Butt joint device, automatic transfer robot and material transfer system

Abstract

The utility model discloses a butt joint device which comprises a first butt joint mechanism and a second butt joint mechanism, the first butt joint mechanism comprises a base fixedly installed at a set position and a first connecting piece arranged on the base and provided with an initial position and a butt joint position relative to the base; the second docking mechanism comprises a floating plate arranged on the automatic transfer robot and a second connecting piece fixedly mounted on the floating plate; the floating plate is configured to be capable of moving along a set plane relative to the automatic transfer robot, the first connecting piece is separated from the second connecting piece when located at the initial position, and the first connecting piece is connected with the second connecting piece when located at the butt joint position so that the floating plate can be fixed to the target position. The utility model further discloses the automatic carrying robot comprising the butt joint device and a material carrying system comprising the automatic carrying robot. By means of the method, accurate butt joint of the automatic carrying robot and the goods taking and placing equipment can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of material handling, and in particular to a docking device, an automatic handling robot and a material handling system. Background Art

[0002] With the development of intelligent manufacturing, automatic handling robots (AGV carts) are increasingly widely used in production lines or warehousing systems, and automatic handling robots can efficiently transport materials. In some usage scenarios, automatic handling robots need to be used in conjunction with pick-and-place equipment. In this scenario, the automatic handling robot transports the material from the first position to the second position, and then the pick-and-place equipment picks and places the material relative to the automatic handling robot (removes the material from the automatic handling robot or places the material on the automatic handling robot). At this time, the automatic handling robot and the pick-and-place equipment need to be able to achieve high-precision docking operations. In general, the pick-and-place equipment is fixedly installed at a pre-designed position, and the target position is designed for the automatic handling robot. When the automatic handling robot reaches the target position, it stops in time, which can ensure that the automatic handling robot and the pick-and-place equipment can achieve accurate docking.

[0003] In order to make the automatic handling robot have a higher stopping accuracy, the related technology generally pastes a QR code on the pick-up and placement equipment or on the ground near the target position, and the automatic handling robot determines whether its position and posture have reached the target position by reading the QR code information. However, the above scheme has very high requirements for the operation control accuracy and processing and assembly accuracy of the automatic handling robot. Especially when the automatic handling robot is large in size, it is difficult to use the scheme in the related technology to achieve high-precision docking operation between the automatic handling robot and the pick-up and placement equipment. 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 device, an automatic handling robot and a material handling system.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a docking device for docking operations between an automatic handling robot and a cargo picking and placing equipment, the docking device comprising a first docking mechanism and a second docking mechanism, the first docking mechanism comprising a base fixedly installed at a set position and a first connecting member arranged on the base, the second docking mechanism comprising a floating plate arranged on the automatic handling robot and a second connecting member fixedly installed on the floating plate, the floating plate being provided with a bearing portion for placing materials; the floating plate being configured to be able to move along a set plane relative to the automatic handling robot, the first connecting member having an initial position and a docking position relative to the base, the first connecting member being separated from the second connecting member when the first connecting member is at the initial position, and being connected to the second connecting member when the first connecting member is at the docking position so that the floating plate is fixed at the target position.

[0006] The application of the present invention has the following beneficial effects: the first docking mechanism in the docking device is assembled to the set position, the second docking mechanism is assembled to the automatic handling robot, and the material is placed on the load-bearing part. When the automatic handling robot travels to the vicinity of the target position, the first connecting member can be moved to the docking position and connected to the second connecting member. Since the floating plate can move along the set plane relative to the automatic handling robot, the floating plate can be driven to move slightly relative to the automatic handling robot during the process of connecting the first connecting member and the second connecting member. In this way, by pre-designing the set position and the docking position, the first connecting member and the second connecting member can be used to cooperate to drive the floating plate to move to the target position and fix it at the target position. In this way, accurate docking of the automatic handling robot and the picking and placing equipment can be achieved.

[0007] Optionally, one of the first connecting member and the second connecting member is provided with a docking block, and the other is provided with a docking groove, wherein the docking groove comprises a card slot adapted to the docking block and an open groove connected to the card slot, and the open groove is used to guide the docking block to be inserted into the card slot.

[0008] Optionally, two groups of the first docking mechanisms are provided, and a parking space is provided between the two groups of the first docking mechanisms for an automatic handling robot equipped with a second docking mechanism to enter, and both sides of the floating plate are provided with the second connecting piece for connecting to the first connecting piece in the first docking mechanism on the corresponding side.

[0009] Optionally, the first docking mechanism also includes a first drive motor arranged on the base and a telescopic arm arranged at the output end of the first drive motor, and the first connecting member is arranged on the telescopic arm; the telescopic arm moves along a set direction driven by the first drive motor and drives the first connecting member to switch between an initial position and a docking position, and the set direction is parallel to the set plane.

