Docking device and transfer robot

Abstract

The utility model discloses a butt joint device which comprises a storage assembly, the storage assembly is used for being arranged on the carrying side of a chassis of a transfer robot, a storage space with a material opening is arranged on the storage assembly, the butt joint device further comprises a material blocking mechanism, and the material blocking mechanism is arranged on the storage space. At least one part of the material blocking mechanism is selectively arranged in the material storage space so as to block materials arranged in the material storage space in the material inlet and outlet direction of the material opening. The utility model further provides the transfer robot comprising the butt joint device. According to the utility model, the stability of materials in the transportation process can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a docking device and a transport robot comprising the docking device. Background Art

[0002] There are many types of handling robots. To facilitate material collection and discharge, handling robots are generally equipped with a storage space and a material port for loading and unloading materials. When retrieving materials, the materials enter the storage space of the handling robot from the material port and are then transported to the target location. When unloading materials, the materials are also taken out from the material port. It can be seen that in order to facilitate material loading and unloading, it is generally necessary to ensure that the path corresponding to the material port is unobstructed. However, in actual working conditions, it is often necessary to carry stacked materials. When a handling robot carries multiple layers of stacked materials at a time, due to the shaking of the handling robot during walking and transportation or the inertia of the materials, the upper layer of materials can easily fall from the direction of loading and unloading, causing damage to the materials. Utility Model Content

[0003] The present invention aims to solve one of the technical problems in the related art to a certain extent. To this end, the present invention provides a docking device and a handling robot including the docking device, which can ensure the stability of materials during transportation and improve the transportation efficiency.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A docking device includes a storage component, which is used to be arranged on the loading side of the chassis of a transport robot. The storage component is provided with a storage space with a material opening, wherein the docking device also includes a material blocking mechanism, at least a portion of which is selectively arranged in the storage space to block the material set in the storage space from the direction of material entering and exiting from the material opening.

[0006] In this technical solution, by setting up a material blocking mechanism, the material blocking mechanism can block one side of the material along the direction of material entering and exiting the material port, thereby providing auxiliary support for the material in the storage space, preventing the upper layer of multi-layer docking materials from falling during handling and transportation, and improving the stability of the material placed on the handling robot.

[0007] Furthermore, the material baffle mechanism includes a material baffle plate and a material baffle plate driving sub-mechanism. The material baffle plate is arranged on the storage component and is located on one side of the storage space. The material baffle plate driving sub-mechanism is used to drive the material baffle plate to switch between a material baffle position and an avoidance position. In the material baffle position, the material baffle plate enters the storage space, and in the avoidance position, the material baffle plate is located outside the storage space.

[0008] Furthermore, the storage component includes two guide plates that are opposite to each other and spaced apart, the space between the two guide plates forms the material storage space, and the material port is located at one end of the space, the material baffle plate is arranged on one of the guide plates, and a receiving groove is formed on the guide plate on which the material baffle plate is arranged, and in the avoidance position, the material baffle plate is located in the receiving groove.

[0009] Furthermore, the material stopper plate includes a transverse pivot portion and a vertical material stopper portion, the transverse pivot portion is hinged to the corresponding guide plate, the vertical material stopper portion extends along the height direction of the corresponding guide plate, and the vertical material stopper portion is arranged at one end of the transverse pivot portion;

[0010] The baffle plate driving sub-mechanism is used to drive the transverse pivot portion to rotate around a hinge between the transverse pivot portion and the corresponding guide plate.

[0011] Furthermore, the receiving groove passes through the corresponding guide plate along the thickness direction, and the material blocking mechanism further includes a hinge shaft and two hinge lugs;

[0012] The hinge lugs are arranged on the surface of the corresponding guide plate facing away from the material storage space and are spaced apart along the height of the corresponding guide plate;

[0013] The hinge shaft is fixedly arranged on the back side of the transverse pivot portion, and both ends of the hinge shaft are rotatably inserted into the two hinge lugs respectively;

[0014] The output end of the baffle plate driving sub-mechanism is connected to one end of the hinge shaft to drive the hinge shaft to rotate.

[0015] Furthermore, the material blocking mechanism also includes a limiting member, which is arranged on a guide plate on which the accommodating groove is formed, and a part of the limiting member is fixed on the surface of the guide plate facing away from the storage space, and another part of the limiting member extends to the opening of the accommodating groove to block the vertical material blocking part.

[0016] Furthermore, the material baffle plate driving sub-mechanism is arranged on the guide plate on which the material baffle plate is provided, and the material baffle plate driving sub-mechanism includes a material baffle motor and a material baffle transmission unit, the output shaft of the material baffle motor is connected to the input shaft of the material baffle transmission unit, and the output shaft of the material baffle transmission unit is used as the output end of the plate driving sub-mechanism.

[0017] Furthermore, the material blocking mechanism further includes a detection unit, which is configured to generate an in-position signal when the material blocking plate is in the avoidance position.

[0018] Furthermore, the detection unit includes a photoelectric sensor and a photoelectric baffle, and the photoelectric sensor includes a light emitting surface and a light receiving surface that are arranged opposite to each other.

[0019] The photoelectric sensor is provided on one of the hinge shaft and the guide plate on which the hinge shaft is provided, and the photoelectric barrier is provided on the other of the hinge shaft and the guide plate on which the hinge shaft is provided; when the optical path of the photoelectric sensor is blocked, the signal generated by the photoelectric sensor is the in-position signal;

[0020] When the hinge shaft is driven by the baffle plate driving sub-mechanism to rotate to the avoidance position, the photoelectric baffle can be inserted between the light emitting surface and the light receiving surface of the photoelectric sensor.

[0021] Furthermore, the docking device includes a distance adjustment component, which is used to adjust the distance between the two guide plates.

[0022] Furthermore, the distance adjustment assembly includes at least one driving unit and a plurality of distance adjustment guide rails, wherein the length directions of the plurality of distance adjustment guide rails are consistent, and the plurality of distance adjustment guide rails are spaced apart along a first set direction, and the first set direction intersects with the length direction of the distance adjustment guide rails;

[0023] The bottom end of the guide plate is slidably disposed on each of the distance-adjusting guide rails, and the driving unit is used to drive at least one of the two guide plates to slide along the length direction of the distance-adjusting guide rails.

[0024] Furthermore, the distance adjustment assembly further includes two connecting frames corresponding one-to-one to the two guide plates, the connecting frames including a plurality of sliders corresponding one-to-one to the plurality of distance adjustment guide rails, a plurality of reinforcing connectors corresponding one-to-one to the plurality of sliders, and two connecting plates corresponding one-to-one to the two guide plates;

[0025] The slider is slidably arranged on the distance-adjusting guide rail;

[0026] The reinforcing portion of the reinforcing connector is provided on the back of the corresponding guide plate, the connecting portion of the reinforcing connector is located at the bottom end of the corresponding guide plate, and the connecting portion of the reinforcing connector is fixedly connected to the corresponding slider;

[0027] The connecting plates are connected between corresponding reinforcing connectors;

[0028] The driving unit can be extended and retracted along the length direction of the distance-adjusting guide rail, and both ends of the driving unit are fixedly connected to the two connecting plates arranged opposite to each other.

