Movable connection device for transferring automatic mobile robot

Abstract

The utility model discloses a movable connection device for transferring an automatic mobile robot, which comprises a main bearing support, a connection support, a cargo carrying panel, trundles and a hand push support, the support on each side provides main load bearing through a three-dimensional frame structure composed of the X-direction square pipes, the Y-direction square pipes and the Z-direction square pipes, and the inclined struts are connected between the X-direction square pipes and the Y-direction square pipes and used for enhancing structural stability. The connecting support is perpendicular to the main bearing support, and the two ends are connected with the left side and the right side of the main bearing support respectively to reinforce the whole connecting device. The connecting platform can be used as a fixed connecting platform, can also be used as mobile carrying equipment, has high bearing capacity, and is suitable for carrying heavy goods and pallets. And the operation efficiency of an automatic carrying scene can be greatly improved. And through a precise positioning technology and an auxiliary correction structure, the butt joint precision of connection is improved, and the safety of automatic carrying engineering is greatly enhanced.

Description

Technical Field

[0001] The utility model relates to a docking device, in particular to a movable docking device used for the transportation of an automatic mobile robot. Background Art

[0002] Automated intelligent handling and warehousing are the core links and new development stages of modern logistics technology, suitable for the automated processing of large-scale, large-volume, high-flow and high-speed logistics. Automated intelligent handling and warehousing can greatly improve the turnover speed and circulation efficiency of objects, accelerate the turnover of warehouse reserve funds, effectively utilize goods resources, and minimize the damage rate of goods; it can adapt to various special requirements, such as low temperature, darkness, toxicity, pollution, explosiveness, flammability and other special occasions, and realize unmanned operation. Its application fields cover various industries such as automobile manufacturing, chemical industry, medicine, rubber, post and telecommunications, textiles, daily necessities, and home appliances.

[0003] In the current automated transportation scenarios, the docking methods between mobile robots and other equipment mainly include fixed storage locations, fixed material platforms, cage trucks, material trucks, etc., as well as cooperation with manual forklifts, AGVs, unmanned forklifts, conveyor lines, etc.

[0004] Fixed material platforms and storage locations require the cooperation of other equipment such as manual forklifts and conveyor lines to achieve docking with AMRs, which will increase a lot of equipment costs. In an environment with limited space, a large number of types and equipment can easily lead to traffic congestion; more links can also easily lead to increased error rates. Ordinary material trucks and cage trucks have limited load capacity and are suitable for carrying light goods, such as light industries such as shoemaking, clothing, and daily chemicals. When there are more goods, a large amount of equipment is required, and heavy goods and pallets cannot be carried.

[0005] With the increasing demand for automated handling, there is an urgent need for more docking and transportation equipment that can meet the needs of complex transportation scenarios, high efficiency and safety. Summary of the invention

[0006] In order to solve the above problems, the utility model provides a movable docking device for automatic mobile robot transportation, which can effectively solve the deficiencies in the prior art.

[0007] The utility model is realized by the following technical scheme: a movable docking device for automatic mobile robot transportation, comprising a main load-bearing bracket, a connecting bracket, a cargo panel, casters and a hand-pushing bracket, wherein the main load-bearing bracket is composed of brackets symmetrically arranged on the left and right sides, and each side bracket provides the main load-bearing through a three-dimensional frame structure composed of an X-direction square tube, a Y-direction square tube and a Z-direction square tube, and a diagonal brace is connected between the X-direction square tube and the Y-direction square tube to enhance the structural stability;

[0008] The connecting bracket is perpendicular to the main load-bearing bracket, and its two ends are respectively connected to the left and right sides of the main load-bearing bracket to reinforce the entire docking device;

[0009] The cargo panel is arranged on the main load-bearing bracket and is used to carry cargo;

[0010] Casters include fixed wheels and universal wheels, which are installed at the bottom of the main load-bearing bracket to provide device mobility;

[0011] The hand-push bracket is installed above the connecting bracket for manual operation to control the movement of the device.

[0012] As a preferred technical solution, each side of the main load-bearing bracket is provided with a main positioning plate arranged along the X-axis square tube for precise positioning of the AMR, and a navigation positioning plate fixed at the end of at least one side of the Y-axis square tube for AMR identification.

[0013] As a preferred technical solution, the navigation positioning board is used to affix automatic identification labels such as QR codes and electronic tags.

[0014] As a preferred technical solution, the connecting bracket is connected to the main load-bearing bracket through a right-angle reinforcement, and an adjustable positioning pin is installed on the connecting bracket to adapt to the conversion between the mobile mode and the fixed mode of the device.

