CN217751403U

CN217751403U - Robot and robot operation system

Info

Publication number: CN217751403U
Application number: CN202221363087.5U
Authority: CN
Inventors: 刘孙近昊
Original assignee: SF Technology Co Ltd
Current assignee: SF Technology Co Ltd
Priority date: 2022-06-01
Filing date: 2022-06-01
Publication date: 2022-11-08
Anticipated expiration: 2032-06-01

Abstract

The application provides a robot and a robot operating system. The robot comprises an AGV trolley, an RGV guide rail, an RGV trolley and a mechanical arm, wherein the RGV guide rail can be butted with an external guide rail; the RGV comprises a vehicle body and a traveling mechanism arranged on the vehicle body, wherein the traveling mechanism comprises a gear meshed with a first rack, a driving part for driving the gear to rotate and a guide wheel assembly, the guide wheel assembly comprises a first guide wheel and a second guide wheel which are arranged along the height direction of the vehicle body, the first guide wheel and the second guide wheel clamp an RGV guide rail and can roll along the RGV guide rail, and the guide wheel assemblies are arranged on two sides of the vehicle body along the moving direction of the RGV; the mechanical arm is arranged on the vehicle body of the RGV. The application's robot, its RGV dolly can drive the arm and remove in order to carry out the operation along the external guide rail of arbitrary height, realizes satisfying the operation demand of arbitrary height.

Description

Robot and robot operation system

Technical Field

The application belongs to the technical field of robots, and particularly relates to a robot and a robot operating system.

Background

The goods of choosing in storehouse vertical warehouse needs the robot to snatch and sort the goods in cubical space, in order to realize the operation of robot in vertical direction, the scheme that prior art adopted is: guide rails extending in the vertical direction are arranged on the AGV trolley, and the mechanical arm moves along the guide rails so as to grab and sort cargos. However, the guide rail of the existing scheme is limited in height, and cannot meet the operation requirements of more heights.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a robot and a robot operating system, and aims to solve the problem that an existing robot cannot meet the operating requirements of more heights.

In a first aspect, an embodiment of the present application provides a robot, where the robot includes an AGV trolley, an RGV guide rail, an RGV trolley, and a mechanical arm, where the RGV guide rail is disposed on the AGV trolley and can be butted with an external guide rail, and a first rack is disposed on the RGV guide rail, and the first rack extends along a length direction of the RGV guide rail; the RGV trolley is arranged on the AGV trolley and comprises a trolley body and a travelling mechanism arranged on the trolley body, the travelling mechanism comprises a driving part, a gear and a guide wheel component, the gear is meshed with the first rack, the driving part can drive the gear to rotate, the guide wheel component comprises a first guide wheel and a second guide wheel which are arranged along the height direction of the trolley body, the first guide wheel and the second guide wheel clamp the RGV guide rail and can roll along the RGV guide rail, and the guide wheel components are arranged on two sides of the trolley body along the moving direction of the RGV trolley; the mechanical arm is arranged on the vehicle body of the RGV.

Optionally, the traveling mechanism further comprises a mounting frame and an elastic member, the mounting frame is rotatably disposed on the vehicle body, and the first guide wheel is rotatably disposed on the mounting frame; the two ends of the elastic piece are respectively connected with the vehicle body and the mounting rack, and the telescopic direction of the elastic piece is parallel to the height direction of the vehicle body.

Optionally, the mounting bracket includes a connecting plate, a first rotating shaft and two rotating plates, the two rotating plates are arranged oppositely and at an interval, one end of each of the two rotating plates is connected through the connecting plate, and one end of the elastic member is connected with the middle part of the connecting plate; the first rotating shaft sequentially penetrates through the other ends of the two rotating plates, one end of the first rotating shaft is connected to the vehicle body, and the axis of the first rotating shaft is parallel to the rotating axis of the first guide wheel.

Optionally, the traveling mechanism further includes a second rotating shaft, the first guide wheel is disposed in a space defined by the connecting plate, the first rotating shaft and the two rotating plates, the second rotating shaft penetrates through the first guide wheel, two ends of the second rotating shaft are respectively connected to the two rotating plates, and an axis of the second rotating shaft is parallel to a rotating axis of the first guide wheel.

