CN110341829A - Walking mechanism and autonomous transfer robot - Google Patents

Abstract

This disclosure relates to a kind of walking mechanism and autonomous transfer robot, the walking mechanism includes pedestal (11) and two driving wheels (21) for being installed on the pedestal (11) and at least two driven wheels, the driving wheel (21) has central rotation axis, and the driving wheel (21) is articulated with the pedestal (11), resilient bias is provided between the pedestal (11) and the driving wheel (21), pedestal (11) described in the first end bias of the resilient bias, driving wheel (21) described in the second end bias opposite with the first end of the resilient bias, so that the driving wheel (21) can move up and down around the pivotal axis parallel with the central rotation axis relative to the pedestal (11).The walking mechanism that the disclosure provides can guarantee run trace, avoid deviateing due to track caused by skidding.

Description

Walking mechanism and autonomous transfer robot

Technical field

This disclosure relates to automate mobile transfer robot technical field, and in particular, to a kind of walking mechanism and autonomous Mobile transfer robot.

Background technique

The walking of existing four-wheel walking mechanism is when on the ground of out-of-flatness, it may appear that although a driving wheel is hanging or four A wheel lands but stress and the uneven i.e. unequal situation of ground pressure, in this case, each wheel and ground Frictional force is different, slipping phenomenon is easy to appear, to influence run trace.

Summary of the invention

Purpose of this disclosure is to provide a kind of walking mechanism, which can guarantee run trace, avoid due to beating Deviate track caused by sliding.

To achieve the goals above, the disclosure provides a kind of walking mechanism, including pedestal and is installed on the two of the pedestal A driving wheel and at least two driven wheels, the driving wheel has central rotation axis, and the driving wheel is articulated with the bottom Seat, is provided with resilient bias between the pedestal and the driving wheel, pedestal described in the first end bias of the resilient bias, Driving wheel described in the second end bias opposite with the first end of the resilient bias, so that the driving wheel can be around The pivotal axis parallel with the central rotation axis and moved up and down relative to the pedestal.

Based on the above technical solution, the disclosure also provides a kind of autonomous transfer robot, wherein it is described from Main mobile transfer robot is provided with above-mentioned walking mechanism.

Through the above technical solutions, the walking mechanism that the disclosure provides can be driven actively by setting resilient bias Wheel pivots about axis rotation and moves up and down relative to pedestal, adjusts the ground pressure of driving wheel in real time, guarantees two actives Frictional force between wheel and ground avoids the occurrence of slipping phenomenon or guarantees that two skid levels between driving wheel and ground are big Cause identical, the practical amount of movement of guarantee, so that it is guaranteed that run trace.

Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.

Detailed description of the invention

Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:

Fig. 1 is the stereoscopic schematic diagram of the autonomous transfer robot provided according to the first aspect embodiment of the disclosure；

Fig. 2 is the schematic front view of the autonomous transfer robot provided according to the first aspect embodiment of the disclosure；

Fig. 3 is the schematic front view of the autonomous transfer robot provided according to the first aspect embodiment of the disclosure, Wherein, in order to show the structure member in pedestal, skirtboard is not shown；

Fig. 4 is the schematic side view of the autonomous transfer robot provided according to the first aspect embodiment of the disclosure；

Fig. 5 is the schematic side view of the autonomous transfer robot provided according to the first aspect embodiment of the disclosure, Wherein, in order to show the structure member in pedestal, skirtboard is not shown；

Fig. 6 is the schematic rear view of the autonomous transfer robot provided according to the first aspect embodiment of the disclosure；

Fig. 7 is the schematic top plan view of the autonomous transfer robot provided according to the first aspect embodiment of the disclosure；

Fig. 8 is the stereoscopic schematic diagram of the walking mechanism provided according to the second aspect embodiment of the disclosure；

Fig. 9 is another stereoscopic schematic diagram of the walking mechanism provided according to the second aspect embodiment of the disclosure；

Figure 10 is another schematic diagram of solid of the walking mechanism provided according to the second aspect embodiment of the disclosure, in the figure In driven wheel is not shown；

Figure 11 is the stereoscopic schematic diagram of the driving wheel in the walking mechanism provided according to the second aspect embodiment of the disclosure；

Figure 12 is the stereoscopic schematic diagram of the mechanical arm provided according to the third aspect embodiment of the disclosure；

Figure 13 is another stereoscopic schematic diagram of the mechanical arm provided according to the third aspect embodiment of the disclosure, in the figure In, it can be seen that arm joint is hollow, and can see the second driving device and third driving device；

Figure 14 is the solid of the autonomous transfer robot fixture provided according to the fourth aspect embodiment of the disclosure Schematic diagram；

Figure 15 is the autonomous transfer robot fixture fixture provided according to the fourth aspect embodiment of the disclosure The stereoscopic schematic diagram of other direction；

Figure 16 is the another of the autonomous transfer robot fixture provided according to the fourth aspect embodiment of the disclosure Stereoscopic schematic diagram, in order to show internal structure, sealing plate is not shown in the figure in this；

Figure 17 is the inside of the autonomous transfer robot fixture provided according to the fourth aspect embodiment of the disclosure The schematic top plan view of structure；

Figure 18 is the vertical of the autonomous transfer robot supporting parts provided according to the 5th aspect embodiment of the disclosure Body schematic diagram；

Figure 19 is the autonomous transfer robot supporting parts provided according to the 5th another embodiment of aspect of the disclosure Stereoscopic schematic diagram；

Figure 20 is the autonomous transfer robot supporting parts provided according to the 5th another embodiment of aspect of the disclosure Stereoscopic schematic diagram save cover board to show internal structure；

Figure 21 is the schematic side view of the autonomous transfer robot provided according to the 6th aspect embodiment of the disclosure；

Figure 22 is the stereoscopic schematic diagram of the autonomous transfer robot provided according to the 7th aspect embodiment of the disclosure；

Figure 23 is the solid of the handgrip of the autonomous transfer robot provided according to the 7th aspect embodiment of the disclosure Schematic diagram；

Figure 24 is the another of the handgrip of the autonomous transfer robot provided according to the 7th aspect embodiment of the disclosure Direction stereoscopic schematic diagram.

Description of symbols

100- one side bearing caliper autonomous transfer robot, 200- bilateral carry caliper autonomous carrying implement Device people, 300- single armed autonomous transfer robot, 400- target object, 500 boards,

11- pedestal, 110- hinged seat, 111- bottom plate, 112- skirtboard, 113- distance detection device, the first avoidance of 114a- pass Sensor, the second obstacle avoidance sensor of 114b-, 115- anticollision strip, the bottom 116- camera, 12- riser, 13- shell, 14- operator control panel,

2- walking mechanism, 21- driving wheel, 211- mounting bracket, 212- driving motor, 213- driving wheel idler wheel, 214- pivot Shaft, 215- clip, 22- spring-loaded plunger, 23- universal wheel,

3- mechanical arm, 31- telescopic arm, 32- rotating arm, the first arm joint of 321-, the second arm joint of 322-, the driving dress of 331- first It sets, the second driving device of 332-, 333- third driving device, 341- screw rod, 342- fixing seat, the first fixed plate of 351-, 352- Second fixed plate, 361- sliding block, 362- guide rod,

4- fixture, 41- jig main body, 411- supporting table, 412- boss, 413- gutter-like groove, the first elastic clamping pieces of 421-, The first proximal end 4211-, the second proximal end 4212-, the end 4213-, the second elastic clamping pieces of 422-, 4,221 second proximal ends, 4,222 Two distal ends, the first cushion of 431-, the second cushion of 432-, 44- locating piece, 45- proximity sensor, 46- sealing plate, 47- first Signal optical source, 48- link block, 491- take pictures camera, 492- flash lamp,

5- load-bearing part, 51- plate-like body, 511- mainboard, 512- sandwich plate, 5121- aperture, 513- cover board, 52- positioning knot Structure, 53-RFID antenna, 54- target object detection device, 55- second signal light source, 56- scram button；57- binocular camera, 58- third obstacle avoidance sensor,

6- handgrip, 61 handgrip main bodys, 62 fixing clamp gripping members, 621 are fixedly connected with portion, 622 stationary gripping parts, in 623 first Between interconnecting piece, 63 moveable gripping members, 631 active connection parts, 632 movable clamping parts, 633 second middle interconnecting pieces, 641 sliding rails, 642 sliding slots, 65 actuators, 66 joint blocks.

