Loading and unloading mobile robot

Abstract

The application provides a feeding and discharging mobile robot, which comprises an AGV mother vehicle, a mother vehicle main body, a mother vehicle lifting platform arranged on the upper part of the mother vehicle main body, a driving wheel assembly arranged on the lower part of the mother vehicle main body, a large guide rail arranged on the lower part of the mother vehicle lifting platform, and a pushing power source capable of driving the large guide rail to move; a shuttle sub-vehicle, a sub-vehicle main body, a small track arranged on the lower part of the sub-vehicle main body and arranged above the large guide rail, and a sub-vehicle lifting platform arranged on the upper part of the sub-vehicle main body, the sub-vehicle lifting platform is used for placing a workpiece tray, the application effectively realizes the automatic transportation of the workpiece tray, has good universality, can be applied to most workpieces, the shape of the shuttle sub-vehicle is good, the machine tool itself is changed little, one-time clamping can be realized, the effect that various large workpieces to be machined are accurately conveyed to the machine tool is realized, and the controllability, automation and precision of the feeding of medium and heavy materials are solved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a loading and unloading mobile robot. Background Art

[0002] With the widespread use of CNC machine tools, their loading and unloading methods have become automated and fast. A common and convenient method for loading and unloading is to use a robotic arm to grab and place parts. However, as technology advances, the weight class of machine tools is increasing. For medium- and heavy-duty machine tools, the automated loading method of robotic arm grabbing and placing parts is no longer suitable due to load capacity issues.

[0003] The current practice for medium and heavy-duty machine tools is to use automated mechanical conveyor lines to transport workpieces step by step to the machine, or to use forklifts, cranes, and other methods to place workpieces at the workstations, followed by manual adjustment. The former automated conveying method has poor versatility, can only be used for a small number of workpieces, is difficult to modify, and requires manual or other automated methods to complete the process. The latter manual method is time-consuming and labor-intensive, and it is difficult to clamp the workpieces into place in one go. In order to quickly and accurately place the workpieces in one go, a robot is urgently needed to address these shortcomings. Summary of the Invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a loading and unloading mobile robot.

[0005] According to the present invention, a loading and unloading mobile robot is provided, comprising:

[0006] The AGV mother vehicle is equipped with a mother vehicle body, a mother vehicle lifting platform arranged on the upper part of the mother vehicle body, a driving wheel assembly arranged on the lower part of the mother vehicle body, a large guide rail arranged on the lower part of the mother vehicle lifting platform, and a driving power source capable of driving the large guide rail to move;

[0007] The shuttle car is equipped with a car body, a small track arranged at the bottom of the car body and above the large guide rail, and a car lifting platform arranged at the top of the car body. The car lifting platform is used to place the workpiece pallet, wherein:

[0008] The AGV mother vehicle can drive the workpiece tray to the first target position under the drive of the drive wheel assembly. At this time, the large guide rail is adjusted to the same height as the intermediate overhanging support of the second target position through the mother vehicle lifting platform, and the workpiece tray is driven to rise to the first height through the sub-vehicle lifting platform. The large guide rail drives the small rail and the sub-vehicle lifting platform to move towards the intermediate overhanging support under the drive of the pushing power source until the small rail is aligned and contacted with the support rail on the intermediate overhanging support. At this time, the shuttle sub-vehicle moves from the initial position to the second target position along the small rail and the support rail under the drive of itself. The sub-vehicle lifting platform drives the workpiece tray to be lowered below the second height so that the workpiece tray is placed on the positioning mechanism. At this time, the shuttle sub-vehicle returns to the initial position, and the transportation of the workpiece tray is completed, wherein the top end of the positioning mechanism is located at the second height.

[0009] Preferably, the mother vehicle lifting platform is provided with large guide rail side stops, the two sides of the large guide rail are in sliding fit with the large guide rail side stops and are limited by the large guide rail side stops, and the two sides of the large guide rail are each provided with a large guide rail elastic side stop so that the large guide rail has a certain radial movement gap when sliding in the large guide rail side stop and can return to the original position after the external force is removed.

[0010] Preferably, the AGV mother vehicle further comprises a pushing block, a rolling ball is arranged between the large guide rail and the mother vehicle lifting platform, and the pushing block can drive the large guide rail to move relative to the mother vehicle lifting platform together with the shuttle sub-vehicle under the drive of the pushing power source.

