Transport robot, transport box and method of transporting goods

Abstract

The application relates to a carrying robot, a carrying box and a method for carrying goods, and belongs to the technical field of logistics. The carrying robot comprises a moving chassis, a lifting mechanism and a suction platform; the lifting mechanism is fixed on the moving chassis; the suction platform is fixedly connected with a lifting piece of the lifting mechanism, and the suction platform extends relative to the moving chassis; the suction platform is configured to determine the position of goods and adsorb the goods on the bottom side. The carrying robot provided by the application comprises the suction platform, the suction platform can adsorb the goods on the bottom side, so that the goods are not prone to deformation during the carrying process, and the goods are not damaged.

Description

Technical Field

[0001] This application relates to the field of logistics technology, specifically to a handling robot, a handling box, and a method for handling goods. Background Technology

[0002] Handling robots are industrial robots that can perform automated handling operations, moving goods from an initial position to a target position, which can greatly reduce the heavy physical labor of humans.

[0003] One related technology includes a gripper-type handling robot, which comprises a mobile chassis and a robotic arm mounted on the mobile chassis. The robotic arm can grip goods and transport them to a target location via the mobile chassis.

[0004] However, when gripper robots pick up non-rigid goods, they can easily deform or even damage the goods. Summary of the Invention

[0005] This application provides a handling robot, a handling box, and a method for handling goods, which can solve the technical problems existing in related technologies. The technical solution of the handling robot, handling box, and method for handling goods is as follows:

[0006] In a first aspect, a handling robot is provided, the handling robot including a mobile chassis, a lifting mechanism and an adsorption platform;

[0007] The lifting mechanism is fixed to the mobile chassis;

[0008] The adsorption platform is fixedly connected to the lifting component of the lifting mechanism, and the adsorption platform extends relative to the mobile chassis.

[0009] The adsorption platform is configured to determine the position of the goods and adsorb them onto its bottom side.

[0010] In one possible implementation, the adsorption platform includes a connecting plate, an extension plate, at least one contact switch assembly, and at least one adsorption element;

[0011] The connecting plate is fixedly connected to the lifting component, and the lifting direction of the connecting plate is parallel to that of the lifting component;

[0012] The protruding plate is fixedly connected to the connecting plate, the protruding plate is perpendicular to the connecting plate, and extends relative to the movable chassis;

[0013] The contact switch assembly is fixed to the connecting plate and is located on the same side of the connecting plate as the protruding plate. The contact switch assembly is lower than the protruding plate and is configured to determine the position of the goods.

[0014] The adsorption element is fixed to the bottom side of the protruding plate, and the adsorption element is configured to adsorb goods.

[0015] In one possible implementation, the contact switch assembly includes a bracket, a support shaft, a pulley, and a strain gauge;

[0016] The bracket is fixedly connected to the connecting plate;

[0017] The support shaft is fixed to the bracket, and the axial direction of the support shaft is parallel to the connecting plate;

[0018] The pulley ring is fitted on the support shaft and is rotatable relative to the support shaft;

[0019] The strain gauge is fixed on the support shaft and located between the support shaft and the pulley.

[0020] In one possible implementation, there are multiple contact switch assemblies;

[0021] The plurality of contact switch assemblies are configured to determine that the posture of the cargo matches the posture of the handling robot when all of them are detected to be in contact with the cargo.

[0022] In one possible implementation, the adsorption element is an electromagnet, which is configured to adsorb goods when energized.

[0023] In one possible implementation, the adsorption element is columnar, and the axial direction of the adsorption element is perpendicular to the protruding plate;

[0024] The adsorption element is configured to mate with a groove on the top wall of the cargo and, when energized, adsorb a magnetic element at the bottom of the groove.

[0025] In one possible implementation, the adsorption element is a vacuum suction cup, which is configured to adsorb goods under vacuum conditions.

[0026] In one possible implementation, the mobile chassis has omnidirectional mobility.

[0027] In one possible implementation, the mobile chassis includes a chassis body and a plurality of Mecanum wheels;

[0028] The plurality of Mecanum wheels are rotatably connected to the chassis body.

[0029] Secondly, a transport box is provided, the transport box including a box body and at least one magnetic component;

[0030] The top wall of the housing has at least one groove, which is configured to dock with an electromagnet of the adsorption platform of the handling robot.

[0031] The at least one magnetic element is fixedly connected to the housing and is located at the bottom of the at least one groove. The magnetic element is configured to be attracted by the electromagnet.

