A split robot

Abstract

The application belongs to the technical field of robots, and relates to a split type robot, which comprises a goods shelf, an upper warehouse, a light-reflecting plate, a bottom plate which is detachably connected with the upper warehouse, a hard connecting plate which comprises a connecting plate body fixed to the back of the light-reflecting plate and a connecting head connected with the upper end of the connecting plate body, a guide rail which is installed at the bottom of the upper warehouse and has an avoiding hole formed in the bottom plate and extending to the adjacent end plates of the guide rail along the length direction of the avoiding hole, a sliding assembly which is installed in the guide rail and connected with the sliding assembly through the avoiding hole, and an elastic assembly which is installed in the guide rail and connected with the connecting head or the sliding assembly, and the elastic assembly makes the connecting plate always have a tendency to move towards the outside of the upper warehouse. The application can realize the horizontal movement of the light-reflecting plate and automatic homing to the outside of the upper warehouse, reduces the distance for the bottom plate to identify the light-reflecting plate, reduces the collision probability of the bottom plate and the upper warehouse in the docking process, and improves the identification accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a split type robot. BACKGROUND

[0002] The split type robot is a combination of a "self-mobile chassis robot (referred to as "chassis")" and a "non-self-mobile upper warehouse robot (referred to as "upper warehouse")". The chassis can identify the specific orientation of the "bright-dark reflective feature plate" (referred to as "reflective plate") installed at a specific position of the upper warehouse through its laser radar sensor, determine the position and direction of the upper warehouse, and align with the direction of the upper warehouse. After alignment, the chassis can drill into the bottom of the upper warehouse and lift the upper warehouse off the ground through the lifting device of the chassis. Then, the chassis can transport the upper warehouse to a specific position to complete the user's specified work task. When the work task is completed, the chassis can move to a specific position and lower the upper warehouse to the ground through the lifting device of the chassis. At this time, the chassis can drill out of the current upper warehouse. Then, the chassis can identify, align, drill into and lift other upper warehouses to complete other work tasks.

[0003] In the prior art, the top of the reflective plate of the split type robot is fixed to the bottom of the upper warehouse through a rotating shaft. When the upper warehouse is not equipped with the chassis, the reflective plate will naturally droop due to gravity and be perpendicular to the ground. When the chassis needs to be connected to the upper warehouse, the chassis will come to the vicinity of the upper warehouse, identify the position and direction of the reflective plate at the bottom of the upper warehouse, align, and then drill into the bottom of the upper warehouse. At the same time, the chassis will push the reflective plate to rotate around the rotating shaft to be clamped in the groove reserved between the chassis and the upper warehouse (the groove reserved by the chassis or the groove reserved by the upper warehouse). The split type robot will have the following problems in actual application:

[0004] (1) The width of the reflective plate is limited. Since the chassis involves lifting the upper warehouse, a part of the contact surface between the chassis and the upper warehouse is needed to contact each other and bear the weight of the upper warehouse. A part of the groove needs to be reserved to accommodate the reflective plate that is lifted up, because the reflective plate itself cannot bear the weight (bearing the weight will damage the reflective material, and then affect the accuracy of the chassis in identifying and connecting to the upper warehouse). Moreover, the thickness of the reflective plate cannot be ignored, which leads to the fact that the design width of the reflective plate must be less than the width of the contact surface between the chassis and the upper warehouse, resulting in insufficient accuracy of the chassis in identifying and connecting to the upper warehouse.

[0005] (2) The recognition distance of the upper bin and the bottom plate is limited. Generally speaking, the position of the reflective plate installed at the bottom of the upper bin should be as far as possible to the outside, so that when the bottom plate approaches the upper bin, it is easier to recognize the position and direction of the reflective plate, and the bottom plate is less likely to collide with the upper bin when recognizing the reflective plate and turning to align with the reflective plate. However, in the prior art, the longer the groove reserved for the reflective plate on the upper bin or the bottom plate needs to be designed, the more the contact area of the upper bin and the bottom plate after lifting is reduced, the contact pressure is increased, and the difficulty of structural design is greater. Therefore, the structural designer tends to design and install the reflective plate at a more inward position at the bottom of the upper bin, which increases the distance of the bottom plate from the reflective plate and reduces the recognition accuracy. When the bottom plate recognizes the reflective plate of the upper bin, it needs to be closer, which increases the collision rate of the bottom plate and the upper bin during docking.

[0006] (3) The reflective strip material pasted on the surface of the reflective plate is prone to wear and tear. During the process of the bottom plate drilling into the upper bin, the bottom plate will slowly lift the reflective plate, and during the lifting process, the bottom plate will have a certain friction with the front surface of the reflective plate. The reflective strip material of the reflective plate is generally pasted on the front surface of the reflective plate. After the bottom plate drills into the upper bin for multiple times, the reflective strip of the reflective plate will be worn or broken, thereby reducing the accuracy of the bottom plate in docking and recognizing the upper bin. SUMMARY

[0007] One of the purposes of the present application is to provide a split type robot which can realize horizontal movement of the reflective plate and automatic return to the adjacent outside of the upper bin.

