Transport robot

Abstract

The embodiment of the present disclosure provides a transportation robot, and relates to the technical field of robots. The transportation robot comprises a chassis, a support, an execution device and a control device. The support is arranged on the chassis. The execution device comprises a mechanism body, an extension mechanism and an electromagnet; the mechanism body is connected with the support; the extension mechanism has a fixed end and an extension end, the fixed end is arranged on the mechanism body, and the extension end is fixedly connected with the electromagnet; the extension direction of the extension mechanism intersects with the direction of gravity. The control device is electrically connected with the electromagnet; and the control device is configured to control the electromagnet to be electrified in the case that the distance between the electromagnet and a magnetic carrying piece is less than a threshold value, so that the electromagnet is attracted to the magnetic carrying piece.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a transport robot. Background Technology

[0002] Robots can place or remove bins from shelves. Current robots can include gripping robots and lifting robots. Gripping robots require spacing between adjacent bins when retrieving them, thus reducing the number of bins on each shelf. Lifting robots use bins with a fixing block at the bottom center. After placing the bin on the shelf, the fixing block further secures the bottom of the bin to the shelf, resulting in a larger distance between each shelf level. Summary of the Invention

[0003] The purpose of this disclosure is to provide a transport robot that solves the problem that when a clamping robot places a box on a shelf, the number of boxes placed on each shelf is relatively small; it also solves the problem that when a lifting robot places a box on a shelf, there needs to be a sufficiently large distance between each shelf.

[0004] To achieve the above objectives, the embodiments of this disclosure provide the following technical solutions:

[0005] Embodiments of this disclosure provide a transport robot. The transport robot includes a chassis, a support frame, an actuator, and a control device. The support frame is mounted on the chassis. The actuator includes a mechanism body, a telescopic mechanism, and an electromagnet; the mechanism body is connected to the support frame; the telescopic mechanism has a fixed end and a telescopic end, the fixed end is mounted on the mechanism body, and the telescopic end is fixedly connected to the electromagnet; the telescopic direction of the telescopic mechanism intersects the direction of gravity. The control device is electrically connected to the electromagnet; it is configured to energize the electromagnet when the distance between the electromagnet and the magnetic transport component is less than a threshold value, so that the electromagnet attracts the magnetic transport component.

[0006] The telescopic end of the telescopic mechanism is mounted on the main body of the mechanism, which serves to house the telescopic mechanism. The telescopic end is fixedly connected to an electromagnet, allowing the telescopic end to move the electromagnet along the telescopic direction. This utilizes the magnetic force generated by the electromagnet to attract the magnetic transport component, enabling the transport robot to transport or transfer the magnetic component. Specifically, when the distance between the magnetic transport component and the electromagnet is less than a threshold, the electromagnet can effectively attract the magnetic transport component, preventing the problem of the electromagnet failing to attract the magnetic transport component and the transport robot leaving without carrying it.

[0007] The magnetic force generated by an electromagnet can attract magnetic transport components. A transport robot then moves these components onto a shelf. Because the connection is magnetic, the magnetic transport components can be placed closely together on the shelf, with minimal or no gaps between adjacent components on each shelf. This allows for a larger number of magnetic transport components to be placed on each shelf. Compared to the gripping robot in the background technology, which places boxes on shelves with gaps between adjacent boxes, the transport robot can place more magnetic transport components on each shelf than the gripping robot in the background technology.

[0008] The magnetic transport components used by the transport robot lack special structures (e.g., no fixing blocks). This allows the robot to place the magnetic transport components on shelves, resulting in less space between each shelf level. In contrast, the lifting robots in the prior art place bins on shelves with fixing blocks at the bottom center, leading to larger distances between shelves. Therefore, within a limited space, the smaller distance between shelves in this embodiment allows for more shelves to be set up, thus accommodating more magnetic transport components.

[0009] Optionally, the mechanism body includes a base, a first blocking member, and a second blocking member. The base is mounted on a support. The first blocking member and the second blocking member are located on opposite sides of the telescopic mechanism and extend along the telescopic direction of the mechanism; the first blocking member and the second blocking member are mounted on the base and have a directly opposite area to the base.

[0010] Optionally, the storage rack and the telescopic mechanism are located on opposite sides of the support; the support has a channel through which an electromagnet can pass to remove or place a magnetic transport item from or onto the storage rack.

