Transportation robot suitable for multiple scenes
By designing a detachable and connected material discharge device and automatic guide vehicle, the problem that transportation robots cannot adapt to in different scenarios is solved, and higher application scenarios and utilization rates are achieved.
Patent Information
- Application Number
- CN202421662556.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-07-12
AI Technical Summary
Existing transport robot designs are usually targeted at specific scenarios, resulting in inadaptable adaptation in other types of scenarios and low utilization.
By designing the material discharge device and the automatic guide vehicle can be detachably connected, the automatic guide vehicle is allowed to install the corresponding material discharge device according to the actual application scenario, so that each automatic guide vehicle can be adapted to a variety of different material discharge devices.
The application scenarios of transportation robots have been increased, the utilization rate of automatic guided vehicles has been improved, and the overall utilization rate of transportation robots has been improved.
Smart Images
Figure CN222922224U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of industrial automation. Specifically, it relates to a transportation robot applicable to multiple scenarios. Background Art
[0002] In the context of the rapid development of current intelligent manufacturing and logistics automation, transportation robots, as key equipment for realizing automated material handling and warehouse management, are becoming increasingly important. The design of transportation robots often targets specific working environments and task types, such as warehouse material handling, production line component transfer, etc. This targeted design results in transportation robots performing excellently in one scenario but may not be adaptable in other types of scenarios. Usually, corresponding transportation robots need to be designed for different scenarios, leading to low utilization rates of transportation robots. Summary of the Utility Model
[0003] In view of this, the purpose of the embodiments of this application is to provide a transportation robot applicable to multiple scenarios, which can improve the utilization rate of the transportation robot.
[0004] In a first aspect, the embodiments of this application provide a transportation robot applicable to multiple scenarios, including: a feeding device and an automated guided vehicle; the feeding device includes a feeding platform, and a first connection structure is provided on a plane of the feeding device away from the feeding platform; the automated guided vehicle includes an installation plane, and a second connection structure is provided on the installation plane; the installation plane is a plane away from the moving structure of the automated guided vehicle and is parallel to the plane on which the automated guided vehicle moves; the first connection structure is detachably connected to the second connection structure; the feeding device is configured to be detachably arranged on the installation plane of the automated guided vehicle through the first connection structure and the second connection structure; wherein, the automated guided vehicle is configured to drive the feeding device to move through the moving structure.
[0005] In the above implementation process, by setting the feeding device and the automated guided vehicle to be detachably connected, corresponding feeding devices can be installed on the automated guided vehicle according to the actual application scenario, enabling each automated guided vehicle to adapt to multiple different feeding devices, reducing the demand for automated guided vehicles, increasing the application scenarios of the transportation robot, improving the utilization rate of the automated guided vehicle, and thus improving the utilization rate of the transportation robot.
[0006] In one embodiment, the first connection structure is one or more first protrusions perpendicular to the mounting plane, and the second connection structure is one or more insertion holes provided on the mounting plane; the shape of the insertion hole matches the shape of the first protrusion, and the outer diameter of the first protrusion is less than or equal to the inner diameter of the insertion hole; when the feeding device is installed on the automated guided vehicle, the first protrusion is inserted into the insertion hole, and the feeding device is configured to connect the automated guided vehicle through the first protrusion and the insertion hole.
[0007] In the above implementation process, by setting the first connection structure as one or more first protrusions perpendicular to the mounting plane and the second connection structure as one or more insertion holes provided on the mounting plane. The structures of the first connection structure and the second connection structure are very simple, avoiding an increase in the costs of the feeding device and the automated guided vehicle caused by the settings of the first connection structure and the second connection structure. While reducing the costs of the feeding device and the automated guided vehicle, it also simplifies the structures of the feeding device and the automated guided vehicle. In addition, when it is necessary to connect the first connection structure and the second connection structure, the first protrusion is directly inserted into the insertion hole, and when it is necessary to disconnect the connection between the first connection structure and the second connection structure, the first protrusion is directly taken out of the insertion hole, making the installation and disassembly of the feeding device and the automated guided vehicle very simple and reducing the assembly difficulty.
[0008] In one embodiment, the first connection structure is a slider, and the second connection structure is a slide rail; a first groove matching the slider is provided on the slide rail, and the first groove is configured to accommodate the slider; the slide rail is one or more, and the slider is one or more; when the feeding device is installed on the automated guided vehicle, the slider slides from one end of the first groove to a fixed position, and the feeding device is configured to connect the automated guided vehicle through the slider and the first groove.
[0009] In the above implementation process, by setting the first connection structure as a slider and the second connection structure as a slide rail, when it is necessary to install or disassemble the feeding device, the slider is slid in the slide rail, which can reduce the friction between the first connection structure and the second connection mechanism and increase the service life of the first connection structure and the second connection structure.
[0010] In one embodiment, it further includes: a robotic arm; the feeding device further includes a support structure perpendicular to the feeding platform; the robotic arm is provided on a first plane of the support structure away from the feeding platform; wherein, the first plane is parallel to the plane of the feeding platform for placing the material container, and the robotic arm is configured to pick up and place the material container; wherein, the robotic arm is a multi-axis robotic arm.