[0011] Preferably, the pushing end of the pushing power source is an elastic pushing end, so that the position of the large guide rail can be adaptively adjusted when rigidly connected with the intermediate overhanging support due to the elasticity of the large guide rail, thereby realizing high-precision connection between the large guide rail and the intermediate overhanging support.

[0012] Preferably, the left and right sides of the bottom of the shuttle sub-vehicle are each provided with a sub-vehicle walking wheel and a sub-vehicle guide wheel arranged between the left and right sub-vehicle walking wheels, the sub-vehicle walking wheels have independent power sources for driving and providing power for the movement of the shuttle sub-vehicle, and the sub-vehicle guide wheels have no power and limit the walking accuracy of the shuttle sub-vehicle through their rigidity.

[0013] Preferably, the control system and an end baffle on the machine tool are further included, the front end of the shuttle sub-vehicle is provided with two distance measuring sensors, the two distance measuring sensors can measure the distance from the end baffle in real time and feed back to the control system in real time when the shuttle sub-vehicle moves towards the second target position, the distance difference of the two distance measuring feedbacks is calculated and controlled by the control system to control the rotating speed of the left and right sub-vehicle walking wheel motors, so that the walking path of the shuttle sub-vehicle can be corrected in real time.

[0014] Preferably, the positioning mechanism is located on the machine tool, and the shuttle car stops when it reaches the specified distance measurement value. Through the gap control of the small track, bracket track, and car guide wheel and the real-time mobile positioning control of the distance measurement sensor, the stopping accuracy of the shuttle car can ensure that the workpiece pallet and the positioning mechanism are within the alignment accuracy range.

[0015] Preferably, the machine tool is provided with fixed pull pins for limiting the position of the workpiece pallet;

[0016] The shuttle's movement accuracy is within ±1 mm.

[0017] Preferably, the driving wheel assembly includes a mother vehicle support wheel and a power wheel, wherein the power wheel provides power for the movement of the AGV mother vehicle, and the mother vehicle support wheel is used to assist in supporting rotation.

[0018] Preferably, the mother vehicle lifting platform is driven by a motor;

[0019] The AGV mother vehicle is equipped with a mother vehicle navigation system, and the mother vehicle navigation system is used to guide the movement target of the AGV mother vehicle.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention effectively realizes the automated transportation of workpiece pallets by configuring a shuttle car on the AGV mother car and configuring lifting mechanisms on the AGV mother car and the shuttle car respectively. It has good versatility and can be applied to most workpieces. The shuttle car has a plastic shape and requires little modification to the machine tool itself. It can be clamped in place in one go, and the effect of accurately conveying various large-scale workpieces to be processed to the machine tool is achieved, which solves the controllability, automation and accuracy of loading medium and heavy materials.

[0022] 2. The present invention provides a feasible automatic and precise loading method for large machine tools, especially machine tools whose spindles cannot move like gantry machine tools, thereby improving production efficiency.

[0023] 3. The present invention has low implementation cost and high economy, does not have high requirements on the AGV mother vehicle and child vehicles, and is expandable and replicable as a whole.

[0024] 4. The present invention combines the advantages of forklifts, mobile robots, etc., and can achieve direct signal connection between machines through wireless communication, making the processing process highly automated.

[0025] 5. The present invention uses lithium batteries as power source, which is clean and green. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0027] Figure 1 This is a structural diagram of the AGV mother vehicle when viewed from the side and above;

[0028] Figure 2 This is a structural diagram of the AGV mother vehicle when viewed from the side and below;

[0029] Figure 3 This is a schematic diagram of the front structure of the protruding surface of the mother vehicle lifting platform and the large guide rail in the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the elastic push end and the large guide rail;

[0031] Figure 5 Schematic diagram of the bottom structure of the shuttle car;

[0032] Figure 6 This is a structural diagram of the connection between the main track and the intermediate transition bracket;

[0033] Figure 7 It is a side structural schematic diagram of placing a workpiece pallet on a machine tool table according to the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the present invention when the workpiece tray is placed on the machine tool table and viewed from the side.

