CN208629426U - Autonomous transfer robot - Google Patents
Autonomous transfer robot Download PDFInfo
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- CN208629426U CN208629426U CN201820503768.4U CN201820503768U CN208629426U CN 208629426 U CN208629426 U CN 208629426U CN 201820503768 U CN201820503768 U CN 201820503768U CN 208629426 U CN208629426 U CN 208629426U
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Abstract
This disclosure relates to a kind of autonomous transfer robot, comprising: main body including pedestal, is fixed on pedestal and riser that vertically direction upwardly extends;Walking mechanism, driving wheel and driven wheel including being installed on pedestal;Working mechanism, including a manipulator, the manipulator include that proximal end is connected to the mechanical arm of riser and is pivotally connected to the handgrip for being used to grab/discharge target object of the distal end of mechanical arm, and mechanical arm is configured to movement so that handgrip reaches required position;Load carrier, the load-bearing part including multiple plates for carrying target object, multiple load-bearing parts are fixed on riser and vertically direction interval is arranged;And control system, for controlling walking/stop and turning to for walking mechanism, and control mechanical arm movement and control handgrip grab/discharge target object.The autonomous transfer robot that the disclosure provides can be realized automated handling target item, without artificial handling, effectively improve productive temp and working efficiency.
Description
Technical field
This disclosure relates to automate mobile transfer robot technical field, and in particular, to a kind of autonomous carrying implement
Device people.
Background technique
Automated guided vehicle or automatic guided vehicle, characterized by wheel type mobile, zone of action is without being laid with track, branch
Mounting etc. fixes device, is not limited by place, road and space, has the characteristics that automaticity and flexibility, therefore answered extensively
For in automatic Material Handling System, realizing efficient, economic, flexible manless production.
For example, being equipped with the foup (front of silicon wafer usually using automatic guided vehicle transport in semiconductor producing system
Opening unified pod, front openings standard container), such as shelf are transported to from board, or be transported to board from shelf,
Or another shelf is transported to from a shelf.
However, existing automatic guided vehicle, usually can only once carry a foup, and need artificial handling, efficiency ten
Divide low.
Utility model content
Purpose of this disclosure is to provide a kind of autonomous transfer robot, which be can be realized
Automated handling target item effectively improves productive temp and working efficiency without artificial handling.
To achieve the goals above, the disclosure provides a kind of autonomous transfer robot, main body, including pedestal, fixation
In the riser that the pedestal and vertically direction upwardly extend;Walking mechanism, including be installed on the pedestal driving wheel and from
Driving wheel;Working mechanism, including a manipulator, the manipulator include that proximal end is connected to the mechanical arm of the riser and pivotally connects
Connect in the distal end of the mechanical arm for grabbing/discharging the handgrip of target object, the mechanical arm be configured to movement with
So that the handgrip reaches required position;Load carrier, the load-bearing part including multiple plates for carrying the target object,
Multiple load-bearing parts are fixed on the riser and vertically direction interval is arranged;And control system, for controlling the row
Walking/stop and turning to for mechanism is walked, and controls the movement of the manipulator and controls the handgrip and grab/discharge the target
Object.
Through the above technical solutions, the autonomous transfer robot that the disclosure provides can disposably carry multiple targets
Article.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 is arrived in structure, walking;Later, the posture of handgrip is controlled (around its own pivot by control system
The rotation angle of axis) and mechanical arm movement, handgrip is sent to required position, to grab target item;Later, by controlling machine
The target item grabbed is placed on a load-bearing part of load carrier by the movement of tool arm, thus completes an object
" entrucking " of product.Later, the above-mentioned course of work can be repeated, until being placed with target item on whole load-bearing parts.Later, lead to
Cross control walking mechanism, autonomous transfer robot integrally marches to target item to be transported the second position extremely, passes through
Target item is successively clamped from its corresponding load-bearing part and is sent to the correspondence placement location of the second position by manipulator, is realized
" unloading " of target item.In the process, the position of autonomous transfer robot can be changed by control walking mechanism,
In order to the operation of manipulator.By above description, the autonomous transfer robot that the disclosure provides can be realized automation
Target item is carried, without artificial handling, and one way can transport multiple target items, effectively improve productive temp and work
Make efficiency.In addition, the upper space of pedestal can be effectively utilized by being vertically sequentially arranged multiple supporting parts, it is beneficial
In the miniaturization for realizing autonomous transfer robot, there is wider array of application range and higher agility.
