A pallet handling robot

Abstract

This application provides a pallet handling robot, comprising: a vehicle body, a circuit board disposed within the vehicle body, a processor and a main communication module connected to the processor mounted on the circuit board; the vehicle body forming a first receiving cavity and a second receiving cavity; the first receiving cavity having a first opening, and a first charging plate disposed on the inner wall of the first receiving cavity; the second receiving cavity having a second opening, and a second charging plate disposed on the inner wall of the second receiving cavity; a first actuating mechanism movably connected to the vehicle body; the first actuating mechanism having a first sub-communication module, a first battery and a first charging block electrically connected to the first battery; and a second actuating mechanism movably connected to the vehicle body; the second actuating mechanism having a second sub-communication module, a second battery and a second charging block electrically connected to the second battery.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and more particularly to a pallet handling robot. Background Technology

[0002] With the development of factory automation technology, many materials have been handled automatically. Among them, the application of intelligent handling robots (Automated Guided Vehicles, AGVs) is very widespread. For pallet handling, a special type of robot for handling pallets has gradually emerged (hereinafter referred to as: pallet handling robot or pallet AGV). Pallet handling robots have great advantages due to their small size and applicability to various types of pallets.

[0003] Typically, the forks of a pallet AGV are its moving parts, and the connection method between the forks and the vehicle body of the pallet AGV is a key factor in ensuring the stable operation of the pallet AGV. Utility Model Content

[0004] In view of this, this application provides a pallet handling robot that controls the fork legs via wireless communication, eliminating the need for the original cable chain and avoiding the problem of easy wear and breakage of the wiring harness.

[0005] To achieve the above-mentioned technical effects, the embodiments of this application provide the following design:

[0006] This application provides a pallet handling robot, comprising: a vehicle body, a circuit board disposed within the vehicle body, a processor and a main communication module connected to the processor mounted on the circuit board; the vehicle body forming a first receiving cavity and a second receiving cavity; the first receiving cavity having a first opening, and a first charging plate disposed on the inner wall of the first receiving cavity; the second receiving cavity having a second opening, and a second charging plate disposed on the inner wall of the second receiving cavity; a first action mechanism movably connected to the vehicle body, capable of moving a maximum distance from the first receiving cavity through the first opening; the first action mechanism being provided with a first sub-communication module, a first battery, and a first charging block electrically connected to the first battery; the first sub-communication module being used to transmit data wirelessly with the main communication module. First data; a first battery for providing power to a first action mechanism; a first charging block for connecting with a first charging plate to charge the first battery when the first action mechanism is retracted into a first receiving cavity; a second action mechanism, movably connected to the vehicle body, capable of moving a maximum distance from the second receiving cavity through a second opening; the second action mechanism is provided with a second sub-communication module, a second battery, and a second charging block electrically connected to the second battery; the second sub-communication module is used to transmit second data wirelessly with the main communication module; the second battery for providing power to the second action mechanism; the second charging block for connecting with a second charging plate to charge the second battery when the second action mechanism is retracted into the second receiving cavity.

[0007] Based on the pallet handling robot provided in the above embodiments, a communication module is installed in the vehicle body and the motion mechanism, and the vehicle body can directly control the movement of the motion mechanism via wireless communication; a battery is also installed in the motion mechanism, and the battery can be charged through the charging structure installed on the vehicle body and the motion mechanism; in this way, by using a wireless communication module and adding a battery, the cable chain is eliminated, avoiding the loss of robot control due to cable chain wear and breakage.

[0008] In some embodiments, a first pull-wire encoder is disposed in a first receiving cavity. The first pull-wire encoder includes a first pull wire, a first retrieval mechanism, and a first encoder body. The first retrieval mechanism is used to retrieve the first pull wire, and the vehicle body and the first motion mechanism are connected through the first pull wire. A second pull-wire encoder is disposed in a second receiving cavity. The second pull-wire encoder includes a second pull wire, a second retrieval mechanism, and a second encoder body. The second retrieval mechanism is used to retrieve the second pull wire, and the vehicle body and the second motion mechanism are connected through the second pull wire.

[0009] Based on the pallet handling robot provided in the above embodiments, the moving mechanism and the vehicle body are connected by a cable, and the vehicle body and the moving mechanism are physically bound together, which facilitates maintenance and management.

