CN116730043A - Intelligent loading robot - Google Patents
Intelligent loading robot Download PDFInfo
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- CN116730043A CN116730043A CN202311008826.8A CN202311008826A CN116730043A CN 116730043 A CN116730043 A CN 116730043A CN 202311008826 A CN202311008826 A CN 202311008826A CN 116730043 A CN116730043 A CN 116730043A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims description 28
- 238000009825 accumulation Methods 0.000 claims description 9
- 238000007493 shaping process Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims 2
- 238000000034 method Methods 0.000 description 31
- 230000008569 process Effects 0.000 description 23
- 108010066114 cabin-2 Proteins 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention provides an intelligent loading robot which comprises a connecting frame, a transmission device, a movable chassis, two multi-axis mechanical arms, a plurality of three-dimensional distance measuring devices and a controller, wherein the connecting frame is connected with the transmission device; the goods taking area of the transmission device comprises a bearing platform and a box pulling device, goods are transported on the bearing platform, and the box pulling device is used for pulling the goods on the bearing platform; the mechanical arm gripper comprises a mounting frame, a sucker and a forking piece, the mechanical arm gripper is provided with a forking mode, a sucking mode and a forking and sucking shared mode, the forking piece exceeds and is perpendicular to the sucking surface of the sucker in the forking mode and the forking and sucking shared mode, and the forking piece does not exceed and is parallel to the sucking surface of the sucker in the sucking mode; the three-dimensional distance measuring device is used for detecting the position of the intelligent loading robot in the carriage; the controller controls the two multi-axis mechanical arms to move, controls the movable chassis to move, controls the box shifting device to shift goods and controls the mechanical arm grippers to switch working modes.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent loading robot.
Background
In the cargo loading and outward transport links in factories and logistics fields, the existing loading mode almost entirely adopts a manual loading mode. The manual operation mode has the advantages of severe working environment, high cost and low efficiency. The adoption of a loader/intelligent loading robot to replace manual work for mechanical automatic stacking and loading operation has become a development trend.
Existing loaders or intelligent loading robots typically have one or two stacking platforms at the front end for accumulating and pushing out cargo. The stacking platform is driven by a three-coordinate driving mechanism and can move up and down and/or back and forth along the loader body. The transverse width of the stacking platform is close to the width of the whole carriage or half of the carriage. The goods are accumulated and arranged on the stacking platform to form a row of goods groups, and then the goods groups are pushed out from the stacking platform to the stacking position. According to the existing implementation method, when goods with different sizes are stacked, the stacking platform cannot stack the goods neatly, so that the intelligent loading robot is poor in flexibility, and the space utilization rate in a carriage is low.
Disclosure of Invention
The embodiment of the application aims to provide an intelligent loading robot which is used for solving the problem that a stacking platform cannot orderly stack multi-specification cargoes or realize fancy stacking in the loading process of cargoes, so that the space utilization rate in a carriage is low. The specific technical scheme is as follows:
the embodiment of the application provides an intelligent loading robot which is used for stacking cargoes with different sizes in a carriage, and comprises a connecting frame, a movable chassis arranged at the lower part of the connecting frame, a transmission device arranged at the upper part of the connecting frame, two multi-axis mechanical arms, a plurality of three-dimensional distance measuring devices and at least one control cabinet arranged on the connecting frame; the conveying device comprises a goods taking area, wherein the goods taking area comprises a bearing platform and a box pulling device which is arranged at the lower part of the bearing platform and detachably connected with the bearing platform, the goods are transported on the bearing platform, and the box pulling device is used for pulling the goods on the bearing platform so as to align the goods to one side of the goods taking area; the two multi-axis mechanical arms are symmetrically arranged on two sides of the transmission device, one end of the multi-axis mechanical arms is connected with the connecting frame, the other end of the multi-axis mechanical arms is connected with mechanical arm grippers, the two mechanical arm grippers are used for alternately grabbing goods on the goods taking area, the mechanical arm grippers comprise mounting frames, sucking discs fixedly connected to the mounting frames and forking pieces movably connected to the mounting frames, the mechanical arm grippers are provided with a forking mode, a sucking mode and a forking and sucking shared mode, in the forking mode and the forking and sucking shared mode, the forking pieces exceed and are perpendicular to the sucking surfaces of the sucking discs, and in the sucking mode, the forking pieces do not exceed and are parallel to the sucking surfaces of the sucking discs; the three-dimensional distance measuring devices are arranged on the connecting frame and used for detecting the distances between the intelligent loading robot and the inner wall of the carriage and the distances between the intelligent loading robot and the goods which are stacked; a controller is arranged in the at least one control cabinet, the controller is respectively and electrically connected with the three-dimensional distance measuring device, the two multi-axis mechanical arms, the movable chassis, the box shifting device and the mechanical arm grippers, the controller is used for controlling the motion of the two multi-axis mechanical arms, controlling the motion of the movable chassis, controlling the box shifting device to shift the goods and controlling the mechanical arm grippers to switch working modes according to the detection result of the three-dimensional distance measuring device.
In addition, the intelligent loading robot according to the embodiment of the first aspect of the present application may further have the following technical features:
in some embodiments, the conveying device further includes a cargo receiving area, an accumulating area and a separating area connected in sequence along the conveying direction, wherein the cargo receiving area is used for inputting cargos, and the conveying speed of the separating area is greater than that of the accumulating area; one end of the accumulation area, which is close to the separation area, is movably connected with a limit baffle, and the limit baffle can be positioned above or below the accumulation area.
