Transportation device and transportation system

Abstract

The utility model provides a transportation device and a transportation system, and belongs to the technical field of transportation, the transportation device is used for a guide device, the guide device comprises a first plug connector, the transportation device comprises a transportation assembly and a second plug connector, the second plug connector is arranged on the transportation assembly, and the second plug connector is used for being connected with the first plug connector in an inserted mode in the first direction. The first plug connector is provided with a plug protrusion or a plug groove, and the second plug connector is provided with a plug groove or a plug protrusion matched with the plug protrusion or the plug groove. The insertion mode is contact type positioning, so that the relative position relation between the conveying device and the target equipment is fixed, accurate positioning of the conveying device on the target equipment is achieved, automatic feeding of the target equipment is achieved, manual feeding operation can be omitted, and the labor cost is saved. Therefore, according to the transportation device and the transportation system provided by the embodiment of the invention, the positioning precision of the transportation device on the first plug connector can be improved, and therefore automatic feeding of the transportation device on the target equipment is easily achieved.

Description

Technical Field

[0001] The present application relates to the field of transportation technology, and in particular to a transportation device and a transportation system. Background Art

[0002] An Automated Guided Vehicle (AGV) is an unmanned automated vehicle that has an electromagnetic, photoelectric or rail-based automatic guidance structure, can travel along a planned path, is powered by batteries, and is equipped with safety protection and various transfer functions. Under the monitoring and task scheduling of a control computer, an AGV can accurately follow the prescribed path, arrive at the preset task location, and complete a series of tasks.

[0003] In the related technology, the transportation device may include an automatic guided vehicle and a material cart. The material cart can be used to load materials. The automatic guided vehicle and the material cart can be connected by traction or carrying, so that the material cart can be driven by the automatic guided vehicle to move to the target equipment, thereby realizing the automated transportation of materials.

[0004] However, the positioning accuracy of the above-mentioned automatic guided vehicle for the target equipment is low, so that automatic loading of the target equipment cannot be achieved. Utility Model Content

[0005] In view of at least one of the above technical problems, an embodiment of the present application provides a transport device and a transport system, which can improve the positioning accuracy of the transport device for the first connector, thereby facilitating automatic loading of the target device by the transport device.

[0006] The embodiments of the present application provide the following technical solutions:

[0007] A first aspect of an embodiment of the present application provides a transport device for a guide device, the guide device comprising a first plug-in component, the transport device comprising a transport assembly and a second plug-in component, the second plug-in component being arranged on the transport assembly, and the second plug-in component being used to be plugged and connected with the first plug-in component along a first direction. The first plug-in component is provided with a plug-in protrusion or a plug-in groove, and the second plug-in component is provided with a matching plug-in groove or a plug-in protrusion.

[0008] The transport device provided in the embodiment of the present application can be used for the guide device, the guide device includes a first plug-in, the transport device includes a transport assembly and a second plug-in, the second plug-in is arranged on the transport assembly, and the second plug-in is used to be plugged and connected with the first plug-in along the first direction. The first plug-in is provided with a plug-in protrusion or a plug-in groove, and the second plug-in is provided with a matching plug-in groove or a plug-in protrusion. In this way, the transport device and the guide device can be positioned by plugging, and the plug-in method is contact positioning. The relative position relationship between the first plug-in and the second plug-in is relatively fixed. When the relative position relationship between the first plug-in and the target device can be fixed, the relative position relationship between the second plug-in and the target device is fixed, so that the relative position relationship between the transport device and the target device is fixed, and the transport device can accurately position the target device, so as to realize automatic loading of the target device, thereby eliminating the manual loading operation, saving labor costs, and avoiding operational errors caused by personnel negligence. In addition, since the relative position relationship between the first connector and the second connector is relatively fixed, the abnormal displacement of the transport device due to poor ground flatness can be alleviated to a certain extent, thereby further improving the positioning accuracy of the transport device for the target equipment.

[0009] In one possible embodiment, the second connector is provided with a plug-in protrusion, and when the first connector and the second connector are in a plug-in state, the plug-in protrusion is used to abut against the bottom wall of the plug-in groove of the first connector and two groove side walls spaced apart along the second direction, and the width of one end of the groove of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different.

[0010] Alternatively, the second connector is provided with a plug-in groove, and when the first connector and the second connector are in a plug-in state, the groove bottom wall of the plug-in groove and two groove side walls spaced apart along the second direction are used to abut against the plug-in protrusion of the first connector, and the width of one end of the groove of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different.

[0011] In a possible embodiment, the transport component has a portion to be guided, and a first roller group and a second roller group are arranged on the portion to be guided, and the first roller group and the second roller group are arranged at intervals along the second direction, and the first roller group and the second roller group each include a plurality of rollers, and each roller is rotatably connected to the portion to be guided. The plurality of rollers in the first roller group are arranged at intervals along the first direction. The plurality of rollers in the second roller group are arranged at intervals along the first direction. When the transport component is in a guiding state, the first roller group is used to be arranged on a support surface of one of the support members, and the second roller group is used to be arranged on a support surface of another support member.

[0012] In a possible implementation, the transport assembly includes a connected guide vehicle and a carrier vehicle, and the second connector is disposed on at least one of the guide vehicle and the carrier vehicle. The bottom of the carrier vehicle forms a portion to be guided, the portion to be guided has a receiving space, and the guide vehicle is located in the receiving space.

[0013] In a possible implementation, the object carrier is further included, and the object carrier is used to connect with the material, one of the transport component and the object carrier is provided with a mounting protrusion, and the other of the transport component and the object carrier is provided with a mounting recess. When the object carrier and the transport component are in the installed state, the mounting protrusion is inserted into the mounting recess.