Specific embodiment

It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.

In the disclosure, in order to make it easy to understand, defining autonomous transfer robot has length, width and height, point Longitudinal direction (X to), transverse direction (Y-direction) and vertical direction (Z-direction) are not corresponded to, wherein in the absence of explanation to the contrary, The noun of locality used such as " upper and lower ", " left and right ", " forward and backward " typically refer to " upper and lower " on vertical direction, in transverse direction " left and right ", " forward and backward " on longitudinal direction, " inside and outside " refers to the inside and outside of the profile relative to corresponding component, " it is remote, Closely " refer to relative to remote, close in the distance of a certain component or structure.In addition, term " first " used in the disclosure, " the Two ", " third ", " the 4th " etc. have been merely one element of difference and another element, do not have succession and importance.

One side bearing caliper autonomous transfer robot

According to the disclosure in a first aspect, providing a kind of one side bearing caliper autonomous transfer robot, Fig. 1 extremely schemes A kind of 7 embodiments being shown in which.Refering to what is shown in Fig. 1, the one side bearing caliper autonomous transfer robot 100 Include: main body, including pedestal 11, is fixed on the pedestal 11 and riser 12 that vertically direction upwardly extends；Walking mechanism 2, Driving wheel and driven wheel including being installed on the pedestal 11；Working mechanism, including two manipulators, each mechanical handbag Include the fixture 4 that proximal end is connected to the mechanical arm 3 of the riser 12 and is pivotally connected to the distal end of the mechanical arm 3, the machine Tool arm 3 is configured to so that the fixture 4 reaches required position, two manipulators be set as moving with cooperating with Pass through two 4 clampings of fixture/release target objects 400；Load carrier, including for carrying the target object 400 The load-bearing part 5 of multiple plates, multiple load-bearing parts 5 are fixed on the same side (front side or rear side, Fig. 1 to figure of the riser 12 In embodiment shown in 7, load-bearing part 5 is both secured to the front side of riser 12, but in other embodiments, and load-bearing part 5 can also To be each attached to the rear side of riser 12), and vertically direction interval is arranged；And control system, for controlling the vehicle with walking machine Structure is walked/is stopped and turns to, and the movement of the control manipulator.

Through the above technical solutions, according to the autonomous transfer robot that the first aspect of the disclosure provides, Neng Gouyi Secondary property carries multiple target items 400.Its course of work specifically: firstly, unloaded autonomous transfer robot passes through control The first position of stored target article 400 is arrived in the control walking mechanism 2 of system processed, walking；Later, it is controlled and is pressed from both sides by control system The movement of posture (around the rotation angle of its own pivotal axis) and mechanical arm 3 of tool 4, fixture 4 is sent to required position, machine is passed through Clamping of the fixture 4 to target item 40 is realized in the movement of tool arm 3；It later, will be clamped by controlling the movement of mechanical arm 3 Target item 400 is placed on a load-bearing part 5 of load carrier, thus completes " entrucking " of a target item 400.It Afterwards, the above-mentioned course of work can be repeated, until being placed with target item 400 on whole load-bearing parts 5.Later, it is gone by control Walk mechanism 2, autonomous transfer robot integrally marches to target item 400 to be transported the second position extremely, passes through machinery Target item 400 is successively clamped from its corresponding load-bearing part 5 and is sent to the correspondence placement location of the second position by hand, is realized " unloading " of target item 400.In the process, autonomous transfer robot can be changed by control walking mechanism 2 Position, in order to the operation of manipulator.By above description, the autonomous transfer robot that the disclosure provides be can be realized certainly Dynamicization carries target item 400, and without artificial handling, and one way can transport multiple target items 400, effectively improve life Produce beat and working efficiency.In addition, pedestal 11 can be effectively utilized by being vertically sequentially arranged multiple supporting parts 5 Upper space is beneficial to realize the miniaturization of autonomous transfer robot, has wider array of application range and higher agility Property.

The autonomous transfer robot that the disclosure provides can be applied to manless production workshop, for example, can apply In the workshop of silicon wafer, target item 400 is the foup box equipped with silicon wafer, autonomous by issuing a command under the control of center Mobile transfer robot can carry foup box in shelf, board 500, storage between position.

Wherein, pedestal 11 may include bottom plate 111, for installing walking mechanism, meanwhile, the lower end of riser 12 can also be consolidated It is scheduled on bottom plate 111.In addition, the autonomous transfer robot needs that the disclosure provides are self-powered, can be each electricity consumption Component function.Therefore, autonomous transfer robot further includes power supply, which is arranged on bottom plate 111, for beauty, bottom Seat 11 is additionally provided with skirtboard 112, and vertically direction extends the skirtboard 122, the periphery of bottom plate 111 is enclosed in, for power supply and electricity Line etc. provides placement space.In addition, main body can also include the shell 13 for surrounding enclosure space with riser 12, it is arranged on shell 13 There are man-machine interaction operation board, such as operator control panel 14 (with reference to shown in Fig. 6), which is obliquely installed (with reference to Fig. 4 and Fig. 6 Shown in), in order to man-machine interactive operation, which belongs to control system.

In the specific embodiment that the first aspect of the disclosure provides, the pedestal 11 can be set described in certainly The transverse direction spaced apart two of (and/or rear side) along the autonomous transfer robot on front side of main mobile transfer robot A distance detection device 113, for detecting the autonomous transfer robot and drop target article at " entrucking " The distance between 400 shelf, with reference to shown in Fig. 3.The distance detection device 113 is electrically connected with the control system, with The walking mechanism 2 is controlled according to the distance signal of the distance detection device 113, so that the autonomous carrying implement With the shelf for storing the target object 400 to just, " alignment " herein can be understood as so that autonomous is removed device people The relative position of robot and shelf is transported, allows target object 400 can be in integral translation to corresponding load-bearing part 5, with target Subject to the positioning empty slot of object 400 can be combined together with the location structure on load-bearing part 5 described below.Wherein, institute Stating distance detection device 113 can construct in any suitable manner, for example, it is so structured that laser sensor.

In order to ensure the safety traffic of autonomous transfer robot, the front side of the pedestal 11 and rear side can be respectively provided with There are the first obstacle avoidance sensor 114a for detecting its peripheral obstacle, the first obstacle avoidance sensor 114a and the control system Electrical connection, the control system control the vehicle with walking machine after receiving the danger signal that the first obstacle avoidance sensor 114a is issued 2 stop motion of structure simultaneously sounds an alarm, which can be audio alarm, is also possible to light alarm, for example, passing through hereinafter institute The first signal optical source stated issues red light and carries out alarm.

Selectively, the left side and/or right side of the first obstacle avoidance sensor 114a is provided with the second obstacle avoidance sensor 114b, for assisting the first obstacle avoidance sensor 114a, to increase investigative range and sensitivity.In addition, in the supporting parts 5 of top On, it is additionally provided with third obstacle avoidance sensor 58, surveys peripheral obstacle, auxiliary the in the top sorting of autonomous transfer robot One obstacle avoidance sensor 114a is beneficial to increase investigative range and sensitivity.When obstacle avoidance sensor detects barrier, danger is issued Dangerous signal, control system are stopped the walking motion of walking mechanism 2 by the signal immediately later, and sound an alarm.

