WO2024087269A1 - 探入式装卸机器人及装卸控制方法 - Google Patents

探入式装卸机器人及装卸控制方法 Download PDF

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Publication number
WO2024087269A1
WO2024087269A1 PCT/CN2022/132716 CN2022132716W WO2024087269A1 WO 2024087269 A1 WO2024087269 A1 WO 2024087269A1 CN 2022132716 W CN2022132716 W CN 2022132716W WO 2024087269 A1 WO2024087269 A1 WO 2024087269A1
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WIPO (PCT)
Prior art keywords
conveyor belt
suction cup
component
rotating arm
loading
Prior art date
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PCT/CN2022/132716
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English (en)
French (fr)
Inventor
张建政
董易
李亮华
李洪涛
李方保
Original Assignee
上海飒智智能科技有限公司
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Application filed by 上海飒智智能科技有限公司 filed Critical 上海飒智智能科技有限公司
Publication of WO2024087269A1 publication Critical patent/WO2024087269A1/zh

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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
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • 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
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

Definitions

  • the present application relates to the technical field of robots, and in particular to a reach-in loading and unloading robot and a loading and unloading control method.
  • the reach-in robot is equipped with a conveyor belt system, which can be adjusted according to the loading scenario. For example, when used in a van, the conveyor belt system can extend into the interior of the truck compartment. After reaching the stacking position of the cargo boxes, the cargo boxes are sent out through the conveyor belt and the suction cup device.
  • the suction cup device can only assist in pushing or pulling the cargo box forward or backward from the conveyor belt, and there is no other further operation.
  • the suction cup device on the loading and unloading robot in the prior art cannot realize the delivery of the cargo box. Even if the cargo box can be forcibly delivered, it may cause the cargo box to fall and damage the cargo box. Therefore, the current loading and unloading robots have poor adaptability in loading and unloading scenarios and need to be improved.
  • the embodiments of the present specification provide a reach-in loading and unloading robot and a loading and unloading control method, which can better adapt to different loading and unloading scenarios and complete the loading and unloading of boxed cargo boxes.
  • the embodiment of this specification provides a reach-in loading and unloading robot, including: a rotating arm mechanism, a suction cup mechanism, a supporting trolley and a conveyor belt;
  • the conveyor belt is installed on a supporting trolley, which is used to adjust the horizontal position and height of the conveyor belt;
  • the rotating arm mechanism includes a rotating arm component and a displacement adjustment component
  • the suction cup mechanism includes a suction cup component and an angle adjustment component
  • the displacement adjustment component and the rotating arm component are connected to the conveyor belt in sequence, the angle adjustment component is connected to the rotating arm component, and the suction cup component is connected to the angle adjustment component;
  • the displacement adjustment component is used to drive the rotating arm component to slide relative to the conveyor belt to adjust the position of the suction cup component relative to the conveyor belt, and the sliding direction of the rotating arm component relative to the conveyor belt is parallel to the conveying direction of the conveyor belt;
  • the rotating arm component is used to drive the angle adjustment component to rotate relative to the conveyor belt to adjust the angle of the suction cup component relative to the conveyor belt;
  • the angle adjustment component is horizontally arranged relative to the rotation axis direction of the conveyor belt and is perpendicular to the conveying direction of the conveyor belt;
  • the angle adjustment component is used to drive the suction cup component to rotate relative to the rotating arm component to adjust the angle of the suction cup component relative to the rotating arm component, and the rotation axis direction of the suction cup component relative to the rotating arm component is parallel to the rotation axis direction of the rotating arm component relative to the conveyor belt;
  • the suction cup component is used to load and unload goods in conjunction with the conveyor belt.
  • the displacement adjustment component includes two groups of displacement adjustment components respectively arranged on both sides of the conveyor belt;
  • the displacement adjustment component includes a linear motor and a slide mounted on the linear motor, and the slide is connected to the rotating arm component;
  • the linear motor is used to drive the slide table to slide, so as to drive the rotating arm component to slide relative to the conveyor belt.
  • the rotating arm component includes two sets of rotating arm assemblies, and the two sets of rotating arm assemblies are respectively located on both sides of the conveyor belt;
  • the rotating arm assembly includes a rotating arm body and a first driving member.
  • the rotating arm body is rotatably connected to the conveyor belt through a displacement adjustment member and the first driving member.
  • the first driving member is used to drive the rotating arm body to rotate relative to the conveyor belt, so as to drive the angle adjustment member to rotate relative to the conveyor belt.
  • the angle adjustment component includes a suction cup bracket and a second driving member
  • the suction cup bracket is rotatably connected to the rotating arm component, the rotation axis direction of the suction cup bracket is horizontally arranged, and the rotation axis direction of the suction cup bracket is also perpendicular to the conveying direction of the conveyor belt, and the suction cup component is installed on the suction cup bracket;
  • the second driving member is installed on the rotating arm component and is used to drive the suction cup bracket to rotate so as to adjust the angle of the suction cup component relative to the rotating arm component.
  • the suction cup component includes a suction cup mounting frame, a third driving member and a plurality of suction cup bodies;
  • the suction cup mounting frame is rotatably connected to the suction cup bracket, the rotation axis of the suction cup mounting frame is perpendicular to the rotation axis of the suction cup bracket, and the third driving member is used to drive the suction cup mounting frame to rotate;
  • a plurality of suction cup bodies are respectively mounted on one end of the suction cup mounting frame away from the suction cup bracket and are used for adsorbing the cargo box.
  • a lifting component is further provided between the suction cup bracket and the rotating arm component;
  • the lifting component includes a fourth driving assembly and a lifting seat slidably connected to the rotating arm component, and the suction cup bracket is rotatably connected to the rotating arm component through the lifting seat;
  • the fourth driving assembly is used to drive the lifting seat to slide relative to the rotating arm component to adjust the height of the suction cup bracket relative to the conveyor belt.
  • the supporting trolley comprises a vehicle body, a height adjustment component and a level adjustment component arranged on the vehicle body;
  • the height adjustment components include a telescopic support and a mechanical arm
  • the telescopic support and the conveyor belt are hinged, and the conveyor belt is lifted and lowered by the extension and retraction of the telescopic support;
  • the mechanical arm is hinged to the conveyor belt, and the height of the conveyor belt can be adjusted with the telescopic support.
  • the horizontal adjustment component includes a plurality of rollers arranged outside the vehicle body, and the plurality of rollers are used to drive the vehicle body to move so as to adjust the horizontal position of the conveyor belt.
  • the robotic arm is a two-degree-of-freedom robotic arm
  • the first arm of the two-degree-of-freedom mechanical arm is rotatably connected to the vehicle body, and the rotation axis of the first arm is vertically arranged;
  • the second arm of the two-degree-of-freedom mechanical arm is rotatably connected to the first arm, and the rotation axis of the second arm is perpendicular to the rotation axis of the first arm;
  • the horizontal adjustment component also includes a support base, the support base is fixedly connected to the first arm, and the telescopic support is installed on the support base;
  • the support base rotates along with the first arm to drive the conveyor belt to rotate relative to the vehicle body.
  • it also includes a sensor system and a control system;
  • the sensor system includes visual sensors, ultrasonic collision avoidance sensors, and laser sensors;
  • the visual sensor is used to detect the image information of the loading and unloading area and the conveyor belt, and output the image information to the control system;
  • the ultrasonic anti-collision sensor is used to detect the position information of the loading and unloading area relative to the conveyor belt, and output the position information to the control system;
  • the laser sensor is used to detect the distance information of the loading and unloading area relative to the conveyor belt, and output the distance information to the control system;
  • the control system receives image information, position information and distance information, and controls the rotating arm mechanism, suction cup mechanism, supporting trolley and conveyor belt to cooperate with each other to load and unload the cargo box.
  • the embodiments of this specification also provide a control method for a reach-in loading and unloading robot, including a loading method and an unloading method;
  • the visual sensor, ultrasonic anti-collision sensor and laser sensor are turned on to detect the position information and distance information of the loading and unloading area relative to the conveyor belt and the image information of the loading and unloading area and the conveyor belt, and output the image information, position information and distance information to the control system;
  • control system controls the loading and unloading end of the conveyor belt to probe into the loading and unloading area according to the image information, distance information and position information;
  • control system obtains the size information of the cargo box on the conveyor belt according to the image information
  • control system adjusts the penetration degree of the loading and unloading end of the conveyor belt relative to the loading and unloading area according to the cargo box size information, and reserves space for placing the cargo box;
  • the rotating arm mechanism drives the suction cup mechanism to try to push the cargo box
  • the visual sensor, ultrasonic anti-collision sensor and laser sensor are turned on to detect the position information and distance information of the loading and unloading area relative to the conveyor belt and the image information of the loading and unloading area and the conveyor belt, and output the image information, position information and distance information to the control system;
  • control system controls the loading and unloading end of the conveyor belt to approach the loading and unloading area according to the image information, the position information and the distance information;
  • control system adjusts the height of the loading and unloading end of the conveyor belt according to the image information
  • the rotating arm mechanism and the suction cup mechanism cooperate with each other to suck and pull the cargo box to the loading and unloading end of the conveyor belt.
