Multi-layer case-handling robot, charging method, and charging system

Abstract

A multi-layer case-handling robot, a charging method, and a charging system. The multi-layer case-handling robot comprises a body (10) and a battery vehicle (20); the body (10) comprises a base (11); an accommodating space is formed in the base (11); the battery vehicle (20) is arranged in the accommodating space and is locked with the base (11); the body (10) further comprises a first communication module (14) for issuing a charging task; the battery vehicle (20) comprises a second communication module (22) for receiving the charging task, a battery module (23) for storing electric energy, a navigation module (24) for guiding a charging route, and a mobile base (25) for moving. In response to the charging task issued by the first communication module (14), the battery vehicle (20) is unlocked and separated from the base (11) and then travels to a charging area for charging. When charging is required, the locking between the battery vehicle (20) and the base (11) is released, and the battery vehicle (20) having a small size travels to the charging area under the guidance of the navigation module (24) to complete charging, thereby solving the problem of inconvenient charging.

Description

Multi-layer material box robot, charging method and charging system Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a multi-layer material box robot, a charging method and a charging system. Background Art

[0002] With the increasing prevalence of automation, warehouses are increasingly adopting automated handling robots to replace manual handling. Multi-layered bin robots offer a cost-effective solution for intelligent warehouse transformation. However, current fire regulations prohibit the installation of charging areas within warehouses. However, most multi-layered bin robots are typically between 3 and 5 meters tall. Fire regulations require charging areas to be located outside the warehouse on the first floor or in other areas outside the warehouse. Access requires elevators or access through low-ceiling doors, making charging inconvenient and resulting in a poor user experience.

[0003] Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the present invention provides a multi-layer container robot, a charging method and a charging system to solve the problem that it is difficult for taller multi-layer container robots to take elevators or pass through shorter doors to reach the charging area for charging.

[0005] The present invention solves the above-mentioned technical problem with the following technical solution: a multi-layer material box robot is provided, comprising a main body and a battery cart, wherein the main body comprises a base, the base forming an accommodating space, the battery cart is disposed in the accommodating space and locked with the base, the main body further comprising a first communication module for issuing charging tasks, the battery cart comprising a second communication module for receiving the charging tasks, a battery module for storing electrical energy, a navigation module for guiding the charging route, and a mobile base for movement;

[0006] In response to the charging task sent by the first communication module, the battery vehicle is unlocked from the base, detached from the base, and then drives to the charging area for charging.

[0007] Furthermore, the base includes multiple fixed plates and movable plates connecting the multiple fixed plates. The multiple fixed plates and the movable plates enclose the accommodating space. When the battery car and the base are unlocked, the movable plates move relative to the fixed plates to form an entrance and exit for the battery car.

[0008] Furthermore, the main body further includes a storage rack, which is arranged on the base and includes multiple layers of partitions, and the multiple layers of partitions cooperate to form a plurality of receiving spaces.

[0009] Furthermore, the main body also includes a clamping mechanism that can be telescopically moved between multiple layers of the partitions, and the clamping mechanism is arranged on the base, and the clamping mechanism is used to clamp the material box and place it on the partition.

[0010] Furthermore, the battery vehicle is provided with a charge / discharge interface, and the body is provided with a locking interface that matches the charge / discharge interface.

[0011] Furthermore, the contact surface of the charge / discharge interface is adapted to the contact surface of the locking interface.

[0012] Furthermore, the battery car is an AGV battery car, and the battery car also includes a third communication module, and the third communication module is responsible for sending an elevator request to the AGV elevator and receiving a status signal returned by the AGV elevator.

[0013] The present invention also provides a charging method using any of the above-mentioned multi-layer container robots, the charging method comprising:

[0014] receiving, through the second communication module, a charging task issued by the first communication module;

[0015] In response to the charging task, releasing the lock with the base and moving the movable plate to open the battery vehicle entrance and exit;

[0016] Under the guidance of the navigation module, driving to the charging area via the mobile base;

[0017] The battery module is docked with a charging base station provided in the charging area to perform the charging task of the battery module.

[0018] The present invention also provides a charging system for a multi-layer container robot, the charging system comprising the multi-layer container robot described in any one of the above items and a charging base station arranged in a charging area, the multi-layer container robot executes the charging method provided by the present invention so that the battery vehicle is unlocked from the base and then drives to the charging base station for charging.

