Mobile robot, carrying docking platform and carrying system
By designing a mobile robot docking platform, the lifting mechanism of the AGV is eliminated, the structure is simplified, the efficiency of goods transfer is improved, and the problem of high transfer cost and low efficiency in existing technologies is solved.
Patent Information
- Application Number
- CN202422681082.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-04
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2034-11-04
AI Technical Summary
In existing technologies, AGVs need to be configured with complex lifting mechanisms to transfer goods to docking platforms, resulting in high transfer costs and low efficiency.
The system employs a mobile robot docking platform. The mobile robot includes a mobile chassis, a transport platform, and a liftable limiter. The width of the transport platform is less than the cantilever spacing. The liftable limiter pulls or pushes items in different states, eliminating the need for the traditional AGV lifting mechanism.
The simplified structure saves lifting operations and improves the efficiency of goods transfer.
Smart Images
Figure CN223508386U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of intelligent logistics warehousing technology, and in particular to a mobile robot, a handling docking platform, and a handling system. Background Technology
[0002] Within a warehousing and logistics station, AGVs (Automated Guided Vehicles, or unmanned transport vehicles) are typically used to transfer goods between the shelving area and the picking area.
[0003] To enable automatic docking between AGVs and the goods docking platforms in the shelving and picking areas, AGVs are usually equipped with lifting mechanisms. During the process of transferring goods between the AGV and the docking platform, the goods need to be lifted by the lifting mechanism. Therefore, AGVs equipped with this lifting mechanism not only have low docking efficiency, but also greatly increase the cost of goods transfer due to their complex structure. Utility Model Content
[0004] The purpose of this utility model embodiment is to provide a mobile robot, a material handling docking platform, and a material handling system, so as to reduce the transportation costs of the mobile robot, the material handling docking platform, and the material handling system. The specific technical solution is as follows:
[0005] The first aspect of this application provides a mobile robot for docking with a transport docking platform, the transport docking platform having a pair of cantilever arms for carrying items, the mobile robot comprising:
[0006] Mobile chassis;
[0007] A transport platform is mounted on top of a mobile chassis, and the width of the transport platform is less than the gap between a pair of cantilever arms; so that it can be moved between the pair of cantilever arms by the mobile chassis.
[0008] The liftable limiter has a first state not higher than the transport platform and a second state higher than the transport platform, and is at least located at one end of the transport platform in the front-rear direction; it is used to switch from the first state to the second state after the transport platform moves unloaded between a pair of cantilever arms, so as to pull the item from the pair of cantilever arms to the transport platform under the drive of the mobile chassis; or, before the transport platform moves with the item between the pair of cantilever arms, it is in the second state, so as to push the item from the transport platform to the pair of cantilever arms under the drive of the mobile chassis.
[0009] In some embodiments, the transport platform has a first bearing surface for carrying items, a second bearing surface for carrying items at the fixed end of the cantilever, and an inclined surface for docking with the mobile robot at the suspended end of the cantilever; the first bearing surface is lower than the second bearing surface, and the first bearing surface is not lower than the end of the inclined surface;
[0010] When the transport platform moves the carried goods between a pair of cantilever arms, at least the end of the carried goods away from the pair of cantilever arms is raised. Driven by the mobile chassis, the goods are guided from the first bearing surface of the transport platform, through the inclined surface of the cantilever arm, to the second bearing surface of the cantilever arm.
[0011] In some embodiments, it also includes:
[0012] An object sensing component is installed on the transport platform to sense whether an object exists on the first bearing surface;
[0013] The liftable item limiting component is electrically connected to the item sensing component, and is used to switch to the second state when there is an item on the first bearing surface, and switch to the first state when there is no item on the first bearing surface.
[0014] In some embodiments, the item sensing component includes a TOF sensor or a photoelectric sensor.
