CN-122009713-A - Self-adaptive loading and unloading platform and method

CN122009713ACN 122009713 ACN122009713 ACN 122009713ACN-122009713-A

Abstract

The invention provides a self-adaptive loading and unloading platform and a self-adaptive loading and unloading method, wherein the platform comprises a platform body, a first mechanical arm, a second mechanical arm, a conveying mechanism and a control mechanism, wherein the platform body comprises a movable chassis, the first mechanical arm is positioned on a first side of the platform body, the second mechanical arm is positioned on a second side of the platform body, the conveying mechanism is arranged on the platform body and comprises at least one loading position and at least two unloading positions, the control mechanism is used for controlling the first mechanical arm to grab materials from a material area and place the materials in one of the loading positions, and the control mechanism is also used for controlling the second mechanical arm to grab materials from the corresponding one of the unloading positions and place the materials in the corresponding target unloading position. The invention eliminates the waiting idle time of the execution part in the operation cycle, shortens the processing period of single materials, improves the single machine processing capacity to the level of continuous line operation, and improves the material throughput and the operation flexibility in unit time.

Inventors

XIE HONGWEI
TANG CHUANGANG
ZHANG JUNHUA
Zheng Bisen
LI HUANBIN
LEI JIANLIANG

Assignees

广州威华视控技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (10)

1. The utility model provides a self-adaptation loading and unloading platform, includes the platform body, its characterized in that, the platform body includes the removal chassis, self-adaptation loading and unloading platform still includes: the first mechanical arm is positioned on the first side of the platform body and comprises a first mechanical arm body and a first grabbing component positioned at the end part of the first mechanical arm body; the second mechanical arm is positioned on the second side of the platform body and comprises a second mechanical arm body and a second grabbing component positioned at the end part of the second mechanical arm body; the conveying mechanism is arranged on the platform body and comprises at least one feeding level and at least two discharging levels, wherein the feeding level is close to the first mechanical arm, and the at least two discharging levels are close to the second mechanical arm; The control mechanism is used for controlling the first mechanical arm to grab materials from the material area and place the materials in one of the material loading positions, and is also used for controlling the second mechanical arm to grab materials from the corresponding one of the material unloading positions and place the materials in the corresponding target unloading position.
2. The adaptive loading and unloading platform according to claim 1, wherein the transfer mechanism comprises a first loading level, a second loading level, a first unloading level and a second unloading level; A first conveying path is formed between the first feeding level and the first discharging level; A second conveying path is formed between the second loading level and the second unloading level.
3. An adaptive loading and unloading platform according to claim 2, characterized in that the first transport path and the second transport path are parallel or the first transport path and the second transport path are arranged at a preset angle.
4. An adaptive loading and unloading platform according to claim 3, characterized in that the conveyor means comprises a first conveyor belt and a second conveyor belt, the first conveyor belt connecting the first loading level and the first unloading level and the second conveyor belt connecting the second loading level and the second unloading level.
5. The adaptive loading and unloading platform according to any one of claims 1 to 4, wherein the first gripping member further comprises a first imaging device provided at an end of the first arm, the second gripping member further comprises a second imaging device provided at an end of the second arm, the first arm comprises a lifting mechanism provided at a root of the multi-axis movable arm, and the second arm comprises a translation mechanism provided at a root of the multi-axis movable arm.
6. The adaptive loading and unloading platform according to claim 5, wherein the lifting mechanism comprises a fixed frame arranged on the platform body and a lifting frame which is lifted relative to the fixed frame; The lifting frame comprises an inner frame body arranged in the fixing frame and an outer frame body arranged outside the fixing frame, a guide groove is formed in the side face of the fixing frame, and the lifting frame also comprises a synchronous guide piece which penetrates through the guide groove and is connected with the inner frame body and the outer frame body; A longitudinal accommodating area is formed inside the inner frame body, and an annular accommodating area is formed between the outer frame body and the fixing frame; the lifting mechanism further comprises a lifting guide assembly and a driving assembly, wherein the driving assembly is accommodated in the longitudinal accommodating area, and the lifting guide assembly is accommodated in the annular accommodating area; The multi-axis movable arm of the first mechanical arm is arranged on the lifting frame.
7. The adaptive loading and unloading platform according to claim 6, wherein the translation mechanism comprises a second slide rail horizontally arranged on the platform body, and a second slide block arranged on the second slide rail and slidingly connected with the second slide rail; the second sliding rail is perpendicular to the conveying direction of the conveying mechanism, and the multi-shaft movable arm of the second mechanical arm is arranged on the second sliding block.
8. The adaptive loading and unloading platform according to claim 6, wherein the mobile chassis comprises a chassis body and at least one vertical steering wheel provided on the chassis body; the vertical steering wheel includes: the mounting bottom plate is fixed on the chassis body; The steering bracket is rotatably arranged on the mounting bottom plate; The travelling wheel is arranged on the steering bracket and can rotate around the rotation axis of the travelling wheel; the driving motor is fixed on the mounting bottom plate and is provided with an output shaft, and the rotation axis of the output shaft and the reversing axis of the travelling wheel are coaxially and collinearly; The steering motor is fixed on the mounting bottom plate, and the output end of the steering motor is in transmission connection with the steering bracket; The output shaft penetrates through the steering bracket and extends into the steering bracket, and a first rotating gear is arranged on the output shaft; a rotatable linkage shaft is arranged in the steering bracket, and a second rotating gear and a first helical tooth are arranged on the linkage shaft; The travelling wheel is provided with a receiving shaft, and a second helical tooth is arranged on the receiving shaft; The first rotating gear is meshed with the second rotating gear, and the first helical teeth are meshed with the second helical teeth, so that the driving motor drives the travelling wheel to rotate; The output end of the steering motor drives the steering bracket to rotate, so that the travelling wheel rotates around the reversing axis to reverse.
9. An adaptive loading and unloading method applied to an adaptive loading and unloading platform according to any one of claims 1 to 8, the method comprising: acquiring area planning information of a target unloading area; Dividing the target unloading area into blocks based on the unloading level distribution of the conveying mechanism and the operation range of the second mechanical arm, generating at least two unloading blocks, and establishing a corresponding mapping relation between each unloading block and the unloading level of the conveying mechanism; controlling a first mechanical arm to grasp materials from a material area and placing the materials at a loading level of the conveying mechanism; controlling the conveying mechanism to convey the materials placed at the loading level to the unloading level corresponding to the current unloading block; Controlling a second mechanical arm to grab materials from the corresponding unloading positions and placing the materials in the corresponding target unloading blocks; Repeating the steps until all the unloading blocks finish unloading.
10. An adaptive loading and unloading method according to claim 9, characterized in that, When the first mechanical arm is controlled to grab materials, the lifting mechanism is controlled to drive the first mechanical arm to move in the vertical direction according to the height of the target materials, so that the first mechanical arm grabs the materials at different height positions; When the second mechanical arm is controlled to grasp materials, the translation mechanism is controlled according to the position of the target unloading block to drive the second mechanical arm to move along the horizontal direction so as to enable the second mechanical arm to move to a discharging position corresponding to the target unloading block; When the conveying mechanism is controlled to convey the materials, the corresponding conveying paths are selected according to the mapping relation between the unloading blocks and the discharging positions, so that the materials are conveyed to the target discharging positions along the corresponding conveying paths.

