Autonomous mobile robot and hauling system

Abstract

The utility model discloses an autonomous mobile robot and a hauling system. The autonomous mobile robot is used for being in butt joint with a carrier from the bottom of the carrier, the autonomous mobile robot comprises a liftable traction piece and a driving mechanism, the driving mechanism comprises a rotary driving piece and a lifting structure, and the lifting structure is used for converting rotary motion output by the rotary driving piece into ascending motion and / or descending motion of the traction piece. The traction piece can ascend and descend in a reciprocating mode between the butt joint position where the traction piece is in butt joint with the carrier and the butt joint releasing position where butt joint with the carrier is released. The driving mechanism converts rotary motion into lifting motion, so that the lifting range of the traction piece is only between the butt joint position and the contact butt joint position, the requirement for the lifting control precision is lowered, and the maximum lifting amplitude is controllable; the driving mechanism is arranged on the side of the traction piece, so that the thickness of the autonomous mobile robot is reduced, and the autonomous mobile robot is light and thin.

Description

Technical Field

[0001] This utility model relates to the field of warehousing equipment technology, and in particular to an autonomous mobile robot 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 tows both the vehicle and cargo from front to back. However, placing the towing mechanism at the rear of the AMR results in a large space occupation and poor docking stability with the vehicle. Therefore, some AMRs utilize a liftable towing column to pull the vehicle from the bottom. However, the liftable towing column design increases the thickness of the AMR, requires a significant amount of space at the bottom of the AMR for docking, and makes controlling the lifting of the towing column difficult. The maximum lifting range is hard to control, easily leading to docking failure or disengagement, and also increasing the risk of hard collisions, resulting in poor safety. Utility Model Content

[0004] The purpose of this invention is to provide an autonomous mobile robot and a towing system. This autonomous mobile robot occupies little space in the vertical direction, has a controllable maximum lifting range, and is safe.

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

[0006] An autonomous mobile robot is provided for docking with a vehicle from the bottom. The autonomous mobile robot includes: a liftable traction member; and a drive mechanism disposed on the side of the traction member. The drive mechanism includes a rotary drive member and a lifting structure. The lifting structure includes a rotating connection part and a lifting part. The output end of the rotary drive member is connected to the rotating connection part. The lifting part cooperates with the traction member. The lifting structure is used to convert the rotational motion output by the rotary drive member into the upward motion and / or downward motion of the traction member. The traction member is capable of reciprocating between a docking position with the vehicle and a disengagement position.

[0007] Preferably, the lifting structure is a pressing structure, and the lifting part is a pressing part. The pressing part and the traction member are in upper limit contact in the vertical direction. The pressing structure is used to convert the rotational motion output by the rotary drive member into the downward motion of the traction member, so that the traction member can descend from the docking position with the carrier to the undocking position with the carrier. The autonomous mobile robot also includes a first reset mechanism, which is connected to the traction member and has a tendency to make the traction member rise from the undocking position to the docking position. The drive mechanism and the first reset mechanism cooperate to make the traction member reciprocate between the docking position and the undocking position.

[0008] Preferably, the lifting structure is an upward lifting structure, and the lifting part is an upward lifting part. The upward lifting part and the traction member are in upper limit contact in the vertical direction. The upward lifting structure is used to convert the rotational motion output by the rotary drive member into the upward motion of the traction member, so that the traction member can rise from the undocking position to the docking position with the vehicle. The autonomous mobile robot also includes a second reset mechanism, which is connected to the traction member and has a tendency to lower the traction member from the docking position to the undocking position. The drive mechanism and the second reset mechanism cooperate to make the traction member reciprocate between the docking position and the undocking position.

[0009] Preferably, the traction member has a descending abutment surface and an ascending abutment surface, the lifting part is placed between the descending abutment surface and the ascending abutment surface, and has a first state of abutting the descending abutment surface and driving the traction member to descend, and a second state of abutting the ascending abutment surface and driving the traction member to rise.

[0010] Preferably, the pressing structure includes a turntable and a pressing member, the output end of the rotary drive member is connected to the center of the turntable, the pressing member is eccentrically connected to the turntable, and the pressing part is formed on the pressing member.

[0011] Preferably, the pressing structure includes a lead screw and a nut block. One end of the lead screw is connected to the output end of the rotary drive component, and the nut block is threaded onto the lead screw to form a lead screw and nut pair. The pressing part is formed on the nut block.

[0012] Preferably, the pressing structure is a crank-slider structure, which includes a rotating connecting rod at the starting end and a lifting slider at the end. One end of the rotating connecting rod is connected to the output end of the rotary drive, and the pressing part is formed on the lifting slider.

[0013] Preferably, the pressing structure is a crank-rocker structure, which includes a rotating rod at the starting end and a lifting rod at the end. One end of the rotating rod is connected to the output end of the rotary drive, and the pressing part is formed on the lifting rod.

[0014] Preferably, the traction member includes a traction part and a limiting flange part. The traction part is used to traction the vehicle, the limiting flange part is arranged circumferentially along the traction part, and the pressing part and the limiting flange part are in vertical upper limit contact.

[0015] Preferably, the first reset mechanism is a compression spring, which is located below the traction member in a compressed state, and the top end of the compression spring is connected to the traction member;

[0016] Alternatively, the first reset mechanism is a tension spring, which is positioned above the traction member in a stretched state, and the bottom end of the tension spring is connected to the traction member.

