Butt joint platform and transfer robot

Abstract

The utility model discloses a butt joint platform which comprises a floating plate and a base plate, the floating plate is arranged on the base plate, the floating plate can be in butt joint with materials at a second position, the floating plate can be kept at a first position when the floating plate is not in butt joint with the materials, and the second position deviates from the first position. A limiting device capable of limiting the offset between the second position and the first position of the floating plate is arranged between the floating plate and the base plate. The utility model further discloses the transfer robot comprising the butt joint platform. Flexible butt joint with materials is achieved, impact damage between parts caused by butt joint deviation in the butt joint process is reduced, and meanwhile the carrying efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of handling equipment, and in particular to a docking platform and a handling robot. Background Art

[0002] Existing handling robots are generally composed of a movable chassis and a lifting mechanism; when high-precision docking is required, pins or pin holes are often added to the table top, and accordingly, there are corresponding pin holes or pins on the storage device to be carried; generally, there will be a certain gap between the pin holes and the pins, and the gap is generally several millimeters; therefore, after carrying the goods, there will be a certain deviation between the material and the table top of the handling robot.

[0003] In order to reduce this deviation, it is necessary to compress the matching clearance between the pin hole and the pin, for example, to within 1mm or 0.5mm; but after compressing the clearance between the pin hole and the pin, in the actual docking process, due to the walking deviation of the automatic handling robot, the pin hole and the pin will collide and be introduced every time; this process not only has an adverse effect on the life of the pin hole and the pin, but the upper force will be transmitted to the movable chassis of the automatic handling robot, and have an adverse effect on components such as steering wheels and casters; in addition, if the material itself also has a positioning relationship with the external tooling, there is an over-positioning problem in the docking between the material and the handling robot, and then the docking cannot be completed. Utility Model Content

[0004] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a docking platform and a handling robot.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: a docking platform for a transport robot, comprising a floating plate and a base plate, the floating plate being arranged on the base plate, the floating plate being able to remain in a first position when not docking with materials, the floating plate being able to float to a second position deviating from the first position, the floating plate being able to dock with materials at the first position or the second position, and a limiting device being arranged between the floating plate and the base plate, which can limit the offset between the second position of the floating plate and the first position.

[0006] In the present technical solution, a floating plate with a first position and a second position is designed. When docking with the material, the floating plate can produce a certain offset to reach the second position according to the actual situation, thereby achieving flexible docking with the material, avoiding the problem of deviation in the docking process or inability to dock with the material due to assembly or equipment walking deviation, reducing the impact damage between components caused by docking deviation during the docking process, and improving the handling efficiency.

[0007] Furthermore, it also includes a positioning mechanism, which can fix the floating plate in the first position, so that the floating plate can be easily docked with the material in the second position, thereby improving the handling efficiency. In addition, the position of the floating plate is fixed in the first position, thereby improving the stability of the material during transportation.

[0008] Furthermore, there are two positioning mechanisms, each of which includes a first positioning member arranged on the floating plate and a second positioning member arranged on the base plate. The second positioning member is movably connected to the base plate and has a locking position and an unlocking position. When the second positioning member is in the locking position, it cooperates with the first positioning member to fix the floating plate in the first position. When the second positioning member is in the unlocking position, the floating plate can move freely within the plane where the bearing surface is located.

[0009] Furthermore, the positioning mechanism includes a driving component fixed on the substrate, the first positioning component includes a positioning hole arranged on the floating plate, the second positioning component includes a positioning column arranged on the substrate, the positioning column is slidably connected to the substrate, the positioning column corresponds to the positioning hole of the floating plate in the first position, and the driving component can drive the positioning column to extend out and insert into the positioning hole or retract and detach from the positioning hole.

[0010] Furthermore, the driving component includes a motor reducer and a transmission assembly, wherein the transmission assembly comprises mutually meshing gears and racks, the rack is arranged on the second positioning member, and the output end of the motor reducer is connected to the gear rack transmission assembly to drive the second positioning member to reciprocate linear motion.

[0011] Furthermore, the driving component includes an electric push rod, and an output end of the electric push rod is connected to the second positioning member to drive the second positioning member to reciprocate linearly.

[0012] Furthermore, a mounting frame is fixed on the base plate, the driving component is fixed on the mounting frame, guide holes for installing the positioning column are provided on the mounting frame and the base plate, copper sleeves are installed in the guide holes on the mounting frame and / or the base plate, and the positioning column is slidably connected in the copper sleeves, thereby improving the stability of the movement of the positioning column.

[0013] Furthermore, the limiting device includes a first limiting structure, which can generate elastic deformation and can reset the floating plate from the second position to the first position under the action of the elastic deformation, thereby realizing automatic reset of the floating plate.