Since autonomous transfer robot is translated without left and right, therefore it may only be necessary to detect the barrier of front and back i.e. It can.Selectively, with reference to shown in Fig. 5, the first obstacle avoidance sensor 114a includes being located at the autonomous to carry Two infrared sensors of robot front side and rear side, with (along the direction that infrared ray is propagated, infrared ray is from back to front to its front Propagate) fan-shaped region be diffused formula detection.

In addition, the pedestal 11 can be set there are two the anticollision strip 115 for being centered around 11 outside of pedestal, may be selected Ground, the crash sensor being electrically connected with the control system is provided in the anticollision strip 115, and the control system receives described It controls 2 stop motion of walking mechanism after the danger signal that crash sensor issues and sounds an alarm, to prevent urgent Autonomous transfer robot walks in the case where collision.

In addition, being provided with the (ginseng of bottom camera 116 being electrically connected with the control system on the lower surface of the pedestal 11 Examine shown in Fig. 7), for no mark navigate in grab terrain surface specifications, cooperate will be described below binocular camera 57 (setting On the side of the supporting parts 5 of top layer, the front or behind of the direction of travel corresponding to autonomous transfer robot is used for Grab ambient enviroment feature), with to autonomous transfer robot itself carry out position and by track compensating approach position it is inclined Difference.Four corners of the pedestal 11 are provided with the ground distance detection device being electrically connected with the control system, by institute The range information of detection is sent to control system, and information judges whether the bottom surface in traveling front puts down to control system according to this distance It is whole, and the walking of walking mechanism is controlled accordingly.

Wherein, walking mechanism can construct in any suitable manner, and selectively, the walking mechanism is configured to basis The walking mechanism that disclosure second aspect provides.

Wherein, driven wheel can construct in any suitable manner.

Wherein, manipulator can construct in any suitable manner, and selectively, mechanical arm in the manipulator can be with It is configured to the mechanical arm provided according to the disclosure third aspect, the clamping device in manipulator can be structured as according to the disclosure the The autonomous transfer robot fixture that four aspects provide.

Wherein, load carrier can construct in any suitable manner, selectively, the load-bearing part in the load carrier It is so structured that the autonomous transfer robot load-bearing part provided according to the 5th of the disclosure the aspect.

The disclosure is described in detail below in conjunction with respective drawings.

Walking mechanism

According to the second aspect of the disclosure, a kind of walking mechanism is provided, with reference to shown in Fig. 8 to Figure 11, the vehicle with walking machine Structure includes two driving wheels 21 and at least two driven wheels, and the driving wheel 21 has central rotation axis (if main Advance when driving wheel 21 is rotated in a first direction around the central rotation axis then rotates backward to retreat, as a result, when according to the disclosure When the autonomous transfer robot that first aspect provides is provided with the walking mechanism, the central rotation axis and above-mentioned autonomous shifting The transverse direction of dynamic transfer robot is parallel), and the driving wheel 21 is articulated with the pedestal 11, the pedestal 11 and the master It is provided with resilient bias between driving wheel 21, pedestal 11 described in the first end bias of the resilient bias, the resilient bias The second end bias opposite with the first end described in driving wheel 21 so that the driving wheel 21 can around with the center The parallel pivotal axis of rotation axis and moved up and down relative to the pedestal 11.

Through the above technical solutions, the walking mechanism that the disclosure provides can be driven actively by setting resilient bias Wheel 21 pivots about axis rotation and moves up and down relative to pedestal 11, adjusts the ground pressure of driving wheel 21 in real time, guarantees two Frictional force between a driving wheel 21 and ground avoids the occurrence of slipping phenomenon or guarantees between two driving wheels 21 and ground Skid level is roughly the same, guarantees practical amount of movement, so that it is guaranteed that run trace.

In the specific embodiment that the disclosure provides, driving wheel 21 can construct in any suitable manner.It may be selected Ground, with reference to shown in Figure 11, the driving wheel 21 includes mounting bracket 211, the driving motor for being fixed on the mounting bracket 211 212, it is fixed on the driving wheel idler wheel 213 of 212 output shaft of driving motor, the driving motor 212 drives the driving wheel idler wheel 213 rotate around the axis of 212 output shaft of driving motor, and the mounting bracket 211 is by pivotal axis 214 and is fixed on described The hinged seat 110 of pedestal 11 connects, wherein and pivotal axis 214 can construct in any suitable manner, for example, it is so structured that Pin shaft, by the head backstop of itself in mounting bracket 211, the other end passes through stop part backstop in hinged seat 110 for one end, such as By 215 backstop of clip in hinged seat 110, as shown in Figure 11.Pacify described in the second end bias of the resilient bias Fill bracket 211.As a kind of selection, the resilient bias can be structured as spring-loaded plunger 22, which is fixed on The pedestal 11, and the head of the spring-loaded plunger 22 is resisted against the mounting bracket 211 for use as the second end.In addition, In order to provide enough flexible bias pressures, each driving wheel 21 can be correspondingly arranged that there are two spring-loaded plungers 22.As another kind Selection, his bias piece of elasticity may be configured to the similar component such as disc spring.

Selectively, the driven wheel can be structured as universal wheel 23, to allow walking mechanism 360 to turn.Selectively, The central rotation axis of two driving wheels 21 is conllinear, and the driven wheel group includes two pairs of driven wheels, wherein along described The direction of central rotation axis, a pair of driven wheel are located at the side of the driving wheel 21, and driven wheel described in another pair is located at The other side of the driving wheel 21 allows walking mechanism can be 360 ° turns when walking forward or backward by this arrangement It is curved.Selectively, two pairs of driven wheels are arranged symmetrically about the central rotation axis, so that the weight of walking mechanism The heart is fallen on the line center of the central rotation axis of two driving wheels 21.

Wherein, in the walking mechanism that disclosure second aspect provides, above-mentioned universal wheel can be in any suitable manner Construction.

Based on the above technical solution, the second aspect of the disclosure also provides a kind of autonomous transfer robot, The autonomous transfer robot includes therefore above-mentioned walking mechanism 2 equally has the above advantages.

Mechanical arm

According to the third aspect of the disclosure, a kind of mechanical arm is provided, Figure 12 and Figure 13 show a kind of its specific embodiment party Formula.With reference to shown in Figure 12 and Figure 13, the mechanical arm 3 includes telescopic arm 31, rotating arm 32 and driving device.The rotating arm 32 include multiple successively hinged arm joints, and the proximal hinge of the rotating arm 32 is in the distal end of the telescopic arm 31, the rotation The distal end of arm 32 is for being pivotally connected to clamping device (such as fixture 4 or handgrip 6), with clamping/release target object 400.Institute Stating driving device includes: first driving device 331 for driving the telescopic arm 31 to move in a lateral direction and for driving Move the second driving device 332 that the arm joint is rotated around the articulated shaft of its own, wherein the articulated shaft of the arm joint itself is each other It is parallel to each other and is parallel to the transverse direction.

