Docking device and transfer robot

Abstract

The butt joint device comprises a storage assembly, the storage assembly is used for being arranged on the carrying side of a chassis of the transfer robot, the storage assembly comprises two clamping guide plates which are oppositely arranged in a spaced mode, and a storage space with a material opening is defined by the two clamping guide plates; the two clamping guide plates can move relatively to change the width of the material opening, the storage assembly further comprises a first detection assembly, the first detection assembly is arranged on the movable one of the two clamping guide plates and located at the material opening, and the first detection assembly is arranged on the movable one of the two clamping guide plates. The first detection assembly can emit first detection light in the height direction of the clamping guide plate, and the first detection light penetrates through the material storage space and is used for generating a material existence signal under the condition that it is detected that materials exist at the material opening. According to the utility model, the accuracy of material detection can be improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a docking device and a handling robot. Background Technology

[0002] In the logistics and transportation industry, the use of robotic automated handling is widely adopted.

[0003] To ensure the automated handling efficiency of the handling robot and meet the handling needs of materials of different sizes, related technologies often use a docking device with an adjustable width to connect the robot to the external platform. While an adjustable-width docking device can accommodate materials of more sizes, it can also lead to inaccurate detection of whether materials have entered the docking device during the docking process, which in turn can affect the safety of the handling robot during operation. Utility Model Content

[0004] This invention aims to address one of the technical problems in related technologies to a certain extent. To this end, this invention provides a docking device and a handling robot, which can improve the accuracy of material detection at the material inlet and adapt to more application scenarios.

[0005] To achieve the above objectives, a first aspect of this utility model discloses a docking device, including a storage component. The storage component is disposed on the loading side of the chassis of a handling robot. The storage component includes two clamping guide plates arranged relatively apart, defining a storage space with a material opening. The two clamping guide plates are capable of relative movement to change the width of the material opening. The storage component further includes a first detection component, which is disposed on one of the two movable clamping guide plates. The first detection component is located at the material opening and is capable of emitting a first detection light along the height direction of the clamping guide plates. The first detection light passes through the storage space and is used to generate a material presence signal when material is detected at the material opening.

[0006] In this technical solution, by setting a movable clamping guide plate that can be used to adjust the size of the storage space, it can adapt to the handling needs of materials of different sizes and improve the stability of handling materials of different sizes. In addition, this application sets the first detection component on the movable clamping guide plate. In this way, during the adjustment of the storage space, the first detection component can move with the clamping guide plate, which can better detect the material at the material opening of the storage space of different sizes, improve the accuracy of detection and the safety of material docking.

[0007] Furthermore, the first detection component includes a detection bracket and a first detection module. The first end of the detection bracket is detachably connected to the clamping guide plate, and the second end of the detection bracket is located on the bottom side of the material inlet. The first detection module is installed at the second end of the detection bracket, and the emitting end of the first detection module is set upward along the height direction of the clamping guide plate and is used to emit the first detection light.

[0008] Furthermore, the detection bracket includes a horizontal connector, a vertical support, and a mounting plate. The horizontal connector is detachably connected to the surface of the clamping guide plate opposite to the storage space. The vertical support extends along the height direction of the clamping guide plate. The first end of the vertical support is fixedly connected to the horizontal connector, and the second end of the vertical support extends to the bottom side of the clamping guide plate. The mounting plate is disposed at the second end of the vertical support and is disposed along the height direction of the clamping guide plate. The first detection module is mounted on the surface of the mounting plate facing the storage space.

[0009] Furthermore, the horizontal connector and the vertical support are provided with interconnected wiring grooves. One end of the wiring groove passes through the horizontal connector, and the other end of the wiring groove is opposite to the first detection module. The connecting wire harness of the first detection module is disposed in the wiring groove.

[0010] Furthermore, the transverse connector includes a connecting housing and a plurality of connecting ears. The connecting housing has the wiring groove formed thereon. The plurality of connecting ears are respectively disposed on opposite sides of the connecting housing. The plurality of connecting ears are respectively attached to the surface of the clamping guide plate and connected to screws.

[0011] Furthermore, the clamping guide plate includes a front guide portion, a middle clamping stop portion, and a rear baffle portion. The front guide portion is disposed in front of the middle clamping stop portion, and the rear baffle portion is disposed in rear of the middle clamping stop portion. The material opening is formed between the two opposing front guide portions. A guide bevel is formed on the surface of the front guide portion facing the storage space. The guide bevels on the two clamping guide plates are opposite to each other, and the distance between the front ends of the two opposing guide bevels is greater than the distance between the rear ends, so as to guide the material in and out of the storage space. One end of the rear baffle portion extends into the storage space and is opposite to the material opening. The front guide portion is close to the bottom surface of the storage space, and the first detection component is disposed in the front guide portion.

[0012] Furthermore, the docking device includes at least one set of second detection components, the second detection components including a first detection part and a second detection part, the first detection part being disposed on one of the clamping guide plates, the second detection part being disposed opposite to the first detection part along the interval direction of the two clamping guide plates (24), a second detection light beam passing through the storage space is formed between the first detection part and the second detection part, and the second detection component emits a detection signal when the detection light beam is blocked.

[0013] Furthermore, the first detection unit includes a transmitter and a receiver, and the second detection unit includes a reflector. The transmitter is used to emit detection light rays to the reflector, and the receiver is used to receive the detection light rays reflected by the reflector.

[0014] Furthermore, the second detection unit also includes a light-blocking plate, which is disposed on the clamping guide plate and covers part of the reflective surface of the reflector, so that the top of the reflective surface of the exposed part of the reflector forms a predetermined interval with the bottom surface of the storage space.

[0015] Furthermore, the docking device also includes a support assembly and a conveying assembly and an adjusting assembly disposed on top of the support assembly. The support assembly is used to connect the chassis of the handling robot. In the case where the docking device includes two clamping guide plates, the two clamping guide plates are disposed on both sides of the conveying assembly. The conveying surface of the conveying assembly forms the bottom surface of the storage space. The conveying direction of the conveying assembly matches the direction of material entry and exit from the material inlet. The adjusting assembly is disposed on the bottom side of the conveying assembly and is used to drive the relative movement of the two clamping guide plates.

[0016] Furthermore, the conveying assembly includes a roller conveying unit, which includes a plurality of rollers arranged at intervals. The pitch adjustment assembly includes at least one drive unit and a plurality of pitch adjustment guides. The length directions of the plurality of pitch adjustment guides are consistent, and the plurality of pitch adjustment guides are arranged at intervals along a first set direction, which intersects with the length direction of the pitch adjustment guides.

