Docking and reset device, robot and docking method

Abstract

This application provides a docking and resetting device, a robot, and a docking method. The docking and resetting device includes a support component, a reset drive component, a sliding component, and a docking component. The reset drive component is disposed on the support component. The sliding component is disposed on the support component. The docking component is slidably disposed on the sliding component. The docking component includes a docking part and a transmission part. The docking part is disposed on the transmission part and is used to connect to a docking platform. The transmission part has a guide groove, and the reset drive component can reciprocate along the guide groove to allow the docking component to slide on the sliding component. The docking and resetting device of this application can accurately and stably dock with a docking platform, reducing the risk of shaking during docking, lowering the risk of goods falling during robot-assisted cargo handling, and improving the efficiency of warehousing and logistics.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a docking and resetting device, a robot, and a docking method. Background Technology

[0002] Warehousing and logistics involves using self-built or leased warehouses and sites to store, safeguard, load, unload, and distribute goods. Traditional warehousing and logistics mainly relies on manual labor, where goods are manually moved onto handling vehicles. When the volume of goods is very large, this method is extremely time-consuming and labor-intensive.

[0003] Currently, with the rapid development of artificial intelligence technology, more and more mobile robots are gradually replacing human labor in logistics and warehousing. The mobile robot moves to the docking platform according to the navigation path and docks with it. Goods on the docking platform are transferred to the robot via a conveyor system. After completing the transfer, the mobile robot exits the docking platform and transports the goods to the next workstation.

[0004] In unmanned warehousing and logistics applications, mobile robots mainly rely on radar and cameras for navigation and positioning. Due to factors such as environmental errors, assembly errors, and radar and camera navigation errors, the robot cannot accurately and stably dock with the docking platform. Shaking is prone to occur during docking, which can cause accidents such as goods falling when the mobile robot is picking up goods, thus reducing the efficiency of warehousing and logistics. Summary of the Invention

[0005] The purpose of this application is to provide a docking reset device and a robot docking method. The docking reset device of this application can accurately and stably dock with the docking platform, and is not prone to shaking during the docking process, thereby reducing the risk of goods falling when the robot is receiving goods and improving the work efficiency of warehousing and logistics.

[0006] In a first aspect, this application provides a docking and resetting device, comprising: a support component, a reset driving component, a sliding component, and a docking component; the reset driving component is disposed on the support component; the sliding component is disposed on the support component; and the docking component is slidably disposed on the sliding component; wherein, the docking component includes a docking part and a transmission part, the docking part is disposed on the transmission part for connecting to a docking platform, the transmission part is provided with a guide groove, and the reset driving component is capable of reciprocating along the guide groove so that the docking component slides on the sliding component.

[0007] In one embodiment, the support assembly includes: a first support plate, a second support plate, and an adjustment unit, wherein the first support plate and the second support plate are connected through the adjustment unit, and the adjustment unit is used to adjust the height of the first support plate relative to the horizontal plane.

[0008] In one embodiment, the adjustment unit includes: an adjustment member and a fixing member; a connecting member is provided on the first support plate; at least one mounting hole is provided on the second support plate; the fixing member is disposed at the mounting hole, and one end of the fixing member can pass through the mounting hole, the fixing member is provided with a through hole, one end of the adjustment member is movably connected to the connecting member, and the other end of the adjustment member can pass through the through hole.

[0009] In one embodiment, the reset drive assembly includes: a first slide rail disposed on the first support plate; a first slider slidably disposed on the first slide rail; a fixed base disposed on the first support plate; a push rod drive member disposed on the fixed base; and a guide block, which is pulsatorically connected to the push rod drive member, and the guide block is disposed on the first slider.

[0010] In one embodiment, the sliding component includes: a second slide rail disposed on the first support plate; and a second slider slidably disposed on the second slide rail.

[0011] In one embodiment, the transmission part includes: a mounting base plate disposed on the second slider, a guide groove disposed on the mounting base plate, and a docking part disposed on the mounting base plate; when the push rod drive member drives the guide block to reciprocate within the guide groove, the mounting base plate slides on the second slide rail.