[0010] In some embodiments, a first pull-wire encoder body is used to determine the travel distance of a first action mechanism based on the pull-out length of a first pull wire; a second pull-wire encoder body is used to determine the travel distance of a second action mechanism based on the pull-out length of a second pull wire.

[0011] Based on the pallet handling robot provided in the above embodiments, the movement distance of the motion mechanism is determined by the length of the pull line, and the pull line also plays a restraining role to prevent the motion mechanism from moving too far.

[0012] In some embodiments, the surface of the first charging board is provided with a recessed first metal contact, and the surface of the first charging block is provided with a raised second metal contact, the first metal contact and the second metal contact engaging together when the first battery is charging; the surface of the second charging board is provided with a recessed third metal contact, and the surface of the second charging block is provided with a raised fourth metal contact, the third metal contact and the fourth metal contact engaging together when the second battery is charging.

[0013] The pallet handling robot provided in the above embodiments uses a contact charging method, eliminating the original wire harness charging method and avoiding the inability to charge due to fatigue breakage of the charging wire harness.

[0014] In some embodiments, a first spring is provided inside the second metal contact, the first spring being used to generate elastic force to keep the second metal contact in a protruding state; a second spring is provided inside the fourth metal contact, the second spring being used to generate elastic force to keep the fourth metal contact in a protruding state.

[0015] Based on the pallet handling robot provided in the above embodiments, by setting a spring inside the contact point, the contact point makes more reliable contact during charging, thus ensuring the charging effect.

[0016] In some embodiments, the first action mechanism includes a first sensor and a first driver, the first sensor and the first driver being connected to a first sub-communication module, the first driver being used to drive the first action mechanism; the second action mechanism includes a second sensor and a second driver, the second sensor and the second driver being connected to a second sub-communication module, the second driver being used to drive the second action mechanism.

[0017] Based on the pallet handling robot provided in the above embodiments, obstacles are detected by sensors to avoid collisions that could damage the motion mechanism, while the actuator is specifically designed to drive the motion mechanism, resulting in better driving performance and easier maintenance.

[0018] In some embodiments, the first sub-communication module includes a first input terminal and a first output terminal, and the second sub-communication module includes a second input terminal and a second output terminal; the first input terminal is connected to a first sensor and is used to receive a sensing signal sent by the first sensor; the first output terminal is connected to a first driver and is used to control the first driver; the second input terminal is connected to a second sensor and is used to receive a sensing signal sent by the second sensor; the second output terminal is connected to a second driver and is used to control the second driver.

[0019] Based on the pallet handling robot provided in the above embodiments, the sub-communication module can communicate wirelessly with the main communication module and can also receive signals from sensors. Under normal operation, it can avoid obstacles and realize a closed-loop control.

[0020] In some embodiments, the first moving mechanism includes a first traveling wheel and a first lifting mechanism, and the second moving mechanism includes a second traveling wheel and a second lifting mechanism; the first traveling wheel is used to move the first moving mechanism; the first lifting mechanism is used to lift the goods on the first moving mechanism; the second traveling wheel is used to move the second moving mechanism; and the second lifting mechanism is used to lift the goods on the second moving mechanism.

[0021] Based on the pallet handling robot provided in the above embodiments, the walking wheels and lifting mechanism realize multiple functions of the motion mechanism to transport goods onto the vehicle body.

[0022] In some embodiments, the main communication module, the first sub-communication module, and the second sub-communication module are optical communication modules.

[0023] The pallet handling robot provided in the above embodiments has stronger anti-interference capabilities and enhanced control over the motion mechanism, resulting in higher reliability, thanks to the use of an optical communication module. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a pallet handling robot provided in an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of another pallet handling robot provided in an embodiment of this application;

[0027] Figure 3 This application provides a schematic diagram of the structure of a charging component according to an embodiment of the present application;

[0028] Figure 4a This application provides a schematic diagram of a communication module structure;

[0029] Figure 4b Another schematic diagram of a communication module structure provided in this application embodiment;

[0030] Figure 5a This is a schematic diagram of another pallet handling robot provided in an embodiment of this application;

[0031] Figure 5b This is a schematic diagram of another pallet handling robot provided in an embodiment of this application;

[0032] Figure 6 This is a schematic diagram of the structure of an optical communication receiving circuit provided in an embodiment of this application;

[0033] Figure 7 This is a schematic diagram of the structure of an optical communication transmitting circuit provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments disclosed in this application are within the scope of protection of this application.

