Transport device

Abstract

A kind of transport device, including transport car and reflector plate;The transport car is equipped with radar;The reflector plate is used to be set in shelf, and the reflector plate is used to reflect the signal of the radar, to provide positioning for the radar.The technical scheme of the application introduces automatic navigation transport car (AMR) as transport car, and also uses the radar of automatic navigation transport car and the cooperation of the reflector plate set on shelf, to complete the docking of transport device and shelf without increasing other additional sensors and without limiting the specific travel path of transport device, reduce the docking cost of transport device and shelf, improve the docking autonomy of transport device and shelf.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of handling equipment, and particularly relates to a transportation device. BACKGROUND

[0002] With the rapid development of industrial automation and intelligence, the logistics handling and material conveying system has become an indispensable part of modern factories and warehouses. Traditional material handling methods, such as manual handling and forklifts, not only have low efficiency, but also have safety hazards and high costs. The automatic transportation device emerges as the times require. Taking an automatic guided vehicle (AGV) as an example, the AGV is an automatic material handling equipment which can autonomously shuttle between various production stations and provide transportation for materials on each production station.

[0003] However, the traditional AGV mainly relies on the guidance of the magnetic strip or two-dimensional code and other marks laid on the ground, and the route planning cost is high and the flexibility is low, and the adaptability to complex factory environments is poor. SUMMARY

[0004] The purpose of the present application is to provide a transportation device, which aims to solve the problem that the transportation device in the related art has high running track laying cost, can only travel according to a preset path and dock with a storage rack, and cannot adapt to complex environments.

[0005] To achieve the purpose of the present application, the present application provides a transportation device, which comprises a transportation vehicle and a reflection plate; the transportation vehicle is provided with a radar;

[0006] The reflection plate is arranged on the storage rack, and the reflection plate is used for reflecting the signal of the radar to provide positioning for the radar.

[0007] In one possible implementation, the reflection plate comprises a first reflection plate, a second reflection plate and a third reflection plate; the second reflection plate and the third reflection plate are respectively arranged at two ends of the first reflection plate, and the second reflection plate and the third reflection plate are closer to the direction of the radar than the first reflection plate.

[0008] In one possible implementation, the first reflection plate comprises a plate body, a first connecting edge and a second connecting edge, and the plate body has a first end and a second end which are oppositely arranged along a first direction;

[0009] One end of the first connecting edge is connected with the first end, and the other end is connected with the second reflection plate;

[0010] One end of the second connecting edge is connected with the second end, and the other end is connected with the third reflection plate.

[0011] In a possible implementation, the included angle of the second reflective plate and the third reflective plate is A, 118°≤A≤122°.

[0012] In a possible implementation, the radar is a laser radar, and the first reflective plate is coated with a light-reflecting coating for reflecting laser of the radar.

[0013] In a possible implementation, the color of the light-reflecting coating includes black.

[0014] In a possible implementation, the first reflective plate, the second reflective plate and the third reflective plate have a third end and a fourth end oppositely arranged along a second direction.

[0015] The reflective plate further includes a fourth reflective plate and a fifth reflective plate, the third reflective plate is connected with the third end, and the fourth reflective plate is connected with the fourth end.

[0016] In a possible implementation, the transportation device further includes a calibration mechanism, and the calibration mechanism includes a button and a first boss.

[0017] The button is arranged on the transportation vehicle, the first boss is arranged on the storage rack, and the button and the first boss are aligned with each other when the transportation vehicle and the storage rack are aligned.

[0018] In a possible implementation, the calibration mechanism includes two buttons and two first bosses, and the two buttons are symmetrically arranged along a first direction.

[0019] In a possible implementation, the calibration mechanism further includes a second boss, and the second boss is arranged on the storage rack; the length of the second boss is greater than the length of the first boss.

[0020] In a possible implementation, the transportation device further includes a first carrying mechanism, and the first carrying mechanism includes:

[0021] a belt wheel assembly, the belt wheel assembly includes a synchronous wheel and a synchronous belt, and the synchronous belt is arranged around the synchronous wheel; and

[0022] a first driving assembly, the first driving assembly is used to drive the synchronous wheel to move.

[0023] In a possible implementation, the first carrying mechanism is movably arranged on the transportation vehicle; the transportation device further includes a height adjusting mechanism, the height adjusting mechanism is used to adjust the relative position of the first carrying mechanism and the transportation vehicle; and the height adjusting mechanism includes:

[0024] A mounting plate movably arranged on the transport vehicle along a second direction, the belt wheel assembly being mounted on the mounting plate;

[0025] A second driving assembly connected with the mounting plate to drive the mounting plate to move along the second direction.

