Transportation robot

Abstract

The utility model provides a transportation robot. A discharging device comprises a discharging platform, and the discharging platform is configured to place target materials; the automatic guided vehicle comprises a mounting plane; the mounting plane is a plane far away from a moving structure of the automatic guided vehicle, and the mounting plane is parallel to a moving plane on which the automatic guided vehicle moves; the face, away from the discharging platform, of the discharging device is arranged on the mounting plane of the automatic guide vehicle. The automatic guide vehicle is configured to drive the discharging device to move; the safety control device is arranged on one or more discharging device side faces, perpendicular to the discharging platform, of the discharging device. And / or the safety control device is arranged on one or more guide vehicle side surfaces of the vertical mounting plane of the automatic guide vehicle; the safety control device is configured to obtain danger information of the transportation robot and control the transportation robot to slow down or stop moving based on the danger information. By arranging one or more safety control devices, the transportation robot is controlled to slow down or stop moving, and the safety of the transportation robot is improved.

Description

Technical Field

[0001] This application relates to the field of automation, and more particularly, to a transport robot. Background Art

[0002] In the production of the automation industry, automatic transport robots play a crucial role. The transport robot can automatically complete the handling and sorting of materials without manual intervention, thereby improving production efficiency and reducing labor costs.

[0003] However, the current transport robot has low safety when facing an increasingly complex and changeable transport environment. Summary of the Utility Model

[0004] In view of this, the purpose of the embodiments of this application is to provide a transport robot that can improve the safety of safety equipment.

[0005] In a first aspect, the embodiments of this application provide a transport robot, including: a feeding device, an automatic guided vehicle, and a safety control device; the feeding device includes a feeding platform configured to place target materials; the automatic guided vehicle includes an installation plane; wherein, the installation plane is a plane away from the moving structure of the automatic guided vehicle and parallel to the moving plane of the automatic guided vehicle; one side of the feeding device away from the feeding platform is arranged on the installation plane of the automatic guided vehicle; wherein, the automatic guided vehicle is configured to drive the feeding device to move; the safety control device is arranged on one or more sides of the feeding device perpendicular to the feeding platform; and / or the safety control device is arranged on one or more sides of the automatic guided vehicle perpendicular to the installation plane; wherein, the safety control device is configured to obtain danger information during the movement of the transport robot and control the transport robot to slow down or stop moving based on the danger information.

[0006] In the above implementation process, by arranging one or more safety control devices on the side of the feeding device and / or the side of the guided vehicle, the safety control device can obtain the possible danger information during the movement of the transport robot in real time, and then timely control the transport robot to slow down or stop moving, reducing the occurrence of dangerous situations such as collisions and drops of the transport robot, and improving the safety during the movement of the transport robot.

[0007] In one embodiment, the safety control device includes: a safety edge; the safety edge is movably arranged on one or more sides of the feeding device and / or one or more sides of the guided vehicle; wherein, the safety edge is configured to obtain the danger information during the movement of the transport robot based on its contact with the external environment.

[0008] In the above implementation process, by setting the safety edge on the side of the loading device and / or the side of the guiding vehicle, when the transport robot is used in different scenarios, the height of the safety edge in the direction of the vertical movement direction can be adjusted according to the situation of obstacles in different scenarios, so that the height of the safety edge is the corresponding height for timely obtaining the corresponding danger information, improving the accuracy of obtaining danger information.

[0009] In one embodiment, a guiding member is provided on the side of the loading device and / or the side of the guiding vehicle for setting the safety edge; a connecting member is provided on the safety edge, and the connecting member is connected to the guiding member; the connecting member is configured to move on the guiding member; wherein, the safety edge is configured to adjust the height of the safety edge from the moving plane through the connecting member and the guiding member.

[0010] In the above implementation process, by providing a guiding member on the side of the loading device and / or the side of the guiding vehicle, and a connecting member on the safety edge, the connecting member and the guiding member cooperate with each other to realize the movement of the connecting member on the guiding member, and then drive the safety edge to move, realizing the height adjustment of the safety edge, improving the flexibility of the setting position of the safety edge, and the accuracy of the safety edge obtaining danger information.

[0011] In one embodiment, the safety edge is provided on the one with a larger projected area on the first plane among the loading device and the automatic guiding vehicle; wherein, the first plane is parallel to the moving plane.

[0012] In the above implementation process, by setting the safety edge on the one with a larger projected area on the first plane among the loading device and the automatic guiding vehicle, and the first plane is parallel to the moving plane, when the transport robot moves on the moving plane, the corresponding danger information can be timely fed back through the safety edge provided on the device with a larger projected area, improving the efficiency of obtaining danger information while reducing the required amount of safety edges.

