Intelligent conveying robot and method

Abstract

The present application relates to the technical field of conveying robots, in particular to an intelligent conveying robot and method. The robot comprises a front conveying gripper, a conveying plate and a third front conveying unit. The conveying plate and the front conveying gripper are sequentially arranged along a first direction. The third front conveying unit comprises a channel module, a push plate base and a movable push plate. The movement track of the front conveying gripper and the channel module are sequentially arranged along a second direction. The push plate base and the movable push plate are movably connected. The load surface of the channel module and the push plate base are sequentially arranged along the direction from the conveying plate to the front conveying gripper. The first direction and the second direction are perpendicular to each other, so that the problem that the conveying efficiency and the interference of components are difficult to be considered is solved.

Description

Technical Field

[0001] This invention relates to the field of conveying robot technology, and more specifically, to an intelligent conveying robot and method. Background Technology

[0002] With the development of technology, automated conveying devices are widely used in factories. Automated conveying devices can have higher production efficiency, operate continuously without interruption, and reduce labor costs and dependence on manual labor.

[0003] Materials can be stacked vertically for storage. During material transport, a liftable top suction device grabs the material at the top and then transfers it to a translational conveyor. A propulsion component in the translational device drives the material to the designated position. To avoid interference between the propulsion component and the top suction device, they cannot both be located at the end of the translational conveyor closest to the material storage location. However, this method requires the propulsion component and the top suction device to avoid each other, affecting conveying efficiency. Summary of the Invention

[0004] To address the challenge of balancing transport efficiency with interference issues among components, this invention provides an intelligent transport robot and method.

[0005] In a first aspect, the present invention provides an intelligent conveying robot, the intelligent conveying robot comprising:

[0006] Front conveyor gripper;

[0007] A conveyor plate, wherein the conveyor plate and the front conveying gripper are arranged sequentially along a first direction;

[0008] The third front conveying unit includes a channel module, a push plate base, and a movable push plate; the moving trajectory of the front conveying gripper and the channel module are arranged sequentially along a second direction; the push plate base and the movable push plate are movably connected; the carrying surface of the channel module and the push plate base are arranged sequentially along the direction from the conveying plate to the front conveying gripper; wherein, the first direction and the second direction are perpendicular to each other;

[0009] The working state includes the front conveying gripper moving the material from a first position to the conveying plate, then the conveying plate moving the material to the carrying surface, followed by the pusher plate moving along the channel module to the front conveying gripper to a first state, and then the movable pusher plate driving the material to move away from the front conveying gripper to a second position; wherein, during the movement of the pusher plate along the channel module to the front conveying gripper, the movable pusher plate abuts against the material or the side of the conveying plate away from the front conveying gripper, causing the movable end of the movable pusher plate to move along the direction from the front conveying gripper to the channel module; the first state includes the movable end of the movable pusher plate moving to the movable end of the movable pusher plate, and the pusher plate being sequentially arranged along the direction from the conveying plate to the front conveying gripper.

[0010] Furthermore, the third front conveying unit also includes a fifth front drive unit; the fifth front drive unit is drivenly connected to the push plate seat; the fifth front drive unit is disposed on the side of the loading surface near the push plate seat.

[0011] Furthermore, the first predetermined projection is located within the second predetermined projection; wherein, the first predetermined projection is the projection area of ​​the fifth front drive unit along the second direction; and the second predetermined projection is the projection area of ​​the movement trajectory of the front conveying gripper in the first direction along the second direction.

[0012] Furthermore, in the working state, after the front conveying gripper and the conveying plate move a material from the first position to the carrying surface, the minimum time for the front conveying gripper to grab the material in the first position again is less than the time for the movable pusher to move a material on the carrying surface to the second position and then move back to abut against another material on the carrying surface near one end of the front conveying gripper.

[0013] Furthermore, the intelligent conveying robot also includes a cutting component; the cutting component is disposed on the side of the channel module away from the front conveying gripper.

[0014] As the movable pusher drives the material toward the second position away from the front conveyor gripper, the cutting assembly sequentially cuts the material into multiple segments along the second direction.

