CN109230635B

CN109230635B - Loading machine

Info

Publication number: CN109230635B
Application number: CN201811204076.0A
Authority: CN
Inventors: 李玉光; 蒋政; 李建韬; 孙通; 李铁芳
Original assignee: Guangdong Midea Intelligent Technologies Co Ltd
Current assignee: Guangdong Midea Intelligent Technologies Co Ltd
Priority date: 2018-10-16
Filing date: 2018-10-16
Publication date: 2024-05-14
Anticipated expiration: 2038-10-16
Also published as: CN109230635A

Abstract

The invention provides a car loader, comprising: a walking assembly; the chassis is arranged above the walking assembly; the cradle head mechanism is arranged on the chassis and comprises; the robot is arranged on the cradle head mechanism; the logistics conveying system is arranged on the chassis; the navigation system is arranged on the chassis; the controller is arranged on the chassis, is connected with the navigation system and is used for controlling the walking assembly, the cradle head mechanism and the robot to work according to the data information acquired by the navigation system. The loading machine provided by the invention can automatically navigate into the boxcar, automatically reach the operation position and automatically start the stacking, and the navigation system can also identify the quality of the stacking box in the stacking process, correct the material cartons which are not well stacked and ensure the stacking quality.

Description

Loading machine

Technical Field

The invention relates to the technical field of logistics equipment, in particular to a car loader.

Background

At present, the logistics industry reaches higher automation level no matter in the storage or transportation links, but only the loading links still generally use manpower to stack goods in the carriage, part of loading operation is carried into the carriage by the conveyor, but finally, the loading operation is carried out manually, and automation cannot be realized.

Export foreign goods are generally carried by using trays, and the goods and the trays are directly loaded into a carriage by using a forklift. The mode increases the cost of the tray, and the tray occupies a carriage space, has larger gaps between cargoes and the inner wall of the carriage, so that the loading capacity of the cargoes is less, and the transportation cost is increased.

In the related art, the adopted robot has the problems that the positioning is inaccurate, the robot cannot automatically enter the interior of a wagon compartment, the shaking is serious in the stacking process, and the stacking quality cannot be guaranteed.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art.

To this end, the invention provides a loader.

The invention provides a car loader, comprising: a walking assembly; the chassis is arranged above the walking assembly; the cradle head mechanism is arranged on the chassis; the robot is arranged on the cradle head mechanism; the logistics conveying system is arranged on the chassis; the navigation system is arranged on the chassis; the controller is arranged on the chassis, is connected with the navigation system and is used for controlling the walking assembly, the cradle head mechanism and the robot to work according to the data information acquired by the navigation system.

The car loader provided by the invention is provided with the cradle head mechanism on the chassis above the walking assembly, and the cradle head mechanism is provided with the robot, the logistics conveying system, the navigation system and the controller which are mutually matched. The navigation system can accurately acquire the position data information of the chassis and the robot and the contour data of the carriage, and then the controller controls the movement of the traveling assembly according to the data information acquired by the navigation system, so as to control the loading machine to automatically run to the working position, and specifically, the loading machine enters the interior of the truck carriage and the shape information of the stacking materials. After the carloader moves to the operation position inside the boxcar, the material cartons are conveyed to the preset position under the action of the logistics conveying system, after the material cartons are positioned at the preset position, the robot starts to work under the control of the controller to convey the material cartons to the stacking position, then the robot returns to the standby position to complete one-time stacking, after one-time stacking of the material cartons is completed, the navigation system can also acquire the position of the material cartons to detect the stacking quality of the material cartons, when the problem that the material cartons are inclined or not orderly stacked exists, the adjustment can be timely carried out, then the robot continues to grasp the next material cartons, and the process is repeated until the stacking is completed.

Notably, the loading machine provided by the invention can automatically navigate into a boxcar (container), automatically reach an operation position and automatically start to code boxes, and the navigation system can also identify the quality of the code boxes in the stacking process, correct the poorly stacked material boxes and ensure the stacking quality.

According to the car loader disclosed by the technical scheme of the invention, the car loader can also have the following additional technical characteristics:

In the above technical solution, preferably, the pan-tilt mechanism includes: the first guide rail mounting seat is arranged on the chassis; the robot mounting seat is slidably arranged on the first guide rail mounting seat, and the robot is rotatably arranged on the robot mounting seat; the first driving assembly is connected with the robot mounting seat and used for driving the robot mounting seat to slide relative to the first guide rail mounting seat.

In the technical scheme, a first guide rail mounting seat is arranged on the chassis, a robot mounting seat is arranged on the first guide rail mounting seat, the robot mounting seat can slide on the first guide rail mounting seat, and the robot can rotate on the robot mounting seat, so that the flexibility of the robot is greatly enhanced. When the robot works, the first driving component can drive the robot mounting seat to slide on the first guide rail mounting seat so as to drive the robot to move, and the position of the robot in the carriage can be accurately adjusted according to the carriage contour and the stacking position, so that the robot is in the optimal working position, and the quality of the code box is further guaranteed.

Specifically, the first driving assembly comprises a servo motor, a coupler and a ball screw which are connected with each other, when the navigation system detects that the position of the robot needs to be adjusted, the servo motor drives the ball screw to rotate through the coupler, so that the robot mounting seat is driven to move, and the effect of adjusting the position of the robot is achieved.

In any of the above technical solutions, preferably, one of the first rail mounting seat and the robot mounting seat is provided with a first rail, and the other is provided with a second rail adapted to the first rail.

In the technical scheme, a first guide rail is arranged on one of the first guide rail mounting seat and the robot mounting seat, a second guide rail which is mutually matched with the first guide rail is arranged on the other one of the first guide rail mounting seat and the robot mounting seat, and stable sliding of the robot mounting seat is ensured through the mutual matching of the first guide rail and the second guide rail.

In any of the above solutions, preferably, the pan-tilt mechanism further includes: the second guide rail mounting seat is arranged on the chassis and is provided with a third guide rail; the sliding block is slidably arranged on the third guide rail; and two ends of the connecting rod are respectively connected with the first guide rail mounting seat and the second guide rail mounting seat.

In the technical scheme, a second guide rail mounting seat is arranged on the chassis, a third guide rail is arranged on the second guide rail mounting seat, and a sliding block is slidably arranged on the third guide rail, so that the movement of a mechanism above the sliding block is guaranteed. In addition, the first guide rail mounting seat is connected with the second guide rail mounting seat through the connecting rod, so that synchronous movement of the first guide rail mounting seat and the second guide rail mounting seat is guaranteed.

