Emergency stop device, carrying system and emergency stop docking system

Abstract

The embodiment of the utility model provides an emergency stop device, a carrying system and an emergency stop docking system. According to the technical scheme provided by one embodiment of the utility model, a mechanical switch is additionally arranged in the emergency stop device which is electrically connected with a control power supply, an emergency stop switch and a control signal end of a first relay of first equipment, and the emergency stop switch is changed into a double-channel emergency stop switch. One emergency stop channel of the emergency stop switch is electrically connected in the emergency stop control circuit, and the other emergency stop channel is used for being connected with an emergency stop device of second equipment. When the two devices are in butt joint, the mechanical switch of the emergency stop device can be disconnected under the action of the mechanical butt joint force, and then the second emergency stop channel of the emergency stop switch in the emergency stop device of the second device is connected, so that the emergency stop devices of the two devices are integrated. When the emergency stop switch on one of the two devices is switched off, the first device and the second device stop working; and when the emergency stop switch is closed, the first equipment and the second equipment can be recovered.

Description

Technical Field

[0001] The utility model relates to the technical field of machinery, in particular to an emergency stop device, a handling system and an emergency stop docking system. Background Art

[0002] Most equipment, such as robots, robotic arms, and autonomous mobile robots (AMRs), are equipped with emergency stop devices. In special circumstances, the operator presses the emergency stop button on the equipment, which disconnects the circuit and stops the equipment.

[0003] In some scenarios where two devices need to be docked, such as when a transport robot and an AMR are docked, allowing them to work together to complete certain tasks, in addition to the normal electrical and mechanical docking, the emergency stop devices of the two devices must also be docked. This allows the user to press the emergency stop button on one device in an emergency, halting both devices simultaneously. Existing technology does not yet offer a solution for docking these emergency stop devices. Utility Model Content

[0004] In view of the above problems, an embodiment of the present utility model is proposed. The purpose of the embodiment of the present utility model is to provide an emergency stop device that can integrate two independent devices into one, ensuring that when the emergency stop switch on one of the devices is pressed, the two docked devices can stop running synchronously.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] In a first embodiment of the present invention, an emergency stop device is provided. The emergency stop device includes: a first relay, an emergency stop switch, a mechanical switch, a mechanical docking device, and an electrical docking device; wherein the first relay has a control signal end, an input end, and an output end, the input end is electrically connected to a power supply, and the output end is electrically connected to a load; the emergency stop switch has a first emergency stop channel and a second emergency stop channel, the first emergency stop channel and the second emergency stop channel are synchronously switched on and off; the control signal end is electrically connected to the control power supply through the mechanical switch and the first emergency stop channel; the electrical docking device includes a first electrical docking unit and a second electrical docking unit, the first electrical docking unit is electrically connected to both ends of the first mechanical switch, and the second electrical docking unit is electrically connected to the second emergency stop channel; after a first device provided with the emergency stop device and a second device are docked, the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical docking device of the first device disconnects the mechanical switch of the second device, and the mechanical docking device of the second device disconnects the mechanical switch of the first device.

[0007] Optionally, after the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the mechanical switch of the first device is disconnected; after the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical switch of the second device is disconnected.

[0008] Optionally, the mechanical docking device includes a docking groove and a docking column; wherein, the first electrical docking unit is provided on the groove wall of the docking groove; and the second electrical docking unit is provided on the docking column; after the first device provided with the emergency stop device and the second device are docked, the docking column of the first device docks with the docking groove of the second device, the docking column of the first device pushes open the mechanical switch of the second device to disconnect it, the docking groove of the first device docks with the docking column of the second device, and the docking column of the second device pushes open the mechanical switch of the first device to disconnect it.

[0009] Optionally, along the axial direction of the groove, the docking groove has a groove opening and a groove bottom; the mechanical switch is located at the groove bottom of the docking groove or at the side of the groove bottom and has a gap from the groove bottom; the first electrical docking unit is arranged at the groove opening, or the first electrical docking unit is arranged on the middle groove wall of the docking groove, or the first electrical docking unit extends from the groove opening to the groove bottom.

[0010] In a second embodiment of the present invention, an emergency stop device is provided. The emergency stop device includes a first relay, an emergency stop switch, a mechanical switch, a mechanical docking device, and an electrical docking device; wherein the first relay has a control signal end, a first channel, and a second channel, and the first channel and the second channel are synchronously switched on and off; the input end of the first channel is electrically connected to the power supply, and the output end of the first channel is electrically connected to the load; the control signal end is electrically connected to the control power supply through the mechanical switch and the emergency stop switch; the electrical docking device includes a first electrical docking unit and a second electrical docking unit, the first electrical docking unit is electrically connected to both ends of the mechanical switch, and the second electrical docking unit is electrically connected to the second channel; after the first device provided with the emergency stop device is docked with the second device, the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical docking device of the first device disconnects the mechanical switch of the second device, and the mechanical docking device of the second device disconnects the mechanical switch of the first device.

[0011] Optionally, after the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the mechanical switch of the first device is disconnected; after the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical switch of the second device is disconnected.

[0012] In a third embodiment of the present invention, an emergency stop device is provided. The emergency stop device includes a first relay, an emergency stop switch, a mechanical switch, a second relay, a mechanical docking device and an electrical docking device; wherein the first relay has a first control signal terminal, a first control signal ground terminal, a first input terminal and a first output terminal, the first input terminal is electrically connected to the power supply, and the first output terminal is electrically connected to the load; the first control signal terminal is electrically connected to the control power supply through the mechanical switch and the emergency stop switch; the second relay has a second control signal terminal, a second control signal ground terminal, a second input terminal and a second output terminal, the second control signal terminal is electrically connected to the first control signal ground terminal, and the second control signal ground terminal is grounded; the electrical docking device includes a first electrical docking unit and a second electrical docking unit, the first electrical docking unit is electrically connected to both ends of the first mechanical switch, and the second electrical docking unit is electrically connected to the second input terminal and the second output terminal; after the first device and the second device equipped with the emergency stop device are docked, the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical docking device of the first device disconnects the mechanical switch of the second device, and the mechanical docking device of the second device disconnects the mechanical switch of the first device.

[0013] Optionally, after the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the mechanical switch of the first device is disconnected; after the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical switch of the second device is disconnected.

[0014] In a fourth embodiment of the present invention, a transport system is provided, comprising a transport device and a mobile robot. The transport device and the mobile robot are both equipped with the emergency stop device provided in the first embodiment above; or the transport device and the mobile robot are both equipped with the emergency stop device provided in the second embodiment above; or the transport device and the mobile robot are both equipped with the emergency stop device provided in the third embodiment above.

[0015] In a fifth embodiment of the present invention, a docking system is provided. The docking system includes a first device and a second device; wherein,

[0016] The first device is provided with a first emergency stop device, which includes a first relay, a first emergency stop switch, a first mechanical docking device, and a second electrical docking unit; the first emergency stop switch has a first emergency stop channel and a second emergency stop channel, and the first emergency stop channel and the second emergency stop channel are synchronously switched on and off; the control signal end of the first relay is electrically connected to the first control power supply through the first emergency stop channel; and the second electrical docking unit is electrically connected to the second emergency stop channel.

[0017] The second emergency stop device includes a third relay, a second emergency stop switch, a second mechanical switch, and a third electrical docking unit; the control signal end of the third relay is electrically connected to the second control power supply through the second emergency stop switch and the second mechanical switch; the third electrical docking unit is electrically connected to both ends of the second mechanical switch;

[0018] After the first device and the second device are docked, the second electrical docking unit is electrically connected to the third electrical docking unit, and the first mechanical docking device of the first device disconnects the second mechanical switch.

[0019] In the sixth embodiment of the present invention, a docking system is provided. The docking system includes a first device and a second device; wherein,

[0020] The first equipment is provided with a first emergency stop device, which includes a first relay, a first emergency stop switch, a first mechanical docking device, and a second electrical docking unit; the first relay has a control signal terminal, a first channel, and a second channel, and the first channel and the second channel are synchronously switched on and off; the input terminal of the first channel is electrically connected to the first power source, and the output terminal of the first channel is electrically connected to the load; the control signal terminal is electrically connected to the first control power source through the first emergency stop switch; and the second electrical docking unit is electrically connected to the second channel;

[0021] The second equipment is provided with a second emergency stop device, which includes a third relay, a second emergency stop switch, a second mechanical switch and a third electrical docking unit; the control signal end of the third relay is electrically connected to the second mechanical switch through the first emergency stop switch; and the third electrical docking unit is electrically connected to both ends of the second mechanical switch;

[0022] After the first device and the second device are docked, the second electrical docking unit and the third electrical docking unit are electrically connected, and the first mechanical docking device of the first device disconnects the second mechanical switch.

[0023] In the seventh embodiment of the present invention, a docking system is provided. The docking system includes a first device and a second device; wherein,

[0024] The first equipment is provided with a first emergency stop device, which includes a first relay, a second relay, a first emergency stop switch, a first mechanical docking device and a second electrical docking unit; the control signal end of the first relay is electrically connected to the first control power supply through the first emergency stop switch, the control signal ground end of the first relay is electrically connected to the control signal end of the second relay, the control signal ground end of the second relay is grounded, and the second electrical docking unit is electrically connected to the input end and output end of the second relay;

[0025] The second device is provided with a second emergency stop device, which includes a third relay, a second emergency stop switch and a second mechanical switch; the third relay is electrically connected to the second control power supply through the second emergency stop switch and the second mechanical switch; the third docking unit is electrically connected to both ends of the second mechanical switch;

[0026] After the first device and the second device are docked, the second electrical docking unit is electrically connected to the third electrical docking unit, and the first mechanical docking device of the first device disconnects the second mechanical switch.