Optionally, the traveling mechanism further comprises a mounting seat, the mounting seat comprises a first plate body and a second plate body vertically connected with the first plate body, the first plate body is connected with the vehicle body, and the second plate body is connected with one end of the elastic piece.

Optionally, the running mechanism further comprises a guide rod, the elastic piece is sleeved on the guide rod, two ends of the guide rod are respectively connected with the mounting frame and the second plate body, and the length direction of the guide rod is parallel to the stretching direction of the elastic piece.

Optionally, the guide wheel assembly further includes a third guide wheel, the third guide wheel abuts against the RGV guide rail and can roll along the RGV guide rail, and a rotation axis of the third guide wheel is parallel to the height direction of the vehicle body.

Optionally, the RGV guide rail includes a first bottom plate and two first plate assemblies oppositely disposed on the first bottom plate, the first plate assemblies include a first side plate and a first top plate connected to the first side plate, the first top plate is parallel to the first bottom plate, the first side plate is perpendicular to the first bottom plate, and the first rack is disposed on the first bottom plate; the two first plate body assemblies correspond to the guide wheel assemblies on two sides of the vehicle body one to one, the third guide wheel abuts against the corresponding first side plate and can roll along the first side plate, and the first guide wheel and the second guide wheel clamp the corresponding first top plate and can roll along the first top plate.

Optionally, the bottom of the vehicle body is provided with a placement groove, and the driving piece and the gear are both arranged in the placement groove.

Optionally, the robot further comprises a carrying box and a conveying mechanism, wherein the conveying mechanism is arranged on the AGV trolley, and the carrying box is placed on the conveying mechanism.

In a second aspect, an embodiment of the present application further provides a robot operating system, where the robot operating system includes an external guide rail installed on an external device and a robot as in any one of the above embodiments, the RGV guide rail of the robot may be in butt joint with the external guide rail, the external guide rail is provided with a second rack that can be engaged with the gear, and an extending direction of the second rack is parallel to an extending direction of the external guide rail.

Optionally, the external guide rail includes a second bottom plate and two second plate assemblies oppositely disposed on the second bottom plate, each second plate assembly includes a second side plate and a second top plate connected to the second side plate, the second top plate is parallel to the second bottom plate, the second side plate is perpendicular to the second bottom plate, and the second rack is disposed on the second bottom plate; the two second plate body assemblies correspond to the guide wheel assemblies on two sides of the vehicle body one by one, and the first guide wheels and the second guide wheels clamp the corresponding second top plates and can roll along the second top plates.

The embodiment of the application provides a robot, through set up RGV guide rail and RGV dolly on the AGV dolly, automobile body both sides at the RGV dolly all set up the guide pulley subassembly, the RGV guide rail is cliied to the first guide pulley and the second guide pulley of guide pulley subassembly, the arm sets up on the automobile body of RGV dolly, thereby the RGV dolly can drive the arm along the RGV guide rail remove to with the external guide rail of RGV guide rail butt joint on, this external guide rail is cliied to first guide pulley and second guide pulley simultaneously, make the RGV dolly can drive the arm and remove so that the arm carries out the operation along the external guide rail of arbitrary height, realize satisfying the operation demand of arbitrary height.

The robot operation system that this application embodiment provided, through adopting the robot that this application embodiment provided, this robot can adapt to the external guide rail of arbitrary height to can satisfy the operation demand of arbitrary height.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that other drawings can be derived from these drawings by a person skilled in the art without inventive effort.

For a more complete understanding of the present application and its advantages, reference is now made to the following descriptions taken in conjunction with the accompanying drawings. Wherein like reference numerals refer to like parts in the following description.

Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present application.

Fig. 2 is a partial structural schematic view of the robot shown in fig. 1.

Fig. 3 is an enlarged schematic structural view of a part a of the robot shown in fig. 2.

Fig. 4 is a schematic structural diagram of an RGV guide rail according to an embodiment of the present disclosure.

Fig. 5 is a schematic structural view of a first rack and an RGV bogie provided in an embodiment of the present application.