In any of the above embodiments, preferably, the logistics transportation system comprises: the bottom plate is connected with the sliding block; the first conveying roller is arranged on the bottom plate; the baffle plate is arranged at the end part of the first conveying roller; the guardrail is arranged on the side surface of the first conveying roller and is far away from one side of the robot; the pushing box assembly is arranged on the first conveying roller and is positioned on one side of the first conveying roller opposite to the guardrail.

In the technical scheme, a bottom plate of the logistics conveying system is connected with the sliding block, so that the movement of the first conveying roller is ensured; the end of the first conveying roller is provided with a baffle, one side of the first conveying roller, which is far away from the robot, is provided with a guardrail, and one side of the first conveying roller, which is opposite to the guardrail, is provided with a box pushing assembly, in the working process of the logistics conveying system, the material paper box moves towards one side of the baffle under the action of the first conveying roller, when the material paper box is conveyed to the baffle by the conveying roller driven by the first power motor, the box pushing assembly starts to work to push the material paper box to the guardrail, so that the material paper box is abutted against the guardrail, the material paper box is in place, and the next working procedure is performed.

Specifically, the first conveying roller is connected with the sliding block through the bottom plate and moves along with the robot mounting seat, and the transverse position is synchronously adjusted with the robot.

In any of the foregoing embodiments, preferably, the logistics transportation system further includes: the second conveying roller is arranged on the chassis, one end of the second conveying roller is a feeding end, and the other end of the second conveying roller is connected with the first conveying roller.

In the technical scheme, a second conveying roller is arranged on the chassis, one end of the second conveying roller is a feeding end, and the other end of the second conveying roller is connected with the first conveying roller, so that the second conveying roller is matched with the first conveying roller to complete conveying of the material cartons.

Specifically, the second conveying roller is used as a feeding conveying belt, so that the material cartons enter the position of the loading machine and are driven by the first power motor; the first conveying roller is a grabbing conveying belt, and is the position of the material carton when the robot grabs the material carton and is driven by the second power motor.

In any of the above solutions, preferably, the push box assembly includes: the positive box cylinder is arranged on the first conveying roller and is positioned below the first conveying roller; one end of the swing rod is connected with the cylinder; the push rod is connected with the other end of the swing rod.

In the technical scheme, a positive box cylinder is arranged below the first conveying roller, a swing rod is connected to the positive box cylinder, a push rod is connected to the swing rod, when the first conveying roller driven by the first power motor is conveyed to the baffle plate, the controller controls the positive box cylinder to drive the swing rod to swing, and meanwhile, the push rod is driven to turn upwards to move the material paper box to the other side, so that the material paper box abuts against the guardrail, and the material paper box is in place. In the above technical solution, preferably, the robot includes: the body is arranged on the robot mounting seat; and the gripper is connected with the body.

In this technical scheme, the robot includes the body and the tongs that is connected with the body, and wherein, the body rotationally sets up on the robot mount pad, is main executive component, and the tongs is the part of snatching the material, and the tongs can take place to rotate and slide under the effect of body and robot mount pad, and then guarantees to snatch the material carton.

Specifically, the gripper comprises a sucker assembly and a fork assembly arranged on the main body, wherein the fork assembly is slidably connected with the main body, and a fork in the fork assembly can be retracted to the other side of the main body after extending to one side of the main body. When the material is required to be moved, the sucker assembly is abutted against the side wall of the material paper box, the sucker assembly is utilized to assist in fixing the material paper box, then the fork body of the fork body assembly extends to the bottom of the material paper box, the bottom-holding action is completed, after the material paper box moves to the target position, the fork body is retracted to the original position, the material is separated from the sucker assembly under the action of gravity and falls to the stacking position, and the stacking process is completed once.

In any of the above aspects, preferably, the navigation system includes: the main frame is arranged on the chassis; the lateral navigation assembly is arranged on the main frame and used for acquiring parameter information of the lateral position; and the vision component is arranged at the top of the main frame and used for acquiring parameter information in the advancing direction.

In this technical scheme, be provided with the main frame on the chassis to guarantee the stable installation and the position demand of side direction navigation module and vision subassembly, and set up the side direction navigation module on the main frame, at the in-process that the carloader marched, side direction navigation module collects the parameter of side direction position, then feedback data to the controller, and be provided with the vision subassembly at the top of main frame, obtain the parameter information on the direction of advance through the vision subassembly, and then make vision subassembly and side direction navigation module mutually support, obtain carloader side direction and place ahead parameter information, the position of accurate acquisition carloader is in order to guarantee that the carloader can self-navigation get into inside the boxcar (container), automatically, reach the operation position.

In any of the above aspects, preferably, the lateral navigation assembly includes: the support frame is connected with the main frame; the first cylinder is arranged on the support frame; the first roller assembly is arranged on the support frame and is connected with the output end of the first cylinder, and the first cylinder drives the first roller assembly to stretch out and draw back; the first position sensor is arranged on the supporting frame and is connected with the controller.

In the technical scheme, the support frame is connected with the main frame, the first roller assembly arranged on the support frame can stretch under the driving of the first cylinder, when the first cylinder drives the first roller assembly to stretch, the first position sensor arranged on the support frame synchronously detects the position change and feeds back data to the controller so as to ensure that the controller accurately controls the car loader.

In any of the foregoing solutions, preferably, the lateral navigation assembly further includes: the telescopic beam is arranged on the support frame; the electric cylinder is arranged on the support frame, and the output end of the electric cylinder is connected with the telescopic beam; the second cylinder is arranged on the telescopic beam; the second roller assembly is arranged on the telescopic beam and is connected with the output end of the second cylinder, and the second cylinder drives the second roller assembly to stretch out and draw back; the second position sensor is arranged on the telescopic beam and is connected with the controller.

In the technical scheme, be provided with flexible roof beam on the support frame, flexible roof beam can stretch out and draw back under the effect of electronic cylinder, is provided with second cylinder, second roller subassembly and the second position sensor of mutually supporting on flexible roof beam. The second roller assembly can stretch out and draw back under the drive of second cylinder, and when the second cylinder drive second roller assembly stretches out and draws back, the second position sensor that sets up on the support frame can synchronous detection position change to feedback data to the controller, in order to guarantee the accurate control of controller to the carloader. Through setting up two sets of roller subassembly and position sensor, and the distance between two sets of is adjustable to adapt to the operating mode demand in carriage of equidimension, improve the suitability of carloader.

In any of the above solutions, preferably, the vision assembly comprises: the mounting bracket is arranged on the main frame; at least one radar mounted on the support; and the image acquisition piece is arranged on the main frame.