[0014] The second aspect of the embodiment of the present application provides a transportation system, comprising a guide device and the transportation device of the first aspect, wherein the guide device comprises a first plug-in component, and the transportation device comprises a transportation component and a second plug-in component, wherein the second plug-in component is arranged on the transportation component, and the second plug-in component is connected to the first plug-in component by plugging along a first direction. The first plug-in component is provided with a plug-in protrusion or a plug-in groove, and the second plug-in component is provided with a matching plug-in groove or a plug-in protrusion.

[0015] The transport system provided by the embodiment of the present application includes a transport device and a guide device, the guide device includes a first plug-in component, the transport device includes a transport assembly and a second plug-in component, the second plug-in component is arranged on the transport assembly, and the second plug-in component is used to be plugged and connected with the first plug-in component along a first direction. The first plug-in component is provided with a plug-in protrusion or a plug-in groove, and the second plug-in component is provided with a matching plug-in groove or a plug-in protrusion. In this way, the transport device and the guide device can be positioned by plugging, and the plug-in method is contact positioning. The relative position relationship between the first plug-in component and the second plug-in component is relatively fixed. When the relative position relationship between the first plug-in component and the target device can be fixed, the relative position relationship between the second plug-in component and the target device is fixed, so that the relative position relationship between the transport device and the target device is fixed, and the transport device can accurately position the target device, so as to realize automatic loading of the target device, thereby eliminating the manual loading operation, saving labor costs, and avoiding operational errors caused by personnel negligence. In addition, since the relative position relationship between the first connector and the second connector is relatively fixed, the abnormal displacement of the transport device due to poor ground flatness can be alleviated to a certain extent, thereby further improving the positioning accuracy of the transport device for the target equipment.

[0016] In one possible embodiment, the first connector is provided with a plug-in groove, and the second connector is provided with a plug-in protrusion. When the first connector and the second connector are in a plug-in state, the plug-in protrusion abuts against the bottom wall of the plug-in groove of the first connector and two groove side walls spaced apart along the second direction, and the width of one end of the groove of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different.

[0017] Alternatively, the first connector is provided with a plug-in protrusion and the second connector is provided with a plug-in groove. When the first connector and the second connector are in a plug-in state, the bottom wall of the plug-in groove and two groove side walls spaced apart along the second direction abut against the plug-in protrusion of the first connector, and the width of one end of the notch of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different.

[0018] In a possible embodiment, the guide device includes a guide assembly, the guide assembly has a guide channel extending along a first direction, the guide channel includes a first end and a second end located in the first direction, and the first connector is arranged near the first end. The transport assembly has a portion to be guided, and when the transport assembly is in a guiding state, the portion to be guided is located in the guide channel, and the transport assembly moves along the guide channel toward or away from the first connector. From the second end to the first end, the width of the second end along the second direction gradually decreases. Along the second direction, the port width of the second end has a first difference with the width of the portion to be guided, the notch width of the plug-in groove has a second difference with the end face width of the plug-in protrusion, and the first difference is greater than the second difference.

[0019] In a possible implementation, the guide assembly includes two guide members, which extend along a first direction and are spaced apart along a second direction, with a guide channel formed between the two guide members.

[0020] In a possible implementation, the guide assembly includes two support members, one support member is correspondingly arranged to one guide member, the support member has a support surface, the guide member is located on the support surface, and the guide channel is located on one side of the support surface.

[0021] In a possible embodiment, a first roller group and a second roller group are arranged on the portion to be guided, the first roller group and the second roller group are arranged at intervals along the second direction, and the first roller group and the second roller group each include a plurality of rollers, each of which is rotatably connected to the portion to be guided. The plurality of rollers in the first roller group are arranged at intervals along the first direction. The plurality of rollers in the second roller group are arranged at intervals along the first direction. When the transport assembly is in the guiding state, the first roller group is arranged on the support surface of one of the support members, and the second roller group is arranged on the support surface of the other support member.

[0022] In a possible implementation, one of the first connector and the second connector is provided with a contact sensor, the sensing end of the contact sensor is located between the plug-in protrusion and the bottom wall of the plug-in groove, and the plug-in protrusion abuts against the bottom wall of the plug-in groove through the sensing end.

[0023] In a possible embodiment, the guide device includes a first locking member, and the transport assembly is provided with a second locking member. The first locking member is provided with a locking protrusion, and the second locking member is provided with a locking recess, and the locking recess includes a first inner wall close to the first locking member. Alternatively, the first locking member is provided with a locking recess, and the second locking member is provided with a locking protrusion, and the locking recess includes a first inner wall close to the second locking member. When the first plug-in connector and the second plug-in connector are in a plugged state, the locking protrusion is located in the locking recess, the locking protrusion abuts against the first inner wall, and the first locking member and the second locking member are in a locked state.

[0024] In a possible embodiment, it also includes a driving member, which is connected to the locking protrusion. When the first connector and the second connector are in a plugged state, the locking protrusion and the locking recess are arranged relative to each other, and the driving member is used to drive the locking protrusion to rotate in a direction close to the locking recess so that the locking protrusion is located in the locking recess. The driving member is used to drive the locking protrusion to move in a direction close to the first inner wall so that the locking protrusion abuts against the first inner wall.

[0025] In a possible implementation, the guiding device includes a light emitter and a light sensor spaced apart along the second direction, and the light emitted by the light emitter is directed toward the light sensor. When the first connector and the second connector are in a plugged state, the surface of the transport component facing the first connector can block the light emitted by the light emitter toward the light sensor.