[0015] Furthermore, the front conveying assembly includes a storage unit; the storage unit includes a feeding bin, a discharging bin, a feeding section, and a feeding drive section; the feeding bin surrounds and forms a first position; the discharging bin surrounds and forms a third position; the first position and the third position are connected; the feeding bin and the discharging bin are respectively used to sequentially stack the material along the first direction; the feeding drive section is drivenly connected to the feeding section;

[0016] The feeding state includes the feeding drive unit moving the material in the third position to the first position through the feeding unit.

[0017] Furthermore, the channel module includes a channel body and a limiting groove; the limiting groove is recessed from one side of the channel body to the other side along a third direction; the limiting groove passes through both sides of the channel body along a second direction; the movement trajectory of the front conveying gripper and the channel module are arranged sequentially along the second direction; the side of the limiting groove near the conveying plate is the loading surface; wherein, the first direction and the second direction are perpendicular to the third direction.

[0018] Furthermore, the channel module also includes a third negative pressure section; the third negative pressure section is connected to the channel body; the third negative pressure section is disposed on the loading surface;

[0019] After the conveyor plate moves the material onto the carrying surface, the third negative pressure part applies a force to the material along the direction from the limiting groove to the channel body.

[0020] Furthermore, the intelligent conveying robot includes multiple front conveying components, multiple cutting components, middle conveying components, and rear conveying components; the front conveying component includes a front conveying gripper, a conveying plate, and a third front conveying unit; the number of the front conveying components, the cutting components, and the middle conveying components are correspondingly set.

[0021] The rear conveying assembly includes a collection unit, a transition plate, and a rear conveying unit; the intermediate conveying assembly is connected to the collection unit through the transition plate; the channel module, the cutting assembly, the intermediate conveying assembly, and the collection unit are sequentially connected along the second direction;

[0022] The working state also includes the material on the carrying surface being cut by the cutting component and then moved to the transition plate by the middle conveying component, and the rear conveying unit moving the material on the transition plate to the collection unit.

[0023] In a second aspect, the present invention provides an intelligent conveying method, wherein the intelligent conveying method is applied to an intelligent conveying robot as described in any of the first aspects, the intelligent conveying method comprising:

[0024] The front conveyor gripper moves the material from the first position onto the conveyor plate;

[0025] The conveyor plate moves the material onto the carrying surface of the channel module;

[0026] The push plate base moves to a first state along the channel module towards the front conveying gripper; wherein, in this step, the movable push plate abuts against the material or the conveying plate moves away from the front conveying gripper, causing the movable end of the movable push plate to move along the conveying plate towards the front conveying gripper; the first state includes the movable end of the movable push plate moving to the movable end of the movable push plate, and the push plate base being sequentially arranged along the conveying plate towards the front conveying gripper;

[0027] The movable push plate drives the material to move away from the front conveyor gripper to a second position.

[0028] To address the challenge of balancing conveying efficiency and interference between components, this invention offers the following advantages:

[0029] The spatial layout, with the front conveyor gripper and conveyor plate arranged sequentially along the first direction, the movement trajectory of the front conveyor gripper and the channel module of the third front conveyor unit arranged sequentially along the second direction, and the first and second directions perpendicular to each other, along with the structural arrangement of the push plate base and the movable push plate being movably connected, works in accordance with the corresponding work process: after the front conveyor gripper moves the material from the first position to the conveyor plate, it can perform the material gripping action again and wait for the next round of feeding instructions; after the conveyor plate moves the material to the carrying surface of the channel module, the push plate base moves along the channel module to the front conveyor gripper to the first state, during which the movable push plate abuts against the material or The conveyor plate is positioned away from the front conveyor gripper, causing the movable end of the movable pusher to complete a corresponding displacement. Subsequently, the movable pusher drives the material to move away from the front conveyor gripper to a second position. This ensures that the front conveyor gripper and the conveyor plate, as well as the movable pusher and the conveyor plate, do not interfere with each other during operation. As a result, the conveyor plate does not need to wait for the front conveyor gripper to complete its gripping action when receiving material again, and the movable pusher does not need to wait for the conveyor plate to leave the loading surface before driving the material. Both can operate in the same area simultaneously, ultimately effectively improving material conveying efficiency and solving the technical problem in existing conveying devices where the gripping and pushing components need to avoid each other, thus restricting conveying efficiency. Attached Figure Description

[0030] Figure 1 A first-person perspective schematic diagram of an embodiment of an intelligent delivery robot is shown;

[0031] Figure 2 A second-view schematic diagram of an embodiment of an intelligent delivery robot is shown;

[0032] Figure 3 A schematic diagram of a portion of an intelligent conveying robot according to one embodiment is shown;

[0033] Figure 4 A partial cross-sectional schematic diagram of an embodiment of an intelligent conveying robot is shown;

[0034] Figure 5 A third-view schematic diagram of an embodiment of an intelligent transport robot is shown;

[0035] Figure 6 A schematic diagram of an embodiment of an intelligent conveying method is shown.