In this technical scheme, be provided with the installing support on the main frame to be provided with at least one radar and with its matched with image acquisition spare on the installing support, scan the position of carriage entry through the radar, with this control host computer is automatic from the inside of carriage entry navigation entering, and after the material carton is put things in good order, the image acquisition spare judges the put things in good order position of material carton and the quality of putting things in good order through the mode of vision, so that in time arrange in order when the material carton goes wrong.

In any of the above aspects, preferably, the navigation system includes: and the laser sensor is arranged on the chassis and used for acquiring distance information of the chassis from an object in front.

In the technical scheme, the chassis is provided with the laser sensor, and distance information of the chassis from a front object is acquired through the laser sensor, so that the advancing safety of the car loader is ensured.

Specifically, the laser sensors are arranged in a plurality and uniformly distributed on the chassis and positioned in the advancing direction of the loader.

In the above technical solution, preferably, the method further includes: the supporting mechanism is telescopically arranged on the chassis and is positioned at the front end and the rear end of the chassis along the advancing direction.

In the technical scheme, a telescopic supporting mechanism can be arranged on the chassis, when the car loader is in a working state, the car loader stretches towards one side of the ground through the supporting mechanism, so that the car loader is lifted off the ground, the overall stability of the car loader is improved, and then the robot can carry out box stacking operation. Otherwise, when the loader needs to walk, the supporting mechanism contracts until the walking assembly is attached to the ground.

In any of the above solutions, preferably, the supporting mechanism includes: the mounting frame is arranged on the chassis and is positioned below the chassis; the second driving assembly is arranged on the mounting frame; the transmission shaft is arranged on the mounting frame and is connected with the output end of the second driving assembly; the screw rod is connected with the transmission shaft through a coupler and is perpendicular to the chassis; the first supporting part is connected with the end part of the screw rod, faces one side of the ground, and the second driving assembly drives the transmission shaft and the coupling to rotate so as to drive the screw rod to lift and eject or retract the first supporting part.

In this technical scheme, be provided with the mounting bracket in the below of chassis to be provided with interconnect's second drive assembly and transmission shaft on the mounting bracket, and be connected the one end and the transmission shaft of screw rod, the other end is connected with first supporting part, and second drive assembly accessible transmission shaft drive screw rod goes up and down, and then drives first supporting part ejection or withdraw, in order to guarantee supporting mechanism's normal work.

Specifically, when the loading machine is in the operating condition, the second driving assembly drives the transmission shaft to rotate, the transmission shaft drives the screw rod to rotate, and the screw rod is perpendicular to the chassis and is connected with the first supporting portion, so that the first supporting portion is jacked up towards the ground until the loading machine is wholly separated from the ground, namely, when the loading machine is in the operating condition, the loading machine is contacted with the ground through the first supporting portion, and further, the robot is ensured to be stable in posture in the process, and shaking cannot occur. Otherwise, when the loader needs to walk, the supporting mechanism contracts until the walking assembly is attached to the ground.

In any of the above embodiments, preferably, the method further includes: the side supporting mechanisms are arranged on the chassis and distributed on the side surface of the chassis; the side support mechanism includes: the third cylinder is arranged on the chassis; the second supporting part is connected with a third cylinder, and the third cylinder drives the second supporting part to extend or retract towards the side surface of the chassis.

In the technical scheme, the side supporting mechanism is arranged on the side face of the chassis, so that the stability of the car loader is further improved. Specifically, the side supporting mechanism comprises a third cylinder and a second supporting portion which are matched with each other, wherein when the car loader reaches a working position, the third cylinder stretches out to drive the second supporting portion to prop against the side wall of a carriage, the stability of the car loader is greatly improved, and then the robot can carry out box stacking operation. On the contrary, when the loader needs to walk, the third cylinder drives the second supporting part to retract.

Specifically, there are four groups of third cylinders and second supporting parts, and the third cylinders and the second supporting parts are distributed at four corner positions of the robot mounting base.

In any of the above solutions, preferably, the walking assembly includes: a track; the base is connected with the chassis, is positioned below the chassis, and the crawler belt is arranged on the base; and the third driving assembly is arranged on the base, is connected with the crawler belt and is used for driving the crawler belt to travel.

In this technical scheme, the walking subassembly includes chassis and sets up interconnect's track and third drive assembly on the base. The controller changes the walking direction and speed by changing the speeds of the two tracks, so that the loading machine can accurately reach the corresponding target position.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic view of a loader according to an embodiment of the present invention;

FIG. 2 is a schematic view of the loader of the embodiment of FIG. 1 from another perspective;

FIG. 3 is a schematic view of the loader of the embodiment of FIG. 1 from another perspective;

FIG. 4 is a schematic view of the loader of the embodiment shown in FIG. 1 from another perspective;

FIG. 5 is a right side view of the loader of the embodiment shown in FIG. 1;

FIG. 6 is a front view of the loader of the embodiment shown in FIG. 1;

FIG. 7 is a left side view of the loader of the embodiment shown in FIG. 1;

FIG. 8 is a top view of the loader of the embodiment shown in FIG. 1;

FIG. 9 is a top view of the embodiment of FIG. 1 from another perspective;

FIG. 10 is a schematic view of the structure of the chassis in the loader of the embodiment shown in FIG. 1;

FIG. 11 is a schematic view of a pan-tilt mechanism of the loader of the embodiment shown in FIG. 1;

FIG. 12 is a schematic view of a portion of the flow delivery system of the loader of the embodiment of FIG. 1;

FIG. 13 is a schematic view of a portion of the flow delivery system of the loader of the embodiment of FIG. 1;

FIG. 14 is a schematic view of the body of the robot in the loader of the embodiment of FIG. 1;

Fig. 15 is a schematic view of the structure of the robot hand in the loader of the embodiment shown in fig. 1 in an initial state;

FIG. 16 is a schematic view of the robot gripper of the loader of the embodiment of FIG. 1 in an operational state;

FIG. 17 is a schematic view of the robot gripper of the loader of the embodiment of FIG. 1 in an operational state;

FIG. 18 is a schematic view of the main frame of the loader of the embodiment shown in FIG. 1;

FIG. 19 is a schematic view of the controller of the loader of the embodiment shown in FIG. 1;

FIG. 20 is a schematic view of the lateral navigation assembly of the loader of the embodiment of FIG. 1 in a first state;

FIG. 21 is a schematic view of the lateral navigation assembly of the loader of the embodiment of FIG. 1 in a second state;

FIG. 22 is a left side view of the lateral navigation assembly of the embodiment of FIG. 1;

FIG. 23 is a schematic view of the visual assembly of the loader of the embodiment of FIG. 1;

FIG. 24 is a schematic view of the structure of the laser sensor in the loader of the embodiment shown in FIG. 1;

FIG. 25 is a schematic view of the structure of the support mechanism in the loader of the embodiment shown in FIG. 1;

FIG. 26 is a schematic view of the side support mechanism of the loader of the embodiment shown in FIG. 1;

FIG. 27 is a schematic view of the travel assembly of the loader of the embodiment of FIG. 1;

Fig. 28 is a flowchart of the operation of the loader of the embodiment shown in fig. 1.