[0010] Optionally, the first docking mechanism further includes a first photoelectric detection component for determining the position of the first connector.

[0011] Optionally, the first photoelectric detection component includes two groups of detection units spaced apart along the set direction and a baffle fixedly mounted on the telescopic arm, the detection unit including a transmitting end and a receiving end relatively disposed, the receiving end being used to receive a signal emitted by the transmitting end; the baffle blocks the signal transmission between the transmitting end and the receiving end in one group of detection units when the first connecting member is in the initial position, and blocks the signal transmission between the transmitting end and the receiving end in another group of detection units when the first connecting member is in the docking position.

[0012] Optionally, the second docking mechanism also includes a locking assembly arranged between the automatic handling robot and the floating plate, the locking assembly including a mounting seat, a connecting plate and a locking piece arranged on the mounting seat, the connecting plate is provided with a locking hole adapted to the locking piece, one of the mounting seat and the connecting plate is used to be fixedly mounted to the automatic handling robot, and the other is fixedly mounted to the floating plate; the locking piece has a locking position and an unlocking position, the locking piece extends into the locking hole to fix the floating plate to the automatic handling robot when in the locking position, and is separated from the locking hole when in the unlocking position.

[0013] Optionally, the locking assembly also includes a second drive motor disposed on the mounting base, the locking member is movably disposed on the mounting base, and the output end of the second drive motor is connected to the locking member and is used to drive the locking member to switch between a locking position and an unlocking position.

[0014] Optionally, the locking assembly further comprises a second photoelectric detection assembly disposed on the mounting seat, and the second photoelectric detection assembly is used to determine the position of the locking member.

[0015] Optionally, the connecting plate is fixedly mounted on the floating plate, and the docking device further comprises an elastic reset component disposed between the automatic handling robot and the floating plate, the elastic reset component applying pressure to the floating plate in such a manner that the locking hole is aligned with the locking member.

[0016] Optionally, the elastic reset assembly includes a fixed plate for being fixedly mounted to the automatic handling robot, a slider slidably arranged on the fixed plate, a limit block fixedly arranged on the fixed plate, an elastic member arranged between the slider and the limit block, and a return roller arranged on one end of the slider away from the limit block; the floating plate is fixedly provided with a baffle plate cooperating with the elastic reset assembly, and the return roller is in rolling contact with the baffle plate.

[0017] Optionally, the floating plate is movably arranged on the automatic transport robot through a universal ball; or, the docking device also includes a mounting base plate, the mounting base plate is fixedly mounted on the automatic transport robot, and the floating plate is movably arranged on the mounting base plate through a universal ball.

[0018] Optionally, the docking device also includes a limit pin arranged between the automatic handling robot and the floating plate, the floating plate is provided with a limit hole, one end of the limit pin is fixed relative to the automatic handling robot, the other end of the limit pin extends into the limit hole, and there is a set gap between the limit pin and the inner wall of the limit hole.

[0019] Optionally, the docking device also includes a guide rail fixedly mounted on the floating plate, a bearing seat slidably disposed on the guide rail, and a positioning pin disposed on the bearing seat, the bearing seat forms the bearing portion, and the positioning pin is used to position the material placed on the bearing portion.

[0020] In addition, the present application also provides an automatic handling robot, including a movable chassis, the automatic handling robot also includes a second docking mechanism in the docking device as described in any one of the above technical solutions, and the second docking mechanism is arranged on the movable chassis. The automatic handling robot provided by the present application has a similar reasoning process to the beneficial effects of the aforementioned docking device, which will not be repeated here.

[0021] In addition, the present application also provides a material handling system, the material handling system comprising a pick-up and placement device and an automatic handling robot as described in the above technical solution and a first docking mechanism in a docking device as described in any one of the above technical solutions, the pick-up and placement device is used to pick up and place materials relative to the automatic handling robot. The reasoning process of the beneficial effects of the material handling system provided by the present application and the aforementioned docking device is similar and will not be repeated here.

[0022] 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

[0023] The present application is further described below in conjunction with the accompanying drawings:

[0024] Figure 1 A schematic diagram of the structure of a docking device provided in an embodiment of the present application;

[0025] Figure 2A schematic diagram of the structure of applying the docking device to an automatic handling robot;

[0026] Figure 3 is a structural schematic diagram of the first docking mechanism in the docking device;

[0027] Figure 4 A top view of an automatic handling robot using the docking device when the first connecting member is in an initial position;

[0028] Figure 5 A top view of an automatic handling robot using the docking device when the first connecting member is in a docking position;

[0029] Figure 6 A schematic diagram of position changes of an automatic handling robot using the docking device when performing a docking operation;

[0030] Figure 7 for Figure 1 A magnified schematic diagram of part A;

[0031] Figure 8 for Figure 3 A magnified schematic diagram of part C;

