CN115196264B - Cooperative carrying robot with vehicle-mounted clamp holder and control method thereof - Google Patents

Abstract

The application is applicable to the field of logistics transportation and discloses a cooperative transfer robot with a vehicle-mounted clamp holder and a control method thereof. Wherein, collaborative transfer robot with on-vehicle holder includes: a first tractor; a second tractor; the bearing plate is provided with a first end and a second end which are oppositely arranged; a first connection assembly through which the first end is rotatably connected to the first tractor; a second coupling assembly through which the second end is rotatably coupled to the second tractor; and the rotation limiting structure is arranged on the second tractor to limit at least one limit position of the bearing plate relative to the second tractor. The collaborative handling robot with the vehicle-mounted clamp holder can avoid the problems of bending abrasion of cables, clamping of vehicle body operation, difficulty in collaborative cooperation and the like.

Description

Cooperative carrying robot with vehicle-mounted clamp holder and control method thereof

Technical Field

The application relates to the field of logistics transportation, in particular to a cooperative carrying robot with a vehicle-mounted clamp holder and a control method thereof.

Background

With the development of the logistics industry, more places start to use conveying equipment so as to lighten manpower and material resources. Conventional handling equipment is usually a single handling robot for handling goods, but due to certain limitations of the single handling robot in acquiring information and handling articles, for example, under the working condition of large volume or large number of goods, a plurality of handling robots are required to cooperatively handle the goods.

In the existing double-machine cooperative conveying equipment, the double-machine cooperative conveying equipment consists of two conveying robots and a goods shelf, wherein the two conveying robots are respectively connected with two ends of the goods shelf, and the goods on the goods shelf are conveyed through cooperative motion control of the two conveying robots.

However, if the control is not proper when the cooperative transfer robot turns, the problems of bending abrasion of the cable, locking of the vehicle body operation, difficulty in cooperative cooperation and the like are easily caused.

Disclosure of Invention

The invention aims to provide a cooperative transfer robot with an on-vehicle clamp and a control method thereof, which aim to solve the technical problem of improper control of the cooperative transfer robot.

To achieve the above object, the present application provides a cooperative conveyance robot with an in-vehicle gripper, including:

a first tractor;

a second tractor;

the bearing plate is provided with a first end and a second end which are oppositely arranged;

a first connection assembly through which the first end is rotatably connected to the first tractor;

a second coupling assembly through which the second end is rotatably coupled to the second tractor;

and the rotation limiting structure is arranged on the second tractor to limit at least one limit position of the bearing plate relative to the second tractor.

Optionally, the rotation limiting structure includes two anticollision posts, two anticollision posts are located on the second tractor in the interval, and two anticollision posts are located the second tip is relative on the second tractor pivoted rotation route.

Optionally, two sides of the second end portion are respectively provided with an anti-collision rubber block, and the anti-collision rubber blocks on two sides are respectively used for being abutted to the two anti-collision posts.

Optionally, a sliding assembly is further included, the second end being slidably connected to the second connection assembly by the sliding assembly to slide the second tractor relative to the carrier plate.

Optionally, the sliding component includes slide rail and slider, the slide rail install in on the loading board, the slider connect in the second coupling assembling, the slider slidable locates on the slide rail.

Optionally, the sliding assembly further includes two sliding limit sensors, and the two sliding limit sensors are respectively disposed at two ends of the sliding rail, so as to define a sliding area of the sliding block on the sliding rail.

Optionally, the first tractor further comprises a first conduit connector and a second conduit connector, wherein the first conduit connector and the second conduit connector are arranged on the second tractor, the first conduit connector and the second conduit connector are used for wiring connection, and the first conduit connector and the second conduit connector are elastic connectors.

Optionally, when the bearing plate is located at the limit position, the bearing plate is in non-contact with the first conduit joint or a straight line where the first conduit joint is located.

The application also provides a control method of the cooperative transfer robot with the vehicle-mounted clamp holder based on any one of the above, which comprises the following steps:

and under the condition that the bearing plate is positioned at the limit position, controlling the first tractor to stop and controlling the second tractor to adjust the position, so that the angle formed by the bearing plate and the second tractor returns to the safety range.