  • the adjustable freedom of the suction cup mechanism is increased, so that it can adapt to more loading and unloading situations.
  • the rotating arm mechanism can be used to adjust the angle of the suction cup mechanism relative to the conveyor belt, so that the suction cup mechanism rotates to the bottom of the conveyor belt, and the loading and unloading operation is performed on the loading and unloading area below the conveyor belt; or when the height of the conveyor belt cannot be adjusted to a height higher than the loading and unloading area, the rotating arm mechanism can be used to adjust the angle of the suction cup structure relative to the conveyor belt, so that the suction cup mechanism rotates to the top of the conveyor belt, and the loading and unloading operation is performed on the loading and unloading area above the conveyor belt; it has stronger adaptability to different loading and unloading scenarios;
  • the displacement adjustment component in the rotating arm mechanism can also be translated relative to the conveyor belt through the rotating arm component, and cooperate with the suction cup component to complete a simple and efficient pulling action to achieve rapid loading and unloading of the cargo box.
  • FIG1 is a schematic diagram of the overall structure of the reach-in loading and unloading robot in this embodiment
  • FIG2 is a schematic diagram of a partial structure of the support trolley in this embodiment.
  • FIG. 3 is a schematic structural diagram of the conveyor belt, the rotating arm mechanism and the suction cup mechanism in this embodiment;
  • FIG. 4 is a schematic structural diagram of the embodiment of the present invention, in which the rotating arm body drives the suction cup body to move above the conveyor belt loading and unloading end;
  • FIG. 5 is a schematic structural diagram of the embodiment of the rotary arm body driving the suction cup body to move below the conveyor belt loading and unloading end;
  • FIG6 is a schematic flow chart of a control method for a reach-in loading and unloading robot in this embodiment
  • FIG7 is a schematic flow chart of the loading method in this embodiment.
  • FIG8 is a schematic flow chart of the unloading method in this embodiment.
  • Figure numerals 1. rotating arm mechanism; 11. rotating arm component; 111. rotating arm body; 12. displacement adjustment component; 121. linear motor; 122. slide; 13. lifting component; 2. suction cup mechanism; 21. suction cup component; 211. suction cup mounting frame; 212. suction cup body; 22. angle adjustment component; 221. suction cup bracket; 3. supporting trolley; 31. vehicle body; 32. height adjustment component; 321. telescopic support; 322. robotic arm; 33. horizontal adjustment component; 331. support base; 332. roller; 4. conveyor belt; 5. bottom vision sensor.
  • the inventors have found that current loading and unloading robots have poor adaptability to loading and unloading scenarios and can only load and unload goods in loading and unloading scenarios that can be reached by the conveyor belt. However, it is difficult to load and unload goods in loading and unloading scenarios that cannot be reached due to the height or position of the conveyor belt.
  • the embodiment of this specification proposes a reach-in loading and unloading robot: as shown in Figure 1, it includes a rotating arm mechanism 1, a suction cup mechanism 2, a supporting trolley 3 and a conveyor belt 4; through the mutual cooperation of the rotating arm mechanism 1 and the suction cup mechanism 2, the degree of freedom of the suction cup mechanism 2 is increased, and the suction cup mechanism 2 can complete the loading and unloading of cargo boxes in more loading and unloading scenarios, thereby improving the adaptability to loading and unloading scenarios.
  • an embodiment of the present specification provides a reach-in loading and unloading robot, comprising a rotating arm mechanism 1, a suction cup mechanism 2, a supporting trolley 3, a conveyor belt 4, a sensor system and a control system.
  • the supporting vehicle 3 includes a vehicle body 31 , a height adjustment component 32 and a level adjustment component 33 .
  • the height adjustment component 32 includes a telescopic support 321 and a mechanical arm 322 .
  • the mechanical arm 322 is specifically a two-degree-of-freedom mechanical arm.
  • the first arm of the two-degree-of-freedom mechanical arm is rotatably connected to the base of the vehicle body 31, and the rotation axis of the first arm is arranged in the vertical direction.
  • the second arm of the two-degree-of-freedom mechanical arm is rotatably connected to the first arm, and the rotation axis direction of the second arm is perpendicular to the rotation axis direction of the first arm.
  • One end of the second arm away from the first arm is hinged to the lower end of the conveyor belt 4, and specifically can be connected by a movable ball head to realize the hinge connection between the second arm and the lower end of the conveyor belt 4.
  • the telescopic support 321 can be hydraulic, electrical or pneumatic, as long as it can achieve the lifting of the conveyor belt 4, and no further limitation is made here.
  • the telescopic support 321 can be two, one or other numbers, depending on the load capacity required by the conveyor belt 4.
  • the horizontal adjustment component 33 includes a support base 331 and a plurality of rollers 332 .
  • a slide groove is provided at the bottom of the support base 331, and a semicircular guide rail is provided at the bottom of the vehicle body 31.
  • the support base 331 is slidably connected to the semicircular guide rail through the slide groove.
  • the support base 331 is fixedly connected to the first arm, and rotates relative to the vehicle body 31 following the rotation of the first arm.
  • One end of the telescopic support 321 is fixedly connected to the support base 331, and the other end of the telescopic support 321 is hinged to the lower end of the conveyor belt 4 through a movable ball head. Then, when the first arm rotates, the second arm and the telescopic support 321 will drive the conveyor belt 4 to rotate in the horizontal direction relative to the vehicle body 31 to adjust the position in the horizontal direction.
  • the mechanical arm 322 can cooperate to adjust the height, and the mechanical arm 322 can also adjust the height of the conveyor belt 4 alone.
  • the plurality of rollers 332 are evenly divided into four groups, and are rotatably connected to the four corners of the vehicle body 31 , so as to drive the vehicle body 31 to move in the horizontal direction, so as to adjust the position of the conveyor belt 4 in the horizontal direction.
  • the rotating arm mechanism 1 includes a rotating arm component 11 , a displacement adjusting component 12 and a lifting component 13 .
  • the displacement adjustment component 12 includes two groups of displacement adjustment components respectively arranged on both sides of the conveyor belt 4 .
  • the displacement adjustment assembly includes a linear motor 121 installed on the side of the conveyor belt 4 and a slide 122 installed on the linear motor 121.
  • the linear motor 121 is used to drive the slide 122 to slide, and the sliding direction of the slide 122 is parallel to the conveying direction of the conveyor belt 4.
  • the first limit block and the second limit block are respectively provided at both ends of the linear motor 121 to limit the sliding stroke of the slide 122.
  • the first limit block is provided near the loading and unloading end of the conveyor belt 4, and the loading and unloading end of the conveyor belt 4 specifically refers to the end of the conveyor belt 4 that extends into the area to be loaded and unloaded.
  • the rotating arm component 11 includes two groups of rotating arm components respectively arranged on both sides of the conveyor belt 4.
  • the two groups of rotating arm components are arranged in a one-to-one correspondence with the two groups of displacement adjustment components.
  • the rotating arm assembly includes a rotating arm body 111 and a first driving member.
  • the first driving member is a servo motor.
  • the first driving member is mounted on a slide 122 in the corresponding displacement adjustment assembly, and the rotating arm body 111 is fixedly connected to the output shaft of the first driving member.
  • the output shaft of the first driving member rotates to drive the rotating arm body 111 to rotate relative to the conveyor belt 4.
  • the rotation axis of the rotating arm body 111 is horizontally arranged, and the direction of the rotation axis of the rotating arm body 111 is perpendicular to the conveying direction of the conveyor belt 4.
  • the first driving member may also be a stepping motor, or the first driving member may also be a combination of a servo motor and a reducer, so as to increase the torque and thus improve the load capacity of the rotating arm.
  • the two groups of lifting components 13 There are two groups of lifting components 13 , and the two groups of lifting components 13 are respectively arranged on the two rotating arm bodies 111 .
  • the lifting component 13 includes a fourth driving component and a lifting seat.
  • the fourth driving component is a linear module, which is installed on the corresponding rotating arm body 111.
  • the lifting seat is fixed on the sliding seat of the fourth driving component and slides relative to the rotating arm body 111 under the drive of the fourth driving component.
  • the sliding direction of the lifting seat is parallel to the length direction of the rotating arm body 111.
  • the two lifting seats are respectively located at the opposite ends of the two rotating arm bodies 111.
  • the fourth driving assembly may also be a synchronous belt structure or a synchronous chain structure, as long as it can drive the lifting seat to slide relative to the rotating arm body 111.
  • the suction cup mechanism 2 includes a suction cup component 21 and an angle adjustment component 22 .
  • the angle adjustment component 22 includes a suction cup bracket 221 and a second driving member.
  • the second driving member is a servo motor.
  • the output shafts of the two second driving members are arranged opposite to each other, and the axes of the output shafts of the two second driving members coincide.
  • the two ends of the suction cup bracket 221 are respectively fixedly connected to the output shafts of the two second driving members, and under the drive of the two driving members, the suction cup bracket 221 rotates relative to the two rotating arm bodies 111.
  • the rotation axis of the suction cup bracket 221 is arranged horizontally, and the rotation axis direction of the suction cup bracket 221 is perpendicular to the conveying direction of the conveyor belt 4.
