WO2022062684A1 - 升降机构、机器人及控制方法 - Google Patents

升降机构、机器人及控制方法 Download PDF

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Publication number
WO2022062684A1
WO2022062684A1 PCT/CN2021/110363 CN2021110363W WO2022062684A1 WO 2022062684 A1 WO2022062684 A1 WO 2022062684A1 CN 2021110363 W CN2021110363 W CN 2021110363W WO 2022062684 A1 WO2022062684 A1 WO 2022062684A1
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WO
WIPO (PCT)
Prior art keywords
lifting
type
base
detection device
lift
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Application number
PCT/CN2021/110363
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English (en)
French (fr)
Inventor
韩旭
唐杰
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灵动科技（北京）有限公司
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Publication of WO2022062684A1 publication Critical patent/WO2022062684A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/0608—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement driven by screw or spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/065—Scissor linkages, i.e. X-configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
    • B66F7/085—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated pneumatically operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions

Definitions

  • the present application relates to the field of intelligent handling, and in particular, to a lifting mechanism, a robot and a control method.
  • bases are used for stacking commodities or shelves in warehouses or supermarkets. Trays are divided into various types, such as the nine-point base shown in Figure 1a, the Sichuan-shaped base shown in Figure 1b, the field-shaped (circumferential) base shown in Figure 1c, and the field-shaped (flat bottom) shown in Figure 1d. base, etc.
  • the lifting mechanism suitable for supporting the nine-point-shaped base and the Sichuan-shaped base, and the lifting mechanism suitable for supporting the Tian-shaped (circumferential) base and the Tian-shaped (flat bottom) base are different.
  • the embodiments of the present application provide a solution suitable for supporting various types of bases. Specifically, the embodiments of the present application provide a lifting mechanism, a robot, and a control method.
  • a lifting mechanism is provided.
  • the lift mechanism includes:
  • At least two lifting devices suitable for carrying at least two types of bases, are used to drive the loads on the corresponding types of bases to perform lifting actions;
  • a control device connected to the detection device, for controlling, according to the type detected by the detection device, at least some of the at least two lifting devices suitable for carrying the type to be in a working state, so as to drive the type
  • the lifting action is performed corresponding to the load on the base.
  • a robot in another embodiment, includes a body and a lifting mechanism, and the lifting mechanism is arranged on the body; wherein,
  • the lifting mechanism includes:
  • At least two lifting devices suitable for carrying at least two types of bases, are used to drive the loads on the corresponding types of bases to perform lifting actions;
  • a control device connected to the detection device, for controlling, according to the type detected by the detection device, at least some of the at least two lifting devices suitable for carrying the type to be in a working state, so as to drive the type
  • the lifting action is performed corresponding to the load on the base.
  • a method for controlling a lifting mechanism includes:
  • Control the detection device to detect the type of the base to be lifted
  • the detection device determines at least part of the lifting devices to be actuated among the at least two lifting devices;
  • At least part of the lifting device that needs to be actuated is controlled to act, so as to drive the load on the corresponding base to perform the lifting action.
  • At least two lifting devices suitable for carrying at least two types of bases are provided; during actual operation, the types of the bases can be detected by the detection device; The detected type controls at least part of the lifting devices in the at least two lifting devices to work, so that the same lifting mechanism can support at least two types of trays at the same time, and the applicable scope of the lifting mechanism is expanded.
  • Figure 1a is a schematic diagram of a nine-point base
  • Figure 1b is a schematic diagram of a Sichuan-shaped base
  • Figure 1c is a schematic diagram of a field-shaped (peripheral bottom) base
  • Figure 1d is a schematic diagram of a field-shaped (flat bottom) base
  • FIG. 2 is a schematic structural diagram of a lifting mechanism provided by an embodiment of the application.
  • FIG. 3 is a schematic structural diagram of a first lifting device according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a first lifting device in a lifting mechanism provided by an embodiment of the application being lifted to a second position for detection;
  • FIG. 5 is a schematic diagram of the first lifting device in the lifting mechanism provided by an embodiment of the application being lifted to contact the base to support the base;
  • FIG. 6 shows a schematic plan view of the Sichuan-shaped base being supported by the first lifting device to achieve lifting
  • Fig. 7 shows the schematic top view of the nine-point-shaped base supported by the first lifting device to realize lifting
  • FIG. 8 is a schematic diagram of a first lifting device in a lifting mechanism provided by an embodiment of the application being lifted to a second position for detection;
  • FIG. 9 is a schematic diagram of the first lifting device in the lifting mechanism provided by an embodiment of the application after returning to the first position;
  • FIG. 10 is a schematic diagram of a first lifting device and a second lifting device in the lifting mechanism provided by an embodiment of the application that are simultaneously lifted and contacted with the base to support the base;
  • Figure 11 shows a schematic plan view of a field-shaped (circumferential bottom) base supported by the first lifting device and the second lifting device to achieve lifting;
  • Fig. 12 shows a schematic top view of the field-shaped (flat bottom) base supported by the first lifting device and the second lifting device to achieve lifting
  • FIG. 13 is a schematic structural diagram of a robot according to an embodiment of the application.
  • FIG. 14 is a schematic flowchart of a method for controlling a lifting mechanism according to an embodiment of the present application.
  • FIG. 2 shows a schematic structural diagram of a lifting mechanism provided by an embodiment of the present application.
  • the lifting mechanism includes: at least two lifting devices 10 , a detection device 20 and a control device 30 .
  • the at least two lifting devices 10 are suitable for carrying at least two types of bases, and are used to drive loads on corresponding types of bases to perform lifting actions.
  • the detection device 20 is used to detect the type of the base.
  • the detection device 20 may be a contact sensor or a non-contact sensor.
