Automated guided vehicle with cooperative handling device

Abstract

The application discloses an automated guided vehicle with a cooperative carrying device, which comprises a mobile robot and a material carrying device, wherein the material carrying device is installed on the top of the mobile robot, and the material carrying device comprises a chassis, a first bearing mechanism, a second bearing mechanism, a detection assembly and a controller; the first bearing mechanism comprises a first driving mechanism and a first bearing, the first driving mechanism is installed on the chassis, and the first bearing is installed on the first driving mechanism; the second bearing mechanism is installed on the chassis and is arranged in the X-axis direction and spaced from the first bearing mechanism; the second bearing mechanism comprises a second driving mechanism and a second bearing, the second driving mechanism is installed on the chassis, and the second bearing is installed on the second driving mechanism; and the first bearing and the second bearing are matched for lifting the material. The automated guided vehicle with the cooperative carrying device can improve the alignment accuracy of the automated guided vehicle and the material, thereby improving the working efficiency of the automated guided vehicle.

Description

Technical Field

[0001] This invention relates to the field of industrial technology, and in particular to automated guided vehicles with collaborative transport devices. Background Technology

[0002] When existing automated guided vehicles (AGVs) are transporting materials, the alignment accuracy between the AGV and the materials after stopping often fails to meet the required standards. This results in some of the AGV's intended functions not being performed (for example, due to a large alignment error between the AGV and the materials during transport, the AGV may deviate significantly when placing the materials in the intended position), further affecting the AGV's working efficiency. Therefore, how to adjust the alignment accuracy between the AGV and the materials during transport has become an urgent problem to be solved. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides an automated guided vehicle with a collaborative handling device to solve the problem that the automated guided vehicle cannot accurately align with the material when handling it.

[0004] This invention provides an automated guided vehicle with a collaborative handling device, comprising a mobile robot and a material handling device, wherein the material handling device is mounted on top of the mobile robot and includes:

[0005] Chassis;

[0006] The first bearing mechanism includes a first drive mechanism and a first bearing member. The first drive mechanism is mounted on the chassis, and the first bearing member is mounted on the first drive mechanism. The first drive mechanism is used to drive the first bearing member to move along at least one axis of the XYZ axis.

[0007] The second support mechanism is installed on the chassis and spaced apart from the first support mechanism in the X-axis direction. The second support mechanism includes a second drive mechanism and a second support member. The second drive mechanism is installed on the chassis, and the second support member is installed on the second drive mechanism. The second drive mechanism is used to drive the second support member to move along at least one axis of the XYZ axis. The first support member and the second support member cooperate to lift materials.

[0008] A detection component is installed on the chassis and / or the first support mechanism and / or the second support mechanism, and the detection component is used to detect the positional deviation between the first support member and the second support member and the material.

[0009] A controller, electrically connected to the detection component, is used to control the first drive mechanism to drive the first carrier to move and / or control the second drive mechanism to drive the second carrier to move, based on the detection result of the detection component, so that the first carrier and the second carrier are aligned with the lifting position of the material.

[0010] Compared to existing technologies, this invention provides an automated guided vehicle (AGV) with a collaborative handling device. Through a detection component, the directional deviation between the first and second carrier components and the material's lifting position can be accurately measured. Based on the directional deviation detected by the detection component, the controller controls the first drive mechanism to adjust the position of the first carrier component in at least one XYZ direction, and controls the second drive mechanism to adjust the position of the second carrier component in at least one XYZ direction. Simultaneously, the controller also controls the movement of a mobile robot based on the directional deviation detected by the detection component, thereby rapidly adjusting the directional deviation between the first and second carrier components and the material's lifting position. This adjustment method, where the first and second drive mechanisms cooperate with the mobile robot, improves the accuracy and efficiency of alignment adjustment between the AGV and the material. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the structure of an automated guided vehicle with a collaborative transport device provided in an embodiment of the present invention;

[0013] Figure 2 Another structural schematic diagram of the automated guided vehicle with a cooperative transport device provided in an embodiment of the present invention;

[0014] Figure 3 Provided for embodiments of the present invention Figure 1 Enlarged view of section A in the middle;

[0015] Figure 4 This is a schematic diagram illustrating the interaction between an automated guided vehicle with a collaborative handling device, a docking machine, and materials, as provided in an embodiment of the present invention.

[0016] Figure 5 This is a schematic diagram of the structure of a mobile robot provided in an embodiment of the present invention;

[0017] Figure 6 This is a schematic diagram of the suspension mechanism on the chassis of a mobile robot provided in an embodiment of the present invention;

[0018] Figure 7 This is a schematic diagram of the suspension mechanism provided in an embodiment of the present invention from another perspective;

[0019] Figure 8 This is a structural schematic diagram of the suspension mechanism provided in an embodiment of the present invention from another perspective;

[0020] Figure 9 This is a schematic diagram of the drive wheel mechanism on the suspension mechanism provided in an embodiment of the present invention;

[0021] Figure 10 This is a structural schematic diagram of the drive wheel mechanism provided in an embodiment of the present invention from another perspective. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The diagrams shown in the accompanying figures are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0024] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms.

[0025] It should also be understood that the term "and / or" as used in this specification refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes such combinations.