[0013] In one embodiment, the safety control device includes: an emergency stop button; the emergency stop button is provided on the side of one or more of the guiding vehicles, and the emergency stop buttons are respectively provided at the intersections of the sides of each guiding vehicle; wherein, the emergency stop button is configured to control the transport robot to stop moving based on its being triggered.

[0014] In the above implementation process, by providing an emergency stop button on the side of one or more guiding vehicles, when the transport robot needs to stop in case of an emergency, the staff can press the nearest emergency stop button to timely control the transport robot to stop, improving the obstacle avoidance efficiency of the transport robot, and thus improving the safety of the transport robot.

[0015] In one embodiment, it further includes: a material detection device and a robotic arm; the feeding device further includes a support structure perpendicular to the feeding platform; the robotic arm is arranged on a plane of the support structure away from the feeding platform; wherein, a gripper is arranged on the robotic arm; 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 target material; the material detection device is arranged between two adjacent grippers; wherein, the material detection device is configured to detect whether the target material exceeds the material container.

[0016] In the above implementation process, by arranging a material detection device on the gripper, before grasping the target material, it is first judged whether the target material exceeds the material container, so that the target materials grasped by the robotic arm are preferably all contained in the material container, avoiding the occurrence of risks such as the dropping of the target material during the movement of the robotic arm with the target material, and improving the safety of the target material.

[0017] In one embodiment, there are two material detection devices; the two material detection devices are respectively arranged between two adjacent grippers along a first edge and a second edge; wherein, the first edge and the second edge are parallel to each other, and the two material detection devices are configured to detect opposite sides of the target material.

[0018] In the above implementation process, by arranging two material detection devices, which are used to respectively detect opposite sides of the target material, the detection results of the two material detection devices can be mutually verified, improving the accuracy of the material detection device in detecting the target material.

[0019] In one embodiment, it further includes: a robotic arm and a pose acquisition module; the feeding device further includes a support structure perpendicular to the feeding platform; the robotic arm is arranged on a plane of the support structure away from the feeding platform; wherein, the robotic arm is configured to pick and place the target material; the pose acquisition module is arranged at the pick-and-place end of the robotic arm, and the acquisition end of the pose acquisition module faces the pick-and-place direction of the robotic arm; wherein, the robotic arm is configured to pick and place the target material through the pick-and-place end, and the pose acquisition module is configured to acquire the pose information of the target material.

[0020] In the above implementation process, by arranging a pose acquisition module at the pick-and-place end of the robotic arm, the pose of the target material can be acquired before the robotic arm grasps the target material, and then the robotic arm can be controlled to make corresponding adjustments, improving the accuracy of grasping the target material.

[0021] In one embodiment, it further includes: a barcode scanner and a robotic arm; the feeding device further includes a support structure perpendicular to the feeding platform; the robotic arm is arranged on a plane of the support structure away from the feeding platform; wherein, the robotic arm is configured to pick and place the target material, and the robotic arm is a multi-axis robotic arm; the barcode scanner is arranged on one or more axes of the robotic arm, and the scanning end of the barcode scanner faces the picking and placing direction of the robotic arm; wherein, the robotic arm is configured to pick and place the target material through the picking and placing end of the robotic arm, and the barcode scanner is configured to obtain the identity information of the target material.

[0022] In the above implementation process, by arranging a barcode scanner on the robotic arm, the barcode scanner can obtain the identity information of the target material, so that a series of operations such as archiving, recording, and querying can be performed on the target material through this identity information, reducing the difficulty of obtaining the identity information of the target material and improving the accuracy of grasping the target material.

[0023] In one embodiment, it further includes: a door opening detection device; the feeding device further includes a support structure perpendicular to the feeding platform; the door opening detection device is arranged on a plane of the support structure away from the feeding platform, and the door opening detection device faces the feeding platform; wherein, the door opening detection device is configured to detect the state of the lathe door where the target material is placed.

[0024] In the above implementation process, by arranging a door opening detection device, when the robotic arm places or picks up the target material, the door opening detection device can first detect whether the lathe door is open, and only when the lathe door is in the open state, further control the movement of the robotic arm to avoid collision between the robotic arm and the lathe door, improving the accuracy and safety of the movement of the robotic arm.

[0025] To make the above objects, features, and advantages of the present application more obvious and understandable, specific embodiments are hereinafter given and described in detail in conjunction with the accompanying drawings as follows. Description of the Drawings

[0026] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use 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 limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 The rear view of the transport robot provided by the embodiment of the present application;

[0028] Figure 2 The front view of the transport robot provided by the embodiment of the present application;

[0029] Figure 3 Schematic diagram of the jaw structure provided by the embodiment of the present application.