[0036] Reference numerals: 10, front conveyor assembly; 11, storage unit; 111, feeding bin; 112, discharging bin; 113, feeding section; 114, feeding drive section; 12, first front conveyor unit; 121, first front drive module; 122, front conveyor gripping section; 123, first negative pressure section; 13, second front conveyor unit; 131, conveyor plate; 132, second front drive module; 14, third front conveyor unit; 141, channel module; 1411, channel body; 1412, limiting groove; 142, push plate seat; 143, movable push plate; 144, fifth front drive section; 20, cutting assembly; 30, middle conveyor assembly; 40, rear conveyor assembly; 41, collection unit; 42, transition plate; 43, rear conveyor unit; 50, material. Detailed Implementation

[0037] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0038] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0039] In the material conveying application scenario of the intelligent conveying robot, the material 50 is usually stacked vertically in the first position. The material 50 can be a thin, lightweight (weighing less than or equal to 15 grams) paper-like material or a block. During the operation, the front conveying gripper 122 grabs the top of the stacked material 50 and transfers it to the conveyor plate 131. Then, the propulsion structure drives the material 50 to move along the conveying path to the second position. To avoid spatial interference between the propulsion structure and the front conveying gripper 122 during movement, the propulsion structure and the front conveying gripper 122 cannot be located at the end of the conveyor plate 131 closest to the material 50 storage position at the same time. They need to avoid each other in sequence to complete their respective tasks. This avoidance process takes up extra time in the conveying operation, lengthens the conveying cycle of a single group of material 50, and thus limits the overall material 50 conveying efficiency, making it difficult to adapt to the high-frequency material 50 conveying operation requirements.

[0040] Example 1:

[0041] This embodiment discloses an intelligent conveying robot, such as Figure 1 As shown, the intelligent conveying robot includes a front conveying gripper 122, a conveying plate 131, and a third front conveying unit 14.

[0042] The conveyor plate 131 and the front conveyor gripper 122 are arranged sequentially along a first direction to avoid interference between them; the first direction can be as follows: Figure 2 The up and down directions are shown;

[0043] The third front conveying unit 14 includes a channel module 141, a push plate base 142, and a movable push plate 143; the moving trajectory of the front conveying gripper 122, and the channel module 141 along a second direction (the second direction can be as follows) Figure 2 The components are arranged sequentially in the left-right direction (as shown), structurally avoiding interference between the front conveyor gripper 122 and the channel module 141; the push plate base 142 and the movable push plate 143 are movably connected; the carrying surface of the channel module 141 can be used to carry the material 50, and the carrying surface of the channel module 141 and the push plate base 142 are arranged in the direction from the conveyor plate 131 to the front conveyor gripper 122 (i.e., as shown in the left-right direction). Figure 2 As shown, the directions are arranged sequentially from bottom to top; wherein, the first direction and the second direction are perpendicular to each other;

[0044] The first position can be used to store material 50; the working state includes the front conveying gripper 122 moving material 50 from the first position to the conveyor plate 131 and controlling the front conveying gripper 122 to separate from material 50, then the conveyor plate 131 moves along... Figure 2 As shown, the material 50 is moved from right to left onto the carrying surface, and then the push plate seat 142 moves along the channel module 141 to the front conveyor gripper 122 (i.e., as shown). Figure 2 (As shown in the left-to-right direction) moves to the first state, then the push plate seat 142 moves along as shown in the figure. Figure 2 The movement from right to left, as shown, causes the movable pusher 143 to drive the material 50 to move away from the front conveyor gripper 122 to a second position; wherein, during the movement of the pusher base 142 along the channel module 141 towards the front conveyor gripper 122, the movable pusher 143 abuts against the material 50 or the side of the conveyor plate 131 away from the front conveyor gripper 122, causing the movable end of the movable pusher 143 to move along the direction from the front conveyor gripper 122 towards the channel module 141 (i.e., as shown). Figure 2 The movement is shown in the right-to-left direction; the first state includes the movable end of the movable push plate 143 moving away from the movable end of the push plate seat 142 to the movable end of the movable push plate 143, and the push plate seat 142 moving along the direction from the conveyor plate 131 to the front conveyor gripper 122 (i.e., as shown in the right-to-left direction); Figure 2As shown, they are set sequentially from bottom to top;