  • the second driving member may be a stepper motor, and the second driving member may be provided as one, and the single second driving member may drive the suction cup bracket 221 to rotate relative to the two rotating arm bodies 111.
  • the second driving member may be a combination of a servo motor and a reducer to increase the torque of the suction cup bracket 221.
  • the suction cup component 21 includes a suction cup mounting frame 211 , a third driving member and a plurality of suction cup bodies 212 .
  • the suction cup mounting frame 211 is rotatably connected to the suction cup bracket 221, and the rotation axis direction of the suction cup mounting frame 211 is perpendicular to the rotation axis direction of the suction cup bracket 221.
  • the third driving member is a servo motor, and the third driving member is used to drive the suction cup mounting frame 211 to rotate.
  • a plurality of suction cup bodies 212 are fixed to one end of the suction cup mounting frame 211 away from the suction cup bracket 221, and the plurality of suction cup bodies 212 are arranged in sequence along the length direction of the suction cup mounting frame 211. In actual use, the suction cup body 212 is used to adsorb the cargo box.
  • the third driving member may also be a stepping motor.
  • the displacement adjustment component 12 may also be a combination of a displacement adjustment component and a sliding component, wherein the sliding component includes a linear guide rail and a slide 122 slidably connected to the linear guide rail.
  • the displacement adjustment component 12 may also be a combination of other types of motion mechanisms, such as synchronous belts, chains, etc.
  • the two groups of displacement adjustment components in the displacement adjustment part 12 are respectively used to drive the two groups of rotating arm components to slide relative to the conveyor belt 4 in the conveying direction, so as to adjust the relative position of the suction cup body 212 relative to the conveyor belt 4 along the conveying direction.
  • the suction cup body 212 is adsorbed onto the cargo box, the cargo box can be transported to the top of the conveyor belt 4 through the displacement adjustment component.
  • the two sets of rotating arm assemblies rotate relative to the conveyor belt 4, driving the suction cup bracket 221 to rotate relative to the conveyor belt 4, thereby adjusting the angle of the suction cup body 212 relative to the conveyor belt 4.
  • the suction cup body 212 can be moved above the conveyor belt 4 or below the conveyor belt 4 by the rotation of the rotating arm body 111, so as to absorb the cargo box above the loading and unloading end or below the loading and unloading end of the conveyor belt 4.
  • the two sets of lifting components 13 are used to adjust the relative position between the suction cup bracket 221 and the two rotating arm bodies 111, and then adjust the position of the suction cup body 212 relative to the rotating arm body 111 to achieve height adjustment of the suction cup body 212 for lifting the cargo box.
  • the suction cup bracket 221 rotates relative to the two rotating arm bodies 111 through the adjustment of the second driving member, and adjusts the angle of the suction cup body 212 relative to the two rotating arms, which is mainly used to adjust the adsorption position between the suction cup body 212 and the cargo box to adapt to different cargo box surfaces.
  • the suction cup mounting frame 211 and the suction cup bracket 221 can achieve relative rotation through the third driving member.
  • the cargo box adsorbed by the suction cup body 212 can be driven to rotate, and the angle of the cargo box relative to the conveyor belt 4 can be adjusted to solve the problem that the length of the cargo box exceeds the width of the conveyor belt 4 and the conveyor belt 4 cannot transport the cargo box.
  • the sensor system includes visual sensors, ultrasonic collision avoidance sensors and laser sensors.
  • the visual sensor arranged on the support base 331 is the bottom visual sensor 5, which is used to detect the spatial image information below the loading and unloading end of the conveyor belt 4, and output the image information to the control system.
  • the visual sensor on the upper part of the conveyor belt 4 is used to detect the image information of the space above the conveyor belt 4, collect the presence or absence of cargo boxes on the conveyor belt 4, the size of the cargo boxes, the stacking of the cargo boxes, and the space reserved above the loading and unloading end of the conveyor belt 4, and output the image information to the control system.
  • the specific number of visual sensors is determined according to the actual situation, and this embodiment does not make too many restrictions.
  • the control system is specifically a controller.
  • the ultrasonic anti-collision sensor arranged on the vehicle body 31 is used to detect the position information of the surrounding environment of the loading and unloading area relative to the vehicle body 31, and output the position information to the control system, so as to adjust the position of the vehicle body 31 in time to avoid collision.
  • the ultrasonic anti-collision sensor arranged on the conveyor belt 4 is used to detect the position information of the surrounding environment of the loading and unloading area relative to the conveyor belt 4, and output the position information to the control system, so as to adjust the position of the conveyor belt 4 in time to avoid collision.
  • the specific number of ultrasonic anti-collision sensors is determined according to the actual situation, and this embodiment does not make too many restrictions.
  • the laser sensor installed on the vehicle body 31 is used to detect the distance information of the area to be loaded and unloaded relative to the vehicle body 31, and output the distance information to the control system, so that the control system can adjust the distance between the vehicle body 31 and the area to be loaded and unloaded.
  • the laser sensor installed on the conveyor belt 4 is used to detect the distance information of the area to be loaded and unloaded relative to the conveyor belt 4, and output the distance information to the control system, so that the control system can adjust the distance between the conveyor belt 4 and the area to be loaded and unloaded.
  • an embodiment of the present specification further provides a control method for a reach-in loading and unloading robot, including a loading method and an unloading method.
  • the visual sensor, ultrasonic anti-collision sensor and laser sensor are turned on to detect the position information, distance information of the area to be loaded and unloaded relative to the conveyor belt 4 and the image information on the area to be loaded and unloaded and the conveyor belt 4, and output the image information, position information and distance information to the control system.
  • This step is mainly used to detect the position and distance relationship of the conveyor belt 4 relative to the area to be loaded and unloaded, as well as the condition of the goods on the conveyor belt 4, and collect and feed back the information to the control system for subsequent operations.
  • the visual sensor, ultrasonic anti-collision sensor and laser sensor on the vehicle body 31 will also timely feed back the position information, distance information and image information of the vehicle body 31 relative to the area to be loaded and unloaded to the control system, so as to timely adjust the position of the support trolley 3 relative to the area to be loaded and unloaded.
  • control system controls the loading and unloading end of the conveyor belt 4 to extend into the area to be loaded and unloaded according to the image information, distance information and position information.
  • control system By detecting the position information and distance information between the conveyor belt 4 and the area to be loaded and unloaded, the control system gives corresponding instructions to control the movement of the supporting trolley 3, driving the conveyor belt 4 to probe into the area to be loaded and unloaded.
  • control system obtains the size information of the cargo box on the conveyor belt 4 according to the image information.
  • the size information of the cargo box is obtained according to the detection of the visual sensor, and the condition of the cargo box on the conveyor belt 4 is determined.
  • control system adjusts the penetration degree of the loading and unloading end of the conveyor belt 4 relative to the loading and unloading area according to the cargo box size information, and reserves space for placing the cargo box.
  • the support trolley 3 is used to adjust the penetration degree of the loading and unloading end of the conveyor belt 4 relative to the loading and unloading area, and a placement space for stacking the supply boxes is reserved on the loading and unloading area.
  • the control system calculates the lifting angle or lowering angle of the second arm and the lifting height or lowering height of the telescopic support 321 according to the position information and distance information between the conveyor belt 4 and the loading and unloading area, and adjusts the height of the conveyor belt 4 relative to the loading and unloading area.
  • This process is mainly to reserve space for loading and space for the rotating arm body 111 to move, so as to facilitate and quickly load the goods.
  • control system adjusts the angle and distance of the rotating arm body 111 and the suction cup body 212 relative to the conveyor belt 4 according to the position information and distance information between the conveyor belt 4 and the area to be loaded and unloaded.
  • This process is to complete the initialization of the rotating arm body 111 and the suction cup body 212 to facilitate the subsequent loading operation.
  • the conveyor belt 4 first moves the cargo box to the preset adsorption position, and the linear motor 121 drives the rotating arm body 111 to move to the middle position between the first limit block and the second limit block;
  • the second driving member drives the suction cup bracket 221 to rotate, and adjusts the suction cup body 212 so that the suction cup body 212 is aligned with the cargo box;
  • the fourth driving assembly drives the lifting seat to slide relative to the rotating arm body 111, and lowers the suction cup body 212 to fit the cargo box, so that the suction cup body 212 absorbs the cargo box;
  • the fourth driving assembly drives the lifting seat to move upward, so that the suction cup body 212 drives the cargo box to leave the conveyor belt 4;
  • the linear motor 121 drives the rotating arm body 111 to move to the first limit block, so that the cargo box is moved above the loading and unloading end of the conveyor belt 4;
  • the support trolley 3 drives the conveyor belt 4 to retreat a certain distance relative to the loading and unloading area, and the first driving member drives the rotating arm body 111 to rotate to the bottom of the loading and unloading end of the conveyor belt 4, so that the cargo box is aligned with the loading and unloading area;
  • the suction cup body 212 cancels the suction of the cargo box and lowers the cargo box to the area to be loaded and unloaded.