[0032] Fig. 9 for Figure 4 The enlarged schematic diagram of the D part;

[0033] Fig.10 for Figure 5 The enlarged schematic diagram of part E in the middle;

[0034] Fig.11 is an exploded view of the second docking mechanism in the docking device;

[0035] Fig.12 This is a schematic diagram of the structure of the second docking mechanism without the installation base plate;

[0036] Fig.13 is a structural schematic diagram of a locking assembly in the second docking mechanism;

[0037] Fig.14 is a structural schematic diagram of an elastic reset component in the second docking mechanism;

[0038] Fig.15 for Figure 1 A magnified schematic diagram of part B;

[0039] Fig.16 It is a schematic diagram of an automatic handling robot using the docking device when carrying materials.

[0040] Among them, 1. first docking mechanism; 10. base; 11. first connecting member; 110. docking block; 12. first driving motor; 13. telescopic arm; 14. first photoelectric detection component; 140. transmitting end; 141. receiving end; 142. baffle; 2. second docking mechanism; 20. floating plate; 200. baffle; 201. limit hole; 202. guide rail; 203. bearing seat; 204. positioning pin; 21. second connecting member; 210. docking groove; 2100. card slot; 2101. open slot; 22 , locking assembly; 220, mounting seat; 221, connecting plate; 2210, locking hole; 222, locking member; 223, second drive motor; 224, second photoelectric detection assembly; 2240, photoelectric detector; 2241, shading sheet; 23, elastic reset assembly; 230, fixing plate; 231, sliding block; 232, limiting block; 233, elastic member; 234, return roller; 235, adjusting nut; 24, limiting pin; 25, universal ball; 26, mounting base; 3, movable chassis; 4, material. Figure 4 and Figure 5 The direction of the arrow in indicates the setting direction; Figure 6 The floating plate represented by the solid line in the figure is a schematic diagram of the state where the floating plate follows the automatic transport robot to move to the vicinity of the target position, and the floating plate represented by the dotted line is a schematic diagram of the state where the floating plate reaches the target position after the docking operation. DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] This embodiment provides a docking device, such as Figure 1 As shown in , the docking device includes a first docking mechanism 1 and a second docking mechanism 2. The docking device is applied to the docking operation of the automatic handling robot and the cargo picking and placing device to improve the docking operation accuracy of the automatic handling robot and the cargo picking and placing device. Figure 2 , Figure 3 , Figure 4 and Figure 5As shown in , the first docking mechanism 1 includes a base 10 fixedly installed at a set position and a first connecting member 11 arranged on the base 10, and the second docking mechanism 2 includes a floating plate 20 arranged on the automatic handling robot and a second connecting member 21 fixedly installed on the floating plate 20, and the floating plate 20 is provided with a bearing portion for placing materials. The floating plate 20 is configured to be able to move along a set plane relative to the automatic handling robot. The set plane mentioned here is the ground where the automatic handling robot is located, such as the ground in a production workshop. Generally, the set plane is a horizontal plane. The first connecting member 11 has an initial position and a docking position relative to the base 10. When the first connecting member 11 is located at the initial position, it is separated from the second connecting member 21. When the first connecting member 11 is located at the docking position, it is connected to the second connecting member 21 so that the floating plate 20 is fixed at the target position.

[0044] In order to achieve high-speed docking operations between the automatic transport robot and the cargo picking and placing equipment, the related technologies are designed from the perspective of "how to make the automatic transport robot move to the target position with high precision", which places too high requirements on the processing and assembly precision and control precision of the automatic transport robot. In the present application, a docking device is provided, and the floating plate 20 in the docking device can move along a set plane relative to the automatic transport robot. In this way, there is no need to make the automatic transport robot move to the target position with high precision. The automatic transport robot only needs to be moved to the vicinity of the target position, and then the floating plate 20 can be "corrected" by docking the first connecting member 11 and the second connecting member 21. Figure 6 As shown in the figure, the "correction" mentioned above refers to driving the floating plate 20 to move slightly relative to the automatic handling robot during the docking operation of the first connecting member 11 and the second connecting member 21, so that the floating plate 20 moves and is fixed at the target position. Thus, the automatic handling robot can be docked with the pick-and-place equipment with high precision without requiring too high processing and assembly precision and control precision of the automatic handling robot.

[0045] When in use, the position of the cargo pick-up and placement device is fixed, thereby determining the final target position of the floating plate 20, and the target position means that when the floating plate 20 is located at the target position, the cargo pick-up and placement device can accurately pick up and place materials relative to the floating plate 20. By pre-designing the setting position of the base 10 in the first docking mechanism 1 and the docking position of the first connector 11, the floating plate 20 can be fixed at the target position by cooperating with the second connector 21 when the first connector 11 is located at the docking position. That is, the required target position can be determined according to the position of the cargo pick-up and placement device, and then the setting position of the base 10 and the docking position of the first connector 11 can be determined according to the target position. When in use, the base 10 is fixedly installed at the target position, and it is ensured that the first connector 11 disposed on the base 10 can reach the docking position. It is easy to understand that the target position and the setting position of the base are both located near the position of the cargo pick-up and placement device.