[0012] In one embodiment, the docking reset device further includes a conveying component; the conveying lifting component is slidably disposed on the docking component, and the conveying lifting component is used to convey the object to be conveyed on the docking platform to the docking reset device.

[0013] In one embodiment, the conveying assembly includes: a transmission unit and a lifting unit. The transmission unit is slidably disposed on the transmission part, and the lifting unit is disposed within the transmission unit. The transmission unit includes: a first driving member disposed on the transmission part; a slide table drivenly connected to the first driving member; a third slide rail provided on the transmission part; the slide table being slidable along the third slide rail; and a strip groove provided on the slide table. The lifting unit includes: a second driving member disposed within the slide table; a lifting guide block drivenly connected to the second driving member; the lifting guide block having an inclined surface; and a lifting member rotatably disposed within the slide table; the lifting member having a groove for the inclined surface to pass through. The second driving member drives the lifting guide block to reciprocate, so that when the inclined surface passes through the groove, the lifting member is lifted or lowered along the strip groove.

[0014] Secondly, this application provides a robot, including a chassis and a docking and resetting device as described in any embodiment of the first aspect of this application; the docking and resetting device is disposed on the chassis, and the bottom of the chassis is provided with movable steering wheels.

[0015] Thirdly, this application provides a docking method for use with a robot as described in the second aspect of this application, the method comprising:

[0016] The robot is controlled to move to the docking platform according to the navigation path; the reset drive component is controlled to be in the first state so that the docking component can slide on the sliding component; the docking component is controlled to complete docking and fixing with the limiting access component on the docking platform, and the connection is performed; after the connection is completed, the robot is controlled to exit the docking platform, and the reset drive component is controlled to be in the second state so that the docking component can be locked on the sliding component and not slide.

[0017] In this application, the docking and resetting device can accurately and stably dock with the docking platform, and is not prone to shaking during the docking process, thereby reducing the risk of goods falling when the robot is handling goods and improving the efficiency of warehousing and logistics. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a robot provided in one embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the structure of a docking reset device provided in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the structure of a support component provided in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the structure of a reset drive component provided in an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of the structure of a sliding component provided in an embodiment of this application;

[0024] Figure 6 This is a schematic diagram of the structure of a docking component provided in one embodiment of this application;

[0025] Figure 7 This is a schematic diagram of the structure of a conveying assembly provided in one embodiment of this application;

[0026] Figure 8 This is a schematic diagram of the structure of a lifting unit provided in an embodiment of this application;

[0027] Figure 9 A schematic diagram of the structure of a shelf provided in one embodiment of this application;

[0028] Figure 10 A schematic diagram illustrating the connection status of the docking unit and the docking platform according to an embodiment of this application;

[0029] Figure 11 This is a schematic diagram of the robot docking state provided in an embodiment of this application.

[0030] Figure label:

[0031] 1-Robot; 11-Dock reset device; 100-Support assembly; 110-First support plate; 111-Connector; 120-Second support plate; 121-Mounting hole; 130-Adjustment unit; 131-Adjustment component; 132-Fixing component; 1321-Through hole; 200-Reset drive assembly; 210-First slide rail; 220-First slider; 230-Fixing base; 240-Push rod drive component; 250-Guide block; 300-Sliding assembly; 310-Second slide rail; 320-Second slider; 400-Dock assembly; 410-Dock part; 411-Left docking part; 412-Right docking part; 420-Transmission part; 421-Mounting base plate; 4211-Guide groove; 422-Top plate installation; 4221-Third slide rail; 500-Conveying assembly; 510-Transmission unit; 511-First drive component; 512-Slide table; 5121-Strip groove; 520-Lifting unit; 521-Second drive component; 522-Lifting guide block; 5221-Inclined surface; 523-Lifting component; 5231-Groove; 12-Chassis; 13-Moving steering wheel; 14-First detection component; 15-Second detection component; 16-Locking assembly; 161-Third drive component; 162-Spring; 163-Rotating component; 1631-Limit stop plate; 164-Locking base plate; 2-Dating platform; 21-Limit access component; 22-Locking handle; 3-Shelf; 31-Limit stop groove. Detailed Implementation

[0032] The terms “first,” “second,” “third,” etc., are used only for distinguishing descriptions and do not indicate a sequence number, nor should they be interpreted as indicating or implying relative importance.