[0030] Description of the drawings: 100 - feeding device, 110 - feeding platform, 120 - support structure, 200 - automatic guided vehicle, 300 - safety control device, 310 - safety edge, 320 - emergency stop button, 400 - material detection device, 500 - robotic arm, 510 - jaw, 600 - pose acquisition module, 700 - barcode scanner, 800 - door opening detection device. Detailed implementation manners

[0031] 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. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the claimed present utility model, but merely represents the 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 making creative efforts fall within the scope of protection of the present utility model.

[0033] It should be noted that: similar reference numerals and letters denote 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. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0034] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying 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.

[0035] In the description of this application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "install", and "connect" 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 components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0036] In the field of industrial automation, the safety of automatic transport robots has always been a key issue that the industry has been continuously concerned about. With the accelerating development of economic globalization, the demand for industrial production is increasing day by day, and the safety risks in the production process are also increasing. Although current automatic transport robots have considered various safety factors in their designs, there are still many potential safety hazards when facing complex and changeable environments.

[0037] The inventors of this application have found through long-term research that the operation of automatic transport robots is greatly affected by the working environment. For example, environmental factors such as slippery ground, large slopes, and the presence of obstacles may all affect the driving safety of automatic transport robots. And when an automatic transport robot encounters an emergency, it lacks sufficient emergency stop mechanisms or obstacle avoidance strategies and cannot handle emergencies in a timely and effective manner, resulting in the safety of automatic transport robots being greatly affected by the environment.

[0038] In view of this, this application proposes a transport robot. By setting one or more safety control devices on the side of the loading device and / or the side of the guided vehicle, the safety control device can real-time obtain the potential dangerous information during the movement of the transport robot, and then timely control the transport robot to slow down or stop moving, reducing the occurrence of dangerous situations such as collisions and drops of the transport robot, and improving the safety during the movement of the transport robot.

[0039] As Figure 1 、 Figure 2 shown, it is a schematic diagram of the transport robot provided by the embodiment of this application, including: a loading device 100, an automatic guided vehicle 200, and a safety control device 300.

[0040] Among them, the loading device 100 includes a loading platform 110, and the loading platform 110 is configured to place the target material; the automatic guided vehicle 200 includes an installation plane; one side of the loading device 100 away from the loading platform 110 is arranged on the installation plane of the automatic guided vehicle 200; the safety control device 300 is arranged on one or more sides of the loading device 100 perpendicular to the loading platform 110; and / or the safety control device 300 is arranged on one or more sides of the guided vehicle perpendicular to the installation plane.

[0041] The installation plane here is a plane away from the moving structure of the automated guided vehicle 200, and the installation plane is parallel to the moving plane on which the automated guided vehicle 200 moves.

[0042] In one embodiment, the automated guided vehicle 200 is further provided with a moving structure configured to drive the automated guided vehicle 200 to move. For example, moving structures such as wheels, pulleys, and skates. The automated guided vehicle 200 can be used to transport target materials under the action of this moving structure.

[0043] It should be understood that by arranging the feeding device 100 on the installation plane of the automated guided vehicle, the automated guided vehicle 200 can be configured to drive the feeding device 100 to move, and thus transport the target materials placed on the feeding device 100.

[0044] The above-mentioned safety control device 300 is configured to obtain the danger information during the movement of the transport robot, and control the transport robot to slow down or stop moving based on the danger information.

[0045] Among them, the danger information can be operator information, obstacle information, path error information, step information, etc., which may affect the safety of the transport robot or personnel, and the danger information can be adjusted according to the actual situation.

[0046] The safety control device 300 can be set in a variety of ways. The following illustrates the setting methods of the safety control device 300 through several examples:

[0047] Method 1: A safety control device 300 is respectively arranged on the side surfaces of the feeding device 100 along the moving direction.

[0048] Method 2: A safety control device 300 is respectively arranged on the side surfaces of the guided vehicle along the moving direction.

[0049] Method 3: A safety control device 300 is respectively arranged on the side surfaces of the feeding device 100 and the guided vehicle along the moving direction.

[0050] Method 4: A safety control device 300 is respectively arranged on the side surfaces of each feeding device 100.

[0051] Method 5: A safety control device 300 is respectively arranged on the side surfaces of each guided vehicle.

[0052] Method 6: Two safety control devices 300 are respectively arranged on the side surfaces of the feeding device 100 along the moving direction.

[0053] Method 7: Two safety control devices 300 are respectively arranged on the side surfaces of the guided vehicle along the moving direction.

[0054] The setting method of the above-mentioned safety control device 300 is only exemplary. The setting method of this installation device can be adjusted according to the actual situation, or a combination of multiple above methods can be used for safety control.

[0055] Optionally, the safety control device 300 may include one or more of a safety edge 310, an emergency stop button 320, an image acquisition device, an indicator light, etc. The safety control device 300 can be selected according to the actual situation.