[0011] In the above implementation process, by setting a robotic arm on the feeding device, the automatic picking and placing of the material container can be realized through the robotic arm, improving the automation level of the transport robot. In addition, by setting the robotic arm as a multi-axis robotic arm, the degrees of freedom of the robotic arm can be increased, enabling the robotic arm to be positioned and adjusted at different angles and directions, increasing the flexibility of the robotic arm in operating in complex environments, and improving the application scenarios of the robotic arm and the accuracy of picking and placing materials.
[0012] In one embodiment, the robotic arm includes: a gripper; the gripper is arranged at one end of the robotic arm away from the support structure; wherein, the gripper is configured to pick and place the material container; a second groove is arranged on the gripper, and the opening direction of the second groove is arranged parallel to the placement plane of the material container; wherein, a second protrusion protruding from the frame of the material container is arranged on the edge of the material container to be picked and placed; the gripper picks and places the material container by accommodating the second protrusion in the second groove.
[0013] In the above implementation process, by setting a second groove on the gripper and a second protrusion on the material container, and by accommodating the second protrusion in the second groove, the gripper can grasp the material container, which can reduce the direct interaction force between the gripper and the material container, reduce the wear of the gripper and the material container, and improve the service life of the gripper and the material container.
[0014] In one embodiment, there are multiple grippers; the multiple grippers are respectively arranged at multiple end points of a first plane; wherein, when the grippers pick and place the material container, the multiple end points of the first plane respectively correspond to the multiple end points of the material container; the opening directions of the second grooves of two adjacent grippers arranged along a first edge are arranged oppositely, and two adjacent grippers arranged along the first edge are configured to pick and place opposite sides of the material container; wherein, the first edge is one or more edges on the first plane.
[0015] In the above implementation process, by setting multiple grippers, the multiple grippers are jointly used to grasp a material container, and each gripper can be used to grasp different positions of the material container, improving the stability and safety of the robotic arm in grasping the material container.
[0016] In one embodiment, it further includes: a multi-dimensional force sensor; the multi-dimensional force sensor is arranged at the pick-and-place end of the robotic arm for picking and placing the material container; wherein, the multi-dimensional force sensor is configured to obtain the spatial mechanical information of the pick-and-place end.
[0017] In the above implementation process, by setting a multi-dimensional force sensor at the pick-and-place end of the robotic arm, the force and torque information of the robotic arm when grasping the material container can be obtained in real time through the multi-dimensional force sensor, and then the robotic arm can be controlled to grasp the material container with more accurate force and torque, improving the accuracy of the robotic arm in working.
[0018] In one embodiment, it further includes: a sensor protection device; the sensor protection device includes an elastic body and a packaging shell, and the packaging shell is arranged on the elastic body; the elastic body includes an upper platform, a lower platform and a protection cylinder; the upper platform and the lower platform are connected by a connecting member; wherein, a lower platform cylinder is arranged on a surface of the lower platform close to the upper platform; the protection cylinder is arranged on a surface of the upper platform close to the lower platform, and the protection cylinder and the lower platform cylinder are arranged in alignment; wherein, an overload protection gap is arranged between the protection cylinder and the lower platform cylinder.
[0019] In the above implementation process, by setting the sensor protection device, the sensor protection device can effectively prevent the elastic body of the multi-dimensional force sensor from being irreparably damaged when subjected to a force or torque greater than the range, and has high test accuracy, which can improve the service life and efficiency of the multi-dimensional force sensor.
[0020] In one embodiment, it further includes: a collection device; the collection device includes a connection structure and a collection container, and the connection structure is connected to the collection container; one end of the connection structure far from the collection container is connected to the feeding device; the collection container is arranged below the moving path of the robotic arm in the feeding device; wherein, the collection container is configured to receive substances dropped from the material container picked up and placed by the robotic arm.
[0021] In the above implementation process, by setting the collection device and arranging the collection device below the moving path of the robotic arm, when substances drop from the material container grabbed by the robotic arm, the collection device can collect and store the substances dropped from the material container, preventing these substances from falling to the ground and affecting the cleanliness and safety of the ground, and improving the cleanliness and safety of the transportation robot during operation.
[0022] In one embodiment, the connection structure includes: a connection body, a first sliding member, a second sliding member and a connecting rod; a first slide rail is arranged on the connection body, and the first sliding member slides on the connection body through the first slide rail; a second slide rail is arranged on the first sliding member, and the second sliding member slides on the first sliding member through the second slide rail; one end of the connection body far from the first sliding member is connected to the feeding device; one end of the connecting rod is connected to the end of the second sliding member far from the connection body, and the other end of the connecting rod is connected to the collection container; wherein, the collection device is configured to expand and contract under the action of the first sliding member and / or the second sliding member.
[0023] In the above implementation process, by providing a first slider and a second slider on the collection device, and the collection device can be contracted under the action of the first slider and the second slider, the collection device can move along with the robotic arm. There is no need to provide a collection device with a large size. While reducing the volume of the collection device, the accuracy of the collection device in receiving the substances dropped from the material container picked up and placed by the robotic arm is improved.
