40111 and the right mounting plate 40112.

[0118] In this embodiment of the disclosure, a second guide rail 40154 and a third guide rail 40155 are provided on the mounting base plate 40156;

[0119] The front windshield lift plate 40153 is connected to the second guide rail 40154 via the second slider and to the third guide rail 40155 via the third slider;

[0120] The front windshield lift plate 40153 can slide along the height direction of the mounting base plate 40156 via the second guide rail 40154 and the third guide rail 40155.

[0121] In this embodiment of the disclosure, the material handling line body 4011 includes a left mounting plate 40111, a right mounting plate 40112, a roller 40113, and a roller driving mechanism;

[0122] The left mounting plate 40111 and the right mounting plate 40112 are arranged opposite to each other;

[0123] Multiple rollers 40113 are sequentially arranged between the left mounting plate 40111 and the right mounting plate 40112, and are rotatably connected to the left mounting plate 40111 and the right mounting plate 40112;

[0124] The roller drive mechanism is configured to drive the roller 40113 to rotate, thereby moving the material 206.

[0125] In this embodiment of the disclosure, the material handling conveyor line 401 provided in this disclosure further includes a first guide rail and a crossbeam 40144;

[0126] One end of the crossbeam 40144 is mounted on the left mounting plate 40111, and the other end is mounted on the right mounting plate; the first guide rail is mounted on the crossbeam 40144;

[0127] One end of the lead screw 40142 is mounted on the left mounting plate 40111 via the lead screw support fixing side assembly, and the other end is mounted on the right mounting plate 40112 via the lead screw support support assembly;

[0128] The lead screw output block 40143 is connected to the first guide rail via a first slider and can slide along the first guide rail. The baffle lead screw output block is connected to the first guide rail via a baffle slider and can slide along the first guide rail.

[0129] Figure 9 is a schematic diagram of the working state of the loading and unloading system based on the telescopic belt conveyor in this embodiment of the present disclosure. As shown in Figure 9, the loading and unloading system based on the telescopic belt conveyor provided in this disclosure includes the following steps during operation:

[0130] Step S1: After the second robot 4 arrives inside the designated work space, such as inside the cargo box 5, adjust the length of the telescopic belt conveyor 2, and then adjust the end height of the telescopic belt conveyor 2 to alleviate the deformation of the flexible conveyor line 401.

[0131] In this embodiment of the disclosure, the telescopic belt conveyor 2 is used to realize the transmission relay between the first robot 1 and the second robot 4, that is, it is adapted to the working range of the first robot 1 and the second robot 4 in the height direction and the length direction.

[0132] Step S2: Determine the operating parameters of the first robot 1 and the second robot 4.

[0133] The operational parameters in this embodiment include: the interval step size for grasping or placing tasks, the motion parameters of the robotic arm, stack type information, etc.

[0134] Step S3: Based on the operation parameters, perform the task of grabbing or placing material 206.

[0135] In this embodiment, a first robot 1 places the material 206 to be loaded onto a telescopic conveyor belt 2, so that the telescopic conveyor belt 2 and the flexible conveyor line 3 deliver the material 206 to the working range of a second robot 4. When the second robot 4 is performing loading operations, it determines the location of the working space based on its own visual positioning system and moves into the designated working space, which includes containers, carriages, flatbed trucks, warehouses, ship holds, and engine rooms. This overcomes the limitations of the robot's arm reach and the working range of the robotic arm, solving the problem of unpacking and stacking goods in narrow spaces, replacing manual labor, achieving full automation, and effectively improving loading efficiency.

[0136] In this embodiment, a first robot 1 places the material 206 to be loaded onto the telescopic conveyor 2. The front end of the telescopic conveyor 2 is connected to a second robot 4 via a flexible coupling conveyor line 3. The second robot 4 moves to a designated box according to a received first control command and / or a second control command generated by its own processor, and performs operations within the box according to the work progress, thereby achieving automatic loading of the material 206. The connection of the front end of the telescopic conveyor 2 to the second robot 4 via the flexible coupling conveyor line 3 allows for easy adjustment of the length and height differences caused by the extension or shortening of the telescopic conveyor 2 when it engages with the second robot 4, reducing the debugging time of the loading and unloading system and improving work efficiency.