  • contact sensors such as limit switch sensors contain mechanical contacts inside, and the contacts can be normally open or normally closed; corresponding electrical signals are generated by changing the opening and closing states of the contacts.
  • a non-contact sensor such as an image sensor, collects an image of the base, identifies the base type based on the image, etc. This embodiment does not specifically limit the selection of the sensor, as long as the base type can be sensed.
  • a control device 30 is connected to the detection device 20, and the control device 30 is configured to control, according to the type detected by the detection device 20, at least part of the lifting devices of the at least two lifting devices 10 suitable for carrying the type to be in a position. In the working state, the load on the corresponding base of the type can be driven to lift and lower.
  • the lifting mechanism provided in the embodiment of the present application, at least two lifting devices suitable for carrying at least two types of bases are provided; during actual operation, the type of the base can be detected by the detection device; then the control device detects the type of the base according to the detection device
  • the out type controls at least part of the lifting devices in the at least two lifting devices to work, so that the same lifting mechanism can support at least two types of trays at the same time, and the scope of application of the lifting mechanism is expanded. In practical applications, there is no need to prepare various types of lifting mechanisms, which reduces the input cost of the lifting mechanism.
  • the detection device 20 is arranged on a part of the lifting devices among the at least two lifting devices 10 .
  • the lifting mechanism described in this embodiment may further include a main frame 40 .
  • the at least two lifting devices 10 are arranged on the main frame 40 .
  • the detection device 20 may be provided on the main frame 40 .
  • the setting position of the detection device 20 may be determined according to the working principle of the detection device. For example, when the detection device is a limit switch sensor, the limit switch sensor needs to be in contact with the object to be detected, so the limit switch sensor can be arranged on the lifting device.
  • the detection device is a non-contact sensor
  • the installation position of the detection device is relatively flexible, and it can be set at a position where the object to be detected can be collected, such as on the lifting device, on the main frame, etc.
  • the main frame 40 has a hollow cavity, and the at least two lifting devices 10 are accommodated in the hollow cavity.
  • the main frame 40 can play a role of stabilizing at least two lifting devices, and can also play a role of protecting the components of the at least two lifting devices so as not to be exposed to the outside and easily bumped.
  • the control device 30 in this embodiment may be a single-chip microcomputer, a CPU, or the like with data processing and computing capabilities.
  • the control device 30 may be arranged on the main frame 40; of course, the control device 30 may also be arranged elsewhere.
  • the control device 30 may be arranged at On the body of the robot, the control device can be the same as the controller used for navigation, path planning, and autonomous movement control on the robot.
  • the at least two lifting devices 10 include: a first lifting device 101 and a second lifting device 102.
  • the first lifting device 101 is suitable for carrying the first type of base.
  • the second lifting device 102 and the first lifting device 101 are in a working state at the same time, so as to be suitable for carrying a second type of base.
  • Types of bases herein may include, but are not limited to, any of the following: nine-point base, Sichuan base, Tianzi (circumferential) base, and Tianzi (flat bottom) base, and the like.
  • nine-point base and Sichuan-shaped base can be classified as the first type of base; the field-shaped (circumferential) base and the field-shaped (flat bottom) base can be classified as the second type of base.
  • the types of the at least two lifting devices 10 and the base include but are not limited to the types described above.
  • the first lifting device 101 in this embodiment can be implemented with the following structure.
  • the first lifting device 101 may include: two first lifting plates 1011 and two first lifting execution components 1012 .
  • the two first lifting plates 1011 are arranged in parallel and spaced apart.
  • the two first lift execution assemblies 1012 are respectively disposed below the two first lift plates 1011 to perform a lift action under the control of the control device 30 to lift the first lift plates 1011 up and down .
  • the above-mentioned first lift execution assembly 1012 may be a folding lift execution assembly.
  • the first lift execution assembly 1012 includes: two intersecting folding brackets and a driving mechanism for driving the folding brackets to fold or unfold.
  • the driving mechanism may include a motor, a lead screw nut mechanism, and the like.
  • One of the folding brackets is driven by the driving mechanism, and the intersection angle of the two folding brackets changes, so that the lifting plate 1011 can be lifted and lowered.
  • the above-mentioned first lift execution assembly 1012 may also be a hydraulic lift rod assembly (such as a hydraulic jack), an electric cylinder, etc., which is not specifically limited in this embodiment.
  • the second lifting device 102 in this embodiment may include: at least one second lifting plate 1021 .
  • the second lifting plate 1021 may be arranged alternately with the first lifting plate 1011 .
  • the first lifting device 103 includes two first lifting plates 1011
  • the second lifting device 102 includes three second lifting plates 1012 ; according to the orientation shown in FIG. 2 , from the left To the right, the sequence is the second lift plate 1012 , the first lift plate 1011 , the second lift plate 1012 , the first lift plate 1011 , and the second lift plate 1012 .
  • the width of the second lifting plate 1012 located in the middle may be greater than the width of the second lifting plates 1012 on both sides.
  • the three second lifting plates in the second lifting device shown in FIG. 2 do not need to be all put into use, and can be determined according to the size of the base, the load weight on the base, and the like.
  • the first lifting device and the second lifting device can implement synchronous actions in the following two ways.
  • one is provided with a bolt hole 50
  • the other is provided with a retractable bolt 60 adapted to the bolt hole 50 .
  • the control device 30 controls the retractable latch 60 to act to be inserted into the bolt hole 50 , so that the at least one second lift plate 1021 is connected to the base.
  • the at least two first lifting plates 1011 are fixedly connected, so that the at least one second lifting plate 1021 moves synchronously when the at least two first lifting plates 1011 move.
  • the second lifting device further includes: at least one second lifting execution component.