Through the above technical solutions, the third aspect of the disclosure provide mechanical arm tool there are three mutually perpendicular direction (i.e. The direction XYZ) on freedom degree, by first driving device 331 drive telescopic arm 31 move in a lateral direction, can adjust and stretch The position of contracting arm 31 and clamping device in transverse direction (i.e. X-direction) drives rotating arm by the second driving device 332 of driving 32 arm joint is rotated around its respective articulated shaft, can adjust clamping device in the plane (i.e. XZ plane) vertical with transverse direction Interior position, therefore, the mechanical arm provided by the disclosure can send clamping device to some position in space.And by In the origin position of X, Y, Z coordinate relative to mechanical arm of the position where target object 400 to be clamped in three-dimensional space For be it is determining, therefore, by driving first driving device 331 and the second driving device 332, clamping device is enabled to arrive Up to position to be held, to prepare to clamp the target object 400.Later, the shifting by driving telescopic arm 31 in a lateral direction Dynamic or driving arm joint is rotated around the articulated shaft of its own, enables to clamping device to reach clip position, to clamp the target Object 400.And the articulated shaft for passing through the movement driven telescopic arm 31 in a lateral direction and/or driving arm joint around its own turns It is dynamic, target object 400 can be transported to target position, later, by the movement in a lateral direction of driving telescopic arm 31 and/or It drives arm joint to rotate around the articulated shaft of its own, clamping device is enabled to discharge target object 400, alternatively, to discharge mesh Clip position after mark object 400 carries out the clamping of next target object 400 far from target object 400.

The mechanical arm 3 provided below in conjunction with Figure 12 and Figure 13 detailed description disclosure third aspect.

In the specific embodiment that the disclosure provides, first driving device 331 can construct in any suitable manner, Such as it is so structured that hydraulic cylinder or cylinder.Selectively, the first driving device 331 is configured to motor, described flexible Arm 31 passes through the output axis connection of transmission device and the motor, so that the rotary motion of the output shaft of the motor can turn It is changed to linear motion of the telescopic arm 31 in the transverse direction.

Wherein, for the limited space of Optimum utilization, the target of miniaturization is realized, the motor selects hollow shaft motor. And transmission device can construct in any suitable manner, for example, it is so structured that being rack pinion structure.It may be selected Ground, the transmission device is configured to lead screw gear, including mutually matched screw rod 341 and nut, with reference to Figure 12 and Figure 13 Shown in, the screw rod 341 is fixed by fixing seat 342, for example, when mechanical arm 3 is applied to autonomous transfer robot When, screw rod 341 is fixed on the main body (specially riser 12) of autonomous transfer robot by fixing seat 342, described Nut is fixed on the hollow output shaft (it is of course also possible to being that internal screw thread is arranged in hollow output shaft) of the hollow shaft motor, The hollow shaft motor is fixedly connected with the telescopic arm 31.As a result, when hollow output shaft for example rotates forward, telescopic arm court is driven It is moved to first direction, when hollow output shaft for example inverts, drives telescopic arm towards opposite to the first direction second Direction movement, so as to adjust the position of clamping device in a lateral direction.

Wherein, in order to avoid hollow shaft motor, telescopic arm 31, rotating arm 32, the clamping device even weight of target object 400 Amount is all undertaken by screw rod 341, is even broken so that the deformation such as occurs being bent in screw rod 341 and is influenced to work normally, the sky Spindle motor can be fixed on the first fixed plate 351, and the telescopic arm 31 can be fixed on the second fixed plate 352, and described One fixed plate 351 and the second fixed plate 352 are both secured to sliding block 361, the sliding block 361 and the equipment for being provided with the mechanical arm 3 The upper set guide rod 362 extended along the transverse direction matches, so that telescopic arm 31, rotating arm 32, clamping device Even target object 400 can move in a lateral direction with the rotation of core motor.In this case, hollow shaft motor It is solid all to pass through the first fixed plate 351 and second with the weight of telescopic arm 31, rotating arm 32, clamping device or even target object 400 The cooperation of fixed board 352 and sliding block 361 and guide rod 362 passes to the equipment, is undertaken by the equipment.In Figure 17 and Figure 18 institute In the specific embodiment shown, guide rod 362 is arranged on the riser 12 of autonomous transfer robot.Selectively, described to stretch Contracting arm 31 extends along the transverse direction, and hollow in order to being routed.

In the specific embodiment that the disclosure provides, the second driving device 332 can construct in any suitable manner, Such as it is so structured that hydraulic cylinder or cylinder.Selectively, second driving device 332 or hollow shaft motor, The rotating arm 32 includes the first arm joint 321 and the second arm joint 322, to obtain a kind of biomimetic features of similar human body arm, ginseng It examines shown in Figure 12 and Figure 13, passes through a core motor between the proximal end and the telescopic arm 31 of first arm joint 321 Hingedly, the distal end of first arm joint 321 is with second arm joint 322 proximally by a hinge of the second driving device 332 It connects, selectively, the arm joint is hollow, in order to be routed.

Selectively, the driving device further includes the pivot axis for driving the clamping device around its own Third driving device 333, wherein the pivotal axis can be set to be parallel to the transverse direction, so that the clamping fills Set the posture that its own can be adjusted around the pivot axis of its own.It, should in the specific embodiment that the disclosure provides Third driving device 333 can construct in any suitable manner, for example, it is so structured that hydraulic cylinder or cylinder.It may be selected Ground, the third driving device 333 is it is so structured that the remote of the rotating arm 32 is arranged in hollow shaft motor, the hollow shaft motor (in embodiment shown in Figure 17 and 18, the hollow shaft motor as third driving device 333 is arranged in the second arm joint 322 at end Distal end), the hollow shaft of the hollow shaft motor with the clamping device for connecting, it can be understood as, clamping device passes through Hollow shaft motor is connected pivotally to the distal end of rotating arm 32.

Based on the above technical solution, the third aspect of the disclosure also provides a kind of Working mechanism, the Working mechanism Including clamping device and above-mentioned mechanical arm 3, the clamping device is connected pivotally to the distal end of mechanical arm 3.In addition, the disclosure The third aspect a kind of autonomous transfer robot is also provided, which is provided with the Working mechanism.

Autonomous transfer robot fixture

According to the fourth aspect of the disclosure, a kind of fixture 4 of autonomous transfer robot is provided, Figure 14 to Figure 17 shows A kind of its embodiment is gone out.The fixture 4 includes jig main body 41 and elastic clamping pieces, and the jig main body 41 is arranged useful Supporting table 411 in target object 400 and the boss 412 higher than the supporting table 411, the elastic clamping pieces have fixed connect Be connected to the proximal end and the distal end opposite with the proximal end of the boss 412, this is distally used to abut with target object 400, with institute Supporting table 411 is stated to match and releasedly clamp the target object 400.

Through the above technical solutions, the autonomous transfer robot fixture 4 that the fourth aspect of the disclosure provides passes through Setting jig main body 41 is that target object 400 provides supporting table 411, and when clamping target object 400, target object 400 passes through Supporting table 411 supports, and is abutted by the distal end of elastic clamping pieces and target object 400 is maintained at support with target object 400 On platform 400, to realize the clamping to target object 400, target object 400 may further be driven mobile.When needing to discharge When target object 400, fixture 4 can be removed directly, in a manner of far from target object 400, so that target object 400 leaves branch Platform 411 is supportted, and elastic clamping pieces no longer abut target object 400, to realize the release to target object 400.

In the specific embodiment that the disclosure provides, elastic clamping pieces can construct in any suitable manner.It is optional Ground is selected, the elastic clamping pieces include the first elastic clamping pieces 421, and first elastic clamping pieces 421 are described convex with being fixed on First proximal end 4211 of platform 412 and first distal end 4212 opposite with first proximal end 4211, first distal end 4212 extend to The top of the supporting table 411 limits between the resilient clamp portion and the supporting table 411 and is used for be formed as resilient clamp portion The grasping part of the target object 400, the resilient clamp portion are that the target object 400 is provided towards the supporting table 411 elastic clip clamp force.Wherein, the end 4213 of first distal end 4212 can be directed away from the side of the supporting table 411 To bending, for guiding the target object 400 to enter the grasping part.

