A robot and robot intelligent warehouse

Abstract

The present invention provides a robot, including legs and a body, a plug-in positioning piece is provided at the bottom of the body, a charging column is provided at the bottom of the body pointing vertically downward, and the legs are connected to the body and drive the body to move in the vertical direction. A robot intelligent warehouse is also provided, including: a warehouse, the warehouse is provided with an inlet and an outlet; a clamping piece, including a first clamping piece and a second clamping piece, the first clamping piece has a plug-in end that is plugged in and matched with the plug-in positioning piece in the horizontal direction, the plug-in end is configured to be retractable so that the plug-in end can be connected or separated from the plug-in positioning piece, and when the plug-in end is plug-in matched with the plug-in positioning piece, the first clamping piece and the second clamping piece clamp and fix the plug-in positioning piece. The present invention can realize the storage and fixation of the robot, and can realize the mobile charging of the robot when it is transported with a container.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a robot and a robot intelligent warehouse. Background Art

[0002] With the rapid development of my country's national economy and the further acceleration of the industrialization process, intelligent robots have been widely used in many fields in my country. The civil field has carried out commercial exploration in the storage and sorting of drones similar to express lockers, but most of them are single express lockers with simple functions, which only solve some transportation and storage problems. However, the automatic recovery, charging, release and information processing of robots still need to be solved urgently. In terms of storage, handling and retrieval, the robots will face problems such as low handling efficiency, high consumption cost and difficult planning and management, which greatly restricts the development of effective management and application of intelligent robots in my country.

[0003] It should be noted that the above contents belong to the technical knowledge of the inventor and do not necessarily constitute prior art. Summary of the invention

[0004] The object of the present invention is to provide a robot that can be conveniently fixed and quickly charged. Another object of the present invention is to provide a robot intelligent warehouse that can realize the storage, fixation, quick charging and mobile transportation of the robot.

[0005] To solve the above problems, the present invention provides a robot, including legs and a body, a plug-in positioning piece is provided at the bottom of the body, a charging column is provided vertically downward at the bottom of the body, and the legs are connected to the body and drive the body to move in the vertical direction.

[0006] Furthermore, the insertion positioning member is provided with positioning holes along the horizontal direction.

[0007] The present invention also provides a robot intelligent warehouse, suitable for storing any of the above-mentioned robots, including: a warehouse body, which is provided with an inlet and an outlet; a clamping member, including a first clamping member and a second clamping member, the first clamping member having a plug-in end that is plugged in and matched with the plug-in positioning member in a horizontal direction, and the plug-in end is configured to be retractable so that the plug-in end can be connected to or separated from the plug-in positioning member, and when the plug-in end is plug-in matched with the plug-in positioning member, the first clamping member and the second clamping member clamp and fix the plug-in positioning member.

[0008] Furthermore, the second clamping member is a charging pile, and the charging pile is provided with a charging hole, and the charging column is plugged into the charging hole.

[0009] Furthermore, two first clamping members are provided, and the two first clamping members are provided on both sides of the second clamping member.

[0010] Furthermore, the first clamping member is arranged on the front and rear sides of the second clamping member.

[0011] Furthermore, the first clamping member includes a bracket, a pusher and a plug-in end, the plug-in end is fixed to the pusher, the bracket is fixed in the bin body, the pusher is installed on the bracket, and the pusher drives the plug-in end to be inserted and matched with the positioning hole.

[0012] Furthermore, the warehouse body is installed with a sliding track, and the first clamping member and the second clamping member are both installed on the sliding track and can move along the sliding track.

[0013] Furthermore, the first clamping member also includes a position sensor and a controller. The position sensor detects the distance between the plug-in end and the plug-in positioning member. The controller is connected to the position sensor and controls the plug-in end to stop extending or retracting.

[0014] Furthermore, the inlet and the outlet are arranged on the front and rear sides of the second clamping member, and the inlet and the outlet are respectively equipped with a rotating door, which turns downward around its bottom end to form a slope for the robot to enter and exit.

[0015] The beneficial effect of the present invention is that by providing a plug-in positioning piece at the bottom of the robot and providing a positioning hole on the plug-in positioning piece, the robot can be quickly fixed, which provides a basis for the subsequent transportation, storage and charging of the robot. Another beneficial effect of the present invention is to provide a robot intelligent warehouse, in which a first clamping piece and a second clamping piece are provided, the first clamping piece inserts and cooperates with the plug-in positioning piece at the bottom of the robot, and cooperates with the second clamping piece to fix the plug-in positioning piece in the horizontal direction, so as to stably fix the robot in the warehouse, and realize the storage and fixation of the robot, and can be moved and charged when transported with the container. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic diagram of the three-dimensional structure of the robot in charging state provided by an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the robot intelligent warehouse provided by the present invention.