[0011] Optionally, the electromagnet includes: a first electromagnet and a second electromagnet, which are alternatively connected to the telescopic end; the maximum magnetic force generated by the first electromagnet is greater than the maximum magnetic force of the second electromagnet.

[0012] Optionally, the control device includes a controller, a first power supply circuit, and a second power supply circuit. The controller is electrically connected to the first electromagnet through the first power supply circuit. The controller is electrically connected to the second electromagnet through the second power supply circuit.

[0013] Optionally, the threshold value ranges from 0 to 15 mm.

[0014] Optionally, the transport robot also includes a ranging device electrically connected to the control device and mounted on an electromagnet; configured to output a ranging signal to the control device, the ranging signal being used to characterize the distance between the electromagnet and the magnetic transport component.

[0015] Optionally, the transport robot also includes a switch mounted on an electromagnet, having a trigger portion. The trigger portion protrudes from the front end face of the electromagnet and changes the state of the switch when compressed to a size less than a threshold. The switch is electrically connected to a control device; when the switch state is changed, the control device supplies power to the electromagnet.

[0016] Optionally, the transport robot also includes a storage rack mounted on a support. The transport robot further includes a rotating mechanism, through which the support is rotatably connected to the main body of the robot; the rotating mechanism drives the main body to rotate about the direction of gravity as the rotation axis. The rotating mechanism is configured to rotate the electromagnet so that it is directly opposite the storage rack.

[0017] Optionally, the actuator further includes a zero-position reference mechanism. The zero-position reference mechanism is electrically connected to the control device and is configured as the zero-position reference point of the actuator, so that the control device controls the rotation mechanism to drive the actuator to rotate relative to the zero-position reference mechanism by an angle. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments of this disclosure will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this disclosure.

[0019] Figure 1 This is a structural diagram of the shelves and bins in the background art;

[0020] Figure 2 This is a structural diagram of a shelf and magnetic handling components according to some embodiments;

[0021] Figure 3 Here is a structural diagram of a transport robot according to some embodiments;

[0022] Figure 4 This is a connection diagram of the control device and electromagnet according to some embodiments. Detailed Implementation

[0023] The technical solutions in some embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this disclosure are within the scope of protection of this disclosure.

[0024] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples.

[0025] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0026] "At least one of A, B and C" has the same meaning as "at least one of A, B or C", both including the following combinations of A, B and C: only A, only B, only C, combinations of A and B, combinations of A and C, combinations of B and C, and combinations of A, B and C.

[0027] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0028] The use of “applies to” or “configured to” in this article implies an open and inclusive language that does not preclude applicability to or configuration to devices that perform additional tasks or steps.

[0029] As used herein, “parallel,” “perpendicular,” and “equal” include the described situation and situations that are similar to the described situation, within an acceptable range of deviation, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, “parallel” includes absolute parallelism and approximate parallelism, where an acceptable range of deviation for approximate parallelism may be, for example, within 5°; “perpendicular” includes absolute perpendicularity and approximate perpendicularity, where an acceptable range of deviation for approximate perpendicularity may also be, for example, within 5°; “equal” includes absolute equality and approximate equality, where an acceptable range of deviation for approximate equality may be, for example, a difference between the two equals being less than or equal to 5% of either one.

[0030] In related technologies, see Figure 1The lower shelf 20 shown in the diagram features a gripping robot with a pair of servo forks extending from the left and right sides of the material box 21B. The robot grips the material box 21B by clamping it from both sides. However, when the gripping robot picks up the material box 21B, there is a gap between adjacent material boxes 21B. This results in a smaller number of material boxes 21B placed on each shelf 20.

[0031] See Figure 1 The upper shelf 20 shown in the diagram contains a material box 21A used by the lifting robot. A fixing block 22 is located in the center of the bottom of the material box 21A. The lifting robot extends its lifting structure into the bottom of the material box 21A, positioned on both sides of the fixing block 22, to pick up the material box 21A. However, after the lifting robot places the material box 21A on the shelf 20, the fixing block 22 remains between the bottom of the material box 21A and the shelf 20, resulting in a relatively large distance between each shelf layer 20.

[0032] Based on the above, the embodiments of this disclosure provide a transport robot to solve the problem that when a clamping robot places a box on a shelf, the number of boxes placed on each shelf is relatively small; at the same time, it also solves the problem that when a lifting robot places a box on a shelf, there needs to be a sufficiently large distance between each shelf.

