Mobile robot, carrying and docking platform, and carrying system

Abstract

A mobile robot (100), a carrying and docking platform (200), and a carrying system, the mobile robot (100) being used for docking with the carrying and docking platform (200), the carrying and docking platform (200) being provided with a pair of cantilevers (210), and the mobile robot (100) comprising: a mobile chassis (110), a bearing platform (120), and a liftable limiting member (130). The liftable limiting member (130) has a first state in which said member is not higher than the bearing platform (120) and a second state in which said member is higher than the bearing platform (120). When the mobile robot (100) needs to acquire an article (300) from the carrying and docking platform (200), after the bearing platform (120) without a load moves to be between the pair of cantilevers (210), the liftable limiting member (130) is switched from the first state to the second state, and, driven by the mobile chassis (110), the liftable limiting member (130) pulls the article (300) to move out from the pair of cantilevers (210) onto the bearing platform (120). When the mobile robot (100) needs to transfer the article (300) to the carrying and docking platform (200), the liftable limiting member (130) is in the second state, and, driven by the mobile chassis (110), the liftable limiting member (130) pushes the article (300) to move from the bearing platform (120) onto the pair of cantilevers (210). According to the embodiments of the present solution, a lifting action of a lifting mechanism is omitted, thus improving the efficiency of transferring the article (300).

Description

A mobile robot, a material handling docking platform, and a material handling system

[0001] This application claims priority to Chinese patent application filed on November 4, 2024, with application number 202422681082.2, entitled "Mobile Robot, Handling and Docking Platform and Handling System".

[0002] This application claims priority to Chinese Patent Application No. 202411172842.5, filed on August 26, 2024, entitled "Warehouse System, Warehouse Scheduling Method and Warehouse Scheduling Device". Technical Field

[0003] This application relates to the field of intelligent logistics warehousing technology, and in particular to a mobile robot, a handling docking platform, and a handling system. Background Technology

[0004] Within a warehousing and logistics station, AGVs (Automated Guided Vehicles, or unmanned transport vehicles) are typically used to transfer goods between the shelving area and the picking area.

[0005] To enable automatic docking between AGVs and the goods docking platforms in the shelving and picking areas, AGVs are usually equipped with lifting mechanisms. During the process of transferring goods between the AGV and the docking platform, the goods need to be lifted by the lifting mechanism. Therefore, AGVs equipped with this lifting mechanism not only have low docking efficiency, but also greatly increase the cost of goods transfer due to their complex structure. Summary of the Invention

[0006] The purpose of this application is to provide a mobile robot, a material handling docking platform, and a material handling system to reduce the transportation costs of the mobile robot, the material handling docking platform, and the material handling system. The specific technical solution is as follows:

[0007] The first aspect of this application provides a mobile robot, comprising:

[0008] Mobile chassis;

[0009] The transport platform is mounted on top of the mobile chassis, so that it can be moved to the preset position of the cantilever under the drive of the mobile chassis;

[0010] The limiting component has a first state and a second state, and is at least located at one end of the transport platform in the front-rear direction. It is used to switch from the first state to the second state after the transport platform moves unloaded to the preset position of the cantilever, so that the item carried by the cantilever can be moved onto the transport platform under the drive of the mobile chassis; or, before the item carried by the transport platform moves to the preset position of the cantilever, it is in the second state, so that the item can be moved from the transport platform to the cantilever under the drive of the mobile chassis.

[0011] In some embodiments, the transport platform has a first bearing surface for carrying items, a second bearing surface for carrying items at the fixed end of the cantilever, and an inclined surface for docking with the mobile robot at the suspended end of the cantilever; the first bearing surface is lower than the second bearing surface, and the first bearing surface is not lower than the end of the inclined surface;

[0012] When the transport platform carrying the goods moves to the preset position of the cantilever, the limiting component is in the second state. Driven by the mobile chassis, the goods are guided from the first bearing surface of the transport platform to the second bearing surface of the cantilever via the inclined surface of the cantilever.

[0013] In some embodiments, it also includes:

[0014] An object sensing component is installed on the transport platform to sense whether an object exists on the first bearing surface;

[0015] The limiting component is electrically connected to the item sensing component, and is used to switch to the second state when there is an item on the first bearing surface, and switch to the first state when there is no item on the first bearing surface.

[0016] In some embodiments, the item sensing component includes a TOF sensor or a photoelectric sensor.

[0017] In some embodiments, the transport platform has internal storage space;

[0018] The limiting components include a drive unit and a rotating shift fork;

[0019] The rotating fork is located at one end of the transport platform in the front-to-back direction;

[0020] At least a portion of the drive component is disposed in the receiving space and connected to the rotary fork for driving the rotary fork to rotate;

[0021] When the driving component drives the rotary fork to rotate to a horizontal position, the limiting member is in the first state, and the top of the rotary fork is not higher than the first bearing surface. When the driving component drives the rotary fork to rotate to a vertical position, the limiting member is in the second state, and the top of the rotary fork is higher than the first bearing surface.

[0022] In some embodiments, there are two rotary forks, which are spaced apart, and the distance between the two rotary forks is less than the distance between the cantilever arms.

[0023] In some embodiments, it also includes:

[0024] Two guide plates, located on both sides of the transport platform, are used to limit the movement of items carried by the transport platform;

[0025] The guide plate and the transport platform are spaced apart, and the space between the guide plate and the transport platform is used to accommodate the cantilever.