[0017] Preferably, the autonomous mobile robot further includes a positioning detection mechanism, which can issue a first positioning signal when the traction member rises to the docking position, and / or issue a second positioning signal when the traction member descends to the undocking position.

[0018] Preferably, the positioning detection mechanism is one of a proximity switch, a photoelectric switch, a micro switch, and a distance sensor; and / or, the positioning detection mechanism is located on the side of the traction member, and the positioning detection mechanism and the driving mechanism are located on different sides of the traction member.

[0019] A towing system includes a vehicle and the aforementioned autonomous mobile robot. The bottom of the vehicle is provided with a limiting member, and the limiting member is provided with a limiting channel. The traction member can move laterally into the limiting channel and achieve limiting docking with the limiting member.

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

[0021] This invention provides an autonomous mobile robot for docking with a carrier from the bottom. The robot includes a liftable traction component and a drive mechanism. The drive mechanism includes a rotary drive component and a lifting structure. The lifting structure includes a rotating connection and a lifting part. The output end of the rotary drive component is connected to the rotating connection component. The lifting part cooperates with the traction component. The lifting structure converts the rotational motion output by the rotary drive component into the upward and / or downward motion of the traction component. The traction component can reciprocate between the docking position and the undocking position. The drive mechanism of this autonomous mobile robot converts rotational motion into lifting motion, limiting the lifting range of the traction component to between the docking position and the contact docking position. This reduces the precision requirements for lifting control, making the maximum lifting amplitude controllable and facilitating the determination of the docking status. The highest position of the traction component indicates the docking position, and the lowest position indicates the undocking position. Furthermore, by placing the drive mechanism on the side of the traction component, it does not occupy space in the height direction of the moving body, which helps reduce the thickness of the autonomous mobile robot and facilitates its lightweight design. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the autonomous mobile robot provided by this utility model when the traction component is in the docking position;

[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 disengaged position;

[0024] Figure 3 This is a schematic diagram of the carrier and the second docking mechanism provided by this utility model;

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

[0026] Figure 5 yes Figure 4 A cross-sectional view of the structure shown;

[0027] Figure 6 This is a schematic diagram of the second docking mechanism provided by this utility model;

[0028] Figure 7 yes Figure 6 The diagram shows the structure after the first channel component has been removed.

[0029] In the picture:

[0030] 10. First docking mechanism; 11. Traction component; 111. First traction component; 112. Second traction component; 101. Traction part; 102. Limiting flange part; 103. Limiting ring groove; 12. Drive mechanism; 121. Rotary drive component; 122. Pressing structure; 1221. Turntable; 1222. Pressing component; 13. First reset mechanism; 14. Mounting structure; 141. Support frame; 1411. Mounting top plate; 1412. Mounting side plate; 14121. Side support plate; 14122. Side connecting plate; 142. Support bottom plate; 15. Guide rod; 16. Position detection mechanism; 161. Mounting plate; 17. Sleeve component; 171. Through part; 172. Mounting flange part;

[0031] 20. Mobile main body; 21. Top plate of outer shell; 22. Ring plate of outer shell; 23. Chassis;

[0032] 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;

[0033] 40. Vehicle body; 41. Load-bearing space; 42. Dock-up space; 43. Mounting components; 44. Wheels;

[0034] 50. Goods. Detailed Implementation

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] like Figure 1 and Figure 2 As shown, this utility model provides an autonomous mobile robot capable of docking with and towing a vehicle from the bottom. It should be noted in advance that, as... Figure 3 As shown, the vehicle is a device for carrying cargo 50. The vehicle includes a vehicle body 40, which has a carrying space 41 and mounting components 43 and wheels 44 located below the carrying space 41. The wheels 44 are used to assist the vehicle in moving and improve the vehicle's mobility. The carrying space 41 is used to carry cargo 50. Below the mounting components 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, the autonomous mobile robot can pull the vehicle from the bottom of the vehicle. After the autonomous mobile robot disengages from the vehicle, it can move out of the docking space 42 and perform the task of pulling other vehicles.

[0040] To achieve docking between autonomous mobile robots and vehicles, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the autonomous mobile robot includes a mobile body 20 and a first docking mechanism 10 disposed on the mobile body 20, as follows: Figure 3 , Figure 6 and Figure 7As shown, the carrier also includes a second docking mechanism 30 disposed on the carrier body 40. The first docking mechanism 10 is disposed on the top of the mobile body 20, and the second docking mechanism 30 is disposed below the mounting component 43 of the carrier body 40. It should be noted that the mounting component 43 here can be an existing structure on the carrier used to divide and form the bearing space 41 and the docking space 42, such as a plate or a support beam. The first docking mechanism 10 can dock with the second docking mechanism 30 and can also disconnect. Specifically, the first docking mechanism 10 includes at least one traction member 11, and the second docking mechanism 30 includes at least one limiting member 31, with a limiting channel provided on the limiting member 31 along a first direction. During the process of the autonomous mobile robot moving into the docking space 42, the traction member 11 can enter the limiting channel and achieve limiting, thereby completing the lateral docking. It should be noted that the first direction is the forward and backward direction of the autonomous mobile robot.