[0015] In some embodiments, the transport platform has internal storage space;
[0016] The liftable limit component includes a drive unit and a rotating fork;
[0017] The rotating fork is located at one end of the transport platform in the front-to-back direction;
[0018] At least a portion of the drive component is disposed in the receiving space and connected to the rotary fork for driving the rotary fork to rotate;
[0019] When the driving component drives the rotating fork to rotate to a horizontal position, the lifting limit member is in the first state, and the top of the rotating fork is not higher than the first bearing surface. When the driving component drives the rotating fork to rotate to a vertical position, the lifting limit member is in the second state, and the top of the rotating fork is higher than the first bearing surface.
[0020] In some embodiments, there are two rotary forks, which are spaced apart, and the distance between the two rotary forks is less than the distance between a pair of cantilever arms.
[0021] In some embodiments, it also includes:
[0022] Two guide plates, located on both sides of the transport platform, are used to limit the movement of items carried by the transport platform;
[0023] The guide plate and the transport platform are spaced apart, and the space between the guide plate and the transport platform is used to accommodate the cantilever.
[0024] A second aspect of this application provides a material handling docking platform for docking with a mobile robot, the mobile robot having a transport platform, and the material handling docking platform comprising:
[0025] A pair of cantilever arms;
[0026] Support structure; among which,
[0027] The fixed ends of a pair of cantilever arms are spaced apart on the support body, and the gap between the pair of cantilever arms is greater than the width of the transport platform, so as to accommodate the transport platform.
[0028] In some embodiments, the transport platform has a first bearing surface for carrying articles; at the fixed end of the cantilever, there is a second bearing surface for carrying articles, the second bearing surface being higher than the first bearing surface;
[0029] At the cantilever's suspended end, the cantilever has an inclined surface for docking with the mobile robot, and the end of the inclined surface is not higher than the first bearing surface.
[0030] In some embodiments, it also includes:
[0031] Non-powered rollers are located on the second bearing surface and / or the inclined surface.
[0032] A third aspect of this application provides a transport system, comprising:
[0033] The aforementioned mobile robots; and,
[0034] The aforementioned material handling and docking platform.
[0035] This utility model provides a mobile robot, a transport docking platform, and a transport system. The mobile robot is used to dock with the transport docking platform, which has a pair of cantilever arms. The mobile robot includes a mobile chassis, a transport platform, and a liftable limiting component. The transport platform is located on top of the mobile chassis, and its width is less than the gap between the pair of cantilever arms. The liftable limiting component has a first state not higher than the transport platform and a second state higher than the transport platform, and is located at least at one end of the transport platform in the front-rear direction. When the mobile robot needs to retrieve an item from the transport docking platform, after the transport platform moves empty between the pair of cantilever arms, it switches from the first state to the second state. Under the drive of the mobile chassis, the liftable limiting component pulls the item from the pair of cantilever arms onto the transport platform. When the mobile robot needs to transfer an item to the transport docking platform, before the transport platform moves with the item between the pair of cantilever arms, it is in the second state. Under the drive of the mobile chassis, the liftable limiting component pushes the item from the transport platform onto the pair of cantilever arms. In this embodiment of the solution, the lifting mechanism of the traditional AGV is eliminated, which not only simplifies the structure, but also saves the lifting action of the lifting mechanism in terms of the way the goods are transported, thus improving the efficiency of the goods transfer.
[0036] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.