[0027] The technical solution provided by one embodiment of the present invention is to add a mechanical switch to the emergency stop control circuit electrically connected to the control power supply, the emergency stop switch and the control signal end of the first relay, and replace the emergency stop switch with a dual-channel emergency stop switch. One emergency stop channel (i.e., the first emergency stop channel) of the emergency stop switch is electrically connected to the above-mentioned emergency stop control circuit, and the other emergency stop channel (i.e., the second emergency stop channel) is used to connect to another emergency stop device, thereby solving the problem of connecting the emergency stop devices between the two devices. When the first device is docked with the second device, the mechanical switch in the emergency stop device on the first device can be disconnected under the action of the mechanical docking force, and then the second emergency stop channel of the emergency stop switch of the emergency stop device on the second device is connected to the above-mentioned emergency stop control circuit, thus realizing the integration of the emergency stop devices of the two devices. When the emergency stop switch on the first device is disconnected, both the first device and the second device stop working; when the emergency stop switch on the first device is turned off, both the first device and the second device can resume. It can be seen that the solution provided by this embodiment solves the docking problem of the emergency stop devices of the two devices, and the solution is simple and easy to implement.

[0028] In the technical solution provided by another embodiment of the present invention, the first relay in the emergency stop device of the first device is designed to be dual-channel, that is, the first relay has a first channel and a second channel, wherein the first channel is used to electrically connect the power supply and the load, and the second channel is used to connect to the emergency stop device of the second device; in addition, a mechanical switch is added to the emergency stop control circuit that is electrically connected to the first control power supply, the emergency stop switch and the control signal end of the first relay in sequence. When the first device is docked with the second device, the mechanical switch can be disconnected under the action of the mechanical docking force, and then the second channel of the first relay of the second device is connected to the above-mentioned emergency stop control circuit, thus realizing the integration of the emergency stop devices of the two devices. When the emergency stop switch on the first device is disconnected, both the first device and the second device stop working; when the emergency stop switch on the first device is turned off, both the first device and the second device can resume. It can be seen that the solution provided by this embodiment solves the docking problem of the emergency stop devices of the two devices, and the solution is simple and easy to implement.

[0029] In the technical solution provided by another embodiment of the present invention, a mechanical switch is added to the emergency stop control circuit that is electrically connected in sequence with a control power supply, an emergency stop switch and a control signal end of a first relay, and a second relay is added to the control signal output end of the first relay. The control signal end of the second relay is electrically connected to the control signal ground end of the first power relay, and the control signal ground end of the second relay is grounded. The input end and the output end of the second relay are used to connect to the emergency stop device of another device. When the first device is docked with the second device, the mechanical switch can be disconnected under the action of the mechanical docking force, and then the channel between the input end and the output end of the second relay of the second device is connected to the above-mentioned emergency stop control circuit, thereby realizing the integration of the emergency stop devices of the two devices. When the emergency stop switch on the first device is disconnected, both the first device and the second device stop working; when the emergency stop switch on the first device is turned off, both the first device and the second device can resume. It can be seen that the solution provided by this embodiment solves the docking problem of the emergency stop devices of the two devices, and the solution is simple and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A theoretical schematic diagram of an equipment-independent emergency stop device is shown;

[0032] Figure 2 This is a theoretical schematic diagram of the emergency stop devices of two devices before and after docking;

[0033] Figure 3 A schematic diagram of the implementation of the emergency stop device provided in the first embodiment of the utility model;

[0034] Figure 4 A schematic diagram of the connection between two emergency stop devices provided in the first embodiment of the utility model;

[0035] Figure 5 This is a circuit diagram of two emergency stop devices connected to each other in the first embodiment of the present utility model;

[0036] Figure 6 A schematic diagram of the implementation of the emergency stop device provided in the second embodiment of the present utility model;

[0037] Figure 7 A schematic diagram of the connection between two emergency stop devices provided in the second embodiment of the present utility model;

[0038] Figure 8 A schematic diagram of a circuit after two emergency stop devices are connected to each other according to the second embodiment of the present invention;

[0039] Figure 9 A schematic diagram of the implementation of the emergency stop device provided in the third embodiment of the present utility model;

[0040] Figure 10 A schematic diagram of the connection between two emergency stop devices provided in the third embodiment of the present utility model;

[0041] Figure 11 A schematic diagram of a circuit after two emergency stop devices are connected to each other according to a third embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram of the transporting system provided by the present invention before the transporting device and the mobile robot are docked;

[0043] Figure 13 This is a schematic diagram of the handling system provided by the present invention after the handling device and the mobile robot are docked;

[0044] Figure 14 A simplified implementation diagram of the emergency stop docking system provided in the fourth embodiment of the present utility model;

[0045] Figure 15 A circuit diagram of the emergency stop docking system provided by the fourth embodiment of the present utility model after the first emergency stop device and the second emergency stop device are docked;

[0046] Figure 16 A simplified implementation diagram of the emergency stop docking system provided in the fifth embodiment of the present utility model;

[0047] Figure 17A schematic circuit diagram of a first emergency stop device and a second emergency stop device in an emergency stop docking system provided by a fifth embodiment of the present utility model after docking;

[0048] Figure 18 A simplified implementation diagram of the emergency stop docking system provided in the sixth embodiment of the present utility model;

[0049] Figure 19 This is a circuit diagram of the emergency stop docking system provided by the sixth embodiment of the present utility model after the first emergency stop device and the second emergency stop device are docked. DETAILED DESCRIPTION

[0050] Generally, there will be an emergency stop device on the equipment to avoid danger. The emergency stop device usually includes an emergency stop button and a circuit breaker (such as a power relay). When the operator presses the emergency stop button, the emergency stop switch associated with the emergency stop button in the emergency stop device is disconnected, and the circuit breaker disconnects the execution circuit, stopping the operation of the machine equipment. The emergency stop button is usually designed to be red, which is easy to identify and avoid accidental triggering. For example, the emergency stop button can adopt a spring-loaded mechanism, which disconnects the circuit when pressed, and the circuit is restored after the button is rotated or pulled out. Figure 1 For example, the emergency stop device includes an emergency stop switch and a power relay. When the emergency stop switch is disconnected, the contacts of the power relay switch, disconnecting the circuit between the power supply and the load (which can be an actuator such as a motor, such as M1 in the figure), and the load stops working due to power outage.

[0051] In some scenarios where two devices need to be docked, such as docking a handling device with a mobile robot, or docking two mobile robots with each other, in addition to normal electrical and mechanical docking, the emergency stop devices of the two devices need to be docked to merge the emergency stop devices of the two devices into a unified emergency stop device to meet safety regulations and ensure that pressing the emergency stop switch on any device can trigger the emergency stop action of both devices. Figure 2 As shown in the figure, there are two independent devices, device 1 and device 2. The emergency stop device on each device is originally a closed-loop independent device. To connect the emergency stop device on one device to the emergency stop device of another device, you need to disconnect the original emergency stop device first, and then connect it to the emergency stop device of the other device. Figure 2 The schematic diagram of the circuit after the theoretical emergency stop device is connected is shown. After the emergency stop devices of device 1 and device 2 are connected, the emergency stop circuit of device 2 needs to be connected to the emergency stop circuit of device 1. Specifically, Figure 2As shown, the second emergency stop switch is connected in series with the first emergency stop switch, and the control channel of the second power relay of device 2 is connected to the control channel of the first power relay of device 1. Thus, when the first emergency stop switch on device 1 or the second emergency stop switch on device 2 is disconnected, the control channels of the first and second power relays are disconnected, and load M1 on device 1 and load M2 on device 2 stop working. Both devices 1 and 2 stop working.

[0052] From the above content, we can see that there are the following difficulties when docking:

[0053] 1. Before docking, the emergency stop devices of the two devices are independent closed systems with separate VCC power supplies and GND. When docking, only the GND (Ground, GND) of the power supplies of the two devices should be connected together. Do not short-circuit the VCC system power supplies of the two devices together, otherwise it will damage the VCC power supplies.

[0054] 2. During the docking process, the original closed loop cannot be disconnected, which may lead to the false triggering of the emergency stop.

[0055] 3. After the docking is completed, the emergency stop switch of each device can trigger the power supply of the two devices to be disconnected, thereby realizing the overall safety protection function.

[0056] Because both devices have independent closed emergency stop devices before docking, there are separate control power supplies (such as Figure 2 The VCC power supply 1, VCC power supply 2) and the power ground GND. A schematic diagram of the effect after the emergency stop devices of the two devices are combined, as shown in the figure Figure 2 As shown in the figure, the GND of the emergency stop devices of the two devices are short-circuited together and grounded together, and the control power supplies of the two systems cannot be connected together, otherwise it will cause damage to both power supplies. In addition, during the docking process, the original closed loop cannot be disconnected, otherwise it will cause false triggering of the emergency stop. Figure 2 The circuit in the figure cannot be realized because it is necessary to first disconnect the emergency stop switch and the power relay of one device, and at the same time disconnect the control power supply and the emergency stop switch of the other device, and finally connect the two power relays in series. This process will definitely cause the original closed circuit to be disconnected for a period of time. Then, the emergency stop protection of the device cannot be achieved during this disconnection period, and the docking process and separation operations are complicated and inconvenient to implement.

