CN216686389U - Conveying device and conveying system - Google Patents

Abstract

The utility model provides a conveying device and a conveying system, which can be used in the field of Internet of things or the field of logistics. The conveying device comprises: a mobile base comprising: a base body and a driving unit mounted on the base body; the driving unit is suitable for driving the base main body to move or stop; a receiving mechanism mounted on the base body; the first surface of the accommodating mechanism is provided with a plurality of accommodating grooves which are suitable for accommodating target objects; a working mechanism movably mounted on the storage mechanism and including: a gripping unit configured to grip the target object from the storage slot or store the gripped target object into the storage slot; the identification mechanism comprises a first identification unit, is arranged on the accommodating mechanism and is suitable for identifying a target object; and a control mechanism adapted to control the drive unit and to control the working mechanism according to the recognition result of the recognition mechanism; the manpower is saved, and the conveying speed and the conveying accuracy of the target object are improved.

Description

Conveying device and conveying system

Technical Field

The utility model relates to the field of internet of things and logistics, in particular to a conveying device and a conveying system.

Background

In the current transportation production line, a large amount of goods need to be transferred and transported, for example, in the field of logistics, the process of distributing the goods on the production line from a general transportation station to distribution stations all over the country and the process of collecting the goods collected from the distribution stations all over the country to the general transportation station are generally transported by manual transportation or a common transportation device, and in the process of manual transportation or common transportation device transportation, the goods are easily disordered, the turnover time of the goods is prolonged, and the workload is increased.

Along with the continuous development of data warehouse technique to and the continuous growth of business demand, to the transfer of goods, also there is relevant transfer equipment in the existing market, but current transfer equipment design is not reasonable, and the single can only be operated the singleton goods, and well rotational speed is slow, and transfer efficiency is poor, under the condition that the productivity generally obtains the improvement, the transfer demand to high productivity of adaptation that still can not be fine.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, the present invention provides a conveying device and a conveying system.

According to a first aspect of the present invention, there is provided a conveyance device comprising:

a mobile base comprising: a base body and a driving unit mounted on the base body; the driving unit is suitable for driving the base main body to move or stop;

a storage mechanism mounted on the base body; wherein, the first surface of the receiving mechanism is provided with a plurality of receiving grooves which are suitable for receiving the target object;

a working mechanism movably mounted on the storage mechanism and including:

a gripping unit configured to grip a target object from the storage slot or deposit the gripped target object into the storage slot;

the identification mechanism comprises a first identification unit, is arranged on the accommodating mechanism and is suitable for identifying a target object; and

and a control means adapted to control the drive means and adapted to control the working means based on the recognition result of the recognition means.

According to an embodiment of the present invention, the working mechanism further includes:

a first moving unit movably installed at a first side of the storage mechanism to reciprocate the first moving unit in a first direction with respect to the storage mechanism;

a first robot arm rotatably mounted on the first moving unit; and

and a second robot arm telescopically mounted on the first robot arm to approach or depart from the target object, the gripping unit being mounted on the second robot arm.

According to an embodiment of the present invention, the above-described drive unit includes:

a first motor; electrically connected to the control mechanism for operation under control of the control mechanism; and

a driving member mounted on an output shaft of the first motor to drive the base body to move under the driving of the first motor;

optionally, the drive member comprises a wheel or track.

According to an embodiment of the present invention, the above drive unit further includes:

a steering member provided at the bottom of the base body;

the steering component is electrically connected with the control mechanism and is configured to drive the mobile base to steer according to a control signal of the control mechanism;

optionally, the steering member includes a universal wheel.

According to an embodiment of the present invention, the above-mentioned conveying device further includes: navigation module, set up on above-mentioned mobile base, include:

a detection unit adapted to detect environmental information;

a navigation unit adapted to control the control mechanism according to a detection result generated by the detection unit, so that the driving unit drives the base body to travel to a target location; and

wherein, the navigation unit is electrically connected with the detection unit and the control mechanism;

and the obstacle avoidance unit is suitable for controlling the control mechanism according to the detection result generated by the detection unit so that the driving unit drives the base main body to avoid the obstacle in the driving path.

According to an embodiment of the present invention, a first slide rail is provided on a first surface of the storage mechanism, and the first moving unit reciprocates in a first direction along the first slide rail.

According to an embodiment of the present invention, the first robot arm includes:

a fixed member attached to the first moving unit;

a rotating member rotatably mounted on the fixed member; and

and a second motor installed in the fixed member, an output shaft of the second motor being connected to the rotating member.

According to an embodiment of the present invention, the working mechanism further includes:

a work base mounted on the first moving unit; and

and a second moving unit to which the fixed member is attached, the second moving unit being movably attached to the work base in a second direction perpendicular to the first direction with respect to the work base.

According to an embodiment of the present invention, a second slide rail is provided on the work base, and the second slide rail is configured to define a moving track of the second moving unit.

According to an embodiment of the present invention, the gripping unit described above includes: a plurality of gripping members and a plurality of third motors;

an output shaft of the third motor is connected with the clamping component; the plurality of the third motors are configured to grip or release the target object by driving the plurality of the gripping members relatively close to or relatively far from under the control of the control mechanism.

According to an embodiment of the present invention, the working mechanism further comprises a transfer member adapted to carry a target object; the gripping unit is connected with the second mechanical arm through the transfer component;

the gripping unit further comprises at least one fourth motor, and the fourth motor drives the gripping member under the control of the control mechanism, so that the target object is loaded on or separated from the transfer member.