[0038] Figure 1 This is a schematic diagram of the structure of the mobile robot with the liftable limiting component lowered, as provided in the embodiments of this application. Figure 1 ;
[0039] Figure 2 This is a schematic diagram of the structure of the mobile robot with the liftable limiting component lowered, as provided in the embodiments of this application. Figure 2 ;
[0040] Figure 3 This is a schematic diagram of the structure of the mobile robot with the liftable limiting component lowered, as provided in the embodiments of this application. Figure 3 ;
[0041] Figure 4 A schematic diagram of the structure of the liftable limiting component of the mobile robot provided in this application embodiment after it is raised;
[0042] Figure 5A This application provides a schematic diagram of the first step in which a mobile robot acquires items from a handling and docking platform. Figure 1 ;
[0043] Figure 5B This application provides a schematic diagram of the first step in which a mobile robot acquires items from a handling and docking platform. Figure 2 ;
[0044] Figure 6A This application provides a schematic diagram of the second step in which a mobile robot acquires items from a transport docking platform. Figure 1 ;
[0045] Figure 6B This application provides a schematic diagram of the second step in which a mobile robot acquires items from a transport docking platform. Figure 2 ;
[0046] Figure 7A A schematic diagram of the third step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 1 ;
[0047] Figure 7B A schematic diagram of the third step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 2 ;
[0048] Figure 8AA schematic diagram of the fourth step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 1 ;
[0049] Figure 8B A schematic diagram of the fourth step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 2 ;
[0050] Figure 9A This illustration shows the first step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 1 ;
[0051] Figure 9B This illustration shows the first step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 2 ;
[0052] Figure 10A This illustration shows the second step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 1 ;
[0053] Figure 10B This illustration shows the second step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 2 ;
[0054] Figure 11A This illustration shows the third step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 1 ;
[0055] Figure 11B This illustration shows the third step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 2 ;
[0056] Figure 12 This is a schematic diagram of the material box structure in an embodiment of this application;
[0057] Figure 13 This is a schematic diagram of the transport and docking platform provided in an embodiment of this application.
[0058] The attached figures are labeled as follows:
[0059] Mobile robot 100, mobile chassis 110, transport platform 120, first bearing surface 121, liftable limit component 130, rotating fork 131, object sensing component 140, guide plate 150, interval between transport platforms 160.
[0060] The transport docking platform 200, cantilever 210, fixed end 210a, suspended end 210b, second bearing surface 211, inclined surface 212, end of inclined surface 212a, support body 220, and non-powered roller 230.
[0061] Item 300;
[0062] Forward and backward direction A. Detailed Implementation
[0063] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.
[0064] In related technologies, AGVs need to be equipped with lifting mechanisms to raise items for transfer to docking platforms. These lifting mechanisms are relatively complex, increasing the manufacturing cost of the AGV and resulting in higher operating costs. Furthermore, the time required for lifting and transferring items leads to low operational efficiency.
[0065] The purpose of this application is to provide a mobile robot, a handling docking platform, and a handling system, so as to reduce the transfer cost of the mobile robot, the handling docking platform, and the handling system, and improve the transfer efficiency of the mobile robot, the handling docking platform, and the handling system.
[0066] Therefore, this application proposes a mobile robot.
[0067] A mobile robot is disclosed for docking with a transport platform. The transport platform has a pair of cantilever arms for carrying items. The mobile robot includes a mobile chassis, a transport platform, and a liftable limiting component. The transport platform is positioned on top of the mobile chassis, and its width is less than the gap between the pair of cantilever arms. It is positioned so that it can move between the pair of cantilever arms under the drive of the mobile chassis. The liftable limiting component has a first state not higher than the transport platform and a second state higher than the transport platform, and is positioned at least at one end of the transport platform in the front-rear direction. It is used to switch from the first state to the second state after the transport platform moves unloaded between the pair of cantilever arms, so that it can pull items from the pair of cantilever arms onto the transport platform under the drive of the mobile chassis; or, before the transport platform moves with items between the pair of cantilever arms, it is in the second state, so that it can push items from the transport platform onto the pair of cantilever arms under the drive of the mobile chassis.
[0068] In this embodiment of the solution, the lifting mechanism of the traditional AGV is eliminated, which not only simplifies the structure, but also saves the lifting action of the lifting mechanism in terms of the way the goods are transported, thus improving the efficiency of the goods transfer.
[0069] Specifically, a mobile robot according to an embodiment of this application is described below with reference to the accompanying drawings.
[0070] Figure 1 This is a schematic diagram of the structure of the mobile robot with the liftable limiting component lowered, as provided in the embodiments of this application. Figure 1 , Figure 2 This is a schematic diagram of the structure of the mobile robot with the liftable limiting component lowered, as provided in the embodiments of this application. Figure 2 , Figure 3 This is a schematic diagram of the structure of the mobile robot with the liftable limiting component lowered, as provided in the embodiments of this application. Figure 3 , Figure 4 This is a schematic diagram of the structure of the liftable limiting component of the mobile robot provided in this application embodiment after it has been raised. Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a mobile robot 100 includes a mobile chassis 110, a transport platform 120, and a liftable limiting member 130. The transport platform 120 is disposed on the top of the mobile chassis 110, and the liftable limiting member 130 is disposed at least at one end of the transport platform 120 in the front-rear direction A.