[0019] The beneficial effect of the present invention is that by setting a higher multi-layer material box robot to a detachable form, the battery car and the body are unlocked when charging is needed. The battery car drives to the charging area under the guidance of the navigation module to complete charging, thereby solving the problem of inconvenient charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic structural diagram of a multi-layer material box robot according to the present invention;

[0021] FIG2 is a schematic diagram of a module of a multi-layer material box robot according to the present invention;

[0022] FIG3 is a schematic flow chart of the charging method of the present invention.

[0023] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0024] Multi-layer container robot 100;

[0025] Main body 10, base 11, fixed plate 111, movable plate 112, storage rack 12, partition 121, clamping mechanism 13, first communication module 14;

[0026] Battery vehicle 20 , charging / discharging interface 21 , second communication module 22 , battery module 23 , navigation module 24 , mobile base 25 , and third communication module 26 . DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention. In addition, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "left", "right", "horizontal", "top", "bottom", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0030] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0031] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0032] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but a person of ordinary skill in the art will recognize the application of other processes and / or the use scenarios of other materials.

[0033] Referring to Figures 1 and 2, the present application provides a multi-layer container robot 100, comprising a main body 10 and a battery cart 20. The main body 10 includes a base 11, which defines an accommodating space. The battery cart 20 is disposed within the accommodating space and locked to the base 11. The main body 10 further includes a first communication module 14 for issuing charging tasks. The battery cart 20 includes a second communication module 22 for receiving charging tasks, a battery module 23 for storing electrical energy, a navigation module 24 for guiding a charging route, and a mobile base 25 for movement.

[0034] In response to the charging task sent by the first communication module 14 , the battery vehicle 20 is unlocked from the base 11 and detached from the base 11 and then drives to the charging area for charging.

[0035] In this way, by setting the taller multi-layer material box robot 100 to a detachable form, the battery cart 20 and the base 11 are unlocked when charging is needed, and the battery cart 20 drives to the charging area under the guidance of the navigation module 24 to complete charging, thereby solving the problem of inconvenient charging.

[0036] Specifically, it should be noted that with the widespread adoption of automation, warehouses are also introducing a large number of automated handling robots to replace manual handling. Among them, multi-layered material bin robots are one of the most cost-effective solutions for intelligent transformation of high-bay warehouses. However, according to current fire regulations for material distribution, charging areas are not allowed within the warehouse area. However, most multi-layered material bin robots are generally between 3 and 5 meters tall. According to fire regulations, charging areas are generally located outside the warehouse on the first floor or other areas outside the warehouse. The robots need to take an elevator or pass through a low-height door to reach them, making charging inconvenient and providing a poor user experience.

[0037] Currently, most users set up charging areas in warehouses and equip them with fire-fighting facilities such as protective walls, fire shutters, smoke detectors, fire sprinklers, and fire extinguishers, but these are all behaviors that do not comply with current fire laws and regulations.

[0038] The multi-layer container robot 100 in the present application is detachable and includes a main body 10 that performs a handling function and a battery cart 20 that can be detached from the main body 10 and independently driven to a charging area for charging. When the multi-layer container robot 100 is performing its work tasks normally, the battery cart 20 is accommodated in the storage space inside the base 11 of the main body 10 and locked to the base 11. When the multi-layer container robot 100 needs to be charged, the first communication module 14 of the main body 10 sends a charging task. After receiving the task, the second communication module 22 of the battery cart 20 releases the lock with the main body 10. The mobile base 25 automatically drives to the charging area under the guidance of the navigation module 24, docks with the charging base station set up in the charging area, and then charges the battery module 23.

[0039] The first communication module 14 and the second communication module 22 can communicate with each other by wireless communication methods such as WIFI or Bluetooth. In addition, the battery car 20 can also be equipped with a high-definition obstacle avoidance camera, laser engraving and other devices, which can be configured according to needs.

[0040] Furthermore, the charging area in this application can be located outside the warehouse, complying with fire regulations. The battery cart 20 can be unlocked from the base 11 and detached from the main body 10, then guided by the navigation module 24 to the charging base station for charging. It will be appreciated that the battery cart 20 is relatively small and can enter elevators and pass through narrow or low doors and corridors, thus resolving the inconvenience of charging the multi-layer container robot 100 while complying with fire regulations.

[0041] It is understood that in some embodiments, as shown in FIG1 , the battery cart 20 may be provided with a charge / discharge port 21, and the main body 10 may be provided with a locking port that mates with the charge / discharge port 21. In this manner, the charge / discharge port 21 and the locking port cooperate to enable the multi-layer container robot 100 to function properly. The locking port may be provided on the base 11 of the main body 10.