[0057] The technical solution provided by the present invention can simply realize the merging and decoupling of the two emergency stop devices without tedious switching steps, and will not trigger the disconnection gap of the emergency stop loop, thereby ensuring that the emergency stop device is triggered correctly and the power supply is normal. The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understandable that the specific embodiments described here are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0058] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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, it can be internal communication between two elements or an interactive relationship between two elements. The first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being "above", "above", and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. The first feature being "below", "below", and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature. In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0059] The emergency stop device provided by the first embodiment of the present invention includes a first relay, an emergency stop switch, a mechanical switch, a mechanical docking device and an electrical docking device. Among them, the first relay has a control signal end, an access end and an output end, the access end is electrically connected to the power supply, and the output end is electrically connected to the load. The emergency stop switch has a first emergency stop channel and a second emergency stop channel, and the first emergency stop channel and the second emergency stop channel are synchronously turned on and off. The control signal end is electrically connected to the control power supply through the mechanical switch and the first emergency stop channel. The mechanical docking device is used to disconnect the mechanical switch in the emergency stop device of another device. The electrical docking device includes a first electrical docking unit and a second electrical docking unit, the first electrical docking unit is electrically connected to the two ends of the first mechanical switch, and the second electrical docking unit is electrically connected to the second emergency stop channel.

[0060] After the first device and the second device equipped with the emergency stop device are docked, the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical docking device of the first device disconnects the mechanical switch of the second device, and the mechanical docking device of the second device disconnects the mechanical switch of the first device.

[0061] Docking involves two devices, both of which are equipped with the emergency stop device provided by this embodiment. For ease of description, the emergency stop device provided on the first device is referred to as the first emergency stop device, and the emergency stop device provided on the second device is referred to as the second emergency stop device. Furthermore, to distinguish the features of the two emergency stop devices, the terms "first," "second," and "third" are used below.

[0062] See also Figure 3 , the first embodiment of the present invention provides an emergency stop device. Assuming that the emergency stop device is set on the first device, the emergency stop device is called the first emergency stop device in this embodiment. Figure 3 The first emergency stop device includes: a first relay 32, a first emergency stop switch 33, a first mechanical switch 34, a first mechanical docking device 38 and a first electrical docking device 39. The first relay 32 has a control signal terminal 323, an input terminal 321 and an output terminal 322. The input terminal 321 is electrically connected to the first power source 36, and the output terminal 322 is electrically connected to the first load 35. The first emergency stop switch 33 has a first emergency stop channel 331 and a second emergency stop channel 332. The first emergency stop channel 331 and the second emergency stop channel 332 are synchronously opened and closed, that is, when the first emergency stop channel 331 is disconnected, the second emergency stop channel 332 is synchronously disconnected; when the first emergency stop channel 331 is connected, the second emergency stop channel 332 is synchronously connected.

[0063] The control signal terminal of the first relay 32 is electrically connected to the first control power supply 36 via the first mechanical switch 34 and the first emergency stop channel 331. It should be noted that the second emergency stop channel 332 is not electrically connected to the first control power supply 36. The first electrical docking device 39 includes a first electrical docking unit 391 and a second electrical docking unit 392. The first electrical docking unit 391 is electrically connected to both ends of the first mechanical switch 34, and the second electrical docking unit 392 is electrically connected to the second emergency stop channel 332 of the first emergency stop switch 33.

[0064] The first electrical docking unit 391 is used to electrically connect to the second emergency stop channel 432 of the second emergency stop switch 43 of the emergency stop device of another device (such as the second device), and the second electrical docking unit 392 is used to electrically connect to the two ends of the second mechanical switch 44 of the emergency stop device of the second device; the first mechanical docking device 38 is used to dock with the second mechanical docking device 48 of the second device, and the first mechanical switch 34 is disconnected under the action of the mechanical docking force, that is, the second mechanical docking device 48 of the second device can generate a mechanical docking force, which can push the first mechanical switch 34 open and thereby disconnect the first mechanical switch.

[0065] In order to facilitate the description and distinguish the emergency stop device from the other emergency stop device, one of the emergency stop devices is referred to as the first emergency stop device and the other emergency stop device is referred to as the second emergency stop device. Figure 3 , a first emergency stop device 3 and a second emergency stop device 4. In this embodiment, the first emergency stop device 3 and the second emergency stop device 4 are the same. Of course, the first emergency stop device 3 and the second emergency stop device 4 can also be different. Different embodiments can be found below.

[0066] The emergency stop device can be installed on equipment such as handling equipment, autonomous mobile robots, etc., wherein the handling equipment can be an intelligent forklift or a picking robot with a mechanical arm, etc. The mobile robot 2 can be an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot), etc.

[0067] For example, a first device is provided with a first emergency stop device 3, and the first device is a transport device. The corresponding first load 35 can be a robotic arm, a forklift lifting device, etc. A second device is provided with a second emergency stop device 4, and the second device can be a mobile robot. The corresponding second load 45 can be a traveling device, etc. Different types of devices may have different device body structures. This embodiment does not limit the specific structure of the device body.

[0068] In one feasible solution, Figure 3 The first mechanical docking device 38 and the first electrical docking device 39 of the first emergency stop device 3 can be set on the first equipment body 31 of the first equipment; similarly, the second mechanical docking device 48 and the second electrical docking device 49 of the second emergency stop device 4 can be set on the second equipment body 41 of the second equipment.

[0069] See also Figure 3In the example shown in FIG. 1 , the second device has an independent emergency stop device, namely, a second emergency stop device 4. The second emergency stop device on the second device has the same structure as the first emergency stop device 3 on the first device. The second emergency stop device 4 may include a third relay 42, a second emergency stop switch 43, a second mechanical switch 44, a second mechanical docking device 48, and a second electrical docking device 49. The second emergency stop switch 43 includes a first emergency stop channel 431 and a second emergency stop channel 432. The two emergency stop channels of the second emergency stop switch 43 are switched on and off synchronously. The control signal terminal of the third relay 42 is electrically connected to the second control power supply 47 via the second mechanical switch 44 and the first emergency stop channel 431 of the second emergency stop switch 43. The input terminal 421 of the third relay 42 is electrically connected to the second power supply 46, and the output terminal 422 of the third relay 42 is electrically connected to the second load 45. The second mechanical docking device 48 and the second electrical docking device 49 may be disposed on the second device body 41 of the second device. The second electrical docking device 49 is similar to the first electrical docking device 39 of the first emergency stop device. For purposes of distinction, the first and second docking units of the second electrical docking device 49 are referred to herein as the third docking unit 491 and the fourth docking unit 492, respectively. The third electrical docking unit 491 is electrically connected to the electrical connection terminals at both ends of the second mechanical switch 44, and the fourth electrical docking unit 492 is electrically connected to the second emergency stop channel 432 of the second emergency stop switch 43.

[0070] After the first device and the second device are connected, that is, after the first emergency stop device 3 is connected to the second emergency stop device 4, see Figure 4 As shown, the first electrical docking unit 391 on the first emergency stop device 3 is electrically connected to the fourth electrical docking unit 492 on the second emergency stop device 4, so that the electrical connection ends at both ends of the first mechanical switch 34 are connected to the second emergency stop channel 432 of the second emergency stop switch 43 of the second emergency stop device 4. The second mechanical docking device 48 on the second emergency stop device 4 docks with the first mechanical docking device 38 on the first emergency stop device 3, and the first mechanical switch 34 on the first emergency stop device 3 is disconnected under the action of the mechanical docking force.

[0071] Continuing with FIG4 , the second electrical docking unit 392 on the first emergency stop device 3 is electrically connected to the third electrical docking unit 491 on the second emergency stop device 4, such that the electrical connection ends of the second mechanical switch 44 are connected to the second emergency stop channel 332 of the first emergency stop switch 33 of the first emergency stop device 3. The first mechanical docking device 38 on the first emergency stop device 3 is docked with the second mechanical docking device 48 on the second emergency stop device 4, and the second mechanical switch 44 on the second emergency stop device 4 is disconnected due to the mechanical docking force.

[0072] The first emergency stop device 3 may include but is not limited to: a first emergency stop switch 33, a first mechanical switch 34 and a first relay 32. The emergency stop device of the second emergency stop device 4 may include but is not limited to: a second emergency stop switch 43, a second mechanical switch 44 and a third relay 42. Figure 4 It can be seen that after the first emergency stop device 3 and the second emergency stop device 4 are docked, the first emergency stop device 3 and the second emergency stop device 4 are integrated into one. Figure 4 It can be seen that by adopting the technical solution provided in this embodiment, the emergency stop device obtained after integration includes two emergency stop circuits.

[0073] See also Figure 4 The first circuit is marked by the midpoint arrow:

[0074] The first control power supply 37 of the first emergency stop device 3 -> the first emergency stop channel 331 of the first emergency stop switch 33 -> the electrically connected first electrical docking unit 391 and the fourth electrical docking unit 492 -> the second emergency stop channel 432 of the second emergency stop switch 43 -> the control signal end 323 of the first relay 32 .

[0075] See also Figure 4 The second circuit marked by the solid arrow:

[0076] The second control power supply 47 of the second emergency stop device 4 -> the electrically connected second electrical docking unit 392 and the third electrical docking unit 491 -> the second emergency stop channel 332 of the first emergency stop switch 33 -> the first emergency stop channel 431 of the second emergency stop switch 43 -> the control signal end 423 of the third relay 42 .