[0071] In the following embodiments of this solution, taking the lifting limiter 130 located at one end of the rear of the transport platform 120 as an example, as follows... Figure 1 As shown, the liftable limiter 130 is at least located at one end behind the transport platform 120, and the liftable limiter 130 is in the lowered position, such as... Figure 4 As shown, the liftable limiter 130 is in the raised position.
[0072] Figure 5A This application provides a schematic diagram of the first step in which a mobile robot acquires items from a handling and docking platform. Figure 1 , Figure 5B This application provides a schematic diagram of the first step in which a mobile robot acquires items from a handling and docking platform. Figure 2 , Figure 6A This application provides a schematic diagram of the second step in which a mobile robot acquires items from a transport docking platform. Figure 1 , Figure 6B This application provides a schematic diagram of the second step in which a mobile robot acquires items from a transport docking platform. Figure 2 , Figure 7A A schematic diagram of the third step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 1 , Figure 7B A schematic diagram of the third step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 2 , Figure 8A A schematic diagram of the fourth step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 1 , Figure 8B A schematic diagram of the fourth step of the mobile robot acquiring items from the handling and docking platform provided in this application embodiment. Figure 2 ,like Figure 5A , Figure 5B , Figure 6A , Figure 6B , Figure 7A , Figure 7B , Figure 8A , Figure 8B As shown, the mobile robot 100 is used to dock with the transport docking platform 200, which has a pair of cantilever arms 210 for carrying items 300. The width w1 of the transport platform 120 is less than the gap w2 between the pair of cantilever arms 210, so that it can move between the pair of cantilever arms 210 under the drive of the mobile chassis 110. The liftable limit member 130 is used to switch from the first state to the second state after the transport platform 120 moves unloaded between the pair of cantilever arms 210, at least from the rear end of the item 300 carried on the cantilever arms 210, so that the item 300 can be pulled from the pair of cantilever arms 210 onto the transport platform 120 under the drive of the mobile chassis 110.
[0073] When mobile robot 100 needs to acquire item 300 from transport docking platform 200, the first step is as follows: Figure 5A and Figure 5B As shown, the lifting limit component 130 is in the lowered position, and the mobile robot 100 is reversing towards the transport docking platform 200 (the rear of the transport platform 120 is facing the transport docking platform 200). Second step: As... Figure 6A and Figure 6B As shown, the mobile robot 100 reverses to below the cantilever 210, and the transport platform 120 moves unloaded between the pair of cantilever 210s. Third step: As... Figure 7A and Figure 7B As shown, the liftable limiting member 130 rises from the rear end of the item 300 carried on the cantilever 210. Fourth step: As... Figure 8A and Figure 8B As shown, the mobile robot 100 drives away from the handling and docking platform 200, and the lifting limit component 130 pulls the item 300 out by a pair of cantilever arms 210 to the transport platform 120.
[0074] Figure 9A This illustration shows the first step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 1 , Figure 9BThis illustration shows the first step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 2 , Figure 10A This illustration shows the second step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 1 , Figure 10B This illustration shows the second step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 2 , Figure 11A This illustration shows the third step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 1 , Figure 11B This illustration shows the third step of the mobile robot transferring items to the handling and docking platform, as provided in the embodiments of this application. Figure 2 ,like Figure 9A , Figure 9B , Figure 10A , Figure 10B , Figure 11A , Figure 11B As shown, the liftable limiter 130 is also used to raise at least one end of the carried item 300 away from the pair of cantilever arms 210 before the transport platform 120 moves the carried item 300 between the pair of cantilever arms 210, so that the liftable limiter 130 is in a second state, so that the carried item 300 is pushed from the transport platform 120 to the pair of cantilever arms 210 under the drive of the mobile chassis 110.