According to an embodiment of the present invention, the identification mechanism further comprises:

a second recognition unit provided on the working mechanism; and

the receiving groove is provided with identification information of a target object, and the identification information corresponds to the target object;

the second recognition unit is adapted to recognize a target object and is adapted to recognize identification information of the target object.

According to an embodiment of the present invention, further comprising: a power module comprising: a battery unit and a charging assembly.

According to an embodiment of the present invention, the base main body further includes: and the anti-collision component is arranged on at least part of the outer wall of the base main body.

According to a second aspect of the present invention, there is provided a transport system comprising:

the conveyor apparatus of any one of the above; and

and a storage cabinet adapted to store the target object, wherein the gripping unit of the transport device transports the target object between the storage tank of the storage cabinet and the storage tank of the transport device.

Based on the technical scheme, compared with the prior art, the conveying device has at least one of the following beneficial effects:

the conveying device provided by the utility model adopts a modularized design, and can move or stop by arranging the movable base; the accommodating mechanism can store the target objects clamped by the mechanical arm, and the number of the conveyed target objects can be increased by arranging the plurality of accommodating grooves; by arranging the operation mechanism, the goods can be clamped and released; by arranging the identification mechanism, the bar codes on the target object and the accommodating groove can be identified; by arranging the control mechanism, each module of the conveying device can be controlled; the automatic target object conveying device has the advantages that the automatic target object conveying device can be used for conveying objects instead of manual conveying, and the technical effects of improving the object conveying speed and the conveying accuracy are achieved.

Drawings

The foregoing and other objects, features and advantages of the utility model will be apparent from the following description of embodiments of the utility model, which proceeds with reference to the accompanying drawings, in which:

FIG. 1 schematically shows a block diagram of a conveyance device according to an embodiment of the present invention;

FIG. 2 schematically illustrates a top view of a mobile base according to an embodiment of the utility model;

FIG. 3 schematically shows a block diagram of a navigation module according to an embodiment of the utility model;

FIG. 4 is a partially enlarged structural view schematically showing a carrying device according to an embodiment of the present invention;

fig. 5 schematically shows a front view of a first mobile unit according to an embodiment of the utility model;

fig. 6 schematically illustrates a front view of a first robot arm according to an embodiment of the utility model;

fig. 7(a) schematically illustrates a top view of a work base according to an embodiment of the utility model;

fig. 7(b) schematically shows a front view of a work base according to an embodiment of the present invention;

fig. 7(c) schematically shows a top view of a second moving unit according to an embodiment of the present invention;

fig. 8(a) schematically shows a front view of a gripping unit, a second robot arm and a transfer member combination according to an embodiment of the present invention;

fig. 8(b) schematically shows a side view of a gripping unit, a second robot arm and a transfer member combination according to an embodiment of the present invention;

FIG. 8(c) is a schematic illustration showing an alternative construction example of the second robot arm in accordance with an embodiment of the present invention;

FIG. 8(d) is a schematic illustration showing an alternative construction example of a second robotic arm in accordance with an embodiment of the present invention; and

fig. 9 schematically shows an application scenario of the conveyance device according to the embodiment of the present invention.

Description of reference numerals:

100-moving the base; 110-a base body; 111-a collision avoidance component; 120-a drive unit; 121-a first motor; 122 — a drive member; 123-a steering member; 200-a receiving mechanism; 210-a receiving groove; 220-a first sliding rail; 300-a working mechanism; 310-a first mobile unit; 311-a first pulley; 320-a first robot arm; 321-a fixing member; 322-a rotating member; 323-a second electric machine; 330-a second robotic arm; 340-a gripping unit; 341-a gripping member; 342-a third motor; 343-a fourth motor; 350-a work base; 351-a second sliding rail; 360-a second mobile unit; 361-a second pulley; 370-a transport member; 400-an identification mechanism; 410-a first identification unit; 420-a second identification unit; 500-a control mechanism; 600-a navigation module; 610-a detection unit; 620-a navigation unit; 630-obstacle avoidance unit; 700-a power supply module; 1000-a conveyance device; 2000-tape library; 2010-a tape cartridge; 3000-storage cabinet; 3010-storage tank.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the utility model. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

The conveying device and the conveying system can be used in the field of internet of things or the field of logistics, such as conveying of the express delivery pieces between a main conveying station and a production line on a logistics line; but also in the financial field, such as, but not limited to, the transportation of storage devices to a banking data center; the method can also be used in any field except the field of the Internet of things or the field of logistics, such as moving the magnetic tape from the magnetic tape library in a data center machine room to the storage cabinet in the warehouse in a machine room building, thereby realizing automatic bidirectional transportation by using a robot instead of manual operation. Therefore, the conveying device and the conveying system of the present invention are not limited in application field.

Tape libraries are common data backup devices in data centers, and generally comprise tape drives, tape slots, and tape cartridges. When the magnetic tape needs to be withdrawn from the magnetic tape library, the control software of the magnetic tape library transfers the magnetic tape needing to be withdrawn from the magnetic tape slot to the magnetic tape box by the mechanical arm in the library body, and related personnel open the magnetic tape box and take out the magnetic tape; when a tape needs to be added to the tape library, the relevant personnel open the tape cassette, place the tape in, and close the door of the tape cassette.

In the related art, the operations of adding and demagnetizing tapes from the tape library and taking and storing the tapes from and in the tape storage cabinet of the warehouse are manually performed, and then the operations of moving the tapes in both directions between the tape library and the storage cabinet are required, so that the transportation speed is slow and labor is consumed.