[0056] Among them, the safety edge 310 is a flexible strip-shaped pressure-sensitive switch. When a moving part collides with other parts or personnel, the pressure change of the safety edge 310 will trigger the switch, thereby stopping or slowing down the movement of the moving part and reducing the probability of danger occurring.

[0057] The emergency stop button 320 is a safety device that quickly switches the power supply in an emergency. The emergency stop button 320 can use normally closed contacts. In the normal state, the contacts are closed and the circuit is connected. After pressing the button, the contacts are disconnected, thereby cutting off the power supply and causing the automatic guided vehicle 200 to stop moving.

[0058] The image acquisition device is a device that can convert the actual scene into digital images or videos through optical or electronic technology. The image acquisition device is used to obtain image information of the surrounding environment. The image acquisition device can be a camera, a webcam, a scanner, etc. The image acquisition device can be selected according to the actual situation.

[0059] The indicator light is a visual signal device used to display the status of a device, system or circuit. The indicator light can convey specific information or instructions through different colors, flashing modes or continuous lighting. The indicator light can be colors such as red, green, yellow, blue, etc. The color of the indicator light can be selected according to the actual situation.

[0060] In the above implementation process, by setting one or more safety control devices 300 on the side of the feeding device 100 and / or the side of the guided vehicle, the safety control device 300 can obtain the possible dangerous information during the movement of the transport robot in real time, and then timely control the transport robot to slow down or stop moving, reducing the occurrence of dangerous situations such as collisions and drops of the transport robot, and improving the safety of the transport robot during movement.

[0061] In a possible implementation manner, the safety edge 310 is movably arranged on the side of one or more feeding devices 100 and / or on the side of one or more guided vehicles.

[0062] Among them, the safety edge 310 is configured to obtain the dangerous information during the movement of the transport robot based on its contact with the external environment.

[0063] The safety edge 310 here is movably arranged on the side of the feeding device 100 and / or on the side of the guiding vehicle. After that, the safety edge 310 can move along the direction of the vertical movement direction on the corresponding side of the feeding device 100 and / or on the side of the guiding vehicle, so as to realize the height adjustment of the safety edge 310 relative to the moving plane.

[0064] It can be understood that when the transport robot is used in different scenarios, the obstacles encountered by the transport robot during movement may vary. If the safety edge 310 is set at the same height for all obstacles, it may occur that the height of the obstacle is lower than the height of the safety edge 310, resulting in the safety edge 310 not being able to obtain information about the obstacle; or the height of the safety edge 310 is inconsistent with the height of the protruding part of the obstacle, resulting in a delay in the information about the obstacle obtained by the safety edge 310, etc., and further resulting in a relatively low accuracy of the dangerous information obtained by the safety edge 310.

[0065] By movably arranging the safety edge 310 on the side of the feeding device 100 and / or on the side of the guiding vehicle, the height of the safety edge 310 can be adjusted accordingly according to the situation of the obstacles in the use scenario of the transport robot, so as to set the height of the safety edge 310 to a height that can timely obtain information about the obstacles, and improve the accuracy of the dangerous information obtained by the safety edge 310.

[0066] In the above implementation process, by movably arranging the safety edge 310 on the side of the feeding device 100 and / or on the side of the guiding vehicle, when the transport robot is used in different scenarios, the height of the safety edge 310 in the direction of the vertical movement direction can be adjusted according to the situation of the obstacles in different scenarios, so that the height of the safety edge 310 is a height that can timely obtain the corresponding dangerous information, and improve the accuracy of obtaining the dangerous information.

[0067] In a possible implementation manner, a guiding member is arranged on the side of the feeding device 100 and / or on the side of the guiding vehicle for setting the safety edge 310; a connecting member is arranged on the safety edge 310, and the connecting member is connected to the guiding member; the connecting member is configured to move on the guiding member.

[0068] Wherein, the safety edge 310 is configured to adjust the height of the safety edge 310 from the moving plane through the connecting member and the guiding member.

[0069] The guiding member here can be fixed on the side of the feeding device 100 and / or the side of the guiding vehicle, and a guiding structure is provided on the guiding member. For example, if the guiding member is a through hole arranged along the vertical moving direction (the shape of the through hole can be rectangular, elliptical, rounded rectangular, etc.), the hole in the through hole is the guiding structure. If the guiding member is a guide rail arranged along the vertical moving direction, the protrusions or grooves on the guide rail along the vertical moving direction are the guiding structures. The guiding member and the corresponding guiding structure can be selected according to the actual situation.

[0070] Optionally, the guiding members on the side of each feeding device 100 and / or the side of each guiding vehicle can be one or more. For example, the guiding members on the side of each feeding device 100 and / or the side of each guiding vehicle can be 1, 2, 3, etc. The number of the guiding members can be selected according to the actual situation.