[0075] When mobile robot 100 needs to transfer item 300 to handling docking platform 200, the first step is as follows: Figure 9A and Figure 9B As shown, the mobile robot 100 moves towards the transport docking platform 200 (the front of the transport platform 120 faces the transport docking platform 200), and the liftable limiter 130 is in the raised position. Second step: As... Figure 10A and Figure 10B As shown, driven by the mobile chassis 110, the liftable limiting component 130 pushes the item 300 from the transport platform 120 onto a pair of cantilever arms 210. Third step: As... Figure 11A and Figure 11B As shown, the mobile robot 100 drives away from the handling and docking platform 200, and the item 300 stays on the transport platform 120.
[0076] In specific implementation, such as Figure 9A and Figure 10AAs shown, the transport platform 120 has a first bearing surface 121 for carrying the item 300, a second bearing surface 211 for carrying the item 300 at the fixed end 210a of the cantilever 210, and an inclined surface 212 for docking the item 300 with the mobile robot at the suspended end 210b of the cantilever 210; the first bearing surface 121 is lower than the second bearing surface 211, and the first bearing surface 121 is not lower than the end 212a of the inclined surface; when the transport platform 120 carrying the item 300 moves between the pair of cantilever 210, at least at the end of the carried item 300 away from the pair of cantilever 210, it rises, and under the drive of the mobile chassis 110, the item 300 is guided from the first bearing surface 121 of the transport platform 120, through the inclined surface 212 of the cantilever 210, to the second bearing surface 211 of the cantilever 210.
[0077] When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, in the second step described above, as the mobile robot 100 moves forward, because the lifting item 300 limiting component is higher than the second bearing surface 211 and also higher than the first bearing surface 121, it can limit the rear side of the item 300 carried by the transport platform 120, pushing the item 300 from the inclined surface 212 of the cantilever end 210b to the second bearing surface 211 of the fixed end 210a of the cantilever 210. Since the first bearing surface 121 is lower than the second bearing surface 211, when the mobile robot 100 travels under the cantilever 210, the transfer of the item 300 from the mobile robot 100 to the transport docking platform 200 is completed. In the third step described above, when the mobile robot 100 moves away from under the cantilever 210, the item 300 will remain on the higher second bearing surface 211 on the cantilever 210.
[0078] To further achieve automated control of the mobile robot 100, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the mobile robot 100 also includes: an object sensing component 140, which is disposed on the transport platform 120 and used to sense whether an object 300 exists on the first bearing surface 121; a liftable object 300 limiting component is electrically connected to the object sensing component 140, used to switch to a second state when an object 300 exists on the first bearing surface 121, and switch to a first state when an object 300 does not exist on the first bearing surface 121. The object sensing component 140 may include a TOF sensor, or a photoelectric sensor, etc.
[0079] When the mobile robot 100 needs to acquire the item 300 from the transport docking platform 200, in the second step, the transport platform 120 moves unloaded between a pair of cantilever arms 210 and stops. The liftable limiter 130 is positioned at the rear end of the item 300 carried on the cantilever arm 210, and the item sensing component 140 senses the presence of the item 300 above. In the third step, based on the presence of the item 300 sensed by the item sensing component 140, the liftable limiter 130 automatically rises from the rear end of the item 300 carried on the cantilever arm 210.
[0080] When the mobile robot 100 needs to transfer item 300 to the transport docking platform 200, in the first step, the lifting limit member 130 automatically rises when the item sensor 140 senses the presence of item 300. In the second step, the lifting limit member 130 remains raised as the item sensor 140 senses the presence of item 300. In the third step, the mobile robot 100 moves away from the transport docking platform 200, and item 300 remains on the transport platform 120. The item sensor 140 no longer senses the presence of item 300, and the lifting limit member 130 automatically lowers accordingly.