[0026] The second aspect of this application provides a material handling docking platform for docking with the aforementioned mobile robot. The material handling docking platform includes:

[0027] cantilever;

[0028] Support structure; among which,

[0029] The fixed end of the cantilever is located on the support.

[0030] A third aspect of this application provides a mobile robot for docking with a transport docking platform, the transport docking platform having a pair of cantilever arms for carrying items, the mobile robot comprising:

[0031] Mobile chassis;

[0032] A transport platform is mounted on top of a mobile chassis, and the width of the transport platform is less than the gap between a pair of cantilever arms; so that it can be moved between the pair of cantilever arms by the mobile chassis.

[0033] The liftable limiter has a first state not higher than the transport platform and a second state higher than the transport platform, and is at least located at one end of the transport platform in the front-rear direction; it is used to switch from the first state to the second state after the transport platform moves unloaded between a pair of cantilever arms, so as to pull the item from the pair of cantilever arms to the transport platform under the drive of the mobile chassis; or, before the transport platform moves with the item between the pair of cantilever arms, it is in the second state, so as to push the item from the transport platform to the pair of cantilever arms under the drive of the mobile chassis.

[0034] In some embodiments, the transport platform has a first bearing surface for carrying items, a second bearing surface for carrying items at the fixed end of the cantilever, and an inclined surface for docking with the mobile robot at the suspended end of the cantilever; the first bearing surface is lower than the second bearing surface, and the first bearing surface is not lower than the end of the inclined surface;

[0035] When the transport platform moves the carried goods between a pair of cantilever arms, at least the end of the carried goods away from the pair of cantilever arms is raised. Driven by the mobile chassis, the goods are guided from the first bearing surface of the transport platform, through the inclined surface of the cantilever arm, to the second bearing surface of the cantilever arm.

[0036] In some embodiments, it also includes:

[0037] An object sensing component is installed on the transport platform to sense whether an object exists on the first bearing surface;

[0038] The liftable item limiting component is electrically connected to the item sensing component, and is used to switch to the second state when there is an item on the first bearing surface, and switch to the first state when there is no item on the first bearing surface.

[0039] In some embodiments, the item sensing component includes a TOF sensor or a photoelectric sensor.

[0040] In some embodiments, the transport platform has internal storage space;

[0041] The liftable limit component includes a drive unit and a rotating fork;

[0042] The rotating fork is located at one end of the transport platform in the front-to-back direction;

[0043] At least a portion of the drive component is disposed in the receiving space and connected to the rotary fork for driving the rotary fork to rotate;

[0044] When the driving component drives the rotating fork to rotate to a horizontal position, the lifting limit member is in the first state, and the top of the rotating fork is not higher than the first bearing surface. When the driving component drives the rotating fork to rotate to a vertical position, the lifting limit member is in the second state, and the top of the rotating fork is higher than the first bearing surface.

[0045] In some embodiments, there are two rotary forks, which are spaced apart, and the distance between the two rotary forks is less than the distance between a pair of cantilever arms.

[0046] In some embodiments, it also includes:

[0047] Two guide plates, located on both sides of the transport platform, are used to limit the movement of items carried by the transport platform;

[0048] The guide plate and the transport platform are spaced apart, and the space between the guide plate and the transport platform is used to accommodate the cantilever.

[0049] A fourth aspect of this application provides a material handling and docking platform for docking with a mobile robot, the mobile robot having a transport platform, the material handling and docking platform comprising:

[0050] A pair of cantilever arms;

[0051] Support structure; among which,

[0052] The fixed ends of a pair of cantilever arms are spaced apart on the support body, and the gap between the pair of cantilever arms is greater than the width of the transport platform, so as to accommodate the transport platform.

[0053] In some embodiments, the transport platform has a first bearing surface for carrying articles; at the fixed end of the cantilever, there is a second bearing surface for carrying articles, the second bearing surface being higher than the first bearing surface;

[0054] At the cantilever's suspended end, the cantilever has an inclined surface for docking with the mobile robot, and the end of the inclined surface is not higher than the first bearing surface.

[0055] In some embodiments, it also includes:

[0056] Non-powered rollers are located on the second bearing surface and / or the inclined surface.

[0057] The fifth aspect of this application provides a transport system, comprising:

[0058] The mobile robot of the first aspect mentioned above; and the handling and docking platform of the second aspect mentioned above; or,

[0059] The mobile robot mentioned in the third aspect above; and the material handling and docking platform mentioned in the fourth aspect above.

[0060] The mobile robot, transport docking platform, and transport system provided in this application embodiment are used to dock with the transport docking platform, which has a pair of cantilever arms. The mobile robot includes a mobile chassis, a transport platform, and a liftable limiting component. The transport platform is located on top of the mobile chassis, and its width is less than the gap between the pair of cantilever arms. The liftable limiting component has a first state not higher than the transport platform and a second state higher than the transport platform, and is located at least at one end of the transport platform in the front-rear direction. When the mobile robot needs to acquire an item from the transport docking platform, after the transport platform moves empty between the pair of cantilever arms, it switches from the first state to the second state. Under the drive of the mobile chassis, the liftable limiting component pulls the item from the pair of cantilever arms onto the transport platform. When the mobile robot needs to transfer an item to the transport docking platform, before the transport platform moves with the item between the pair of cantilever arms, it is in the second state. Under the drive of the mobile chassis, the liftable limiting component pushes the item from the transport platform onto the pair of cantilever arms. In this embodiment of the solution, the lifting mechanism of the traditional AGV is eliminated, which not only simplifies the structure, but also saves the lifting action of the lifting mechanism in terms of the way the goods are transported, thus improving the efficiency of the goods transfer.