[0026] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features thereof can be combined with each other.

[0027] Please see Figure 1 , Figure 2 and Figure 4 , Figure 1 This is a schematic diagram of the structure of an automated guided vehicle with a collaborative transport device provided in an embodiment of the present invention. Figure 2 This is a structural schematic diagram of an automated guided vehicle with a cooperative transport device provided in an embodiment of the present invention from another perspective. Figure 4 This is a schematic diagram illustrating the interaction between an automated guided vehicle with a collaborative handling device, a docking machine, and materials, as provided in an embodiment of the present invention.

[0028] This invention provides an automated guided vehicle 1000 with a collaborative handling device. The automated guided vehicle 1000 includes a mobile robot 10 and a material handling device 20. The material handling device 20 is mounted on the top of the mobile robot 10 and includes a chassis 21, a first bearing mechanism 22, a second bearing mechanism 23, a detection component 24, and a controller (not shown). The first support mechanism 21 includes a first drive mechanism 221 and a first support member 222. The first drive mechanism 221 is mounted on the chassis 21, and the first support member 222 is mounted on the first drive mechanism 221. The first drive mechanism 221 is used to drive the first support member 222 to move along at least one axis of the XYZ axis. The second support mechanism 23 is mounted on the chassis 21 and spaced apart from the first support mechanism 22 in the X-axis direction. The second support mechanism 23 includes a second drive mechanism 231 and a second support member 232. The second drive mechanism 231 is mounted on the chassis 21, and the second support member 232 is mounted on the second drive mechanism 231. The second drive mechanism 231 is used to drive the second support member 232 along the XYZ axis. The first support member 222 and the second support member 232 cooperate to lift the material 50; the detection component 24 is mounted on the chassis 21 and / or the first support mechanism 22 and / or the second support mechanism 23, and the detection component 24 is used to detect the positional deviation between the first support member 222 and the second support member 232 and the material 50; the controller (not shown) is electrically connected to the detection component 24, and the controller is used to control the first drive mechanism 221 to drive the first support member 222 to move and / or control the second drive mechanism 231 to drive the second support member 232 to move according to the detection result of the detection component 24, so that the first support member 222 and the second support member 232 are aligned with the lifting position of the material 50.

[0029] In practical applications, when the automated guided vehicle 1000 with a collaborative handling device docks with other equipment (such as machine 30) to handle materials, the detection component 24 first measures the directional deviation between the first carrier 222 and the second carrier 232 and the lifting position of the material 50. Based on the directional deviation detected by the detection component 24, the controller controls the first drive mechanism 221 to adjust the position of the first carrier 222 in at least one XYZ direction, and controls the second drive mechanism 231 to adjust the position of the second carrier 232 in at least one XYZ direction. Simultaneously, the controller also controls the movement of the mobile robot 10 based on the directional deviation to quickly adjust the directional deviation between the first carrier 222 and the second carrier 232 and the lifting position of the material 50. This adjustment method, where the first drive mechanism 221 and the second drive mechanism 231 cooperate with the mobile robot 10, improves the accuracy and efficiency of the alignment adjustment between the automated guided vehicle and the material 50.

[0030] Understandably, the lifting position is the optimal position for the first support member 222 and the second support member 232 to lift the material. In actual application, the positions of the first support member 222 and the second support member 232 will be adjusted multiple times until the positions of the first support member 222 and the second support member 232 are less than the position of the lifting position.

[0031] Please see Figure 2 In some embodiments, the first drive mechanism 221 includes a first lateral movement assembly 2211, a first lifting assembly 2212, and a first side-shifting assembly 2213. The first lateral movement assembly 2211 is mounted on the chassis 21, the first lifting assembly 2212 is mounted on the first lateral movement assembly 2211, the first side-shifting assembly 2213 is mounted on the first lifting assembly 2212, and a first support member 222 is mounted on the first side-shifting assembly 2213. The first lateral movement assembly 2211 drives the first lifting assembly 2212 and the first side-shifting assembly 2213 to move along the X-axis direction, and the first lifting assembly 2212 drives the first side-shifting assembly 2213 to move along the Z-axis direction. Component 2213 is used to drive the first carrier component to move along the Y-axis direction; and / or, the second drive mechanism 231 includes a second lateral movement component (not shown), a second lifting component (not shown), and a second side movement component (not shown). The second lateral movement component is mounted on the chassis 21, the second lifting component is mounted on the second lateral movement component, the second side movement component is mounted on the second lifting component, and the second carrier component 232 is mounted on the second side movement component. The second lateral movement component is used to drive the second lifting component and the second side movement component to move along the X-axis direction, the second lifting component is used to drive the second side movement component to move along the Z-axis direction, and the second side movement component is used to drive the second carrier component 232 to move along the Y-axis direction. This allows for simultaneous adjustment of the positions of the first carrier component 222 and / or the second carrier component 232 in the X, Y, and Z directions, further improving adjustment accuracy and efficiency.

[0032] It should be noted that in this embodiment, the structure of the second drive mechanism 231 and the first drive mechanism 221 may be the same or different.

