Docking device, automated handling robot and material handling system

Abstract

A docking device, comprising a first docking mechanism and a second docking mechanism; the first docking mechanism comprises a base fixedly installed at a set position and first connectors which are arranged on the base and each have an initial position and a docking position with respect to the base; the second docking mechanism comprises a floating plate arranged on an automated handling robot and second connectors fixedly installed on the floating plate; the floating plate is configured to be movable relative to the automated handling robot along a set plane; when at the initial position, the first connectors are separated from the second connectors; when at the docking position, the first connectors are connected to the second connectors, so as to fix the floating plate at a target position. Further disclosed are an automated handling robot comprising the docking device and a material handling system comprising the automated handling robot. The present application can be used to achieve accurate docking of automated handling robots and material retrieval / placement apparatuses.

Description

Docking device, automatic handling robot and material handling system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on April 1, 2024, with application number 202420685145.9 and invention name “A docking device, automatic handling robot and material handling system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of material handling, and in particular to a docking device, an automatic handling robot, and a material handling system. Background Art

[0003] With the development of intelligent manufacturing, automatic handling robots, namely AGV (Automated Guided Vehicle), are increasingly widely used in production lines or warehousing systems. Automatic handling robots can efficiently transport materials. In some usage scenarios, automatic handling robots need to be used in conjunction with pick-and-place equipment. In this scenario, the automatic handling robot transports the material from a first position to a second position, and then the pick-and-place equipment picks and places the material relative to the automatic handling robot (removes the material from the automatic handling robot or places the material on the automatic handling robot). At this time, the automatic handling robot and the pick-and-place equipment need to be able to achieve high-precision docking operations. Generally, the pick-and-place equipment is fixedly installed at a pre-designed position, and the target position is designed for the automatic handling robot. When the automatic handling robot reaches the target position, it stops in time, which can ensure that the automatic handling robot and the pick-and-place equipment are accurately docked.

[0004] To ensure high stopping accuracy for automated handling robots, the prior art typically involves attaching a QR code to the pickup and placement equipment or on the ground near the target location. The automated handling robot then reads the QR code to determine whether its position and posture have reached the target location. However, this approach places very high demands on the automated handling robot's operational control accuracy and machining and assembly precision. This makes it particularly difficult to achieve high-precision docking between the automated handling robot and the pickup and placement equipment using this approach, especially for larger automated handling robots. Summary of the Invention

[0005] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a docking device, an automatic handling robot and a material handling system.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: a docking device for docking an automatic handling robot with a cargo picking and placing equipment, the docking device comprising a first docking mechanism and a second docking mechanism, the first docking mechanism comprising a base fixedly mounted at a set position and a first connecting member arranged on the base, the second docking mechanism comprising a floating plate arranged on the automatic handling robot and a second connecting member fixedly mounted on the floating plate, the floating plate being provided with a bearing portion for placing materials; the floating plate is configured to be able to move along a set plane relative to the automatic handling robot, the first connecting member having an initial position and a docking position relative to the base, the first connecting member being separated from the second connecting member when at the initial position, and being connected to the second connecting member when at the docking position so that the floating plate is fixed at the target position.

[0007] The application of this application has the following beneficial effects: the first docking mechanism in the docking device is assembled to the set position, the second docking mechanism is assembled to the automatic handling robot, and the material is placed on the carrying part. When the automatic handling robot travels to the vicinity of the target position, the first connector can be moved to the docking position and connected to the second connector. Since the floating plate can move along the set plane relative to the automatic handling robot, the floating plate can be driven to move slightly relative to the automatic handling robot during the process of connecting the first connector and the second connector. In this way, by pre-designing the set position and the docking position, the first connector and the second connector can be used to cooperate to drive the floating plate to move to the target position and fix it at the target position. In this way, precise docking of the automatic handling robot and the pick-up and placement equipment can be achieved.

[0008] In addition, the present application also provides an automatic transport robot comprising a movable chassis, the automatic transport robot further comprising a second docking mechanism as described in any of the above technical solutions, the second docking mechanism being disposed on the movable chassis. The reasoning process for the beneficial effects of the automatic transport robot provided in this application is similar to that of the aforementioned docking device and will not be repeated here.

[0009] In addition, the present application further provides a material handling system, comprising a pick-and-place device, an automatic handling robot as described in the above technical solution, and a first docking mechanism in a docking device as described in any of the above technical solutions, wherein the pick-and-place device is configured to pick and place materials relative to the automatic handling robot. The reasoning behind the beneficial effects of the material handling system provided in this application is similar to that of the aforementioned docking device and is not further elaborated here.