  • At least one second lift execution component is respectively disposed below the at least one second lift plate, so as to perform a lift action under the control of the control device, so that the second lift plate is lifted and lowered;
  • the control device controls the two first lift execution assemblies and the at least one second lift execution assembly to act synchronously, so that the at least two second lift execution assemblies are actuated synchronously.
  • the two lift plates and the at least one first lift plate move up and down synchronously.
  • the detection device is arranged on the first lifting device.
  • the control device controls the first lifting device to rise from the first position to the second position, and the detection device detects the type of the base; when the detection device detects that the type of the base is the first type, the control device continues Control the first lifting device to perform a lifting action to lift the first type base; when the detection device detects that the type of the base is the second type, the control device controls the first lifting device to lift the first type of base from the first type.
  • the second position is returned to the first position, and then the retractable latch is controlled to be inserted into the bolt hole, so that the first lifting device and the second lifting device are fixedly connected, and the first lifting device is controlled.
  • the device performs a lifting action to lift the second type base in cooperation with the second lifting device.
  • the touch sensor includes a retractable contact end, which retracts due to the contact pressure after being in contact with the detected object, and is triggered to generate a corresponding signal; after the control device touches the signal, it can determine the type of the base.
  • the retractable contact end does not move, and the touch sensor does not generate a signal, and the control device cannot receive the signal at this time.
  • the control device 30 controls the first lifting device 101 to rise from the first position to the second position, and the detection device 20 detects the type of the base.
  • the detection device is a contact sensor, it will not be triggered because it does not touch the base.
  • the control device determines that the base is a nine-point base or a Sichuan-shaped base 70 (ie, the first type base) because the detection device is not triggered.
  • the first position may be a position where the first lifting device 101 is located in the hollow cavity 401 .
  • the second position can be a position higher than the first position and can trigger the detection device 20, and the second position can be determined based on the height of the contact surface between the various types of bases and the lifting mechanism from the ground. For example, the height of the contact surface of the nine-point-shaped base and the Sichuan-shaped base with the lifting mechanism is D; less than D. Therefore, the second position can be set as H.
  • the control device determines that the base type is a nine-point base or a Sichuan-shaped base, it continues to control the first lifting device 101 to perform a lifting action, as shown in FIG. 5 , to contact the nine-point base or the Sichuan-shaped base and lift the nine-point base. Shaped base or Sichuan-shaped base.
  • the retractable contact end of the detection device on the first lifting device 101 is in a retracted state. That is, for a nine-point-shaped base or a Sichuan-shaped base, the first lifting device 101 can carry the load.
  • FIG. 6 shows a schematic top view of the Chuan-shaped base being supported by the first lifting device 101 to achieve lifting.
  • FIG. 7 shows a schematic top view of the nine-point base being supported by the first lifting device 101 to achieve lifting.
  • the control device 30 controls the first lifting device 101 to rise from the first position to the second position, such as to the position of height H in FIG. 8 , the detection device 20 Detect the type of base.
  • the detection device is a touch sensor, it is triggered because it touches the base.
  • the control device is triggered by the detection device, and determines that the base is a square-shaped (circumferential bottom) base or a square-shaped (flat bottom) base 80 (ie, the second type of base).
  • the control device 30 controls the first lifting device 101 to return from the second position to the first position (ie, a position flush with the second lifting device, that is, inside the main frame 40 ).
  • the first lifting device 101 is controlled to perform the lifting action
  • the second lifting device 102 is synchronously driven to perform the lifting action due to the action of the retractable latch 60 to support the field shape (circumferential bottom).
  • Base or zigzag (flat bottom) base 80 is a base that supports the field shape (circumferential bottom).
  • FIG. 11 shows a schematic plan view of a field-shaped (circumferential bottom) base supported by the first lifting device 101 and the second lifting device 102 to achieve lifting and lowering.
  • FIG. 12 shows a schematic top view of a field-shaped (flat bottom) base supported by the first lifting device 101 and the second lifting device 102 to achieve lifting.
  • FIG. 13 shows a schematic structural diagram of a robot provided by an embodiment of the present application.
  • the robot includes a lifting mechanism 1 and a body 2 .
  • the lifting mechanism 10 is arranged on the body 2 . 2 to 12 , the lifting mechanism 1 includes: at least two lifting devices 10 , a detection device 20 , and a control device 30 .
  • the at least two lifting devices 10 are suitable for carrying at least two types of bases, and are used to drive loads on corresponding types of bases to perform lifting actions.
  • the detection device 20 is used to detect the type of the base.
  • a control device 30, connected to the detection device 20, is used to control at least part of the lifting devices in the at least two lifting devices 10 suitable for carrying the type to be in a working state according to the type detected by the detection device 20, so as to The load on the base corresponding to the type is driven to perform a lifting action.
  • the lifting mechanism further includes a main frame 40 .
  • the at least two lifting devices 10 are arranged on the main frame 40
  • the detection device 20 is arranged on a part of the lifting devices among the at least two lifting devices 10 , or is arranged on the main frame 40 .
  • the body 2 has an accommodating space for accommodating the lifting mechanism.
  • the lifting mechanism can be retracted into the accommodating groove of the body, so that the space occupied by the robot can be reduced.
  • the lifting mechanism is connected with the body through a telescopic device; the telescopic device acts to drive the lifting mechanism to extend from the accommodating space to the outside of the body, or to retract from the outside of the body to the outside of the body. within the accommodation space.
  • the telescopic device can be realized by a motor and a linear transmission mechanism; the linear transmission mechanism can be a lead screw nut mechanism, a rack and pinion mechanism, and the like. This embodiment does not specifically limit the specific implementation structure of the telescopic device.
