Tray structure and mobile robot with same

Abstract

The invention relates to a tray structure and a mobile robot with the same, and the tray structure comprises a tray main body used for bearing a to-be-carried object; the multiple adjusting mechanisms are installed on the tray body at intervals, each adjusting mechanism comprises an adsorption assembly and a pressure detection assembly, the adsorption force of the adsorption assemblies on the to-be-carried objects can be adjusted, and the pressure detection assemblies are used for making contact with the to-be-carried objects so as to detect the pressure change of the to-be-carried objects making contact with the tray body; and the adsorption force of the adsorption part of each adjusting mechanism on the to-be-carried object is adjusted according to the detection result of the pressure detection assembly. According to the tray structure, the conditions of slipping and eccentric loads can be effectively prevented, the transportation efficiency and stability of the mobile robot are improved, and potential safety hazards caused by object shifting are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics, and in particular to a pallet structure and a mobile robot having the same. Background Art

[0002] In the field of modern automated logistics, mobile robots such as AGV (Automated Guided Vehicle) are widely used in the handling of various materials due to their high efficiency and flexibility. These robots usually use a lifting mechanism to lift and release the pallets they carry to achieve accurate material transfer.

[0003] However, there are some urgent problems to be solved between mobile robots and pallets in long-term use and complex working environments:

[0004] 1. Surface wear and slippage: Over time, the contact surface between the transfer plate and the pallet will become smooth due to wear, reducing the friction coefficient. Especially when the load changes or the robot accelerates or decelerates, slippage is likely to occur, affecting transportation stability and safety.

[0005] 2. Instability caused by eccentric load: When the materials on the pallet are unevenly distributed, an eccentric load will be generated, resulting in uneven contact area between the pallet and the transfer plate, further reducing friction, increasing the risk of the robot tipping over during movement, and reducing transportation efficiency.

[0006] 3. Limitations of traditional solutions: To solve the above problems, the current industry mainly adopts passive methods such as adding friction materials, adjusting the material or shape of the tray, etc., but these methods are often unable to adapt to dynamically changing loads and speeds, and their applicability is limited in certain specific scenarios (such as high dust and water requirements).

[0007] Therefore, there is an urgent need for a solution that can actively adapt to load changes, intelligently adjust friction, and effectively prevent slippage and the impact of eccentric loads, so as to improve the transportation efficiency and stability of mobile robots and reduce safety hazards caused by load deviation. Summary of the invention

[0008] The invention relates to a tray structure and a mobile robot having the same, which are used to overcome the problems of slippage of objects to be transported and unstable transportation caused by eccentric loads that are easily caused during the transportation process of the mobile robot in the prior art.

[0009] According to one aspect of the present invention, there is provided a pallet structure, which includes a pallet main body for carrying objects to be transported; a plurality of adjustment mechanisms installed on the pallet main body at intervals, each adjustment mechanism comprising an adsorption component and a pressure detection component, wherein the adsorption component can dynamically adjust the adsorption force on the objects to be transported, and the pressure detection component is responsible for monitoring the pressure change of the contact between the objects to be transported and the pallet, so as to adjust the adsorption force according to the detection result.

[0010] Furthermore, the adsorption assembly includes an electromagnetic component and a connecting circuit connected to the electromagnetic component, so as to control the magnetic strength of the electromagnetic component by adjusting the current on the connecting circuit; and / or the pallet body is an aluminum pallet, the objects to be transported include a carrier and materials loaded by the carrier, and the pallet body is supported under the carrier.

[0011] Furthermore, the adsorption component also includes a power supply unit and a current amplifier. The power supply unit is connected to the current amplifier. The current amplifier is arranged on the connecting circuit to amplify the signal current sent by the control unit to increase the adsorption force of the electromagnetic component on the object to be transported.