Fig. 6 is a schematic structural diagram of an RGV car provided in an embodiment of the present application.

Fig. 7 is a partial structural schematic diagram of a traveling mechanism provided in an embodiment of the present application.

Fig. 8 is an exploded view of the traveling mechanism shown in fig. 7.

Fig. 9 is a schematic view of an application scenario of a robot according to an embodiment of the present application.

Fig. 10 is a schematic structural diagram of a robot operating system according to an embodiment of the present application.

Fig. 11 is a schematic structural diagram of an outboard guide rail according to an embodiment of the present application.

Fig. 12 is a schematic application scenario diagram of a robot operating system according to an embodiment of the present application.

The reference numbers indicate:

10. an AGV trolley; 20. an RGV guide rail; 21. a first rack; 22. a first base plate; 23. a first side plate; 24. a first top plate; 30. an RGV trolley; 31. a vehicle body; 311. a placing groove; 32. a drive member; 33. a gear; 34. a guide wheel assembly; 341. a first guide wheel; 342. a second guide wheel; 343. a third guide wheel; 35. a mounting frame; 351. a connecting plate; 352. a first rotating shaft; 353. a rotating plate; 36. an elastic member; 37. a second rotating shaft; 38. a mounting seat; 381. a first plate body; 382. a second plate body; 39. a guide rod; 391. a nut; 40. a mechanical arm; 50. a carrying box; 60. a conveying mechanism; 70. an external guide rail; 71. a second rack; 72. a second base plate; 73. a second side plate; 74. a second top plate; 80. a rail bracket; 90. an external transport line; 100. a three-dimensional shelf.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The embodiment of the application provides a robot, which is shown in fig. 1-6 and comprises an AGV trolley 10, an RGV guide rail 20, an RGV trolley 30 and a mechanical arm 40, wherein the RGV guide rail 20 is arranged on the AGV trolley 10 and can be butted with an external guide rail 70, the external guide rail 70 has a structural composition which is basically the same as that of the RGV guide rail 20, but the length and the height of the external guide rail 70 are different, and a second rack 71 is arranged on the external guide rail 70; a first rack 21 is arranged on the RGV guide rail 20, and the first rack 21 extends along the length direction of the RGV guide rail 20; the RGV trolley 30 is arranged on the AGV trolley 10, the RGV trolley 30 comprises a trolley body 31 and a travelling mechanism arranged on the trolley body 31, the travelling mechanism comprises a driving part 32, a gear 33 and a guide wheel assembly 34, the gear 33 is meshed with the first rack 21 and can be meshed with the second rack 71 when the RGV guide rail 20 is butted with the external guide rail 70, the driving part 32 can drive the gear 33 to rotate, the guide wheel assembly 34 comprises a first guide wheel 341 and a second guide wheel 342 which are arranged along the height direction of the trolley body 31, the first guide wheel 341 and the second guide wheel 342 clamp the RGV guide rail 20 (namely, the first guide wheel 341 and the second guide wheel 342 are butted with the RGV guide rail 20) and can roll along the RGV guide rail 20, and the guide wheel assemblies 34 are arranged on two sides of the trolley body 31 along the moving direction of the RGV trolley 30; the robot arm 40 is disposed on the body 31 of the RGV car 30.

An AGV (Automated Guided Vehicle) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. The RGV (Rail Guided Vehicle) car is a Rail Guided Vehicle capable of running along a fixed guide Rail, and is also called a Rail Guided shuttle car. The mechanical arm 40 can be provided with various types of clamps, so that the robot can adapt to different types of work, and the application field of the robot is expanded.

Specifically, when the driving member 32 drives the gear 33 to rotate, the rotating gear 33 will move along the first rack 21, so as to drive the vehicle body 31 to move along the RGV guide rail 20, and during the movement of the vehicle body 31, the first guide wheel 341 and the second guide wheel 342 clamping the RGV guide rail 20 also roll along the RGV guide rail 20; when the AGV car 10 moves to the position where the RGV guide rail 20 is butted against the outboard guide rail 70, the first rack 21 on the RGV guide rail 20 is also butted against the second rack 71 on the outboard guide rail 70, so that the RGV car 30 can move from the RGV guide rail 20 to the outboard guide rail 70 while the first guide wheel 341 and the second guide wheel 342 sandwich the outboard guide rail 70. The driving member 32 may be a motor (e.g., a servo motor) or other driving member with a rotary output, and the gear 33 is connected to the output end of the driving member 32, for example, when the driving member 32 is a motor, the gear 33 is connected to the output shaft of the motor.