The correspondence between the reference numerals and the component names in fig. 1 to 27 is:

the device comprises a 100 loader, a 12 walking component, 122 tracks, 124 bases, 126 third driving components, 14 chassis, 16 robots, 162 bodies, 164 grippers, 166 sucking disc components, 168 fork body components, 18 logistics conveying systems, 182 first conveying rollers, 184 baffle plates, 186 guardrails, 188 positive box cylinders, 190 swing rods, 192 push rods, 194 first power motors, 196 second conveying rollers, 198 second power motors, 200 connecting blocks, 202 bottom plates, 22 main frames, 24 lateral navigation components, 242 supporting frames, 244 first air cylinders, 246 first roller components, 248 first position sensors, 250 telescopic beams, 252 electric cylinders, 254 second air cylinders, 256 second roller components, 258 second position sensors, 26 visual components, 262 mounting brackets, 264 radars, 266 image acquisition components, 28 laser sensors, 30 supporting mechanisms, 302 mounting frames, 304 transmission shafts, 306 screw rods, 308 first supporting parts, 310 hollow speed reducers, 312 bearing blocks, 32 side supporting mechanisms, 322 third air cylinders, 324 second supporting parts, 34 first guide rail mounting blocks, 36 servo motor mounting blocks, 382 servo motor mounting blocks, 384, 40, 32 side supporting mechanisms, 48, 46 guide rail blocks, 300.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

A loader 100 provided according to some embodiments of the present invention is described below with reference to fig. 1 to 28.

The present invention proposes a loader 100, as shown in fig. 1 to 10, comprising: the robot comprises a walking assembly 12, a chassis 14, a cradle head mechanism, a robot 16, a logistics conveying system 18, a navigation system and a controller;

wherein, the chassis 14 is arranged above the walking assembly 12; the cradle head mechanism is arranged on the chassis 14; a robot 16 disposed on the pan/tilt mechanism; a logistics transportation system 18 arranged on the chassis 14; a navigation system provided on the chassis 14; the controller 46 is arranged on the chassis 14, the controller 46 is connected with the navigation system, and the controller 46 is used for controlling the walking assembly 12, the cradle head mechanism and the robot 16 to work according to data information acquired by the navigation system.

The loading machine 100 provided by the invention is provided with a cradle head mechanism on a chassis 14 positioned above a traveling assembly 12, and the cradle head mechanism is provided with a robot 16, a logistics conveying system 18, a navigation system and a controller 46 which are matched with each other. The navigation system can accurately acquire the position data information of the chassis 14 and the robot 16, and the contour data of the carriage, and then the controller 46 controls the movement of the traveling assembly 12 according to the data information acquired by the navigation system, so as to control the loader 100 to autonomously operate to the working position, specifically, enter the interior of the boxcar. When the loader 100 moves to the operation position inside the boxcar, the material cartons 300 are conveyed to the preset position under the action of the logistics conveying system 18, when the material cartons 300 are at the preset position, the robot 16 starts to work under the control of the controller 46 to convey the material cartons 300 to the stacking position, then the robot 16 returns to the standby position to finish one-time stacking, when the material cartons 300 are stacked once, the navigation system can also acquire the positions of the material cartons 300 to detect the stacking quality of the material cartons 300, when the material cartons 300 have the problem of inclination or irregular stacking, the adjustment can be timely performed, then the robot 16 continues to grasp the next material cartons 300, and the stacking is repeated until the stacking is completed.

Notably, the loader 100 provided by the invention can automatically navigate into a boxcar (container), automatically reach an operation position, automatically start stacking, and the navigation system can also identify the quality of the stacking during the stacking process, correct the poorly stacked material cartons 300, and ensure the stacking quality.

In one embodiment of the present invention, preferably, as shown in fig. 11, the pan/tilt mechanism includes: a first rail mount 34 disposed on the chassis 14; a robot mount 36, the robot mount 36 being slidably disposed on the first rail mount 34, the robot 16 being rotatably disposed on the robot mount 36; the first driving assembly is connected to the robot mount 36, and is used for driving the robot mount 36 to slide relative to the first rail mount 34.

In this embodiment, a first rail mount 34 is provided on the chassis 14, and a robot mount 36 is provided on the first rail mount 34, and the robot mount 36 can slide on the first rail mount 34, and the machine can rotate on the robot mount 36, thereby greatly enhancing the flexibility of the robot 16. When the robot 16 works, the first driving assembly can drive the robot mounting seat 36 to slide on the first guide rail mounting seat 34, so as to drive the robot 16 to move, and the position of the robot 16 in the carriage can be accurately adjusted according to the carriage contour and the stacking position, so that the robot 16 is ensured to be in an optimal working position, and the quality of the code box is ensured. In addition, a limit stop 48 is provided at an end of the first rail mount 34 to function as a limit.

In a specific embodiment, the first driving assembly includes a servo motor 382, a coupling 384 and a ball screw 386 connected to each other, and when the navigation system detects that the position of the robot 16 needs to be adjusted, the servo motor 382 drives the ball screw 386 to rotate through the coupling 384, thereby driving the robot mounting seat 36 to move, and achieving the effect of adjusting the position of the robot 16.

In one embodiment of the present invention, it is preferable that one of the first rail mount 34 and the robot mount 36 is provided with a first rail, and the other is provided with a second rail adapted to the first rail.

In this embodiment, a first rail is provided on one of the first rail mount 34 and the robot mount 36, and a second rail is provided that is mutually adapted to the first rail, and stable sliding of the robot mount 36 is ensured by the mutual adaptation of the first rail and the second rail.

In one embodiment of the present invention, preferably, as shown in fig. 11, the pan-tilt mechanism further includes: the second guide rail mounting seat 40 is arranged on the chassis 14, and a third guide rail is arranged on the second guide rail mounting seat 40; a slider 42 slidably disposed on the third rail; the connecting rod 44, the both ends of connecting rod 44 are connected with first guide rail mount 34 and second guide rail mount 40 respectively.