[0010] These features and advantages of this application will be disclosed in detail in the following detailed description and accompanying drawings. The best embodiments or means of this application will be fully illustrated in conjunction with the accompanying drawings, but this does not limit the technical solutions of this application. Furthermore, although there may be multiple features, elements, and components in each of the following text and accompanying drawings, different symbols or numbers may be used for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0012] FIG1 is a schematic structural diagram of a docking device provided in an embodiment of the present application;

[0013] FIG2 is a schematic structural diagram of the docking device provided in an embodiment of the present application applied to an automatic handling robot;

[0014] FIG3 is a schematic structural diagram of a first docking mechanism in a docking device provided in an embodiment of the present application;

[0015] FIG4 is a top view of an automatic handling robot using the docking device provided in an embodiment of the present application when the first connecting member is in an initial position;

[0016] FIG5 is a top view of an automatic transport robot using the docking device provided in an embodiment of the present application when the first connecting member is in a docking position;

[0017] FIG6 is a schematic diagram showing position changes of an automatic transport robot using the docking device provided in an embodiment of the present application during a docking operation;

[0018] FIG7 is an enlarged schematic diagram of part A in FIG1 ;

[0019] FIG8 is an enlarged schematic diagram of portion C in FIG3 ;

[0020] FIG9 is an enlarged schematic diagram of portion D in FIG4 ;

[0021] FIG10 is an enlarged schematic diagram of portion E in FIG5 ;

[0022] FIG11 is an exploded view of a second docking mechanism in a docking device provided in an embodiment of the present application;

[0023] FIG12 is a schematic structural diagram of the second docking mechanism excluding the mounting base;

[0024] FIG13 is a schematic structural diagram of a locking assembly in the second docking mechanism;

[0025] FIG14 is a schematic structural diagram of an elastic reset assembly in the second docking mechanism;

[0026] FIG15 is an enlarged schematic diagram of portion B in FIG1 ;

[0027] FIG16 is a schematic diagram of an automatic handling robot using the docking device provided in an embodiment of the present application when carrying materials.

[0028] Among them, 1. First docking mechanism; 10. Base; 11. First connecting member; 110. Docking block; 12. First drive motor; 13. Telescopic arm; 14. First photoelectric detection assembly; 140. Transmitter; 141. Receiver; 142. Baffle; 2. Second docking mechanism; 20. Floating plate; 200. Baffle; 201. Limiting hole; 202. Guide rail; 203. Bearing seat; 204. Positioning pin; 21. Second connecting member; 210. Docking groove; 2100. Card slot; 2101. Open groove; 22. Locking assembly; 220. Mounting seat; 221. Connecting plate; 221 0. Locking hole; 222. Locking member; 223. Second drive motor; 224. Second photoelectric detection assembly; 225. Gear; 226. Rack; 2240. Photoelectric detector; 2241. Light shield; 23. Elastic reset assembly; 230. Fixing plate; 231. Slider; 232. Limit block; 233. Elastic member; 234. Return roller; 235. Adjusting nut; 236. Screw; 2361. Hexagonal structure; 237. Slide rail; 238. Elastic member limiter; 24. Limit pin; 25. Universal ball bearing; 26. Mounting base; 3. Movable chassis; 4. Material. The arrows in Figures 4 and 5 indicate the set direction. The floating plate represented by the solid line in Figure 6 shows the state in which it follows the automatic handling robot to move to the vicinity of the target position, while the floating plate represented by the dotted line shows the state in which it reaches the target position after the docking operation. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described below with reference to the accompanying drawings and examples. It should be understood that the described examples are only some examples of the present invention, not all examples. All other examples derived by persons of ordinary skill in the art based on the examples of the present invention fall within the scope of protection of the present invention.

[0030] This embodiment provides a docking device, as shown in FIG1 , which includes a first docking mechanism 1 and a second docking mechanism 2. The docking device is applied to the docking operation of an automatic transport robot and a cargo pick-up and placement device, thereby improving the docking accuracy of the automatic transport robot and the cargo pick-up and placement device. As shown in FIG2 , FIG3 , FIG4 , and FIG5 , the first docking mechanism 1 includes a base 10 fixedly mounted at a set position and a first connecting member 11 disposed on the base 10. The second docking mechanism 2 includes a floating plate 20 disposed on the automatic transport robot and a second connecting member 21 fixedly mounted on the floating plate 20. The floating plate 20 is provided with a supporting portion for placing materials. The floating plate 20 is configured to be movable relative to the automatic transport robot along a set plane. The set plane referred to herein is the ground on which the automatic transport robot is located, such as the ground in a production workshop. Generally, the set plane is a horizontal plane. The first connector 11 has an initial position and a docking position relative to the base 10. FIG4 shows the relative positional relationship between the first connector 11 and the second connector 21 when the first connector 11 is in the initial position relative to the base 10. The first connector 11 is separated from the second connector 21 when it is in the initial position. FIG5 shows the relative positional relationship between the first connector 11 and the second connector 21 when the first connector 11 is in the docking position relative to the base 10. The first connector 11 is connected to the second connector 21 when it is in the docking position, so that the floating plate 20 is fixed at the target position. The target position is designed based on the actual position of the pick-up and place device. When the floating plate 20 is at the target position, the pick-up and place device can remove materials from the floating plate 20 or place materials on the floating plate 20.

