CN114180358A

CN114180358A - Loading robot, loading method and loading system

Info

Publication number: CN114180358A
Application number: CN202210028664.3A
Authority: CN
Inventors: 杨翠翠; 石江涛; 李文鹏
Original assignee: Hefei Taihe Intelligent Technology Group Co Ltd
Current assignee: Hefei Taihe Intelligent Technology Group Co Ltd
Priority date: 2022-01-11
Filing date: 2022-01-11
Publication date: 2022-03-15

Abstract

The invention discloses a loading robot, a loading method and a loading system, and relates to the technical field of loading. The loading robot comprises a moving mechanism and a conveying mechanism, wherein the moving mechanism comprises a conveying arm, a first driving arm, a second driving arm, a transfer arm, a mounting seat, a first driving piece and a second driving piece. The conveying mechanism is arranged on the conveying arm. One end of each of the first driving arm and the second driving arm is connected with the conveying arm in a rotating mode at intervals, and the other end of each of the first driving arm is connected with the first driving piece. The other end of the second driving arm is rotationally connected with the transfer arm, and the transfer arm is connected with the second driving piece. The first driving part and the second driving part can respectively drive the first driving arm and the transfer arm to rotate, so that the conveying arm is driven to pitch up, move down, move forwards and/or move backwards together, and the tail end of the conveying arm is moved to different stacking positions. The loading method is applied to the loading robot, and the loading robot and the loading system have the characteristics of simple structure, small size and high universality.

Description

Loading robot, loading method and loading system

Technical Field

The invention relates to the technical field of loading, in particular to a loading robot, a loading method and a loading system.

Background

The existing loading mode mostly adopts a manual mode, the labor intensity is high, and the loading efficiency is low. Most of the existing car loaders are matched with other nonstandard automatic equipment for loading, the equipment is various, the occupied space is large, the self structure is complex, the space is limited, the car loading work of a trolley is difficult to realize, and particularly the truck of a small compartment body is realized.

In view of this, it is very important to develop and design a loading robot, a loading method and a loading system that can solve the above technical problems.

Disclosure of Invention

The invention aims to provide a loading robot and a loading system, which have the characteristics of simple structure, small volume and high universality.

Another object of the present invention is to provide a loading method having a characteristic that a universal box is high.

The invention provides a technical scheme that:

in a first aspect, an embodiment of the present invention provides a loading robot, which includes a moving mechanism and a conveying mechanism for conveying goods, where the moving mechanism includes a conveying arm, a first driving arm, a second driving arm, a transfer arm, a mounting seat, a first driving member, and a second driving member;

the conveying mechanism is arranged on the conveying arm and extends to the tail end of the conveying arm; one end of each of the first driving arm and the second driving arm is connected to the conveying arm at intervals in a rotating mode, and the other end of each of the first driving arm and the second driving arm is connected with the first driving piece; the other end of the second driving arm is rotatably connected with one end of the transfer arm, and the other end of the transfer arm is connected with the second driving piece;

the first driving piece and the second driving piece are mounted on the mounting seat and can respectively drive the first driving arm and the transfer arm to rotate, so that the conveying arm is driven to pitch up, move down, move forwards and/or move backwards together to move the tail end of the conveying arm to different stacking positions.

With reference to the first aspect, in another implementation manner of the first aspect, the moving mechanism further includes a rotary driving element, and the mounting seat includes a fixed portion and a rotary portion;

the rotation part rotates to be connected in the fixed part, first driving piece with the second driving piece all install in the fixed part, rotate the driving piece install in rotation part, and can drive rotation part for the fixed part rotates, thereby drives the conveying arm rotates, the cooperation first driving piece with the second driving piece removes jointly the end of conveying arm is put things in good order to the position of difference.

With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the first driving part and the second driving part are both driving motors, and an output shaft of the first driving part and an output shaft of the second driving part are coaxially disposed.