[0032] In one possible implementation, the top wall has a square plate-like structure, and there are multiple grooves and magnetic elements;

[0033] The multiple grooves are distributed in a rotationally symmetrical manner on the top wall with a rotation angle of 90°, so that the electromagnet of the transport robot can dock with the corresponding groove when the transport robot is located on any side of the box.

[0034] Thirdly, a method for transporting goods is provided, the method being applied in a transport robot as described in any of the first aspects, the method comprising:

[0035] The position of the goods is detected by an adsorption platform, and the adsorption platform is moved to the adsorption position corresponding to the goods by a mobile chassis.

[0036] The goods are adsorbed by the bottom side of the adsorption platform;

[0037] The suction platform is raised by the lifting mechanism, and the goods are moved to the target position by the mobile chassis.

[0038] The cargo is released via the adsorption platform.

[0039] In one possible implementation, when the adsorption platform includes multiple contact switch assemblies, the step of detecting the position of the goods through the adsorption platform and moving the adsorption platform to the adsorption position corresponding to the goods via a moving chassis includes:

[0040] The mobile chassis drives the adsorption platform to move until all of the multiple contact switch assemblies detect contact with the goods.

[0041] In one possible implementation, when the adsorption platform includes a magnetic adsorption element, after all the plurality of contact switch assemblies detect contact with the cargo, the method further includes:

[0042] While keeping all the multiple contact switch assemblies in contact with the goods, the movable chassis drives the adsorption platform to continue moving until the adsorption element is aligned with the groove on the top wall of the goods, so that the adsorption element adsorbs the magnetic element in the groove.

[0043] In one possible implementation, when the goods are a transport container, controlling the mobile chassis to continue moving the suction platform while keeping all the plurality of contact switch assemblies in contact with the goods includes:

[0044] The mobile chassis drives the adsorption platform to continue moving along a direction parallel to the first sidewall of the transport box, which is the sidewall that is in contact with all of the plurality of contact switch assemblies.

[0045] The technical solutions provided by the embodiments of this application have at least the following beneficial effects:

[0046] This application provides a handling robot that includes an adsorption platform, allowing the robot to adsorb goods onto the bottom side of the platform when needed. Since the robot does not need to grip the goods, they are less prone to deformation or damage.

[0047] In addition, the adsorption platform provided in this application embodiment can also determine the position of the goods, thereby facilitating the accurate adsorption of goods by the handling robot.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. In the drawings:

[0050] Figure 1 This is a schematic diagram of a handling robot shown in an embodiment of this application;

[0051] Figure 2 This is a schematic diagram of an adsorption platform shown in an embodiment of this application;

[0052] Figure 3 This is a schematic diagram of a contact switch assembly shown in an embodiment of this application;

[0053] Figure 4 This is a schematic diagram of a contact switch assembly shown in an embodiment of this application;

[0054] Figure 5 This is a schematic diagram illustrating an adsorption platform for adsorbing goods, as shown in an embodiment of this application;

[0055] Figure 6 This is a schematic diagram illustrating a mobile chassis according to an embodiment of this application;

[0056] Figure 7This is a schematic diagram of a Mecanum wheel shown in an embodiment of this application;

[0057] Figure 8 This is a schematic diagram of a lead screw and nut type lifting mechanism shown in an embodiment of this application;

[0058] Figure 9 This is a schematic diagram of a scissor lift mechanism shown in an embodiment of this application;

[0059] Figure 10 This is a schematic diagram of a transport box shown in an embodiment of this application;

[0060] Figure 11 This is a flowchart illustrating a method for transporting goods according to an embodiment of this application.

[0061] Legend

[0062] 11. Mobile chassis;

[0063] 111. Chassis main body; 1111. First floor plate; 1112. Second floor plate; 1113. Controller; 1114. Power supply; 1115. Counterweight; 112. Mecanum wheel.

[0064] 12. Lifting mechanism; 120. Lifting component;

[0065] 121a, Lifting fixed seat; 122a, Support component; 123a, Lifting motor; 124a, First driving synchronous pulley; 125a, First synchronous belt; 126a, First driven synchronous pulley; 127a, First lead screw; 128a, First slide rail; 1201, First nut; 1202, First slider.