  • Yet another embodiment of the present application provides a control method suitable for the above-mentioned lifting mechanism.
  • the executive body of the lifting mechanism control method provided in this embodiment may be the control device mentioned in the above embodiment. Referring to Figure 14, the method includes:
  • the detection device determines at least part of the lifting devices to be actuated among the at least two lifting devices;
  • the at least two lifting devices include: a first lifting device and a second lifting device.
  • the first lifting device is suitable for carrying the first type of base.
  • the second lifting device is in a working state at the same time as the first lifting device, so as to be suitable for carrying the second type of base.
  • the detection device is arranged on the first lifting device.
  • the above step S1 "the control and detection device detects the type of the base to be lifted" may specifically include:
  • step S2 determining at least part of the lifting devices to be actuated among the at least two lifting devices according to the type detected by the detection device.
  • the first lifting device is a lifting device to be actuated
  • the type of the base to be lifted is the second type, it is determined that the first lifting device and the second lifting device are lifting devices to be actuated.
  • step S3 controlling the movement of at least part of the lifting device to be actuated to drive the load on the corresponding base of the type to perform the lifting action.
  • control the first lifting device When the type of the base to be lifted is the second type, control the first lifting device to return from the second position to the first position; control the first lifting device and the second lifting device to act synchronously , so as to drive the load on the second type of base to do the lifting action.
  • step "controlling the first lifting device and the second lifting device to act synchronously so as to drive the load on the second type of base to perform the lifting action" can be specifically as follows:
  • the movement of the first lifting device is controlled to make the second lifting device act synchronously, so as to drive the load on the second type of base to perform the lifting action.

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  • Engineering & Computer Science (AREA)
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  • Warehouses Or Storage Devices (AREA)

Abstract

一种升降机构、机器人及控制方法，升降机构包括：至少两个升降装置（10），适于承载至少两种类型的底座，用于带动相应类型底座上的负载做升降动作；检测装置（20），用于检测底座的类型；控制装置（30），与检测装置（20）连接，用于按照检测装置（20）检测出的类型，控制适于承载类型的至少两个升降装置（10）中的至少部分升降装置（10）处于工作状态，以带动相应类型对应底座上的负载做升降动作。

Description

升降机构、机器人及控制方法
交叉引用