[0033] To facilitate understanding of how the first transverse component 2211, the first lifting component 2212, and the first lateral component 2213 move in the X, Y, and Z directions, a detailed explanation is provided below.

[0034] The first lateral movement assembly 2211 may include: a first lateral movement support plate 2211a, a first lateral movement slider 2211b, a first lateral movement slide rail 2211c, and a first lateral movement drive component 2211d.

[0035] The shape of the first transverse support plate 2211a can be determined according to the actual situation, and in the embodiment of the present invention, it is preferably a rectangular plate.

[0036] The first transverse sliding member 2211b is connected to the side of the first transverse support plate 2211a near the chassis 21 by bolts or welding.

[0037] The first transverse sliding member 2211b may include a first limiting plate, a sliding plate, and a second limiting plate. The first limiting plate and the second limiting plate are arranged opposite to each other, and are connected by the sliding plate to form an inverted "U" shape.

[0038] The first transverse slide rail 2211c can be bolted or welded to the side of the chassis 21 near the sliding assembly (i.e., the side of the chassis 21 away from the ground). In addition, the first transverse slide rail 2211c is slidably connected to the first transverse sliding member 2211b.

[0039] When the first transverse sliding member 2211b slides on the first transverse sliding rail 2211c, the sliding plate is in close contact with the first transverse sliding rail 2211c and moves relative to the first transverse sliding rail 2211c. The first limiting plate and the second limiting plate on both sides can play a certain limiting role to ensure that the first transverse sliding member 2211b can move linearly along the first transverse sliding rail 2211c.

[0040] The mounting base of the first lateral movement drive component 2211d can be bolted to the side of the chassis 21 near the sliding assembly. The first lateral movement drive component 2211d can be a hydraulic cylinder or a telescopic rod, etc.

[0041] In an embodiment of the present invention, the first lateral movement drive 2211d is preferably a hydraulic cylinder and is connected to a controller via a wire, and the controller can control the operation of the hydraulic cylinder.

[0042] When the first transverse drive member 2211d is activated, it can drive the first transverse slider 2211b to slide on the first transverse slide rail 2211c. At the same time, the first transverse slide rail 2211c is connected to the first transverse support plate 2211a, so the first transverse slider 2211b can drive the first transverse support plate 2211a to move along the first direction.

[0043] Furthermore, the first lifting assembly 2212 may include a first lifting drive 2212e, a first lifting support plate 2212d, a first lifting slider 2212c, a support arm 2212a, and a first lifting slide rail 2212b.

[0044] The mounting base of the first lifting drive component 2212e and the side of the first transverse support plate 2211a away from the chassis 21 can be connected by bolts or welding. The first lifting drive component 2212e can be a hydraulic cylinder, a telescopic rod, or a linear motor, etc.

[0045] In an embodiment of the present invention, the first lifting drive component 2212e is preferably a hydraulic cylinder, and is connected to the controller via a wire, so that the hydraulic cylinder can be controlled to work by the controller.

[0046] The side of the first lifting support plate 2212d near the chassis 21 can be connected to the telescopic end of the first lifting drive 2212e by bolts. When the first lifting drive 2212e is working, it can drive the first lifting support plate 2212d to reciprocate along the second direction.

[0047] Furthermore, the shape of the first lifting support plate 2212d can be selected according to the actual situation. In this embodiment of the invention, it is preferably a rectangular plate, and the first lifting support plate 2212d and the first transverse support plate 2211a can be perpendicular to each other.

[0048] The first lifting sliding member 2212c can be connected to the first side of the first lifting support plate 2212d by bolts or welding, and the first side intersects with the side of the chassis 21 near the first transverse component 2211.

[0049] The support arm 2212a is connected to the side of the first lateral movement assembly 2211 away from the chassis 21, and the support arm 2212a has a second side that is parallel to the first side.

[0050] The first lifting slide rail 2212b is slidably connected to the first lifting sliding member 2212c, and the first lifting slide rail 2212b can be connected to the second side of the support arm 2212a by means of bolts or welding.

[0051] The structure of the first lifting slider 2212c is similar to that of the first horizontal slider 2211b, and will not be described in detail here.

[0052] Furthermore, the first lateral shift assembly 2213 may include: a first lateral shift slide rail 2213a, a first lateral shift slider 2213b, and a first lateral shift drive 2213c.

[0053] The first lateral sliding rail 2213a can be installed on the side of the first lifting support plate 2212d away from the first transverse support plate 2211a by means of bolts or welding.

[0054] The first lateral sliding member 2213b is slidably connected to the first lateral sliding rail 2213a, and the first lateral sliding rail 2213a also serves to support the first lateral sliding member 2213b. The structure of the first lateral sliding member 2213b is similar to that of the first transverse sliding member 2211b, so the structure of the first lateral sliding member 2213b will not be described in detail here.

[0055] The mounting base of the first lateral shift drive component 2213c can be bolted or screwed onto the support arm 2212a of the first lifting assembly 2212 and / or the first lifting support plate 2212d of the first lifting assembly 2212. The telescopic end of the first lateral shift drive component 2213c is connected to the first lateral shift sliding component 2213b. The first lateral shift drive component 2213c can be a hydraulic cylinder, a telescopic rod, or a linear motor, etc.