[0008] The second purpose of the present application is to provide a split type robot which can reduce the probability of collision between the bottom plate and the reflective strip material on the front surface of the reflective plate, prevent the reflective strip material from being worn or broken, and improve the accuracy of the bottom plate in docking and recognizing the upper bin.

[0009] The present application provides a split type robot, comprising:

[0010] a shelf and an upper bin installed on the shelf;

[0011] a reflective plate;

[0012] a bottom plate, which is separably connected with the upper bin, and a laser radar installed on the bottom plate;

[0013] Further comprising:

[0014] a hard connecting plate, which comprises a connecting plate body fixed to the back surface of the reflective plate and a connecting head connected with the upper end of the connecting plate body;

[0015] a guide rail, which is installed at the bottom of the upper bin, and the bottom plate of the guide rail is provided with an avoiding hole for the connecting head to pass through, and the avoiding hole extends to the adjacent end plates of the guide rail at both ends along the length direction.

[0016] A sliding assembly is installed in the guide rail, the connecting head is inserted into the guide rail through the avoiding hole and is in sliding connection with the guide rail through the sliding assembly;

[0017] An elastic assembly is installed in the guide rail and is connected with the connecting head or the sliding assembly, and the elastic assembly makes the connecting plate always have a tendency to move towards the outside of the upper bin.

[0018] The present application can make the bottom disc push the reflector to move horizontally towards the inside of the upper bin through the sliding assembly (at this time, the bottom disc is just below the upper bin in the waiting position for lifting), and the elastic assembly in the guide rail drives the reflector and the connecting plate to automatically return to the position when the bottom disc exits from the bottom of the upper bin after the task of lifting the upper bin is completed, so that the reflector returns to the outermost position of the upper bin or the position adjacent to the outermost position of the upper bin.

[0019] Compared with the prior art, the present application can realize the horizontal movement of the reflector and the return to the outside of the upper bin or the position adjacent to the outside of the upper bin, and reduces the distance for the bottom disc to identify the reflector, thereby improving the accuracy of the bottom disc in identifying the upper bin.

[0020] As a preferred embodiment of the split robot, the sliding assembly comprises a roller and a connecting shaft in the guide rail, the connecting shaft is connected with the connecting head and is pivotally connected with the shaft hole of the roller, and the outer peripheral surface of the roller protrudes from the upper end surface of the connecting head.

[0021] The split robot further comprises a magnetic attraction assembly, and the bottom disc is selectively connected with the front surface of the reflector through the magnetic attraction assembly.

[0022] In this scheme, the sliding assembly adopts the combined design of the roller and the connecting shaft and is combined with the magnetic attraction assembly, and the magnetic attraction assembly can generate a downward pulling force on the reflector and the connecting plate during the rolling of the bottom disc driving roller along the guide rail, so as to prevent the reflector and the connecting plate from rotating around the connecting shaft during the rolling of the bottom disc driving roller along the guide rail, and ensure that the reflector is always perpendicular to the ground during the movement; when the bottom disc exits from the bottom of the upper bin, the magnetic attraction assembly can also generate a downward pulling force on the reflector and the connecting plate, so that the horizontal movement of the reflector is more stable.

[0023] As a preferred embodiment of the split robot, the number of the rollers is two, the two rollers are respectively pivotally connected with the connecting shaft, and the connecting head is located between the two rollers.

[0024] The embodiment adopts two rollers and installs the connector between the two rollers, so that the reflector plate can be moved horizontally along the length direction of the guide rail.

[0025] As a preferred embodiment of the split robot, the magnetic assembly includes a plurality of first magnetic parts protruding from the front surface of the reflector plate and a plurality of second magnetic parts installed on one side of the chassis and corresponding to the positions of the first magnetic parts, respectively. The first magnetic parts can be magnetically attracted to the second magnetic parts.

[0026] In the embodiment, the first magnetic parts protrude from the front surface of the reflector plate, and the second magnetic parts are installed on one side of the chassis. After the chassis is docked with the reflector plate, the position is adjusted and moved towards the reflector plate to be close to the reflector plate. The chassis is magnetically connected by the first magnetic parts and the second magnetic parts, rather than directly contacting the reflector strips on the front surface of the reflector plate. This prevents friction between the chassis and the reflector strips, which can cause the reflector strips to wear or break, and avoids affecting the accuracy of the chassis in docking and identifying the upper bin.

[0027] As one of the preferred embodiments of the split robot, the reflector plate includes a reflector plate body, reflector strips installed on the front surface of the reflector plate body, and a plurality of anti-collision strips installed on the front surface of the reflector plate body adjacent to the outer periphery of the reflector strips. The first magnetic parts are installed on the anti-collision strips, and the connecting plate body is fixed to the back surface of the reflector plate body.