[0042] In some embodiments, the contact surface of the charge / discharge interface 21 matches the contact surface of the locking interface. It is understood that this can ensure full connection to avoid adverse effects of disconnection on the normal operation of the multi-layer container robot 100.

[0043] Please refer to Figure 1. In some embodiments, the base 11 includes multiple fixed plates 111 and movable plates 112 connecting the multiple fixed plates 111. The multiple fixed plates 111 and the movable plates 112 enclose a accommodating space. When the battery cart 20 and the base 11 are unlocked, the movable plates 112 move relative to the fixed plates 111 to form an entrance and exit for the battery cart 20.

[0044] Thus, the battery cart 20 is accommodated within the space formed by the fixed plate 111 and the movable plate 112, forming an integrated structure with the main body 10, thus saving space. The movable plate 112 allows the battery cart 20 to be unlocked from the base 11. The movable plate 112 can be moved relative to the fixed plate 111 to open the entrance and exit of the battery cart 20, allowing it to be disengaged from the main body 10 and then driven to the charging area for charging.

[0045] Please refer to FIG. 1 . In some embodiments, the main body 10 further includes a storage rack 12 . The storage rack 12 is disposed on the base 11 . The storage rack 12 includes multiple layers of partitions 121 . The multiple layers of partitions 121 cooperate to form a plurality of receiving spaces.

[0046] In this way, by providing the multi-layer partitions 121, a plurality of receiving spaces are formed, so that the multi-layer material box robot 100 can carry a plurality of material boxes at a time, thereby improving work efficiency.

[0047] In practice, the rack 12 and base 11 can be detachably connected to facilitate adjustment of the overall height of the multi-layered bin robot 100, or they can be fixedly integrated. The rack 12 can be made of metal or plastic, without inherent limitation. The multi-layered partitions 121 can be welded to the rack 12 or detachably connected to the rack 12, allowing for flexible adjustment of the height between the partitions 121 to accommodate bins of varying sizes.

[0048] Please refer to Figure 1. In some embodiments, the main body 10 also includes a clamping mechanism 13 that can be telescopically moved between the multi-layer partitions 121. The clamping mechanism 13 is set on the base 11 and is used to clamp the material box and place it on the partition 121.

[0049] In a specific implementation, the clamping mechanism 13 can be a mechanical claw, and the number of mechanical claws can be multiple. The clamping mechanism 13 is fixedly connected to the base 11 or detachably connected, and the clamping mechanism 13 can be telescopically moved between the multi-layer partitions 121, so as to realize the material being placed on the partition 121 after being taken.

[0050] Please refer to FIG. 2 . In some embodiments, the battery vehicle 20 is an AGV battery vehicle 20 . The battery vehicle 20 further includes a third communication module 26 . The third communication module 26 is responsible for sending a boarding request to the AGV elevator and receiving a status signal returned by the AGV elevator.

[0051] In this way, by modifying the elevator and the battery car 20, intelligent elevator control can be realized. The battery car 20 can perform automatic elevator riding, improve work efficiency, and solve the time cost and personnel cost problems of manual handling.

[0052] The elevator boarding process can be as follows: the AGV battery car 20 will stop immediately after reaching the elevator entrance, and then send an elevator boarding request to the AGV elevator through the internal control system. After receiving the signal, the AGV elevator will directly remain in the normally open state and directly feed back the open state signal to the control system of the AGV battery car 20.

[0053] The AGV battery car 20 receives the signal from the AGV elevator, enters the AGV elevator, and sends a floor instruction to the AGV elevator. After receiving the instruction, the AGV elevator will close the elevator and reach the designated floor.

[0054] When the AGV elevator reaches the designated floor, it will directly send a driving instruction to the AGV car, and then the AGV battery car 20 can automatically drive out of the AGV elevator. After the AGV battery car 20 drives out, the AGV elevator will receive the control signal and directly close the elevator door.

[0055] Referring to Figures 1 to 3 , the present application provides a charging method for a multi-layer container robot 100 using any of the above embodiments. The charging method includes:

[0056] Step S1: receiving the charging task issued by the first communication module 14 through the second communication module 22;

[0057] Step S2: In response to the charging task, the base 11 is unlocked and separated from the base 11;

[0058] Step S3: Under the guidance of the navigation module 24, the vehicle moves to the charging area via the mobile base 25;

[0059] Step S4: docking with a charging base station provided in the charging area to perform the charging task for the battery module 23.

