Material moving device, robot and logistics system

Abstract

The application discloses a material moving device, a robot and a logistics system. The material moving device comprises a cantilever structure, a material pushing assembly and a positioning assembly. The cantilever structure is used for being mounted to a body of the robot. The cantilever structure is provided with a carrying area for carrying materials and a docking end for docking a preset position. The materials at the preset position enter the carrying area from the docking end. The material pushing assembly is movably arranged on the cantilever structure. The material pushing assembly is configured to be capable of moving in a first direction to push the materials at the carrying area to the preset position. The first direction is an extension direction of the cantilever structure. The positioning assembly is arranged at the docking end. The positioning assembly is used for detecting whether the docking end is accurately docked with the preset position, thereby facilitating automatic feeding and discharging of the materials and saving labor cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a material moving device, a robot and a logistics system. BACKGROUND

[0002] With the development of artificial intelligence and automation technology, mobile robots are widely used in the logistics field for material handling. For example, an automated guided vehicle (AGV) is an unmanned automated transportation device specially used for material handling in industrial, logistics, warehousing and other scenarios. The automated guided vehicle can travel autonomously according to a predetermined path or instructions without manual operation.

[0003] A single cantilever AGV is a type of automated guided vehicle that has a single cantilever structure. This type of automated guided vehicle carries or lifts goods through the cantilever structure. However, the cantilever structure in the prior art is relatively simple and cannot achieve automatic feeding or unloading. During the material handling process, the material needs to be placed on the cantilever structure by manual operation to transport the material. After the material is delivered to the designated location, manual operation is required to remove the material, resulting in a large waste of manpower. SUMMARY

[0004] Therefore, the present application provides a material moving device, a robot and a logistics system.

[0005] A first aspect of the present application provides a material moving device, comprising:

[0006] A cantilever structure for mounting to a body of a robot, the cantilever structure being provided with a carrying area for carrying materials and a docking end for docking with a predetermined position, the materials at the predetermined position entering the carrying area from the docking end;

[0007] A material pushing assembly movably provided in the cantilever structure, the material pushing assembly being configured to move in a first direction to push the materials in the carrying area to the predetermined position, the first direction being an extension direction of the cantilever structure;

[0008] A positioning assembly provided at the docking end, the positioning assembly being used to detect whether the docking end is accurately docked with the predetermined position.

[0009] In some embodiments, the pushing assembly comprises a first driving member, a first transmission member and a pushing member, the first driving member is connected with the pushing member and faces the docking end, the first transmission member is connected with an output shaft of the first driving member, and the first driving member is configured to drive the first transmission member to move; the cantilever structure is provided with a second transmission member which is in transmission cooperation with the first transmission member, and the second transmission member is configured to convert the movement of the first transmission member into linear movement, so that the first transmission member can move linearly along the first direction, thereby driving the first driving member and the pushing member to move linearly along the first direction, and pushing the material to the preset position.

[0010] In some embodiments, the first transmission member is a gear, and the second transmission member is a rack which is engaged with the gear, and the rack is arranged on the surface of the cantilever structure and extends along the first direction.

[0011] In some embodiments, the pushing assembly further comprises a housing, the first driving member and the pushing member are mounted on the housing, and the first driving member and the first transmission member are arranged inside the housing, and the pushing member is arranged on one side of the housing which faces the docking end.

[0012] In some embodiments, the pushing assembly further comprises a sliding structure which is mounted on the housing and is slidingly connected with the cantilever structure, so as to assist the housing, the first driving member and the pushing member to move along the first direction.

[0013] In some embodiments, at least one side of the housing in a second direction perpendicular to the first direction is provided with the sliding structure, and at least one side of the cantilever structure in the second direction is provided with a sliding groove which extends along the first direction, and the sliding structure is slidingly connected with the sliding groove, so as to guide the sliding structure to move along the first direction.

[0014] In some embodiments, the sliding structure comprises a sliding seat which is mounted on the housing, a connecting shaft which is connected with one end of the sliding seat and is provided with a protective cap at the other end, the protective cap is configured to reduce the friction between the connecting shaft and the inner wall of the sliding groove, and at least one bearing which is rotatably sleeved on the connecting shaft, and the bearing is configured to roll in the sliding groove, so that the sliding structure as a whole can slide along the sliding groove.

[0015] In some embodiments, the pushing assembly further comprises a first sensor arranged at the housing near the pushing member or arranged at the pushing member, the first sensor being configured to detect whether the pushing member contacts the material; and / or the pushing assembly further comprises a second sensor arranged at the housing near the carrying area, the second sensor being configured to detect whether the carrying area has the material.

[0016] In some embodiments, the cantilever structure is provided with at least one set of wheel groups at the carrying area, each set of the wheel groups comprising a plurality of auxiliary wheels arranged at intervals along the first direction, the auxiliary wheels being configured to contact the material.

[0017] In some embodiments, the positioning assembly comprises: an information code recognizer configured to recognize an information code at the preset position to obtain a relative position between the docking end and the preset position and send a signal to the fuselage; a first limiting assembly configured to limit the docking end from moving further when the docking end moves to a first limit position and send a signal to the fuselage; and a second limiting assembly configured to limit the docking end from moving further when the docking end moves to a second limit position and send a signal to the fuselage, a movement direction of the first limiting assembly towards the first limit position being perpendicular to a movement direction of the first limiting assembly towards the second limit position.