[0012] Furthermore, the pressure detection assembly includes an elastic element, a compression amount recognition component, a signal transmitter and a detection circuit, the two ends of the detection circuit are connected to the elastic element, the signal transmitter and the compression amount recognition component are both installed on the detection circuit, when the elastic element is elastically deformed due to the pressure of the object to be transported, the compression amount recognition component can recognize this deformation and convert it into a change in the current in the detection circuit. Subsequently, the signal transmitter will send a signal representing the change in the current of the detection circuit.

[0013] Furthermore, the pressure detection assembly also includes a support body, the elastic element is installed in the support body, and at least a part of the support body is made of flexible material, so that the elastic element can contact the object to be transported through the support body.

[0014] Furthermore, the support body is provided with an installation cavity, in which the elastic element, the signal transmitter and the detection circuit are all installed; the support body can be made of a polymer material; and the outer surface of the support body in contact with the object to be transported is provided with anti-slip textures.

[0015] Furthermore, a mounting groove is provided on the support body, the adsorption assembly includes an electromagnetic assembly, the electromagnetic assembly includes an iron core component, and the support body is sleeved on the top of the iron core component through the mounting groove to form a stable mechanical connection.

[0016] Furthermore, the multiple adjustment mechanisms are divided into multiple rows, and the multiple adjustment mechanisms in each row are arranged at intervals along the length direction of the pallet body; and the multiple rows of adjustment mechanisms are distributed along the width direction of the pallet body.

[0017] Furthermore, the contact surface of the detection component for contacting the object to be transported is the detection contact surface, wherein: the detection contact surface is flush with the upper surface of the pallet body, or the detection contact surface is located above the upper surface of the pallet body.

[0018] According to another aspect of the present invention, there is provided a mobile robot, comprising a lifting structure. The mobile robot further comprises a tray structure, wherein the tray structure is mounted on the lifting structure.

[0019] The pallet structure provided by the present application achieves precise control of the adsorption force of the transported object through the adjustable suction force of the adsorption component and the real-time pressure feedback of the pressure detection component, effectively avoiding the sliding and overturning of the material during the transport process, and improving the stability and safety of the transport. At the same time, through the distributed design of multiple adjustment mechanisms, it can adapt to the transported objects of different sizes and weights, enhancing the versatility and adaptability of the pallet structure. The application on mobile robots further improves the efficiency and reliability of automated transport, bringing significant benefits to the logistics, manufacturing and other industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 A schematic structural diagram showing an embodiment of a tray structure in the present invention;

[0022] Figure 2 Shows Figure 1 A schematic diagram of the structure of the adsorption component of the tray structure;

[0023] Figure 3 Shows Figure 1 A schematic diagram of the structure of the pressure detection assembly of the tray structure;

[0024] Figure 4 Shows Figure 1 A schematic diagram of the structure of the pallet structure when carrying objects to be transported; and

[0025] Figure 5 Shows Figure 1 An interaction diagram between the pressure detection component of the pallet structure and the centralized control device and control unit.

[0026] 100. Tray body;

[0027] 200, Vehicle;

[0028] 300, adjustment mechanism; 310, adsorption component; 311, electromagnetic component; 3111, iron core component; 312, connecting circuit; 313, power supply unit; 314, current amplifier; 320, pressure detection component; 321, elastic element; 322, signal transmitter; 323, detection circuit; 324, support body; 325, installation cavity; 326, installation groove; 327, compression amount identification component; 328, power supply element;

[0029] 400. control unit;

[0030] 500. Centralized control device. DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0033] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0034] The present invention relates to a pallet structure and a mobile robot having the same, which are used to overcome the problems of slippage of the transported objects and unstable transportation caused by eccentric loads that are easily caused by the mobile robots in the prior art during transportation. Figures 1 to 5 This innovative design not only improves the transportation efficiency of the mobile robot, but also greatly enhances its adaptability in complex environments. It is especially suitable for scenarios such as logistics warehouses and production workshops that require frequent material handling.