Optionally, the method further comprises:

and under the condition that the angle formed by the bearing plate and the second tractor exceeds the safety range, controlling the second tractor to adjust the position and the posture so that the angle formed by the bearing plate and the second tractor returns to the safety range.

Optionally, the second end is slidably connected to the second connection assembly by a sliding assembly, and the control method further includes:

controlling the second tractor to accelerate and/or controlling the first tractor to decelerate if the second tractor slides to a first limit value in a direction away from the bearing plate;

controlling the second tractor to decelerate and/or controlling the first tractor to accelerate when the second tractor slides to a second limit value in a direction approaching the bearing plate.

The application provides a collaborative transfer robot with on-vehicle holder, through first tractor and second tractor collaborative operation, with the goods of carrying on the loading board, and, through the rotation limit structure who sets up, with the extreme position who prescribes a limit to the loading board relative to the second tractor, reduced the rotation range of the relative loading board of second tractor, so, even control improperly when turning to collaborative transfer robot, also can avoid causing the bending wear of cable, the dead or collaborative cooperation difficulty scheduling problem of automobile body operation card.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from the structures shown in these drawings without inventive effort to a person of ordinary skill in the art.

Fig. 1 is one of schematic structural views of a cooperative conveyance robot with an in-vehicle gripper provided in an embodiment of the present application;

FIG. 2 is a second schematic view of a cooperative carrier robot with an onboard gripper according to an embodiment of the present application;

FIG. 3 is a third schematic view of a collaborative handling robot with an in-vehicle gripper provided in an embodiment of the present application;

fig. 4 is an enlarged schematic view at a in fig. 3.

Reference numerals illustrate: 10: a first tractor; 20: a second tractor; 21: a rotation limiting structure; 30: a carrying plate; 301: an anti-collision rubber block; 31: a first connection assembly; 32: a second connection assembly; 41: a first wire passing pipe joint; 42: a second wire passing pipe joint; 50: a sliding assembly; 51: a connecting plate; 52: a slide block; 53: a slide rail; 54: and a sliding limit sensor.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship between the components, the movement condition, and the like in a certain specific posture, and if the specific posture is changed, the directional indicator is correspondingly changed.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

Furthermore, the descriptions of "first," "second," and the like, herein are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

In the double-machine cooperative carrying equipment, the double-machine cooperative carrying equipment consists of two carrying robots and a goods shelf, wherein the two carrying robots rotate relative to the goods shelf in the cooperative carrying process, so as to avoid the problems of bending abrasion of cables, clamping of vehicle body operation or difficulty in cooperative cooperation and the like caused by steering.

As shown in fig. 1 to 3, a cooperative carrier robot with a vehicle-mounted gripper provided in an embodiment of the present application includes: the first tractor 10, the second tractor, the carrier plate 30, the first connection assembly 31, the second connection assembly 32 and the rotation limiting structure 21.

The first tractor 10 is the traction equipment of this robot front end, and the second robot is the traction equipment of this robot rear end, and the loading board 30 is put up on first tractor 10 and second tractor 20 for bear goods, and loading board 30 has the first tip and the second tip that set up in opposite directions, and first tip rotates through first coupling assembling 31 to be connected in first tractor 10, and the second tip rotates through second coupling assembling 32 to be connected in second tractor 20. In this way, the carrier plate 30 is driven to move to carry the cargo during the cooperative movement of the first tractor 10 and the second tractor 20.

In this embodiment, the first tractor 10 and the second tractor 20 have independent driving mechanisms to realize movement and steering, and the first tractor 10 and the second tractor 20 have independent road condition detection components to detect road conditions, so as to avoid the first tractor 10 or the second tractor 20 touching obstacles and ensure stable transportation, and optionally, the road condition detection components include sensing components such as radar and infrared sensors.

In addition, the first tractor 10 and the second tractor 20 are wirelessly connected, so that the first tractor 10 and the second tractor 20 can move in a linkage manner, and stable transportation work is ensured. For example, in general, in the case where the first tractor 10 is started, the second tractor 20 is started, in the case where the first tractor 10 stops moving, the second tractor 20 stops moving, and in the case where the first tractor 10 turns, the second tractor 20 turns as the case may, so that the cooperative movement of the first tractor 10 and the second tractor 20 is maintained to stabilize the load on the carrying floor 30.