[0071] The above-mentioned connecting member is an element that can move on the guiding structure of the guiding member. For example, bolts, sliders, pulleys, etc., and the connecting member can be selected according to the actual situation.

[0072] To facilitate the understanding of the setting method of the safety edge 310 in this embodiment, taking the safety edge 310 arranged on the side of a feeding device 100 as an example, the specific setting method of the safety edge 310 is further described as follows:

[0073] Example 1: If the guiding member is a through hole, the connecting member is a bolt, and there are 2 guiding members. Then, bolt holes for passing through the bolts can be respectively arranged at both ends of the safety edge 310. The screw rods in the bolts respectively pass through the bolt holes and the through holes, and the nuts are respectively screwed onto the screw rods from both ends of the screw rods through the threads in the screw rods and the nuts. The through holes and bolt holes penetrated by the screw rods are fixed between the two nuts, so as to fix the safety edge 310 on the side of the feeding device 100 through the cooperation of the nuts and the screw rods. When it is necessary to adjust the height of the safety edge 310, the nuts can be loosened to reduce the pressure between the nuts, the through holes and the bolt holes. At this time, the screw rod can move in the through hole and drive the corresponding safety edge 310 to move along the vertical moving direction, thereby adjusting the height of the safety edge 310. After adjusting the safety edge 310 to the required height, the nuts are tightened again, and then the safety edge 310 is fixed at the height.

[0074] Example 2: If the guiding member is a slide rail, the connecting member is a slider, and there are two guiding members. Then, a slider can be respectively arranged at both ends of the safety edge 310. The slide rail is provided with a groove for accommodating the slider in the direction perpendicular to the moving direction. When it is necessary to adjust the height of the safety edge 310, an external force can be applied to the slider. Under the action of the external force, the slider slides on the slide rail and drives the corresponding safety edge 310 to move in the direction perpendicular to the moving direction, thereby adjusting the height of the safety edge 310. After adjusting the safety edge 310 to the required height, the external force application is notified, and the slider is fixed at the corresponding position under the action of friction or a locking structure.

[0075] The connection manner between the safety edge 310 and the side surface of the material discharging device 100 and / or the side surface of the guiding vehicle is only exemplary, and the setting manner of the safety edge 310 can also be selected according to the actual situation.

[0076] In the above implementation process, by arranging a guiding member on the side surface of the material discharging device 100 and / or the side surface of the guiding vehicle, and arranging a connecting member on the safety edge 310, the connecting member and the guiding member cooperate with each other to enable the connecting member to move on the guiding member, and then drive the safety edge 310 to move, so as to realize the height adjustment of the safety edge 310, improve the flexibility of the setting position of the safety edge 310, and the accuracy of the safety edge 310 in obtaining danger information.

[0077] In a possible implementation manner, the safety edge 310 is arranged on the one with a larger projected area on the first plane among the material discharging device 100 and the automatic guiding vehicle 200.

[0078] Wherein, the first plane is parallel to the moving plane.

[0079] It should be understood that since the first plane is a plane parallel to the moving plane, the device with a larger projected area on the first plane occupies a relatively larger area on the first plane. Further, when the transport robot moves on the moving plane, the device with a relatively larger occupied area may touch an obstacle earlier. Therefore, by arranging the safety edge 310 on the one with a larger projected area on the first plane among the material discharging device 100 and the automatic guiding vehicle 200, the safety edge 310 can feedback corresponding danger information in the first time when the transport robot encounters an obstacle, improve the danger information acquisition efficiency, and reduce the required quantity of the safety edge 310.

[0080] In the above implementation process, the safety edge 310 is set in the feeding device 100 and the automated guided vehicle 200 on the one with a larger projected area on the first plane, and the first plane is parallel to the moving plane. When the transport robot moves on the moving plane, the safety edge 310 set on the device with a larger projected area can timely feedback corresponding danger information, improving the efficiency of obtaining danger information while reducing the required quantity of the safety edge 310.

[0081] In a possible implementation manner, the emergency stop button 320 is set on one or more sides of the guided vehicle, and the emergency stop button 320 is respectively set at the intersections of the sides of each guided vehicle.

[0082] Among them, the emergency stop button 320 is configured to control the transport robot to stop moving based on its being triggered.

[0083] There can be multiple sides of the guided vehicle here. For example, 2, 3, 4, etc. The number of sides of the guided vehicle can be selected according to the actual situation.

[0084] The set quantity of the above-mentioned emergency stop button 320 can be set according to actual needs. For example, if there are 2 sides of the guided vehicle, then 2 emergency stop buttons 320 can also be set, and the 2 emergency stop buttons 320 are respectively set at the front and rear ends along the movement of the transport robot on the two sides. When the transport robot needs to stop in case of an emergency, the staff can press the nearest emergency stop button 320 to timely control the transport robot to stop.