  • the conveyor belt 4 first moves the cargo box to the preset adsorption position, and the linear motor 121 drives the rotating arm body 111 to move to the middle position between the first limit block and the second limit block;
  • the second driving member drives the suction cup bracket 221 to rotate, adjusting the angle of the suction cup body 212 relative to the cargo box, and at the same time the third driving member drives the suction cup mounting frame 211 to rotate 90 degrees relative to the suction cup bracket 221, so that the suction cup body 212 is aligned with the cargo box;
  • the fourth driving assembly drives the lifting seat to slide relative to the rotating arm body 111, and lowers the suction cup body 212 to fit the cargo box, so that the suction cup body 212 absorbs the cargo box;
  • the fourth driving assembly drives the lifting seat to move upward, so that the suction cup body 212 drives the cargo box to leave the conveyor belt 4;
  • the linear motor 121 drives the rotating arm body 111 to move to the first limit block, so that the cargo box is moved above the loading and unloading end of the conveyor belt 4;
  • the support trolley 3 drives the conveyor belt 4 to retreat a certain distance relative to the loading and unloading area
  • the first driving member drives the rotating arm body 111 to rotate to the bottom of the loading and unloading end of the conveyor belt 4, so that the cargo box is aligned with the loading and unloading area
  • the third driving member drives the suction cup mounting frame 211 to rotate 90 degrees in the opposite direction relative to the suction cup bracket 221, and rotates the cargo box 90 degrees in the opposite direction in the horizontal direction, so that the cargo box can be in a normal stacking state
  • the suction cup body 212 cancels the suction of the cargo box and lowers the cargo box to the area to be loaded and unloaded.
  • the width direction of the cargo box will be parallel to the conveying direction of the conveyor belt 4, so as to facilitate the conveying of the cargo box.
  • the linear motor 121 can also be used to directly drive the rotating arm body 111 to slide, so that the suction cup body 212 can directly adsorb the cargo box, and transport the small-sized cargo box to the loading and unloading area in a pushing or pulling manner in conjunction with the transportation of the conveyor belt 4.
  • the rotating arm mechanism 1 drives the suction cup mechanism 2 to try to push the cargo box.
  • This process is to ensure that the cargo boxes are placed stably to facilitate the subsequent palletizing operations.
  • the visual sensor, ultrasonic anti-collision sensor and laser sensor are turned on to detect the position information, distance information of the area to be loaded and unloaded relative to the conveyor belt 4 and the image information of the area to be loaded and unloaded and the second conveyor belt, and output the image information, position information and distance information to the control system.
  • control system controls the loading and unloading end of the conveyor belt 4 to approach the area to be loaded and unloaded according to the image information, the position information and the distance information.
  • control system adjusts the height of the loading and unloading ends of the conveyor belt 4 according to the image information.
  • the height of the loading and unloading end of the conveyor belt 4 needs to be adjusted to be lower than the height of the bottom of the cargo box to facilitate subsequent unloading. In special cases, if the height of the loading and unloading end of the conveyor belt 4 cannot be adjusted to be lower than the height of the bottom of the cargo box, the rotating arm mechanism 1 and the suction cup mechanism 2 need to cooperate with each other to unload the cargo.
  • the linear motor 121 drives the rotating arm body 111 to move to the first limit block position
  • the first driving member drives the rotating arm body 111 to rotate, driving the suction cup body 212 to move above the loading and unloading end of the conveyor belt 4;
  • the second driving member drives the suction cup bracket 221 to rotate, and adjusts the suction cup body 212 so that the suction cup body 212 is aligned with the cargo box, and the cargo box is sucked;
  • the first driving member drives the rotating arm body 111 to rotate and lift the cargo box;
  • the linear motor 121 drives the rotating arm body 111 to move toward the direction close to the second limit block, so that the cargo box moves to the top of the conveyor belt 4;