[0017] Multiple adjustable guide rails are fixed on the support assembly and respectively arranged within the intervals of the rollers. The bottom end of the clamping guide plate is slidably arranged on each of the adjustable guide rails. The driving unit is used to drive at least one of the two clamping guide plates to slide along the length direction of the adjustable guide rail.

[0018] Furthermore, the docking device also includes a material discharge blocking bracket, which includes two fixed plates and multiple baffle plates. The two fixed plates are respectively fixed on both sides of the conveying assembly, and the multiple baffle plates are arranged between the two fixed plates and spaced apart. The multiple baffle plates are respectively arranged in the interval between the multiple rollers, and the top side of the roller protrudes from the baffle plate. The baffle plate is used to block the interval between the rollers at the corresponding position.

[0019] Furthermore, the docking device also includes a flexible baffle assembly, which includes a flexible baffle bracket and a flexible baffle portion. The flexible baffle bracket is disposed on one side of the adjustable guide rail. One end of the flexible baffle portion is connected to the flexible baffle bracket, and the other end of the flexible baffle portion extends into the gap between the rollers corresponding to the position of the adjustable guide rail, and is used to flexibly block the gap between the rollers at the adjustable guide rail, so as to accommodate the movement of the baffle plate along the adjustable guide rail within the roller gap.

[0020] Furthermore, the support assembly includes a support plate and a docking bracket. The conveying assembly and the adjusting assembly are disposed on the top surface of the support plate. The docking bracket includes a first docking portion and a second docking portion, which are fixedly connected. The first docking portion is disposed on the bottom side of the support plate and fixedly connected to the support plate. The second docking portion is located on the back side of the clamping guide plate and is used to dock with the handling robot. When the docking device is assembled with the chassis, the first docking portion can adjust the tilt angle of the docking device in a first direction, and the second docking portion can adjust the tilt angle of the docking device in a second direction. The first direction and the second direction intersect.

[0021] Furthermore, the first docking part includes a first docking plate and a first adjusting unit. The first docking plate is fixedly connected to the bottom surface of the support plate, and the first adjusting unit is fixedly connected to the first docking plate and is used to adjust the tilt angle of the docking device in a first direction, which is the sliding direction of the baffle plate.

[0022] Furthermore, the second docking part includes a second docking plate and a second adjustment unit. The second adjustment unit is connected to the second docking unit and is used to adjust the tilt angle of the docking device in a second direction in cooperation with the chassis of the transport robot. The second direction intersects with the first direction.

[0023] Furthermore, the docking device also includes a third detection component, which is fixed to one side of the material inlet along the direction of material entering and exiting the storage space. The detection end of the third detection component faces away from the storage space and is used to detect the docking status of the docking device and the external platform and whether there is material on the external platform.

[0024] The second aspect of this utility model discloses a handling robot, which includes a chassis and a docking device. The docking device is the same as the docking device in the first aspect. The docking device is disposed on the loading side of the chassis. When the first detection component sends the material signal, the chassis cannot be moved.

[0025] Furthermore, the handling robot also includes a vertical lifting assembly, which is mounted on the chassis and located on the loading side of the chassis. The docking device is mounted on the vertical lifting assembly, which can drive the docking device to move up and down in the vertical direction.

[0026] The reasoning process for the beneficial effects of the handling robot provided by this utility model and the aforementioned docking device is similar, and will not be repeated here.

[0027] These features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of this utility model will be shown in detail in conjunction with the accompanying drawings, but this is not intended to limit the technical solution of this utility model. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings:

[0029] Figure 1 This is an overall structural diagram of the docking device according to one embodiment of the present utility model;

[0030] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0031] Figure 3 for Figure 1 Enlarged view at point B in the middle;

[0032] Figure 4 This is a structural diagram of the first detection component according to one embodiment of the present invention;

[0033] Figure 5 This is a structural diagram of the clamping guide plate and the first detection component according to one embodiment of the present invention;

[0034] Figure 6 This is a structural diagram of the docking device according to one embodiment of the present invention (excluding the conveying component and the clamping guide plate);

[0035] Figure 7 This is a structural diagram of a flexible material-blocking assembly according to one embodiment of the present invention;

[0036] Figure 8 This is a structural diagram of the conveying assembly and the material drop blocking bracket according to one embodiment of the present invention;

[0037] Figure 9 This is a structural diagram of a material dropping blocking bracket according to one embodiment of the present utility model;

[0038] Figure 10 This is a structural diagram of a docking bracket according to one embodiment of the present utility model;

[0039] Figure 11 This is a structural diagram of a docking bracket according to one embodiment of the present utility model;

[0040] Figure 12 This is an overall structural diagram of the handling robot according to one embodiment of the present utility model.

[0041] in,

[0042] 10. Chassis;

[0043] 20. Docking device; 21. Support assembly; 211. Support plate; 212. Docking bracket; 2121. First docking plate; 2122. Adjusting shim; 2123. Second docking plate; 2124. Fixing block; 2125. Adjusting screw;

[0044] 22. Conveying assembly; 221. Roller; 222. Conveying support; 23. Adjusting assembly; 231. Adjusting guide rail; 232. Drive unit; 233. Adjusting screw; 234. Sliding bracket; 235. Reinforcing connector;

[0045] 24. Clamping guide plate; 241. Front guide section; 2411. Guide bevel; 242. Middle clamping section; 243. Rear stop section;

[0046] 25. First detection component; 251. Detection bracket; 2511. Horizontal connector; 25111. Connecting housing; 25112. Connecting ear; 2512. Vertical support; 2513. Mounting plate; 2514. Wiring trough; 252. First detection module;

[0047] 261. First inspection department; 262. Second inspection department; 2621. Reflector; 2622. Light-blocking plate;

[0048] 27. Third detection component; 271. Positioning element; 272. Photoelectric detection component;

[0049] 28. Material discharge blocking bracket; 281. Fixing plate; 282. Material baffle plate;

[0050] 29. Flexible stop assembly; 291. Flexible stop bracket; 292. Flexible stop section;

[0051] 30. Vertical lifting assembly; 31. Gantry; 32. Lifting guide rail. Detailed Implementation

[0052] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this utility model and should not be construed as limiting it.

[0053] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this utility model. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0054] One embodiment of this utility model discloses a docking device, see attached drawing. Figure 1-11 The system includes a storage component, which is disposed on the loading side of the chassis 10 of the handling robot. The storage component includes two relatively spaced clamping guide plates 24, which define a storage space with a material opening. The two clamping guide plates 24 are capable of relative movement to change the width of the material opening. The storage component also includes a first detection component 25, which is disposed on one of the two movable clamping guide plates 24. The first detection component 25 is located at the material opening and is capable of emitting a first detection light along the height direction of the clamping guide plate 24. The first detection light passes through the storage space and is used to generate a material presence signal when material is detected at the material opening.