[0045] After the front conveying gripper 122 grips the material 50 from the first position onto the conveyor plate 131, the front conveying gripper 122 can grip the material 50 again, waiting for the next instruction to feed material onto the conveyor plate 131. In this way, when the conveyor plate 131 comes to receive the material 50 next time, it does not need to wait for the gripping action of the front conveying gripper 122, which can improve the conveying efficiency. The conveyor plate 131 and the movable push plate 143 can contact each other, and it is not necessary for the conveyor plate 131 to deliver the material 50 to the conveying surface and leave before the movable push plate 143 can drive the material 50 on the conveying surface. That is, the conveyor plate 131 and the movable push plate 143 will not interfere with each other, and they can work in the same area at the same time without affecting the normal operation of the equipment.

[0046] Furthermore, such as Figure 3 As shown, the third front conveying unit 14 also includes a fifth front drive unit 144; the fifth front drive unit 144 is drivenly connected to the push plate base 142, and the fifth front drive unit 144 is used to drive the movable push plate 143 to move through the push plate base 142; the fifth front drive unit 144 is disposed on the side of the loading surface close to the push plate base 142, so that the fifth front drive unit 144 is located on the top of the intelligent conveying robot, thereby facilitating the maintenance and disassembly of the fifth front drive unit 144.

[0047] In the first state, the movable end of the movable push plate 143 can be reset by gravity after falling, without the need for the movable end of the movable push plate 143 to fall actively by the elastic element. This method can reduce manufacturing costs. At the same time, when the material 50 is a thin, lightweight paper-like object, this method of the movable end of the movable push plate 143 falling by gravity can also avoid the movable push plate 143 applying too much force to the material 50 when the push plate seat 142 moves along the channel module 141 to the front conveying gripper 122, which would cause the material 50 to deform.

[0048] Furthermore, such as Figure 2 As shown, the first predetermined projection is located within the second predetermined projection; wherein, the first predetermined projection is the projection area of ​​the fifth front drive unit 144 along the second direction; the second predetermined projection is the projection area of ​​the trajectory of the front conveying gripper 122 moving in the first direction along the second direction; due to the limitation of the travel of the front conveying gripper 122 in the first direction, the size of the space for installing the intelligent conveying robot in the first direction must be greater than or equal to the travel of the front conveying gripper 122 in the first direction. The fact that the first predetermined projection is located within the second predetermined projection can make full use of the space in the first direction, so that the height space occupied by the movement trajectory of the front conveying gripper 122 coincides with the height space occupied by the fifth front drive unit 144, thereby making the intelligent conveying robot more compact.

[0049] Furthermore, in operation, after the front conveying gripper 122 and the conveyor plate 131 move a material 50 from the first position to the carrying surface, the minimum time required for the front conveying gripper 122 to grip the material 50 in the first position again is less than the time required for the movable pusher plate 143 to move a material 50 on the carrying surface completely to the second position and then move back to abut against another material 50 on the carrying surface near one end of the front conveying gripper 122; during the process of the movable pusher plate 143 moving the material 50 on the carrying surface to the second position, external equipment may be used. The material 50 is processed, such as by cutting and coating, which takes a long time. However, the material 50 only needs to be conveyed when it moves from the first position to the carrying surface, which takes less time. Therefore, after the front conveying gripper 122 moves the material 50 from the first position to the conveyor plate 131, it can grip the material 50 at the first position again. If the material 50 in the channel module 141 falls accidentally, a new material 50 can be quickly added to the channel module 141, thereby improving efficiency.