[0035] Unless otherwise required by the context, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in the embodiment or example of this application. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, a particular feature, structure, material, or characteristic may be included in any suitable manner in any one or more embodiments or examples.

[0036] Hereinafter, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," or "third," etc., may explicitly or implicitly include one or more of that feature.

[0037] In describing some embodiments, the term "connection" and its derivative expressions may be used. The term "connection" should be interpreted broadly, for example, it can be a mechanical or physical connection, including fixed connections, detachable connections, or integral connections; it can be a direct connection or an indirect connection through an intermediate medium. It can also be an electrical connection, such as a circuit connection, a wireless communication connection, etc.

[0038] Figure 1 This is a schematic diagram of the structure of a pallet handling robot according to an embodiment of this application, as shown below. Figure 1 As shown, the pallet handling robot 1 includes:

[0039] The pallet handling robot body 11 includes a first fork 12, a cable chain 13, and a second fork 14. The first fork 12 is in an extended state and connected to the robot body 11 via the cable chain 13. The second fork 14 is in a retracted state, and the cable chain connected to the second fork 14 is... Figure 1 Not shown in the image.

[0040] Figure 1 The forks shown are controlled by signal lines within the cable chain and powered by power lines within the chain. Due to the frequent extension and retraction of the cable chain, wear on the chain itself and its internal wiring harnesses increases, eventually leading to breakage. Therefore, current pallet handling robots have strict design requirements for the lifespan of the cable chain and its internal wiring harnesses. Common solutions in related technologies include reducing the volume of the wiring harnesses in the cable chain or using longer-lasting wiring harness materials. However, these solutions only extend the lifespan of the wiring harnesses and do not fundamentally solve the problem of wiring harness wear.

[0041] In view of this, this application provides a pallet handling robot in which the vehicle body and the moving mechanism (fork legs) are connected wirelessly instead of wired. At the same time, the vehicle body and the moving mechanism are charged by contact, eliminating the need for charging harnesses. This achieves a chain-free connection between the pallet robot's fork legs and the vehicle body, avoiding the wire breakage problem caused by placing communication harnesses and power cables in the cable chain in related technologies.

[0042] Figure 2 This is a schematic diagram of another pallet handling robot provided in an embodiment of this application, as shown below. Figure 2 As shown, the pallet handling robot 2 includes:

[0043] The vehicle body 21 has a circuit board (not shown) inside it. A processor (not shown) and a main communication module 22 connected to the processor are installed on the circuit board. The vehicle body forms a first receiving cavity 23 and a second receiving cavity 24. The first receiving cavity has a first opening 231. A first charging plate 25 is provided on the inner wall of the first receiving cavity 23. The second receiving cavity 24 has a second opening 241. A second charging plate 26 is provided on the inner wall of the second receiving cavity.

[0044] The first action mechanism 27 is movably connected to the vehicle body 21 and can move a maximum distance from the first receiving cavity 23 through the first opening 231. The first action mechanism 27 is provided with a first sub-communication module 271, a first battery 272 and a first charging block 273 electrically connected to the first battery 272. The first sub-communication module 271 is used to transmit first data with the main communication module 22 wirelessly. The first battery 272 is used to provide power to the first action mechanism 27. The first charging block 273 is used to connect with the first charging plate 25 when the first action mechanism 27 is retracted into the first receiving cavity 23 to charge the first battery 272.

[0045] The second action mechanism 28 is movably connected to the vehicle body 21 and can move a maximum distance from the second receiving cavity 24 through the second opening 241. The second action mechanism 28 is provided with a second sub-communication module 281, a second battery 282, and a second charging block 283 electrically connected to the second battery 282. The second sub-communication module 281 is used to transmit second data with the main communication module 22 wirelessly. The second battery 282 is used to provide power to the second action mechanism 28. The second charging block 283 is used to connect with the second charging plate 26 when the second action mechanism 28 is retracted into the second receiving cavity 24 to charge the second battery 282.

[0046] The first distance and the second distance can be several meters. The specific distance can be determined based on the communication capabilities of the main communication module and the sub-communication module. Alternatively, the first distance and the second distance can be set by technicians according to actual application requirements. For example, to ensure safety, the first distance can be set to no more than 5 meters. The first distance and the second distance can be different.