[0033] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0034] In the description of this application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0036] The technical solution of this application will now be described with reference to the accompanying drawings.

[0037] In unmanned warehousing and logistics applications, a large number of goods awaiting transport can be placed on docking platform 2. A mobile robot contacts docking platform 2, transferring the goods from platform 2 to the mobile robot for transport, thus completing the handover and transportation of goods. When the mobile robot contacts docking platform 2, a docking device is needed to ensure precise and stable docking between the robot and the docking shelf. Therefore, this application provides a robot 1 equipped with a docking reset device 11 to reduce the possibility of goods falling during handover and improve the efficiency of warehousing and logistics.

[0038] Please refer to Figure 1 A robot 1 includes a docking and resetting device 11 and a chassis 12. The docking and resetting device 11 is mounted on the chassis 12, and the bottom of the chassis 12 is provided with movable steering wheels 13. The robot 1 can move according to a navigation path.

[0039] Please refer to Figures 2-6The docking reset device 11 includes a support assembly 100, a reset drive assembly 200, a sliding assembly 300, and a docking assembly 400. The reset drive assembly 200 is mounted on the support assembly 100, the sliding assembly 300 is mounted on the support assembly 100, and the docking assembly 400 is slidably mounted on the sliding assembly 300. The docking assembly 400 includes a docking part 410 and a transmission part 420. The docking part 410 is mounted on the transmission part 420 and is used to connect to the docking platform 2 (see below for details). Figure 10 As shown, the transmission part 420 is provided with a guide groove 4211, and the reset drive assembly 200 can reciprocate along the guide groove 4211 so that the docking assembly 400 slides on the sliding assembly 300.

[0040] Please refer to Figure 3 The support assembly 100 includes a first support plate 110, a second support plate 120, and an adjustment unit 130. The first support plate 110 and the second support plate 120 are connected by the adjustment unit 130, which is used to adjust the height of the first support plate 110 relative to the horizontal plane. The chassis 12 of the robot 1 is fixedly connected to the second support plate 120.

[0041] Specifically, the adjustment unit 130 includes an adjustment member 131 and a fixing member 132. A connecting member 111 is provided on the first support plate 110, and at least one mounting hole 121 is provided on the second support plate 120. The fixing member 132 is provided at the mounting hole 121, and one end of the fixing member 132 can pass through the mounting hole 121. The fixing member 132 is provided with a through hole 1321. One end of the adjustment member 131 is movably connected to the connecting member 111, and the other end of the adjustment member 131 can pass through the through hole 1321.

[0042] In one embodiment, the adjustment unit 130 is connected to the first support plate 110 and the second support plate 120 by a threaded connection. Specifically, both the first support plate 110 and the second support plate 120 can be rectangular structures, with four mounting holes 121 located at the four opposite corners of the rectangle. The connector 111 is a screw structure, the adjustment member 131 can be a nut structure, and the fixing member 132 can be a bolt, fixed at the mounting hole 121. One end of the fixing member 132 extends into the mounting hole 121, and the other end is confined to the surface of the mounting hole 121. One end of the nut-structured adjustment member 131 can pass through the through hole 1321 on the fixing member 132. When the nut-structured adjustment member 131 is rotated, the adjustment member 131 and the connector 111 are engaged by a threaded connection, thereby adjusting the height of the first support plate 110 by rotating the adjustment member 131. In this embodiment, the adjustment unit 130 is connected to the first support plate 110 and the second support plate 120 by a threaded connection, which allows the first support plate 110 to be adjusted in height as needed, making operation more convenient.

[0043] Please refer to Figure 4 The reset drive assembly 200 includes: a first slide rail 210, a first slider 220, a fixed base 230, a push rod drive component 240, and a guide block 250. The first slide rail 210 is mounted on the first support plate 110, the first slider 220 is slidably mounted on the first slide rail 210, the fixed base 230 is mounted on the first support plate 110, the push rod drive component 240 is mounted on the fixed base 230, the guide block 250 is connected to the push rod drive component 240, and the guide block 250 is mounted on the first slider 220.