[0081] The liftable limiting member 130 can be implemented using various structures; for example, the liftable limiting member 130 can be a vertically telescopic electric push rod (not shown). In other embodiments, please refer to... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the transport platform 120 has an internal accommodating space; the liftable limiting member 130 includes a driving component and a rotating fork 131; the rotating fork 131 is disposed at one end of the transport platform 120 in the front-rear direction A; at least a portion of the driving component is disposed in the accommodating space and connected to the rotating fork 131 for driving the rotating fork 131 to rotate; when the driving component drives the rotating fork 131 to rotate to a horizontal position, the liftable limiting member 130 is in a first state, and the top of the rotating fork 131 is not higher than the first bearing surface 121; when the driving component drives the rotating fork 131 to rotate to a vertical position, the liftable limiting member 130 is in a second state, and the top of the rotating fork 131 is higher than the first bearing surface 121. In some embodiments, the driving component can be a motor.
[0082] In this embodiment of the solution, the drive component effectively utilizes the space on the thickness of the transport platform 120, which is beneficial to the miniaturization of the mobile robot 100.
[0083] There can be two rotating forks 131, spaced apart, with the interval w3 between the two rotating forks 131 being smaller than the interval w2 between a pair of cantilever arms 210. By setting two rotating forks, a more stable pushing force can be applied to the item 300 during the step of the mobile robot 100 transferring the item 300 to the handling docking platform 200. In specific implementations, each rotating fork 131 can be configured with an individual drive component to drive its rotation, or the same drive component can be used to drive it via a transmission mechanism.
[0084] To further improve the stability of the item 300 during the transfer process, the mobile robot 100 further includes two guide plates 150 located on both sides of the transport platform 120 to limit the movement of the item 300 carried by the transport platform 120. The guide plates 150 and the transport platform 120 are spaced apart, with a gap 160 between them to accommodate the cantilever 210. When the mobile robot 100 travels under the handling docking platform 200, the cantilever 210 is inserted into the gap 160 between the guide plates 150 and the transport platform. During the process of the mobile robot 100 handling the item 300, the two guide plates 150 are located on both sides of the item 300, limiting its movement and improving the stability of the mobile robot 100 in handling the item 300.
[0085] In this embodiment of the solution, the liftable limiter 130 can also be set separately at one end in front of the transport platform 120. In application, when the mobile robot 100 needs to obtain the item 300 from the transport docking platform 200, or when the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the travel direction of the mobile robot 100 can be reversed.
[0086] In some other embodiments, the liftable limiting member 130 can also be located in front of and behind the transport platform 120. In this case, when the mobile robot 100 needs to acquire the item 300 from the transport docking platform 200, after the transport platform 120 moves unloaded between the pair of cantilever arms 210, the liftable limiting member 130 on the side closer to the transport docking platform 200 can rise from the rear end of the item 300 carried on the cantilever arm 210. When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the liftable limiting member 130 on the side farther from the transport docking platform 200 can be in the raised position. This allows the liftable limiting member 130 to push the item 300 from the transport platform 120 onto the pair of cantilever arms 210, driven by the mobile chassis 110.
[0087] Figure 12 This is a schematic diagram of the material box structure in an embodiment of this application, as shown below. Figure 12As shown, the handling and docking platform 200 has a container 300 for carrying items, which can be a rectangular container with an opening at the top, allowing for the placement of materials inside. For example, the rectangular container can be 600mm × 400mm or 650mm × 450mm, or other plastic boxes / cardboard boxes of any size.
[0088] Figure 13 This is a schematic diagram of the structure of the material handling and docking platform provided in the embodiments of this application, as shown below. Figure 13 As shown, a transport docking platform 200 is used to dock with the aforementioned mobile robot. The mobile robot has a transport platform 120. The transport docking platform 200 includes: a pair of cantilever arms 210 and a support body 220; wherein, the fixed ends 210a of the pair of cantilever arms 210 are spaced apart on the support body 220, and the gap between the pair of cantilever arms 210 is greater than the width of the transport platform 120, for receiving the transport platform 120.
[0089] The aforementioned handling and docking platform 200 has a second bearing surface 211 for carrying the item 300 at the fixed end 210a of the cantilever 210, and the second bearing surface 211 is higher than the first bearing surface 121; at the suspended end 210b of the cantilever 210, the cantilever 210 has an inclined surface 212 for docking the item 300 with the mobile robot, and the end 212a of the inclined surface is not higher than the first bearing surface 121.