[0029] Furthermore, the driving unit is used to drive the two guide plates to move toward or away from each other.

[0030] Furthermore, the docking device also includes a conveying component, the storage component is arranged on both sides of the conveying component, the conveying surface of the conveying component forms the bottom surface of the storage space, and the transmission direction of the conveying component matches the direction of material entering and exiting the material port.

[0031] Furthermore, the docking device also includes a side shift assembly, which is used to be arranged on the chassis and is located on the loading side of the chassis. The conveying assembly is located between the side shift assembly and the storage assembly. The side shift assembly is used to move the conveying assembly along a second set direction, and the second set direction is consistent with the transmission direction of the conveying assembly.

[0032] As a second aspect of the present invention, a transport robot is provided, which includes a chassis and a docking device, wherein the docking device is the docking device provided in the first aspect of the present invention, and the docking device is arranged on the loading side of the chassis.

[0033] Furthermore, the transport robot also includes a vertical lifting component, which is arranged on the chassis and located on the loading side of the chassis. The docking device is arranged on the vertical lifting component, and the vertical lifting component can drive the docking device to rise and fall in the vertical direction.

[0034] These features and advantages of the present invention will be detailed in the following detailed description and accompanying drawings. The preferred embodiments or means of the present invention will be fully illustrated in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. Furthermore, although multiple features, elements, and components may be present and are labeled with different symbols or numbers for convenience, they all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings:

[0036] Figure 1 This is an overall structural diagram of one embodiment of the present utility model;

[0037] Figure 2a This is a structural diagram of a docking device according to one embodiment of the present invention (the baffle plate is in the avoidance position);

[0038] Figure 2b for Figure 2a The enlarged view of point I in the middle;

[0039] Figure 2c for Figure 2a Enlarged view of position II in the middle;

[0040] Figure 3 This is a structural diagram of a docking device according to one embodiment of the present invention (the baffle plate is in the avoidance position);

[0041] Figure 4 This is a top view of the docking device of one embodiment of the present invention (the baffle plate is in the avoidance position);

[0042] Figure 5 This is a structural diagram of the docking device of one embodiment of the present utility model (the baffle plate is in the baffle position);

[0043] Figure 6a This is a structural diagram of the docking device of one embodiment of the present utility model (the baffle plate is in the baffle position);

[0044] Figure 6b Schematic diagram of the structure of the baffle plate;

[0045] Figure 7 This is a top view of the docking device of one embodiment of the present invention (the baffle plate is in the avoidance position);

[0046] Figure 8a This is a structural diagram of a distance adjustment component in one embodiment of the present utility model;

[0047] Figure 8b for Figure 8a Enlarged view of point III in the middle;

[0048] Figure 8c A schematic diagram of the structure of the reinforcement connector;

[0049] Figure 9 This is a rear view of a docking device according to one embodiment of the present invention;

[0050] Figure 10 This is a side view of a docking device according to one embodiment of the present invention;

[0051] Figure 11 This is a top view of a distance adjustment assembly according to one embodiment of the present invention;

[0052] Figure 12 This is a structural diagram of a docking device according to one embodiment of the present invention;

[0053] Figure 13 This is a structural diagram of a side shift assembly according to one embodiment of the present invention;

[0054] Figure 14 This is a structural diagram of a mast lifting assembly according to one embodiment of the present invention.

[0055] in,

[0056] 100, chassis;

[0057] 200, docking device; 201, conveying assembly; 2011, bottom plate; 2012, support plate; 2013, roller; 202, guide plate; 2021, receiving groove; 2022, guide plate body; 2023, baffle; 203, guide plate; 2031, guide plate body; 2032, baffle;

[0058] 204, pitch adjustment assembly; 2041, pitch adjustment guide rail; 2042, first screw rod; 2042a, first threaded portion; 2042b, second threaded portion; 2043, first support base; 2044, connecting frame; 20441, first screw rod nut; 20442, first slider; 2045, connecting frame; 20451, second screw rod nut; 20452, second slider; 2046, pitch adjustment transmission unit;

[0059] 205, side shift assembly; 2051, side shift base plate; 2052, side shift motor; 2053, side shift connecting plate; 2054, second screw rod; 2055, side shift guide rail; 2056, second support base; 2057, third screw rod nut;

[0060] 206, reinforced connector; 2061, reinforced portion; 2062, connecting portion;

[0061] 300, material blocking mechanism; 301, material blocking plate; 302, material blocking motor; 303, material blocking transmission unit; 304, hinge shaft; 305, photoelectric sensor; 306, photoelectric blocking piece; 307, limiting part; 3071, connecting end; 3072, limiting plate; 3073, buffer block;

[0062] 400, gantry lifting assembly; 401, gantry; 402, lifting guide rail; 403, lifting fork; 404, lifting motor; 405, lifting reducer; 406, lifting transmission unit; 407, third screw rod; 408, fourth screw rod nut; 409, third support seat. DETAILED DESCRIPTION

[0063] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0064] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0065] See also Figure 1 ,and Figure 2a One embodiment of the present invention discloses a docking device 200 for a transport robot. The transport robot includes a chassis 100 , and the docking device 200 can be arranged on a loading side of the chassis 100 .

[0066] The docking device 200 is used to dock with external equipment to perform material loading and unloading operations, wherein the docking device includes a storage component, which is arranged on the loading side of the chassis 100, and the storage component is provided with a storage space with a material opening.

[0067] When taking materials, the materials on the external equipment enter the storage space from the material port, and when discharging materials, the materials in the storage space are sent out through the material port.

[0068] The docking device 200 in this embodiment further includes a material blocking mechanism 300 , at least a portion of which is selectively disposed in the material storage space to block the material disposed in the material storage space from passing through the material opening.

[0069] Specifically, when materials are stored in the material storage space, at least a portion of the material blocking mechanism 300 can block the side of the materials facing the material opening, thereby preventing the materials from passing through the material opening.

[0070] Especially when the materials stored in the storage space are stacked at a high height, the material blocking mechanism 300 is used to block the side of the material facing the material port, which can improve the stability of the material placed on the handling robot, avoid the material from collapsing or falling from the handling robot during transportation, and ensure that the material is not damaged during the transfer process.

[0071] As described above, at least a portion of the material blocking mechanism 300 is selectively disposed within the material storage space. In other words, whether or not to dispose at least a portion of the material blocking mechanism 300 within the material storage space can be selected based on the specific scenario. For example, during loading and unloading, at least a portion of the material blocking mechanism 300 can be removed from the material storage space. When a handling robot including the docking device 200 is transporting materials, at least a portion of the material blocking mechanism 300 can be disposed within the material storage space to achieve the material blocking function.