[0041] Furthermore, the traction member 11 can move up and down in the vertical direction. The traction member 11 has a docking position and a disengagement position, and the docking position is higher than the disengagement position. After the autonomous mobile robot enters the docking space 42, the traction member 11, raised to the docking position, can move directly to the position aligned with the opening of the limiting channel, and directly enter the limiting channel through lateral movement to achieve limiting, thereby completing the lateral docking. The traction member 11 disengages from the limiting member 31 by descending in the vertical direction. Specifically, the traction member 11, descending from the docking position to the disengagement position, can disengage from the limiting channel, thereby causing the traction member 11 to disengage from the limiting member 31, completing the disengagement action.

[0042] After the traction component 11 completes docking with the limiting component 31, the autonomous mobile robot continues to move along the target trajectory to tow the carrier to the target location. Due to the large weight of the carrier and the significant weight of the cargo 50 it carries, the force generated between the autonomous mobile robot and the carrier during towing is substantial. To avoid this force acting on the traction component 11 over a long period, thus accelerating its damage rate and shortening its lifespan, and necessitating frequent replacements, which would increase costs and reduce operational efficiency, the following steps are taken: Figure 4 and Figure 5As shown, the first docking mechanism 10 of the autonomous mobile robot also includes a sleeve 17 and a mounting structure 14. The mounting structure 14 is disposed on the mobile body 20 and has a mounting hole. The sleeve 17 is installed in the mounting hole, and the traction member 11 is installed in the sleeve 17. The traction member 11 extends vertically and can move to the docking space 42 located below the bearing space 41, and dock with the carrier from below the bearing space 41. Specifically, the traction member 11 docks with the limiting member 31 installed on the mounting component 43. The force generated by the traction between the traction member 11 and the carrier is transmitted to the mobile body 20 through the circumferential direction of the sleeve 17.

[0043] Compared to existing technologies where the force is borne solely by the traction column, the first docking mechanism 10 provided by this invention uses the sleeve 17 to distribute the force on the traction component 11 to the mounting structure 14, and then transmits it to the moving body 20 through the mounting structure 14. By utilizing the sleeve 17 and the moving body 20 to jointly bear the force, damage to the traction component 11 can be reduced, which helps to extend the service life of the traction component 11, reduce the frequency of replacing and repairing the traction component 11 of the autonomous mobile robot, reduce maintenance costs, and improve work efficiency.

[0044] like Figure 5 As shown, in some embodiments, the mounting structure 14 includes a detachably connected support frame 141 and a support base plate 142. The support frame 141 includes a mounting top plate 1411 and mounting side plates 1412 located on both sides of the mounting top plate 1411. The mounting top plate 1411, the two mounting side plates 1412, and the support base plate 142 form a frame-like structure capable of accommodating at least part of the traction member 11. Mounting holes are provided on the mounting top plate 1411. This arrangement facilitates the assembly of the traction member 11, the sleeve member 17, and the moving body 20. During assembly, the sleeve member 17 is first installed on the support frame 141, then the traction member 11 is installed on the sleeve member 17, then the support frame 141 is assembled with the support base plate 142, and finally the assembled structure is installed on the moving body 20.

[0045] Furthermore, continue to refer to Figure 1As shown, the mobile body 20 includes an outer shell structure, which includes a top plate 21, an outer ring plate 22, and a chassis 23. The top plate 21 is detachably installed at the top opening of the outer ring plate 22. Optionally, the mounting structure 14 is placed inside the outer shell structure, with the mounting top plate 1411 installed on the bottom surface of the top plate 21 and the supporting base plate 142 installed on the chassis 23. The installation method can be screw connection, magnetic attraction, adhesive bonding, etc. A clearance hole is provided through the top plate 21, and the traction member 11 is correspondingly arranged with the clearance hole. A portion of the traction member 11 protrudes outside the outer shell structure through the clearance hole and extends 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.

[0046] Optionally, the mounting side plate 1412 is approximately L-shaped, comprising a vertically connected side support plate 14121 and a side connecting plate 14122. The end of the side support plate 14121 furthest from the side connecting plate 14122 is connected to one end of the mounting top plate 1411. The mounting top plate 1411 and the side connecting plate 14122 are located on different sides of the side support plate 14121. The side connecting plate 14122 is connected to the supporting base plate 142, and the connection method can be screw connection, magnetic attraction, adhesive, etc. It should be noted that the mounting top plate 1411 and the two mounting side plates 1412 can be a single molded part, or a spliced ​​structure formed by splicing multiple plates.

[0047] Continue to refer to Figure 5 As shown, the sleeve 17 includes a through-hole portion 171 and a mounting flange portion 172. The mounting flange portion 172 is arranged circumferentially along the through-hole portion 171. The through-hole portion 171 passes through the mounting hole, and the mounting flange portion 172 overlaps the top surface of the mounting structure 14 for fixation. Optionally, a first connecting hole is provided on the mounting flange portion 172, and a second connecting hole is provided on the mounting top plate 1411. A first connector is connected in the first connecting hole and the second connecting hole. Further, multiple first connecting holes and multiple second connecting holes are provided, and they are arranged in a one-to-one correspondence. Each set of first connecting holes and second connecting holes contains one first connector. In a specific embodiment, there are four first connecting holes and four second connecting holes, arranged in a ring. In a specific embodiment, the first connector is a screw or a combination of bolt and nut.