[0090] When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the first bearing surface 121 of the mobile robot 100 carries the item 300 and moves forward with its front facing the docking platform, so that a pair of cantilever arms 210 are located on both sides of the transport platform 120. The end 212a of the inclined surface of the suspended end 210b of the cantilever arm 210 is not higher than the first bearing surface 121, so it can extend into the bottom of the item 300. The lifting item 300 limiting component is in the raised state. As the mobile robot 100 moves forward, since the lifting item 300 limiting component is higher than the second bearing surface 211 and also higher than the first bearing surface 121, it can limit the rear side of the item 300 carried by the transport platform 120, pushing the item 300 from the inclined surface 212 of the suspended end 210b of the cantilever arm 210 to the second bearing surface 211 of the fixed end 210a of the cantilever arm 210. Since the first bearing surface 121 is lower than the second bearing surface 211, when the mobile robot 100 travels to the area below the cantilever 210, it completes the transfer of the items 300 from the mobile robot 100 to the handling docking platform 200.
[0091] When the mobile robot 100 needs to acquire the item 300 from the transport docking platform 200, the lifting item 300 limiting component is in a descending state, and the rear side of the first bearing surface 121 of the mobile robot 100 moves towards the docking platform, so that a pair of cantilever arms 210 are located on both sides of the transport platform 120, and the item 300 carried by the second bearing surface 211 of the pair of cantilever arms 210 is located above the first bearing surface 121. Then, the lifting item 300 limiting component is adjusted to the raised state, so that the lifting item 300 limiting component is higher than the second bearing surface 211 and located behind the item 300. The mobile robot 100 retreats towards the docking platform. Since the lifting item 300 limiting component is higher than the second bearing surface 211, it can limit the rear side of the item 300 carried by the cantilever 210, pushing the item 300 to slide from the second bearing surface 211 of the fixed end 210a of the cantilever 210 to the first bearing surface 121 of the transport platform 120, thereby completing the transfer of the item 300 from the transport docking platform 200 to the mobile robot 100.
[0092] In this embodiment of the solution, the lifting mechanism of the traditional AGV can be eliminated, saving the lifting action of the traditional AGV lifting mechanism in the handling of item 300 and improving the transfer efficiency of item 300.
[0093] The aforementioned transport docking platform 200 also includes non-powered rollers 230, which are disposed on at least one of the second bearing surface 211 and the inclined surface 212. When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the lifting item 300 limiting component pushes the item 300 from the inclined surface 212 of the cantilever 210 suspended end 210b to the second bearing surface 211 of the cantilever 210 fixed end 210a. This reduces the friction between the item 300 and the second bearing surface 211 and the inclined surface 212, making it easier to push the item 300 to the second bearing surface 211 of the transport docking platform 200.
[0094] Please see Figure 5B As shown, a handling system includes the aforementioned mobile robot 100 and the aforementioned handling docking platform 200.
[0095] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.
Claims
1. A mobile robot, characterized in that, For docking with a transport docking platform (200), the transport docking platform (200) having a pair of cantilever arms (210) for carrying items (300), the mobile robot (100) includes: Mobile chassis (110); A transport platform (120) is disposed on top of the mobile chassis (110), the width of the transport platform (120) being smaller than the gap between the pair of cantilever arms (210); so that it can move between the pair of cantilever arms (210) under the drive of the mobile chassis (110); A liftable limiting member (130) has a first state not higher than the transport platform (120) and a second state higher than the transport platform (120), and is at least disposed at one end of the transport platform (120) in the front-rear direction (A); it is used to switch from the first state to the second state after the transport platform (120) moves unloaded between the pair of cantilever arms (210), so as to pull the item (300) from the pair of cantilever arms (210) onto the transport platform (120) driven by the mobile chassis (110); or, before the transport platform (120) carrying the item (300) moves between the pair of cantilever arms (210), it is in the second state, so as to push the item (300) from the transport platform (120) onto the pair of cantilever arms (210) driven by the mobile chassis (110).