[0028] In the embodiment, since the first magnetic parts are installed on the anti-collision strips, when the chassis is indirectly connected to the reflector plate by the magnetic assembly, the distance between the chassis and the reflector plate is increased, which can effectively prevent the reflector plate from being collided.

[0029] As one of the preferred embodiments of the split robot, the first magnetic parts and the second magnetic parts are both in the form of a long strip. The length direction of the first magnetic parts is perpendicular to the length direction of the second magnetic parts, so that the first magnetic parts can be quickly magnetically attracted to the second magnetic parts.

[0030] As another preferred embodiment of the split robot, the sliding assembly includes a sliding block located in the guide rail. The connector is fixedly connected to the sliding block, and the sliding block is connected to the elastic assembly.

[0031] In the embodiment, the sliding block is used to slide in the guide rail, and the connector is fixedly connected to the sliding block. Therefore, the horizontal movement of the reflector plate can be achieved without the magnetic assembly.

[0032] As one of the preferred embodiments of the split robot, the elastic assembly comprises a compression spring and an abutting plate, the abutting plate is located on the side of the connecting head close to the compression spring and connected with the connecting head, one end of the compression spring is connected with an end plate adjacent to the outside of the upper bin of the guide rail, and the other end of the compression spring is abutted with the abutting plate.

[0033] In the embodiment, when the chassis exits the bottom of the upper bin, the compression spring generates a pushing force towards the outside of the upper bin on the abutting plate, so as to drive the sliding assembly, the connecting plate and the reflector plate to move towards the end of the guide rail close to the outside of the upper bin, and finally make the reflector plate automatically return to the original position. The second magnetic attraction part on the chassis and the first magnetic attraction part on the reflector plate magnetically attract each other to generate a downward pulling force on the reflector plate and the connecting plate, so as to keep the reflector plate horizontal during the returning process.

[0034] As the second preferred embodiment of the split robot, the elastic assembly comprises a tension spring, one end of the tension spring is connected with an end plate adjacent to the outside of the upper bin of the guide rail, and the other end of the tension spring is connected with the sliding assembly.

[0035] In the embodiment, when the chassis exits the bottom of the upper bin, the tension spring generates a pushing force towards the outside of the upper bin on the abutting plate, so as to drive the sliding assembly, the connecting plate and the reflector plate to move towards the end of the guide rail close to the outside of the upper bin, and finally make the reflector plate automatically return to the original position. The second magnetic attraction part on the chassis and the first magnetic attraction part on the reflector plate magnetically attract each other to generate a downward pulling force on the reflector plate and the connecting plate, so as to keep the reflector plate horizontal during the returning process.

[0036] As the preferred embodiment of the split robot, the number of the connecting heads is two, and two length-extended avoiding holes are arranged on the bottom plate of the guide rail, the two connecting heads pass through the two avoiding holes respectively to connect with the sliding assembly in the guide rail.

[0037] In the embodiment, the two connecting heads pass through the two avoiding holes respectively to connect with the sliding assembly in the guide rail, when the chassis horizontally pushes the reflector plate, the plane of the reflector plate is always perpendicular to the horizontal moving direction of the reflector plate, so that the reflector plate is not twisted at a large angle due to different pushing forces on the left and right sides, and the structure of the sliding assembly is not damaged.

[0038] The present application has the following beneficial effects:

[0039] 1. This invention provides a guide rail at the bottom of the upper compartment and a sliding component connected to a connecting plate fixed to the back of the reflector within the guide rail. When the chassis pushes the reflector toward the end of the guide rail near the inner side of the upper compartment, the reflector can move horizontally. By providing an elastic component within the guide rail, when the chassis exits the bottom of the upper compartment, the elastic component can automatically return the reflector to the outer side adjacent to the upper compartment, reducing the distance the chassis needs to identify the reflector, thereby improving the identification accuracy and reducing the probability of collision between the chassis and the upper compartment during docking.

[0040] 2. By protruding the first magnetic attraction part on the front of the reflector, the reflective strip on the front of the reflector can be prevented from directly contacting the chassis and being worn or broken, thereby improving the accuracy of chassis docking and identification of the upper compartment.

[0041] 3. The chassis attaches to the first magnetic part on the front of the reflector through the second magnetic part. During the movement, it can exert a downward pulling force on the reflector to ensure that the reflector always moves horizontally. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the three-dimensional structure of the split-type robot described in Embodiment 1 of the present invention. Figure 1 ;

[0044] Figure 2 This is a schematic diagram of the three-dimensional structure of the split-type robot described in Embodiment 1 of the present invention. Figure 2 ;

[0045] Figure 3 This is a side view of the split-type robot described in Embodiment 1 of the present invention;

[0046] Figure 4 This is a side view of the upper compartment after it has been separated from the guide rail, as described in Embodiment 1 of the present invention;

[0047] Figure 5 This is a side view of the guide rail described in Embodiment 1 of the present invention;

[0048] Figure 6 This is a schematic diagram of the connection between the reflector and the guide rail according to Embodiment 1 of the present invention;

[0049] Figure 7 for Figure 6 Enlarged schematic diagram of part B;

[0050] Figure 8 The assembly schematic diagram of the reflector plate and the connecting plate according to the embodiment one of the present application.