[0077] When the first emergency stop device 3 and the second emergency stop device 4 are docked, if the user presses the emergency stop button on the first emergency stop device 3, the first emergency stop channel 331 and the second emergency stop channel 332 of the first emergency stop switch 33 are disconnected. Figure 4 In the first circuit, the first emergency stop channel 331 is disconnected, the control signal terminal of the first relay 32 has no current signal, the coil of the first relay 32 loses power, the normally closed contact of the first relay 32 switches, and the power supply of the first power source 37 to the first load 35 is cut off. The first load 35 stops running due to the power outage. Figure 4 In the second circuit, second emergency stop channel 332 is disconnected, the control signal terminal of third relay 42 has no current signal, the coil of third relay 42 loses power, and the normally closed contact of third relay 42 switches, cutting off the power supply from second power source 47 to second load 45. Second load 45 stops operating due to the power outage. Similarly, the user can simultaneously stop the operation of the first and second devices by pressing the emergency stop button on the second emergency stop device of the second device.

[0078] Figure 5It shows a circuit diagram of the integration of the emergency stop devices of the two devices after the first emergency stop device 3 and the second emergency stop device 4 are docked.

[0079] Furthermore, in order to achieve the correct triggering of the emergency stop during the docking process and to ensure that there is no disconnection during the entire emergency stop loop docking process, some structural designs are adopted in this embodiment to ensure that the second emergency stop channel of the emergency stop switch is physically docked to both ends of the mechanical switch on the other emergency stop device before disconnecting the mechanical switch on the emergency stop device. Figure 3 After the fourth electrical docking unit 492 in the first device is electrically connected, the mechanical switch of the first device is disconnected; after the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device (corresponding to Figure 3 After the first electrical docking unit 391 is electrically connected to the second emergency stop switch 43 of the second emergency stop device 4, the mechanical switch of the second device is turned off. Specifically, when the first emergency stop device 3 is docked with the second emergency stop device 4, the first electrical docking unit 391 is electrically connected to the second emergency stop channel 432 of the second emergency stop switch 43 of the second emergency stop device 4. The first mechanical docking device 38 then completes docking with the second mechanical docking device 48, and the first mechanical switch 34 is turned off. Similarly, after the third electrical docking unit 491 is electrically connected to the second emergency stop channel 332 of the first emergency stop switch 33 of the first emergency stop device 3, the second mechanical switch 44 is turned off.

[0080] The above objectives can be achieved by adopting various mechanical structures. This embodiment provides a feasible structure, wherein the mechanical docking device includes a docking slot and a docking post; wherein a first electrical docking unit is provided on the slot wall of the docking slot; and a second electrical docking unit is provided on the docking post.

[0081] After the first device and the second device equipped with the emergency stop device are docked, the docking column of the first device is docked with the docking slot of the second device, the docking column of the first device pushes open the mechanical switch of the second device to disconnect it, the docking slot of the first device is docked with the docking column of the second device, and the docking column of the second device pushes open the mechanical switch of the first device to disconnect it.

[0082] Similarly, in order to distinguish the docking slots and docking posts in the emergency stop devices on two different devices, the following text also uses "first" and "second" to distinguish them.

[0083] Such as 3 and Figure 4As shown, the first emergency stop device of the first equipment includes a first mechanical docking device 38, which includes a first docking slot 382 and a first docking post 381. The first docking slot 382 has a first electrical docking unit 391 disposed on its wall for docking with a second docking post 481 in a second mechanical docking device 48 of another emergency stop device (i.e., the second emergency stop device 4 of the second equipment shown in the figure). The first docking post 381 has a second electrical docking unit 392 disposed on it for docking with the second docking slot 482 in the second mechanical docking device 48 of the second emergency stop device 4 and for disengaging the second mechanical switch 44 on the second emergency stop device 4, thereby disconnecting the second mechanical switch 44.

[0084] The implementation structure of the second mechanical docking device 48 on the second emergency stop device 4 docked with the first emergency stop device 3 may be the same as or similar to that of the first mechanical docking device 38 . Figure 3 and Figure 4 An implementation scheme is shown, where the second mechanical docking device 48 includes a second docking slot 482 and a second docking post 481. The second docking slot 482 is provided with a third electrical docking unit 491, and the second docking post 481 is provided with a fourth electrical docking unit 492.

[0085] For more details, see Figure 3 and Figure 4 As shown, along the axial direction of the slot, the first docking slot 382 has a slot opening and a slot bottom. The first mechanical switch 34 is located at the slot bottom of the first docking slot 382 or to the side of the slot bottom with a gap therebetween. The first electrical docking unit 391 is disposed at the slot opening, or on the middle slot wall of the first docking slot 382, ​​or extends from the slot opening to the slot bottom.

[0086] The second electrical docking unit 392 may be disposed on an outer wall of the first docking column 392 , and the second electrical docking unit 392 may extend from the top to the bottom of the first docking column 392 .

[0087] It should be noted that the first, second, third, and fourth electrical docking units 391, 392, 491, and 492 mentioned herein each include two electrodes, which may be conductive contacts in specific implementations. For example, two conductive contacts are provided on the outer wall of the first docking post 381. These two conductive contacts are spaced apart, such as being radially opposed to each other along the cross-section of the first docking post. Two corresponding conductive contacts are provided on the wall of the second docking slot 482 of the second emergency stop device. During docking, when the first docking post 381 is inserted into the second docking slot 482, the two conductive contacts of the second electrical docking unit 392 on the first docking post 381 contact the two conductive contacts of the third electrical docking unit 491 within the second docking slot 482, achieving electrical connection. To ensure a better electrical connection, one of the conductive contacts in the first and second docking slots 382 and 482 may be a resilient conductive contact. Under the action of elastic force, the conductive contacts of the second electrical docking unit 392 are forced against the conductive contacts of the third electrical docking unit 491, thereby improving the stability of the electrical connection. Similarly, at least one of the two conductive contacts of the fourth electrical docking unit 492 on the second docking post 481 and the two conductive contacts of the first electrical docking unit 391 in the first docking slot 382 can be elastic conductive contacts.

[0088] from Figure 3 and Figure 4 As shown, the first mechanical switch 34 is located at the bottom of the first docking slot 482 or to the side of the bottom, with a gap from the bottom. This embodiment does not limit the specific value of this gap; it can be between 0 mm and 20 mm. A fourth electrical docking unit 492 is provided on the outer wall of the second docking post 481. During docking, the second docking post 481 is first inserted into the first docking slot 382, ​​establishing an electrical connection between the first and fourth electrical docking units 391 and 492. The first mechanical switch 34 is not disengaged until the second docking post 481 reaches the bottom. Similarly, the first docking post 381 is inserted into the second docking slot 482, establishing an electrical connection between the second and third electrical docking units 392 and 491. The second mechanical switch 44 is not disengaged until the first docking post 381 reaches the bottom of the second docking slot 482. This solution ensures that the second emergency stop channels of the emergency stop switches of the executing device and the target device are physically connected to the ends of the other device's mechanical switch before the respective mechanical switches are disconnected, thus ensuring a seamless docking process.

[0089] The technical solution provided by this embodiment adds a first mechanical switch 34 to the emergency stop control circuit that is electrically connected in sequence to the first control power supply 37, the first emergency stop switch 33, and the control signal end of the power relay 32, and replaces the first emergency stop switch 33 with a dual-channel emergency stop switch. One emergency stop channel (i.e., the first emergency stop channel) of the first emergency stop switch 33 is electrically connected to the above-mentioned emergency stop control circuit, and the other emergency stop channel (i.e., the second emergency stop channel) is used to connect to another emergency stop device, thereby solving the problem of connecting the emergency stop devices between the two devices. When the first device is docked with the second device, the first mechanical switch 34 can be disconnected under the action of the mechanical docking force, and then the second emergency stop channel of the second emergency stop switch 43 of the second device is connected to the above-mentioned emergency stop control circuit, thus realizing the integration of the emergency stop devices of the two devices. When the first emergency stop switch 34 on the first device is disconnected, both the first device and the second device stop working; when the first emergency stop switch 33 on the first device is closed, both the first device and the second device can resume working. It can be seen that the solution provided by this embodiment solves the problem of docking the emergency stop devices of the two devices, and the solution is simple and easy to implement.

[0090] See also Figure 6 The second embodiment of the present invention provides an emergency stop device. Compared with the first embodiment, the second embodiment does not use a dual-channel emergency stop switch, and the single-channel first relay is replaced by a dual-channel first relay. Specifically, Figure 6 As shown, the emergency stop device (such as the first emergency stop device 3 ) includes: a first relay 32 , a first emergency stop switch 33 , a first mechanical switch 34 , a first mechanical docking device 38 and a first electrical docking device 39 .

[0091] The first relay 32 has a control signal terminal 323, a first channel, and a second channel. The first channel and the second channel are switched on and off synchronously. The input terminal 321 of the first channel is electrically connected to the first power source 36, and the output terminal 322 of the first channel is electrically connected to the first load 35. The control signal terminal 323 is electrically connected to the first control power source 37 via the first mechanical switch 34 and the first emergency stop switch 33.

[0092] The first electrical docking device 39 includes a first electrical docking unit 391 and a second electrical docking unit 392. The first electrical docking unit 391 is electrically connected to both ends of the first mechanical switch 34, and the second electrical docking unit 392 is electrically connected to the second channel. Figure 6 As shown, one electrode of the second electrical docking unit 392 is connected to the input end 324 of the second channel through the input side pin 324 , and the other electrode is connected to the output end 325 of the second channel through the output side pin 325 .

[0093] The first electrical docking unit 391 is used to electrically connect to the second channel of the third relay 42 of another emergency stop device, the second electrical docking unit 392 is used to electrically connect to the electrical connection ends at both ends of the second mechanical switch 44 of another emergency stop device, the first mechanical docking device 38 is used to dock with the second mechanical docking device 39 of another emergency stop device, and the first mechanical switch 34 is disconnected under the action of the mechanical docking force.