[0035] According to one aspect of the present invention, a tray structure is provided, such as Figures 1 to 5As shown, the pallet structure includes a pallet body for carrying materials loaded by objects to be transported; a plurality of adjustment mechanisms are installed on the pallet body at intervals, each adjustment mechanism includes an adsorption component and a pressure detection component, wherein the adsorption component can dynamically adjust the adsorption force of the objects to be transported, and the pressure detection component is used to monitor the pressure change of the contact between the objects to be transported and the pallet, so as to adjust the adsorption force according to the detection result. This design enables the pallet to automatically adapt to objects to be transported of different weights and shapes, ensuring stability and safety during the movement. Specifically, the objects to be transported include a carrier 200 and materials loaded by the carrier 200, and the pallet body 100 is supported below the carrier 200. Specifically, the carrier 200 is made of iron material.

[0036] The pallet structure in the present application can utilize the adsorption component 310 to adsorb the object to be transported by designing the adjustment mechanism 300, and detect the change of the contact pressure of the object to be transported on the pallet body 100 through the pressure detection component 320, and then adjust the adsorption force of the adsorption components 310 of each adjustment mechanism 300 on the object to be transported according to the detection result of the pressure detection component 320. In this way, the pallet structure can automatically adjust the adsorption force according to the change of the weight of the material, and ensure the stability of the object even in the case of high-speed movement or sharp turns, reduce the damage and transportation interruption caused by the sliding or falling of the object, and significantly improve the operation efficiency and safety of the warehouse. It can be seen that the pallet structure in the present application can automatically adjust the adsorption force according to the weight and contact pressure of the object to be transported, ensure the stability of the material during the transportation process, effectively prevent the sliding or falling of the material, improve the transportation efficiency and safety, and is suitable for scenes such as automated warehouses, production lines, and logistics centers.

[0037] In order to adjust the adsorption force more conveniently, Figure 2 As shown, the adsorption assembly 310 includes an electromagnetic component 311 and a connecting circuit 312 connected to the electromagnetic component 311, and the magnetic strength of the electromagnetic component 311 is controlled by adjusting the current on the connecting circuit 312; and / or the pallet body 100 is an aluminum pallet, the objects to be transported include a carrier 200 and materials loaded by the carrier 200, and the pallet body 100 is supported below the carrier 200. The structure of the electromagnetic component 311 and the connecting circuit 312 makes the adjustment of the adsorption force more precise and flexible, and the use of an aluminum pallet ensures the lightness and high strength of the pallet, which is suitable for scenes where frequent adjustment of the adsorption force is required, such as the precise handling of electronic components, and occasions where a lightweight design is required to reduce the energy consumption of handling.

[0038] In the precision handling of some components, the adsorption force of the electromagnetic components can be precisely controlled by fine-tuning the magnetic strength of the electromagnetic components to avoid damage to the components due to excessive adsorption force or components slipping due to insufficient adsorption force. The use of aluminum pallets not only reduces the weight of the pallet, but also helps to dissipate heat and improve the efficiency of electromagnetic components due to their good electrical and thermal conductivity. It is very suitable for applications in the precision electronics industry with high-precision and high-frequency handling requirements.

[0039] In some other embodiments, in addition to electromagnetic adsorption, vacuum adsorption, electrostatic adsorption and other mechanisms may also be combined. For example, for carriers or materials made of non-ferromagnetic materials, a vacuum adsorption unit may be used. In a specific implementation, the entire system is equipped with a material recognition sensor that can automatically detect the material of the carrier and switch to the most appropriate adsorption mode based on the recognition result. For example, when it is detected that the carrier is made of non-ferromagnetic material, the system automatically switches to the vacuum adsorption mode.