  • the first driving member drives the rotating arm body 111 to rotate, and the fourth driving member drives the lifting seat to descend, and they cooperate with each other to lower the cargo box to the upper surface of the conveyor belt 4;
  • the suction cup body 212 releases the suction on the cargo box and places the cargo box on the upper surface of the conveyor belt 4.
  • the linear motor 121 drives the rotating arm body 111 to move to the first limit block position
  • the first driving member drives the rotating arm body 111 to rotate, driving the suction cup body 212 to move above the loading and unloading end of the conveyor belt 4;
  • the second driving member drives the suction cup bracket 221 to rotate, and adjusts the suction cup body 212 so that the suction cup body 212 is aligned with the cargo box, and the cargo box is sucked;
  • the first driving member drives the rotating arm body 111 to rotate, and lifts the cargo box;
  • the third driving member drives the suction cup mounting frame 211 to rotate 90 degrees relative to the suction cup bracket 221, so as to rotate the cargo box so that the width direction of the cargo box is parallel to the conveying direction of the conveyor belt 4;
  • the linear motor 121 drives the rotating arm body 111 to move toward the direction close to the second limit block, so that the cargo box moves to above the conveyor belt 4;
  • the first driving member drives the rotating arm body 111 to rotate, and the fourth driving member drives the lifting seat to descend, and they cooperate with each other to lower the cargo box to the upper surface of the conveyor belt 4;
  • the suction cup body 212 releases the suction on the cargo box and places the cargo box on the upper surface of the conveyor belt 4.
  • the rotating arm mechanism 1 and the suction cup mechanism 2 cooperate with each other, and the process of unloading the goods when the loading and unloading end height of the conveyor belt 4 cannot be lowered to a height lower than the bottom height of the cargo box is as follows:
  • the linear motor 121 drives the rotating arm body 111 to move to the first limit block position
  • the first driving member drives the rotating arm body 111 to rotate, driving the suction cup body 212 to move below the loading and unloading end of the conveyor belt 4;
  • the second driving member drives the suction cup bracket 221 to rotate, and adjusts the suction cup body 212 so that the suction cup body 212 is aligned with the cargo box, and the cargo box is sucked;
  • the first driving member drives the rotating arm body 111 to rotate and lift the cargo box;
  • the linear motor 121 drives the rotating arm body 111 to move toward the direction close to the second limit block, so that the cargo box moves to above the conveyor belt 4;
  • the first driving member drives the rotating arm body 111 to rotate, and the fourth driving member drives the lifting seat to descend, and they cooperate with each other to lower the cargo box to the upper surface of the conveyor belt 4;
  • the suction cup body 212 releases the suction on the cargo box and places the cargo box on the upper surface of the conveyor belt 4.

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  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

本申请提供一种探入式装卸机器人及装卸控制方法，涉及机器人的技术领域，其包括旋转臂机构、吸盘机构、支撑小车以及输送带；输送带安装在支撑小车上，支撑小车用于调节输送带的水平位置以及高度；旋转臂机构包括旋转臂部件以及位移调节部件；吸盘机构包括吸盘部件以及角度调节部件；位移调节部件用于调节吸盘部件相对于输送带的位置；旋转臂部件用于调节吸盘部件相对于输送带的角度；角度调节部件用于调节吸盘部件相对于旋转臂部件的角度；吸盘部件用于配合输送带进行货物的装卸。通过旋转臂机构以及吸盘机构，对输送带无法到达的区域进行装卸货操作，提高对于不同装卸场景的适应能力。

Description

探入式装卸机器人及装卸控制方法 技术领域
本申请涉及机器人的技术领域，具体涉及一种探入式装卸机器人及装卸控制方法。
背景技术
在物流行业中，大多数货物都以装箱的形式被中转、运输，货箱涉及到装卸，当下货箱装卸主要依靠人工完成，但人工对货箱进行装卸，存在劳动强度大、效率低等弊病。
为了方便货箱的装卸，装卸机器人是当下较为有效的一种解决方案，尤其是探入式机器人。探入式机器人配置有输送带系统，可根据装载场景进行调整，如应用在厢式货车中，输送带系统可以伸入货车厢内部，到达货箱堆叠处后，把货箱通过输送带配合吸盘装置送出。但现有技术中的探入式机器人存在以下缺点：吸盘装置只能够辅助性的将货箱从输送带上前推或者后拉，并无其它进一步的操作。当涉及到输送带无法达到的场景时，例如输送带能够降低的最低高度高于卸货位置的高度时，现有技术中的装卸机器人上的吸盘装置，无法实现货箱的送出，即使能够强行送出货箱，也可能造成货箱跌落，使得货箱损伤。因此，当下的装卸机器人在装卸场景上的适应能力较差，有待改善。
因此，需要一种新的探入式装卸机器人，能够更好的适应不同的装卸场景，完成货箱的装卸。
发明内容
有鉴于此，本说明书实施例提供一种探入式装卸机器人及装卸控制方法，能够更好的适应不同的装卸场景，完成装箱货箱的装卸。
本说明书实施例提供以下技术方案：
本说明书实施例提供一种探入式装卸机器人，包括：旋转臂机构、吸盘机构、支撑小车以及输送带；
输送带安装在支撑小车上，支撑小车用于调节输送带的水平位置以及高度；
旋转臂机构包括旋转臂部件以及位移调节部件；
吸盘机构包括吸盘部件以及角度调节部件；
位移调节部件以及旋转臂部件依次连接在输送带上，角度调节部件与旋转臂部件连接，吸盘部件连接于角度调节部件；
位移调节部件用于带动旋转臂部件相对输送带滑移，以调节吸盘部件相对于输送带的位置，旋转臂部件相对输送带的滑移方向平行于输送带的输送方向；
旋转臂部件用于带动角度调节部件相对输送带转动，以调节吸盘部件相对于输送带的角度；角度调节部件相对输送带的转动轴线方向呈水平设置，且与输送带的输送方向垂直；
角度调节部件用于带动吸盘部件相对旋转臂部件转动，以调节吸盘部件相对于旋转臂部件的角度，吸盘部件相对旋转臂部件的转动轴线方向平行于旋转臂部件相对输送带的转动轴线方向；
吸盘部件用于配合输送带进行货物的装卸。
优选的，位移调节部件包括两组分别设置在输送带两侧的位移调节组件；
位移调节组件包括直线电机以及安装于直线电机的滑台，滑台与旋转臂部件连接；
直线电机用于驱动滑台滑移，以带动旋转臂部件相对输送带滑移。
优选的，旋转臂部件包括两组旋转臂组件，两组旋转臂组件分别位于输送带的两侧；
旋转臂组件包括旋转臂本体以及第一驱动件，旋转臂本体通过位移调节部件以及第一驱动件与输送带转动连接；第一驱动件用于驱动旋转臂本体相 对输送带转动，以带动角度调节部件相对输送带转动。