Wherein, in order to avoid the stress that target object 400 is supported the concentration of platform 411, selectively, the supporting table The first cushion 431 made of elastic material can be set on 411.Selectively, which is provided with two A, this two first cushions 431 are spaced setting in the grasping part.

In the specific embodiment that the disclosure provides, the elastic clamping pieces can also include the second elastic clamping pieces 422, with reference to shown in Figure 16 and Figure 17, the jig main body 41 is provided with trench between supporting table 411 and the boss 412 Slot 413, second elastic clamping pieces 422 are arranged in the gutter-like groove 413, and second elastic clamping pieces 422 have solid Due to the second proximal end 4221 and opposite with second proximal end 4,221 second distal end 4222 of the side wall of the boss 412, this Two distal ends 4222 with the target object 400 for abutting, can be that the target object 400 provides elastic clamping outwardly Power needs two collocation of fixture 4 to use, two fixtures 4 are in opposite sandwich target object 400, fixture 4 when in use The elastic clip clamp forces outwardly that provide of the second distal end 422 will be located at target object 400 between the two just and clamp.Wherein, The end of second distal end (4222) folds, and bending part is outwardly, to avoid the stress for being applied to the concentration of target object 400. Selectively, in order to avoid in the case where target object 400 is clamped therebetween using two fixtures 4, target object 400 concentrated stress by boss 412, the side wall of the boss 412 can connect the second buffering made of elastic material Pad 432, there are two which can be set, this two second cushions 432 are spaced apart and arranged in described convex On the side wall of platform 412.

The disclosure provide specific embodiment in, the fixture 4 may include for the target object 400 Label (such as notch configuration) alignment locating piece 44, which is telescopically connected to the boss 412, described fixed The end of position part 44 is provided with alignment sensor (such as photoelectric sensor), end and the label pair when the locating piece 44 On time, the alignment sensor issues confirmation signal, on the contrary then issue alarm signal；It is provided on the boss 412 close to biography Sensor 45 (such as photoelectric sensor), it is described close to biography when the locating piece 44 is retracted to approach the proximity sensor 45 Sensor 45 issues confirmation signal.

Selectively, the fixture 4 further includes sealing plate 46, top and the boss of the sealing plate 46 in the boss 412 412 are fixedly connected, and the fixture 4, which is provided with, is used to indicate the first signal optical source that the target object 400 is in clip position 47, which is arranged in the sealing plate 46, and the sealing plate 46 is made of trnaslucent materials, passes through envelope as a result, Plate 46 can scatter to the light that the first signal optical source 47 issues in environment, enable a user to distant surveillance and arrive.

Selectively, the fixture 4 further includes being pivotally connected to for the mechanical arm 3 with autonomous transfer robot Link block 48, the jig main body 41 are fixedly connected on the link block 48.First signal optical source 47 can be fixed on the connection On block 48, it is provided with corresponding receiving hole on sealing plate 46, when jig main body 41 to be connect with fixed block 48, is fixed on boss 412 sealing plate 46 is located at the first signal optical source 47 in receiving hole just.

Based on the above technical solution, the fourth aspect of the disclosure also provides a kind of autonomous transfer robot use Working mechanism, the Working mechanism include pairs of manipulator, and each manipulator includes that mechanical arm and above-mentioned autonomous are removed Robot fixture 4 is transported, which is connected to the distal end of the mechanical arm, and two fixtures 4 in each pair of manipulator cooperate With clamping/release target object 400.

In each pair of manipulator 4, two fixtures 4 are oppositely arranged, with reference to shown in Fig. 1, when two fixtures 4 are close to each other, For clamping target object 400, when two fixtures 4 are located remotely from each other, for discharging target object 400.

Wherein, based on the above technical solution, the autonomous transfer robot that the fourth aspect of the disclosure provides Manipulator in Working mechanism can construct in any suitable manner, for example, it is so structured that according to the disclosure third aspect The mechanical arm 3 of offer.

Selectively, it can be set and taken pictures on front side of the one of them of two of the two manipulators fixtures 4 Flash lamp 492 has can be set on front side of the wherein another one of the fixture 4 of two of two manipulators in camera 491, For carrying out light filling to camera 491 of taking pictures.It, can be by camera 491 of taking pictures to before it before clamping target object 400 Fang Jinhang takes pictures, to grab visual signature point.

In addition, the fourth aspect of the disclosure also provides a kind of autonomous transfer robot, the autonomous conveying robot People includes the autonomous transfer robot Working mechanism that disclosure fourth aspect provides.

Autonomous transfer robot load-bearing part

According to the 5th of the disclosure the aspect, a kind of autonomous transfer robot load-bearing part 5 is provided, Figure 18 to Figure 20 shows One such embodiment is gone out.Referring to figs. 18 to shown in Figure 20, the load-bearing part 5 includes: plate-like body 51, has and uses In the load-bearing surface of carrying target object 400；Location structure 52, the location structure 52 are fixed on the load-bearing surface, for The positioning hole groove of the target object 400 matches, to limit shifting of the target object 400 in the plate-like body 51 It is dynamic；RFID antenna 53, the RFID antenna 53 are fixed on the plate-like body 51, for reading the number of the target object 400； And target object detection device 54,400 detection device of target object are fixed on the plate-like body 51, for detecting whether There is target object 400 to be placed on load-bearing part 5.

Through the above technical solutions, the load-bearing part 5 that the 5th aspect of the disclosure provides can carry the same of target object 400 When, additionally it is possible to the number for knowing carried target object 400 enables a user to grasp the mesh that the load-bearing part 5 is carried Mark the information of object 400.When target object 400 is placed on load-bearing surface, mesh can not only be prevented by location structure 52 Mark object 400 slides on load-bearing surface under the effect of external force, or even falls, but also enable to be placed on carrying The position of either objective object 400 on surface is unique, this is conducive to automated handling target object 400.In addition, passing through target Whether article detection device 454, being able to confirm that on load-bearing part 5 has target object 400, on the one hand can place to avoid repetition is repeated Target object 400, on the other hand, it is known that whether the load-bearing part 5 leaves unused.

In the specific embodiment that the disclosure provides, location structure 52 can construct in any suitable manner.It is optional Ground is selected, the location structure 52 is set as three positioning columns, and three positioning columns are triangle arrangement, such as Figure 18 in line To shown in Figure 20.The object detecting device 54 includes from load-bearing surface test section outstanding, when the target object 400 When positioning hole groove is matched with the positioning architecture 52, which can be retracted under the gravity of target object 400 In the plate-like body 51, the object detecting device 54 issues confirmation signal, has the target object 400 to be placed on instruction On the load-bearing surface.

In the specific embodiment that the disclosure provides, RFID antenna 53 can configure in any suitable manner.It is optional Ground is selected, as shown in Figure 18 to Figure 20, the RFID antenna 53 and the neighbouring setting of the target object detection device 54, in order to Wiring.

In the specific embodiment that the disclosure provides, target object detection device 54 can structure in any suitable manner It makes.Selectively, the target object detection device 54 is configured to photoelectric sensor, and working principle may is that when to there is mesh When mark object 400 is placed on the load-bearing part 5, the target object 400 covers the photoelectric sensor, the photoelectric sensing Device, which issues, determines signal.