[0048] Continue to participate Figure 5As shown, the traction member 11 includes a traction portion 101 and a limiting flange portion 102. The limiting flange portion 102 is arranged circumferentially along the traction portion 101. The traction portion 101 is used to traction a vehicle. The traction portion 101 passes through the inner hole of the sleeve member 17. The limiting flange portion 102 can move to a limiting position where it abuts against the bottom end of the through portion 171. This arrangement can limit the lifting position of the traction member 11 and prevent the traction member 11 from disengaging from the sleeve member 17 due to excessive movement. In some embodiments, such as Figure 4 As shown, the traction part 101 is cylindrical; the limiting flange part 102 is annular. Of course, in other embodiments, the traction part 101 can also be a cylindrical structure of other shapes, and the limiting flange part 102 can also be an annular structure of other shapes.

[0049] Furthermore, a limiting annular groove 103 is provided circumferentially around the traction part 101 on the limiting flange part 102, and the bottom end of the through part 171 can be inserted into the limiting annular groove 103. This arrangement can improve the limiting effect.

[0050] In some embodiments, since the traction member 11 has lifting properties, the traction member 11 is vertically and vertically disposed within the sleeve member 17.

[0051] To enable the traction member 11 to move up and down within the sleeve member 17, in some embodiments, the autonomous mobile robot also includes a translational drive component, which drives the traction member 11 to move up and down in the vertical direction. It should be noted that the translational drive component can be a power component capable of directly outputting linear motion, such as a linear motor or a drive cylinder. The translational drive component not only needs to be placed within the mounting structure 14 and below the traction member 11, requiring a relatively high internal space height for the moving body 20, but also needs precise control of the lifting height of the traction member 11 each time, thus placing high demands on control.

[0052] In some parallel embodiments, the first docking mechanism 10 of the autonomous mobile robot further includes a drive mechanism 12. The drive mechanism 12 includes a rotary drive component 121 and a lifting structure. The lifting structure includes a rotating connection part and a lifting part. The output end of the rotary drive component 121 is connected to the rotating connection part for transmission. The lifting part cooperates with the traction component 11. The lifting structure is used to convert the rotational motion output by the rotary drive component 121 into the upward motion and / or downward motion of the traction component 11. The traction component 11 can reciprocate between the docking position with the carrier and the undocking position with the carrier.

[0053] The drive mechanism 12 of the autonomous mobile robot converts rotational motion into lifting motion, so that the lifting range of the traction component 11 is only between the docking position and the contact docking position. This not only reduces the control precision requirements for lifting, but also makes the maximum lifting amplitude controllable, and makes the docking status easy to judge. The highest position of the traction component 11 is the docking position, and the lowest position is the undocking position.

[0054] Optionally, the drive mechanism 12 is located on the side of the traction member 11. By placing the drive mechanism 12 on the side of the traction member 11, the drive mechanism 12 does not occupy space in the height direction of the moving body 20, which helps to reduce the thickness of the autonomous mobile robot, facilitates the realization of the lightweight and thin design of the autonomous mobile robot, reduces the space occupied at the bottom of the carrier, and lowers the requirements for the height of the docking space 42.

[0055] Optionally, the rotary drive 121 is a rotary motor, and the motor shaft of the rotary motor is directly the output end of the rotary drive 121; of course, in other embodiments, the rotary drive 121 can also be a combination of a rotary motor and a transmission component. The transmission component can be a gear assembly, a synchronous belt assembly, or other transmission structures that can convert rotary motion into rotary motion. The rotary output component of the transmission structure is the output end of the rotary drive 121.

[0056] Regarding the cooperation between the lifting unit and the traction member 11, in a specific embodiment, the lifting structure can convert a portion of the rotational motion output by the rotary drive member 121 into the upward motion of the traction member 11, and can also convert another portion of the rotational motion output by the rotary drive member 121 into the downward motion of the traction member 11. Exemplarily, a downward abutment surface and an upward abutment surface can be formed on the traction member 11, and the lifting unit can be placed between the downward abutment surface and the upward abutment surface. The lifting unit has a first state of abutting against the downward abutment surface and driving the traction member 11 downward, and a second state of abutting against the upward abutment surface and driving the traction member 11 upward. When the lifting unit is in the first state, as the rotary connection rotates, the lifting unit can cause the traction member 11 to move downward by pressing down the downward abutment surface; when the lifting unit is in the second state, as the rotary connection rotates, the lifting unit can cause the traction member 11 to move upward by lifting the upward abutment surface.

[0057] Of course, in other embodiments, the lifting structure may also be used only to convert a portion of the rotational motion output by the rotary drive 121 into one of the upward or downward motion of the traction member 11. Specifically, the lifting structure is used to convert the rotational motion output by the rotary drive 121 into either the downward or upward motion of the traction member 11, enabling the traction member 11 to move forward between the docking position (with the vehicle) and the undocking position (without docking with the vehicle). The other of the upward or downward motion of the traction member 11 is powered by a reset structure. Specifically, the reset structure is connected to the traction member 11 and has a tendency to cause the traction member 11 to move in the opposite direction between the undocking position and the docking position. One of the forward and reverse movements is from the docking position to the undocking position, and the other is from the undocking position to the docking position. In detail, if the forward movement is from the docking position to the undocking position, then the reverse movement is from the undocking position to the docking position; if the forward movement is from the undocking position to the docking position, then the reverse movement is from the docking position to the undocking position. The drive mechanism 12 and the reset structure work together to make the traction member 11 reciprocate between the docking position and the undocking position.