[0040] In this application, if Figure 2 As shown, the adsorption component 310 also includes a power supply unit 313 and a current amplifier 314. The power supply unit 313 is connected to the current amplifier 314. The current amplifier 314 is set on the connecting circuit 312 to amplify the signal current emitted by the control unit 400 to increase the adsorption force of the electromagnetic component 311 on the object to be transported. Through the setting of the current amplifier, the electromagnetic component can generate a stronger adsorption force, which is suitable for scenarios where heavier materials need to be transported, such as industrial applications for transporting large mechanical parts or heavy objects. The introduction of the current amplifier enables the pallet to increase the adsorption force instantly, which is particularly important for transporting large mechanical parts or heavy objects, because in these scenarios, the weight of the materials is often large, and a stronger adsorption force is required to ensure safety during the transportation process. For example, in the manufacturing and transportation of heavy industry, this design can easily cope with the transportation of heavy machinery exceeding tonnage, greatly improving the efficiency and safety of transportation.

[0041] like Figure 3As shown, the pressure detection component 320 includes an elastic element 321, a compression amount identification component 327), a signal transmitter 322 and a detection circuit 323. The two ends of the detection circuit 323 are connected to the elastic element 321. The signal transmitter 322 and the compression amount identification component 327) are both installed on the detection circuit 323. When the elastic element 321 undergoes elastic deformation, the compression amount identification component 327) identifies the elastic element 321) and converts it into a change in the current of the detection circuit 323, and sends a change signal of the current of the detection circuit 323 through the signal transmitter 322. This precise pressure detection mechanism can monitor the weight change of the object to be transported in real time, ensuring that the adjustment of the adsorption force is more timely and accurate, and is suitable for scenes requiring high-precision pressure control, such as the transportation of precision instruments. When transporting precision instruments, this precise pressure detection mechanism can ensure that the slight weight change of the instrument during the transportation process can be captured and responded to in time, thereby adjusting the adsorption force to avoid damage to the instrument caused by excessive or insufficient adsorption. It is particularly suitable for scenes with extremely high requirements for transportation accuracy, such as scientific research laboratories and precision manufacturing workshops.

[0042] In addition, the electromagnetic unit in the adsorption component 310 can adjust the magnetic force according to the real-time feedback of the compression spring. At the same time, the vacuum adsorption unit can also dynamically adjust the adsorption force according to the weight of the carrier and the material and the size of the object to be transported, ensuring sufficient stable support in any situation.

[0043] Specifically, Figure 3 As shown, the pressure detection assembly 320 also includes a support body 324, and the elastic element 321 is installed in the support body 324. At least part of the support body 324 is made of flexible material, and the elastic element 321 contacts the object to be transported through the support body 324. The flexible material design of the support body 324 can better adapt to the shape of the object to be transported, provide a more uniform pressure distribution, and is suitable for occasions of transporting irregularly shaped or fragile materials, such as transporting glass products or artworks. The use of flexible materials enables the tray to provide a softer and more uniform pressure distribution when contacting irregularly shaped objects, reduces the excessive local pressure on the objects, and effectively protects fragile objects, such as glass products, artworks, etc. In scenes such as art exhibitions and glassware production, this design can significantly reduce the risk of damage during the transportation of objects. It is worth noting that "at least part of the support body 324" mentioned in this application refers to the overall structure of the support body 324, or a partial structure of the support body 324.

[0044] In addition, a mounting cavity 325 is provided on the support body 324, and the elastic element 321, the signal transmitter 322 and the detection circuit 323 are all installed in the mounting cavity 325; and / or the support member 324 is made of a polymer material; and / or the outer surface of the support body 324 that is in contact with the object to be transported is provided with an anti-skid pattern. The design of the mounting cavity 325 protects the internal components, the use of polymer materials ensures the durability and lightness of the support body, and the anti-skid pattern increases the friction between the object to be transported and the contact surface of the pallet, which is suitable for scenes that require stable material transportation in complex environments, such as wet or oily ground environments. In wet or oily ground environments, such as food processing workshops, chemical plants, etc., the anti-skid pattern design can significantly increase the friction of the contact surface, prevent the object to be transported from sliding on the pallet body 100, and ensure the safety of the transportation process. The use of polymer materials can also effectively resist chemical corrosion and extend the service life of the pallet structure. Especially in high-speed or complex terrain handling operations, the combination of anti-slip texture and polymer materials can significantly reduce the risk of vehicle slippage and improve the reliability and efficiency of handling.