In some embodiments, the box pulling device comprises two side plates and a plurality of power transmission parts, wherein the two side plates are arranged at intervals along the direction perpendicular to the transmission direction, gaps are reserved between the two adjacent power transmission parts along the transmission direction, the side plates comprise a plurality of sub side plates with opposite intervals, and the sub side plates are arranged in one-to-one correspondence with the power transmission parts along the direction perpendicular to the transmission direction; the gear shifting assembly is arranged above the base along the transmission direction, the gear shifting assemblies are arranged in one-to-one correspondence with the gaps, and at least part of the gear shifting assemblies can be positioned above the bearing platform and move along the direction perpendicular to the transmission direction; the first driving piece is used for driving the shifting tooth assembly to move along the direction perpendicular to the transmission direction; the second driving piece is used for driving the poking tooth assembly to be located below the bearing platform or above the bearing platform.
In some embodiments, the power transmission member is a power roller.
In some embodiments, the intelligent loading robot further comprises a shaping mechanism, the shaping mechanism comprises a frame, a driving mechanism arranged on the frame and a clamping plate connected with the driving mechanism, the frame comprises two support columns arranged on two sides of the transmission device respectively and a support beam connected to the top ends of the adjacent support columns in sequence, the driving mechanism comprises a driving motor and a sliding piece connected with the driving motor, the sliding piece is arranged on the support beams arranged at intervals along the transmission direction, and the driving motor can drive the sliding piece to move in opposite directions or back directions so as to drive the clamping plate to move in opposite directions or back directions.
In some embodiments, rolling elements arranged in parallel along the conveying direction are arranged on the side wall, close to the goods, of the clamping plate.
In some embodiments, the three-dimensional distance measuring device comprises a first distance measuring device, the first distance measuring device is arranged at the tail end of the bearing platform, and the first distance measuring device is a laser radar or a three-dimensional vision sensor or a three-dimensional distance measuring sensor.
In some embodiments, the intelligent loading robot further comprises a reversing mechanism, wherein the reversing mechanism is arranged at the goods inlet end of the goods receiving area and is used for steering the goods entering the goods receiving area.
In some embodiments, the harpoon includes a plurality of harpoons having a width of 1/2-4/5 of the gap of the power transmission member.
In some embodiments, the multi-axis robotic arm is a six-axis robotic arm.
According to the embodiment of the application, the mobile chassis can walk in the carriage, in the walking process, the plurality of three-dimensional distance measuring devices can detect the position information of the intelligent loading robot in the carriage and the size of the carriage in real time and transmit the position information and the size information of the carriage to the controller, and the plurality of three-dimensional distance measuring devices work simultaneously, so that the measuring angle and the measuring area of the intelligent loading robot to the space in the carriage can be enlarged, and the measuring precision can be improved. The controller is internally provided with a central control system, can generate a loading task according to the specification and the size of a carriage and the quantity and the type of cargoes to be loaded, is decomposed into loading subtasks, plans specific parameters such as the quantity, the stacking direction, the stacking position, the position for executing the multi-axis mechanical arm, the grabbing form of the mechanical arm grabs and the like of each group of cargoes, and drives the multi-axis mechanical arm and the mobile chassis of the intelligent loading robot to execute tasks for grabbing and stacking cargoes, so that the intelligent loading robot provided by the embodiment of the application is higher in intelligence and automation degree. Wherein, the link plays the effect of connection and support in intelligent loading robot, and multiaxis arm locates transmission device's both sides respectively, and installs on the link, so multiaxis arm can be along with moving the chassis and move together, and the controller control two arm tongs snatch goods on the conveyer and shift the goods to the appointed place in the both sides space in the carriage respectively. When the goods are transported on the transmission device, one end of the transmission device receives the goods and conveys the goods to a goods taking area of the transmission device, which is close to the multi-axis mechanical arm, and due to the influence of external factors, the positions of the goods reaching the goods taking area are disordered, and the setting box pulling device can align and arrange the goods in the goods taking area by pulling the goods, so that the goods in the goods taking area are more orderly, and therefore, the multi-axis mechanical arm gripper can accurately position and grasp the goods. In addition, the bearing platform can be detachably connected with the box pulling device, so that the position of the box pulling device in the goods taking area can be adjusted according to the specific goods taking position of the goods taking area, and the intelligent loading robot has flexibility in goods arrangement.
In the embodiment of the application, the sucking disc can suck any surface of the goods, and the forking piece can fork the goods from the bottom of the goods. When the space above the stacked goods is insufficient to enable the manipulator grippers to absorb the goods from above and then stack the goods, the controller controls the manipulator grippers to be in a forking mode or a forking and absorbing common mode, and in the forking mode, the forking parts exceed the absorbing surface of the sucker and forking is carried out from the bottom of the goods, so that the process of grabbing the goods is faster; under the shared mode of fork and suction, the fork is got the piece and is got from the goods bottom when, and the sucking disc is sucked the goods from the side of goods, can further improve the stability of goods in the transportation process, reduces the probability that the goods dropped at the in-process of transporting, under these two modes, can make the working range of multiaxis arm bigger, consequently make intelligent loading robot's working range bigger. According to the mechanical arm gripper provided by the embodiment of the application, the three modes of the mechanical arm gripper integration and the gripping mode, the gripping mode and the gripping mode are shared, so that the mechanical arm gripper can simultaneously have multiple operation states, can grip cargoes in different postures, has a more compact structure, reduces the size of an intelligent loading robot, further improves the flexibility of movement and operation of the intelligent loading robot in a carriage, can grip cargoes according to the top space of the carriage and the height of the cargo stacking, has higher freedom degree, can more flexibly select the position and the direction of the cargo placing according to the size of the cargoes, further improves the uniformity of the cargoes, further improves the space utilization rate in the carriage, and further improves the stability of the cargo stacking through the stacking.
Of course, it is not necessary for any one product or method of practicing the application to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.