The robot provided by the embodiment of the application, through set up RGV guide rail 20 and RGV dolly 30 on AGV dolly 10, all set up guide pulley assembly 34 in the automobile body 31 both sides of RGV dolly 30, RGV guide rail 20 is cliied to first guide pulley 341 and second guide pulley 342 of guide pulley assembly 34, mechanical arm 40 sets up on the automobile body 31 of RGV dolly 30, thereby RGV dolly 30 can drive mechanical arm 40 along RGV guide rail 20 move to the external guide rail 70 with RGV guide rail 20 butt joint on, first guide pulley 341 and second guide pulley 342 clip this external guide rail 70 in order to avoid RGV dolly 30 to empty when moving simultaneously, make RGV dolly 30 can drive mechanical arm 40 along external guide rail 70 removal of arbitrary height so that mechanical arm 40 carries out the operation, realize satisfying the operation demand of arbitrary height, simultaneously also can further enlarge the working space of mechanical arm 40, the operation ability in the cubical space of robot has been realized with lower cost. It will be appreciated that the RGV cart 30 and the AGV cart 10 may share a battery and an arithmetic module, which reduces the number of electronic components on the one hand and reduces the weight of the RGV cart 30 on the other hand, thereby improving operating efficiency and safety.

As shown in fig. 4, the RGV guide rail 20 includes a first bottom plate 22 and two first plate assemblies oppositely disposed on the first bottom plate 22, each of the first plate assemblies includes a first side plate 23 and a first top plate 24 connected to the first side plate 23, the first top plate 24 is parallel to the first bottom plate 22, the first side plate 23 is perpendicular to the first bottom plate 22, and the first rack 21 is disposed on the first bottom plate 22; as shown in fig. 2 and 3, the guide wheel assemblies 34 on both sides of the vehicle body 31 correspond to the two first plate assemblies one by one, and the first guide wheel 341 and the second guide wheel 342 of each guide wheel assembly 34 sandwich the corresponding first top plate 24 and can roll along the first top plate 24.

As shown in FIG. 6, in some embodiments of the present application, the bottom of the car body 31 is provided with a seating slot 311, and the driving member 32 and the gear 33 are both disposed in the seating slot 311, so that the overall structure of the AGV car 10 can be made more compact. Specifically, as shown in fig. 3, the vehicle body 31 is located between two first plate members of the RGV guide rail 20, and the groove bottom of the seating groove 311 faces the first bottom plate 22 of the RGV guide rail 20.

As shown in fig. 5-8, in some embodiments of the present application, the traveling mechanism further includes a mounting bracket 35 and an elastic member 36, the mounting bracket 35 is rotatably disposed on the vehicle body 31, and the first guide wheel 341 is rotatably disposed on the mounting bracket 35; the two ends of the elastic member 36 are respectively connected with the vehicle body 31 and the mounting frame 35, and the expansion direction of the elastic member 36 is parallel to the height direction of the vehicle body 31. The elastic member 36 may be a spring, a sponge, or other members capable of generating an elastic restoring force when compressed. By arranging the mounting frame 35 and the elastic member 36, the elastic member 36 can be extended and retracted, so that the first guide wheel 341 has a certain position adjustment range in the height direction of the vehicle body 31, and the first guide wheel 341 and the second guide wheel 342 can clamp the RGV guide rail 20 with any thickness; meanwhile, since the elastic member 36 is compressed to a certain extent when the RGV guide rail 20 contacts the first guide wheel 341, the elastic restoring force generated after the elastic member 36 is compressed will push the mounting bracket 35 to rotate around the first rotating shaft 352 and approach the RGV guide rail 20, so that the first guide wheel 341 is always abutted against the RGV guide rail 20 to maintain the clamping force on the RGV guide rail 20.