Based on the above situation, the present invention provides a conveying device and a conveying system, which can achieve the purpose of conveying a target object by the conveying device instead of manual work, thereby saving labor and improving conveying speed and accuracy.

Fig. 1 schematically shows a configuration diagram of a conveyance device according to an embodiment of the present invention.

It should be noted that fig. 1 is only an example of a transportation device to which the embodiment of the present invention may be applied to help those skilled in the art understand the technical contents of the present invention, and it is not intended that the embodiment of the present invention includes only the components shown in the drawings.

As a first aspect of the present invention, as shown in fig. 1, an embodiment of the present invention provides a conveyance device including: a movable base 100, a storage mechanism 200, a working mechanism 300, a recognition mechanism 400, and a control mechanism 500.

The mobile base 100 includes a base body 110 and a driving unit 120.

The driving unit 120 is installed in the base main body 110 and adapted to drive the base main body 110 to move or stop.

The driving unit 120 includes a driver in the related art according to an embodiment of the present invention. It should be understood that the embodiment of the present invention does not limit the specific type and category of the driving unit as long as the base body can be driven.

The receiving mechanism 200 is mounted on the base main body 110. The receiving mechanism 200 includes a receiving groove 210, and the receiving groove 210 is disposed on a first surface of the receiving mechanism 200 and is adapted to receive a target object.

According to the embodiment of the present invention, there may be one or more receiving grooves, and the number of the receiving grooves is not limited in the embodiment of the present invention, and those skilled in the art may design the receiving grooves according to actual requirements.

According to the embodiment of the present invention, the shape and size of the receiving groove may be adapted to the shape and size of the target object, and the shape and size of the receiving groove are not limited in the embodiment of the present invention, and can be designed by those skilled in the art according to actual requirements.

The working mechanism 300 is movably mounted on the storage mechanism 200. The working mechanism 300 includes a gripping unit 340, and the gripping unit 340 is configured to grip the target object from the storage slot 210 or deposit the gripped target object into the storage slot 210.

According to an embodiment of the present invention, the target object may be a magnetic tape in the related art, and the gripping unit 340 may grip the magnetic tape and store the magnetic tape into the storage slot 210. The target object can also be goods in logistics transportation, and the clamping unit can clamp the goods and store the goods into the containing groove. The embodiment of the utility model does not limit the type of the target object, and a person skilled in the art can set the type according to actual requirements.

The identification mechanism 400 includes a first identification unit 410.

The first recognition unit 410 is disposed on the storage mechanism 200, and the first recognition unit 410 is adapted to recognize a target object.

According to an embodiment of the present invention, the first recognition unit 410 includes an image recognition device in the related art. The first recognition unit 410 further includes a device for recognizing characteristic information of the target object, for example, when the target object is a magnetic tape attached with a barcode, the first recognition unit 410 may be a device for recognizing a barcode, such as a barcode scanner in the related art.

It should be understood that the first identification unit is not limited to the above two devices or apparatuses, but may be other devices or apparatuses that can identify the target object in the related art, and the specific model and category of the first identification unit are not limited by the embodiment of the present invention as long as the target object can be identified.

According to an embodiment of the present invention, the first recognition unit 410 may be disposed at a top end of the receiving mechanism 200, but is not limited thereto, and the first recognition unit may be disposed on a sidewall of the receiving mechanism or on a first surface of the receiving mechanism. The embodiment of the utility model does not limit the specific position of the first identification unit, and can be designed according to actual requirements.

The control means 500 is adapted to control the drive unit 120 and to control the working means 300 in dependence of the recognition result of the recognition means 400.

According to the embodiment of the present invention, the control mechanism 500 is electrically connected to the driving unit 120, the recognition mechanism 400, and the working mechanism 300.

The control mechanism 500 includes a controller in the related art according to an embodiment of the present invention. The control mechanism 500 also includes open source control software of the related art.

It should be understood that the control mechanism is not limited to the above devices or software, but may be other devices or apparatuses that can be controlled in the related art, and the specific type and category of the control mechanism are not limited in the embodiments of the present invention, as long as the control mechanism can control the driving unit and control the operation mechanism according to the recognition result of the recognition mechanism, and the control mechanism can be selected according to actual requirements.

According to the embodiment of the utility model, the conveying device adopts a modular design, and the target object is identified through the identification mechanism 400, so that the technical problem of identification errors caused by manually identifying the target object in the prior art can be at least partially solved, and the identification accuracy can be improved; the driving unit 120 and the operation mechanism 300 are controlled by the control mechanism 500, so that the target object can be conveyed by using the conveying device instead of manpower, the labor cost is saved, and the conveying efficiency is improved; the movement or stop of the conveyance device may be achieved by driving the base main body 110 by the driving unit 120; the clamping unit 340 is driven by the operating mechanism 300, so that the target object can be clamped from the accommodating groove 210 or stored in the accommodating groove 210 instead of manual work, the labor cost is further saved, and the conveying efficiency is improved; by providing one or more storage grooves 210 in the storage mechanism 200, the technical problem that only a single target object can be transported at a time in the prior art can be at least partially solved, so that multiple target objects can be transported at a time, and the transportation speed is increased.

According to an embodiment of the present invention, as shown in fig. 1, the working mechanism 300 further includes: a first moving unit 310, a first robot 320, and a second robot 330.

The first moving unit 310 is movably installed at a first side of the receiving mechanism 200 to reciprocate the first moving unit 310 in a first direction with respect to the receiving mechanism.

The first robot arm 320 is rotatably mounted on the first moving unit 310.