In the specific embodiment that the disclosure provides, plate-like body 51 can construct in any suitable manner.It is optional Ground is selected, with reference to shown in Figure 19 and Figure 20, the plate-like body 51 includes mainboard 511,512 and of sandwich plate for being successively overlapped connection Cover board 513, the sandwich plate 512 are provided with aperture 5121, are provided with second signal light source 55 in the aperture 5121, this Binary signal light source 55 can issue the light of multiple color, and the light of each color indicates a kind of operating condition, for example, second signal light Source 55 can issue the red light of instruction alarm, indicate normal green light, the instruction insufficient blue ray of power supply etc.. The cover board 513 and the lateral coaming plate are made of a translucent or transparent material, the light that second signal light source 55 is issued Line scatters to ambient enviroment, for user from multiple angles and multiple positions.In addition, being provided with emergency stop on the cover board 513 Button 56, in case of emergency to stop the work of autonomous transfer robot.

Wherein, in order to enable user can observe the light that second signal light source 55 issues from all angles and orientation Line, the second signal light source 55 can be structured as strip, and four second signals are provided in the aperture 5121 Light source 55 is respectively facing front, rear, left and right and emits beam, so that the light that second signal light source 55 issues is irradiated to each Orientation and corner.

In the specific embodiment that the disclosure provides, the cover board 513 and the sandwich plate 512 can be by organic glass Glass material is made, a little with strong, impact resistance, durable etc. with easy to process, translucency.

In the specific embodiment that the disclosure provides, the load-bearing part 5 is provided with binocular camera 57, for example, can be with Obtain 150 ° of stereoscopic depths.The binocular camera 57 can be fixed on the plate-like body 51, for example, plate can be fixed on On the side of main body 5.

Selectively, the load-bearing part 5 is provided with third obstacle avoidance sensor 58, and the third obstacle avoidance sensor 58 is solid in front side Due to the plate-like body 51, there are two the settings of third obstacle avoidance sensor 58, and the binocular camera 57 is located at two institutes It states between obstacle avoidance sensor 58.

Based on the above technical solution, the 5th aspect of the disclosure also provides a kind of autonomous transfer robot, The autonomous transfer robot fixture that the 5th aspect including the disclosure provides.

To sum up, a kind of one side bearing caliper autonomous carrying implement provided according to disclosure first aspect can be provided Device people, the one side bearing caliper autonomous transfer robot include walking mechanism, the root that the second aspect of the disclosure provides The mechanical arm 3 provided according to the third aspect of the disclosure, the autonomous transfer robot provided according to the fourth aspect of the disclosure With fixture 4, the autonomous transfer robot load-bearing part 5 provided according to the 5th aspect of the disclosure.Wherein, for vehicle with walking machine For structure, driving motor 212 is electrically connected to the control system, to control the rotation of driving motor 212 by control system.For machine For tool arm 3, fixing seat 342 and guide rod 362 be can be set in shell 13, be fixed on the side of riser 12, and two machinery The screw rod 341 of arm 3 can be merged into one, i.e., the middle position that is fixed on the screw rod of fixing seat 342, the screw portion in left side are used Mechanical arm in left side, the screw portion on right side are used for the mechanical arm on right side.It is configured to the first driving device of hollow shaft motor 331, the second driving device 332 and third driving device 333 are electrically connected to the control system, and fixture 4 is fixed on to be driven as third In the hollow shaft of the hollow shaft motor of dynamic device 333.Alignment sensor, proximity sensor 45 in fixture 4, the first signal optical source 47, it takes pictures camera 491 and flash lamp 492 is electrically connected to the control system.RFID antenna 53 in load-bearing part 5, target object Detection device 54, second signal light source 55, scram button 56, binocular camera 57 and third obstacle avoidance sensor 58 are with control System electrical connection.In the autonomous transfer robot, there are two mechanical arm hand, two mechanical arm hands to move about autonomous for setting The longitudinal direction of dynamic transfer robot is arranged symmetrically.There are three load-bearing parts 5 for autonomous transfer robot setting, define riser Before 12 side for being provided with load-bearing part 5 is, after the other side is.Wherein, the load-bearing part 5 of the top is shown in Figure 19 and Figure 20 Embodiment construction, two load-bearing parts 5 of lower section constructs with embodiment shown in Figure 18, that is to say, that only have most Second signal light source 55, scram button 56, binocular camera 57 and third obstacle avoidance sensor are provided on the load-bearing part 5 of top 58, also the plate-like body 51 of the only load-bearing part 5 of the top has mainboard 511, sandwich plate 512 and cover board 513 to constitute.It below will be with The unmanned workshop of semiconductor factory is working environment, and the foup box of target object 400 will be used as to transport between shelf and board Defeated is action, is described with reference to the accompanying drawings the course of work of this autonomous transfer robot.

Firstly, driving walking mechanism is run to shelf after unloaded autonomous transfer robot receives instruction, Autonomous transfer robot is stood firm position towards shelf at this time, passes through the detection of distance detection device 113 and the goods of the left and right sides The distance between frame compares two distances, if equal, illustrates autonomous transfer robot face shelf, instead It, then control system controls the rotation of one or two driving wheel 21, and autonomous transfer robot is adjusted to and shelf To just.Later, the second driving device 332 operates, and fixture 4 is sent to the front of foup box to be clamped on shelf, is pressed from both sides at this time 491 pairs of fronts of camera of taking pictures on tool 4 are taken pictures, and visual signature point, the position of the fixture 4 of control system judgement at this time are grabbed It sets whether in aligned position, if it has, then the second driving device 332 of two manipulators synchronously drives rotating arm 32 around it Two fixtures 4 are synchronously moved forward to position to be clamped, that is, are located at the two sides of foup box by articulated shaft rotation.If Be it is no, then can by control first driving device 331 rotation with simultaneously be moved to the left or right two telescopic arms 31, to make It obtains fixture 4 and reaches aligned position.Later, the first driving device 331 for controlling two manipulators drives two telescopic arms 31 opposite Movement, so that two fixtures 4 are close to each other, so that the holding portion of foup box enters the grasping part of fixture 4, respectively It is maintained in supporting table 411 by the first elastic clamping pieces 421.When fixture 4 and foup box contact, if the end of locating piece 44 with Label alignment on foup box then issues confirmation signal to control system, and control fixture 4 continues relative motion, two fixtures 4 Elastic deformation occurs for the second elastic clamping pieces 422, opposite chucking power is provided from the two sides of foup box, locating piece 44 receives foup The thrust of box and retract, when close to the proximity sensor 45, proximity sensor 45 issues confirmation signal to control system, control 3 stop motion of system control machine tool arm processed, fixture 4 stop, and the first signal optical source 47 thereon issues green light, and instruction is completed The clamping of the foup box.If the end of locating piece 44 is not aligned with the label on foup box, issues alarm signal and give control system System, control system stop the movement of mechanical arm 3, and control the first signal optical source 47 and issue red light and/or voice signal, with It informs user, the position of foup box is adjusted, in order to which fixture 4 can be clamped correctly.

After fixture 4 is clamped to foup box, control system control mechanical arm 3 movement is placed with the foup box that will be clamped Wherein on a load-bearing part 5, for example, on the load-bearing part 5 of bottom.When Foup box is placed on load-bearing part 5, if foup box Positioning hole groove is matched with location structure 52, then object detecting device 54 issues confirmation signal to control system, indicates foup box It has been placed on the load-bearing part 5.By the RFID antenna 53 on load-bearing part 5, the FID code of the foup box can be read, to obtain Know the information for the foup box being placed on the load-bearing part 5.

Since then, the entrucking of a foup box is completed.

And so on, it can be after the entrucking for completing a upper foup box, control system controls walking mechanism, so that Autonomous transfer robot runs to next foup box being located on shelf to entrucking, carries out the entrucking of the foup box.