[0018] In some embodiments, the positioning assembly further comprises a mounting structure arranged at the docking end. The first limiting assembly comprises a first contact portion, a first elastic portion and a third sensor arranged at the mounting structure, the first contact portion being arranged at one end of the first elastic portion towards the first limit position, the other end of the first elastic portion being connected to the mounting structure, and the third sensor being arranged at one end of the first elastic portion away from the first contact portion, the first contact portion abutting against the first limit position when the docking end moves to the first limit position, so that the first elastic portion is elastically compressed, and the third sensor is configured to send a signal to the fuselage when the first elastic portion is elastically compressed to limit the docking end from moving further; and / or the second limiting assembly comprises a second contact portion, a second elastic portion and a fourth sensor arranged at the mounting structure, the second contact portion being arranged at one end of the second elastic portion towards the second limit position, the other end of the second elastic portion being connected to the mounting structure, and the fourth sensor being arranged at one end of the second elastic portion away from the second contact portion, the second contact portion abutting against the second limit position when the docking end moves to the second limit position, so that the second elastic portion is elastically compressed, and the fourth sensor is configured to send a signal to the fuselage when the second elastic portion is elastically compressed to limit the docking end from moving further.

[0019] In some embodiments, the material moving device further comprises a blocking assembly arranged at or near the docking end of the cantilever structure, the blocking assembly being configured to move between a first position and a second position; in the first position, the blocking assembly is configured to avoid the material so that the material can enter or be pushed from the docking end to the preset position; in the second position, the blocking assembly is configured to block the movement path of the material out of the carrying area to prevent the material in the carrying area from falling out of the docking end.

[0020] In some embodiments, when the blocking assembly is in the second position, the blocking assembly abuts against one side of the material opposite to the material pushing assembly, and the material pushing assembly abuts against the other side of the material to stably clamp the material.

[0021] In some embodiments, the cantilever structure is long strip-shaped, and the carrying area is located on the outer circumferential surface of the cantilever structure, and the material is sleeved on the cantilever structure when the material is located in the carrying area; the blocking assembly comprises a second driving member mounted on the cantilever structure, a rotating member connected to the output shaft of the second driving member, and a blocking member connected to the rotating member, the second driving member being configured to drive the rotating member to rotate to drive the blocking member to rotate between the first position and the second position; in the first position, the blocking member is configured to retract into the inside of the cantilever structure to avoid the material; in the second position, the blocking member is configured to extend out of the outer circumferential surface of the cantilever structure to block the movement path of the material out of the carrying area.

[0022] In some embodiments, the cantilever structure is provided with a groove for the blocking member to extend out of, the groove having opposite first and second side surfaces along the extension direction of the cantilever structure, and the opposite two sides of the blocking member being opposite to the first and second side surfaces when the blocking member extends out of the outer circumferential surface of the cantilever structure; wherein the connection between the rotating member and the blocking member is provided with a rotating shaft, the blocking member being rotatably connected to the rotating member through the rotating shaft, the axial direction of the rotating shaft being perpendicular to the extension direction of the cantilever structure to enable the blocking member to swing along the extension direction of the cantilever structure and be limited between the first and second side surfaces.

[0023] In some embodiments, the blocking assembly further comprises a fifth sensor near the first position, the fifth sensor being configured to detect whether the blocking assembly moves to the first position; and a sixth sensor near the second position, the sixth sensor being configured to detect whether the blocking assembly moves to the second position.

[0024] A second aspect of the present application provides a robot, comprising a body and the material moving device described above, wherein the material moving device is mounted on the body.

[0025] A third aspect of the present application provides a logistics system, comprising a table and the robot described above, wherein the table is provided with the preset position, and the table is provided with a feeding mechanism capable of pushing the material from the preset position to the carrying area.

[0026] As can be seen from the above technical solutions, the material moving device provided by the embodiments of the present application can make the docking end accurately dock with the preset position, thereby facilitating the automatic feeding and unloading of the material. The material located in the carrying area can be automatically pushed to the preset position by the pushing assembly, thereby completing the automatic unloading of the material, and manpower is not needed to take down the material, thereby saving manpower cost. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 The structural schematic diagram of the logistics system provided by the embodiments of the present application.

[0029] Figure 2 The schematic diagram of the table and the cantilever structure provided by the embodiments of the present application when they are docked.

[0030] Figure 3 The structural schematic diagram of the material moving device provided by the embodiments of the present application.

[0031] Figure 4 The structural schematic diagram of the material moving device provided by the embodiments of the present application. Figure 3 The partial enlarged schematic diagram of the structure shown in the figure.

[0032] Figure 5 The exploded schematic diagram of the structure shown in the figure. Figure 4 The exploded schematic diagram of the structure shown in the figure.

[0033] Figure 6 The exploded schematic diagram of the material moving device provided by the embodiments of the present application.

[0034] Figure 7 The structural schematic diagram of the blocking assembly provided by the embodiments of the present application.

[0035] Figure 8 The exploded schematic diagram of the blocking structure provided by the embodiments of the present application.

[0036] Figure 9A structural schematic diagram of the sliding structure proposed in the embodiment of the present application.

[0037] Figure 10 An exploded schematic diagram of the sliding structure proposed in the embodiment of the present application.

[0038] Figure 11 A sectional view schematic diagram of the sliding structure proposed in the embodiment of the present application.

[0039] Legend of reference signs:

[0040] 100, material moving device; 10, cantilever structure; 11, bearing area; 12, butt joint end; 13, second transmission member; 14, sliding groove; 15, wheel set; 151, auxiliary wheel; 16, groove; 161, first side surface; 162, second side surface; 17, mounting groove; 20, material pushing assembly; 21, first driving member; 22, first transmission member; 23, pushing member; 24, housing; 241, through slot; 25, sliding structure; 251, sliding seat; 252, connecting shaft; 253, bearing; 254, protective cap; 26, first sensor; 27, second sensor; 30, positioning assembly; 31, information code identifier; 32, first limiting assembly; 321, first contact portion; 322, first elastic portion; 323, third sensor; 33, second limiting assembly; 331, second contact portion; 332, second elastic portion; 333, fourth sensor; 34, mounting structure; 40, blocking assembly; 41, second driving member; 42, rotating member; 43, blocking member; 44, rotating shaft; 45, fifth sensor; 46, sixth sensor; 47, mounting seat; 200, robot; 210, machine body; 1000, logistics system; 300, material; 400, machine table; 410, material cylinder. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0042] It should be understood that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0043] It should also be understood that when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can be present. In contrast, when an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element or intervening elements can be present.