In this embodiment, a second rail mount 40 is provided on the chassis 14, and a third rail is provided on the second rail mount 40, and a slider 42 is slidably provided on the third rail, thereby ensuring movement of the structure above the slider 42. In addition, the first rail mount 34 is connected to the second rail mount 40 by a connecting rod 44, ensuring synchronous movement of the first and second rail mounts 34, 40. In addition, a limit stop 48 is provided at an end of the second rail mount 40 to function as a limit.

In one embodiment of the present invention, preferably, as shown in FIG. 12, the logistics transport system 18 comprises: a base plate 202, the base plate 202 being connected to the slider 42; a first conveying roller 182 disposed on the base plate 202; a baffle 184 disposed at an end of the first conveying roller 182; a guardrail 186 disposed at a side of the first conveying roller 182, which is far from the robot 16; the pushing box assembly is arranged on the first conveying roller 182 and is positioned on the side of the first conveying roller 182 opposite to the guardrail 186.

In this embodiment, the bottom plate 202 of the logistics transport system 18 is connected to the slide 42 to ensure movement of the first transport roller 182; a baffle 184 is provided at the end of the first conveying roller 182, a rail 186 is provided on the side of the first conveying roller 182 remote from the robot 16, and a box pushing assembly is provided on the side of the first conveying roller 182 opposite to the rail 186, during operation of the logistics conveying system 18, the material cartons 300 move towards the baffle 184 side under the action of the first conveying roller 182, and when the material cartons 300 are conveyed to the baffle 184 by the conveying roller driven by the first power motor 194, the box pushing assembly begins to operate to push the material cartons 300 to the rail 186, so that the material cartons 300 abut against the rail 186, and the material cartons 300 are positioned for the next process.

In the exemplary embodiment, first transport cylinder 182 is coupled to slide 42 via base plate 202 and moves with robot mount 36 to adjust the lateral position in synchronization with robot 16.

In one embodiment of the present invention, preferably, as shown in FIG. 13, the logistics transport system 18 further comprises: the second conveying roller 196 is disposed on the chassis 14, and one end of the second conveying roller 196 is a feeding end, and the other end is connected to the first conveying roller 182.

In this embodiment, a second conveyor roller 196 is provided on the chassis 14, wherein one end of the second conveyor roller 196 is a feed end and the other end is connected to the first conveyor roller 182 such that the second conveyor roller 196 cooperates with the first conveyor roller 182 to complete the conveyance of the material cartons 300.

Specifically, the second transport cylinder 196 is coupled to the robotic mount 36 via a connection block 200.

In the specific embodiment, the second conveying roller 196 is used as a feeding conveying belt to enable the material cartons 300 to enter the position of the loader and is driven by the first power motor 194; the first conveying roller 182 is a grabbing conveying belt, and is the position of the material carton 300 when the robot 16 grabs the material carton, and is driven by the second power motor 198.

In one embodiment of the present invention, preferably, as shown in fig. 12, the push box assembly includes: a positive case cylinder 188 disposed on the first conveying roller 182 below the first conveying roller 182; the swing rod 190, one end of the swing rod 190 is connected with the cylinder; the push rod 192, the push rod 192 is connected with the other end of the swing rod 190.

In this embodiment, a positive box cylinder 188 is disposed below the first conveying roller 182, a swing rod 190 is connected to the positive box cylinder 188, and a push rod 192 is connected to the swing rod 190, when the first conveying roller 182 driven by the first power motor 194 of the material carton 300 is conveyed to the position of the baffle 184, the controller 46 controls the positive box cylinder 188 to drive the swing rod 190 to swing, and simultaneously drives the push rod 192 to turn up, so that the material carton 300 moves to the other side, the material carton 300 abuts against the guardrail 186, and the material carton 300 is in place.

In one embodiment, the carton material enters the loader and is transported by the second power motor 198 to the second transport roller 196 onto the first transport roller 182. The first conveying roller 182 is coupled to the pedestal 124 by a coupling block 200. When the material cartons are conveyed to the baffle 184 by the first conveying roller 182 driven by the first power motor 194, the control command controls the positive box air cylinder 188 to drive the air cylinder swing rod 190 to swing, and meanwhile, the push rod 192 is driven to turn upwards to beat and squeeze the material cartons to the other side, so that the carton materials abut against the guardrail 186, and the carton is in place. The entire first conveyor roller 182 is connected to the slide 42 on the second rail mount 40 on the chassis 14 via the conveyor base 202, moves with the robot mount 36, and adjusts the lateral position in synchronization with the robot 16.

In one embodiment of the present invention, preferably, as shown in fig. 14 to 17, the robot 16 includes: a body 162 disposed on the robot mount 36; a grip 164 is connected to the body 162.

In this embodiment, the robot 16 includes a body 162 and a gripper 164 connected to the body 162, where the body 162 is rotatably disposed on the robot mount 36 and is a main executing component, and the gripper 164 is a component for gripping a material, and the gripper 164 can rotate and slide under the action of the body 162 and the robot mount 36, so as to ensure gripping of the material carton 300.

In an exemplary embodiment, as shown in fig. 15-17, the grip 164 includes a suction cup assembly 166 and a fork assembly 168 disposed on the body, wherein the fork assembly is slidably coupled to the body, and wherein the forks of the fork assembly are retractable to one side of the body after extending to the other side of the body. Further, the sucker assembly comprises a plurality of suckers and a fixing frame for installing the suckers, and the suckers are uniformly distributed on one side of the main body facing the working surface; the fork body component comprises a fork body, a driving system and a sliding part, wherein the fork body is connected with the driving system, and the fork body is driven by the driving system to realize relative sliding with the main body through the sliding part so as to realize extension and retraction of the fork body and carry out reciprocating linear motion. When the material is required to be moved, the sucker assembly 166 abuts against the side wall of the material paper box 300, the material paper box 300 is fixed by the aid of the sucker assembly 166, then the fork body of the fork body assembly 168 extends to the bottom of the material paper box 300, the bottom-holding action is completed, after the material paper box 300 moves to the target position, the fork body is retracted to the original position, and the material paper box 300 is separated from the sucker assembly 166 under the action of gravity and falls to the stacking position, so that the one-time stacking process is completed. The gripper does not occupy the top space of materials, has lower requirements on workplaces, can realize the arrangement of the materials in a limited space, has lower requirements on the properties of the materials and the space environment where the materials are positioned, and has strong adaptability.