[0055] In this embodiment, the docking device 20 is generally installed on the chassis 10 of the handling robot. The movable chassis 10 drives the docking device 20 to move, and the material port of the docking device 20 is opposite to the material port of the external platform where the material needs to be handled or placed. The material on the external platform can enter the storage space from the material port of the docking device 20, or the material in the storage space can be taken out from the material port of the docking device 20 and placed on the external platform.

[0056] The docking device 20 in this embodiment includes two opposing clamping guide plates 24, wherein the clamping guide plates 24 are disposed on one side of the storage space. In use, the two clamping guide plates 24 act as a blocking and limiting device for the material placed in the storage space. In actual design, at least one of the two clamping guide plates 24 is a movable structure. For example, one of the two clamping guide plates is a fixed part and the other is a movable part. Of course, both clamping guide plates 24 can also be made as movable parts, as long as they can generate relative movement.

[0057] In this embodiment, the clamping guide plate 24 is movable. In actual use, when the size of the material is large, the clamping guide plate 24 can be moved in the direction that increases the storage space; when the size of the material is small, the clamping guide plate 24 can be moved in the direction that decreases the storage space. In this way, the size of the storage space can be adjusted according to the size of the material, so that materials of different sizes can be supported more stably in the storage space, thereby improving the smoothness and safety of the conveying.

[0058] The docking device 20 in this embodiment also includes a first detection component 25. The first detection component 25 is used to detect whether the material is stuck at the material inlet. This can improve the safety of the docking device 20. In actual use, if the material triggers the first detection component 25, it indicates that the material is at the material inlet. At this time, the docking device 20 may be in the process of loading or unloading (of course, the material may not be placed in place or may have slipped to the material inlet during transportation). At this time, the detection signal emitted by the first detection component 25 will control the docking device 20 to not move, ensuring the safety of use.

[0059] In this embodiment, the first detection component 25 is configured to move with the clamping guide plate 24. In actual use, regardless of how the size of the storage space is adjusted, the first detection component 25 can move adaptively with the clamping guide plate 24. Compared with the fixed structure of the first detection component 25 in related technologies (such as being set on the base plate), the first detection component 25 in this embodiment can better adapt to the usage requirements of the storage space with adjustable size, and can more accurately detect whether there is material at the material inlet, avoiding the possibility of missed detection due to the material size being too small.

[0060] In this embodiment, the specific structure and detection principle of the first detection component 25 are not specifically limited. As long as it is set on the movable clamping guide plate 24 and can detect whether there is material at the material opening of the storage space, it can be regarded as the same concept as this utility model. In actual setting, the first detection component 25 can be set as a photoelectric sensor and can be detected by the principle of diffuse reflection (when the material blocks the detection light, the light will be reflected, which can then be triggered and emit a material signal).

[0061] As one embodiment of this utility model, see the appendix. Figure 1 , 2 4. The first detection component 25 includes a detection bracket 251 and a first detection module 252. The first end of the detection bracket 251 is detachably connected to the clamping guide plate 24. The second end of the detection bracket 251 is located on the bottom side of the material inlet. The first detection module 252 is installed at the second end of the detection bracket 251. The emitting end of the first detection module 252 is set upward along the height direction of the clamping guide plate 24 and is used to emit the first detection light.

[0062] In this embodiment, the first detection component 25 includes a detection bracket 251 and a first detection module 252. The detection bracket 251 and the clamping guide plate 24 are detachably connected, and the first detection module 252 and the detection bracket 251 are detachably connected. In actual production, the first detection module 252 can be pre-assembled with the detection bracket 251 and then installed together on the clamping guide plate 24.

[0063] In this embodiment, the first detection module 252 is located on the bottom side of the material inlet. The detection light of the first detection module 252 is emitted upwards. When the material passes through the material inlet, it will pass over the top of the first detection module 252 and block the detection light of the first detection module 252. As a result, the first detection module 252 will emit a detection signal. The design of the first detection module 252 located on the bottom side of the material inlet, together with the design of the adjustable storage space of the clamping guide plate 24, ensures that the width of the material inlet is generally matched with the size of the material to be transported, thus ensuring the accuracy of detection. Compared with the structure of the detection module located on the side of the material inlet, it can avoid missed detection (when the height of the material is small, the detection module located on the side is prone to missed detection).

[0064] In this embodiment, there is no specific limitation on how the detection bracket 251 is connected to the clamping guide plate 24. In actual setup, the detection bracket 251 can be connected to the clamping guide plate 24 by screws, plugs, or snaps, as long as the two can be detachably connected.

[0065] This embodiment does not specifically limit the structure of the detection bracket 251, as long as the detection bracket 251 can be fixedly connected to the clamping guide plate 24 and one end of the detection bracket 251 can extend to the bottom side of the material port.

[0066] In this embodiment, the design of the wiring groove 2514 on the detection bracket 251 can constrain and hide the connection harness of the first detection module 252, improve the safety and reliability of the electrical connection, and avoid phenomena such as pulling and breaking of the harness that may occur during the movement of the first detection component 25.

[0067] As one embodiment of this utility model, see the appendix. Figure 4 , 5 The detection bracket 251 includes a horizontal connector 2511, a vertical support 2512, and a mounting plate 2513. The horizontal connector 2511 is detachably connected to the surface of the clamping guide plate 24 facing away from the storage space. The vertical support 2512 extends along the height direction of the clamping guide plate 24. The first end of the vertical support 2512 is fixedly connected to the horizontal connector 2511, and the second end of the vertical support 2512 extends to the bottom side of the clamping guide plate 24. The mounting plate 2513 is disposed at the second end of the vertical support 2512 and is disposed along the height direction of the clamping guide plate 24. The first detection module 252 is mounted on the surface of the mounting plate 2513 facing the storage space.

[0068] The detection bracket 251 in this embodiment includes a horizontal connector 2511, a vertical support 2512, and a mounting plate 2513. The horizontal connector 2511 and the vertical support 2512 are generally L-shaped, as shown in the attached figure. Figure 4 As shown, this facilitates the connection between the detection bracket 251 and the clamping guide plate 24, and also facilitates the extension of the detection bracket 251 to the bottom of the material inlet.