[0026] The construction of the present application as well as its other objects and beneficial effects will be more clearly understood through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A schematic diagram of the structure of the transportation system provided in the embodiment of the present application;

[0029] Figure 2 A schematic diagram of the structure of the guide device provided in the embodiment of the present application;

[0030] Figure 3 A schematic diagram of the structure of the transport device provided in the embodiment of the present application;

[0031] Figure 4 A schematic diagram of the structure of a first connector and a second connector provided in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of the structure of a carrier vehicle and a part of a guide device provided in an embodiment of the present application;

[0033] Figure 6 A schematic diagram of the structure of the carrier vehicle and the guide device provided in an embodiment of the present application.

[0034] Description of reference numerals:

[0035] 100: transport system; 110: guide device;

[0036] 111a: first plug-in component; 112a: first locking component;

[0037] 113a: first electrical connector; 114: mounting member;

[0038] 120: guide assembly; 121: guide channel;

[0039] 121a: first end; 121b: second end;

[0040] 122: guide member; 123: support member;

[0041] 1231: supporting surface; 124: fixing member;

[0042] 130: transport device; 131b: second connector;

[0043] 132b: second locking member; 133b: second electrical connector;

[0044] 140: transport component; 141: guide vehicle;

[0045] 142: a carrier vehicle; 142a: a portion to be guided;

[0046] 143: load-bearing body; 144: load-bearing rod group;

[0047] 1441: first load-bearing rod; 1442: second load-bearing rod;

[0048] 145: roller; 150: object carrier;

[0049] 151: a carrying rod; 161: a light transmitter;

[0050] 162: light sensor; 163: contact sensor;

[0051] 171: plug-in protrusion; 1711: accommodating area;

[0052] 172: Insertion groove; 173: Installation protrusion;

[0053] 174: installation recess; 175: locking protrusion;

[0054] 176: locking recess; 1761: first inner wall. DETAILED DESCRIPTION

[0055] In the related technology, the transport device may include an automatic guided vehicle and a material cart. The material cart may be used to load materials. The automatic guided vehicle and the material cart may be connected by traction or carrying, so that the material cart is driven by the automatic guided vehicle to move to the target equipment to realize the automatic transportation of materials. The automatic guided vehicle may use non-contact positioning methods such as radar and laser positioning to realize the positioning of the target equipment by the automatic guided vehicle.

[0056] However, when the automatic guided vehicle is positioned on the target device by a non-contact positioning method, since there is no connection between the automatic guided vehicle and the target device, on the one hand, the positioning accuracy of the non-contact positioning device (for example, a radar positioning device, a laser positioning device, etc.) will affect the positioning accuracy of the automatic guided vehicle on the target device. On the other hand, when the road surface flatness is poor, after the automatic guided vehicle has positioned the target device, the automatic guided vehicle may have abnormal displacements such as sliding, which further affects the positioning accuracy of the automatic guided vehicle on the target device, making the positioning accuracy of the automatic guided vehicle on the target device low, and thus unable to achieve automatic loading of the target device. After the automatic guided vehicle transports the materials to the target device, it is still necessary to manually place the materials on the target device, which makes the loading operation more cumbersome and the labor cost higher. In addition, there are also operational errors caused by human negligence.

[0057] Based on at least one of the above technical problems, the embodiment of the present application provides a transport device and a transport system, wherein the transport device can be used for a guide device, the guide device includes a first plug-in, the transport device includes a transport assembly and a second plug-in, the second plug-in is arranged on the transport assembly, and the second plug-in is used to be plugged and connected with the first plug-in along a first direction. The first plug-in is provided with a plug-in protrusion or a plug-in groove, and the second plug-in is provided with a matching plug-in groove or a plug-in protrusion. In this way, the transport device and the guide device can be positioned by plugging, and the plug-in method is contact positioning. The relative position relationship between the first plug-in and the second plug-in is relatively fixed. When the relative position relationship between the first plug-in and the target device can be fixed, the relative position relationship between the second plug-in and the target device is fixed, so that the relative position relationship between the transport device and the target device is fixed, and the transport device can accurately position the target device, so as to realize automatic loading of the target device, thereby eliminating the manual loading operation, saving labor costs, and avoiding operational errors caused by personnel negligence. In addition, since the relative position relationship between the first connector and the second connector is relatively fixed, the abnormal displacement of the transport device due to poor ground flatness can be alleviated to a certain extent, thereby further improving the positioning accuracy of the transport device for the target equipment.

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] The following will be combined Figure 1-Figure 6 The transportation system 100 provided in the embodiment of the present application is described.

[0060] The present application embodiment provides a transportation system 100, see Figure 1-Figure 3 The transport system 100 may include a guide device 110 and a transport device 130. The guide device 110 may be used to guide and position the transport device 130, thereby achieving accurate positioning of the target part by the transport device 130. The embodiment of the present application is described by taking the target part as a target device as an example.

[0061] In some embodiments, see Figure 1, the guide device 110 may include a first connector 111a, the transport device 130 may include a transport assembly 140 and a second connector 131b, and the second connector 131b may be arranged on the transport assembly 140. The second connector 131b and the first connector 111a may be plugged and connected along the first direction X. In this way, the transport device 130 and the guide device 110 may be positioned by plugging, and the plugging method is contact positioning. The relative position relationship between the first connector 111a and the second connector 131b is relatively fixed, and the relative position relationship between the first connector 111a and the target device is fixed, so that the relative position relationship between the second connector 131b and the target device is fixed, so that the relative position relationship between the transport device 130 and the target device is fixed, and the transport device 130 can accurately position the target device, so as to realize automatic loading of the target device, thereby eliminating the manual loading operation, saving labor costs, and avoiding operational errors caused by human negligence. In addition, since the relative position relationship between the first connector 111a and the second connector 131b is relatively fixed, the abnormal displacement of the transportation device 130 caused by poor ground flatness can be alleviated to a certain extent, thereby further improving the positioning accuracy of the transportation device 130 for the target equipment.