优选的，角度调节部件包括吸盘支架以及第二驱动件；
吸盘支架转动连接于旋转臂部件，吸盘支架的转动轴线方向呈水平设置，且吸盘支架的转动轴线方向还垂直于输送带的输送方向，吸盘部件安装于吸盘支架上；
第二驱动件安装于旋转臂部件上并用于驱动吸盘支架转动，以调节吸盘部件相对于旋转臂部件的角度。
优选的，吸盘部件包括吸盘安装架、第三驱动件以及若干吸盘本体；
吸盘安装架转动连接于吸盘支架，吸盘安装架的转动轴线垂直于吸盘支架的转动轴线，第三驱动件用于驱动吸盘安装架转动；
若干吸盘本体分别安装于吸盘安装架背离吸盘支架的一端，用于吸附货箱。
优选的，吸盘支架与旋转臂部件之间还设置有升降部件；
升降部件包括第四驱动组件以及滑移连接于旋转臂部件的升降座，吸盘支架通过升降座转动连接于旋转臂部件；
第四驱动组件用于驱动升降座相对旋转臂部件滑移，以调节吸盘支架相对输送带的高度。
优选的，支撑小车包括车身本体、设置于车身本体上的高度调节部件以及水平调节部件；
高度调节部件包括伸缩支柱以及机械臂；
伸缩支柱与输送带之间铰接，通过伸缩支柱的伸缩带动输送带升降；
机械臂与输送带之间铰接，配合伸缩支柱调节输送带的高度；
水平调节部件包括若干设置于车身本体外部若干滚轮，若干滚轮用于带动车身本体移动，以调节输送带的水平位置。
优选的，机械臂为二自由度机械臂；
二自由度机械臂的第一臂转动连接于车身本体，第一臂的转动轴线呈竖 直设置；
二自由度机械臂的第二臂转动连接于第一臂，第二臂的转动轴线和第一臂的转动轴线垂直；
水平调节部件还包括支柱底座，支柱底座与第一臂固定连接，伸缩支柱安装于支柱底座上；
第一臂转动时，支柱底座跟随第一臂转动，以带动输送带相对车身本体转动。
优选的，还包括传感器系统及控制系统；
传感器系统包括视觉传感器、超声防撞传感器以及激光传感器；
视觉传感器用于探测待装卸区域以及输送带上的图像信息，并输出图像信息至控制系统；
超声防撞传感器用于探测待装卸区域相对输送带的位置信息，并输出位置信息至控制系统；
激光传感器用于探测待装卸区域相对输送带的距离信息，并输出距离信息至控制系统；
控制系统接收图像信息、位置信息以及距离信息，并控制旋转臂机构、吸盘机构、支撑小车以及输送带相互配合对货箱进行装卸处理。
本说明书实施例还提供一种探入式装卸机器人的控制方法，包括装货方法及卸货方法；
装货方法的步骤如下：
S11，视觉传感器、超声防撞传感器以及激光传感器开启，探测待装卸区域相对输送带的位置信息、距离信息以及待装卸区域与输送带上的图像信息，并输出图像信息、位置信息以及距离信息至控制系统；
S12，控制系统根据图像信息、距离信息以及位置信息，控制输送带的装卸端探入到待装卸区域；
S13，控制系统根据图像信息，获取输送带上的货箱尺寸信息；
S14，控制系统根据货箱尺寸信息调整输送带的装卸端相对待装卸区域的探入程度，预留出货箱放置空间；
S15，输送带开始运动，旋转臂机构和吸盘机构相互配合将输送带上的货箱放置于待装卸区域；
S16，旋转臂机构带动吸盘机构试推货箱；
卸货方法的步骤如下：
S21，视觉传感器、超声防撞传感器以及激光传感器开启，探测待装卸区域相对输送带的位置信息、距离信息以及待装卸区域与输送带上的图像信息，并输出图像信息、位置信息以及距离信息至控制系统；
S22，控制系统根据图像信息、位置信息以及距离信息，控制输送带的装卸端靠近待装卸区域；
S23，控制系统根据图像信息，调节输送带的装卸端的高度；
S24，旋转臂机构和吸盘机构相互配合，将货箱吸拉至输送带的装卸端。
与现有技术相比，本说明书实施例采用的上述至少一个技术方案能够达到的有益效果至少包括：
1、通过设置旋转臂机构，增加吸盘机构可调节的自由度，进而可以适应更多的装卸情况，例如输送带的高度无法调节至低于待装卸区域的高度时，可以通过旋转臂机构，调节吸盘机构相对输送带的角度，使得吸盘机构转动至输送带下方，对低于输送带的待装卸区域进行装卸货操作；亦或是输送带的高度无法调节至高于待装卸区域的高度时，可以通过旋转臂机构，调节吸盘结构相对输送带的角度，使得吸盘机构转动至输送带的上方，对高于输送带的待装卸区域进行装卸货操作；对于不同的装卸场景，适应能力更强；
2、旋转臂机构中的位移调节部件也可以通过旋转臂部件相对输送带平移，配合吸盘部件，完成简单高效的抽拉动作，实现货箱的快速装卸。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要 使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1是本实施例中探入式装卸机器人的整体结构示意图；
图2是本实施例中支撑小车的部分结构示意图；
图3是本实施例中输送带、旋转臂机构及吸盘机构的结构示意图；
图4是本实施例中旋转臂本体带动吸盘本体移动至输送带装卸端上方的结构示意图；
图5是本实施例中旋转臂本体带动吸盘本体移动至输送带装卸端下方的结构示意图；
图6是本实施例中的探入式装卸机器人的控制方法的流程示意图；
图7是本实施例中的装货方法的流程示意图；
图8是本实施例中的卸货方法的流程示意图。
附图标记：1、旋转臂机构；11、旋转臂部件；111、旋转臂本体；12、位移调节部件；121、直线电机；122、滑台；13、升降部件；2、吸盘机构；21、吸盘部件；211、吸盘安装架；212、吸盘本体；22、角度调节部件；221、吸盘支架；3、支撑小车；31、车身本体；32、高度调节部件；321、伸缩支柱；322、机械臂；33、水平调节部件；331、支柱底座；332、滚轮；4、输送带；5、底部视觉传感器。
具体实施方式
下面结合附图对本申请实施例进行详细描述。
以下通过特定的具体实例说明本申请的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本申请的其他优点与功效。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。本申请还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本申请的精神下进行各种修饰或改变。 需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
要说明的是，下文描述在所附权利要求书的范围内的实施例的各种方面。应显而易见，本文中所描述的方面可体现于广泛多种形式中，且本文中所描述的任何特定结构及/或功能仅为说明性的。基于本申请，所属领域的技术人员应了解，本文中所描述的一个方面可与任何其它方面独立地实施，且可以各种方式组合这些方面中的两者或两者以上。举例来说，可使用本文中所阐述的任何数目和方面来实施设备及/或实践方法。另外，可使用除了本文中所阐述的方面中的一或多者之外的其它结构及/或功能性实施此设备及/或实践此方法。
还需要说明的是，以下实施例中所提供的图示仅以示意方式说明本申请的基本构想，图式中仅显示与本申请中有关的部件而非按照实际实施时的部件数目、形状及尺寸绘制，其实际实施时各部件的型态、数量及比例可为一种随意的改变，且其部件布局型态也可能更为复杂。
另外，在以下描述中，提供具体细节是为了便于透彻理解实例。然而，所属领域的技术人员将理解，可在没有这些特定细节的情况下实践。
发明人发现，当下的装卸机器人在装卸场景上的适应能力较差，只能对输送带能够到达的装卸场景进行货物的装卸，而对于输送带高度上或者位置上无法到达的装卸场景，则难以进行货物的装卸。
基于此，本说明书实施例提出了一种探入式装卸机器人：如图1所示，包括旋转臂机构1、吸盘机构2、支撑小车3以及输送带4；通过旋转臂机构1以及吸盘机构2的相互配合，增加了吸盘机构2的自由度，吸盘机构2可以在更多的装卸场景中完成对货箱的装卸，提高了对于装卸场景的适应能力。
以下结合附图，说明本申请各实施例提供的技术方案。
参照图1，本说明书实施例提供一种探入式装卸机器人，包括旋转臂机 构1、吸盘机构2、支撑小车3、输送带4、传感器系统以及控制系统。
参照图1和图2，支撑小车3包括车身本体31、高度调节部件32以及水平调节部件33。
高度调节部件32包括伸缩支柱321以及机械臂322。
机械臂322具体为二自由度机械臂。二自由度机械臂的第一臂转动连接于车身本体31的底座上，且第一臂的转动轴线沿竖直方向设置。二自由度机械臂的第二臂与第一臂转动连接，第二臂的转动轴线方向垂直于第一臂的转动轴线方向。第二臂远离第一臂的一端铰接于输送带4的下端，具体可以通过活动球头连接，实现第二臂和输送带4下端的铰接。
伸缩支柱321可以为液压式、电气式或者气动式，只要能够实现输送带4的升降即可，在此不做过多限定。伸缩支柱321可以为两根、一根或者其它数量，具体视输送带4所需的负载能力而定。
水平调节部件33包括支柱底座331以及若干个滚轮332。
支柱底座331底部开设有滑槽，车身本体31底部设置有半圆形导轨，支柱底座331通过滑槽滑移连接于半圆形导轨。支柱底座331与第一臂固定连接，跟随第一臂的转动，相对车身本体31转动。伸缩支柱321的一端固定连接于支柱底座331，伸缩支柱321的另一端通过活动球头铰接于输送带4的下端。进而当第一臂转动时，第二臂以及伸缩支柱321会带动输送带4沿水平方向相对车身本体31转动，进行水平方向上的位置调节。伸缩支柱321调节输送带4的高度时，机械臂322可以协作配合进行高度的调节，且机械臂322也可以单独对输送带4的高度进行调节。
若干个滚轮332均匀分成四组，分别转动连接于车身本体31的四个边角，便于带动车身本体31于水平方向上移动，以调节输送带4于水平方向上的位置。
旋转臂机构1包括旋转臂部件11、位移调节部件12以及升降部件13。
位移调节部件12包括两组分别设置于输送带4两侧的位移调节组件。
参照图1和图3，位移调节组件包括安装在输送带4侧边的直线电机121以及直线电机121上安装的滑台122。直线电机121用于驱动滑台122滑移，滑台122的滑移方向平行于输送带4的输送方向。直线电机121的两端分别设置有第一限位块和第二限位块，对滑台122的滑移行程进行限制。第一限位块靠近输送带4的装卸端设置，输送带4的装卸端具体指输送带4探入待装卸区域的一端。
旋转臂部件11包括两组分别设置在输送带4两侧的旋转臂组件。两组旋转臂组件与两组位移调节组件一一对应设置。
旋转臂组件包括旋转臂本体111以及第一驱动件。第一驱动件为伺服电机。第一驱动件安装在对应位移调节组件中的滑台122上，旋转臂本体111与第一驱动件的输出轴固定连接。第一驱动件的输出轴转动，以带动旋转臂本体111相对输送带4转动。旋转臂本体111的转动轴线呈水平设置，且旋转臂本体111的转动轴线方向与输送带4的输送方向垂直。
可替代的，第一驱动件也可以为步进电机，或者第一驱动件也可以为伺服电机加减速机的组合，通过增大扭矩，提高旋转臂的负载能力。
升降部件13共设有两组，两组升降部件13分别设置在两个旋转臂本体111上。