[0044] In one embodiment, two first slide rails 210 are provided, and two corresponding first sliders 220 are provided. The push rod drive member 240 can be a cylinder, hydraulic cylinder, motor screw, or any other structure capable of reciprocating motion. The push rod drive member 240 can extend and retract, thereby driving the guide block 250 to slide reciprocally on the first slide rails 210. The driving end of the push rod drive member 240 is installed in the fixed base 230, and the transmission end of the push rod drive member 240 is connected to the guide block 250. The fixed base 230 is provided to fix the push rod drive member 240 and prevent the push rod drive member 240 from shaking when driving the guide block 250 to slide reciprocally on the first slide rails 210. For example, the front end of the guide block 250 can be configured as a triangular structure.

[0045] Please refer to Figure 5 The sliding component 300 includes a second slide rail 310 and a second slider 320. The second slide rail 310 is disposed on the first support plate 110, and the second slider 320 is slidably disposed on the second slide rail 310. In this embodiment, there are two second slide rails 310 and four second sliders 320, with two second sliders 320 correspondingly disposed on each second slide rail 310. The second slide rails 310 are disposed at both ends of the first support plate 110, and the setting direction of the second slide rails 310 is perpendicular to the setting direction of the first slide rail 210.

[0046] Please refer to Figure 6 The docking assembly 400 includes a docking part 410 and a transmission part 420. The transmission part 420 includes a mounting base plate 421, which is disposed on the second slider 320. A guide groove 4211 is disposed on the mounting base plate 421. The structure of the guide groove 4211 can be consistent with the structure of the reset drive assembly 200. The guide groove 4211 at the end where the guide block 250 is located is also set as a triangular structure.

[0047] The docking part 410 is provided on the mounting base plate 421. For example, the docking part 410 consists of two guide members, namely a left docking part 411 and a right docking part 412, which are respectively provided at the left end of the mounting base plate 421. Figure 6(as shown in the diagram), the docking part 410 is used to dock and fix with the limiting access component 21 on the docking platform 2 (see below for details). Figure 10 (As shown).

[0048] In one embodiment, the transmission part 420 further includes a mounting top plate 422, which is disposed on the mounting base plate 421. The mounting top plate 422 and the mounting base plate 421 can be connected by bolts or welding.

[0049] In this embodiment, when the push rod drive member 240 drives the guide block 250 to reciprocate within the guide groove 4211, the mounting base plate 421 slides on the second slide rail 310. Figure 6 As shown, when the push rod drive component 240 is in its initial state, the mounting base plate 421 can slide left and right on the second slide rail 310 without constraint. Since the front end of the guide block 250 is triangular, when the push rod drive member 240 starts to push the guide block 250 to slide on the first slide rail 210 from the initial state, the guide block 250 slides in the direction of the guide groove 4211. During the sliding process of the guide block 250 along the guide groove 4211, when the front end of the triangular part of the guide block 250 touches the end of the triangular part of the guide groove 4211, it will push the guide groove 4211 to slide, thereby causing the mounting base plate 421 to slide along the second slide rail 310. When the front end of the guide block 250 slides into the end of the triangular part of the guide groove 4211, the push rod drive member 240 reaches its maximum stroke, which is equivalent to the guide block 250 pressing against the guide groove 4211. At this time, the mounting base plate 421 reaches its limit position and will not slide. At this time, the push rod drive member 240 stops working, the guide block 250 is locked in the guide groove 4211, the mounting base plate 421 stops sliding, and the entire transmission part 420 is locked and cannot move.

[0050] When the push rod drive component 240 starts working and gradually returns to the initial position, the guide block 250 slides in the opposite direction and disengages from the guide groove 4211, and the mounting base plate 421 is released from the limit position constraint, that is, the mounting base plate 421 can slide left and right on the second slide rail 310 without constraint.