Description

Self-adaptive loading and unloading platform and method Technical Field The invention relates to the technical field of movable robots, in particular to a self-adaptive loading and unloading platform and a self-adaptive loading and unloading method. Background In the field of automated logistics, mobile robots (AGVs/AMRs) have become key devices for improving warehouse and handling efficiency. The traditional loading and unloading robot usually adopts a single-piece operation mode that the robot moves to a picking point, a set of picking and placing mechanism loads materials to a bearing platform of the robot, then the robot integrally moves to a target unloading point, and the same set of mechanism unloads the materials. After the process is completed, the robot can return or go to the next pick-up point for the next operation cycle. This sequential mode of operation presents a significant technical bottleneck. At any moment, the core execution component (such as a mechanical arm) and the bearing platform of the robot can only serve a single loading and unloading task, when the robot performs unloading operation, the taking and placing mechanism and the bearing platform are occupied and cannot simultaneously execute loading operation, and vice versa. This results in a great deal of functional idle time of the key operating unit of robot, especially when getting goods the point and getting the distance of unloading the point far away, or the material is put things in good order and is needed fine operation, its effective work rate reduces by a wide margin, and the material turnover volume in unit time receives fundamental restriction, is difficult to satisfy modern commodity circulation to the urgent demand of high throughput. In addition, existing loading robots often lack flexible adaptation capability in the face of complex scenarios with multiple discharge points. The operation range of the mechanical arm is fixed, and if the unloading area is larger or distributed at different positions, the robot usually needs to adjust the position through integral movement, so that the complexity of an operation path is increased, the single operation period is further prolonged, and the application efficiency of the mechanical arm in a limited space or a high-density storage environment is limited. Disclosure of Invention The invention provides a self-adaptive loading and unloading platform and a self-adaptive loading and unloading method, which are used for solving the problems of low loading and unloading efficiency, poor operation flexibility and the like in the prior art. In one aspect, the embodiment of the invention provides a self-adaptive loading and unloading platform, which comprises a platform body, wherein the platform body comprises a movable chassis, and the self-adaptive loading and unloading platform further comprises: the first mechanical arm is positioned on the first side of the platform body and comprises a first mechanical arm body and a first grabbing component positioned at the end part of the first mechanical arm body; the second mechanical arm is positioned on the second side of the platform body and comprises a second mechanical arm body and a second grabbing component positioned at the end part of the second mechanical arm body; the conveying mechanism is arranged on the platform body and comprises at least one feeding level and at least two discharging levels, wherein the feeding level is close to the first mechanical arm, and the at least two discharging levels are close to the second mechanical arm; The control mechanism is used for controlling the first mechanical arm to grab materials from the material area and place the materials in one of the material loading positions, and is also used for controlling the second mechanical arm to grab materials from the corresponding one of the material unloading positions and place the materials in the corresponding target unloading position. Further, the transfer mechanism includes a first loading level, a second loading level, a first unloading level, and a second unloading level; A first conveying path is formed between the first feeding level and the first discharging level; A second conveying path is formed between the second loading level and the second unloading level. Further, the first conveying path and the second conveying path are parallel, or the first conveying path and the second conveying path are arranged at a preset angle. Further, the conveying mechanism comprises a first conveying belt and a second conveying belt, wherein the first conveying belt is connected with the first feeding level and the first discharging level, and the second conveying belt is connected with the second feeding level and the second discharging level. Further, the first grabbing component further comprises a first imaging device arranged at the end part of the first mechanical arm, the second grabbing component further comprises a second imaging device