With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, a tail end of the conveying arm is a first end, an end of the conveying arm away from the first end is a second end, and the first driving arm and the second driving arm are disposed near the second end;

the moving mechanism further comprises a balance piece, one end of the balance piece is rotatably connected with the second end, the other end of the balance piece is rotatably connected with the mounting seat, and the balance piece has a tendency of shortening to pull the second end towards the mounting seat.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in another implementation manner of the first aspect, the conveying mechanism is a telescopic conveying structure, and the end of the conveying arm can be extended or retracted.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in another implementation manner of the first aspect, the loading robot further includes a loading mechanism; the car loading mechanism comprises an inclination angle adjusting driving piece and a conveying piece which are sequentially connected;

the conveying piece is rotatably connected with the tail end of the conveying mechanism and is used for receiving the goods conveyed by the conveying mechanism and conveying the goods to the stacking position;

the inclination angle adjusting driving part is connected with the tail end of the conveying mechanism and can drive the conveying part to face upwards or downwards so as to adjust the inclination angle of the conveying surface of the conveying part within a preset inclination angle range.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in another implementation manner of the first aspect, the loading mechanism further includes a directional adjustment driving member;

the conveying mechanism is connected with the conveying piece through the direction adjusting driving piece, the direction adjusting driving piece can drive the conveying piece to rotate, and the rotating axis is perpendicular to the conveying surface so as to adjust the conveying direction of the conveying piece to be a preset conveying direction.

With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the loading mechanism further includes a pushing member, where the pushing member is disposed on the conveying member and is capable of pushing the goods on the conveying member to push the goods to the stacking position.

With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, an adsorbing portion is disposed on the pushing member, and the adsorbing portion can adsorb the goods, so as to adsorb the goods onto the conveying member under the driving of the pushing member.

In a second aspect, the embodiment of the invention further provides a loading system, which includes the loading robot. The loading robot comprises a moving mechanism and a conveying mechanism for conveying goods, wherein the moving mechanism comprises a conveying arm, a first driving arm, a second driving arm, a transfer arm, a mounting seat, a first driving piece and a second driving piece; the conveying mechanism is arranged on the conveying arm and extends to the tail end of the conveying arm; one end of each of the first driving arm and the second driving arm is connected to the conveying arm at intervals in a rotating mode, and the other end of each of the first driving arm and the second driving arm is connected with the first driving piece; the other end of the second driving arm is rotatably connected with one end of the transfer arm, and the other end of the transfer arm is connected with the second driving piece; the first driving piece and the second driving piece are mounted on the mounting seat and can respectively drive the first driving arm and the transfer arm to rotate, so that the conveying arm is driven to pitch up, move down, move forwards and/or move backwards together to move the tail end of the conveying arm to different stacking positions.

In a third aspect, an embodiment of the present invention further provides a loading method, which is applied to the loading robot, where the loading method includes: the first driving arm and the transfer arm are driven to rotate through the first driving piece and the second driving piece respectively so as to move the tail end of the conveying arm to the stacking position; and conveying the goods to the stacking position through the conveying mechanism.

With reference to the third aspect, in a first implementation manner of the third aspect, the loading method further includes: when the goods are conveyed to the stacking position through the conveying mechanism, the first driving arm and the transfer arm are driven to rotate through the first driving piece and the second driving piece respectively, so that the tail end of the conveying arm moves backwards horizontally.

Compared with the prior art, the loading robot provided by the embodiment of the invention has the beneficial effects that compared with the prior art, the loading robot comprises the following components:

this loading robot includes moving mechanism and conveying mechanism, conveying mechanism is used for carrying the goods, and moving mechanism includes the delivery arm, first actuating arm, the second actuating arm, the switching arm, the mount pad, first driving piece and second driving piece, conveying mechanism sets up in the delivery arm, and extend along the delivery arm, and extend to the end of delivery arm, thereby carry goods to the end of delivery arm, first actuating arm and the respective one end of second actuating arm are all rotated and are connected in the delivery arm, and, first actuating arm and second actuating arm interval set up, and the other end of first actuating arm is connected with first driving piece, the other end of second actuating arm is rotated with the one end of switching arm and is connected, the other end and the second driving piece of switching arm are connected, thereby connect second driving piece and second actuating arm through the switching arm. The first driving part and the second driving part are both arranged on the mounting seat and can respectively drive the first driving arm and the transfer arm to rotate, so that when the first driving part drives the first driving arm to rotate, the first driving arm can drive the conveying arm to move back and forth, and when the second driving part drives the transfer arm to rotate, the second driving arm can be driven by the transfer arm to rise or fall, so that the conveying arm is driven by the first driving part and the second driving part together at different rotation degrees to realize the actions of pitching up, sounding down, moving forward and/or moving backward, so that the tail end of the conveying arm is moved to different stacking positions, so that goods are conveyed to the tail end of the conveying arm by the conveying mechanism, and are stacked to different positions in the carriage, the structure is simple, the size is small, the carriage can be conveniently moved, and the carriage with small size is also suitable for moving in the carriage with small size, the universality is higher.

Compared with the prior art, the beneficial effects of the loading method and the loading system provided by the embodiment of the invention are the same as the beneficial effects of the loading robot compared with the prior art, and are not repeated herein.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.

Fig. 1 is a schematic structural diagram of a loading robot provided in a first embodiment of the present invention during loading.

Fig. 2 is a schematic structural diagram of the loading robot according to the first embodiment of the present invention.

Fig. 3 is a schematic structural diagram of the loading robot during probe loading according to the first embodiment of the present invention.

Fig. 4 is a schematic structural view of the loading robot provided in the first embodiment of the present invention when the loading robot tilts up for loading.

Fig. 5 is a schematic structural diagram of the loading robot for loading in the direction of the vehicle head according to the first embodiment of the present invention.

Fig. 6 is a schematic structural diagram of the loading robot for loading onto the right side of the carriage according to the first embodiment of the present invention.

Fig. 7 is a schematic structural diagram of an end portion of the loading robot according to the first embodiment of the present invention.

Fig. 8 is a schematic structural diagram of the loading robot provided by the first embodiment of the invention when the end part pushes the goods.

Fig. 9 is a schematic flow chart of a loading method according to a second embodiment of the present invention.

Icon: 10-a loading robot; 11-a moving mechanism; 110-a transport arm; 1101-a first end; 1102-a second end; 111-a first drive arm; 112-a second drive arm; 113-a transfer arm; 115-a mount; 1151-a stationary part; 1152-a rotating portion; 116-a first drive member; 117 — a second driver; 118-rotating the driver; 119-a balance member; 12-a conveying mechanism; 13-a loading mechanism; 131-a tilt adjustment drive; 132-pointing adjustment drive; 133-a transport member; 135-a pusher; 1351-adsorption part; 900-compartment; 800-cargo.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like, refer to an orientation or positional relationship as shown in the drawings, or as would be conventionally found in use of the inventive product, or as would be conventionally understood by one skilled in the art, and are used merely to facilitate the description and simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following detailed description of embodiments of the invention refers to the accompanying drawings.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a loading robot 10 according to a first embodiment of the present invention.

The first embodiment of the present invention provides a loading robot 10, and the loading robot 10 has the characteristics of simple structure, small volume and high universality. The loading robot 10 can be applied to a loading system and the like, and of course, the loading system can be used independently. When the loading robot 10 is applied to a loading system, the conveying mechanism 12 of the loading system may be connected to the loading robot 10 to convey the goods 800 to the loading robot 10, and then the loading robot 10 completes the loading operation.

The structural composition, the operation principle and the advantageous effects of the loading robot 10 according to the first embodiment of the present invention will be described in detail below.

Referring to fig. 2, fig. 3 and fig. 4, fig. 2 is a schematic structural diagram of the loading robot 10 according to the first embodiment of the present invention. Fig. 3 is a schematic structural diagram of the loading robot 10 according to the first embodiment of the present invention when a truck is loaded. Fig. 4 is a schematic structural diagram of the loading robot 10 according to the first embodiment of the present invention when the loading robot tilts up for loading.