[0047] For example, such as Figure 2 As shown, the vehicle body 21 has an "E"-shaped structure when viewed from above, in which, Figure 2 The cavities indicated by symbols 23 and 24 are the first receiving cavity 23 and the second receiving cavity 24. The openings of the cavities are the first opening 231 and the second opening 241. The first action mechanism 27 can leave the first receiving cavity 23 through the first opening 231. Similarly, the second action mechanism 28 can leave the second receiving cavity 24 through the second opening 241.

[0048] The movement control logic of the first action mechanism 27 and the second action mechanism 28 is the same. Taking the first action mechanism 27 as an example and combining it with... Figure 2 To explain, the first action mechanism 27 can move horizontally along the opening direction of the first receiving cavity 23, so as to... Figure 2 Taking the top-down view as an example, the first action mechanism 27 can move horizontally to the right to leave the first containment cavity 23, or it can move horizontally to the left to return to the first containment cavity 23.

[0049] The moving mechanism in this embodiment can also be referred to as a fork. It should be noted that the moving mechanism is only a general description of the movable part of the pallet handling robot in this application and is not intended to be limiting. The moving mechanism is movably connected to the vehicle body. From a communication perspective, this means that the moving mechanism maintains a communication connection with the vehicle body during movement. From a physical connection perspective, this means that the moving mechanism is always connected to the vehicle body via a cable.

[0050] The processor on the vehicle body 21 can be implemented using a general-purpose microcontroller unit (MCU) or other controllers.

[0051] The number of main communication modules 22 on the vehicle body 21 can be two or more, such as Figure 2As shown, a main communication module 22 is respectively provided in the first receiving cavity 23 and the second receiving cavity 24. In some embodiments, the number of main communication modules in each receiving cavity can be increased. Each main communication module is connected to the processor on the vehicle body and establishes wireless communication with the first sub-communication module 271 and / or the second sub-communication module 281 through the main communication module 22. The number of the first sub-communication module 271 and the second sub-communication module 281 can be one or more. The first data and the second data are used to instruct the first action mechanism 27 and the second action mechanism 28 to perform actions such as moving or transporting goods, for example, controlling the first action mechanism 27 and / or the second action mechanism 28 to transport goods to the vehicle body 21.

[0052] In practical applications, both the first action mechanism 27 and the second action mechanism 28 can be controlled independently. For example, the first action mechanism 27 and the second action mechanism 28 can perform different actions simultaneously. For instance, the first action mechanism 27 can be controlled to leave the first containment cavity 23, while the second action mechanism 28 is controlled to return to the second containment cavity 24.

[0053] The main communication module 22 is arranged on the same straight line as the first sub-communication module 271 and the second sub-communication module 281. Taking the first action mechanism 27 as an example, in the initial state, the main communication module 22 and the first sub-communication module 271 are arranged on a straight line with the same orientation as the first opening 231. Specifically, this straight line is parallel to the longer cavity wall of the first receiving cavity 23. Figure 2 (For example, to illustrate the connection direction), this arrangement avoids communication signal interruption caused by the vehicle body blocking the communication signal. In some embodiments, the connection between the main communication module 22 and the first sub-communication module 271 only needs to be unobstructed by the vehicle body 21.

[0054] The first battery 272 and the second battery 282 are high-discharge-rate batteries used to provide power to the devices on the first action mechanism 27 and the second action mechanism 28.

[0055] The areas of the first charging plate 25 and the second charging plate 26 can be designed to be larger than the areas of the first charging block 273 and the second charging block 283. Since the position of the moving mechanism returning to the receiving cavity after multiple movements will be slightly different, designing the area of ​​the charging plate to be larger than the area of ​​the charging block ensures that the charging block can make full contact with the charging plate even when the position of the moving mechanism is slightly different each time, avoiding the inability to charge due to the charging block not making contact with the charging plate or poor disengagement.

[0056] Based on the above structure, the pallet handling robot can achieve wireless control of the first action mechanism 27 and the second action mechanism 28 by the vehicle body 21, avoiding the breakage of the wiring harness caused by using drag chain connection.

[0057] In some embodiments, such as Figure 2As shown, a first pull-wire encoder (only the pull wire is shown) is provided in the first receiving cavity 23. The first pull-wire encoder includes a first pull wire 29, a first retrieval mechanism and a first encoder body. The first retrieval mechanism is used to retrieve the first pull wire 29. The vehicle body 21 and the first action mechanism 27 are connected through the first pull wire 29.