升降部件13包括第四驱动组件以及升降座。第四驱动组件为直线模组，第四驱动组件安装在对应的旋转臂本体111上，升降座固定于第四驱动组件的滑座上，在第四驱动组件的驱动下，做相对旋转臂本体111的滑移。升降座的滑移方向平行于旋转臂本体111的长度方向。两个升降座分别位于两个旋转臂本体111的相对端。
可替代的，第四驱动组件也可以为同步带结构或者同步链结构，只要能够带动升降座相对旋转臂本体111滑移即可。
吸盘机构2包括吸盘部件21以及角度调节部件22。
角度调节部件22包括吸盘支架221以及第二驱动件。
参照图3至图5，第二驱动件为伺服电机，第二驱动件共设置有两个，两个第二驱动件分别安装在两个升降座的相对端上，两个第二驱动件的输出轴相对设置，且两个第二驱动件的输出轴的轴线重合。吸盘支架221的两端分别与两个第二驱动件的输出轴固定连接，在两个驱动件的驱动下，做相对两个旋转臂本体111的转动。吸盘支架221的转动轴线呈水平设置，且吸盘支架221的转动轴线方向与输送带4的输送方向垂直。
可替代的，第二驱动件也可以为步进电机，且也可以将第二驱动件设置成一个，通过单个第二驱动件带动吸盘支架221作相对两个旋转臂本体111的转动。或者，第二驱动件也可以为伺服电机加减速机的组合，增加吸盘支架221的扭矩。
吸盘部件21包括吸盘安装架211、第三驱动件以及若干吸盘本体212。
吸盘安装架211转动连接于吸盘支架221，吸盘安装架211的转动轴线方向垂直于吸盘支架221的转动轴线方向。第三驱动件为伺服电机，第三驱动件用于驱动吸盘安装架211转动。若干个吸盘本体212固定于吸盘安装架211背离吸盘支架221的一端，且若干个吸盘本体212沿吸盘安装架211的长度方向依次排列。在实际使用中，吸盘本体212用于对货箱进行吸附。
可替代的，第三驱动件也可以为步进电机。
在其他实施例中，位移调节部件12也可以为位移调节组件加上滑移组件的组合，滑移组件包括直线导轨以及滑移连接于直线导轨上的滑台122。进而只需要一组位移调节组件与滑移组件配合，即可以带动两组旋转臂组件移动。位移调节部件12也可以为其他类型运动机构的组合，如同步带、链条等类型。
参照图1、图4和图5，旋转臂部件11、位移调节部件12、升降部件13、吸盘部件21以及角度调节部件22之间的协作关系如下：
位移调节部件12中的两组位移调节组件分别用于带动两组旋转臂组件相对输送带4于输送方向上滑移，以调节吸盘本体212相对输送带4沿输送 方向上的相对位置，进而吸盘本体212吸附到货箱时，可以通过位移调节组件将货箱输送至输送带4上方。
两组旋转臂组件通过相对输送带4的转动，带动吸盘支架221相对输送带4转动，进而对吸盘本体212相对输送带4的角度进行调节。且吸盘本体212可以通过旋转臂本体111的转动，移动至输送带4的上方或者输送带4的下方，用于对处于输送带4装卸端上方或装卸端下方的货箱进行吸附。
两组升降部件13用于调节吸盘支架221与两个旋转臂本体111之间的相对位置，进而调节吸盘本体212相对旋转臂本体111的位置，以实现对吸盘本体212的高度调节，用于实现货箱的升降。
吸盘支架221通过第二驱动件的调节，相对两个旋转臂本体111转动，对吸盘本体212相对两个旋转臂的角度进行调节，主要用于调节吸盘本体212和货箱之间的吸附位置，以适应不同的货箱表面。
吸盘安装架211和吸盘支架221之间通过第三驱动件实现相对转动，能够通过转动吸盘安装架211，带动吸盘本体212吸附的货箱转动，调节货箱相对输运带4的角度，解决货箱长度超过输运带4宽度而导致输运带4无法运输货箱的情况。
传感器系统包括视觉传感器、超声防撞传感器以及激光传感器。
参照图1和图2，视觉传感器共有多个，分别设置在支柱底座331以及输送带4上部。其中设置在支柱底座331上的视觉传感器为底部视觉传感器5，用于探测输送带4的装卸端下方的空间图像信息，并输出图像信息至控制系统。输送带4上部的视觉传感器，用于探测输送带4上方空间的图像信息，收集输送带4上货箱的有无、货箱尺寸、货箱码垛情况以及输送带4装卸端上方预留的空间情况等，并输出图像信息至控制系统。具体视觉传感器的数量，根据实际情况而定，本实施例不做过多限定。控制系统具体为控制器。
超声防撞传感器共有多个，分别设置在车身本体31以及输送带4上。设置在车身本体31上的超声防撞传感器用于探测待装卸区域周围环境之间相 对车身本体31的位置信息，并输出位置信息至控制系统，以便于及时调整车身本体31的位置，避免碰撞。设置在输送带4上的超声防撞传感器用于探测待装卸区域周围环境之间相对输送带4的位置信息，并输出位置信息至控制系统，以便于及时调整输送带4的位置，避免碰撞。具体超声防撞传感器的数量，根据实际情况而定，本实施例不做过多限定。
激光传感器设置有多个，分别位于车身本体31以及输送带4上。设置在车身本体31的激光传感器用于探测待装卸区域相对车身本体31的距离信息，并输出距离信息至控制系统，以便于控制系统调节车身本体31和待装卸区域的距离。设置在输送带4上的激光传感器用于探测待装卸区域相对输送带4的距离信息，并输出距离信息至控制系统，以便于控制系统调节输送带4和待装卸区域的距离。
参照图6，本说明书实施例还提供了一种探入式装卸机器人的控制方法，包括装货方法及卸货方法。
参照图6和图7，装货方法步骤如下：
S11，视觉传感器、超声防撞传感器以及激光传感器开启，探测待装卸区域相对输送带4的位置信息、距离信息以及待装卸区域与输送带4上的图像信息，并输出图像信息、位置信息以及距离信息至控制系统。
此步骤主要用于探测输送带4相对于待装卸区域的位置关系、距离关系以及输送带4上的货物情况，将信息收集反馈至控制系统便于后续操作。此过程中，车身本体31上的视觉传感器、超声防撞传感器以及激光传感器也会及时反馈车身本体31相对待装卸区域的位置信息、距离信息以及图像信息至控制系统，以便于及时调整支撑小车3相对待装卸区域的位置。
S12，控制系统根据图像信息、距离信息以及位置信息，控制输送带4的装卸端探入到待装卸区域。
通过对输送带4和待装卸区域之间位置信息以及距离信息的探测，控制系统给出相应的指令，控制支撑小车3移动，带动输送带4探入到待装卸区 域。
S13，控制系统根据图像信息，获取输送带4上的货箱尺寸信息。
输送带4探入到待装卸区域附近后，根据视觉传感器探测获得货箱尺寸信息，判断输送带4上的货箱情况。
S14，控制系统根据货箱尺寸信息调整输送带4的装卸端相对待装卸区域的探入程度，预留出货箱放置空间。
根据货箱的尺寸大小以及数量，通过支撑小车3调节输送带4的装卸端相对待装卸区域的探入程度，在待装卸区域上预留出供货箱码垛的放置空间。
S1401，控制系统根据输送带4和待装卸区域之间位置信息以及距离信息，计算出第二臂的抬升角度或者下降角度以及伸缩支柱321的抬升高度或下降高度，对输送带4相对待装卸区域的高度进行调节。
此过程主要是为了预留出装货的空间以及供旋转臂本体111活动的空间，方便快速装货。
S1402，控制系统根据输送带4和待装卸区域之间位置信息以及距离信息，调节旋转臂本体111以及吸盘本体212相对于输送带4的角度及距离。
此过程是为了完成旋转臂本体111以及吸盘本体212的初始化，方便后续的装货操作。
S15，输送带4开始运动，旋转臂机构1和吸盘机构2相互配合将输送带4上的货箱放置于待装卸区域。
旋转臂机构1和吸盘机构2相互配合对于宽度符合输送带4要求的货箱进行装货的过程如下：
S1501，输送带4先将货箱移动到预设置的吸附位置，直线电机121带动旋转臂本体111移动至第一限位块和第二限位块的中间位置；
S1502，第二驱动件带动吸盘支架221转动，调节吸盘本体212，使得吸盘本体212对准货箱；
S1503，第四驱动组件驱动升降座相对旋转臂本体111滑移，将吸盘本体 212下降至与货箱贴合，使得吸盘本体212将货箱吸附；
S1504，货箱吸附完毕后，第四驱动组件驱动升降座上移，使得吸盘本体212带动货箱脱离输送带4；
S1505，直线电机121带动旋转臂本体111移动至第一限位块处，使得货箱被移动至输送带4装卸端的上方；
S1506，支撑小车3带动输送带4相对待装卸区域后退一定距离，第一驱动件驱动旋转臂本体111旋转至输送带4装卸端的下方，使得货箱对准待装卸区域；
S1507，吸盘本体212取消对货箱的吸附，将货箱下放至待装卸区域。
旋转臂机构1和吸盘机构2相互配合对于宽度超出输送带4允许的最大宽度的货箱进行装货的过程如下：
S1511，输送带4先将货箱移动到预设置的吸附位置，直线电机121带动旋转臂本体111移动至第一限位块和第二限位块的中间位置；
S1512，第二驱动件带动吸盘支架221转动，调节吸盘本体212相对货箱的角度，同时第三驱动件驱动吸盘安装架211相对吸盘支架221旋转90度，使得吸盘本体212对准货箱；
S1513，第四驱动组件驱动升降座相对旋转臂本体111滑移，将吸盘本体212下降至与货箱贴合，使得吸盘本体212将货箱吸附；
S1514，货箱吸附完毕后，第四驱动组件驱动升降座上移，使得吸盘本体212带动货箱脱离输送带4；
S1515，直线电机121带动旋转臂本体111移动至第一限位块处，使得货箱被移动至输送带4装卸端的上方；
S1516，支撑小车3带动输送带4相对待装卸区域后退一定距离，第一驱动件驱动旋转臂本体111旋转至输送带4装卸端的下方，使得货箱对准待装卸区域，同时第三驱动件驱动吸盘安装架211相对吸盘支架221反向旋转90度，将货箱反向于水平方向上反向旋转90度，使得货箱能够处于正常码垛状 态；
S1517，吸盘本体212取消对货箱的吸附，将货箱下放至待装卸区域。
对于宽度超出输送带4允许的最大宽度的货箱，在输送带4上运输时，货箱的宽度方向会平行于输送带4的输送方向，以便于货箱的输送。通过吸盘安装架211的旋转，对货箱码垛时的堆放角度进行调整，确保货箱后续能够以正常的码垛状态进行码垛。
在其它实施例中，对于小尺寸的货箱，也可以直接通过直线电机121带动旋转臂本体111滑移，使得吸盘本体212直接对货箱进行吸附，以推或拉的方式，配合输送带4的运输，将小尺寸的货箱输送至待装卸区域。
S16，旋转臂机构1带动吸盘机构2试推货箱。
此过程中是为了确保货箱的平稳安放，以便于之后对于货箱的码垛操作。
S17，重复步骤S12-S16，进行货箱的码垛。
参照图6和图8，卸货方法步骤如下：
S21，视觉传感器、超声防撞传感器以及激光传感器开启，探测待装卸区域相对输送带4的位置信息、距离信息以及待装卸区域与输送第二带上的图像信息，并输出图像信息、位置信息以及距离信息至控制系统。
S22，控制系统根据图像信息、位置信息以及距离信息，控制输送带4的装卸端靠近待装卸区域。
S23，控制系统根据图像信息，调节输送带4的装卸端的高度。
其中，输送带4的装卸端的高度需要调节至低于货箱底部的高度，便于后续卸货。特殊情况下，如果输送带4的装卸端的高度无法调节至低于货箱底部的高度时，则需要通过旋转臂机构1和吸盘机构2的相互配合，进行卸货。
S24，旋转臂机构1和吸盘机构2相互配合，将货箱吸拉至输送带4的装卸端。
旋转臂机构1和吸盘机构2相互配合进行卸货的过程如下：
S2401，直线电机121带动旋转臂本体111移动至第一限位块位置；