The loading robot 10 includes a moving mechanism 11 and a conveying mechanism 12, wherein the conveying mechanism 12 is used for conveying the goods 800, the moving mechanism 11 includes a conveying arm 110, a first driving arm 111, a second driving arm 112, an adapting arm 113, a mounting base 115, a first driving member 116 and a second driving member 117, the conveying mechanism 12 is disposed on the conveying arm 110, extends along the conveying arm 110, and extends to the end of the conveying arm 110, thereby conveying the goods 800 to the end of the conveying arm 110, one end of each of the first and second driving

arms

111 and 112 is rotatably connected to the conveying arm 110, the first driving arm 111 and the second driving arm 112 are spaced apart from each other, the other end of the first driving arm 111 is connected to the first driving member 116, the other end of the second driving arm 112 is rotatably connected to one end of the transfer arm 113, the other end of the transfer arm 113 is connected to the second driving member 117, thereby connecting the second driving member 117 and the second driving arm 112 through the transfer arm 113. The first driving member 116 and the second driving member 117 are both mounted on the mounting base 115 and can respectively drive the first driving arm 111 and the transfer arm 113 to rotate, so that when the first driving member 116 drives the first driving arm 111 to rotate, the first driving arm 111 can drive the conveying arm 110 to move back and forth, and when the second driving member 117 drives the transfer arm 113 to rotate, the second driving arm 112 can be driven by the transfer arm 113 to ascend or descend, so that the conveying arm 110 is driven by the first driving member 116 and the second driving member 117 at different degrees of rotation to realize the actions of ascending, descending, advancing and/or retreating, so as to move the tail end of the conveying arm 110 to different stacking positions, so as to convey the goods 800 to the tail end of the conveying arm 110 by the conveying mechanism 12, thereby stacking the goods 800 to different positions in the carriage 900, the structure is simple, the volume is small, and the carriage 900 can move conveniently, and the device is also suitable for moving in a small-volume carriage 900, and the universality is higher.

When the goods 800 are stacked to the stacking position, the first driving arm 111 and the transfer arm 113 are driven to rotate by the first driving member 116 and the second driving member 117, respectively, so as to move the end of the conveying arm 110 to the stacking position, and then the goods 800 are conveyed to the stacking position by the conveying mechanism 12. In addition, when the goods 800 are conveyed to the stacking position through the conveying mechanism 12, the first driving arm 111 and the transfer arm 113 can be driven to rotate through the first driving piece 116 and the second driving piece 117 respectively, so that the tail end of the conveying arm 110 moves backwards horizontally, the goods 800 are stacked to the stacking position stably, and the stability of the loading robot 10 for stacking the goods 800 is improved.

It should be noted that during the process of unloading the cargo 800 from the car 900, the transfer arm 110 may also be tilted up, tilted down, moved forward and/or moved backward to position the end of the transfer mechanism 12 at different stacking positions within the car 900, thereby facilitating the transfer mechanism 12 to receive and transfer the cargo 800 unloaded at different positions.

In addition, in this embodiment, the conveying mechanism 12 may be a telescopic conveying structure, and the end of the conveying arm 110 can be extended or retracted, so as to increase the range of positions where the loading robot 10 can convey the goods 800, and further improve the versatility of the loading robot 10.

With continuing reference to fig. 2, and with reference to fig. 5 and fig. 6, fig. 5 is a schematic structural diagram of the loading robot 10 according to the first embodiment of the present invention when loading in the front direction. Fig. 6 is a schematic structural diagram of the loading robot 10 according to the first embodiment of the present invention when loading onto the right side of the car 900.

The moving mechanism 11 may further include a rotary driving element 118, and the mounting base 115 may include a fixed portion 1151 and a rotary portion 1152, wherein the rotary portion 1152 is rotatably connected to the fixed portion 1151, the first driving element 116 and the second driving element 117 are both mounted on the fixed portion 1151, and the rotary driving element 118 is mounted on the rotary portion 1152 and is capable of driving the rotary portion 1152 to rotate relative to the fixed portion 1151, so as to drive the conveying arm 110 to rotate through the rotary portion 1152, so as to cooperate with the first driving element 116 and the second driving element 117 to move the end of the conveying arm 110 to different stacking positions, as shown in fig. 5 and 6, so as to further increase the range of positions where the loading robot 10 can convey the goods 800.