[0058] The second receiving cavity 24 is equipped with a second pull-wire encoder (only the pull wire is shown). The second pull-wire encoder includes a second pull wire 30, a second retrieval mechanism, and a second encoder body. The second retrieval mechanism is used to retrieve the second pull wire 30. The vehicle body 21 and the second action mechanism 28 are connected by the second pull wire 30.

[0059] Taking the first pull-wire encoder as an example, the first retrieval mechanism and the first encoder body can be located on the cavity wall on the same side of the main communication module 22 within the first receiving cavity 23. The pull wire can be an alloy steel wire rope, and the first pull wire 29 is collected within the first retrieval mechanism. The first encoder body and the first retrieval mechanism are connected to the processor of the vehicle body 21. When the vehicle body 21 is not working, the first retrieval mechanism is in a locked state, locking the first pull wire 29. When the vehicle body 21 is working, it can perform different actions according to the current control state of the processor on the first action mechanism 27. For example, if the first action mechanism 27 leaves the first receiving cavity 23, the first retrieval mechanism is unlocked, causing the first pull wire to be pulled out as the first action mechanism 27 moves. The first pull wire passes through the first encoder body, which uses optical or magnetic sensing elements to determine the moving distance of the first action mechanism 27 by triggering detection through the pull wire displacement.

[0060] Based on the above structure, the pallet handling robot uses a cable to connect the vehicle body and the motion mechanism. The cable is used to connect the motion mechanism and the vehicle body. The steel wire rope is stronger than the wire harness, and this physical connection method can bind the motion mechanism to the vehicle body, which is convenient for later maintenance.

[0061] Taking the first action mechanism 27 as an example, when the first action mechanism 27 is retracted into the vehicle body 21, the first pull-wire encoder body detects that the pull length of the first pull wire 29 is 0. At this time, the first retraction mechanism locks the first pull wire 29. When the first action mechanism 27 receives a movement command, the first retraction mechanism will release the first pull wire 29 so that it is pulled out as the first action mechanism 27 moves. The first pull-wire encoder determines the distance moved by the first action mechanism 27 by detecting the length of the first pull wire 29 that has been pulled out. The maximum distance that the first action mechanism 27 can move can be the maximum length of the first pull wire 29, or it can be slightly less than the maximum length of the first pull wire 29.

[0062] Based on the above structure, the pallet handling robot detects the movement distance of the moving mechanism through a pull-wire encoder. Since the pull-wire encoder is set on the vehicle body and the pull wire itself is used as a physical connection, it can detect the movement distance of the moving mechanism on the one hand, and the pull wire is unlikely to affect the normal use of the pallet handling robot on the other hand.

[0063] In some embodiments, the surface of the first charging plate 25 is provided with a recessed first metal contact 251, and the surface of the first charging block 273 is provided with a raised second metal contact 2731. The first metal contact 251 and the second metal contact 2731 fit together when the first battery 272 is charging.

[0064] The surface of the second charging board 26 is provided with a recessed third metal contact 261, and the surface of the second charging block 283 is provided with a raised fourth metal contact 2831. The third metal contact 261 and the fourth metal contact 2831 fit together when the second battery 282 is charging.

[0065] In some embodiments, a battery connected to a charging pad is provided inside the vehicle body 21, and the battery inside the vehicle body 21 can be charged by an external power source.

[0066] Taking the first charging plate 25 and the first charging block as examples, this application embodiment provides a structural schematic diagram of a charging component, as follows: Figure 3 As shown, it can be understood that the charging board and the charging block together form a complete charging component. The first metal contact 251 can be set as one or more sets of contacts with a concave surface. The corresponding second metal contact 2731 has a raised surface that matches the shape of the first metal contact 251. When the two contacts, they can fit together. In addition, the material of the metal contact can be a copper-carbon alloy.

[0067] Based on the above structure, the pallet handling robot can make better contact with the charging contacts on the vehicle body when the motion mechanism is retracted for charging. This ensures safety during charging, avoids danger caused by poor contact and overheating, and also ensures charging efficiency.

[0068] In some embodiments, a first spring (not shown) is provided inside the second metal contact 2731, the first spring being used to generate elastic force to keep the second metal contact 2731 in a protruding state.

[0069] A second spring (not shown) is provided inside the fourth metal contact 2831. The second spring is used to generate elastic force to keep the fourth metal contact 2831 in a protruding state.