[0094] See also Figure 6 In the example of the two emergency stop devices, the two emergency stop devices are the same or similar. The first emergency stop device 3 can be set on the first device. The second device can be set as Figure 6 The second emergency stop device 4 in. Specifically, the second emergency stop device may include a third relay 42, a second emergency stop switch 43, a second mechanical switch 44, a second mechanical docking device 48 and a second electrical docking device 49. Among them, the third relay 42 has two channels, namely a first channel and a second channel. The two channels of the third relay 42 are synchronously turned on and off. The control signal end of the third relay 42 is electrically connected to the second control power supply 47 through the second mechanical switch 44 and the second emergency stop switch 43. One end of the second channel of the third relay 42 is electrically connected to the second power supply 46, and the other end is electrically connected to the second load 45. The second mechanical docking device 48 and the second electrical docking device 49 can be arranged on the second equipment body 41 of the second equipment. The second electrical docking device 49 includes: a third electrical docking unit 491 and a fourth electrical docking unit 492. The third electrical docking unit 491 is electrically connected to the electrical connection ends at both ends of the second mechanical switch 44, and the fourth electrical docking unit 492 is electrically connected to the second channel of the third relay 42. Specifically, as Figure 6 As shown, one electrode of the fourth electrical docking unit 492 is connected to the access end 424 of the second channel of the third relay 42 through the access side pin 424 , and the other electrode is connected to the output end 425 of the second channel of the third relay 42 through the output side pin 425 .

[0095] After the first emergency stop device 3 and the second emergency stop device 4 are connected, see Figure 7 As shown, the first electrical docking unit 391 on the first emergency stop device 3 is electrically connected to the fourth electrical docking unit 492 on the second emergency stop device 4, so that the electrical connection ends of the first mechanical switch 34 are connected to the second channel of the third relay 42 of the second emergency stop device 4. The second mechanical docking device 48 on the second emergency stop device 4 is docked with the first mechanical docking device 38 on the first emergency stop device 3, and the first mechanical switch 34 on the first emergency stop device 3 is disconnected due to the mechanical docking force.

[0096] Continuing with FIG7 , the second electrical docking unit 392 on the first emergency stop device 3 is electrically connected to the third electrical docking unit 491 on the second emergency stop device 4, such that the electrical connection ends of the second mechanical switch 44 are connected to the second channel of the first relay 32 of the first emergency stop device 3. The first mechanical docking device 38 on the first emergency stop device 3 is docked with the second mechanical docking device 48 on the second emergency stop device 4, and the second mechanical switch 44 on the second emergency stop device 4 is disconnected due to the mechanical docking force.

[0097] from Figure 7 It can be seen that after the first emergency stop device 3 and the second emergency stop device 4 are docked, the first emergency stop device 3 and the second emergency stop device 4 are integrated into one. Figure 7 It can be seen that by adopting the technical solution provided in this embodiment, the emergency stop device obtained after integration includes two emergency stop circuits.

[0098] See also Figure 7 The first circuit is marked by the midpoint arrow:

[0099] The first control power supply 37 of the first emergency stop device 3 -> the first emergency stop switch 33 -> the electrically connected first electrical docking unit 391 and the fourth electrical docking unit 492 -> the second channel of the third relay 42 (i.e., the channel between the input end 424 and the output end 425) -> the control signal end 323 of the first relay 32.

[0100] See also Figure 4 The second circuit marked by the solid arrow:

[0101] The second control power supply 47 of the second emergency stop device 4->the second emergency stop switch 43->the electrically connected second electrical docking unit 392 and the third electrical docking unit 491->the second channel of the first relay 32 (i.e., the channel between the input end 324 and the output end 325)->the control signal end 423 of the third relay 42.

[0102] When the first emergency stop device 3 and the second emergency stop device 4 are docked, if the user presses the emergency stop button on the first emergency stop device 3, the first emergency stop switch 33 is disconnected. Figure 7In the first circuit, the first emergency stop switch 33 is disconnected, there is no current signal at the control signal end of the first relay 32, the coil of the first relay 32 loses power, the normally closed contact of the first relay 32 switches, and the power supply from the first power source 37 to the first load 35 is cut off, and the first load 35 stops running due to the power outage. After the normally closed contact of the first relay 32 switches, the first channel and the second channel of the first relay 32 are both disconnected, causing the control signal end of the second power relay 32 of the second emergency stop device 4 to be disconnected from the second control power source 47, the coil of the third relay 42 loses power, the normally closed contact of the third relay 42 switches, the first channel and the second channel of the third relay 42 are disconnected, and the power supply from the second power source 47 to the second load 45 is cut off, and the second load 45 stops running due to the power outage. The user operates the emergency stop button on the second device, and similarly, the operation of the first device and the second device can be stopped synchronously.

[0103] Figure 8 The circuit diagram of the solution provided by this embodiment is shown after the first emergency stop device 3 and the second emergency stop device 4 are connected to each other and the emergency stop devices of the two devices are integrated.

[0104] Similar to the above embodiment, it is necessary to consider that the docking correctly triggers the emergency stop and ensure that there is no disconnection in the docking of the entire emergency stop loop. In this embodiment, it is also necessary to adopt some structural designs to ensure that the second channel of the power relay on one device has been physically docked to the two ends of the mechanical switch on the other device before disconnecting the mechanical switch on the device. That is, when the first emergency stop device 3 is docked with the second emergency stop device 4, after the first electrical docking unit 391 is electrically connected to the second channel of the second power relay 32 of the second emergency stop device 4, the first mechanical docking device 38 then completes the docking with the second mechanical docking device 48, and the first mechanical switch 34 is disconnected. Similarly, after the third electrical docking unit 491 is electrically connected to the second channel of the first relay 32 of the first emergency stop device 3, the second mechanical switch 44 is disconnected.

[0105] As with the above embodiment, this embodiment adopts the same structural design as the above embodiment, namely, the first mechanical docking device 38 includes a first docking groove 382 and a first docking post 381. The second mechanical docking device 48 includes a second docking groove 482 and a second docking post 481. The details can be found in the corresponding sections above and will not be repeated here.

[0106] In fact, in order to ensure that there is no disconnection during the docking of the entire emergency stop loop, in addition to using a mechanical docking device including a docking groove and a docking column, other structures can also be used, and this embodiment does not limit this.

[0107] In the technical solution provided by this embodiment, the first relay in the emergency stop device of the equipment is designed to be dual-channel, that is, the first relay has a first channel and a second channel, wherein the first channel is used to electrically connect the power supply and the load, and the second channel is used to connect to the emergency stop device of the second device; in addition, a mechanical switch is added to the emergency stop control circuit that is electrically connected to the control power supply, the emergency stop switch and the control signal end of the first relay in sequence. When the first device is docked with the second device, the mechanical switch can be disconnected under the action of the mechanical docking force, and then the second channel of the first relay of the second device is connected to the above-mentioned emergency stop control circuit, thus realizing the integration of the emergency stop devices of the two devices. When the emergency stop switch on the first device is disconnected, both the first device and the second device stop working; when the emergency stop switch on the first device is turned off, both the first device and the second device can resume. It can be seen that the solution provided by this embodiment solves the docking problem of the emergency stop devices of the two devices, and the solution is simple and easy to implement.

[0108] See also Figure 9 The third embodiment of the present invention provides an emergency stop device. Compared with the above two embodiments, the third embodiment does not use a dual-channel emergency stop switch or a dual-channel relay, but instead adds another relay, which can be called a second relay. Figure 9 As shown, the emergency stop device (such as the first emergency stop device 3 ) includes: a first relay 32 , a first emergency stop switch 33 , a first mechanical switch 34 , a second relay 30 , a first mechanical docking device 38 and a first electrical docking device 39 .

[0109] The first relay 32 has a first control signal terminal 323, a first control signal ground terminal 326, a first input terminal 321, and a first output terminal 322. The first input terminal 321 is used to electrically connect to the first power source 36, and the first output terminal 322 is used to electrically connect to the first load 35. The first control signal terminal 323 is electrically connected to the first control power source 37 via the first mechanical switch 34 and the first emergency stop switch 33. The first control signal ground terminal 326 is grounded through the control channel of the second relay 30. The second relay 30 has a second control signal terminal 303, a second control signal ground terminal 304, a second input terminal 301, and a second output terminal 302. The channel between the second control signal terminal 303 and the second control signal ground terminal 304 is the control channel of the second relay 30. The second control signal terminal 303 is electrically connected to the first control signal ground terminal 326, and the second control signal ground terminal 304 is grounded.

[0110] The first electrical docking device 39 includes a first electrical docking unit 391 and a second electrical docking unit 392. The first electrical docking unit 391 is electrically connected to the electrical connection terminals at both ends of the first mechanical switch 34, and the second electrical docking unit 392 is electrically connected to the switching channel of the second relay 30. The channel between the second input terminal 301 and the second output terminal 302 of the second relay 30 is the switching channel. The second electrical docking unit 392 is electrically connected to the switching channel of the second relay 30, that is, the second electrical docking unit 392 is electrically connected to the second input terminal 301 and the second output terminal 302.

[0111] The first electrical docking unit 391 is used to connect to another emergency stop device (such as Figure 9 The switching channel of the second relay of the second emergency stop device) is electrically connected, the second electrical docking unit 392 is used to be electrically connected to the electrical connection ends at both ends of the second mechanical switch 44 of another emergency stop device, the first mechanical docking device 38 is used to dock with the second mechanical docking device 48 of another emergency stop device, and the first mechanical switch 34 is disconnected under the action of the mechanical docking force.