Fig. 1 is an isometric view of an intelligent loading robot provided by an embodiment of the application;
fig. 2 is an isometric view of a manipulator arm gripper according to an embodiment of the present application;
FIG. 3 is an isometric view of a reshaping mechanism according to an embodiment of the present application;
fig. 4 is a schematic diagram of an intelligent loading robot for transporting goods according to an embodiment of the present application;
FIG. 5 is a schematic diagram of an intelligent loading robot for aligning cargoes to the left side of a picking area according to an embodiment of the present application;
fig. 6 is a schematic diagram of an intelligent loading robot for stacking cargoes on the left side of a carriage according to an embodiment of the present application;
fig. 7 is a schematic diagram of an intelligent loading robot for stacking cargoes on the right side of a carriage according to an embodiment of the present application;
Fig. 8 is a schematic diagram of an intelligent loading robot for continuously stacking cargoes in a carriage according to an embodiment of the present application.
Reference numerals:
an intelligent loading robot 1; a connection frame 10; a transmission device 20; a cargo receiving area 21; an accumulation zone 22; a limit baffle 221; a separation zone 23; a pick-up area 24; a load-bearing platform 241; a box-pulling device 242; a side plate 2421; a power transmission member 2422; a sub-side plate 2423; a setting assembly 2424; a moving chassis 30; a crawler belt 31; a multi-axis mechanical arm 40; a robot arm gripper 41; a mounting frame 411; suction cups 412; a fork 413; a fork 414; a three-dimensional distance measuring device 50; a first rangefinder 51; a control cabinet 60; a shaping mechanism 70; a frame 71; a drive motor 72; a clamping plate 73; a rolling member 730; support posts 74; a support beam 75; a slider 76; a cabin 2; and (3) cargo.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.
The embodiment of the application provides an intelligent loading robot 1, which is used for stacking cargoes 3 with different sizes in a carriage 2, and as shown in fig. 1, 2 and 3, the intelligent loading robot 1 comprises a connecting frame 10, a movable chassis 30 arranged at the lower part of the connecting frame 10, a transmission device 20 arranged at the upper part of the connecting frame 10, two multi-axis mechanical arms 40, a plurality of three-dimensional distance measuring devices 50 and at least one control cabinet 60 arranged on the connecting frame 10; the conveying device 20 comprises a goods taking area 24, the goods taking area 24 comprises a bearing platform 241 and a box pulling device 242 which is arranged at the lower part of the bearing platform 241 and is detachably connected with the bearing platform 241, goods 3 are conveyed on the bearing platform 241, and the box pulling device 242 is used for pulling the goods 3 on the bearing platform 241 so as to align the goods 3 to one side of the goods taking area 24; the two multi-axis mechanical arms 40 are symmetrically arranged on two sides of the transmission device 20, one end of each multi-axis mechanical arm is connected with the connecting frame 10, the other end of each multi-axis mechanical arm is connected with the mechanical arm gripper 41, the two mechanical arm grippers 41 are used for alternately gripping the goods 3 on the goods taking area 24, each mechanical arm gripper comprises a mounting frame 411, a sucker 412 fixedly connected to the mounting frame 411 and a forking piece 413 movably connected to the mounting frame 411, each mechanical arm gripper 41 is provided with a forking mode, a sucking mode and a forking and sucking common mode, in the forking mode and the forking and sucking common mode, the forking piece 413 extends beyond and is perpendicular to the sucking surface of the sucker 412, and in the sucking mode, the forking piece 413 does not extend beyond and is parallel to the sucking surface of the sucker 412; the three-dimensional distance measuring devices 50 are arranged on the connecting frame 10 and are used for detecting the distances between the intelligent loading robot 1 and the inner wall of the carriage 2 and the distances between the intelligent loading robot 1 and the goods 3 which are stacked; the at least one control cabinet 60 is internally provided with a controller, the controller is respectively and electrically connected with the plurality of three-dimensional distance measuring devices 50, the two multi-axis mechanical arms 40, the movable chassis 30, the box pulling device 242 and the mechanical arm grippers 41, and the controller is used for controlling the movement of the two multi-axis mechanical arms 40, controlling the movement of the movable chassis 30, controlling the box pulling device 242 to pull the goods 3 and controlling the mechanical arm grippers 41 to switch working modes according to the detection result of the three-dimensional distance measuring devices 50.
In the embodiment of the present application, as shown in fig. 1, 2 and 3, the mobile chassis 30 can walk in the carriage 2, and in the walking process, the plurality of three-dimensional ranging devices 50 can detect the position information of the intelligent loading robot 1 in the carriage 2 and the size of the carriage 2 in real time and transmit the position information and the size information of the carriage 2 to the controller, and the plurality of three-dimensional ranging devices 50 work simultaneously, so that the measurement angle and the measurement area of the intelligent loading robot 1 on the space in the carriage 2 can be enlarged, and the measurement accuracy can be improved. The controller is internally provided with a central control system, can generate a loading task according to the specification and the size of the carriage 2 and the number of cargoes to be loaded, is decomposed into loading subtasks, plans specific parameters such as the number of cargoes in each group, the stacking direction, the stacking position, the position for executing the multi-axis mechanical arm 40, the grabbing form of the mechanical arm gripper 41 and the like, and drives the multi-axis mechanical arm 40 and the movable chassis 30 of the intelligent loading robot 1 to execute tasks for grabbing and stacking cargoes 3, so that the intelligent loading robot 1 provided by the embodiment of the application is higher in intelligence and automation degree. Wherein, link 10 plays the effect of connecting and supporting in intelligent loading robot 1, and multiaxis arm 40 locates the both sides of transmission device 20 respectively, and installs on link 10, so multiaxis arm 40 can move along with moving chassis 30 together, and the appointed place in the both sides space in car 2 is transferred respectively to the goods 3 that two arm grippers 41 of controller control grabbing conveyer on. When the goods 3 are transported on the transmission device 20, one end of the transmission device 20 receives the goods 3 and conveys the goods 3 to the goods taking area 24 of the transmission device 20, which is close to the multi-axis mechanical arm 40, and due to the influence of external factors, the positions of the goods 3 when reaching the goods taking area 24 are disordered, and the setting box shifting device 242 can align the goods 3 in the goods taking area 24 by shifting the goods 3, so that the goods 3 in the goods taking area 24 are more orderly, and the multi-axis mechanical arm 40 can more accurately position and grasp the goods 3. In addition, the carrying platform 241 is detachably connected with the box pulling device 242, so that the position of the box pulling device 242 in the goods taking area 24 can be adjusted according to the specific goods taking position of the goods taking area 24, and the intelligent loading robot 1 has flexibility in arranging the goods 3.