[0069] In this embodiment, the mounting plate 2513 serves as the mounting base for the first detection module 252. In actual setup, as shown in the attached figure, the mounting surface of the mounting plate 2513 faces the storage space. Thus, the first detection module 252 is mounted on the mounting surface of the mounting plate 2513. During use, the user can only see the back of the mounting plate 2513 from the outside and cannot see the first detection module 252 and the wiring trough 2514, which improves the overall appearance of the product. In addition, it can also protect the first detection module 252 (electronic component) during use and extend its service life.

[0070] In one embodiment of this utility model, the transverse connector 2511 and the vertical support 2512 are provided with interconnected wiring grooves 2514. One end of the wiring groove 2514 passes through the transverse connector 2511, and the other end of the wiring groove 2514 is opposite to the first detection module 252. The connecting wire harness of the first detection module 252 is disposed in the wiring groove 2514.

[0071] To improve the stability of the installation of the detection bracket 251 and the clamping guide plate 24, please refer to the appendix. Figure 4 , 5 The transverse connector 2511 includes a connecting housing 25111 and a plurality of connecting ears 25112. The connecting housing 25111 has a wiring groove 2514 formed thereon. The plurality of connecting ears 25112 are respectively disposed on opposite sides of the connecting housing 25111. The plurality of connecting ears 25112 are respectively attached to the surface of the clamping guide plate 24 and connected to screws.

[0072] In this embodiment, the transverse connector 2511 includes multiple connecting ears 25112. During installation, the connecting ears 25112 are in contact with the surface of the clamping guide plate 24, which can improve the stability of the installation. In addition, the multiple connecting ears 25112 can achieve a multi-point connection effect, further improving the reliability of the connection.

[0073] As one embodiment of this utility model, see the appendix. Figure 5 The clamping guide plate 24 includes a front guide portion 241, a middle clamping stop portion 242, and a rear baffle portion 243. The front guide portion 241 is disposed on the front side of the middle clamping stop portion 242, and the rear baffle portion 243 is disposed on the rear side of the middle clamping stop portion 242. The material opening is formed between the two opposing front guide portions 241. The surface of the front guide portion 241 facing the storage space has a guide bevel 2411. The guide bevels 2411 on the two clamping guide plates 24 are opposite each other, and the distance between the front ends of the two opposing guide bevels 2411 is greater than the distance between the rear ends, so as to guide the material in and out of the storage space. One end of the rear baffle portion 243 extends into the storage space and is opposite to the material opening. The front guide portion 241 is close to the bottom surface of the storage space. The first detection component 25 is disposed on the front guide portion 241.

[0074] In this embodiment, the front guide part 241 is designed with a guide bevel 2411 at its front end. The guide bevel 2411 is arranged opposite to each other and forms a structure similar to a "trumpet mouth". This facilitates the entry and exit of materials into the storage space. One end of the rear baffle 282 extends into the storage space and can block and limit the end of the material entering the storage space. Together with the middle clamp baffle to limit the side of the material, the stability of the material in the storage space is improved.

[0075] As one embodiment of this utility model, see the appendix. Figure 1 , 3The docking device 20 includes at least one set of second detection components. The second detection components include a first detection part 261 and a second detection part 262. The first detection part 261 is disposed on one of the clamping guide plates 24. The second detection part 262 and the first detection part 261 are disposed opposite to each other along the interval direction of the two clamping guide plates 24. A second detection light beam passing through the storage space is formed between the first detection part 261 and the second detection part 262. When the second detection light beam is blocked, the second detection component emits a detection signal.

[0076] The second detection component in this embodiment is used to detect the position of the material in the storage space. Multiple sets of the second detection component can be spaced apart along the material conveying direction within the storage space, thus accurately determining the position of the material. The second detection component in this embodiment includes a first detection unit 261 and a second detection unit 262. A second detection light beam is formed between the first detection unit 261 and the second detection unit 262, passing through the storage space. When the second detection light beam is blocked, the second detection component emits a detection signal. It should be noted that this embodiment only provides the detection principle of the second detection component. In specific designs, the second detection component can be configured as a through-beam detection photoelectric sensor or a retrograde detection photoelectric sensor, etc., according to actual needs.

[0077] In one embodiment of the present invention, the first detection unit 261 includes a transmitting end and a receiving end, and the second detection unit 262 includes a reflector 2621. The transmitting end is used to emit a second detection light to the reflector 2621, and the receiving end is used to receive the second detection light reflected by the reflector 2621.

[0078] In this embodiment, the second detection component is a regression detection photoelectric device, so the first detection unit 261 (transmitter and receiver) is installed on the same side, eliminating the need for alignment at both ends, saving installation time and space, and is especially suitable for the detection needs of the docking device 20 in a small space.

[0079] To improve the accuracy of detection, the second detection unit 262 includes a reflector 2621. When there is no material in the storage space, the second detection light emitted by the transmitter will be emitted by the reflector 2621 and received by the receiver. However, when there is material in the storage space, the second detection light emitted by the transmitter cannot illuminate the reflector 2621, and therefore cannot be emitted and received by the receiver. Thus, the position of the material in the storage space can be determined.

[0080] To improve the accuracy of detecting thin materials, the second detection unit 262 in one embodiment of the present invention further includes a light-blocking plate 2622. The light-blocking plate 2622 is disposed on the clamping guide plate 24 and covers part of the reflective surface of the reflective sheet 2621, so that the top of the reflective surface of the exposed part of the reflective sheet 2621 forms a set interval with the bottom surface of the storage space.

[0081] This embodiment defines the effective reflective surface area of ​​the reflector 2621, wherein the top of the reflective surface of the exposed portion of the reflector 2621 forms a set interval with the bottom surface of the storage space. During use, if the material is thin and cannot completely block the reflector 2621, the second detection light may be reflected by the part higher than the material, thus causing detection error. The set interval in this embodiment is generally less than the minimum thickness of the material to be transported by the docking device 20.

[0082] It should be noted that, in this embodiment, the first detection unit 261 and the second detection unit 262 can be respectively installed on two opposing clamping guide plates 24, or one of the first detection unit 261 and the second detection unit 262 can be installed on one of the clamping guide plates 24, while the other of the first detection unit 261 and the second detection unit 262 can be installed on other components (not on the clamping guide plate 24), such as on the conveying support seats 222 on both sides of the conveying assembly 22 (as shown in the attached figure). Figure 1 As shown, it is sufficient to ensure that a detection light beam passing through the storage space can be formed between the first detection unit 261 and the second detection unit 262.

