carrier device

Abstract

The utility model embodiment provides a kind of applied to the object carrying device of autonomous mobile robot, including seeding car, autonomous mobile robot and the connecting assembly that seeding car and autonomous mobile robot are connected together, connecting device includes locking pin piece and locking assembly, and the seeding wall of seeding car is equipped with the locking pin piece, and the rack of the autonomous mobile robot is equipped with the locking assembly, locking pin piece and locking assembly lock, locking pin piece can rotate. Through the rotatable locking between locking pin piece and locking assembly, so that the non-rigid connection between seeding car and autonomous mobile robot, when encountering relatively narrow lane, locking pin piece can be rotated on locking assembly to change the angle between seeding car and autonomous mobile robot, so as to reduce the minimum turning radius between seeding car and autonomous mobile robot, so that self-moving object carrying device can adapt narrower travel lane, so that self-moving object carrying device is more flexible, so that the effective utilization rate of warehouse space is higher.

Description

Technical Field

[0001] This utility model relates to the field of logistics sorting equipment technology, and in particular to a loading device. Background Technology

[0002] Seeding carts are common transport tools in logistics sorting operations. Connecting autonomous mobile robots to seeding carts to achieve automatic movement is also a common structure in logistics sorting equipment. However, the connection between the robot and the seeding cart is usually a rigid connection, meaning that the automated equipment after the seeding cart and robot are connected is a whole, and the movement is synchronous and in the same direction. This connection method increases the overall movement and the movement diameter of the picking system, requiring wider travel aisles and more space for rotation and turning, thus affecting the effective utilization of warehouse space. Utility Model Content

[0003] In view of the above problems, the present utility model is proposed. The purpose of the present utility model is to provide a self-moving cargo carrier with a smaller turning radius diameter.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A self-moving cargo carrier includes:

[0006] A seeding vehicle, an autonomous mobile robot, and a connecting assembly that connects the seeding vehicle and the autonomous mobile robot together;

[0007] The connecting device includes a lock pin and a locking assembly that can be unlocked or automatically locked. The lock pin is provided on one of the seeding vehicle and the autonomous mobile robot, and the locking assembly is provided on the other. When the lock pin and the locking assembly are locked, the lock pin can rotate.

[0008] Optionally, the locking component includes:

[0009] The mounting base has one side mounted on the seeding vehicle or the autonomous mobile robot, and the other side has an open locking groove along which the locking pin can move; and

[0010] The latch assembly is movably disposed on the mounting base in a direction perpendicular to the locking groove, and can abut against the side of the locking pin facing the opening.

[0011] Optionally, the latch assembly includes:

[0012] A baffle is provided on the mounting base and located on one side of the lock groove;

[0013] A pin is movably disposed between the mounting base and the baffle, and has a first position and a second position;

[0014] The pin is located in the first position, and the end of the pin facing the locking groove abuts against the locking pin member;

[0015] The pin is located in the second position, and the pin is located outside the lock groove.

[0016] Optionally, the latch includes:

[0017] Lock bar; and

[0018] A lock head, the lock head being located at the end of the lock bar facing the lock groove;

[0019] A roller, rotatably disposed on the side of the lock head opposite to the baffle, abuts against the side of the mounting base opposite to the opening; and

[0020] The wrench has an elongated hole on the mounting base. One end of the wrench is set on the lock head, and the other end can slide through the elongated hole.

[0021] Optionally, the end of the lock head facing away from the lock bar and toward the opening of the lock groove has a guide surface.

[0022] Optionally, the latch assembly further includes:

[0023] A reset element is fitted onto the pin, with one end of the reset element abutting against the lock head and the other end abutting against the mounting base.

[0024] Optionally, the seeding vehicle includes a support frame and a plurality of receiving frames evenly spaced on the support frame;

[0025] The side of the support frame is provided with multiple delivery ports at even intervals, and each delivery port is provided in a one-to-one correspondence with the receiving frame.

[0026] Items to be delivered can be placed into the receiving frame through the delivery port.

[0027] Optionally, each of the multiple delivery ports is surrounded by an indicator light strip, and the multiple indicator light strips are coupled together and communicate with a remote operating system.

[0028] The remote operating system can obtain the item information of the item to be delivered and control the corresponding indicator light to light up.

[0029] Optionally, a button is provided around the delivery port, the button is coupled to the corresponding indicator light, and multiple buttons are communicatively connected to the remote operating system.