[0112] See also Figure 9 In the example of FIG, the second device has an independent emergency stop device, namely a second emergency stop device 4, which is disposed on the second device body 41 of the second device. The second emergency stop device 4 may include a third relay 42, a second emergency stop switch 43, a second mechanical switch 44, a fourth relay 40, a second mechanical docking device 48, and a second electrical docking device 49. For the sake of distinction, the second relay in the second emergency stop device 4 is referred to as the fourth relay 40 in this embodiment. The control signal terminal of the third relay 42 is electrically connected to the second control power supply 47 via the second mechanical switch 44 and the second emergency stop switch 43. The input terminal 421 of the third relay 42 is used to electrically connect to the second power supply 46, and the output terminal 422 of the third relay 42 is used to electrically connect to the second load 45. The fourth relay 40 has a control channel and a switch channel. The control signal ground terminal 426 of the third relay 42 is grounded through the control channel of the fourth relay 40. That is, the control signal ground terminal 426 of the third relay 42 is electrically connected to the fourth control signal terminal of the fourth relay 40, and the fourth control signal ground terminal of the fourth relay 40 is also grounded.

[0113] The second electrical docking device 49 includes a third docking unit 491 and a fourth docking unit 492. The third docking unit 491 is electrically connected to the electrical connection terminals at both ends of the second mechanical switch 44, and the fourth docking unit 492 is electrically connected to the switch channel of the fourth relay 40. In other words, the fourth docking unit 492 is electrically connected to the fourth input terminal 401 and the fourth output terminal 402 of the fourth relay 40.

[0114] After the first device and the second device are connected, that is, the first emergency stop device 3 is connected to the second emergency stop device 4, see Figure 10 As shown, the first electrical docking unit 391 on the first emergency stop device 3 is electrically connected to the fourth electrical docking unit 492 on the second emergency stop device 4, so that the electrical connection ends of the first mechanical switch 34 are connected to the switch channel of the fourth relay 40 of the second emergency stop device 4. The second mechanical docking device 48 on the second emergency stop device 4 is docked with the first mechanical docking device 38 on the first emergency stop device 3, and the first mechanical switch 34 on the first emergency stop device 3 is disconnected due to the mechanical docking force.

[0115] Continuing with FIG10 , the second electrical docking unit 392 on the first emergency stop device 3 is electrically connected to the third electrical docking unit 491 on the second emergency stop device 4, such that the electrical connection ends of the second mechanical switch 44 are connected to the switch channel of the second relay 30 of the first emergency stop device 3. The first mechanical docking device 38 on the first emergency stop device 3 is docked with the second mechanical docking device 48 on the second emergency stop device 4, and the second mechanical switch 44 on the second emergency stop device 4 is disconnected due to the mechanical docking force.

[0116] The emergency stop device of the first emergency stop device 3 may include but is not limited to: a first emergency stop switch 33, a first mechanical switch 34, a first relay 32 and a second relay 30. The emergency stop device of the second emergency stop device 4 may include but is not limited to: a second emergency stop switch 43, a second mechanical switch 44, a third relay 42 and a second signal relay 40. Figure 10 It can be seen that after the first emergency stop device 3 and the second emergency stop device 4 are docked, the first emergency stop device 3 and the second emergency stop device 4 are integrated into one. Figure 10 It can be seen that by adopting the technical solution provided in this embodiment, the emergency stop device obtained after integration includes two emergency stop circuits.

[0117] See also Figure 10 The first circuit is marked by the midpoint arrow:

[0118] The first control power supply 37 of the first emergency stop device 3->the first emergency stop switch 33->the electrically connected first electrical docking unit 391 and the fourth electrical docking unit 492->the switch channel of the fourth relay 40 (i.e. Figure 9 (a channel between the input terminal 401 and the output terminal 402 of the fourth relay)->the control signal terminal 323 of the first relay 32.

[0119] See also Figure 10 The second circuit marked by the solid arrow:

[0120] The second control power supply 47 of the second emergency stop device 4->the second emergency stop switch 43->the electrically connected second electrical docking unit 392 and the third electrical docking unit 491->the switch channel of the second relay 30 (i.e. Figure 9(a channel between the input terminal 301 and the output terminal 302 of the second relay 30)->the control signal terminal 423 of the third relay 42.

[0121] When the first emergency stop device 3 and the second emergency stop device 4 are docked, if the user presses the emergency stop button on the first emergency stop device 3, the first emergency stop switch 33 is disconnected. Figure 10 In the first circuit, the first emergency stop switch 33 is disconnected, the control signal terminal of the first relay 32 has no current signal, the coil of the first relay 32 loses power, the normally closed contact of the first relay 32 switches, and the power supply of the first power source 37 to the first load 35 is cut off. The first load 35 stops running due to the power outage. Figure 10 , the coil of first relay 32 loses power, causing the coil of second relay 30 to lose power, and the switch channel of second relay 30 is disconnected. The disconnected switch channel of second relay 30 causes the control signal terminal of third relay 42 in the second circuit to lose current signal, the coil of third relay 42 loses power, and the normally closed contact of third relay 42 switches, cutting off the power supply from second power source 47 to second load 45, causing second load 45 to cease operation due to power outage. Similarly, the user can operate the emergency stop button on the second emergency stop device 4 of the second device to simultaneously stop the operation of the first and second devices.

[0122] Figure 11 The circuit diagram of the technical solution provided by this embodiment after the first emergency stop device 3 and the second emergency stop device 4 are connected to each other after the emergency stop devices of the two devices are integrated is shown.

[0123] Similar to the above embodiment, it is necessary to consider that the docking correctly triggers the emergency stop and ensure that there is no disconnection in the docking of the entire emergency stop loop. In this embodiment, it is also necessary to adopt some structural designs to ensure that the switch channel of the signal relay on one device has been physically docked to the two ends of the mechanical switch on the other device before disconnecting the mechanical switch on the device. That is, when the first emergency stop device 3 is docked with the second emergency stop device 4, after the first electrical docking unit 391 is electrically connected to the switch channel of the second signal relay 40 on the second emergency stop device 4, the first mechanical docking device 38 then completes the docking with the second mechanical docking device 39, and the first mechanical switch 34 is disconnected. Similarly, after the third electrical docking unit 491 is electrically connected to the switch channel of the second relay 30 of the first emergency stop device 3, the second mechanical switch 44 is disconnected.

[0124] As with the above embodiment, this embodiment adopts the same structural design as the above embodiment, namely, the first mechanical docking device 38 includes a first docking groove 382 and a first docking post 381. The second mechanical docking device 48 includes a second docking groove 482 and a second docking post 481. The details can be found in the corresponding sections above and will not be repeated here.

[0125] In fact, in order to ensure that there is no disconnection during the docking of the entire emergency stop loop, in addition to using a mechanical docking device including a docking groove and a docking column, other structures can also be used, and this embodiment does not limit this.

[0126] In the technical solution provided by this embodiment, a mechanical switch is added to the emergency stop control circuit that is electrically connected in sequence with a control power supply, an emergency stop switch and a control signal end of the first relay, and a second relay is added to the control signal output end of the first relay. The second control signal end of the second relay is electrically connected to the first control signal ground end of the first relay, and the second access end and the second output end of the second relay are connected to the emergency stop device of the second device. When the first device is docked with the second device, the mechanical switch can be disconnected under the action of the mechanical docking force, and then the switch channel of the second relay of the second device (that is, the channel between the second access end and the second output end of the second relay of the second device) is connected to the above-mentioned emergency stop control circuit, thereby realizing the integration of the emergency stop devices of the two devices. When the emergency stop switch on the first device is disconnected, both the first device and the second device stop working; when the emergency stop switch on the first device is turned off, both the first device and the second device can resume. It can be seen that the solution provided by this embodiment solves the problem of docking the emergency stop devices of the two devices, and the solution is simple and easy to implement.

[0127] It should be noted that the first relay 32 and the third relay 42 can be the same type of relay, such as a power relay. The second relay 30 and the fourth relay 40 can be the same type of relay, such as a signal relay. Currently, the first relay 32, the third relay 42, the second relay 30, and the fourth relay 40 are all the same type of relay, but they can also be different types of relays, which is not limited in this embodiment.

[0128] Based on the technical solutions provided in the above embodiments, the present invention further provides a transport system, which may include a first device and a second device. Figure 12 As shown, one of the first device and the second device is a transport device 100 and the other is a mobile robot 200 .

[0129] More specifically, the first device and the second device are both provided with Figure 3 、 4 The emergency stop device provided in the embodiment shown in FIG5 is provided. For example, the first device is provided with Figure 3 、 4 and the first emergency stop device 3 in the embodiment shown in Figure 5, correspondingly, the second device is provided with Figure 3 、 4 5 and the second emergency stop device 4 in the embodiment shown.

[0130] Alternatively, both the first device and the second device are provided with Figure 6 、 7 The emergency stop device provided in the embodiment shown in FIG8 is provided. For example, the first device is provided with Figure 6 、 7 and the first emergency stop device 3 in the embodiment shown in FIG8, correspondingly, the second device is provided with Figure 6 、 7 and the second emergency stop device 4 in the embodiment shown in FIG. 8 .