[0035] AGV mother vehicle 1

[0036] Mother vehicle body 11

[0037] Mother car lifting platform 12

[0038] Large guide rail 121

[0039] Large guide rail elastic side stop 122

[0040] Large guide rail side stop 123

[0041] Rolling Ball 124

[0042] Push block 125

[0043] Propelling power source 126

[0044] Elastic push end 127

[0045] Carriage support wheel 13

[0046] Mother vehicle power wheel 14

[0047] Mother vehicle navigation system 15

[0048] Control Panel 16

[0049] Positioning mechanism 17

[0050] Fixed rivet 18

[0051] End baffle 19

[0052] Shuttle 2

[0053] Sub-vehicle body 21

[0054] Small track 22

[0055] Car lifting platform 23

[0056] Car travel wheel 24

[0057] Sub-car guide wheel 25

[0058] Distance sensor 26

[0059] Workpiece pallet 3

[0060] Intermediate transition bracket 4

[0061] Bracket rail 41 DETAILED DESCRIPTION

[0062] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0063] The present invention is suitable for precise loading and unloading of large CNC machine tools, and provides a mobile loading and unloading robot, which is mainly a robot with a liftable AGV equipped with a shuttle car 2, such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8As shown, it includes an AGV mother car 1 and a shuttle car 2. The AGV mother car 1 is a normal medium and heavy-duty AGV. The AGV mother car 1 is equipped with a mother car body 11, a mother car navigation system 15 arranged on the mother car body 11, a control panel 16, a mother car lifting platform 12 arranged on the upper part of the mother car body 11, a driving wheel assembly arranged at the lower part of the mother car body 11, a large guide rail 121 arranged at the lower part of the mother car lifting platform 12, and a driving power source 126 capable of driving the large guide rail 121 to move. The mother car lifting platform 12 is preferably driven by a motor, and the control panel 16 can be manually set and modified. The mother car navigation system 15 can provide navigation services for the AGV mother car 1, which is used to guide the movement target of the AGV mother car 1, so that the AGV mother car 1 can smoothly reach the set target. The mother car lifting platform 12 can be raised and lowered and stopped at any required position to match the machine height of various machine tools along the line.

[0064] Specifically, if Figure 1 As shown, the shuttle car 2 is a rail-type RGV with its own moving power. It is equipped with lifting and moving functions, and can control the moving speed, automatic deviation correction, and stop at a designated position. Specifically, the shuttle car 2 is equipped with a car body 21, a small track 22 arranged at the lower part of the car body 21 and arranged above the large guide rail 121, and a car lifting platform 23 arranged at the upper part of the car body 21. The car lifting platform 23 is used to place the workpiece pallet 3.

[0065] In actual use, the AGV mother vehicle 1 can transport the workpiece pallet 3 to the first target position under the drive of the driving wheel assembly. At this time, the large guide rail 121 is adjusted to the same height as the intermediate transition bracket 4 at the second target position through the mother vehicle lifting platform 12 and the workpiece pallet 3 is driven to rise to the first height through the sub-vehicle lifting platform 23. Under the drive of the propulsion power source 126, the large guide rail 121 drives the small track 22 and the sub-vehicle lifting platform 23 toward the intermediate transition bracket 4 until the small track 22 is aligned with the bracket track 41 on the intermediate transition bracket 4. At this time, the shuttle vehicle 2 is driven by itself. After moving from the initial position along the small track 22 and the bracket track 41 to the second target position, the sub-trolley lifting platform 23 drives the workpiece pallet 3 to descend to below the second height so that the workpiece pallet 3 is placed on the positioning mechanism 17. The positioning mechanism 17 is located on the machine tool. It should be noted that in order to smoothly transport the workpiece pallet 3 to the machine tool, the machine tool and the robot need to be smoothly docked to complete the transportation of the workpiece pallet 3. Therefore, according to the characteristics of the robot, an intermediate transition bracket 4 is set on the machine tool, and a frame track 41 is set on the intermediate transition bracket 4 to achieve a perfect match with the small track 22 to complete the transportation of the workpiece pallet 3.

[0066] Furthermore, the machine tool is also equipped with fixed rivets 18 and end baffles 19, such as Figure 7 、 Figure 8As shown, the fixed rivet 18 can be inserted into the interior of the workpiece pallet 3 to limit the workpiece pallet 3 and prevent the workpiece pallet 3 from slipping and causing an accident. At this time, the shuttle car 2 returns to the initial position and completes the transportation of the workpiece pallet 3, wherein the top of the positioning mechanism 17 is at the second height. It should be noted that the second target position is the position of the workpiece pallet 3 when it is placed on the positioning mechanism 17, and the first target position is the position of the AGV mother car 1 that can align and contact the small track 22 with the bracket track 41. The first height must meet the requirement that the lowest end of the workpiece pallet 3 is still higher than the highest end of the positioning mechanism 17 when the shuttle car 2 moves on the track. The second height must meet the requirement that when the car lifting platform 23 moves to the lowest position, the lowest end of the workpiece pallet 3 located on the positioning mechanism 17 does not interfere with the shuttle car 2 returning to the initial position. The initial position here can be understood as the position of the shuttle car 2 when the large guide rail 121 is not pushed out.