[0051] Please refer to Figure 7 The conveying component 500 is slidably mounted on the docking component 400. The conveying component 500 is used to convey the object to be conveyed on the docking platform 2 to the docking reset device 11.

[0052] In this embodiment, the object to be transported is the goods or other items to be transported. When the docking reset device 11 docks and contacts the docking platform 2, the transport component 500 can pull the goods to be transported back and transport them to the docking component 400, and then the robot 1 loads the goods and leaves.

[0053] Please refer to Figure 2 , Figure 7 and Figure 8 The conveying assembly 500 includes a transmission unit 510 and a lifting unit 520. The transmission unit is slidably mounted on the transmission part 420, and the lifting unit 520 is located inside the transmission unit 510. The transmission unit 510 includes a first driving member 511 and a slide table 512. The first driving member 511 is mounted on the transmission part 420, and the slide table 512 is drively connected to the first driving member 511. The transmission part 420 is provided with a third slide rail 4221, and the slide table 512 can slide along the third slide rail 4221. The slide table 512 is provided with a strip groove 5121.

[0054] In one embodiment, the first driving member 511 may be disposed on the mounting top plate 422. The first driving member 511 may be a cylinder, a hydraulic cylinder, a motor screw, or any other structure capable of reciprocating motion. The third slide rail 4221 is disposed at the middle position of the mounting top plate 422. The driving end of the first driving member 511 is connected to the slide table 512, and the first driving member 511 drives the slide table 512 to slide reciprocally on the third slide rail 4221. When the first driving member 511 is in the initial state, the slide table 512 is located in the middle of the mounting top plate 422 and does not extend outside the mounting top plate 422. When the first driving member 511 drives the slide table 512 from the initial state to slide along the third slide rail 4221, the slide table 512 extends outside the mounting top plate 422.

[0055] The slide table 512 can be hollow inside, and the lifting unit 520 is installed inside the hollow slide table 512. The lifting unit 520 can slide together with the slide table 512.

[0056] Please refer to Figure 8 The lifting unit 520 includes: a second driving member 521, a lifting guide block 522, and a lifting member 523. The second driving member 521 is disposed in the hollow slide table 512. The lifting guide block 522 is connected to the second driving member 521. The lifting guide block 522 has an inclined surface 5221. The lifting member 523 is rotatably disposed in the slide table 512. The lifting member 523 is provided with a groove 5231 for the inclined surface 5221 to pass through. The second driving member 521 drives the lifting guide block 522 to move back and forth so that when the inclined surface 5221 passes through the groove 5231, the lifting member 523 is lifted or lowered along the strip groove 5121.

[0057] In one embodiment, the second driving member 521 can be a cylinder, a hydraulic cylinder, a motor screw, or any other structure capable of reciprocating motion. The driving end of the second driving member 521 is connected to the lifting guide block 522, and the second driving member 521 can drive the lifting guide block 522 to slide reciprocally. When the first driving member 511 drives the slide table 512 from its initial state to slide along the third slide rail 4221, the slide table 512 extends beyond the mounting top plate 422 and reaches its maximum displacement position (this maximum position is the maximum length that the slide table 512 can extend beyond the mounting top plate 422). At this time, when the second driving member 521 drives the lifting guide block 522 to extend outward from its initial position, the inclined surface 5221 of the lifting guide block 522 gradually moves towards the groove 5231 on the lifting member 523. When the inclined surface 5221 of the lifting guide block 522 moves along the groove 5231, it lifts the lifting member 523, which extends out from the strip groove 5121 of the slide table 512. When the lifting member 523 extends out of the slide table 512 from the strip groove 5121, it hooks the shelf 3 located on the docking assembly 400. The shelf 3 is used to hold the goods to be transported. Please refer to [reference needed]. Figure 9 The bottom of the shelf 3 is provided with a limiting groove 31 for the lifting component 523 to hook and pull. When the lifting component 523 hooks onto one of the limiting grooves 31, for example, the first limiting groove 31 ( Figure 9 From left to right, the leftmost one is the first limit stop groove 31), and then the first driving component 511 drives the slide table 512 back to the initial position and back to the mounting top plate 422, pulling the shelf 3 back to the docking component 400, thereby transferring the goods to be transported to the robot 1.