[0070] As mentioned above Figure 3Taking the charging component shown as an example, the interior of the second metal contact 2731 can be designed to be hollow. The first spring is set inside the second metal contact 2731. When it is squeezed by an external force (such as when it comes into contact with the first metal contact for charging), the second metal contact 2731 will be pushed inward. Because there is a spring inside, the second metal contact 2731 always receives the elastic force of the spring and can make close contact with the external squeezing surface. When the external pressure disappears (such as when charging ends), the first spring will rebound, so that the second metal contact 2731 returns to its original convex state.

[0071] During the charging process, the processor of the vehicle body 21 can perform voltage detection to confirm that there is a stable voltage at the current charging plate. Then, a small current is started for trial charging (2A). If the voltage is stable within a certain time (2S), it will switch to a large current constant current charging. The current and voltage are detected in real time during the charging process. If the current or voltage fluctuates, the charging will stop and a small current will be used for trial charging again. After it stabilizes, a large current constant current charging will be used until the battery is fully charged.

[0072] Based on the above structure, the pallet handling robot can maintain close contact with the vehicle body during charging, further avoiding poor contact. In addition, the compressible nature of the spring also ensures that the metal contacts on the moving mechanism are compressed when they come into contact with other objects, preventing hard contact from damaging the contacts and providing a certain degree of protection.

[0073] In some embodiments, the first action mechanism 27 includes a first sensor 274 and a first driver (not shown), the first sensor 274 and the first driver are connected to a first sub-communication module 271, and the first driver is used to drive the first action mechanism. The second action mechanism 28 includes a second sensor 284 and a second driver, the second sensor 284 and the second driver are connected to a second sub-communication module 281, and the second driver is used to drive the second action mechanism.

[0074] For example, the first sensor 274 and the second sensor 284 can be photoelectric sensors, emitting infrared light. When there is an obstacle in front, the infrared light is reflected back to the photoelectric sensor. When the received infrared light signal reaches a threshold, it is determined that there is an obstacle in front. Taking the first moving mechanism 27 as an example, during its movement, the first sensor 274 can detect whether there is an obstacle in front of the first moving mechanism 27 (specifically, the direction of movement when the first moving mechanism 27 leaves the first receiving cavity 23). When an obstacle is detected, it immediately sends a signal to the first driver to control the first moving mechanism 27 to stop moving forward. It should be noted that the signal from the first sensor 274 has a higher priority than the signal sent by the vehicle body 21. The first driver can be set inside the first moving mechanism 27 and is mainly used to drive the moving components of the first moving mechanism 27, such as tracks, wheels, brackets, etc. It is used to convert the electrical signals received by the first sub-communication module into signals that can be recognized and executed by the moving components on the first moving mechanism 27.

[0075] Based on the above structure, the pallet handling robot avoids collisions between the moving mechanism and obstacles by setting up sensors, and the use of a actuator can ensure the driving effect of the moving mechanism.

[0076] In some embodiments, the first sub-communication module 271 includes a first input terminal and a first output terminal, and the second sub-communication module 281 includes a second input terminal and a second output terminal. The first input terminal is connected to the first sensor 274 and is used to receive the sensing signal sent by the first sensor 274. The first output terminal is connected to the first driver and is used to control the first driver. The second input terminal is connected to the second sensor 284 and is used to receive the sensing signal sent by the second sensor 284. The second output terminal is connected to the second driver and is used to control the second driver.

[0077] Taking the first sub-communication module 271 as an example, this application embodiment provides a schematic diagram of a communication module structure, as follows: Figure 4a As shown, combined with Figure 2 In the structure shown, the first input terminal (IN) of the first sub-communication module 271 is connected to the first sensor 274. When the first sensor 274 senses an obstacle, it sends a signal to the first sub-communication module 271 through the first input terminal. The first sub-communication module 271 sends a stop-movement command to the first driver through the first output terminal (OUT). This method is decided directly by the first action mechanism 27 and does not require decision-making by the MCU in the vehicle body.

[0078] In some embodiments, it can also be achieved through methods such as Figure 4b The communication method shown avoids collisions between the first action mechanism 27 and obstacles, such as... Figure 4b As shown, combined with Figure 2In the structure shown, the first sensor 274 detects an obstacle and sends an obstacle signal to the first sub-communication module 271 through the first input terminal (IN). The first sub-communication module 271 sends the obstacle signal to the main communication module, which then receives the signal and transmits it to the MCU. The MCU makes a judgment; if it confirms that an obstacle has been encountered, it issues a stop command to the first sub-communication module 271 through the main communication module. After receiving the stop command from the main communication module, the first sub-communication module 271 sends the command to the first driver through the first output terminal (OUT). This method allows the vehicle's MCU to make the decision.