[0060] In this way, by applying the above-mentioned charging method, when charging is needed, the second communication module 22 will receive the charging task issued by the first communication module 14, and then release the lock between the battery cart 20 and the base 11 in response to the charging task, thereby detaching from the base 11. The smaller battery cart 20, under the guidance of the navigation module 24, drives to the charging area and docks with the charging base station to perform the charging task of the battery module 23, thereby solving the problem of inconvenience in charging.

[0061] It can be understood that the above charging method can be implemented by hardware or software or a combination of hardware and software, and the charging method can be executed by the processor of the multi-layer container robot 100.

[0062] The present application also provides a charging system for a multi-layer container robot 100. The charging system includes the multi-layer container robot 100 provided in the present application and a charging base station arranged in a charging area. The multi-layer container robot 100 executes the charging method provided in the present application so that the battery vehicle 20 is unlocked from the base 11 and then drives to the charging base station for charging.

[0063] In particular, in practice, the charging area can be located outside the warehouse to comply with fire regulations. The battery cart 20 can be unlocked from the base 11 and detached from the main body 10, then guided by the navigation module 24 to travel to the charging base station for charging. As will be appreciated, the battery cart 20's small size allows it to enter elevators and pass through narrow or low doors and corridors, resolving the inconvenience of charging the multi-story container robot 100 while still complying with fire regulations.

[0064] It should be noted that for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0065] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0066] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A multi-layer material box robot, It is characterized in that The invention comprises a body (10) and a battery vehicle (20), wherein the body (10) comprises a base (11), the base forms a storage space, the battery vehicle (20) is arranged in the storage space and locked with the base (11), the body (10) further comprises a first communication module (14) for issuing a charging task, the battery vehicle (20) comprises a second communication module (22) for receiving the charging task, a battery module (23) for storing electric energy, a navigation module (24) for guiding a charging route, and a mobile base (25) for moving; In response to the charging task sent by the first communication module, the battery vehicle (20) is unlocked from the base (11), detached from the base (11), and then driven to the charging area for charging.

2. The multi-layer container robot according to claim 1, It is characterized in that The base comprises a plurality of fixed plates (111) and a movable plate (112) connected to the plurality of fixed plates (111); the plurality of fixed plates (111) and the movable plate (112) enclose the accommodation space; when the battery vehicle (20) and the base (11) are unlocked, the movable plate (112) moves relative to the fixed plate (111) to form an entrance and exit for the battery vehicle.

3. The multi-layer container robot according to claim 1, It is characterized in that The main body (10) further comprises a storage rack (12), wherein the storage rack (12) is arranged on the base (11), and the storage rack (12) comprises a plurality of partitions (121), wherein the plurality of partitions (121) cooperate to form a plurality of receiving spaces.

4. The multi-layer container robot according to claim 3, It is characterized in that The main body (10) further comprises a clamping mechanism (13) which can be telescopically moved between the multiple layers of the partitions (121); the clamping mechanism (13) is arranged on the base (11); and the clamping mechanism (13) is used to clamp the material box and place it on the partition (121).

5. The multi-layer container robot according to claim 1, It is characterized in that The battery vehicle (20) is provided with a charging / discharging interface (21), and the body (10) is provided with a locking interface that matches the charging / discharging interface (21).

6. The multi-layer container robot according to claim 5, It is characterized in that The contact surface of the charging / discharging interface (21) is matched with the contact surface of the locking interface.

7. The multi-layer container robot according to claim 1, It is characterized in that The battery car (20) is an AGV battery car, and the battery car (20) also includes a third communication module (26). The third communication module (26) is responsible for sending a boarding request to the AGV elevator and receiving a status signal returned by the AGV elevator.

8. A charging method using the multi-layer container robot according to any one of claims 1 to 7, It is characterized in that The charging method comprises: receiving, via the second communication module (22), a charging task sent by the first communication module (14); In response to the charging task, releasing the lock from the base (11) and disengaging from the base (11); Under the guidance of the navigation module (24), driving to the charging area via the mobile base (25); The battery module (23) is docked with a charging base station arranged in the charging area to perform a charging task for the battery module (23).

9. A charging system for a multi-layer material box robot, It is characterized in that The charging system comprises a multi-layer container robot (100) as described in any one of claims 1 to 7 and a charging base station arranged in a charging area, and the multi-layer container robot (100) executes the charging method as described in claim 8, so that the battery vehicle (20) is unlocked from the base (11) and then drives to the charging base station for charging.

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