[0085] For another example, if there are 4 sides of the guided vehicle, then 4 emergency stop buttons 320 can also be set, and the 4 emergency stop buttons 320 are respectively set at the four vertices of the front, rear, left, and right along the movement of the transport robot on the four sides. When the transport robot needs to stop in case of an emergency, the staff can press the nearest emergency stop button 320 to timely control the transport robot to stop.

[0086] One or more of the emergency stop buttons 320 here are all connected to the power supply. After any one of the emergency stop buttons 320 is pressed, the power supply of the automated guided vehicle 200 is cut off, causing the automated guided vehicle 200 to stop moving.

[0087] In the above implementation process, by setting the emergency stop button 320 on one or more sides of the guided vehicle, when the transport robot needs to stop in case of an emergency, the staff can press the nearest emergency stop button 320 to timely control the transport robot to stop, improving the obstacle avoidance efficiency of the transport robot and thus enhancing the safety of the transport robot.

[0088] In a possible implementation manner, the transport robot further includes: a material detection device 400 and a robotic arm 500.

[0089] Among them, the feeding device 100 further includes a support structure 120 for the vertical feeding platform 110; the robotic arm 500 is disposed on a plane of the support structure 120 away from the feeding platform 110; the gripper 510 is disposed at one end of the robotic arm 500 away from the support structure 120; and the material detection device 400 is disposed between two adjacent grippers 510.

[0090] The robotic arm 500 is provided with a gripper 510, and the gripper 510 is configured to pick up and place the target material.

[0091] In one embodiment, at least two grippers 510 may be provided on the robotic arm 500, and the at least two grippers 510 on the robotic arm 500 cooperate to grasp the target material, so as to unload the target material on the feeding device 100 to a specified position, or place the target material at the specified position on the feeding platform 110 of the feeding device 100.

[0092] The above-mentioned material detection device 400 is configured to detect whether the target material exceeds the material container.

[0093] In one embodiment, the material detection device 400 may be a photoelectric switch, and the photoelectric switch is configured to emit corresponding photoelectric signals (such as laser, infrared light, etc.) to the target material, so as to determine whether the target material exceeds the material container through the photoelectric signals.

[0094] It should be understood that since there will be a difference in the distance between the target material and the material detection device 400 when the target material is placed inside the material container and outside the material container. The target material detection device 400 can emit corresponding photoelectric signals to the target material, and can determine whether the distance between the target material and the material detection device 400 is a normal distance according to information such as the time and wavelength of the photoelectric signals returned by the target material. When it is determined that the distance between the material detection devices 400 is not a normal distance, it is determined that the target material exceeds the material container.

[0095] In the above implementation process, by setting the material detection device 400 on the gripper 510, before grasping the target material, it is first determined whether the target material exceeds the material container, so that the target materials grasped by the robotic arm 500 are all preferably loaded in the material container, avoiding risks such as the target material falling during the movement of the robotic arm 500 with the target material, and improving the safety of the target material.

[0096] In one possible implementation, as Figure 3 shown, there are two material detection devices 400; the two material detection devices 400 are respectively disposed between two adjacent grippers 510 along the first edge and the second edge.

[0097] Wherein, the first edge and the second edge are parallel to each other, and the two material detection devices 400 are configured to detect opposite sides of the target material.

[0098] At least two clamping jaws 510 are respectively arranged on the first edge and the second edge here. One end of each material detection device 400 is connected to a clamping jaw 510 on the first edge, and the other end is connected to a clamping jaw 510 on the adjacent second edge.

[0099] Exemplarily, two clamping jaws 510, namely clamping jaw A and clamping jaw B, are respectively arranged at both ends of the first edge, and two clamping jaws 510, namely clamping jaw C and clamping jaw D, are respectively arranged at both ends of the second edge. Wherein, clamping jaw A and clamping jaw C are arranged adjacent to each other, and clamping jaw B and clamping jaw D are arranged adjacent to each other. Then one end of a material detection device 400 is connected to clamping jaw A, and the other end is connected to clamping jaw C. One end of the other material detection device 400 is connected to clamping jaw B, and the other end is connected to clamping jaw D.

[0100] It should be understood that when the robotic arm 500 grabs the target material, the target material is located between the two material detection devices 400, and the two material detection devices 400 are respectively used to detect opposite sides of the target material.

[0101] In the above implementation process, by setting two material detection devices 400, which are respectively used to detect opposite sides of the target material, the detection results of the two material detection devices 400 can be mutually verified, improving the accuracy of the material detection device 400 in detecting the target material.

[0102] In a possible implementation manner, the transport robot further includes: a robotic arm 500 and a pose acquisition module 600.