[0046] Combination Figure 7 As shown in , in this embodiment, a docking block 110 is provided on the first connecting member 11, and a docking groove 210 is provided on the second connecting member 21, wherein the docking groove 210 includes a slot 2100 adapted to the docking block 110 and an open slot 2101 connected to the slot 2100, and the open slot 2101 is used to guide the docking block 110 to snap into the slot 2100. Specifically, the docking block 110 in this embodiment is a roller rotatably arranged on the first connecting member 11, and the inner wall surface of the open slot 2101 interacts with the roller, so that the roller can be guided to snap into the slot 2100 during the movement of the first connecting member 11 from the initial position to the docking position, thereby achieving docking between the first connecting member 11 and the second connecting member 21. The specific principle is described as follows: the size of the slot 2100 is adapted to the size of the roller, and snap-fitting can be achieved. The open slot 2101 is open relative to the card slot 2100, that is, the size of the open slot 2101 gradually increases from the side of the open slot 2101 close to the card slot 2100 to the side away from the card slot 2100. The size of the open slot 2101 is designed according to the movement error of the automatic handling robot relative to the target position, so that when the floating plate 20 follows the automatic handling robot to move to the vicinity of the target position, the open slot 2101 can be in the stroke of the first connecting member 11 moving from the initial position to the docking position. In this way, during the process of the first connecting member 11 moving from the initial position to the docking position, the roller will contact the inner wall surface of the open slot 2101, and the roller drives the floating plate 20 to move by applying pressure to the inner wall of the open slot 2101. When the first connecting member reaches the docking position, the floating plate 20 moves to the target position to achieve "correction".

[0047] It is easy to understand that in other optional embodiments, the docking block can also be a shaft body or a rectangular body fixedly arranged on the first connecting member, and the inner wall surface of the open groove can also be used to guide the docking block to be inserted into the slot, but it is preferred to use the roller proposed in this embodiment as the docking block, so that the roller can be better guided by the rolling contact between the roller and the inner wall surface of the open groove. In addition, it is also possible to choose to set the docking block on the second connecting member and set the docking groove on the first connecting member.

[0048] Further, such as Figure 2 As shown in , in this embodiment, two groups of first docking mechanisms 1 are provided, and there is a parking space between the two groups of first docking mechanisms 1 for an automatic handling robot equipped with a second docking mechanism 2 to enter. Second connectors 21 for connecting with the first connectors 11 in the first docking mechanisms 1 on the corresponding sides are provided on both sides of the floating plate 20. Accordingly, the set position includes a first set position and a second set position located on both sides of the parking space, and the base 10 in one group of first docking mechanisms 1 is set at the first set position, and the base 10 in the other group of first docking mechanisms 1 is set at the second set position. It is easy to understand that the initial position and docking position of the first connector 11 described above are relative to the position indicated by the base 10, so in this embodiment, the initial position and docking position of the first connector 11 in one group of first docking mechanisms 1 are relative to the base 10 in the same group. That is, each of the first connectors 11 provided has its specific initial position and docking position.

[0049] Taking the driving direction of the automatic handling robot as the front-to-back direction, when the automatic handling robot drives to the vicinity of the target position, the position of the floating plate 20 at this time may have deviations in the front-to-back direction and the left-to-right direction relative to the target position. Therefore, in the process of the first connecting member 11 and the second connecting member 21 cooperating to perform the "correction" operation on the floating plate 20, the floating plate 20 may move relative to the automatic handling robot along the aforementioned front-to-back direction and the left-to-right direction. In this embodiment, by setting two groups of first docking mechanisms 1 arranged at intervals, the floating plate 20 can be "corrected" from the aforementioned left and right directions. In addition, two first connecting members 11 are arranged side by side in each group of first docking mechanisms 1, which can make the movement of the floating plate 20 during the "correction" operation more stable and reduce its shaking.

[0050] like Figure 3As shown in , the first docking mechanism 1 in this embodiment further includes a first drive motor 12 disposed on the base 10 and a telescopic arm 13 disposed at the output end of the first drive motor 12, and the first connecting member 11 is disposed on the telescopic arm 13. In this way, the telescopic arm 13 can be driven by the first drive motor 12 to move relative to the base 10, and the first connecting member 11 can be driven to switch between the initial position and the docking position. Figure 4 and Figure 5 As shown in , the telescopic arm 13 in this embodiment moves along a set direction driven by the first drive motor 12. The set direction mentioned here refers to the aforementioned left-right direction, and the set direction is parallel to the set plane. It is easy to understand that in this embodiment, the first drive motor 12 and the telescopic arm 13 drive the first connecting member 11 to telescopically move along the set direction, so as to drive the first connecting member 11 to switch between the initial position and the docking position. In other optional embodiments, the first connecting member can also be designed to switch between the initial position and the docking position through a swinging action.