[0030] Optionally, a scanning device is also provided at the delivery port. The scanning device is coupled to the remote operating system. The scanning device can scan the item to be delivered that passes through the delivery port and transmit the scanning information to the remote operating system.

[0031] The remote operating system can compare the information of the button, the scanning information, and the item information to determine whether the delivery is correct.

[0032] The technical solution provided by this utility model embodiment includes a connecting device comprising a rotatable locking pin and a locking assembly. One of the seeding vehicle and the autonomous mobile robot is equipped with the locking pin, and the other with the locking assembly. The rotatable locking between the locking pin and the locking assembly creates a non-rigid connection between the seeding vehicle and the autonomous mobile robot. When encountering narrow passageways, the locking pin can rotate on the locking assembly to change the angle between the seeding vehicle and the autonomous mobile robot, thereby reducing the minimum turning radius between them. This allows the self-moving carrying device to adapt to narrower passageways, making it more flexible and increasing the effective utilization of warehouse space. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of a self-moving loading device provided in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of a connecting component provided in an embodiment of the present invention;

[0036] Figure 3 A route map showing the minimum turning radius of a self-moving cargo carrier provided in an embodiment of this utility model;

[0037] Figures 4-7 A process diagram illustrating the transition of a connection component from an unlocked state to a locked state according to an embodiment of this utility model;

[0038] Figure 8 This is a schematic diagram of the structure of a seeding vehicle provided in an embodiment of the present invention.

[0039] In the picture:

[0040] 1. Connecting components; 2. Seeding vehicle; 3. Autonomous mobile robot;

[0041] 11. Locking pin; 111. Connecting seat; 112. Locking pin; 12. Locking assembly; 121. Mounting seat; 1211. Mounting part; 1021. Lock groove; 1022. Oblong hole; 1212. Locking part; 122. Latch assembly; 1221. Baffle; 1222. Pin; 1201. Locking rod; 1202. Lock head; 1203. Roller; 1204. Wrench; 1205. Guide surface; 1206. Reset part;

[0042] 21. Support frame; 211. Delivery port; 212. Indicator light strip; 22. Walking assembly. Detailed Implementation

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] In the logistics field, a "seeding cart" typically refers to equipment or tools used for batch sorting operations, a crucial means of improving sorting efficiency in modern warehousing and logistics. Its core principle is to centrally organize goods from different orders and then "seed" them into individual order containers according to order requirements. This is suitable for batch sorting scenarios involving multiple orders and product categories. For example, in the warehouses of online shopping platforms, seeding carts are used to handle massive amounts of orders. When a batch of goods (such as clothing and daily necessities) is picked from the shelves, staff transport it to the seeding area, where the seeding cart distributes the goods one by one into the corresponding order boxes according to the orders. This not only improves sorting efficiency, reduces labor costs, and increases sorting accuracy, but also allows for the use of various order types.

[0048] Please refer to Figure 1 As shown, in some embodiments of this application, a self-moving transport device is provided. This device includes a seeding vehicle 2, an autonomous mobile robot 3, and a connecting component 1 for the autonomous mobile robot. The connecting component 1 connects the seeding vehicle 2 and the autonomous mobile robot 3 together. Under the self-moving action of the autonomous mobile robot 3, the seeding vehicle 2 can automatically move to a preset position without manual movement, thereby improving efficiency and saving labor costs.

[0049] If the connecting component 1 is rigid, and the seeding vehicle 2 and the autonomous mobile robot 3 are connected together to form a rigid whole, then the turning and turning radius of the self-moving loading device will be relatively large. This means that the travel aisle for the self-moving loading device must be particularly wide to meet the turning and turning needs of the self-moving loading device, which results in a relatively small area for loading goods in the warehouse, affecting the utilization rate of warehouse space.