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 manipulator
The mechanical arm 3 of the riser 12 is connected to including proximal end and is pivotally connected to the fixture 4 of the distal end of the mechanical arm 3, it is described
Mechanical arm 3 is configured to so that the fixture 4 reaches required position, and two manipulators are set as moving with cooperating
To pass through two 4 clampings of fixture/release target objects 400;Load carrier, including for carrying the target object 400
Multiple plates load-bearing part 5, multiple load-bearing parts 5 are fixed on the same side (front side or rear side, Fig. 1 of the riser 12
To in embodiment shown in Fig. 7, load-bearing part 5 is both secured to the front side of riser 12, but in other embodiments, load-bearing part 5
The rear side of riser 12 can also be each attached to), and vertically direction interval is arranged;And control system, for controlling the row
Walk walking/stop and turning to for mechanism, 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 be placed on a load-bearing part 5 of load carrier, thus complete a target item 400 " entrucking ".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 the binocular camera that will be described below 57 (to set
It sets 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, uses
In crawl ambient enviroment feature), position and by track compensating approach position to autonomous transfer robot itself
Deviation.Four corners of the pedestal 11 are provided with the ground distance detection device being electrically connected with the control system, will
The range information detected is sent to control system, and whether information judges the bottom surface in front of traveling to control system according to this distance
It is smooth, 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 autonomous transfer robot mechanical arm provided according to the disclosure third aspect, the fixture in manipulator can be with structure
Make the autonomous transfer robot fixture to provide according to disclosure fourth aspect.
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.
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.
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 being fixed on institute
The hinged seat 110 for stating pedestal 11 connects, wherein pivotal axis 214 can construct in any suitable manner, for example, can construct
For pin shaft, one end is by the head backstop of itself in mounting bracket 211, and the other end is by stop part backstop in hinged seat 110, example
Such as by 215 backstop of clip in hinged seat 110, as shown in Figure 11.Described in the second end bias of the resilient bias
Mounting bracket 211.As a kind of selection, the resilient bias can be structured as spring-loaded plunger 22, and the spring-loaded plunger 22 is fixed
In 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.This
Outside, 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) passes through driving the second driving device 332 driving rotation
The arm joint of arm 32 is rotated around its respective articulated shaft, and capable of adjusting clamping device, (i.e. XZ is flat in the plane vertical with transverse direction
Face) in position, therefore, by the disclosure provide mechanical arm, clamping device can be sent to some position in space.And
Due to 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
Be for setting it is determining, therefore, by driving first driving device 331 and the second driving device 332, enable to clamping device
Position to be held is reached, to prepare to clamp the target object 400.Later, in a lateral direction by driving telescopic arm 31
Mobile or driving arm joint is rotated around the articulated shaft of its own, enables to clamping device to reach clip position, to clamp the mesh
Mark 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, clamping device even target object 400
Weight 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, described
Hollow shaft 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
First fixed plate 351 and the second fixed plate 352 are both secured to sliding block 361, the sliding block 361 be provided with setting for the mechanical arm 3
The standby set guide rod 362 extended along the transverse direction matches, so that telescopic arm 31, rotating arm 32, clamping dress
Setting even target object 400 can move in a lateral direction with the rotation of hollow shaft motor.In this case, hollow shaft
The weight of motor and telescopic arm 31, rotating arm 32, clamping device even target object 400 all passes through the first fixed plate 351 and the
The cooperation of two fixed plates 352 and sliding block 361 and guide rod 362 passes to the equipment, is undertaken by the equipment.In Figure 17 and figure
In specific embodiment shown in 18, guide rod 362 is arranged on the riser 12 of autonomous transfer robot.Selectively, institute
It states telescopic arm 31 to extend 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 hollow shaft electricity between the proximal end and the telescopic arm 31 of first arm joint 321
Machine is hinged, and the distal end of first arm joint 321 is with second arm joint 322 proximally by second driving device 332
Hingedly, 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, Figure 14 to Figure 17 are provided
Show a kind of its embodiment.The fixture 4 includes jig main body 41 and elastic clamping pieces, and the jig main body 41 is arranged
There are the supporting table 411 for target object 400 and the boss 412 higher than the supporting table 411, the elastic clamping pieces have solid
Surely it is 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