[0015] As a preferred technical solution, the positioning pin is in a raised state when the device is used as a mobile transportation device. When the device is used in a fixed manner, the positioning pin is lowered and inserted into a reserved hole on the ground to fix the position of the device.

[0016] As a preferred technical solution, a limit block is provided on the outer side of the cargo panel to prevent the cargo from slipping during transportation.

[0017] As a preferred technical solution, the directional wheel is fixed to one end of the U-shaped opening below the main load-bearing bracket, and the universal wheel is installed below the connection between the main load-bearing bracket and the connecting bracket.

[0018] As a preferred technical solution, the push bracket includes an upper Y-axis horizontal circular tube as a handle, which facilitates the operator to move and turn the control device by hand.

[0019] The beneficial effects of the utility model are as follows: 1. During the process of automatic transportation, the mobile robot often needs to be docked with other transportation equipment. The docking device of the utility model can realize the docking function of the mobile robot and other transportation equipment;

[0020] Second, in automatic handling scenarios, especially more complex scenarios, there are many types of goods and many docking devices, which will lead to complex intermediate links, easy errors, low efficiency and other problems. The device of the utility model can be used as a docking device with a mobile robot, and it can also be used as a transportation device, which saves the consideration of docking equipment in the automatic transportation plan, reduces the links of equipment switching during automatic transportation, and greatly improves the operation efficiency;

[0021] 3. In the process of automatic handling, the docking accuracy between the automatic handling equipment and the docking device is often the key factor in the quality of the solution, involving the safety of equipment operation, docking efficiency, etc. The device of the utility model provides three interrelated positioning plates for the mobile robot, giving full play to the role of scanning equipment such as laser radar, realizing accurate positioning in the process of automatic docking, and improving the safety of operation;

[0022] Fourth, the hand-pushing bracket of the utility model adopts a humanized design, which is convenient for workers to operate;

[0023] 5. The cargo panel limit block of the utility model can play a role in correcting cargo deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 The three-dimensional structure of the movable docking device provided by the utility model Figure 1 ;

[0026] Figure 2 : The three-dimensional structure of the movable docking device provided by the utility model Figure 2 ;

[0027] Figure 3 : The three-dimensional structure of the movable docking device provided by the utility model Figure 3 ;

[0028] Description of reference numerals:

[0029] 1. Main load-bearing bracket; 2. Connecting bracket; 3. Cargo panel; 4. Fixed wheel; 5. Universal wheel; 6. Hand push bracket; 11. X-axis square tube; 12. Y-axis square tube; 13. Z-axis square tube; 14. Diagonal brace; 15. Main positioning plate; 16. Navigation positioning plate; 21. Y-axis square tube; 22. Z-axis square tube; 23. Right-angle reinforcement; 24. Positioning pin fixing; 25. Positioning pin; 26. Auxiliary positioning plate; 31. Limit block. DETAILED DESCRIPTION

[0030] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.

[0031] Any feature disclosed in this specification (including any additional claims, abstract and drawings), unless otherwise stated, may be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

[0032] like Figure 1-Figure 3 As shown, the utility model is composed of a main load-bearing bracket 1, a connecting bracket 2, a cargo panel 3, fixed wheels 4, universal wheels 5, and a hand-pushing bracket 6.

[0033] The main load-bearing bracket 1 includes brackets symmetrical on the left and right sides, which are composed of an X-direction square tube 11, a Y-direction square tube 12, a Z-direction square tube 13, a diagonal brace 14, a main positioning plate 15, and a navigation positioning plate 16. The front and rear three X-direction square tubes 11, the upper and lower two Y-direction square tubes 12, and the front and rear three Z-direction square tubes 13 on each side constitute the main load-bearing structure of the bracket; the diagonal brace 14 on each side is used to increase the connection points between the X-direction square tube 11 and the Y-direction square tube 12, which plays a role in strengthening the load-bearing and balancing the force; along the direction of the X-direction square tube 11 on both sides, there is a main positioning plate 15 in the shape of a long rectangle, which is used for accurate positioning after the AMR enters the docking device, and the installation height of the two main positioning plates 15 corresponds to the radar height of the AMR; the Y-direction square tube 12 at one end of one side of the bracket is installed with a navigation positioning plate 16 for AMR to identify the position, which is used to post automatic identification marks such as QR codes and electronic tags, so that the AMR can accurately find the docking device when the docking device is fixed in use.