[0062] The number of the first connector 111a and the number of the second connector 131b can be at least one. When the number of the first connector 111a and the second connector 131b are both plural, one first connector 111a can be connected to one second connector 131b in a corresponding manner. For example, the number of the first connector 111a and the second connector 131b can be 2, 3, or more than 3.

[0063] The first connector 111a and the corresponding second connector 131b provided in the embodiment of the present application are described below.

[0064] See also Figure 1 The first connector 111a can be disposed on the mounting member 114, and the mounting member 114 is connected to the target device. Alternatively, the mounting member 114 can be disposed close to the target device and have a fixed spacing with the target device, so that the relative position relationship between the first connector 111a and the target device can be fixed.

[0065] In some embodiments, one of the first connector 111a and the second connector 131b may be provided with a plug-in groove 172, and the other of the first connector 111a and the second connector 131b may be provided with a plug-in protrusion 171. When the transportation device 130 is in a positioning state with respect to the guide device 110, the plug-in protrusion 171 is located in the plug-in groove 172, and the plug-in state of the first connector 111a and the second connector 131b is formed.

[0066] For some examples, see Figure 1 and Figure 4 The first connector 111a may be provided with a plugging protrusion 171, and the second connector 131b may be provided with a matching plugging groove 172. The plugging protrusion 171 of the first connector 111a may be plugged into the plugging groove 172 of the second connector 131b, that is, the first connector 111a and the second connector 131b may be plugged and connected through the plugging protrusion 171 and the plugging groove 172. The plugging and connection between the first connector 111a and the second connector 131b is realized through the plugging protrusion 171 and the plugging groove 172, and this implementation method is relatively simple. In other examples, the first connector 111a may be provided with a plug-in groove 172, and the second connector 131b may be provided with a matching plug-in protrusion 171. The plug-in groove 172 of the first connector 111a may be provided for the plug-in protrusion 171 of the second connector 131b to be plugged in. The principle has been explained and will not be repeated here.

[0067] The following is an explanation of the cooperation between the plug-in protrusion 171 and the corresponding plug-in groove 172 provided in the embodiment of the present application.

[0068] See also Figure 1 and Figure 4 In an embodiment in which the first connector 111a is provided with a plug-in protrusion 171 and the second connector 131b is provided with a plug-in groove 172, when the first connector 111a and the second connector 131b are in a plug-in state and the plug-in protrusion 171 is inserted into the plug-in groove 172, the plug-in protrusion 171 abuts against the bottom wall of the plug-in groove 172, thereby preventing the first connector 111a and the second connector 131b from continuing to approach each other, so that the relative position relationship between the transportation device 130 and the target device along the first direction X is fixed. The plug-in protrusion 171 can abut against the two groove side walls of the plug-in groove 172 that are spaced apart along the second direction Y, so that the plug-in protrusion 171 can be limited along the second direction Y, so that the relative position relationship between the first connector 111a and the second connector 131b along the second direction Y can be fixed, so that the relative position relationship between the transport device 130 and the target device along the second direction Y is fixed, so that the transport device 130 can accurately position the target device, so as to realize automatic loading of the target device, save manual loading operations, save labor costs, and avoid operational errors caused by personnel negligence. The principle has been explained and will not be repeated. In addition, when the transport device 130 is in a positioning state with respect to the target device, abnormal displacement of the transport device 130 along the second direction Y can also be avoided, so that the positioning accuracy of the transport device 130 with respect to the target device can be further improved.

[0069] In an embodiment in which the first connector 111a is provided with a plug-in groove 172 and the second connector 131b is provided with a plug-in protrusion 171, when the first connector 111a and the second connector 131b are in a plug-in state and the plug-in protrusion 171 is inserted in the plug-in groove 172, the plug-in protrusion 171 abuts against the groove bottom wall of the plug-in groove 172, thereby preventing the first connector 111a and the second connector 131b from continuing to approach each other, so that the relative position relationship between the transportation device 130 and the target device along the first direction X is fixed, and the plug-in protrusion 171 can abut against two groove side walls of the plug-in groove 172 spaced apart along the second direction Y, thereby limiting the plug-in protrusion 171 along the second direction Y, so that the relative position relationship between the transportation device 130 and the target device along the second direction Y is fixed, thereby realizing accurate positioning of the transportation device 130 on the target device, and in addition, it can also avoid abnormal displacement of the transportation device 130 along the second direction Y. The principle has been explained and will not be repeated here.

[0070] In some embodiments, the transport device 130 may be provided with a non-contact positioning device, such as a radar positioning device, a laser positioning device, etc. The transport device 130 may achieve coarse positioning of the target device through the positioning device, and achieve precise positioning of the target device through the first connector 111a and the second connector 131b.

[0071] In some embodiments, see Figure 4 The width of one end of the slot of the plug-in groove 172 along the second direction Y gradually decreases from the direction in which the plug-in protrusion 171 is inserted into the plug-in groove 172, so that the size of the slot of the plug-in groove 172 is larger, so that the plug-in protrusion 171 can be more easily inserted into the plug-in groove 172, which is convenient for realizing the plug-in between the first plug-in component 111a and the second plug-in component 131b, and is conducive to reducing the positioning accuracy requirements of the positioning device. In addition, the slot end of the plug-in groove 172 has a guiding effect on the plug-in protrusion 171. Among them, the first direction X and the second direction Y can be different.