[0026] In a possible implementation, the transport vehicle is provided with a guide hole; the height adjusting mechanism further comprises a fixing plate and a plurality of guide columns, one end of each of the guide columns being connected with the mounting plate and the other end being connected with the fixing plate respectively;

[0027] The guide columns are arranged in the guide hole.

[0028] The technical scheme of the present application introduces an automatic navigation transport vehicle (AMR) as the transport vehicle, and cooperates the radar of the automatic navigation transport vehicle with the reflector plate arranged on the storage shelf, so that the docking of the transport device and the storage shelf is completed without adding other additional sensors and without limiting the specific travel path of the transport device, the docking cost of the transport device and the storage shelf is reduced, and the autonomy of the docking of the transport device and the storage shelf is improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 A perspective structural schematic view of an embodiment of the transport device provided by the present application;

[0031] Figure 2 A perspective structural schematic view of an embodiment of the transport device provided by the present application; Figure 1 An enlarged view of a part at A;

[0032] Figure 3 A perspective structural schematic view of an embodiment of the transport device provided by the present application; Figure 1 A perspective structural schematic view of an embodiment of the transport device provided by the present application;

[0033] Figure 4 A perspective structural schematic view of an embodiment of the transport device provided by the present application; Figure 3 A top view of an embodiment of the transport device provided by the present application;

[0034] Figure 5 A top view of an embodiment of the transport device provided by the present application; Figure 1 A top view of an embodiment of the transport device provided by the present application;

[0035] Figure 6 A top view of an embodiment of the transport device provided by the present application; Figure 5 An enlarged view of a part at B;

[0036] Figure 7 Fig. 1 is a perspective view of a transport device according to an embodiment of the present application; Figure 1 Fig. 2 is a perspective view of the transport device according to another embodiment of the present application;

[0037] Figure 8 Fig. 3 is a perspective view of a first carrying mechanism according to an embodiment of the present application; Figure 1 Fig. 4 is a perspective view of the first carrying mechanism according to another embodiment of the present application;

[0038] Figure 9 Fig. 5 is a perspective view of a limiting mechanism according to an embodiment of the present application; Figure 1 Fig. 6 is a perspective view of the limiting mechanism according to another embodiment of the present application.

[0039] Explanation of Reference Signs:

[0040] 1000 - transport device;

[0041] 1 - transport vehicle, 11 - vehicle body, 12 - moving chassis, 121 - chassis frame, 122 - wheel, 13 - support frame;

[0042] 2 - reflector, 21 - first reflector, 211 - reflector body, 212 - first connecting edge, 213 - second connecting edge, 22 - second reflector, 23 - third reflector, 24 - fourth reflector, 25 - fifth reflector, 26 - first connecting plate, 27 - second connecting plate;

[0043] 3 - radar;

[0044] 4 - calibration mechanism, 41 - button, 42 - first boss, 43 - second boss;

[0045] 5 - first carrying mechanism, 51 - pulley assembly, 511 - synchronous pulley, 511a - first synchronous pulley, 511b - second synchronous pulley, 512 - synchronous belt, 512a - first synchronous belt, 512b - second synchronous belt, 513 - tension pulley, 514 - synchronous shaft, 52 - height adjustment mechanism, 521 - mounting plate, 522 - first driving assembly, 5221 - hand wheel, 5222 - screw rod, 5223 - screw rod nut, 523 - guide column, 524 - fixing plate, 53 - limiting mechanism, 531 - limiting pin, 532 - third driving assembly;

[0046] 6 - reflector mounting frame, 61 - mounting groove;

[0047] 7 - adjusting bolt;

[0048] 2000 - storage rack, 2100 - aluminum profile skeleton, 2110 - adjusting gap, 2200 - second carrying mechanism;

[0049] 3000 - material. DETAILED DESCRIPTION

[0050] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0051] It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or there can be an intervening component. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be an intervening component.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The use of the terms "and / or" includes a combination of one or more of the associated listed items.

[0053] Some embodiments of the present application will be described in detail with reference to the drawings. The following embodiments and features of the embodiments can be combined with each other without conflict.

[0054] With the development of industrial automation and intelligence, the traditional manual and forklift material handling method can no longer meet the current production requirements. In order to improve production efficiency, in some automated factories, a conveying device is usually arranged between each production station, and the conveying device is used to carry the materials on the material shelves of the production stations.