[0045] In order to realize the installation of the pressure detection component 320, as Figure 2 As shown, a mounting groove 326 is provided on the support body 324, the adsorption assembly 310 includes an electromagnetic assembly 311, the electromagnetic assembly 311 includes an iron core component 3111, and the support body 324 is sleeved on the top of the iron core component 3111 through the mounting groove 326. This structural design makes the adsorption assembly 310 and the support body 324 more closely combined, improves the overall structural stability and adsorption efficiency, and is suitable for scenarios where efficient handling is required in a limited space, such as narrow warehouse aisles or production lines. In narrow warehouse aisles or production lines, this compactly designed pallet can effectively utilize limited space and maintain good handling stability and efficiency even in a small operating area. It is particularly suitable for industrial production lines with a high degree of automation, such as semiconductor manufacturing, precision machining, etc., where space utilization efficiency and handling accuracy are key indicators. In addition, this structural design not only ensures a stable connection between the adsorption component 310 and the support body 324, but also facilitates the installation and maintenance of the electromagnetic component, thereby improving the overall reliability and maintenance efficiency of the pallet structure. Especially in scenarios where electromagnetic components need to be frequently replaced or adjusted, such as warehouse management during peak logistics periods, this easy-to-maintain design can significantly reduce downtime and improve overall operating efficiency.

[0046] The specific arrangement of the adjustment mechanism 300 in this application is as follows: Figure 1 and Figure 4As shown, the multiple adjustment mechanisms 300 are divided into multiple rows, and the multiple adjustment mechanisms 300 in each row of adjustment mechanisms 300 are arranged at intervals along the length direction of the pallet body 100; the multiple rows of adjustment structures 300 are distributed along the width direction of the pallet body 100. This layout can provide a more uniform adsorption force distribution, which is suitable for scenarios where large, heavy or irregularly shaped materials need to be transported, such as transporting large machinery or building components. When transporting large machinery or building components, this uniform adsorption force layout can ensure that the material is subjected to the same force at each contact point, avoiding tilting or damage of the object due to uneven distribution of adsorption force. It is particularly suitable for construction sites, large equipment manufacturers, etc., which often need to transport oversized and overweight items, and have extremely high requirements for the stability and safety of the transportation.

[0047] like Figure 5 As shown, the present application has a total of 6 regulating mechanisms 300, and the signals identified by the compression amount identification components 327 of the 6 regulating mechanisms 300 are compression amount identification 1, compression amount identification 2, compression amount identification 3, compression amount identification 4, compression amount identification 5 and compression amount identification 6 respectively. These compression amount signals are respectively emitted by the corresponding signal transmitters 314, and the emitted signals are respectively signal emission 1, signal emission 2, signal emission 3, signal emission 4, signal emission 5 and signal emission 6; these signals are collected by the centralized control device 500, and the centralized control device 500 emits control signals to each control unit 400 respectively, that is, sends control signal 1, control signal 2, control signal 3, control signal 4, control signal 5 and control signal 6.

[0048] The aluminum pallet is placed firmly on the centralized control device, forming the core of the entire system. When the aluminum pallet does not receive a signal from the centralized control device, it is in a descending state. When the AGV enters under the carrier, the AGV receives a lifting command, and the aluminum pallet is lifted by the motor. When the AGV enters under the carrier, it receives a lifting command, and the aluminum pallet starts to lift under the drive of the motor, and the aluminum pallet is gradually lifted to the required height.

[0049] During the operation of the AGV, it will accelerate and decelerate accordingly. At this time, the inertia of the carrier and the material will increase the pressure on the aluminum pallet in the opposite direction of the movement, thereby further compressing the spring below it. When the spring is compressed, the compression amount recognition device recognizes the compression amount of the spring and generates a corresponding signal to feedback to the corresponding unit control circuit.

