A robot lifting and transporting method and device

Abstract

The present application discloses a robot lifting and transportation method and device, which is used to solve the technical problem that the existing cargo transport robot has no cargo protection measures during cargo transportation. The method includes: the robot's driving lifting structure descends, driving the robot's lifting platform to descend, so as to load the cargo; after the cargo is loaded, the robot's magnetic lock is attracted to the cargo to provide preliminary protection for the cargo; the robot's driving lifting structure rises, driving the robot's lifting platform to rise to the transportation height, and the robot's mechanical fixing structure is telescopically adjusted according to the size of the cargo to reinforce and protect the cargo.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a robot lifting and transportation method and device. Background Art

[0002] As the demographic dividend disappears, more and more robots are beginning to participate in cargo loading and unloading work.

[0003] However, most of the existing robots involved in loading and unloading goods are controlled uniformly through the background to move goods from one location to another. There are no measures to protect the goods during transportation, which leads to the goods often falling off due to factors such as bumpy roads. Summary of the invention

[0004] The embodiments of the present application provide a robot lifting and transportation method and device to solve the technical problem that the existing cargo transportation robots have no cargo protection measures during the cargo transportation process.

[0005] On the one hand, an embodiment of the present application provides a robot lifting method, which includes: the robot's driving lifting structure descends, driving the robot's lifting platform to descend to load cargo; after the cargo loading is completed, the robot's magnetic lock is attracted to the cargo to provide preliminary protection for the cargo; the robot's driving lifting structure rises, driving the robot's lifting platform to rise to the transportation height, and the robot's mechanical fixing structure is telescopically adjusted according to the size of the cargo to provide enhanced protection for the cargo.

[0006] In one or more embodiments of the present application specification, after the driving lifting structure of the robot descends, driving the lifting platform of the robot to descend, the method further includes: the alignment unit of the robot performs an alignment operation on the cargo and the lifting platform.

[0007] In one or more embodiments of the present application specification, the method further includes: after the robot transports the cargo to a preset position, the magnetic lock of the robot opens; the driving lifting structure of the robot descends, driving the lifting platform of the robot to descend, so as to realize cargo unloading.

[0008] On the other hand, an embodiment of the present application also provides a robot jacking and transportation device, which includes: a jacking platform, a driving lifting structure, a mechanical fixing structure and a magnetic lock; wherein the magnetic lock is arranged on both sides of the jacking platform and is on the same horizontal plane as the jacking platform, and is used to attract goods; the mechanical fixing structure and the driving lifting structure are both arranged below the jacking platform.

[0009] In one or more embodiments of the present application specification, the driving lifting structure includes: a lifting rod, a guide rod and a first fixed plate; the lifting rod is arranged directly below the first fixed plate, and the guide rod is arranged on both sides below the first fixed plate; the lifting rod is used to provide an up and down driving force, and the guide rod is used to move up and down under the drive of the lifting rod, thereby driving the first fixed plate to move up and down.

[0010] In one or more embodiments of the present application, the jacking platform is fixedly connected to the first fixing plate.

[0011] In one or more embodiments of the present application, the lifting rod is an electric push rod or a hydraulic rod.

[0012] In one or more embodiments of the present application specification, the mechanical fixing structure includes: a locking plate, a sliding rail, a pull rod, a guide rail fixing plate and a second fixing plate; the guide rail fixing plate is fixedly connected to the jacking platform, and the sliding rail is arranged under the guide rail fixing plate; the pull rod is connected to the sliding rail and is also connected to the second fixing plate; the locking plate is connected to the sliding rail.

[0013] In one or more embodiments of the present application, when the lifting platform rises, it drives the pull rod to move upward, and then pushes the locking plate to extend left and right through the slide rail.

[0014] In one or more embodiments of the present application, the magnetic lock has suction force when powered on.