[0051] Figure 9 The enlarged schematic diagram of the part A in the middle. Figure 3

[0052] Reference signs:

[0053] 1, shelf;

[0054] 2, upper warehouse; 21, mounting groove;

[0055] 3, reflector plate; 31, reflector plate body; 32, reflector strip; 33, anti-collision strip;

[0056] 4, base plate;

[0057] 5, connecting plate; 51, connecting plate body; 52, connecting head;

[0058] 6, guide rail; 61, bottom plate; 62, top plate; 63, side plate; 64, end plate; 65, avoiding hole;

[0059] 7, sliding assembly; 71, roller; 72, connecting shaft;

[0060] 8, elastic assembly; 81, compression spring; 82, abutting plate;

[0061] 9, magnetic attraction assembly; 91, first magnetic attraction part; 92, second magnetic attraction part. DETAILED DESCRIPTION

[0062] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0063] Embodiment one

[0064] In this embodiment, as shown in the figure, the split robot comprises: Figures 1-3

[0065] A shelf 1 and an upper warehouse 2 mounted on the shelf 1;

[0066] A reflector plate 3;

[0067] A base plate 4, which is separably connected with the upper warehouse 2, and a laser radar is mounted on the base plate 4;

[0068] Further comprising:

[0069] A hard connecting plate 5, which comprises a connecting plate body 51 fixed to the back of the reflector plate 3 and a connecting head 52 connected with the upper end of the connecting plate body 51.​​

[0070] A guide rail 6 is installed at the bottom of the upper bin 2, and the bottom plate 61 of the guide rail 6 is provided with a relief hole 65 for the connecting head 52 to pass through, and the length of the relief hole 65 extends to the two end plates 64 adjacent to the guide rail 6, respectively.

[0071] A sliding assembly 7 is installed in the guide rail 6, and the connecting head 52 is inserted into the guide rail 6 and connected with the guide rail 6 through the sliding assembly 7.

[0072] An elastic assembly 8 is installed in the guide rail 6 and connected with the connecting head 52 or the sliding assembly 7, and the elastic assembly 8 makes the connecting plate 5 always have a tendency to move towards the outside of the upper bin 2.

[0073] Wherein, the front of the light-reflecting plate 3 refers to the side on which the light-reflecting strips 32 are installed, and the back of the light-reflecting plate 3 refers to the side opposite to the light-reflecting strips 32.

[0074] Wherein, the hard connecting plate 5 can be made of metal or other hard plastic materials, etc., as long as it meets the hard condition, and the specific limitation is not limited. When the connecting plate 5 is made of metal, the connecting plate body 51 and the connecting head 52 are integrally formed by casting or other methods; when the connecting plate 5 is made of plastic, the connecting plate body 51 and the connecting head 52 can be integrally formed by injection molding or other methods.

[0075] As shown in Figure 4 and Figure 5 The guide rail 6 is composed of a bottom plate 61, a top plate 62, two side plates 63 and two end plates 64, and the top plate 62 can be fixedly connected with the bottom of the upper bin 2 through a settlement bolt. The bottom of the upper bin 2 is provided with a mounting groove 21, and the guide rail 6 is fixed in the mounting groove 21. Preferably, the bottom surface of the guide rail 6 is parallel to the bottom surface of the upper bin 2, and in other embodiments, the guide rail 6 is recessed in the mounting groove 21; or the bottom surface of the guide rail 6 protrudes from the bottom surface of the upper bin 2, and in this case, the structure of the upper end surface of the bottom disc 4 needs to be adjusted adaptively, for example, a relief groove is provided on the upper end surface of the bottom disc 4, and a part of the guide rail 6 protruding from the bottom surface of the upper bin 2 can be inserted into the relief groove, so that when the bottom disc 4 is lifted up from the upper bin 2, the upper end surface of the bottom disc 4 is in close contact with the bottom surface of the upper bin 2.

[0076] In this embodiment, after the laser radar on the chassis 4 detects and identifies the reflector plate 3 adjacent to the outer side of the upper bin 2 (initial position), the position is adjusted to align with the reflector plate 3 and move to the bottom of the upper bin 2, the chassis 4 pushes the reflector plate 3 and the connecting plate 5 to move horizontally along the length direction of the guide rail 6 by the sliding assembly 7 against the force of the elastic assembly 8, until the reflector plate 3 and the connecting plate 5 are adjacent to the inner side of the upper bin 2; then the chassis 4 lifts the upper bin 2 by the lifting device and moves to a specific position, after the upper bin 2 is placed on the specific position, the chassis 4 exits the bottom of the upper bin 2, and in the process of exiting, the elastic assembly 8 drives the sliding assembly 7 to drive the connecting plate 5 and the reflector plate 3 to return to the initial position horizontally along the guide rail 6, which is adjacent to the outer side of the upper bin 2, and correspondingly, the inner side of the upper bin 2 refers to the side of the upper bin 2 away from the outer side.