[0051] In addition, the setting direction in this embodiment is parallel to the setting plane. In other optional embodiments, the setting direction can also be designed to be perpendicular to the setting plane, that is, the first connecting member 11 moves up and down in a direction perpendicular to the setting plane to achieve switching between the initial position and the docking position. It should be noted here that since the floating plate 20 is configured to be able to move along the setting plane relative to the automatic handling robot, the floating plate 20 will not move in a direction perpendicular to the setting plane. Therefore, when the aforementioned solution of designing the first connecting member to move up and down in a direction perpendicular to the setting plane is adopted, a set of first docking mechanisms can be set only on one side of the automatic handling robot.

[0052] Further, combined with Figure 8 , Fig. 9 and Fig.10 As shown in , the first docking mechanism 1 in this embodiment also includes a first photoelectric detection component 14 for determining the position of the first connector 11. Specifically, the first photoelectric detection component 14 includes two groups of detection units spaced apart along a set direction and a baffle 142 fixedly mounted on the telescopic arm 13. The detection unit includes a transmitting end 140 and a receiving end 141 arranged opposite to each other. The receiving end 141 is used to receive a signal emitted by the transmitting end 140. When the first connector 11 is in the initial position, the baffle 142 blocks the signal transmission between the transmitting end 140 and the receiving end 141 in one group of detection units. When the first connector 11 is in the docking position, the baffle 142 blocks the signal transmission between the transmitting end 140 and the receiving end 141 in another group of detection units. The detection unit may be an infrared photoelectric detector, in which the transmitting end 140 emits infrared light to the receiving end 141.

[0053] Combination Fig.11 and Fig.12 As shown in , the docking device also includes a mounting base plate 26, which is fixedly mounted on the automatic handling robot, and the floating plate 20 is movably arranged on the mounting base plate 26 through the universal ball 25. The mounting base plate 26 can facilitate the assembly operation of the components other than the mounting base plate 26 in the second docking mechanism 2. The universal ball 25 is also called a bull's eye ball, which is arranged in a universal ball housing adapted thereto, and the universal ball housing is fixedly mounted on the mounting base plate 26. The floating plate 20 is arranged on the universal ball 25, so that the floating plate 20 can slide relative to the mounting base plate 26 in any direction on the set plane. The arrangement density of the universal ball 25 can be designed according to the load requirements. It is easy to understand that in other optional embodiments, the mounting base plate can also be eliminated, and the second docking mechanism can be directly assembled on the movable chassis of the automatic handling robot. Specifically, there is a rack on the movable chassis of the automatic handling robot, and the assembly of the second docking mechanism can be achieved by structurally designing the rack. Of course, it is also possible to have the mounting plate as part of the frame in a removable chassis.

[0054] In addition, the docking device further includes a limit pin 24 disposed between the automatic handling robot and the floating plate 20, the floating plate 20 is provided with a limit hole 201, one end of the limit pin 24 is fixedly disposed relative to the automatic handling robot, the other end of the limit pin 24 extends into the limit hole 201, and there is a set gap between the limit pin 24 and the inner wall of the limit hole 201. That is, the aperture size of the limit hole 201 is larger than the outer diameter size of the limit pin 24, and in this way, the floating plate 20 can move within a certain range relative to the mounting base plate 26, thereby constraining the moving range of the floating plate 20.

[0055] Although the floating plate 20 can be prevented from falling off the mounting base plate 26 by the cooperation of the limiting pin 24 and the limiting hole 201, the user still hopes that the floating plate 20 can remain stable during the driving of the automatic transport robot. Fig.13As shown in , the second docking mechanism 2 in this embodiment further includes a locking assembly 22 disposed between the automatic handling robot and the floating plate 20, and the locking assembly 22 includes a mounting seat 220, a connecting plate 221, and a locking member 222 disposed on the mounting seat 220. The connecting plate 221 is provided with a locking hole 2210 adapted to the locking member 222. In this embodiment, the mounting seat 220 is fixedly mounted on the mounting base plate 26 (when the mounting base plate is not provided, the mounting seat can also be fixedly mounted on the frame of the movable chassis), and the connecting plate 221 is fixedly mounted on the floating plate 20. The locking member 222 has a locking position and an unlocking position. When the locking member 222 is in the locking position, it extends into the locking hole 2210 to fix the floating plate 20 to the automatic handling robot, and when the locking member 222 is in the unlocking position, it is separated from the locking hole 2210. The floating plate 20 can be fixed to the automatic transport robot by providing the locking assembly 22, so that the stability of the floating plate 20 can be ensured during the driving process of the automatic transport robot. It is easy to understand that in other optional embodiments, the mounting base can also be fixedly mounted on the floating plate, and the connecting plate can be fixedly mounted on the mounting base plate accordingly.

