Carrier butt joint assembly and hauling system

Abstract

The utility model discloses a carrier butt joint assembly and a hauling system. A first butt-joint mechanism of the carrier butt-joint assembly comprises a first traction piece and a second traction piece which can be lifted, and the first traction piece and the second traction piece are each provided with a butt-joint position and a butt-joint releasing position. The second butt joint mechanism comprises a first limiting piece and a second limiting piece, the first limiting piece is provided with a first limiting channel in the first direction, and the second limiting piece is provided with a second limiting channel in the first direction. The first traction piece and the second traction piece at the butt joint position are respectively limited in the first limiting channel and the second limiting channel; and the first traction piece and the second traction piece in the butt joint releasing position are respectively separated from the first limiting channel and the second limiting channel. According to the carrier butt joint assembly, the autonomous mobile robot can move to the position below the carrier bearing space and achieve transverse butt joint with the carrier, the bottom butt joint mode is small in occupied space and high in safety, and the trailing problem is avoided.

Description

Technical Field

[0001] This utility model relates to the field of warehousing equipment technology, and in particular to a carrier docking component and a towing system. Background Technology

[0002] Autonomous Mobile Robots (AMRs) are intelligent robots capable of navigating and performing tasks autonomously in their environment. AMRs are commonly used in automated warehousing. Unlike traditional AGVs, AMRs do not rely on fixed tracks or markers, offering greater flexibility and intelligence, and are being used more and more widely.

[0003] Existing AMRs typically have a towing mechanism at the rear, which pulls a vehicle located behind the AMR. The vehicle has a cargo space, and the AMR transports the goods by towing the vehicle. However, this towing method, with the AMR in front and the vehicle behind, not only occupies a lot of space but also has inflexible towing and steering, resulting in tailing problems. Furthermore, because AMRs are relatively low, they are easily overlooked by passersby, potentially leading to safety accidents. Utility Model Content

[0004] The purpose of this invention is to provide a vehicle docking assembly that can solve the problems of large space occupation, trailing, and poor safety caused by autonomous mobile robots towing vehicles from front to back.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A vehicle docking assembly is provided for docking a vehicle and an autonomous mobile robot. The vehicle has a carrying space and wheels and mounting components located below the carrying space. The vehicle docking assembly includes: a first docking mechanism for the autonomous mobile robot, the first docking mechanism including a first traction member and a second traction member, both of which are liftable, having a docking position and a disengagement position, the docking position being higher than the disengagement position; and a second docking mechanism for the mounting components, the second docking mechanism including a first limiting member and a second limiting member, the first limiting member having a first limiting channel along a first direction, and the second limiting member having a second limiting channel along the first direction; wherein, the first traction member and the second traction member in the docking position are respectively confined within the first limiting channel and the second limiting channel; the first traction member and the second traction member in the disengagement position are respectively disengaged from the first limiting channel and the second limiting channel.

[0007] Preferably, the first traction member in the docking position can enter the first limiting channel along the first direction, and the second traction member in the docking position can enter the second limiting channel along the first direction. Both the first and second traction members can be limited in the second direction, and at least one of the first and second traction members can be limited in the first direction. The first traction member descending to the undocking position disengages from the first limiting channel, and the second traction member descending to the undocking position disengages from the second limiting channel.

[0008] Preferably, the first traction member can achieve circumferential limiting within the first limiting channel, and the second traction member can achieve limiting in the second direction within the second limiting channel.

[0009] Preferably, the second limiting member has a second limiting channel extending through it along the first direction, the second limiting channel allowing the first traction member to pass through; and / or, the first limiting channel is a channel closed at one end, the first traction member is limited at the closed end of the first limiting channel; and / or, in the second direction, the outer wall surface of the second traction member and the inner wall surface of the second limiting channel are limited and abutted.

[0010] Preferably, the cross-sectional dimension of the first traction member is smaller than that of the second traction member; and / or, the second traction member is rotatably disposed on the top of the autonomous mobile robot, and the second traction member can rotate to a limited position where the outer wall surface of the second traction member abuts against the inner wall surface of the second limiting channel, and to a non-abutting position where the outer wall surface of the second traction member disengages from the inner wall surface of the second limiting channel.

[0011] Preferably, the first limiting member includes a first channel member and a blocking member. The first channel member has a first limiting channel that is closed at one end. The blocking member is movably disposed on the first channel member and has a clearance position that allows the first traction member to move to the closed end of the first limiting channel, and a blocking position that can block the first traction member within the closed end of the first limiting channel.

[0012] Preferably, the blocking member includes a rotating stop member rotatably connected to the first channel member, the rotating stop member being able to reciprocate between an avoidance position and a blocking position.