[0077] Compared with the prior art, in this embodiment, the reflector plate 3 can move horizontally to the inner side of the upper bin 2 by the sliding assembly 7 under the pushing force of the chassis 4, and when the chassis 4 exits the bottom of the upper bin 2, the reflector plate 3 can automatically return to the position adjacent to the outer side of the upper bin 2 by the sliding assembly 7 under the action of the elastic assembly 8.

[0078] Further, as shown in Figure 6 and Figure 7 , the sliding assembly 7 includes a roller 71 and a connecting shaft 72 in the guide rail 6, the connecting shaft 72 is connected with the connecting head 52 and pivoted with the shaft hole of the roller 71, and the outer peripheral surface of the roller 71 protrudes from the upper end surface of the connecting head 52; since the roller 71 can rotate around the connecting shaft 72, when the chassis 4 pushes the reflector plate 3 and the connecting plate 5 to move towards the inner side of the upper bin 2, the connecting plate 5 has the possibility of driving the reflector plate 3 to rotate around the connecting shaft 72; in view of this, the split robot further includes a magnetic attraction assembly 9, and the chassis 4 is selectively connected with the front surface of the reflector plate 3 by the magnetic attraction assembly 9; in the process of the chassis 4 drilling into the bottom of the upper bin 2, the chassis 4 pushes the reflector plate 3 to move towards the inner side of the upper bin 2, and the magnetic attraction assembly 9 generates a downward pulling force on the reflector plate 3 and the connecting plate 5, so that the reflector plate 3 tries to keep perpendicular to the ground during the movement, reducing the probability of the chassis 4 directly pushing the reflector plate 3 obliquely. In the process of the chassis 4 exiting the bottom of the upper bin 2, the magnetic attraction assembly 9 generates a horizontal pulling force on the reflector plate 3, which is a supplement to the force of the elastic assembly 8 driving the reflector plate 3 to the outer side of the upper bin 2, so that the success rate of the reflector plate 3 automatically returning to the original position is higher. When the chassis 4 is about to completely exit the bottom of the upper bin 2, the sliding assembly 7 reaches the outermost side adjacent to the upper bin 2 and is blocked by the end plate 64 close to the outer side of the upper bin 2, at this time, the chassis 4 continues to move outward, which will break the attraction force of the magnetic attraction assembly 9 between the chassis 4 and the reflector plate 3, and thus the reflector plate 3 returns to the outermost side adjacent to the upper bin 2, and the chassis 4 continues to perform other tasks.

[0079] Further, the number of the rollers 71 is two, and the two rollers 71 are respectively pivoted with the connecting shaft 72, and the connecting head 52 is located between the two rollers 71.

[0080] The structure design that one roller 71 is respectively installed on the side of the two connecting heads 52 away from each other through the same connecting shaft 72, and the connecting head 52 moves along the avoiding hole 65, can make the reflector 3 move stably along the horizontal direction under the pushing of the base plate 4. The thickness of the roller 71 can be designed according to the distance between the connecting head 52 and the side plate 63 of the guide rail 6, so as to ensure that the roller 71 can roll smoothly, and is not limited in particular.

[0081] Specifically, as shown in Figure 8 The connecting plate 5 includes two connecting plate bodies 51 fixed on the back of the reflector 3 and two connecting heads 52 respectively fixedly connected with the upper end of one of the connecting plate bodies 51, and the connecting plate body 51 and the connecting head 52 are integrally formed of metal material. The base plate 61 is provided with two avoiding holes 65 spaced apart, and the two connecting heads 52 respectively pass through one of the avoiding holes 65 into the guide rail 6 and are connected with the sliding assembly 7. In other embodiments, only one connecting plate body 51 can be provided, and the upper end of the connecting plate body 51 is connected with two connecting heads 52 at the same time. The two connecting heads 52 are flat structures, and the thickness direction is perpendicular to the length direction of the guide rail 6. Further, the distance between the two connecting heads 52 is preferably about 5 cm, so as to ensure that the reflector 3 is perpendicular to the ground as much as possible when the base plate 4 pushes the reflector 3 horizontally, and the structure of the connecting plate 5 is not damaged due to different pushing forces on the left and right sides and large angle (for example, more than 5°) twisting of the reflector 3.

[0082] The connecting mode between the connecting head 52 and the connecting shaft 72 can be fixed connection, such as tenon joint. In other technical solutions, rotary connection can also be adopted, and of course, the stability of the horizontal movement of the reflector 3 will be relatively weak. The connecting shaft 72 is pivoted with the shaft hole of the roller 71, that is, the connecting shaft 72 is rotatably connected with the shaft hole of the roller 71. When the base plate 4 drives the reflector 3 to drive the connecting plate 5 to move horizontally under the action of the roller 71, the roller 71 can rotate around the connecting shaft 72, so as to roll in the guide rail 6, and the friction between the roller 71 and the guide rail 6 is reduced.