In the embodiment of the application, the sucking disc 412 can suck any surface of the goods 3, and the fork 413 can fork the goods 3 from the bottom of the goods 3. When the space above the stacked goods 3 is insufficient to enable the manipulator gripper 41 to suck the goods 3 from above and then stack the goods, the controller controls the manipulator gripper 41 to be in a forking mode or a forking and sucking shared mode, in the forking mode, the forking piece 413 exceeds the sucking surface of the sucking disc 412, and the forking piece 413 performs forking from the bottom of the goods 3, so that the process of grabbing the goods 3 is faster; in the forking and sucking shared mode, the forking piece 413 is forked from the bottom of the goods 3, and the sucking disc 412 sucks the goods 3 from the side face of the goods 3, so that the stability of the goods 3 in the transferring process can be further improved, the dropping probability of the goods 3 in the transferring process is reduced, and in the two modes, the working range of the multi-axis mechanical arm 40 is larger, so that the working range of the intelligent loading robot 1 is larger. According to the mechanical arm gripper 41 provided by the embodiment of the application, the three modes including the forking mode, the sucking mode, the forking mode and the sucking mode are integrated, so that the mechanical arm gripper 41 can simultaneously have multiple operation states, can grasp the goods 3 in different postures, the mechanical arm gripper 41 is more compact in structure, the size of the intelligent loading robot 1 is reduced, the flexibility of the intelligent loading robot 1 in moving and operating in the carriage 2 is further improved, the goods 3 can be grasped according to the top space of the carriage 2 and the stacking height of the goods 3, the freedom degree of the multi-axis mechanical arm 40 is higher, the position and the direction of the goods 3 can be selected more flexibly according to the size of the goods 3, the uniformity of the goods 3 is further improved, the space utilization rate in the carriage 2 is further improved, and the stacking stability of the goods is also improved through fancy stacking.
The two mechanical arm grippers 41 may be respectively in different working modes according to the size or placement position of the cargo 3, for example, the mechanical arm gripper 41 on one side is in a gripping mode, and the mechanical arm gripper 41 on the other side is in a sucking mode. Of course, the two robot hand grips 41 may be in the same operation mode.
The existing stacking platform is used for preventing the stacking platform or cargoes from colliding with two sides of a carriage and rubbing in the stacking process, gaps of a plurality of centimeters are reserved on two sides of the stacking platform and two sides of the whole row of cargoes and two sides of the carriage, so that the cargoes cannot be closely stacked on the inner wall of the carriage, on one hand, the space utilization rate of the carriage can be reduced, and on the other hand, the cargoes can be loose during transportation by vehicles, so that stacking stability is affected or damage to the cargoes is caused. The multi-axis mechanical arm 40 is used for grabbing the goods 3, the degree of freedom of the multi-axis mechanical arm 40 is high, the working range of the multi-axis mechanical arm 40 can extend out of the movable chassis 30 in the process of stacking the goods 3, therefore the goods stacked by the multi-axis mechanical arm 40 can be closely attached to the inner wall of the carriage 2, the flexibility of grabbing and stacking the goods 3 is high, in the process of operation, the controller can control the mechanical arm gripper 41 to freely set the stacking position and the stacking operation running route of the single goods 3 or a plurality of goods 3 according to requirements, the flexibility degree is high, and therefore the problem that the conventional stacking device cannot be used for stacking the goods with multiple specifications and sizes in a mixed mode and the goods stacking flower type is limited is solved, and therefore the flexibility operation capacity and the goods stacking stability of the intelligent loading robot 1 are improved. The two multi-axis mechanical arms 40 are respectively arranged at two sides of the transmission device 20, respectively correspond to the two side spaces for grabbing the goods 3 of the transmission device 20 and stacking the goods 3 in the carriage 2, when the goods in the transmission device 20 are transported to the goods taking area 24, the controller respectively controls the two multi-axis mechanical arms 40 to alternately grab, and the two multi-axis mechanical arms 40 are mutually noninterfered in the operation process, so that the operation efficiency of the intelligent loading robot 1 can be improved. And the labor force can be greatly reduced, and the labor cost is further reduced.
Specifically, the mobile chassis 30 may further include a support frame and two tracks 31, the support frame is disposed between the two tracks 31 and connected with the two tracks 31, the support frame is connected with the connecting frame 10, two motors for respectively controlling the two tracks 31 are disposed on the support frame, and the motors are electrically connected with the controller, so that the controller can control the rotation speed of the tracks 31 by controlling the rotation speed of the motors, and the intelligent loading robot 1 can be controlled according to different working conditions.
The controller stores various algorithms, such as a mobile chassis walking navigation algorithm, a carriage three-dimensional ranging algorithm, a carriage stacking planning algorithm, a multi-axis mechanical arm 40 task execution algorithm, and the like, and is used for calculating, planning, controlling and implementing the full-flow action of the intelligent loading robot 1.
In some embodiments of the present application, as shown in fig. 1, 2 and 3, the number of control cabinets 60 may be two, and they are respectively disposed on two sides of the transmission device 20 and symmetrically distributed.