[0067] like Figure 3 、 Figure 4 As shown, the mother vehicle lifting platform 12 is provided with a large guide rail side block 123, and the two sides of the large guide rail 121 slide with the large guide rail side block 123 and are limited by the large guide rail side block 123. It should be noted that the large guide rail side block 123 limits the large guide rail 121 not only in the horizontal direction of the left and right, but also in the vertical direction of the up and down. Both sides of the large guide rail 121 are provided with large guide rail elastic side blocks 122 so that when the large guide rail 121 slides in the large guide rail side block 123 along the front and rear directions, it has a certain radial activity gap, which can also be understood as a left and right activity gap, and can return to its original position under the elastic force of the large guide rail elastic side block 122 after the external force is removed.

[0068] like Figure 3 As shown, the AGV mother vehicle 1 further includes a push block 125, a rolling ball 124 is provided between the large guide rail 121 and the mother vehicle lifting platform 12, and a driving power source 126 can drive the push block 125 to push the large guide rail 121 to drive the shuttle vehicle 2 relative to the mother vehicle lifting platform 12. The driving power source 126 and the push block 125 can adopt a drive form in which a motor screw and the push block 125 are threadedly matched, or other drive forms in the prior art can be adopted, and the specific drive form can be flexibly selected according to actual conditions.

[0069] like Figure 4 As shown, the pushing end of the driving power source 126 is an elastic pushing end 127, which can enable the position of the large guide rail 121 to be adaptively adjusted due to its own elasticity when rigidly docked with the intermediate transition bracket 4, thereby achieving high-precision docking of the large guide rail 121 and the intermediate transition bracket 4, and thus achieving high-precision docking of the small track 22 and the bracket track 41.

[0070] like Figure 5As shown, the left and right sides of the bottom of the shuttle carriage 2 are equipped with a carriage running wheel 24 and a carriage guide wheel 25 respectively arranged between the left and right carriage running wheels 24, wherein the axial direction of the carriage running wheel 24 is in the horizontal direction, and the axial direction of the carriage guide wheel 25 is in the vertical direction. The carriage running wheel 24 has an independent power source to drive the shuttle carriage 2, and the carriage guide wheel 25 has no power. It limits the walking accuracy of the shuttle carriage 2 through its own rigidity, that is, the carriage running wheel 24 walks on the small track 22 to provide power for the movement of the shuttle carriage 2, and the carriage guide wheel 25 rotates with the inner side surface of the small track 22 to provide a limit.

[0071] The present invention is also equipped with a control system, such as Figure 7 、 Figure 8 As shown, the end baffle 19 is arranged at the end of the machine tool away from the small track 22, and the front end of the shuttle carriage 2 is provided with a distance sensor 26 on both sides. The distance sensor 26 can detect the distance between the shuttle carriage 2 and the end baffle 19. When the shuttle carriage 2 moves toward the second target position, the two distance sensors 26 can measure the distance from the end baffle 19 in real time and feed back to the control system in real time. The distance difference of the two distance feedbacks is calculated by the control system and the speed of the motor of the left and right carriage walking wheels 24 is controlled so that the walking path of the shuttle carriage 2 can be corrected in real time. When the shuttle carriage 2 reaches the specified distance value, it stops. Through the gap control of the small track 22, the bracket track 41, and the carriage guide wheel 25 and the real-time mobile positioning control of the distance sensor 26, the stopping accuracy of the shuttle carriage 2 can ensure that the workpiece pallet 3 and the positioning mechanism 17 are within the alignment accuracy range.

[0072] The driving wheel assembly of the present invention includes a carrier support wheel 13 and a power wheel 14. Figure 2 As shown, the power wheel 14 provides power for the movement of the AGV mother vehicle 1, and the mother vehicle support wheel 13 is used to assist in supporting the rotation.