The second robot arm 330 is telescopically mounted on the first robot arm 320 to be close to or far from the target object. The gripping unit 340 is mounted on the second robot arm 330.

According to the embodiment of the present invention, under the control of the control mechanism 500, the gripping unit 340 can perform the reciprocating movement in the first direction with respect to the housing mechanism 200 using the first moving unit 310; the rotation of the first mechanical arm 320 can be used for realizing the face or back of the accommodating mechanism 200; the approach or the distance to the target object can also be achieved using the extension and contraction of the second robot arm 330. The first direction may be a vertical direction in fig. 1, but is not limited thereto, and may also be a horizontal direction in fig. 1, and the first direction is not limited by the embodiment of the present invention, and a person skilled in the art may design according to actual needs.

According to an embodiment of the present invention, as shown in fig. 1, the transport device further includes a power module 700.

The power module 700 includes: a battery unit and a charging assembly.

According to the embodiment of the present invention, under the control of the control mechanism 500, the power module 700 can achieve the effects of battery level detection, temperature detection, auto-regressive charging, and the like.

According to an embodiment of the present invention, the power module 700 is disposed on the base body 110; the power module is electrically connected to the driving unit 120, the working mechanism 300, the recognition mechanism 400, and the control mechanism 500.

The power module may include a battery assembly or a power cable, and the embodiment of the present invention does not limit the specific form of the power module, and may be selected according to actual requirements as long as the power supply function can be implemented.

According to an embodiment of the utility model, as shown in fig. 1, the identification mechanism 400 further comprises a second identification unit 420.

The second recognition unit 420 is provided on the working mechanism 300.

According to an embodiment of the present invention, the receiving groove 210 may be provided with identification information of the target object, and the identification information corresponds to the target object. For example, the target object may be a magnetic tape to which a barcode is attached, and the identification information may be an identification code provided on the receiving groove, the identification code corresponding to the magnetic tape to which the barcode is attached.

The second recognition unit 420 is adapted to recognize the target object and to recognize identification information of the target object.

According to an embodiment of the present invention, the second recognition unit 420 includes an image recognition device in the related art, for example, an image recognition device of kiren brand model number IV-H500 CA. The second recognition unit 420 may further include a device for recognizing characteristic information of the target object, for example, when the target object is a magnetic tape on which a barcode is attached, and the second recognition unit 420 may also be a device for recognizing a barcode, such as a barcode scanner in the related art. The second recognition unit 420 further includes a device for assisting in adjusting the distance between the gripping unit 340 and the target object, and may be, for example, a device having a distance recognition function, such as a high-definition camera having a depth camera function in the related art.

It should be understood that the second identification unit is not limited to the above devices or apparatuses, but may be other devices or apparatuses that can identify the target object in the related art, and the specific model and category of the second identification unit are not limited by the embodiment of the present invention as long as the target object can be identified.

According to an embodiment of the present invention, the second recognition unit 420 may be disposed at the top end of the working mechanism 300, but is not limited thereto, and the second recognition unit 420 may also be disposed on a sidewall of the working mechanism 300. The embodiment of the present invention does not limit the specific position of the second recognition unit 420 as long as the target object and the identification information can be recognized.

According to an embodiment of the present invention, the second recognition unit 420 may implement recognition of the target object and the identification information of the target object, and in the case where the target position is set with the identification information of the target object, the second recognition unit 420 may match the target object with the target position of the target object.

Fig. 2 schematically shows a top view of a mobile base according to an embodiment of the utility model.

According to an embodiment of the present invention, as shown in fig. 2, the driving unit 120 includes: a first motor 121 and a driving part 122.

The first motor 121 is electrically connected to the control mechanism 500 to operate under the control of the control mechanism 500.

According to an embodiment of the present invention, the first motor 121 may include a dc motor or an ac motor, and the embodiment of the present invention does not limit the specific type and model of the first motor 121, and devices or apparatuses in the related art may be selected according to actual requirements.

The driving member 122 is mounted on an output shaft of the first motor 121, and can drive the base body 110 to move under the driving of the first motor 121.

According to an embodiment of the utility model, the drive members 122 comprise wheels or tracks. The specific type of the driving part 122 is not limited in the present invention, as long as the driving base body 110 can move, and the driving base body can be designed according to actual requirements.

According to the embodiment of the present invention, under the control of the control mechanism 500, the driving part 122 is rotated by controlling the first motor 121, so that the effect of driving the base main body 110 to move back and forth can be achieved.

According to an embodiment of the present invention, as shown in fig. 2, the driving unit 120 further includes a steering member 123.

The steering member 123 is provided at the bottom of the base body 110.

The steering member 123 is electrically connected to the control mechanism 500, and is configured to drive the mobile base 100 to steer according to a control signal of the control mechanism 500.

According to an embodiment of the present invention, the steering member 123 may be a member for changing a moving direction in the related art, such as a steering wheel, a steering crawler, and the like in the related art. However, the present invention is not limited to this, and other means for changing the moving direction of the base body 110 may be used as long as the moving base 100 can be changed in direction.

Optionally, steering member 123 comprises a universal wheel. The universal wheels are controlled by the control mechanism 500 to steer, so that the steering angle of the base body can be increased, the moving angle range of the conveying device is improved, and the conveying efficiency of the conveying device is improved.

According to an embodiment of the present invention, as shown in fig. 1 and 2, the base main body 110 further includes a collision prevention component 111.

The collision prevention part 111 is provided on at least a part of the outer wall of the base main body 110. According to the embodiment of the utility model, the anti-collision component 111 can reduce the collision force when an accident happens, and the effect of protecting the conveying device from being damaged easily is achieved.