[0050] Furthermore, such as Figure 1 , Figure 2 As shown, the intelligent conveying robot also includes a slitting component 20; the slitting component 20 is located on the side of the channel module 141 away from the front conveying gripper 122;

[0051] As the movable pusher plate 143 drives the material 50 to the second position in a direction away from the front conveyor gripper 122, the cutting component 20 cuts the material 50 into multiple segments along the second direction.

[0052] In the process of cutting material 50 into multiple segments, the cutting component 20 and the channel module 141 can be relatively stationary in the second direction, while the movable push plate 143 drives the material 50 to move relative to the cutting component 20 in the second direction. When the material 50 moves into the working area of ​​the cutting component 20, the cutting component 20 cuts the material 50 into a segment every time the material 50 moves a set distance. Alternatively, the cutting component 20 and the channel module 141 can be relatively stationary in the second direction, while the movable push plate 143 drives the material 50 to move relative to the cutting component 20 in the second direction. When the material 50 moves into the working area of ​​the cutting component 20, the cutting component 20 cuts the material 50 into multiple segments in a single operation. Cutting the material 50 into multiple segments facilitates subsequent operation and application of the material 50.

[0053] Furthermore, such as Figure 1 , Figure 2As shown, the front conveying assembly 10 includes a storage unit 11; the storage unit 11 includes a feeding bin 111, a discharging bin 112, a feeding section 113, and a feeding drive section 114; the feeding bin 111 surrounds to form a first position; the discharging bin 112 surrounds to form a third position; the first position and the third position are connected; the feeding bin 111 and the discharging bin 112 are respectively used to sequentially stack materials 50 along a first direction; the feeding drive section 114 is drivenly connected to the feeding section 113.

[0054] The feeding status includes the feeding drive unit 114 moving the material 50 in the third position to the first position through the feeding unit 113;

[0055] The feeding bin 112 can be used to feed material 50. When the material 50 in the feeding bin 111 is exhausted, the feeding unit 113 can drive the material 50 in the third position to move to the first position. In this way, the storage capacity of material 50 in the storage unit 11 can be increased without increasing the space occupied by the intelligent conveying robot in the first direction.

[0056] Furthermore, such as Figure 2 As shown, the projection area of ​​the third position along the first direction coincides with the projection area of ​​the movement trajectory of the front conveying gripper 122 along the first direction in the second direction; the front conveying gripper 122 is located on top of the feeding section 113; the discharge bin 112, the feeding bin 111, and the channel module 141 are arranged sequentially along the second direction; when replenishing material 50 in the discharge bin 112, the top of the discharge bin 112 is not obstructed by the front conveying gripper 122, which facilitates operation; and the discharge bin 112 is farther from the front conveying gripper 122 in the second direction than the feeding bin 111, so it is not easy to collide with the front conveying gripper 122 when replenishing material 50 in the discharge bin 112, and the safety hazard is smaller.

[0057] Furthermore, such as Figure 3 , Figure 4 As shown, the channel module 141 includes a channel body 1411 and a limiting groove 1412; the limiting groove 1412 is recessed from one side of the channel body 1411 to the other side along a third direction; the limiting groove 1412 penetrates both sides of the channel body 1411 along a second direction; the movement trajectory of the front conveying gripper 122 and the channel body 1411 are arranged sequentially along the second direction; the side of the limiting groove 1412 near the conveying plate 131 is the loading surface; wherein, any two of the first direction, the second direction, and the third direction are arranged perpendicularly;

[0058] When the material 50 moves along the second direction on the carrying surface, the channel body 1411 can limit the movement range of the material 50 in the third direction and the second direction, thereby ensuring that the material 50 moves in the limiting groove 1412 along a predetermined path.

[0059] Furthermore, it may include two channel modules 141; the two channel bodies 1411 are arranged sequentially along a third direction; the limiting groove 1412 is recessed from the mutually close side of the two channel bodies 1411 toward the mutually distant side; in this way, the movement range of the material 50 in the limiting groove 1412 along the third direction can be more stably limited.

[0060] Furthermore, the channel module 141 also includes a third negative pressure section; the third negative pressure section is connected to the channel body 1411; the third negative pressure section is disposed on the loading surface;

[0061] After the conveyor plate 131 moves the material 50 onto the carrying surface, the third negative pressure part applies a force to the material 50 in the direction from the limiting groove 1412 to the channel body 1411.

