WO2022242320A1

WO2022242320A1 - Autonomous mobile robot

Info

Publication number: WO2022242320A1
Application number: PCT/CN2022/083722
Authority: WO
Inventors: 王栋
Original assignee: 灵动加速度(苏州)科技有限公司
Priority date: 2021-05-18
Filing date: 2022-03-29
Publication date: 2022-11-24
Also published as: CN115367669A

Abstract

An autonomous mobile robot, which comprises a vehicle head (101) and a lifting assembly. The lifting assembly comprises a frame (112), a fork plate (122) and at least one traction rod (132), wherein the frame (112) is connected to the vehicle head (101); the fork plate (122) is in sliding connection with the frame (112); the fork plate (122) can ascend relative to the vehicle head (101) or descend relative to the vehicle head (101); the traction rod (132) is arranged on an upper surface of the fork plate (122); and the traction rod (132) is arranged to match a skip car. The autonomous mobile robot can not only move materials in a lifting manner, but can also move the skip car in a traction or dragging manner so as to move the materials loaded in the skip car, thereby saving the cost required for moving the materials.

Description

autonomous mobile robot

technical field

The present disclosure relates to the technical field of robots, in particular to an autonomous mobile robot.

Background technique

With the development of science and technology, autonomous mobile robots (Autonomous Mobile Robot, AMR) are gradually known to people. Autonomous mobile robots can automatically perform pre-set related tasks without human operation and intervention. Therefore, in industrial production The application in is very extensive. For example, autonomous mobile robots can be used to replace forklifts in industrial production. During use, autonomous mobile robots can autonomously drill under materials, lift them up and carry them. By using autonomous mobile robots, materials can be moved without human operation, which saves human resources and brings great convenience to industrial production.

Although the existing autonomous mobile robots are widely used in industrial production, in actual use, when moving some materials, it is necessary to place the materials on the material cart to move the material by pulling or towing the material cart. Due to the existing Autonomous mobile robots cannot autonomously tow or tow material trucks, so they cannot continue to move this part of the material. It is necessary to develop new autonomous mobile robots for towing or towing, which increases the cost of moving materials.

Contents of the invention

In order to solve the problems in related technologies, embodiments of the present disclosure provide an autonomous mobile robot.

An embodiment of the present disclosure provides an autonomous mobile robot. The autonomous mobile robot includes a vehicle head and a lifting assembly, and the lifting assembly includes a frame, a fork plate, and at least one traction bar;

The frame is connected with the front;

The fork plate is slidingly connected with the frame, and the fork plate can be raised or lowered relative to the front of the car;

The traction bar is arranged on the upper surface of the fork plate, and the traction bar is matched with the feeder.

With reference to the first aspect, in a first implementation manner of the first aspect of the present disclosure, the drawbar includes at least one limiting slot, and the limiting slot is arranged on the side wall of the drawbar near the front of the vehicle.

In combination with the first aspect, in the second implementation manner of the first aspect of the present disclosure, the traction bar includes a traction portion and at least one extension portion, the bottom surface of the traction portion is connected to the upper surface of the fork plate, and the extension portion is connected to the side wall of the traction portion connect.

With reference to the first aspect, in a third implementation manner of the first aspect of the present disclosure, the draw bar is detachably connected to the upper surface of the fork plate.

In combination with the third implementation of the first aspect of the present disclosure, in the fourth implementation of the first aspect of the present disclosure, at least one screw hole is provided on the upper surface of the fork plate, a bolt is provided on the bottom surface of the draw bar, and the draw bar It is detachably connected with the upper surface of the fork plate through bolts and screw holes.

With reference to the first aspect, in a fifth implementation manner of the first aspect of the present disclosure, the traction rod is made of a magnetic material, or the traction rod includes at least one electromagnetic component.

Combining the first aspect and any one of the first to fifth implementations of the first aspect, the present disclosure is in the sixth implementation of the first aspect, wherein the lifting assembly includes at least two Drawbars, at least two drawbars are used to hold the feeder.

With reference to the first aspect and any one of the first to fifth implementations of the first aspect, in a seventh implementation of the first aspect of the present disclosure, the autonomous mobile robot includes at least two fork plates.

With reference to the seventh implementation manner of the first aspect of the present disclosure, in the eighth implementation manner of the first aspect of the present disclosure, at least two fork plates are arranged in parallel along the direction of the horizontal plane.