According to an embodiment of the present invention, the impact prevention part 111 may include an impact prevention strip or an impact prevention beam, but is not limited thereto as long as a protective effect can be achieved.

Fig. 3 schematically shows a block diagram of a navigation module according to an embodiment of the present invention.

According to an embodiment of the present invention, as shown in fig. 2 and 3, the conveying device further includes: a navigation module 600.

The navigation module 600 is disposed on the mobile base 100, and includes: a detection unit 610, a navigation unit 620 and an obstacle avoidance unit 630. The navigation module 600 is electrically connected to the power module 700.

The detection unit 610 is adapted to detect environmental information.

The navigation unit 620 is adapted to control the control mechanism 500 according to the detection result generated by the detection unit 610, so that the driving unit 120 drives the base body 110 to travel to the target location.

The navigation unit 620 is electrically connected to the detection unit 610 and the control mechanism 500.

The obstacle avoidance unit 630 is adapted to control the control mechanism 500 according to the detection result generated by the detection unit 610, so that the driving unit 120 drives the base main body 110 to avoid the obstacle in the traveling path.

According to an embodiment of the present invention, the navigation module 600 of the transportation device may be a device or a component based on a two-dimensional laser positioning technology, i.e. SLAM (simultaneous positioning and mapping) algorithm, in the related art, the detection unit 610 may implement real-time map rendering, and the navigation unit 620 may implement positioning and navigation by comparing environmental similarities through data obtained by real-time laser scanning. In addition, by adjusting the laser sensing parameters, the obstacle avoidance unit 630 can adjust the avoidance distance to the obstacle to prevent accidental collision, and the navigation module 600 can achieve the effects of environment map drawing, autonomous path selection, automatic planning of the optimal path for transporting the object, and obstacle avoidance.

According to an embodiment of the present invention, the detection unit 610 includes, but is not limited to, one or more of an infrared sensor, an ultrasonic sensor, a visual sensor, and a laser sensor. The specific type and model of the detecting unit 610 are not limited in the embodiments of the present invention, and those skilled in the art can design the detecting unit according to actual requirements.

According to an embodiment of the present invention, the navigation unit 620 includes, but is not limited to, one or more of an infrared sensor, an ultrasonic sensor, a visual sensor, and a laser sensor. The embodiment of the present invention does not limit the specific category and model of the navigation unit 620, and those skilled in the art can design the navigation unit according to actual requirements.

According to the embodiment of the present invention, the obstacle avoidance unit 630 includes, but is not limited to, one or more of an infrared sensor, an ultrasonic sensor, a vision sensor, and a laser sensor. The embodiment of the present invention does not limit the specific type and model of the obstacle avoidance unit 630, and those skilled in the art can design the obstacle avoidance unit according to actual requirements.

Fig. 4 schematically shows a partially enlarged configuration view of a carrying device according to an embodiment of the present invention.

According to an embodiment of the present invention, as shown in fig. 4, a first surface of the receiving mechanism 200 is provided with a first slide rail 220.

Fig. 5 schematically shows a front view of a first mobile unit according to an embodiment of the utility model.

According to an embodiment of the present invention, as shown in fig. 5, both sides of the first moving unit 310 may be provided with first pulleys 311.

The first moving unit 310 may reciprocate in the first direction along the first slide rail 220 by the first pulley 311.

It should be noted that, in the embodiment of the present invention, specific structures of the first pulley 311 and the first slide rail 220 are not limited, as long as the first pulley 311 and the first slide rail 220 can be adapted, and a person skilled in the art can design the pulley according to actual requirements.

According to the embodiment of the present invention, by controlling the first moving unit 310 to move on the first slide rail 220 by the first pulley 311 under the control of the control mechanism 500, the effect of reciprocating the working mechanism 300 in the first direction with respect to the storage mechanism 200 can be achieved.

Fig. 6 schematically illustrates a front view of a first robot arm according to an embodiment of the utility model.

According to an embodiment of the present invention, as shown in fig. 6, the first robot arm 320 includes: a fixed member 321, a rotating member 322, and a second motor 323.

The fixed member 321 is mounted on the first moving unit 310.

The rotating member 322 is rotatably mounted on the fixed member 321.

The second motor 323 is installed in the fixed member 321, and an output shaft of the rotating motor 323 is connected to the rotating member 322.

The second motor 323 may control the rotation of the rotating member 322.

According to an embodiment of the present invention, the second motor 323 may include a dc motor or an ac motor, and the specific type and model of the second motor 323 are not limited in the present invention, and may be selected according to actual requirements.

According to an embodiment of the present invention, the first robot arm 320 may face or face away from the storage mechanism 200 by controlling the second motor 323 to rotate the rotating member 322 under the control of the control mechanism 500.

Fig. 7(a) schematically shows a top view of a work base according to an embodiment of the present invention.

Fig. 7(b) schematically shows a front view of a work base according to an embodiment of the present invention.

Fig. 7(c) schematically shows a top view of the second moving unit according to an embodiment of the present invention.

According to an embodiment of the present invention, as shown in fig. 7(a) to 7(c), the working mechanism 300 further includes: a work base 350 and a second mobile unit 360.

The work base 350 is mounted on the first moving unit 310.

The second moving unit 360 is provided at both sides with second pulleys 361.

The fixed member 321 is mounted on the second moving unit 360.

The second moving unit 360 is movably mounted on the work base 350 in a second direction perpendicular to the first direction with respect to the work base 350 by a second pulley 361.