[0061] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0062] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0063] Figure 1 is a schematic diagram of the structure of the mobile robot after the liftable limiting component of the present application has been lowered;

[0064] Figure 2 is a schematic diagram of the structure of the mobile robot provided in this application after the liftable limiting component has been lowered;

[0065] Figure 3 is a schematic diagram of the structure of the mobile robot provided in this application after the liftable limiting component has been lowered;

[0066] Figure 4 is a schematic diagram of the structure of the mobile robot provided in the embodiment of this application after the liftable limiting component is raised;

[0067] Figure 5A is a schematic diagram of the first step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0068] Figure 5B is a schematic diagram of the first step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0069] Figure 6A is a schematic diagram of the second step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0070] Figure 6B is a schematic diagram of the second step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0071] Figure 7A is a schematic diagram of the third step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0072] Figure 7B is a schematic diagram of the third step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0073] Figure 8A is a schematic diagram of the fourth step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0074] Figure 8B is a schematic diagram of the fourth step of the mobile robot acquiring items from the handling and docking platform according to an embodiment of this application;

[0075] Figure 9A is a schematic diagram of the first step of the mobile robot transferring items to the handling and docking platform according to an embodiment of this application;

[0076] Figure 9B is a schematic diagram of the first step of the mobile robot transferring items to the handling and docking platform according to an embodiment of this application;

[0077] Figure 10A is a schematic diagram of the second step of the mobile robot transferring items to the handling docking platform according to an embodiment of this application;

[0078] Figure 10B is a schematic diagram of the second step of the mobile robot transferring items to the handling docking platform according to the embodiment of this application;

[0079] Figure 11A is a schematic diagram of the third step of the mobile robot transferring items to the handling and docking platform according to an embodiment of this application;

[0080] Figure 11B is a schematic diagram of the third step of the mobile robot transferring items to the handling docking platform according to the embodiment of this application;

[0081] Figure 12 is a schematic diagram of the material box structure in an embodiment of this application;

[0082] Figure 13 is a schematic diagram of the transport docking platform provided in an embodiment of this application.

[0083] The attached figures are labeled as follows: Mobile robot 100, mobile chassis 110, transport platform 120, first bearing surface 121, liftable limiting component 130, rotating fork 131, object sensing component 140, guide plate 150, spacing between transport platforms 160; Handling docking platform 200, cantilever 210, fixed end 210a, suspended end 210b, second bearing surface 211, inclined surface 212, end of inclined surface 212a, support body 220, unpowered roller 230; Object 300; Forward / backward direction A. Detailed Implementation

[0084] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0085] In related technologies, AGVs need to be equipped with lifting mechanisms to raise items for transfer to docking platforms. These lifting mechanisms are relatively complex, increasing the manufacturing cost of the AGV and resulting in higher operating costs. Furthermore, the time required for lifting and transferring items leads to low operational efficiency.

[0086] The purpose of this application is to provide a mobile robot, a handling docking platform, and a handling system, so as to reduce the transfer cost of the mobile robot, the handling docking platform, and the handling system, and improve the transfer efficiency of the mobile robot, the handling docking platform, and the handling system.

[0087] A mobile robot includes: a mobile chassis, a transport platform, and a limiting component. The transport platform is disposed on top of the mobile chassis to move to a preset position of a cantilever under the drive of the mobile chassis. The limiting component has a first state and a second state, and is disposed at least at one end of the transport platform in the front-rear direction. It is used to switch from the first state to the second state after the transport platform moves unloaded to the preset position of the cantilever, so that an item carried by the cantilever can be moved onto the transport platform under the drive of the mobile chassis; or, before the item carried by the transport platform moves to the preset position of the cantilever, it is in the second state, so that the item can be moved from the transport platform to the cantilever under the drive of the mobile chassis.

[0088] In this embodiment of the solution, the lifting mechanism of the traditional AGV is eliminated, which not only simplifies the structure, but also saves the lifting action of the lifting mechanism in terms of the way the goods are transported, thus improving the efficiency of the goods transfer.

[0089] Specifically, to better illustrate a mobile robot according to an embodiment of this application, the following describes a mobile robot according to an embodiment of this application with reference to the accompanying drawings. The mobile robot is used to dock with a handling docking platform. The handling docking platform has a pair of cantilever arms for carrying items, and the limiting member is specifically a liftable limiting member.

[0090] Figure 1 is a schematic diagram of the structure of the mobile robot after the lifting limit component of the mobile robot provided in the embodiment of this application has been lowered; Figure 2 is a schematic diagram of the structure of the mobile robot after the lifting limit component of the mobile robot provided in the embodiment of this application has been lowered; Figure 3 is a schematic diagram of the structure of the mobile robot after the lifting limit component of the mobile robot provided in the embodiment of this application has been lowered; and Figure 4 is a schematic diagram of the structure of the mobile robot after the lifting limit component of the mobile robot provided in the embodiment of this application has been raised. As shown in Figures 1, 2, 3 and 4, a mobile robot 100 includes a mobile chassis 110, a transport platform 120 and a lifting limit component 130. The transport platform 120 is disposed on the top of the mobile chassis 110, and the lifting limit component 130 is disposed at least at one end of the transport platform 120 in the front-rear direction A.