[0014] Furthermore, a plurality of circumferentially distributed baffles are provided on the end surface of the floating plate facing the base plate, and the first limiting structure includes a first limiting unit corresponding to the baffle; each first limiting unit includes a mounting seat, a guide rod, a limiting spring, a sliding block, and a roller, the mounting seat is arranged on the base plate, the guide rod is arranged on the mounting seat, the sliding block is slidably connected to the guide rod, the limiting spring is sleeved on the guide rod and one end of the limiting spring is fixed on the mounting seat, the other end of the limiting spring is connected to one end of the sliding block, the other end of the sliding block is installed with a roller, and the roller is in rolling contact with the baffle. The plurality of first limiting units elastically support the floating plate from the circumferential direction of the floating plate, which can not only improve the stability of the floating plate installation, but also improve the driving force of the floating plate when it is reset.

[0015] Furthermore, the limiting device includes a second limiting structure, which includes a limiting hole and a limiting column inserted in the limiting hole. The hole diameter of the limiting hole is larger than the outer diameter of the limiting column. One of the limiting column and the limiting hole is set on the floating plate, and the other is set on the base plate.

[0016] Furthermore, a limiting plate is provided at one end of the limiting column for limiting the position of the base plate and the floating plate in a direction perpendicular to the plane where the bearing surface is located. The limiting plate can improve the stability of the floating plate installation and prevent the floating plate from detaching from the base plate during movement.

[0017] Furthermore, the floating plate is movably arranged on the base plate through a universal ball assembly, and the floating plate and the universal ball assembly are in rolling contact, and the universal ball assembly is provided with multiple groups to stably support the floating plate. The rolling contact reduces the friction of the floating plate during the movement process and improves the sensitivity of the floating plate.

[0018] Furthermore, the surface of the floating plate facing away from the base plate forms a bearing part for placing materials, and the docking platform includes a positioning camera, two positioning pins and two proximity sensors arranged on the bearing part, the two positioning pins and the two proximity sensors are distributed around the positioning camera, and the positioning pins and the proximity sensors are staggered, the connecting line of the two positioning pins and the connecting line of the two proximity sensors intersect, and the positioning camera is located at the intersection of the connecting lines. The positioning camera is used to identify the relative position deviation between the handling equipment and the material to be carried, so as to adjust the position of the handling equipment. The positioning camera is located in the center position, and can accurately dock with the material; the positioning pins of the table top are matched with the pin holes of the carried material, and the proximity sensor is used to detect whether the docking is successful.

[0019] Furthermore, the bearing part includes a buffer pad for bearing the material, so as to reduce the impact force when the table top of the floating plate contacts the material.

[0020] The present application also discloses a transport robot, comprising a movable chassis and the docking platform described in the first aspect of the present application, wherein the docking platform is arranged on the movable chassis.

[0021] Furthermore, it also includes a lifting mechanism, which is arranged on a movable chassis, and the docking platform is arranged on the movable chassis or the lifting mechanism.

[0022] The reasoning process of the beneficial effects of the handling robot provided in this application is similar to that of the aforementioned docking platform, and will not be repeated here.

[0023] These features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. The best embodiments or means of the present application will be described in detail in conjunction with the drawings, but they are not intended to limit the technical solutions of the present application. In addition, there are multiple features, elements, and components that appear in each of the following texts and drawings, and different symbols or numbers are marked for convenience, but they all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present application will be further described below in conjunction with the accompanying drawings:

[0025] Figure 1 This is an overall appearance diagram of a handling robot according to one embodiment of the present utility model;

[0026] Figure 2 This is a structural diagram of a transport robot in one embodiment of the utility model with the outer shell removed;

[0027] Figure 3 This is a structural diagram of a docking platform according to one embodiment of the present utility model;

[0028] Figure 4 This is a structural diagram of a docking platform of one embodiment of the utility model;

[0029] Figure 5 This is a cross-sectional view of a docking platform according to one embodiment of the present invention;

[0030] Figure 6 This is a structural diagram of the distribution of components on a substrate of one embodiment of the utility model;

[0031] Figure 7 This is a structural diagram of a positioning mechanism according to one embodiment of the present utility model.

[0032] in,

[0033] 1. Floating plate; 11. Positioning camera; 12. Positioning pin; 13. Proximity sensor; 14. Buffer pad; 15. Positioning hole; 16. Baffle;

[0034] 2. Substrate;

[0035] 31. first limiting unit; 311. mounting seat; 312. guide rod; 313. limiting spring; 314. sliding block; 315. roller;

[0036] 32. Second limiting structure; 321. Limiting column; 322. Limiting hole; 323. Limiting plate; 324. Limiting sleeve;

[0037] 4. Positioning mechanism; 41. Positioning column; 42. Driving component; 43. Rack; 44. Copper sleeve; 45. Mounting frame;

[0038] 51. Support seat; 52. Universal ball;

[0039] 6. Movable chassis; 7. Lifting mechanism. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments based on the embodiments are intended to be used to explain the present application and cannot be understood as limiting the present application.