Alternatively, as shown in fig. 7 and 8, the mounting frame 35 includes a connecting plate 351, a first rotating shaft 352 and two rotating plates 353, the two rotating plates 353 are disposed opposite to each other and spaced apart from each other, one end of each of the two rotating plates 353 is connected through the connecting plate 351, and one end of the elastic member 36 is connected to the middle of the connecting plate 351; the first rotating shaft 352 sequentially penetrates through the other ends of the two rotating plates 353, one end of the first rotating shaft 352 is connected to the vehicle body 31, and the axis of the first rotating shaft 352 is parallel to the rotating axis of the first guide wheel 341, so that the mounting frame 35 can be rotatably arranged on the vehicle body 31. Here, the "middle portion of the connection plate 351" refers to a portion between two connection points of the connection plate 351 and the two rotation plates 353.

Optionally, the traveling mechanism further includes a second rotating shaft 37, the first guide wheel 341 is disposed in a space defined by the connecting plate 351, the first rotating shaft 352 and the two rotating plates 353, the second rotating shaft 37 penetrates through the first guide wheel 341, two ends of the second rotating shaft 37 are respectively connected to the two rotating plates 353, and an axis of the second rotating shaft 37 is parallel to a rotating axis of the first guide wheel 341, so that the first guide wheel 341 is rotatably disposed on the mounting frame 35. Since the first guide wheel 341 is disposed in the space defined by the connecting plate 351, the first rotating shaft 352 and the two rotating plates 353, the space is effectively utilized, and the structure is more compact.

Optionally, the traveling mechanism further includes a mounting seat 38, where the mounting seat 38 includes a first plate 381 and a second plate 382 perpendicularly connected to the first plate 381, the first plate 381 is connected to the vehicle body 31, and the second plate 382 is connected to one end of the elastic element 36. By vertically connecting the first plate body 381 and the second plate body 382, the first plate body 381 and the second plate body 382 form an L-shaped structure, which is convenient for installation of the elastic member 36.

Optionally, the traveling mechanism further includes a guide rod 39, the elastic member 36 is sleeved on the guide rod 39, two ends of the guide rod 39 are respectively connected to the mounting frame 35 and the second plate 382, and the length direction of the guide rod 39 is parallel to the extending direction of the elastic member 36. By providing the guide rod 39 with the above structure, the guide rod 39 can guide the elastic member 36 during the telescopic movement, so that the first guide wheel 341 and the second guide wheel 342 effectively clamp the RGV guide rail 20. Specifically, when the mounting frame 35 includes the connecting plate 351 and the traveling mechanism further includes the mounting seat 38, one end of the guiding rod 39 is connected to the middle portion of the connecting plate 351, and the other end of the guiding rod 39 is connected to the second plate 382 of the mounting seat 38. Alternatively, the guide rod 39 may be configured as a bolt structure, and a screw of the bolt structure is sequentially inserted through the connecting plate 351, the elastic member 36 and the second plate 382 and then locked by the nut 391.

In some embodiments of the present application, as shown in fig. 5 and 6, the guide wheel assembly 34 further includes a third guide wheel 343, the third guide wheel 343 abuts against the RGV rail 20 and can roll along the RGV rail 20, and a rotation axis of the third guide wheel 343 is parallel to a height direction of the vehicle body 31 of the RGV bogie 30. Specifically, the third guide wheel 343 of each guide wheel assembly 34 abuts against the first side plate 23 of the corresponding RGV guide rail 20 and can roll along the first side plate 23. By providing the third guide wheel 343, the third guide wheel 343 can restrict the vehicle body 31 in the width direction of the vehicle body 31 to prevent the vehicle body 31 from toppling and shaking, and in combination with the restriction of the first guide wheel 341 and the second guide wheel 342 to the vehicle body 31 in the height direction of the vehicle body 31, the entire RGV wagon 30 can move along the RGV guide rail 20 or the outboard guide rail 70 more stably.