S2402，第一驱动件驱动旋转臂本体111旋转，带动吸盘本体212移动至输送带4的装卸端的上方；
S2403，第二驱动件带动吸盘支架221转动，调节吸盘本体212，使得吸盘本体212对准货箱，对货箱进行吸附；
S2404，第一驱动件驱动旋转臂本体111旋转，将货箱抬起；
S2405，直线电机121带动旋转臂本体111朝靠近第二限位块的方向移动，使得货箱移动至输送带4上方；
S2406，第一驱动件驱动旋转臂本体111旋转，第四驱动件驱动升降座下降，相互配合将货箱下降至输送带4上表面；
S2407，吸盘本体212松开对货箱的吸附，将货箱放置于输送带4的上表面。
旋转臂机构1和吸盘机构2相互配合对于宽度超出输送带4允许的最大宽度的货箱进行卸货的过程如下：
S2411，直线电机121带动旋转臂本体111移动至第一限位块位置；
S2412，第一驱动件驱动旋转臂本体111旋转，带动吸盘本体212移动至输送带4的装卸端的上方；
S2413，第二驱动件带动吸盘支架221转动，调节吸盘本体212，使得吸盘本体212对准货箱，对货箱进行吸附；
S2414，第一驱动件驱动旋转臂本体111旋转，将货箱抬起；
S2415，第三驱动件驱动吸盘安装架211相对吸盘支架221旋转90度，将货箱旋转，使得货箱的宽度方向平行于输送带4输送方向；
S2416，直线电机121带动旋转臂本体111朝靠近第二限位块的方向移动，使得货箱移动至输送带4上方；
S2417，第一驱动件驱动旋转臂本体111旋转，第四驱动件驱动升降座下降，相互配合将货箱下降至输送带4上表面；
S2418，吸盘本体212松开对货箱的吸附，将货箱放置于输送带4的上表面。
旋转臂机构1和吸盘机构2相互配合，对于输送带4的装卸端高度无法下降至低于货箱底部高度的情况进行卸货的过程如下：
S2421，直线电机121带动旋转臂本体111移动至第一限位块位置；
S2422，第一驱动件驱动旋转臂本体111旋转，带动吸盘本体212移动至输送带4的装卸端的下方；
S2423，第二驱动件带动吸盘支架221转动，调节吸盘本体212，使得吸盘本体212对准货箱，对货箱进行吸附；
S2424，第一驱动件驱动旋转臂本体111旋转，将货箱抬起；
S2425，直线电机121带动旋转臂本体111朝靠近第二限位块的方向移动，使得货箱移动至输送带4上方；
S2426，第一驱动件驱动旋转臂本体111旋转，第四驱动件驱动升降座下降，相互配合将货箱下降至输送带4上表面；
S2407，吸盘本体212松开对货箱的吸附，将货箱放置于输送带4的上表面。
S25,重复步骤S22-S24，依次进行货箱的卸货。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例侧重说明的都是与其他实施例的不同之处。尤其，对于后面说明的产品实施例而言，由于其与方法是对应的，描述比较简单，相关之处参见系统实施例的部分说明即可。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (10)

  1. 一种探入式装卸机器人，其特征在于，包括：旋转臂机构(1)、吸盘机构(2)、支撑小车(3)以及输送带(4)；
    所述输送带(4)安装在支撑小车(3)上，所述支撑小车(3)用于调节输送带(4)的水平位置以及高度；
    所述旋转臂机构(1)包括旋转臂部件(11)以及位移调节部件(12)；
    所述吸盘机构(2)包括吸盘部件(21)以及角度调节部件(22)；
    所述位移调节部件(12)以及旋转臂部件(11)依次连接在输送带(4)上，所述角度调节部件(22)与旋转臂部件(11)连接，所述吸盘部件(21)连接于角度调节部件(22)；
    所述位移调节部件(12)用于带动旋转臂部件(11)相对输送带(4)滑移，以调节吸盘部件(21)相对于输送带(4)的位置，所述旋转臂部件(11)相对输送带(4)的滑移方向平行于输送带(4)的输送方向；
    所述旋转臂部件(11)用于带动角度调节部件(22)相对输送带(4)转动，以调节吸盘部件(21)相对于输送带(4)的角度；所述角度调节部件(22)相对输送带(4)的转动轴线方向呈水平设置，且与输送带(4)的输送方向垂直；
    所述角度调节部件(22)用于带动吸盘部件(21)相对旋转臂部件(11)转动，以调节吸盘部件(21)相对于旋转臂部件(11)的角度，所述吸盘部件(21)相对旋转臂部件(11)的转动轴线方向平行于旋转臂部件(11)相对输送带(4)的转动轴线方向；
    所述吸盘部件(21)用于配合输送带(4)进行货物的装卸。
  2. 根据权利要求1所述的探入式装卸机器人，其特征在于，所述位移调节部件(12)包括两组分别设置在输送带(4)两侧的位移调节组件；
    所述位移调节组件包括直线电机(121)以及安装于直线电机(121)的滑台(122)，所述滑台(122)与旋转臂部件(11)连接；
    所述直线电机(121)用于驱动滑台(122)滑移，以带动旋转臂部件(11)相对输送带(4)滑移。
  3. 根据权利要求1所述的探入式装卸机器人，其特征在于，所述旋转臂部件(11)包括两组旋转臂组件，两组旋转臂组件分别位于输送带(4)的两侧；
    所述旋转臂组件包括旋转臂本体(111)以及第一驱动件，所述旋转臂本体(111)通过位移调节部件(12)以及第一驱动件与输送带(4)转动连接；所述第一驱动件用于驱动旋转臂本体(111)相对输送带(4)转动，以带动角度调节部件(22)相对输送带(4)转动。
  4. 根据权利要求1所述的探入式装卸机器人，其特征在于，所述角度调节部件(22)包括吸盘支架(221)以及第二驱动件；
    所述吸盘支架(221)转动连接于旋转臂部件(11)，所述吸盘支架(221)的转动轴线方向呈水平设置，且所述吸盘支架(221)的转动轴线方向还垂直于输送带(4)的输送方向，所述吸盘部件(21)安装于吸盘支架(221)上；
    所述第二驱动件安装于旋转臂部件(11)上并用于驱动吸盘支架(221)转动，以调节吸盘部件(21)相对于旋转臂部件(11)的角度。
  5. 根据权利要求4所述的探入式装卸机器人，其特征在于，所述吸盘部件(21)包括吸盘安装架(211)、第三驱动件以及若干吸盘本体(212)；
    所述吸盘安装架(211)转动连接于吸盘支架(221)，所述吸盘安装架(211)的转动轴线垂直于吸盘支架(221)的转动轴线，所述第三驱动件用于驱动吸盘安装架(211)转动；
    若干所述吸盘本体(212)分别安装于吸盘安装架(211)背离吸盘支架(221)的一端，用于吸附货箱。
  6. 根据权利要求4所述的探入式装卸机器人，其特征在于，所述吸盘支架(221)与旋转臂部件(11)之间还设置有升降部件(13)；
    所述升降部件(13)包括第四驱动组件以及滑移连接于旋转臂部件(11)的升降座，所述吸盘支架(221)通过升降座转动连接于旋转臂部件(11)；
    所述第四驱动组件用于驱动升降座相对旋转臂部件(11)滑移，以调节吸盘支架(221)相对输送带(4)的高度。
  7. 根据权利要求1所述的探入式装卸机器人，其特征在于，所述支撑小车(3)包括车身本体(31)、设置于车身本体(31)上的高度调节部件(32)以及水平调节部件(33)；
    所述高度调节部件(32)包括伸缩支柱(321)以及机械臂(322)；
    所述伸缩支柱(321)与输送带(4)之间铰接，通过伸缩支柱(321)的伸缩带动输送带(4)升降；
    所述机械臂(322)与输送带(4)之间铰接，配合伸缩支柱(321)调节输送带(4)的高度；
    所述水平调节部件(33)包括若干设置于车身本体(31)外部若干滚轮(332)，若干滚轮(332)用于带动车身本体(31)移动，以调节输送带(4)的水平位置。
  8. 根据权利要求7所述的探入式装卸机器人，其特征在于，所述机械臂(322)为二自由度机械臂(322)；
    所述二自由度机械臂(322)的第一臂转动连接于车身本体(31)，所述第一臂的转动轴线呈竖直设置；
    所述二自由度机械臂(322)的第二臂转动连接于第一臂，所述第二臂的转动轴线和第一臂的转动轴线垂直；
    所述水平调节部件(33)还包括支柱底座(331)，所述支柱底座(331)与第一臂固定连接，所述伸缩支柱(321)安装于支柱底座(331)上；
    所述第一臂转动时，所述支柱底座(331)跟随第一臂转动，以带动输送带(4)相对车身本体(31)转动。
  9. 根据权利要求1-8中任一项所述的探入式装卸机器人，其特征在于，还包括传感器系统及控制系统；
    所述传感器系统包括视觉传感器、超声防撞传感器以及激光传感器；
    所述视觉传感器用于探测待装卸区域以及输送带(4)上的图像信息，并输 出图像信息至控制系统；
    所述超声防撞传感器用于探测待装卸区域相对输送带(4)的位置信息，并输出位置信息至控制系统；
    所述激光传感器用于探测待装卸区域相对输送带(4)的距离信息，并输出距离信息至控制系统；
    所述控制系统接收图像信息、位置信息以及距离信息，并控制旋转臂机构(1)、吸盘机构(2)、支撑小车(3)以及输送带(4)相互配合对货箱进行装卸处理。
  10. 一种探入式装卸机器人的控制方法，其特征在于，包括装货方法及卸货方法；
    所述装货方法的步骤如下：
    S11，视觉传感器、超声防撞传感器以及激光传感器开启，探测待装卸区域相对输送带(4)的位置信息、距离信息以及待装卸区域与输送带(4)上的图像信息，并输出图像信息、位置信息以及距离信息至控制系统；
    S12，控制系统根据图像信息、距离信息以及位置信息，控制输送带(4)的装卸端探入到待装卸区域；
    S13，控制系统根据图像信息，获取输送带(4)上的货箱尺寸信息；
    S14，控制系统根据货箱尺寸信息调整输送带(4)的装卸端相对待装卸区域的探入程度，预留出货箱放置空间；
    S15，输送带(4)开始运动，旋转臂机构(1)和吸盘机构(2)相互配合将输送带(4)上的货箱放置于待装卸区域；
    S16，旋转臂机构(1)带动吸盘机构(2)试推货箱；
    所述卸货方法的步骤如下：
    S21，视觉传感器、超声防撞传感器以及激光传感器开启，探测待装卸区域相对输送带(4)的位置信息、距离信息以及待装卸区域与输送带(4)上的图像信息，并输出图像信息、位置信息以及距离信息至控制系统；
    S22，控制系统根据图像信息、位置信息以及距离信息，控制输送带(4) 的装卸端靠近待装卸区域；
    S23，控制系统根据图像信息，调节输送带(4)的装卸端的高度；
    S24，旋转臂机构(1)和吸盘机构(2)相互配合，将货箱吸拉至输送带(4)的装卸端。
PCT/CN2022/132716 2022-10-24 2022-11-18 探入式装卸机器人及装卸控制方法 WO2024087269A1 (zh)

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