In an alternative embodiment of the present application, the first connecting component 31 includes a rotating disc and a connecting seat, the connecting seat is disposed on the rotating disc, the bottom of the rotating disc is rotationally connected with the first tractor 10 around the first rotating shaft, the connecting seat is rotationally connected with the first end around the second rotating shaft, the first rotating shaft and the second rotating shaft are mutually perpendicular, and the bearing plate 30 can swing up and down relative to the connecting seat under the condition that the first tractor 10 can rotate relative to the rotating disc in a horizontal plane. Specifically, the both ends of connecting seat rotate with the both ends of first end respectively and are connected. The rotating disc is a double-ring rotating disc, and is similar to a bearing structure, the outer ring of the rotating disc is fixedly connected with the first tractor 10, and the inner ring of the rotating disc is fixedly connected with the connecting seat. As such, the first tractor 10 and the second tractor 20 may not need to be at the same level to ensure stable handling of the cargo.

In addition, the second coupling assembly 32 includes a stationary member and a rotating member that are gimballed with the stationary member, one of the stationary member and the rotating member being fixedly connected with the carrier plate 30, the other being fixedly connected with the second tractor 20. In this embodiment, a stationary member is mounted to the second tractor 20 and a rotating member is mounted to the second end of the carrier plate 30. Specifically, the rotating structure comprises a connecting rod and a ball head, one end of the connecting rod is installed at the second end of the bearing plate 30, the other end of the connecting rod is connected with the ball head, the fixed structure comprises a ball seat and a ball cover, the ball seat is provided with a spherical groove, the ball head is movably arranged in the spherical groove, and the ball cover is connected with the ball seat so as to fasten the ball head in the spherical groove.

So, this cooperation transfer robot is at the in-process of operation, through first coupling assembling 31 and second coupling assembling 32, adaptable different road conditions, guarantees that loading board 30 is steady all the time to carry of goods is carried out to the stability.

As shown in fig. 4, in an alternative embodiment of the present application, a rotation limiting structure 21 is provided on the second tractor 20 to define at least one limit position of the carrier plate 30 relative to the second tractor 20.

Through the rotation limiting structure 21, the rotation angle of the bearing plate 30 relative to the second tractor 20 can be limited, so that the rotation range of the bearing plate 30 relative to the second tractor 20 is reduced, and even if the cooperative transfer robot is improperly controlled during steering, the problems of bending abrasion of the cable, clamping of the vehicle body operation, difficulty in cooperative cooperation and the like can be avoided.

In this embodiment, at least one limit position of the bearing plate 30 may be defined by the rotation limiting structure 21, and optionally, the rotation limiting structure 21 defines two limit positions of the bearing plate 30, where one limit position is a limit angle of rotation of the bearing plate 30 relative to one side of the second tractor 20, and the other limit position is a limit angle of rotation of the bearing plate 30 relative to the other side of the second tractor 20, and the two limit angles may be the same or different, so long as the two limit angles are not caused, so long as the problems of bending wear of a cable, locking of vehicle body operation, difficulty in cooperative engagement, and the like are not guaranteed.

As shown in fig. 4, in an alternative embodiment of the present application, the rotation limiting structure 21 includes two anti-collision posts, the two anti-collision posts are disposed on the second tractor 20 at intervals, and the two anti-collision posts are located on a rotation path of the second end portion rotating relative to the second tractor 20.

The height of the bumper posts at least partially passes over the bottom of the second end to define two extreme positions of the carrier plate 30 by the blocking of the second end of the carrier plate 30 by the two bumper posts. Optionally, two bumper posts are symmetrically disposed on both sides of the second connecting assembly 32 to define the same left-right rotation angle of the carrier plate 30 relative to the second tractor 20.

In addition, two sides of the second end part are respectively provided with an anti-collision rubber block 301, and the anti-collision rubber blocks 301 at two sides are respectively used for being abutted against the two anti-collision posts.

In the case where the second end portion is rotated into contact with the crashproof rubber 301, the crashproof rubber 301 thereon abuts against the crashproof column, so that damage to the carrier plate 30 during continuous crashproof friction is avoided. Optionally, an anti-collision sleeve is disposed on the anti-collision post to protect the bearing plate 30. Or, an anti-collision sleeve is arranged on the anti-collision column, and an anti-collision rubber block 301 is arranged on the second end part.