Optionally, the number of the first guide wheel 341, the second guide wheel 342, and the third guide wheel 343 in each guide wheel assembly 34 may be set to be one or more, and the first guide wheel 341 and the second guide wheel 342 in each guide wheel assembly 34 correspond to each other one by one to clamp the RGV guide rail 20, which may be specifically set according to actual requirements; when the first guide wheels 341, the second guide wheels 342, and the third guide wheels 343 are all plural, the plural first guide wheels 341 are arranged at intervals in the traveling direction of the RGV carriage 30, the plural second guide wheels 342 are arranged at intervals in the traveling direction of the RGV carriage 30, and the plural third guide wheels 343 are arranged at intervals in the traveling direction of the RGV carriage 30. Illustratively, as shown in fig. 5, each guide wheel assembly 34 includes two first guide wheels 341, two second guide wheels 342, and three third guide wheels 343, the two first guide wheels 341 are arranged at intervals along the traveling direction of the RGV carriage 30, the two second guide wheels 342 are arranged at intervals along the traveling direction of the RGV carriage 30, the three third guide wheels 343 are arranged at intervals along the traveling direction of the RGV carriage 30, one second guide wheel 342 is disposed between each two adjacent third guide wheels 343, and the plurality of first guide wheels 341 and the plurality of second guide wheels 342 clamp the RGV guide rail 20 in a one-to-one correspondence manner.

As shown in FIGS. 1 and 9, in some embodiments of the present application, the robot further includes a carrier bin 50 and a transport mechanism 60, the transport mechanism 60 being disposed on the AGV cart 10 with the carrier bin 50 resting on the transport mechanism 60. The object carrying box 50 is used for carrying objects, and the manipulator can grab the objects and place the objects into the object carrying box 50 or grab the objects from the object carrying box 50 and place the objects on external equipment; the conveying mechanism 60 may be a belt conveyor or a conveying roller assembly, and when the belt conveyor or the conveying roller assembly rotates, the carrying case 50 placed thereon may be conveyed to the external conveying line 90. This application is through setting up thing case 50 and conveying mechanism 60, makes things convenient for AGV dolly 10 to directly deliver to outside transport line 90 with the goods of keeping in the thing case 50 automatically, also can accept the empty thing case 50 of delivering to on the outside transport line 90, realizes full automatization and gets goods and delivery function.

Alternatively, the RGV rails 20 and transport mechanism 60 may be aligned in series along the direction of travel of the AGV car 10, or the RGV rails 20 and transport mechanism 60 may be aligned in a horizontal direction perpendicular to the direction of travel of the AGV car 10. The transport direction of the transport mechanism 60 may be perpendicular to the travel direction of the AGV cart 10, or may be parallel to the travel direction of the AGV cart 10.

The embodiment of the present application further provides a robot operating system, as shown in fig. 10, the robot operating system includes an external rail 70 mounted on an external device, and a robot as any one of the above robots, wherein the RGV rail 20 of the robot can be butted against the external rail 70, a second rack 71 capable of meshing with the gear 33 is arranged on the external rail 70, and an extending direction of the second rack 71 is parallel to an extending direction of the external rail 70. The external guide rail 70 can be arranged on one guide rail bracket 80, and the external guide rail 70 is mounted on external equipment through the guide rail bracket 80, so that the external guide rail is convenient to mount. According to the robot operating system provided by the embodiment of the application, the robot can adapt to the external guide rail 70 with any height by adopting the robot provided by the embodiment of the application, so that the operating requirement with any height can be met.

As shown in fig. 11, the outboard guide rail 70 includes a second bottom plate 72 and two second plate assemblies oppositely disposed on the second bottom plate 72, each of the second plate assemblies includes a second side plate 73 and a second top plate 74 connected to the second side plate 73, the second top plate 74 is parallel to the second bottom plate 72, the second side plate 73 is perpendicular to the second bottom plate 72, and the second rack 71 is disposed on the second bottom plate 72; the guide wheel assemblies 34 on both sides of the vehicle body 31 correspond to the two second plate assemblies one by one, the third guide wheel 343 of each guide wheel assembly 34 abuts against the corresponding second side plate 73 and can roll along the second side plate 73, and the first guide wheel 341 and the second guide wheel 342 of each guide wheel assembly 34 sandwich the corresponding second top plate 74 and can roll along the second top plate 74. Specifically, as shown in fig. 4 and 11, when the RGV rail 20 is butted against the outboard rail 70, the first bottom plate 22 is butted against the second bottom plate 72, the two first side plates 23 are butted against the two second side plates 73 one by one, the two first top plates 24 are butted against the two second top plates 74, and the first rack 21 is butted against the second rack 71.