[0073] The AGV carrier 1 in the present invention is a standard AGV, which can be equipped with steering wheels, differential wheels, or other configurations. In conjunction with the carrier navigation system 15, it can effectively and reliably automatically transport and move cargo, achieving automated delivery through the control system's scheduling. This allows the installation of workpieces onto workpiece pallets 3 to be performed at a more remote and convenient location, eliminating space constraints in factory operations. The AGV carrier 1 also features a lift platform that can accommodate various machine heights, enhancing its adaptability.

[0074] The AGV carrier body 11 houses the shuttle and its tracks. These tracks are divided into two types: the small track 22, which shuttles the shuttle 2, and the large track 121, which carries the shuttle and its tracks for horizontal movement. Both are made of steel. The large track 121 can extend a certain distance from the AGV carrier 1 and has a certain degree of horizontal freedom. After extending from the AGV carrier 1, the large track 121 docks with a docking bracket outside the machine tool. Using its own freedom of movement, the large track 121 passively adjusts its position, allowing the shuttle and its small track 22 to precisely mate with the bracket track 41 on the intermediate transition bracket 4.

[0075] The movement of the shuttle and the guidance of the AGV mother vehicle 1 are both achieved by steel wheels. They can adapt to track deviations or gaps, and the steel drive wheels have a strong load-bearing capacity while being very low. The height of the shuttle lifting platform 23 after lifting can be controlled within 200mm, effectively minimizing the impact of the shuttle 2 on the up and down travel of the machine tool. The shuttle 2 is powered by the AGV mother vehicle 1. The shuttle 2's forward drive wheels are driven by two left and right motors. Minor adjustments to the direction of movement are made by adjusting the motor speeds on both sides. The shuttle 2 has two sets of distance measuring sensors at the front and rear of the shuttle, placed on the left and right sides. They measure the distance between the front end of the shuttle and the position within the machine tool in real time. The controller calculates the left and right distance difference and feedback to adjust the speed of the shuttle 2's left and right motors, thereby improving the accuracy of movement. The measured distance value also allows the position of the shuttle 2 to be controlled, and the shuttle can be controlled to reach the appropriate distance according to instructions.

[0076] Through motion control and track control, the shuttle carriage 2 achieves a movement accuracy of within ±1mm. This precision allows the workpiece pallet 3 to be moved directly above the positioning mechanism 17 on the machine tool. The shuttle's own lifting function lowers the workpiece pallet 3 onto the positioning mechanism 17. When the shuttle exits the machine tool station, the mechanism automatically secures the workpiece pallet 3 and returns it to the AGV carrier 1.

[0077] The working principle of the present invention is as follows:

[0078] According to the workpiece transportation task, the AGV mother car 1 carries the pallet and workpiece 3 from the manual station to the inside of the AGV and moves toward the target machine tool position. At this time, the power wheel 14 provides motion power for rotation, and the mother car support wheel 13 supports rotation. When the AGV mother car 1 reaches the edge of the intermediate transition bracket 4 position, the mother car lifting platform 12 automatically adjusts its height to the same height as the intermediate transition bracket 4 on the target machine tool. The intermediate transition bracket 4 is at the same height as the machine tool. The target machine tool height can be of various heights. The driving power source 126 starts to start, pushing the pushing block 125, pushing the large guide rail 121 and the shuttle car 2 small track 22 above it outward together. Sufficient rolling balls 124 are arranged at the bottom of the large guide rail 121 to reduce the friction resistance between the large guide rail 121 and the mother car lifting platform 12. There are large guide rail elastic side blocks 122 on both sides of the large guide rail 121. Under the restriction of the large guide rail elastic side blocks 122, the large guide rail 121 can move freely within a certain range and return to its original position after the external force is removed. The driving power source 126 pushes the large guide rail 121 out and rigidly docks it with the intermediate transition bracket 4. Due to its own freedom and the elastic driving end 127 of the driving power source 126, the position of the large guide rail 121 can be automatically and passively adjusted due to its own elasticity when rigidly docking with the intermediate transition bracket 4. In this way, high-precision docking of the large guide rail 121 and the intermediate transition bracket 4 can be achieved, and the small rail 22 fixed on the upper part of the large guide rail 121 is also docked with the guide rail on the intermediate transition bracket 4.