In the embodiment of the application, the two control cabinets 60 and the two multi-axis mechanical arms 40 are symmetrically distributed, and the symmetrical arrangement can lead the stress of the connecting frame 10 to be more balanced, the weight of the intelligent loading robot 1 to be more uniform, and the operation process of the intelligent loading robot 1 to be more stable. The symmetrical arrangement also enables the processing and manufacturing of the connecting frame 10 to be convenient, reduces the processing difficulty and has relatively low manufacturing cost. In the use, the symmetrical arrangement can also make whole intelligent loading robot 1 more pleasing to the eye steady, visual sense is better.
In some embodiments of the present application, the conveying device 20 includes, in the cargo conveying direction, a cargo receiving area 21, an accumulating area 22, and a separating area 23 connected in sequence, where the cargo receiving area 21 is used for inputting the cargo 3, and the conveying speed of the separating area 23 is greater than the conveying speed of the accumulating area 22; the end of the accumulating zone 22 near the separating zone 23 is movably connected with a limit baffle 221, and the limit baffle 221 can be positioned above or below the accumulating zone 22.
In the embodiment of the present application, as shown in fig. 1, 2 and 3, a cargo receiving area 21 of a transmission device 20 is in butt joint with an external conveying device, and a cargo 3 of the conveying device is input into an intelligent loading robot 1 from the cargo receiving area 21; the separation zone 23 can locate the accumulation zone 22 between the separation zone 23 and the receiving zone 21 for after the goods 3 are input from the receiving zone 21, do not directly reach the separation zone 23, but carry out the accumulation of goods 3 in the accumulation zone 22, when getting goods 3 vacancy or goods 3 quantity in the goods zone 24 and reducing, limit baffle 221 is located the below of accumulation zone 22, makes goods 3 can get into separation zone 23 and separate next goods 3, so that count the goods 3 that arrive getting goods zone 24.
In some embodiments of the present application, the box pulling device 242 includes two side plates 2421 disposed at intervals along a direction perpendicular to the transmission direction, a plurality of power transmission members 2422 disposed between the two side plates 2421, at least one set of tooth pulling components 2424 slidably disposed on the base, a first driving member and a second driving member, wherein a gap is formed between adjacent power transmission members 2422 along the transmission direction, the side plates 2421 include a plurality of sub-side plates 2423 disposed at intervals opposite to each other, and the sub-side plates 2423 and the power transmission members 2422 are disposed in a one-to-one correspondence along the direction perpendicular to the transmission direction; the gear shifting components 2424 are arranged above the base along the transmission direction, the gear shifting components 2424 are arranged in one-to-one correspondence with the gaps, and at least part of the gear shifting components 2424 can be positioned above the bearing platform 241 and move along the direction perpendicular to the transmission direction; the first driving piece is used for driving the shifting tooth assembly 2424 to move along the direction perpendicular to the transmission direction; the second driving member is configured to drive the gear assembly 2424 below the carrying platform 241 or above the carrying platform 241.
In the embodiment of the present application, the goods 3 are transported from the loading end of the transporting device 20 to the plurality of power transmission members 2422, and the goods 3 can be further transported in the picking area 24 by the movement of the power transmission members 2422. The side plates 2421 provided at both sides of the power transmission member 2422 can prevent the cargo 3 from sliding off the side edges of the transmission device 20 section and also can function as supporting the power transmission member 2422. The robot arm grip 41 can extend from the gap formed between the sub-side plates 2423 into the gap between the adjacent power transmission members 2422 to facilitate the fork-taking of the cargo 3 on the power transmission members 2422. The first driving member drives the gear shifting assembly 2424 to slide along the direction perpendicular to the conveying direction, and at least part of the gear shifting assembly 2424 is located above the carrying platform 241, so that the cargo 3 can be driven to slide along the direction perpendicular to the conveying direction of the cargo 3 in the process of the operation of the gear shifting assembly 2424 until the gear shifting assembly 2424 abuts the cargo 3 to the side plate 2421, so that the cargo 3 on the conveying device 20 is aligned in the conveying direction, and the mechanical arm gripper 41 can more accurately position and grasp the cargo 3 on the cargo taking area 24. When the gear assembly 2424 is not required to toggle the cargo 3, the second driving member drives the gear assembly 2424 to be located below the carrying platform 241, so as to prevent the gear assembly 2424 from obstructing the transportation of the cargo 3. When the goods 3 on the conveying device 20 need to be sorted, the second driving piece drives the shifting tooth assembly 2424 to enable the shifting tooth assembly 2424 to be located above the bearing platform 241, and then the goods 3 are shifted along the direction Y perpendicular to the conveying direction, so that the goods 3 are aligned.
In some embodiments of the application, the power transmission member 2422 is a power cylinder.
According to the embodiment of the application, the power roller can reduce friction force of goods in the transportation process and greatly reduce friction force, so that the goods are prevented from being worn in the transportation process.
In some embodiments of the present application, as shown in fig. 1, 2 and 3, the intelligent loading robot 1 further includes a shaping mechanism 70, the shaping mechanism 70 includes a frame 71, a driving mechanism disposed on the frame 71, and a holding plate 73 connected to the driving mechanism, the frame 71 includes two support columns 74 disposed on two sides of the transmission device 20 respectively, and a support beam 75 sequentially connected to top ends of the adjacent support columns 74, the driving mechanism includes a driving motor 72 and a sliding member 76 connected to the driving motor 72, the sliding member 76 is disposed on the support beams 75 disposed at intervals along the transmission direction, and the driving motor 72 can drive the sliding member 76 to move in opposite directions or back directions, so as to drive the holding plate 73 to move in opposite directions or back directions.