As shown in fig. 4, in an alternative embodiment of the present application, the co-truck apparatus further includes a slide assembly 50, the second end being slidably coupled to the second coupling assembly 32 by the slide assembly 50 to slide the second tractor 20 relative to the load plate 30.

Generally, the first tractor 10 and the second tractor 20 should maintain a consistent speed during the cooperative operation, and when the speed is inconsistent or the start-up occurs in succession, a relative displacement occurs between the first tractor 10 and the second tractor 20 under the action of the sliding assembly 50. In this manner, the slip assembly 50 can increase the distance tolerance between the first tractor 10 and the second tractor 20, thereby further improving the stability of the operation of the apparatus.

In a specific embodiment of the present application, the sliding assembly 50 includes a sliding rail 53 and a sliding block 52, the sliding rail 53 is mounted on the carrier plate 30, the sliding block 52 is connected to the second connecting assembly 32, and the sliding block 52 is slidably disposed on the sliding rail 53.

The sliding of the second tractor 20 relative to the carrier plate 30 is achieved by the sliding of the slider 52 on the sliding rail 53. Specifically, the bottom of the second end of the bearing plate 30 has an installation cavity, the number of the sliding rails 53 is two, and the sliding assemblies 50 are parallel to two side walls of the installation cavity, the number of the sliding blocks 52 is two, two sliding blocks 52 are respectively connected to two sides of the sliding blocks 51, each sliding block 52 is in sliding fit with the sliding rail 53 on one side, the connecting plate 51 is connected to the second connecting assembly 32, and in the structure of the second connecting assembly 32, the connecting plates 51 are connected to the connecting rods constructed by rotation. Of course, in other embodiments, only one slider 52 and only one sliding rail 53 may be provided, the slider 52 is disposed at the bottom of the mounting cavity, and the slider 52 is slidably engaged with the sliding rail 53 and directly connected to the second connecting component 32.

In a further embodiment of the present application, the sliding assembly 50 further includes two sliding limit sensors 54, and the two sliding limit sensors 54 are respectively disposed at two ends of the sliding rail 53 to define a sliding area of the sliding block 52 on the sliding rail 53.

The sliding area of the sliding block 52 on the sliding rail 53, i.e. the movement buffer distance of the second tractor 20 relative to the carrier plate 30, is defined by two sliding limit sensors 54. In this embodiment, the sliding limit sensor 54 may be a photoelectric sensor, and detection blocks are disposed on two sides of the connecting plate 51, and when the photoelectric sensor detects that the second tractor 20 moves to a limit position relative to the carrier plate 30 when the detection blocks move to the detection grooves of the photoelectric sensor on one side, at this time, the first tractor 10 or the second tractor 20 needs to be controlled to ensure stability of cooperative operation. Of course, in other embodiments, the sliding limit sensor 54 may be a contact sensor, which will not be described in detail.

As can be seen from the above, in order to achieve information transmission between the sliding assembly 50 and the second tractor 20, a connecting line needs to be drawn from the second end of the carrier plate 30 to the second tractor 20, so that bending wear of the connecting line can be avoided by limiting the rotation angle of the carrier plate 30 relative to the second tractor 20.

As shown in fig. 3 and 4, in an embodiment of the present application, the cooperative carrier robot further includes a first conduit connector 41 disposed on the second tractor 20 and a second conduit connector 42 disposed on the carrier plate 30, where the first conduit connector 41 and the second conduit connector 42 are used for wire connection, and the first conduit connector 41 and the second conduit connector 42 are elastic connectors.

The first conduit joint 41 and the second conduit joint 42 are made to be elastic joints, so that the first conduit joint 41 and the second conduit joint 42 can be bent along with bending of the connecting line, and bending abrasion of the connecting line is avoided. In this embodiment, the first conduit joint 41 is located at a central position of the second tractor 20, and the second conduit joint 42 is located at a central position of the second end of the carrier plate 30, so that the extent to which the connecting line is pulled during the left-right rotation of the carrier plate 30 relative to the second tractor 20 is the same.

In a further embodiment of the present application, when the carrier plate 30 is located at the extreme position, the carrier plate 30 is in no contact with the first wire pipe joint 41 or the straight line where the first wire pipe joint 41 is located. The straight line where the first conduit joint 41 is located is a straight line formed by extending two ends of the first conduit joint 41.