[0041] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present application. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0042] See attached Figure 3 , 4 , 5, 6, 7, one of the embodiments of the utility model discloses a docking platform, which is used for docking operations between handling equipment and required carrying materials, including a floating plate 1 and a base plate 2, wherein the floating plate 1 is arranged on the base plate 2 and has a first position and a second position deviating from the first position relative to the base plate, the floating plate 1 can dock with the material at the first position or the second position, and the floating plate 1 can remain in the first position when not docking with the material, and a limiting device is arranged between the floating plate 1 and the base plate 2, which can limit the displacement of the floating plate 1 at the second position from the first position. In actual use, the surface of the floating plate 1 away from the base plate 2 forms a bearing part for placing materials, and the surface of the floating plate 1 away from the base plate 2 forms a bearing surface of the bearing part.

[0043] The floating plate 1 in this embodiment is generally kept in the first position except when docking with materials. In this position, it can be used to carry materials or run without load. When docking with materials, since the materials and the handling equipment cannot be completely aligned, there is a certain error between the position of the docking platform and the materials. At this time, the floating plate 1 will shift to the second position to achieve smooth docking with the materials in the second position. In this application, the first position of the floating plate 1 is set to the center position relative to the base plate 2.

[0044] The floating plate 1 in the present application is arranged on the substrate 2 and is arranged to be able to move omnidirectionally relative to the substrate 2 in the plane where the bearing surface is located, that is, the second position can be omnidirectionally offset relative to the first position in the plane where the bearing surface is located. In actual use, since the direction of the deviation between the material and the floating plate 1 is uncertain, the floating plate 1 that can move omnidirectionally can adapt to the deviation of the material and the floating plate 1 in different directions, and the adaptability is better; in addition, a limiting device that can limit the displacement of the floating plate 1 relative to the substrate 2 in the plane where the bearing surface is located is arranged between the floating plate 1 and the substrate 2. It should be noted that in actual use, the displacement between the material and the floating plate 1 is generally caused by assembly errors and walking errors of the handling equipment. Here, the limiting device limits the displacement of the floating plate 1 relative to the substrate 2 in the plane where the bearing surface is located. The displacement should be greater than the sum of the assembly errors and walking errors mentioned above when designed, so as to achieve a better docking effect and avoid the problem of being unable to dock due to excessive errors. After docking, the material of the utility model is placed on the bearing part of the floating plate 1.

[0045] Since the material and the machine are fixed by the positioning device and cannot move, and there will be a certain deviation in the movement of the handling equipment, if the components on the handling equipment are also fixed, they cannot be docked and will collide. In this embodiment, a floating plate 1 that can move in all directions in the plane where the bearing surface is located is designed. When docking with the material, the floating plate 1 in this application can move in all directions and dock through the conical surface of the positioning pin 12. When the handling equipment is lifted, the conical surface of the positioning pin docks with the pin hole on the material, and then the pin hole forces the floating plate 1 to move along the contact between the conical surface and the side wall of the pin hole. The floating plate reaches the second position and aligns the positioning pin and the pin hole on the material. The handling equipment continues to lift, so that the positioning pin can be smoothly inserted into the pin hole, and the docking platform and the material are smoothly docked. In the process of the floating plate reaching the second position, the first limiting structure will be compressed. After the docking is completed, the material will be separated from the machine with the handling equipment, and the floating plate will automatically reset to the first position under the reset action of the first limiting structure, and then the positioning mechanism locks the floating plate, and the handling equipment is transported.

[0046] It can be seen that the floating plate 1 in the present application can generate a corresponding offset to the corresponding direction according to the actual deviation situation, thereby realizing flexible docking with the material, avoiding the problem of deviation in the docking process or inability to dock with the material due to assembly or equipment walking deviation, and reducing the impact damage between components caused by docking deviation during the docking process. Compared with the existing rigid docking platform, it reduces the time required to adjust the position of the handling equipment and improves the handling efficiency.

[0047] One of the embodiments of the utility model further includes a positioning mechanism 4, which can fix the floating plate 1 in the first position. The floating plate 1 is normally in the first position. The first position in this embodiment is set as the floating plate 1 being located in the center of the base plate 2. In the first position, the floating plate 1 has better stability. The positioning mechanism 4 can fix the floating plate 1 in the first position. The fixing here means that the floating plate 1 and the base plate 2 are fixed, that is, the movable plate cannot move relative to the base plate 2. Of course, the floating plate 1 and the base plate 2 can move together for transportation, thereby improving the stability of the material during transportation.