[0013] Preferably, the rotating stop includes two sector-shaped baffles, which are rotatably connected to both sides of the first limiting channel. The first traction member passes between the two sector-shaped baffles by squeezing the junction of the two sector-shaped baffles.

[0014] Preferably, the blocking member includes a telescopic stop that extends and retracts in a second direction, the telescopic stop being able to reciprocate between an avoidance position and a blocking position.

[0015] Preferably, the first limiting member further includes a reset member, which has a tendency to reset the blocking member from the avoidance position to the blocking position.

[0016] Preferably, the first limiting channel includes a first guide segment and a first limiting segment that are interconnected, the first guide segment having a large opening end and a small opening end, the small opening end of the first guide segment being connected to the first limiting segment, and the first traction member being limited to the first limiting segment; and / or, the second limiting channel includes a second guide segment and a second limiting segment that are interconnected, the second guide segment having a large opening end and a small opening end, the small opening end of the second guide segment being connected to the second limiting segment, and the second traction member being limited to the second limiting segment.

[0017] Preferably, the first docking mechanism is located on the top of the autonomous mobile robot; and / or, at least two of the first traction member and the first limiting member are provided, and they are arranged in a one-to-one correspondence; and / or, at least two of the second traction member and the second limiting member are provided, and they are arranged in a one-to-one correspondence; and / or, the first traction member and the second traction member are spaced apart in the first direction, and the first limiting member and the second limiting member are spaced apart in the first direction.

[0018] Another objective of this invention is to provide a towing system in which an autonomous mobile robot docks and pulls from the bottom of a vehicle via a vehicle docking assembly. This solves the problems of large space occupation, trailing, and poor safety caused by an autonomous mobile robot pulling a vehicle from front to back.

[0019] A towing system includes a vehicle, an autonomous mobile robot, and the aforementioned vehicle docking assembly, wherein a first docking mechanism is disposed on the top of the autonomous mobile robot, and a second docking mechanism is disposed on the mounting component.

[0020] The beneficial effects of this utility model are:

[0021] This utility model provides a vehicle docking assembly for docking a vehicle and an autonomous mobile robot. The vehicle has a carrying space and wheels and mounting components located below the carrying space. The vehicle docking assembly includes a first docking mechanism on the autonomous mobile robot and a second docking mechanism on the mounting components. The first docking mechanism includes a first traction member and a second traction member, both of which are liftable. Both the first and second traction members have a docking position and a disengagement position. The second docking mechanism includes a first limiting member and a second limiting member. The first limiting member has a first limiting channel along a first direction, and the second limiting member has a second limiting channel along the first direction. When in the docking position, the first and second traction members are respectively confined within the first and second limiting channels; when in the disengagement position, the first and second traction members are respectively disengaged from the first and second limiting channels. This vehicle docking assembly allows the autonomous mobile robot to move below the carrying space of the vehicle and achieve lateral docking with the vehicle. This bottom docking method not only occupies little space and has high safety, but also avoids tailing problems. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the carrier and the second docking mechanism provided by this utility model;

[0023] Figure 2 This is a schematic diagram of the autonomous mobile robot provided by this utility model when the traction component is in the docking position;

[0024] Figure 3 This is a schematic diagram of the autonomous mobile robot provided by this utility model when the traction component is in the disengaged position;

[0025] Figure 4 This is a schematic diagram of the second docking mechanism provided by this utility model;

[0026] Figure 5 yes Figure 4 The diagram shows the structure after the first channel component has been removed.

[0027] In the picture:

[0028] 10. First docking mechanism; 11. Traction component; 111. First traction component; 112. Second traction component;

[0029] 20. Mobile main body; 21. Top plate of outer shell; 22. Ring plate of outer shell; 23. Chassis;

[0030] 30. Second docking mechanism; 31. Limiting component; 311. First limiting component; 3111. First channel component; 3112. Blocking component; 31121. Fan-shaped baffle; 31122. Reset component; 312. Second limiting component; 3121. Second channel component; 32. Mounting plate; 301. First limiting channel; 3011. First guide section; 3012. First limiting section; 302. Second limiting channel; 3021. Second guide section; 3022. Second limiting section;

[0031] 40. Vehicle body; 41. Load-bearing space; 42. Dock-up space; 43. Mounting components; 44. Wheels;

[0032] 50. Goods. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0034] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0037] This invention provides a vehicle docking assembly for docking and towing a vehicle and an autonomous mobile robot. Figure 1 As shown, the vehicle has a carrying space 41, a mounting component 43 located below the carrying space 41, and wheels 44. The wheels 44 are used to assist the vehicle in moving and improve its mobility. The carrying space 41 is used to carry goods 50. Below the mounting component 43, there is also a docking space 42 for an autonomous mobile robot to enter. After the autonomous mobile robot enters the docking space 42 and docks with the vehicle, it can pull the vehicle from the bottom. After the autonomous mobile robot disengages from the vehicle, it can move out of the docking space 42 and perform other towing tasks. It should be noted that the mounting component 43 can be an existing structure on the vehicle used to divide and form the carrying space 41 and the docking space 42, such as a plate or support beam.