本申请引用于2020年09月27日递交的名称为“升降机构、机器人及控制方法”的第2020110357538号中国专利申请，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能搬运领域，尤其涉及一种升降机构、机器人及控制方法。
背景技术
目前，仓库或商超内堆码商品或货架都会使用到底座(或称托盘)。托盘分为多种类型，如图1a所示的九点形底座、图1b所示的川字形底座、图1c所示的田字形(周底)底座、图1d所示的田字形(平底)底座等等。适于承托九点形底座和川字形底座的升降机构，以及适于承托田字形(周底)底座和田字形(平底)底座的升降机构是不同的。
若现场使用的底座类型多样，就需要准备多种结构的升降机构。
发明内容
本申请实施例提供一种适于承托多种类型底座的方案，具体的，本申请实施例提供了一种升降机构、机器人及控制方法。
在本申请的一个实施例中，提供了一种升降机构。该升降机构包括：
至少两个升降装置，适于承载至少两种类型的底座，用于带动相应类型底座上的负载做升降动作；
检测装置，用于检测底座的类型；
控制装置，与所述检测装置连接，用于按照所述检测装置检测出的类型，控制适于承载所述类型的至少两个升降装置中的至少部分升降装置处于工作 状态，以带动所述类型对应底座上的负载做升降动作。
在本申请的另一个实施例中，提供了一种机器人。该机器人包括机体及升降机构，所述升降机构设置在所述机体上；其中，
其中，所述升降机构包括：
至少两个升降装置，适于承载至少两种类型的底座，用于带动相应类型底座上的负载做升降动作；
检测装置，用于检测底座的类型；
控制装置，与所述检测装置连接，用于按照所述检测装置检测出的类型，控制适于承载所述类型的至少两个升降装置中的至少部分升降装置处于工作状态，以带动所述类型对应底座上的负载做升降动作。
在本申请的又一个实施例中，提供了一种升降机构控制方法。该方法包括：
控制检测装置检测待升降底座的类型；
根据所述检测装置检测出的类型，确定所述至少两个升降装置中需动作的至少部分升降装置；
控制需动作的至少部分升降装置动作，以带动所述类型对应底座上的负载做升降动作。
本申请各实施例提供的技术方案中，设置了适于承载至少两种类型底座的至少两个升降装置；实际工作时，可通过检测装置检测底座的类型；然后由控制装置按照所述检测装置检测出的类型控制所述至少两个升降装置中的至少部分升降装置工作，实现了同一升降机构可同时支持至少两种类型托盘的目的，扩大了升降机构的适用范围。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲， 在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1a为九点形底座的示意图；
图1b为川字形底座的示意图；
图1c为田字形(周底)底座的示意图；
图1d为田字形(平底)底座的示意图；
图2为本申请一实施例提供的一种升降机构的结构示意图；
图3为本申请一实施例提供第一升降装置的结构示意图；
图4为本申请一实施例提供的升降机构中第一升降装置抬升至第二位置以进行检测的示意图；
图5为本申请一实施例提供的升降机构中第一升降装置抬升至与底座接触以承托底座的示意图；
图6示出了川字形底座被第一升降装置承托实现升降的俯视图示意图；
图7示出了九点形底座被第一升降装置承托实现升降的俯视图示意图；
图8为本申请一实施例提供的升降机构中第一升降装置抬升至第二位置以进行检测的示意图；
图9为本申请一实施例提供的升降机构中第一升降装置回至第一位置后的示意图；
图10为本申请一实施例提供的升降机构中第一升降装置及第二升降装置同步抬升与底座接触以承托底座的示意图；
图11示出了田字形(周底)底座被第一升降装置和第二升降装置共同承托实现升降的俯视图示意图；
图12示出了田字形(平底)底座被第一升降装置和第二升降装置承托实现升降的俯视图示意图
图13为本申请一实施例提供的一种机器人的结构示意图；
图14为本申请一实施例提供的一种升降机构控制方法的流程示意图。
具体实施方式
本申请提供了如下各实施例以解决或部分解决上述各方案存在的问题。为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
在本申请的说明书、权利要求书及上述附图中描述的一些流程中，包含了按照特定顺序出现的多个操作，这些操作可以不按照其在本文中出现的顺序来执行或并行执行。操作的序号如101、102等，仅仅是用于区分各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的部件、结构、元件等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。此外，下文描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
图2示出了本申请一实施例提供的一种升降机构的结构示意图。如图2所示，所述升降机构包括：至少两个升降装置10、检测装置20及控制装置30。
其中，所述至少两个升降装置10，适于承载至少两种类型的底座，用于带动相应类型底座上的负载做升降动作。所述检测装置20用于检测底座的类型。在本申请一些实施例中，所述检测装置20可以为接触型传感器或非接触型传感器。其中，接触型传感器如限位开关传感器，限位开关传感器内部含有机械触点，触点可以常开，也可以是常闭；通过触点的开合状态的改变产生相应的电信号。非接触型传感器如图像传感器，通过采集底座的图像，基于图像识别底座类型，等等，本实施例对传感器的选型不作具体限定，只要能感测底座类型即可。控制装置30与所述检测装置20连接，所述控制装置30用于按照所述检测装置20检测出的类型，控制适于承载所述类型的至少两 个升降装置10中的至少部分升降装置处于工作状态，以带动所述类型对应底座上的负载做升降动作。
本申请实施例提供的升降机构中，设置了适于承载至少两种类型底座的至少两个升降装置；实际工作时，可通过检测装置检测底座的类型；然后由控制装置按照所述检测装置检测出的类型控制所述至少两个升降装置中的至少部分升降装置工作，实现了同一升降机构可同时支持至少两种类型托盘的目的，扩大了升降机构的适用范围。实际应用中，不需要准备多种类型的升降机构，减少了升降机构的投入成本。
进一步地，所述检测装置20设置在所述至少两个升降装置10中的部分升降装置上。