[0058] In one embodiment, a plurality of first detection elements 14 are provided on the mounting top plate 422. The first detection elements 14 can be infrared sensors, used to sense and detect whether the shelf 3 has been pulled back onto the docking assembly 400 and into place.

[0059] Please refer to Figure 10 To further improve the docking stability between the docking reset device 11 and the docking platform 2, a limit access component 21 is provided on the docking platform 2. When the robot 1 moves to the docking platform 2, a limit access component 21 is provided. Figure 6 The left docking part 411 and the right docking part 412 are respectively inserted into the limiting access component 21 on the docking platform 2.

[0060] In one embodiment, a locking handle 22 is provided in the middle of the docking platform 2, and a second detection element 15 and a locking assembly 16 are provided on the mounting base plate 421. The locking assembly 16 includes a third driving element 161, a spring 162, a rotating element 163, and a locking base plate 164. The third driving element 161 is disposed on the locking base plate 164, the second detection element 15 is movably disposed on the locking base plate 164, and the spring 162 is sleeved on the second detection element 15, allowing the second detection element 15 to extend and retract on the locking base plate 164. A limit stop 1631 is provided on the rotating element 163, and the third driving element 161 is used to drive the rotating element 163 to rotate.

[0061] The third driving component 161 can be a motor. When the robot 1 moves toward the docking platform 2, the left docking part 411 and the right docking part 412 on the mounting base plate 421 are respectively inserted into the limiting access component 21 on the docking platform 2. At the same time, the second detection component 15 abuts against the locking handle 22. That is, after the second detection component 15 senses that the robot 1 is in place, it transmits a signal to the third driving component 161. At this time, the third driving component 161 drives the rotating component 163 to rotate, so that the limiting baffle 1631 on the rotating component 163 locks the locking handle 22, thereby enabling the docking reset device 11 to be stably docked and fixed with the docking platform 2.

[0062] In this embodiment, the second detection element 15 can be a radar or a displacement sensor. A camera can also be installed on the mounting base 421 to monitor the movement of the robot 1 in real time.

[0063] Please refer to Figure 11 This application provides a docking method, applicable to, for example... Figures 1-8 The robot, the method includes steps S210-S240.

[0064] Step S210: Control robot 1 to move to docking platform 2 according to the navigation path.

[0065] In this step, docking platform 2 is located in a self-built or leased warehouse or similar facility, which can serve as a goods storage container or rack. Robot 1 has a pre-programmed navigation map and planned path. Guided by radar, cameras, and other components, robot 1 moves to docking platform 2 along the pre-generated navigation path, ready for goods transfer. It should be noted that there will be approximately a 20mm discrepancy between robot 1 and docking platform 2. Direct docking with docking platform 2 could result in robot 1 colliding with and damaging platform 2, or robot 1 itself could be damaged.

[0066] Step S220: Control the reset drive component 200 to be in the first state so that the docking component 400 can slide on the sliding component 300.

[0067] In this step, the first state of the reset drive component 200 is the initial state. In the initial state, the docking component 400 can slide on the sliding component 300. Specifically, when the robot 1 arrives at the docking platform 2, and when the push rod drive component 240 is in the initial state, the mounting base plate 421 can slide left and right on the second slide rail 310 without constraint.

[0068] Step S230: Control the docking component 400 to complete the docking and fixing with the limit access component 21 on the docking platform 2, and perform the connection.

[0069] When the reset drive assembly 200 returns to its initial state, the docking assembly 400 can slide on the sliding assembly 300. The robot 1 begins to dock with the docking platform 2. By controlling the left docking part 411 and the right docking part 412 on the docking assembly 400 to be inserted into the limiting access component 21 on the docking platform 2 respectively, the left docking part 411 and the right docking part 412 slide against the limiting access component 21, thereby driving the mounting base plate 421 on the docking assembly 400 to slide on the second slide rail 310. The second detection element 15 on the robot 1 detects the locking handle 22 on the docking platform 2. After the second detection element 15 senses that the robot 1 is in place, it transmits a signal to the third drive element 161. At this time, the third drive element 161 drives the rotating part 163 to rotate, so that the limiting baffle 1631 on the rotating part 163 locks the locking handle 22, thereby enabling the docking reset device 11 to be stably docked and fixed with the docking platform 2, and begin to prepare for the transfer of goods.