After fully loaded, control system control autonomous transfer robot runs to board and unloads.In the process of walking In, bottom plate image is shot by bottom camera 116, bottom plate feature is obtained, to determine the current institute of autonomous transfer robot In position, when deviation occurs in position, track compensation is carried out.When bottom plate feature can not confirm, binocular camera can be passed through The ambient image of 57 shootings determines the current location of autonomous transfer robot by slam algorithm.In the process of walking In, due to the walking mechanism for having used disclosure second aspect to provide, it can guarantee the ground pressure of two driving wheels 21, Ensure the direction of travel of its autonomous transfer robot.By the road conditions in ground distance detection device perception front, once it sends out Existing hollow or barrier, control system control autonomous transfer robot stop walking and alarming.Meanwhile it if being kept away by first Barrier sensor 114a and/or the second obstacle avoidance sensor 114b and/or third obstacle avoidance sensor 58 and/or crash sensor detect There is barrier on autonomous transfer robot direction of travel, then control system can control autonomous transfer robot and stop immediately It only walks and alarms.In addition, control system is sent out in target object detection device 54 if the foup box on load-bearing part 5 is taken away by people After the signal sent, control autonomous transfer robot stops walking and alarming immediately.

Bilateral carries caliper autonomous transfer robot:

According to the 6th of the disclosure the aspect, a kind of bilateral bearing-type autonomous transfer robot 200, the autonomous shifting are provided The distinguishing characteristics for the autonomous transfer robot that the first aspect of dynamic transfer robot and the disclosure provides is: according to this public affairs The riser 12 there are two settings in the bilateral bearing-type autonomous transfer robot that the 6th aspect opened provides, shell 13 Between two risers 12, enclosure space, the first driving dress of mechanical arm 3 are surrounded with the opposed facing side of two risers 12 The structure settings such as 331, screw rod 341, fixing seat 342 are set in the enclosure space.And two sides of two risers 12 outwardly are equal It is fixed with the load-bearing part 5, vertically direction is arranged the load-bearing part 5 positioned at the same side evenly and at intervals, with reference in Figure 21 It is shown.In view of space layout, in the bilateral bearing-type autonomous transfer robot of the 6th aspect offer of the disclosure not Operator control panel, i.e. human-computer interaction interface are set again.

According to the autonomous transfer robot that the 6th of the disclosure the aspect provides, multiple objects can be disposably carried Product 400.Its course of work specifically: firstly, unloaded autonomous transfer robot passes through the control vehicle with walking machine of control system The first position of stored target article 400 is arrived in structure 2, walking；Later, the posture of fixture 4 is controlled (around its own by control system The rotation angle of pivotal axis) and mechanical arm 3 movement, fixture 4 is sent to required position, pass through the movement of mechanical arm 3, realize folder Has the clamping of 4 pairs of target items 40；Later, by controlling the movement of mechanical arm 3, clamped target item 400 is placed on On one load-bearing part 5 of load carrier, " entrucking " of a target item 400 is thus completed.Later, above-mentioned work can be repeated Process, until being placed with target item 400 on whole load-bearing parts 5.Later, by controlling walking mechanism 2, autonomous is carried Robot integrally marches to target item 400 to be transported the second position extremely, by manipulator successively by target item 400 from It clamps and is sent to the correspondence placement location of the second position on its corresponding load-bearing part 5, realize " the unloading " of target item 400. In the process, the position of autonomous transfer robot can be changed, by control walking mechanism 2 in order to the work of manipulator Industry.By above description, the autonomous transfer robot that the disclosure provides can be realized automated handling target item 400, Without manually loading and unloading, and one way can transport multiple target items 400, effectively improve productive temp and working efficiency.Separately Outside, by being vertically sequentially arranged multiple supporting parts 5, the upper space of pedestal 11 can be effectively utilized, be beneficial to realize The miniaturization of autonomous transfer robot has wider array of application range and higher agility.

Based on the above, it is autonomous can also to obtain a kind of bilateral carrying caliper provided according to the 6th aspect of the disclosure Mobile transfer robot, bilateral carrying caliper autonomous transfer robot include the row that the second aspect of the disclosure provides Mechanism, the mechanical arm 3 provided according to the third aspect of the disclosure are provided, removed according to the autonomous that the fourth aspect of the disclosure provides The autonomous transfer robot load-bearing part 5 transporting robot fixture 4, being provided according to the 5th aspect of the disclosure.

Due to bilateral carrying caliper autonomous transfer robot and the unilateral side according to the offer of disclosure first aspect The above-mentioned distinguishing characteristics between caliper autonomous transfer robot is carried, therefore, the course of work also only exists at this Difference, i.e., in foup box (target object 400) entrucking, when side load-bearing part 5, which has corresponded to, fills foup box, need to continue by The load-bearing part 5 of the other side is also filled, and is unloaded.In addition, carrying caliper autonomous transfer robot for this bilateral For, can define any one longitudinal direction is front.

Single armed autonomous transfer robot

According to the 7th of the disclosure the aspect, a kind of single armed autonomous transfer robot 300 is provided, which carries The distinguishing characteristics between autonomous transfer robot that the first aspect of robot and the disclosure provides, may is that according to this It is only provided with a manipulator in the autonomous transfer robot that disclosed 7th aspect provides, with reference to shown in Figure 22, institute Stating manipulator includes mechanical arm 3 (in the autonomous transfer robot that the mechanical arm 3 can be provided with the first aspect of the disclosure Mechanical arm 3 it is identical) and the distal end that is pivotally connected to mechanical arm 3 for grabbing/discharging target object 400 handgrip 6 (and No longer it is fixture 4), the mechanical arm 3 is configured to movement so that the handgrip 6 reaches required position.

Other than above-mentioned distinguishing characteristics, according to the autonomous transfer robot of the 7th of the disclosure the aspect offer and this There can also be another distinguishing characteristics between the autonomous transfer robot that disclosed first aspect provides, which can It is provided with the autonomous transfer robot provided with the 6th aspect according to the disclosure and according to the first aspect of the disclosure Distinguishing characteristics between autonomous transfer robot is identical, i.e., is carried according to the autonomous that the 7th of the disclosure the aspect provides In robot, there are two the riser 12, shell 13 is located between two risers 12 for setting, with facing each other for two risers 12 Side surround enclosure space, the structure settings such as the first driving device 331 of mechanical arm 3, screw rod 341, fixing seat 342 are in the envelope It closes in space.And two sides of two risers 12 outwardly are respectively and fixedly provided with the load-bearing part 5, the load-bearing part positioned at the same side 5 vertically direction be arranged evenly and at intervals, with reference to shown in Figure 21.It is in view of space layout, no longer setting operator control panel, i.e., man-machine Interactive interface.

Through the above technical solutions, the autonomous transfer robot that the 7th aspect of the disclosure provides, can disposably remove Transport multiple target items 400.Its course of work specifically: firstly, unloaded autonomous transfer robot passes through control system Control walking mechanism 2, walking arrive stored target article 400 first position；Later, handgrip 6 is controlled by control system The movement of posture (around the rotation angle of its own pivotal axis) and mechanical arm 3, handgrip 6 is sent to required position, to grab target Article 40；Later, by controlling the movement of mechanical arm 3, one that the target item 400 grabbed is placed on load carrier is held In holder 5, " entrucking " of a target item 400 is thus completed.Later, the above-mentioned course of work can be repeated, until whole holds Target item 400 is placed in holder 5.Later, by controlling walking mechanism 2, autonomous transfer robot is integrally advanced The second position extremely is transported to target item 400, by manipulator successively by target item 400 from its corresponding load-bearing part It clamps and is sent to the correspondence placement location of the second position on 5, realize " the unloading " of target item 400.It in the process, can be with Change the position of autonomous transfer robot, by control walking mechanism 2 in order to the operation of manipulator.By retouching above It states, the autonomous transfer robot that the disclosure provides can be realized automated handling target item 400, it is loaded and unloaded without artificial, And one way can transport multiple target items 400, effectively improve productive temp and working efficiency.In addition, by will be multiple Supporting parts 5 are vertically sequentially arranged, and the upper space of pedestal 11 can be effectively utilized, and are beneficial to realize autonomous carrying implement The miniaturization of device people has wider array of application range and higher agility.