[0024] To make the above objects, features, and advantages of the present application more obvious and understandable, specific embodiments are hereinafter given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings
[0025] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.
[0026] Figure 1 Rear view of the multi-scenario applicable transportation robot provided by the embodiment of the present application;
[0027] Figure 2 Front view of the multi-scenario applicable transportation robot provided by the embodiment of the present application;
[0028] Figure 3 Schematic structural diagram of the sensor protection device provided by the embodiment of the present application;
[0029] Figure 4 Schematic structural diagram of the elastic body of the sensor protection device provided by the embodiment of the present application;
[0030] Figure 5 Schematic structural diagram of the elastic body of the collection device provided by the embodiment of the present application.
[0031] Description of the Drawings: 100 - feeding device, 110 - feeding platform, 120 - support structure, 200 - automated guided vehicle, 300 - robotic arm, 310 - gripper, 400 - sensor protection device, 410 - elastic body, 411 - upper platform, 412 - lower platform, 413 - protection column, 414 - lower platform column, 420 - encapsulation housing, 500 - collection device, 510 - connection structure, 511 - connection body, 512 - first slider, 513 - second slider, 514 - connecting rod, 520 - collection container. Detailed Embodiments
[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. Components of the embodiments of the present utility model generally described and illustrated in the accompanying drawings herein may be arranged and designed in a variety of different configurations.
[0033] Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.
[0034] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, terms such as "first", "second", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.
[0035] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the application product is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present application.
[0036] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, terms such as "set", "installed", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0037] In the wave of automated logistics and intelligent manufacturing, transportation robots, as key technological carriers, have demonstrated their great potential in improving production efficiency, optimizing warehouse management, etc. However, the application scenarios of current transportation robots still face many limitations, and the problem of their poor versatility is particularly prominent, which to a certain extent restricts their popularization and application in a wider range of fields.
[0038] The inventor of the present application has found through long-term research that transport robots are often designed to meet specific types of transport tasks, for example, only to carry out cargo transportation within a warehouse. When the scene changes, such as when handling cargo of different sizes, weights or shapes, existing transport robots may not be able to adapt well to the new task requirements, resulting in extremely low utilization of transport robots.
[0039] In view of this, the present application proposes a transport robot suitable for multiple scenarios. By setting a detachable connection between a discharge device and an automatic guided vehicle, the corresponding discharge device can be installed on the automatic guided vehicle according to the actual application scenario, so that each automatic guided vehicle can be adapted to a variety of different discharge devices, thereby reducing the demand for automatic guided vehicles, increasing the application scenarios of the transport robot, improving the utilization rate of the automatic guided vehicle, and thus improving the utilization rate of the transport robot.
[0040] like Figure 1 , Figure 2 , which is a schematic diagram of a transport robot applicable to multiple scenarios provided in an embodiment of the present application, including: a material discharge device 100 and an automatic guided vehicle 200.
[0041] Among them, the unloading device 100 includes a unloading platform 110, and a first connecting structure 510 is arranged on a plane of the unloading device 100 away from the unloading platform 110; the automatic guided vehicle 200 includes an installation plane, and a second connecting structure 510 is arranged on the installation plane; the installation plane is a plane away from the moving structure of the automatic guided vehicle 200, and the installation plane is parallel to the plane on which the automatic guided vehicle 200 moves; the first connecting structure 510 is detachably connected to the second connecting structure 510; the unloading device 100 is configured to be detachably arranged on the installation plane of the automatic guided vehicle 200 through the first connecting structure 510 and the second connecting structure 510.
[0042] Here, the material discharging platform 110 is used to place a material container, and the material container is used to place the target material. Of course, the target material can also be directly placed on the material discharging platform 110. The corresponding items can be placed on the material discharging platform 110 according to actual needs.
[0043] The above-mentioned automatic guided vehicle 200 is configured to drive the unloading device 100 to move through a moving structure.
[0044] The mounting plane of the automatic guided vehicle 200 is used to mount a device that needs to be moved, such as a material discharging device 100. The material discharging device 100 is mounted on the mounting plane, and when the automatic guided vehicle 200 moves through the moving structure, it drives the material discharging device 100 mounted on the mounting plane to move.
[0045] Optionally, the above-mentioned first connection structure 510 and second connection structure 510 can be detachably connected by means such as plugging, clamping, or bolt connection. The connection method of the first connection structure 510 and the second connection structure 510 can be selected according to the actual situation.
[0046] Exemplarily, if the first connection structure 510 and the second connection structure 510 are connected by plugging, the first connection structure 510 is one or more first protrusions perpendicular to the installation plane, and the second connection structure 510 is a plugging hole matching the shape of the first protrusion. When the feeding device 100 needs to be installed on the automatic guided vehicle 200, the first protrusion can be directly inserted into the plugging hole to realize the connection between the first connection structure 510 and the second connection structure 510. When the feeding device 100 needs to be removed from the automatic guided vehicle 200, the first protrusion can be directly pulled out of the plugging hole to disconnect the connection between the first connection structure 510 and the second connection structure 510.