[0091] In the following embodiments of this solution, taking the lifting limit member 130 located at one end of the transport platform 120 as an example, as shown in Figure 1, the lifting limit member 130 is located at least at one end of the transport platform 120. The lifting limit member 130 is in a descending position, as shown in Figure 4, and the lifting limit member 130 is in an ascending position.

[0092] Figure 5A is a schematic diagram of the first step of the mobile robot acquiring items from the transport docking platform according to an embodiment of this application. Figure 5B is a schematic diagram of the second step of the mobile robot acquiring items from the transport docking platform according to an embodiment of this application. Figure 6A is a schematic diagram of the first step of the mobile robot acquiring items from the transport docking platform according to an embodiment of this application. Figure 6B is a schematic diagram of the second step of the mobile robot acquiring items from the transport docking platform according to an embodiment of this application. Figure 7A is a schematic diagram of the first step of the mobile robot acquiring items from the transport docking platform according to an embodiment of this application. Figure 7B is a schematic diagram of the third step of the mobile robot acquiring items from the transport docking platform according to an embodiment of this application. Figure 8A is a schematic diagram of the fourth step of the mobile robot acquiring the items from the transport docking platform provided in this application embodiment, and Figure 8B is a schematic diagram of the fourth step of the mobile robot acquiring the items from the transport docking platform provided in this application embodiment. As shown in Figures 5A, 5B, 6A, 6B, 7A, 7B, 8A, and 8B, the mobile robot 100 is used to dock with the transport docking platform 200. The transport docking platform 200 has a pair of cantilever arms 210 for carrying the items 300. The width w1 of the transport platform 120 is less than the interval w2 between the pair of cantilever arms 210, so that it can move between the pair of cantilever arms 210 under the drive of the mobile chassis 110. The liftable limiter 130 is used to switch from the first state to the second state after the transport platform 120 moves unloaded between a pair of cantilever arms 210, at least from the rear end of the item 300 carried on the cantilever arms 210, so that the item 300 is pulled from the pair of cantilever arms 210 onto the transport platform 120 by the drive of the mobile chassis 110.

[0093] When the mobile robot 100 needs to acquire the item 300 from the transport docking platform 200, the first step is as follows: As shown in Figures 5A and 5B, the liftable limiter 130 is in the lowered position, and the mobile robot 100 reverses towards the transport docking platform 200 (the rear of the transport platform 120 faces the transport docking platform 200). The second step is as shown in Figures 6A and 6B, the mobile robot 100 reverses to below the cantilever 210, and the transport platform 120 moves unloaded between the pair of cantilever 210s. The third step is as shown in Figures 7A and 7B, the liftable limiter 130 rises from the rear end of the item 300 carried on the cantilever 210. The fourth step is as shown in Figures 8A and 8B, the mobile robot 100 drives away from the transport docking platform 200, and the liftable limiter 130 pulls the item 300 from the pair of cantilever 210s onto the transport platform 120.

[0094] Figure 9A is a schematic diagram of the first step of the mobile robot transferring items to the handling docking platform according to an embodiment of this application. Figure 9B is a schematic diagram of the second step of the mobile robot transferring items to the handling docking platform according to an embodiment of this application. Figure 10A is a schematic diagram of the second step of the mobile robot transferring items to the handling docking platform according to an embodiment of this application. Figure 10B is a schematic diagram of the second step of the mobile robot transferring items to the handling docking platform according to an embodiment of this application. Figure 11A is a schematic diagram of the third step of the mobile robot transferring items to the handling docking platform according to an embodiment of this application. Figure 1 and Figure 11B are schematic diagrams of the third step of the mobile robot transferring items to the handling docking platform according to the embodiments of this application. As shown in Figures 9A, 9B, 10A, 10B, 11A, and 11B, the liftable limit member 130 is also used to lift at least one end of the carried item 300 away from the pair of cantilever arms 210 before the transport platform 120 moves the carried item 300 between the pair of cantilever arms 210, so that the liftable limit member 130 is in a second state, so that the item 300 is pushed from the transport platform 120 to the pair of cantilever arms 210 under the drive of the mobile chassis 110.

[0095] When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the first step is as follows: As shown in Figures 9A and 9B, the mobile robot 100 moves towards the transport docking platform 200 (the front of the transport platform 120 faces the transport docking platform 200), and the liftable limiter 130 is in the raised position. The second step is as shown in Figures 10A and 10B, driven by the mobile chassis 110, the liftable limiter 130 pushes the item 300 from the transport platform 120 to a pair of cantilever arms 210. The third step is as shown in Figures 11A and 11B, the mobile robot 100 moves away from the transport docking platform 200, and the item 300 remains on the transport docking platform 200.

[0096] In specific implementation, as shown in Figures 9A and 10A, the transport platform 120 has a first bearing surface 121 for carrying the item 300, a second bearing surface 211 for carrying the item 300 at the fixed end 210a of the cantilever 210, and an inclined surface 212 for docking the item 300 with the mobile robot at the suspended end 210b of the cantilever 210; the first bearing surface 121 is lower than the second bearing surface 211, and the first bearing surface 121 is not lower than the end 212a of the inclined surface; when the transport platform 120 carrying the item 300 moves between a pair of cantilever 210, at least at the end of the carried item 300 away from the pair of cantilever 210, it rises, and driven by the mobile chassis 110, the item 300 is guided from the first bearing surface 121 of the transport platform 120, through the inclined surface 212 of the cantilever 210, to the second bearing surface 211 of the cantilever 210.