It is matched with the supporting table 411 and releasedly clamps 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 it before clamping target object 400
Front is taken 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, Figure 18 to Figure 20 are provided
A kind of embodiment being shown in which.Referring to figs. 18 to shown in Figure 20, the load-bearing part 5 includes: plate-like body 51, tool
There is the load-bearing surface for carrying target object 400;Location structure 52, the location structure 52 are fixed on the load-bearing surface, use
It is matched in the positioning hole groove of the target object 400, to limit the target object 400 in the plate-like body 51
It is mobile;RFID antenna 53, the RFID antenna 53 are fixed on the plate-like body 51, for reading the volume of the target object 400
Number;And target object detection device 54, which is 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 target object detection device 54 includes from load-bearing surface test section outstanding, when the target object
When 400 positioning hole groove is matched with the location structure 52, which can contract under the gravity of target object 400
It returns in the plate-like body 51, the target object detection device 54 issues confirmation signal, has the target object with instruction
400 are placed 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 sandwich plate 512 are made of a translucent or transparent material, and second signal light source 55 is issued
Light scatters to ambient enviroment, for user from multiple angles and multiple positions.In addition, being provided with urgency on the cover board 513
Stop 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 with Figure 19 and Figure 20 institute
The embodiment construction shown, two load-bearing parts 5 of lower section are constructed with embodiment shown in Figure 18, that is to say, that only
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 the 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
Whether set in aligned position, if it has, then the second driving device 332 of two manipulators synchronously drive rotating arm 32 around
Two fixtures 4 are synchronously moved forward to position to be clamped, that is, are located at the two sides of foup box by the rotation of its articulated shaft.
If it has not, can then be rotated by control first driving device 331 to be moved to the left or right two telescopic arms 31 simultaneously, thus
So that fixture 4 reaches aligned position.Later, the first driving device 331 for controlling two manipulators drives two 31 phases of telescopic arm
To 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,
It is maintained in supporting table 411 by the first elastic clamping pieces 421 respectively.When fixture 4 and foup box contact, if locating piece 44
End is aligned with the label on foup box, then to control system issue confirmation signal, control fixture 4 continue relative motion, two
Elastic deformation occurs for the second elastic clamping pieces 422 of fixture 4, and opposite chucking power, locating piece 44 are provided from the two sides of foup box
It receives the thrust of foup box and retracts, when close to the proximity sensor 45, proximity sensor 45 issues confirmation signal to control
System processed, control system control 3 stop motion of mechanical arm, and fixture 4 stops, and the first signal optical source 47 thereon issues green light
The clamping of the foup box is completed in line, instruction.If the end of locating piece 44 is not aligned with the label on foup box, alarm is issued
For signal to control system, control system stops the movement of mechanical arm 3, and control the first signal optical source 47 issue red light and/
Or voice signal adjusts the position of foup box, to inform user 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 target object detection device 54 issues confirmation signal to control system, instruction
Foup box 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 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 pressure over the ground of two driving wheels 21
Power, it is ensured that the direction of travel of its autonomous transfer robot.By the road conditions in ground distance detection device perception front, once
It was found that hollow or barrier, control system control autonomous transfer robot stops walking and alarming.Meanwhile if passing through first
Obstacle avoidance sensor 114a and/or the second obstacle avoidance sensor 114b and/or third obstacle avoidance sensor 58 and/or crash sensor inspection
Measuring on autonomous transfer robot direction of travel has barrier, then it is vertical to control autonomous transfer robot for control system
Stop walking and alarming.In addition, control system is in target object detection device if the foup box on load-bearing part 5 is taken away by people
After 54 signals 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
There are two the riser 12, shells 13 for setting in the bilateral bearing-type autonomous transfer robot that the 6th aspect opened provides
Between two risers 12, enclosure space, the first driving of mechanical arm 3 are surrounded with the opposed facing side of two risers 12
The structure settings such as device 331, screw rod 341, fixing seat 342 are in the enclosure space.And two sides of two risers 12 outwardly
It is respectively and fixedly provided 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 to Figure 21
Shown in.In view of space layout, in the bilateral bearing-type autonomous transfer robot of the 6th aspect offer of the disclosure
Operator control panel, i.e. human-computer interaction interface are no longer set.