[0033] The technical terms used in the embodiments of this disclosure are explained below:

[0034] See Figure 2 The magnetic transport component 21C can be understood as a feeder used by a gripping robot; however, there are differences between the two, for example, their materials differ. Specifically, at least one side of the magnetic transport component 21C can be made of a magnetic material, for example, one side of the magnetic transport component 21C can be made of a magnetic material, or all sides of the magnetic transport component 21C can be made of a magnetic material. In some examples, the magnetic material can be a single metal, such as iron, manganese, etc. In other examples, the magnetic material can also be an alloy of the above-mentioned single metals. The feeder used by the gripping robot can be made of the same material as the magnetic feeder; it can also be other materials, such as non-magnetic materials (e.g., plastic).

[0035] As another example, at least one side of the magnetic transport member 21C is fixedly provided with a magnetic element; for example, one side of the magnetic transport member 21C is fixedly provided with a magnetic element; or for example, all sides of the magnetic transport member 21C are fixedly provided with magnetic elements. The magnetic element can be attracted to the electromagnet 123.

[0036] See Figure 2 and Figure 3 The transport robot includes a chassis 10, a support 11, an actuator 12, and a control device 17.

[0037] The chassis 10 may include a chassis frame 101, a drive unit, and wheels 102. The drive unit is mounted on the chassis frame 101, and the wheels 102 are connected to the drive unit. The drive unit drives the wheels 102 to rotate, enabling the chassis 10 to move on the ground. The drive unit may be a drive motor.

[0038] The bracket 11 is mounted on the chassis 10. For example, the bracket 11 is located in the middle of the chassis 10. In some examples, the bracket 11 is fixed to the chassis frame 101. In some examples, the bracket 11 may include a crossbeam 111 and two side posts 112 forming a "gate" shaped bracket 11.

[0039] The actuator 12 includes a mechanism body 122, a telescopic mechanism 121, and an electromagnet 123.

[0040] The mechanism body 122 may include a base 122a, a first blocking member 122b, and a second blocking member 122c. The first blocking member 122b and the second blocking member 122c are located on opposite sides of the telescopic mechanism 121 and extend along the telescopic direction of the telescopic mechanism 121. The first blocking member 122b and the second blocking member 122c are disposed on the base 122a and have a directly opposite area to the base 122a. Thus, when the electromagnet 123 is located on the base 122a, the electromagnet 123 is positioned between the first blocking member 122b and the second blocking member 122c. Therefore, when the first electromagnet 1231 attracts the magnetic transport member 21C, the magnetic transport member 21C is confined between the first blocking member 122b and the second blocking member 122c, and the first blocking member 122b and the second blocking member 122c serve to confine the magnetic transport member 21C.

[0041] Exemplarily, the first blocking member 122b and the second blocking member 122c have an area directly opposite the base 122a; this means that the projections of the first blocking member 122b and the second blocking member 122c onto the base 122a overlap with the base 122a. In some examples, the left and right sides of the first blocking member 122b and the second blocking member 122c are flush with the left and right sides of the base 122a. In other examples, the first blocking member 122b and the second blocking member 122c are located within the base 122a. For example, the first blocking member 122b and the second blocking member 122c are as follows: Figure 2 The left and right sides shown are smaller than the left and right sides of the base 122a.

[0042] Exemplarily, both the first blocking member 122b and the second blocking member 122c extend along the telescopic direction of the telescopic mechanism 121; meaning that the plane containing the first blocking member 122b and the second blocking member 122c is parallel to the telescopic direction of the telescopic mechanism 121. Exemplarily, the electromagnet 123 is located in the middle between the first blocking member 122b and the second blocking member 122c. Exemplarily, the base 122a, the first blocking member 122b, and the second blocking member 122c can all be plate-like structures.

[0043] The main body 122 is connected to the support 11. For example, the base 122a is mounted on the support 11.

[0044] Exemplarily, the mechanism body 122 can rise and fall relative to the support 11 along the direction of gravity. Specifically, the transport robot also includes a lifting mechanism 15 that extends and retracts along the direction of gravity. The mechanism body 122 is connected to the support 11 via the lifting mechanism 15. In this way, the mechanism body 122 can rise or fall relative to the support 11 along the direction of gravity. In some examples, the base 122a is connected to the support 11 via the lifting mechanism 15. Specifically, the lifting mechanism 15 may include a mounting part and a lifting part, the lifting part being able to rise and fall relative to the mounting part. The mounting part may be fixedly connected to the support 11; for example, the mounting part may be fixed to the crossbeam 111; or, for example, the mounting part may be fixed to the side column 112. Of course, the mounting part may also be fixedly connected to the chassis 10. The lifting part is connected to the mechanism body 122. In some examples, the lifting mechanism 15 may be a hydraulic telescopic device, a pneumatic telescopic device, a lifting motor, a lifting wheel device, etc.