[0083] As one embodiment of this utility model, see the appendix. Figure 1 , 6 8. The docking device 20 further includes a support component 21 and a conveying component 22 and an adjusting component 23 disposed on the top of the support component 21. The support component 21 is used to connect the chassis 10 of the handling robot. The two clamping guide plates 24 are disposed on both sides of the conveying component 22. The conveying surface of the conveying component 22 forms the bottom surface of the storage space. The conveying direction of the conveying component 22 matches the direction of material entry and exit from the material port. The adjusting component 23 is disposed on the bottom side of the conveying component 22 and is used to drive the movement of the clamping guide plates 24.

[0084] In this embodiment, the conveying surface of the conveying component 22 serves as the bottom surface of the storage space. When in use, after the material port of the docking device 20 docks with the external platform, the material is more easily moved into or out of the storage space by the conveying motion of the conveying component 22 itself.

[0085] The adjustable distance component 23 in this embodiment can realize the automatic adjustment of the position of the two clamping guide plates 24.

[0086] In this embodiment, the conveying component 22 can be configured as a conveyor belt structure, a roller 221 conveying mechanism, or a chain plate conveying mechanism, as long as it can convey materials.

[0087] As one embodiment of this utility model, see the appendix. Figure 6 , 8 The conveying assembly 22 includes a roller 221 conveying unit, which includes a plurality of rollers 221 arranged at intervals. The pitch adjustment assembly 23 includes at least one drive unit 232 and a plurality of pitch adjustment guide rails 231. The length directions of the plurality of pitch adjustment guide rails 231 are consistent, and the plurality of pitch adjustment guide rails 231 are arranged at intervals along a first set direction, which intersects with the length direction of the pitch adjustment guide rails 231.

[0088] Multiple adjustable guide rails 231 are fixed on the support assembly 21 and respectively arranged in the interval of the rollers 221. The bottom end of the clamping guide plate 24 is slidably arranged on each of the adjustable guide rails 231. The driving unit 232 is used to drive at least one of the two clamping guide plates 24 to slide along the length direction of the adjustable guide rail 231.

[0089] In this embodiment, the conveying assembly 22 is configured as a roller conveying unit, and the adjusting guide rail 231 of the adjusting assembly 23 is arranged within the interval between the rollers 221. This makes reasonable use of the interval between adjacent rollers 221, which can improve the compactness of the overall structure of the docking device 20 and reduce the overall volume of the docking device 20. In actual installation, to facilitate the installation of the roller conveying unit, the conveying assembly 22 may also include two oppositely arranged conveying support seats 222. The two conveying support seats 222 are spaced apart on the support plate 211, and the roller conveying unit is arranged between the two conveying support seats 222.

[0090] In this embodiment, the drive unit 232 is generally configured as a drive motor. However, in order to more easily control the accuracy of the movement of the clamping guide plate 24, the drive unit 232 can be configured as a servo motor.

[0091] In this embodiment, the adjusting component 23 can make the two oppositely arranged clamping guide plates 24 move synchronously towards or away from each other, which can ensure that the center of the storage space remains unchanged. In this way, when the docking device 20 reaches the docking position with the external platform, the docking effect will not be affected when the adjusting component 23 adjusts the movement of the clamping guide plates 24.

[0092] One embodiment of the pitch adjustment component 23 in this embodiment includes a pitch adjustment screw 233. The two ends of the pitch adjustment screw 233 have threaded structures with opposite directions of rotation. The two ends of the pitch adjustment screw 233 are threadedly connected to two opposing clamping guide plates 24, respectively. The drive unit 232 is disposed at one end of the pitch adjustment screw 233 and can drive the pitch adjustment screw 233 to rotate. The rotation of the pitch adjustment screw 233 can drive the two opposing clamping guide plates 24 to move synchronously along the pitch adjustment guide rail 231 through the threaded structures with opposite directions of rotation, thereby realizing the adjustment of the size of the storage space.

[0093] In practical design, to ensure the stability and synchronization of the movement of the two clamping guide plates 24, the adjusting assembly 23 also includes a sliding bracket 234 and a reinforcing connector 235. The sliding bracket 234 is slidably connected to the multiple adjusting guide rails 231 by multiple sliders. The reinforcing connector 235 has an overall L-shaped structure, as shown in the attached figure. Figure 6 As shown, the reinforcing connector 235 is fixedly connected to the sliding bracket 234 on one hand, and on the other hand, the reinforcing connector 235 is set on the back of the clamping guide plate 24 (the surface away from the storage space), which can improve the strength of the clamping guide and the stability of the movement.

[0094] As one embodiment of this utility model, see the appendix. Figure 8 , 9 The docking device 20 further includes a material discharge blocking bracket 28, which includes two fixing plates 281 and multiple baffle plates 282. The two fixing plates 281 are respectively fixed on both sides of the conveying assembly 22. The multiple baffle plates 282 are arranged between the two fixing plates 281 and spaced apart. The multiple baffle plates 282 are respectively arranged in the intervals between the multiple rollers 221. The top side of the roller 221 protrudes from the baffle plate 282. The baffle plate 282 is used to block the intervals between the rollers 221 at corresponding positions.

[0095] When the conveying assembly 22 is configured as a roller 221 mechanism, since there is a gap between adjacent rollers 221, when the material is conveyed on the roller 221, impurities on the material will fall into the lower part of the roller 221 assembly after falling off, which is inconvenient to clean.

[0096] In this embodiment, a material drop blocking bracket 28 is provided. The two ends of the material drop blocking bracket 28 are fixed to both sides of the conveying assembly 22. Multiple baffles 282 are respectively arranged in the intervals between multiple rollers 221. In this way, the baffles 282 can block the intervals between the rollers 221, and the baffles 282 will not affect the normal conveying action of the rollers 221. This can reduce the possibility of material falling under the rollers 221, facilitate the cleaning of impurities, and improve the service life of the docking device 20.

[0097] As mentioned above, the adjustable guide rail 231 in this utility model is set in the interval between adjacent rollers 221. Therefore, a moving space needs to be reserved between the rollers 221 at the setting position of the adjustable guide rail 231. That is, the rigid baffle plate 282 mentioned above cannot be set in the interval between the rollers 221 corresponding to the adjustable guide rail 231. In other words, there is still a possibility of material falling at the interval between the rollers 221 corresponding to the adjustable guide rail 231.