2. The mobile robot according to claim 1, characterized in that, The transport platform (120) has a first bearing surface (121) for carrying an item (300), a second bearing surface (211) for carrying an item (300) at the fixed end (210a) of the cantilever (210), and an inclined surface (212) for docking with the mobile robot at the suspended end (210b) of the cantilever (210); the first bearing surface (121) is lower than the second bearing surface (211), and the first bearing surface (121) is not lower than the end (212a) of the inclined surface; When the transport platform (120) carrying the item (300) moves between the pair of cantilever arms (210), the liftable limiter (130) is in the second state. Driven by the mobile chassis (110), the item (300) is guided from the first bearing surface (121) of the transport platform (120) through the inclined surface (212) of the cantilever arm (210) to the second bearing surface (211) of the cantilever arm (210).
3. The mobile robot according to claim 2, characterized in that, Also includes: An item (300) sensing component (140) is disposed on the transport platform (120) for sensing whether an item (300) exists on the first bearing surface (121); The lifting item (300) limiting component is electrically connected to the item (300) sensing component (140) and is used to switch to the second state when there is an item (300) on the first bearing surface (121) and to switch to the first state when there is no item (300) on the first bearing surface (121).
4. The mobile robot according to claim 3, characterized in that, The sensing component (140) of the article (300) includes a TOF sensor or a photoelectric sensor.
5. The mobile robot according to claim 2, characterized in that, The transport platform (120) has internal storage space; The liftable limiting component (130) includes a driving component and a rotating fork (131); The rotating fork (131) is located at one end of the transport platform (120) in the front-rear direction (A); At least a portion of the driving component is disposed in the receiving space and connected to the rotating fork (131) for driving the rotating fork (131) to rotate; When the driving component drives the rotating fork (131) to rotate to a horizontal position, the liftable limiting member (130) is in a first state, and the top of the rotating fork (131) is not higher than the first bearing surface (121). When the driving component drives the rotating fork (131) to rotate to a vertical position, the liftable limiting member (130) is in a second state, and the top of the rotating fork (131) is higher than the first bearing surface (121).
6. The mobile robot according to claim 5, characterized in that, There are two rotating forks (131), which are spaced apart and the interval between the two rotating forks (131) is smaller than the interval between the pair of cantilever arms (210).
7. The mobile robot according to any one of claims 1 to 6, characterized in that, Also includes: Two guide plates (150) are located on both sides of the transport platform (120) to limit the movement of the items (300) carried by the transport platform (120); The guide plate (150) and the transport platform (120) are spaced apart, and the gap (160) between the guide plate (150) and the transport platform (120) is used to accommodate the cantilever (210).
8. A material handling and docking platform, characterized in that, For docking with a mobile robot according to any one of claims 1 to 7, the mobile robot having a transport platform (120), the transport docking platform (200) comprising: A pair of cantilever arms (210); Support (220); wherein, The fixed ends (210a) of a pair of cantilever arms (210) are spaced apart on the support body (220), and the gap between the pair of cantilever arms (210) is greater than the width of the transport platform (120) for receiving the transport platform (120).
9. The handling and docking platform according to claim 8, characterized in that, The transport platform (120) has a first bearing surface (121) for bearing articles (300); At the fixed end (210a) of the cantilever (210), there is a second bearing surface (211) for bearing an article (300), and the second bearing surface (211) is higher than the first bearing surface (121); At the suspended end (210b) of the cantilever (210), the cantilever (210) has an inclined surface (212) for docking with the mobile robot and the object (300), and the end (212a) of the inclined surface is not higher than the first bearing surface (121).
10. The handling and docking platform according to claim 9, characterized in that, Also includes: A non-powered roller (230) is disposed on the second bearing surface (211) and / or the inclined surface (212).
11. A handling system, characterized in that, include: The mobile robot (100) according to any one of claims 1 to 7; and, The transport docking platform (200) according to any one of claims 8 to 10 above.