[0047] If the first connection structure 510 and the second connection structure 510 are connected by clamping, the first connection structure 510 is a clamping block, and the second connection structure 510 is a groove matching the shape of the clamping block. When the feeding device 100 needs to be installed on the automatic guided vehicle 200, the clamping block can be directly clamped into the groove to realize the connection between the first connection structure 510 and the second connection structure 510. When the feeding device 100 needs to be removed from the automatic guided vehicle 200, the clamping block can be directly pulled out of the groove to disconnect the connection between the first connection structure 510 and the second connection structure 510.
[0048] If the first connection structure 510 and the second connection structure 510 are connected by bolts, the first connection structure 510 is a first through hole, and the second connection structure 510 is a second through hole. When the feeding device 100 needs to be installed on the automatic guided vehicle 200, the studs of the bolts can be respectively passed through the first through hole and the second through hole, and a nut can be screwed into each end of the stud. The first through hole and the second through hole are stabilized on the stud by the two nuts to realize the connection between the first connection structure 510 and the second connection structure 510. When the feeding device 100 needs to be removed from the automatic guided vehicle 200, the nuts at both ends of the stud can be unscrewed, and then the bolt can be pulled out from the first through hole and the second through hole to disconnect the connection between the first connection structure 510 and the second connection structure 510.
[0049] The specific structures and connection methods of the above-mentioned first connection structure 510 and second connection structure 510 are only exemplary, and the setting methods of the first connection structure 510 and the second connection structure 510 can be selected according to the actual situation.
[0050] The feeding device 100 here can be of various types, and the corresponding feeding device 100 is different in different scenarios. For example, the feeding device 100 can be a device for placing products (such as glass, cups, etc.), the feeding device 100 can also be a device for placing commodities (such as daily necessities, snacks, dairy products, etc.), and the feeding device 100 can also be a device for placing raw materials (such as chemical reaction reagents, liquid media, etc.). The type of the feeding device 100 can be selected according to the actual situation.
[0051] Understandably, due to their different structures, application scenarios, etc., different types of materials may be different, and there may be certain differences in the corresponding feeding device 100. If the feeding device 100 is fixedly connected to the automated guided vehicle 200, the transport robot composed of the feeding device 100 and the automated guided vehicle 200 can only be used in one or two fixed scenarios. For each type of feeding device 100, a corresponding automated guided vehicle 200 basically needs to be configured, resulting in a large demand for automated guided vehicles 200 and low utilization rate.
[0052] By detachably arranging the feeding device 100 and the automated guided vehicle 200, when it is necessary to pick up, place, and transport corresponding materials in different scenarios, the material device for temporarily placing materials that do not need to be picked up, placed, and transported can be detached from the automated guided vehicle 200, and then the material device for placing materials that need to be picked up, placed, and transported can be installed on the automated guided vehicle 200. This can enable one automated guided vehicle 200 to adapt to multiple different feeding devices 100, increase the application scenarios of the transport robot, and improve the utilization rate of the automated guided vehicle 200.
[0053] In the above implementation process, by setting the feeding device 100 and the automated guided vehicle 200 to be detachably connected, the corresponding feeding device 100 can be installed on the automated guided vehicle 200 according to the actual application scenario, enabling each automated guided vehicle 200 to adapt to multiple different feeding devices 100, reducing the demand for automated guided vehicles, increasing the application scenarios of the transport robot, improving the utilization rate of the automated guided vehicle 200, and thus improving the utilization rate of the transport robot.
[0054] In a possible implementation manner, the first connection structure 510 is one or more first protrusions perpendicular to the installation plane, and the second connection structure 510 is one or more insertion holes provided on the installation plane; the shape of the insertion hole matches the shape of the first protrusion, and the outer diameter of the first protrusion is less than or equal to the inner diameter of the insertion hole.
[0055] Wherein, when the feeding device 100 is installed on the automated guided vehicle 200, the first protrusion is inserted into the insertion hole, and the feeding device 100 is configured to connect to the automated guided vehicle 200 through the first protrusion and the insertion hole.
[0056] The first protrusion here can be in the shape of a cylinder, sphere, cube, cuboid, etc., and the structure of the first protrusion can be selected according to the actual situation.
[0057] The shape of the above insertion hole matches the shape of the first protrusion, so that the first protrusion can flexibly penetrate the insertion hole, and the position of the first protrusion on the installation plane is restricted by the insertion hole.
[0058] For example, if the first protrusion is a cylinder, the insertion hole can be a circle that matches the circles of the upper and lower bottom surfaces of the cylinder. If the first protrusion is a sphere, the insertion hole can be a circle that matches the circle where the center of the sphere is located. If the first protrusion is a cube, the insertion hole can be a square that matches any plane of the cube, etc.
[0059] In one embodiment, the outer diameter of the first protrusion is slightly smaller than the inner diameter of the insertion hole to reduce the movement space of the first protrusion in the insertion hole and improve the fixing effect of the insertion hole on the first protrusion.