[0098] To avoid this problem, see Appendix Figure 6 , 7 In one embodiment of the present invention, the docking device 20 further includes a flexible baffle assembly 29. The flexible baffle assembly 29 includes a flexible baffle bracket 291 and a flexible baffle portion 292. The flexible baffle bracket 291 is disposed on one side of the adjustable guide rail 231. One end of the flexible baffle portion 292 is connected to the flexible baffle bracket 291, and the other end of the flexible baffle portion 292 extends into the gap of the rollers 221 corresponding to the position of the adjustable guide rail 231, and is used to flexibly block the gap between the rollers 221 at the adjustable guide rail 231 to accommodate the movement of the baffle plate 282 along the adjustable guide rail 231 within the gap of the rollers 221.

[0099] In this embodiment, a flexible baffle assembly 29 is provided to block the gap between the rollers 221 corresponding to the adjustable guide rail 231. In use, the flexible baffle bracket 291 extends along the length direction of the adjustable guide rail 231. The length of the flexible baffle bracket 291 is generally less than the length of the adjustable guide rail 231. The flexible part of the flexible baffle 292 extends into the gap between the rollers 221 corresponding to the position of the adjustable guide rail 231 and is used to flexibly block the gap between the rollers 221 at the adjustable guide rail 231. In this way, the flexible baffle 292 can block the gap on the one hand, and allow the clamping guide plate 24 to move along the adjustable guide rail 231 on the other hand, which can effectively block the gap between the rollers 221.

[0100] In actual setup, the flexible baffle assembly 29 can be configured as a baffle brush assembly. The baffle brush assembly includes a brush bracket (corresponding to the flexible baffle bracket 291) and a brush body (corresponding to the flexible baffle part 292). The brush bracket is fixed on the support assembly 21 and located on one side of the adjustable guide rail 231. One end of the brush body is fixedly connected to the brush bracket, and the other end of the brush body extends into the gap of the roller 221 corresponding to the position of the adjustable guide rail 231, and is used to block the gap between the rollers 221 at the adjustable guide rail 231, so as to accommodate the movement of the baffle plate 282 along the adjustable guide rail 231 within the gap of the rollers 221.

[0101] In this embodiment, a bristle assembly with a flexible structure is provided. In use, the flexible brush body is placed in the gap of the roller 221 at the position corresponding to the adjustable guide rail 231. In this way, the flexible brush body can prevent impurities from falling into the roller 221 assembly. On the other hand, when the clamping guide plate 24 slides along the adjustable guide rail 231, the sliding structure of the clamping guide plate 24 and the adjustable guide rail 231 can push the brush body placed in the gap to deform. That is, the flexible brush body will not block the movement of the clamping guide plate 24 along the adjustable guide rail 231.

[0102] It should be noted that in actual installation, the flexible baffle 292 is not limited to the brush structure mentioned above, and can also be set to other flexible structures, such as cloth, elastic sponge layer, etc., as long as it can block the gaps of the rollers 221 without affecting the movement of the clamping guide plate 24 along the adjustable guide rail 231.

[0103] As one embodiment of this utility model, see the appendix. Figure 10 , 11 The support assembly 21 includes a support plate 211 and a docking bracket 212. The conveying assembly 22 and the adjusting assembly 23 are disposed on the top surface of the support plate 211. The docking bracket 212 includes a first docking part and a second docking part, which are fixedly connected. The first docking part is disposed on the bottom side of the support plate 211 and fixedly connected to the support plate 211. The second docking part is located on the back side of the clamping guide plate 24 and is used to dock with the handling robot.

[0104] In this embodiment, the support plate 211 serves as the mounting base for the conveying assembly 22 and the adjusting assembly 23, and the docking bracket 212 serves as the intermediate connecting component between the docking device 20 and the handling robot. The docking bracket 212 is connected to the bottom side of the support plate 211 through the first docking part and docks with the handling robot through the second docking part. By setting up a separate docking bracket 212, it is convenient to rationally design the specific structure of the docking bracket 212 so as to adapt it to the specific structure of the docking device 20 and the handling robot, which can effectively improve production efficiency.

[0105] As one embodiment of this utility model, see the appendix. Figure 10 The first docking part includes a first docking plate 2121 and a first adjustment unit. The first docking plate 2121 is fixedly connected to the bottom surface of the support plate 211. The first adjustment unit is fixedly connected to the first docking plate 2121 and is used to adjust the tilt angle of the docking device 20 in a first direction, which is the sliding direction of the baffle plate 282.

[0106] In this embodiment, the bottom surfaces of the first docking plate 2121 and the support plate 211 are fixedly connected. The first adjustment unit can be set as an adjustment shim 2122. The adjustment shim 2122 is set between the first docking plate 2121 and the support plate 211. In actual use, the adjustment shim 2122 is offset from the middle position of the support plate 211 in the first direction. By increasing or decreasing the number of adjustment shims 2122 (multiple shims are stacked), the tilt angle of the support plate 211 in the first direction can be adjusted.

[0107] As one embodiment of this utility model, see the appendix. Figure 11 The second docking part includes a second docking plate 2123 and a second adjustment unit. The second adjustment unit is connected to the second docking unit and is used to cooperate with the chassis 10 of the transport robot to adjust the tilt angle of the docking device 20 in the second direction, which intersects with the first direction.

[0108] The second docking unit in this embodiment generally includes a fixing block 2124 and multiple adjusting screws 2125. The multiple adjusting screws 2125 are spaced apart along the second direction. See Appendix. Figure 10 , 11 The fixing plate 281 is fixed on the second docking plate 2123. The adjusting screw 2125 is threadedly connected to the fixing block 2124. One end of the adjusting screw 2125 (the non-nut end) can contact the chassis 10 of the handling robot. In actual use, by turning the adjusting screw 2125, a pressing effect is formed between the adjusting screw 2125 and the chassis 10 of the handling robot (the component on the vertical lifting assembly 30). This can adjust the tilt angle of the docking device 20 in the second direction, similar to the function of a set screw.

[0109] By setting up the first adjustment unit and the second adjustment unit, this utility model can finely adjust the installation state of the docking device 20 when it is installed on the handling robot, ensuring that the conveying surface of the conveying component 22 on the docking device 20 is in a horizontal state, and avoiding the impact of processing errors and assembly errors on the actual operation of the docking device 20.

[0110] As one embodiment of this utility model, see the appendix. Figure 1 The docking device 20 also includes a third detection component 27, which is fixed to the material inlet side of the support component 21. Along the direction of material entering and exiting the storage space, the detection end of the third detection component 27 faces away from the docking device 20 and is used to detect the docking status of the docking device 20 and the external platform and whether there is material on the external platform.