In this way, the carrier plate 30 is prevented from contacting the first wire passing pipe joint 41, and the connecting wires are prevented from being bent when the carrier plate 30 rotates. Similarly, the second wire pipe joint 42 is not in contact with the first wire pipe joint 41 or the line in which the first wire pipe joint 41 is located.

Of course, in other embodiments, in order to reduce the wiring connection, the structure in the carrying board 30 can be wirelessly connected with the second tractor 20, which is not described in detail.

As shown in fig. 2 and 3, in an alternative embodiment of the present application, two status indicator lamps are disposed on the vehicle bodies of the first tractor 10 and the second tractor 20, so as to respectively correspond to the status of the antenna disposed on the vehicle body and the status of the vehicle body. The first tractor 10 and the second tractor 20 are both provided with antennas, the antennas help to complete position information exchange between the two carts, and overall state interaction is achieved, so that closed-loop control is formed, one state indicator lamp is located near the antennas to indicate the state of the antennas, and the other state indicator lamp is arranged at the front end of the cart body to indicate the state of the cart body. The two status indicator lamps are diagonally arranged on the vehicle body so as to be convenient for observation.

Based on the cooperative carrier robot with the vehicle-mounted gripper provided in the above embodiment, in this embodiment, the first tractor 10 and the second tractor 20 cooperatively operate to carry the cargo carried on the carrier plate 30, and the limit position of the carrier plate 30 relative to the second tractor 20 is defined by the provided rotation limit structure 21, so that the rotation amplitude of the second tractor 20 relative to the carrier plate 30 is reduced, and even if the cooperative carrier robot is improperly controlled during steering, the problems of bending wear of the cable, the locking of the vehicle body operation, or difficulty in cooperative cooperation can be avoided.

In addition, the application also provides a control method of the cooperative transfer robot with the vehicle-mounted clamp holder based on any one of the above steps, which comprises the following steps:

in the case that the carrying plate 30 is located at the limit position, the first tractor 10 is controlled to stop, and the second tractor 20 is controlled to adjust the position, so that the angle formed by the carrying plate 30 and the second tractor 20 is returned to the safe range.

For determining the limit position, the rotation angle of the carrier plate 30 with respect to the second tractor 20 may be detected by providing a contact sensor on the aforementioned collision post, or by an angle sensor. In the process of cooperative transportation, if the carrying plate 30 reaches the limit position, the first tractor 10 continues to rotate or operate, so that the vehicle body is easy to be blocked during operation, and therefore, the first tractor 10 needs to be parked, and the pose of the second tractor 20 is adjusted, such as the relative carrying plate 30 rotates and moves towards a safe range, so as to avoid the vehicle body from being blocked, and ensure stable cargo transportation.

In addition, the control method further includes:

in the case that the angle between the bearing plate 30 and the second tractor 20 exceeds the safety range, the second tractor 20 is controlled to adjust the position so that the angle between the bearing plate 30 and the second tractor 20 returns to the safety range.

For determining the safety range, the rotation angle of the carrier plate 30 relative to the second tractor 20 may be detected by providing a sensing structure on the second tractor 20 and between the second end or by an angle sensor. At this time, the bearing plate 30 does not reach the limit position yet, the first tractor 10 can still operate, and the pose of the second tractor 20 can be directly adjusted, for example, the bearing plate 30 can rotate within a safe range, so as to improve the efficiency of stable transportation.

In an alternative embodiment of the present application, the second end is slidably connected to the second connecting assembly 32 by a sliding assembly 50, and the control method further includes:

in case the second tractor 20 is slid to the first limit value in a direction away from the carrier plate 30, the second tractor 20 is controlled to accelerate and/or the first tractor 10 is controlled to decelerate. The first limit value may be determined by one of the slip limit sensors 54 described above, and in the case of the first limit value of the slip value of the second tractor 20, in order to avoid difficulty in cooperative movement caused by the first tractor 10 dragging the second tractor 20, the second tractor 20 is controlled to accelerate, and/or the first tractor 10 is controlled to decelerate to adjust the first tractor 10 or the second tractor 20 to carry cargo during stable cooperative movement.