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
Clamping of the fixture 4 to target item 40;Later, by controlling the movement of mechanical arm 3, clamped target item 400 is placed
On a load-bearing part 5 of load carrier, " entrucking " of a target item 400 is thus completed.Later, above-mentioned work can be repeated
Make process, until being placed with target item 400 on whole load-bearing parts 5.Later, by controlling walking mechanism 2, autonomous is removed
Fortune robot integrally marches to target item 400 to be transported the second position extremely, by manipulator successively by target item 400
It clamps and is sent to the correspondence placement location of the second position from its corresponding load-bearing part 5, realize " unloading for target item 400
Vehicle ".In the process, the position of autonomous transfer robot can be changed, by control walking mechanism 2 in order to manipulator
Operation.By above description, the autonomous transfer robot that the disclosure provides can be realized automated handling target item
400, without artificial handling, and one way can transport multiple target items 400, effectively improve productive temp and work effect
Rate.In addition, the upper space of pedestal 11 can be effectively utilized, be beneficial to by being vertically sequentially arranged multiple supporting parts 5
It realizes the miniaturization of autonomous transfer robot, there is 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, shells 13 to be located between two risers 12 for setting, the mutual face with two risers 12
Pair side surround enclosure space, the structure settings such as the first driving device 331 of mechanical arm 3, screw rod 341, fixing seat 342 exist
In the enclosure space.And two sides of two risers 12 outwardly are respectively and fixedly provided with the load-bearing part 5, positioned at being held described in the same side
Vertically direction is arranged holder 5 evenly and at intervals, with reference to shown in Figure 21.In view of space layout, no longer setting operator control panel, i.e.,
Human-computer interaction 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
The second middle interconnecting piece 633 is stated described to be fixedly connected with portion 621 and the active connection part 631 and the handgrip main body 61
Between there is grasping part for the target object 400, the stationary gripping part 622 and the movable clamping part 632 that
This relatively extends, 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, when side load-bearing part 5, which has corresponded to, fills foup box, needing to continue in entrucking
The load-bearing part 5 of the other side is also filled, is unloaded.In addition, carrying single arm type autonomous conveying robot for this bilateral
For people, 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 (44)
1. a kind of autonomous transfer robot characterized by comprising
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 a manipulator, the manipulator include the mechanical arm (3) and pivot that proximal end is connected to the riser (12)
It is connected to the handgrip (6) for being used to grab/discharge target object (400) of the distal end of the mechanical arm (3), the mechanical arm with turning
(3) movement is configured to so that the handgrip (6) reaches required position;
Load carrier, the load-bearing part (5) including multiple plates for carrying the target object (400), multiple carryings
Part (5) is fixed on the riser (12) and vertically direction interval is arranged;And
Control system, for controlling walking/stop and turning to for the walking mechanism, and the movement and control of the control manipulator
Handgrip (6) crawl/release target object (400).
2. autonomous transfer robot according to claim 1, which is characterized in that including pedestal (11) and be installed on
Two driving wheels (21) of the pedestal (11) and at least two driven wheels, the driving wheel (21) have central rotation axis, and
The driving wheel (21) is articulated with the pedestal (11), is arranged between the pedestal (11) and the driving wheel (21) flexible inclined
Casting die, pedestal (11) described in the first end bias of the resilient bias, the resilient bias it is opposite with the first end
Driving wheel described in second end bias (21), so that the driving wheel (21) can be around the pivot parallel with the central rotation axis
Shaft axis is rotated and is moved up and down relative to the pedestal (11).
3. autonomous transfer robot according to claim 2, which is characterized in that the driving wheel (21) includes installation
Bracket (211), is fixed on driving motor (212) output shaft at the driving motor (212) for being fixed on the mounting bracket (211)
Driving wheel idler wheel (213), the driving motor (212) are electrically connected with the control system and for driving the driving wheel idler wheel
(213) it is rotated around the axis of the driving motor (212) output shaft, the mounting bracket (211) passes through pivotal axis (214) and solid
Hinged seat (110) due to the pedestal (11) connects, mounting bracket described in the second end bias of the resilient bias
(211)。
4. autonomous transfer robot according to claim 3, which is characterized in that the resilient bias is configured to bullet
Spring plunger (22), which is fixed on the pedestal (11), and the head of the spring-loaded plunger (22) is resisted against institute
Mounting bracket (211) is stated for use as the second end.