[0034] The two ends of the connecting bracket 2 are respectively connected to the two sides of the main load-bearing bracket 1 and are perpendicular to the main load-bearing bracket 1. They are mainly used to reinforce and balance the force of the entire docking device. They are composed of two upper and lower Y-direction square tubes 12, two left and right Z-direction square tubes 22, a right-angle reinforcement 23, a positioning pin fixing 24, a positioning pin 25, and an auxiliary positioning plate 26. The bracket structure composed of two upper and lower Y-direction square tubes 21 and two left and right Z-direction square tubes 22 is directly connected to the main load-bearing brackets 1 on both sides, forming the main load-bearing part of the entire device; two right-angle reinforcements 23 are installed at the connection between the connecting bracket 2 and the main load-bearing brackets 1 on both sides, which play a role in balancing the force and enhancing the load-bearing capacity; two locating pin fixings 24 are installed on the outside of the two Z-direction square tubes 22, and two locating pins 25 are placed in the two locating pin fixings 24; when the device is used as a mobile transportation equipment, the locating pin 25 is in a raised state, and the upper end of the locating pin 25 points to the direction of the Y-direction square tube 21; when the device is used as a fixed docking device, the locating pin 25 is lowered, and the lower end of the locating pin 25 is inserted into the hole reserved on the ground at the specified position, which plays a role in fixing the position, and the upper end of the locating pin 25 faces outward. The auxiliary positioning plates 26 are installed at both ends of the connecting bracket 2. They are two rectangular panels covering the area between the upper and lower Y-direction square tubes 21 and the outer areas of the left and right Z-direction square tubes 22. When the AMR docks and enters the docking device, the auxiliary positioning plates 26 can prevent the environment in front of the AMR from interfering with the laser radar, thereby improving the docking accuracy.

[0035] The two cargo panels 3 are symmetrical and are mainly installed above the X-axis square tube 11 of the main load-bearing bracket 1. One end surface of the panels is located above the Y-axis square tube 12 of the connecting bracket 2. As the contact surface for placing and transporting goods, the main load-bearing bracket 1 and the connecting bracket 2 provide sufficient load-bearing support for them. On the outside of the two cargo panels 3, there is a long limit block 31 to prevent the goods from deviating from the device during docking and transportation. The main load-bearing bracket 1, the connecting bracket 2, and the cargo panels 3 form a U-shaped structure, and the AMR enters and exits the docking device through the U-shaped opening.

[0036] At the bottom of the device, four casters are installed for walking and moving the device when it is used as a transportation device. Two fixed wheels 4 are installed below one end of the U-shaped opening of the two X-direction square tubes 11 of the main load-bearing bracket 1, and two universal wheels 5 are installed below the connection between the two X-direction square tubes 11 of the main load-bearing bracket 1 and the Y-direction square tube 12 of the connecting bracket 2.

[0037] The hand-pushing bracket 6 is installed above the connecting bracket 2. When the device is used as a mobile transportation device, the hand-pushing bracket 6 is manually operated to control the movement of the device. It is mainly composed of two upper and lower Y-direction horizontal circular tubes 61, two left and right Z-direction vertical circular tubes 62, two left and right corner circular tubes 63, two left and right oblique circular tubes 64, and two left and right rounded circular tubes 65. The two Z-direction vertical circular tubes 62 are installed at the connection between the main load-bearing bracket 1 and the connecting bracket 2, and are connected to the right-angle reinforcement 23 at the same time, which also enhances the integrity and balance of the device structure. The Y-direction horizontal circular tube 61 at the lower side is connected to the two left and right Z-direction vertical circular tubes 62 at both ends, respectively, to play the role of balancing force. At the upper ends of the two right Z-direction vertical circular tubes 62, the corner circular tube 63, the oblique circular tube 64, and the rounded circular tube 65 are connected in sequence, and the two ends of the upper Y-direction horizontal circular tube 61 are respectively connected to the left and right rounded circular tubes 65, so that the entire hand-push bracket 6 is connected as a whole. The outward-inclined structure formed by the corner circular tube 63, the oblique circular tube 64, the rounded circular tube 65, and the upper Y-direction horizontal circular tube 61 is also more conducive to personnel operation.

[0038] When the device is used as a fixed docking device, insert the positioning pin 25 into the hole on the ground at the designated position, step on the brake block of the universal wheel 5, and the entire device will dock at the designated position and cannot move; the AMR reaches the vicinity of the docking device through autonomous navigation, and confirms that the area reached is correct by identifying the mark on the navigation positioning plate 16; the AMR enters the docking device through the U-shaped opening, and scans the main positioning plates 15 on the left and right sides through the laser radar, and continuously calibrates the travel position and posture through the radar feedback data, and finally docks at the designated position of the docking device; the auxiliary positioning plate 26 can effectively block some objects in front of the AMR, ensure the stability of the radar data, and increase the positioning accuracy. When the AMR reaches the designated position of the docking device, it can perform the corresponding docking tasks, such as picking up or releasing goods through the lifting mechanism. When the docking task is completed, the AMR exits the docking device, and when exiting, it also scans the main positioning plates 15 on the left and right sides through the laser radar to ensure that it can accurately return to the outside of the docking device, and then proceed to other tasks in the next step.