[0055] AGV for example, AGV transport vehicle can follow the program settings, autonomous shuttle between various production stations, and for each production station on the material transport. AGV for cargo transport mainly includes: task acceptance, path planning, loading docking, material loading and material transportation five steps. Specifically, when the station needs to carry materials or replenish raw materials, the station will send a material handling signal to the AGV transport vehicle through the control terminal of the factory. After receiving the material handling signal, the AGV transport vehicle will plan its own action route according to the material handling starting point, material handling endpoint and its own location. After path planning, the AGV transport vehicle will travel according to the planned path and arrive at the starting station where the material needs to be carried. After arriving at the starting station, the AGV transport vehicle will position itself according to the position of the storage rack on the station, so as to complete the docking with the storage rack, and then facilitate the carrying mechanism (which can be a mechanical hand or a conveyor belt) on it to carry and replenish the material on the storage rack. After the AGV transport vehicle completes the loading alignment, the carrying mechanism on the AGV transport vehicle will load the material on the storage rack, or replenish the raw material carried by itself into the storage rack of the current station. After loading, the AGV transport vehicle will transport the material until it reaches the next station.

[0056] However, the AGV transport vehicle mainly depends on the guide of the magnetic strip or two-dimensional code mark set on the ground, which means that the AGV transport vehicle can only complete the material transportation and docking with the storage rack according to the preset path trajectory. The route planning cost is high and the flexibility is low, and the adaptability to complex factory environment is poor.

[0057] To solve the above problems, the application provides a transport device, which comprises a transport vehicle and a reflector plate; the transport vehicle is provided with a radar; the reflector plate is used to be arranged on the storage rack, and the reflector plate is used to reflect the signal of the radar to provide positioning for the radar. The technical scheme of the application introduces an AMR robot as the transport vehicle, and also uses the radar of the AMR robot to cooperate with the reflector plate arranged on the storage rack, so that the docking of the transport device and the storage rack is completed without adding other additional sensors and without limiting the specific travel path of the transport device, thereby reducing the docking cost of the transport device and the storage rack and improving the docking autonomy of the transport device and the storage rack.

[0058] In the following, the transport device provided by the application will be described in detail in combination with the drawings.

[0059] Please refer to Figure 1 and Figure 2The transport device 1000 comprises a transport vehicle 1, which is an autonomous mobile robot (AMR). The transport vehicle 1 comprises a vehicle body 11 and a mobile chassis 12. The vehicle body 11 serves as the main body of the transport vehicle 1 and is used to support and connect various component assemblies of the transport vehicle 1. The mobile chassis 12 comprises a chassis frame 121, wheels 122, and a power assembly (not shown in the figure). The chassis frame is connected to the vehicle body 11 to provide support for the movement of the vehicle body 11. The wheels are rotatably connected to the chassis frame and can drive the transport vehicle 1 to move by rotating themselves. The transport vehicle 1 can be provided with two, three, or four wheels, which is not limited in the present application. The power assembly is housed in the chassis frame. The power assembly serves as the power source of the transport vehicle 1 and is connected to a power battery and the vehicle to convert the electrical energy of the power battery into mechanical energy for the rotation of the wheels, thereby driving the transport vehicle 1 to move.

[0060] The transport vehicle 1 further comprises a radar 3, which can be a laser radar 3 or a sound wave radar 3, which is not limited in the present application. With the radar 3 and other sensors carried by itself, the transport vehicle 1 can realize autonomous navigation and route planning. Thus, by eliminating the laying of magnetic strips or two-dimensional codes, the autonomy of the transport vehicle 1 in transportation and alignment with the storage rack 2000 is improved, and the adaptability of the transport vehicle 1 to complex production area environments is improved.

[0061] To realize the docking of the transport vehicle 1 with the storage rack 2000 of the preset station, the transport device 1000 further comprises a reflector plate 2, which can be a metal plate, a glass plate, or a plastic plate, which is not limited in the present application. The reflector plate 2 is arranged on the storage rack 2000 and is used to reflect the signal of the radar 3 to provide positioning for the radar 3. When the transport vehicle 1 moves to the storage rack 2000, the radar 3 of the transport vehicle 1 will scan the storage rack 2000. When the signal of the radar 3 scans the reflector plate on the storage rack 2000, the signal of the radar 3 will return along the original path under the action of the reflector plate. By detecting the angle and time of the returned signal, the transport vehicle 1 can determine the position and distance of itself from the reflector plate and the storage rack 2000. Based on these position data, the transport vehicle 1 can autonomously adjust its position and attitude to realize docking with the storage rack 2000.

[0062] Please refer to Figure 3 and Figure 4 The reflector plate 2 comprises a first reflector plate 21, a second reflector plate 22, and a third reflector plate 23. The first reflector plate 21 is arranged on the positioning reference surface of the storage rack 2000. The first reflector plate 21 serves as a clear reflection point and provides a reliable positioning reference for the radar 3. By receiving the radar 3 signal reflected from the first reflector plate 21, the transport vehicle 1 can determine the approximate position of the storage rack 2000.