[0045] As another example, the mechanism body 122 is fixedly connected to the bracket 11.

[0046] The telescopic mechanism 121 may include a telescopic part and a fixed part, wherein the telescopic part can extend and retract relative to the fixed part. The end of the telescopic part away from the fixed part is denoted as the telescopic end 121b, and the end of the fixed part away from the telescopic part is denoted as the fixed end 121a; that is, the telescopic end 121b and the fixed end 121a are arranged opposite to each other. The extension and retraction direction of the telescopic mechanism 121 (or the telescopic end 121b, or the telescopic part) intersects the direction of gravity (e.g., perpendicular, that is, the extension and retraction direction of the telescopic mechanism 121 is horizontal).

[0047] A fixing part is provided on the mechanism body 122. For example, the fixing end 121a is provided on the mechanism body 122 (or base 122a). In this way, the telescopic end 121b can extend and retract relative to the mechanism body 122. The telescopic part is fixedly connected to the electromagnet 123. For example, the telescopic end 121b is fixedly connected to the electromagnet 123 (e.g., detachably connected). Exemplarily, the actuator 12 also includes a mounting bracket, through which the telescopic end 121b is connected to the electromagnet 123. The mounting bracket serves to connect the telescopic end 121b and the electromagnet 123. In some examples, the telescopic end 121b is fixedly connected to the mounting bracket, and the mounting bracket is detachably connected to the electromagnet 123. This facilitates the replacement of the electromagnet 123.

[0048] Exemplarily, there is a gap between the electromagnet 123 and the mechanism body 122. For example, there is a gap between the electromagnet 123 and the base 122a. Also exemplaryly, the electromagnet 123 can be contacted and slidably disposed on the mechanism body 122. For example, the electromagnet 123 can be contacted and slidably disposed on the base 122a. In some examples, the electromagnet 123 can be placed on the mechanism body 122. In other examples, the electromagnet 123 can be disposed on the mechanism body 122 via a sliding mechanism; wherein the sliding mechanism can be a slider and a groove. In this way, the telescopic mechanism 121 located on the mechanism body 122 can drive the electromagnet 123 to move along the telescopic direction of the telescopic mechanism 121.

[0049] In some examples, the telescopic mechanism 121 can be an electric telescopic pole, a hydraulic telescopic device, a pneumatic telescopic device, etc.

[0050] The control device 17 is electrically connected to the electromagnet 123. The control device 17 controls the electromagnet 123 to be energized, so that the electromagnet 123 has magnetic force. The control device 17 controls the electromagnet 123 to be de-energized, so that the electromagnet 123 loses its magnetic force.

[0051] When the distance between electromagnet 123 and magnetic transporter 21C is less than a threshold, control device 17 energizes electromagnet 123 so that electromagnet 123 attracts magnetic transporter 21C. In this way, within the threshold range, electromagnet 123 is guaranteed to attract magnetic transporter 21C, thereby avoiding the situation where electromagnet 123 and magnetic transporter 21C are not attracted.

[0052] In some embodiments, the threshold value ranges from 0 to 15 mm. For example, it can be 0 mm, 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, 11 mm, 12 mm, 13 mm, 14 mm, 15 mm, etc. When the threshold is within the above range, the magnetic force generated by the electromagnet 123 can attract the magnetic transport component 21C.

[0053] In some embodiments, the transport robot further includes a ranging device. The ranging device is mounted on the electromagnet 123. This allows the distance between the electromagnet 123 and the magnetic transport member 21C to be measured when the telescopic mechanism 121 moves the electromagnet 123 closer to the magnetic transport member 21C. This distance can be the distance between a first reference point of the electromagnet 123 and a second reference point of the magnetic transport member 21C. For example, the first reference point of the electromagnet 123 can be as follows: Figure 3 The right side shown (also called the front end face); the second reference of the magnetic transport component 21C can be as follows Figure 2 As shown in the previous diagram; therefore, when the electromagnet 123 approaches the magnetic transporter 21C, this distance is as follows: Figure 3 The right side shown is similar to the magnetic transporter 21C. Figure 2 The distance between the front surfaces is shown in the diagram. Of course, the first reference could also be other surfaces of electromagnet 123, such as electromagnet 123 as shown in the diagram. Figure 3 The left side is shown. The second reference can also be other sides of the magnetic transporter 21C, such as the magnetic transporter 21C as shown. Figure 2 The following is shown. Therefore, the selection of the first and second reference points is not limited here. However, once selected, this distance is the perpendicular distance between the first and second reference points.