[0050] The signal acts on ferroferric oxide (iron core component 3111) through a current amplifier, and the current can be amplified to 60A at most. Ferroferric oxide is a material that can generate magnetic forces of different strengths according to changes in current. In this system, six electromagnets will generate corresponding magnetic forces according to the received signals to adsorb the iron carrier. This process ensures a firm connection between the aluminum pallet and the carrier.

[0051] In this application, the aluminum pallet is equipped with an electromagnetic induction device. When the AGV changes speed, the six springs will produce different degrees of compression due to the inertia of the carrier. After the corresponding spring compression is collected, the six ferroferric oxide cores will generate corresponding magnetic forces under the 3-fold amplification effect of the current amplifier to adsorb the iron carrier on the aluminum pallet, so that the aluminum pallet can achieve dynamic balance under the drive of the six compression devices, thereby preventing the center load generated during the speed change process.

[0052] Overall operation effect: Figure 1 As shown in the figure, the left direction is the vehicle head direction. When the AGV speed is decelerated from 1m / s to 0, the carrier on the aluminum pallet will fall backwards due to inertia, causing the pressure of the two springs at the left end to decrease to 500N and the pressure of the two springs at the right end to increase to 2000N. The spring transmits the pressure signal to the current amplifier through different deformation amounts, changes the magnetism of ferroferric oxide, generates corresponding different suction forces to adsorb the carrier, and eliminates the influence of the carrier's inertia on the eccentric load under deceleration and acceleration.

[0053] After the aluminum pallet is lifted, it contacts the carrier. During the speed change process, the positions of the carrier and the aluminum pallet change, resulting in center load eccentricity. Figure 5 In the process, at least one electromagnetic element is subjected to a greater pressure, and at least one electromagnetic element is subjected to a smaller pressure; that is, at least one compression spring is compressed more than at least another compression spring, and the compression recognition data is sent to the signal transmitter through the signal transmitter. Figure 1 The centralized control device 500 in the embodiment of the present invention sends a signal to the corresponding control unit; at least one control unit sends a signal to control the current amplifier to reduce the current, and at least another control unit sends a signal to control the current amplifier to increase the current; thus, the magnetic force of at least one corresponding ferroferric oxide decreases, and the magnetic force of at least another corresponding ferroferric oxide increases; the unbalanced load gradually stabilizes until the compression amounts of the six electromagnetic elements are identified to be equal, that is, the transportation process is stable.

[0054] In order to detect the pressure, the contact surface of the detection component 320 that is in contact with the object to be transported is the detection contact surface, and the detection contact surface is flush with the upper surface of the pallet body 100, or the detection contact surface is located above the upper surface of the pallet body 100. This design enables the detection component to sense the pressure changes of the carrier more directly, improves the sensitivity and accuracy of pressure detection, and is suitable for scenarios that require rapid response to pressure changes, such as real-time adjustment of adsorption force during high-speed transportation. During high-speed transportation, such as high-speed sorting and transportation in automated logistics systems, the weight and pressure changes of the carrier need to respond quickly to ensure the stability and safety of transportation. This design can adjust the adsorption force instantly, effectively respond to pressure changes during high-speed transportation, reduce unstable factors during transportation, and improve the overall efficiency and reliability of the system.

[0055] In addition, a centralized control device is also provided in the middle of the pallet body 100. By introducing the centralized control device 500 as the core of the overall control, the entire system becomes more intelligent and efficient, and is suitable for scenes such as automated logistics, warehousing, and precision manufacturing, so as to solve the problems of sliding and eccentric loads that may occur during the movement of the carrier. The key role of the centralized control device 500 lies in its intelligent control strategy. It can not only monitor and process signals from multiple pressure detection components 320 in real time, but also intelligently adjust the working status of multiple adsorption components 310 according to preset algorithms and rules, so as to realize all-round and multi-dimensional dynamic load control of the carrier 200. In addition, the centralized control device 500 can also exchange information with other systems of the mobile robot, such as the navigation system, the power control system, etc., to ensure that the entire handling process runs in the most optimized state, thereby greatly improving the handling efficiency and reducing the operating cost while ensuring the handling stability and safety.