[0070] The shelf 3 can initially be located on the docking platform 2. The shelf 3 is filled with goods to be transported. When the first driving member 511 drives the slide table 512 from the initial state to slide along the third slide rail 4221, the slide table 512 extends out of the mounting top plate 422 and extends to the maximum displacement position (this maximum position is the maximum length that the slide table 512 can extend out of the mounting top plate 422). At this time, when the second driving member 521 drives the lifting guide block 522 to extend outward from the initial position, the inclined surface 5221 of the lifting guide block 522 gradually moves towards the groove 5231 on the lifting member 523. When the inclined surface 5221 of the lifting guide block 522 moves along the groove 5231, the lifting member 523 is lifted and extends out from the strip groove 5121 of the slide table 512. When the second drive member 521 drives the lifting guide block 522 to extend outward from the initial position to the maximum extension stroke, the lifting member 523 extends out of the strip groove 5121 to the maximum height. The lifting member 523 hooks the limiting groove 31 at the bottom of the shelf 3 on the docking assembly 400. After the lifting member 523 hooks the first limiting groove 31, the first drive member 511 drives the slide table 512 to return to the initial position and back to the mounting top plate 422, pulling the shelf 3 back to the docking assembly 400, thereby transferring the goods to be transported to the robot 1.

[0071] It should be noted that the lifting component 523 is raised only after the slide table 512 extends beyond the mounting plate 422. The length of the slide table 512 can be the same as the length of the shelf 3. If the shelf 3 cannot be pulled back to the docking assembly 400 in one go, the lifting component 523 can be raised multiple times to hook onto the limiting grooves 31 at different positions on the bottom of the shelf 3, and then the first driving component 511 can be used to pull the shelf 3 back to the docking assembly 400.

[0072] When the shelf 3 is pulled onto the docking assembly 400, the first detection component 14 senses and detects whether the shelf 3 has been pulled back onto the docking assembly 400 and is in place.

[0073] Step S240: After docking is completed, control robot 1 to exit docking platform 2 and control reset drive component 200 to be in the second state so that docking component 400 can be locked on sliding component 300 and not slide.

[0074] After step S230, robot 1 needs to exit docking platform 2 and transport the goods away. At this time, the third drive component 161 drives the rotating component 163 to rotate in the opposite direction, causing the limit stop plate 1631 on the rotating component 163 to disengage from the locking handle 22, controlling robot 1 to move away from docking platform 2. After robot 1 exits docking platform 2, the mounting base plate 421 on robot 1 can still slide left and right on the second slide rail 310. Since the docking assembly 400 must be fixed and cannot shake during the cargo transfer process, the push rod drive component 240 can be controlled to start pushing the guide block 250 to slide on the first slide rail 210 from the initial state. The guide block 250 slides in the direction of the guide groove 4211. During the sliding process of the guide block 250 along the guide groove 4211, when the front end of the triangle of the guide block 250 touches the end of the triangle of the guide groove 4211, it will push the guide groove 4211 to slide, thereby causing the mounting base plate 421 to slide along the second slide rail 310. During the sliding process, the mounting base plate 421 performs sliding friction, thereby driving the docking assembly 400 to reset. When the front end of the guide block 250 slides into the triangular end of the guide groove 4211, the push rod drive 240 reaches its maximum stroke, and the guide block 250 abuts against the guide groove 4211. At this time, the mounting base plate 421 reaches its limit position and will not slide. Then, the push rod drive 240 stops working, the guide block 250 is locked in the guide groove 4211, the mounting base plate 421 stops sliding, and the entire transmission part 420 is locked and cannot move. Finally, the docking assembly 400 can be locked on the sliding assembly 300 without sliding. The robot 1 moves according to the navigation path and transports the goods away. The robot 1 repeats steps S210-S240 until all the goods have been transported away from the self-built or leased warehouse or other sites.