[0038] Specifically, such as Figures 1 to 5 As shown, the vehicle docking assembly includes a first docking mechanism 10 and a second docking mechanism 30. The first docking mechanism 10 is mounted on the autonomous mobile robot. Optionally, the first docking mechanism 10 is located on the top of the autonomous mobile robot, and the second docking mechanism 30 is located on the bottom of the vehicle, specifically on the mounting component 43. The first docking mechanism 10 includes two traction members 11, namely a first traction member 111 and a second traction member 112. The first traction member 111 can move up and down in the vertical direction, and the second traction member 112 can also move up and down in the vertical direction. Both the first traction member 111 and the second traction member 112 have a docking position and a disengagement position, with the docking position being higher than the disengagement position. The second docking mechanism 30 includes two limiting members 31, each of which has a limiting channel. The two limiting members 31 include a first limiting member 311 and a second limiting member 312. The first limiting member 311 has a first limiting channel 301 along a first direction, and the second limiting member 312 has a second limiting channel 302 along the first direction. Furthermore, the first traction member 111 and the second traction member 112, which are in the docking position, are respectively confined within the first limiting channel 301 and the second limiting channel 302; the first traction member 111 and the second traction member 112, which are in the undocking position, are respectively disengaged from the first limiting channel 301 and the second limiting channel 302.

[0039] Compared to existing technologies that use a traction mechanism behind the autonomous mobile robot to pull the vehicle behind it, resulting in large space occupation, poor safety, and trailing problems, the vehicle docking component provided by this utility model allows the autonomous mobile robot to move to the bottom of the vehicle carrying space 41 to dock with the bottom of the vehicle and pull the vehicle from the bottom. This method of autonomous mobile robot docking and pulling the vehicle from the bottom of the vehicle not only occupies less space and has high safety, but also does not cause trailing problems and has greater flexibility in traction and steering.

[0040] The first docking mechanism 10 and the second docking mechanism 30 of the vehicle docking assembly achieve docking through relative movement in a first direction. Specifically, the first traction member 111, in the docking position, can enter the first limiting channel 301 along the first direction, and the second traction member 112, in the docking position, can enter the second limiting channel 302 along the first direction. Both the first traction member 111 and the second traction member 112 can achieve limiting in the second direction, and at least one of the first traction member 111 and the second traction member 112 can achieve limiting in the first direction. Furthermore, the first docking mechanism 10 and the second docking mechanism 30 of the vehicle docking assembly can achieve disengagement by moving in the vertical direction. Specifically, the first traction member 111, descending from the docking position to the disengagement position, can disengage from the first limiting channel 301 to disengage, and the second traction member 112, descending from the docking position to the disengagement position, can disengage from the second limiting channel 302 to disengage. In other words, the vehicle docking assembly provided by this utility model has a docking limit state and a docking release state. In the docking limit state, the first limiting member 311 limits the first traction member 111 that has risen to the docking position, and the second limiting member 312 limits the second traction member 112 that has risen to the docking position. In the docking release state, the first traction member 111 descends to the docking release position away from the first limiting member 311, and the second traction member 112 descends to the docking release position away from the second limiting member 312.

[0041] The first docking mechanism 10 and the second docking mechanism 30 of the vehicle docking assembly achieve lateral docking through relative movement in a first direction. Specifically, the two traction members 11 at the docking position directly dock by entering the corresponding limiting channel along the first direction. This method is not only simple and efficient but also highly stable. Conversely, the two traction members 11 descend to the disengagement position to disengage from the corresponding limiting channel, which is simple, efficient, and does not affect the vehicle's positioning stability and accuracy. It should be noted that the first direction is the forward-backward direction of the autonomous mobile robot, and the second direction is the left-right direction of the autonomous mobile robot. When docking the vehicle and the autonomous mobile robot, either the vehicle or the autonomous mobile robot can be moved. Generally, docking with the vehicle is achieved through the autonomous movement of the autonomous mobile robot, which is more time-saving and labor-saving.