[0056] In an embodiment of the present invention, the first lateral displacement drive 2213c is preferably a hydraulic cylinder and is connected to the controller via a wire, and the hydraulic cylinder can be controlled to work by the controller.

[0057] When the first lateral displacement drive member 2213c is working, it can drive the first lateral displacement slider 2213b to move linearly along the first lateral displacement slide rail 2213a, and the direction of this movement is consistent with the Y direction.

[0058] like Figure 2 The movement modes of the second lateral movement component, the second lifting component, and the second side movement component of the second drive mechanism 231 shown are the same as those of the first lateral movement component 2211, the first lifting component 2212, and the first side movement component 2213 of the first drive mechanism 221. To avoid repetition, they will not be described again here.

[0059] Please see Figure 1In some embodiments, the detection component 24 includes a first detection component 241 and a second detection component 242. The first detection component 241 is disposed on the first support member 222, and the second detection component 242 is disposed on the second support member 232. In this embodiment, the directional deviation between the first support member 222 and the second support member 232 and the support position of the material 50 can be accurately measured.

[0060] Please see Figure 1 , Figure 3 and Figure 4 , Figure 1 This is a schematic diagram of the structure of an automated guided vehicle with a collaborative transport device provided in an embodiment of the present invention. Figure 3 Provided for embodiments of the present invention Figure 1 Enlarged view of part A in the middle Figure 4 This is a schematic diagram illustrating the interaction between an automated guided vehicle with a collaborative handling device, a docking machine, and materials, according to an embodiment of the present invention. Figure 1 The structure of part B is the same as that of part A, and will not be repeated in the text.

[0061] In some embodiments, the first detection component 241 includes a first laser rangefinder 2411, a second laser rangefinder 2412, and a third laser rangefinder 2413, and the first laser rangefinder 2411, the second laser rangefinder 2412, and the third laser rangefinder 2413 are equally spaced along the Y-axis on the first support member 222, and the specific installation method can be by screws or adhesive; the second detection component 242 includes a fourth laser rangefinder 2421, a fifth laser rangefinder 2422, and a sixth laser rangefinder 2423, and the fourth laser rangefinder 2421 and the fifth laser rangefinder 2423 are... Laser rangefinders 2422 and 2423 are evenly spaced along the Y-axis on the second support member 232, and can be installed using screws or adhesive. The second and fifth laser rangefinders 2412 and 2422 measure the distance between their respective laser emission points and the surface of the machine's rotating axis 40 to obtain the Z-axis deviation. The first, third, and fourth laser rangefinders 2421 and 2423 measure the distance between their respective laser emission points and the surface of the machine's rotating axis 40 to obtain the Y-axis deviation. This embodiment allows for quick and accurate measurement of the directional deviation between the first and second support members 222 and the material 50's lifting position, improving the working efficiency of the automated guided vehicle.

[0062] In addition, the first detection component 241 also includes a seventh laser rangefinder 2414, which is arranged opposite to the second laser rangefinder 2412, and the center of the seventh laser rangefinder 2414 and the center of the second laser rangefinder 2412 are located on the same straight line; the second detection component 242 may also include an eighth laser rangefinder 2424, which is arranged opposite to the fifth laser rangefinder 2422, and the center of the eighth laser rangefinder 2424 and the center of the fifth laser rangefinder 2422 are located on the same straight line; the seventh laser rangefinder 2414 and the eighth laser rangefinder 2424 are used to measure the distance between their own laser emission point and the surface of the material 50 to obtain the X-direction deviation.

[0063] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the interaction between an automated guided vehicle with a collaborative handling device, a docking machine, and materials, as provided in an embodiment of the present invention.

[0064] The first laser rangefinder 2411, the third laser rangefinder 2413, the fourth laser rangefinder 2421, and the sixth laser rangefinder 2423 are used to measure the distance between their respective laser emission points and the surface of the machine's rotating axis 40, and send the data to the controller. The controller calculates the Y-axis deviation according to the distance signals sent by each laser rangefinder and the built-in operating program.

[0065] The second laser rangefinder 2412 and the fifth laser rangefinder 2422 are used to measure the distance between their respective laser emission points and the surface of the machine tool rotation axis 40, and send the data to the controller. The controller calculates the Z-axis deviation according to the built-in operating program based on the distance signals received from the second laser rangefinder 2412 and the fifth laser rangefinder 2422.

[0066] The seventh laser rangefinder 2414 and the eighth laser rangefinder 2424 are used to measure the distance between their respective laser emission points and the surface of the material 50, and send the distance to the controller. The controller will also calculate the X-axis deviation according to the built-in operating program based on the distance signals received from the seventh laser rangefinder 2414 and the eighth laser rangefinder 2424.

[0067] It should be noted that all laser rangefinders can be purchased directly from the market, and no specific model is specified here. The distance signal measured by the commercially available laser rangefinder can also be sent to the controller.

[0068] It should also be noted that the above deviations refer to the directional deviations between the first support member 222 and the second support member 232 and the lifting position of the material 50.