[0072] In the present invention, there is no particular limitation on the specific structure of the material blocking mechanism 300, as long as there are components that can be selectively arranged in the material storage space to realize the material blocking function. For example, the material blocking mechanism 300 may include a material blocking plate 301 and a material blocking plate driving sub-mechanism. The material blocking plate 301 is arranged on the storage component and is located on one side of the material storage space. The material blocking plate driving sub-mechanism is used to drive the material blocking plate 301 to switch between a material blocking position and a avoidance position. In the material blocking position, the material blocking plate 301 enters the material storage space, and in the avoidance position, the material blocking plate 301 is located outside the material storage space.

[0073] In the above embodiment, the material blocking plate 301 is the portion of the material blocking mechanism 300 that selectively enters the material storage space.

[0074] The material baffle plate 301 has a plate-like structure. In the material-blocking position, it can assist in supporting the material and ensure the stability of material transportation. When the material baffle plate 301 is in the avoidance position, the material-blocking mechanism is located outside the storage space. At this time, the handling robot can perform material picking and placing operations to avoid the material-blocking mechanism extending into the storage space affecting the material picking and placing operations.

[0075] In the present invention, there is no particular limitation on the specific structure of the storage assembly. It is sufficient that the storage assembly can define a storage space with a material opening. It should be noted that the material opening is located on the side of the storage space, not on the top or bottom of the storage space.

[0076] As an optional embodiment, the storage assembly includes two guide plates (i.e., guide plate 202 and guide plate 203 in the figure) that are opposite and spaced apart. In this embodiment, the space between guide plate 202 and guide plate 203 forms the material storage space, and the material port is located at one end of the space.

[0077] The baffle plate 301 is arranged on one of the two guide plates. Figure 2a In the embodiment shown in FIG, the material retaining plate 301 is disposed on the guide plate 202. To improve the structural compactness of the docking device 200, a receiving groove 2021 is optionally formed on the guide plate 202. In the avoidance position, the material retaining plate 301 is located in the receiving groove 2021, eliminating the need for a dedicated receiving component to accommodate the material retaining plate 301.

[0078] In the embodiment of the present invention, there are no specific limitations on how the baffle plate driving sub-mechanism drives the baffle plate 301 to move between the material blocking position and the avoidance position. For example, the baffle plate driving sub-mechanism can drive the baffle plate 301 to move linearly. Specifically, the baffle plate driving sub-mechanism can push the baffle plate 301 located in the receiving slot 2021 into the material storage space, and can also pull the baffle plate 301 located in the material storage space back into the receiving slot 2021.

[0079] Of course, the present invention is not limited to this. Figure 6b In the embodiment shown in , the material blocking plate 301 includes a transverse pivot portion 3011 and a vertical material blocking portion 3012, the transverse pivot portion 3011 is hinged to the corresponding guide plate 202, the vertical material blocking portion 3012 extends along the height direction of the corresponding guide plate 202, and the vertical material blocking portion 3012 is arranged at one end of the transverse pivot portion 3011.

[0080] The baffle plate driving sub-mechanism is used to drive the transverse pivot portion 3011 to rotate around the hinge between the transverse pivot portion 3011 and the corresponding guide plate 202.

[0081] In the embodiment of the present invention, the length direction of the transverse pivot portion 3011 is inconsistent with the length direction of the vertical material stop portion 3012. Specifically, the length direction of the transverse pivot portion 3011 is horizontal, while the length direction of the vertical material stop portion 3012 is vertical (as shown in the figure, the shape of the material stop plate is roughly "7"). The vertical material stop portion 3012 is arranged at the end of the transverse pivot portion 3011. When the transverse pivot portion 3011 rotates, the vertical material stop portion 3012 can be rotated to a position closer to the middle of the width of the material storage space, thereby providing more stable material blocking.

[0082] In the embodiment of the present invention, the depth and shape of the receiving groove 2021 are not specifically determined. What needs to be clarified is that the opening of the receiving groove 2021 should face the material storage space.

[0083] In order to facilitate processing, Figure 2a 、 Figure 5 As shown, the receiving groove 2021 passes through the corresponding guide plate 202 along the thickness direction. Accordingly, the material blocking mechanism 300 may further include a hinge shaft 304 and two hinge lugs 308.

[0084] The hinge lugs 308 are arranged on the surface of the corresponding guide plate 202 facing away from the storage space and are spaced apart along the height direction of the corresponding guide plate. The hinge shaft 304 is fixedly arranged on the back side of the transverse pivot portion 3011, and the two ends of the hinge shaft 304 are respectively rotatably inserted into the two hinge lugs 308.

[0085] The output end of the baffle plate driving sub-mechanism is connected to one end of the hinge shaft 304 to drive the hinge shaft 304 to rotate.

[0086] It should be noted that, in the avoidance position, the surface of the baffle plate 301 preferably does not protrude from the inner surface of the guide plate 202, so as to avoid the baffle plate 301 from occupying the material storage space. In an embodiment of the present invention, the position of the baffle plate 301 can be controlled by controlling the output of the baffle plate driving sub-mechanism. Of course, the present invention is not limited to this. As an optional embodiment, the baffle mechanism 300 can also include a limiter 307, which is provided on the guide plate 202 formed with the receiving groove 2021, and a part of the limiter 307 is fixed on the surface of the guide plate 202 away from the material storage space, and another part of the limiter 307 extends to the opening of the receiving groove 2021 to block the vertical material stopper 3012.

[0087] The setting of the limiting member 307 can prevent the vertical material blocking portion 3012 from overturning and can reduce the control accuracy requirement for the material blocking plate driving sub-mechanism.

[0088] As a specific implementation, the limiting member 307 includes a limiting plate 3072 and a buffer block 3073 provided on the limiting plate 3072 , and the buffer block 3073 faces the material blocking plate 301 .

[0089] The buffer block 3073 can, when the baffle plate 301 is in the avoidance position, abut against one end surface of the baffle plate 301 and limit the position of the baffle plate 301. In this embodiment, the limiting portion 307 is provided to prevent the baffle plate 301 from over-rotating when it rotates to the avoidance position. The buffer block 3073 can avoid rigid impact between the baffle plate 301 and the limiting plate 3072, reduce the backlash caused to the baffle motor 302 when the baffle plate 301 rotates to the avoidance position, and improve the life of the motor. In addition, the buffer block 3073 is further provided in this embodiment. The buffer block 3073 can be set as a non-rigid component such as a plastic part or an elastic part. Since the baffle plate 301 and the limiting plate 3072 are generally metal rigid components, the buffer block 3073 can avoid impact damage between the two metal rigid components, thereby improving the life of the baffle plate 301.