[0111] The third detection component 27 in this embodiment generally includes a positioning element 271 and a photoelectric detection component 272. The positioning element 271 can be a camera, used to locate the relative position of the docking device 20 and the external platform (by analyzing the position of the shelf by taking pictures with the camera), ensuring accurate docking between the docking device 20 and the external platform. The photoelectric detection component 272 is used to detect whether there is material on the external platform docked with the docking device 20 (the photoelectric detection component 272 is used to emit a third detection light towards the position where the material is stored on the external platform. When the third detection light is blocked and reflected, it means that there is material on the external platform. When the third detection light is not blocked, it means that there is no material. The detection principle is similar to that of the first detection component 25).

[0112] This embodiment, through the combination of a camera and a photoelectric detection component 272, can greatly improve handling efficiency.

[0113] To further improve the stability of materials within the storage space during transportation, one embodiment of this utility model also includes a material blocking mechanism. The material blocking mechanism can be disposed on one of the clamping guide plates 24. In use, at least a portion of the material blocking mechanism is selectively disposed within the storage space to block materials disposed within the storage space from the direction of material entry and exit from the material inlet. This prevents material from sliding within the storage space and improves the stability during material transportation.

[0114] See appendix Figure 12 The second aspect of this utility model discloses a handling robot, which includes a chassis 10 and a docking device 20. The docking device 20 is the same as the docking device 20 in the first aspect. The docking device 20 is disposed on the loading side of the chassis 10. When the first detection component 25 sends the material signal, the chassis 10 cannot be moved (to avoid safety problems that may be caused by the chassis 10 moving when the material is at the material inlet).

[0115] In this embodiment of the invention, the docking device 20 can be directly mounted on the chassis 10, or other components can be disposed between the docking device 20 and the chassis 10. For example, the handling robot may also include a vertical lifting assembly 30, which is mounted on the chassis 10 and located on the loading side of the chassis 10. The docking device 20 is mounted on the vertical lifting assembly 30, which can drive the docking device 20 to move up and down in the vertical direction.

[0116] The gantry 31 lifting assembly in this embodiment enables the handling robot to dock with equipment at different heights, allowing the handling robot to pick up and place materials from different heights or to external equipment at different heights, further improving its applicability.

[0117] One embodiment of the present invention, the vertical lifting assembly 30, includes a gantry 31, a plurality of lifting guide rails 32, lifting forks, and a lifting drive mechanism. The gantry 31 is fixed to the chassis 10. Each lifting guide rail 32 is fixed to the gantry 31 and extends along the height direction of the chassis 10. The plurality of lifting guide rails 32 are spaced apart. The lifting forks are slidably connected to the lifting guide rails 32. The docking device 20 is disposed on the lifting forks. The lifting drive mechanism is used to drive the lifting forks to reciprocate along the lifting guide rails 32.

[0118] One embodiment of the lifting drive mechanism of this utility model includes a lifting motor, a lifting reducer, a lifting transmission unit, and a lead screw unit. In this embodiment, during lifting operations, the lifting motor, the lifting reducer, and the lifting transmission unit drive the rotation of the third lead screw. The forward and reverse rotation of the third lead screw drives the lifting fork to rise and fall along the lifting guide rail 32 through the threaded connection with the fourth lead screw nut. The lifting drive mechanism in this embodiment is only one specific embodiment of the vertical lifting component 30 of this utility model. In actual design, it can be replaced with other structures that can drive the lifting fork to rise and fall.

[0119] In summary, one embodiment of the handling robot of this utility model includes a movable chassis 10 with walking function, a vertical lifting component 30 with lifting and lowering function, and a docking device 20 for carrying and transporting materials of different widths. The vertical lifting component 30 is mounted on the chassis 10, and the docking device 20 is mounted on the gantry 31 component. During operation, the chassis 10 of the handling robot moves to the material receiving position of the external machine. The vertical lifting component 30 raises or lowers the docking device 20 to the material conveying height of the conveyor belt. The pitch adjustment component 23 adjusts the position of the relatively set clamping guide plate 24 to change the width of the storage space to adapt to different material widths on the conveying component 22. An appropriate width can prevent the material from slipping or twisting during transportation, improving the stability of material transmission. This allows the handling robot to be compatible with the conveying of materials of different widths. At the same time, through the first detection component 25 set on the clamping guide plate 24, in actual use, the first detection component 25 can move with the clamping guide plate 24, which can better adapt to changes in the storage space and make the detection of materials at the material inlet more accurate, improving the efficiency and safety of handling.

[0120] In this embodiment, the specific workflow of the handling machine during actual operation is described below using the docking device 20 on the handling robot and the docking roller 221, chain plate or belt conveyor line as an example:

[0121] During retrieval, the spacing between the two opposing clamping guide plates 24 is first adjusted using the spacing adjustment component 23 to match the width of the material to be transported. Secondly, the movable chassis 10 drives the docking device 20 to dock with the external platform. The positioning element 271 in the third detection component 27 ensures the relative position of the docking device 20 and the external platform. The photoelectric detection component 272 detects whether there is material to be transported on the external platform, facilitating the next step of the operation planning. When retrieving materials from the external platform, the materials on the external platform are automatically or assisted by external equipment. With assistance, the material moves toward the docking device 20 and onto the conveying component 22 of the docking device 20. Under the conveying action of the conveying component 22, the material enters the storage space. When the material passes through the material inlet, it triggers the first detection component 25 to issue a material presence signal. This material presence signal controls the movable chassis 10 to remain stationary, thus avoiding safety risks caused by movement during loading and unloading. When releasing the material, the material in the storage space is conveyed outward to the external platform under the action of the conveying component 22. Similarly, when the material passes through the material inlet, it triggers the first detection component 25 to issue a detection signal.

[0122] The above are merely specific embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A docking device comprising a storage assembly for mounting on the loading side of a chassis (10) of a handling robot, the storage assembly including two opposing spaced-apart clamping guide plates (24) defining a storage space having a material opening, the two clamping guide plates (24) being capable of relative movement to change the width of the material opening, characterized in that, The storage assembly further includes a first detection component (25), which is disposed on one of the two movable clamping guide plates (24). The first detection component (25) is located at the material inlet and is capable of emitting a first detection light along the height direction of the clamping guide plate (24). The first detection light passes through the storage space and is used to generate a material presence signal when material is detected at the material inlet.

2. The docking device as described in claim 1, characterized in that, The first detection component (25) includes a detection bracket (251) and a first detection module (252). The first end of the detection bracket (251) is detachably connected to the clamping guide plate (24). The second end of the detection bracket (251) is located on the bottom side of the material inlet. The first detection module (252) is installed at the second end of the detection bracket (251). The emitting end of the first detection module (252) is set upward along the height direction of the clamping guide plate (24) and is used to emit the first detection light.