[0072] The locking state provided in the embodiment of the present application is described below.

[0073] In some embodiments, see Figure 5The guide device 110 may include a first locking member 112a, and the first locking member 112a may be connected to the mounting member 114. A second locking member 132b may be provided on the transport assembly 140. The first locking member 112a may be provided with a locking protrusion 175, and the second locking member 132b may be provided with a locking recess 176, and the locking recess 176 may include a first inner wall 1761 close to the first locking member 112a. When the first connector 111a and the second connector 131b are in the plugged state, the locking protrusion 175 can be located in the locking recess 176, and the locking protrusion 175 can abut against the first inner wall 1761, thereby preventing the first connector 111a and the second connector 131b from moving away from each other along the first direction X, and forming a locked state of the first locking member 112a and the second locking member 132b, so that the abutment between the plug-in protrusion 171 and the bottom wall of the plug-in groove 172 is relatively tight, and abnormal displacement of the transportation device 130 along the first direction X is avoided.

[0074] In some other embodiments, the guide device 110 may include a first locking member 112a, and the transport assembly 140 may be provided with a second locking member 132b. The first locking member 112a may be provided with a locking recess 176, and the second locking member 132b may be provided with a locking protrusion 175, and the locking recess 176 may include a first inner wall 1761 close to the second locking member 132b. When the first plug-in connector 111a and the second plug-in connector 131b are in the plug-in state, the locking protrusion 175 may be located in the locking recess 176, and the locking protrusion 175 may abut against the first inner wall 1761, so that the first plug-in connector 111a and the second plug-in connector 131b can be prevented from moving away from each other along the first direction X, and the first locking member 112a and the second locking member 132b are in a locked state, so that the abutment between the plug-in protrusion 171 and the groove bottom wall of the plug-in groove 172 is relatively tight, and the abnormal displacement of the transport device 130 along the first direction X is also avoided.

[0075] In some embodiments, see Figure 5 The transport system 100 may include a driving member (not shown in the figure), and the driving member and the locking protrusion 175 may be connected. When the first plug-in member 111a and the second plug-in member 131b are in the plugged state, the locking protrusion 175 and the locking recess 176 are arranged relative to each other, and the driving member can be used to drive the locking protrusion 175 to rotate in the direction close to the locking recess 176, so that the locking protrusion 175 is located in the locking recess 176. The driving member can also be used to drive the locking protrusion 175 to move in the direction close to the first inner wall 1761, so that the locking protrusion 175 abuts against the first inner wall 1761, thereby realizing automatic locking between the first locking member 112a and the second locking member 132b, which can improve the automation of the transport system 100.

[0076] The contact sensor 163 provided in the embodiment of the present application is described below.

[0077] In some embodiments, see Figure 4 , one of the first connector 111a and the second connector 131b may be provided with a contact sensor 163, the sensing end of the contact sensor 163 may be located between the plug-in protrusion 171 and the bottom wall of the plug-in groove 172, and the plug-in protrusion 171 and the bottom wall of the plug-in groove 172 may be butted against each other through the sensing end of the contact sensor 163. The transportation system 100 may include a controller, and the controller may be electrically connected to the contact sensor 163. When the plug-in protrusion 171 and the bottom wall of the plug-in groove 172 are butted against each other through the sensing end of the contact sensor 163, the first connector 111a and the second connector 131b are plugged in place, and the positioning of the target device by the transportation device 130 has been achieved, and the controller may obtain a signal of the contact sensor 163 to confirm whether the transportation device 130 has reached the correct position. In addition, the controller may control the working state of other structural parts according to the signal of the contact sensor 163. For example, the controller may be electrically connected to the transport device 130 , and the controller may control the transport device 130 to stop moving according to the signal of the contact sensor 163 to avoid damaging the first connector 111 a and the second connector 131 b .

[0078] For example, a receiving area 1711 may be provided in the plug-in protrusion 171 , a portion of the contact sensor 163 may be provided in the receiving area 1711 , and a sensing end of the contact sensor 163 may extend out of the receiving area 1711 and extend between the plug-in protrusion 171 and the bottom wall of the plug-in groove 172 .

[0079] The light emitter 161 and the light sensor 162 provided in the embodiment of the present application are described below.

[0080] In some embodiments, see Figure 6The guide device 110 may include a light emitter 161 and a light sensor 162 arranged at intervals along the second direction Y, and the light emitter 161 and the light sensor 162 may be connected to different mounting parts 114, respectively. The light emitted by the light emitter 161 is directed toward the light sensor 162. The light sensor 162 may be electrically connected to the controller. When the first connector 111a and the second connector 131b are in a plug-in state, the surface of the transport component 140 facing the first connector 111a can block the light emitted by the light emitter 161 to the light sensor 162, so that the light sensor 162 cannot receive the light emitted by the light emitter 161. The controller can obtain the signal of the light sensor 162, thereby knowing that the first connector 111a and the second connector 131b are plugged in place, and the controller controls the working state of other structural parts according to the signal of the light sensor 162. For example, the controller can be electrically connected to the transport device 130, and the controller can control the transport device 130 to stop moving according to the signal of the light sensor 162 to avoid damaging the first connector 111a and the second connector 131b. When the first connector 111a and the second connector 131b are in a non-plugged state, that is, when the first connector 111a and the second connector 131b are not plugged in place, the light emitted by the light emitter 161 is not blocked by the transport component 140 and can be received by the light sensor 162, and the controller can obtain another signal of the light sensor 162.