[0048] In order to fix the position of the floating plate 1 at the first position, the positioning mechanism 4 of the utility model includes a first positioning member arranged on the floating plate 1 and a second positioning member arranged on the base plate 2. The second positioning member is movably connected to the base plate 2 and has a locking position and an unlocking position. When the second positioning member is in the locking position, it cooperates with the first positioning member to fix the floating plate 1 at the first position. When the second positioning member is in the unlocking position, the floating plate 1 can move freely in the plane where the bearing surface is located. In this way, when the handling equipment moves to the back-carrying position and needs to dock the material, the second positioning member moves to the unlocking position, that is, the fixing of the floating plate 1 is released. At this time, the floating plate realizes flexible docking of the material through an omnidirectional movable structure. When the material is placed on the bearing part of the floating plate 1 under the condition of flexible docking, the docking of the material is completed. At this time, the floating plate 1 will move to the first position for transportation and conveying. Since the movement of the handling equipment will inevitably generate vibration during transportation, if the floating plate 1 is not fixed, it will shake during transportation, causing the risk of material falling, and will limit the movement rate of the handling equipment. Therefore, the positioning mechanism 4 can improve the handling efficiency and the stability of the transportation process.

[0049] In order to enable the first positioning member to switch between the locking position and the unlocking position and ensure the fixing effect of the floating plate 1, see the attached Figure 7The positioning mechanism 4 of one embodiment of the utility model includes a driving component 42 fixed on the base plate 2, the first positioning component includes a positioning hole 15 set on the floating plate 1, and the second positioning component includes a positioning column 41 set on the base plate 2. The positioning column 41 is slidably connected with the base plate 2, and the positioning column 41 corresponds to the positioning hole 15 of the floating plate 1 in the first position. The driving component 42 can drive the positioning column 41 to extend and insert into the positioning hole 15 or retract and leave the positioning hole 15. The second positioning component in this embodiment is set to be a sliding connection. Of course, in actual setting, the second positioning component can also be set to be a rotating connection to switch between the locking position and the unlocking position. In actual setting, the second positioning component can also be set to a positioning sleeve structure, and the first positioning component is set to a positioning column structure matched with the positioning sleeve. The positioning sleeve is fitted on the positioning column 41 through the sliding of the positioning sleeve to fix the floating plate 1. It can be seen that in actual setting, there are many ways to implement the specific structure of the first positioning component and the second positioning component, and it is only necessary to ensure that the position of the floating plate 1 can be locked and the switching between the two different states is convenient.

[0050] It should be noted that, when the positioning post 41 is inserted into the positioning hole 15, the floating plate 1 can still rotate around the positioning post 41 relative to the base plate 2, and the floating plate 1 cannot be completely fixed (the two can rotate relative to each other). Therefore, two positioning mechanisms 4 are provided in the present application, and the position of the floating plate 1 can be completely fixed through the mutual cooperation of the two positioning mechanisms 4.

[0051] Of course, it is easy to think that in order to realize the movement of the second positioning member, a driving member 42 is also required. The driving member 42 of one embodiment of the utility model includes a motor reducer and a transmission assembly, and the transmission assembly includes a gear and a rack 43 that mesh with each other. The rack 43 is arranged on the second positioning member, so that the rack 43 and the second positioning member form an integral structure, and the second positioning member can move with the movement of the rack 43. The output end of the motor reducer is connected to the gear rack 43 transmission assembly to drive the second positioning member to reciprocate linear motion. This embodiment converts the rotational motion of the driving member 42 into the linear motion of the second positioning member.

[0052] In another embodiment, the driving component 42 may be configured as an electric push rod, the output end of which is connected to the second positioning member to drive the second positioning member to reciprocate linearly. In this embodiment, the linear motion of the driving component 42 drives the second positioning member to move linearly.

[0053] Of course, in actual settings, other driving components such as hydraulic cylinders, pneumatic cylinders, etc. can also be used. Of course, in terms of driving method, the second positioning member can be driven to rotate by the linear motion of the driving component 42, or the rotation of the driving component 42 can drive the second positioning member to rotate.

[0054] During actual assembly, the positioning mechanism 4 can be directly mounted on the substrate 2. Of course, for the convenience of installation, a mounting frame 45 can also be provided. After the driving component 42 and the mounting frame 45 are assembled, they are fixed together on the substrate 2 through the mounting frame 45. In order to ensure the stability of the movement of the positioning column 41, a guide hole for installing the positioning column 41 can also be opened on the mounting frame 45 and the substrate 2. A copper sleeve 44 is installed in the guide hole on the mounting frame 45 and / or the substrate 2, and the positioning column 41 is slidably connected in the copper sleeve 44. The provision of the copper sleeve 44 can not only improve the stability of the movement of the positioning column 41, but also reduce the wear when the positioning column 41 is frequently moved, so that the stability can be maintained for a long time.