3. The docking device as described in claim 2, characterized in that, The detection bracket (251) includes a horizontal connector (2511), a vertical support (2512), and a mounting plate (2513). The horizontal connector (2511) is detachably connected to the surface of the clamping guide plate (24) facing away from the storage space. The vertical support (2512) extends along the height direction of the clamping guide plate (24). The first end of the vertical support (2512) is fixedly connected to the horizontal connector (2511). The second end of the vertical support (2512) extends to the bottom side of the clamping guide plate (24). The mounting plate (2513) is disposed at the second end of the vertical support (2512). The mounting plate (2513) is disposed along the height direction of the clamping guide plate (24). The first detection module (252) is mounted on the surface of the mounting plate (2513) facing the storage space.

4. The docking device as described in claim 3, characterized in that, The horizontal connector (2511) and the vertical support (2512) are provided with interconnected wiring grooves (2514). One end of the wiring groove (2514) passes through the horizontal connector (2511), and the other end of the wiring groove (2514) is opposite to the first detection module (252). The connecting wire harness of the first detection module (252) is arranged in the wiring groove (2514).

5. The docking device (20) as described in any one of claims 1 to 4, characterized in that, The clamping guide plate (24) includes a front guide portion (241), a middle clamping stop portion (242), and a rear baffle portion (243). The front guide portion (241) is disposed on the front side of the middle clamping stop portion (242), and the rear baffle portion (243) is disposed on the rear side of the middle clamping stop portion (242). The material opening is formed between the two opposing front guide portions (241). A guide bevel (2411) is formed on the surface of the front guide portion (241) facing the storage space. The guide bevels (2411) on the two clamping guide plates (24) are opposite to each other, and the distance between the front ends of the two opposing guide bevels (2411) is greater than the distance between the rear ends, so as to guide the material in and out of the storage space. One end of the rear baffle portion (243) extends into the storage space and is opposite to the material opening. The front guide portion (241) is close to the bottom surface of the storage space. The first detection component (25) is disposed on the front guide portion (241).

6. The docking device according to any one of claims 1 to 4, characterized in that, The docking device (20) includes at least one set of second detection components. The second detection components are used to detect the position of the material in the storage space. The second detection components include a first detection part (261) and a second detection part (262). The first detection part (261) is disposed on one of the clamping guide plates (24). The second detection part (262) and the first detection part (261) are disposed opposite to each other along the spacing direction of the two clamping guide plates (24). A second detection light beam passing through the storage space is formed between the first detection part (261) and the second detection part (262). When the second detection light beam is blocked, the second detection component emits a detection signal.

7. The docking device (20) as described in any one of claims 1 to 4, characterized in that, The docking device (20) further includes a support component (21) and a conveying component (22) and an adjusting component (23) disposed on the support component (21). The support component (21) is used to connect to the chassis (10) of the handling robot. The two clamping guide plates (24) are disposed on both sides of the conveying component (22). The conveying surface of the conveying component (22) forms the bottom surface of the storage space. The conveying direction of the conveying component (22) matches the direction of material entry and exit from the material port. The adjusting component (23) is located on the bottom side of the conveying component (22) and is used to drive the relative movement of the two clamping guide plates (24).

8. The docking device (20) as described in claim 7, characterized in that, The conveying assembly (22) includes a roller conveying unit, which includes a plurality of rollers (221) arranged at intervals. The pitch adjustment assembly (23) includes at least one drive unit (232) and a plurality of pitch adjustment guides (231). The length directions of the plurality of pitch adjustment guides (231) are consistent, and the plurality of pitch adjustment guides (231) are arranged at intervals along a first set direction. The first set direction intersects with the length direction of the pitch adjustment guides (231). Multiple adjustable guide rails (231) are fixed on the support assembly (21) and respectively arranged in the interval of the roller (221). The bottom end of the clamping guide plate (24) is slidably arranged on each of the adjustable guide rails (231). The driving unit (232) is used to drive at least one of the two clamping guide plates (24) to slide along the length direction of the adjustable guide rail (231).

9. The docking device (20) as described in claim 8, characterized in that, The docking device (20) further includes a material drop blocking bracket (28), which includes two fixed plates (281) and multiple baffle plates (282). The two fixed plates (281) are fixed on both sides of the conveying assembly (22), and the multiple baffle plates (282) are arranged between the two fixed plates (281) and spaced apart. The multiple baffle plates (282) are respectively arranged in the interval between the multiple rollers (221). The top surface of the roller (221) protrudes from the baffle plate (282), and the baffle plate (282) is used to block the interval between the rollers (221) at the corresponding positions.

10. The docking device (20) as described in claim 8, characterized in that, The docking device (20) further includes a flexible baffle assembly (29), which includes a flexible baffle bracket (291) and a flexible baffle part (292). The flexible baffle bracket (291) is disposed on one side of the adjustable guide rail (231). One end of the flexible baffle part (292) is connected to the flexible baffle bracket (291), and the other end of the flexible baffle part (292) extends into the gap between the rollers (221) corresponding to the position of the adjustable guide rail (231) and is used to flexibly block the gap between the rollers (221) at the adjustable guide rail (231) to accommodate the movement of the clamping guide plate (24) along the adjustable guide rail (231) within the gap of the rollers (221).

11. The docking device as described in claim 8, characterized in that, The support assembly (21) includes a support plate (211) and a docking bracket (212). The conveying assembly (22) and the adjusting assembly (23) are disposed on the top side of the support plate (211). The docking bracket (212) includes a first docking part and a second docking part. The first docking part and the second docking part are fixedly connected. The first docking part is disposed on the bottom side of the support plate (211) and is fixedly connected to the support plate (211). The second docking part is located on the back side of the clamping guide plate (24) and is used to dock with the handling robot. When the docking device is assembled with the chassis (10), the first docking part can adjust the tilt angle of the docking device in a first direction, and the second docking part can adjust the tilt angle of the docking device in a second direction. The first direction and the second direction intersect.

12. The docking device (20) as described in any one of claims 1 to 4, characterized in that, The docking device (20) further includes a third detection component (27), which is fixed on one side of the material inlet along the direction of material entering and exiting the storage space. The detection end of the third detection component (27) faces away from the storage space and is used to detect the docking status of the docking device (20) and the external platform and whether there is material on the external platform.

13. A transport robot, the transport robot comprising a movable chassis (10) and a docking device (20), characterized in that, The docking device (20) is the docking device (20) according to any one of claims 1 to 12. The docking device (20) is disposed on the loading side of the chassis (10). When the first detection component (25) sends the material signal, the chassis (10) is immovable.

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