[0063] In an embodiment of the present application, the first reflecting plate 21 comprises a plate body 211, a first connecting edge 212 and a second connecting edge 213. The plate body 211 serves as a positioning reference of the reflecting plate, and is arranged parallel to the positioning reference surface of the storage rack 2000. The plate body 211 has a first end and a second end arranged opposite to each other along a first direction, which is the vertical direction of the transport vehicle 1. One end of the first connecting edge 212 is connected to the first end, and the other end is connected to the second reflecting plate 22. One end of the second connecting edge 213 is connected to the second end, and the other end is connected to the third reflecting plate 23. The arrangement of the first connecting edge 212 and the second connecting edge 213 can form a bending structure on the first reflecting plate 21, thereby improving the strength of the first reflecting plate 21. On the other hand, in terms of reflection, the first connecting edge 212 and the second connecting edge 213 can form a three-dimensional structure with the plate body 211 in space. By comparing the radar 3 signals reflected from the plate body 211, the first connecting edge 212 and the second connecting edge 213, the transport vehicle 1 can calculate the three-dimensional position and direction of the storage rack 2000, thereby more accurately determining the relative position and distance between the transport vehicle 1 and the storage rack 2000, and achieving precise docking with the storage rack 2000, thereby improving the positioning accuracy of the transport vehicle 1 and the storage rack 2000.

[0064] The second reflecting plate 22 and the third reflecting plate 23 are arranged at the two ends of the first reflecting plate 21, respectively. The second reflecting plate 22 and the third reflecting plate 23 are closer to the direction of the radar 3 than the first reflecting plate 21. In this way, on the one hand, the second reflecting plate 22 and the third reflecting plate 23 are arranged at the two ends of the first reflecting plate 21, and are closer to the direction of the radar 3 than the first reflecting plate 21. This means that when the radar 3 emits a signal, these reflecting plates can receive and reflect the signal earlier, thereby enabling the radar 3 to obtain information about the position of the storage rack 2000 earlier. On the other hand, the second reflecting plate 22, the third reflecting plate 23 and the first reflecting plate 21 form a three-dimensional structure in space. By comparing the signals reflected from the first reflecting plate 21, the second reflecting plate 22 and the third reflecting plate 23, the transport vehicle 1 can calculate the three-dimensional position and direction of the storage rack 2000, thereby more accurately determining the relative position and distance between the transport vehicle 1 and the storage rack 2000, and achieving precise docking with the storage rack 2000, thereby improving the positioning accuracy of the transport vehicle 1 and the storage rack 2000.

[0065] It can be understood that the included angle of the second reflecting plate 22 and the third reflecting plate 23 is associated with the distribution and intensity of the reflected signal received by the radar 3, and the included angle of the second reflecting plate 22 and the third reflecting plate 23 is too large or too small, which will cause the signal received by the radar 3 in some directions to be too strong or too weak, thereby affecting the positioning accuracy of the transport vehicle 1 to the shelf 2000. To solve the above problem, in an embodiment of the present application, the included angle of the second reflecting plate 22 and the third reflecting plate 23 is A, 118°≤A≤122°, in particular, when A=120°, the second reflecting plate 22, the third reflecting plate 23 and the first reflecting plate 21 can form a relatively uniformly distributed reflection point group, thereby improving the uniformity of the reflected signal of the reflecting plate 2 to the radar 3. On the other hand, the included angle of the second reflecting plate 22 and the third reflecting plate 23 also determines the final alignment distance of the transport vehicle 1 and the shelf 2000, and if the distance is too large, it will increase the difficulty of material 3000 transmission between the transport vehicle 1 and the shelf 2000, and if the distance is too small, it will increase the possibility of collision between the transport vehicle 1 and the shelf 2000, and when the included angle of the second reflecting plate 22 and the third reflecting plate 23 is between 118° and 122°, the distance between the transport vehicle 1 and the shelf 2000 can be effectively ensured within an effective distance, thereby improving the material 3000 carrying efficiency between the transport vehicle 1 and the shelf 2000 and reducing the possibility of collision between the transport vehicle 1 and the shelf 2000.

[0066] To improve the reflection effect of the reflecting plate 2 to the signal of the radar 3, in an embodiment of the present application, the radar 3 is a laser radar 3, and the first reflecting plate 21 is coated with a reflective coating, which is used to reflect the laser of the radar 3, thereby enhancing the reflection intensity of the reflecting plate 2 to the signal of the radar 3, improving the reflection quality of the reflecting plate 2 to the signal of the radar 3, and improving the positioning accuracy of the radar 3.