[0058] In one specific embodiment, the lifting structure can convert a portion of the rotational motion output by the rotary drive 121 into the upward motion of the traction member 11. Exemplarily, the lifting structure is an upward-lifting structure, with the lifting portion being an upward-lifting part. The upward-lifting part and the traction member 11 are in upper vertical contact. The upward-lifting structure is used to convert the rotational motion output by the rotary drive 121 into the upward motion of the traction member 11, allowing the traction member 11 to rise from the un-docked position to the docking position with the vehicle. Furthermore, the reset structure includes a second reset mechanism connected to the traction member 11, which has a tendency to lower the traction member 11 from the docking position to the un-docked position. The drive mechanism 12 and the second reset mechanism cooperate to cause the traction member 11 to reciprocate between the docking position and the un-docked position.

[0059] In one specific embodiment, the lifting structure can convert a portion of the rotational motion output by the rotary drive 121 into the downward motion of the traction member 11. Exemplarily, the lifting structure is a pressing structure 122, with the lifting part being the pressing part. The pressing part abuts against the traction member 11 at its upper limit in the vertical direction. Optionally, the pressing part abuts against the limiting flange 102 of the traction member 11 at its upper limit in the vertical direction. The pressing structure 122 is used to convert the rotational motion output by the rotary drive 121 into the downward motion of the traction member 11, allowing the traction member 11 to descend from the docking position with the carrier to the undocking position after being disconnected from the carrier. The reset structure includes a first reset mechanism 13, which is connected to the traction member 11 and has a tendency to raise the traction member 11 from the undocking position to the docking position. The drive mechanism 12 and the first reset mechanism 13 cooperate to cause the traction member 11 to reciprocate between the docking position and the undocking position.

[0060] Continue to refer to Figure 5 As shown, in some embodiments, the pressing structure 122 includes a turntable 1221 and a pressing member 1222. The output end of the rotary drive member 121 is connected to the center of the turntable 1221, and the pressing member 1222 is eccentrically connected to the turntable 1221. A pressing portion is formed on the pressing member 1222. Optionally, the turntable 1221 is a disc; the turntable 1221 is provided with an assembly hole, and the pressing member 1222 includes a coaxially arranged mounting shaft and a cylindrical pressing block. The radial dimension of the mounting shaft is smaller than the radial dimension of the pressing block. The mounting shaft is inserted into the mounting hole, and the pressing block is the pressing portion. In this embodiment, the pressing block and the limiting flange 102 are in vertical upper limit contact. Optionally, the pressing block is rotatably connected to the mounting shaft to reduce the friction between it and the limiting flange 102.

[0061] During the rotation of the turntable 1221 driven by the rotary motor, the pressing member 1222 rises and falls with the rotation of the turntable 1221. When the pressing member 1222 rotates to the highest point, the traction member 11 is in the docking position. When the pressing member 1222 rotates to the lowest point, the traction member 11 is in the disengaged position.

[0062] In some parallel embodiments, the pressing structure 122 includes a lead screw and a nut block. One end of the lead screw is connected to the output end of the rotary drive 121, and the nut block is threaded onto the lead screw to form a lead screw-nut pair. The nut block has a pressing portion. In this embodiment, the nut block and the limiting flange 102 make upper limit contact in the vertical direction.

[0063] In some embodiments, the pressing structure 122 is a crank-slider structure, which includes a rotating connecting rod at the starting end and a lifting slider at the ending end. One end of the rotating connecting rod is connected to the output end of the rotary drive member 121, and the lifting slider has a pressing portion. In this embodiment, the bottom end of the lifting slider abuts against the limiting flange 102 in the vertical direction. It should be noted that there are no limitations on the specific structure and quantity of the transmission rods located between the rotating connecting rod and the lifting slider.

[0064] In some embodiments, the pressing structure 122 is a crank-rocker structure, which includes a rotating rod at the starting end and a lifting rod at the ending end. One end of the rotating rod is connected to the output end of the rotary drive member 121, and the lifting rod has a pressing portion. In this embodiment, the bottom end of the lifting rod abuts against the limiting flange 102 in the vertical direction. It should be noted that there are no limitations on the specific structure and quantity of the transmission rods located between the rotating rod and the lifting rod.

[0065] It should be noted that the structure of the lifting structure can be the same as that of the pressing structure 122, only the positional relationship with the traction member 11 changes. For example, the lifting part of the lifting structure can be placed below the limiting flange 102, while the pressing part of the pressing structure 122 can be placed above the limiting flange 102. By changing the positional relationship, the pressing structure 122 can be converted into an lifting structure.

[0066] To improve the lifting accuracy of the traction component 11, such as Figure 5 As shown, the autonomous mobile robot also includes a guide rod 15, and a guide hole is provided on the traction member 11. Both the guide rod 15 and the guide hole extend in the vertical direction. The bottom end of the guide rod 15 is installed on the support base plate 142, and the top end of the guide rod 15 passes through the bottom of the traction member 11 and enters the guide hole.