[0097] When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, in the second step described above, as the mobile robot 100 moves forward, since the liftable limiter 130 is higher than the second bearing surface 211 and also higher than the first bearing surface 121, it can limit the rear side of the item 300 carried by the transport platform 120, pushing the item 300 from the inclined surface 212 of the cantilever end 210b to the second bearing surface 211 of the fixed end 210a of the cantilever 210. Since the first bearing surface 121 is lower than the second bearing surface 211, when the mobile robot 100 travels under the cantilever 210, the transfer of the item 300 from the mobile robot 100 to the transport docking platform 200 is completed. In the third step described above, when the mobile robot 100 moves away from under the cantilever 210, the item 300 will remain on the higher second bearing surface 211 on the cantilever 210.

[0098] To further achieve automated control of the mobile robot 100, as shown in Figures 1, 2, 3, and 4, the mobile robot 100 also includes: an object sensing component 140, which is disposed on the transport platform 120 and used to sense whether an object 300 exists on the first bearing surface 121; a liftable limiting component 130 is electrically connected to the object sensing component 140 and is used to switch to a second state when an object 300 exists on the first bearing surface 121, and switch to a first state when an object 300 does not exist on the first bearing surface 121. The object sensing component 140 may include a TOF sensor, or a photoelectric sensor, etc.

[0099] When the mobile robot 100 needs to acquire the item 300 from the transport docking platform 200, in the second step, the transport platform 120 moves unloaded between a pair of cantilever arms 210 and stops. The liftable limiter 130 is positioned at the rear end of the item 300 carried on the cantilever arm 210, and the item sensing component 140 senses the presence of the item 300 above. In the third step, based on the presence of the item 300 sensed by the item sensing component 140, the liftable limiter 130 automatically rises from the rear end of the item 300 carried on the cantilever arm 210.

[0100] When the mobile robot 100 needs to transfer item 300 to the transport docking platform 200, in the first step, the lifting limit member 130 automatically rises when the item sensor 140 senses the presence of item 300. In the second step, the lifting limit member 130 remains raised as the item sensor 140 senses the presence of item 300. In the third step, the mobile robot 100 moves away from the transport docking platform 200, and item 300 remains on the platform. The item sensor 140 no longer senses the presence of item 300, and the lifting limit member 130 automatically lowers.

[0101] The liftable limiting member 130 can be implemented using various structures. For example, the liftable limiting member 130 can be a vertically telescopic electric push rod (not shown). In some other embodiments, as shown in Figures 1, 2, 3, and 4, the transport platform 120 has an internal accommodating space; the liftable limiting member 130 includes a driving component and a rotating fork 131; the rotating fork 131 is disposed at one end of the transport platform 120 in the front-rear direction A; at least a portion of the driving component is disposed in the accommodating space and connected to the rotating fork 131 for driving the rotating fork 131 to rotate; when the driving component drives the rotating fork 131 to rotate to a horizontal position, the liftable limiting member 130 is in a first state, and the top of the rotating fork 131 is not higher than the first bearing surface 121; when the driving component drives the rotating fork 131 to rotate to a vertical position, the liftable limiting member 130 is in a second state, and the top of the rotating fork 131 is higher than the first bearing surface 121. In some embodiments, the driving component can be a motor. The output shaft of the motor is connected to the bottom of the rotary fork 131. The output shaft can drive the rotary fork 131 to rotate in the forward and reverse directions, so that the rotary fork 131 can switch between the horizontal and vertical positions.

[0102] In this embodiment, the drive component is installed inside the transport platform 120, which can effectively utilize the space in the thickness of the transport platform 120, and is conducive to the miniaturization of the mobile robot 100.

[0103] There can be two rotating forks 131, spaced apart, with the interval w3 between the two rotating forks 131 being smaller than the interval w2 between a pair of cantilever arms 210. By setting two rotating forks 131, a more stable thrust can be applied to the item 300 during the step of the mobile robot 100 transferring the item 300 to the handling docking platform 200. In specific implementations, each rotating fork 131 can be configured with a separate drive component to drive its rotation, or a single drive component can be used to drive it via a transmission mechanism.

[0104] To further improve the stability of the item 300 during the transfer process, the mobile robot 100 further includes two guide plates 150 located on both sides of the transport platform 120 to limit the movement of the item 300 carried by the transport platform 120. The guide plates 150 and the transport platform 120 are spaced apart, with a gap 160 between them to accommodate the cantilever 210. When the mobile robot 100 travels under the handling docking platform 200, the cantilever 210 is inserted into the gap 160 between the guide plates 150 and the transport platform. During the process of the mobile robot 100 handling the item 300, the two guide plates 150 are located on both sides of the item 300, limiting its movement and improving the stability of the mobile robot 100 in handling the item 300.

[0105] In this embodiment of the solution, the liftable limiter 130 can also be set separately at one end in front of the transport platform 120. In application, when the mobile robot 100 needs to obtain the item 300 from the transport docking platform 200, or when the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the travel direction of the mobile robot 100 can be reversed.

[0106] In other embodiments, the number of liftable limiting members 130 can be two sets, respectively positioned in front of and behind the transport platform 120. In application, when the mobile robot 100 needs to acquire the item 300 from the transport docking platform 200, after the transport platform 120 moves unloaded between the pair of cantilever arms 210, the lifting limiting member 130 on the side closer to the transport docking platform 200 can rise from the rear end of the item 300 carried on the cantilever arm 210. When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the lifting limiting member 130 on the side farther from the transport docking platform 200 can be in the raised position. This allows the lifting limiting member 130 to push the item 300 from the transport platform 120 onto the pair of cantilever arms 210, driven by the mobile chassis 110.