In addition, in the case where the second tractor 20 slides to the second limit value in the direction approaching the carrier plate 30, the second tractor 20 is controlled to decelerate, and/or the first tractor 10 is controlled to accelerate. The second limit value may be determined by the other slip limit sensor 54 described above, and in the event of a second limit value of the second tractor 20 slip value, the second tractor 20 is controlled to slow down in order to avoid the second tractor squeezing the first tractor 10 causing difficulty in cooperative movement, and/or the first tractor 10 is controlled to accelerate in order to adjust the first tractor 10 or the second tractor 20 for cargo handling during steady cooperative movement.

Further, during the cooperative movement, in the case where the first tractor 10 is parked due to arrival at a destination or detection of an obstacle, the second tractor 20 is simultaneously controlled to be parked, and in the case where the second tractor 20 detects that an obstacle is parked, the first tractor 10 is simultaneously controlled to be parked; in the case of a start of the first tractor 10, the second tractor 20 is controlled to start at the same time.

In a further embodiment, in case the first tractor 10 or the second tractor 20 adjusts the pose due to the detection of an obstacle, the other tractor is simultaneously controlled to adjust the pose in the same way to ensure a stable cooperative motion.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structural changes made by the specification and drawings of the present application or direct/indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims (10)

1. A co-handling robot with an on-board gripper, comprising:

a first tractor;

a second tractor;

the bearing plate is provided with a first end and a second end which are oppositely arranged;

a first connection assembly through which the first end is rotatably connected to the first tractor;

a second coupling assembly through which the second end is rotatably coupled to the second tractor;

the rotation limiting structure is arranged on the second tractor to limit at least one limit position of the bearing plate relative to the second tractor;

the rotation limiting structure comprises two anti-collision columns, the two anti-collision columns are arranged on the second tractor at intervals, and the two anti-collision columns are positioned on a rotation path of the second end part relative to the rotation of the second tractor.

2. The cooperative carrier robot with a vehicle-mounted gripper according to claim 1, wherein two sides of the second end portion are respectively provided with an anti-collision rubber block, and the anti-collision rubber blocks on two sides are respectively used for abutting the two anti-collision columns.

3. The co-carrier robot with on-board grippers according to claim 1 or 2, further comprising a sliding assembly by which the second end is slidably connected to the second connection assembly for sliding the second tractor relative to the carrier plate.

4. A co-carrier robot with an in-vehicle gripper according to claim 3, wherein the slide assembly comprises a slide rail mounted on the carrier plate and a slider connected to the second connection assembly, the slider being slidably arranged on the slide rail.

5. The collaborative handling robot with an onboard gripper of claim 4, wherein the slide assembly further comprises two slide limit sensors, the two slide limit sensors being disposed at respective ends of the slide rail to define a sliding area of the slider on the slide rail.

6. The co-handling robot with an on-board gripper according to claim 1 or 2, further comprising a first conduit joint arranged on the second tractor and a second conduit joint arranged on the carrier plate, the first conduit joint and the second conduit joint being for a cabling connection, the first conduit joint and the second conduit joint being elastic joints.

7. The co-carrier robot with on-board grippers according to claim 6, wherein the carrier plate is in contact with the first line pipe joint or a straight line where the first line pipe joint is located in the extreme position.

8. A control method based on a cooperative conveyance robot with an in-vehicle gripper according to any one of claims 1 to 7, characterized by comprising:

and under the condition that the bearing plate is positioned at the limit position, controlling the first tractor to stop and controlling the second tractor to adjust the position, so that the angle formed by the bearing plate and the second tractor returns to the safety range.

9. The control method of a cooperative carrier robot with an in-vehicle gripper according to claim 8, further comprising:

and under the condition that the angle between the bearing plate and the second tractor exceeds the safety range, controlling the second tractor to adjust the position and the posture so as to enable the angle between the bearing plate and the second tractor to return to the safety range.

10. The control method of a collaborative handling robot with an in-vehicle gripper according to claim 8, wherein the second end is slidably connected to the second connection assembly by a slide assembly, the control method further comprising:

controlling the second tractor to accelerate and/or controlling the first tractor to decelerate if the second tractor slides to a first limit value in a direction away from the bearing plate;

controlling the second tractor to decelerate and/or controlling the first tractor to accelerate when the second tractor slides to a second limit value in a direction approaching the bearing plate.