[0090] As an optional embodiment, the material blocking mechanism 300 may further include a detection unit, which is used to generate an in-position signal when the material blocking plate is in the avoidance position, and the in-position signal is used to control the material blocking plate driving sub-mechanism to stop the action.

[0091] When the material baffle plate 301 rotates to the avoidance position, the detection unit generates the in-place signal. The detection unit can be directly electrically connected to the material baffle drive sub-mechanism and send the in-place signal to the material baffle drive sub-mechanism. After receiving the in-place signal, the material baffle drive sub-mechanism no longer drives the material baffle plate 300 to rotate. As another optional embodiment, the detection unit is electrically connected to the controller of the transport robot provided with the docking device, and sends the in-place signal to the controller. After receiving the in-place signal, the controller controls the material baffle drive sub-mechanism to stop moving.

[0092] By controlling the blocking motor 302 to stop rotating through the in-position signal, the blocking plate 301 can be accurately controlled to rotate to the avoidance position, thereby avoiding quality accidents or even safety accidents that may be caused by incomplete rotation.

[0093] In the embodiment of the present invention, there is no particular limitation on the specific structure of the detection unit. For example, the detection unit can be a proximity switch, or an electronic component such as a camera.

[0094] To improve control accuracy, the detection unit optionally includes a photoelectric sensor 305 and a photoelectric baffle 306. Accordingly, the photoelectric sensor 305 includes a light emitting surface and a light receiving surface that are arranged opposite to each other. When the light path of the photoelectric sensor 305 is blocked, the signal generated by the photoelectric sensor 305 is the in-position signal.

[0095] The photoelectric sensor 305 is provided on one of the hinge shaft 304 and the guide plate 202 , and the photoelectric barrier 306 is provided on the other of the hinge shaft 304 and the guide plate 202 .

[0096] When the material stopper driving sub-mechanism rotates the hinge shaft 304 so that the material stopper 301 is completely located in the receiving groove 2021, the photoelectric barrier 306 is inserted between the light emitting surface and the light receiving surface of the photoelectric sensor 305. In other words, once the photoelectric barrier 306 is inserted between the light emitting surface and the light receiving surface of the photoelectric sensor 305, it means that the material stopper 301 is completely located in the receiving groove 2021.

[0097] See also Figure 2a-Figure 7 Based on the above-mentioned structure of the material blocking plate 301 being rotatably connected, the material blocking mechanism 300 of one embodiment of the present invention includes a material blocking motor 302, a material blocking transmission unit 303, a hinge shaft 304, and a detection unit. The material blocking motor 302 is fixed on the guide plate 202, the material blocking plate 301 is rotatably connected to the guide plate 202 via the hinge shaft 304, and the output end of the material blocking motor 302 is connected to the hinge shaft 304 via the material blocking transmission unit 303. Figure 2bAs shown, the detection unit includes a photoelectric sensor 305 arranged on the guide plate 202 and a photoelectric baffle 306 arranged on the hinge shaft 304. In the avoidance position, the photoelectric baffle 306 is opposite to the photoelectric sensor 305 and can trigger the photoelectric sensor 305 to send a position signal.

[0098] When the material blocking mechanism 300 in this embodiment is in use, the material blocking motor 302 drives the material blocking plate 301 to rotate through the transmission unit 303, wherein the material blocking transmission unit 303 can be set to a synchronous belt drive, a chain drive, a gear drive mechanism, etc. Of course, the material blocking motor 302 can also be directly connected to one end of the hinge shaft 304 through a coupling to realize power transmission. It should be noted that the material blocking motor 302 in this embodiment is set to a servo motor. When the servo motor drives the material blocking plate 301 to rotate through the hinge shaft 304, the swing angle of the material blocking plate 301 is controlled by the encoder of the servo motor (the rotation range of the material blocking plate 301 can be set according to actual needs. In order to ensure a better material blocking effect in this embodiment, the maximum rotation angle of the material blocking plate 301 is 120°), so as to realize precise control of the position of the material blocking plate 301, achieve a better material blocking effect, and avoid the problem of squeezing materials or failing to block materials due to position errors.

[0099] Since the passage within the conveying range of the conveying assembly 201 needs to be kept clear during loading and unloading, that is, the baffle plate 301 cannot extend into the material storage space between the guide plate 202 and the guide plate 203 at this time, if the baffle plate 301 extends into the material storage space during the material taking and unloading process, it will cause the material to be stuck during transportation, which is prone to quality accidents or even safety accidents. Therefore, it is necessary to accurately detect whether the baffle plate 301 is in the avoidance position. The detection unit in this embodiment is used to accurately detect whether the baffle plate 301 is in the avoidance position. Position, wherein the detection unit includes a photoelectric sensor 305 arranged on the guide plate 202 and a photoelectric baffle 306 arranged on the hinge shaft 304. When the baffle plate 301 rotates to the avoidance position, the photoelectric baffle 306 is opposite to the photoelectric sensor 305 and can trigger the photoelectric sensor 305 to send a detection signal, which can control the baffle motor 302 to stop rotating. Through the setting of the detection unit, the rotation of the baffle plate 301 to the avoidance position can be accurately controlled to avoid quality accidents or even safety accidents that may be caused by inadequate rotation.

[0100] In the embodiment of the present invention, the specific structure of the guide plate is not particularly limited. As an optional embodiment, see the attached Figure 2aThe guide plate 202 may include a guide plate body 2022 and a baffle 2023 disposed on the guide plate body 2022. The guide plate 203 may include a guide plate body 2031 and a baffle 2032 disposed on the guide plate body 2031. The guide plate body 2022 and the guide plate body 2031 are disposed opposite each other to define the material storage space. The baffle 2023 and the baffle 2032 are disposed at an end away from the material opening, and the baffle 2023 and the baffle 2032 extend relative to each other.

[0101] As an optional embodiment, a guiding slope is formed at one end of the guide plate body at the material opening, so that the material opening is roughly a "funnel mouth" to facilitate docking of the docking equipment.

[0102] See also Figures 9 to 12 In order to make the storage of materials in the storage space more stable, one embodiment of the present utility model is that, along the direction of material entering and exiting the material port, the guide plate 202 is provided with a guide plate body 2022 extending into the storage space, the first end of the guide plate 203 is provided with a guide plate body 2031 extending into the storage space, the second end of the guide plate 202 and the second end of the guide plate 203 are respectively provided with a guide portion, and the first end of the material blocking plate 301 is arranged near the second end of the guide plate 202. The material blocking plate 301, the guide plate body 2022, and the guide plate body 2031 in this embodiment can support both ends of the material along the conveying direction. In this way, with the support of the guide plates 202 and 203 on both sides of the material in the storage space, the four directions of the material have auxiliary support structures, which can make the position of the material in the storage space more stable. It should be noted that, in this embodiment, the setting position of the baffle plate 301 is also limited (the first end of the baffle plate 301 is set close to the second end of the guide plate 202), and the first end (free end) of the baffle plate 301 is close to the end of the guide portion provided with the guide portion of the guide plate 202, that is, the first end of the baffle plate 301 is close to the end of the material taking and discharging entrance. When in use, the baffle plate 301 rotates from the first end of the guide plate 202 to the second end of the guide plate 202, and the rotation direction of the baffle plate 301 is consistent with the direction of taking and discharging, which can avoid obstruction of the material and ensure effective blocking of the material.