[0031] In one example, the first docking mechanism 1 is located to the side of the target location. The base 10 of the first docking mechanism 1 is fixedly mounted on the ground (the base 10 is positioned within a predetermined range around the target location, depending on actual needs). This allows the first connector 11 of the first docking mechanism 1 to move to a docking position relative to the base 10 during docking between the pick-and-place device and the automated handling robot. This allows the first connector 11 of the first docking mechanism 1 to correct the position of the floating plate 20 mounted on the automated handling robot and secure the floating plate 20 at the target location. This allows the pick-and-place device to retrieve and place materials from the floating plate 20 at the target location.

[0032] In order to achieve high-precision docking between an automatic handling robot and a pick-and-place device, the related art is designed based on the idea of ​​"how to make the automatic handling robot move to the target position with high precision". This places excessively high demands on the processing and assembly precision and control precision of the automatic handling robot. In the present application, by providing a docking device, the floating plate 20 in the docking device can move along a set plane relative to the automatic handling robot. In this way, it is no longer necessary to make the automatic handling robot move to the target position with high precision. Instead, the automatic handling robot only needs to move to the vicinity of the target position and then perform a "correction" operation on the floating plate 20 through the docking operation of the first connector 11 and the second connector 21. With reference to Figure 6, in Figure 6, the position of the floating plate 20 following the automatic handling robot to the vicinity of the target position is represented by a solid line. After the correction of the floating plate 20 by the docking operation of the first connector 11 and the second connector 21 is represented by a dotted line, the position of the floating plate 20 is represented by a dotted line. The "correction" refers to the process of causing the floating plate 20 to move slightly relative to the automatic handling robot during the docking operation of the first connector 11 and the second connector 21, so that the floating plate 20 moves and is fixed at the target position. In this way, high-precision docking of the automatic handling robot and the picking and placing equipment can be achieved without placing too high demands on the processing, assembly and control accuracy of the automatic handling robot.

[0033] Specifically, after the automatic transport robot arrives near the target position, the floating plate 20 mounted on the automatic transport robot also arrives near the target position, and then the docking operation process of the first connector 11 and the second connector 21 is performed to ensure that the floating plate 20 is fixed at the target position. The docking operation process of the first connector 11 and the second connector 21 is the process of the first connector 11 moving from an initial position relative to the base 10 to a docking position relative to the base 10. If the floating plate 20 is not at the target position before the docking operation process, the first connector 11 will drive the second connector 21 on the floating plate 20 to move during the movement, causing the floating plate 20 to move relative to the automatic transport robot until it completes docking with the second connector 21 at the docking position, thereby fixing the floating plate 20 at the target position.

[0034] During use, the position of the pickup and placement device is fixed, thereby determining the final target position of the floating plate 20. This target position refers to the position at which the pickup and placement device can accurately pick up and place materials relative to the floating plate 20 when the floating plate 20 is at this target position. By pre-designing the set position of the base 10 and the docking position of the first connector 11 in the first docking mechanism 1, the floating plate 20 can be fixed at the target position by cooperating with the second connector 21 when the first connector 11 is at the docking position. In other words, the desired target position can be determined based on the position of the pickup and placement device, and the set position of the base 10 and the docking position of the first connector 11 can then be determined based on this target position. During use, the base 10 is fixedly installed at the target position, ensuring that the first connector 11 disposed on the base 10 can reach the docking position. It will be readily understood that both the target position and the set position of the base 10 are located near the position of the pickup and placement device.

[0035] As shown in FIG7 , in this embodiment, a docking block 110 is provided on the first connecting member 11, and a docking groove 210 is provided on the second connecting member 21. The docking groove 210 includes a slot 2100 adapted to the docking block 110 and an open groove 2101 communicating with the slot 2100. The open groove 2101 is used to guide the docking block 110 into the slot 2100. Specifically, the docking block 110 in this embodiment is a roller rotatably provided on the first connecting member 11. The inner wall surface of the open groove 2101 interacts with the roller to guide the roller into the slot 2100 during the movement of the first connecting member 11 from the initial position to the docking position, thereby achieving docking between the first connecting member 11 and the second connecting member 21. The specific principle is described as follows: the size of the slot 2100 is adapted to the size of the roller, enabling a snap-fit ​​connection. The open slot 2101 is open relative to the latching slot 2100. That is, the size of the open slot 2101 gradually increases from the side of the open slot 2101 closest to the latching slot 2100 toward the side away from the latching slot 2100. The dimensions of the open slot 2101 are designed based on the movement error of the automatic transfer robot relative to the target position, so that when the floating plate 20 follows the automatic transfer robot to the vicinity of the target position, the open slot 2101 is within the travel range of the first connector 11 from its initial position to its docking position. As the first connector 11 moves from its initial position to its docking position, the rollers contact the inner wall of the open slot 2101. By applying pressure to the inner wall of the open slot 2101, the rollers drive the floating plate 20 to move. When the first connector reaches the docking position, the floating plate 20 moves to the target position, achieving "deviation correction."