With reference to the seventh implementation manner of the first aspect of the present disclosure, in the ninth implementation manner of the first aspect of the present disclosure, at least two fork plates are arranged along the vertical direction.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

In the embodiment of the present disclosure, when the material needs to be moved by lifting, the head can move independently, thereby driving the frame connected to the head and the fork plate slidingly connected to the frame to move together, so that the fork plate is moved to the bottom of the material, and then The fork plate slides relative to the frame so that the fork plate rises relative to the head, and the material above the fork plate is lifted by the fork plate, and then the head drives the frame, the fork plate and the material lifted by the fork plate to move together; when the material is moved When reaching the destination, the fork plate slides relative to the frame to lower the fork plate relative to the front of the vehicle, and the material lifted by the fork plate is placed on the ground at the destination, so as to achieve the purpose of moving the material. When it is necessary to move the feed truck carrying materials by pulling or towing, the head of the truck can move autonomously to drive the fork plate to move, so that the traction bar set on the upper surface of the fork plate is moved to the bottom of the feed truck, and then the fork plate is relatively The frame slides to make the fork plate rise relative to the front of the car, so that the traction rod is inserted into the matching material cart, and then the head drives the frame, fork plate and traction rod to move together, and the material cart is pulled or dragged by the traction rod; When towing or dragging to the destination, the fork plate slides relative to the frame to lower the fork plate relative to the front of the vehicle, and the towing rod is removed from the material truck, so as to achieve the purpose of moving the material vehicle by pulling or dragging. Therefore, the autonomous mobile robot in the embodiment of the present disclosure can not only move the material by lifting, but also move the material truck by pulling or dragging, so as to move the material carried on the material truck, thereby saving the cost of moving materials.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

Other features, objects and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the attached picture:

FIG. 1 shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure;

Fig. 2 shows a side sectional view of an autonomous mobile robot and a feeding cart according to an embodiment of the present disclosure;

Fig. 3 shows a side sectional view of an autonomous mobile robot and a feeding cart according to an embodiment of the present disclosure;

FIG. 4 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure;

5 shows a side cross-sectional view of an autonomous mobile robot according to an embodiment of the present disclosure;

6 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure;

Fig. 7 shows a side sectional view of an autonomous mobile robot and a feeding cart according to an embodiment of the present disclosure;

Fig. 8 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure;

FIG. 9 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for clarity, parts not related to describing the exemplary embodiments are omitted in the drawings.

In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the existence of labels, numbers, steps, acts, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude one or multiple other labels, numbers, steps, acts, parts, parts or combinations thereof exist or are added to the possibility.

In addition, it should be noted that, in the case of no conflict, the embodiments in the present disclosure and the labels in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and embodiments.

When considering the application scenarios of the embodiments of the present disclosure, the inventor conducted research on the scenario of moving materials, and the inventor studied the following related technical solutions for moving materials.

In one solution, in industrial production, the autonomous mobile robot can be used to move materials. During use, the autonomous mobile robot can autonomously drill under the materials, lift the materials and carry them. By using autonomous mobile robots, materials can be moved without human operation, which saves human resources and brings great convenience to industrial production.

However, in actual use, when moving some materials, it is necessary to place the materials on the material truck to move the material by pulling or dragging the material truck. However, the autonomous mobile robot in the above scheme cannot independently pull or drag the material truck. Therefore, it is impossible to continue to move this part of the material.

According to the technical solutions provided by the embodiments of the present disclosure, the embodiments of the present disclosure provide an autonomous mobile robot. The autonomous mobile robot includes a head and a lifting assembly. The lifting assembly includes a frame, a fork plate, and at least one traction bar; the frame is connected to the head ; The fork plate is slidingly connected with the frame, and the fork plate can be raised or lowered relative to the front of the vehicle; the traction bar is arranged on the upper surface of the fork plate, and the traction bar is matched with the feeder.

Fig. 1 shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure, and Fig. 2 shows a side sectional view of an autonomous mobile robot and a feeding cart according to an embodiment of the present disclosure. As shown in Figures 1 and 2, the autonomous mobile robot includes a headstock 101 and a lifting assembly, the lifting assembly includes a frame 112, a fork plate 122 and at least one traction bar 132, the frame 112 is connected to the headstock 101, and the fork plate 122 is connected to the frame 112 Slidingly connected, the fork plate 122 can be raised or lowered relative to the headstock 101 , the tow bar 132 is arranged on the upper surface of the fork plate 122 , and the tow bar 132 matches the feed truck 200 .