[0067] like Figure 5 As shown, in some embodiments, the first reset mechanism 13 is a compression spring, which is located below the traction member 11 in a compressed state, and one end of the compression spring is connected to the traction member 11. During the process of the lowering part pressing down on the traction member 11 to descend, the compression spring is compressed and accumulates elastic potential energy. When the traction member 11 needs to rise, the lowering part 1222 gradually rises and disengages from the traction member 11 to release the limiting position. The compression spring simultaneously releases its elastic potential energy and drives the traction member 11 to rise. Optionally, the compression spring is sleeved outside the guide rod 15, with the bottom end of the compression spring abutting against the support base plate 142, and the top end of the compression spring entering the guide hole and abutting against the stop surface formed in the guide hole.

[0068] In some parallel embodiments, the first reset mechanism 13 is a tension spring, which is positioned above the traction member 11 in a stretched state, with one end of the tension spring connected to the traction member 11. During the process of the pressing part pressing down on the traction member 11 to descend, the tension spring is stretched and accumulates elastic potential energy. When the traction member 11 needs to rise, the pressing part 1222 gradually rises and disengages from the traction member 11 to release the limit, and the tension spring synchronously releases its elastic potential energy and drives the traction member 11 to rise. Optionally, the tension spring is located outside the sleeve 17 and is connected between the mounting top plate 1411 and the limiting flange 102. The top end of the tension spring is connected to the mounting top plate 1411, and the bottom end of the tension spring is connected to the limiting flange 102. Alternatively, the tension spring is sleeved outside the through portion 171 of the sleeve 17 and is connected between the mounting top plate 1411 and the limiting flange 102. The top end of the tension spring is connected to the mounting top plate 1411, and the bottom end of the tension spring is connected to the limiting flange 102.

[0069] It should be noted that the structure of the second reset mechanism can be the same as that of the first reset mechanism 13, except that the positional relationship with the traction member 11 changes. For example, the second reset mechanism can be located above the traction member 11, while the first reset mechanism 13 can be located below the traction member 11. By changing the positional relationship, the first reset mechanism 13 can be converted into the second reset mechanism.

[0070] Furthermore, the autonomous mobile robot also includes a positioning detection mechanism 16, which can issue a first positioning signal when the traction member 11 rises to the docking position, and / or issue a second positioning signal when the traction member 11 descends to the undocking position. Of course, in other embodiments, if necessary, the positioning detection mechanism 16 can also issue a positioning limit signal when the traction member 11 rises or falls to other positions, and is not limited to detecting only the docking position and the undocking position.

[0071] Optionally, the positioning detection mechanism 16 can be located on the side of the traction member 11. For example, if the pressing structure 122 includes a turntable 1221 and a pressing member 1222, multiple detection points are spaced apart on the turntable 1221, such as a first detection point and a second detection point. When the positioning detection mechanism 16 detects the first detection point, it indicates that the traction member 11 is in the docking position; when the positioning detection mechanism 16 detects the second detection point, it indicates that the traction member 11 is in the disengaged position. Further, the positioning detection mechanism 16 and the driving mechanism 12 are located on different sides of the traction member 11 to improve the rationality of the layout. Of course, in other embodiments, the positioning detection mechanism 16 can also be located above or below the traction member 11.

[0072] like Figure 4As shown, the autonomous mobile robot also includes a mounting plate 161, which is mounted on the support frame 141. A positioning detection mechanism 16 is mounted on the mounting plate 161. Optionally, the mounting plate 161 is an L-shaped plate, comprising a first plate and a second plate vertically connected. The first plate is connected to the outer side of the side support plate 14121, and the positioning detection mechanism 16 is mounted on the second plate. Further optionally, the first plate has an elongated hole, and the side support plate 14121 has a third connecting hole. A second connector passes through the elongated hole and the third connecting hole, and its position can be adjusted within the elongated hole to change the position of the positioning detection mechanism 16 for easier installation. Optionally, the second connector is a screw or a combination of bolts and nuts.

[0073] Optionally, two of the in-place detection mechanism 16 and the mounting plate 161 are provided, and are respectively located on opposite sides of the support frame 141 to improve detection accuracy.

[0074] Optionally, the positioning detection mechanism 16 can be one of a proximity switch, photoelectric switch, micro switch, and distance sensor. It should be noted that if the positioning detection mechanism 16 is a distance sensor, the distance sensor can be installed on the mounting top plate 1411 or on the supporting base plate 142, and the position of the traction member 11 is obtained by detecting the distance between it and the limiting flange 102.

[0075] To improve the stability of the towing docking, at least two towing members 11 are provided, spaced apart, and each towing member 11 can dock with the vehicle from below. Optionally, at least some of the towing members 11 are different, which can be different in shape, size, or both. Correspondingly, at least two limiting members 31 are also provided, each corresponding to one of the multiple towing members 11.

[0076] Continue to refer to Figure 1 As shown, in some embodiments, the first docking mechanism 10 includes two traction members 11, namely a first traction member 111 and a second traction member 112, which are spaced apart in a first direction; continuing to refer to Figure 6 As shown, the second docking mechanism 30 includes two limiting members 31, namely a first limiting member 311 and a second limiting member 312. The first limiting member 311 and the second limiting member 312 are spaced apart in a first direction. The first limiting member 311 is provided with a first limiting channel 301 along the first direction, and the second limiting member 312 is provided with a second limiting channel 302 along the first direction.