[0044] The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting thereof. As used in this description and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be understood that the terms "comprising," "including," "containing," and "having," are not intended to exclude many aspects that do not so

[0045] It should also be further understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "at least one of' does not allow a selection of only one item for the conjunctive term.

[0046] Please refer to Figures 1 to 3 As shown in the drawings, the embodiment of the present application provides a material moving device 100, which can be applied to a robot 200 of a logistics system 1000 to automatically push the material 300 to a preset position. The preset position can be a material cylinder 410 on a machine table 400 or other positions for placing the material 300. The material moving device 100 of the present application can also be accurately docked with the preset position to facilitate the automatic loading and unloading of the material 300.

[0047] The material moving device 100 provided by the embodiment of the present application includes a cantilever structure 10, a material pushing assembly 20, and a positioning assembly 30. The cantilever structure 10 is used to be mounted to a body 210 of the robot 200. The cantilever structure 10 is provided with a bearing area 11 for bearing the material 300 and a docking end 12 for docking with the preset position. The material 300 located at the preset position enters the bearing area 11 from the docking end 12. The material pushing assembly 20 is movably arranged in the cantilever structure 10. The material pushing assembly 20 is configured to be movable in a first direction to push the material 300 located in the bearing area 11 to the preset position. The first direction is the extension direction of the cantilever structure 10. The positioning assembly 30 is arranged at the docking end 12. The positioning assembly 30 is used to detect whether the docking end 12 is accurately docked with the preset position.

[0048] The material moving device 100 provided by the embodiments of the present application can make the docking end 12 accurately dock with the preset position, thereby facilitating the automatic feeding and discharging of the material 300. For example, the preset position can be a machine table 400 capable of docking with the docking end 12. When the docking end 12 accurately docks with the preset position, the machine table 400 can automatically push the material 300 from the docking end 12 into the bearing area 11. When discharging is needed, the material 300 in the bearing area 11 can be automatically pushed to the preset position by the pushing assembly 20 when the docking end 12 accurately docks with the preset position, thereby completing the automatic discharging of the material 300, and manpower is saved, and manpower cost is saved.

[0049] In some embodiments, as shown in Figure 3 and Figure 6 The pushing assembly 20 includes a first driving member 21, a first transmission member 22 and a pushing member 23. The first driving member 21 is connected with the pushing member 23, and the pushing member 23 faces the docking end 12. The first transmission member 22 is connected to the output shaft of the first driving member 21, and the first driving member 21 is used to drive the first transmission member 22 to move. The cantilever structure 10 is provided with a second transmission member 13 in transmission cooperation with the first transmission member 22. The second transmission member 13 is used to convert the movement of the first transmission member 22 into linear movement, so that the first transmission member 22 can move linearly in the first direction, thereby driving the first driving member 21 and the pushing member 23 to move linearly in the first direction as a whole, so as to push the material 300 to the preset position. Thus, the second transmission member 13 is arranged on the cantilever structure 10, so as to make the pushing member 23 move linearly in the first direction by cooperation of the second transmission member 13 and the first transmission member 22, thereby pushing the material 300 to the preset position, and realizing the automatic discharging of the material 300.

[0050] Exemplarily, the first direction can be the front-back direction of the cantilever structure 10, that is, the pushing assembly 20 can move forward and backward on the cantilever structure 10 to push the material 300.

[0051] In some embodiments, as shown in Figures 4 to 5 The first transmission member 22 is a gear, and the second transmission member 13 is a rack meshing with the gear. The rack is arranged on the surface of the cantilever structure 10 and extends in the first direction. Thus, the rotation of the gear is converted into linear movement in the front-back direction by the meshing of the gear and the rack, thereby driving the pushing assembly 20 to move forward and backward as a whole to push the material 300. Exemplarily, the first driving member 21 can adopt a motor, and the motor is used to provide driving force to rotate the gear.

[0052] In some embodiments, as shown in Figure 3 and Figure 6As shown, the pushing assembly 20 further comprises a housing 24, the first driving member 21 and the pushing member 23 are installed on the housing 24, and the first driving member 21 and the first transmission member 22 are arranged inside the housing 24, and the pushing member 23 is arranged on the side of the housing 24 facing the docking end 12. By arranging the housing 24, the first driving member 21, the gear and other components can be hidden inside the housing 24, which can play a protective role and make the appearance more beautiful. At the same time, the arrangement of the housing 24 can facilitate the installation of various components, and the structure is compact. The pushing member 23 is arranged on the front side of the housing 24, which is beneficial to pushing the material 300.

[0053] In some embodiments, the pushing assembly 20 further comprises a sliding structure 25, which is installed on the housing 24 and is slidingly connected to the cantilever structure 10 to assist the movement of the housing 24, the first driving member 21 and the pushing member 23 as a whole in the first direction. By arranging the sliding structure 25, the friction between the pushing assembly 20 and the cantilever structure 10 can be reduced, so as to assist the pushing assembly 20 to move linearly in the first direction on the cantilever structure 10 stably.

[0054] In some embodiments, the housing 24 is provided with the sliding structure 25 on at least one side in the second direction, and the second direction is perpendicular to the first direction; the cantilever structure 10 is provided with a sliding groove 14 extending in the first direction on at least one side in the second direction, and the sliding structure 25 is slidingly connected to the sliding groove 14 to guide the movement of the sliding structure 25 in the first direction. By arranging the sliding groove 14, the movement of the pushing assembly 20 can be guided in cooperation with the sliding structure 25, and the sliding groove 14 and the rack are arranged on the cantilever structure 10, which is compact in structure and saves cost.