[0067] The reflective coating can be a reflective film, a reflective metal, or a reflective pigment. The reflective coating can be white, yellow, or other colors, which are not limited in the present application. In an embodiment of the present application, the reflective coating is black, which can absorb most of the incident light, reduce unnecessary reflection and scattering, and improve the ranging and positioning accuracy of the radar 3. On the other hand, the black coating can reduce the background noise of the reflecting surface, so that the radar 3 can more easily identify the target signal, and improve the signal recognition efficiency of the radar 3.

[0068] The reflection plate 2 further comprises a fourth reflection plate 24 and a fifth reflection plate 25, which are respectively arranged on the upper and lower sides of the first reflection plate 21, the second reflection plate 22 and the third reflection plate 23. Specifically, in the present application, the first reflection plate 21, the second reflection plate 22 and the third reflection plate 23 have a third end and a fourth end arranged opposite along a second direction, the second direction being perpendicular to the first direction, the third reflection plate 23 being connected to the third end, and the fourth reflection plate 24 being connected to the fourth end. The fourth reflection plate 24 and the fifth reflection plate 25 are arranged on the upper and lower sides of the first reflection plate 21, the second reflection plate 22 and the third reflection plate 23, so as to limit the reflection direction of the radar 3 signal, reduce the scattering of the radar 3 signal, improve the signal reflection amount of the reflection plate to the radar 3, and improve the positioning accuracy and anti-interference ability of the radar 3 in a complex environment.

[0069] Please refer to Figure 5 The transportation device 1000 further comprises a reflection plate mounting rack 6 connected to the storage rack 2000, the reflection plate mounting rack 6 is formed with a mounting groove 61, and the reflection plate 2 is arranged in the mounting groove 61. The reflection plate 2 further comprises a first connecting plate 26 connected to the second reflection plate 22 and a second connecting plate 27 connected to the third reflection plate 23. The first connecting plate 26 and the second connecting plate 27 are connected to the groove wall of the mounting groove 61, so as to mount the reflection plate 2 on the storage rack 2000.

[0070] The first connecting plate 26 and the second reflection plate 22, the second connecting plate 27 and the third reflection plate 23, and the first connecting plate 26 and the second connecting plate 27 and the groove wall of the mounting groove 61 can be connected by welding, bonding or threaded connection, which is not limited in the present application. In an embodiment of the present application, the first connecting plate 26 and the second reflection plate 22, the second connecting plate 27 and the third reflection plate 23 are connected by welding, and the first connecting plate 26 and the second connecting plate 27 and the groove wall of the mounting groove 61 are connected by bolts and nuts. The welding connection of the first connecting plate 26 and the second reflection plate 22, the second connecting plate 27 and the third reflection plate 23 can improve the stability of the connection of the first connecting plate 26 and the second reflection plate 22, the second connecting plate 27 and the third reflection plate 23, reduce the amplitude frequency of the reflection plate 2 in a vibrating environment, and improve the impact resistance of the reflection plate 2 in a vibrating environment. The first connecting plate 26 and the second connecting plate 27 and the groove wall of the mounting groove 61 are connected by bolts and nuts, which takes into account the small space in the mounting groove 61, and the use of bolts and nuts can guide the first connecting plate 26, the second connecting plate 27 and the mounting groove 61 to the outside of the mounting groove 61, thereby effectively reducing the installation difficulty of the first connecting plate 26 and the second connecting plate 27 and the mounting groove 61, and improving the installation efficiency of the first connecting plate 26 and the second connecting plate 27 and the mounting groove 61.

[0071] Please refer to Figure 2 The reflection plate mounting rack 6 and the storage rack 2000 can be connected by welding, can be connected by bonding, or can be connected by screwing, and the present application does not limit this. In an implementable manner of the present application, the storage rack 2000 adopts an aluminum profile framework 2100, the surface of the aluminum profile framework 2100 is provided with an adjusting slot 2110 extending along the length direction thereof, and the reflection plate mounting rack 6 is mounted in the adjusting slot 2110 of the aluminum profile framework 2100 through an adjusting bolt 7. By adjusting the position of the adjusting bolt 7 in the adjusting slot 2110, the position of the reflection plate mounting rack 6 in the storage rack 2000 can be adjusted, so as to adjust the relative position of the reflection plate 2 and the storage rack 2000, and reduce the positioning error of the radar 3 for the storage rack 2000.

[0072] Please refer to Figure 5 and Figure 6 The transportation device 1000 further comprises a calibration mechanism 4, which is used to calibrate the adjusted position of the transportation vehicle 1 after the transportation vehicle 1 completes the posture adjustment. Specifically, the calibration mechanism 4 comprises a button 41 and a first boss 42. The button 41 is arranged on the transportation vehicle 1. The button 41 can be a mechanical button 41 or an electronic button 41. When the button 41 is pressed, the button 41 will send a positioning signal to the transportation vehicle 1 to indicate that the transportation vehicle 1 is successfully positioned and can perform the subsequent moving operation. The first boss 42 is arranged on the storage rack 2000 and has a shape and size matched with the button 41. The first boss 42 is used to contact the button 41 and trigger the function of the button 41 when the transportation vehicle 1 and the storage rack 2000 are positioned.