[0062] After a material 50 moves from the first position to the carrying surface, the minimum time required for the front conveying gripper 122 to grip the material 50 in the first position again is less than the time required for the movable pusher 143 to completely move a material 50 on the carrying surface to the second position and then move back to abut against another material 50 on the carrying surface near one end of the front conveying gripper 122. Therefore, after the conveyor plate 131 delivers the material 50 to the carrying surface, the material 50 can be sucked up by the third negative pressure part, and then the conveyor plate 131 can move to a position that can receive the material 50 on the front conveying gripper 122 without waiting for the movable pusher 143 to drive the material 50 to move from right to left. When the movable push plate 143 moves from left to right, the third negative pressure part sucks up the material 50 to prevent the material 50 from moving from right to left; when the movable push plate 143 moves to the right side of the material 50 and its bottom end is lower than the push plate seat 142, the third negative pressure part releases the material 50, and the movable push plate 143 can push the material 50 from right to left.

[0063] If the material 50 being cut malfunctions, the movable push plate 143 can directly drive the malfunctioning material 50 being cut from right to left, setting it at an interval from the channel module 141, and then quickly move the material 50 held by the third negative pressure section to the cutting position, ensuring that the normal material 50 can still be quickly positioned during malfunction handling.

[0064] Furthermore, such as Figure 5 As shown, the intelligent conveying robot includes multiple front conveying components 10, multiple slitting components 20, middle conveying components 30, and rear conveying components 40; the front conveying component 10 includes a front conveying gripper 122, a conveying plate 131, and a third front conveying unit 14; the number of front conveying components 10, slitting components 20, and middle conveying components 30 are set accordingly.

[0065] The rear conveying assembly 40 includes a collection unit 41, a transition plate 42, and a rear conveying unit 43; the middle conveying assembly 30 is connected to the collection unit 41 through the transition plate 42; the channel module 141, the cutting assembly 20, the middle conveying assembly 30, and the collection unit 41 are connected sequentially along the second direction; in this way, the working efficiency of the intelligent conveying robot can be improved.

[0066] The working state also includes the material 50 on the carrying surface being cut by the cutting component 20 and then moved to the transition plate 42 by the middle conveying component 30. The subsequent conveying unit 43 moves the material 50 on the transition plate 42 to the collection unit 41. Then, multiple cut materials 50 on the collection unit 41 can be grabbed and moved to a designated position by an external device at one time.

[0067] Furthermore, such as Figure 5 As shown, the number of front conveying components 10 minus 1 equals the number of transition plates 42; one intermediate conveying component 30 is connected to the collection unit 41, and the other intermediate conveying components 30 are connected to the collection unit 41 through the transition plates 42; the working state also includes the material 50 on the loading surface at the first set position being cut by the cutting component 20 and then moved by the intermediate conveying component 30 to the transition plate 42, and the rear conveying unit 43 moving the material 50 on the transition plate 42 to the collection unit 41; the material 50 on the loading surface at the second set position being cut by the cutting component 20 and then moved to the collection unit 41. The material is collected on the collection unit 41. The surface of the material being collected, connected to the collection unit 41 via the intermediate conveyor assembly 30, is designated as the first set position. The surface of the material being collected, connected to the collection unit 41 via the intermediate conveyor assembly 30 and the transition plate 42, is designated as the second set position. The minimum included angle along the length of each cut material 50 on the collection unit 41 is within a set angle range and is spaced apart. The material 50 does not change direction during the entire conveying and cutting process, ensuring that the material 50 does not rotate during feeding, thereby guaranteeing the accuracy of external equipment in grasping the material 50 on the collection unit 41. The second set position can be an area on the collection unit 41 used to carry the material 50.