[0066] 121b, Fixed bearing housing; 122b, Sliding bearing housing; 123b, Scissor lift assembly; 124b, Second slide rail; 125b, Second slider; 126b, Scissor lift motor; 127b, Second driving synchronous pulley; 128b, Second synchronous belt; 129b, Second driven synchronous pulley; 1210b, Second lead screw; 1211b, Second nut; 1212b, Nut connector;

[0067] 13. Adsorption platform;

[0068] 131. Connecting plate; 132. Extending plate; 133. Contact switch assembly; 1331. Bracket; 1332. Support shaft; 1333. Pulley; 1334. Strain gauge; 134. Adsorption element; 135. Connecting element.

[0069] 21. Box body; 210. Top wall; 211. Groove;

[0070] 22. Magnetic components.

[0071] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0073] This application provides a handling robot, such as... Figure 1 As shown, the handling robot includes a mobile chassis 11, a lifting mechanism 12, and a suction platform 13. The lifting mechanism 12 is fixed to the mobile chassis 11. The suction platform 13 is fixedly connected to the lifting component 120 of the lifting mechanism 12, and the suction platform 13 extends relative to the mobile chassis 11. The suction platform 13 is configured to determine the position of the goods and suction the goods to its underside.

[0074] The mobile chassis 11 is used to move the entire handling robot. To improve the efficiency of the handling robot in acquiring goods, in one possible implementation, the mobile chassis 11 can have omnidirectional mobility.

[0075] The lifting mechanism 12 is used to raise and lower the suction platform 13. When the handling robot picks up goods, the lifting mechanism 12 lowers the suction platform 13, bringing it close to or in contact with the goods, ensuring that the suction platform 13 can properly absorb the goods. During the movement of goods by the handling robot, the lifting mechanism 12 keeps the suction platform 13 in an elevated state, thereby preventing the goods from colliding with the ground. When the handling robot releases goods, the lifting mechanism 12 lowers the suction platform 13, thereby preventing the goods from being damaged by falling. The lifting component 120 refers to the lifting part of the lifting mechanism 12, which can be raised or lowered. For example, it can be the nut in a screw-nut type lifting mechanism or the lifting platform in a scissor-type lifting mechanism.

[0076] The adsorption platform 13 is used to adsorb goods. This application embodiment does not limit the principle of the adsorption platform 13 in adsorbing goods; for example, the adsorption platform 13 can be a magnetic platform or a suction cup platform. In addition, the adsorption platform 13 can also determine the position of the goods. For example, the adsorption platform 13 may include a contact switch assembly 133, so that the adsorption platform 13 can determine the position of the goods by contacting them. The adsorption platform 13 extends relative to the movable chassis 11; exemplaryly, it may extend relative to the front or rear end of the movable chassis 11.

[0077] The process of the handling robot providing this embodiment of the application handling goods can be described as follows:

[0078] Based on the position detection of the goods by the suction platform 13, the mobile chassis 11 moves the suction platform 13 to the corresponding suction position of the goods and controls the suction platform 13 to suction the goods. Then, the lifting mechanism 12 lifts the suction platform 13 and transports the goods to the target position via the mobile chassis 11. Next, the lifting mechanism 12 lowers the suction platform 13 and controls the suction platform 13 to release the goods, thus the goods are transported to the target position, and the entire transportation process is completed.

[0079] The handling robot provided in this embodiment has a simple structure. It uses an adsorption platform 13 to adsorb goods, making the acquisition and release of goods more convenient and faster. Furthermore, the adsorption-based handling method avoids damage to the object's shape caused by improper clamping. In addition, the adsorption platform 13 can determine the position of the goods, thereby facilitating the handling robot to accurately and quickly adsorb them.

[0080] The handling robot provided in this application is particularly suitable for handling goods in light environments, but is not limited thereto.

[0081] This application does not limit the implementation method of the adsorption platform 13 adsorbing goods and determining the position of the goods. Below, several possible implementation methods of the adsorption platform 13 are provided:

[0082] like Figure 2 As shown, the adsorption platform 13 includes a connecting plate 131, an extension plate 132, at least one contact switch assembly 133, and at least one adsorption element 134. The connecting plate 131 is fixedly connected to the lifting member 120, and the lifting directions of the connecting plate 131 and the lifting member 120 are parallel. The extension plate 132 is fixedly connected to the connecting plate 131, perpendicular to the connecting plate 131, and extends relative to the movable chassis 11. The contact switch assembly 133 is fixed to the connecting plate 131 and located on the same side of the connecting plate 131 as the extension plate 132. The contact switch assembly 133 is lower than the extension plate 132 and is configured to determine the position of the goods. The adsorption element 134 is fixed to the bottom side of the extension plate 132 and is configured to adsorb the goods.