[0054] In some examples, the ranging device is mounted on a mounting bracket; this way, when replacing electromagnet 123, it is not necessary to reinstall the ranging device.

[0055] The ranging device is electrically connected to the control device 17 and is configured to output a ranging signal to the control device 17. The ranging signal is used to characterize the distance between the electromagnet 123 and the magnetic transporter 21C. The control device 17 can then convert this ranging signal into a numerical value (e.g., through a converter or conversion module within the control device 17), representing the distance between the electromagnet 123 and the magnetic transporter 21C. When the control device 17 determines that this value is less than a threshold, it energizes the electromagnet 123, causing it to attract the magnetic transporter 21C.

[0056] For example, the ranging device can be a diffuse reflective photoelectric switch. The diffuse reflective photoelectric switch has a emitter and a receiver inside its housing, and no reflector in front, so the receiver cannot receive the light emitted by the emitter. Therefore, during detection (i.e., when approaching the magnetic transport member 21C), when the magnetic transport member 21C passes by and blocks the light emitted by the emitter, it can reflect part of the light back, which is then received by the receiver. At this time, the receiver outputs a switching signal and transmits it to the control device 17. The control device 17 converts this switching signal into the aforementioned value. This enables the photoelectric sensor to measure the distance between the electromagnet 123 and the magnetic transport member 21C. Alternatively, the ranging device can also be an infrared rangefinder.

[0057] In some embodiments, the transport robot also includes a switch.

[0058] The switch is mounted on electromagnet 123. In some examples, the switch can be mounted on a mounting bracket. This way, when removing electromagnet 123, it is not necessary to remove the switch. In some examples, the switch is mounted on electromagnet 123 as... Figure 2 The top surface shown in the image.

[0059] The switch has a trigger portion. The trigger portion protrudes from the front end face 123a of the electromagnet 123, and changes the state of the switch when it is pressed until the size of the trigger portion protruding from the front end face 123a of the electromagnet 123 is less than or equal to a threshold. This avoids the situation where the state of the switch changes when the size of the trigger portion protruding from the front end face 123a of the electromagnet 123 exceeds the threshold after the trigger portion is pressed.

[0060] The front end face 123a of the electromagnet 123 can be the side of the electromagnet 123 that faces away from the telescopic mechanism 121. For example, the front end face 123a can be as follows: Figure 2 The right side is shown in the diagram. For ease of explanation, the state before the switch changes can be referred to as the first state, and the state after the change can be referred to as the second state. That is, in the first state, the size of the trigger part protruding from the front end face 123a of the electromagnet 123 is greater than the threshold. In the second state, the trigger part is compressed, and the size of the trigger part protruding from the front end face 123a of the electromagnet 123 is less than or equal to the threshold.

[0061] The switch is electrically connected to the control device 17; when the switch state is changed, the control device 17 supplies power to the electromagnet 123.

[0062] For example, all switches are electrically connected to controller 171. In some examples, the switch can be a normally open switch, which is in the open state when the trigger part is not pressed. When the trigger part of the normally open switch is pressed, the size of the trigger part protruding from the front end face 123a of the electromagnet 123 is less than or equal to a threshold, and the switch changes from the normally open state to the closed state. At this time, the normally open switch is electrically connected to control device 17, and the closing signal of the normally open switch is transmitted to control device 17. According to the closing signal, control device 17 energizes electromagnet 123 (for example, control device 17 turns on the circuit between power supply 18 and electromagnet 123, so that electromagnet 123 is energized). At this time, the first state can be the normally open state (open state); the second state can be the closed state.

[0063] In other examples, the switch can be a normally closed switch. Refer to the description of normally open switches for details on normally closed switches. The first state can be the closed state; the second state can be the normally open state.

[0064] As another example, the switch is electrically connected to the power supply circuit 172 and the electromagnet 123. That is, the power supply circuit 172, the switch, and the electromagnet 123 are connected in sequence (in series). In this way, when both the switch and the power supply circuit 172 are turned on, the electromagnet 123 can be energized.