[0055] The limiting device of the utility model includes a first limiting structure, which can produce elastic deformation and can reset the floating plate from the second position to the first position under the action of the elastic deformation. It can be seen that the first limiting structure can not only limit the displacement of the floating plate, but also automatically reset it after it is offset, which is more convenient to use.

[0056] One implementation of the first limiting structure is as follows: Figure 6 A plurality of circumferentially distributed baffles 16 are provided on the end surface of the floating plate 1 facing the base plate 2, wherein the baffles 16 can be fixed to the bottom of the floating plate 1 by screws or welding. The first limiting structure includes a first limiting unit 31 corresponding to the baffle 16; each first limiting unit 31 includes a mounting seat 311, a guide rod 312, a limiting spring 313, a sliding block 314, and a roller 315. The mounting seat 311 is provided on the base plate 2, the guide rod 312 is provided on the mounting seat 311, the sliding block 314 is slidably connected to the guide rod 312, and the limiting spring 313 is sleeved on the guide rod 312 and one end of the limit spring 313 is fixed on the mounting seat 311, the other end of the limit spring 313 is connected to one end of the sliding block 314, and the other end of the sliding block 314 is installed with a roller 315, and the roller 315 is in rolling contact with the baffle 16. It can be seen that the first limit unit 31 in the present application is only in contact with the baffle 16 (i.e., the floating plate 1), not connected to the floating plate 1, and the contact between the floating plate 1 is a rolling contact, which can reduce the friction of the floating plate during the activity, making its activity more flexible, and facilitating the floating plate to float in all directions, as well as rotation and other actions.

[0057] In order to facilitate the explanation of the function of the first limiting unit 31 structure, the following is an example of setting the baffle 16 and the first limiting unit 31 in four directions. When setting the first limiting unit 31, the positions of the first limiting unit 31 are set correspondingly in the relative directions, so that the force on the floating plate can be relatively stable. In the first position, the floating plate 1 will not be subjected to torsion, thereby improving the stability of the floating plate 1 in the first position. During docking, when the position of the material and the bearing part of the floating plate 1 deviate from each other, the floating plate 1 will deviate in a certain direction under the action of the material (the material is on another component), and the deviated position is the corresponding position between the docking part of the bearing part and the docking part of the material, so that the material is smoothly placed on the bearing part. At the same time, the offset floating plate 1 will compress the limit spring 313 of the first limit unit 31 set in that direction, and at the same time will cause the limit spring 313 set opposite to that direction to rebound (the limit spring is generally set with a certain pre-compression amount when installed). Through the mutual cooperation of the limit springs 313 in four directions, the floating plate 1 can be moved in all directions. When the material is connected with the floating plate 1 through the offset of the floating plate 1, the material is placed on the floating plate 1. At this time, the material and the floating plate 1 form an integrated structure. At this time, the limit spring 313 compressed and stretched due to the offset will reset under the action of its own elasticity, so that the floating plate 1 is reset to the first position. The floating plate 1 reset to the first position is fixed by the positioning mechanism 4 mentioned above, so that the material can be transported smoothly.

[0058] In actual settings, in order to ensure better stability, multiple groups of first limiting units 31 can also be set at the positions corresponding to each baffle 16. One setting form in this embodiment is that a total of 8 groups of first limiting units 31 are arranged, 2 groups in each direction, and the first limiting units 31 are arranged correspondingly in relative directions. In this way, when the floating plate 1 is in the first position, the forces exerted on the floating plate 1 by the two correspondingly arranged first limiting units 31 are in a straight line, and the forces of the two can offset each other, so that the floating plate 1 can stably maintain the first position.

[0059] Of course, in actual settings, in addition to the above-mentioned arrangement, the first limiting structure also has a cylinder on the floating plate 1, and a plurality of limiting springs 313 evenly distributed around the cylinder on the base plate 2, one end of the limiting spring 313 is connected to the base plate 2, and the other end is connected to the cylinder. In this case, the above-mentioned effect of enabling the floating plate 1 to move in all directions within the plane where the bearing surface is located and to automatically reset under the action of the first limiting structure can also be achieved.

[0060] It can be seen that the limitation of the displacement of the floating plate 1 by the first limiting structure mentioned above depends on the compression amount of the limiting spring 313 .