[0079] After docking is complete, the shuttle trolley 2 starts to move. The trolley lifting platform 23 is now in the raised position, carrying the workpiece pallet 3 and beginning to move toward the interior of the machine tool. The shuttle trolley's running wheels 24, each with its own independent power source, provide the power for the shuttle trolley's movement. The trolley's guide wheels 25 are unpowered, limiting the trolley's travel accuracy through their own rigidity. The distance sensor 26 at the front end of the shuttle trolley 2 measures the distance to the end baffle 19 in real time and feeds this back to the control system. The control system calculates the difference in the distance feedback from the left and right distances and controls the speed of the left and right motors of the trolley's running wheels 24. This allows the shuttle trolley 2 to correct its deviation in real time, achieving higher travel accuracy.

[0080] When the specified distance measurement value is reached, the shuttle carriage 2 stops. Through the gap control of the guide rail and the carriage guide wheel 25 and the real-time mobile positioning control of the distance measurement sensor 26, the stopping accuracy of the shuttle carriage 2 can ensure that the workpiece pallet 3 can be aligned with the positioning mechanism 17 within the accuracy range. Then the carriage lifting platform 23 begins to descend, and the workpiece pallet 3 falls on the positioning mechanism 17. The fixed pull pin 18 limits the workpiece pallet 3. The carriage lifting platform 23 can continue to descend a little, enough for the shuttle carriage 2 to detach from the workpiece pallet 3 and return to the AGV mother car 1. The AGV returns as a whole and completes the task.

[0081] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0082] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A loading and unloading mobile robot, characterized in that: include: An AGV mother vehicle (1) is provided with a mother vehicle body (11), a mother vehicle lifting platform (12) arranged on the upper part of the mother vehicle body (11), a driving wheel assembly arranged on the lower part of the mother vehicle body (11), a large guide rail (121) arranged on the lower part of the mother vehicle lifting platform (12), and a driving power source (126) capable of driving the large guide rail (121) to move; The shuttle vehicle (2) is provided with a vehicle body (21), a small track (22) arranged at the lower part of the vehicle body (21) and arranged above the large guide rail (121), and a vehicle lifting platform (23) arranged at the upper part of the vehicle body (21), wherein the vehicle lifting platform (23) is used to place a workpiece pallet (3), wherein: The AGV mother vehicle (1) is capable of transporting the workpiece pallet (3) to the first target position under the drive of the driving wheel assembly. At this time, the large guide rail (121) is adjusted to the same height as the intermediate transition bracket (4) of the second target position through the mother vehicle lifting platform (12) and the workpiece pallet (3) is driven to rise to the first height through the sub-vehicle lifting platform (23). Under the drive of the driving power source (126), the large guide rail (121) drives the small rail (22) and the sub-vehicle lifting platform (23) to move toward the intermediate transition bracket (4) until the workpiece pallet (3) is moved to the first height. The small track (22) is aligned with the bracket track (41) on the intermediate transition bracket (4), and the shuttle car (2) is driven by itself to move from the initial position along the small track (22) and the bracket track (41) to the second target position, and the car lifting platform (23) drives the workpiece pallet (3) to descend to below the second height so that the workpiece pallet (3) is placed on the positioning mechanism (17). At this time, the shuttle car (2) returns to the initial position to complete the transportation of the workpiece pallet (3), wherein the top end of the positioning mechanism (17) is located at the second height; The mother vehicle lifting platform (12) is provided with a large guide rail side block (123), both sides of the large guide rail (121) are slidably matched with the large guide rail side block (123) and are limited by the large guide rail side block (123), and both sides of the large guide rail (121) are provided with large guide rail elastic side blocks (122) so that when the large guide rail (121) slides in the large guide rail side block (123), there is a certain radial movable gap and the large guide rail can return to its original position after the external force is removed; The AGV mother vehicle (1) further includes a pushing block (125), a rolling ball (124) is provided between the large guide rail (121) and the mother vehicle lifting platform (12), and the driving power source (126) can drive the pushing block (125) to push the large guide rail (121) to drive the shuttle vehicle (2) to move relative to the mother vehicle lifting platform (12); The driving end of the driving power source (126) is an elastic driving end (127), so that the position of the large guide rail (121) can be adaptively adjusted due to its own elasticity when rigidly docking with the intermediate transition bracket (4), thereby achieving high-precision docking of the large guide rail (121) and the intermediate transition bracket (4); The shuttle vehicle (2) is provided with a vehicle running wheel (24) on both the left and right sides of the bottom thereof, and a vehicle guide wheel (25) arranged