[0050] To solve the above problems, please refer to Figures 1-2As shown, in some embodiments of this application, the connecting component 1 includes a locking pin 11 and a locking component 12 that can be unlocked or automatically locked. One of the seeding vehicle 2 and the autonomous mobile robot 3 is provided with the locking pin 11, and the other with the locking component 12. It is possible that the seeding vehicle 2 has the locking pin 11 and the autonomous mobile robot 3 has the locking component 12, or vice versa; this application does not specifically limit this. In an embodiment of this application, the seeding wall of the seeding vehicle has the locking pin 11, and the frame of the autonomous mobile robot has the locking component 12. When the autonomous mobile robot 3 separates from the seeding vehicle 2, moving the autonomous mobile robot 3 towards the seeding vehicle 2 triggers the locking pin 11 and the locking component 12 to automatically lock when they come into contact, thus eliminating the need for manual operation and making it more convenient. Please refer to... Figure 3 As shown, when the locking pin 11 is locked to the locking assembly 12, the locking pin 11 can rotate, so that the seeding vehicle 2 and the autonomous mobile robot 3 are not rigidly connected. The angle between the seeding vehicle 2 and the autonomous mobile robot 3 can be changed, thereby reducing the minimum turning radius and U-turn radius of the self-moving transport device, and thus reducing the width of the travel aisle for the self-moving transport device to move. Figure 3 C represents the minimum turning circle inside the self-moving transport device, A represents the minimum turning circle outside the self-moving transport device, and B represents the path of the autonomous mobile robot when it travels with the minimum turning radius on the self-moving transport device. When designing the dimensions of warehouse aisles, this can be considered... Figure 3 The dimensions of A, B, and C are used to determine the space, thereby making the warehouse space more effectively utilized.

[0051] It should be noted that the connecting component 1 is not limited to the application between the seeding vehicle 2 and the autonomous mobile robot 3, but can also be applied between other two objects that need to be connected, as long as the connection needs between the two objects are met. This application does not make any specific limitations.

[0052] For ease of description, the following description will use the example of a seeding vehicle 2 having a locking component 12 and an autonomous mobile robot 3 having a locking pin 11, which does not constitute a specific limitation on the embodiments of this application.

[0053] Please refer to Figures 4-7As shown, in some embodiments of this application, the locking pin 11 includes a connecting seat 111 and a locking pin 112 located at one end of the connecting seat 111, and the other end of the connecting seat 111 is connected to the autonomous mobile robot 3. The locking assembly 12 includes a mounting seat 121 and a latch assembly 122, wherein one side of the mounting seat 121 is disposed on the seeding vehicle 2 or the autonomous mobile robot 3, and the other side is provided with an open locking groove 1021, and the locking pin 11 can move along the locking groove 1021 to abut against the groove wall on the side of the locking groove 1021 opposite to the opening. The latch assembly 122 is movably mounted on the mounting base 121 in a direction perpendicular to the lock groove 1021 and can abut against the side of the locking pin 11 facing the opening. When the locking pin 112 of the locking pin 11 moves along the lock groove 1021, it can drive the latch assembly 122 to move in a direction away from the lock groove 1021 until the locking pin 112 moves past the latch assembly 122 and abuts against the side wall of the lock groove 1021 away from the opening. At this time, the latch assembly 122 abuts against the other side of the locking pin 112, thereby realizing that the latch assembly 122 confines the locking pin 112 in the lock groove 1021, realizing the locking between the locking assembly 12 and the locking pin 11. The structure is simple and the cost is low.

[0054] Further, please refer to Figures 4-7 As shown, in some embodiments of this application, the latch assembly 122 includes a baffle 1221 and a pin 1222. The baffle 1221 is disposed on the mounting base 121 and located on one side of the lock groove 1021. The pin 1222 is movably disposed between the mounting base 121 and the baffle 1221. That is, the baffle 1221 and the mounting base 121 form a track for the movement of the pin 1222, which can limit the pin 1222 to move only in a direction perpendicular to the lock groove 1021, so that the pin 1222 can pass through the lock groove 1021 when moving towards the side of the lock groove 1021. In this process, the pin 1222 has at least a first position and a second position. When the pin 1222 is in the first position, the end of the pin 1222 facing the lock groove 1021 is located in the lock groove 1021 or passes through the lock groove 1021 and abuts against the locking pin 112 of the locking pin member 11, thereby restricting the position of the locking pin 112. When the pin 1222 is in the second position, the pin 1222 is located outside the lock groove 1021, so that the locking pin 112 can move along the lock groove 1021 toward the opening so that the locking pin 11 is separated from the mounting base 121, thereby unlocking the locking pin 11 and the locking assembly 12.