进一步的，本实施例所述的升降机构还可包括主框架40。所述至少两个升降装置10设置在所述主框架40上。所述检测装置20可设置在所述主框架40上。具体实施时，所述检测装置20的设置位置，可根据检测装置的工作原理来确定。比如，当检测装置为限位开关传感器时，限位开关传感器需与被检测对象接触，因此可将限位开关传感器设置在升降装置上。当检测装置为非接触式传感器时，检测装置的设置位置就比较灵活，可设置在能采集到被检测对象的位置即可，如升降装置上，主框架上等均可。
具体的，参见图2所示，所述主框架40具有中空腔，所述至少两个升降装置10容置在所述中空腔内。该主框架40可起到稳定至少两个升降装置的作用，还能起到保护所述至少两个升降装置部件的作用，不至于外露于外容易磕碰等。
本实施例中的控制装置30可以是具有数据处理、计算能力的单片机、CPU等。该控制装置30可设置在主框架40上；当然，所述控制装置30也可设置在别处，比如，本实施例提供的所述升降机构是机器人上的一部分，则该控制装置30可设置在机器人的机体上，该控制装置可以与机器人上的用于导航、路径规划、自主移动控制的控制器为同一个。
在一种可实现的技术方案中，所述至少两个升降装置10包括：第一升降 装置101以及第二升降装置102。其中，所述第一升降装置101，适于承载第一类型的底座。所述第二升降装置102，与所述第一升降装置101同时处于工作状态，以适于承载第二类型的底座。本文中的底座类型可包括但不限于如下中的任一种：九点形底座、川字形底座、田字形(周底)底座和田字形(平底)底座等。对于上述例举出的几种底座，可将九点形底座和川字形底座归为第一类型的底座；将田字形(周底)底座和田字形(平底)底座归为第二类型的底座。
此处需要说明的是，所述至少两个升降装置10及所述底座类型包括但不限定于以上所述的类型。
在一可实现的具体方案中，本实施例中的第一升降装置101可采用如下结构实现。参见图3所示，所述第一升降装置101可以包括：两个第一升降板1011及两个第一升降执行组件1012。具体地，如图2所示，所述两个第一升降板1011平行设置并间隔开。所述两个第一升降执行组件1012，分别设置在所述两个第一升降板1011的下方，以在所述控制装置30的控制下执行升降动作，以使所述第一升降板1011升降。
在本申请一些实施例中，上述第一升降执行组件1012可以为折叠升降执行组件。参见图3所示，所述第一升降执行组件1012包括：两个交叉的折叠支架及驱动折叠支架折叠或展开的驱动机构。比如，驱动机构可以包括：电机、丝杠螺母机构等。其中一个折叠支架在驱动机构的驱动下动作，两个折叠支架的交叉角改变，实现升降板1011的升降。当然，上述第一升降执行组件1012也可以为液压升降杆组件(如液压千斤顶)、电动气缸等，本实施例对此不作具体限定。
参见图2所示，本实施例中的所述第二升降装置102可包括：至少一个第二升降板1021。所述第二升降板1021可与所述第一升降板1011交错设置。如图2所示的实例，所述第一升降装置103中包含两个第一升降板1011，第二升降装置102中包含三个第二升降板1012；按图2示出的方位，自左向右，顺次为第二升降板1012、第一升降板1011、第二升降板1012、第一升降板 1011及第二升降板1012。
其中，位于中间的第二升降板1012的宽度可大于两边的第二升降板1012的宽度。第一升降板1011与第二升降板1012之间可具有一定间隙，该间隙的大小可按照实际设计需求来定，本实施例对此不作具体限定。
另外，在实际使用时，如图2所示的第二升降装置中的三个第二升降板不需要全部投入使用，可以根据底座尺寸、底座上负载重量等来确定。
进一步地，在本申请一些实施例中，在需承载第二类型的底座时，第一升降装置与第二升降装置可采用如下两种方式实现同步动作。
方式一
参见图2所示，相邻的第一升降板1011与第二升降板1021中，一个上设有栓孔50，另一个上设有与所述栓孔50适配的可伸缩栓锁60。在所述检测装置20检测到底座为第二类型的底座时，所述控制装置30控制所述可伸缩栓锁60动作以插入所述栓孔50，使得所述至少一个第二升降板1021与所述至少两个第一升降板1011固定连接，以在所述至少两个第一升降板1011动作时所述至少一个第二升降板1021同步动作。
方式二
所述第二升降装置还包括：至少一个第二升降执行组件。
至少一个第二升降执行组件分别设置在所述至少一个第二升降板的下方，以在所述控制装置的控制下执行升降动作，使得所述第二升降板升降；
在所述检测装置检测到底座为第二类型的底座时，所述控制装置控制所述两个第一升降执行组件及所述至少一个第二升降执行组件同步动作，使得所述至少两个第二升降板及所述至少一个第一升降板同步升降。
在一可实现方案中，所述检测装置设置在所述第一升降装置上。所述控制装置控制所述第一升降装置从第一位置升至第二位置，所述检测装置检测底座的类型；在所述检测装置检测底座的类型为第一类型时，所述控制装置继续控制所述第一升降装置执行抬升动作，以抬升所述第一类型底座；在所述检测装置检测底座的类型为第二类型时，所述控制装置控制所述第一升降 装置从所述第二位置回至所述第一位置，再控制所述可伸缩栓锁动作以插入所述栓孔，以使所述第一升降装置与所述第二升降装置固连，控制所述第一升降装置执行抬升动作，与所述第二升降装置协同抬升所述第二类型底座。
下面以所述检测装置20设置在所述第一升降装置101上，所述检测装置20为接触式传感器的情况为例，对本实施例提供的升降机构的工作过程进行说明。该接触式传感器包含一可伸缩接触端，在与被检测对象接触后因接触压力作用缩进，并被触发，产生相应的信号；控制装置接触到该信号后，便能确定出底座的类型。未接触到被检测对象时，可伸缩接触端不动作，接触式传感器也不会产生信号，此时控制装置是接收不到该信号的。
以本申请实施例提供的升降机构可用于承载九点形底座、川字形底座、田字形(周底)底座及田字形(平底)底座，这四个类型底座为例。
参见图4和图5所示，所述控制装置30控制所述第一升降装置101从第一位置升至第二位置，所述检测装置20检测底座的类型。该检测装置为接触式传感器时，因未接触到底座，所以不会被触发。此时控制装置因所述检测装置未被触发，确定底座为九点形底座或川字形底座70(即第一类型底座)。其中，所述第一位置可以为所述第一升降装置101处于中空腔401内的位置。所述第二位置可以为高于第一位置并且可以触发所述检测装置20的位置，该第二位置可基于各类底座与升降机构接触面距地高度来确定。比如，九点形底座和川字形底座的与升降机构接触面距地高度为D；田字形(周底)底座及田字形(平底)底座的与升降机构接触面距地高度为H，H是小于D的。因此，该第二位置可以定为H。