[0060] In the above implementation process, by setting the first connection structure 510 as one or more first protrusions perpendicular to the installation plane, and the second connection structure 510 as one or more insertion holes provided on the installation plane. The structures of the first connection structure 510 and the second connection structure 510 are very simple, avoiding the increase in the costs of the feeding device 100 and the automatic guided vehicle 200 caused by the settings of the first connection structure 510 and the second connection structure 510. While reducing the costs of the feeding device 100 and the automatic guided vehicle 200, the structures of the feeding device 100 and the automatic guided vehicle 200 are also simplified. In addition, when it is necessary to connect the first connection structure 510 and the second connection structure 510, directly insert the first protrusion into the insertion hole. When it is necessary to disconnect the first connection structure 510 and the second connection structure 510, directly take out the first protrusion from the insertion hole, making the installation and disassembly of the feeding device 100 and the automatic guided vehicle 200 very simple and reducing the assembly difficulty.
[0061] In a possible implementation manner, the first connection structure 510 is a slider, and the second connection structure 510 is a slide rail; a first groove matching the slider is provided on the slide rail, and the first groove is configured to accommodate the slider.
[0062] Here, the slide rail is one or more, and the slider is one or more. Among them, one or more sliders can be provided in one slide rail. The setting numbers of the slider and the slide rail can be selected according to the actual situation.
[0063] Exemplarily, if there is one slide rail and two sliders. Then the slide rail can be provided at the middle position of the installation plane, and the two sliders can also be provided on the center line of the plane of the feeding device 100 away from the feeding platform 110, and the two sliders are arranged at both ends of the slide rail.
[0064] If there are two slide rails, there are two slide rails. Then the slide rails can be arranged on two mutually parallel sides of the installation plane, and the two sliders can also be arranged on two mutually parallel sides of the plane of the feeding device 100 away from the feeding platform 110, and one slider is respectively arranged on one slide rail.
[0065] If there are two slide rails, there are four slide rails. Then the slide rails can be arranged on two mutually parallel sides of the installation plane, and two sliders are respectively arranged on two mutually parallel sides of the plane of the feeding device 100 away from the feeding platform 110, and the two sliders on the same side are respectively arranged at both ends of the corresponding slide rail.
[0066] The setting methods of the above first connection structure 510 and second connection structure 510 are only exemplary, and the setting methods of the first connection structure 510 and second connection structure 510 can be selected according to the actual situation.
[0067] Among them, when the feeding device 100 is installed on the automatic guided vehicle 200, the slider slides from one end of the first groove to the fixed position, and the feeding device 100 is configured to connect the automatic guided vehicle 200 through the slider and the first groove.
[0068] When the feeding device 100 is unloaded from the automatic guided vehicle 200, the slider slides out of the corresponding slide rail from the fixed position of the first groove to disconnect the connection between the first connection structure 510 and the second connection structure 510.
[0069] In one embodiment, a locking structure is further arranged on the slide rail, and the locking structure is arranged at the fixed position of the first groove. After the slider slides from one end of the first groove to the fixed position, the locking structure locks the slider at the fixed position. When it is necessary to disassemble the feeding device 100, first unlock the slider through the locking structure, and then slide the slider out of the corresponding slide rail from the fixed position.
[0070] In the above implementation process, by setting the first connection structure 510 as the slider and the second connection structure 510 as the slide rail, when it is necessary to install or disassemble the feeding device 100, sliding the slider in the slide rail can reduce the friction between the first connection structure 510 and the second connection mechanism and increase the service life of the first connection structure 510 and the second connection structure 510.
[0071] In one possible implementation manner, the transport robot further includes: a robotic arm 300.
[0072] Among them, the feeding device 100 further includes a support structure 120 for the vertical feeding platform 110; the robotic arm 300 is arranged on a first plane of the support structure 120 away from the feeding platform 110. This first plane is parallel to the plane of the feeding platform 110 for placing the material container, and the robotic arm 300 is configured to pick up and place the material container.
[0073] It should be understood that when it is necessary to transport materials from one place to another, the robotic arm 300 can first grasp the material container for placing materials and place the material containers on the feeding platform 110 in sequence. Among them, the material container can include one or more materials. When the feeding platform 110 is full of material containers, or after all the materials to be transported are placed on the feeding platform 110, the automatic guided vehicle 200 drives the feeding device 100 to move to the position where the materials need to be placed. After the feeding device 100 reaches the position where the materials need to be placed, the robotic arm 300 can grasp the material container on the material platform and place the material container at the corresponding placement position to complete the unloading of the material container.
[0074] The robotic arm 300 here is a multi-axis robotic arm 300. For example, a 3-axis robotic arm 300, a 5-axis robotic arm 300, a 6-axis robotic arm 300. The specific structure of the robotic arm 300 can be selected according to the actual situation.
[0075] Among them, when the robotic arm 300 is a multi-axis robotic arm 300, the robotic arm 300 has multiple degrees of freedom and can be positioned and adjusted at different angles and directions, which can increase the flexibility of the robotic arm 300 in operating in a complex environment.
[0076] In the above implementation process, by setting the robotic arm 300 on the feeding device 100, the automatic picking and placing of the material container can be realized through the robotic arm 300, improving the automation degree of the transport robot. In addition, by setting the robotic arm 300 as a multi-axis robotic arm 300, the degrees of freedom of the robotic arm 300 can be increased, so that the robotic arm 300 can be positioned and adjusted at different angles and directions, increasing the flexibility of the robotic arm 300 in operating in a complex environment and improving the application scenario of the robotic arm 300 and the accuracy of picking and placing materials.