[0056] The locking assembly 22 in this embodiment further includes a second drive motor 223 disposed on the mounting seat 220. The locking member 222 is movably disposed on the mounting seat 220. The output end of the second drive motor 223 is connected to the locking member 222 and is used to drive the locking member 222 to switch between the locking position and the unlocking position. Fig.13 As shown in , the locking member 222 is a shaft, and the output end of the driving motor is connected to a gear and toothed plate transmission structure, wherein the gear is fixedly arranged at the output end of the driving motor, the toothed plate is fixedly arranged on the locking member 222, and the gear and the toothed plate are meshed for transmission.

[0057] Furthermore, the locking assembly 22 in this embodiment further includes a second photoelectric detection assembly 224 disposed on the mounting seat 220, and the second photoelectric detection assembly 224 is used to determine the position of the locking member 222. Specifically, like the first photoelectric detection assembly 14 described above, the second photoelectric detection assembly 224 in this embodiment includes two groups of photoelectric detectors 2240 spaced apart along the moving direction of the locking member 222 and a light shielding sheet 2241 fixedly mounted on the locking member 222, the photoelectric detector 2240 includes a transmitter and a receiver spaced apart, the receiver is used to receive a signal emitted by the transmitter, the light shielding sheet 2241 shields the signal transmission between the transmitter and the receiver in one group of photoelectric detectors 2240 when the locking member 222 is in the unlocking position, and the light shielding sheet 2241 shields the signal transmission between the transmitter and the receiver in another group of photoelectric detectors 2240 when the locking member 222 is in the locking position. The photoelectric detector 2240 may be an infrared photoelectric detector, wherein the transmitter emits infrared light to the receiver.

[0058] Furthermore, combined Fig.14 As shown in , in this embodiment, the connecting plate 221 is fixedly mounted on the floating plate 20, and the docking device also includes an elastic reset component 23 disposed between the automatic handling robot and the floating plate 20, and the elastic reset component 23 applies pressure to the floating plate 20 in a trend of aligning the locking hole 2210 with the locking member 222. In this way, when the cargo picking and placing device completes the cargo picking and placing operation relative to the automatic handling robot, the first connecting member 11 switches from the docking position to the initial position, releasing the positioning of the floating plate 20, and the floating plate 20 can return to its original position under the pressure of the elastic reset component 23, so that the locking hole 2210 is aligned with the locking member 222. It is convenient for the locking member 222 in the locking component 22 to extend into the locking hole 2210, so that the floating plate 20 remains fixed relative to the mounting base plate 26.

[0059] Specifically, the elastic reset assembly 23 includes a fixed plate 230 for being fixedly mounted on the automatic handling robot, a slider 231 slidably disposed on the fixed plate 230, a limit block 232 fixedly disposed on the fixed plate 230, an elastic member 233 disposed between the slider 231 and the limit block 232, and a return roller 234 disposed on the slider 231 at one end away from the limit block 232; the floating plate 20 is fixedly provided with a baffle 200 that cooperates with the elastic reset assembly 23, and the return roller 234 is in rolling contact with the baffle 200. When the floating plate 20 is "corrected", it will drive the slider 231 to move relative to the fixed plate 230, and in this process, the slider 231 will act on the elastic member 233. Fig.12 As shown in , as mentioned above, the floating plate 20 may produce the aforementioned front-to-back and left-to-right movements during the "correction" process, so two groups of elastic reset components 23 are provided in this embodiment, wherein the elastic members 233 in one group of elastic reset components 23 have a telescopic direction in the front-to-back direction, and the elastic members 233 in the other group of elastic reset components 23 have a telescopic direction in the left-to-right direction.

[0060] In this embodiment, a screw rod is also provided to penetrate the limit plate, and a sliding hole (not shown in the figure) is provided on the slider 231 for the screw rod to extend into, so that the screw rod will move relative to the sliding hole during the movement of the slider 231. At the same time, an adjusting nut 235 is provided on the side of the limit plate away from the slider 231, and the adjusting nut 235 is screwed on the screw rod. Through the above design, the initial state of the elastic member 233 can be adjusted by screwing the adjusting nut 235, and then the elastic deformation performance of the elastic reset assembly 23 can be adjusted to adapt to materials of different weights.