[0055] For example, the second direction can be the left-right direction of the cantilever structure 10, and the housing 24 can be symmetrically provided with the sliding structure 25 on both sides in the second direction, and the cantilever structure 10 can be symmetrically provided with the corresponding sliding groove 14 on both sides in the second direction. By cooperating the sliding structure 25 on both sides with the sliding groove 14, the pushing assembly 20 can move linearly in the first direction on the cantilever structure 10 more stably with balanced force on both sides. Of course, in other examples, the housing 24 can be provided with the sliding structure 25 on only one side, and the cantilever structure 10 can be provided with the sliding groove 14 on the corresponding side.

[0056] In some embodiments, as Figures 9 to 11As shown, the sliding structure 25 includes a sliding seat 251, a connecting shaft 252, and at least one bearing 253. The sliding seat 251 is mounted on the shell 24. One end of the connecting shaft 252 is connected to the sliding seat 251, and the other end of the connecting shaft 252 is provided with a protective cap 254 for reducing the friction between the connecting shaft 252 and the inner wall of the sliding groove 14. The at least one bearing 253 is rotatably sleeved on the connecting shaft 252, and the bearing 253 is used to roll in the sliding groove 14, so that the sliding structure 25 as a whole can slide along the sliding groove 14. Through the arrangement of the bearing 253, the rolling positioning in the sliding groove 14 of the cantilever structure 10 can be realized, so as to eliminate the jamming and wear problems caused by the machining error of the sliding groove 14 as much as possible. Through the arrangement of the protective cap 254, the wear-resistant lubrication effect is achieved. For example, the protective cap 254 can be a nylon cap or other materials with wear-resistant lubrication effect. By increasing the nylon cap for gap adjustment, the structure is simple and reliable, and the machining precision of the cantilever structure 10 is reduced, and the processing cost is reduced.

[0057] For example, the sliding seat 251 can be provided with two connecting shafts 252 spaced apart along the length direction of the sliding seat 251 and two bearings 253 connected to the two connecting shafts 252, so as to better avoid the jamming and wear problems. Of course, in other examples, the number of connecting shafts 252 and bearings 253 can also be one, three or even more.

[0058] For example, as shown in Figure 3 and Figure 6 , the shell 24 extends to both sides of the cantilever structure 10 in the second direction, so as to facilitate the installation of the two sliding structures 25 on both sides of the shell 24 in the second direction, so as to cooperate with the sliding grooves 14 on both sides of the cantilever structure 10.

[0059] For example, as shown in Figure 3 and Figure 6 , the pushing member 23 can be mounted on the front side of the shell 24 as the front side wall of the shell 24. The shell 24 is provided with a through slot 241 extending front to back at the position corresponding to the cantilever structure 10, so as to avoid interference between the pushing assembly 20 and the cantilever structure 10 when the pushing assembly 20 moves on the cantilever structure 10. The cantilever structure 10 can be cylindrical, and the through slot 241 can be an arc structure matching the outer surface of the cantilever structure 10, or can be square or other structures, which can avoid the cantilever structure 10. Of course, in other examples, the pushing member 23 can also be integrally formed with the shell 24.

[0060] In some embodiments, as shown in Figure 3 and Figure 6As shown, the pushing assembly 20 further comprises a first sensor 26 arranged on the housing 24 near the pushing member 23 or on the pushing member 23, which is configured to detect whether the pushing member 23 contacts the material 300. For example, the first sensor 26 can be arranged on the pushing member 23 or on the housing 24 near the pushing member 23, so that the first sensor 26 can contact the material 300 when the pushing member 23 pushes the material 300. The first sensor 26 can detect whether the pushing member 23 contacts the material 300 when the pushing member 23 pushes the material 300 forward, thereby facilitating the pushing assembly 20 to push the material 300 to the preset position. For example, the first sensor 26 can be a microswitch or other sensor that can detect whether the pushing member 23 contacts the material 300.

[0061] In some embodiments, the pushing assembly 20 further comprises a second sensor 27 arranged on the housing 24 near the carrying area 11, which is configured to detect whether the carrying area 11 has the material 300. For example, the first sensor 26 can be arranged on the front side of the housing 24 and near the outer circumferential surface of the cantilever structure 10. The second sensor 27 can detect whether the cantilever structure 10 is sleeved with the material 300. For example, the first sensor 26 can be a photoelectric sensor or other sensor that can detect whether the cantilever structure 10 is sleeved with the material 300.

[0062] In some embodiments, as shown in Figures 3 to 6 The cantilever structure 10 is provided with at least one set of wheel groups 15 at the carrying area 11, and each set of wheel groups 15 comprises a plurality of auxiliary wheels 151 arranged at intervals in the first direction, which are configured to contact the material 300. Thus, when the material 300 enters the carrying area 11, the auxiliary wheels 151 can reduce the friction between the material 300 and the cantilever structure 10 through rolling contact with the material 300, thereby making the movement of the material 300 in the carrying area 11 more smooth and stable.

[0063] For example, the cantilever structure 10 can be provided with two sets of symmetrically arranged wheel groups 15, each set of wheel groups 15 comprises a plurality of auxiliary wheels 151 arranged at intervals in the first direction, and the number of auxiliary wheels 151 can be arranged along the entire carrying area 11 in the first direction or in other layouts. The rack can be arranged between the two sets of wheel groups 15, which is compact in structure, thereby enabling the material 300 to roll in contact with the auxiliary wheels 151 on both sides when moving, thereby reducing friction. Of course, in other examples, the cantilever structure 10 can be provided with one, three or more sets of wheel groups 15.