[0103] Wherein, the feeding device 100 further includes a support structure 120 for the vertical feeding platform 110; the robotic arm 500 is arranged on a plane of the support structure 120 away from the feeding platform 110; the pose acquisition module 600 is arranged at the picking and placing end of the robotic arm 500, and the acquisition end of the pose acquisition module 600 faces the picking and placing direction of the robotic arm 500.

[0104] The robotic arm 500 here is configured to pick and place the target material. The robotic arm 500 is configured to pick and place the target material through the picking and placing end, and the pose acquisition module 600 is configured to obtain the pose information of the target material.

[0105] Optionally, the pose acquisition module 600 can be a lidar, a vision acquisition unit, etc., and the pose acquisition module 600 can be selected according to the actual situation.

[0106] The acquisition end of the above-mentioned pose acquisition module 600 refers to the end of the pose acquisition module 600 used to obtain pose information. For example, if the pose acquisition module 600 is a lidar, the acquisition end of the pose acquisition module 600 is the end that emits laser. Another example, if the pose acquisition module 600 is a vision acquisition unit, the acquisition end of the pose acquisition module 600 is the end where the camera is set.

[0107] It should be understood that before the robotic arm 500 grabs the target material, the pose acquisition module 600 first obtains the pose of the target material, and can send the acquired pose information to the information processing device. The pose information of the robotic arm 500 is determined through the information processing device, and then the robotic arm 500 is controlled to act according to the pose information, so that the robotic arm 500 can exactly grab the target material, improving the accuracy of grabbing the target material.

[0108] In the above implementation process, by setting the pose acquisition module 600 at the pick-and-place end of the robotic arm 500, the pose of the target material can be obtained before the robotic arm 500 grabs the target material, and then the robotic arm 500 is controlled to make corresponding adjustments, improving the accuracy of grabbing the target material.

[0109] In a possible implementation manner, the transport robot further includes: a barcode scanner 700 and a robotic arm 500.

[0110] Wherein, the discharging device 100 further includes a supporting structure 120 of the vertical discharging platform 110; the robotic arm 500 is arranged on the plane of the supporting structure 120 away from the discharging platform 110; the barcode scanner 700 is arranged on one or more axes of the robotic arm 500, and the scanning end of the barcode scanner 700 faces the pick-and-place direction of the robotic arm 500.

[0111] Wherein, the robotic arm 500 is configured to pick and place the target material, and the robotic arm 500 is a multi-axis robotic arm 500; the robotic arm 500 is configured to pick and place the target material through the pick-and-place end, and the barcode scanner 700 is configured to obtain the identity information of the target material.

[0112] The barcode scanner 700 here can be used to scan graphic codes such as barcodes, QR codes, and multi-dimensional codes.

[0113] In one embodiment, a graphic code for recording the identity information of the target material can be set on the target material. Before or during the process of the robotic arm 500 grabbing the target material, the graphic code on the target material can be scanned through the barcode scanner 700 to obtain the identity information of the target material.

[0114] The barcode scanner 700 can send the scanned identity information to one or more devices such as a control device, a processing device, a storage device, and a server. The identity information can be used to record the current state, location, and next process of the target material.

[0115] In the above implementation process, by setting a barcode scanner 700 on the robotic arm 500, the barcode scanner 700 can obtain the identity information of the target material, and this identity information can be used for a series of operations such as archiving, recording, and querying the target material, reducing the difficulty of obtaining the identity information of the target material and improving the grasping accuracy of the target material.

[0116] In a possible implementation manner, the transport robot further includes: a door opening detection device 800.

[0117] Among them, the feeding device 100 further includes a support structure 120 for the vertical feeding platform 110; the door opening detection device 800 is arranged on the plane of the support structure 120 away from the feeding platform 110, and the door opening detection device 800 is arranged facing the feeding platform 110.

[0118] The door opening detection device 800 here is configured to detect the state of the lathe door where the target material is placed.

[0119] Optionally, the door opening detection device 800 can be a photoelectric switch, a proximity switch, a magnetic switch sensor, etc. The door opening detection device 800 can be selected according to the actual situation.

[0120] It should be understood that by setting the door opening detection device 800 on the feeding platform 110, when the robotic arm 500 places the target material on the lathe or takes the target material from the lathe, the door opening detection device 800 can first detect whether the lathe door is open, and only when the lathe door is in the open state, further control the movement of the robotic arm 500, which can improve the movement accuracy of the robotic arm 500 and avoid the robotic arm 500 colliding with the lathe door when placing or taking the target material.

[0121] It can be understood that the specific execution process of each device in the embodiments of the present application can refer to similar modules in the prior art, and this solution does not involve improvements to the execution process of each device.

[0122] In the above implementation process, by setting the door opening detection device 800, when the robotic arm 500 places or takes the target material, the door opening detection device 800 can first detect whether the lathe door is open, and only when the lathe door is in the open state, further control the movement of the robotic arm 500, avoiding the robotic arm 500 colliding with the lathe door and improving the movement accuracy and safety of the robotic arm 500.