[0083] The upper side of the connecting plate 131 can be fixedly connected to one side of the protruding plate 132. In order to make the connecting plate 131 and the protruding plate 132 more stable, a connector 135 can be provided between the connecting plate 131 and the protruding plate 132 to enhance the fixed connection between the connecting plate 131 and the protruding plate 132.

[0084] The contact switch assembly 133 is located on the side of the connecting plate 131 away from the lifting mechanism 12. The contact switch assembly 133 can detect the position of the goods by contacting them. For example, there can be multiple contact switch assemblies 133.

[0085] The specific structure of the contact switch assembly 133 is not limited in the embodiments of this application. For example, as shown... Figure 3 and Figure 4 As shown, the contact switch assembly 133 includes a bracket 1331, a support shaft 1332, a pulley 1333, and a strain gauge 1334.

[0086] The bracket 1331 is fixedly connected to the connecting plate 131. The support shaft 1332 is fixed to the bracket 1331, and the axis of the support shaft 1332 is parallel to the connecting plate 131. The pulley 1333 is looped around the support shaft 1332 and can rotate relative to the support shaft 1332. The strain gauge 1334 is fixed to the support shaft 1332 and is located between the support shaft 1332 and the pulley 1333.

[0087] When pulley 1333 contacts the cargo, under the reaction force of the cargo, pulley 1333 presses against support shaft 1332. Strain gauge 1334 detects the pressure, confirming that contact switch assembly 133 is in contact with the cargo. Strain gauge 1334 can be electrically connected to the controller of the handling robot, thereby transmitting pressure signals to the controller. Additionally, contact switch assembly 133 serves as a vertical positioning fulcrum when adsorbing the transport box and can reduce the shaking of the transport box during the robot's acceleration.

[0088] The axis of the support shaft 1332 can be parallel to the extension plate 132, so that when the adsorption platform 13 moves up and down close to the side wall of the goods, the pulley 1333 can rotate, reducing the friction between the platform and the goods.

[0089] The axis of the support shaft 1332 can also be perpendicular to the extension plate 132, so that when the adsorption platform 13 moves left and right against the side wall of the goods, the pulley 1333 can rotate, reducing the friction between the platform and the goods.

[0090] like Figure 5 As shown, there can be multiple contact switch assemblies 133. These multiple contact switch assemblies 133 are configured to determine that the orientation of the goods matches the orientation of the handling robot when all are detected to be in contact with the goods. That is, the adsorption platform 13 is configured to detect the orientation of the goods.

[0091] For example, such as Figure 5 As shown, the cargo is a transport box, and there are two contact switch assemblies 133. When both contact switch assemblies 133 detect contact with the transport box, it can be determined that the connecting plate 131 is parallel to the side wall of the transport box (which is in contact with the contact switch assembly 133). This state can be referred to as the cargo's posture matching the posture of the transport robot.

[0092] In addition, the two contact switch assemblies 133 can be located at the two edges of the connecting plate 131, and the width of the connecting plate 131 can be approximately equal to the width of the transport box. In this way, when both contact switch assemblies 133 detect contact with the transport box, most of the protruding plate 132 can be opposite to the top wall 210 of the transport box, thereby ensuring that the adsorption member 134 is opposite to the top wall 210 of the transport box and improving the stability of adsorption.

[0093] The adsorption element 134 is located on the bottom side of the protruding plate 132 and is used to adsorb goods. The implementation method of adsorbing goods by the adsorption element 134 is not specifically limited in this application embodiment. For example, the adsorption element 134 can be an electromagnet or a vacuum suction cup.

[0094] When the adsorption element 134 is an electromagnet, it is configured to adsorb goods when energized and to release goods when de-energized. In this case, the portion of the goods corresponding to the adsorption element 134 should have a magnetic element 22 for adsorption by the adsorption element 134.

[0095] To ensure that the adsorption platform 13 can more stably adsorb goods, such as Figure 5 As shown, the adsorption member 134 is columnar, and the axial direction of the adsorption member 134 is perpendicular to the protruding plate 132. The adsorption member 134 is configured to mate with the groove 211 of the top wall 210 of the cargo, and adsorbs the magnetic member 22 at the bottom of the groove 211 when energized.

[0096] like Figure 5 As shown, taking a transport box as an example, the top wall 210 of the transport box has a groove 211, and the bottom of the groove has a magnetic element 22. The adsorption element 134 can extend into the interior of the groove 211 and quickly connect with the magnetic element 22 to improve the adsorption speed. Furthermore, the cooperation between the groove 211 and the columnar adsorption element 134 can also reduce the shaking of the transport box during transport.