According to an embodiment of the present invention, as shown in fig. 7(b), a second slide rail 351 is provided on the work base 350.

The second slide rail 351 is configured to define a moving track of the second moving unit 360. The embodiment of the present invention does not limit the specific type and model of the second pulley 361 and the second sliding rail 351, as long as the second pulley 361 and the second sliding rail 351 can be adapted, and those skilled in the art can design according to actual requirements.

According to the embodiment of the present invention, by controlling the second moving unit 360 to move using the second pulley 361 under the control of the control mechanism 500, the effect of moving the working mechanism 300 on the second slide rail 351 in the second direction perpendicular to the first direction can be achieved.

Fig. 8(a) schematically shows a front view of a gripping unit, a second robot arm, and a transfer member combination according to an embodiment of the present invention.

Fig. 8(b) schematically shows a side view of a gripping unit, a second robot arm and a transfer member combination according to an embodiment of the present invention.

According to an embodiment of the present invention, as shown in fig. 8(a) and 8(b), the gripping unit 340 includes: the gripping member 341 and the third motor 342.

An output shaft of the third motor 342 is connected to the gripping member 341. The utility model does not limit the specific shape and structure of the gripping member 341, and can be designed according to actual requirements.

The plurality of third motors 342 are configured to grip or release the target object by driving the plurality of gripping members 341 relatively close to or relatively far from under the control of the control mechanism 500.

According to an embodiment of the present invention, the third motor 342 may include a dc motor or an ac motor, and the specific type and model of the third motor 342 are not limited in the present invention and may be selected according to actual requirements.

According to the embodiment of the present invention, under the control of the control mechanism 500, the third motor 342 is controlled, and the plurality of gripping members 341 are driven by the third motor 342 to relatively approach or relatively separate from each other, so that the effect of gripping or releasing the target object can be achieved.

According to an embodiment of the present invention, as shown in fig. 8(a) and 8(b), the work mechanism 300 further comprises a transfer member 370, and the transfer member 370 is adapted to carry the target object.

The gripping unit 340 is connected to the second robot arm 330 by a transfer member 370.

According to the embodiment of the present invention, the shape and size of the transferring member 370 may be adapted to the shape and size of the target object, and the embodiment of the present invention does not limit the shape and size of the transferring member 370, and may be designed by those skilled in the art according to actual requirements.

According to the embodiment of the present invention, the gripping unit 340 further includes at least one fourth motor 343.

The fourth motor 343 drives the gripping unit 341 under the control of the control mechanism 500 to load or separate the target object to or from the transfer member 370.

According to the embodiment of the present invention, in the case where the target object is a magnetic tape, when the gripping unit 340 performs tape gripping, the gripping unit 340 moves in front of the target tape, the fourth motor 343 drives the gripping part 341 to extend, the third motor 342 drives the gripping part 341 to grip the magnetic tape, and then the fourth motor 343 drives the two jaws to contract to achieve gripping and placing of the target magnetic tape into the transfer member 370 of the gripping unit 340. Conversely, when the gripping unit 340 performs the tape replacement, the third motor 342 drives the gripping member 341 to grip the target tape, then the fourth motor 343 drives the gripping member 341 to extend, the target tape is placed into the slot, then the third motor 342 drives the gripping member 341 to release the target tape, and the fourth motor 343 drives the gripping member 341 to retract.

Fig. 8(c) -8 (d) schematically show alternative views of a second robot arm according to an embodiment of the present invention.

According to an embodiment of the present invention, the second mechanical arm 330 may have an alternative structure such as: a retractable screw structure as shown in fig. 8(c) or a retractable mechanism with a clip as shown in fig. 8 (d).

It should be understood that the above is only an example of the structure of the second mechanical arm, and the present invention does not limit the specific shape and structure of the second mechanical arm 330, and those skilled in the art can design the second mechanical arm according to actual requirements.

According to the embodiment of the present invention, the fourth motor 343 may include a dc motor or an ac motor, and the specific type and model of the fourth motor 343 are not limited in the present invention and may be selected according to actual requirements.

According to the embodiment of the present invention, by controlling the fourth motor 343, the plurality of gripping parts 341 are relatively extended or relatively shortened by the fourth motor 343, and the effect of loading or unloading the target object to or from the transfer member 370 can be achieved.

Fig. 9 schematically shows an application scenario of the conveyance device according to the embodiment of the present invention.

As shown in fig. 9, as a first aspect of the present invention, an embodiment of the present invention also provides a transport system including: a transport apparatus 1000, a tape library 2000 and a storage cabinet 3000.

According to an embodiment of the present invention, the tape library 2000 comprises tape cartridges 2010, the tape cartridges 2010 being adapted to receive magnetic tapes such that the tape library 2000 reads or writes the contents of the magnetic tapes. The storage cabinet 3000 includes a storage slot 3010, and the storage slot 3010 is used to store tapes. The target object may be a magnetic tape.

According to the embodiment of the present invention, the gripping unit 340 of the transport apparatus 1000 transports the target tape between the magazine 2010 of the tape library 2000 and the storage slot 3010 of the storage cabinet 3000 through the storage slot 210 of the transport apparatus 1000.