[0131] Alternatively, both the first device and the second device are provided with Figure 9 、 10 The emergency stop device provided in the embodiment shown in FIG11 is provided. For example, the first device is provided with Figure 9 、 10 The first emergency stop device 3 provided in the embodiment shown in FIG11, correspondingly, the second device is provided with Figure 9 、 10 The first emergency stop device 4 is provided in the embodiment shown in FIG. 11 .

[0132] like Figure 12 As shown, an emergency stop button 101 is provided on a transport device 100. When emergency stop button 101 is pressed, if the first device is transport device 100, the first emergency stop switch mentioned above is disconnected; if the second device is transport device 100, the second emergency stop switch mentioned above is disconnected. When emergency stop button 101 is restored, the corresponding first or second emergency stop switch is connected.

[0133] In addition, the mobile robot 200 is also provided with an emergency stop button. Figure 12 Although not explicitly shown in the figure, the emergency stop button can be set on the top, side wall, etc. of the mobile robot.

[0134] In the solutions provided by the above three embodiments, the emergency stop devices of the first device and the second device are implemented in a substantially similar manner. In other words, a user can shut down both the first device and the second device by pressing the emergency stop button on either device.

[0135] See also Figure 13 The example shown, for Figure 13 In the scenario shown, the mobile robot 200 drills into the bottom of the transport device 100 and docks with the transport device 100. The mobile robot 200 and the transport device 100 work together, and the mobile robot 200 drives the transport device 100 to move. Figure 13 It can be seen from the figure that the mobile robot 200 drills into the bottom, and it is not convenient for the user to operate the emergency stop button on the mobile robot 200. It is unlikely that the emergency stop button on the mobile robot 200 can be operated to stop the transport robot and the mobile robot synchronously.

[0136] To this end, the present invention further provides a plurality of simpler solutions, that is, after the first device and the second device are docked, the user operates the emergency stop button on the first device to stop the two devices synchronously.

[0137] Figure 14 FIG. 1 shows a schematic diagram of an emergency stop docking system provided by the fourth embodiment of the present invention. Figure 14 As shown, the first emergency stop device 3 includes a first relay 32, a first emergency stop switch 33, a first mechanical docking device 38, and a second electrical docking unit 392. The first emergency stop switch 33 has a first emergency stop channel 331 and a second emergency stop channel 332, which are switched on and off synchronously. The control signal terminal of the first relay 32 is electrically connected to the first control power supply 37 via the first emergency stop channel 331. The second electrical docking unit 392 is electrically connected to the second emergency stop channel 332.

[0138] The second emergency stop device 4 includes a third relay 42, a second emergency stop switch 43, a second mechanical switch 44, a second mechanical docking device 48, and a third electrical docking unit 491. The control signal terminal of the third relay 42 is electrically connected to the second control power supply 47 via the second emergency stop switch 43 and the second mechanical switch 44. The third electrical docking unit 491 is electrically connected to both ends of the second mechanical switch 44.

[0139] The emergency stop docking system provided by the present invention may include a first emergency stop device 3 and a second emergency stop device 4. Figure 14 As shown, after the first emergency stop device 3 and the second emergency stop device 4 are docked, the second electrical docking unit 392 is electrically connected to the third electrical docking unit 491, so that the electrical connection ends at both ends of the second mechanical switch 44 are connected to the second emergency stop channel 332; the first mechanical docking device 38 is docked with the second mechanical docking device 48, and the second mechanical switch 44 is disconnected under the action of the mechanical docking force.

[0140] In this embodiment, the first mechanical docking device 38 may include only the first docking post 381, and the second mechanical docking device 48 may include only the second docking slot 482. The details of the second electrical docking unit 392 being provided with the first docking post 381 and the third electrical docking unit 491 being provided with the second docking slot 482 can be found above and are not further described here.

[0141] Figure 15 The circuit diagram after the first docking device 3 and the second docking device 4 are docked is shown. The second mechanical switch 44 is in the disconnected state, and both ends of the second mechanical switch 44 are electrically connected to the second emergency stop channel 331 of the first emergency stop switch 33. Figure 13In the docking state shown, assuming that the first device is the transport device 100, it is relatively convenient for the user to operate the emergency stop button 101 on the transport device 100. Therefore, after the user presses the emergency stop button 101 on the transport device 100, the first emergency stop channel 331 and the second emergency stop channel 332 of the first emergency stop switch 33 are simultaneously disconnected, the control signal terminal of the first relay 32 loses control and current signals, the coil of the first relay 32 loses power, the normally closed contact of the first relay 32 switches, and the power supply from the first power source 37 to the first load 35 is cut off, causing the first load 35 to stop operating due to the power outage. Since the second emergency stop channel 332 of the first emergency stop switch 33 is disconnected, the control signal terminal of the third relay 42 loses current signals, the coil of the third relay 42 loses power, the normally closed contact of the third relay 42 switches, and the power supply from the second power source 47 to the second load 45 is cut off, causing the second load 45 to stop operating due to the power outage. After the emergency stop situation is lifted, the user operates the emergency stop button 101 to restore the connection, and the first emergency stop channel 331 and the second emergency stop channel 332 of the first emergency stop switch 33 are both connected, and the control signal ends of the first relay 32 and the third relay 42 are connected to the current signal, and the coil is powered on; the first power supply 36 can supply power to the first load 35 through the first relay 32; the second power supply 46 can supply power to the second load 45 through the third relay 42.

[0142] Figure 16 FIG. 1 shows a schematic diagram of an emergency stop docking system provided by the fourth embodiment of the present invention. Figure 16 As shown, the first docking device 3 includes a first relay 32, a first emergency stop switch 33, a first mechanical docking device 38, and a second electrical docking unit 392. The first relay 32 has a control signal terminal 323, a first channel, and a second channel, which are switched on and off synchronously. The input terminal 321 of the first channel is electrically connected to the first power source 36, and the output terminal 322 of the first channel is electrically connected to the first load 35. The control signal terminal 323 is electrically connected to the first control power source 37 via the first emergency stop switch 33. The second electrical docking unit 392 is electrically connected to the second channel.

[0143] The second emergency stop device 4 includes a third relay 42, a second emergency stop switch 43, a second mechanical switch 44, a second mechanical docking device 48, and a third electrical docking unit 491. The control signal terminal of the first power relay 42 is electrically connected via the first emergency stop switch 43 and the second mechanical switch 44. The third electrical docking unit 491 is electrically connected to both ends of the second mechanical switch 44.

[0144] The emergency stop docking system provided by the present invention may include the aforementioned first emergency stop device 3 and second emergency stop device 4. After the first emergency stop device 3 and the second emergency stop device 4 are docked, the second electrical docking unit 392 and the third electrical docking unit 491 are electrically connected, such that the electrical connection ends of the second mechanical switch 44 are connected to the second channel. The first mechanical docking device 38 docks with the second mechanical docking device 48, and the second mechanical switch 44 is disconnected under the action of the mechanical docking force.

[0145] In this embodiment, the first mechanical docking device 38 may include only the first docking post 381, and the second mechanical docking device 48 may include only the second docking slot 482. The details of the second electrical docking unit 392 being provided with the first docking post 381 and the third electrical docking unit 491 being provided with the second docking slot 482 can be found above and are not further described here.

[0146] Figure 17 The circuit diagram after the first emergency stop device and the second emergency stop device are connected is shown. The second mechanical switch 44 is in the off state, and both ends of the second mechanical switch 44 are electrically connected to the second channel of the first relay 32. Figure 13 In the docking state shown, assuming the executing device is transport device 100, it is relatively convenient for the user to operate the emergency stop button 101 on transport device 100. Therefore, after the user presses the emergency stop button 101 on transport device 100, the first emergency stop switch 33 is disconnected, the control signal terminal of the first relay 32 loses control and current signals, the coil of the first relay 32 loses power, and the first and second channels of the first relay 32 are simultaneously disconnected. The disconnection of the first channel cuts off the power supply from the first power source 37 to the first load 35, causing the first load 35 to cease operation due to the power outage. The disconnection of the second channel causes the control signal terminal of the third relay 42 to lose current signals, the coil of the third relay 42 loses power, and the normally closed contacts of the third relay 42 switch, cutting off the power supply from the second power source 47 to the second load 45, causing the second load 45 to cease operation due to the power outage. After the emergency stop condition is resolved and the user operates the emergency stop button 101 to restore the connection, the first emergency stop switch 33 is connected, the control signal terminals of the first and third relays 32 and 42 receive current signals, the coils are energized, and the first and second channels of the first relay 32 are simultaneously connected. The first power source 36 can supply power to the first load 35 via the first channel of the first relay 32. Since the second channel is connected, the control signal terminal of the second power relay 32 receives a current signal, the coil is energized, the normally closed contact of the third relay 42 is restored, and the second power source 46 supplies power to the second load 45 via the third relay 42.

[0147] Figure 18 FIG. 1 shows a schematic diagram of an emergency stop docking system provided by the sixth embodiment of the present invention. Figure 18As shown, the first emergency stop device 3 includes a first relay 32, a second relay 30, a first emergency stop switch 33, a first mechanical docking device 38, and a second electrical docking unit 392. The control signal terminal of the first relay 32 is electrically connected to the first control power supply 37 via the first emergency stop switch 33. The control signal ground terminal of the first relay 32 is grounded via the control channel of the second relay 30. The second electrical docking unit 392 is electrically connected to the switch channel of the second relay 30.

[0148] like Figure 18 As shown, the second emergency stop device 4 includes a third relay 42, a second emergency stop switch 43, a second mechanical switch 44, a second mechanical docking device 48, and a third electrical docking unit 491. The third relay 42 is electrically connected to the second control power supply 47 via the second emergency stop switch 43 and the second mechanical switch 44. The third docking unit 491 is electrically connected to the electrical connection terminals at both ends of the second mechanical switch 44.