Further, the first driving member 116 and the second driving member 117 are both driving motors, and the output shaft of the first driving member 116 and the output shaft of the second driving member 117 are coaxially disposed, as shown in fig. 2, so that when the pitch-up, pitch-down, forward movement or backward movement degree of the conveying arm 110 is controlled, the calculation amount is small, and the motion control is convenient.

The moving mechanism 11 may further include a balance member 119, the end of the conveying arm 110 is a first end 1101, the end of the conveying arm 110 far from the first end 1101 is a second end 1102, and the first driving arm 111 and the second driving arm 112 are disposed near the second end 1102. And one end of the balance member 119 is rotatably connected with the second end 1102, and the other end is rotatably connected with the mounting seat 115, and has a tendency to shorten to pull the second end 1102 towards the mounting seat 115, so as to compensate the influence of the gravity center position of the conveying arm 110 at a longer arm extension on the strength, flexibility and precision of the whole machine, reduce the probability of damage to related parts, and reduce the torque of the first driving member 116 and the second driving member 117 for controlling the movement of the conveying arm 110.

With continuing reference to fig. 2, and with reference to fig. 7 and 8, fig. 7 is a schematic structural diagram of an end portion of the loading robot 10 according to the first embodiment of the present invention. Fig. 8 is a schematic structural diagram of the loading robot 10 according to the first embodiment of the present invention when the end portion pushes the goods 800.

The loading robot 10 may further include a loading mechanism 13, where the loading mechanism 13 includes an inclination angle adjusting driving member 131 and a conveying member 133 connected in sequence, where the conveying member 133 is rotatably connected to the end of the conveying mechanism 12, and the conveying member 133 is configured to receive the goods 800 conveyed by the conveying mechanism 12 and convey the received goods 800 to a stacking position. The inclination angle adjusting driving member 131 is connected to the end of the conveying mechanism 12 and can drive the conveying member 133 to pitch up or pitch down to adjust the inclination angle of the conveying surface of the conveying member 133 within a preset inclination angle range, so that the goods 800 are kept stable during the process of conveying the goods 800 to the stacking position by the conveying member 133, as shown in fig. 3 and 4, the inclination angle of the conveying member 133 can be adjusted by the inclination angle adjusting driving member 131 at the upper position and the lower position at the end of the conveying arm 110, so that the conveying member 133 is kept substantially horizontal, and the goods 800 are stably stacked to the stacking position.

It should be noted that the conveying member 133 is rotatably connected to the conveying mechanism 12, and the rotation axis is perpendicular to the conveying direction of the conveying member 133 and parallel to the conveying surface of the conveying member 133, and the inclination angle adjusting driving member 131 is installed in the conveying mechanism 12 and is in transmission connection with the conveying member 133, as shown in fig. 7, so as to drive the conveying member 133 to rotate relative to the conveying mechanism 12 through the inclination angle adjusting driving member 131, thereby adjusting the inclination angle of the conveying surface of the conveying member 133 within the preset inclination angle range.

Further, the car loader 13 may further include a directional adjustment driving member 132, the conveying mechanism 12 is connected to the conveying member 133 through the directional adjustment driving member 132, the directional adjustment driving member 132 can drive the conveying member 133 to rotate, and the rotation axis is perpendicular to the conveying surface of the conveying member 133, so that the conveying direction of the conveying member 133 is adjusted to the preset conveying direction by driving the conveying member 133 to rotate through the directional adjustment driving member 132, as shown in fig. 5 and 6, when the conveying arm 110 rotates, the conveying direction of the conveying member 133 can be kept to be directed to the vehicle head direction by driving the conveying member 133 to rotate through the directional adjustment driving member 132.

Further, the loading mechanism 13 may further include a pushing member 135, where the pushing member 135 is disposed on the conveying member 133, and can push the goods 800 on the conveying member 133 to push the goods 800 to the stacking position, so as to more stably stack the goods 800 to the stacking position.