In one embodiment of the present invention, preferably, as shown in fig. 18 to 23, the navigation system includes: a main frame 22 disposed on the chassis 14; the lateral navigation component 24 is arranged on the main frame 22 and is used for acquiring parameter information of the lateral position; the vision component 26 is disposed on top of the main frame 22, and is used for acquiring parameter information in the advancing direction.

In this embodiment, the main frame 22 is disposed on the chassis 14 to ensure stable installation and position requirements of the lateral navigation assembly 24 and the visual assembly 26, and the lateral navigation assembly 24 is disposed on the main frame 22, and in the traveling process of the loader 100, the lateral navigation assembly 24 collects parameters of the lateral position, and then feeds back data to the controller 46, and the visual assembly 26 is disposed on the top of the main frame 22, and the visual assembly 26 acquires parameter information in the advancing direction, so that the visual assembly 26 and the lateral navigation assembly 24 are mutually matched to acquire lateral and front parameter information of the loader 100, and accurately acquires the position of the loader 100 to ensure that the loader 100 can automatically navigate into a boxcar (container) to automatically reach the working position.

In one embodiment of the present invention, preferably, as shown in fig. 20 to 23, the lateral navigation assembly 24 includes: a support 242 connected to the main frame 22; a first cylinder 244 disposed on the support frame 242; the first roller assembly 246 is arranged on the supporting frame 242 and connected with the output end of the first air cylinder 244, and the first air cylinder 244 drives the first roller assembly 246 to stretch and retract; the first position sensor 248 is disposed on the support 242, and the first position sensor 248 is connected to the controller 46.

In this embodiment, the support frame 242 is connected to the main frame 22, and the first roller assembly 246 disposed on the support frame 242 can be extended and retracted under the driving of the first air cylinder 244, when the first air cylinder 244 drives the first roller assembly 246 to extend and retract, the first position sensor 248 disposed on the support frame 242 can synchronously detect the position change and feed back the data to the controller 46, so as to ensure the accurate control of the loader 100 by the controller 46.

In one embodiment of the present invention, preferably, as shown in fig. 20 to 23, the lateral navigation assembly 24 further includes: a telescopic beam 250 arranged on the support frame 242; the electric cylinder 252 is arranged on the support frame 242, and the output end of the electric cylinder 252 is connected with the telescopic beam 250; a second cylinder 254 provided on the telescopic beam 250; the second roller assembly 256 is arranged on the telescopic beam 250 and is connected with the output end of the second air cylinder 254, and the second air cylinder 254 drives the second roller assembly 256 to stretch and retract; a second position sensor 258 is disposed on the telescoping beam 250, the second position sensor 258 being coupled to the controller 46.

In this embodiment, a telescopic beam 250 is provided on the support frame 242, the telescopic beam 250 can be telescopic under the action of an electric cylinder 252, and a second cylinder 254, a second roller assembly 256 and a second position sensor 258 which are mutually matched are provided on the telescopic beam 250. The second roller assembly 256 may stretch and retract under the driving of the second cylinder 254, and when the second cylinder 254 drives the second roller assembly 256 to stretch and retract, the second position sensor 258 disposed on the supporting frame 242 may synchronously detect the position change and feed back data to the controller 46, so as to ensure the accurate control of the controller 46 on the loader 100. Through setting up two sets of roller subassembly and position sensor, and the distance between two sets of is adjustable to adapt to the operating mode demand in carriage of equidimension, improve the suitability of carloader.

In one embodiment of the present invention, preferably, as shown in FIG. 24, the vision assembly 26 includes: a mounting bracket 262 provided on the main frame 22; at least one radar 264 mounted on the support; and an image acquisition member 266 disposed on the main frame 22.

In this embodiment, a mounting bracket 262 is disposed on the main frame 22, and at least one radar 264 and an image acquisition member 266 matched with the radar 264 are disposed on the mounting bracket 262, so that the radar 264 scans the position of the entrance of the carriage, and the loader is controlled to automatically navigate from the entrance of the carriage into the interior, and when the material cartons 300 are completely stacked, the image acquisition member 266 visually judges the stacking position and stacking quality of the material cartons 300, so that the material cartons 300 can be sorted in time when a problem occurs.

In particular embodiments, the image acquisition member 266 may be mounted to the robot 16 at the location of the grip 164. The image capturing element 266 may be a depth camera, a camera, or the like, which may capture images.

In one embodiment of the present invention, preferably, as shown in fig. 25, the navigation system includes: the laser sensor 28 is disposed on the base 124, and is used for acquiring distance information of the base 124 from the object in front.

In this embodiment, the base 124 is provided with the laser sensor 28, and the distance information of the base 124 from the object in front is acquired by the laser sensor 28, thereby ensuring the travel safety of the loader 100.

In an embodiment, the laser sensors 28 are disposed in a plurality and uniformly distributed on the base 124 in the traveling direction of the loader 100. Further, a mounting frame is arranged on the chassis, and the laser sensor 28 is arranged on the mounting frame, so that the laser sensor 28 is convenient to install and replace.

In one embodiment of the present invention, preferably, as shown in fig. 25, further comprising: the supporting mechanism 30 is telescopically arranged on the chassis 14 and is positioned at the front end and the rear end of the chassis 14 along the travelling direction.

In this embodiment, a telescopic supporting mechanism 30 may be provided on the chassis 14, and when the loader 100 is in an operating state, the loader 100 is lifted off the ground by extending the supporting mechanism 30 toward one side of the ground, so that the overall stability of the loader 100 is improved, and then the robot 16 can perform the stacking operation. Conversely, when the loader 100 needs to walk, the support mechanism 30 contracts until the walking assembly 12 engages the ground.

In one embodiment of the present invention, preferably, as shown in fig. 25, the support mechanism 30 includes: the mounting frame 302 is arranged on the chassis 14 and is positioned below the chassis 14; the second driving component is arranged on the mounting frame 302; the transmission shaft 304 is arranged on the mounting frame 302, and the transmission shaft 304 is connected with the output end of the second driving assembly; the screw 306, the screw 306 is connected with the transmission shaft 304 through the coupler 384, and the screw 306 is arranged perpendicular to the chassis 14; the first supporting portion 308, the first supporting portion 308 is connected with an end portion of the screw 306, and faces one side of the ground, the second driving assembly drives the transmission shaft 304 and the coupling 384 to rotate, and then drives the screw 306 to lift, so that the first supporting portion 308 is ejected or retracted.