[0015] A robot lifting and transportation method and device provided in the embodiment of the present application protects the goods transported by the robot by arranging a mechanical fixing structure and a magnetic lock on the robot to prevent the goods from falling off during transportation. At the same time, the method and device can be widely used in distribution scenarios in industries such as coal mines, tunnels, subways, electricity, and industrial parks. The product has high universality, strong safety and reliability, can significantly improve the intelligence and automation of robot logistics distribution, and is suitable for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 1 A flow chart of a robot lifting and transportation method provided in an embodiment of the present application;

[0018] Figure 2 A structural diagram of a robot lifting and transporting device provided in an embodiment of the present application;

[0019] Figure 3 A driving lifting structure diagram provided in an embodiment of the present application;

[0020] Figure 4 A mechanical fixing structure diagram provided for an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0022] The technical solution proposed in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0023] Figure 1 A flow chart of a robot lifting and transportation method provided in an embodiment of the present application. Figure 1 As shown, the lifting method provided in the embodiment of the present application at least includes the following execution steps:

[0024] Step 101: The driving lifting structure of the robot descends, driving the lifting platform to descend for cargo loading.

[0025] The robot lifting transportation method refers to a method of transporting goods through the robot's lifting platform. The so-called robot's lifting platform refers to the platform on which the robot loads and transports goods. The method is based on the robot's lifting device. The specific structure of the device can be found in Figure 2-4 The related description will not be repeated here in the embodiments of the present application.

[0026] When the robot starts to transport goods, it will first move to the location of the goods, then drive the lifting structure to descend, drive the jacking platform to descend, and load the goods. After the goods are loaded onto the jacking platform, the robot's alignment unit will work to determine whether the cargo box and the jacking platform are successfully aligned. In an example of the present application, successful alignment can be that the cargo box is located in the center of the jacking platform (the bottom of the cargo box is smaller than the surface of the jacking platform), or the jacking platform is located in the center of the cargo box (the bottom of the cargo box is larger than the surface of the jacking platform).

[0027] After successful alignment, the cargo loading process is completed.

[0028] Step 102: After the goods are loaded, the robot's magnetic lock attracts the goods.

[0029] After the cargo is loaded, the robot's magnetic lock is powered on to generate suction, closing the cargo box to provide the first level of protection for the cargo box.

[0030] Step 103: After the lifting platform of the robot rises to the transport height, the mechanical fixing structure is telescopically adjusted.

[0031] If the area under the cargo box is larger than the area of ​​the jacking platform, the cargo is very likely to fall off during transportation. To avoid this, in an example of the present application, after the driving lifting structure drives the jacking platform to the operating height, the mechanical fixing structure acts to extend the locking plates to the left and right to provide enhanced protection for the cargo box.

[0032] Furthermore, after the robot moves to the designated location of the cargo, the magnetic lock of the robot is powered off and opened, driving the lifting structure to descend until the jacking platform descends to the ground or the cargo storage platform to unload the cargo.

[0033] In order to more clearly describe the jacking and transportation method proposed in the embodiment of the present application, the following example description is also provided in the embodiment of the present application.

[0034] In an example of the present application, after the robot receives the delivery information, the robot moves to the cargo box position, and then the robot reverses and inserts under the cargo box according to the placement of the cargo box; the A end of the robot's alignment detection module is adapted to the B end of the cargo box alignment detection module, and the two alignment detection modules detect the alignment status of the cargo box and the jacking platform, and the local micro-movement of the robot enables the jacking platform and the box to be aligned successfully; after the alignment is completed, the lifting structure is driven to rise rapidly until the pressure sensor on the jacking platform detects contact with the box; at this time, the alignment detection module performs an alignment detection again to ensure that the jacking platform and the cargo box can be accurately positioned; if the alignment is inaccurate, the lifting structure is driven to drop slightly at this time, so that the jacking platform The jacking platform is slightly separated from the cargo box, and the robot makes local micro-movements to align the jacking platform and the box again; after the alignment is confirmed to be correct, the magnetic lock is attracted to the box, driving the lifting structure to rise slowly and steadily until it reaches the travel transportation height, at which time the mechanical fixing structure also locks the cargo box to achieve mechanical fixation of the jacking platform and the box; after the jacking is completed, according to demand, the robot moves the cargo box to the target position and prepares to unload the cargo box; first, the magnetic lock is released from the box, and the lifting structure is driven to descend slowly and steadily until the pressure sensor detects that the jacking platform is separated from the cargo box, at which time the mechanical fixing structure is also unlocked from the cargo box; after the robot is separated from the cargo box, the jacking platform quickly descends to the initial position, and the robot returns.