[0077] In a possible implementation manner, the robotic arm 300 includes: a gripper 310.
[0078] Among them, the gripper 310 is arranged at one end of the robotic arm 300 away from the support structure 120; a second groove is arranged on the gripper 310, and the opening of the second groove is arranged parallel to the plane for placing the material container.
[0079] A second protrusion protruding from the frame of the material container is arranged on the edge of the material container to be picked up and placed, and this second protrusion matches the second groove.
[0080] The above-mentioned gripper 310 is configured to pick and place a material container, and the gripper 310 picks and places the material container by receiving the second protrusion in the second groove.
[0081] In one embodiment, second protrusions protruding from the frame of the material container are provided on two opposite sides to be picked and placed of the material container. Two grippers 310 can be provided on the robotic arm 300, and the second grooves of the two grippers 310 are arranged oppositely. Wherein, one second protrusion is received in one second groove, and the two second grooves apply opposite squeezing forces to the corresponding second protrusions, so that the material container is fixed between the two grippers 310 under the action of the squeezing force.
[0082] In the above implementation process, by providing the second groove on the gripper 310 and the second protrusion on the material container, and receiving the second protrusion in the second groove, the gripper 310 can grasp the material container, which can reduce the direct interaction force between the gripper 310 and the material container, reduce the wear of the gripper 310 and the material container, and improve the service life of the gripper 310 and the material container.
[0083] In a possible implementation manner, there are multiple grippers 310, and the multiple grippers 310 are respectively arranged at multiple end points of the first plane.
[0084] Wherein, when the gripper 310 picks and places the material container, the multiple end points of the first plane respectively correspond to the multiple end points of the material container; the openings of the second grooves of two adjacent grippers 310 arranged along the first edge are arranged oppositely, and two adjacent grippers 310 arranged along the first edge are configured to pick and place the opposite two sides of the material container.
[0085] The first edge here is one or more edges on the first plane. When the first edge is multiple edges, the multiple first edges are parallel to each other.
[0086] The openings of the above-mentioned second grooves are all arranged perpendicular to the first edge, and the openings of the grippers 310 on two adjacent first edges are arranged oppositely.
[0087] When the gripper 310 needs to grasp the material container, the grippers 310 on adjacent first edges are used to grasp the opposite two sides of the material container parallel to the first edge. That is, the second protrusions on the opposite two sides of the material container parallel to the first edge are received in the second grooves on the corresponding first edge.
[0088] In the above implementation process, by providing multiple grippers 310, the multiple grippers 310 are jointly used to grasp a material container, and each gripper 310 can be used to grasp different positions of the material container, improving the stability and safety of the robotic arm 300 in grasping the material container.
[0089] In a possible implementation manner, it further includes: a multi-dimensional force sensor.
[0090] Among them, the multi-dimensional force sensor is arranged at the picking and placing end of the robotic arm 300 for picking and placing the material container.
[0091] The multi-dimensional force sensor here is configured to obtain the spatial mechanical information of the picking and placing end. This multi-dimensional force sensor is a sensor that can be used to measure the full spatial force information of an object (i.e., multi-dimensional force and multi-dimensional torque). For example, this multi-dimensional force sensor is a six-dimensional force sensor, and this six-dimensional force sensor can be used to obtain the three-dimensional force information FX, FY, FZ and the three-dimensional torque information MX, MY, MZ of an object.
[0092] The above-mentioned multi-dimensional force sensor is arranged at the picking and placing end of the robotic arm 300. When the robotic arm 300 picks and places the material container, this multi-dimensional force sensor can be used to sense the force and torque received by the picking and placing end in real time, and transmit the force and torque to the corresponding information processing device for the information processing device to determine the control information of the robotic arm 300 according to the force and torque, so as to control the robotic arm 300 to grasp the material container more accurately.
[0093] In the above implementation process, by arranging a multi-dimensional force sensor at the picking and placing end of the robotic arm 300, the force and torque information when the robotic arm 300 grasps the material container can be obtained in real time through this multi-dimensional force sensor, so as to control the robotic arm 300 to grasp the material container with more accurate force and torque, and improve the accuracy of the work of the robotic arm 300.
[0094] In a possible implementation manner, as Figure 3 shown, the transport robot further includes: a sensor protection device 400.
[0095] Among them, as Figure 4 shown, the sensor protection device 400 includes an elastic body 410 and a packaging shell 420, and the packaging shell 420 is arranged on the elastic body 410; the elastic body 410 includes an upper platform 411, a lower platform 412 and a protection cylinder 413; the upper platform 411 and the lower platform 412 are connected by a connecting member; the protection cylinder 413 is arranged on the side of the upper platform 411 close to the lower platform 412, and the protection cylinder 413 and the lower platform cylinder 414 are arranged in alignment; a lower platform cylinder 414 is arranged on the side of the lower platform 412 close to the upper platform 411, and an overload protection gap is arranged between the protection cylinder 413 and the lower platform cylinder 414.