The following will describe a procedure of moving a target tape from a magazine 2010 of a tape library 2000 to a storage slot 3010 of a storage cabinet 3000 in a transport system composed of the transport apparatus 1000, the tape library 2000 and the storage cabinet 3000:

step 901:

the system of the data center transmits an identification of a target tape (which may be a plurality of target tapes transferred at a time as long as the number is smaller than the number of the storage slots 210 of the transport apparatus 1000) that needs to be transferred from the magazine 2010 of the tape library 2000 to the storage slot 3010 of the storage cabinet 3000 to the control mechanism 500 of the transport apparatus 1000;

the working mechanism 300 of the transport apparatus 1000 places the target tape in the storage slot 210 of the transport apparatus 1000 in accordance with the command of the control mechanism 500 of the transport apparatus 1000;

after the conveyance is completed, the control means 500 of the conveyance device 1000 sends a completed command to the conveyance device 1000.

Step 902:

the transport apparatus 1000 moves to the front of the magazine 2010 of the tape library 2000 by the navigation module 600 according to the preset map;

the control mechanism 500 of the transport apparatus 1000 transmits a command to the control system of the magazine 2010 of the tape library 2000 to request opening of the magazine 2010;

a control system for a cartridge 2010 of tape library 2000 controls opening of cartridge 2010.

Step 903:

the recognition mechanism 400 of the transport apparatus 1000 photographs the magazine 2010;

the recognition means 400 of the transport apparatus 1000 performs image recognition, and the storage slot 210 in which the target tape is placed can recognize an empty storage slot because the target tape is attached with a color barcode; a storage slot 210 for storing the target tape;

according to embodiments of the present invention, image recognition techniques include, but are not limited to: edge identification, Gaussian denoising, and suppression processing of gray gradient amplitude and direction and non-maximum value.

Step 904:

the control means 500 of the transport apparatus 1000 calculates the height to be raised, and controls the working means 3000 of the transport apparatus 1000 to move in front of the target tape.

Step 905:

the identification means 400 of the transport apparatus 1000 scans the target tape barcode, reads the tape flag, and further checks whether or not the tape is the target tape;

if multiple target tapes are identified in cassette 2010 in step 903, then step 904 and step 905 are repeated to identify the target tapes one by one.

Step 906:

the control means 500 of the transport apparatus 1000 controls the working means 300 to grasp the target tape and place the target tape in the transfer member 370 of the working means 300 of the transport apparatus 1000.

Step 907:

the control means 500 of the transport apparatus 1000 controls the working means 300 to face the storage means 200 of the transport apparatus 1000;

the control mechanism 500 of the transport apparatus 1000 controls the movement of the working mechanism 300 of the transport apparatus 1000 so that the working mechanism 300 is aligned with one of the rows in the receiving groove 210.

Step 908:

the control means 500 of the transport device 1000 controls the working means 300 to place the target tape in one of the storage slots 210 of the storage means 200 of the transport device 1000, and records the correspondence between the tape index and the number of the storage slot 210. The transport apparatus 100 places all the target tapes belonging to the current transport in the magazine 2010 into the storage slot 210 of the transport apparatus 1000.

Step 909:

the transportation device 1000 moves to the storage slot 3010 of the storage cabinet 3000 through the navigation module 600, and is docked with the access control system of the storage slot 3010 of the storage cabinet 3000 through the control mechanism 500, so as to control the access control system to open the access.

Step 910:

the storage slots 3010 of the storage cabinet 3000 have numbers, and each target tape storage slot 210 has a number;

the control system 500 of the transport apparatus 1000 stores the state of each storage slot 210 (empty or tape label with target object already stored) in the storage mechanism 200 of the transport apparatus 1000;

the control system 500 of the transport apparatus 1000 obtains a list of all target tapes in the storage slots 210 that need to be stored in the storage slots 3010 of the storage cabinets 3000 according to the storage rule.

Step 911:

the transport apparatus 1000 moves to the front of the storage slot 3010 of the first storage container 3000 for the target tape to be stored through the navigation module 600.

Step 912:

the control means 500 controls the lifting height of the working means 300 based on the height calculated by the control means 500 of the transport apparatus 1000;

a control gripping unit 340 that puts the target tape into the storage slot 3010 of the storage cabinet 3000;

the transport apparatus 1000 updates the target tape correspondence list in the storage slot 3010 of the storage cabinet 3000;

step 913:

the transport apparatus 1000 continues the next target tape storing operation under the control of the control mechanism 500 until the storage of all the target tapes on the transport apparatus 1000 is completed.

Step 914:

the control mechanism 500 of the transport apparatus 1000 checks whether the target tapes to be transferred have been completely completed, and returns to the charging pile if the target tapes to be transferred have been completed; if not, steps 902-913 are repeated before moving on to the tape cartridge 2010 of the tape library 2000 via the navigation module 600.

The process of transferring the target tape from the storage slot 3010 of the storage cabinet 3000 to the tape cassette 2010 of the tape library 2000 is similar to the process described above.

According to the embodiment of the utility model, in the system composed of the transport device 1000, the tape library 2000 and the storage cabinet 300, the transport device 1000 can realize automatic bidirectional grabbing and automatic bidirectional transport of the target tape from the tape cassette 2010 of the tape library 2000 to the storage slot 3010 of the storage cabinet 3000, completely replace manual completion of the whole process operation, and achieve the effects of saving labor and improving transport efficiency.

It should be noted that the specific arrangement positions of the storage mechanism 200, the working mechanism 300, the recognition mechanism 400, the control mechanism 500, the navigation module 600 and the power module 700 are not limited in the present invention, and those skilled in the art can design them according to actual needs.

It will be appreciated by a person skilled in the art that various combinations and/or combinations of features described in the various embodiments and/or in the claims of the utility model are possible, even if such combinations or combinations are not explicitly described in the utility model. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present invention may be made without departing from the spirit or teaching of the utility model. All such combinations and/or associations fall within the scope of the present invention.