[0035] The above is a method embodiment of the present application. Based on the same inventive concept, the present application also provides a robot lifting and transporting device, whose structure is as follows: Figure 2 shown.

[0036] Figure 2 This is a structural diagram of a robot lifting and transporting device provided in an embodiment of the present application. Figure 2 As shown, the lifting and transporting device includes: a lifting platform 1, a driving lifting structure 2, a mechanical fixing structure 3 and a magnetic lock 4. Among them,

[0037] The magnetic lock 4 is arranged on both sides of the jacking platform 1 and is arranged on the same horizontal plane as the jacking platform 1, so as to attract the goods on the jacking platform 1; the mechanical fixing structure 3 and the driving lifting structure 2 are both arranged below the jacking platform.

[0038] Figure 3 A driving lifting structure diagram provided in an embodiment of the present application, such as Figure 3 As shown, the driving lifting structure 2 includes: a driving lifting fixing frame 5, a lifting rod 6, a guide rod 7, and a first fixing plate 8; wherein,

[0039] The lifting rod 6 is arranged directly below the first fixed plate 8, and is used to provide a linear motion driving force. Under the push of the lifting rod 6, the guide rods 7 arranged on both sides below the first fixed plate 8 move up and down in the guide holes of the driving lifting and fixing frame 5, thereby driving the first fixed plate 8 to move up and down, thereby realizing the up and down movement of the lifting platform 1.

[0040] It should be noted that the jacking platform 1 in the embodiment of the present application is fixedly connected to the first fixing plate 8 , that is, the first fixing plate 8 can be fixedly arranged below the jacking platform 1 .

[0041] In one example of the present application, the lifting and transporting device uses two sets of driving and lifting structures 2 as driving modules, and the two sets of driving and lifting structures 2 are arranged on both sides of the lifting platform 1. In addition, two guide rods 7 are also arranged in the driving and lifting structures 2, and are respectively arranged on both sides of the lifting rod 6, so as to improve the guiding control accuracy and prevent the first fixed plate from tilting and thus causing the delivery box to tilt.

[0042] In addition, in an example of the present application, the lifting rod 6 can be implemented by an electric push rod or a hydraulic rod.

[0043] Figure 4 A mechanical fixing structure diagram provided in an embodiment of the present application. Figure 4 As shown, the mechanical fixing structure includes: a locking plate 9, a slide rail 11, a pull rod 13, a guide rail fixing plate 10 and a second fixing plate 12; wherein,

[0044] The guide rail fixing plate 10 is fixedly arranged below the jacking platform 1, and the slide rail 11 is arranged below the guide rail fixing plate 10. At the same time, the slide rail 11 is connected to one side of the pull rod 13, and the other side of the pull rod 13 is connected to the second fixing plate 12, and the locking plate 9 is also connected to the slide rail 11. In addition, in an example of the present application, the locking plate 9, the second fixing plate 12, the guide rail fixing plate 10, and the pull rod 13 form a crank slider structure, which is used to ensure the fixed connection between the cargo box and the jacking platform to prevent the cargo box from falling off during transportation.

[0045] Furthermore, after the second fixed plate 12 is fixed to the robot and the guide rail fixed plate 10 is fixed to the jacking platform 1, as the jacking platform moves up and down, the pull rod 13 moves up and down on the second fixed plate 12, thereby driving the locking plate 9 to extend or retract through the slide rail 11, thereby realizing the mechanical fixation of the jacking platform 1 and the box.