[0077] The first docking mechanism 10 and the second docking mechanism 30 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 achieve circumferential limiting, while the second traction member 112, in the docking position, can enter the second limiting channel 302 along the first direction and achieve limiting in at least the second direction. Furthermore, 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. The first docking mechanism 10 and the second docking mechanism 30 achieve disengagement through movement 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, and the second traction member 112, descending from the docking position to the disengagement position, disengages from the second limiting channel 302.

[0078] It should be noted that the second direction refers to the left and right directions 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.

[0079] The first docking mechanism 10 and the second docking mechanism 30 achieve direct docking through relative movement in a first direction. Specifically, the traction member 11, in the docking position, directly enters the corresponding limiting channel along the first direction to achieve docking. This method is not only simple and efficient but also highly stable. Conversely, the method of releasing docking by the traction member 11 disengaging from the corresponding limiting channel after descending to the release docking position is not only simple and efficient but also does not affect the positioning stability and accuracy of the vehicle. Furthermore, 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 at least in the second direction. This ensures sufficient limiting stability for the first docking mechanism 10 and the second docking mechanism 30 while avoiding excessive limitation that could affect docking flexibility or complicate the structure.

[0080] To reduce the difficulty of achieving mobile docking between 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 engages with the first limiting member 311, in some embodiments, a second limiting channel 302 is provided through the second limiting member 312 along a first direction. 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 within the second limiting channel 302. Similarly, when the first traction member 111 enters the first limiting channel 301, it can guide the second traction member 112 to simultaneously enter the second limiting channel 302. This arrangement improves the guiding effect and helps reduce docking difficulty. This arrangement also means that the first traction member 111 and the second traction member 112 only need to be lowered to the undocking position when disengaging, which helps reduce control difficulty.

[0081] 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.

[0082] Continue to refer to Figure 6 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.

[0083] In order to achieve the circumferential limitation of the first traction member 111 within the first limiting channel 301, continue to refer to Figure 6As 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 (the first limiting channel 301) and setting only one blocking component (3112) is simpler, lower in cost, and has better docking stability.

[0084] 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.

[0085] In a specific embodiment, such as Figure 7 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.

[0086] 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.

[0087] 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.

[0088] Furthermore, continue to refer to Figure 7 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.

[0089] 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.

[0090] Continue to refer to Figure 6As 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.

[0091] 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.

[0092] Continue to refer to Figure 6 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 traction portion 101 of the first traction member 111 and the traction portion 101 of the second traction member 112 are cylindrical, and the diameter of the traction portion 101 of the first traction member 111 is smaller than the diameter of the traction portion 101 of the second traction member 112.

[0097] Furthermore, in order to improve the integration of the second docking mechanism 30, we will continue to refer to... Figure 6As 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 vehicle body 40, the second docking mechanism 30 can be integrally mounted on the vehicle body 40. 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.

[0098] This invention also provides a towing system, which includes a vehicle and the aforementioned autonomous mobile robot. The bottom of the vehicle is provided with a limiting member 31, which has a limiting channel extending horizontally. The traction member 11 can move into the limiting channel and achieve limiting docking with the limiting member 31. Compared to the prior art where a traction mechanism is set behind the autonomous mobile robot, resulting in large space occupation, poor safety, and trailing problems, in this embodiment, the autonomous mobile robot can move to the bottom of the vehicle and achieve limiting docking and traction with the limiting member 31 at the bottom of the vehicle through the traction member 11. This method of the 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 avoids trailing problems and offers greater flexibility in traction and steering.

[0099] It should be noted that by placing the traction component 11 of the first docking mechanism 10 on the top of the autonomous mobile robot and the limiting component 31 of the second docking mechanism 30 on the bottom of the carrier, one autonomous mobile robot can dock with multiple carriers separately to achieve separate towing of the carriers. Furthermore, since the first docking mechanism 10 includes a drive mechanism 12, its manufacturing cost is relatively high, while the second docking mechanism 30 is only a plate assembly and does not include a drive mechanism, its manufacturing cost is relatively low. This modification of the autonomous mobile robot and carrier helps to reduce costs. In addition, the specific structures of the first docking mechanism 10 and the second docking mechanism 30 have been detailed above and will not be repeated here.

[0100] In some embodiments, such as Figure 3As shown, the main body 40 of the vehicle is a cage-like vehicle, which includes a body and multiple wheels 44 located at the bottom of the body. The body forms a carrying space 41 and a docking space 42. Optionally, the body includes crossbars and uprights, forming a frame structure by splicing multiple crossbars and uprights. Each upright has a wheel 44 at its bottom. In one specific embodiment, four uprights are arranged in two rows and two columns. Between the four uprights, there is a storage layer formed by splicing crossbars. The storage layer can be one or more layers as needed. The bottom storage layer forms the mounting 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 main body 40 of the vehicle is not limited to a cage-like vehicle and can also be other mobile bodies with carrying space 41, docking space 42, and wheels 44 as needed.