[0123] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and changes can be made to the present application. 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 denote 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.

[0124] As described above, this 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 can easily think of changes or replacements within the technical scope disclosed by the present application, and all should 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 transportation robot, characterized in that, Including: A feeding device, an automated guided vehicle, and a safety control device; The feeding device includes a feeding platform configured to place target materials; The automated guided vehicle includes a mounting plane; wherein, the mounting plane is a plane away from the moving structure of the automated guided vehicle, and the mounting plane is parallel to the moving plane on which the automated guided vehicle moves; One side of the feeding device away from the feeding platform is disposed on the mounting plane of the automated guided vehicle; wherein, the automated guided vehicle is configured to drive the feeding device to move; The safety control device is disposed on one or more sides of the feeding device perpendicular to the feeding platform; and / or The safety control device is disposed on one or more sides of the automated guided vehicle perpendicular to the mounting plane; Wherein, the safety control device is configured to obtain danger information during the movement of the transport robot and control the transport robot to slow down or stop moving based on the danger information.

2. The transport robot according to claim 1, wherein The safety control device includes: a safety edge; The safety edge is movably disposed on one or more sides of the feeding device and / or one or more sides of the guided vehicle; Wherein, the safety edge is configured to obtain danger information during the movement of the transport robot based on its contact with the external environment.

3. The transport robot according to claim 2, characterized in that Guide members are disposed on the side of the feeding device and / or the side of the guided vehicle for setting the safety edge; A connecting member is disposed on the safety edge, and the connecting member is connected to the guide member; The connecting member is configured to move on the guide member; Wherein, the safety edge is configured to adjust the height of the safety edge from the moving plane through the connecting member and the guide member.

4. The transport robot according to claim 2, wherein, The safety edge is disposed on the one with a larger projected area on the first plane in the feeding device and the automated guided vehicle; Wherein, the first plane is parallel to the moving plane.

5. The transport robot according to claim 1, characterized in that The safety control device includes: an emergency stop button; The emergency stop button is disposed on one or more sides of the guided vehicle, and the emergency stop buttons are respectively disposed at the intersections of the sides of each guided vehicle; Wherein, the emergency stop button is configured to control the transport robot to stop moving based on its being triggered.

6. The transportation robot according to any one of claims 1-5, characterized in that, It further includes: a material detection device and a robotic arm; The feeding device further includes a support structure perpendicular to the feeding platform; The robotic arm is disposed on the plane of the support structure away from the feeding platform; wherein, a gripper is disposed on the robotic arm; The gripper is disposed at one end of the robotic arm away from the support structure; wherein, the gripper is configured to pick and place the target materials; The material detection device is disposed between two adjacent grippers; Wherein, the material detection device is configured to detect whether the target material exceeds the material container.

7. The transport robot according to claim 6, wherein There are two material detection devices; The two material detection devices are respectively disposed between two adjacent grippers along the first edge and the second edge; Wherein, the first edge and the second edge are parallel to each other, and the two material detection devices are configured to detect opposite sides of the target material.

8. The transportation robot according to any one of claims 1-5, characterized in that, It further includes: A robotic arm and a pose acquisition module; The feeding device further includes a support structure perpendicular to the feeding platform; The robotic arm is disposed on a plane of the support structure away from the feeding platform; wherein, the robotic arm is configured to pick and place the target material; The pose acquisition module is disposed at the pick-and-place end of the robotic arm, and the acquisition end of the pose acquisition module faces the pick-and-place direction of the robotic arm; Wherein, the robotic arm is configured to pick and place the target material through the pick-and-place end, and the pose acquisition module is configured to obtain the pose information of the target material.

9. The transport robot according to any one of claims 1-5, characterized in that, It further includes: A barcode scanner and a robotic arm; The feeding device further includes a support structure perpendicular to the feeding platform; The robotic arm is disposed on a plane of the support structure away from the feeding platform; wherein, the robotic arm is configured to pick and place the target material, and the robotic arm is a multi-axis robotic arm; The barcode scanner is disposed on one or more axes of the robotic arm, and the scanning end of the barcode scanner faces the pick-and-place direction of the robotic arm; Wherein, the robotic arm is configured to pick and place the target material through the pick-and-place end of the robotic arm, and the barcode scanner is configured to obtain the identity information of the target material.

10. The transport robot according to any one of claims 1-5, characterized in that, It further includes: A door opening detection device; The feeding device further includes a support structure perpendicular to the feeding platform; The door opening detection device is disposed on a plane of the support structure away from the feeding platform, and the door opening detection device faces the feeding platform; Wherein, the door opening detection device is configured to detect the state of the lathe door for placing the target material.

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