Wherein, the traction rod 132 can be arranged on the upper surface of the fork plate 122 away from the end of the headstock 101, and the traction rod 132 can also be arranged on the middle position of the upper surface of the fork plate 122, wherein the middle position and the upper surface of the fork plate 122 are far away from the headstock. The distance between one end of the fork plate 101 is equal to the distance between the middle position and the end of the upper surface of the fork plate 122 close to the headstock 101 . The present disclosure does not specifically limit the specific position where the traction bar 132 is disposed on the upper surface of the fork plate 122 .

The drawing rod 132 may be cylindrical, cuboid or other shapes. The present disclosure does not specifically limit the shape of the drawing rod 132 . For the convenience of understanding, the present disclosure takes the drawing rod 132 as an example for illustration.

The head 101 can be provided with components and circuits for functions such as sensing, positioning, communication, and control. For example, as shown in FIG. It can be used to measure the distance between the front of the vehicle and the obstacle. The front of the vehicle 101 can move autonomously in response to the movement control signal, and the autonomous mobile robot can control the fork plate 122 to slide relative to the frame 112 in response to the fork plate control signal, so that the fork plate 122 relatively Up on the headstock 101 or down relative to the headstock 101 .

In an embodiment of the present disclosure, FIG. 3 shows a side cross-sectional view of an autonomous mobile robot and a skip according to an embodiment of the present disclosure. As shown in FIG. 3 , the towing bar 132 includes at least one limiting slot 1321 , and the limiting slot 1321 is disposed on the side wall of the towing bar 132 near the side of the vehicle head 101 .

Wherein, the shape of the cross section of the limiting groove 1321 may be rectangular, circular, elliptical or other shapes, and the present disclosure does not specifically limit the shape of the limiting groove 1321 .

For example, as shown in FIG. 3 , the horizontal pipe 203 on the material truck 200 can be inserted into the limiting groove 1321 .

In the embodiment of the present disclosure, the draw bar includes at least one limit slot, which is set on the side wall of the draw bar close to the front of the vehicle. By inserting the horizontal tube on the feeder into the limit slot, the feeder can be pulled Or in the process of towing, stabilize the horizontal pipe on the feeding cart, thereby stabilizing the feeding cart, so that the feeding cart is relatively stable during the process of being towed or towed, and prevents the materials on the feeding cart from falling.

In an embodiment of the present disclosure, FIG. 4 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure. As shown in FIG. The bottom surface of the fork plate 122 is connected to the upper surface, and the extension part 1323 is connected to the side wall of the traction part 1322 .

Wherein, the shape of the extension part may be a cuboid or a hemisphere, and the disclosure does not specifically limit the shape of the extension part.

In the embodiment of the present disclosure, the towing bar includes a towing part and at least one extension part, wherein the bottom surface of the towing part is connected to the upper surface of the fork plate, and the extension part is connected to the side wall of the towing part. , The contact area between the traction bar and the material truck is large, so that the thrust per unit area of the traction bar is small, and the damage to the traction bar due to the large thrust per unit area is avoided.

In one embodiment of the present disclosure, the pulling bar 132 is detachably connected to the upper surface of the fork plate 122 .

The detachable connection between the traction bar 132 and the upper surface of the fork plate 122 can be threaded connection, buckle connection or hinge connection. Specific limits.

For example, FIG. 5 shows a side sectional view of an autonomous mobile robot according to an embodiment of the present disclosure. As shown in FIG. 5 , at least one screw hole 1221 is provided on the upper surface of the fork plate 122, and a bolt 1324 is provided on the bottom surface of the traction bar 132. , the pulling bar 132 is detachably connected to the upper surface of the fork plate 122 through the bolt 1324 and the screw hole 1221 .

In the embodiment of the present disclosure, the traction rod is detachably connected to the upper surface of the fork plate, so that the traction rod can be disassembled more conveniently, so as to ensure that the upper surface of the fork plate is relatively smooth, and at the same time, it is also possible to replace the traction rod of different shapes more conveniently, so that It is used to match the parts of different shapes that are in contact with the draw bar on the matching feeder.

In one embodiment of the present disclosure, the traction bar 132 is made of a magnetic material, or the traction bar 132 includes at least one electromagnetic component.