In this embodiment, a mounting frame 302 is disposed below the chassis 14, and a second driving assembly and a transmission shaft 304 are disposed on the mounting frame 302, which are connected to each other, and one end of a screw 306 is connected to the transmission shaft 304, and the other end is connected to a first supporting portion 308, where the second driving assembly can drive the screw 306 to lift through the transmission shaft 304, so as to drive the first supporting portion 308 to eject or retract, so as to ensure the normal operation of the supporting mechanism 30.

In a specific embodiment, the screw 306 is connected to the transmission shaft 304 through the hollow speed reducer 310 and the bearing seat 312, when the loader 100 is in a working state, the second driving assembly drives the transmission shaft 304 to rotate, the transmission shaft 304 drives the screw 306 to rotate, and the screw 306 is perpendicular to the chassis 14 and is connected to the first supporting portion 308, so that the first supporting portion 308 is lifted up towards the ground until the loader 100 is entirely separated from the ground, that is, when the loader 100 is in a working state, the first supporting portion 308 contacts with the ground, and further, the robot 16 is ensured to have a stable posture in the process and not shake. Conversely, when the loader 100 needs to walk, the support mechanism 30 contracts until the walking assembly 12 engages the ground. Further, a group of supporting mechanisms 30 are respectively arranged in front of and behind the chassis along the advancing direction of the loader, a plurality of first supporting portions 308 are arranged in each group of supporting mechanisms 30, and the plurality of first supporting portions 308 are uniformly distributed along the screw 306, so that the plurality of first supporting portions 308 can be uniformly stressed, the stability of the loader is ensured, and the service life of the first supporting portions 308 is prolonged.

In one embodiment of the present invention, preferably, as shown in fig. 26, further comprising: the side supporting mechanisms 32 are arranged on the chassis 14 and distributed on the side surface of the chassis 14; the side support mechanism 32 includes: a third cylinder 322 disposed on the chassis 14; the second support 324 is connected to the third cylinder 322, and the third cylinder 322 drives the second support 324 to extend or retract toward the side of the chassis 14.

In this embodiment, the side support mechanism 32 is provided on the side of the chassis 14 to further improve the stability of the loader 100. Specifically, the side supporting mechanism 32 includes a third cylinder 322 and a second supporting portion 324 that cooperate with each other, where when the loader 100 reaches the working position, the third cylinder 322 extends out to drive the second supporting portion 324 to prop against the side wall of the carriage, so that the stability of the loader 100 is greatly improved, and then the robot 16 can carry out the stacking operation. Conversely, when the loader 100 needs to walk, the third cylinder 322 drives the second supporting portion 324 to retract.

In the embodiment, there are four sets of the third cylinders 322 and the second support portions 324, and the third cylinders are distributed at four corner positions of the robot mount 36. The four groups of third cylinders 322 and the second supporting portions 324 are uniformly distributed on the two non-front-rear side surfaces of the chassis 14 along the traveling direction of the loader.

In one embodiment of the present invention, preferably, as shown in FIG. 27, the walking assembly 12 comprises: a crawler 122; the base 124 is connected with the chassis 14 and is positioned below the chassis 14, and the crawler belt 122 is arranged on the base 124; a third drive assembly 126, disposed on the base 124, is coupled to the track 122 for driving the track 122.

In this embodiment, the travel assembly 12 includes a chassis 14 and interconnecting tracks 122 and a third drive assembly 126 disposed on a base 124. Wherein the controller 46 changes the direction of travel and speed by changing the speed of the two tracks 122 so that the loader 100 can accurately reach the corresponding target location.

In particular embodiments, the track 122 may be replaced with a number of powered and steerable single wheels; the transmission modes of the synchronous belt, the chain and the like are not specified and are mutually universal; the linear guide elements such as the linear slide rail, the dovetail groove slide rail, the roller type slide rail, the cylindrical guide and the like are not specified and are mutually universal; the linear push-pull power elements such as the air cylinder, the hydraulic cylinder, the electric cylinder and the like are not specified and are mutually universal; the rotation drive of the servo motor, the stepping motor, the direct drive motor and the like is not specified, and the servo motor, the stepping motor, the direct drive motor and the like are mutually universal.

In a specific embodiment, the working flow of the loader 100 is shown in fig. 28 and described in detail below:

The operator drives the loader 100 into the car, the loader 100 is started, the radar 264 of the vision assembly 26 scans the entrance condition of the car, the controller 46 controls the third driving assembly 126 of the chassis 14 to rotate so as to drive the rubber crawler to move, and accordingly the whole machine automatically enters the interior of the car, and the process is rough navigation.

When the loader 100 enters the interior of the vehicle cabin, the controller 46 controls the extension of the motorized cylinder 252 and then the extension of the first and second cylinders 244, 254 such that the first and second roller assemblies 246, 256 extend and abut the side walls of the vehicle cabin; meanwhile, the rubber tracks are driven to move continuously, in the process, the first position sensor 248 and the second position sensor 258 measure the distance change between the loader 100 and the side wall of the carriage, and the controller 46 controls the two rubber tracks to move respectively to adjust the advancing direction of the loader 100, and the process is accurate positioning.

Continuing, when the 4 laser sensors 28 of the navigation system measure that the distance between the loader 100 and the innermost wall of the cabin reaches the preset value, the controller 46 will control the tracked chassis to stop advancing. At this time, the controller 46 calculates a deviation value between the left and right positions of the loader 100 and the predetermined position based on the numerical value measured by the lateral navigation module 24, and then controls the first driving module of the pan/tilt mechanism to operate, thereby adjusting the left and right positions of the robot 16.

The controller 46 then controls retraction of the first and second cylinders 244, 254 such that the first and second roller assemblies 246, 256 retract away from the side wall of the cabin, and the controller 46 then controls retraction of the motorized cylinder 252.

The controller 46 then controls the first support portion 308 of the support mechanism 30 to extend, thereby elevating the loader 100 to a certain height. Then, the controller 46 controls the third cylinder 322 of the side support mechanism 32 to extend so that the second support 324 abuts against the cabin side wall.

Simultaneously, the logistics cartons reach the first conveying roller 182 through the second conveying roller 196, the controller 46 controls the positive box air cylinder 188 to drive the swing rod 190 to swing, meanwhile, the push rod 192 is driven to be turned upwards, the material cartons 300 are beaten and extruded towards the other side, the carton materials are abutted against the guardrails 186, the cartons are in place, and then the positive box air cylinder 188 is retracted, and the push rod 192 is driven to be retracted downwards.