[0042] Regarding the limiting of the first docking mechanism 10 and the second docking mechanism 30, in some embodiments, the first traction member 111 and the first limiting member 311 are limited in the circumferential direction, and the second traction member 112 and the second limiting member 312 are limited in the second direction. This arrangement ensures that the first docking mechanism 10 and the second docking mechanism 30 have sufficient limiting stability, while avoiding excessive limiting of the first docking mechanism 10 and the second docking mechanism 30, which would affect docking flexibility and cause structural complexity and increased cost. Of course, in other embodiments, in addition to being limited in the second direction, the second traction member 112 and the second limiting member 312 can also be limited in the first direction, that is, the second traction member 112 and the second limiting member 312 are also limited in the circumferential direction.

[0043] Regarding the number of the first traction member 111, the second traction member 112, the first limiting member 311, and the second limiting member 312, in some embodiments, each of the first traction member 111 and the second traction member 112 is provided, and the first traction member 111 and the second traction member 112 are spaced apart in the first direction. Correspondingly, each of the first limiting member 311 and the second limiting member 312 is also provided, and the first limiting member 311 and the second limiting member 312 are spaced apart in the first direction. Of course, in other embodiments, the first traction member 111 and the second traction member 112 may also be staggered in the first direction, and correspondingly, the first limiting member 311 and the second limiting member 312 may also be staggered in the first direction. In addition, at least two of the first traction member 111 and the first limiting member 311 may be provided as needed, and the first traction member 111 and the first limiting member 311 are provided in a one-to-one correspondence; at least two of the second traction member 112 and the second limiting member 312 may also be provided as needed, and the second traction member 112 and the second limiting member 312 are provided in a one-to-one correspondence.

[0044] Regarding the specific structure of the first traction member 111 and the second traction member 112, in some embodiments, the first traction member 111 is a cylindrical member, and the second traction member 112 is also a cylindrical member. Of course, in other embodiments, the first traction member 111 and the second traction member 112 can also be columnar structures of other shapes. It should be noted that the shape of the first traction member 111 and the shape of the second traction member 112 can be the same or different.

[0045] To enable the lifting and lowering of the traction member 11, the first docking mechanism 10 also includes a driving member. Optionally, the driving member may include a first driving member and a second driving member. The first driving member is used to drive the lifting and lowering of the first traction member 111, and the second driving member is used to drive the lifting and lowering of the second traction member 112. Regarding the specific structure of the first and second driving members, they can be structures capable of directly outputting linear motion, such as linear motors or cylinders, or they can be a combination of a rotary motor and a rotation-to-translational transmission component. The rotation-to-translational transmission component can be a gear and rack mechanism, a synchronous belt mechanism, a lead screw and nut mechanism, etc. It should be noted that the structures of the first and second driving members can be the same or different. Of course, the first docking mechanism 10 may also include only one driving member, with the output end of the driving member connected to the first traction member 111 and the second traction member 112 via a connecting frame or a synchronous transmission structure, thereby achieving synchronous driving of the first traction member 111 and the second traction member 112 using a single driving member.

[0046] To reduce the difficulty of lateral movement and docking of the first docking mechanism 10 and the second docking mechanism 30, and to facilitate the simultaneous engagement of the second traction member 112 and the second limiting member 312 when the first traction member 111 and the first limiting member 311 are engaged, in some embodiments, the first traction member 111 and the second traction member 112 are spaced apart in the first direction, the first limiting member 311 and the second limiting member 312 are spaced apart in the first direction, and the second limiting member 312 is provided with a second limiting channel 302 through the first direction, the second limiting channel 302 allowing the first traction member 111 moving in the first direction to pass through. The first traction member 111, in the docking position, can enter the first limiting channel 301 through the second limiting channel 302 and then achieve circumferential limiting within the first limiting channel 301. When the first traction member 111 enters the second limiting channel 302, it can guide the second traction member 112 to align with the opening of the second limiting channel 302. When the first traction member 111 enters the first limiting channel 301, it can guide the second traction member 112 to enter the second limiting channel 302 simultaneously. This arrangement not only improves the guiding effect and helps reduce docking difficulty, but also makes it necessary to lower the first traction member 111 and the second traction member 112 to the undocking position only when disengaging, which helps reduce control difficulty.

[0047] Of course, in other embodiments, the first traction member 111 can be lowered to the disengagement position first, so that the first traction member 111 can pass under the second limiting member 312 without passing through the second limiting channel 302 and reach the vicinity of the first limiting member 311. Then, the first traction member 111 can be raised to the docking position. After that, the second traction member 112 can enter the second limiting channel 302 at the same time as the first traction member 111 enters the first limiting channel 301. At this time, the second limiting channel 302 can either not penetrate the second limiting member 312 or be set as a channel closed at one end. In addition, the first limiting member 311 can be set lower than the second limiting member 312, and the first traction member 111 can also be set lower than the second traction member 112. This setting also allows the first traction member 111 to pass under the second limiting member 312 and directly enter the first limiting channel 301 of the first limiting member 311 without passing through the second limiting channel 302.