[0073] In actual application, when the transportation vehicle 1 completes the positioning with the storage rack 2000 under the navigation of the radar 3, the transportation vehicle 1 will move towards the storage rack 2000. At this time, the button 41 arranged on the transportation vehicle 1 will also move towards the first boss 42 arranged on the storage rack 2000 under the driving of the transportation vehicle 1. If the transportation vehicle 1 and the storage rack 2000 are accurately positioned, the button 41 can contact the first boss 42 and be triggered during the movement of the transportation vehicle 1, so as to indicate that the transportation vehicle 1 is successfully positioned and can continue to perform the subsequent moving operation. If the transportation vehicle 1 and the storage rack 2000 are deviated from the positioning, the first boss 42 and the button 41 cannot be positioned. After a preset time, the transportation vehicle 1 does not receive the positioning signal, the transportation vehicle 1 will re-adjust the posture and position of itself and the storage rack 2000 and repeat the above moving operation until the button 41 contacts the first boss 42.

[0074] To improve the calibration accuracy of the calibration mechanism 4 to the transport vehicle 1, in an embodiment of the present application, the calibration mechanism 4 comprises two buttons 41 and two first protrusions 42, the two buttons 41 are symmetrically arranged along a first direction, the first direction is perpendicular to the moving direction of the vehicle. Only when both of the two buttons 41 are pressed at the same time, the transport vehicle 1 will determine that the transport vehicle 1 is aligned with the storage rack 2000, so as to ensure that the center plane of the transport vehicle 1 and the center plane of the storage rack 2000 can keep coincident, thereby improving the calibration accuracy of the calibration mechanism 4 to the transport vehicle 1.

[0075] The calibration mechanism 4 further comprises a second protrusion 43, the second protrusion 43 is arranged on the storage rack 2000, and the length of the second protrusion 43 is greater than the length of the first protrusion 42. In this way, it can be ensured that the second protrusion 43 can contact the transport vehicle 1 before the first protrusion 42 during the approach of the transport vehicle 1 to the storage rack 2000, and prevent the transport vehicle 1 from continuing to move forward. In this way, it can be avoided that the first protrusion 42 causes excessive extrusion to the button 41, the impact of the first protrusion 42 to the button 41 is reduced, and the service life of the button 41 is prolonged.

[0076] Please refer to Figure 7 and Figure 8 , the transport device 1000 further comprises a first carrying mechanism 5, the first carrying mechanism 5 is arranged on the chassis of the transport vehicle 1 through the support frame 13, and the first carrying mechanism 5 is used to carry the materials 3000 on the transport vehicle 1 and the storage rack 2000 after the alignment of the transport vehicle 1 and the storage rack 2000 is completed. The first carrying mechanism 5 can be a mechanical hand or a belt pulley, and the present application does not make any limitation thereto.

[0077] In an embodiment of the present application, the first conveying mechanism 5 comprises a pulley assembly 51 and a first driving assembly 522, the pulley assembly 51 comprises a synchronous pulley 511 and a synchronous belt 512, the synchronous pulley 511 comprises two first synchronous pulleys 511a and two second synchronous pulleys 511b, and the synchronous belt 512 comprises a first synchronous belt 512a and a second synchronous belt 512b; the first synchronous pulleys 511a and the second synchronous pulleys 511b are arranged in a first direction, and at least one of the first synchronous pulleys 511a and the second synchronous pulleys 511b is connected with a synchronous shaft 514. The two first synchronous pulleys 511a are arranged in a third direction, and the two second synchronous pulleys 511b are also arranged in the third direction. The third direction is the running direction of the vehicle, and the first direction is the vertical direction of the vehicle. The first synchronous belt 512a is arranged around the two first synchronous pulleys 511a, and the second synchronous belt 512b is arranged around the two second synchronous pulleys 511b. It can be understood that in some other embodiments of the present application, the first conveying mechanism 5 can further comprise a tension pulley 513, which is used to tension the first synchronous belt 512a and the second synchronous belt 512b, so as to prevent the first synchronous belt 512a and the second synchronous belt 512b from slipping and wearing during the transportation of the material 3000, and prolong the service life of the first synchronous belt 512a and the second synchronous belt 512b.