[0069] Understandably, the first laser rangefinder 2411, the second laser rangefinder 2412, the third laser rangefinder 2413, the fourth laser rangefinder 2421, the fifth laser rangefinder 2422, and the sixth laser rangefinder 2423 respectively emit lasers to the machine's rotation axis 40, thereby measuring the distance between each of the first laser rangefinder 2411, the second laser rangefinder 2412, the third laser rangefinder 2413, the fourth laser rangefinder 2421, the fifth laser rangefinder 2422, and the sixth laser rangefinder 2423 and the machine's rotation axis 40; the seventh laser rangefinder 2414 and the eighth laser rangefinder 2424 respectively emit lasers to the material 50, thereby measuring the distance between each of the seventh laser rangefinder 2414 and the material.

[0070] Please see Figure 2 In some embodiments, the first support member 222 includes a first fixing plate 2221 and a first fixing member 2222. The first fixing plate 2221 is located on the side of the first support mechanism 22 away from the chassis 21; and the first fixing member 2222 is located on the side of the first fixing plate 2221 away from the first support mechanism 22, and the side of the first fixing member 2222 away from the first fixing plate 2221 is used to lift materials; and / or, the second support member 232 includes a second fixing plate 2321 and a second fixing member 2322. The second fixing plate 2321 is located on the side of the second support mechanism 23 away from the chassis 21, and the second fixing member 2322 is located on the side of the second fixing plate 2321 away from the second support mechanism 23, and the side of the second fixing member 2322 away from the second fixing plate 2321 is used to lift materials. This facilitates the lifting of materials.

[0071] It should be noted that the first fixing member 2222 and the second fixing member 2322 can be flat plates of any shape, and the flat plates can be placed horizontally or vertically. The specific choice depends on the shape and size of the material 50.

[0072] For example, such as Figure 4 As shown, the material 50 is cylindrical, and the first fixing member 2222 and the second fixing member 2322 are plate-shaped structures with arc-shaped grooves and placed vertically to facilitate the lifting of the cylindrical material.

[0073] Please see Figure 5In some embodiments, the mobile robot 10 includes a frame 11, a suspension mechanism 12, and a drive wheel mechanism 13. The frame 11 is equipped with support wheels 14; the suspension mechanism 12 includes a mounting frame 121 and a shock-absorbing component 122. A first end 121a of the mounting frame 121 is rotatably connected to the frame 11, and a second end 121b of the mounting frame 121 is elastically connected to the frame 12 via the shock-absorbing component 122; the drive wheel mechanism 13 is connected to the mounting frame 121 and is used to move the mounting frame 121 and the frame 11. This embodiment reduces the overall number of parts in the mobile robot 10, eliminates the need for the shock-absorbing component 122 to be mounted on the drive wheel mechanism 13, improves the independence of each functional unit of the mobile robot 10, facilitates disassembly and maintenance of each mechanism of the mobile robot 10, and simplifies the connection structure between the suspension mechanism 12 and the frame 11 through the direct connection between the shock-absorbing component 122 and the frame 11.

[0074] In this embodiment, the frame 11 can be a plate-like structure or assembled from multiple strip-like structures. In this embodiment, multiple strip-like structures are selected to form the frame 11. It can be installed by mounting structures, such as screws, fasteners, connectors, etc., or it can be integrally formed by welding or direct casting. Using multiple strip-like structures to assemble the frame 11 can reduce the weight of the mobile robot chassis 15. The support wheels 14 are composed of commonly used omnidirectional wheels that can roll and change direction or other wheels. The support wheels 14 are installed at the bottom of the frame 11 to facilitate the support of the mobile robot chassis 15 and to facilitate the movement of the mobile robot 10.

[0075] Mounting bracket 121 can adopt the same configuration as frame 11. In this embodiment, mounting bracket 121 adopts a plate-like structure. Mounting bracket 121 with a plate-like structure can carry more functional units. Functional units refer to structural combinations that independently realize a single function, such as shock absorption component 122, which realizes the shock absorption function, and other functional units.

[0076] In this embodiment, the drive wheel mechanism 13 is located below the suspension structure 12, i.e., in the direction facing the ground, so that the drive wheel mechanism 13 can contact the ground. It can also be located in other positions. Multiple drive wheel mechanisms 13 can be provided, or a single one can be provided. By providing multiple support wheels 14, the drive wheel mechanism 13 and the support wheels 14 cooperate to enable the mobile robot 10 to maintain balanced movement. For example, if only one drive wheel mechanism 13 is provided, two or more support wheels 14 can be provided, so that the support wheels 14 and the drive wheel mechanism 13 form a rotation state with at least a triangular position or a four-corner position.

[0077] The drive wheel mechanism 13 has a roller 131a driven by a motor, which enables the drive wheel mechanism 13 to move the mobile robot 10.

[0078] In this embodiment, by elastically connecting the suspension mechanism 12 to the second end 121b of the frame 11 and rotatably connecting the first end 121a, the suspension mechanism 12 can make elastic movements when encountering bumps when it moves through the drive wheel mechanism 13. At the same time, the rotatable connection enables the suspension mechanism 12 to have mobility characteristics when moving and has strong connectivity, resulting in high structural stability between the suspension mechanism 12 and the frame 11.