[0061] Combination Fig.15 and Fig.16As shown in , the docking device also includes a guide rail 202 fixedly mounted on the floating plate 20, a bearing seat 203 slidably disposed on the guide rail 202, and a positioning pin 204 disposed on the bearing seat 203. The bearing seat 203 forms a bearing portion, and the positioning pin 204 is used to position the material 4 placed on the bearing portion. In this embodiment, bearing seats 203 are disposed at the four corners of the floating plate 20. By providing the guide rail 202, the distance between two circumferentially adjacent bearing seats 203 can be adjusted to accommodate materials 4 of different sizes. By providing the positioning pin 204, the material 4 placed on the bearing portion can be positioned by cooperating with the positioning pins 204 on a plurality of bearing seats 203, thereby ensuring the stability of the material 4 during the driving process of the automatic handling robot. Fig.16 As shown in the example, an automatic handling robot equipped with the docking device is used to transport a car body as material 4 in an automobile production workshop, and the car body is placed on the bearing part on the floating plate 20, and the car body is positioned by the positioning pin 204.

[0062] The docking device can be applied to an automatic handling robot, which includes a movable chassis 3 and a second docking mechanism 2 in the docking device provided in this embodiment, and the second docking mechanism 2 is arranged on the movable chassis 3. The above-mentioned automatic handling robot can be used in conjunction with a pick-up and placement device. Specifically, this embodiment further provides a material handling system, which includes a pick-up and placement device, the above-mentioned automatic handling robot including the second docking mechanism 2, and the first docking mechanism 1 in the docking device provided in this embodiment, and the pick-up and placement device is used to pick up and place materials 4 relative to the automatic handling robot. Specifically in this embodiment, the pick-up and placement device is a hoist, which can pick up and place materials 4 relative to the automatic handling robot and can drive the materials 4 to rise and fall.

[0063] Take the operation process of transporting material 4 to the cargo pick-up and placement device as an example for explanation: the automatic transport robot carries the material 4 and travels. During this process, the locking member 222 in the locking assembly 22 is in the locking position (that is, the locking member 222 extends into the locking hole 2210), so that the floating plate 20 is fixed on the movable chassis 3. When the automatic transport robot travels to the vicinity of the target position, it stops, and the locking member 222 is driven to move by the second drive motor 223, so that the locking member 222 switches from the locking position to the unlocking position, so that the floating plate 20 can slide along the set plane relative to the movable chassis 3. Afterwards, the telescopic arm 13 is driven to move by the first drive motor 12, so that the first connecting member 11 switches from the initial position to the docking position. During this process, the first connecting member 11 cooperates with the second connecting member 21 to perform a "correction" operation on the floating plate 20, so that the floating plate 20 moves and is fixed at the target position. Afterwards, the material 4 is removed from the floating plate 20 by the cargo pick-up and placement device. Then, the telescopic arm 13 is driven to move by the first driving motor 12, so that the first connecting member 11 returns to the initial position from the docking position, and then the floating plate 20 is locked to the installation base plate by the locking assembly 22. Finally, the automatic transport robot drives away.

[0064] 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 device for docking an automatic handling robot with a cargo picking and placing device, characterized in that: The docking device comprises a first docking mechanism (1) and a second docking mechanism (2), the first docking mechanism (1) comprising a base (10) fixedly mounted at a set position and a first connecting member (11) arranged on the base (10), the second docking mechanism (2) comprising a floating plate (20) arranged on the automatic handling robot and a second connecting member (21) fixedly mounted on the floating plate (20), the floating plate (20) being provided with a bearing portion for placing materials; The floating plate (20) is configured to be movable along a set plane relative to an automatic transport robot. The first connecting member (11) has an initial position and a docking position relative to the base (10). When the first connecting member (11) is located at the initial position, it is separated from the second connecting member (21). When the first connecting member (11) is located at the docking position, it is connected to the second connecting member (21) so that the floating plate (20) is fixed at a target position.

2. The docking device according to claim 1, characterized in that: One of the first connecting member (11) and the second connecting member (21) is provided with a docking block (110), and the other is provided with a docking slot (210); the docking slot (210) comprises a clamping slot (2100) adapted to the docking block (110) and an open slot (2101) connected to the clamping slot (2100); the open slot (2101) is used to guide the docking block (110) to be clamped into the clamping slot (2100).

3. The docking device according to claim 1, characterized in that: The first docking mechanism (1) is provided with two groups, and a parking space is provided between the two groups of the first docking mechanism (1) for an automatic transport robot equipped with a second docking mechanism (2) to enter, and the second connecting member (21) for connecting to the first connecting member (11) in the first docking mechanism (1) on the corresponding side is provided on both sides of the floating plate (20).

4. The docking device according to claim 3, characterized in that: The first docking mechanism (1) further comprises a first drive motor (12) arranged on the base (10) and a telescopic arm (13) arranged at an output end of the first drive motor (12), and the first connecting member (11) is arranged on the telescopic arm (13); The telescopic arm (13) is driven by the first drive motor (12) to move along a set direction and drive the first connecting member (11) to switch between an initial position and a docking position, wherein the set direction is parallel to the set plane.