[0064] In some embodiments, as shown in Figure 4 and Figure 5As shown, the positioning assembly 30 comprises an information code identifier 31, a first limiting assembly 32 and a second limiting assembly 33. The information code identifier 31 is used to identify the information code at the preset position to obtain the relative position of the docking end 12 to the preset position and send a signal to the body 210. The first limiting assembly 32 is used to limit the continuous movement of the docking end 12 when the docking end 12 moves to the first limit position and sends a signal to the body 210. The second limiting assembly 33 is used to limit the continuous movement of the docking end 12 when the docking end 12 moves to the second limit position and sends a signal to the body 210. The movement direction of the first limiting assembly 32 towards the first limit position is perpendicular to the movement direction of the first limiting assembly 32 towards the second limit position. The information code identifier 31 identifies the information code at the preset position to obtain the position information and sends it to the body 210 of the robot 200. The control system of the body 210 controls the movement of the cantilever structure 10 according to the position information, so that the docking end 12 of the cantilever structure 10 can accurately dock with the preset position. When the cantilever structure 10 moves to the limit position in two directions, the first limiting assembly 32 and the second limiting assembly 33 limit the position deviation of the cantilever structure 10.

[0065] Exemplarily, the information code at the preset position can be a graphical code with information such as a two-dimensional code or a bar code. The information code identifier 31 can be a camera capable of identifying graphical code information, so as to obtain the relative position of the center of the docking end 12 to the center of the preset position (such as the barrel 410 of the machine table 400). The control system of the body 210 can control the movement of the cantilever structure 10 to accurately and safely dock with the preset position according to the identified data.

[0066] Exemplarily, the first limit position can be the limit position of upward movement. When the cantilever structure 10 moves upward, if it contacts the upper inner wall of the barrel 410 of the machine table 400, a signal change is triggered and sent to the control system of the body 210, so as to control the cantilever structure 10 to stop moving upward.

[0067] Exemplarily, the second limit position can be the limit position of forward movement. When the cantilever structure 10 moves forward, if it contacts the inner wall of the barrel 410 of the machine table 400 or is positioned inaccurately by accident, a signal change is triggered and sent to the control system of the body 210, so as to control the cantilever structure 10 to stop moving forward.

[0068] In some embodiments, the positioning assembly 30 further comprises a mounting structure 34 arranged at the docking end 12; the first limiting assembly 32 comprises a first contact portion 321, a first elastic portion 322 and a third sensor 323, the first contact portion 321 is arranged at one end of the first elastic portion 322 facing the first limit position, the other end of the first elastic portion 322 is connected to the mounting structure 34, and the third sensor 323 is arranged at the other end of the first elastic portion 322 away from the first contact portion 321; when the docking end 12 moves to the first limit position, the first contact portion 321 abuts against the first limit position, so that the first elastic portion 322 is elastically compressed, and the third sensor 323 is used to send a signal to the body 210 when the first elastic portion 322 is elastically compressed, so as to limit the continuous movement of the docking end 12.

[0069] In some embodiments, the second limiting assembly 33 comprises a second contact portion 331, a second elastic portion 332 and a fourth sensor 333, the second contact portion 331 is arranged at one end of the second elastic portion 332 facing the second limit position, the other end of the second elastic portion 332 is connected to the mounting structure 34, and the fourth sensor 333 is arranged at the other end of the second elastic portion 332 away from the second contact portion 331; when the docking end 12 moves to the second limit position, the second contact portion 331 abuts against the second limit position, so that the second elastic portion 332 is elastically compressed, and the fourth sensor 333 is used to send a signal to the body 210 when the second elastic portion 332 is elastically compressed, so as to limit the continuous movement of the docking end 12.

[0070] By arranging the mounting structure 34, the first limiting assembly 32 and the second limiting assembly 33 can be conveniently mounted, and the structure is compact; the first elastic portion 322 and the second elastic portion 332 are arranged vertically, the first elastic portion 322, the first sensor 26, the second elastic portion 332 and the second sensor 27 can be hidden inside the mounting structure 34, which plays a protective role and makes the appearance more beautiful; the first contact portion 321 protrudes from the upper side of the shell 24, and the second contact portion 331 protrudes from the front side of the shell 24; when the first contact portion 321 abuts against the inner wall of the upper side of the barrel 410 of the machine table 400, the first elastic portion 322 is compressed, so that the third sensor 323 sends a signal to the control system of the body 210 to control the cantilever structure 10 to stop moving upward; when the second contact portion 331 abuts against the inner wall of the front side of the barrel 410 of the machine table 400, the second elastic portion 332 is compressed, so that the fourth sensor 333 sends a signal to the control system of the body 210 to control the cantilever structure 10 to stop moving forward.

[0071] For example, the first elastic portion 322 and the second elastic portion 332 may be springs or other structures capable of elastically compressing to trigger sensors. The third sensor 323 and the fourth sensor 333 may be microswitches or other sensors that can be triggered to generate signal changes when the corresponding elastic portion is compressed.

[0072] In some embodiments, such as Figures 3 to 8 As shown, the material transfer device 100 also includes a blocking component 40, which is disposed at or near the docking end 12 of the cantilever structure 10. The blocking component 40 is configured to move between a first position and a second position. In the first position, the blocking component 40 can avoid the material 300, allowing the material 300 to enter the bearing area 11 from the docking end 12 or be pushed from the bearing area 11 to a preset position. In the second position, the blocking component 40 can block the material 300 from leaving the bearing area 11, thus preventing the material 300 from falling out of the docking end 12. Therefore, the blocking component 40 can act as a barrier after the material 300 enters the bearing area 11, thereby preventing the material 300 from sliding out of the cantilever structure 10.