[0081] Among them, the transportation system 100 can detect whether the first connector 111a and the second connector 131b are plugged in place, that is, whether the transportation device 130 can achieve accurate positioning of the target equipment through the cooperation of the light emitter 161, the light sensor 162, and / or the contact sensor 163, and control whether to perform automatic loading operation according to the corresponding signal.

[0082] The guide assembly 120 provided in the embodiment of the present application is described below.

[0083] In some embodiments, see Figure 2, the guide device 110 may include a guide assembly 120, and the guide assembly 120 may have a guide channel 121 extending along the first direction X, and the guide channel 121 may guide the transport device 130. The guide channel 121 may include a first end 121a and a second end 121b located in the first direction X, and the first connector 111a may be arranged near the first end 121a. When the transport assembly 140 is in the guiding state, at least part of the transport device 130 may be located in the guide channel 121, and the transport device 130 may move along the guide channel 121 in a direction close to or away from the first connector 111a. For example, the transport device 130 may enter the guide channel 121 from the second end 121b, and move along the guide channel 121 toward the first connector 111a close to the first end 121a. Alternatively, the transport device 130 may move along the guide channel 121 toward the first connector 111a away from the first end 121a, and exit the guide channel 121 from the second end 121b.

[0084] In some embodiments, see Figure 2 , along the direction from the second end 121b to the first end 121a, the width of the second end 121b along the second direction Y gradually decreases, so that the width of the port of the second end 121b is larger, so that the transportation device 130 can more easily enter the guide channel 121, which is beneficial to reducing the positioning accuracy requirements of the positioning device.

[0085] In some embodiments, see Figure 6 The transport component 140 may have a portion to be guided 142a. When the transport component 140 is in the guiding state, the portion to be guided 142a may be located in the guide channel 121. Along the second direction Y, the port width of the second end 121b and the width of the portion to be guided 142a may have a first difference. The insertion groove 172 ( Figure 4 ) and the slot width of the plug-in protrusion 171 ( Figure 4 ) may have a second difference in the width of the end face, and the first difference may be greater than the second difference. In this arrangement, the first difference is larger, that is, the width of the port of the second end 121b is larger than the width of the portion to be guided 142a, which can better reduce the difficulty of the transport component 140 entering the guide channel 121. The second difference is smaller, so that the positioning accuracy between the first connector 111a and the second connector 131b is higher, which is equivalent to that the guiding accuracy of the guide component 120 for the transport device 130 is lower than the guiding accuracy between the first connector 111a and the second connector 131b. The transport component 140 is roughly positioned in advance by the guide component 120 with lower guiding accuracy, which can reduce the difficulty of mutual plugging between the first connector 111a and the second connector 131b, thereby making it easier to achieve accurate positioning of the transport device 130 to the target device.

[0086] In some embodiments, see Figure 2 The guide assembly 120 may include two guide members 122 , the two guide members 122 may extend along the first direction X, and the two guide members 122 may be spaced apart along the second direction Y, and a guide channel 121 may be formed between the two guide members 122 .

[0087] In some embodiments, see Figure 2 The guide assembly 120 may include two support members 123, one support member 123 and one guide member 122 may be connected to each other, the support member 123 may have a support surface 1231, and the guide member 122 may be located on the support surface 1231 of the corresponding support member 123. For example, the support surface 1231 may be the top surface of the support member 123. The guide channel 121 may be located on the side of the support surface 1231 facing the guide member 122, and part of the guide channel 121 may be located between the two support members 123. At least one of the support member 123 and the guide member 122 may be installed with a surface to be installed (e.g., the ground) through a fixing member 124.

[0088] The transport component 140 provided in the embodiment of the present application is described below.

[0089] In some embodiments, see Figure 3 The transport component 140 may include a guide vehicle 141 and a carrier vehicle 142. The carrier vehicle 142 may be used to carry materials. The guide vehicle 141 and the carrier vehicle 142 may be connected by traction or carrying, so that the guide vehicle 141 drives the carrier vehicle 142 to move to the target equipment, thereby realizing automated transportation of materials.

[0090] In some embodiments, the second connector 131b may be disposed on at least one of the guide vehicle 141 and the carrier vehicle 142. The present application embodiment is described by taking the second connector 131b as being disposed on the guide vehicle 141 as an example. Figure 3 For example, the second connector 131b may be disposed close to the top of the guide vehicle 141, thereby facilitating maintenance and observation of the second connector 131b.

[0091] In some embodiments, see Figure 3 and Figure 5 The bottom of the carrier vehicle 142 can form a portion to be guided 142a, and the portion to be guided 142a can have an accommodating space. When the guide vehicle 141 and the carrier vehicle 142 are connected, at least part of the guide vehicle 141 can be located in the accommodating space, which is beneficial to reducing the total volume of the transportation component 140.

[0092] In some embodiments, see Figure 5The carrying vehicle 142 may include a carrying body 143 and two carrying rod groups 144 located at the bottom of the carrying body 143. The two carrying rod groups 144 may be arranged at intervals along the second direction Y. Each carrying rod group 144 may include two first carrying rods 1441 arranged at intervals along the first direction X and a second carrying rod 1442 located between the two first carrying rods 1441. The ends of the two carrying rod groups 144 facing away from the carrying body 143 may form at least a portion of the portion to be guided 142a, so that the structure of the portion to be guided 142a is relatively simple, which is conducive to simplifying the structure of the transportation component 140.