In the embodiment of the application, as shown in fig. 1, 2 and 3, the frame 71 plays a role in supporting and connecting in the shaping mechanism 70, the driving mechanism drives the two holding clamping plates 73 to move in opposite directions, and the two holding clamping plates 73 push the goods 3 to approach from two sides to the middle in the process of moving in opposite directions, so that the arrangement of the shaping mechanism 70 can align and arrange the goods 3, so that the goods 3 reaching the goods taking area 24 can be more orderly, the mechanical arm grippers 41 can position and grab the goods 3 better, and the working efficiency of the intelligent loading robot 1 is improved.
Specifically, the sliding member 76 may be an endless conveyor belt, where the endless conveyor belt is respectively connected to two supporting beams 75 through two rotating shafts, an output shaft of the driving motor 72 is connected to one of the rotating shafts, and the driving motor 72 rotates through the driving rotating shaft to further drive the endless conveyor belt to rotate, so as to realize opposite or back-to-back movement of the holding clamp plate 73.
The sliding piece 76 can also be a sliding rail, the two holding clamping plates 73 are slidably connected to the sliding rail, and the driving motor 72 directly drives the two holding clamping plates 73 to further realize opposite or back-to-back movement of the two holding clamping plates 73 along the sliding rail.
In some embodiments of the present application, the side wall of the clamping plate 73 near the cargo 3 is provided with rolling members 730 arranged in parallel along the conveying direction.
In the embodiment of the application, compared with the method that the side wall of the holding clamp plate 73 is directly set as the plane, the rolling elements 730 are arranged on the holding clamp plate 73, so that the sliding friction of the goods 3 is changed into rolling friction when the goods 3 are contacted with the holding clamp plate 73, further the friction force between the holding clamp plate 73 and the goods 3 is greatly reduced, and the normal conveying of the goods 3 is not influenced due to overlarge friction force even if the holding clamp plate 73 centers the goods 3.
Specifically, the rolling members may be rollers with axes perpendicular to the extending direction of the holding clamp plate 73, or may be balls arrayed on the holding clamp plate 73.
In some embodiments of the present application, the three-dimensional distance measuring device 50 includes a first distance measuring device 51, where the first distance measuring device 51 is disposed at the end of the carrying platform 241.
In the embodiment of the application, the first distance meter 51 is arranged at the tail end of the bearing platform 241, so that the first distance meter 51 can conveniently detect the distance between the intelligent loading robot 1 and the goods 3 stacked in the carriage 2, and after the data of the first distance meter 51 are transmitted to the controller, the controller controls the multi-axis mechanical arm 40 to correct the stacking position of the goods according to the detection result.
In some embodiments of the present application, the three-dimensional ranging device 50 further includes two second rangefinders (not shown) disposed on two sides of the carrying platform 241.
In the embodiment of the application, the second distance meters are arranged on two sides of the bearing platform 241, the distance between the intelligent loading robot 1 and the inner walls of two sides of the carriage 2 can be detected by the two second distance meters, and the positions of the intelligent loading robot 1, which are far from the left side and the right side in the carriage 2, are adjusted according to the data of the second distance meters. Avoid intelligent loading robot 1 to cut and scratch with 2 both sides in carriage, and then improve the security in the use of intelligent loading robot 1, in addition, locate the space that can put things in good order 3 in the carriage 2 in the left and right sides can also be detected with the both sides of loading platform 241 to the second distancer, and then make the controller can carry out action adjustment to multiaxis arm 40 according to the result of detecting.
In some embodiments of the application, the first range finder 51 and the second range finder are lidar or three-dimensional vision sensors or three-dimensional range sensors.
In the embodiment of the application, the laser radar has higher measurement accuracy and stronger acquisition capability of three-dimensional information, and in addition, the laser radar has more applicable scenes, so that the intelligent loading robot 1 provided by the application has stronger applicability.
Specifically, the types of the first range finder 51 and the second range finder may be different, for example, the first range finder 51 is a laser radar, and the second range finder is a three-dimensional vision sensor. Of course, the types of the first range finder 51 and the second range finder may be the same, for example, the first range finder 51 and the second range finder are both lidars.
In some embodiments of the present application, the intelligent loading robot 1 further includes a reversing mechanism, which is disposed at the loading end of the cargo receiving area 21, and is configured to divert the cargo 3 entering the cargo receiving area 21.
In the embodiment of the application, the reversing mechanism is arranged on the goods receiving area 21, so that the goods inlet end of the goods receiving area 21 can be connected with the goods outlet ends of the conveying devices in multiple directions, no matter which direction reversing mechanism can be used for reversing the goods 3, the goods 3 can be transported towards the goods taking area 24, and the applicability of the intelligent loading robot 1 is further improved.
It should be noted that, the reversing mechanism may be disposed at any position on the conveying device 20 where the cargo 3 needs to be reversed, and the direction of reversing may be to convert the transverse cargo into the longitudinal cargo, so as to meet the requirements of the cargo taking area 24 and the mechanical arm gripper 41 on the direction of the cargo 3 in the downstream of the conveying device 20, so that the mechanical arm gripper 41 can better grip the cargo 3, and further improve the overall working efficiency of the intelligent loading robot 1.
In some embodiments of the application, the prongs 413 include a plurality of prongs 414, the width of the prongs 414 being 1/2-4/5 of the gap of the power transmission member 2422.
In the embodiment of the application, the width of the fork-taking part 414 is not larger than the gap of the power transmission member 2422, so that the fork-taking part 414 can be smoothly inserted into the gap to grasp the goods 3, when the width of the fork-taking part 414 is 4/5 of the gap of the power transmission member 2422, the contact area between the fork-taking part 414 and the goods 3 is larger, and the goods 3 can be more stable on the fork-taking member 413 on the premise of being smoothly inserted into the gap, thereby improving the stability of the intelligent loading robot 1 in the running process.