[0073] For example, the first position can be a horizontal position, and the blocking component 40 does not reach the area of ​​the bearing area 11 in the first position, so as to avoid the material 300. The second position can be a vertical position, and the blocking component 40 extends to the area of ​​the bearing area 11 in the second position, so as to abut the material 300 to prevent the material 300 from sliding out of the cantilever structure 10.

[0074] In some embodiments, when the blocking component 40 is in the second position, the blocking component 40 abuts against the side of the material 300 opposite to the pushing component 20, and the pushing component 20 can move to abut against the other side of the material 300 to stably clamp the material 300. Thus, when the material 300 enters the carrying area 11 and the blocking component 40 rises and extends into the carrying area 11, the pushing component 20 can push the material 300 to abut against the blocking component 40, thereby clamping the material 300 at both ends through the blocking component 40 and the pushing component 20, fixing the material 300 in a fixed position on the cantilever structure 10, and ensuring the safe and stable transportation of the material 300.

[0075] In some embodiments, the cantilever structure 10 is elongated, and the bearing area 11 is located on the outer peripheral surface of the cantilever structure 10. When the material 300 is located in the bearing area 11, it is sleeved on the cantilever structure 10. Figure 7 and Figure 8As shown, the blocking assembly 40 comprises a second driving member 41, a rotating member 42 and a blocking member 43. The second driving member 41 is installed on the cantilever structure 10. The rotating member 42 is connected to the output shaft of the second driving member 41. The blocking member 43 is connected to the rotating member 42. The second driving member 41 is used to drive the rotating member 42 to rotate, so as to drive the blocking member 43 to rotate and switch between the first position and the second position. In the first position, the blocking member 43 is rotated to be retracted inside the cantilever structure 10 to avoid the material 300. In the second position, the blocking member 43 is rotated to protrude from the outer peripheral surface of the cantilever structure 10 to block the movement path of the material 300 away from the bearing area 11. Thus, the second driving member 41 drives the rotating member 42 to drive the blocking member 43 to rise to block the side of the material 300 close to the docking end 12, so as to prevent the material 300 from sliding out of the cantilever structure 10 and ensure the safe and stable transportation of the material 300.

[0076] As an example, the second driving member 41 can adopt a motor to provide driving force to drive the rotating member 42 to rotate. The distance from the rotation center of the blocking member 43 to the upper end of the blocking member 43 is less than the diameter of the cantilever structure 10, and the rotation center of the blocking member 43 is arranged above the center position of the cantilever structure 10, so that the blocking member 43 can protrude above the outer peripheral surface of the cantilever structure 10 when it is rotated to stand up, and the blocking member 43 can be retracted inside the cantilever structure 10 when it is rotated to the horizontal position.

[0077] In some embodiments, as shown in Figure 4 , Figure 7 and Figure 8 , the cantilever structure 10 is provided with a groove 16 for the blocking member 43 to protrude. Along the extension direction of the cantilever structure 10, the groove 16 has opposite first and second side surfaces 161 and 162. When the blocking member 43 protrudes from the outer peripheral surface of the cantilever structure 10, the opposite two sides of the blocking member 43 are opposite to the first and second side surfaces 161 and 162, respectively. The connection between the rotating member 42 and the blocking member 43 is provided with a rotating shaft 44. The blocking member 43 is rotatably connected to the rotating member 42 through the rotating shaft 44. The axis of the rotating shaft 44 is perpendicular to the extension direction of the cantilever structure 10, so that the blocking member 43 can swing along the extension direction of the cantilever structure 10 and be limited between the first and second side surfaces 161 and 162. The arrangement of the rotating shaft 44 enables the blocking member 43 to have a rotation degree of freedom in the front-back direction, thereby improving the durability of the blocking assembly 40. When the blocking member 43 is impacted by the material 300, it can swing back and forth around the rotating shaft 44 and transfer the force to the first or second side surface 161 or 162 of the cantilever structure 10, without transferring the force to the second driving member 41 to damage the second driving member 41.

[0078] Exemplarily, the cantilever structure 10 is provided with a mounting groove 17 at one end of the docking end 12, and the second driving member 41 can be mounted in the mounting groove 17 through a mounting seat 47, and the recess 16 is in communication with the mounting groove 17, so that the blocking member 43 can extend out of the recess 16 to block the material 300 from sliding out of the cantilever structure 10.

[0079] Exemplarily, the docking end 12 can be provided in a detachable structure and detachably mounted outside the mounting groove 17, thereby facilitating the installation of the positioning assembly 30 and the blocking assembly 40, wherein the mounting structure 34 can be mounted at the front end of the docking end 12, and the first side surface 161 can be formed on the inner side surface of the docking end 12, and the docking end 12 is further provided with a window to expose the information code identifier 31, thereby facilitating the identification of the information code at the preset position.

[0080] In some embodiments, the blocking assembly 40 further comprises a fifth sensor 45 and a sixth sensor 46, the fifth sensor 45 is close to the first position, and the fifth sensor 45 is used to detect whether the blocking assembly 40 moves to the first position; the sixth sensor 46 is close to the second position, and the sixth sensor 46 is used to detect whether the blocking assembly 40 moves to the second position. Through the arrangement of the fifth sensor 45 and the sixth sensor 46, it can be detected whether the blocking member 43 moves to the first position and the second position. Exemplarily, the fifth sensor 45 and the sixth sensor 46 can be proximity switches or other sensors capable of detecting the position of the blocking member 43.

[0081] Please refer to Figure 1 Exemplarily, the robot 200 can be an automatic guided vehicle (AGV). The structure and function of the material moving device 100 in the robot 200 according to the embodiments of the present application are the same as those of the above-mentioned embodiments, and the specific description can be referred to the description of the above-mentioned embodiments, and the present embodiment will not be described again.