[0036] It is easy to understand that in other optional embodiments, the docking block can also be a shaft or rectangular body fixedly mounted on the first connecting member, and the inner wall surface of the open groove can also be used to guide the docking block into the slot. However, it is preferred to use the roller proposed in this embodiment as the docking block, so that the roller can be better guided through the rolling contact between the roller and the inner wall surface of the open groove. In addition, the docking block can also be set on the second connecting member, and the docking groove can be set on the first connecting member.

[0037] Furthermore, as shown in FIG2 , two groups of first docking mechanisms 1 are provided in this embodiment. A parking space is provided between the two groups of first docking mechanisms 1 for an automatic transfer robot equipped with a second docking mechanism 2 to enter. Second connectors 21 are provided on both sides of the floating plate 20 for connecting with the first connectors 11 in the corresponding first docking mechanisms 1. Accordingly, the set positions include a first set position and a second set position located on either side of the parking space. The bases 10 in one group of first docking mechanisms 1 are set in the first set position, while the bases 10 in the other group of first docking mechanisms 1 are set in the second set position. It will be readily understood that the initial position and docking position of the first connectors 11 described above refer to positions relative to the bases 10. Therefore, in this embodiment, the initial position and docking position of the first connectors 11 in a group of first docking mechanisms 1 are relative to the bases 10 in the same group. That is, each first connector 11 has its own specific initial position and docking position.

[0038] Taking the direction of travel of the automatic transport robot as the front-to-back direction, when the automatic transport robot travels to the vicinity of the target position, the position of the floating plate 20 at this time may deviate from the target position in the front-to-back direction and the left-to-right direction. Therefore, during the process of the first connector 11 and the second connector 21 cooperating to perform the "correction" operation on the floating plate 20, the floating plate 20 may move relative to the automatic transport robot in the aforementioned front-to-back direction and the left-to-right direction. In this embodiment, by providing two sets of spaced-apart first docking mechanisms 1, the "correction" operation can be performed on the floating plate 20 in the aforementioned left and right directions. In addition, two first connectors 11 are provided side by side in each set of first docking mechanisms 1, which can make the movement of the floating plate 20 during the "correction" operation more stable and reduce its shaking.

[0039] As shown in FIG3 , the first docking mechanism 1 in this embodiment further includes a first drive motor 12 disposed on the base 10 and a telescopic arm 13 disposed at the output end of the first drive motor 12, with the first connector 11 disposed on the telescopic arm 13. In this way, the telescopic arm 13 can be driven by the first drive motor 12 to move relative to the base 10, thereby driving the first connector 11 to switch between the initial position and the docking position. As shown in FIG4 and FIG5 , the telescopic arm 13 in this embodiment moves along a set direction driven by the first drive motor 12. The set direction referred to herein refers to the aforementioned left-right direction (direction of the arrow in the figure), and the set direction is parallel to the set plane. It is easy to understand that in this embodiment, the first drive motor 12 and the telescopic arm 13 drive the first connector 11 to telescopically move along the set direction, thereby driving the first connector 11 to switch between the initial position and the docking position. In other optional embodiments, the first connector can also be designed to switch between the initial position and the docking position by a swinging motion.

[0040] Furthermore, while the setting direction in this embodiment is parallel to the setting plane, in other optional embodiments, the setting direction may be designed to be perpendicular to the setting plane, i.e., the first connector 11 moves up and down in a direction perpendicular to the setting plane to switch between the initial position and the docking position. It should be noted that since the floating plate 20 is configured to move relative to the automatic transfer robot along the setting plane, the floating plate 20 does not move in a direction perpendicular to the setting plane. Therefore, when the aforementioned scheme of designing the first connector to move up and down in a direction perpendicular to the setting plane is adopted, a set of first docking mechanisms may be provided on only one side of the automatic transfer robot.

[0041] Furthermore, in conjunction with Figures 8, 9, and 10, the first docking mechanism 1 in this embodiment also includes a first photoelectric detection assembly 14 for determining the position of the first connector 11. Specifically, the first photoelectric detection assembly 14 includes two groups of detection units spaced apart along a set direction and a baffle 142 fixedly mounted on the telescopic arm 13. The detection units include a transmitting end 140 and a receiving end 141 disposed opposite each other, and the receiving end 141 is used to receive signals emitted by the transmitting end 140. Figure 9 shows the relative positional relationship between the baffle 142 and the two groups of detection units when the first connector 11 is in the initial position, and Figure 10 shows the relative positional relationship between the baffle 142 and the two groups of detection units when the first connector 11 is in the docking position. As can be seen, when the first connector 11 is in the initial position, the baffle 142 blocks signal transmission between the transmitter 140 and the receiver 141 in one set of detection units. As the telescopic arm 13 moves in a set direction to drive the first connector 11 to the docking position, the baffle 142 moves along with the telescopic arm 13, blocking signal transmission between the transmitter 140 and the receiver 141 in another set of detection units when the first connector 11 is in the docking position. The detection units can be infrared photodetectors, in which the transmitter 140 emits infrared light to the receiver 141.