[0078] The first driving assembly 522 is connected with at least one of the first synchronous pulleys 511a or the second synchronous pulleys 511b, and the first driving assembly 522 can be a motor, a rotary cylinder or a hydraulic cylinder, and the present application does not limit the same. In order to facilitate the description of the specific principle of the first conveying structure, it is assumed that the first driving assembly 522 is connected with the first synchronous pulley 511a and can drive the first synchronous pulley 511a to move.

[0079] It can be understood that, in other embodiments of the present application, the first conveying mechanism 5 can further comprise a sensor arranged between the first synchronous belt 512a and the second synchronous belt 512b to detect the position of the material 3000 on the first synchronous belt 512a and the second synchronous belt 512b. In a specific application, the storage rack 2000 is provided with a second conveying mechanism 2200, which can be a mechanical hand or a synchronous belt, and the present application does not limit it. The second conveying mechanism 2200 is used to convey the material 3000 on the storage rack 2000 to the first synchronous belt 512a and the second synchronous belt 512b. When the material 3000 reaches the first synchronous belt 512a and the second synchronous belt 512b, the position information of the material 3000 will be detected by the sensor arranged between the first synchronous belt 512a and the second synchronous belt 512b, and the sensor will transmit the position information of the material 3000 to the controller of the transport device 1000. After receiving the signal, the controller will control the first driving assembly 522 to rotate. The rotation of the first driving assembly 522 will drive the first synchronous pulley 511a, the synchronous shaft 514 and the second synchronous pulley 511b to rotate, and the rotation of the first synchronous pulley 511a and the second synchronous pulley 511b will drive the first synchronous belt 512a and the second synchronous belt 512b to move, thereby realizing the transportation and conveying of the material 3000.

[0080] Similarly, the first driving assembly 522 can also be reversed to transport the material 3000 originally arranged on the first synchronous belt 512a and the second synchronous belt 512b to the second conveying mechanism 2200 through the first synchronous belt 512a and the second synchronous belt 512b, and then to the preset position of the storage rack 2000 through the second conveying mechanism 2200.

[0081] In an embodiment of the present application, the transport device 1000 comprises two first conveying mechanisms 5, among which one first conveying mechanism 5 is used to convey the material 3000 on the transport vehicle 1 to the storage rack 2000, and the other first conveying mechanism 5 is used to receive the material 3000 conveyed by the second conveying mechanism 2200 and transport the received material 3000 to the preset position of the transport vehicle 1. The two first conveying mechanisms 5 can work simultaneously, so as to improve the transportation speed of the material 3000 between the transport device 1000 and the storage rack 2000 and improve the transportation efficiency of the transport device 1000.

[0082] The transport device 1000 further comprises a height adjusting mechanism 52 for adjusting the relative position of the first carrying mechanism 5 and the transport vehicle 1, and specifically, the height adjusting mechanism 52 comprises a mounting plate 521 and a second driving assembly. The mounting plate 521 is movably arranged on the transport vehicle 1 along a second direction, and in the embodiment, the second direction is the up-down direction, and the wheel assembly 51 is mounted on the mounting plate 521. The second driving assembly is connected with the mounting plate 521 to drive the mounting plate 521 to move along the second direction. In specific applications, the operator or the transport device 1000 itself can adjust the height of the mounting plate 521 through the second driving assembly according to the different heights of the shelves 2000, and then adjust the relative height of the first carrying mechanism 5 and the shelves 2000, so that the transport device 1000 can adapt to shelves 2000 of different heights, and improve the versatility of the transport device 1000.

[0083] The second driving assembly can be an electric motor or a pneumatic cylinder, and the present application does not limit it. In an embodiment of the present application, the second driving assembly comprises a hand wheel 5221, a lead screw 5222 and a lead screw nut 5223, the lead screw 5222 is rotatably arranged on the transport vehicle 1 along the second direction, and one end of the lead screw 5222 is connected with the hand wheel 5221. The lead screw nut 5223 is sleeved on the lead screw 5222 and connected with the mounting plate 521. Before the transport device 1000 transports the materials 3000 on the shelves 2000, the operator can adjust the relative position of the lead screw nut 5223 and the lead screw 5222 by rotating the hand wheel 5221, so as to adjust the relative position of the mounting plate 521 and the transport vehicle 1, and then realize the height adjustment of the first carrying mechanism 5.

[0084] The height adjusting mechanism 52 further comprises a plurality of guide columns 523, and the transport vehicle 1 is correspondingly provided with guide holes, one end of each guide column 523 is connected with the mounting plate 521, and the other end is arranged in the guide hole. The guide column 523 is used for guiding the movement of the mounting plate 521, so as to improve the stability of the movement of the mounting plate 521.

[0085] The height adjusting mechanism 52 further comprises a fixing plate 524, one end of each guide column 523 is connected with the mounting plate 521, and the other end is connected with the fixing plate 524, and the fixing plate 524 is used for connecting the guide columns 523 to ensure that the guide columns 523 can move synchronously and improve the stability of the guide columns 523.