[0097] Below, taking the goods being transported as a transport box as an example, combined with... Figure 5 The process of a handling robot acquiring goods is explained below:

[0098] First, control the mobile chassis 11 to move until multiple contact switch assemblies 133 detect contact with the first side wall of the transport box. At this point, it can be determined that the posture of the transport box and the transport robot is matched, that is, the connecting plate 131 is parallel to the first side wall of the transport box.

[0099] Then, the mobile chassis 11 is controlled to move along the direction parallel to the first side wall of the transport box. When the adsorption component 134 (magnetic component is energized) is aligned with the groove 211 (or the difference is very small), the magnetic component 22 and the adsorption component 134 will automatically adsorb together, realizing the rapid acquisition of goods by the adsorption platform 13.

[0100] Therefore, the handling robot provided in this application embodiment can achieve precise control of the robot's posture matching with the goods through the contact switch assembly 133. By fine-tuning the movable chassis 11, the adsorption component 134 and the magnetic component 22 can be quickly aligned, enabling precise acquisition of the goods.

[0101] When the adsorption element 134 is a vacuum suction cup, the adsorption element 134 is configured to adsorb goods under vacuum conditions and release goods under non-vacuum conditions.

[0102] It is understood that the vacuum state in this embodiment does not refer to a complete vacuum state, but rather to a state where the gas concentration is below a certain threshold. A vacuum pumping device corresponding to a vacuum suction cup may be provided on the mobile chassis 11.

[0103] To enable the handling robot to acquire goods more quickly, the mobile chassis 11 can have omnidirectional mobility. The specific implementation of the omnidirectional mobility of the mobile chassis 11 is not limited in the embodiments of this application.

[0104] For example, such as Figure 6 As shown, the mobile chassis 11 includes a chassis body 111 and a plurality of Mecanum wheels 112. The plurality of Mecanum wheels 112 are rotatably connected to the chassis body 111. The Mecanum wheels 112 can be... Figure 7 As shown.

[0105] Multiple Mecanum wheels 112 can all be drive wheels, each with a corresponding motor as a power source. This application embodiment does not limit the number of Mecanum wheels 112; for example, four Mecanum wheels 112 are distributed at the four corners of the chassis body 11. In this case, the mobile chassis 11 is a four-wheel drive chassis.

[0106] The specific structure of the chassis body 111 is not limited in this application embodiment. For example, Figure 6 As shown, the chassis body 111 includes a first base plate 1111, a second base plate 1112, a controller 1113, a power supply 1114, and a counterweight 1115.

[0107] A first-layer base plate 1111 is located above and fixedly connected to a second-layer base plate 1112. Mecanum wheels 112 are rotatably connected to both the first-layer base plate 1111 and the second-layer base plate 1112. A controller 1113 and a power supply 1114 are fixed to the second-layer base plate 1112. The controller 1113 can be electrically connected to the power supply 1114 and the motor of the lifting mechanism 12. The power supply 1114 is electrically connected to the motor of the lifting mechanism 12 and the electromagnet in the adsorption platform 13. A counterweight 1115 is fixed between the first-layer base plate 1111 and the second-layer base plate 1112, away from the adsorption platform 13, and is used to adjust the center of gravity of the mobile chassis 11 to prevent it from tipping over due to excessive weight during transport.

[0108] The lifting mechanism 12 is used to drive the lifting of the adsorption platform 13. The lifting mechanism 12 can be implemented in various ways, and this application embodiment does not impose a specific limitation. To better understand this application, several possible implementation methods are provided below:

[0109] like Figure 8 As shown, a lead screw and nut type lifting mechanism is illustrated. The lifting mechanism 12 includes a lifting fixed seat 121a, a support member 122a, a lifting motor 123a, a first driving synchronous pulley 124a, a first synchronous belt 125a, a first driven synchronous pulley 126a, a first lead screw 127a, a first slide rail 128a, and a lifting member 120. The lifting member 120 includes a first nut 1201 and a first slider 1202.

[0110] The lifting and fixing base 121a is fixedly connected to the mobile chassis 11. One end of the support member 122a is fixedly connected to the lifting and fixing base 121a, and the other end is fixedly connected to the mobile chassis 11, thereby making the lifting and fixing base 121a more stable on the mobile chassis 11. There can be two support members 122a.