[0079] Furthermore, the first sub-communication module 271 communicates with the main communication module on the vehicle body 21 via wireless communication. The main communication module may contain multiple sets of transmitting and receiving units, and multiple sets of data can be output simultaneously to facilitate timely signal transmission. Correspondingly, the first sub-communication module 271 may also contain multiple sets of transmitting and receiving units. In some embodiments, the multiple sets of transmitting and receiving units of the first sub-communication module 271 may correspond to the multiple sets of receiving and transmitting units contained in the main communication module. Alternatively, multiple sets of data can be combined into multiple data bits according to fixed high and low bits to form a data frame for transmission. For example, multiple sets of data can be set, each set of data corresponding to an operating state of the motion mechanism, such as moving to the farthest point, retracting, raising to the highest point, raising to the lowest point, etc. Correspondingly, the sub-communication module may also be set with multiple output units, each output unit corresponding to an operating state of the motion mechanism. When the corresponding output unit outputs a signal, the driver can determine what action the motion mechanism needs to perform based on the unit of the output signal without needing to parse the signal. This enables the vehicle body main communication module to connect to the MCU for data reception and transmission, and the output signals of the sub-communication modules within the motion mechanism to be directly connected to the driver for use.

[0080] In some embodiments, the first moving mechanism 27 includes a first traveling wheel 275 and a first lifting mechanism 276, and the second moving mechanism 28 includes a second traveling wheel 285 and a second lifting mechanism 286. The first traveling wheel 275 is used to move the first moving mechanism 27, the first lifting mechanism 276 is used to lift the goods on the first moving mechanism 27, the second traveling wheel 285 is used to move the second moving mechanism 28, and the second lifting mechanism 286 is used to lift the goods on the second moving mechanism 28.

[0081] Taking the first action mechanism as an example, the structural schematic diagram of another pallet handling robot provided in this application embodiment is as follows: Figure 5a and Figure 5b As shown, Figure 5a The first lifting mechanism 276 is in the lifting position. Figure 5bWith the first lifting mechanism 276 in the retracted state, its lifting height can be adjusted between the maximum and minimum lifting height (retracted state). The first traveling wheels 275 can be configured as one or more sets (if multiple sets, they are evenly distributed between the first moving mechanism 27 and the ground). The first traveling wheels 275 and the first lifting mechanism 276 can be controlled by the first driver in the aforementioned embodiment, or they can be directly connected to the first sub-communication module 271. The form of the first traveling wheels 275 is not limited to wheels; they can also be tracks, casters, or other mechanisms that enable the first moving mechanism to move.

[0082] In some embodiments, the main communication module 22, the first sub-communication module 271, and the second sub-communication module 281 are optical communication modules.

[0083] Both the main communication module 22 and the sub-communication module are equipped with laser diodes for generating optical signals and optoelectronic devices for receiving optical signals.

[0084] Figure 6 An optical communication receiving circuit provided in the embodiments of this application, such as Figure 6 As shown, photodiode D1 (used for optical signal reception) is used to receive optical signals. Its cathode is connected to the power supply (VCC), and its anode is connected to one end of resistor R1. The other end of resistor R1 is connected to the base of transistor Q1. The emitter of transistor Q1 is grounded, and its collector is connected to the cathode of diode D2 as the output. The anode of diode D2 is grounded.

[0085] Figure 7 An optical communication transmitting circuit provided in the embodiments of this application, such as Figure 7 As shown, one end of resistor R2 is connected to the base of transistor Q2 and the other end is grounded. The emitter of transistor Q2 is grounded, and the collector is connected to the anode of photodiode D3 (used for optical signal transmission). The cathode of photodiode D3 is connected to one end of resistor R4, and the other end of resistor R4 is grounded. One end of resistor R3 is connected to the base of transistor Q2, and the other end of resistor R3 is connected to the anode of diode D4. The cathode of diode D4 serves as the output.

[0086] It should be noted that the above Figure 6 and Figure 7 The circuits together form a complete optical communication module, which can output in parallel. Compared with radio frequency wireless communication, it has a faster transmission rate and stronger resistance to electromagnetic interference. The optical communication module is driven by transistors, and its structure is simpler than that of using an MCU, and it is more efficient and lower in cost.