[0075] The method of this application solves the problem that robot 1 can accurately and stably dock with docking platform 2 in unmanned warehousing and logistics, and is not prone to shaking during docking, thereby reducing the risk of goods falling when robot 1 connects with goods and improving the efficiency of warehousing and logistics.

[0076] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0077] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. 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 docking reset device, characterized in that, include: Support components; A reset drive assembly is disposed on the support assembly. The reset drive assembly includes a push rod drive component and a guide block. The push rod drive component is used to drive the guide block to perform linear movement. A sliding component is disposed on the support component; as well as A docking component is slidably disposed on the sliding component, and the sliding direction of the docking component is perpendicular to the linear movement direction of the guide block; The docking assembly includes a docking part and a transmission part. The docking part is disposed on the transmission part and is used to connect to the docking platform. The transmission part is provided with a guide groove. The reset drive assembly can reciprocate along the guide groove so that the docking assembly slides on the sliding assembly. When the guide block abuts against the guide groove, the docking assembly is locked on the sliding assembly. The support assembly includes: a first support plate, a second support plate, and an adjustment unit. The first support plate and the second support plate are connected through the adjustment unit, which is used to adjust the height of the first support plate relative to the horizontal plane. The reset drive component includes: The first slide rail is mounted on the first support plate; The first slider is slidably mounted on the first slide rail; A fixed base is provided on the first support plate; The push rod drive is mounted on the fixed base, and the guide block is mounted on the first slider; The sliding component includes: The second slide rail is disposed on the first support plate; and The second slider is slidably mounted on the second slide rail; The transmission unit includes: A mounting base plate is provided on the second slider, the guide groove is provided on the mounting base plate, and the docking part is provided on the mounting base plate; When the push rod drive drives the guide block to reciprocate within the guide groove, the mounting base plate slides on the second slide rail. The docking reset device further includes: a conveying component; The conveying component is slidably mounted on the docking component, and the conveying component is used to convey the object to be conveyed on the docking platform to the docking reset device.

2. The docking reset device according to claim 1, characterized in that, The adjustment unit includes: an adjustment component and a fixing component; The first support plate is provided with a connector; The second support plate is provided with at least one mounting hole; The fastener is located at the mounting hole, and one end of the fastener can pass through the mounting hole. The fastener has a through hole. One end of the adjusting member is movably connected to the connecting member, and the other end of the adjusting member can pass through the through hole.

3. The docking reset device according to claim 1, characterized in that, The conveying assembly includes a transmission unit and a lifting unit, wherein the transmission unit is slidably disposed on the transmission part, and the lifting unit is disposed inside the transmission unit; The transmission unit includes: A first driving component is disposed on the transmission part; A slide table is connected to the first driving component. The transmission part is provided with a third slide rail. The slide table can slide along the third slide rail. A strip groove is provided on the slide table. The lifting unit includes: The second driving component is disposed within the slide table; A lifting guide block is connected to the second driving component, and the lifting guide block has an inclined surface; A lifting member is rotatably disposed within the slide table. The lifting member has a groove for the inclined surface to pass through. The second driving member drives the lifting guide block to reciprocate so that when the inclined surface passes through the groove, the lifting member is raised or lowered along the strip groove.

4. A robot, characterized in that, Includes a chassis, and a docking and resetting device as described in any one of claims 1 to 3; The docking and resetting device is located on the chassis, and the bottom of the chassis is equipped with movable steering wheels.

5. A docking method, characterized in that, Applied to the robot as described in claim 4, the method includes: Control the robot to move to the docking platform according to the navigation path; The reset drive component is controlled to be in a first state so that the docking component can slide on the sliding component; The docking component is controlled to dock and fix with the limiting access component on the docking platform to perform the connection; After docking is completed, the robot is controlled to exit the docking platform, and the reset drive component is controlled to be in the second state so that the docking component can be locked on the sliding component to prevent slippage.

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