[0068] Furthermore, such as Figure 1As shown, the front conveying assembly 10 includes a storage unit 11, a first front conveying unit 12, a second front conveying unit 13, and a third front conveying unit 14. The first front conveying unit 12 includes a first front drive module 121, a front conveying gripper 122, and a first negative pressure unit 123. The first front drive module 121 is drivenly connected to the front conveying gripper 122. The first negative pressure unit 123 is connected to the side of the front conveying gripper 122 near the conveying plate 131. After the front conveying gripper 122 comes into contact with the material 50, the first negative pressure unit 123 can generate negative pressure, thereby keeping the front conveying gripper 122 and the material 50 relatively stationary. Then, the first front drive module 121 drives the material 50 to move along a predetermined path. The first front drive module 121 can drive the front conveying gripper 122 to move along a first direction and a second direction, thereby realizing the front conveying... The conveying gripper 122 moves flexibly; the second front conveying unit 13 includes a conveying plate 131, a second front drive module 132, and a second negative pressure unit; the second front drive module 132 is driven to connect with the conveying plate 131; the second negative pressure unit is connected to the side of the conveying plate 131 near the front conveying gripper 122; after the conveying plate 131 comes into contact with the material 50, the second negative pressure unit can generate negative pressure, thereby keeping the conveying plate 131 and the material 50 relatively stationary, and then the second front drive module 132 drives the material 50 to move along a predetermined path; the second front drive module 132 can drive the conveying plate 131 to move along a first direction and a second direction, thereby realizing the flexible movement of the conveying plate 131; the second front drive module 132 can drive the conveying plate 131 to move along a first direction and a second direction, thereby realizing the flexible movement of the conveying plate 131.

[0069] Example 2:

[0070] This embodiment provides an intelligent conveying method, which is applied to any of the intelligent conveying robots described in the above embodiments, such as... Figure 6 As shown, the intelligent conveying method includes steps S11 to S14, and each step will be described in detail below:

[0071] In step S11, the front conveyor gripper 122 moves the material 50 from the first position onto the conveyor plate 131;

[0072] In step S12, the conveyor plate 131 moves the material 50 onto the carrying surface of the channel module 141;

[0073] In step S13, the push plate base 142 moves to the first state along the direction from the channel module 141 to the front conveying gripper 122; wherein, in this step, the movable push plate 143 abuts against the material 50 or the side of the conveyor plate 131 away from the front conveying gripper 122, so that the movable end of the movable push plate 143 folds upward along the direction from the conveyor plate 131 to the front conveying gripper 122; the first state includes the movable end of the movable push plate 143 moving to the movable end of the movable push plate 143, and the push plate base 142 being arranged sequentially along the direction from the conveyor plate 131 to the front conveying gripper 122;

[0074] In step S14, the movable push plate 143 drives the material 50 to move away from the front conveyor gripper 122 to the second position;

[0075] After the front conveyor gripper 122 grips the material 50 from the first position and places it on the conveyor plate 131, it can immediately perform the next material gripping action and wait for the next round of material feeding instructions to the conveyor plate 131. With this setting, the conveyor plate 131 does not need to wait for the front conveyor gripper 122 to complete the gripping action when it comes to receive the material 50 again, which can effectively improve the conveying efficiency. The conveyor plate 131 and the movable push plate 143 can contact each other, without waiting for the conveyor plate 131 to send the material 50 to the conveying surface and leave before the movable push plate 143 drives the material 50 on the conveying surface. That is, the conveyor plate 131 and the movable push plate 143 do not interfere with each other and can work in the same area at the same time without affecting the normal operation of the equipment.

[0076] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.

Claims

1. An intelligent transport robot, characterized in that, The intelligent conveying robot includes: Front conveyor gripper; A conveyor plate, wherein the conveyor plate and the front conveying gripper are arranged sequentially along a first direction; The third front conveying unit includes a channel module, a push plate base, and a movable push plate; the moving trajectory of the front conveying gripper and the channel module are arranged sequentially along a second direction; the push plate base and the movable push plate are movably connected; the carrying surface of the channel module and the push plate base are arranged sequentially along the direction from the conveying plate to the front conveying gripper; wherein, the first direction and the second direction are perpendicular to each other; The working state includes the front conveying gripper moving the material from a first position to the conveying plate, then the conveying plate moving the material to the carrying surface, followed by the pusher plate moving along the channel module to the front conveying gripper to a first state, and then the movable pusher plate driving the material to move away from the front conveying gripper to a second position; wherein, during the movement of the pusher plate along the channel module to the front conveying gripper, the movable pusher plate abuts against the material or the side of the conveying plate away from the front conveying gripper, causing the movable end of the movable pusher plate to move along the direction from the front conveying gripper to the channel module; the first state includes the movable end of the movable pusher plate moving to the movable end of the movable pusher plate, and the pusher plate being sequentially arranged along the direction from the conveying plate to the front conveying gripper.