[0103] It should be noted that the guide portion in this embodiment is used to guide materials into the storage space, wherein the guide portion may include an extension plate provided at the second end of the guide plate 202 and the second end of the guide plate 203, extending in the conveying direction. The extension plate is provided near the bottom surface of the storage space, and a guide slope is provided on the end surface of the extension plate facing the storage space. In addition, the guide portion may also include a guide groove provided at the edge of the second end of the guide plate 202 and the second end of the second guide portion. The provision of the guide slope and the guide groove can better guide the materials to enter the storage space smoothly.

[0104] 8 , a docking device 200 according to one embodiment of the present invention includes a distance adjustment component 204 , which is used to adjust the distance between a guide plate 202 and a guide plate 203 that are arranged opposite to each other.

[0105] The width of the storage space is adjusted by adjusting the distance between guide plates 202 and 203 using the distance adjustment assembly 204 to accommodate materials of varying widths. An appropriate storage space width prevents slippage and twisting during material transport, improving the smoothness of material transfer and enabling the transport robot to accommodate materials of varying widths.

[0106] In one embodiment of the present invention, a distance adjustment assembly 204 includes at least one drive unit and a plurality of distance adjustment rails 2041. The plurality of distance adjustment rails 2041 are aligned in length. Furthermore, the plurality of distance adjustment rails 2041 are spaced apart and arranged along a first set direction, which intersects the length direction of the distance adjustment rails 2041.

[0107] The bottom ends of the guide plates 202 and 203 are slidably disposed on the respective distance-adjusting guide rails 2041 , and the driving unit is used to drive at least one of the guide plates 202 and 203 to slide along the length direction of the distance-adjusting guide rails 2041 .

[0108] By sliding the guide plate 202 and / or the guide plate 203 along the distance-adjusting guide rail 2041 , the distance between the guide plate 202 and the guide plate 203 can be changed.

[0109] In the present invention, how the distance-adjusting guide rail 2041 cooperates with the guide plate is not specifically limited. For example, a chute can be provided at the bottom end of the guide plate, and the distance-adjusting guide rail 2041 is provided in the corresponding chute.

[0110] In order to facilitate manufacturing and reduce assembly difficulty, the distance adjustment component 204 optionally further includes two connecting frames 2044 and 2045 corresponding to the two guide plates 202 and 203. As shown in the figure, the guide plate 202 corresponds to the connecting frame 2044, and the guide plate 203 corresponds to the connecting frame 2045.

[0111] The connecting frames 2044 and 2045 include a plurality of sliders 20442 and 20452 corresponding to the plurality of distance-adjusting guide rails 2041, and a plurality of reinforcing connectors 206 corresponding to the plurality of sliders 20442 and 20452 (see FIG. Figure 8c ), and two connecting plates 20441 and 20451 corresponding one to one with the two guide plates 202 and 203.

[0112] The slider 20442 and the slider 20452 are slidably arranged on the distance adjustment guide rail 2041.

[0113] The reinforcing portion 2061 of the reinforcing connector 206 is arranged on the back of the corresponding guide plate, and the connecting portion 2062 of the reinforcing connector 206 is located at the bottom end of the corresponding guide plate. The connecting portion 2062 of the reinforcing connector 206 is fixedly connected to the corresponding sliders 20442 and 20452.

[0114] The connecting plates 20441 and 20451 are respectively connected between the corresponding reinforcing connectors 206 .

[0115] The driving unit can be extended and retracted along the length direction of the distance-adjusting guide rail, and both ends of the driving unit are fixedly connected to the oppositely arranged connecting plate 20441 and the connecting plate 20451 respectively.

[0116] In the embodiment of the present invention, the guide plate is fixedly connected to the corresponding slider by a reinforcing connector 206 including a reinforcing portion 2061 and a connecting portion 2062, thereby increasing the reliability of the connection. Figure 8c As shown in FIG, the reinforcing connector 206 is generally “L” shaped.

[0117] In the embodiment of the present utility model, there is no special limitation on the specific form of the driving unit, as long as it can be extended and retracted along the length direction of the distance-adjusting guide rail. As an optional embodiment, the driving unit includes a first screw rod unit. Specifically, the first screw rod unit includes a first screw rod 2042 and a first support seat 2043 arranged at both ends of the first screw rod 2042 and used to support the first screw rod 2042. A bearing for supporting the first screw rod 2042 is installed in the first support seat 2043. The first screw rod 2042 includes a first threaded portion 2042a and a second threaded portion 2042b. The thread rotation directions of the first threaded portion 2042a and the second threaded portion 2042b are opposite. The guide plate 202 and the guide plate 203 are respectively threadedly connected to the first threaded portion 2042a and the second threaded portion 2042b. The rotation of the first screw rod 2042 can drive the guide plate 202 and the guide plate 203 to move synchronously toward or away from each other through the first threaded portion 2042a and the second threaded portion 2042b.

[0118] The guide plates 202 and 203 in this embodiment are slidably mounted on the opposite ends of the distance-adjusting guide rail 2041 respectively. Both the guide plates 202 and 203 can slide along the distance-adjusting guide rail 2041. When the distance needs to be adjusted, the first screw rod 2042 is driven to rotate by the driving component. The rotation of the first screw rod 2042 can drive the guide plate 202 connected to the first threaded portion 2042a and the guide plate 203 connected to the second threaded portion 2042b to slide along the distance-adjusting guide rail 2041. Since the first threaded portion 2042a and the second threaded portion 2042b on the first screw rod 2042 are arranged relative to each other and the thread rotation directions of the two are opposite, when the first screw rod 2042 rotates, the thread structures of the first threaded portion 2042a and the second threaded portion 2042b with different rotation directions can drive the guide plates 202 and 203 to move synchronously toward or away from each other, thereby realizing the adjustment of the distance between the guide plates 202 and 203.

[0119] It should be noted that the structure in which the guide plate 202 and the guide plate 203 in this embodiment are synchronously adjusted through the first screw unit can ensure that the center line of the storage space remains unchanged, making it more convenient to dock with external equipment, reducing docking efficiency and improving docking stability.