[0065] In some examples, the switch can also be electrically connected to the controller 171, that is, when the switch changes state, it can transmit a change signal to the controller 171, so that the controller 171 can more accurately control the power supply circuit 172.

[0066] In some examples, the switch can be a type of switch with a trigger, such as a micro switch or a tactile switch.

[0067] The transport robot also includes a rotating mechanism 14. The rotating mechanism 14 can be a mechanism with a rotating function. For example, the rotating mechanism 14 can be a motor, etc.

[0068] The support 11 is rotatably connected to the mechanism body 122 via the rotating mechanism 14. The rotating mechanism 14 can drive the mechanism body 122 to rotate about the direction of gravity as the rotation axis; in this way, the telescopic mechanism 121 and the electromagnet 123 set on the mechanism body 122 also rotate with the mechanism body 122. This allows the electromagnet 123 to pick up and put down the magnetic transport component 21C from multiple directions.

[0069] In some examples, the actuator 12 also includes a zero-position reference mechanism (referred to as the first zero-position reference mechanism to distinguish it from the zero-position reference mechanism mentioned below), which is electrically connected to the control device 17. The first zero-position reference mechanism is configured as the zero-position reference point of the actuator 12, such that the control device 17 controls the rotation mechanism 14 to rotate the actuator 12 relative to the zero-position reference point by an angle. For example, when the magnetic transport member 21C is located to the left (e.g., 90° to the left) or right of the zero-position reference point, the control device 17 controls the rotation mechanism 14 to rotate, causing the actuator body to rotate to the left (e.g., 90° to the left) or to the right, so that the electromagnet 123 is directly opposite the magnetic transport member 21C.

[0070] The first zero-point reference mechanism may include a photoelectric sensor and a reflector. The photoelectric sensor is mounted on a non-rotating part of the support 11 or the rotating mechanism 14 (e.g., the motor housing); the reflector is mounted on the actuator (or base 122a). The photoelectric sensor is electrically connected to the control device 17. The light emitted by the photoelectric sensor is reflected back by the reflector and received by the photoelectric sensor. At this time, the photoelectric sensor transmits the signal to the control device 17, and the control device 17 determines that the electromagnet 123 or the actuator is located at the zero-point reference. After the rotating mechanism 14 rotates, the reflector rotates with the actuator. When the reflector cannot reflect back the light emitted by the photoelectric sensor, the electromagnet 123 is not at the zero-point reference, for example, it may be located to the left or right of the zero-point reference.

[0071] In some examples, a shelf 13 is provided on the bracket 11, and the shelf 13 is rotatably connected to the mechanism body 122 via a rotating mechanism 14. In some examples, the bracket 11 is rotatably connected to the base 122a via the rotating mechanism 14. In some examples, the motor body (the non-rotating part) is fixedly connected to the bracket 11; the motor shaft (the rotatable part) is fixedly connected to the mechanism body 122. In one possible implementation, the motor body is fixedly connected to the shelf 13; the motor shaft is fixedly connected to the base 122a.

[0072] The transport robot also includes a storage rack 16. The storage rack 16 is fixedly mounted on the support 11. The rotating mechanism 14 is configured to rotate the electromagnet 123 to face the storage rack 16. In this way, the telescopic mechanism 121 drives the electromagnet 123 to place the magnetic transport component 21C on the storage rack 16; or to remove the magnetic transport component 21C from the storage rack 16.

[0073] In some examples, the storage rack 16 and the telescopic mechanism 121 are located on opposite sides of the support 11; the support 11 has a channel 113 (for example, the channel 113 can be the middle of a "gate" shaped support 11), through which the electromagnet 123 can pass to remove or place the magnetic transport component 21C from the storage rack 16. Specifically, the rotating mechanism 14 drives the mechanism body 122 to rotate, causing the electromagnet 123 to rotate with the mechanism body 122; after the mechanism body 122 rotates with the rotating mechanism 14, the electromagnet 123 on the mechanism body 122 can be directly opposite the storage rack 16; in this way, the electromagnet 123 can pass through the channel 113 and extend into the storage rack 16 to pick up or place the magnetic transport component 21C.

[0074] In some examples, there may be one or more storage racks 16. Multiple storage racks 16 are arranged sequentially along the direction of gravity. The transport robot can carry multiple magnetic transport components 21C simultaneously.

[0075] Electromagnet 123 includes a first electromagnet 1231 and a second electromagnet 1232. The first electromagnet 1231 and the second electromagnet 1232 are alternatively connected to the telescopic end 121b. This means that the telescopic end 121b can be detachably connected to the first electromagnet 1231 or can be detachably connected to the second electromagnet 1232.