5. autonomous transfer robot according to claim 4, which is characterized in that each driving wheel (21) is corresponding
There are two the spring-loaded plunger (22) for setting.
6. autonomous transfer robot according to claim 3, which is characterized in that the pivotal axis (214) is configured to
Pin shaft, one end is by the head backstop of itself in the mounting bracket (211), and the other end is by stop part backstop in described hinged
Seat (110).
7. autonomous transfer robot according to claim 6, which is characterized in that the stop part is configured to clip
(215)。
8. autonomous transfer robot according to claim 2, which is characterized in that in two driving wheels (21)
Heart rotation axis is conllinear, and the driven wheel group includes two pairs of driven wheels, wherein along the direction of the central rotation axis,
A pair of driven wheel is located at the side of the driving wheel (21), and driven wheel described in another pair is located at the another of the driving wheel (21)
Side.
9. autonomous transfer robot according to claim 8, which is characterized in that two pairs of driven wheels about
The central rotation axis is arranged symmetrically.
10. autonomous transfer robot according to claim 1 or 2, which is characterized in that the driven wheel is configured to ten thousand
To wheel (23).
11. autonomous transfer robot according to claim 1, which is characterized in that the mechanical arm (3) includes flexible
Arm (31), driving device rotating arm (32) and be electrically connected with the control system, the rotating arm (32) include it is multiple successively
Hinged arm joint, the proximal hinge of the rotating arm (32) in the distal end of the telescopic arm (31), the rotating arm (32) it is remote
For being pivotally connected to the handgrip (6), the driving device includes: for driving the telescopic arm (31) in transverse direction at end
The first driving device (331) of upper movement and for drive the arm joint around its own articulated shaft rotate the second driving device
(332), wherein the articulated shaft of the arm joint itself is parallel each other and is parallel to the transverse direction.
12. autonomous transfer robot according to claim 11, which is characterized in that the first driving device
(331) it is configured to motor, the telescopic arm (31) passes through the output axis connection of transmission device and the motor, so that described defeated
The rotary motion of shaft can be converted to linear motion of the telescopic arm (31) in the transverse direction.
13. autonomous transfer robot according to claim 12, which is characterized in that the motor is hollow shaft electricity
Machine, the transmission device are configured to lead screw gear, including mutually matched screw rod (341) and nut, the screw rod (341)
Fixed by fixing seat (342), the nut is fixed on the hollow output shaft of the hollow shaft motor, the hollow shaft motor with
The telescopic arm (31) is fixedly connected.
14. autonomous transfer robot according to claim 13, which is characterized in that the hollow shaft motor is fixed on
First fixed plate (351), the telescopic arm (31) are fixed on the second fixed plate (352), first fixed plate (351) and second
Fixed plate (352) is both secured to sliding block (361), the sliding block (361) be provided in the equipment of the mechanical arm (3) it is set
The guide rod (362) extended along the transverse direction matches.
15. autonomous transfer robot according to claim 11, which is characterized in that second driving device
It (332) is hollow shaft motor, the rotating arm (32) includes the first arm joint (321) and the second arm joint (322), first arm joint
(321) hinged by a hollow shaft motor between proximal end and the telescopic arm (31), first arm joint (321) it is remote
End is hinged proximally by second driving device (332) with second arm joint (322).
16. autonomous transfer robot according to claim 11, which is characterized in that the extending direction of the arm joint with
The transverse direction is vertical, and the arm joint is hollow;The telescopic arm (31) along the transverse direction extend and it is hollow.
17. autonomous transfer robot described in any one of 1-16 according to claim 1, which is characterized in that the drive
Dynamic device further includes the third driving device (333) for driving the handgrip (6) around the pivot axis of its own, the pivot
Shaft is arranged in parallel to the transverse direction.
18. autonomous transfer robot according to claim 17, which is characterized in that the third driving device
(333) be hollow shaft motor, hollow shaft motor setting in the distal end of the rotating arm (32), the hollow shaft motor it is hollow
Axis with the handgrip (6) for connecting.