[0120] As an optional embodiment, the docking device includes a conveying assembly 201 disposed on the loading side of the chassis, the conveying direction of the conveying assembly 201 being consistent with the direction of material entry and exit of the material port, the conveying surface of the conveying assembly 201 forming the bottom surface of the material storage space, the guide plates 202 and 203 of the storage assembly being respectively disposed on opposite sides of the conveying assembly 201, the material blocking mechanism being disposed on at least one of the guide plates 202, and the material storage space being located between the guide plates 202 and 203. By providing the conveying assembly, the entry and exit of materials in the material storage space is facilitated, and the guide plates 202 and 203 can provide auxiliary support and guidance for the two sides of the materials, thereby improving the stability of the materials during entry and exit and transportation.

[0121] When the present embodiment is working, the handling robot first moves to the position where the operation is required, and adjusts the conveying assembly 201 to the position where the operation is required, specifically, the storage space between the guide plate 202 and the guide plate 203 is aligned with the position where the operation is required, and then the conveying assembly 201 is started, and the external materials enter the storage space of the conveying assembly 201 along the conveying assembly 201 under the guidance of the guide plate 202 and the guide plate 203 (at this time, the baffle plate 301 is in the avoidance position, which can avoid interference with the transportation of materials on the conveying assembly 201), and the handling robot can carry the materials for transportation. During the transportation process, the baffle plate 301 of the baffle mechanism 300 can be switched to the baffle position. At the baffle position, the first end of the baffle plate 301 extends into the storage space (see attached Figure 5 , 6, 7), and can be against one side of the material in the storage space along the conveying direction, so that the baffle plate 301 can assist in supporting the material in the storage space, avoiding the upper layer of the multi-layer stacked materials from falling due to shaking and the inertia of the materials themselves during transportation, and improving the stability of the materials placed on the handling robot (especially suitable for small materials stacked in multiple layers); when the materials are transported to the destination, the handling robot performs the cargo release operation, and at this time the baffle plate 301 is switched to the avoidance position (see Figure 2a 、 Figure 3 、 Figure 4 ), the baffle plate 301 is outside the storage space. At this time, the handling robot can perform the cargo release operation to avoid the baffle plate 301 extending into the storage space affecting the cargo release operation.

[0122] It should be noted that in this embodiment, the material blocking mechanism 300 can be set on one of the guide plate 202 and the guide plate 203, or the material blocking structure can be set on both the guide plate 202 and the guide plate 203 to achieve a better material blocking effect.

[0123] See also Figures 8a to 8c In order to improve the stability of the movement of the guide plate 202 and the guide plate 203 during the distance adjustment process, the distance adjustment assembly 204 of one embodiment of the present invention includes a connecting frame 2044 and a connecting frame 2045. The connecting frame 2044 includes a first screw nut 20441 threadedly connected to the first threaded portion 2042a and a plurality of first sliders 20442 corresponding to the distance adjustment guide rail 2041, the first slider 20442 is slidably connected to the first end of the distance adjustment guide rail 2041, the connecting frame 2045 includes a second screw nut 20451 threadedly connected to the second threaded portion 2042b and a plurality of second sliders 20452 corresponding to the distance adjustment guide rail 2041, the second slider 20452 is slidably connected to the second end of the distance adjustment guide rail 2041, the connecting frame 2044 is fixedly connected to the guide plate 202, and the connecting frame 2045 is fixedly connected to the guide plate 203.

[0124] In this embodiment, a connecting frame 2044 and a connecting frame 2045 are provided. The connecting frame 2044 and the connecting frame 2045 serve as sliding base components of the guide plate 202 and the guide plate 203. The connecting frame 2044 and the connecting frame 2045 are simultaneously installed on multiple distance-adjusting guide rails 2041. Since the multiple distance-adjusting guide rails 2041 are distributed at intervals and the first screw unit is provided between two adjacent distance-adjusting guide rails 2041, the connecting frame 2044 and the connecting frame 2045 can achieve a multi-point support effect, and the overall structure is more stable.

[0125] In one embodiment of the present invention, a pitch adjustment assembly 204 includes a pitch adjustment motor and a pitch adjustment transmission unit 2046. The pitch adjustment transmission unit 2046 includes a synchronous belt, a first pulley, and a second pulley. The output end of the pitch adjustment motor is connected to the first pulley, one end of the first screw unit is connected to the second pulley, and the synchronous belt is connected between the first pulley and the second pulley. The synchronous belt transmission structure is convenient for layout and saves installation space. The pitch adjustment motor can be a servo motor, which can accurately control the adjusted width of the guide plates 202 and 203. Of course, in actual use, transmission mechanisms such as chain drive and gear drive can also be used.

[0126] The conveying assembly 201 of one embodiment of the present invention includes a base plate 2011 and support plates 2012 arranged at opposite side edges of the base plate 2011, and a plurality of rollers 2013 arranged between the two support plates 2012. The plurality of rollers 2013 are arranged at intervals along the conveying direction of the conveying assembly 201. The two support plates 2012 are respectively located on the outer sides of the guide plate 202 and the guide plate 203 on their corresponding sides. Each of the distance adjustment guide rails 2041 and the first screw rod are respectively arranged in the intervals between adjacent rollers 2013.

[0127] The conveying assembly 201 in this embodiment uses rollers 2013 for conveying. Through the reasonable layout between the rollers 2013 and the distance-adjusting guide rails 2041 (the distance-adjusting guide rails 2041 are arranged in the intervals between the rollers 2013, and the heights of the rollers 2013 and the guide rails themselves can overlap in the height space), the space utilization rate can be improved, the compactness of the overall structure can be improved, and the overall height of the conveying assembly 201 can be reduced.

[0128] Of course, it is easy to imagine that the conveying component 201 can also adopt structures such as synchronous belt conveying or chain plate conveying. When the conveying component 201 adopts different structures, the corresponding distance adjustment component 204 is set according to the structure of the conveying component 201.

[0129] See also Figure 1 and Figure 13 The docking device 200 of one embodiment of the present invention also includes a side shift component 205, which is used to be set on the chassis 100 and is located on the loading side of the chassis 100. The conveying component 201 is located between the side shift component 205 and the storage component. The side shift component 205 is used to move the conveying component 201 along a second set direction, and the second set direction is consistent with the transmission direction of the conveying component 201.

[0130] As an optional embodiment, the side shift assembly 205 includes a side shift base plate 2051 and a side shift motor 2052 arranged on the side shift base plate 2051, a side shift connecting plate 2053, at least one second screw unit and a plurality of side shift guide rails 2055, wherein the plurality of side shift guide rails 2055 are arranged at intervals, the second screw unit is arranged between two adjacent side shift guide rails 2055, the second screw unit includes a second screw rod 2054 and a second screw rod 2054 arranged at both ends for supporting the second screw rod 2054. The second support seat 2056 of the screw rod 2054, the second support seat 2056 is fixed on the side shift base plate 2051, the output end of the side shift motor 2052 is connected to the input end of the second screw rod 2054 through a coupling, the side shift connecting plate 2053 is threadedly connected to the second screw rod 2054 through a third screw nut 2057, the side shift connecting plate 2053 is slidably connected to the side shift guide rail 2055 through a side shift slider, and the conveying assembly 201 is arranged on the side shift connecting plate 2053.