[0019] Figure 3 for Figure 1 The illustrated embodiment is a partially enlarged structural schematic diagram.

[0020] Figure 4 The figure is a schematic cross-sectional structural diagram of an embodiment of a plug-in terminal.

[0021] Among them, 10, leg; 20, fuselage; 201, plug-in positioning piece; 202, positioning hole; 30, warehouse body; 301, rotating door; 40, first clamping piece; 401, plug-in end; 402, bracket; 403, pusher; 404, position sensor; 405, anti-slip rubber layer; 50, second clamping piece. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0024] In addition, in the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In the present invention, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0027] In the present invention, if Figure 1-4 As shown, a robot is provided, including legs 10 and a body 20, a plug-in positioning piece 201 is arranged at the bottom of the body 20, a charging column vertically downward is arranged at the bottom of the body 20, and the legs 10 are connected to the body 20 and drive the body 20 to move in the vertical direction.

[0028] The robot of the present invention is not only applicable to wheel-legged robots, but also to foot-type robots or other types of robots, such as Figure 1 As shown, the robot is divided into legs 10 and a body 20, and a plug-in positioning member 201 is arranged at the bottom of the body 20. The plug-in positioning member 201 can be arranged on the front and rear sides or the left and right sides of the body 20. The plug-in positioning member 201 cooperates with other components to fix the robot in the horizontal direction or the longitudinal direction. The legs 10 can drive the body 20 to move up and down in the vertical direction, which is convenient for the subsequent storage, transportation, and charging of the robot during transportation. Specifically, a vertical downward charging column is arranged at the bottom of the body 20. When the robot needs to be charged, the charging interface is connected to the charging column. For example, for a wheel-legged robot, a charging column is arranged at the bottom of the robot, and the corresponding charging device can be placed at the bottom of the body 20 of the robot. The body 20 is driven downward by the legs 10, and the charging column is plugged into the charging device for charging. When charging is completed, the legs 10 drive the body 20 to move upward, and the charging column can be separated from the charging device, so as to automatically disconnect the charging, improve safety performance, and save space.

[0029] In the embodiment provided by the present invention, the lateral direction is as follows Figure 1 The longitudinal direction of the robot shown is the width direction of the robot, and the transverse direction or the front and rear sides in the following embodiments are both the length directions of the robot.

[0030] It should be further explained that the insertion positioning member 201 is provided with a positioning hole 202 along the horizontal direction. The selection of the positioning hole 202 as the insertion positioning member has the advantages of simple structure and easy processing, and it is relatively clear to observe whether the positioning is completed, which is convenient for subsequent insertion and separation. Of course, the insertion positioning member can also be processed into a positioning groove or other shapes, which can realize the insertion and positioning functions of the robot, but is not limited to the structure listed in this embodiment.

[0031] The present invention also provides a robot intelligent warehouse, such as Figure 1 and Figure 3As shown, a robot suitable for storing any one of the above items includes: a warehouse body 30, which is provided with an inlet and an outlet; a clamping device, including a first clamping member 40 and a second clamping member 50, the first clamping member 40 has a plug-in end 401 that is plug-in-matched with the plug-in positioning member 201 along the transverse direction, and the plug-in end 401 is configured to be retractable so that the plug-in end 401 can be connected to or separated from the plug-in positioning member 201, and when the plug-in end 401 is plug-in matched with the plug-in positioning member 201, the first clamping member 40 and the second clamping member 50 clamp and fix the plug-in positioning member 201 in the transverse direction.

[0032] like Figure 1 and Figure 2 As shown, the robot enters the warehouse 30 from the entrance and moves to the clamping device. The first clamping member 40 is provided with a plug-in end 401, which can be telescopically moved in the lateral direction. The first clamping member 40 and the second clamping member 50 are respectively arranged on both sides of the plug-in positioning member 201 in the lateral direction. When the robot needs to be fixed, the plug-in end 401 extends and moves in the direction of the plug-in positioning member 201 and connects. The plug-in positioning member 201 of the robot abuts against the second clamping member 50, so that the first clamping member 40 and the second clamping member 50 clamp and fix the robot together in the lateral direction; when the robot needs to move or exit the warehouse, the plug-in end 401 moves in the direction away from the plug-in positioning member 201, so that the plug-in end 401 is separated from the plug-in positioning member 201, and the robot is free from the constraints of the first clamping member 40 and the second clamping member 50 and can move freely, and leave the warehouse 30 from the exit of the warehouse 30.