[0107] Figure 12 is a schematic diagram of the material box structure in an embodiment of this application. As shown in Figure 12, the handling docking platform 200 has an item 300 for carrying, which can be a material box. The material box is a rectangular material box with an opening at the top, and the interior can be used to place materials. For example, the length and width dimensions of the rectangular material box are 600mm×400mm or 650mm×450mm, or other plastic boxes / cardboard boxes of any length and width.

[0108] It is easy to understand that the specific structures of the transport platform, object sensing component, and guide plate in the above examples are not limited to the mobile robot embodiments with liftable limit components and a pair of cantilever arms, but can also be applied to embodiments with limit components and cantilever arms of other structures.

[0109] In specific implementations, the limiting member is not limited to the aforementioned liftable limiting member. To better illustrate the embodiments of this application, the limiting member can also be disposed on at least one guide plate (not shown in this embodiment). In this embodiment, the limiting member includes a rotating member and a driving member for driving the rotating member to rotate. The rotating member is rotatably disposed on the guide plate. In a first state, the rotating member is in a vertical state and is not located in the channel between the two guide plates. In a second state, the rotating member is in a horizontal state, and part of the limiting member is located in the channel position between the two guide plates, used to pull the item from the cantilever to the transport platform, or to push the item from the transport platform to the cantilever.

[0110] This application also proposes a transport docking platform for docking with the aforementioned mobile robot. The transport docking platform includes a cantilever and a support body; wherein the fixed end of the cantilever is disposed on the support body.

[0111] Specifically, to better illustrate a transport docking platform according to an embodiment of this application, the following description of a transport docking platform according to an embodiment of this application is based on the accompanying drawings. The platform has a pair of cantilever arms. Figure 13 is a schematic diagram of the structure of the transport docking platform provided in this embodiment. As shown in Figure 13, a transport docking platform 200 is used to dock with the aforementioned mobile robot. The mobile robot has a transport platform 120. The transport docking platform 200 includes: a pair of cantilever arms 210 and a support body 220; wherein, the fixed ends 210a of the pair of cantilever arms 210 are spaced apart on the support body 220, and the interval between the pair of cantilever arms 210 is greater than the width of the transport platform 120, for receiving the transport platform 120.

[0112] The aforementioned handling and docking platform 200 has a second bearing surface 211 for carrying the item 300 at the fixed end 210a of the cantilever 210, and the second bearing surface 211 is higher than the first bearing surface 121; at the suspended end 210b of the cantilever 210, the cantilever 210 has an inclined surface 212 for docking the item 300 with the mobile robot, and the end 212a of the inclined surface is not higher than the first bearing surface 121.

[0113] When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the first bearing surface 121 of the mobile robot 100 carries the item 300 and moves forward with its front facing the docking platform, so that a pair of cantilever arms 210 are located on both sides of the transport platform 120. The end 212a of the inclined surface of the suspended end 210b of the cantilever arm 210 is not higher than the first bearing surface 121, so it can extend into the bottom of the item 300. The liftable limiting member 130 is in the raised state. As the mobile robot 100 moves forward, since the liftable limiting member 130 is higher than the second bearing surface 211 and also higher than the first bearing surface 121, it can limit the rear side of the item 300 carried by the transport platform 120, pushing the item 300 from the inclined surface 212 of the suspended end 210b of the cantilever arm 210 to the second bearing surface 211 of the fixed end 210a of the cantilever arm 210. Since the first bearing surface 121 is lower than the second bearing surface 211, when the mobile robot 100 travels to the area below the cantilever 210, it completes the transfer of the items 300 from the mobile robot 100 to the handling docking platform 200.

[0114] When the mobile robot 100 needs to acquire the item 300 from the transport docking platform 200, the liftable limiting member 130 is in a lowered state. The rear side of the first bearing surface 121 of the mobile robot 100 moves towards the docking platform, so that a pair of cantilever arms 210 are located on both sides of the transport platform 120, and the item 300 carried by the second bearing surface 211 of the pair of cantilever arms 210 is located above the first bearing surface 121. Then, the liftable limiting member 130 is adjusted to a raised state, so that the liftable limiting member 130 is higher than the second bearing surface 211 and located behind the item 300. The mobile robot 100 moves backward towards the docking platform. Since the liftable limiting member 130 is higher than the second bearing surface 211, it can limit the rear side of the item 300 carried by the cantilever arms 210, pushing the item 300 to slide from the second bearing surface 211 of the fixed end 210a of the cantilever arms 210 to the first bearing surface 121 of the transport platform 120, thereby completing the transfer of the item 300 from the transport docking platform 200 to the mobile robot 100.

[0115] In this embodiment of the solution, the lifting mechanism of the traditional AGV can be eliminated, saving the lifting action of the traditional AGV lifting mechanism in the handling of item 300 and improving the transfer efficiency of item 300.

[0116] The aforementioned transport docking platform 200 also includes non-powered rollers 230, which are disposed on at least one of the second bearing surface 211 and the inclined surface 212. When the mobile robot 100 needs to transfer the item 300 to the transport docking platform 200, the liftable limiting member 130 pushes the item 300 from the inclined surface 212 of the cantilever 210 suspended end 210b to the second bearing surface 211 of the cantilever 210 fixed end 210a. During this process, the friction between the item 300 and the second bearing surface 211 and the inclined surface 212 can be reduced, making it easier to push the item 300 to the second bearing surface 211 of the transport docking platform 200.