[0131] Specifically, when the transport robot moves to the working position, due to the structural limitations of the external machine and the transport robot itself, there may be a certain gap between the transport robot and the machine. This gap is limited by the mechanism layout on the docking side of the machine (such as the foot cup). When the size of the transported material is small, a larger gap is likely to cause material jamming. The side shift mechanism in this embodiment can drive the second screw rod 2054 in the second screw rod unit to rotate through the side shift motor 2052 when the conveying component 201 maintains a certain distance from the external machine. The rotation of the second screw rod 2054 can drive the side shift connecting plate 2053 to slide along the side shift guide rail 2055 through the third screw nut 2057. Since the conveying component 201 is arranged on the side shift connecting plate 2053, the side shift component 205 can independently move the conveying component 201 and the distance adjustment mechanism to bring the two close to the machine, thereby eliminating the gap between the above-mentioned transport robot and the machine, thereby improving the success rate of docking and avoiding material jamming.

[0132] Furthermore, each of the side shift guide rails 2055 in one embodiment of the present invention extends along the conveying direction of the conveying assembly 201. This can better bring the material port closer to the machine, better eliminate the gap mentioned above, and improve the success rate of docking.

[0133] As a second aspect of the present invention, a transport robot is provided, which includes a chassis 100 and a docking device, wherein the docking device is the docking device 200 provided in the first aspect of the present invention, and the docking device 200 is arranged on the loading side of the chassis 100.

[0134] In the embodiment of the present invention, the docking device 200 can be directly mounted on the chassis 100, or other components can be disposed between the docking device 200 and the chassis 100. For example, the transport robot can further include a vertical lifting assembly 400, which is mounted on the chassis 100 and located on the cargo-carrying side of the chassis 100. The docking device 200 is mounted on the vertical lifting assembly 400, which can drive the docking device 200 to rise and fall vertically.

[0135] The gantry lifting assembly 400 in this embodiment enables the transport robot to dock with equipment at different heights, so that the transport robot can pick up and place materials from different heights or to external equipment at different heights, further improving the scope of application.

[0136] See also Figure 1 and Figure 14 The vertical lifting assembly 400 of one embodiment of the present invention includes a gantry 401, multiple lifting guide rails 402, a lifting fork 403 and a lifting drive mechanism. The gantry 401 is fixed to the chassis 100, and each lifting guide rail 402 is fixed to the gantry 401 and extends along the height direction of the chassis 100. The multiple lifting guide rails 402 are distributed at intervals, and the lifting fork 403 is slidably connected to the lifting guide rail 402. The docking device 200 is provided on the lifting fork 403, and the lifting drive mechanism is used to drive the lifting fork 403 to reciprocate along the lifting guide rail 402.

[0137] The lifting drive mechanism of one embodiment of the present invention includes a lifting motor 404, a lifting reducer 405, a lifting transmission unit 406 and a third screw unit, the third screw unit includes a third screw 407 and a third support seat 409 arranged at both ends of the third screw 407 for supporting the third screw 407, the third support seat 409 is fixed on the door frame 401, the third screw 407 is arranged between two adjacent lifting guide rails 402 and extends along the height direction of the chassis 100, the lifting motor 404 is transmission-connected to the lifting reducer 405 and the output end of the lifting reducer 405 is connected to one end of the third screw 407 through the lifting transmission unit 406, the lifting fork 403 includes a fourth screw nut 408, and the fourth screw nut 408 is threadedly connected to the third screw 407. During the lifting operation of this embodiment, the third screw rod 407 is driven to rotate by the lifting motor 404, the lifting reducer 405 and the lifting transmission unit 406. The forward rotation and reverse rotation of the third screw rod 407 drive the lifting fork 403 to rise and fall along the lifting guide rail 402 through the threaded connection with the fourth screw rod nut 408. The lifting drive mechanism in this embodiment is only one of the specific embodiments of the vertical lifting component 400 of the utility model. In actual design, it can also be replaced with other structures that can drive the lifting fork 403 to rise and fall.

[0138] In summary, one embodiment of the handling robot of the present invention includes a movable chassis 100 with a walking function, a vertical lifting assembly 400 with a lifting and lowering function, and a docking device 200 capable of carrying and transporting materials of different widths. The docking device 200 further includes a side shift assembly 205, a distance adjustment assembly 204, a material blocking mechanism 300, a conveying assembly 201, etc. The vertical lifting assembly 400 is assembled on the chassis 100, and the docking device 200 is assembled on the gantry 401 assembly. During operation, the chassis 100 of the handling robot moves to the material receiving and feeding position of the external machine, the vertical lifting assembly 400 raises or lowers the docking device 200 to the material conveying height of the conveyor belt, the side shift assembly 205 moves the conveying assembly 201, the distance adjustment assembly 204, and the material blocking mechanism 300 close to the machine, and the distance adjustment assembly 204 adjusts the positions of the guide plates 202 and 203 on the left and right sides to change the material storage space. The width is adjusted to adapt to the different material widths on the conveying component 201. The appropriate width can prevent the material from sliding, twisting, etc. during transportation, improve the stability of material transmission, and thus make the handling robot compatible with the transportation of materials of different widths; at the same time, after the conveying component 201 completes the material receiving action, the material blocking mechanism 300 arranged on the guide plate 202 swings to a certain angle, which plays a blocking role for multi-layer small materials along the conveying direction of the conveying component 201, preventing small materials from falling during the operation of the handling robot.

[0139] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A docking device, the docking device (200) comprising a storage component, the storage component being used to be arranged on the loading side of the chassis of the transport robot, the storage component being provided with a storage space having a material opening, characterized in that: The docking device (200) further comprises a material blocking mechanism (300), at least a portion of which is selectively arranged in the material storage space to block the material disposed in the material storage space from the direction of material inlet and outlet from the material port.

2. The docking device according to claim 1, characterized in that: The material blocking mechanism (300) comprises a material blocking plate (301) and a material blocking plate driving sub-mechanism, wherein the material blocking plate (301) is arranged on the storage component and is located on one side of the material storage space, and the material blocking plate driving sub-mechanism is used to drive the material blocking plate (301) to switch between a material blocking position and an avoidance position, wherein in the material blocking position, the material blocking plate (301) enters the material storage space, and in the avoidance position, the material blocking plate (301) is located outside the material storage space.

3. The docking device according to claim 2, characterized in that: The storage assembly comprises two guide plates (202, 203) arranged opposite to each other and spaced apart, the space between the two guide plates (202, 203) forming the material storage space, and the material opening being located at one end of the space, the material baffle plate (301) being arranged on one of the guide plates (202), and a receiving groove (2021) being formed on the guide plate (202) on which the material baffle plate (301) is arranged, and in the avoidance position, the material baffle plate (301) is located in the receiving groove (2021).