[0042] In Figures 9 and 10, the two groups of detection units are marked as a and b respectively, wherein the detection result of the detection unit marked as a can be used to determine whether the first connecting member 11 has accurately stopped at the docking position, and the detection result of the detection unit marked as b can be used to determine whether the first connecting member 11 has completed the reset.

[0043] As shown in Figures 11 and 12 , the docking device also includes a mounting base 26, which is fixedly mounted on the automatic transfer robot. The floating plate 20 is movably mounted on the mounting base 26 via universal ball transfers 25. The mounting base 26 facilitates the assembly of all components of the second docking mechanism 2, excluding the mounting base 26. The universal ball transfers 25, also known as bull's eye balls, are housed within a compatible universal ball housing, which is fixedly mounted on the mounting base 26. The floating plate 20 is arranged on the universal ball transfers 25, allowing the floating plate 20 to slide relative to the mounting base 26 in any direction on a predetermined plane. The density of the universal ball transfers 25 can be designed based on load requirements. It will be readily understood that in other alternative embodiments, the mounting base can be omitted, and the second docking mechanism can be directly mounted on the movable chassis 3 of the automatic transfer robot. Specifically, a frame is provided on the movable chassis of the automatic transfer robot, and assembly of the second docking mechanism can be achieved through structural design of the frame. Of course, the mounting plate can also be included as part of the rack in a removable chassis.

[0044] The docking device also includes a stop pin 24 positioned between the automated transfer robot and the floating plate 20. The floating plate 20 is provided with a stop hole 201. One end of the stop pin 24 is fixed relative to the automated transfer robot, while the other end of the stop pin 24 extends into the stop hole 201. A predetermined clearance exists between the stop pin 24 and the inner wall of the stop hole 201. Specifically, the diameter of the stop hole 201 is larger than the outer diameter of the stop pin 24. This arrangement allows the floating plate 20 to move within a certain range relative to the mounting base 26, thereby constraining the range of movement of the floating plate 20.

[0045] Although the limiting pin 24 cooperates with the limiting hole 201 to prevent the floating plate 20 from falling off the mounting base 26, the user still desires that the floating plate 20 remain stable during the movement of the automatic transfer robot. To this end, as shown in FIG13 , the second docking mechanism 2 in this embodiment further includes a locking assembly 22 disposed between the automatic transfer robot and the floating plate 20. The locking assembly 22 includes a mounting base 220, a connecting plate 221, and a locking member 222 disposed on the mounting base 220. The connecting plate 221 is provided with a locking hole 2210 that is compatible with the locking member 222. In this embodiment, the mounting base 220 is fixedly mounted to the mounting base 26 (if the mounting base is not provided, the mounting base 220 can also be fixedly mounted to the frame of the movable chassis 3 of the automatic transport robot). The connecting plate 221 is fixedly mounted to the floating plate 20. The locking member 222 has a locked position and an unlocked position. When the locking member 222 is in the locked position, it extends into the locking hole 2210 to secure the floating plate 20 to the automatic transport robot. When the locking member 222 is in the unlocked position, it is separated from the locking hole 2210. The provision of the locking assembly 22 secures the floating plate 20 to the automatic transport robot, thereby ensuring the stability of the floating plate 20 during the movement of the automatic transport robot. It will be readily understood that in other optional embodiments, the mounting base can also be fixedly mounted to the floating plate, and the connecting plate can be correspondingly fixed to the mounting base.

[0046] The locking assembly 22 in this embodiment further includes a second drive motor 223 mounted on the mounting base 220. The locking member 222 is movably mounted on the mounting base 220. The output end of the second drive motor 223 is connected to the locking member 222 and is used to drive the locking member 222 to switch between a locked position and an unlocked position. Specifically, as shown in FIG13 , the locking member 222 is a shaft, and the output end of the drive motor is connected to a gear rack transmission structure, wherein a gear 225 is fixedly mounted on the output end of the drive motor, and a rack 226 is fixedly mounted on the locking member 222, and the gear 225 and the rack 226 are meshed for transmission.

[0047] In actual applications, the locking member 222 can be set to the locking position during the driving process of the automatic transport robot to ensure that the floating plate 20 remains stable during the driving process; after the automatic transport robot reaches the vicinity of the target position, the locking member 222 is switched to the unlocking position, so that the floating plate 20 can move relative to the automatic transport robot, so that the position of the floating plate 20 can be "corrected" through the docking operation of the first connecting member 11 and the second connecting member 21.