[0087] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A pallet handling robot, characterized in that, include: The vehicle body has a circuit board installed inside it, on which a processor and a main communication module connected to the processor are mounted; the vehicle body forms a first receiving cavity and a second receiving cavity; the first receiving cavity has a first opening, and a first charging plate is provided on the inner wall of the first receiving cavity; the second receiving cavity has a second opening, and a second charging plate is provided on the inner wall of the second receiving cavity; A first action mechanism, movably connected to the vehicle body, is capable of moving a maximum distance from the first receiving cavity through the first opening. The first action mechanism is equipped with a first sub-communication module, a first battery, and a first charging block electrically connected to the first battery. The first sub-communication module is used to transmit first data wirelessly with the main communication module. The first battery is used to provide power to the first action mechanism. The first charging block is used to connect to the first charging plate when the first action mechanism is retracted into the first receiving cavity to charge the first battery. The second action mechanism is movably connected to the vehicle body and can move a maximum distance from the second receiving cavity through the second opening. The second action mechanism is provided with a second sub-communication module, a second battery, and a second charging block electrically connected to the second battery. The second sub-communication module is used to transmit second data with the main communication module wirelessly. The second battery is used to provide power to the second action mechanism. The second charging block is used to connect with the second charging plate when the second action mechanism is retracted into the second receiving cavity to charge the second battery.

2. The pallet handling robot according to claim 1, characterized in that, The first receiving cavity is provided with a first pull-wire encoder, which includes a first pull wire, a first retrieval mechanism and a first encoder body. The first retrieval mechanism is used to retrieve the first pull wire, and the vehicle body and the first moving mechanism are connected through the first pull wire. The second receiving cavity is provided with a second pull-wire encoder, which includes a second pull wire, a second retrieval mechanism and a second encoder body. The second retrieval mechanism is used to retrieve the second pull wire, and the vehicle body and the second motion mechanism are connected through the second pull wire.

3. The pallet handling robot according to claim 2, characterized in that, The first pull-wire encoder body is used to determine the moving distance of the first action mechanism based on the pull-out length of the first pull wire; The second pull-wire encoder body is used to determine the travel distance of the second action mechanism based on the pull-out length of the second pull wire.

4. The pallet handling robot according to claim 1, characterized in that, The surface of the first charging board is provided with a recessed first metal contact, and the surface of the first charging block is provided with a raised second metal contact. The first metal contact and the second metal contact fit together when the first battery is charging. The second charging plate has a recessed third metal contact on its surface, and the second charging block has a raised fourth metal contact on its surface. The third metal contact and the fourth metal contact engage together when the second battery is charging.

5. The pallet handling robot according to claim 4, characterized in that, The second metal contact is provided with a first spring, which is used to generate elastic force to keep the second metal contact in a convex state; A second spring is provided inside the fourth metal contact, and the second spring is used to generate elastic force to keep the fourth metal contact in a convex state.

6. The pallet handling robot according to claim 1, characterized in that, The first action mechanism includes a first sensor and a first driver, the first sensor and the first driver are connected to the first sub-communication module, and the first driver is used to drive the first action mechanism; The second action mechanism includes a second sensor and a second driver, which are connected to the second sub-communication module. The second driver is used to drive the second action mechanism.

7. The pallet handling robot according to claim 6, characterized in that, The first sub-communication module includes a first input terminal and a first output terminal, and the second sub-communication module includes a second input terminal and a second output terminal; The first input terminal is connected to the first sensor and is used to receive the sensing signal sent by the first sensor; The first output terminal is connected to the first driver and is used to control the first driver; The second input terminal is connected to the second sensor and is used to receive the sensing signal sent by the second sensor; The second output terminal is connected to the second driver and is used to control the second driver.

8. The pallet handling robot according to claim 1, characterized in that, The first moving mechanism includes a first traveling wheel and a first lifting mechanism, and the second moving mechanism includes a second traveling wheel and a second lifting mechanism; The first traveling wheel is used to move the first moving mechanism; The first lifting mechanism is used to lift the cargo on the first moving mechanism; The second traveling wheel is used to move the second moving mechanism; The second lifting mechanism is used to lift the cargo on the second moving mechanism.

9. The pallet handling robot according to claim 1, characterized in that, The main communication module, the first sub-communication module, and the second sub-communication module are optical communication modules.

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