[0048] Continue to refer to Figure 4 As shown, the first limiting member 311 includes a first channel member 3111, on which a first limiting channel 301 is formed. In one embodiment, the first channel member 3111 includes a first channel plate. The number of first channel plates can be one, two, or even more, depending on the requirements. If there are multiple first channel plates, they are spaced apart in the vertical direction. It should be noted that the first limiting channel 301 can be a channel closed at one end or a channel that passes through the first channel member 3111.

[0049] In order to achieve the circumferential limitation of the first traction member 111 within the first limiting channel 301, continue to refer to Figure 4 and Figure 5As shown, the first limiting member 311 also includes a blocking member 3112, which is movably disposed on the first channel member 3111 and can limit the first traction member 111. The number of blocking members 3112 is determined by the shape of the first limiting channel 301. If the first limiting channel 301 is a channel closed at one end, then only one blocking member 3112 is required. This blocking member 3112 has a clearance position that allows the first traction member 111 to move into the closed end of the first limiting channel 301, and a blocking position that can block the first traction member 111 in the closed end of the first limiting channel 301. If the first limiting channel 301 is a channel that passes through the first channel member 3111, then two blocking members 3112 are required. The two blocking members 3112 are spaced apart on the first channel member 3111, and a limiting space is formed between them to limit the first traction member 111. At least one blocking member 3112 has a clearance position that allows the first traction member 111 to move into the closed end of the first limiting channel 301, and a blocking position that can block the first traction member 111 in the closed end of the first limiting channel 301. It should be noted that the solution of having a closed channel at one end in the first limiting channel 301 and setting only one blocking component 3112 is simpler, lower in cost, and has better docking stability.

[0050] In some embodiments, the blocking member 3112 includes a rotating stop rotatably connected to the first channel member 3111, the rotating stop being capable of reciprocating between a clearance position and a blocking position. Specifically, when the rotating stop is in the blocking position, it enables the first traction member 111 to be limited in the forward, backward, left, and right directions; when the rotating stop is in the clearance position, it enables the first traction member 111 to move at least in the forward and backward directions.

[0051] In a specific embodiment, such as Figure 5 As shown, the rotating stop includes two sector-shaped baffles 31121, which are rotatably connected to both sides of the first limiting channel 301. The first traction member 111 passes between the two sector-shaped baffles 31121 by pressing against the junction of the two baffles. This arrangement provides good blocking effect of the rotating stop on the first traction member 111, and eliminates the need for an additional power structure, resulting in lower cost. In another specific embodiment, the rotating stop may also include only one sector-shaped baffle 31121, or it may be a baffle of other shapes, as long as it has a blocking position and at least a avoidance position during rotation.

[0052] In some parallel embodiments, the blocking member 3112 includes a telescopic stop that extends and retracts in a second direction, and the telescopic stop is capable of reciprocating between a clearance position and a blocking position. Specifically, when the telescopic stop is in the blocking position, at least a portion of the telescopic stop is located within the first limiting channel 301, thereby enabling the first traction member 111 to be limited in the forward, backward, left, and right directions; when the telescopic stop is in the clearance position, the telescopic stop moves outside the first limiting channel 301, enabling the first traction member 111 to move at least in the forward and backward directions.

[0053] In one specific embodiment, the telescopic stop is a telescopic column; in another specific embodiment, the telescopic stop can also be a telescopic plate. The number of telescopic stops can be one or two. If there are two, the two telescopic stops are close to each other to block the first limiting channel 301, and far apart to open the first limiting channel 301.

[0054] Furthermore, continue to refer to Figure 5 As shown, the second limiting member 312 also includes a reset member 31122, which has a tendency to reset the blocking member 3112 from the avoidance position to the blocking position. For example, if the blocking member 3112 includes a rotating stop rotatably connected to the first channel member 3111, the reset member 31122 can be a torsion spring. The torsion spring is disposed at the rotatable connection between the rotating stop and the first channel member 3111, and accumulates elastic potential energy after the rotating stop rotates from the blocking position to the avoidance position. This elastic potential energy can drive the rotating stop to reset from the avoidance position to the blocking position. If the blocking member 3112 includes a telescopic stop that extends and retracts in the second direction, then the reset member 31122 can be a telescopic spring. For example, the telescopic stop has a driving ramp that is not parallel to the first direction. When the first traction member 111 presses against the driving ramp, it can be driven to move from the blocking position to the avoidance position, causing the telescopic spring to accumulate elastic potential energy. After the first traction member 111 passes the telescopic stop, under the drive of the telescopic spring, the first traction member 111 resets from the avoidance position to the avoidance position. Using the reset member 31122 not only improves structural compactness but also reduces manufacturing and usage costs.