[0076] The maximum magnetic force generated by the first electromagnet 1231 is greater than that of the second electromagnet 1232. Therefore, when the magnetic transport component 21C has a larger mass, the telescopic end 121b can be connected to the first electromagnet 1231; that is, the magnetic force of the first electromagnet 1231 is used to transport the heavier magnetic transport component 21C. When the magnetic transport component 21C has a smaller mass, the telescopic end 121b can be connected to the second electromagnet 1232; that is, the magnetic force of the second electromagnet 1232 is used to transport the lighter magnetic transport component 21C. Thus, the transport robot can transport magnetic transport components 21C of varying weights.

[0077] For example, the number of turns of the coil of the first electromagnet 1231 is greater than the number of turns of the coil of the second electromagnet 1232; thus, under the same conditions, the maximum magnetic force of the first electromagnet 1231 is greater than the maximum magnetic force of the second electromagnet 1232.

[0078] For example, the current flowing through the first electromagnet 1231 is greater than the current flowing through the second electromagnet 1232. This allows the maximum magnetic force generated by the first electromagnet 1231 to be greater than the maximum magnetic force generated by the second electromagnet 1232. Therefore, the maximum weight of the magnetic transport component attracted by the first electromagnet 1231 can be greater than the maximum weight of the magnetic transport component attracted by the second electromagnet 1232. In practical applications, a suitable electromagnet 123 (e.g., the first electromagnet 1231 or the second electromagnet 1232) can be selected based on the weight of the magnetic transport component.

[0079] See Figure 4 The control device 17 includes a controller 171 and a power supply circuit 172. The controller 171 can be a Central Processing Unit (CPU), memory, etc. The controller 171 is electrically connected to the electromagnet 123 via the power supply circuit 172. Thus, the controller 171 controls the power supply circuit 172, which energizes the electromagnet 123. Specifically, the transport robot also includes a power supply 18; the power supply 18 powers the electronic equipment of the transport robot. This electronic equipment can be, for example, the control device 17, the electromagnet 123, etc. In some examples, the controller 171 controls the power supply circuit 172, causing the power supply circuit 172 to conduct the circuit of the power supply 18, the power supply circuit 172, and the electromagnet 123 connected in series.

[0080] Exemplarily, the power supply circuit 172 may include a first power supply circuit 172a and a second power supply circuit 172b. The controller 171 is electrically connected to the first electromagnet 1231 via the first power supply circuit 172a. The controller 171 is electrically connected to the second electromagnet 1232 via the second power supply circuit 172b. Thus, when the telescopic end 121b is connected to the first electromagnet 1231, the controller 171 is electrically connected to the first electromagnet 1231 via the first power supply circuit 172a. When the telescopic end 121b is connected to the second electromagnet 1232, the first power supply circuit 172a is electrically connected to the second electromagnet 1232 via the second power supply circuit 172b.

[0081] In some examples, the rated power of the first electromagnet 1231 is greater than the rated power of the second electromagnet 1232. This allows the magnetic force generated by the first electromagnet 1231 when operating at its rated power to be greater than the magnetic force generated by the second electromagnet 1232 when operating at its rated power.

[0082] In some embodiments, the transport robot further includes a reading dock electrically connected to the control device 17. The reading dock is configured to read information from the magnetic transport component 21C. In this way, the control device 17 can compare the information obtained from the reading dock with the information of the magnetic transport component 21C to be retrieved in advance, and determine whether the magnetic transport component 21C retrieved by the transport robot is correct.

[0083] In some embodiments, the transport robot further includes an obstacle avoidance detection mechanism configured to detect whether the electromagnet 123 attracts the magnetic transport component 21C. The obstacle avoidance detection mechanism can be a photoelectric sensor, which can detect whether the front face of the electromagnet is the magnetic transport component or an obstacle. For example, the magnetic transport component may have a reflector that cooperates with the photoelectric sensor. When the electromagnet approaches the magnetic transport component, if the photoelectric sensor receives the light reflected by the reflector, it indicates that there is no obstacle on the front face of the electromagnet 123; if the photoelectric sensor does not receive the light reflected by the reflector, it indicates that there is an obstacle on the front face of the electromagnet 123, and the position of the transport robot needs to be readjusted to avoid the obstacle.