控制装置在确定底座类型为九点形底座或川字形底座后，继续控制所述第一升降装置101执行抬升动作，如图5所示，以接触九点形底座或川字形底座并抬升九点形底座或川字形底座。参见图5所示，所述第一升降装置101接触到九点形底座或川字形底座后，第一升降装置101上检测装置的可伸缩接触端处于缩进状态。即对于九点形底座或川字形底座，第一升降装置101动作便可承载。
图6示出了川字形底座被第一升降装置101承托实现升降的俯视图示意图。图7示出了九点形底座被第一升降装置101承托实现升降的俯视图示意图。
参见图8、图9和图10所示，所述控制装置30控制所述第一升降装置101从第一位置升至第二位置，如升至图8中H高度的位置，所述检测装置20检测底座的类型。该检测装置为接触式传感器时，因接触到底座，所以被触发。此时控制装置因所述检测装置被触发，确定底座为田字形(周底)底座或田字形(平底)底座80(即第二类型底座)。如图9所示，所述控制装置30控制所述第一升降装置101从所述第二位置回至所述第一位置(即与第二升降装置平齐的位置，也就是主框架40内)，再控制所述可伸缩栓锁60动作以插入所述栓孔50，以使所述第一升降装置101与所述第二升降装置102固连。如图10所示，控制所述第一升降装置101执行抬升动作，因可伸缩栓锁60的作用同步带动所述第二升降装置102执行抬升动作，以承托所述田字形(周底)底座或田字形(平底)底座80。
图11示出了田字形(周底)底座被第一升降装置101和第二升降装置102共同承托实现升降的俯视图示意图。图12示出了田字形(平底)底座被第一升降装置101和第二升降装置102承托实现升降的俯视图示意图。
图13示出了本申请实施例提供的一种机器人的结构示意图，所述机器人包括：升降机构1及机体2。所述升降机构10，设置在所述机体2上。参见上述图2至12所示，所述升降机构1包括：至少两个升降装置10、检测装置20、控制装置30。
其中，所述至少两个升降装置10，适于承载至少两种类型的底座，用于带动相应类型底座上的负载做升降动作。所述检测装置20，用于检测底座的类型。控制装置30，与所述检测装置20连接，用于按照所述检测装置20检测出的类型，控制适于承载所述类型的至少两个升降装置10中的至少部分升降装置处于工作状态，以带动所述类型对应底座上的负载做升降动作。
进一步地，所述升降机构还包括主框架40。所述至少两个升降装置10设 置在所述主框架40上，所述检测装置20设置在所述至少两个升降装置10中的部分升降装置上，或设置在所述主框架40上。
这里需要说明的是，本实施例机器人中升降机构的具体实现可参见上文中的内容，此处不作赘述。
在一种可实现方式中，所述机体2上具有用于容置所述升降机构的容置空间。所述升降机构可伸缩进所述机体的容置槽内，从而可减小机器人所占的空间。所述升降机构通过伸缩装置与所述机体连接；所述伸缩装置动作，以带动所述升降机构从所述容置空间中伸出至所述机体外侧，或从所述机体外侧缩进至所述容置空间内。
其中，所述伸缩装置可采用电机、直线传动机构实现；该直线传动机构可以是丝杠螺母机构、齿轮齿条机构等。本实施例对伸缩装置的具体实现结构不作具体限定。
本申请又一实施例提供一种适于上述升降机构的控制方法。具体的，本实施例提供的升降机构控制方法的执行主体可以是上述实施例中提及的控制装置。参见图14所示，所述方法包括：
S1、控制检测装置检测待升降底座的类型；
S2、根据所述检测装置检测出的类型，确定所述至少两个升降装置中需动作的至少部分升降装置；
S3、控制需动作的至少部分升降装置动作，以带动所述类型对应底座上的负载做升降动作。
若所述至少两个升降装置包括：第一升降装置及第二升降装置。其中，第一升降装置，适于承载第一类型的底座。第二升降装置，与所述第一升降装置同时处于工作状态，以适于承载第二类型的底座。所述检测装置设置在所述第一升降装置上。相应的，上述步骤S1“所述控制检测装置检测待升降底座的类型”，可具体包括：
S11、控制所述第一升降装置从第一位置升至第二位置，等待所述检测装置产生的触发信号；
S12、若接收到所述触发信号，则确定所述待升降底座的类型为第一类型；
S13、若未接收到所述触发信号，则确定所述待升降底座的类型为第二类型。
进一步的，上述步骤S2“根据所述检测装置检测出的类型，确定所述至少两个升降装置中需动作的至少部分升降装置”，可具体包括：
所述待升降底座的类型为第一类型时，确定所述第一升降装置为需动作的升降装置；
所述待升降底座的类型为第二类型时，确定所述第一升降装置及所述第二升降装置为需动作的升降装置。
进一步的，上述步骤S3“控制需动作的至少部分升降装置动作，以带动所述类型对应底座上的负载做升降动作”，可包括：
所述待升降底座的类型为第一类型时，控制所述第一升降装置动作，以带动所述第一类型底座上的负载做升降动作；
所述待升降底座的类型为第二类型时，控制所述第一升降装置从所述第二位置回至所述第一位置；控制所述第一升降装置和所述第二升降装置同步动作，以带动所述第二类型底座上的负载做升降动作。
更具体的，参见图2所示的结构含有可伸缩栓锁及栓孔的结构。上述步骤“控制所述第一升降装置和所述第二升降装置同步动作，以带动所述第二类型底座上的负载做升降动作”，可具体为：
控制所述可伸缩栓锁动作以插入栓孔内，以使所述第一升降装置中的至少一个第一升降板与第二升降装置中的至少一个第二升降板固连；
控制所述第一升降装置动作，使得所述第二升降装置同步动作，以带动所述第二类型底座上的负载做升降动作。
需要说明的是，虽然结合附图对本申请的具体实施例进行了详细地描述，但不应理解为对本申请的保护范围的限定。在本申请实施例中所描述的范围内，本领域技术人员不经创造性劳动即可做出的各种修改和变形仍属于本申请的保护范围。
本申请实施例的示例旨在简明地说明本申请实施例的技术特点，使得本领域技术人员能够直观了解本申请实施例的技术特点，并不作为本申请实施例的不当限定。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (21)

  1. 一种升降机构，其特征在于，包括：
    至少两个升降装置，适于承载至少两种类型的底座，用于带动相应类型底座上的负载做升降动作；
    检测装置，用于检测底座的类型；
    控制装置，与所述检测装置连接，用于按照所述检测装置检测出的类型，控制适于承载所述类型的至少两个升降装置中的至少部分升降装置处于工作状态，以带动所述类型对应底座上的负载做升降动作。
  2. 根据权利要求1所述升降机构，其特征在于，所述检测装置设置在所述至少两个升降装置中的部分升降装置上。