[0096] The connecting member here can be an elastic column, one end of the elastic column is connected to the upper platform 411, and the other end of the elastic column is connected to the lower platform 412.
[0097] In one embodiment, both the upper platform 411 and the lower platform 412 are circular ring structures.
[0098] Optionally, the protective column 413 can be fixedly arranged on the side of the upper platform 411 close to the lower platform 412, or the protective column 413 can be integrally arranged with the upper platform 411. The arrangement mode between the protective column 413 and the upper platform 411 can be selected according to the actual situation.
[0099] A counterbore through-hole is arranged on the above-mentioned protective column 413, and a threaded hole is arranged on the lower platform column 414. The overload protection bolt passes through the counterbore through-hole and the threaded hole to connect the protective column 413 and the lower platform column 414.
[0100] It should be understood that by setting an overload protection gap between the protective column 413 and the lower platform column 414, the overload protection function can be realized through the compressive stress generated by the gap. And by setting the overload protection bolt and the threaded hole, when an overload phenomenon occurs in any direction, the overload protection gap can implement protection.
[0101] Among them, the overload protection ability value can be adjusted according to the overload protection gap difference. The larger the gap difference, the larger the overload protection ability value.
[0102] In the above implementation process, by setting the sensor protection device 400, the sensor protection device 400 can effectively prevent the elastic body 410 of the multi-dimensional force sensor from being irreversibly damaged when receiving a force or torque greater than the range, and has high test accuracy, which can improve the service life and efficiency of the multi-dimensional force sensor.
[0103] In a possible implementation manner, as Figure 5 shown, the transport robot further includes: a collection device 500.
[0104] Among them, the collection device 500 includes a connection structure 510 and a collection container 520, and the connection structure 510 is connected to the collection container 520; one end of the connection structure 510 away from the collection container 520 is connected to the feeding device 100; the collection container 520 is arranged below the moving path of the robotic arm 300 in the feeding device 100.
[0105] The collection container 520 here can be a collection plate, a collection bucket, a collection box, etc. The specific structure of the collection container 520 can be selected according to the actual situation.
[0106] The above-mentioned collection container 520 is configured to receive substances dropped from the material container picked up and placed by the robotic arm 300. For example, water droplets dripping from the material container, oil droplets dripping from the material container, impurities falling from the material container, etc.
[0107] In one embodiment, the collection device 500 extends below the entire path of the movement of the robotic arm 300.
[0108] In another embodiment, the collection device 500 is a telescopic structure. The collection device 500 is arranged directly below the robotic arm 300 and is configured to move along with the robotic arm 300.
[0109] It should be understood that the collection device 500 is a structure capable of accommodating substances. When substances fall from the material container grasped by the robotic arm 300, the collection device 500 can collect and store the substances falling from the material container, preventing these substances from falling to the ground and affecting the cleanliness and safety of the ground.
[0110] In the above implementation process, by providing the collection device 500 and arranging the collection device 500 below the moving path of the robotic arm 300, when substances fall from the material container grasped by the robotic arm 300, the collection device 500 can collect and store the substances falling from the material container, preventing these substances from falling to the ground and affecting the cleanliness and safety of the ground, thereby improving the cleanliness and safety of the transportation robot during operation.
[0111] In a possible implementation manner, the connection structure 510 includes: a connection body 511, a first sliding member 512, a second sliding member 513, and a connecting rod 514.
[0112] Among them, a first sliding rail is provided on the connection body 511, and the first sliding member 512 slides on the connection body 511 through the first sliding rail; a second sliding rail is provided on the first sliding member 512, and the second sliding member 513 slides on the first sliding member 512 through the second sliding rail; one end of the connection body 511 away from the first sliding member 512 is connected to the feeding device 100; one end of the connecting rod 514 is connected to the end of the second sliding member 513 away from the connection body 511, and the other end of the connecting rod 514 is connected to the collection container 520.
[0113] The collection device 500 here is configured to expand and contract under the action of the first sliding member 512 and / or the second sliding member 513 to adjust the position of the collection device 500.
[0114] Optionally, during the operation of the collection device 500, the first sliding member 512 and the second sliding member 513 can both participate in adjusting the position of the collection device 500 simultaneously, or can independently participate in adjusting the position of the collection device 500 separately. The components involved in adjusting the position of the collection device 500 during the operation of the collection device 500 can be selected according to actual situations.
[0115] It should be understood that during the movement of the robotic arm 300, the collection device 500 can move along with the robotic arm 300 under the action of the first sliding member 512 and the second sliding member, so that the collection device 500 is always located below the robotic arm 300.
[0116] In one embodiment, when the collection device 500 is not needed, the first slider 512 and the second slider 513 can be retracted to the shortest distance, and then the collection device 500 can be retracted on the side of the transport robot.
[0117] In the above implementation process, by providing the first slider 512 and the second slider 513 on the collection device 500, and the collection device 500 can be retracted under the action of the first slider 512 and the second slider 513, the collection device 500 can move with the robotic arm 300 without setting a too large collection device 500. While reducing the volume of the collection device 500, the accuracy of the collection device 500 receiving the substances dropped from the material container picked up and placed by the robotic arm 300 is improved.