In the embodiment of the present disclosure, the towing bar is made of magnetic material, or the towing bar includes at least one electromagnetic component, and the towing bar can be used to absorb the material cart, thereby stabilizing the material car, so that the material car is pulled or towed. It is more stable, avoiding the falling of the material on the feeding cart.

In an embodiment of the present disclosure, FIG. 6 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure, and FIG. 7 shows a side sectional view of an autonomous mobile robot and a feeding cart according to an embodiment of the present disclosure. As shown in FIG. 6 and FIG. 7 , the lifting assembly includes at least two towing rods 132 , and the at least two towing rods 132 are used to clamp the material trolley 200 .

For example, as shown in Figure 7, the distance between at least two draw rods 132 can be matched with the outer diameter of the material rack 202 of the feeding cart 200, so that the feed rack 202 can be embedded between the two draw rods 132, thereby passing through the two The draw bar 132 clamps the material rack 202 .

In the embodiment of the present disclosure, the lifting assembly includes at least two towing rods, and the at least two towing rods are used to clamp the material cart, thereby stabilizing the material cart, making the material cart more stable during the process of being pulled or towed, and avoiding the material Material on the vehicle falls.

In one embodiment of the present disclosure, the autonomous mobile robot includes at least two fork plates.

Wherein, the present disclosure does not specifically limit the arrangement of at least two fork plates.

For example, FIG. 8 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure. As shown in FIG. 8 , at least two fork plates 122 are arranged in parallel along a horizontal plane.

In the embodiment of the present disclosure, at least two fork plates arranged in parallel along the horizontal plane can lift the materials at the same time, so that the lifted materials are relatively stable during the process of being moved, and the materials on the feed truck are prevented from being moved during the process of being moved. fall during the process.

For example, FIG. 9 shows a structural diagram of an autonomous mobile robot according to an embodiment of the present disclosure. As shown in FIG. 9 , at least two fork plates 122 are arranged vertically.

In the embodiment of the present disclosure, at least two fork plates arranged in the vertical direction can clamp the material or the bottom plate carrying the material, so that the lifted material is relatively stable during the lifting process, and the material on the feed truck is avoided. Falls while being lifted.

The above description is only a preferred embodiment of the present disclosure and an illustration of the applied technical principle. It should be understood by those skilled in the art that the scope of the invention involved in this disclosure is not limited to the technical solution formed by the specific combination of the above technical features, but also covers the technical solutions made by the above technical features without departing from the inventive concept. Other technical solutions formed by any combination of or equivalent features thereof. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

Claims

An autonomous mobile robot, characterized in that the autonomous mobile robot includes a headstock and a lifting assembly, and the lifting assembly includes a frame, a fork plate and at least one traction bar;

The frame is fixedly connected to the headstock;

The fork plate is slidingly connected with the frame, and the fork plate can be raised or lowered relative to the front;

The drawing rod is arranged on the upper surface of the fork plate, and the drawing rod is matched with the feeding cart.
The autonomous mobile robot according to claim 1, wherein the drawbar comprises at least one limiting slot, and the limiting slot is arranged on a side wall of the drawbar near the front of the vehicle.
The autonomous mobile robot according to claim 1, wherein the traction rod comprises a traction part and at least one extension part, the bottom surface of the traction part is connected to the upper surface of the fork plate, and the extension part is connected to the fork plate. The side wall of the traction part is connected.
The autonomous mobile robot according to claim 1, wherein the traction bar is detachably connected to the upper surface of the fork plate.
The autonomous mobile robot according to claim 4, wherein at least one screw hole is provided on the upper surface of the fork plate, a bolt is provided on the bottom surface of the draw bar, and the draw bar passes through the bolt and the The screw hole is detachably connected to the upper surface of the fork plate.
The autonomous mobile robot according to claim 1, wherein the traction rod is made of magnetic material, or the traction rod comprises at least one electromagnetic assembly.
The autonomous mobile robot according to any one of claims 1-6, wherein the lifting assembly comprises at least two traction bars, and the at least two traction bars are used to clamp the skip.
The autonomous mobile robot according to any one of claims 1-6, wherein the autonomous mobile robot comprises at least two fork plates.
The autonomous mobile robot according to claim 8, wherein the at least two fork plates are arranged in parallel along the direction of the horizontal plane.
The autonomous mobile robot according to claim 8, wherein the at least two fork plates are arranged vertically.