Wherein, handgrip 6 can construct in any suitable manner.Selectively, described with reference to shown in Figure 23 and Figure 24 Handgrip 6 includes handgrip main body 61, fixing clamp gripping member 62 and moveable gripping member 63, and the fixing clamp gripping member 62 is fixed on the handgrip Main body 61, the moveable gripping member 63 are movably connected in the handgrip main body 61, with can be close to and far from the fixing clamp Gripping member 62 cooperatively realizes the crawl and release to the target object 400 with the fixing clamp gripping member 62.

Selectively, the moveable gripping member 63 is connected to the handgrip main body 61 by sliding connection structure, with close With separate fixing clamp gripping member 62.In the specific embodiment that the disclosure provides, it can construct in any suitable manner described Sliding connection structure.Selectively, the sliding connection structure includes mutually matched sliding rail 641 and sliding slot 642, the sliding rail One of 641 and sliding slot 642 are set to the handgrip main body 61, and the other of the sliding rail 641 and sliding slot 642 are set to The moveable gripping member 63.For example, the sliding rail 641 is set to the handgrip main body 61.And in order to avoid sliding slot 642 is from sliding rail 641 are detached from, and the sliding slot 642 is it is so structured that dovetail groove.

It can be in the specific embodiment that the disclosure provides, between the moveable gripping member 63 and the handgrip main body 61 It is provided with actuator 65, the actuator 65 is for driving the movement of moveable gripping member 63 close to or far from the fixed clamp Part 62.Wherein, actuator 65 can construct in any suitable manner, and selectively, the actuator 65 is configured to cylinder, should The cylinder body of cylinder is fixed on the handgrip main body 61, and the moveable gripping member 63 is fixed in the end of the piston rod of the cylinder. When piston rod is stretched out from cylinder body, drive moveable gripping member 63 far from fixing clamp gripping member 62, to discharge target object 400.When When piston rod retract cylinder, drive moveable gripping member 63 close to fixing clamp gripping member 62, to grab target object 400.

In the specific embodiment that the disclosure provides, fixing clamp gripping member 62 can construct in any suitable manner.It can Selectively, the fixing clamp gripping member 62 include connect with the handgrip main body 61 be fixedly connected with portion 621, stationary gripping part 622 And it is connected to first middle interconnecting piece 623 being fixedly connected between portion 621 and the stationary gripping part 622, the activity Clamping piece 63 includes the active connection part 631 connecting with the handgrip main body 61, movable clamping part 632 and is connected to the activity The second middle interconnecting piece 633 between interconnecting piece 631 and the movable clamping part 632, first middle interconnecting piece 623 and institute State the second middle interconnecting piece 633 make it is described be fixedly connected portion 621 and the active connection part 631 and the handgrip main body 61 it Between have for the target object 400 grasping part, the stationary gripping part 622 and the movable clamping part 632 are each other Relatively extend, to be used for support target object 400.

In addition, the handgrip 6 further includes the joint block 66 for being pivotally connected to the distal end of the mechanical arm 3, the handgrip Main body 61 is fixed on the joint block 66.When mechanical arm 3 is the manipulator provided according to the third aspect of the disclosure, the joint block 66 are fixed on the hollow output shaft of the hollow shaft motor as third driving device.

In addition, in the specific embodiment that the disclosure provides, it can also be as disclosure fourth aspect provides in handgrip 6 As fixture 4, it is provided with the structures such as locating piece, alignment sensor, proximity sensor.

Based on the above, a kind of single armed autonomous carrying implement provided according to the 7th aspect of the disclosure can be also obtained Device people, the single armed autonomous transfer robot include the walking mechanism of the second aspect offer of the disclosure, according to the disclosure The mechanical arm 3 of third aspect offer, the autonomous transfer robot load-bearing part 5 provided according to the 5th aspect of the disclosure.

Due to bilateral carrying caliper autonomous transfer robot and the unilateral side according to the offer of disclosure first aspect The above-mentioned distinguishing characteristics between caliper autonomous transfer robot is carried, therefore, the course of work also only exists at this Difference, i.e., during entirely handling foup box (target object 400), using single manipulator, and it is right using above-mentioned handgrip 6 Foup box is grabbed and is discharged.In addition, in entrucking, when side load-bearing part 5, which has corresponded to, fills foup box, need to continue by The load-bearing part 5 of the other side is also filled, and is unloaded.In addition, carrying single arm type autonomous transfer robot for this bilateral For, can also define any one longitudinal direction is front.

The foregoing is merely the preferred embodiments of the disclosure, not to limit the disclosure, all essences in the disclosure Within mind and principle, any modification, equivalent replacement, improvement and so on be should be included within the protection scope of the disclosure.

Claims (10)

1. a kind of walking mechanism, which is characterized in that including pedestal (11) and be installed on two driving wheels of the pedestal (11) (21) and at least two driven wheels, the driving wheel (21) has central rotation axis, and the driving wheel (21) is articulated with institute It states pedestal (11), is provided with resilient bias between the pedestal (11) and the driving wheel (21), the of the resilient bias Pedestal described in the bias of one end (11), driving wheel described in the second end bias opposite with the first end of the resilient bias (21), so that the driving wheel (21) can be around the pivotal axis parallel with the central rotation axis and relative to institute Pedestal (11) is stated to move up and down.

2. walking mechanism according to claim 1, which is characterized in that the driving wheel (21) include mounting bracket (211), The driving wheel idler wheel for being fixed on the driving motor (212) of the mounting bracket (211), being fixed on driving motor (212) output shaft (213), the driving motor (212) drives the driving wheel idler wheel (213) to turn around the axis of the driving motor (212) output shaft Dynamic, the mounting bracket (211) is connect by pivotal axis (214) with the hinged seat (110) for being fixed on the pedestal (11), described Mounting bracket (211) described in the second end bias of resilient bias.

3. walking mechanism according to claim 2, which is characterized in that the resilient bias is configured to spring-loaded plunger (22), which is fixed on the pedestal (11), and the head of the spring-loaded plunger (22) is resisted against the installation Bracket (211) is for use as the second end.

4. walking mechanism according to claim 3, which is characterized in that there are two each driving wheel (21) is correspondingly arranged The spring-loaded plunger (22).

5. walking mechanism according to claim 1, which is characterized in that the pivotal axis (214) is configured to pin shaft, and one end is logical The head backstop of itself is crossed in the mounting bracket (211), the other end is by stop part backstop in the hinged seat (110).

6. walking mechanism according to claim 5, which is characterized in that the stop part is configured to clip (215).

7. walking mechanism according to claim 1, which is characterized in that the central rotation axis of two driving wheels (21) Collinearly, the driven wheel group includes two pairs of driven wheels, wherein along the direction of the central rotation axis, it is a pair of it is described from Driving wheel is located at the side of the driving wheel (21), and driven wheel described in another pair is located at the other side of the driving wheel (21).

8. walking mechanism according to claim 7, which is characterized in that two pairs of driven wheels are revolved about the center Shaft axis is arranged symmetrically.

9. walking mechanism described in any one of -8 according to claim 1, which is characterized in that the driven wheel is configured to universal It takes turns (23).

10. a kind of autonomous transfer robot, including pedestal (11), which is characterized in that the autonomous transfer robot It is provided with walking mechanism described in any one of -9 according to claim 1.