[0111] The first lead screw 127a is vertically arranged and rotatably connected to the lifting fixed base 121a. A first nut 1201 is sleeved on the first lead screw 127a. A first slide rail 128a is fixed on the lifting fixed base 121a and parallel to the first lead screw 127a. There can be two first slide rails 128a, arranged parallel to each other on both sides of the lifting fixed base 121a. The first sliders 1202 are divided into two groups, each group of first sliders 1202 being slidably connected to one first slide rail 128a. For example, each group of first sliders 1202 includes two first sliders 1202. Furthermore, the first nut 1201 is fixedly connected to the first slider 1202. Thus, the first slider 1202 restricts the rotation of the first nut 1201, causing the first nut 1201 to rise and fall along the first lead screw 127a when the first lead screw 127a rotates, thereby driving the first slider 1202 to rise and fall.

[0112] The lifting motor 123a is the power source for the lifting mechanism 12 and is fixed on the mobile chassis 11. The first driving synchronous pulley 124a is sleeved on the output shaft of the lifting motor 123a, and the first driven synchronous pulley 126a is sleeved on the first lead screw 127a. The first driving synchronous pulley 124a and the first driven synchronous pulley 126a are connected by a first synchronous belt 125a.

[0113] The extension platform 13 is fixedly connected to the lifting member 120. For example, the extension platform 13 may be fixedly connected to the first slider 1202.

[0114] When the lead screw and nut type lifting mechanism is working, the lifting motor 123a drives the first lead screw 127a to rotate through the first driving synchronous pulley 124a, the first synchronous belt 125a, and the first driven synchronous pulley 126a. Simultaneously, the rotation of the first lead screw 127a drives the first nut 1201 to rise and fall. The first nut 1201 drives the first slider 1202 to rise and fall, and the first slider 1202, in turn, drives the suction platform 13 to rise and fall.

[0115] like Figure 9 As shown, a scissor lift mechanism 12 is illustrated. The lifting mechanism 12 includes a fixed bearing seat 121b, a sliding bearing seat 122b, a scissor lever assembly 123b, a second slide rail 124b, a second slider 125b, a scissor motor 126b, a second driving synchronous pulley 127b, a second synchronous belt 128b, a second driven synchronous pulley 129b, a second lead screw 1210b, a second nut 1211b, a nut connector 1212b, and a flat lifting member 120.

[0116] When the scissor lift mechanism is working, the scissor motor 126b drives the second lead screw 1210b to rotate through the second driving synchronous pulley 127b, the second synchronous belt 128b, and the second driven synchronous pulley 129b. The second lead screw 1210b drives the second nut 1211b to move along the second lead screw 1210b. The second nut 1211b drives the sliding bearing seat 122b to move toward or away from the fixed bearing seat 121b through the nut connector 1212b. At the same time, the rods in the scissor rod assembly 123b rotate with each other. The scissor rod assembly 123b drives the lifting component 120 to rise and fall. The lifting platform 120 can then drive the suction platform 13 to rise and fall.

[0117] This application also provides a transport box, such as... Figure 10 As shown, the transport box includes a box body 21 and at least one magnetic element 22. The top wall 210 of the box body 21 has at least one groove 211, which is configured to dock with the electromagnet of the adsorption platform 13 of the transport robot. At least one magnetic element 22 is fixedly connected to the box body 21 and is located at the bottom of at least one groove 211. The magnetic element 22 is configured to be attracted by a powered magnet.

[0118] The magnetic component 22 can be any component that can be attracted by an electromagnet, such as an electromagnet, a permanent magnet, or an iron component.

[0119] The transport box provided in this embodiment can be used in conjunction with the transport robot described above. When using the transport box, the adsorption component 134 (electromagnet) in the adsorption platform 13 can adsorb the transport box to the bottom side of the adsorption platform 13 through the adsorption magnetic component 22, and carry the transport box to the target position. Then, at the target position, the adsorption platform 13 is controlled to release the transport box.

[0120] Furthermore, the docking of the groove 211 and the adsorption member 134 can reduce the relative shaking of the transport box and the adsorption platform 13 during the transport process, thereby better leveraging the advantages of the transport robot provided in this application embodiment and improving the reliability of the transport.

[0121] like Figure 10 As shown, the top wall 210 can have a square plate-like structure, with multiple grooves 211 and magnetic elements 22. The multiple grooves 211 are distributed in a rotationally symmetrical manner on the top wall 210, with a rotation angle of 90°.

[0122] Therefore, the transport robot can be positioned on either side of the box 21, and its electromagnet can dock with the corresponding groove 211, making it more convenient and faster for the transport robot to acquire the transport box and improving transport efficiency.