[0061] In order to further improve the stability of the docking platform, the limiting device of the present invention includes a second limiting structure 32, see the attached Figure 5 The second limiting structure 32 includes a limiting hole 322 and a limiting column 321 inserted in the limiting hole 322. The diameter of the limiting hole 322 is larger than the outer diameter of the limiting column 321. One of the limiting column 321 and the limiting hole 322 is arranged on the floating plate 1, and the other is arranged on the base plate 2. The limitation of the displacement of the floating plate 1 by the second limiting structure 32 in this embodiment depends on the difference between the diameter of the limiting hole 322 and the outer diameter of the limiting column 321. The larger the difference is, the larger the displacement of the floating plate 1 is allowed. In actual setting, the difference between the diameter of the limiting hole 322 and the outer diameter of the limiting column 321 can be designed to control the maximum displacement. It is only necessary to ensure that the difference is larger than the sum of the assembly error and the walking error of the handling equipment mentioned above. Compared with limiting only by the compression amount of the spring in the first limiting structure, this embodiment is easier to set.

[0062] It should be noted that, on the basis of the above-mentioned second limiting structure 32, a limiting plate 323 for limiting the position of the substrate 2 and the floating plate 1 in a direction perpendicular to the plane where the bearing surface is located can also be provided at one end of the limiting column 321. During installation, one end of the limiting plate 323 slides and fits on the end face of the floating plate 1 under the pulling force of the limiting column 321. Of course, it is easy to think that the area of ​​the limiting plate 323 is set to be larger than the area of ​​the opening end of the limiting hole 322, so as to realize the connection between the floating plate 1 and the substrate 2, improve the stability of the installation of the floating plate 1, and prevent the floating plate 1 from separating from the substrate 2 during the activity.

[0063] Of course, it is easy to think that the limit hole 322 in this embodiment can be directly opened on the floating plate 1, and of course a limit sleeve 324 can also be set. The limit sleeve 324 is embedded in the floating plate 1, and the limit hole 322 is opened on the limit sleeve 324. The limit sleeve 324 can be set to copper material or other impact-resistant materials to reduce the impact damage of the limit column and the limit sleeve during the movement of the floating plate 1.

[0064] In order to make the movement of the floating plate 1 more stable and to make the floating plate 1 have sufficient bearing capacity, the floating plate 1 of one embodiment of the utility model is movably arranged on the base plate 2 through a universal ball assembly, and the floating plate 1 is in rolling contact with the universal ball assembly. The universal ball assembly is provided with multiple universal ball assemblies to stably support the floating plate 1. The rolling contact reduces the friction of the floating plate 1 during the movement process and improves the sensitivity of the floating plate 1. When the universal ball assembly is actually set, it includes a support seat 51 and a universal ball 52. The universal ball 52 is rollingly installed on the support seat 51. When assembled, the support seat 51 is fixed on one of the base plate 2 / floating plate 1, and the universal ball 52 is in rolling contact with the other. In addition, in the actual arrangement, multiple groups of universal ball assemblies arranged and distributed circumferentially can be set on the end face of the floating plate 1 to provide multiple support points for the floating plate 1, which can further improve the stability and bearing capacity of the floating plate 1.

[0065] The setting of the universal ball assembly mentioned above enables rolling contact between the floating plate 1 and the base plate 2. The movement of the floating plate 1 and the rolling friction between the universal ball assembly can improve the flexibility of the movement of the floating plate 1. Of course, in actual settings, in some cases, the floating plate 1 and the base plate 2 can also be set to be in surface contact, which can also provide good support for the floating plate 1 and enable the floating plate 1 to move in all directions within the plane where the bearing surface is located. In this case, the difference from the universal ball assembly is that there is sliding friction between the floating plate 1 and the base plate 2.

[0066] In order to better dock the docking platform with the material, the docking platform of the utility model also includes a positioning camera 11, two positioning pins 12 and two proximity sensors 13 arranged on the bearing part. The two positioning pins 12 and the two proximity sensors 13 are distributed around the positioning camera 11, and the positioning pins 12 and the proximity sensors 13 are staggered. The connecting line of the two positioning pins 12 and the connecting line of the two proximity sensors 13 intersect, and the positioning camera 11 is located at the intersection of the connecting lines. The positioning camera 11 is used to identify the relative position deviation between the handling equipment and the material to be carried, so as to adjust the position of the handling equipment. The positioning camera is set at the center position, and can accurately dock with the material; the positioning pins 12 of the table top are matched with the pin holes of the carried material, and the proximity sensor 13 is used to detect whether the docking is successful.

[0067] Since the moment when the material is placed on the floating plate 1 from the original storage position, it is inevitable that an impact force will be generated between the two, by arranging a buffer pad 14 on the bearing part, the impact force when the table surface of the floating plate 1 contacts the material can be reduced, and the impact damage between the components can be reduced. The buffer pad 14 in the utility model can be made of nylon and polyurethane blocks. In actual setting, the buffer pad 14 can be arranged around the positioning pin 12 and the proximity sensor 13 on the floating plate 1, and the proximity sensor 13 is recessed in the buffer pad 14 to avoid damage to the proximity sensor 13 by the material, and the positioning pin 12 protrudes from the buffer pad 14, which is convenient for docking with the positioning pin hole on the material.