[0117] In specific implementations, the cantilever is not limited to a pair of cantilevers in the above embodiments. To better illustrate the embodiments of this application, the cantilever can also be a cantilever comb (not shown), and the cantilever comb can be set below the storage position at the bottom of at least one row of shelves.

[0118] The cantilever comb can include multiple cantilevers arranged at intervals, thus the multiple cantilevers arranged at intervals can have a comb-like appearance. The bottom surface of the cargo unit located at any one of the cantilever comb teeth can be exposed to the gaps between each pair of cantilevers and outside the two outermost cantilevers.

[0119] Correspondingly, in some embodiments, when the driving component drives the rotary fork to rotate to a horizontal position, the liftable limiting member is in a first state, and the top of the rotary fork is not higher than the first bearing surface. When the driving component drives the rotary fork to rotate to a vertical position, the liftable limiting member is in a second state, and the top of the rotary fork is higher than the first bearing surface. The interval between the two rotary forks of the mobile robot is smaller than the interval between the cantilever arms, that is, smaller than the interval between two adjacent cantilever arms of the cantilever comb.

[0120] In the step of the mobile robot picking up goods from the cantilever comb, after the transport platform moves unloaded to the preset position of the cantilever, the limiting component switches from the first state to the second state, and the two rotating forks rotate from the horizontal position to the vertical position from below the two adjacent cantilever arms, passing through the gap between the two adjacent cantilever arms, so that the items carried by the cantilever arms can be moved out onto the transport platform under the drive of the mobile chassis.

[0121] In the step of the mobile robot loading goods onto the cantilever comb, before the items carried by the transport platform move to the preset position of the cantilever, the limiting component is in the second state, and the rotating fork rotates to the vertical position so that the items are moved from the transport platform to the cantilever under the drive of the mobile chassis.

[0122] Correspondingly, in the embodiment where the limiting member is disposed on at least one guide plate, in the first state, the rotating member is in a vertical state and is not located in the item entry / exit channel between the two guide plates, and the item can enter or leave the transport platform through the item entry / exit channel. In the second state, the rotating member is in a horizontal state, and part of the limiting member is located in the item entry / exit channel between the two guide plates, thereby restricting the item from being moved out of the transport platform.

[0123] In the step of the mobile robot picking up goods from the cantilever comb, after the transport platform moves unloaded to the preset position of the cantilever, the limiting component switches from the first state to the second state. The two rotating forks are located above the two adjacent cantilever arms. The rotating forks rotate from the vertical position to the horizontal position so that the items carried by the cantilever are moved out onto the transport platform under the drive of the mobile chassis.

[0124] In the step of the mobile robot loading goods onto the cantilever comb, before the items carried by the transport platform move to the preset position of the cantilever, the limiting component is in the second state, and the rotating fork rotates to the horizontal position so that the items are moved from the transport platform to the cantilever under the drive of the mobile chassis.

[0125] Please refer to Figures 5A to 11B. A handling system includes the mobile robot 100 and the handling docking platform 200 described above.

[0126] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A mobile robot, characterized in that, include: Mobile chassis; A transport platform is mounted on top of the mobile chassis to move to a preset position of the cantilever under the drive of the mobile chassis; A limiting component, having a first state and a second state, is at least disposed at one end of the transport platform in the front-rear direction. It is used to switch from the first state to the second state after the transport platform moves unloaded to the preset position of the cantilever, so that the item carried by the cantilever is moved onto the transport platform under the drive of the mobile chassis; or, before the item carried by the transport platform moves to the preset position of the cantilever, it is in the second state, so that the item is moved from the transport platform to the cantilever under the drive of the mobile chassis.

2. The mobile robot according to claim 1, characterized in that, The transport platform has a first bearing surface for carrying items, a second bearing surface for carrying items at the fixed end of the cantilever, and an inclined surface for docking with the mobile robot at the suspended end of the cantilever; the first bearing surface is lower than the second bearing surface, and the first bearing surface is not lower than the end of the inclined surface; When the transport platform carrying the item moves to the preset position of the cantilever, the limiting component is in the second state. Driven by the mobile chassis, the item is guided from the first bearing surface of the transport platform through the inclined surface of the cantilever to the second bearing surface of the cantilever.

3. The mobile robot according to claim 2, characterized in that, Also includes: An item sensing component is disposed on the transport platform to sense whether an item exists on the first bearing surface; The limiting member is electrically connected to the item sensing component and is used to switch to the second state when there is an item on the first bearing surface and to switch to the first state when there is no item on the first bearing surface.

4. The mobile robot according to claim 3, characterized in that, The object sensing component includes a TOF sensor or a photoelectric sensor.

5. The mobile robot according to claim 2, characterized in that, The transport platform has internal storage space; The limiting component includes a driving component and a rotating fork; The rotating fork is located at one end of the transport platform in the front-rear direction; At least a portion of the driving component is disposed in the receiving space and connected to the rotating fork for driving the rotating fork to rotate; When the driving component drives the rotating fork to rotate to a horizontal position, the limiting member is in a first state, and the top of the rotating fork is not higher than the first bearing surface. When the driving component drives the rotating fork to rotate to a vertical position, the limiting member is in a second state, and the top of the rotating fork is higher than the first bearing surface.

6. The mobile robot according to claim 5, characterized in that, There are two rotating forks, which are spaced apart, and the interval between the two rotating forks is smaller than the interval between the cantilever arms.