[0056] Another aspect of the present application provides a mobile robot, including a lifting structure, and the mobile robot also includes a pallet structure, and the pallet structure is mounted on the lifting structure. By integrating the above-mentioned pallet structure into the mobile robot, the robot can automatically adjust the adsorption force to adapt to objects to be transported of different weights and sizes, thereby enhancing the flexibility and versatility of the robot, and being suitable for a variety of industrial and commercial scenarios, such as warehouses, production lines, logistics centers, etc., significantly improving the performance and reliability of the automated handling system. In addition, this design can also reduce the energy consumption of the robot during the handling process, improve handling efficiency, and reduce handling accidents caused by unstable materials, providing a safer, more efficient, and more intelligent handling solution for the automated logistics and warehousing industries.

[0057] In the automated logistics and warehousing industries, mobile robots integrated with this pallet structure can automatically adjust the adsorption force according to the real-time handling environment, such as ground conditions and handling speed, to ensure stable material handling. This not only reduces the risk of damage during material handling, but also improves the efficiency and safety of handling. Especially in logistics distribution centers with multi-variety small-batch production and rapid response, this type of robot can greatly reduce manual intervention and improve the level of automation, and is an important part of future smart logistics and smart manufacturing. In these scenarios, the robot can automatically optimize the handling strategy according to the weight, size, and changes in the handling environment of the items, which not only improves the accuracy and speed of handling, but also reduces the overall operating costs, laying a solid foundation for the realization of a comprehensive automated logistics system.

[0058] It can be seen that the mobile robot also has the following advantages:

[0059] First, the intelligent design of the pallet structure can achieve automatic adaptation to different carriers, greatly improving the flexibility and efficiency of handling. Especially in the scenario of handling materials of different batches and specifications, it can quickly adjust to meet new handling needs, avoiding the downtime or reprogramming of traditional robots caused by carrier changes;

[0060] Second, the real-time feedback mechanism of the pressure detection component enables the robot to adjust the suction force and lifting strategy in real time, effectively preventing the carrier from sliding and tipping over during the handling process, and improving the safety of handling. This is of great significance for ensuring the safety of employees and preventing equipment damage. Especially when carrying heavy loads or unstable carriers, this ability to make instant adjustments can significantly reduce risks.

[0061] Third, the lightweight and durable design of the pallet structure not only reduces the overall burden on the robot, but also extends the service life of the pallet and reduces maintenance costs. Especially in environments that require long-term continuous work, such as logistics centers that operate 24 hours a day, the durability and lightweight design of the pallet can reduce energy consumption, reduce maintenance frequency, and improve overall operating efficiency.

[0062] Fourthly, the mobile robot can seamlessly connect with the existing logistics management system, and through integrated sensors and control systems, it can realize full automation and intelligence of material handling, greatly improving the efficiency and competitiveness of the logistics and manufacturing industries. Especially in data-driven smart manufacturing and smart logistics scenarios, this highly integrated and intelligent robot design can achieve more efficient material scheduling, optimize production line layout, and improve overall production efficiency and response speed.

[0063] In summary, the pallet structure and the mobile robot having the same provided by the present invention, through a series of innovative designs, not only solve the stability problem of traditional mobile robots in the handling process, but also greatly improve their adaptability and intelligence level in complex environments, and bring significant benefits and transformation opportunities to the logistics, manufacturing and other industries. Especially in the pursuit of efficient, precise and safe modern industrial automation scenarios, the application of this design will greatly promote the development of the industry and become one of the key technologies to improve production efficiency and reduce operating costs.

[0064] In summary, the pallet structure and the mobile robot having the same provided by the present invention, through a series of innovative designs, not only solve the stability problem of traditional mobile robots in the handling process, but also greatly improve their adaptability and intelligence level in complex environments, and bring significant benefits and transformation opportunities to the logistics, manufacturing and other industries. Especially in the pursuit of efficient, precise and safe modern industrial automation scenarios, the application of this design will greatly promote the development of the industry and become one of the key technologies to improve production efficiency and reduce operating costs.