[0048] Furthermore, the locking assembly 22 in this embodiment further includes a second photoelectric detection assembly 224 disposed on the mounting base 220. The second photoelectric detection assembly 224 is used to determine the position of the locking member 222. Specifically, like the first photoelectric detection assembly 14 described above, the second photoelectric detection assembly 224 in this embodiment includes two sets of photoelectric detectors 2240 spaced apart along the direction of movement of the locking member 222, and a light shielding sheet 2241 fixedly mounted on the locking member 222. The photoelectric detectors 2240 include a transmitter and a receiver spaced apart, with the receiver receiving signals from the transmitter. When the locking member 222 is in the unlocked position, the light shielding sheet 2241 blocks signal transmission between the transmitting and receiving ends of one set of photodetectors 2240. As the locking member 222 moves from the unlocked position to the locked position, the light shielding sheet 2241 moves along with the locking member 222, thereby blocking signal transmission between the transmitting and receiving ends of another set of photodetectors 2240 when the locking member 222 is in the locked position. The photodetectors 2240 may be infrared photodetectors, wherein the transmitting ends transmit infrared light to the receiving ends.

[0049] Furthermore, as shown in FIG14 , in this embodiment, the connecting plate 221 is fixedly mounted on the floating plate 20. The docking device further includes an elastic return assembly 23 disposed between the automated handling robot and the floating plate 20. The elastic return assembly 23 applies pressure to the floating plate 20 in a manner that aligns the locking hole 2210 with the locking member 222. In other words, the elastic return assembly 23 applies pressure to the floating plate 20, causing the locking hole 2210 on the connecting plate 221 fixed to the floating plate 20 to align with the locking member 222 on the mounting base 220 fixed to the mounting base 26. Thus, after the cargo pickup and placement device completes the cargo pickup and placement operation relative to the automated handling robot, the first connecting member 11 switches from the docking position to the initial position, releasing the positioning of the floating plate 20. The floating plate 20 can then return to its original position under the pressure of the elastic return assembly 23, aligning the locking hole 2210 with the locking member 222. This facilitates the locking member 222 in the locking assembly 22 to extend into the locking hole 2210 , so that the floating plate 20 remains fixed relative to the mounting base plate 26 .

[0050] Specifically, as shown in Figures 12 and 14 , the elastic return assembly 23 includes a fixed plate 230 for being fixedly mounted on the automatic handling robot, a slider 231 slidably mounted on the fixed plate 230, a limit block 232 fixedly mounted on the fixed plate 230, an elastic member 233 disposed between the slider 231 and the limit block 232, and a return roller 234 disposed on the slider 231 at an end away from the limit block 232. The floating plate 20 is fixedly mounted with a baffle 200 that cooperates with the elastic return assembly 23, and the return roller 234 is in rolling contact with the baffle 200. When the floating plate 20 is being "corrected," the baffle 200 drives the slider 231 to move relative to the fixed plate 230 along the slide rail 237, during which the slider 231 acts on the elastic member 233. After the cargo picking and placing device completes the cargo picking and placing operation relative to the automatic handling robot, and the first connecting member 11 releases the positioning of the floating plate 20, the elastic member 233 applies pressure to the baffle 200 on the floating plate 20 through the return roller 234, so that the floating plate 20 returns to its original position and the locking hole 2210 is aligned with the locking member 222.

[0051] As mentioned above, the floating plate 20 may produce the aforementioned movement in the front-to-back direction and left-to-right direction during the "correction" process. Therefore, two groups of elastic reset components 23 are provided in this embodiment, wherein the elastic members 233 in one group of elastic reset components 23 have a telescopic direction in the front-to-back direction, and the elastic members 233 in the other group of elastic reset components 23 have a telescopic direction in the left-to-right direction.

[0052] This embodiment also includes a screw 236 that passes through the stop block 232. The end of the screw 236 near the slider 231 is connected to an elastic member stop 238. One end of the elastic member 233 contacts the elastic member stop 238, and the other end of the elastic member 233 is mounted on the slider 231. Furthermore, an adjustment nut 235 is provided on the side of the stop block 232 away from the slider 231. The adjustment nut 235 is tightened onto the screw 236. In the design shown in FIG14 , the end of the screw 236 away from the stop block 232 has a hexagonal structure 2361. By rotating this hexagonal structure 2361, the screw 236 can be further rotated in or out of the stop block 232 to adjust the position of the elastic member stop 238, thereby changing the deformation of the elastic member 233 and adjusting the pressing force applied by the return roller 234 to the baffle 200 to accommodate materials of varying weights. After completing the adjustment of the position of the screw 236, the nut 235 can be screwed to press it tightly against the limit block 232, so that a certain pre-tightening force will be generated between the screw 236 and the nut 235, which can prevent the screw 236 from shifting during subsequent use.