[0082] In some embodiments, the body 210 can be provided with a first driving mechanism and a second driving mechanism, the first driving mechanism can be used to drive the movement of the cantilever structure 10 in the vertical direction, and the second driving mechanism can drive the movement of the cantilever structure 10 in the horizontal direction, so as to realize the movement of the cantilever structure 10 in two directions through the cooperation of the first driving mechanism and the second driving mechanism. Exemplarily, the first driving mechanism and the second driving mechanism can realize linear motion through motor driving chain transmission, belt transmission, screw nut transmission and the like.

[0083] Exemplarily, the control system of the machine body 210 can receive the signal of the positioning assembly 30 to obtain the relative position between the center of the docking end 12 of the cantilever structure 10 and the center of the preset position (such as the barrel 410 of the machine table 400), so as to control the cantilever structure 10 to move in multiple directions to accurately and safely dock the docking end 12 of the cantilever structure 10 with the preset position.

[0084] Please refer to Figure 1 As shown in the figure, the embodiment of the present application also proposes a logistics system 1000, which comprises the machine table 400 and the robot 200 described above. The machine table 400 is provided with a preset position, and the machine table 400 is provided with a feeding mechanism capable of pushing the material 300 from the preset position to the carrying area 11. Exemplarily, the preset position of the machine table 400 can be a cylindrical barrel 410, and the hollow cylindrical material 300 is sleeved on the barrel 410.

[0085] In some embodiments, the structure of the feeding mechanism can be the same as that of the material pushing assembly 20, of course, in other examples, the feeding mechanism can also be a cylinder or other means to push the material 300.

[0086] The structure and function of the robot 200 in the logistics system 1000 proposed by the embodiment of the present application are the same as those of the above-mentioned embodiments, and the specific description can be referred to the description of the above-mentioned embodiments, which will not be repeated here.

[0087] In some application scenarios, the material 300 is fed from the machine table 400 to the cantilever structure 10, after the docking end 12 of the cantilever structure 10 is inserted into the barrel 410 of the machine table 400 and accurately docked with the barrel 410, a signal is given to the machine table 400, and the machine table 400 controls the feeding mechanism to exit the material 300 to the carrying area 11 of the cantilever structure 10.

[0088] In some application scenarios, the material 300 is fed from the cantilever structure 10 to the machine table 400, after the docking end 12 of the cantilever structure 10 is inserted into the barrel 410 of the machine table 400 and accurately docked with the barrel 410, the material pushing assembly 20 pushes the material 300 onto the barrel 410 of the machine table 400.

[0089] It should be noted that the material moving device 100 of the present application can also not be limited to feeding and discharging on the machine table 400. For example, in another application scenario, the material 300 is fed from the support frame to the cantilever structure 10, the support frame is provided with two coaxially arranged arc-shaped support positions for supporting the cylindrical material 300. After the cantilever structure 10 is accurately positioned with the support frame, it can be directly inserted into the center of the material 300 from the center of the two arc-shaped support positions, so that the material 300 is sleeved on the cantilever structure 10 after the blocking piece 43 is lifted to prevent the material 300 from sliding out, and then the cantilever structure 10 is pulled out to complete the feeding.

[0090] In some other application scenarios, the material 300 is discharged from the cantilever structure 10 to a support frame, the support frame is provided with two coaxially arranged arc-shaped support positions for supporting the cylindrical material 300. After the cantilever structure 10 is precisely positioned with the support frame, the cantilever structure 10 can be directly inserted from the center of the two arc-shaped support positions, so that after the material 300 is located on the two support positions, the blocking piece 43 is retracted, and the cantilever structure 10 is extracted, so that the material 300 is carried on the support frame, and the discharging is completed. Of course, the cantilever structure 10 can also be controlled to move to directly above the support frame, and then the material 300 is placed on the support frame by falling, and then it is raised to retreat to the initial position, and the discharging can also be completed.

[0091] In the case of no contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples.

[0092] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A material transfer device, characterized by, The device comprises: a cantilever structure for mounting to a body of a robot, the cantilever structure being provided with a carrying area for carrying materials and a docking end for docking with a preset position, materials at the preset position entering the carrying area from the docking end; a pushing assembly movably provided in the cantilever structure, the pushing assembly being configured to move in a first direction to push the materials at the carrying area to the preset position, the first direction being an extension direction of the cantilever structure; a positioning assembly provided in the docking end, the positioning assembly being used for detecting whether the docking end is accurately docked with the preset position; wherein: the positioning assembly comprises: an information code identifier for identifying an information code at the preset position to obtain a relative position of the docking end with the preset position and send a signal to the body; a first limiting assembly for limiting the docking end from continuously moving when the docking end moves to a first limit position and sending a signal to the body; a second limiting assembly for limiting the docking end from continuously moving when the docking end moves to a second limit position and sending a signal to the body, a movement direction of the first limiting assembly towards the first limit position being perpendicular to a movement direction of the first limiting assembly towards the second limit position; the positioning assembly further comprises a mounting structure provided in the docking end; the first limiting assembly comprises a first contact portion, a first elastic portion and a third sensor mounted on the mounting structure, the first contact portion being provided at one end of the first elastic portion towards the first limit position, the other end of the first elastic portion being connected to the mounting structure, and the third sensor being provided at one end of the first elastic portion away from the first contact portion, when the docking end moves to the first limit position, the first contact portion abuts against the first limit position to cause the first elastic portion to be elastically compressed, and the third sensor is used to send a signal to the body when the first elastic portion is elastically compressed to limit the docking end from continuously moving; and / or the second limiting assembly comprises a second contact portion, a second elastic portion and a fourth sensor mounted on the mounting structure, the second contact portion being provided at one end of the second elastic portion towards the second limit position, the other end of the second elastic portion being connected to the mounting structure, and the fourth sensor being provided at one end of the second elastic portion away from the second contact portion, when the docking end moves to the second limit position, the second contact portion abuts against the second limit position to cause the second elastic portion to be elastically compressed, and the fourth sensor is used to send a signal to the body when the second elastic portion is elastically compressed to limit the docking end from continuously moving; the material moving device further comprises: a blocking assembly provided at the docking end of the cantilever structure or close to the docking end, the blocking assembly being configured to move to switch between a first position and a second position; When the blocking assembly is in the first position, the blocking assembly can avoid the material, so that the material can enter the carrying area from the docking end or be pushed to the preset position from the carrying area; When the blocking assembly is in the second position, the blocking assembly can block the movement path of the material leaving the carrying area, so as to avoid the material in the carrying area from falling out of the docking end.