19. autonomous transfer robot according to claim 1, which is characterized in that the handgrip (6) includes handgrip master
Body (61), fixing clamp gripping member (62) and moveable gripping member (63), the fixing clamp gripping member (62) are fixed on the handgrip main body
(61), the moveable gripping member (63) is movably connected in the handgrip main body (61), with can be close to and far from the fixation
Clamping piece (62) cooperatively realizes crawl and release to the target object (400) with the fixing clamp gripping member (62).
20. autonomous transfer robot according to claim 19, which is characterized in that the moveable gripping member (63) is logical
It crosses sliding connection structure and is connected to the handgrip main body (61), the sliding connection structure includes mutually matched sliding rail (641)
With sliding slot (642), one of the sliding rail (641) and sliding slot (642) are set to the handgrip main body (61), the sliding rail
(641) and the other of sliding slot (642) is set to the moveable gripping member (63).
21. autonomous transfer robot according to claim 20, which is characterized in that the sliding rail (641) is set to
The handgrip main body (61).
22. autonomous transfer robot according to claim 20, which is characterized in that the sliding slot (642) is configured to
Dovetail groove.
23. autonomous transfer robot according to claim 19, which is characterized in that the moveable gripping member (63) with
The actuator (65) being electrically connected with the control system is provided between the handgrip main body (61), the actuator (65) is for driving
The moveable gripping member (63) movement is moved close to or far from the fixing clamp gripping member (62).
24. autonomous transfer robot according to claim 23, which is characterized in that the actuator (65) is configured to
Cylinder, the cylinder body of the cylinder are fixed on the handgrip main body (61), and the activity is fixed in the end of the piston rod of the cylinder
Clamping piece (63).
25. autonomous transfer robot according to claim 19, which is characterized in that fixing clamp gripping member (62) packet
Include connect with the handgrip main body (61) be fixedly connected with portion (621), stationary gripping part (622) and be connected to described be fixedly connected
The first middle interconnecting piece (623) between portion (621) and the stationary gripping part (622), the moveable gripping member (63) include
The active connection part (631) that connect with the handgrip main body (61), movable clamping part (632) and it is connected to the active connection part
(631) the second middle interconnecting piece (633) between the movable clamping part (632), first middle interconnecting piece (623) and
Second middle interconnecting piece (633) is fixedly connected with portion (621) and the active connection part (631) and the handgrip described in making
There is the grasping part for the target object (400), the stationary gripping part (622) and the activity between main body (61)
Clamping part (632) extends relative to one another;
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) it is fixed on the joint block (66).
26. autonomous transfer robot according to claim 1, which is characterized in that the load-bearing part (5) includes:
Plate-like body (51) has the load-bearing surface for carrying target object (400),
Location structure (52), the location structure (52) be fixed on the load-bearing surface, for determining with the target object (400)
Position hole slot matches, to limit movement of the target object (400) on the plate-like body (51),
RFID antenna (53), the RFID antenna (53) are electrically connected with the control system and are fixed on the plate-like body (51),
For reading the number of the target object (400), and
Target object detection device (54), target object (400) detection device are electrically connected and are fixed on the control system
The plate-like body (51), for detecting whether there is target object (400) to be placed on load-bearing part (5).
27. autonomous transfer robot according to claim 26, which is characterized in that location structure (52) setting
For three positioning columns, three positioning columns are triangle arrangement in line, and the target object detection device (54) includes
From load-bearing surface test section outstanding, when the positioning hole groove of the target object (400) is matched with the location structure (52)
When, which can be retracted into the plate-like body 51 under the gravity of target object (400), the target object
Detection device (54) issues confirmation signal, has the target object (400) to be placed on the load-bearing surface with instruction.
28. autonomous transfer robot according to claim 26, which is characterized in that the RFID antenna (53) and institute
Target object detection device (54) neighbouring setting is stated, in order to be routed.
29. autonomous transfer robot according to claim 26, which is characterized in that the target object detection device
(54) it is configured to photoelectric sensor.