[0046] In addition, the magnetic lock 4 serves as a redundant protection structure. After the cargo box comes into contact with the lifting platform 1, the magnetic lock 4 has suction force and can engage with the bottom of the cargo box after power is turned on. It is used to firmly fix the cargo box and the lifting platform 1 during transportation, and prevent the cargo box from falling off the lifting platform 1 during transportation after the mechanical fixing structure 3 fails.

[0047] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0048] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0049] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A robot lifting and transportation method, characterized in that: The method comprises: The driving lifting structure of the robot descends, driving the lifting platform of the robot to descend for cargo loading; After the cargo is loaded, the magnetic lock of the robot is attracted to the cargo to provide preliminary protection for the cargo; The driving lifting structure of the robot rises, driving the lifting platform of the robot to rise to the transportation height, and then the mechanical fixing structure of the robot is telescopically adjusted according to the size of the cargo to enhance the protection of the cargo; Among them, the mechanical fixing structure includes: a locking plate, a sliding rail, a pulling rod, a guide rail fixing plate and a second fixing plate, the guide rail fixing plate is fixedly connected to the jacking platform, the sliding rail is arranged below the guide rail fixing plate, the pulling rod is connected to the sliding rail and connected to the second fixing plate at the same time, the locking plate is connected to the sliding rail, the locking plate and the second fixing plate, the guide rail fixing plate and the pulling rod form a crank slider structure, and the second fixing plate is fixed to the robot; when the jacking platform rises, the pulling rod is driven to move upward, and then the locking plate is pushed to extend left and right through the sliding rail.

2. A robot lifting and transportation method according to claim 1, characterized in that: After the driving lifting structure of the robot descends, driving the lifting platform of the robot to descend, the method further includes: The alignment unit of the robot performs an alignment operation on the cargo and the jacking platform.

3. A robot lifting and transportation method according to claim 1, characterized in that: The method further comprises: After the robot transports the cargo to a preset location, the magnetic lock of the robot opens; The driving lifting structure of the robot descends, driving the lifting platform of the robot to descend, so as to realize the unloading of goods.

4. A robot lifting and transporting device, used to implement a robot lifting and transporting method as claimed in any one of claims 1 to 3, characterized in that: The device comprises: a lifting platform, a driving lifting structure, a mechanical fixing structure and a magnetic lock; wherein, The magnetic locks are arranged on both sides of the lifting platform and are on the same horizontal plane as the lifting platform, and are used to attract goods; The mechanical fixing structure and the driving lifting structure are both arranged below the jacking platform; The mechanical fixing structure includes: a locking plate, a slide rail, a pull rod, a guide rail fixing plate and a second fixing plate. The guide rail fixing plate is fixedly connected to the jacking platform. The slide rail is arranged below the guide rail fixing plate. The pull rod is connected to the slide rail and is also connected to the second fixing plate. The locking plate is connected to the slide rail. The locking plate, the second fixing plate, the guide rail fixing plate and the pull rod form a crank slider structure. The second fixing plate is fixed to the robot. When the jacking platform rises, the pull rod is driven to move upward, and then the locking plate is pushed to extend left and right through the slide rail.

5. The robot lifting and transporting device according to claim 4, characterized in that: The driving lifting structure comprises: a lifting rod, a guide rod and a first fixing plate; The lifting rod is arranged directly below the first fixing plate, and the guide rods are arranged on both sides below the first fixing plate; The lifting rod is used to provide an up and down driving force, and the guide rod is used to move up and down under the drive of the lifting rod, thereby driving the first fixing plate to move up and down.

6. The robot lifting and transporting device according to claim 5, characterized in that: The jacking platform is fixedly connected to the first fixing plate.

7. The robot lifting and transporting device according to claim 5, characterized in that: The jacking rod is an electric push rod or a hydraulic rod.

8. The robot lifting and transporting device according to claim 4, characterized in that: The magnetic lock has suction force when powered on.

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