5. The docking device according to claim 4, characterized in that: The first docking mechanism (1) further comprises a first photoelectric detection component (14) for determining the position of the first connecting member (11).

6. The docking device according to claim 5, characterized in that: The first photoelectric detection component (14) comprises two groups of detection units arranged at intervals along the set direction and a baffle (142) fixedly mounted on the telescopic arm (13), the detection unit comprising a transmitting end (140) and a receiving end (141) arranged opposite to each other, the receiving end (141) being used to receive a signal sent by the transmitting end (140); The blocking piece (142) blocks signal transmission between a transmitting end (140) and a receiving end (141) in one group of detection units when the first connecting member (11) is at the initial position, and blocks signal transmission between a transmitting end (140) and a receiving end (141) in another group of detection units when the first connecting member (11) is at the docking position.

7. The docking device according to any one of claims 1 to 6, characterized in that: The second docking mechanism (2) further comprises a locking assembly (22) arranged between the automatic transport robot and the floating plate (20), the locking assembly (22) comprising a mounting seat (220), a connecting plate (221) and a locking member (222) arranged on the mounting seat (220), the connecting plate (221) being provided with a locking hole (2210) adapted to the locking member (222), one of the mounting seat (220) and the connecting plate (221) being used for being fixedly mounted to the automatic transport robot, and the other being fixedly mounted to the floating plate (20); The locking member (222) has a locking position and an unlocking position. When the locking member (222) is at the locking position, it extends into the locking hole (2210) to fix the floating plate (20) to the automatic transport robot. When the locking member (222) is at the unlocking position, it is separated from the locking hole (2210).

8. The docking device according to claim 7, characterized in that: The locking assembly (22) further comprises a second driving motor (223) arranged on the mounting seat (220); the locking member (222) is movably arranged on the mounting seat (220); an output end of the second driving motor (223) is connected to the locking member (222) and is used to drive the locking member (222) to switch between a locking position and an unlocking position.

9. The docking device according to claim 7, characterized in that: The locking component (22) further comprises a second photoelectric detection component (224) arranged on the mounting seat (220), wherein the second photoelectric detection component (224) is used to determine the position of the locking member (222).

10. The docking device according to claim 7, characterized in that: The connecting plate (221) is fixedly mounted on the floating plate (20), and the docking device further comprises an elastic reset component (23) arranged between the automatic handling robot and the floating plate (20), wherein the elastic reset component (23) applies pressure to the floating plate (20) so that the locking hole (2210) has a tendency to align with the locking member (222).

11. The docking device according to claim 10, characterized in that: The elastic reset assembly (23) comprises a fixed plate (230) for being fixedly mounted on the automatic handling robot, a slider (231) slidably arranged on the fixed plate (230), a limit block (232) fixedly arranged on the fixed plate (230), an elastic member (233) arranged between the slider (231) and the limit block (232), and a return roller (234) arranged on one end of the slider (231) away from the limit block (232); The floating plate (20) is fixedly provided with a baffle (200) that matches the elastic reset assembly (23), and the return roller (234) is in rolling contact with the baffle (200).

12. The docking device according to claim 1, characterized in that: The floating plate (20) is movably arranged on the automatic transport robot via a universal ball (25); Alternatively, the docking device further comprises a mounting base plate (26), wherein the mounting base plate (26) is fixedly mounted on the automatic handling robot, and the floating plate (20) is movably arranged on the mounting base plate (26) via a universal ball (25).

13. The docking device according to claim 1 or 12, characterized in that: The docking device also includes a limit pin (24) arranged between the automatic transport robot and the floating plate (20), the floating plate (20) is provided with a limit hole (201), one end of the limit pin (24) is fixedly arranged relative to the automatic transport robot, the other end of the limit pin (24) extends into the limit hole (201), and a set gap is provided between the limit pin (24) and the inner wall of the limit hole (201).

14. The docking device according to claim 1, characterized in that: The docking device further comprises a guide rail (202) fixedly mounted on the floating plate (20), a bearing seat (203) slidably arranged on the guide rail (202), and a positioning pin (204) arranged on the bearing seat (203); the bearing seat (203) is formed with the bearing portion, and the positioning pin (204) is used to position the material placed on the bearing portion.

15. An automatic handling robot, comprising a movable chassis (3), characterized in that: The automatic transport robot further comprises the second docking mechanism (2) in the docking device according to any one of claims 1 to 14, wherein the second docking mechanism (2) is arranged on the movable chassis (3).

16. A material handling system, characterized in that: The material handling system comprises a picking and placing device and an automatic handling robot as claimed in claim 15 and a first docking mechanism (1) in a docking device as claimed in any one of claims 1 to 14, wherein the picking and placing device is used to pick and place materials relative to the automatic handling robot.

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