[0079] Please see Figure 8 In some embodiments, the suspension mechanism 12 includes a rotating connection assembly 123, which includes a mounting plate 123a, a fixed hinge support 123d, a floating hinge support 123b, and a hinge shaft 123c. The mounting plate 123a is connected to the frame 11, the floating hinge support 123b is connected to the mounting bracket 121, the fixed hinge support 123d is connected to the mounting plate 123a, and the fixed hinge support 123d and the floating hinge support 123b are rotatably connected via the hinge shaft 123c.

[0080] With the above settings, the mounting bracket 121 can rotate relative to the frame 11 via the hinge shaft 123c, allowing the mounting bracket 231 to move.

[0081] This embodiment can also have various other embodiments. It can be configured such that the hinge shaft 123c is fixedly connected to the fixed hinge support 123d, and the hinge shaft 123c is rotatably connected to the floating hinge support 123b. Alternatively, it can be configured such that the hinge shaft 123c is rotatably connected to the fixed hinge support 123d, and the hinge shaft 123c is fixedly connected to the floating hinge support 123b. Another option is to configure such that the hinge shaft 123c is rotatably connected to the fixed hinge support 123d, and the hinge shaft 123c is rotatably connected to the floating hinge support 123b.

[0082] Based on the above-mentioned various implementation methods, the function of the rotating connection component 123 can be realized, that is, the mounting bracket 121 and the frame 11 can rotate relative to each other. Other structures can also be used instead, such as bearings or hole-shaft mating structures, to achieve the rotation function.

[0083] Please see Figure 6 In some embodiments, the shock absorption assembly 122 includes a shock absorber 122a, with hinge seats 122b rotatably connected to both ends of the shock absorber 122a. One end of the shock absorber 122a is connected to the mounting bracket 121 via the hinge seat 122b, and the other end is connected to the frame 11 via the hinge seat 122b.

[0084] Furthermore, the shock absorption assembly 122 also includes a sunken base 122c, which is connected to the mounting frame 121. One of the hinge seats 122b is connected to the sunken base 122c. The sunken base 122c extends to the bottom of the mounting frame 121, thereby reducing the connection distance between the shock absorption assembly 122 and the mounting frame 121, which makes it easier to reduce the height of the mobile robot 10.

[0085] With the above settings, the shock absorber 122a can rotate relative to the mounting bracket 121 and the frame 11, and ultimately, the mounting bracket 121 can rotate relative to the frame 11, resulting in better shock absorption and movement of the suspension mechanism 12.

[0086] Furthermore, reinforcing ribs or reinforcing parts can be provided at the connection between the hinge seat 122b and the shock absorber 122a to improve the structural strength of the connection between the hinge seat 122b and the shock absorber 122a.

[0087] Please see Figure 6 In some embodiments, the damping assembly 122 has two sets, which are spaced apart at the second end 121b of the mounting bracket 121.

[0088] With the above settings, the shock absorption component 122 and the rotating connection component 123 can be set at three points to achieve stronger connection stability, making the connection between the suspension mechanism 12 and the frame 11 more stable, and the stability of the mobile robot 10 during operation is greater. The suspension mechanism 12 and the drive wheel mechanism 13 will not produce unstable shaking.

[0089] Please see Figure 7 In some embodiments, the mobile robot 10 further includes a lifting assembly 16, one end of which is connected to the mounting frame 121 and the other end of which is connected to the frame 11. The lifting assembly 16 is used to drive the mounting frame 121 to move away from the ground, so that the mounting frame 121 drives the drive wheel mechanism 13 to lift off the ground.

[0090] By setting the lifting component 16 at any position on the mounting frame 121, the suspension mechanism 12 can be lifted by the lifting component 16 when the mobile robot 10 malfunctions. When the suspension mechanism 12 is lifted, the rotating connecting component 123 and the shock-absorbing component 122 will produce a coordinated movement, that is, the suspension mechanism 12 moves upward and then stops. At this time, the part of the drive wheel mechanism 13 that is in contact with the ground will leave the ground, and then the mobile robot 10 can be pulled away by external equipment or people through the support wheel 14.

[0091] In this invention, the mobile robot 10 with lifting component 16 is configured with at least three support wheels 14. When the drive wheel mechanism 13 leaves the ground, at least three triangularly arranged support wheels 14 can maintain the overall balance of the mobile robot 10 when the drive wheel mechanism 13 is in the air.

[0092] Please see Figure 7 In some embodiments, the lifting assembly 16 includes a first fixing member 162, a screw 163, and a second fixing member 161. The first fixing member 162 is connected to the frame 11, and the second fixing member 161 is connected to the mounting bracket 121. The second fixing member 161 and the first fixing member 162 are provided with lifting holes 165 at corresponding positions. The inner wall of the lifting hole 165 on the first fixing member 162 has internal threads. The two ends of the screw 163 pass through the two lifting holes 165 respectively and protrude from the lifting holes 165. The two ends of the screw 163 have protrusions 164. The second fixing member 161 has a lifting space 166 for the protrusions 164 to rotate.

[0093] In this embodiment, the protrusion 164 at the end of the screw 163 on the side of the second fixing member 161 is disposed in the lifting space 166.