[0039] When the docking device is used as a mobile transportation equipment, the positioning pin 25 is in a raised state, the upper end of the positioning pin 25 points to the direction of the Y-axis square tube 12, and the brake block of the universal wheel 5 is in a released state. The worker can operate the docking device to transport goods by holding the Y-axis horizontal circular tube 61 above the hand-held push bracket 6. During the transportation process, the fixed wheel 4 is located in front of the travel direction, and the universal wheel 5 is located behind the travel direction, which is more convenient for the worker to control the steering of the device.

[0040] This design can realize the connection with other handling methods during the automatic handling process of AMR, and has a large load-bearing capacity, which is very suitable for the handling of pallets, metal material tanks, and integrated large and medium-sized structures; through three positioning plates, the characteristics of navigation and positioning equipment such as laser radar are fully utilized, and multiple links achieve more accurate automatic positioning, which increases the safety of the automatic handling process of AMR; it has two modes of fixed connection and mobile handling, and it is easy to switch, which can save manual forklifts, material trucks, manual handling and other equipment and links after connection. After the AMR picks up and puts the goods, the workers can directly switch the device to the mobile transportation mode and move the device to the designated location. This design increases the safety and flexibility of the AMR transportation process, especially solves the problems of transportation congestion caused by too many transfer equipment and the accumulation of docking deviations caused by too many docking processes in relatively complex scenarios, which can greatly improve the operating efficiency and reliability of the automated handling scene.

[0041] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that are not conceived through creative work should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope defined in the claims.

Claims

1. A movable docking device for automatic mobile robot transportation, characterized in that: The invention comprises a main load-bearing bracket (1), a connecting bracket (2), a cargo panel (3), casters and a hand-pushing bracket (6), wherein the main load-bearing bracket (1) is composed of brackets symmetrically arranged on the left and right sides, and each side bracket provides main load-bearing through a three-dimensional frame structure composed of an X-direction square tube (11), a Y-direction square tube (12) and a Z-direction square tube (13), and a diagonal brace (14) is connected between the X-direction square tube (11) and the Y-direction square tube (12) to enhance structural stability; The connecting bracket (2) is perpendicular to the main load-bearing bracket (1), and its two ends are respectively connected to the left and right sides of the main load-bearing bracket (1) to reinforce the entire connecting device; The cargo panel (3) is arranged on the main load-bearing bracket (1) and is used to carry cargo; The casters include fixed wheels (4) and universal wheels (5), which are installed at the bottom of the main load-bearing bracket (1) to provide mobility for the device; The hand-pushing bracket (6) is installed above the connecting bracket (2) for manually operating the control device to move.

2. The movable docking device according to claim 1, characterized in that: Each side of the main load-bearing support (1) is provided with a main positioning plate (15) arranged along the X-direction square tube (11) for accurate positioning of the AMR, and a navigation positioning plate (16) fixed at the end of at least one side of the Y-direction square tube (12) for identification by the AMR.

3. The movable docking device according to claim 2, characterized in that: The navigation positioning plate (16) is used for attaching automatic identification marks such as QR codes and electronic tags.

4. The movable docking device according to claim 1, characterized in that: The connecting bracket (2) is connected to the main load-bearing bracket (1) via a right-angle reinforcement (23), and an adjustable positioning pin (25) is installed on the connecting bracket (2) to adapt to the conversion between the mobile mode and the fixed mode of the device.

5. The movable docking device according to claim 4, characterized in that: The positioning pin (25) is in a raised state when the device is used as a mobile transport device. When the device is used in a fixed manner, the positioning pin (25) is lowered and inserted into a reserved hole on the ground to fix the position of the device.

6. The movable docking device according to claim 1, characterized in that: A limit block (31) is provided on the outer side of the cargo panel (3) to prevent the cargo from slipping during the transportation process.

7. The movable docking device according to claim 1, characterized in that: The directional wheel (4) is fixed to one end of the U-shaped opening below the main load-bearing bracket (1), and the universal wheel (5) is installed below the connection between the main load-bearing bracket (1) and the connecting bracket (2).

8. The movable docking device according to claim 1, characterized in that: The hand-pushing bracket (6) comprises an upper Y-shaped horizontal circular tube as a handle, which facilitates the operator to move and turn the control device by hand.

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