[0053] As shown in Figures 15 and 16 , the docking device also includes a guide rail 202 fixedly mounted on the floating plate 20, a support seat 203 slidably mounted on the guide rail 202, and positioning pins 204 mounted on the support seat 203. The support seat 203 forms a support portion, and the positioning pins 204 are used to position the material 4 placed on the support portion. In this embodiment, support seats 203 are positioned at each of the four corners of the floating plate 20. By providing the guide rail 202, the spacing between two circumferentially adjacent support seats 203 can be adjusted to accommodate materials 4 of varying sizes. The positioning pins 204, coupled with the positioning pins 204 on multiple support seats 203, position the material 4 placed on the support portion, ensuring the stability of the material 4 during the travel of the automated handling robot. For example, as shown in Figure 16 , an automated handling robot equipped with the docking device is used to transport a vehicle body, serving as material 4, within an automobile production workshop. The vehicle body is placed on the support portion of the floating plate 20 and positioned using the positioning pins 204.

[0054] The docking device can be applied to an automatic handling robot, which includes a movable chassis 3 and the second docking mechanism 2 of the docking device provided in this embodiment, with the second docking mechanism 2 disposed on the movable chassis 3. The aforementioned automatic handling robot can be used in conjunction with a pickup and placement device. Specifically, this embodiment further provides a material handling system, which includes the pickup and placement device, the aforementioned automatic handling robot including the second docking mechanism 2, and the first docking mechanism 1 of the docking device provided in this embodiment. The pickup and placement device is used to pick up and place materials 4 relative to the automatic handling robot. Specifically, in this embodiment, the pickup and placement device is a hoist, which can pick up and place materials 4 relative to the automatic handling robot and can also drive the materials 4 up and down.

[0055] Taking the process of transporting material 4 to a pickup / placement device as an example, the automated transport robot carries the material 4. During this process, the locking member 222 in the locking assembly 22 is in the locked position (i.e., the locking member 222 extends into the locking hole 2210), securing the floating plate 20 to the movable chassis 3. When the automated transport robot reaches the target location, it stops. The second drive motor 223 drives the locking member 222, shifting it from the locked position to the unlocked position, allowing the floating plate 20 to slide along a predetermined plane relative to the movable chassis 3. Subsequently, the first drive motor 12 drives the telescopic arm 13, shifting the first connector 11 from its initial position to its docking position. During this shift, the first connector 11 and the second connector 21 cooperate to perform a "correction" operation on the floating plate 20, allowing it to move and ultimately secure it at the target location. The pickup / placement device then removes the material 4 from the floating plate 20. Then, the first drive motor 12 drives the telescopic arm 13 to move, so that the first connector 11 returns to the initial position from the docking position, and the locking assembly 22 is used to lock the floating plate 20 to the mounting base. Finally, the automatic transport robot drives away.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A docking device for docking an automatic handling robot with a pick-and-place equipment, characterized in that: The docking device comprises a first docking mechanism (1) and a second docking mechanism (2), wherein the first docking mechanism (1) comprises a base (10) fixedly mounted at a set position and a first connecting member (11) arranged on the base (10), and the second docking mechanism (2) comprises a floating plate (20) arranged on the automatic handling robot and a second connecting member (21) fixedly mounted on the floating plate (20), wherein the floating plate (20) is provided with a bearing portion for placing materials; The floating plate (20) is configured to be movable along a set plane relative to an automatic transport robot. The first connecting member (11) has an initial position and a docking position relative to the base (10). When the first connecting member (11) is at the initial position, it is separated from the second connecting member (21). When the first connecting member (11) is at the docking position, it is connected to the second connecting member (21) so that the floating plate (20) is fixed at a target position.

2. The docking device according to claim 1, wherein: One of the first connecting member (11) and the second connecting member (21) is provided with a docking block (110), and the other is provided with a docking slot (210), wherein the docking slot (210) comprises a clamping slot (2100) adapted to the docking block (110) and an open slot (2101) connected to the clamping slot (2100), and the open slot (2101) is used to guide the docking block (110) to be clamped into the clamping slot (2100).

3. The docking device according to claim 1, wherein: Two groups of the first docking mechanisms (1) are provided, and a parking space for an automatic transport robot equipped with a second docking mechanism (2) to enter is provided between the two groups of the first docking mechanisms (1). Both sides of the floating plate (20) are provided with the second connecting member (21) for connecting to the first connecting member (11) in the first docking mechanism (1) on the corresponding side.

4. The docking device according to claim 3, wherein: The first docking mechanism (1) further comprises a first drive motor (12) arranged on the base (10) and a telescopic arm (13) arranged at an output end of the first drive motor (12), and the first connecting member (11) is arranged on the telescopic arm (13); The telescopic arm (13) is driven by a first drive motor (12) to move along a set direction and drive the first connecting member (11) to switch between an initial position and a docking position, wherein the set direction is parallel to the set plane.