[0101] 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. An autonomous mobile robot, characterized in that, The autonomous mobile robot is designed for docking with the vehicle from the bottom, and includes: Liftable traction component (11); A drive mechanism (12) is provided on the side of the traction member (11). The drive mechanism (12) includes a rotary drive member (121) and a lifting structure. The lifting structure includes a rotating connection part and a lifting part. The output end of the rotary drive member (121) is connected to the rotating connection part in a transmission manner. The lifting part cooperates with the traction member (11). The lifting structure is used to convert the rotational motion output by the rotary drive member (121) into the upward motion and / or downward motion of the traction member (11). The traction component (11) is capable of reciprocating between a docking position with the vehicle and a disengagement position with the vehicle.

2. The autonomous mobile robot according to claim 1, characterized in that, The lifting structure is a pressing structure (122), the lifting part is a pressing part, the pressing part and the traction member (11) are in upper limit contact in the vertical direction, the pressing structure (122) is used to convert the rotational motion output by the rotating drive member (121) into the downward motion of the traction member (11), so that the traction member (11) can be lowered from the docking position with the vehicle to the undocking position with the vehicle; The autonomous mobile robot also includes a first reset mechanism (13), which is connected to the traction member (11) and has a tendency to raise the traction member (11) from the undocking position to the docking position. The drive mechanism (12) and the first reset mechanism (13) cooperate to make the traction member (11) reciprocate between the docking position and the undocking position.

3. The autonomous mobile robot according to claim 1, characterized in that, The lifting structure is an upward lifting structure, the lifting part is an upward lifting part, the upward lifting part and the traction member (11) are in vertical upper limit contact, the upward lifting structure is used to convert the rotational motion output by the rotational drive member (121) into the upward motion of the traction member (11), so that the traction member (11) can rise from the unconnection position of the unconnection with the vehicle to the docking position of docking with the vehicle; The autonomous mobile robot also includes a second reset mechanism, which is connected to the traction member (11) and has a tendency to lower the traction member (11) from the docking position to the undocking position; The drive mechanism (12) and the second reset mechanism work together to make the traction member (11) reciprocate between the docking position and the undocking position.

4. The autonomous mobile robot according to claim 1, characterized in that, The traction member (11) has a lowering contact surface and an uppering contact surface. The lifting part is located between the lowering contact surface and the uppering contact surface, and has a first state in which it contacts the lowering contact surface and drives the traction member (11) to descend, and a second state in which it contacts the uppering contact surface and drives the traction member (11) to rise.

5. The autonomous mobile robot according to claim 2, characterized in that, The pressing structure (122) includes a turntable (1221) and a pressing member (1222). The output end of the rotary drive member (121) is connected to the center of the turntable (1221). The pressing member (1222) is eccentrically connected to the turntable (1221). The pressing part is formed on the pressing member (1222).

6. The autonomous mobile robot according to claim 2, characterized in that, The pressing structure (122) includes a lead screw and a nut block. One end of the lead screw is connected to the output end of the rotary drive (121). The nut block is threaded onto the lead screw and forms a lead screw and nut pair. The pressing part is formed on the nut block.

7. The autonomous mobile robot according to claim 2, characterized in that, The pressing structure (122) is a crank-slider structure, which includes a rotating connecting rod at the starting end and a lifting slider at the end. One end of the rotating connecting rod is connected to the output end of the rotating drive (121), and the pressing part is formed on the lifting slider.

8. The autonomous mobile robot according to claim 2, characterized in that, The pressing structure (122) is a crank-rocker structure, which includes a rotating rod at the starting end and a lifting rod at the end. One end of the rotating rod is connected to the output end of the rotating drive (121), and the pressing part is formed on the lifting rod.

9. The autonomous mobile robot according to claim 2, characterized in that, The traction member (11) includes a traction part (101) and a limiting flange part (102). The traction part (101) is used to traction the vehicle. The limiting flange part (102) is arranged along the circumference of the traction part (101). The pressing part and the limiting flange part (102) are in vertical upper limit contact.

10. The autonomous mobile robot according to claim 2, characterized in that, The first reset mechanism (13) is a compression spring, which is located below the traction member (11) in a compressed state, and the top end of the compression spring is connected to the traction member (11). Alternatively, the first reset mechanism (13) is a tension spring, which is positioned above the traction member (11) in a stretched state, and the bottom end of the tension spring is connected to the traction member (11).

11. The autonomous mobile robot according to any one of claims 1-10, characterized in that, The autonomous mobile robot also includes a positioning detection mechanism (16), which can issue a first positioning signal when the traction member (11) rises to the docking position, and / or issue a second positioning signal when the traction member (11) descends to the undocking position.

12. The autonomous mobile robot according to claim 11, characterized in that, The positioning detection mechanism (16) is one of a proximity switch, photoelectric switch, micro switch and distance sensor; And / or, the positioning detection mechanism (16) is located on the side of the traction member (11), and the positioning detection mechanism (16) and the driving mechanism (12) are located on different sides of the traction member (11).

13. A transport system, characterized in that, The invention includes a carrier and an autonomous mobile robot as described in any one of claims 1-12. The bottom of the carrier is provided with a limiting member (31), and the limiting member (31) is provided with a limiting channel. The traction member (11) can enter the limiting channel by moving laterally and achieve limiting docking with the limiting member (31).

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