In some embodiments of the present application, the multi-axis robotic arm 40 is a six-axis robotic arm.
In the embodiment of the application, the six-axis mechanical arm can make the multi-axis mechanical arm 40 simulate the motion function of a human body to the greatest extent on the premise of not increasing the degree of freedom, has the similar capability of the human arm and the wrist, can pick up the goods 3 oriented randomly on the horizontal plane by rotating the mechanical arm, and then stacks the goods 3 to a designated position according to a preset transfer track.
The application also provides a use method of the intelligent loading robot 1, which comprises the intelligent loading robot 1 and comprises the following specific steps:
s1: as shown in fig. 4 and 5, the intelligent loading robot 1 is guided by the three-dimensional distance measuring device 50 to travel forward in the direction of the center line of the vehicle 2 in the vehicle 2, and stops traveling when reaching the front working position of the vehicle 2.
S2: the accurate position and angle of the intelligent loading robot 1 in the cabin 2 are obtained by the three-dimensional distance measuring device 50, and the spatial dimensions of the cabin 2, and the distances and angles of the front wall surface and the side wall surface of the cabin 2 with respect to the intelligent loading robot 1 are obtained. The controller fine-adjusts the angle of the intelligent loading robot 1 relative to the carriage 2 according to the detection result of the three-dimensional distance measuring device 50 so that the direction of the intelligent loading robot 1 is consistent with the direction of the center line of the carriage 2.
S3: the accurate distance and angle of the left half space of the cabin 2 with respect to the left multi-axis mechanical arm 40 and the accurate distance and angle of the right half space of the cabin 2 with respect to the right multi-axis mechanical arm 40 are obtained by the coordinate conversion in the controller, respectively.
S4: the controller generates a stacking planning task for the cargoes 3 in the carriage 2 according to the size of the carriage 2, the number and the size of the cargoes 3 to be stacked and other information, and assigns respective stacking operation tasks to the two multi-axis mechanical arms 40.
S5, after the goods 3 are input into the goods taking area 24 from the conveying device 20, the box pulling device 242 pulls the goods 3 and enables the goods 3 to be aligned to one side of the goods taking area 24;
s6: as shown in fig. 6, the left multi-axis robot 40 drives the robot gripper 41 to grasp the cargo 3 from the pickup area 24 using the suction cup 412 in the state of the suction mode, and stacks the cargo to the left half of the vehicle cabin 2; the stacking sequence can be freely stacked in the sequence from left to right, from bottom to top and from front to back.
S7: as shown in fig. 7, the right multi-axis robot 40 drives the robot gripper 41 to grasp the cargo 3 from the pickup area 24 using the suction cup 412 in the state of the suction mode, and stacks the cargo to the right half of the vehicle cabin 2; the stacking order may be in a right to left, bottom to top, front to back order.
And S8, when the distance between the stacked cargoes 3 and the top wall of the carriage 2 makes the multi-axis mechanical arm 40 difficult to suck cargoes from the upper side of the cargoes 3 by using the sucking mode, the controller controls the mechanical arm gripper 41 to switch the working state into the forking mode or the common mode of sucking and forking, and the cargoes 3 are sucked from the side by using the sucking disc 412 while the forking piece 413 is used for forking from the bottom end of the cargoes 3 or the forking piece 413 is used for forking from the bottom end of the cargoes 3.
S9: as shown in fig. 8, steps S1 to S8 are repeated until the intelligent loading robot 1 completes all the stacking operations at the current stacking position.
S10: the intelligent loading robot 1 navigates through the three-dimensional distance measuring device 50, retreats in the vehicle cabin 2, and stops traveling when reaching the next working position of the vehicle cabin 2.
S11: after the intelligent loading robot 1 stops at a new working position, the steps S1 to S10 are repeated.
S12: and repeating the steps S1-S11 until the intelligent loading robot 1 finishes the loading and stacking task in the carriage 2.
In the embodiment of the application, in the loading and stacking process of the intelligent loading robot 1, the mechanical arm gripper 41 can be freely switched into a suction mode, a forking mode or a suction and forking common mode according to the working range of the intelligent loading robot 1 and the upper space of the stacked goods 3. Because the intelligent loading robot 1 is provided with the multi-axis mechanical arm 40 and the mechanical arm gripper 41 capable of switching the grabbing modes, the goods 3 can be flexibly stacked in the front-back sequence or the left-right sequence, and the stacking direction of the goods 3 can be temporarily adjusted during stacking.
When the goods 3 are transported on the transmission device 20, one end of the transmission device 20 receives the goods 3 and conveys the goods 3 to the goods taking area 24 of the transmission device 20, which is close to the multi-axis mechanical arm 40, and due to the influence of external factors, the positions of the goods 3 when reaching the goods taking area 24 are disordered, and the box pulling device 242 is arranged to be capable of pulling the goods 3 to align the goods 3 in the goods taking area 24, so that the goods 3 in the goods taking area 24 are more orderly, and the mechanical arm grippers 41 can position and grasp the goods 3 more accurately. In addition, the carrying platform 241 is detachably connected with the box pulling device 242, so that the position of the box pulling device 242 in the goods taking area 24 can be adjusted according to the specific goods taking position of the goods taking area 24, and the intelligent loading robot 1 has flexibility in arranging the goods 3.