[0149] The emergency stop docking system provided by the present invention may include the aforementioned first and second emergency stop devices. After the first emergency stop device 3 and the second emergency stop device 4 are docked, the second electrical docking unit 392 is electrically connected to the third electrical docking unit 491, allowing the electrical connection terminals of the second mechanical switch 44 to connect to the switch channel of the second relay 30. The first mechanical docking device 38 docks with the second mechanical docking device 18, and the second mechanical switch 44 is disconnected under the mechanical docking force.

[0150] In this embodiment, the first mechanical docking device 38 may include only the first docking post 381, and the second mechanical docking device 48 may include only the second docking slot 482. The details of the second electrical docking unit 392 being provided with the first docking post 381 and the third electrical docking unit 491 being provided with the second docking slot 482 can be found above and are not further described here.

[0151] Figure 19 The circuit diagram after the first emergency stop device and the second emergency stop device are connected is shown. The second mechanical switch 44 is in the disconnected state, and both ends of the second mechanical switch 44 are electrically connected to the switch channel of the second relay 30. Figure 13In the docking state shown, it is assumed that the first device is a transport device 100. The transport device is equipped with a first emergency stop device 3, making it convenient for the user to operate the emergency stop button 101 on the transport device 100. The mobile robot is equipped with a second emergency stop device 4. Therefore, after the user presses the emergency stop button 101 on the transport device 100, the first emergency stop switch 33 is disconnected. The control signal terminal of the first relay 32 loses control and current signals. The coil of the first relay 32 loses power, and the normally closed contact of the first relay 32 switches, cutting off the power supply from the first power source 37 to the first load 35. The first load 35 stops operating due to the power outage. The loss of power to the coil of the first relay 32 causes the coil in the control channel of the second relay 30 to lose power. The normally closed contact of the second relay 30 switches, opening the switch channel. Due to the opening of the switch channel of the second relay 30, the coil of the third relay 42 loses power. The normally closed contact of the third relay 42 switches, cutting off the power supply from the second power source 47 to the second load 45. The second load 45 stops operating due to the power outage. After the emergency stop condition is resolved and the user operates the emergency stop button 101 to restore the connection, the first emergency stop switch 33 is connected, the control signal terminal of the first relay 32 receives a current signal, the coil is powered, the normally closed contact of the first relay 32 is switched back on, and the first power source 36 can supply power to the first load 35 through the first channel of the first relay 32. Because the coil of the first relay 32 is powered, the coil of the second relay 30 is powered, the switch channel of the second relay 30 is connected, the control signal terminal of the third relay 42 receives a current signal, the coil is powered, the normally closed contact of the third relay 42 is restored, and the second power source 46 supplies power to the second load 45 through the third relay 42.

[0152] In addition, it should be further explained that the first and third relays used in the above embodiments may be power relays. The power relays function to control current power. When the power input of the power source exceeds a predetermined threshold, the input terminal of the power relay is connected to the output terminal to provide power to the load. When the power input of the power source is less than the predetermined threshold, the input terminal is disconnected from the output terminal, and the load does not operate, thereby protecting the load.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An emergency stop device, characterized in that: include: The first relay, the emergency stop switch, the mechanical switch, the mechanical docking device and the electrical docking device; wherein, The first relay has a control signal terminal, an input terminal and an output terminal, the input terminal is electrically connected to the power supply, and the output terminal is electrically connected to the load; The emergency stop switch has a first emergency stop channel and a second emergency stop channel, and the first emergency stop channel and the second emergency stop channel are switched on and off synchronously; The control signal terminal is electrically connected to the control power supply through the mechanical switch and the first emergency stop channel; The electrical docking device includes a first electrical docking unit and a second electrical docking unit, the first electrical docking unit is electrically connected to both ends of the first mechanical switch, and the second electrical docking unit is electrically connected to the second emergency stop channel; After the first device and the second device equipped with the emergency stop device are docked, the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical docking device of the first device disconnects the mechanical switch of the second device, and the mechanical docking device of the second device disconnects the mechanical switch of the first device.

2. The emergency stop device according to claim 1, characterized in that: After the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the mechanical switch of the first device is disconnected; After the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical switch of the second device is opened.

3. The emergency stop device according to claim 1 or 2, characterized in that: The mechanical docking device includes a docking slot and a docking column; wherein, The first electrical docking unit is provided on the groove wall of the docking groove; The second electrical docking unit is provided on the docking column; After the first device and the second device equipped with the emergency stop device are docked, the docking column of the first device is docked with the docking slot of the second device, the docking column of the first device pushes open the mechanical switch of the second device to disconnect it, the docking slot of the first device is docked with the docking column of the second device, and the docking column of the second device pushes open the mechanical switch of the first device to disconnect it.

4. The emergency stop device according to claim 3, characterized in that: Along the axial direction of the groove, the docking groove has a groove opening and a groove bottom; The mechanical switch is located at the bottom of the docking slot or at the side of the bottom of the slot with a gap from the bottom of the slot; The first electrical docking unit is arranged at the slot opening, or the first electrical docking unit is arranged on the middle slot wall of the docking slot, or the first electrical docking unit extends from the slot opening to the slot bottom.

5. An emergency stop device, characterized in that: include: The first relay, the emergency stop switch, the mechanical switch, the mechanical docking device and the electrical docking device; wherein, The first relay has a control signal terminal, a first channel and a second channel, and the first channel and the second channel are switched on and off synchronously; The input end of the first channel is electrically connected to the power supply, and the output end of the first channel is electrically connected to the load; The control signal terminal is electrically connected to the control power supply through the mechanical switch and the emergency stop switch; The electrical docking device includes a first electrical docking unit and a second electrical docking unit, the first electrical docking unit is electrically connected to both ends of the mechanical switch, and the second electrical docking unit is electrically connected to the second channel; After the first device and the second device equipped with the emergency stop device are docked, the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical docking device of the first device disconnects the mechanical switch of the second device, and the mechanical docking device of the second device disconnects the mechanical switch of the first device.

6. The emergency stop device according to claim 5, characterized in that: After the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the mechanical switch of the first device is disconnected; After the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical switch of the second device is opened.

7. An emergency stop device, characterized in that: include: The first relay, the emergency stop switch, the mechanical switch, the second relay, the mechanical docking device and the electrical docking device; wherein, The first relay has a first control signal terminal, a first control signal ground terminal, a first input terminal and a first output terminal, the first input terminal is electrically connected to the power supply, and the first output terminal is electrically connected to the load; The first control signal terminal is electrically connected to the control power supply through the mechanical switch and the emergency stop switch; The second relay has a second control signal terminal, a second control signal ground terminal, a second input terminal and a second output terminal, the second control signal terminal is electrically connected to the first control signal ground terminal, and the second control signal ground terminal is grounded; The electrical docking device includes a first electrical docking unit and a second electrical docking unit, the first electrical docking unit is electrically connected to both ends of the mechanical switch, and the second electrical docking unit is electrically connected to the second input end and the second output end; After the first device and the second device equipped with the emergency stop device are docked, the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical docking device of the first device disconnects the mechanical switch of the second device, and the mechanical docking device of the second device disconnects the mechanical switch of the first device.

8. The emergency stop device according to claim 7, characterized in that: After the first electrical docking unit of the first device is electrically connected to the second electrical docking unit of the second device, the mechanical switch of the first device is disconnected; After the second electrical docking unit of the first device is electrically connected to the first electrical docking unit of the second device, the mechanical switch of the second device is opened.

9. A transport system, characterized in that: Including handling equipment and mobile robots; The transport equipment and the mobile robot are both provided with the emergency stop device according to any one of claims 1 to 4; or The handling equipment and the mobile robot are both provided with the emergency stop device according to claim 5 or 6; or The handling equipment and the mobile robot are both provided with the emergency stop device described in claim 7 or 8.

10. A docking system, characterized in that: comprising a first device and a second device; wherein, The first equipment is provided with a first emergency stop device, which includes a first relay, a first emergency stop switch, a first mechanical docking device and a second electrical docking unit; the first emergency stop switch has a first emergency stop channel and a second emergency stop channel, the first emergency stop channel and the second emergency stop channel are synchronously switched on and off, the control signal end of the first relay is electrically connected to the first control power supply through the first emergency stop channel, and the second electrical docking unit is electrically connected to the second emergency stop channel; or the first relay has a control signal end, a first channel and a second channel, the first channel and the second channel are synchronously switched on and off, the input end of the first channel is electrically connected to the first power power supply, the output end of the first channel is electrically connected to the load, the control signal end is electrically connected to the first control power supply through the first emergency stop switch, and the second electrical docking unit is electrically connected to the second channel; or the first emergency stop device also includes a second relay, the control signal end of the first relay is electrically connected to the first control power supply through the first emergency stop switch, the control signal ground end of the first relay is electrically connected to the control signal end of the second relay, the control signal ground end of the second relay is grounded, and the second electrical docking unit is electrically connected to the input end and output end of the second relay; The second device is provided with a second emergency stop device, which includes a third relay, a second emergency stop switch, a second mechanical switch and a third electrical docking unit; the control signal end of the third relay is electrically connected to the second control power supply through the second emergency stop switch and the second mechanical switch; the third electrical docking unit is electrically connected to both ends of the second mechanical switch; After the first device and the second device are docked, the second electrical docking unit is electrically connected to the third electrical docking unit, and the first mechanical docking device of the first device disconnects the second mechanical switch.

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