[0068] The present application also discloses a transport robot, see attached Figure 1 , 2 , including a movable chassis 6 and a lifting mechanism 7 arranged on the movable chassis 6, and also including any of the above-mentioned docking platforms. The docking platform can be directly set on the movable chassis 6 through the substrate 2, or directly set on the lifting mechanism 7. It is only necessary to enable the docking platform to rise or fall under the drive of the lifting mechanism 7.

[0069] It can be seen that the handling robot in the present application is a high-precision flexible docking robot, which includes a movable chassis 6 that can realize horizontal motion control, a lifting mechanism 7 that can control up and down motion, and the above-mentioned flexible docking platform. In actual settings, the movable chassis 6 can be a differential movable chassis 6 or an omnidirectional movable chassis 6, and the lifting mechanism 7 can be hydraulic lifting, electric screw lift lifting, electric scissor fork lifting, electric connecting rod lifting, etc.

[0070] When the handling robot needs to dock with the material, the positioning mechanism 4 is first loosened to allow the floating plate 1 of the flexible docking platform to move freely in the front, back, left, right and angular directions, which can help the positioning pins 12 of the load-bearing part of the floating plate 1 to cooperate smoothly with the positioning pin holes of the material, and there is basically no adverse external force during the cooperation process; when the docking is completed, the second positioning piece of the positioning mechanism 4 of the flexible docking platform will extend out and lock with the first positioning piece on the floating plate 1, so that the floating plate 1 and the base plate 2 of the docking platform are fixed to each other, so that the table top of the handling robot is very stable when it is running in the front, back, left, right or rotation, and there will be no shaking.

[0071] In actual use, for ordinary material docking, the flexible docking platform in this application may not be necessary; but when docking materials with high precision, since the material itself not only needs to be fixed in position with high precision with the handling robot, but also has high-precision limit on the material itself by the outside world; at this time, the docking platform in this application must be used to achieve a good docking effect.

[0072] When high-precision material handling is in progress, for example, the material itself is restricted by external tooling or structures in terms of its front, back, left, and right positions. At this time, the material can only be lifted or lowered. The movement accuracy of the handling robot also has a certain upper limit. Relying solely on the movement accuracy of the handling robot cannot meet very high positioning accuracy. At this time, the flexible docking platform in this application can help the positioning pins 12 on the floating plate 1 to cooperate with the pin holes of the material. At the same time, after the lifting mechanism 7 lifts or lowers the material, the material is freed from the original tooling and structural restrictions. Then, the positioning mechanism 4 of the docking platform is used to lock the position of the floating plate 1, realizing a complete docking process. It can be seen that the flexible docking platform in this application avoids the problem of over-positioning of the material during the docking process, which is caused by not only coordinating positioning with the tooling but also coordinating positioning with the handling robot. It increases the degree of freedom in the horizontal plane and realizes flexible docking.

[0073] Of course, in actual use, the handling robot in this application may not be provided with a lifting mechanism 7, and the handling robot only includes a movable chassis 6 and a flexible docking platform; when in use, the material can be lifted or lowered by external tooling and placed on the docking platform. At this time, in the process of placing the material on the docking platform, the docking platform can also adapt to the docking error with the material to achieve a smooth docking effect. After the material is placed on the docking platform, the positioning mechanism 4 can also fix the floating plate 1 and transport it stably.

[0074] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A docking platform for handling robot docking materials, characterized in that: The invention comprises a floating plate (1) and a base plate (2), wherein the base plate (2) is used to be arranged on a movable chassis of the transport robot, the floating plate (1) is arranged on the base plate (2), the floating plate (1) can be maintained at a first position when not docking with materials, the floating plate can float to a second position deviating from the first position, the floating plate (1) can dock with materials at the first position or the second position, and a limiting device is arranged between the floating plate (1) and the base plate (2) to limit the offset between the second position of the floating plate (1) and the first position.

2. The docking platform according to claim 1, characterized in that: It also comprises a positioning mechanism (4), wherein the positioning mechanism (4) is capable of fixing the floating plate (1) in the first position.

3. The docking platform according to claim 2, characterized in that: The number of the positioning mechanisms (4) is two, and each of the positioning mechanisms (4) comprises a first positioning member arranged on the floating plate (1) and a second positioning member arranged on the base plate (2); the second positioning member is movably connected to the base plate (2) and has a locking position and an unlocking position; when the second positioning member is in the locking position, it cooperates with the first positioning member to fix the floating plate (1) in the first position; when the second positioning member is in the unlocking position, the floating plate (1) can move freely within the plane where the bearing surface is located.