between the vehicle running wheels (24) on the left and right sides, wherein the vehicle running wheels (24) are driven by an independent power source to provide power for the movement of the shuttle vehicle (2), and the vehicle guide wheel (25) is unpowered and limits the travel accuracy of the shuttle vehicle (2) by its own rigidity; The machine also includes a control system and an end baffle (19) located on a machine tool. Both sides of the front end of the shuttle vehicle (2) are provided with distance sensors (26). When the shuttle vehicle (2) moves toward the second target position, the two distance sensors (26) can measure the distance from the end baffle (19) in real time and feed back the distance to the control system in real time. The difference between the two distance feedbacks is calculated by the control system and the rotation speed of the motors of the left and right vehicle running wheels (24) is controlled so that the walking path of the shuttle vehicle (2) can be corrected in real time. The machine tool is provided with a fixed pull nail (18) for limiting the position of the workpiece pallet (3); According to the workpiece transportation task, the AGV mother car (1) moves the pallet and the workpiece (3) from the manual station to the inside of the AGV mother car (1) and moves toward the machine tool position. When the AGV mother car (1) reaches the position edge of the intermediate transition bracket (4), the movement is stopped. The mother car lifting platform (12) automatically adjusts its height to the same height as the intermediate transition bracket (4) on the machine tool. The intermediate transition bracket (4) is at the same height as the machine tool. The driving power source (126) starts to start and pushes the pushing block (125) to push the large guide rail (121) and the small track (22) of the shuttle car (2) above it outward. The bottom of the large guide rail (121) is arranged with a rolling ball (124) to reduce the friction resistance between the large guide rail (121) and the mother car lifting platform (12). There are large rollers on both sides of the large guide rail (121). The guide rail elastic side block (122) allows the large guide rail (121) to move freely within a certain range under the restriction of the large guide rail elastic side block (122) and return to its original position after the external force is removed. The driving power source (126) pushes the large guide rail (121) out and rigidly docks with the intermediate transition bracket (4). The large guide rail (121) is free due to its own freedom, and the driving end of the driving power source (126) is an elastic driving end (127). Therefore, the position of the large guide rail (121) is automatically and passively adjusted when rigidly docking with the intermediate transition bracket (4) due to its own elasticity. In this way, the docking of the large guide rail (121) and the intermediate transition bracket (4) is achieved, and the small track (22) fixed on the upper part of the large guide rail (121) is also docked with the guide rail on the intermediate transition bracket (4). After the docking is completed, the shuttle car (2) starts to start, and the car lifting platform (23) is in the lifting state, holding the workpiece pallet (3) and starting to move into the machine tool; When the distance measurement specified value is reached, the shuttle car (2) stops. Through the gap control of the guide rail and the car guide wheel (25) and the real-time mobile positioning control of the distance measurement sensor (26), the stopping accuracy of the shuttle car (2) can ensure that the workpiece pallet (3) can be aligned with the positioning mechanism (17) within the accuracy range. Then the car lifting platform (23) starts to descend, and the workpiece pallet (3) falls on the positioning mechanism (17). The fixed pull nail (18) limits the workpiece pallet (3). The car lifting platform (23) can continue to descend a little, enough for the shuttle car (2) to separate from the workpiece pallet (3) and return to the AGV mother car (1). The AGV returns as a whole and completes the task.

2. The loading and unloading mobile robot according to claim 1, characterized in that: The positioning mechanism (17) is located on the machine tool. The shuttle vehicle (2) stops when it reaches the specified distance measurement value. Through the gap control of the small track (22), the bracket track (41), and the vehicle guide wheel (25) and the real-time mobile positioning control of the distance measurement sensor (26), the stopping accuracy of the shuttle vehicle (2) can ensure that the workpiece pallet (3) and the positioning mechanism (17) are within the alignment accuracy range.

3. The loading and unloading mobile robot according to claim 2, characterized in that: The moving accuracy of the shuttle vehicle (2) is within ±1 mm.

4. The loading and unloading mobile robot according to claim 1, characterized in that: The driving wheel assembly comprises a mother vehicle support wheel (13) and a power wheel (14), wherein the power wheel (14) provides power for the movement of the AGV mother vehicle (1), and the mother vehicle support wheel (13) is used to assist in supporting rotation.

5. The loading and unloading mobile robot according to claim 1, characterized in that: The mother vehicle lifting platform (12) is provided with driving power by a motor; The AGV mother vehicle (1) is equipped with a mother vehicle navigation system (15), and the mother vehicle navigation system (15) is used to guide the movement target of the AGV mother vehicle (1).

Images