[0083] Preferably, the roller 71 is connected with the connecting shaft 72 through a bearing, which can further reduce the rolling resistance of the roller 71.

[0084] In the embodiment, the outer circumferential surface of the roller 71 always protrudes from the upper end surface of the connecting head 52 during the movement of the base plate 4 to drive the reflector 3 to drive the connecting plate 5 to move, so as to prevent the connecting head 52 from contacting the top plate 62 of the guide rail 6 and affecting the smoothness of the rolling of the roller 71.

[0085] Preferably, the upper end surface of the connecting head 52 is a circular arc surface, which can further prevent the occurrence of jamming phenomenon during the movement of the reflector plate 3 and improve the smoothness of movement.

[0086] In this embodiment, the connecting shaft 72 is preferably made of metal to improve the structural stability of the sliding assembly 7.

[0087] Further, the magnetic attraction assembly 9 includes a plurality of first magnetic attraction parts 91 protruding from the front surface of the reflector plate 3 and a plurality of second magnetic attraction parts 92 installed on one side of the chassis 4 and corresponding to the positions of the first magnetic attraction parts 91, respectively. The first magnetic attraction parts 91 can be magnetically attracted to the second magnetic attraction parts 92.

[0088] In this embodiment, after the laser radar on the chassis 4 detects and identifies the reflector plate 3, the chassis 4 aligns with the reflector plate 3 and moves towards the reflector plate 3. When the first magnetic attraction part 91 on the front surface of the reflector plate 3 is magnetically attracted to the second magnetic attraction part 92, the chassis 4 overcomes the force of the elastic assembly 8 to push the reflector plate 3 and the connecting plate 5 to move along the length direction of the guide rail 6. During the movement, the first magnetic attraction part 91 and the second magnetic attraction part 92 are magnetically attracted to each other, thereby generating a downward pulling force on the reflector plate 3, so that the reflector plate 3 tries to keep perpendicular to the ground during the movement, thereby reducing the probability of the chassis 4 directly pushing the reflector plate 3 obliquely. Until the chassis 4 pushes the reflector plate 3 to move to the inside of the upper bin 2, then the chassis 4 lifts the upper bin 2 off the ground by the lifting device and carries it to a specific location to complete the user's specified work task. When the work task is completed, the chassis 4 needs to exit the bottom of the upper bin 2. During the exit process, the second magnetic attraction part 92 on the chassis 4 and the first magnetic attraction part 91 on the reflector plate 3 attract each other, thereby generating a horizontal pulling force on the reflector plate 3, which supplements the outward pushing force of the elastic assembly 8 on the reflector plate 3, so that the success rate of the reflector plate 3 returning to the original position automatically is higher. When the chassis 4 is about to completely exit the bottom of the upper bin 2, the reflector plate 3 follows the sliding assembly 7 to reach the outside of the upper bin 2, and is blocked by the end plate 64 at one end of the guide rail 6. The chassis 4 continues to move outward, which will break the attraction force between the first magnetic attraction part 91 on the reflector plate 3 and the second magnetic attraction part 92 on the chassis 4. At this time, the reflector plate 3 returns to the outside of the upper bin 2, and the chassis 4 continues to perform other tasks.

[0089] In this embodiment, the first magnetic attraction part 91 protrudes from the front surface of the reflector plate 3, and the second magnetic attraction part 92 on the chassis 4 directly contacts the first magnetic attraction part 91, which can prevent the chassis 4 from directly contacting the reflector strip 32 of the reflector plate 3 and causing wear or breakage of the reflector strip 32, thereby avoiding the influence of the chassis 4 on the accuracy of the docking and identification of the upper bin 2 and improving the service life of the reflector plate 3.

[0090] When the chassis 4 exits the bottom of the upper compartment 2, the first magnetic part 91 on the front of the reflector 3 is attracted by the second magnetic part 92, so that the reflector 3 is moved along the guide rail 6 to the outside of the adjacent upper compartment 2. This reduces the distance that the chassis 4 has to identify the reflector 3, thereby improving the identification accuracy and reducing the probability of collision between the chassis 4 and the upper compartment 2 during the docking process.

[0091] like Figure 9 As shown, the reflector 3 includes a reflector body 31, a reflective strip 32 installed on the front of the reflector body 31, and a plurality of anti-collision strips 33 installed on the outer periphery of the reflective strip 32 adjacent to the front of the reflector body 31. The first magnetic suction part 91 is installed on the anti-collision strips 33, and the connecting plate body 51 is fixed to the back of the reflector body 31. By installing anti-collision strips 33 between the first magnetic suction part 91 and the reflector body 31, the distance between the side of the chassis 4 and the reflector 3 when they dock can be appropriately increased, which can play a good anti-collision role for the reflector 3.