7. The mobile robot according to any one of claims 1 to 6, characterized in that, Also includes: Two guide plates are located on both sides of the transport platform to limit the movement of the items carried by the transport platform; The guide plate and the transport platform are spaced apart, and the space between the guide plate and the transport platform is used to accommodate the cantilever.

8. A material handling and docking platform, characterized in that, The transport docking platform is used for docking with the mobile robot according to any one of claims 1 to 7, and comprises: cantilever; Support structure; among which, The fixed end of the cantilever is located on the support body.

9. A mobile robot, characterized in that, For docking with a transport docking platform (200), the transport docking platform (200) having a pair of cantilever arms (210) for carrying items (300), the mobile robot (100) includes: Mobile chassis (110); A transport platform (120) is disposed on top of the mobile chassis (110), the width of the transport platform (120) being smaller than the gap between the pair of cantilever arms (210); so that it can move between the pair of cantilever arms (210) under the drive of the mobile chassis (110); A liftable limiting member (130) has a first state not higher than the transport platform (120) and a second state higher than the transport platform (120), and is at least disposed at one end of the transport platform (120) in the front-rear direction (A); it is used to switch from the first state to the second state after the transport platform (120) moves unloaded between the pair of cantilever arms (210), so as to pull the item (300) from the pair of cantilever arms (210) onto the transport platform (120) driven by the mobile chassis (110); or, before the transport platform (120) carrying the item (300) moves between the pair of cantilever arms (210), it is in the second state, so as to push the item (300) from the transport platform (120) onto the pair of cantilever arms (210) driven by the mobile chassis (110).

10. The mobile robot according to claim 9, characterized in that, The transport platform (120) has a first bearing surface (121) for carrying an item (300), a second bearing surface (211) for carrying an item (300) at the fixed end (210a) of the cantilever (210), and an inclined surface (212) for docking with the mobile robot at the suspended end (210b) of the cantilever (210); the first bearing surface (121) is lower than the second bearing surface (211), and the first bearing surface (121) is not lower than the end (212a) of the inclined surface; When the transport platform (120) carrying the item (300) moves between the pair of cantilever arms (210), the liftable limiter (130) is in the second state. Driven by the mobile chassis (110), the item (300) is guided from the first bearing surface (121) of the transport platform (120) through the inclined surface (212) of the cantilever arm (210) to the second bearing surface (211) of the cantilever arm (210).

11. The mobile robot according to claim 10, characterized in that, Also includes: An item sensing component (140) is disposed on the transport platform (120) for sensing whether an item (300) exists on the first bearing surface (121); The liftable limiting member (130) is electrically connected to the item sensing member (140) and is used to switch to the second state when there is an item (300) on the first bearing surface (121) and to switch to the first state when there is no item (300) on the first bearing surface (121).

12. The mobile robot according to claim 11, characterized in that, The item sensing component (140) includes a TOF sensor or a photoelectric sensor.

13. The mobile robot according to claim 10, characterized in that, The transport platform (120) has internal storage space; The liftable limiting component (130) includes a driving component and a rotating fork (131); The rotating fork (131) is located at one end of the transport platform (120) in the front-rear direction (A); At least a portion of the driving component is disposed in the receiving space and connected to the rotating fork (131) for driving the rotating fork (131) to rotate; When the driving component drives the rotating fork (131) to rotate to a horizontal position, the liftable limiting member (130) is in a first state, and the top of the rotating fork (131) is not higher than the first bearing surface (121). When the driving component drives the rotating fork (131) to rotate to a vertical position, the liftable limiting member (130) is in a second state, and the top of the rotating fork (131) is higher than the first bearing surface (121).

14. The mobile robot according to claim 13, characterized in that, There are two rotating forks (131), which are spaced apart and the interval between the two rotating forks (131) is smaller than the interval between the pair of cantilever arms (210).

15. The mobile robot according to any one of claims 9 to 14, characterized in that, Also includes: Two guide plates (150) are located on both sides of the transport platform (120) to limit the movement of the items (300) carried by the transport platform (120); The guide plate (150) and the transport platform (120) are spaced apart, and the gap (160) between the guide plate (150) and the transport platform (120) is used to accommodate the cantilever (210).

16. A material handling and docking platform, characterized in that, For docking with a mobile robot according to any one of claims 9 to 15, the mobile robot having a transport platform (120), the transport docking platform (200) comprising: A pair of cantilever arms (210); Support (220); wherein, The fixed ends (210a) of a pair of cantilever arms (210) are spaced apart on the support body (220), and the gap between the pair of cantilever arms (210) is greater than the width of the transport platform (120) for receiving the transport platform (120).

17. The handling and docking platform according to claim 16, characterized in that, The transport platform (120) has a first bearing surface (121) for bearing articles (300); At the fixed end (210a) of the cantilever (210), there is a second bearing surface (211) for bearing an article (300), and the second bearing surface (211) is higher than the first bearing surface (121); At the suspended end (210b) of the cantilever (210), the cantilever (210) has an inclined surface (212) for docking with the mobile robot and the object (300), and the end (212a) of the inclined surface (212) is not higher than the first bearing surface (121).

18. The transport and docking platform according to claim 17, characterized in that, Also includes: A non-powered roller (230) is disposed on the second bearing surface (211) and / or the inclined surface (212).

19. A transport system, characterized in that, include: The mobile robot according to any one of claims 1 to 7; and the transport and docking platform according to claim 8; or, The mobile robot (100) according to any one of claims 9 to 15; and the handling and docking platform (200) according to any one of claims 16 to 18.

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