4. The docking device according to claim 3, characterized in that: The material blocking plate (301) comprises a transverse pivot portion (3011) and a vertical material blocking portion (3012), wherein the transverse pivot portion (3011) is hinged to the corresponding guide plate (202), and the vertical material blocking portion (3012) extends along the height direction of the corresponding guide plate (202), and the vertical material blocking portion (3012) is arranged at one end of the transverse pivot portion (3011); The baffle plate driving sub-mechanism is used to drive the transverse pivot portion (3011) to rotate around the hinge between the transverse pivot portion (3011) and the corresponding guide plate (202).

5. The docking device according to claim 4, characterized in that: The receiving groove (2021) penetrates the corresponding guide plate (202) along the thickness direction, and the material blocking mechanism (300) further includes a hinge shaft (304) and two hinge lugs (308); The hinge lugs (308) are arranged on the surface of the corresponding guide plate (202) facing away from the material storage space, and are arranged at intervals along the height direction of the corresponding guide plate (202); The hinge shaft (304) is fixedly arranged on the back side of the transverse pivot portion (3011), and both ends of the hinge shaft (304) are rotatably inserted into the two hinge lugs (308). The output end of the baffle plate driving sub-mechanism is connected to one end of the hinge shaft (304) to drive the hinge shaft (304) to rotate.

6. The docking device according to claim 5, characterized in that: The material blocking mechanism (300) further includes a limiting member (307), which is arranged on a guide plate (202) on which the receiving groove (2021) is formed, and a portion of the limiting member (307) is fixed on a surface of the guide plate facing away from the material storage space, and another portion of the limiting member (307) extends to the opening of the receiving groove (2021) to block the vertical material blocking portion (3012).

7. The docking device according to claim 5, characterized in that: The material baffle plate driving sub-mechanism is arranged on a guide plate (202) provided with the material baffle plate (301), and the material baffle plate driving sub-mechanism comprises a material baffle motor (302) and a material baffle transmission unit (303), the output shaft of the material baffle motor (302) is connected to the input shaft of the material baffle transmission unit (303), and the output shaft of the material baffle transmission unit (303) serves as the output end of the plate driving sub-mechanism.

8. The docking device according to claim 5, characterized in that: The material blocking mechanism further includes a detection unit, which is used to generate an in-position signal when the material blocking plate is in the avoidance position, and the in-position signal is used to control the material blocking plate driving sub-mechanism to stop the action.

9. The docking device according to claim 8, characterized in that: The detection unit comprises a photoelectric sensor (305) and a photoelectric baffle (306), wherein the photoelectric sensor (305) comprises a light emitting surface and a light receiving surface that are arranged opposite to each other, and when the light path of the photoelectric sensor (305) is blocked, the signal generated by the photoelectric sensor (305) is the in-position signal; The photoelectric sensor (305) is arranged on one of the hinge shaft (304) and the guide plate (202) on which the hinge shaft (304) is arranged, and the photoelectric blocking piece (306) is arranged on the other of the hinge shaft (304) and the guide plate (202) on which the hinge shaft (304) is arranged; When the baffle plate driving sub-mechanism rotates the hinge shaft (304) so that the baffle plate (301) is completely located in the accommodating groove (2021), the photoelectric baffle (306) is inserted between the light emitting surface and the light receiving surface of the photoelectric sensor (305).

10. The docking device according to any one of claims 3 to 9, characterized in that: The docking device (200) comprises a distance adjustment component (204), and the distance adjustment component (204) is used to adjust the distance between the two guide plates (202, 203).

11. The docking device according to claim 10, characterized in that: The distance adjustment component (204) comprises at least one driving unit and a plurality of distance adjustment guide rails (2041), the length directions of the plurality of distance adjustment guide rails (2041) are consistent, and the plurality of distance adjustment guide rails (2041) are arranged at intervals along a first setting direction, and the first setting direction intersects with the length direction of the distance adjustment guide rails; The bottom ends of the guide plates (202, 203) are slidably arranged on each of the distance-adjusting guide rails (2041), and the driving unit is used to drive at least one of the two guide plates (202, 203) to slide along the length direction of the distance-adjusting guide rail (2041).

12. The docking device according to claim 11, characterized in that: The distance adjustment assembly (204) further comprises two connecting frames (2044, 2045) corresponding one-to-one to the two guide plates (202, 203); the connecting frames (2044, 2045) comprise a plurality of sliders (20442, 20452) corresponding one-to-one to the plurality of distance adjustment guide rails (2041), a plurality of reinforcing connectors corresponding one-to-one to the plurality of sliders (20442, 20452), and two connecting plates (20441, 20451) corresponding one-to-one to the two guide plates (202, 203); The sliders (20442, 20452) are slidably arranged on the distance-adjusting guide rail (2041); The reinforcing portion (2061) of the reinforcing connector (206) is arranged on the back of the corresponding guide plate, the connecting portion (2062) of the reinforcing connector (206) is located at the bottom end of the corresponding guide plate, and the connecting portion (2062) of the reinforcing connector is fixedly connected to the corresponding slider (20442, 20452); The plurality of connecting plates (20441, 20451) are respectively connected between the connecting portions (2062) of the corresponding reinforcing connecting members (206); The driving unit can be extended and retracted along the length direction of the distance-adjusting guide rail, and both ends of the driving unit are fixedly connected to the two oppositely arranged connecting plates (20441, 20451).

13. The docking device according to claim 11, characterized in that: The driving unit is used to drive the two guide plates (202, 203) to move toward or away from each other.

14. The docking device according to any one of claims 1 to 9, characterized in that: The docking device further comprises a conveying component (201), the storage components are arranged on both sides of the conveying component (201), the conveying surface of the conveying component (201) forms the bottom surface of the storage space, and the transmission direction of the conveying component (201) matches the direction of material entering and exiting the material port.

15. The docking device according to claim 14, characterized in that: The docking device (200) further comprises a side shift assembly (205), the side shift assembly (205) being arranged on the chassis (100) and being located on the loading side of the chassis (100), the conveying assembly (201) being located between the side shift assembly and the storage assembly, the side shift assembly being used to move the conveying assembly (201) along a second set direction, the second set direction being consistent with the conveying direction of the conveying assembly (201).

16. A transport robot comprising a chassis (100) and a docking device, characterized in that: The docking device is the docking device (200) according to any one of claims 1 to 15, and the docking device (200) is arranged on the cargo-carrying side of the chassis (100).

17. The transport robot according to claim 16, characterized in that: The transport robot further comprises a vertical lifting assembly (400), wherein the vertical lifting assembly (400) is arranged on the chassis (100) and is located on the loading side of the chassis (100), and the docking device (200) is arranged on the vertical lifting assembly (400), and the vertical lifting assembly (400) can drive the docking device (200) to rise and fall in a vertical direction.

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