30. the autonomous transfer robot according to any one of claim 26-29, which is characterized in that the plate
Shape main body (51) includes the mainboard (511), sandwich plate (512) and cover board (513) for being successively overlapped connection, the sandwich plate (512)
Aperture (5121) are provided with,
The second signal light source (55) being electrically connected with the control system, the second signal are provided in the aperture (5121)
Light source (55) can issue the light of multiple color, and the light of each color indicates a kind of operating condition;The cover board (513) and described
Sandwich plate (512) is made of a translucent or transparent material, with light transmission;It is provided on the cover board (513) and is with the control
The scram button (56) of system electrical connection.
31. autonomous transfer robot according to claim 30, which is characterized in that the second signal light source (55)
Be configured to strip, and be provided with four second signal light sources (55) in the aperture (5121), be respectively facing it is forward and backward,
It is left and right to emit beam.
32. autonomous transfer robot according to claim 30, which is characterized in that the cover board (513) and described
Sandwich plate (512) is made of pmma material.
33. autonomous transfer robot according to claim 26, which is characterized in that the load-bearing part (5) is provided with
The binocular camera (57) being electrically connected with the control system, the binocular camera (57) are fixed on the plate-like body (51).
34. autonomous transfer robot according to claim 33, which is characterized in that the load-bearing part (5) is provided with
The third obstacle avoidance sensor (58) being electrically connected with the control system, the third obstacle avoidance sensor (58) are fixed on the plate master
Body (51).
35. autonomous transfer robot according to claim 34, which is characterized in that the third obstacle avoidance sensor
(58) there are two setting, the binocular camera (57) is located between two obstacle avoidance sensors (58).
36. autonomous transfer robot according to claim 1, which is characterized in that the pedestal (11) is provided with position
On front side of the autonomous transfer robot and/or rear side along the autonomous transfer robot transverse direction interval cloth
Two distance detection devices (113) set, for detecting the distance between the autonomous transfer robot and shelf, institute
It states distance detection device (113) to be electrically connected with the control system, according to the distance signal of the distance detection device (113)
Control the walking mechanism (2) so that the autonomous transfer robot with for storing the target object (400)
Shelf to just.
37. autonomous transfer robot according to claim 36, which is characterized in that the distance detection device
(113) it is configured to infrared sensor.
38. autonomous transfer robot according to claim 1, which is characterized in that the front side of the pedestal (11) and
Rear side is provided with the first obstacle avoidance sensor (114a) for detecting peripheral obstacle, first obstacle avoidance sensor (114a) with
The control system electrical connection, the control system receive after the danger signal that first obstacle avoidance sensor (114a) issues
It controls the walking mechanism (2) stop motion and sounds an alarm.
39. the autonomous transfer robot according to claim 38, which is characterized in that first obstacle avoidance sensor
The left side and/or right side of (114a) are provided with the second obstacle avoidance sensor (114b).
40. autonomous transfer robot according to claim 39, which is characterized in that first obstacle avoidance sensor
(114a) includes two infrared sensors being located on front side of the autonomous transfer robot with rear side.
41. the autonomous transfer robot according to claim 38, which is characterized in that the pedestal (11) is provided with two
A anticollision strip (115) being centered around on the outside of the pedestal (11).
42. autonomous transfer robot according to claim 41, which is characterized in that set in the anticollision strip (115)
It is equipped with the crash sensor being electrically connected with the control system, the control system receives the danger that the crash sensor issues
It controls the walking mechanism (2) stop motion after signal and sounds an alarm.
43. autonomous transfer robot according to claim 1, which is characterized in that the main body includes erecting with described
Plate (12) surrounds the shell (13) of enclosure space, is provided with operator control panel (14) on the shell, which is obliquely installed,
In order to man-machine interactive operation, the control system includes the operator control panel (14).
44. autonomous transfer robot according to claim 1, which is characterized in that the lower surface of the pedestal (11)
On be provided with the bottom camera (116) being electrically connected with the control system, four corners of the pedestal (11) are respectively provided with
There is the ground distance detection device being electrically connected with the control system.
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WO2019196755A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Autonomous moving transfer robot |
WO2019196754A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Autonomous mobile transfer robot |
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Effective date of registration: 20230418 Address after: Room 218-J, Building B, Management Committee of Jiangbei Industrial Concentration Zone, Wuhu City, Anhui Province Patentee after: Wuhu Xiangrui Environmental Protection Technology Co.,Ltd. Address before: Tokyo Patentee before: AIROBOT Co.,Ltd. |