The embodiments of the present invention have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the utility model is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the utility model, and these alternatives and modifications are intended to fall within the scope of the utility model.

Claims (15)

1. A conveyor apparatus, comprising:

mobile base (100) comprising: a base body (110) and a drive unit (120) mounted to the base body (110); the driving unit (120) is adapted to drive the base body (110) to move or stop;

a storage mechanism (200) mounted on the base body (110); the first surface of the accommodating mechanism (200) is provided with a plurality of accommodating grooves (210), and the accommodating grooves (210) are suitable for accommodating target objects;

a working mechanism (300) movably mounted on the housing mechanism (200) and comprising:

a gripping unit (340) configured to grip a target object from the storage slot (210) or deposit the gripped target object into the storage slot (210);

the identification mechanism (400) comprises a first identification unit (410) which is arranged on the accommodating mechanism (200) and is suitable for identifying a target object; and

-control means (500) adapted to control said drive unit (120) and adapted to control said working means (300) in dependence of the recognition result of said recognition means (400).

2. The transporter according to claim 1, wherein the working mechanism (300) further comprises:

a first moving unit (310) movably installed at a first side of the receiving mechanism (200) to reciprocate the first moving unit (310) in a first direction with respect to the receiving mechanism;

a first robot arm (320) rotatably mounted on the first moving unit (310); and

a second robot arm (330) telescopically mounted on the first robot arm (320) to approach or depart from a target object, the gripping unit (340) being mounted on the second robot arm (330).

3. The conveyance device according to claim 1 or 2, wherein the drive unit (120) comprises:

a first motor (121); is electrically connected with the control mechanism (500) to operate under the control of the control mechanism (500); and

a driving part (122) mounted on an output shaft of the first motor (121) to drive the base body (110) to move under the driving of the first motor (121);

optionally, the drive member (122) comprises a wheel or track.

4. The conveyance device according to claim 3, wherein the drive unit (120) further comprises: a turning member (123) provided at the bottom of the base body (110);

the steering component (123) is electrically connected with the control mechanism (500) and is configured to drive the moving base (100) to steer according to a control signal of the control mechanism (500);

optionally, the steering component (123) comprises a universal wheel.

5. The transporter according to claim 1, further comprising: a navigation module (600) disposed on the mobile base (100), comprising:

a detection unit (610) adapted to detect environmental information;

a navigation unit (620) adapted to control the control mechanism (500) according to a detection result generated by the detection unit (610) so that the driving unit (120) drives the base body (110) to travel to a target location; and

wherein the navigation unit (620) is electrically connected with the detection unit (610) and the control mechanism (500);

and the obstacle avoidance unit (630) is suitable for controlling the control mechanism (500) according to the detection result generated by the detection unit (610) so that the driving unit (120) drives the base main body (110) to avoid the obstacle in the driving path.

6. The conveyance device according to claim 2, wherein a first surface of the housing mechanism (200) is provided with a first slide rail (220), and the first moving unit (310) reciprocates in a first direction along the first slide rail (220).

7. The conveyance device according to claim 2, wherein the first robot arm (320) comprises:

a fixed member (321) mounted on the first moving unit (310);

a rotating member (322) rotatably mounted on the fixed member (321); and

and a second motor (323) installed in the fixed member (321), wherein an output shaft of the second motor (323) is connected to the rotating member (322).

8. The transporter according to claim 7, wherein the working mechanism (300) further comprises:

a work base (350) mounted on the first mobile unit (310); and

a second moving unit (360), the fixing member (321) being mounted on the second moving unit (360), the second moving unit (360) being movably mounted on the work base (350) in a second direction perpendicular to the first direction with respect to the work base (350).

9. The conveyance device according to claim 8,

the work base (350) is provided with a second slide rail (351), and the second slide rail (351) is configured to limit the moving track of the second moving unit (360).

10. The conveyance apparatus according to claim 2, wherein the gripping unit (340) comprises: a plurality of gripping members (341) and a plurality of third motors (342);

an output shaft of the third motor (342) is connected with the clamping component (341); the plurality of third motors (342) are configured to grip or release the target object by driving the plurality of gripping members (341) relatively close to or relatively far from under the control of the control mechanism (500).

11. The conveyance device according to claim 10,

the work mechanism (300) further comprises a transfer member (370) adapted to carry a target object; the gripping unit (340) is connected to the second robotized arm (330) through the transfer member (370);

the gripping unit (340) further comprises at least a fourth motor (343), the fourth motor (343) driving the gripping member (341) under the control of the control mechanism (500) to load or unload the target object to or from the transfer member (370).

12. The conveyance device according to claim 1,

the identification mechanism (400) further comprises: a second recognition unit (420) provided on the working mechanism (300); and

identification information of a target object is arranged on the accommodating groove (210), and the identification information corresponds to the target object;

the second recognition unit (420) is adapted to recognize a target object and to recognize identification information of the target object.

13. The conveyance device according to claim 1 or 2, further comprising: power supply module (700), comprising: a battery unit and a charging assembly.

14. The conveyance device according to claim 1, wherein the base body (110) further comprises: a collision prevention member (111) provided on at least a part of an outer wall of the base main body (110).

15. A conveyor system, comprising:

the conveyance device of any one of claims 1 to 14; and

a storage cabinet adapted to store the target object, the gripping unit (340) of the conveyor conveying the target object between a storage slot of the storage cabinet and a receiving slot (210) of the conveyor.

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