[0092] Specifically, the reflector body 31 has a square structure, and a rectangular first magnetic part 91 is installed on the front of the reflector near its four corners. A rectangular second magnetic part 92 is installed on one side of the chassis 4 corresponding to the four first magnetic parts 91. The length direction of the first magnetic part 91 is perpendicular to the length direction of the second magnetic part 92, so that the first magnetic part 91 can quickly magnetically attract the second magnetic part 92.

[0093] The anti-collision strip 33 is made of a flexible material and has a certain degree of elasticity. When the ground is uneven, the elasticity of the anti-collision strip 33 can keep the first magnetic part 91 and the second magnetic part 92 in surface contact, thereby improving the magnetic stability.

[0094] In this embodiment, the first magnetic attraction part 91 is a magnet and the second magnetic attraction part 92 is an iron sheet; or, the first magnetic attraction part 91 is an iron sheet and the second magnetic attraction part 92 is a magnet; or, both the first magnetic attraction part 91 and the second magnetic attraction part 92 are magnets, and their magnetic poles are opposite.

[0095] In other specific implementations, the anti-collision strip can also be installed on one side of the chassis 4, and correspondingly, the second magnetic part 92 is installed on the anti-collision strip.

[0096] Furthermore, the elastic component 8 includes a compression spring 81 and an abutment plate 82. The abutment plate 82 is located on the side of the connector 52 near the compression spring 81 and is connected to the connector 52. One end of the compression spring 81 is connected to an end plate 64 of the guide rail 6 adjacent to the outer side of the upper compartment 2, and the other end of the compression spring 81 abuts against the abutment plate 82.

[0097] The abutment plate 82 can be fixedly connected with one side of the connecting head 52 and / or fixedly connected with one end of the compression spring 81, and the other end of the compression spring 81 can be abutted or fixedly connected with the end plate 64 adjacent to the inner side of the upper bin 2 of the guide rail 6, and the specific connection mode is not limited.

[0098] Preferably, the number of the compression springs 81 is two, one end of each of the two compression springs 81 is connected with the end plate 64 adjacent to the inner side of the upper bin 2 of the guide rail 6, and the other end of each of the two compression springs 81 is abutted with the abutment plate 82.

[0099] The use of two compression springs 81 can make the movement of the light-reflecting plate 3 more stable and smooth.

[0100] In the initial state, the connecting plate 5 and the light-reflecting plate 3 are adjacent to the outer side of the upper bin 2 under the elastic force of the compression spring 81; after the chassis 4 recognizes the light-reflecting plate 3, the position of the chassis 4 is adjusted to align with the light-reflecting plate 3, the light-reflecting plate 3 and the connecting plate 5 are pushed to move towards the inner side of the upper bin 2 by overcoming the force of the compression spring 81; when the light-reflecting plate 3 and the connecting plate 5 move to the inner side of the upper bin 2, the chassis 4 lifts the upper bin 2 and the shelf 1 together to move to the designated position, and then the chassis 4 is withdrawn towards the outer side of the upper bin 2 after the upper bin 2 and the shelf 1 are placed on the ground, and in the process of withdrawing, the compression spring 81 drives the light-reflecting plate 3 and the connecting plate 5 to automatically move towards the outer side of the upper bin 2, and the second magnetic attraction part 92 on the chassis 4 and the first magnetic attraction part 91 on the light-reflecting plate 3 are magnetically attracted to each other to provide horizontal and downward pulling force on the light-reflecting plate 3, so that the light-reflecting plate 3 is perpendicular to the ground as much as possible and moves stably to the outer side of the upper bin 2.

[0101] Embodiment Two

[0102] The embodiment is basically the same as the above-mentioned embodiment one, and the difference lies in the structure of the sliding assembly 7 (the embodiment can refer to the above-mentioned embodiment one, and the same component names use the same reference signs).

[0103] Specifically, the sliding assembly 7 in the embodiment includes a sliding block fixedly connected with the connecting head 52, and the elastic assembly 8 is connected with the sliding block.

[0104] When the chassis 4 pushes the light-reflecting plate 3 and the connecting plate 5 and moves towards the inner side of the upper bin 2 by means of the sliding block, the light-reflecting plate 3 will not be obliquely pushed up by the chassis 4, and the light-reflecting plate 3 can be always perpendicular to the ground during the movement.

[0105] Further, in order to reduce the resistance between the sliding block and the guide rail 6 and improve the sliding smoothness of the sliding block, a roller or a ball can be installed on both sides of the sliding block or below the sliding block.

[0106] In other embodiments, the connecting head can also be directly designed as a slider structure, that is, the connecting head and the sliding assembly are combined into one, further simplifying the connection structure between the connecting plate and the elastic assembly.

[0107] Embodiment three

[0108] This embodiment is basically the same as the above-mentioned embodiment one or embodiment two, and the difference lies in the structure of the elastic assembly 8 (this embodiment can refer to the above-mentioned embodiment one, and the same component names use the same reference signs).