The robot 16 then moves to bring the body 162 of the robot 16 to the side of the material carton 300 and the robot 16 grips 164 grasp the material carton 300. The robot 16 then moves to bring the material cartons 300 to the target position, the robot 16 then grasps the handles 164 to deposit the cartons, and the robot 16 moves to the standby position. The image capturing element 266 of the vision assembly 26 then captures and calculates the relative position of the material cartons 300 to the sides of the vehicle to verify the stacking quality of the material cartons 300. The robot 16 then continues to grasp the next carton material, and so on.

After stacking a certain number of material cartons 300, the loader 100 needs to be moved a distance backward. At this time, the controller 46 controls the second driving assembly of the supporting mechanism 30 to retract, and then the controller 46 controls the first supporting portion 308 of the supporting mechanism 30 to retract, so that the loader 100 falls to the ground. The rear controller 46 controls the extension of the motorized cylinder 252, and the rear controller 46 controls the extension of the first and second cylinders 244, 254. The controller 46 then controls the third drive assembly 126 of the travel assembly 12 to rotate, thereby moving the rubber track for precise navigation. When the 4 laser sensors 28 of the current navigation system measure that the distance between the loader 100 and the front row material carton 300 reaches a preset value, the controller 46 controls the traveling assembly 12 to stop. Then, the above-mentioned process of retracting the lateral navigation module 24, supporting the supporting mechanism 30, supporting the wall by the lateral supporting mechanism 32 is repeated, and the above-mentioned process of stacking boxes by the robot 16 is repeated. And repeating the steps until the whole carriage is completely stacked.

In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A loader, comprising:

A walking assembly;

the chassis is arranged above the walking assembly;

the cradle head mechanism is arranged on the chassis;

The robot is arranged on the holder mechanism;

the logistics conveying system is arranged on the chassis;

the navigation system is arranged on the chassis;

The controller is arranged on the chassis, is connected with the navigation system and is used for controlling the walking assembly, the cradle head mechanism and the robot to work according to the data information acquired by the navigation system;

The navigation system includes:

the loading rack is arranged on the chassis;

the lateral navigation assembly is arranged on the loading rack and is used for acquiring parameter information of a lateral position;

The visual component is arranged at the top of the loading frame and used for acquiring parameter information in the advancing direction;

the navigation system is used for acquiring position data information of the chassis, position data information of the robot, contour data of a carriage and the position of a material carton;

The cradle head mechanism comprises:

The first guide rail mounting seat is arranged on the chassis;

the robot installation seat is slidably arranged on the first guide rail installation seat, and the robot is rotatably arranged on the robot installation seat;

The first driving assembly is connected with the robot mounting seat and used for driving the robot mounting seat to slide relative to the first guide rail mounting seat;

the lateral navigation assembly includes:

the support frame is connected with the loading frame;

the first cylinder is arranged on the support frame;

The first roller assembly is arranged on the supporting frame and is connected with the output end of the first cylinder, and the first cylinder drives the first roller assembly to stretch out and draw back;

the first position sensor is arranged on the supporting frame and is connected with the controller;

the visual component comprises:

the mounting bracket is arranged on the loading rack;

At least one radar mounted on the mounting bracket; and

The image acquisition piece is arranged on the loading rack.

2. The loader of claim 1, wherein one of the first rail mount and the robot mount is provided with a first rail and the other is provided with a second rail that is adapted to the first rail.

3. The truck loader of claim 1, in which the pan-tilt mechanism further comprises:

the second guide rail mounting seat is arranged on the chassis, and a third guide rail is arranged on the second guide rail mounting seat;

the sliding block is slidably arranged on the third guide rail;

and two ends of the connecting rod are respectively connected with the first guide rail mounting seat and the second guide rail mounting seat.

4. A loader according to claim 3, wherein the logistics transportation system comprises: the bottom plate is connected with the sliding block;

The first conveying roller is arranged on the bottom plate;

A baffle plate arranged at the end part of the first conveying roller;

the guardrail is arranged on the side surface of the first conveying roller and is far away from one side of the robot;

The pushing box assembly is arranged on the first conveying roller and is positioned on one side of the first conveying roller opposite to the guardrail.

5. The loader of claim 4, wherein the logistics transport system further comprises: the second conveying roller is arranged on the chassis, one end of the second conveying roller is a feeding end, and the other end of the second conveying roller is connected with the first conveying roller.

6. The loader of claim 4, wherein the push box assembly comprises:

the positive box cylinder is arranged on the first conveying roller and is positioned below the first conveying roller;

one end of the swing rod is connected with the positive box cylinder;

And the push rod is connected with the other end of the swing rod.

7. The car loader according to any one of claims 1 to 6, wherein the robot includes: the body is arranged on the robot mounting seat;

And the gripper is connected with the body.

8. The loader of any of claims 1-6, wherein the lateral navigation assembly further comprises: the telescopic beam is arranged on the support frame;

the electric cylinder is arranged on the support frame, and the output end of the electric cylinder is connected with the telescopic beam;

the second cylinder is arranged on the telescopic beam;

The second roller assembly is arranged on the telescopic beam and is connected with the output end of the second cylinder, and the second cylinder drives the second roller assembly to stretch;

The second position sensor is arranged on the telescopic beam and is connected with the controller.

9. The loader according to any one of claims 1-6, wherein the navigation system comprises:

And the laser sensor is arranged on the chassis and used for acquiring distance information of the chassis from an object in front.

10. The loader according to any one of claims 1 to 6, further comprising:

The supporting mechanism is telescopically arranged on the chassis and is positioned at the front end and the rear end of the chassis along the advancing direction.

11. The loader of claim 10, wherein the support mechanism comprises:

the mounting frame is arranged on the chassis and is positioned below the chassis;

The second driving assembly is arranged on the mounting frame;

the transmission shaft is arranged on the mounting frame and is connected with the output end of the second driving assembly;

the screw rod is connected with the transmission shaft through a coupler and is perpendicular to the chassis;

The first supporting part is connected with the end part of the screw rod and faces one side of the ground, and the second driving assembly drives the transmission shaft to rotate through the coupling, so that the screw rod is driven to lift, and the first supporting part is ejected or retracted.

12. The loader according to any one of claims 1 to 6, further comprising:

The side supporting mechanisms are arranged on the chassis and distributed on the side face of the chassis;

The side support mechanism includes:

The third cylinder is arranged on the chassis;

And the second supporting part is connected with the third air cylinder, and the third air cylinder drives the second supporting part to extend or retract towards the side surface of the chassis.

13. The loader of any of claims 1-6, wherein the travel assembly comprises:

a track;

the base is connected with the chassis and positioned below the chassis, and the crawler belt is arranged on the base;

And the third driving assembly is arranged on the base, connected with the crawler belt and used for driving the crawler belt to travel.