The robot operation system that this application embodiment provided is applicable to work such as object in the closed field snatchs, sorts, for example can be applied to fields such as the goods letter sorting of three-dimensional storehouse in storage or the nursing of farming wall. Illustratively, as shown in fig. 12, when the robot operating system is applied to sorting goods in a warehouse rack, the external guide rail 70 is installed on the rack 100, the AGV cart 10 travels along a predetermined guide path to the RGV guide rail 20 to be butted against the external guide rail 70, after the RGV guide rail 20 is butted against the external guide rail 70, the RGV cart 30 drives the robot arm 40 to move along the RGV guide rail 20 to the external guide rail 70, meanwhile, the first guide wheel 341 and the second guide wheel 342 on the RGV cart 30 clamp the external guide rail 70, the RGV cart 30 drives the robot arm 40 to move along the external guide rail 70, the robot arm 40 grabs the goods on the rack 100 and places the goods in the carrying boxes 50, or the robot arm 40 grabs the goods in the carrying boxes 50 and places the goods on the rack 100.

When the robot operating system is applied to nursing of an agricultural planting wall, the external guide rail 70 is installed on the agricultural planting wall, the AGV trolley 10 runs to the RGV guide rail 20 along a specified guide path to be in butt joint with the external guide rail 70, after the RGV guide rail 20 is in butt joint with the external guide rail 70, the RGV trolley 30 drives the mechanical arm 40 to move to the external guide rail 70 along the RGV guide rail 20, meanwhile, the external guide rail 70 is clamped by the first guide wheel 341 and the second guide wheel 342 on the RGV trolley 30, the RGV trolley 30 drives the mechanical arm 40 to move along the external guide rail 70, and the mechanical arm 40 grabs a target object (such as a fruit) on the agricultural planting wall and puts the target object into the carrying box 50.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the description of the present application, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or more features.

The robot and the robot operating system provided by the embodiment of the present application are described in detail above, and the principle and the embodiment of the present application are explained in the present application by applying specific examples, and the description of the above embodiment is only used to help understanding the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A robot, comprising:

an AGV trolley (10);

the AGV comprises an RGV guide rail (20) which is arranged on the AGV trolley (10) and can be butted with an external guide rail (70), wherein a first rack (21) is arranged on the RGV guide rail (20), and the first rack (21) extends along the length direction of the RGV guide rail (20);

an RGV trolley (30) arranged on the AGV trolley (10), wherein the RGV trolley (30) comprises a trolley body (31) and a travelling mechanism arranged on the trolley body (31), the travelling mechanism comprises a driving part (32), a gear (33) and a guide wheel assembly (34), the gear (33) is meshed with the first rack (21), the driving part (32) can drive the gear (33) to rotate, the guide wheel assembly (34) comprises a first guide wheel (341) and a second guide wheel (342) which are arranged along the height direction of the trolley body (31), the first guide wheel (341) and the second guide wheel (342) clamp the RGV guide rail (20) and can roll along the RGV guide rail (20), and the guide wheel assemblies (34) are arranged on two sides of the trolley body (31) along the moving direction of the RGV trolley (30);

a robotic arm (40), the robotic arm (40) disposed on the body (31) of the RGV cart (30).

2. The robot according to claim 1, wherein the traveling mechanism further comprises a mounting bracket (35) and an elastic member (36), the mounting bracket (35) is rotatably provided on the vehicle body (31), and the first guide wheel (341) is rotatably provided on the mounting bracket (35); the two ends of the elastic piece (36) are respectively connected with the vehicle body (31) and the mounting rack (35), and the telescopic direction of the elastic piece (36) is parallel to the height direction of the vehicle body (31).