It should be noted that, the pushing member 135 may further include an adsorbing portion 1351, so that the pushing member 135 drives the adsorbing portion 1351 to move, and the adsorbing portion 1351 can adsorb the goods 800, so as to drive the adsorbed goods 800 to the conveying member 133, so as to perform the unloading operation, thereby enriching the functions of the loading robot 10.

In addition, the end of the conveying arm 110 may be further provided with a laser ranging system and a vision system, so as to read information such as the current position of the carriage 900 and the condition of the goods 800 inside through the laser ranging system and the vision system, guide and monitor in the loading operation and unloading operation process, and play a role in correcting deviation and compensating in the loading operation and unloading operation process.

The working principle of the loading robot 10 provided by the first embodiment of the present invention is as follows:

the loading robot 10 includes a moving mechanism 11 and a conveying mechanism 12, the conveying mechanism 12 is used for conveying goods 800, the moving mechanism 11 includes a conveying arm 110, a first driving arm 111, a second driving arm 112, an adapting arm 113, a mounting base 115, a first driving member 116 and a second driving member 117, the conveying mechanism 12 is disposed on the conveying arm 110, extends along the conveying arm 110, and extends to the end of the conveying arm 110, thereby conveying the goods 800 to the end of the conveying arm 110, one end of each of the first and second driving

arms

In summary, the first embodiment of the present invention provides a loading robot 10, which has the characteristics of simple structure, small volume and high versatility.

Second embodiment:

referring to fig. 9, fig. 9 is a schematic flow chart of a loading method according to a second embodiment of the present invention.

The second embodiment of the invention provides a loading method which has the characteristic of high universality. The loading method can be applied to the loading robot 10, and the like, and it should be noted that the loading method provided in the embodiment has the same basic principle and the same technical effect as those of the embodiment.

The loading method comprises the following steps:

step S100: the first driving arm 111 and the transfer arm 113 are driven to rotate by the first driving part 116 and the second driving part 117 respectively so as to move the tail end of the conveying arm 110 to the stacking position;

step S200: the goods 800 are transported to a stacking position by the transport mechanism 12.

The first driving element 116 and the second driving element 117 drive the conveying arm 110 to move up, down, forward and/or backward through different rotation degrees, so as to move the end of the conveying arm 110 to different stacking positions, the moving process occupies a small space, the universality is high, and in addition, the conveying mechanism 12 can also convey different types of goods 800.

Further, the loading method may further include:

step S300: while the goods 800 are conveyed to the stacking position by the conveying mechanism 12, the first driving arm 111 and the transfer arm 113 are respectively driven to rotate by the first driving member 116 and the second driving member 117, so that the tail end of the conveying arm 110 moves backwards horizontally. So that the tail end of the conveying arm 110 moves backwards horizontally, the goods 800 are stably stacked to the stacking position, and the stability of the loading robot 10 for stacking the goods 800 is improved.

In addition, during the unloading operation, the first driving arm 111 and the transfer arm 113 are driven to rotate by the first driving member 116 and the second driving member 117, respectively, so as to move the end of the conveying arm 110 to the stacking position, the adsorbing portion 1351 adsorbing the goods 800 is driven by the pushing member 135 to move to the conveying surface of the conveying member 133, so as to complete the adsorbing operation, and the goods 800 are conveyed to the outside of the carriage 900 by the conveying member 133 and the conveying mechanism 12, so as to perform the unloading operation.

In summary, the following steps:

the second embodiment of the invention provides a loading method which has the characteristic of high universality.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that the features in the above embodiments may be combined with each other and the present invention may be variously modified and changed without conflict. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. Also, the embodiments should be considered as exemplary and non-limiting.