[0123] For example, the transport box has four recesses 211 and four magnetic elements 22.

[0124] This application also provides a method for transporting goods, which is applied to the transport robot provided in this application embodiment, such as... Figure 11 As shown below, the processing flow of this method will be described in detail with reference to specific implementation methods. The content can be as follows:

[0125] Step 101: The position of the goods is detected by the adsorption platform 13, and the adsorption platform 13 is moved to the adsorption position corresponding to the goods by the mobile chassis 11.

[0126] In the scheme shown in this embodiment, the cargo position detection process and the movement process of the handling robot are not executed sequentially, but synchronously. That is, while the mobile chassis 11 is moving, the adsorption platform 13 detects the position of the cargo, and the mobile chassis 11 can adjust its movement direction in real time based on the data fed back by the adsorption platform 13.

[0127] When the adsorption platform 13 includes multiple contact switch assemblies 133, the process of step 101 can be to move the adsorption platform 13 by moving the chassis 11 until all multiple contact switch assemblies 133 detect contact with the goods.

[0128] In addition, when the adsorption component 134 included in the adsorption platform 13 is a magnetic component, while keeping multiple contact switch components 133 in contact with the goods, the moving chassis 11 can be controlled to drive the adsorption platform 13 to continue moving until the adsorption component 134 is opposite to the groove 211 of the top wall 210 of the goods, so that the adsorption component 134 adsorbs the magnetic component 22 in the groove 211.

[0129] For example, such as Figure 5 As shown, taking the goods as a handling box as an example, step 101 will be explained as follows:

[0130] First, control the mobile chassis 11 to move until multiple contact switch assemblies 133 detect contact with the first side wall of the transport box. At this point, it can be determined that the posture of the transport box and the transport robot is matched, that is, the connecting plate 131 is parallel to the first side wall of the transport box.

[0131] Then, by moving the chassis 11, the adsorption platform 13 continues to move along a direction parallel to the first sidewall until the adsorption member 134 (in an energized state) is opposite to (or very close to) the groove 211, so that the adsorption member 134 adsorbs the magnetic element in the groove 211.

[0132] It should be noted that after multiple contact switch assemblies 133 have detected contact with the goods, the goods can still be directly adsorbed. For example, this can be done when the adsorption element 134 is a vacuum suction cup.

[0133] Step 102: Adsorb the cargo by adsorbing it from the bottom side of the adsorption platform 13.

[0134] The solutions shown in this application, for magnetic platforms, involve energizing the adsorption element 134 and bringing it close to the goods to adsorb them. For suction cup platforms, the adsorption element 134 is brought into contact with the goods, and the adsorption element 134 is evacuated to a vacuum state to adsorb the goods.

[0135] In addition, if the adsorption platform 13 is kept in the raised state, the adsorption platform 13 should be lowered first by the lifting mechanism 12, and then the goods should be adsorbed by the adsorption platform 13.

[0136] Step 103: The suction platform 13 is raised by the lifting mechanism 12, and the goods are moved to the target position by the mobile chassis 11.

[0137] In the embodiment of this application, after the adsorption platform 13 adsorbs the goods, the lifting mechanism 12 first raises the adsorption platform 13 to prevent the goods from colliding with or rubbing against the bottom surface during transportation. Then, the movable chassis 11 moves the goods from the initial position to the target position.

[0138] Step 104: Release the cargo via the adsorption platform 13.

[0139] The solutions shown in this application, for magnetic platforms, release the goods by de-energizing the adsorption member 134. For suction cup platforms, release the goods by releasing the vacuum state of the adsorption member 134.

[0140] Alternatively, the suction platform 13 can be lowered first via the lifting mechanism 12, and the goods can be released after they have come into contact with the ground, thus preventing the goods from being damaged by falling from a height.

[0141] Unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," etc., used in the embodiments of this application and the claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, words such as "comprising" indicate that the elements or objects preceding "comprising" cover the elements or objects listed after "comprising" and their equivalents, but do not exclude other elements or objects. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0142] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A transport robot, characterized in that, The transport robot includes a mobile chassis (11), a lifting mechanism (12), and an adsorption platform (13). The lifting mechanism (12) is fixed on the mobile chassis (11); The adsorption platform (13) is fixedly connected to the lifting component (120) of the lifting mechanism (12), and the adsorption platform (13) extends relative to the mobile chassis (11); The adsorption platform (13) is configured to determine the position of the goods and adsorb the goods onto its bottom side; The adsorption platform (13) includes a connecting plate (131) and at least one contact switch assembly (133), wherein the connecting plate (131) is fixedly connected to the lifting member (120); The contact switch assembly (133) includes a bracket (1331), a support shaft (1332), a pulley (1333), and a strain gauge (1334). The bracket (1331) is fixedly connected to the connecting plate (131); The support shaft (1332) is fixed on the bracket (1331), and the axial direction of the support shaft (1332) is parallel to the connecting plate (131); The pulley (1333) is looped around the support shaft (1332) and is rotatable relative to the support shaft (1332); The strain gauge (1334) is fixed on the support shaft (1332) and located between the support shaft (1332) and the pulley (1333).