[0033] In this embodiment, a clamping device is arranged in the warehouse body 30, which cooperates with the insertion positioning member 201 at the bottom of the robot, and the first clamping member 40 is inserted into the insertion positioning member 201, and the other side of the insertion positioning member 201 is against the second clamping member 50. The first clamping member 40 and the second clamping member 50 jointly clamp the insertion positioning member 201 to stably fix the robot in the warehouse body 30, which can realize rapid storage and fixation of the robot, and has a simple structure. Moreover, the position of the warehouse body 30 can be moved as needed, thereby driving the robot inside it to be transferred to a designated location together. During the movement, the robot will not move relative to the warehouse body 30, ensuring the safety of the robot during transportation.

[0034] More specifically, if Figure 1As shown, the second clamping member 50 is a charging pile, and the charging pile is provided with a charging hole, and the charging column is plugged into the charging hole. A charging hole is provided on the top of the charging pile. When the robot is charging, its legs 10 drive the body 20 to move downward, and the charging column cooperates with the charging hole to charge. In order to improve the operating efficiency of the robot and replenish the power of the robot in time, when the robot returns to the warehouse body 30 and is fixed, the second clamping member 50 can complete the charging process of the robot while fixing the robot, especially during the movement process, it can be charged while moving. When it reaches the designated position, the robot can go out of the warehouse to perform the task, which greatly saves the time in the intermediate stage and improves work efficiency.

[0035] Of course, in order to improve the degree of automation of the robot's charging process, a scanning camera can be installed at the bottom of the robot's body 20, and a corresponding QR code or other information piece containing a specific signal can be installed on the top of the charging pile. When the scanning camera captures the information on the top of the charging pile, the robot stops moving, and the robot is driven downward by the legs of the robot. The charging pile starts to supply power to complete the charging process.

[0036] It needs to be further explained that if Figure 1 and Figure 2 As shown, two first clamping members 40 are provided, and the two first clamping members 40 are provided on both sides of the second clamping member 50. The first clamping member can be provided on the left and right sides of the second clamping member, and can also achieve clamping and fixing of the robot. In this embodiment, the first clamping member 40 can also be provided on the front and rear sides of the second clamping member 50. Figure 1 As shown, the two first clamping members 40 are respectively placed at the front and rear ends of the robot, and protruding plug-in positioning members 201 are provided at both ends of the bottom of the robot. When the robot is clamped and fixed, the plug-in ends 401 of the two first clamping members 40 are moved toward the robot plug-in positioning members 201. This makes the robot more securely fixed and prevents the plug-in ends 401 from being damaged by force due to vibration during transportation. This can prevent the robot from being unable to be clamped and fixed when one of the first clamping members 40 fails.

[0037] As a preferred embodiment, Figure 1 and Figure 3 As shown, the insertion positioning member 201 is provided with a positioning hole 202, the first clamping member 40 includes a bracket 402, a pusher 403 and a plug-in end 401, the plug-in end 401 is fixed to the pusher 403, the bracket 402 is fixed in the bin body 30, the pusher 403 is installed on the bracket 402, and the pusher 403 drives the plug-in end 401 to be inserted and matched with the positioning hole 202. Figure 1 and 3As shown, the plug-in end 401 is made of a plug-in plate with a protrusion, one end of the plug-in plate with a protrusion cooperates with the positioning hole 202 on the plug-in positioning piece 201, and the other end is fixed on the pusher 403. The pusher 403 can select a piston or a motor to push the plug-in plate to move laterally toward the plug-in positioning piece 201 to complete the fixation of the robot. When the robot needs to go out of the warehouse to perform a task, the pusher 403 drives the plug-in plate to move away from the plug-in positioning piece 201, thereby releasing the clamping fixation between the robot and the plug-in plate.

[0038] In addition to the above-mentioned insertion positioning member 20 being provided with a positioning hole to cooperate with the first clamping member, the insertion positioning member can be provided with a plug-in end, and the insertion end of the first clamping member is a retractable and movable plug-in block, and the plug-in block is provided with a positioning hole. When the robot moves downward and fits with the second clamping member, that is, the charging pile, the plug-in block moves toward the plug-in end, so that the plug-in end cooperates with the positioning hole. Of course, it is not limited to the above two embodiments, and the plug-in block of the first clamping member can also be fixed, and the plug-in end of the insertion positioning member can be set to a retractable and movable form.

[0039] In addition, the warehouse is equipped with a sliding track, and the first clamping member 40 and the second clamping member 50 are both installed on the sliding track and can move along the sliding track. In some other embodiments, a plurality of clamping devices are provided, and a plurality of robots can be stored in one warehouse, thereby increasing the storage capacity of the warehouse. The first clamping member and the second clamping member can be installed on the sliding track, and the sliding track is fixed on the bottom surface of the warehouse. The gap between the front and rear sliding guide rails is adjusted to a suitable position according to the size of the robot, and the sliding track is fixed on the bottom surface of the warehouse; or the distance between the first clamping member 40 and the second clamping member 50 is adjusted on the sliding track to adapt to robots of different sizes and types, so that the robot intelligent warehouse has a wider range of applications.