2. The material transfer device of claim 1, wherein The pushing assembly comprises a first driving member, a first transmission member and a pushing member, the first driving member is connected with the pushing member, the pushing member faces the docking end, and the first transmission member is connected to the output shaft of the first driving member, and the first driving member is used to drive the first transmission member to move; The cantilever structure is provided with a second transmission member which is in transmission cooperation with the first transmission member, and the second transmission member is used to convert the movement of the first transmission member into linear movement, so that the first transmission member can move linearly along the first direction, thereby driving the first driving member and the pushing member to move linearly along the first direction, so as to push the material to the preset position.

3. The material transfer device of claim 2, wherein, The first transmission member is a gear, and the second transmission member is a rack which is engaged with the gear, and the rack is arranged on the surface of the cantilever structure and extends along the first direction.

4. The material moving apparatus of claim 2 wherein, The pushing assembly further comprises a shell, the first driving member and the pushing member are mounted on the shell, and the first driving member and the first transmission member are arranged inside the shell, and the pushing member is arranged on one side of the shell facing the docking end.

5. The material moving apparatus of claim 4, wherein, The pushing assembly further comprises a sliding structure, the sliding structure is mounted on the shell, and the sliding structure is slidingly connected to the cantilever structure, so as to assist the shell, the first driving member and the pushing member to move along the first direction as a whole.

6. The material moving apparatus of claim 5, wherein, At least one side of the shell in the second direction is provided with the sliding structure, and the second direction is perpendicular to the first direction; At least one side of the cantilever structure in the second direction is provided with a sliding groove which extends along the first direction, and the sliding structure is slidingly connected to the sliding groove, so as to guide the sliding structure to move along the first direction.

7. The material moving apparatus of claim 6, wherein, The sliding structure comprises: a sliding seat mounted on the shell; a connecting shaft, one end of the connecting shaft is connected to the sliding seat, and the other end of the connecting shaft is provided with a protective cap which is used to reduce the friction between the connecting shaft and the inner wall of the sliding groove; at least one bearing which is rotatably sleeved on the connecting shaft, and the bearing is used to roll in the sliding groove, so that the sliding structure as a whole can slide along the sliding groove.

8. The material moving apparatus of claim 4 wherein, The pushing assembly further comprises a first sensor, the first sensor is arranged on the shell close to the pushing member or arranged on the pushing member, and the first sensor is used to detect whether the pushing member contacts the material; and / or The pushing assembly further comprises a second sensor, the second sensor is arranged on the shell close to the carrying area, and the second sensor is used to detect whether there is material on the carrying area.

9. The material moving apparatus of claim 1 wherein, The cantilever structure is provided with at least one set of wheel groups at the carrying area, each set of the wheel groups comprising a plurality of auxiliary wheels arranged at intervals along the first direction, the auxiliary wheels being used to contact the material.

10. The material moving apparatus of claim 1 wherein, When the blocking assembly is in the second position, the blocking assembly abuts against one side of the material opposite to the pushing assembly, and the pushing assembly abuts against the other side of the material to stably clamp the material.

11. The material moving apparatus of claim 1 wherein, The cantilever structure is long strip-shaped, and the carrying area is located on the outer circumferential surface of the cantilever structure, and the material is sleeved on the cantilever structure when the material is located at the carrying area. The blocking assembly comprises: a second driving member mounted on the cantilever structure; a rotating member connected to the output shaft of the second driving member; a blocking member connected to the rotating member, and the second driving member is used to drive the rotating member to rotate so as to drive the blocking member to rotate to switch between the first position and the second position; in the first position, the blocking member is rotated to retract inside the cantilever structure to avoid the material; in the second position, the blocking member is rotated to protrude from the outer circumferential surface of the cantilever structure to block the movement path of the material away from the carrying area.

12. The material moving apparatus of claim 11, wherein, The cantilever structure is provided with a groove for the blocking member to protrude, and the groove has opposite first and second side surfaces along the extension direction of the cantilever structure, and when the blocking member protrudes from the outer circumferential surface of the cantilever structure, the opposite two sides of the blocking member are opposite to the first and second side surfaces, respectively. The connecting portion of the rotating member and the blocking member is provided with a rotating shaft, the blocking member is rotatably connected to the rotating member through the rotating shaft, and the axis of the rotating shaft is perpendicular to the extension direction of the cantilever structure, so that the blocking member can swing along the extension direction of the cantilever structure and is limited between the first and second side surfaces.

13. The material moving apparatus of claim 11 wherein, The blocking assembly further comprises: a fifth sensor close to the first position, the fifth sensor being used to detect whether the blocking assembly moves to the first position; a sixth sensor close to the second position, the sixth sensor being used to detect whether the blocking assembly moves to the second position.

14. A robot, characterized in that The material moving device comprises a machine body and a material moving device as claimed in any one of claims 1-13, and the material moving device is mounted on the machine body.

15. A logistics system characterized by, The robot comprises a machine table and a robot as claimed in claim 14, the machine table is provided with the preset position, and the machine table is provided with a feeding mechanism capable of pushing the material from the preset position to the carrying area.

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