In addition, with the assistance of the three-dimensional distance measuring device 50, the intelligent loading robot 1 can be used for stacking cargoes 3 on two sides of the carriage 2 by clinging to the carriage wall surface, and can be used for stacking any two adjacent cargoes 3 by clinging to the carriage wall surface. Compared with the existing stacking platform, the space utilization rate of the carriage and the stability of the goods 3 in the transportation process can be improved.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. An intelligent loading robot for put things in good order (3) of different sizes in the carriage, its characterized in that includes:
the device comprises a connecting frame (10) and a movable chassis (30) arranged at the lower part of the connecting frame (10);
a transmission device (20) arranged at the upper part of the connecting frame (10); the conveying device (20) comprises a goods taking area (24), the goods taking area (24) comprises a bearing platform (241) and a box pulling device (242) which is arranged at the lower part of the bearing platform (241) and is detachably connected with the bearing platform (241), the goods (3) are transported on the bearing platform (241), and the box pulling device (242) is used for pulling the goods (3) on the bearing platform (241) so that the goods (3) are aligned to one side of the goods taking area (24);
the two multi-axis mechanical arms (40), the two multi-axis mechanical arms (40) are symmetrically arranged on two sides of the transmission device (20), one end of each multi-axis mechanical arm is connected with the connecting frame (10), the other end of each multi-axis mechanical arm is connected with a mechanical arm gripper (41), the two mechanical arm grippers (41) are used for alternately gripping cargoes (3) on the goods taking area (24), each mechanical arm gripper comprises a mounting frame (411), a sucker (412) fixedly connected to the mounting frame (411) and a forking piece (413) movably connected to the mounting frame (411), the mechanical arm grippers (41) are provided with a forking mode, a sucking mode and a forking and sucking common mode, the forking pieces (413) exceed and are perpendicular to the sucking surfaces of the suckers (412) in the forking mode and the forking and sucking common mode, and the forking pieces (413) do not exceed and are parallel to the sucking surfaces of the suckers (412) in the sucking mode;
The three-dimensional distance measuring devices (50) are arranged on the connecting frame (10) and are used for detecting the distances between the intelligent loading robot (1) and the inner wall of the carriage (2) and between the intelligent loading robot (1) and the goods (3) which are stacked;
the automatic control device comprises a connecting frame (10), at least one control cabinet (60) arranged on the connecting frame (10), and a controller arranged in the at least one control cabinet (60), wherein the controller is electrically connected with a three-dimensional distance measuring device (50), two multi-axis mechanical arms (40), a movable chassis (30), a box pulling device (242) and mechanical arm grippers (41) respectively, and the controller is used for controlling the two multi-axis mechanical arms (40) to move, controlling the movable chassis (30) to move and controlling the box pulling device (242) to pull goods (3) and controlling the mechanical arm grippers (41) to switch working modes according to detection results of the three-dimensional distance measuring device (50).
2. The intelligent loading robot according to claim 1, wherein the transfer device (20) further comprises a receiving area (21), an accumulating area (22) and a separating area (23) connected in sequence along the transfer direction, the receiving area (21) being used for inputting goods (3), the transfer speed of the separating area (23) being greater than the transfer speed of the accumulating area (22); one end of the accumulation area (22) close to the separation area (23) is movably connected with a limit baffle (221), and the limit baffle (221) can be positioned above or below the accumulation area (22).
3. The intelligent loading robot according to claim 1, wherein the box pulling device (242) comprises two side plates (2421) arranged at intervals along a direction perpendicular to a transmission direction and a plurality of power transmission members (2422) arranged between the two side plates (2421), gaps are arranged between adjacent power transmission members (2422) along the transmission direction, the side plates (2421) comprise a plurality of sub side plates (2423) which are opposite at intervals, and the sub side plates (2423) and the power transmission members (2422) are arranged in a one-to-one correspondence along the direction perpendicular to the transmission direction;
at least one group of poking tooth assemblies (2424) arranged on the base in a sliding manner, wherein the poking tooth assemblies (2424) are arranged in one-to-one correspondence with the gaps, and at least part of the poking tooth assemblies (2424) can be positioned above the bearing platform (241) and move along the direction perpendicular to the transmission direction;
a first drive for driving the setting assembly (2424) in a direction perpendicular to the transport direction;
and the second driving piece is used for driving the shifting tooth assembly (2424) to be positioned below the bearing platform (241) or positioned above the bearing platform (241).
4. An intelligent loading robot according to claim 3, characterized in that the power transmission (2422) is a power cylinder.
5. The intelligent loading robot according to claim 1, wherein the intelligent loading robot (1) further comprises a shaping mechanism (70), the shaping mechanism (70) comprises a frame (71), a driving mechanism arranged on the frame (71) and a holding clamp plate (73) connected with the driving mechanism, the frame (71) comprises two support columns (74) respectively arranged on two sides of the transmission device (20) and support beams (75) sequentially connected to the top ends of the adjacent support columns (74), the driving mechanism comprises a driving motor (72) and sliding pieces (76) connected with the driving motor (72), the sliding pieces (76) are arranged on the support beams (75) at intervals along the transmission direction, and the driving motor (72) can drive the sliding pieces (76) to move in opposite directions or back directions so as to drive the holding clamp plate (73) to move in opposite directions or back directions.
6. The intelligent loading robot according to claim 5, wherein rolling elements (730) arranged in parallel along the conveying direction are arranged on the side wall of the holding clamp plate (73) close to the goods (3).
7. The intelligent loading robot according to claim 1, wherein the three-dimensional distance measuring device (50) comprises a first distance measuring instrument (51), the first distance measuring instrument (51) is arranged at the tail end of the bearing platform (241), and the first distance measuring instrument (51) is a laser radar or a three-dimensional vision sensor or a three-dimensional distance measuring sensor.
8. The intelligent loading robot according to claim 2, wherein the intelligent loading robot (1) further comprises a reversing mechanism arranged at the loading end of the receiving area (21) for reversing the load (3) entering the receiving area (21).
9. The intelligent loading robot according to claim 3, wherein the fork (413) comprises a plurality of fork parts (414), the fork parts (414) having a width of 1/2-4/5 of the gap of the power transmission member (2422).
10. The intelligent loading robot according to any one of claims 1-9, wherein the multi-axis robotic arm (40) is a six-axis robotic arm.
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