[0084] In some embodiments, the actuator 12 further includes a zero-position reference mechanism (referred to as a second zero-position reference mechanism), which is electrically connected to the control device 17. The second zero-position reference mechanism is configured as the zero-position reference point of the telescopic mechanism 121, such that the control device 17 controls the telescopic mechanism 121 to move the electromagnet 123 a distance relative to the zero-position reference point. For example, when the electromagnet 123 is attracted to the magnetic transport member 21C, the controller can control the telescopic mechanism 121 to return to the second zero-position reference mechanism based on the distance between the electromagnet 123 and the second zero-position reference mechanism.

[0085] The second zero-position reference mechanism may include a distance sensor disposed on the base 122a. This distance sensor is configured to measure the distance between the second zero-position reference mechanism and the electromagnet 123. The distance measured by the distance sensor can be the extension or retraction amount of the telescopic mechanism; for example, when the extension or retraction amount of the telescopic mechanism is 0, the distance measured by the distance sensor is 0.

[0086] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A transport robot, characterized in that, include: Chassis; The bracket is mounted on the chassis; An actuator includes: a mechanism body, a telescopic mechanism, and an electromagnet; the mechanism body includes a base, which is mounted on a support; the telescopic mechanism has a fixed end and a telescopic end, the fixed end being mounted on the mechanism body, and the telescopic end being fixedly connected to the electromagnet; the telescopic direction of the telescopic mechanism intersects the direction of gravity; and... A control device, electrically connected to the electromagnet, is configured to energize the electromagnet when the distance between the electromagnet and the magnetic transport member is less than a threshold value, so that the electromagnet attracts the magnetic transport member. The actuator further includes a zero-position reference mechanism, which is electrically connected to the control device and configured as the zero-position reference point of the telescopic mechanism, so that the control device controls the telescopic mechanism to drive the electromagnet to move a distance relative to the zero-position reference point. The zero-position reference mechanism includes a distance sensor, which is disposed on the base and configured to measure the distance between the zero-position reference mechanism and the electromagnet; wherein the distance measured by the distance sensor is the extension amount of the telescopic mechanism.

2. The transport robot according to claim 1, characterized in that, The main body of the organization also includes: The first and second blocking members are located on both sides of the telescopic mechanism and extend along the telescopic direction of the telescopic mechanism; the first and second blocking members are disposed on the base and have a directly opposite area to the base.

3. The transport robot according to claim 1, characterized in that, The electromagnet includes a first electromagnet and a second electromagnet, which are alternatively connected to the telescopic end; the maximum magnetic force generated by the first electromagnet is greater than the maximum magnetic force generated by the second electromagnet.

4. The transport robot according to claim 3, characterized in that, The control device includes: Controller; A first power supply circuit, through which the controller is electrically connected to the first electromagnet; The controller is electrically connected to the second electromagnet through the second power supply circuit.

5. The transport robot according to claim 1, characterized in that, The threshold value ranges from 0 to 15 mm.

6. The transport robot according to claim 1, characterized in that, The transport robot also includes: A ranging device, electrically connected to the control device and mounted on the electromagnet, is configured to output a ranging signal to the control device, the ranging signal being used to characterize the distance between the electromagnet and the magnetic transport component.

7. The transport robot according to claim 1, characterized in that, The transport robot also includes: A switch is provided on the electromagnet and has a trigger part; the trigger part protrudes from the front end face of the electromagnet and changes the state of the switch when it is squeezed until the size of the protrusion from the front end face of the electromagnet is less than a threshold. The switch is electrically connected to the control device; when the state of the switch is changed, the control device supplies power to the electromagnet.

8. The transport robot according to claim 1, characterized in that, The transport robot also includes a storage rack, which is mounted on the support frame; The transport robot also includes a rotating mechanism, and the support is rotatably connected to the mechanism body through the rotating mechanism; the rotating mechanism drives the mechanism body to rotate about the direction of gravity as the rotation axis. The rotating mechanism is configured to rotate the electromagnet so that it is directly opposite the storage rack.

9. The transport robot according to claim 8, characterized in that, The storage rack and the telescopic mechanism are located on opposite sides of the support; the support has a channel through which the electromagnet can pass to remove or place the magnetic transport component from the storage rack.

10. The transport robot according to claim 8, characterized in that, The zero-position reference mechanism is also configured as the zero-position reference point of the actuator, such that the control device controls the rotation mechanism to drive the actuator to rotate relative to the zero-position reference mechanism by an angle.

Images