[0040] like Figure 4 As shown, in another embodiment of the plug end, a non-slip rubber layer 405 is provided on the surface of the plug end 401. This can increase the friction between the plug end 401 and the positioning hole 202, so that the plug end 401 and the positioning hole 202 are interference-fitted, the insertion is more stable, and the robot will not move between the plug end 401 and the second clamping member 50.

[0041] It needs to be further explained that if Figure 1As shown, the first clamping member 40 also includes a position sensor 404 and a controller. The position sensor 404 detects the distance between the plug-in terminal 401 and the plug-in positioning member 201. The controller is connected to the position sensor 404 and controls the plug-in terminal 401 to stop extending or retracting. The position sensor 404 is preferably a displacement sensor. The distance between the plug-in terminal 401 and the plug-in positioning member 201 has two fixed values, one is the extension distance of the plug-in terminal 401 during the plug-in process, and the other is the retraction distance of the plug-in terminal 401 during the retraction process. These two fixed values ​​are preset in the displacement sensor. When the displacement sensor detects that the distance moved by the plug-in terminal 401 to the plug-in positioning member 201 reaches the set extension distance, the displacement sensor transmits a signal to the controller, and the controller controls the pusher 403 to stop pushing out the plug-in terminal 401. At this time, the plug-in terminal 401 is inserted into the positioning hole 202, and the clamping device fixes the robot. When the robot needs to perform a task, the plug-in end 401 moves away from the insertion positioning part 201 driven by the pusher 403. When the moving plug-in end 401 moves a distance reaching the contraction distance, the displacement sensor transmits this signal to the controller, and the pusher 403 stops moving away from the insertion positioning part 201. The release action is completed, and the robot stands up and starts to perform the task.

[0042] To facilitate the robot to enter and exit quickly and avoid crowding and confusion at one opening, such as Figure 2 As shown, an inlet and an outlet are respectively arranged on the warehouse body 30, and the inlet and the outlet are arranged on the front and rear sides of the second clamping member. The inlet and the outlet are respectively installed with a rotating door 301, and the rotating door 301 is turned downward around its bottom end to form a slope for the robot to enter and exit. Figure 2 As shown, both sides of the rotating door 301 are connected to the warehouse body 30 through gas springs. When the robot needs to enter or leave, the rotating door 301 rotates around its bottom end, and its top end contacts the ground, thereby forming a triangular slope with the warehouse body 30, which makes it convenient for the robot to enter and exit the warehouse body 30.

[0043] Anything not described in the present invention can be achieved by adopting or drawing on existing technologies.

[0044] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0045] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A robot intelligent warehouse, suitable for storing a robot with a plug-in positioning piece at the bottom of the body, a charging column pointing vertically downward, and a positioning hole provided along the horizontal direction of the plug-in positioning piece, characterized in that: include: A silo body, wherein the silo body is provided with an inlet and an outlet; The clamping member includes a first clamping member and a second clamping member, wherein the first clamping member has an inserting end that is inserted and matched with the inserting positioning member in a horizontal direction, and the inserting end is configured to be retractable so that the inserting end can be connected to or separated from the inserting positioning member, and when the inserting end is inserted and matched with the inserting positioning member, the first clamping member and the second clamping member clamp and fix the inserting positioning member; The first clamping member includes a bracket, a pusher and a plug-in end, the plug-in end is fixed to the pusher, the bracket is fixed in the bin body, the pusher is installed on the bracket, and the pusher drives the plug-in end to be inserted and matched with the positioning hole; The first clamping member further comprises a position sensor and a controller, wherein the position sensor detects the distance between the plug-in end and the plug-in positioning member, and the controller is connected to the position sensor and controls the plug-in end to stop extending or retracting; The second clamping member is a charging pile, the charging pile is provided with a charging hole, and the charging column is plugged into the charging hole; Two first clamping members are provided, and the first clamping members are arranged on both sides of the second clamping member.

2. The robot intelligent warehouse according to claim 1, characterized in that: The first clamping member is arranged at the front and rear sides of the second clamping member.

3. The robot intelligent warehouse according to claim 1, characterized in that: The warehouse body is installed with a sliding track, and the first clamping member and the second clamping member are both installed on the sliding track and can move along the sliding track.

4. The robot intelligent warehouse according to claim 1, characterized in that: The inlet and the outlet are arranged at the front and rear sides of the second clamping member, and the inlet and the outlet are respectively provided with a rotating door, and the rotating door is turned downward around its bottom end to form a slope for the robot to enter and exit.

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