[0094] By rotating the screw 163, the screw 163 can be moved through the lifting hole 165 on the first fixing member 162. Rotating the screw 163 causes it to move upward. The protrusion 164 is in the lifting space 166. The protrusion 164 moves upward with the screw 163, and at the same time drives the second fixing member 161 to move upward. Finally, the suspension mechanism 12 and the drive wheel mechanism 13 are pulled upward and away from the ground.

[0095] This embodiment can also have various other embodiments. For example, the lifting mechanism can be configured as a combination of a power unit and its transmission mechanism, such as a motor or hydraulic cylinder, directly mounted on the frame 11 or the body of the mobile robot 10. One end of the power unit is connected to the suspension mechanism 12, directly driving the suspension mechanism 12 to move. Alternatively, the power unit can be connected to the control system of the mobile robot 10, enabling automatic control of the power unit and thus intelligent control of the lifting component 16. The transmission structure 131c may include gears 132d, ropes, synchronous belts, etc.

[0096] Please see Figure 9 and Figure 10In some embodiments, the drive wheel mechanism 13 includes a steering assembly 132 and a drive wheel set 131. The steering assembly 132 includes a guide member 132a and a first drive motor 132b. The guide member 132a is connected to the mounting frame 121, and at least a portion of the guide member 132a is rotatable relative to the mounting frame 121. The first drive motor 132b drives at least a portion of the guide member 132a to rotate. The drive wheel set 131 is disposed on the rotatable portion 132a2 of the guide member 132a, and includes rollers 131a and a second drive motor 131b. The drive wheel set 131 drives the mounting frame 121 to move.

[0097] In this embodiment, the first drive motor 132b is mounted on the rotatable portion 132a2 of the guide member 132a via an extension mounting bracket 121, and the extension mounting bracket 121 is connected to the rotatable portion 132a2 of the guide member 132a.

[0098] The first drive motor 132b drives the rotatable part 132a2 of the guide member 132a to rotate, and then the rotation of the rotatable part 132a2 of the guide member 132a drives the drive wheel set 131 to rotate, thus completing the steering function of the drive wheel set 131. The second drive motor 131b in the drive wheel set 131 drives the roller 131a to rotate, so that the drive wheel set 131 can move, and the drive wheel set 131 based on the steering component 132 can turn.

[0099] Please see Figure 6 and Figure 7 In some embodiments, the guide member 132a has a fixed part 132a1 and a rotating part 132a2. The fixed part 132a1 is connected to the mounting bracket 121, and the rotating part 132a2 can rotate relative to the fixed part 132a1. The fixed part 132a1 also has a plurality of teeth 132a3 spaced around its outer circle. The rotating part 132a2 is connected to a first drive motor 132b. The output end of the first drive motor 132b is provided with a gear 132d that matches the teeth 132a3 on the outer circle of the fixed part 132a1. The gear 132d meshes with the plurality of teeth 132a3 spaced around the outer circle of the fixed part 132a1. When the output end of the first drive motor 132b rotates, it can drive the rotating part 132a2 to rotate. The rotating part 132a2 is disposed inside the fixed part 132a1, and the contact position of the roller 131a on the ground is located on the axis of the rotating part 132a2.

[0100] Furthermore, one end of the extended mounting bracket 121 is connected to the rotating part 132a2, and the other end of the extended mounting bracket 121 extends to the outside of the fixed part 132a1. The other end of the mounting bracket 132 is provided with a mounting hole. The first drive motor 132b is connected to the mounting bracket 121, and the output end of the first drive motor 132b passes through the mounting hole and meshes with the teeth 132a3 on the outer circle of the fixed part 132a1 through the gear 132d.

[0101] When the output end of the first drive motor 132b rotates, since the fixed part 132a1 is fixed, the meshing of the gear 132d and the tooth 132a3 will cause the first drive motor 132b to rotate around the outer ring of the fixed part 132a1 based on the rotating part 132a2, so that the rotating part 132a2 can rotate. The contact position of the roller 131a on the ground is located on the axis of the rotating part 132a2, so that the roller 131a can be collinear with the axis at the contact point. When the roller 131a rotates, the contact point between the roller 131a and the ground will not deviate from the axis, resulting in excessive friction between the roller 131a and the ground, improving steering sensitivity and reducing frictional wear of the roller 131a.