4. The docking platform according to claim 3, characterized in that: The positioning mechanism (4) comprises a driving component (42) fixed on the base plate (2); the first positioning component comprises a positioning hole (15) arranged on the floating plate (1); the second positioning component comprises a positioning column (41) arranged on the base plate (2); the positioning column (41) is slidably connected to the base plate (2); the positioning column (41) corresponds to the positioning hole (15) of the floating plate (1) in the first position; the driving component (42) can drive the positioning column (41) to extend and insert into the positioning hole (15) or to retract and detach from the positioning hole (15).

5. The docking platform according to claim 4, characterized in that: The driving component (42) comprises a motor reducer and a transmission assembly, the transmission assembly comprises a gear and a rack (43) meshing with each other, the rack (43) is arranged on the second positioning member, and the output end of the motor reducer is connected to the gear to drive the second positioning member to reciprocate linear motion.

6. The docking platform according to claim 4, characterized in that: The driving component (42) comprises an electric push rod, the output end of which is connected to the second positioning member to drive the second positioning member to reciprocate linearly.

7. The docking platform according to claim 4, characterized in that: A mounting frame (45) is fixed on the base plate (2), the driving component (42) is fixed on the mounting frame (45), the mounting frame (45) and the base plate (2) are provided with guide holes for installing the positioning column (41), a copper sleeve (44) is installed in the guide hole on the mounting frame (45) and / or the base plate (2), and the positioning column (41) is slidably connected in the copper sleeve (44).

8. The docking platform according to any one of claims 1 to 7, characterized in that: The limiting device comprises a first limiting structure, and the first limiting structure can generate elastic deformation and can reset the floating plate from the second position to the first position under the action of the elastic deformation.

9. The docking platform according to claim 8, characterized in that: A plurality of circumferentially distributed baffles (16) are provided on the end surface of the floating plate (1) facing the base plate (2); the first limiting structure comprises a first limiting unit (31) arranged corresponding to the baffle (16); each of the first limiting units (31) comprises a mounting seat (311), a guide rod (312), a limiting spring (313), a sliding block (314), and a roller (315); the mounting seat (311) is arranged on the base plate (2); the guide rod (312) is arranged on the base plate (2); The sliding block (314) is slidably connected to the guide rod (312) on the mounting seat (311), the limit spring (313) is sleeved on the guide rod (312) and one end of the limit spring (313) is fixed on the mounting seat (311), the other end of the limit spring (313) is connected to one end of the sliding block (314), the other end of the sliding block (314) is installed with the roller (315), and the roller (315) is in rolling contact with the baffle (16).

10. The docking platform according to claim 8, characterized in that: The limiting device comprises a second limiting structure (32), the second limiting structure (32) comprising a limiting hole (322) and a limiting column (321) inserted into the limiting hole (322), the hole diameter of the limiting hole (322) being larger than the outer diameter of the limiting column (321), and one of the limiting column (321) and the limiting hole (322) being arranged on the floating plate (1), and the other being arranged on the base plate (2).

11. The docking platform according to claim 10, characterized in that: A limiting plate (323) for limiting the floating plate (1) from separating from the base plate (2) is provided at the top end of the limiting column (321).

12. The docking platform according to claim 1, characterized in that: The floating plate (1) is movably arranged on the base plate (2) via a universal ball assembly, the floating plate (1) and the universal ball assembly are in rolling contact, and the universal ball assembly is provided with multiple groups to stably support the floating plate (1).

13. The docking platform according to claim 1, characterized in that: The surface of the floating plate (1) facing away from the base plate (2) forms a bearing portion for placing materials, and the docking platform comprises a positioning camera (11), two positioning pins (12) and two proximity sensors (13) arranged on the bearing portion of the floating plate (1), the two positioning pins (12) and the two proximity sensors (13) are distributed around the positioning camera (11), and the positioning pins (12) and the proximity sensors (13) are distributed in an alternating manner, the connecting line of the two positioning pins (12) and the connecting line of the two proximity sensors (13) intersect, and the positioning camera (11) is located at the intersection of the connecting lines.

14. The docking platform according to claim 13, characterized in that: The bearing portion comprises a buffer pad (14) for bearing materials.

15. A transport robot, comprising a movable chassis (6), characterized in that: It also comprises the docking platform according to any one of claims 1 to 14, wherein the docking platform is arranged on the movable chassis (6).

16. The transport robot according to claim 15, characterized in that: It also comprises a lifting mechanism (7), wherein the lifting mechanism (7) is arranged on the movable chassis (6), and the docking platform is arranged on the movable chassis (6) or the lifting mechanism (7).

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