[0055] To enable the pin 1222 to automatically move in the direction away from the lock slot 1021, please refer to... Figures 4-7As shown, in some embodiments of this application, the mounting base 121 includes a mounting portion 1211 and a locking portion 1212, which are at a 90° angle. The upper side of the mounting portion 1211 is connected to the side of the locking portion 1212 facing the seeding vehicle 2. The mounting portion 1211 is connected to the seeding vehicle 2, and the locking groove 1021 is located on the side of the locking portion 1212 facing away from the seeding vehicle 2. The locking pin 112 includes a locking rod 1201, a locking head 1202, and a roller 1203. The locking head 1202 is located on the end of the locking rod 1201 facing the locking groove 1021. When the pin 1222 is in the first position, the locking head 1202 passes through the locking groove 1021 and abuts against the locking pin 112. The roller 1203 is rotatably mounted on the side of the lock head 1202 opposite to the baffle 1221. The roller 1203 abuts against the side of the mounting base 121 facing away from the opening; specifically, the roller 1203 abuts against the side of the mounting part 1211 opposite to the seeder 2. The abutment between the roller 1203 and the mounting part 1211 confines the lock head 1202 between the baffle 1221 and the mounting part 1211, allowing the pin 1222 to move more smoothly and without deviation when switching between the first and second positions. Furthermore, the size of the lock head 1202 can be increased to provide sufficient strength to withstand the impact of the locking pin 112. In some embodiments of this application, the end of the lock head 1202 facing away from the lock rod 1201 and towards the opening of the lock groove 1021 is provided with a guide surface 1205. When the lock pin 112 abuts against the guide surface 1205 and applies an impact force to the guide surface 1205 in the direction of the seeding vehicle 2, the impact force can be decomposed into a part of the force in the direction of the baffle 1221 under the action of the guide surface 1205, so that the pin 1222 moves from the first position to the second position. At this time, the lock pin 112 can pass over the lock head 1202 of the pin 1222 and continue to slide along the lock groove 1021.

[0056] Please refer to some embodiments of this application. Figures 4-7 As shown, the latch assembly 122 also includes a reset member 1206. The mounting base 121 has a downward-facing sidewall on the side where the baffle 1221 is located. The reset member 1206 is sleeved on the pin 1222, with one end abutting against the lock head 1202 and the other end abutting against the sidewall of the mounting base 121. When the pin 1222 is in the second position, the reset member 1206 is compressed. Therefore, when the locking pin 112 applies an impact force to the lock head 1202, the pin 1222 moves to the second position. After the locking pin 112 passes the pin 1222, the force applied to the pin 1222 disappears. At this time, the pin 1222 moves towards the first position under the elastic force of the reset member 1206 until it reaches the first position, thus limiting the locking pin 112. At the same time, the reset member 1206 also prevents the pin 1222 from moving from the first position to the second position without human intervention when subjected to external force, thereby preventing mis-locking of the connecting assembly 1.

[0057] For easier unlocking of the locking pin 11 and locking assembly 12, please refer to... Figures 4-7 As shown, in some embodiments of this application, the mounting base 121 is provided with an elongated hole 1022, one end of the wrench 1204 is provided on the lock head 1202, and the other end can slide through the elongated hole. Specifically, the mounting part 1211 is provided with an elongated hole 1022 perpendicular to the lock groove 1021 at the position of the pin 1222. The end of the wrench 1204 extending out of the elongated hole 1022 can be used by the operator to apply a moving force to the pin 1222 away from the lock groove 1021, so that the connecting component 1 can only be separated when the operator needs to separate the autonomous mobile robot 3 from the seeding vehicle 2, and cannot be automatically unlocked.

[0058] Please refer to some embodiments of this application. Figure 8 As shown, the seeding vehicle 2 includes a support frame 21 and multiple receiving frames evenly spaced on the support frame 21. Multiple delivery ports 211 are evenly spaced on the side of the support frame 21. Each delivery port 211 corresponds to a receiving frame. Items to be delivered can be put into the receiving frame through the delivery port 211.

[0059] Errors are inevitable when operators place the goods to be picked into the receiving frame through the delivery slot 211. Please refer to [the relevant documentation / reference]. Figure 8 As shown in some embodiments of this application, multiple delivery ports 211 are surrounded by indicator light strips 212. These indicator light strips 212 are coupled and communicate with a remote operating system. The remote operating system can obtain the item information of the item to be delivered and control the corresponding indicator light strip 212 to illuminate. The item information can be obtained by scanning an item picked from a shelf. Since this item is the object to be delivered into the receiving frame, it is the item to be delivered. The operator can determine which delivery port 211 needs to be delivered by observing which indicator light is illuminated on the periphery of the delivery port 211 on the seeding cart 2, thus avoiding errors.