[0093] In some embodiments, see Figure 5 , the portion to be guided 142a may be provided with a first roller group and a second roller group, the first roller group and the second roller group may be arranged at intervals along the second direction Y, the first roller group may be arranged at one of the two bearing rod groups 144, and the second roller group may be arranged at the other of the two bearing rod groups 144. The first roller group and the second roller group may each include a plurality of rollers 145, and each roller 145 may be rotatably connected to the portion to be guided 142a. The plurality of rollers 145 of each roller group (the second roller group and / or the second roller group) may be arranged at intervals along the first direction X, so that the first roller group and the second roller group may form a stable support for the transport assembly 140.

[0094] For example, see Figure 6 When the transport assembly 140 is in the guiding state, the guided portion 142a can be located in the guiding channel 121, the multiple rollers 145 of the first roller group can be arranged on the supporting surface 1231 of one of the supporting members 123, and the multiple rollers 145 of the second roller group can be arranged on the supporting surface 1231 of another supporting member 123. The friction between the rollers 145 and the supporting surface 1231 is small, which is conducive to reducing the friction between the carrier 142 and the guiding assembly 120. In addition, the supporting member 123 can protect the ground and reduce the wear of the ground.

[0095] In some embodiments, see Figure 1 and Figure 3 The transport device 130 may further include a carrier 150, which may be used to connect with materials, one of the transport component 140 and the carrier 150 may be provided with a mounting protrusion 173, and the other of the transport component 140 and the carrier 150 may be provided with a mounting recess 174. When the carrier 150 and the transport component 140 are in the installation state, the mounting protrusion 173 may be inserted into the mounting recess 174, so that the installation of the carrier 150 and the transport component 140 is relatively simple. The embodiment of the present application is described by taking the mounting protrusion 173 provided on the carrier 142 and the mounting recess 174 provided on the carrier 150 as an example.

[0096] Exemplarily, the object carrier 150 may include a plurality of carrier rods 151 spaced apart along the circumference of the object carrier 150 . One carrier rod 151 may be connected to at least one material, or a plurality of carrier rods 151 may be connected to at least one material.

[0097] In the related art, there is no object carrying part on the carrier, and the carrier is not universal. One carrier can only carry one type of material. When multiple types of materials need to be transported, multiple carriers are required, resulting in a large number of carriers required, an increase in the operating cost of the transportation system, and multiple carriers occupy a large space, resulting in space waste. In addition, when it is necessary to change materials for transportation, the guide vehicle needs to return to the starting point (for example, the carrier storage point) to change the carrier, and then move to the material storage point to transport the next type of material, resulting in a high time cost.

[0098] In some embodiments, the transport device 130 may be provided with a plurality of carriers 150, that is, a carrier vehicle 142 may be provided with a plurality of carriers 150. The plurality of carriers 150 may be used to connect with different types of materials, so that the same carrier vehicle 142 and the plurality of carriers 150 may be used to transport different types of materials, thereby improving the versatility of the carrier vehicle 142, and eliminating the need to configure different carrier vehicles 142 for different types of materials, thereby reducing the number of carrier vehicles 142 and reducing the operating cost and space cost of the transport system 100. In addition, different carriers 150 may be assembled with different types of materials, and when material replacement and transportation are required, the guide vehicle 141 may move directly to the material storage point to transport the next type of material, and the guide vehicle 141 does not need to return to the starting point to replace the carrier vehicle 142, thereby saving time costs, reducing the idle running path of the guide vehicle 141, and improving the use efficiency of the guide vehicle 141.

[0099] In some embodiments, see Figure 1 The guide device 110 may be provided with a first electrical connector 113a, and the transport component 140 may be provided with a second electrical connector 133b. When the first connector 111a and the second connector 131b are in a plugged state, the first electrical connector 113a and the second electrical connector 133b may be electrically connected, thereby realizing an electrical connection between the guide device 110 and the transport device 130.

[0100] It should be noted here that the numerical values ​​and numerical ranges involved in the embodiments of the present application are approximate values. Due to the influence of the manufacturing process, there may be a certain range of errors, which can be considered negligible by those skilled in the art.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A transport device, characterized in that: Used for a guide device, the guide device includes a first plug-in component, the transport device includes a transport component and a second plug-in component, the second plug-in component is arranged on the transport component, and the second plug-in component is used to be plugged and connected with the first plug-in component along a first direction; The first plug-in connector is provided with a plug-in protrusion or a plug-in groove, and the second plug-in connector is provided with a matching plug-in groove or a plug-in protrusion.

2. The transport device according to claim 1, characterized in that: The second plug-in connector is provided with a plug-in protrusion, and when the first plug-in connector and the second plug-in connector are in a plug-in state, the plug-in protrusion is used to abut against the groove bottom wall of the plug-in groove of the first plug-in connector and two groove side walls arranged at intervals along the second direction, and the width of one end of the notch of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different; Alternatively, the second connector is provided with a plug-in groove, and when the first connector and the second connector are in a plug-in state, the groove bottom wall and two groove side walls spaced apart along the second direction of the plug-in groove are used to abut against the plug-in protrusion of the first connector, and the width of one end of the notch of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different.

3. The transport device according to claim 2, characterized in that: The transport assembly comprises a portion to be guided, a first roller group and a second roller group are arranged on the portion to be guided, the first roller group and the second roller group are arranged at intervals along the second direction, the first roller group and the second roller group each comprise a plurality of rollers, each of the rollers is rotatably connected to the portion to be guided; the plurality of rollers in the first roller group are arranged at intervals along the first direction; the plurality of rollers in the second roller group are arranged at intervals along the first direction; When the transport assembly is in the guiding state, the first roller group is used to be arranged on the supporting surface of one of the supporting members, and the second roller group is used to be arranged on the supporting surface of the other supporting member.