[0055] Of course, in addition to setting the reset component 31122, the power to drive the rotating stop component to rotate can come from a rotating power component that can output rotational motion. For example, the rotating power component can be a rotary motor; while the power to drive the telescopic column to extend and retract can come from a translational power component that can output linear motion. For example, the translational power component can be a linear motor or a cylinder.

[0056] Continue to refer to Figure 4As shown, in some embodiments, the first limiting channel 301 includes a first guide section 3011 and a first limiting section 3012 that are interconnected. The first guide section 3011 has a large opening end and a small opening end. Optionally, the first guide section 3011 is trumpet-shaped, and the small opening end of the first guide section 3011 is connected to the first limiting section 3012. The first traction member 111 is limited in the first limiting section 3012. The first guide section 3011 can provide guidance for the first traction member 111 to enter the first limiting section 3012, which is beneficial to improving the accuracy and speed of docking.

[0057] In one specific embodiment, the first limiting segment 3012 is a channel of equal width. The width of the first limiting segment 3012 in the second direction is equal to the size of the small opening end of the first guide segment 3011, and is approximately equal to the maximum size of the first traction member 111 in the second direction. This allows the first traction member 111 located within the first limiting segment 3012 to be limited in the second direction. Furthermore, the combined action of the end face of the closed end of the first limiting segment 3012 and the limiting surface of the blocking member 3112 facing the closed end of the first limiting segment 3012 enables the first traction member 111 located within the first limiting segment 3012 to be limited in the first direction, thereby achieving circumferential limitation of the first traction member 111. In another specific embodiment, the closed end of the first limiting segment 3012 is an arc-shaped structure, and the limiting surface of the blocking member 3112 facing the closed end of the first limiting segment 3012 is an arc-shaped surface, thus forming a limiting space capable of circumferentially limiting the cylindrical first traction member 111.

[0058] Continue to refer to Figure 4 As shown, the second limiting member 312 includes a second channel member 3121, on which a second limiting channel 302 is formed. In one embodiment, the second channel member 3121 includes a second channel plate, and the number of second channel plates can be one, two or more, depending on the requirements. If there are multiple second channel plates, they are arranged at intervals in the vertical direction.

[0059] Optionally, in the second direction, the outer wall surface of the second traction member 112 and the inner wall surface of the second limiting channel 302 are mutually abutting. In some embodiments, the maximum dimension of the cross-section of the second traction member 112 in the second direction is substantially equal to the width of the second limiting channel 302 in the second direction, so that the second traction member 112 can both enter the second limiting channel 302 and achieve limitation in the second direction. In some parallel embodiments, the second traction member 112 is rotatably disposed on the top of the autonomous mobile robot, and the second traction member 112 can rotate to a limited position where the outer wall surface of the second traction member 112 is mutually abutting with the inner wall surface of the second limiting channel 302, and to a non-abutting position where the outer wall surface of the second traction member 112 is disengaged from the inner wall surface of the second limiting channel 302. The external force driving the rotation of the second traction member 112 can come from human power or from an existing power component capable of outputting rotational motion.

[0060] In some embodiments, the second limiting channel 302 includes a second guide section 3021 and a second limiting section 3022 that are interconnected. The second guide section 3021 has a large opening end and a small opening end. Optionally, the second guide section 3021 is trumpet-shaped, and the small opening end of the second guide section 3021 is connected to the second limiting section 3022. The second traction member 112 is limited in the second limiting section 3022. The second guide section 3021 can provide guidance for the second traction member 112 to enter the second limiting section 3022, which is beneficial to improving the accuracy and speed of docking.

[0061] To ensure that the first traction member 111 can pass through the second limiting channel 302, in some embodiments, the maximum dimension of the first traction member 111 in the second direction is smaller than the minimum dimension of the second limiting channel 302 in the second direction. Conversely, to enable the second traction member 112 to be limited in the second direction within the second limiting channel 302, the maximum dimension of the second traction member 112 in the second direction is set to be equal to the minimum dimension of the second limiting channel 302 in the second direction.

[0062] In some embodiments, the cross-sectional dimension of the first traction member 111 is smaller than the cross-sectional dimension of the second traction member 112. In a specific embodiment, the maximum dimension of the cross-section of the first traction member 111 in the second direction is substantially equal to the width of the first limiting segment 3012, and the maximum dimension of the cross-section of the second traction member 112 in the second direction is substantially equal to the width of the second limiting segment 3022. Exemplarily, both the first traction member 111 and the second traction member 112 are cylindrical members, and the diameter of the first traction member 111 is smaller than the diameter of the second traction member 112.