[0109] The elastic assembly 8 includes a tension spring, one end of which is connected with an end plate 64 of the guide rail 6 adjacent to the outer side of the upper bin 2, and the other end of which is connected with the sliding assembly 7.

[0110] Specifically, the chassis 4 drives the light-reflecting plate 3 and the connecting plate 5 to move towards the inner side of the upper bin 2 against the pulling force of the tension spring; after moving to the position (adjacent to the inner side of the upper bin 2), the chassis 4 lifts the upper bin 2 and the shelf 1 together through the lifting device to a specific position, then puts the upper bin 2 and the shelf 1 on the ground, and then exits towards the outer side of the upper bin 2, during which the tension spring drives the light-reflecting plate 3 and the connecting plate 5 to automatically move towards the outer side of the upper bin 2 by the pulling force, and the second magnetic attraction part 92 on the chassis 4 and the first magnetic attraction part 91 on the light-reflecting plate 3 are magnetically attracted to each other to provide horizontal pulling force and downward pulling force to the light-reflecting plate 3, wherein the horizontal pulling force serves as a supplement to the outward pulling force of the tension spring to the light-reflecting plate 3, so that the success rate of the light-reflecting plate 3 automatically returning to the original position is higher.

[0111] Wherein, the connection between the end of the tension spring away from the connecting head 52 and the end plate 64 of the guide rail 6 adjacent to the inner side of the upper bin 2 can be abutting or fixed connection, which is not limited in particular.

[0112] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A split robot, comprising: a shelf and an upper cabin mounted on the shelf; a reflector plate; a bottom plate, which is detachably connected with the upper cabin, and a laser radar mounted on the bottom plate; characterized in that further comprising: a hard connecting plate, which comprises a connecting plate body fixed on the back of the reflector plate and a connecting head connected with the upper end of the connecting plate body; a guide rail, which is mounted on the bottom of the upper cabin, and the bottom plate of the guide rail is provided with an avoiding hole for the connecting head to pass through, and the avoiding hole extends to the end plate adjacent to the two ends of the guide rail along the length direction of the avoiding hole; a sliding assembly, which is mounted in the guide rail, the connecting head passes through the avoiding hole and is inserted into the guide rail and is connected with the guide rail through the sliding assembly; a elastic assembly, which is mounted in the guide rail and connected with the connecting head or the sliding assembly, and the elastic assembly makes the connecting plate always have a tendency to move towards the outside of the upper cabin; the sliding assembly comprises a roller in the guide rail and a connecting shaft, the connecting shaft is connected with the connecting head and is pivoted with the shaft hole of the roller, and the outer circumferential surface of the roller protrudes from the upper end surface of the connecting head; the split robot further comprises a magnetic attraction assembly, and the bottom plate is selectively connected with the front of the reflector plate through the magnetic attraction assembly; the magnetic attraction assembly comprises a plurality of first magnetic attraction parts protruding from the front of the reflector plate and a plurality of second magnetic attraction parts mounted on one side of the bottom plate and corresponding to the position of one of the first magnetic attraction parts, and the first magnetic attraction parts can be magnetically attracted to the second magnetic attraction parts; the sliding assembly comprises a sliding block in the guide rail, the connecting head is fixedly connected with the sliding block, and the sliding block is connected with the elastic assembly.

2. The split robot of claim 1, wherein, the number of the rollers is two, the two rollers are respectively pivoted with the connecting shaft, and the connecting head is located between the two rollers.

3. The split robot of claim 1, wherein, the reflector plate comprises a reflector plate body, a reflector strip mounted on the front of the reflector plate body, and a plurality of anti-collision strips mounted on the front of the reflector plate body adjacent to the outer circumferential surface of the reflector strip, the first magnetic attraction parts are mounted on the anti-collision strips, and the connecting plate body is fixed on the back of the reflector plate body.

4. The split robot of claim 1, wherein, the first magnetic attraction parts and the second magnetic attraction parts are both in the shape of a long rectangular plate, and the length direction of the first magnetic attraction parts is perpendicular to the length direction of the second magnetic attraction parts.

5. The split robot of claim 1, wherein, the elastic assembly comprises a compression spring and an abutting plate, the abutting plate is located on the side of the connecting head close to the compression spring and is connected with the connecting head, one end of the compression spring is connected with the end plate of the guide rail adjacent to the outside of the upper cabin, and the other end of the compression spring abuts against the abutting plate.

6. The split robot of claim 1, wherein, the elastic assembly comprises a tension spring, one end of the tension spring is connected with the end plate of the guide rail adjacent to the outside of the upper cabin, and the other end of the tension spring is connected with the sliding assembly.

7. The split robot according to any one of claims 1 to 6, characterized in that, the number of the connecting heads is two, the bottom plate of the guide rail is provided with two avoiding holes extending along the length direction of the guide rail, and the two connecting heads pass through one of the avoiding holes into the guide rail and are connected with the sliding assembly.

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