[0060] Prolonged delivery work can easily lead to visual fatigue for operators. Therefore, to further prevent items from being delivered incorrectly, please refer to the following guidelines. Figure 8As shown, in some embodiments of this application, a button is also provided around the delivery slot 211. The button is coupled to a corresponding indicator light strip 212, and multiple buttons are communicatively connected to a remote operating system. After the operator puts the item to be delivered into the corresponding delivery slot 211 and presses the button, the button will feed back the coordinates of the corresponding delivery slot 211 to the remote operating system. The remote operating system determines whether the item has been delivered correctly by checking whether the coordinates of the delivery slot 211 and the coordinates of the illuminated, waiting delivery slot 211 are consistent. If they are consistent, the delivery is correct; if they are inconsistent, the delivery is incorrect. In other words, the button is a feedback mechanism used to verify whether the operator's delivery action is correct.

[0061] Of course, the operator may accidentally press the wrong button after placing the item into the corresponding container through the delivery slot 211. Therefore, please refer to [the relevant documentation / reference]. Figure 8 As shown, in some embodiments of this application, a scanning device is also provided at the delivery port 211. The scanning device is coupled to a remote operating system. The scanning device can scan the items to be delivered that pass through the delivery port 211 and transmit the scanning information to the remote operating system.

[0062] The remote operating system compares the button information, scan information, and the information displayed on indicator light 212 to determine if the delivery action is correct. If all three match, the item to be delivered is correctly placed in the receiving box. If the information displayed on indicator light 212 matches the scan information but the button information does not, the delivery is still considered correct. However, if the scan information does not match the information displayed on indicator light 212, the delivery is incorrect. In the event of a delivery error, the remote operating system will issue an error notification to the operator. The notification can be a voice prompt or a display screen; this application does not impose specific limitations on this. The remote operating system can be a system with a central controller, as long as it can process data; this application does not impose specific limitations on this either.

[0063] Please refer to some embodiments of this application. Figure 8 As shown, the seeding vehicle 2 also includes a traveling assembly 22, a support frame 21 located on the traveling assembly 22, and a locking pin 11 disposed on the traveling assembly 22. The support frame 21 may be made of multiple aluminum alloy materials, and a groove is provided around the delivery port 211, with an indicator light strip 212 disposed in the groove.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A load carrying device for application to an autonomous mobile robot, comprising: Seeding vehicle, a connecting component for autonomous mobile robots, characterized in that, The connecting component includes a locking pin and a locking component; The locking pin is installed on the seeding wall of the seeding vehicle, and the locking component is installed on the frame of the autonomous mobile robot; When the locking pin is locked to the locking assembly, the locking pin can rotate.

2. The device of claim 1, wherein, The locking component includes: The mounting base has one side mounted on the seeding vehicle or the autonomous mobile robot, and the other side has an open locking groove along which the locking pin can move; and The latch assembly is movably disposed on the mounting base in a direction perpendicular to the locking groove, and can abut against the side of the locking pin facing the opening.

3. The loading device according to claim 2, characterized in that, The latch assembly includes: A baffle is provided on the mounting base and located on one side of the lock groove; A pin is movably disposed between the mounting base and the baffle, and has a first position and a second position; The pin is located in the first position, and the end of the pin facing the locking groove abuts against the locking pin. The pin is located in the second position, and the pin is located outside the lock groove.

4. The device of claim 3, wherein, The pin includes: Lock bar; and A lock head, the lock head being located at the end of the lock bar facing the lock groove; and A roller, rotatably disposed on the side of the lock head opposite to the baffle, abuts against the side of the mounting base opposite to the opening; and The wrench has an elongated hole on the mounting base, one end of which is set on the lock head, and the other end can slide through the elongated hole.

5. The device of claim 4, wherein, The end of the lock head facing away from the lock bar and towards the opening of the lock groove has a guide surface.

6. The device of claim 4, wherein, The latch assembly also includes: A reset element is fitted onto the pin, with one end of the reset element abutting against the lock head and the other end abutting against the mounting base.

7. The device of any one of claims 1 to 6, wherein, The seeding vehicle includes a support frame and a plurality of accommodating frames evenly spaced on the support frame; The side of the support frame is provided with multiple delivery ports at even intervals. Each delivery port corresponds to a receiving frame, and items to be delivered can be put into the receiving frame through the delivery port.

8. The device of claim 7, wherein, The delivery port is surrounded by an indicator light strip, and multiple indicator light strips are coupled together and connected to a remote operating system communication device.

9. The device of claim 8, wherein, The delivery port is also provided with a button on its circumference. The button is coupled to the corresponding indicator light, and all of the buttons are communicatively connected to the remote operating system.

10. The loading device according to claim 8, characterized in that, The delivery port is also equipped with a scanning device, which is coupled to the remote operating system.

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