[0065] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0066] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tray structure, characterized in that: include: A pallet body (100) is used to carry objects to be transported; A plurality of adjustment mechanisms (300) are installed on the pallet body (100) at intervals. The adjustment mechanisms (300) include an adsorption component (310) and a pressure detection component (320) for adsorbing the object to be transported. The adsorption force of the adsorption component (310) on the object to be transported is adjustable. The pressure detection component (320) is used to contact the object to be transported to detect the pressure change of the object to be transported in contact with the pallet body (100); and the adsorption force of the adsorption component (310) of each adjustment mechanism (300) on the object to be transported is adjusted according to the detection result of the pressure detection component (320).

2. The tray structure according to claim 1, characterized in that: The adsorption component (310) comprises an electromagnetic component (311) and a connecting circuit (312) connected to the electromagnetic component (311), so that the magnetic strength of the electromagnetic component (311) can be controlled by adjusting the current on the connecting circuit (312); and / or The pallet body (100) is an aluminum pallet, the objects to be transported include a carrier (200) and materials loaded by the carrier (200), and the pallet body (100) is supported below the carrier (200).

3. The tray structure according to claim 1, characterized in that: The adsorption component (310) further comprises a power supply unit (313) and a current amplifier (314); the power supply unit (313) is connected to the current amplifier (314); the current amplifier (314) is arranged on the connecting circuit (312) to amplify the signal current emitted by the control unit (400) to increase the adsorption force of the electromagnetic component (311) on the object to be transported.

4. The tray structure according to claim 1, characterized in that: The pressure detection component (320) comprises an elastic element (321), a compression amount identification component (327), a signal transmitter (322) and a detection circuit (323); two ends of the detection circuit (323) are connected to the elastic element (321); the signal transmitter (322) and the compression amount identification component (327) are both installed on the detection circuit (323), so that when the elastic element (321) undergoes elastic deformation, the compression amount identification component (327) identifies the change in the current of the detection circuit (323) transformed by the deformation of the elastic element (321), and sends a change signal of the current of the detection circuit (323) through the signal transmitter (322).

5. The tray structure according to claim 4, characterized in that: The pressure detection assembly (320) further comprises a support body (324), the elastic element (321) being installed in the support body (324), at least a portion of the support body (324) being made of a flexible material, and the elastic element (321) being in contact with the object to be transported through the support body (324).

6. The tray structure according to claim 5, characterized in that: The support body (324) is provided with a mounting cavity (325), and the elastic element (321), the signal transmitter (322) and the detection circuit (323) are all mounted in the mounting cavity (325); and / or The support member (324) is made of a polymer material; and / or The outer surface of the support body (324) for contacting the object to be transported is provided with anti-slip textures.

7. The tray structure according to claim 5, characterized in that: The support body (324) is provided with a mounting groove (326), the adsorption component (310) includes an electromagnetic component (311), the electromagnetic component (311) includes an iron core component (3111), and the support body (324) is sleeved on the top of the iron core component (3111) through the mounting groove (326).

8. The tray structure according to any one of claims 1 to 7, characterized in that: The multiple adjustment mechanisms (300) are divided into multiple rows, and the multiple adjustment mechanisms (300) in each row of the adjustment mechanisms (300) are arranged at intervals along the length direction of the tray body (100); and the multiple rows of the adjustment structures (300) are distributed along the width direction of the tray body (100).

9. The tray structure according to any one of claims 1 to 7, characterized in that: The contact surface of the detection component (320) for contacting the object to be transported is a detection contact surface, wherein: The detection contact surface is flush with the upper surface of the tray body (100); or The detection contact surface is located above the upper surface of the tray body (100).

10. A mobile robot, comprising a lifting structure, characterized in that: The mobile robot also includes: The pallet structure according to any one of claims 1 to 9, wherein the pallet structure is mounted on the jacking structure.

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