[0063] Furthermore, in order to improve the integration of the second docking mechanism 30, we will continue to refer to... Figure 4As shown, the second docking mechanism 30 also includes a mounting plate 32. The first limiting member 311 and the second limiting member 312 are both mounted on the mounting plate 32. By connecting the mounting plate 32 to the mounting component 43 of the carrier, the second docking mechanism 30 can be mounted as a whole on the carrier. The first channel member 3111 and the second channel member 3121 are mounted on the mounting plate 32. The first channel member 3111 is located between the lowest first channel plate and the mounting plate 32, which can form a clearance space to accommodate the blocking member 3112. The clearance space is used to accommodate the blocking member 3112 at least in the clearance position; or, the first channel member 3111 can form a clearance space between two adjacent first channel plates to accommodate the blocking member 3112. The clearance space is used to accommodate the blocking member 3112 at least in the clearance position.

[0064] This invention also provides a towing system in which an autonomous mobile robot docks with and is towed to the bottom of a vehicle via a vehicle docking assembly. Compared to existing towing systems, the towing system provided by this invention occupies less space, is safer, and avoids tailing issues. Specifically, the towing system includes a vehicle, an autonomous mobile robot, and the aforementioned vehicle docking assembly. A first docking mechanism 10 is located on the top of the autonomous mobile robot, and a second docking mechanism 30 is located on the mounting component 43 of the vehicle.

[0065] By placing the first docking mechanism 10 on the top of the autonomous mobile robot and the second docking mechanism 30 on the mounting component 43, an autonomous mobile robot can dock with multiple vehicles separately to achieve the one-to-one towing of the vehicles. Since the first docking mechanism 10 includes a drive component, its manufacturing cost is relatively high, while the second docking mechanism 30 is only a panel assembly component and does not include a drive component, its manufacturing cost is relatively low. This modification of the autonomous mobile robot and vehicle is beneficial to reducing costs.

[0066] Continue to refer to Figure 2 As shown, the autonomous mobile robot includes a mobile body 20, which includes an outer shell structure. The outer shell structure includes a top plate 21, a ring plate 22, and a chassis 23. A clearance hole is provided through the top plate 21. A traction member 11 is correspondingly arranged with the clearance hole, and a portion of the traction member 11 protrudes outside the outer shell structure through the clearance hole, extending above the top plate 21. The number of clearance holes is the same as the number of traction members 11, and they are arranged in a one-to-one correspondence. It should be noted that the structures of the mobile body 20 that realize the movement function, path navigation function, and detection function are all existing technologies and will not be described in detail here.

[0067] Continue to refer to Figure 1As shown, the vehicle includes a vehicle body 40, and a second docking mechanism 30 is disposed on the vehicle body 40. In some embodiments, the vehicle body 40 is a cage car, which includes a vehicle body and multiple wheels 44 disposed at the bottom of the vehicle body. The vehicle body forms a carrying space 41 and a docking space 42, and has an installation component 43. Optionally, the vehicle body includes crossbars and uprights, and a frame structure formed by splicing multiple crossbars and multiple uprights. Each upright has a wheel 44 at its bottom. In a specific embodiment, four uprights are provided, arranged in two rows and two columns. A storage layer formed by splicing crossbars is provided between the four uprights. The storage layer can be set as one or more layers as needed. The bottom storage layer forms the installation component 43, the docking space 42 is formed below the bottom storage layer, and the space above the storage layer forms the carrying space 41. Of course, in other embodiments, the vehicle body 40 is not limited to a cage car, and can also be configured as other mobile bodies with a carrying space 41, a docking space 42, mounting components 43 and wheels 44 as needed.

[0068] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A vehicle docking assembly, characterized in that, For docking between a vehicle and an autonomous mobile robot, the vehicle has a carrying space (41) and wheels (44) and mounting components (43) located below the carrying space (41). The vehicle docking assembly includes: A first docking mechanism (10) is provided on the autonomous mobile robot. The first docking mechanism (10) includes a first traction member (111) and a second traction member (112) that can be raised and lowered. Both the first traction member (111) and the second traction member (112) have a docking position and a disengagement position. The docking position is higher than the disengagement position. The second docking mechanism (30) is provided on the mounting component (43). The second docking mechanism (30) includes a first limiting member (311) and a second limiting member (312). The first limiting member (311) is provided with a first limiting channel (301) along a first direction, and the second limiting member (312) is provided with a second limiting channel (302) along the first direction. The first traction member (111) and the second traction member (112) in the docking position are respectively confined within the first limiting channel (301) and the second limiting channel (302); the first traction member (111) and the second traction member (112) in the undocking position are respectively disengaged from the first limiting channel (301) and the second limiting channel (302).