[0118] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.
[0119] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or replacements, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims
1. A transport robot suitable for multiple scenarios, characterized in that: include: Unloading device and automatic guided vehicle; The material discharging device comprises a material discharging platform, and a first connecting structure is arranged on a plane of the material discharging device away from the material discharging platform; The automatic guided vehicle comprises a mounting plane, on which a second connection structure is arranged; the mounting plane is a plane away from the moving structure of the automatic guided vehicle, and the mounting plane is parallel to a plane on which the automatic guided vehicle moves; The first connecting structure is detachably connected to the second connecting structure; the discharge device is configured to be detachably arranged on the installation plane of the automatic guided vehicle through the first connecting structure and the second connecting structure; Wherein, the automatic guided vehicle is configured to drive the discharge device to move through the moving structure.
2. The transport robot according to claim 1, characterized in that: The first connection structure is one or more first protrusions perpendicular to the mounting plane, and the second connection structure is one or more plug holes arranged on the mounting plane; The shape of the plug hole matches the shape of the first protrusion, and the outer diameter of the first protrusion is less than or equal to the inner diameter of the plug hole; When the material discharge device is installed on the automatic guided vehicle, the first protrusion is inserted into the plug hole, and the material discharge device is configured to be connected to the automatic guided vehicle through the first protrusion and the plug hole.
3. The transport robot according to claim 1, characterized in that: The first connecting structure is a sliding block, and the second connecting structure is a sliding rail; The slide rail is provided with a first groove matching the slider, and the first groove is configured to accommodate the slider; the slide rail is one or more, and the slider is one or more; When the discharge device is installed on the automatic guided vehicle, the slider slides from one end of the first groove to a fixed position, and the discharge device is configured to be connected to the automatic guided vehicle via the slider and the first groove.
4. The transport robot according to claim 1, characterized in that: Also includes: Robotic arm; The discharge device also includes a supporting structure vertical to the discharge platform; The mechanical arm is arranged on a first plane of the support structure away from the material placing platform; wherein the first plane is parallel to the plane of the material placing platform for placing material containers, and the mechanical arm is configured to take and place material containers; Wherein, the robotic arm is a multi-axis robotic arm.
5. The transport robot according to claim 4, characterized in that: The mechanical arm comprises: a gripper; The clamp is disposed at an end of the mechanical arm away from the support structure; wherein the clamp is configured to pick up and place the material container; The clamping jaw is provided with a second groove, and the opening of the second groove is arranged parallel to the placement plane of the material container; The side of the material container to be picked up and placed is provided with a second protrusion protruding from the material container frame; the clamping jaws pick up and place the material container by accommodating the second protrusion in the second groove.
6. The transport robot according to claim 5, characterized in that: The clamping jaws are multiple; The plurality of clamps are respectively arranged on the plurality of end points of the first plane; wherein, when the clamps take and place the material container, the plurality of end points of the first plane respectively correspond to the plurality of end points of the material container; The openings of the second grooves of two adjacent clamping jaws arranged along the first edge are arranged opposite to each other, and the two adjacent clamping jaws arranged along the first edge are configured to pick up and place two opposite sides of the material container; The first edge is one or more edges on the first plane.
7. The transport robot according to claim 4, characterized in that: Also includes: Multi-dimensional force sensor; The multi-dimensional force sensor is arranged at the pick-up and placement end of the mechanical arm for picking up and placing the material container; Wherein, the multi-dimensional force sensor is configured to obtain spatial mechanical information of the pick-and-place end.
8. The transport robot according to claim 7, characterized in that: Also includes: Sensor protection device; The sensor protection device comprises an elastic body and a packaging shell, wherein the packaging shell is arranged on the elastic body; The elastic body comprises an upper platform, a lower platform and a protective column; The upper platform and the lower platform are connected by a connecting piece; wherein a lower platform column is provided on a side of the lower platform close to the upper platform; The protection column is arranged on a side of the upper platform close to the lower platform, and the protection column is aligned with the lower platform column; Wherein, an overload protection gap is arranged between the protection column and the lower platform column.
9. The transport robot according to claim 1, characterized in that: Also includes: Collection device; The collecting device comprises a connecting structure and a collecting container, and the connecting structure is connected to the collecting container; One end of the connecting structure away from the collecting container is connected to the discharging device; The collecting container is arranged below the moving path of the mechanical arm in the discharging device; Wherein, the collection container is configured to receive materials dropped from the material container picked up and placed by the robotic arm.
10. The transport robot according to claim 9, characterized in that: The connection structure comprises: a connection body, a first sliding member, a second sliding member and a connection rod; The connecting body is provided with a first slide rail, and the first sliding member slides on the connecting body via the first slide rail; The first sliding member is provided with a second sliding rail, and the second sliding member slides on the first sliding member through the second sliding rail; One end of the connecting body away from the first sliding member is connected to the discharge device; One end of the connecting rod is connected to an end of the second sliding member away from the connecting body, and the other end of the connecting rod is connected to the collecting container; Wherein, the collecting device is configured to be retractable under the action of the first sliding member and / or the second sliding member.