Claims

1. The loading robot is characterized by comprising a moving mechanism (11) and a conveying mechanism (12) for conveying goods (800), wherein the moving mechanism (11) comprises a conveying arm (110), a first driving arm (111), a second driving arm (112), a switching arm (113), a mounting seat (115), a first driving piece (116) and a second driving piece (117);

the conveying mechanism (12) is arranged on the conveying arm (110) and extends to the tail end of the conveying arm (110); one end of each of the first driving arm (111) and the second driving arm (112) is connected to the conveying arm (110) at intervals in a rotating manner, and the other end of the first driving arm (111) is connected with the first driving piece (116); the other end of the second driving arm (112) is rotatably connected with one end of the transfer arm (113), and the other end of the transfer arm (113) is connected with the second driving piece (117);

the first driving part (116) and the second driving part (117) are both mounted on the mounting base (115) and can respectively drive the first driving arm (111) and the transfer arm (113) to rotate, so that the conveying arm (110) is driven to pitch up, move down, move forwards and/or move backwards together to move the tail end of the conveying arm (110) to different stacking positions.

2. The loading robot according to claim 1, characterized in that the moving mechanism (11) further comprises a rotary drive (118), the mounting seat (115) comprising a fixed part (1151) and a rotary part (1152);

the rotating portion (1152) is rotatably connected to the fixing portion (1151), the first driving member (116) and the second driving member (117) are both mounted on the fixing portion (1151), the rotating driving member (118) is mounted on the rotating portion (1152), and the rotating portion (1152) can be driven to rotate relative to the fixing portion (1151), so that the conveying arm (110) is driven to rotate, and the first driving member (116) and the second driving member (117) are matched to move the tail end of the conveying arm (110) to different stacking positions together.

3. The loading robot according to claim 2, wherein the first driving member (116) and the second driving member (117) are both driving motors, and an output shaft of the first driving member (116) is coaxially arranged with an output shaft of the second driving member (117).

4. The loading robot according to claim 1, wherein the end of the transport arm (110) is a first end (1101), the end of the transport arm (110) remote from the first end (1101) is a second end (1102), and the first drive arm (111) and the second drive arm (112) are disposed proximate to the second end (1102);

the moving mechanism (11) further comprises a balance member (119), one end of the balance member (119) is rotatably connected with the second end (1102) and the other end is rotatably connected with the mounting seat (115), and has a tendency to shorten to pull the second end (1102) toward the mounting seat (115).

5. The loading robot according to claim 1, characterized in that the transport mechanism (12) is a telescopic transport structure and is able to extend or retract the end of the transport arm (110).

6. A loading robot according to any of claims 1-5, characterized in that the loading robot further comprises a loading mechanism (13); the loading mechanism (13) comprises an inclination angle adjusting driving part (131) and a conveying part (133) which are sequentially connected;

the conveying piece (133) is rotatably connected with the tail end of the conveying mechanism (12), is used for receiving the goods (800) conveyed by the conveying mechanism (12), and can convey the goods (800) to the stacking position;

the inclination angle adjusting driving part (131) is connected with the tail end of the conveying mechanism (12) and can drive the conveying part (133) to pitch up or move down so as to adjust the inclination angle of the conveying surface of the conveying part (133) within a preset inclination angle range.

7. The loading robot according to claim 6, characterized in that the loading mechanism (13) further comprises a directional adjustment drive (132);

the conveying mechanism (12) is connected with the conveying piece (133) through the directional adjusting driving piece (132), the directional adjusting driving piece (132) can drive the conveying piece (133) to rotate, and the rotating axis is perpendicular to the conveying surface so as to adjust the conveying direction of the conveying piece (133) to be a preset conveying direction.

8. A loading method applied to the loading robot according to any one of claims 1 to 7, the loading method comprising:

the first driving arm (111) and the transfer arm (113) are driven to rotate by the first driving piece (116) and the second driving piece (117) respectively so as to move the tail end of the conveying arm (110) to the stacking position;

conveying the goods (800) to the stacking position by the conveying mechanism (12).

9. The method of loading according to claim 8, further comprising:

when the goods (800) are conveyed to the stacking position through the conveying mechanism (12), the first driving arm (111) and the transfer arm (113) are driven to rotate through the first driving piece (116) and the second driving piece (117) respectively, so that the tail end of the conveying arm (110) moves backwards horizontally.

10. A loading system, characterized by comprising a loading robot as claimed in any one of claims 1-7.