[0086] Please refer to Figure 9The transport device 1000 further comprises a limiting mechanism 53, which comprises a limiting pin 531 and a third driving assembly 532. The limiting pin 531 is movably arranged between the first synchronous belt 512a and the second synchronous belt 512b along the second direction and can extend out of the plane where the first synchronous belt 512a and the second synchronous belt 512b are located. The third driving assembly 532 is connected with the limiting pin 531. The third driving assembly 532 can be a motor or a cylinder, and the present application does not make any limitation on this. The third driving assembly 532 is used to drive the limiting pin 531 to move along the third direction. In a specific application, when the material 3000 reaches the preset position of the transport vehicle 1 under the transport of the first carrying mechanism 5, the limiting pin 531 will extend outwards under the driving of the third driving assembly 532 and contact the side of the material 3000 facing the storage rack 2000, thereby limiting the placement of the material 3000 on the transport vehicle 1, avoiding the material 3000 from sliding out of the transport vehicle 1 through the synchronous belt during the operation of the transport vehicle 1, and improving the safety of the transport device 1000.

[0087] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like refer to the orientation or positional relationship based on the drawings described, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0088] The above disclosure is only a preferred embodiment of the present application, and of course cannot limit the scope of the present application. Those skilled in the art can understand that the implementation of all or part of the above-mentioned processes, and the equivalent changes made according to the claims of the present application, still belong to the scope covered by the present application.

Claims

1. A transport device, characterized in that: It includes a transport vehicle and a reflector; the transport vehicle is provided with a radar; The reflector is used to be arranged on the shelf, and the reflector is used to reflect the signal of the radar to provide positioning for the radar; The reflector includes a first reflector, a second reflector, and a third reflector; the second reflector and the third reflector are respectively arranged at two ends of the first reflector, and the second reflector and the third reflector are closer to the radar direction than the first reflector; The first reflective plate includes a plate body, a first connecting edge and a second connecting edge, wherein the plate body has a first end and a second end oppositely disposed along a first direction; One end of the first connecting edge is connected to the first end, and the other end is connected to the second reflective plate; One end of the second connecting edge is connected to the second end, and the other end is connected to the third reflective plate.

2. The transport device according to claim 1, wherein An included angle between the second reflector and the third reflector is A, and 118°≤A≤122°.

3. The transport device according to claim 1, wherein: The radar is a laser radar, and the first reflective plate is coated with a reflective coating, which is used to reflect the laser of the radar.

4. The transport device according to claim 3, wherein: The color of the reflective coating includes black.

5. The transport device according to claim 1, wherein: The first reflecting plate, the second reflecting plate and the third reflecting plate have a third end and a fourth end oppositely arranged along the second direction; The reflective plate further includes a fourth reflective plate and a fifth reflective plate, the fifth reflective plate is connected to the third end; the fourth reflective plate is connected to the fourth end.

6. The transport device according to any one of claims 1 to 5, characterized in that: The transport device further includes a calibration mechanism, wherein the calibration mechanism includes a button and a first boss; The button is provided on the transport vehicle, and the first boss is provided on the storage rack. When the transport vehicle and the storage rack are aligned, the button and the first boss are aligned with each other.

7. The transport device according to claim 6, characterized in that The calibration mechanism includes two buttons and two first bosses, and the two buttons are symmetrically arranged along a first direction.

8. The transport device according to claim 6, wherein: The calibration mechanism further includes a second boss, which is provided on the storage rack; The length of the second boss is greater than that of the first boss.

9. The transport device according to claim 1, wherein: The transport device further includes a first transport mechanism, wherein the first transport mechanism includes: a pulley assembly, the pulley assembly comprising a synchronous pulley and a synchronous belt, the synchronous belt being wound around the synchronous pulley; and A first driving assembly is used to drive the synchronous wheel to move.

10. The transport device according to claim 9, characterized in that The first transport mechanism is movably arranged on the transport vehicle; the transport device further includes a height adjustment mechanism, which is used to adjust the relative position of the first transport mechanism and the transport vehicle; the height adjustment mechanism includes: a mounting plate, the mounting plate being movably disposed on the transport vehicle along a second direction, the pulley assembly being mounted on the mounting plate; A second driving assembly is connected to the mounting plate to drive the mounting plate to move along the second direction.

11. The transport device according to claim 10, wherein: The transport vehicle is provided with a guide hole; the height adjustment mechanism further comprises: a fixing plate and a plurality of guide posts, one end of each guide post is connected to the mounting plate, and the other end is connected to the fixing plate; The guide post is inserted into the guide hole.

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