[0137] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use this disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0138] The specific embodiments of this disclosure have been described above. It should be understood that this disclosure is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this disclosure.

Claims

1. A loading and unloading system based on a telescopic belt conveyor, comprising: The first robot, the telescopic belt conveyor, the flexible conveyor line, and the second robot; The first robot is configured to place the material to be loaded onto the telescopic conveyor or to place the material on the telescopic conveyor onto a pallet; The front end of the telescopic belt conveyor is connected to the second robot via the flexible mating conveyor line; The telescopic belt conveyor, in conjunction with the flexible conveyor line, is configured to transport materials to the working range of the second robot or to the working range of the first robot. The second robot is configured to move to the interior of a designated container according to a first control command received and / or a second control command generated by its own processor, and to perform operations within the container according to the work progress.

2. The loading and unloading system based on a telescopic belt conveyor according to claim 1, wherein, As the second robot moves away from the telescopic conveyor belt, the telescopic conveyor belt extends to match the away movement of the second robot. As the second robot moves toward the telescopic conveyor belt, the telescopic conveyor belt shortens to accommodate the robot's approach.

3. The loading and unloading system based on a telescopic belt conveyor according to claim 1, wherein, One end of the flexible conveyor line is hinged to the rear end of the second robot, and the other end is hinged to the end of the telescopic belt conveyor.

4. The loading and unloading system based on a telescopic belt conveyor according to claim 2, wherein, A first sensor is installed on the flexible mating conveyor line, and the first sensor is configured to detect changes in the length of the flexible mating conveyor line; and / or A second sensor is installed on the flexible conveyor line. The second sensor is located at one end of the flexible conveyor line near the telescopic belt conveyor and is configured to detect changes in the angle of the flexible conveyor line.

5. The loading and unloading system based on a telescopic belt conveyor according to claim 1, wherein, The telescopic belt conveyor includes: a first-stage telescopic mechanism, a second-stage telescopic mechanism, and a third-stage telescopic mechanism; The second-stage telescopic mechanism is located within the first-stage telescopic mechanism and can extend and retract along the first-stage telescopic mechanism; The third-level telescopic mechanism is located inside the second-level telescopic mechanism and can extend and retract along the second-level telescopic mechanism.

6. The loading and unloading system based on a telescopic belt conveyor according to claim 1, wherein, The telescopic belt conveyor also includes a hydraulic cylinder, which is configured to support the telescopic belt conveyor and adjust the pitch angle to adapt to different working scenarios.

7. The loading and unloading system based on a telescopic belt conveyor according to claim 5, wherein, The electrical connection line of the second robot extends along the flexible mating conveyor line and the telescopic belt conveyor.

8. The loading and unloading system based on a telescopic belt conveyor according to claim 1, wherein, It also includes material handling conveyor lines; The second robot includes a second mobile base, and the material handling conveyor line is disposed on the second mobile base; The feed inlet of the material handling conveyor line is connected to the telescopic belt conveyor via the flexible fit conveyor line.

9. The loading and unloading system based on a telescopic belt conveyor according to claim 8, wherein, The material handling conveyor line includes: The main body of the material handling line is set on the second movable base and is connected to the telescopic belt conveyor through the flexible matching conveyor line, configured for conveying the material; A settling baffle is provided on the main body of the material handling line to prevent the material from slipping off. A pusher plate is disposed on the main body of the material handling line and is positioned opposite to the edge return baffle. It is configured to push the material closer to the edge return baffle. A pusher drive mechanism is configured to drive the pusher plate to move relative to the edge baffle to push the material closer to the edge baffle.

10. The loading and unloading system based on a telescopic belt conveyor according to claim 4, wherein, When the first sensor detects that the length of the flexible conveyor line has increased, it controls the telescopic belt conveyor to extend; when the first sensor detects that the length of the flexible conveyor line has decreased, it controls the telescopic belt conveyor to shorten. When the second sensor detects that the flexible conveyor line is raised, it controls the telescopic belt conveyor to descend. When the second sensor detects that the flexible conveyor line is sagging, it controls the telescopic belt conveyor to rise.

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