  3. 根据权利要求1所述升降机构，其特征在于，还包括主框架；
    所述至少两个升降装置设置在所述主框架上；
    所述检测装置设置在所述主框架上。
  4. 根据权利要求3所述的升降机构，其特征在于，所述主框架具有中空腔；
    所述至少两个升降装置容置在所述中空腔内。
  5. 根据权利要求1至4中任一项所述的升降机构，其特征在于，至少两个升降装置包括：
    第一升降装置，适于承载第一类型的底座；以及
    第二升降装置，与所述第一升降装置同时处于工作状态，以适于承载第二类型的底座。
  6. 根据权利要求5所述的升降机构，其特征在于，所述第一升降装置包括：
    两个第一升降板，所述两个第一升降板平行设置并间隔开；
    两个第一升降执行组件，分别设置在所述两个第一升降板的下方，以在 所述控制装置的控制下执行升降动作，以使所述第一升降板升降。
  7. 根据权利要求6所述的升降机构，其特征在于，所述第二升降装置包括：
    至少一个第二升降板，所述第二升降板与所述第一升降板交错设置。
  8. 根据权利要求7所述的升降机构，其特征在于，相邻的第一升降板与第二升降板中，一个上设有栓孔，另一个上设有与所述栓孔适配的可伸缩栓锁；
    在所述检测装置检测到底座为第二类型的底座时，所述控制装置控制所述可伸缩栓锁动作以插入所述栓孔，使得所述至少一个第二升降板与所述至少两个第一升降板连接，以在所述至少两个第一升降板动作时所述至少一个第二升降板同步动作。
  9. 根据权利要求7所述的升降机构，其特征在于，所述第二升降装置还包括：
    至少一个第二升降执行组件，分别设置在所述至少一个第二升降板的下方，以在所述控制装置的控制下执行升降动作，使得所述第二升降板升降；
    在所述检测装置检测到底座为第二类型的底座时，所述控制装置控制所述两个第一升降执行组件及所述至少一个第二升降执行组件同步动作，使得所述至少两个第二升降板及所述至少一个第一升降板同步升降。
  10. 根据权利要求8所述的升降机构，其特征在于，所述检测装置设置在所述第一升降装置上；
    所述控制装置控制所述第一升降装置从第一位置升至第二位置，所述检测装置检测底座的类型；
    在所述检测装置检测底座的类型为第一类型时，所述控制装置继续控制所述第一升降装置执行抬升动作，以抬升所述第一类型底座；
    在所述检测装置检测底座的类型为第二类型时，所述控制装置控制所述第一升降装置从所述第二位置回至所述第一位置，再控制所述可伸缩栓锁动作以插入所述栓孔，以使所述第一升降装置与所述第二升降装置固连，控制 所述第一升降装置执行抬升动作，与所述第二升降装置协同抬升所述第二类型底座。
  11. 根据权利要求7所述的升降机构，其特征在于，所述第一升降装置包括两个第一升降板；所述第二升降装置包括三个第二升降板；
    三个第二升降板中位于中间的第二升降板的宽度大于位于两边的第二升降板。
  12. 一种机器人，其特征在于，包括机体及升降机构，所述升降机构设置在所述机体上；其中，
    其中，所述升降机构包括：
    至少两个升降装置，适于承载至少两种类型的底座，用于带动相应类型底座上的负载做升降动作；
    检测装置，用于检测底座的类型；
    控制装置，与所述检测装置连接，用于按照所述检测装置检测出的类型，控制适于承载所述类型的至少两个升降装置中的至少部分升降装置处于工作状态，以带动所述类型对应底座上的负载做升降动作。
  13. 根据权利要求12所述的机器人，其特征在于，所述检测装置设置在所述至少两个升降装置中的部分升降装置上。
  14. 根据权利要求13所述的机器人，其特征在于，还包括主框架；
    所述至少两个升降装置设置在所述主框架上；
    所述检测装置设置在所述主框架上。
  15. 根据权利要求14所述的机器人，其特征在于，所述主框架具有中空腔；
    所述至少两个升降装置容置在所述中空腔内。
  16. 根据权利要求12至15中任一项所述的机器人，其特征在于，至少两个升降装置包括：
    第一升降装置，适于承载第一类型的底座；以及
    第二升降装置，与所述第一升降装置同时处于工作状态，以适于承载第二类型的底座。
  17. 根据权利要求12至15中任一项所述的机器人，其特征在于，所述机体上具有用于容置所述升降机构的容置空间；
    所述升降机构通过伸缩装置与所述机体连接；
    所述伸缩装置动作，以带动所述升降机构从所述容置空间中伸出至所述机体外侧，或从所述机体外侧缩进至所述容置空间内。
  18. 一种升降机构控制方法，其特征在于，包括：
    控制检测装置检测待升降底座的类型；
    根据所述检测装置检测出的类型，确定至少两个升降装置中需动作的至少部分升降装置；
    控制需动作的至少部分升降装置动作，以带动所述类型对应底座上的负载做升降动作。
  19. 根据权利要求18所述的方法，其特征在于，所述至少两个升降装置包括：
    第一升降装置，适于承载第一类型的底座；以及
    第二升降装置，与所述第一升降装置同时处于工作状态，以适于承载第二类型的底座；
    所述检测装置设置在所述第一升降装置上；
    相应的，所述控制检测装置检测待升降底座的类型，包括：
    控制所述第一升降装置从第一位置升至第二位置，等待所述检测装置产生的触发信号；
    若接收到所述触发信号，则确定所述待升降底座的类型为第一类型；
    若未接收到所述触发信号，则确定所述待升降底座的类型为第二类型。
  20. 根据权利要求19所述的方法，其特征在于，根据所述检测装置检测出的类型，确定所述至少两个升降装置中需动作的至少部分升降装置，包括：
    所述待升降底座的类型为第一类型时，确定所述第一升降装置为需动作的升降装置；
    所述待升降底座的类型为第二类型时，确定所述第一升降装置及所述第二升降装置为需动作的升降装置。
  21. 根据权利要求20所述的方法，其特征在于，控制需动作的至少部分升降装置动作，以带动所述类型对应底座上的负载做升降动作，包括：
    所述待升降底座的类型为第一类型时，控制所述第一升降装置动作，以带动所述第一类型底座上的负载做升降动作；
    所述待升降底座的类型为第二类型时，控制所述第一升降装置从所述第二位置回至所述第一位置；控制所述第一升降装置和所述第二升降装置同步动作，以带动所述第二类型底座上的负载做升降动作。
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