5. The docking device according to claim 4, characterized in that: The first docking mechanism (1) further comprises a first photoelectric detection component (14) for determining the position of the first connecting member (11).

6. The docking device according to claim 5, characterized in that: The first photoelectric detection assembly (14) comprises two groups of detection units spaced apart along the set direction and a baffle (142) fixedly mounted on the telescopic arm (13); the detection units comprise a transmitting end (140) and a receiving end (141) disposed opposite to each other; the receiving end (141) is used to receive a signal emitted by the transmitting end (140); The blocking piece (142) blocks signal transmission between a transmitting end (140) and a receiving end (141) in one group of detection units when the first connecting member (11) is in the initial position, and blocks signal transmission between a transmitting end (140) and a receiving end (141) in another group of detection units when the first connecting member (11) is in the docking position.

7. The docking device according to any one of claims 1 to 6, characterized in that: The second docking mechanism (2) further comprises a locking assembly (22) arranged between the automatic transport robot and the floating plate (20), the locking assembly (22) comprising a mounting seat (220), a connecting plate (221) and a locking member (222) arranged on the mounting seat (220), the connecting plate (221) being provided with a locking hole (2210) adapted to the locking member (222), one of the mounting seat (220) and the connecting plate (221) being used for being fixedly mounted to the automatic transport robot, and the other being fixedly mounted to the floating plate (20); The locking member (222) has a locking position and an unlocking position. When the locking member (222) is in the locking position, it extends into the locking hole (2210) to fix the floating plate (20) to the automatic handling robot. When the locking member (222) is in the unlocking position, it is separated from the locking hole (2210).

8. The docking device according to claim 7, wherein: The locking assembly (22) further comprises a second driving motor (223) arranged on the mounting seat (220); the locking member (222) is movably arranged on the mounting seat (220); an output end of the second driving motor (223) is connected to the locking member (222) and is used to drive the locking member (222) to switch between a locked position and an unlocked position.

9. The docking device according to claim 7, wherein: The locking assembly (22) further includes a second photoelectric detection assembly (224) disposed on the mounting seat (220), wherein the second photoelectric detection assembly (224) is used to determine the position of the locking member (222).

10. The docking device according to claim 7, wherein: The connecting plate (221) is fixedly mounted on the floating plate (20), and the docking device further comprises an elastic reset component (23) arranged between the automatic handling robot and the floating plate (20), wherein the elastic reset component (23) applies pressure to the floating plate (20) so that the locking hole (2210) has a tendency to align with the locking member (222).

11. The docking device according to claim 10, wherein: The elastic reset assembly (23) comprises a fixed plate (230) for being fixedly mounted on the automatic handling robot, a slider (231) slidably arranged on the fixed plate (230), a limit block (232) fixedly arranged on the fixed plate (230), an elastic member (233) arranged between the slider (231) and the limit block (232), and a return roller (234) arranged on one end of the slider (231) away from the limit block (232); The floating plate (20) is fixedly provided with a baffle (200) that matches the elastic reset component (23), and the return roller (234) is in rolling contact with the baffle (200).

12. The docking device according to claim 1, wherein: The floating plate (20) is movably arranged on the automatic transport robot via a universal ball (25); Alternatively, the docking device further comprises a mounting base plate (26), the mounting base plate (26) being fixedly mounted on the automatic handling robot, and the floating plate (20) being movably arranged on the mounting base plate (26) via a universal ball (25).

13. The docking device according to claim 1 or 12, characterized in that: The docking device further comprises a limit pin (24) arranged between the automatic transport robot and the floating plate (20), the floating plate (20) being provided with a limit hole (201), one end of the limit pin (24) being fixed relative to the automatic transport robot, the other end of the limit pin (24) extending into the limit hole (201), and a set gap being provided between the limit pin (24) and the inner wall of the limit hole (201).

14. The docking device according to claim 1, wherein: The docking device further comprises a guide rail (202) fixedly mounted on the floating plate (20), a bearing seat (203) slidably arranged on the guide rail (202), and a positioning pin (204) arranged on the bearing seat (203); the bearing seat (203) is formed with the bearing portion, and the positioning pin (204) is used to position the material placed on the bearing portion.

15. An automatic handling robot comprising a movable chassis (3), characterized in that: The automatic transport robot further comprises the second docking mechanism (2) in the docking device according to any one of claims 1 to 14, and the second docking mechanism (2) is arranged on the movable chassis (3).

16. A material handling system, characterized in that: The material handling system includes a picking and placing device and an automatic handling robot as claimed in claim 15 and a first docking mechanism (1) in a docking device as claimed in any one of claims 1 to 14, wherein the picking and placing device is used to pick and place materials relative to the automatic handling robot.

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