2. The intelligent transport robot according to claim 1, wherein, The third front conveying unit further includes a fifth front drive unit; the fifth front drive unit is drivenly connected to the push plate seat; the fifth front drive unit is disposed on the side of the loading surface near the push plate seat.

3. The intelligent transport robot of claim 2, wherein, The first predetermined projection is located within the second predetermined projection; wherein, the first predetermined projection is the projection area of ​​the fifth front drive unit along the second direction; and the second predetermined projection is the projection area of ​​the movement trajectory of the front conveying gripper in the first direction along the second direction.

4. The intelligent transport robot of claim 1, wherein, In the operating state, the minimum time for the front conveying gripper to grab the material again after the front conveying gripper and the conveying plate move a material from the first position to the carrying surface is less than the time it takes for the movable pusher to move a material on the carrying surface to the second position and then move back to abut against another material on the carrying surface near one end of the front conveying gripper.

5. The intelligent transport robot of claim 4, wherein, The intelligent conveying robot also includes a cutting component; the cutting component is disposed on the side of the channel module away from the front conveying gripper. As the movable pusher drives the material toward the second position away from the front conveyor gripper, the cutting assembly sequentially cuts the material into multiple segments along the second direction.

6. The intelligent transport robot of claim 4, wherein, The front conveying assembly includes a material storage unit; the material storage unit includes a feeding bin, a discharging bin, a feeding section, and a feeding drive section; the feeding bin surrounds and forms a first position; the discharging bin surrounds and forms a third position; the first position and the third position are connected; the feeding bin and the discharging bin are respectively used to sequentially stack the material along the first direction; the feeding drive section is drivenly connected to the feeding section; The feeding state includes the feeding drive unit moving the material in the third position to the first position through the feeding unit.

7. The intelligent transport robot of claim 4, wherein, The channel module includes a channel body and a limiting groove; the limiting groove is recessed from one side of the channel body to the other side along a third direction; the limiting groove passes through both sides of the channel body along a second direction; the movement trajectory of the front conveying gripper and the channel module are arranged sequentially along the second direction; the side of the limiting groove near the conveying plate is the loading surface; wherein, the first direction and the second direction are perpendicular to the third direction.

8. The intelligent transport robot of claim 7, wherein, The channel module further includes a third negative pressure section; the third negative pressure section is connected to the channel body; the third negative pressure section is disposed on the loading surface; After the conveyor plate moves the material onto the carrying surface, the third negative pressure part applies a force to the material along the direction from the limiting groove to the channel body.

9. The intelligent transport robot of claim 5, wherein, The intelligent conveying robot includes multiple front conveying components, multiple cutting components, middle conveying components, and rear conveying components; the front conveying component includes a front conveying gripper, a conveying plate, and a third front conveying unit; the number of the front conveying components, cutting components, and middle conveying components are set accordingly; The rear conveying assembly includes a collection unit, a transition plate, and a rear conveying unit; the intermediate conveying assembly is connected to the collection unit through the transition plate; the channel module, the cutting assembly, the intermediate conveying assembly, and the collection unit are sequentially connected along the second direction; The working state also includes the material on the carrying surface being cut by the cutting component and then moved to the transition plate by the middle conveying component, and the rear conveying unit moving the material on the transition plate to the collection unit.

10. An intelligent conveying method, characterized in that, The intelligent conveying method is applied to an intelligent conveying robot according to any one of claims 1 to 9, and the intelligent conveying method includes: The front conveyor gripper moves the material from the first position onto the conveyor plate; The conveyor plate moves the material onto the carrying surface of the channel module; The push plate base moves to a first state along the channel module towards the front conveying gripper; wherein, in this step, the movable push plate abuts against the material or the conveying plate moves away from the front conveying gripper, causing the movable end of the movable push plate to move along the conveying plate towards the front conveying gripper; the first state includes the movable end of the movable push plate moving to the movable end of the movable push plate, and the push plate base being sequentially arranged along the conveying plate towards the front conveying gripper; The movable push plate drives the material to move away from the front conveyor gripper to a second position.

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