2. The vehicle docking assembly according to claim 1, characterized in that, The first traction member (111) in the docking position can enter the first limiting channel (301) along the first direction, and the second traction member (112) in the docking position can enter the second limiting channel (302) along the first direction. Both the first traction member (111) and the second traction member (112) can be limited in the second direction, and at least one of the first traction member (111) and the second traction member (112) can be limited in the first direction. The first traction member (111) descends to the undocking position and disengages from the first limiting channel (301), and the second traction member (112) descends to the undocking position and disengages from the second limiting channel (302).

3. The vehicle docking assembly according to claim 1, characterized in that, The first traction member (111) can achieve circumferential limiting within the first limiting channel (301), and the second traction member (112) can achieve limiting in the second direction within the second limiting channel (302).

4. The vehicle docking assembly according to claim 1, characterized in that, The second limiting member (312) is provided with a second limiting channel (302) through it along the first direction, and the second limiting channel (302) allows the first traction member (111) to pass through; And / or, the first limiting channel (301) is a channel closed at one end, and the first traction member (111) is limited at the closed end of the first limiting channel (301); And / or, in the second direction, the outer wall surface of the second traction member (112) and the inner wall surface of the second limiting channel (302) limit abutment.

5. The vehicle docking assembly according to claim 4, characterized in that, The cross-sectional dimension of the first traction member (111) is smaller than the cross-sectional dimension of the second traction member (112); And / or, the second traction member (112) is rotatably disposed on the top of the autonomous mobile robot, and the second traction member (112) is able to rotate to a limited position where the outer wall surface of the second traction member (112) is in contact with the inner wall surface of the second limiting channel (302), and to a non-contact position where the outer wall surface of the second traction member (112) is disengaged from the inner wall surface of the second limiting channel (302).

6. The vehicle docking assembly according to claim 1, characterized in that, The first limiting member (311) includes a first channel member (3111) and a blocking member (3112). The first channel member (3111) has a first limiting channel (301) closed at one end. The blocking member (3112) is movably disposed on the first channel member (3111) and has a clearance position that allows the first traction member (111) to move to the closed end of the first limiting channel (301) and a blocking position that can block the first traction member (111) within the closed end of the first limiting channel (301).

7. The vehicle docking assembly according to claim 6, characterized in that, The blocking member (3112) includes a rotating stop that is rotatably connected to the first channel member (3111), the rotating stop being capable of reciprocating between a clearance position and a blocking position.

8. The vehicle docking assembly according to claim 7, characterized in that, The rotating stop includes two sector-shaped baffles (31121), which are rotatably connected to both sides of the first limiting channel (301). The first traction member (111) passes between the two sector-shaped baffles (31121) by squeezing the junction of the two sector-shaped baffles (31121).

9. The vehicle docking assembly according to claim 6, characterized in that, The blocking member (3112) includes a telescopic blocking member that extends and retracts in a second direction, the telescopic blocking member being able to reciprocate between an avoidance position and a blocking position.

10. The vehicle docking assembly according to any one of claims 7-9, characterized in that, The first limiting member (311) further includes a reset member (31122), which has a tendency to reset the blocking member (3112) from the avoidance position to the blocking position.

11. The vehicle docking assembly according to claim 1, characterized in that, The first limiting channel (301) includes a first guide section (3011) and a first limiting section (3012) that are interconnected. The first guide section (3011) has a large opening end and a small opening end. The small opening end of the first guide section (3011) is connected to the first limiting section (3012). The first traction member (111) is limited to the first limiting section (3012). And / or, the second limiting channel (302) includes a second guide section (3021) and a second limiting section (3022) that are interconnected, the second guide section (3021) having a large opening end and a small opening end, the small opening end of the second guide section (3021) being connected to the second limiting section (3022), and the second traction member (112) being limited to the second limiting section (3022).

12. The vehicle docking assembly according to claim 1, characterized in that, The first docking mechanism (10) is located on the top of the autonomous mobile robot; And / or, at least two of the first traction member (111) and the first limiting member (311) are provided, and they are provided in a one-to-one correspondence; And / or, at least two of the second traction member (112) and the second limiting member (312) are provided, and they are provided in a one-to-one correspondence; And / or, the first traction member (111) and the second traction member (112) are spaced apart in the first direction, and the first limiting member (311) and the second limiting member (312) are spaced apart in the first direction.

13. A transport system, characterized in that, The system includes a vehicle, an autonomous mobile robot, and a vehicle docking assembly according to any one of claims 1-12, wherein the first docking mechanism (10) is disposed on the top of the autonomous mobile robot, and the second docking mechanism (30) is disposed on the mounting component (43).

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