4. The transport device according to claim 3, characterized in that: The transport assembly includes a guide vehicle and a carrier vehicle connected to each other, and the second connector is arranged on at least one of the guide vehicle and the carrier vehicle; The bottom of the carrier vehicle forms the portion to be guided, the portion to be guided has an accommodating space, and the guide vehicle is located in the accommodating space.

5. The transport device according to claim 1, characterized in that: It also includes a carrier, the carrier is used to connect with the material, one of the transport component and the carrier is provided with a mounting protrusion, and the other of the transport component and the carrier is provided with a mounting recess; When the object carrier and the transport assembly are in an installed state, the installation protrusion is inserted into the installation recess.

6. A transportation system, characterized in that: The invention comprises a guide device and the transport device according to any one of claims 1 to 5, wherein the guide device comprises a first connector, the transport device comprises a transport component and a second connector, the second connector is arranged on the transport component, and the second connector is connected to the first connector by plugging along a first direction; The first plug-in connector is provided with a plug-in protrusion or a plug-in groove, and the second plug-in connector is provided with a matching plug-in groove or a plug-in protrusion.

7. The transport system according to claim 6, characterized in that The first plug-in connector is provided with a plug-in groove, and the second plug-in connector is provided with a plug-in protrusion. When the first plug-in connector and the second plug-in connector are in a plug-in state, the plug-in protrusion abuts against the groove bottom wall of the plug-in groove and two groove side walls spaced apart along a second direction, respectively. The width of one end of the notch of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different. Alternatively, the first connector is provided with a plug-in protrusion and the second connector is provided with a plug-in groove. When the first connector and the second connector are in a plug-in state, the bottom wall of the plug-in groove and two groove side walls spaced apart along the second direction are both in contact with the plug-in protrusion, and the width of one end of the notch of the plug-in groove along the second direction gradually decreases from the direction in which the plug-in protrusion is inserted into the plug-in groove, wherein the first direction and the second direction are different.

8. The transport system according to claim 7, characterized in that The guide device comprises a guide assembly, the guide assembly has a guide channel extending along the first direction, the guide channel comprises a first end and a second end located in the first direction, and the first connector is arranged close to the first end; The transport component has a portion to be guided, and when the transport component is in a guiding state, the portion to be guided is located in the guide channel, and the transport component moves along the guide channel toward or away from the first connector; Along the direction from the second end to the first end, the width of the second end along the second direction gradually decreases; Along the second direction, the port width of the second end has a first difference with the width of the guided portion, the notch width of the insertion groove has a second difference with the end face width of the insertion protrusion, and the first difference is greater than the second difference.

9. The transport system according to claim 8, characterized in that The guide assembly includes two guide members, which extend along the first direction and are spaced apart along the second direction, and the guide channel is formed between the two guide members.

10. The transport system according to claim 9, characterized in that The guide assembly includes two support members, one support member is arranged corresponding to one guide member, the support member has a support surface, the guide member is located on the support surface, and the guide channel is located on one side of the support surface.

11. The transport system according to claim 10, characterized in that The portion to be guided is provided with a first roller group and a second roller group, the first roller group and the second roller group are arranged at intervals along the second direction, the first roller group and the second roller group each include a plurality of rollers, each of the rollers is rotatably connected to the portion to be guided; the plurality of rollers in the first roller group are arranged at intervals along the first direction; the plurality of rollers in the second roller group are arranged at intervals along the first direction; When the transport assembly is in a guiding state, the first roller group is arranged on the supporting surface of one of the supporting members, and the second roller group is arranged on the supporting surface of the other supporting member.

12. The transportation system according to any one of claims 6 to 11, characterized in that: One of the first connector and the second connector is provided with a contact sensor, the sensing end of the contact sensor is located between the plug-in protrusion and the bottom wall of the plug-in groove, and the plug-in protrusion abuts against the bottom wall of the plug-in groove through the sensing end.

13. The transportation system according to any one of claims 6 to 11, characterized in that: The guide device includes a first locking member, and the transport assembly is provided with a second locking member; The first locking member is provided with a locking protrusion, and the second locking member is provided with a locking recess, and the locking recess includes a first inner wall close to the first locking member; or the first locking member is provided with a locking recess, and the second locking member is provided with a locking protrusion, and the locking recess includes a first inner wall close to the second locking member; When the first plug-in connector and the second plug-in connector are in a plugged state, the locking protrusion is located in the locking recess, the locking protrusion abuts against the first inner wall, and forms a locked state of the first locking member and the second locking member.

14. The transport system according to claim 13, characterized in that It also includes a driving member, which is connected to the locking protrusion. When the first connector and the second connector are in a plugged state, the locking protrusion and the locking recess are arranged relatively to each other. The driving member is used to drive the locking protrusion to rotate in a direction close to the locking recess so that the locking protrusion is located in the locking recess. The driving member is used to drive the locking protrusion to move in a direction close to the first inner wall so that the locking protrusion abuts against the first inner wall.

15. The transportation system according to any one of claims 7 to 11, characterized in that: The guiding device comprises a light emitter and a light sensor arranged at intervals along the second direction, and the light emitted by the light emitter is directed toward the light sensor; When the first connector and the second connector are in a plugged state, the surface of the transport component facing the first connector can block the light emitted by the light emitter to the light sensor.

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