2. The handling robot according to claim 1, characterized in that, The adsorption platform (13) also includes an extension plate (132) and at least one adsorption element (134). The connecting plate (131) is parallel to the lifting direction of the lifting component (120); the extending plate (132) is fixedly connected to the connecting plate (131), the extending plate (132) is perpendicular to the connecting plate (131), and extends relative to the movable chassis (11); The contact switch assembly (133) is fixed on the connecting plate (131) and is located on the same side of the connecting plate (131) as the protruding plate (132). The contact switch assembly (133) is lower than the protruding plate (132). The contact switch assembly (133) is configured to determine the position of the goods. The adsorption element (134) is fixed to the bottom side of the protruding plate (132), and the adsorption element (134) is configured to adsorb goods.

3. The handling robot according to claim 2, characterized in that, The contact switch assembly (133) comprises multiple components; The plurality of contact switch assemblies (133) are configured to determine that the posture of the cargo matches the posture of the handling robot when all of them are detected to be in contact with the cargo.

4. The handling robot according to claim 2, characterized in that, The adsorption element (134) is an electromagnet, and the adsorption element (134) is configured to adsorb goods when energized.

5. The handling robot according to claim 4, characterized in that, The adsorption element (134) is columnar, and the axial direction of the adsorption element (134) is perpendicular to the protruding plate (132); The adsorption element (134) is configured to engage with a groove (211) on the top wall (210) of the cargo and adsorb a magnetic element (22) at the bottom of the groove (211) when energized.

6. The handling robot according to claim 2, characterized in that, The adsorption element (134) is a vacuum suction cup, and the adsorption element (134) is configured to adsorb goods under vacuum.

7. The handling robot according to any one of claims 2-6, characterized in that, The mobile chassis (11) has omnidirectional mobility.

8. The handling robot according to claim 7, characterized in that, The mobile chassis (11) includes a chassis body (111) and a plurality of Mecanum wheels (112). The plurality of Mecanum wheels (112) are rotatably connected to the chassis body (111).

9. A method for transporting goods, characterized in that, The method is applied to the handling robot as described in any one of claims 1 to 8, and the method includes: The position of the goods is detected by the adsorption platform (13), and the adsorption platform (13) is moved to the adsorption position corresponding to the goods by the moving chassis (11). The goods are adsorbed by the bottom side of the adsorption platform (13); The suction platform (13) is raised by the lifting mechanism (12), and the goods are moved to the target position by the mobile chassis (11). The cargo is released via the adsorption platform (13).

10. The method according to claim 9, characterized in that, When the adsorption platform (13) includes multiple contact switch assemblies (133), the step of detecting the position of the goods through the adsorption platform (13) and moving the adsorption platform (13) to the adsorption position corresponding to the goods through the moving chassis (11) includes: The mobile chassis (11) drives the adsorption platform (13) to move until all of the multiple contact switch assemblies (133) detect contact with the cargo.

11. The method according to claim 10, characterized in that, When the adsorption element (134) included in the adsorption platform (13) is a magnetic element, after all the plurality of contact switch assemblies (133) have detected contact with the goods, the method further includes: While keeping all the multiple contact switch assemblies (133) in contact with the cargo, the adsorption platform (13) is driven by the moving chassis (11) to continue moving until the adsorption member (134) is opposite to the groove (211) of the top wall (210) of the cargo, so that the adsorption member (134) adsorbs the magnetic member (22) in the groove (211).

12. The method according to claim 11, characterized in that, When the goods are transport boxes, controlling the mobile chassis (11) to drive the adsorption platform (13) to continue moving while keeping all the plurality of contact switch assemblies (133) in contact with the goods includes: The mobile chassis (11) drives the adsorption platform (13) to continue moving along a direction parallel to the first side wall of the transport box, the first side wall being the side wall that is in contact with all of the plurality of contact switch assemblies (133).

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