[0102] The sequence numbers of the above embodiments of the present invention are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The above descriptions are only specific implementations of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automated guided vehicle having a cooperative handling device, characterized by, The application relates to a mobile robot and a material handling device mounted on the top of the mobile robot, the material handling device comprising: a chassis; a first carrying mechanism comprising a first driving mechanism and a first carrying member, the first driving mechanism being mounted on the chassis, the first carrying member being mounted on the first driving mechanism, the first driving mechanism being used for driving the first carrying member to displace along the direction of at least one axis of XYZ axes, the first carrying member comprising a first fixing plate and a first fixing member, the first fixing plate being arranged on the side of the first carrying mechanism away from the chassis, the first fixing member being arranged on the side of the first fixing plate away from the first carrying mechanism, and the side of the first fixing member away from the first fixing plate being used for lifting materials; a second carrying mechanism being mounted on the chassis and being arranged in the X-axis direction away from the first carrying mechanism, the second carrying mechanism comprising a second driving mechanism and a second carrying member, the second driving mechanism being mounted on the chassis, the second carrying member being mounted on the second driving mechanism, the second driving mechanism being used for driving the second carrying member to displace along the direction of at least one axis of XYZ axes, the first carrying member and the second carrying member being cooperated for lifting materials, the second carrying member comprising a second fixing plate and a second fixing member, the second fixing plate being arranged on the side of the second carrying mechanism away from the chassis, the second fixing member being arranged on the side of the second fixing plate away from the second carrying mechanism, and the side of the second fixing member away from the second fixing plate being used for lifting materials; a detection assembly being mounted on the first carrying mechanism and the second carrying mechanism, the detection assembly being used for detecting the position deviation of the first carrying member and the second carrying member from the materials, the detection assembly comprising a first detection assembly and a second detection assembly, the first detection assembly being arranged on the first carrying member, the second detection assembly being arranged on the second carrying member; the first detection assembly comprising a first laser range finder, a second laser range finder, a third laser range finder and a seventh laser range finder, the first laser range finder, the second laser range finder and the third laser range finder being equidistantly arranged on the first carrying member along the Y-axis direction, the seventh laser range finder being arranged opposite to the second laser range finder, and the center of the seventh laser range finder and the center of the second laser range finder being located on the same straight line; the second detection assembly comprising a fourth laser range finder, a fifth laser range finder, a sixth laser range finder and an eighth laser range finder, the fourth laser range finder, the fifth laser range finder and the sixth laser range finder being equidistantly arranged on the second carrying member along the Y-axis direction, the eighth laser range finder being arranged opposite to the fifth laser range finder, and the center of the eighth laser range finder and the center of the fifth laser range finder being located on the same straight line. The second laser range finder and the fifth laser range finder are used for measuring the distance between the laser emitting point and the surface of the rotating shaft of the machine table, so as to obtain the Z-direction deviation; the first laser range finder, the third laser range finder, the fourth laser range finder and the sixth laser range finder are used for measuring the distance between the laser emitting point and the surface of the rotating shaft of the machine table, so as to obtain the Y-direction deviation; and the seventh laser range finder and the eighth laser range finder are used for measuring the distance between the laser emitting point and the surface of the material, so as to obtain the X-direction deviation. A controller is electrically connected with the detection assembly, and is configured to control the first driving mechanism to drive the first carrier to displace and / or control the second driving mechanism to drive the second carrier to displace according to the detection result of the detection assembly, so as to align the lifting position of the first carrier and the second carrier with the material.

2. The automated guided vehicle with a cooperative carrying device according to claim 1, characterized in that, The first driving mechanism comprises a first horizontal displacement assembly, a first lifting assembly and a first side displacement assembly, the first horizontal displacement assembly is installed on the chassis, the first lifting assembly is installed on the first horizontal displacement assembly, the first side displacement assembly is installed on the first lifting assembly, the first carrier is installed on the first side displacement assembly, the first horizontal displacement assembly is configured to drive the first lifting assembly and the first side displacement assembly to move along the X-axis direction, the first lifting assembly is configured to drive the first side displacement assembly to move along the Z-axis direction, and the first side displacement assembly is configured to drive the first carrier to move along the Y-axis direction. The second driving mechanism comprises a second horizontal displacement assembly, a second lifting assembly and a second side displacement assembly, the second horizontal displacement assembly is installed on the chassis, the second lifting assembly is installed on the second horizontal displacement assembly, the second side displacement assembly is installed on the second lifting assembly, the second carrier is installed on the second side displacement assembly, the second horizontal displacement assembly is configured to drive the second lifting assembly and the second side displacement assembly to move along the X-axis direction, the second lifting assembly is configured to drive the second side displacement assembly to move along the Z-axis direction, and the second side displacement assembly is configured to drive the second carrier to move along the Y-axis direction.

3. The automated guided vehicle with a cooperative handling device according to claim 1, wherein, The mobile robot comprises: a frame provided with a support wheel; a suspension mechanism comprising a mounting rack and a damping assembly, a first end of the mounting rack being rotationally connected with the frame, and a second end of the mounting rack being elastically connected with the frame through the damping assembly; a driving wheel mechanism connected with the mounting rack and configured to drive the mounting rack and the frame to move.

4. The automated guided vehicle with a cooperative handling device according to claim 3, characterized in that, The suspension mechanism comprises a rotationally connected assembly, the rotationally connected assembly comprising a mounting plate, a fixed hinge support, a floating hinge support and a hinge shaft, the mounting plate being connected with the frame, the floating hinge support being connected with the mounting rack, the fixed hinge support being connected with the mounting plate, and the fixed hinge support and the floating hinge support being rotationally connected through the hinge shaft.

5. The automated guided vehicle with a cooperative handling device according to claim 3, wherein, The damping assembly comprises a damper, both ends of the damper are rotatably connected with a hinged seat, one end of the damper is connected with the mounting frame through the hinged seat, and the other end of the damper is connected with the frame through the hinged seat.

6. The automated guided vehicle with a cooperative handling device according to claim 3, wherein, The damping assembly has two groups, and the two groups of damping assemblies are arranged at the second end of the mounting frame.

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