3. The robot according to claim 2, wherein the mounting frame (35) comprises a connecting plate (351), a first rotating shaft (352) and two rotating plates (353), the two rotating plates (353) are arranged oppositely and at intervals, one ends of the two rotating plates (353) are connected through the connecting plate (351), and one end of the elastic member (36) is connected with the middle part of the connecting plate (351);

the first rotating shaft (352) penetrates through the other ends of the two rotating plates (353) in sequence, one end of the first rotating shaft (352) is connected to the vehicle body (31), and the axis of the first rotating shaft (352) is parallel to the rotating axis of the first guide wheel (341).

4. The robot according to claim 3, wherein the traveling mechanism further comprises a second rotating shaft (37), the first guide wheel (341) is disposed in a space enclosed by the connecting plate (351), the first rotating shaft (352) and the two rotating plates (353), the second rotating shaft (37) penetrates through the first guide wheel (341) and two ends of the second rotating shaft are respectively connected with the two rotating plates (353), and an axis of the second rotating shaft (37) is parallel to a rotating axis of the first guide wheel (341).

5. The robot according to claim 3, characterized in that the walking mechanism further comprises a mounting seat (38), the mounting seat (38) comprises a first plate body (381) and a second plate body (382) vertically connected with the first plate body (381), the first plate body (381) is connected with the vehicle body (31), and the second plate body (382) is connected with one end of the elastic member (36).

6. The robot according to claim 5, characterized in that the running gear further comprises a guide rod (39), the elastic member (36) is sleeved on the guide rod (39), two ends of the guide rod (39) are respectively connected with the mounting frame (35) and the second plate body (382), and the length direction of the guide rod (39) is parallel to the extension direction of the elastic member (36).

7. A robot according to any of claims 1-6, characterized in that the guide wheel assembly (34) further comprises a third guide wheel (343), the third guide wheel (343) abutting the RGV guide rail (20) and being rollable along the RGV guide rail (20), the axis of rotation of the third guide wheel (343) being parallel to the height direction of the vehicle body (31).

8. The robot according to claim 7, characterized in that the RGV guide rail (20) comprises a first bottom plate (22) and two first plate assemblies oppositely arranged on the first bottom plate (22), the first plate assemblies comprising a first side plate (23) and a first top plate (24) connected to the first side plate (23), the first top plate (24) being parallel to the first bottom plate (22), the first side plate (23) being perpendicular to the first bottom plate (22), the first rack (21) being arranged on the first bottom plate (22);

the two first plate body assemblies correspond to the guide wheel assemblies (34) on two sides of the vehicle body (31) one by one, the third guide wheel (343) abuts against the corresponding first side plate (23) and can roll along the first side plate (23), and the first guide wheel (341) and the second guide wheel (342) clamp the corresponding first top plate (24) and can roll along the first top plate (24).

9. Robot according to claim 1, characterized in that the bottom of the car body (31) is provided with a seating slot (311), the drive element (32) and the gear wheel (33) being both arranged in the seating slot (311).

10. Robot according to claim 1, characterized in that it further comprises a tote (50) and a transport mechanism (60), said transport mechanism (60) being arranged on the AGV cart (10), said tote (50) being placed on said transport mechanism (60).

11. A robot working system, characterized in that the robot working system comprises an external guide rail (70) mounted on an external device and a robot as claimed in any one of claims 1 to 10, the RGV guide rail (20) of the robot can be butted against the external guide rail (70), and the external guide rail (70) is provided with a second rack gear (71) capable of meshing with the gear (33).

12. The robotic work system according to claim 11, wherein said outboard guide rail (70) comprises a second bottom plate (72) and two second plate assemblies oppositely disposed on said second bottom plate (72), said second plate assemblies comprising a second side plate (73) and a second top plate (74) connected to said second side plate (73), said second top plate (74) being parallel to said second bottom plate (72), said second side plate (73) being perpendicular to said second bottom plate (72), said second rack (71) being disposed on said second bottom plate (72);

the two second plate body assemblies correspond to the guide wheel assemblies (34) on two sides of the vehicle body (31) one by one, and the first guide wheels (341) and the second guide wheels (342) clamp the corresponding second top plates (74) and can roll along the second top plates (74).