JP7180906B2 - Autonomous mobile transfer robot and its chuck and operating mechanism - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to the technical field of automated mobile transfer robots, and more particularly to a chuck for an autonomous mobile transfer robot, an actuation mechanism, and an autonomous mobile transfer robot.

The automatic guided vehicle or unmanned guided vehicle is characterized by wheeled movement, does not need to lay rails, bracket frames and other fixing devices in its movement area, is not restricted by location, road or space, and is automatic and flexible. have gender characteristics. Therefore, it is widely applied to automated logistics systems and realizes efficient, economical and flexible unmanned production.

For example, in a semiconductor production system, generally, a foup (front opening unified pod) containing silicon wafers is transported by an automated guided vehicle, for example, from a machine stand to a shelf. or transport from shelf to platform, or transport from one shelf to another.

However, conventional AGVs typically can only transport one foup at a time and require manual loading and unloading, which is sufficiently inefficient.

An object of the present disclosure is to provide a chuck for an autonomous mobile transfer robot for holding and releasing an object.

To achieve the above object, the present disclosure provides a chuck for an autonomous mobile transfer robot, the chuck comprising a chuck body and an elastic clamping member, the chuck body including a support base for an object and the A boss higher than the support platform is provided, and the resilient clamping member has a proximal end fixedly connected to the boss and a distal end opposite the proximal end, the distal end abutting the object. , fit into the support base to releasably clamp the object.

Based on the above technical solution, the present disclosure further provides an operating mechanism for an autonomous mobile transfer robot, the operating mechanism comprising a pair of manipulators, each manipulator comprising a robot arm and the above autonomous a chuck for a mobile transfer robot, said chuck being connected to a distal end of said robot arm, said chucks in each pair of said manipulators cooperating with each other to clamp/release said object; , Of the two chucks in each pair of said manipulators, one front side is provided with a photographic camera and the other front side is provided with a flash lamp.

In addition, the present disclosure further provides an autonomous mobile transfer robot including the above chuck mechanism for an autonomous mobile transfer robot.

Through the above technical solution, the chuck for an autonomous mobile transfer robot provided by the present disclosure provides a support base for the object by providing the chuck body, and when the object is clamped, the object is supported through the support base. When the distal end of the elastic clamping member abuts against the object, the object can be held on the support base, thereby clamping the object and interlocking the movement of the object. When the object needs to be released, the chuck can be released directly, causing the object to separate from the support table so as to release the object, and the elastic clamping member will no longer abut the object, thereby release the object.

Other features and advantages of the present disclosure are described in detail in the Specific Embodiments section below.

The drawings are used to provide a further understanding of the disclosure and constitute a part of the specification. In conjunction with the following specific embodiments, they are used to interpret, but do not constitute a limitation of, this disclosure.

1 is a three-dimensional schematic diagram of an autonomous mobile carrier robot provided by an embodiment of the first aspect of the present disclosure; FIG. 1 is a schematic front view of an autonomous mobile carrier robot provided by an embodiment of the first aspect of the present disclosure; FIG. 1 is a schematic front view of an autonomous mobile carrier robot provided by an embodiment of the first aspect of the present disclosure, without the skirt plate to show the structural members within the pedestal; FIG. 1 is a schematic side view of an autonomous mobile carrier robot provided by an embodiment of the first aspect of the present disclosure; FIG. 1 is a schematic side view of an autonomous mobile carrier robot provided in accordance with an embodiment of the first aspect of the present disclosure, without showing the skirt plate to show the structural members within the pedestal; FIG. 1 is a rear schematic view of an autonomous mobile carrier robot provided by an embodiment of the first aspect of the present disclosure; FIG. 1 is a schematic top view of an autonomous mobile carrier robot provided by an embodiment of the first aspect of the present disclosure; FIG. FIG. 3 is a three-dimensional schematic diagram of a traveling mechanism provided by an embodiment of the second aspect of the present disclosure; FIG. 10 is another three-dimensional schematic diagram of the traveling mechanism provided by the embodiment of the second aspect of the present disclosure; Fig. 3 is another schematic three-dimensional view of the traveling mechanism provided by the embodiment of the second aspect of the present disclosure, without the driven wheels shown; FIG. 4 is a three-dimensional schematic diagram of a main driving wheel in a traveling mechanism provided by an embodiment of the second aspect of the present disclosure; Fig. 3 is a three-dimensional schematic diagram of a robotic arm provided by an embodiment of the third aspect of the present disclosure; Fig. 3 is another three-dimensional schematic view of a robotic arm provided by an embodiment of the third aspect of the present disclosure, in which it can be observed that the arm section is hollow, and the second drive and the third The drive can be observed. FIG. 10 is a three-dimensional schematic diagram of a jig for an autonomous mobile carrier robot provided by an embodiment of the fourth aspect of the present disclosure; FIG. 11 is a three-dimensional schematic diagram of another direction of the jig for the autonomous mobile carrier robot provided by the embodiment of the fourth aspect of the present disclosure; FIG. 11 is another three-dimensional schematic diagram of the jig for autonomous mobile transfer robot provided by the embodiment of the fourth aspect of the present disclosure, wherein the seal plate is not shown in the diagram to show the internal structure; FIG. 11 is a schematic top view of the internal structure of a jig for an autonomous mobile carrier robot provided by an embodiment of the fourth aspect of the present disclosure; FIG. 11 is a three-dimensional schematic diagram of a support member for an autonomous mobile carrier robot provided by an embodiment of the fifth aspect of the present disclosure; FIG. 11 is a three-dimensional schematic diagram of a support member for an autonomous mobile carrier robot provided by another embodiment of the fifth aspect of the present disclosure; FIG. 11 is a three-dimensional schematic diagram of a support member for an autonomous mobile carrier robot provided by another embodiment of the fifth aspect of the present disclosure, with the covering plate omitted to show the internal structure; FIG. 12 is a schematic side view of an autonomous mobile carrier robot provided by an embodiment of the sixth aspect of the present disclosure; FIG. 11 is a three-dimensional schematic diagram of an autonomous mobile carrier robot provided by an embodiment of the seventh aspect of the present disclosure; FIG. 11 is a three-dimensional schematic diagram of a gripper of an autonomous mobile carrier robot provided by an embodiment of the seventh aspect of the present disclosure; FIG. 11 is another perspective three-dimensional schematic view of the gripper of the autonomous mobile carrier robot provided by the embodiment of the seventh aspect of the present disclosure;

Hereinafter, specific embodiments of the present disclosure will be described in detail in combination with drawings. It should be understood that the specific embodiments described herein are used only to describe and interpret this disclosure, and not to limit this disclosure.

In this disclosure, for convenience of understanding, the autonomous mobile carrier robot is defined to have length, width and height corresponding to the vertical direction (X direction), horizontal direction (Y direction) and vertical direction (Z direction), respectively. However, without the reverse explanation, the positional words used, e.g. "Left, Right" means "front, back" in the longitudinal direction, "inside, outside" means inside or outside with respect to the contour of the corresponding member, and "far, near" is the distance of a member or structure. means near and far above. It should be noted that the terms “first”, “second”, “third”, “fourth”, etc. used in this disclosure are only for distinguishing one element from another, or of no importance.

Single Sided Double Arm Autonomous Mobile Transfer Robot According to a first aspect of the present disclosure, a single side mounted double arm autonomous mobile transfer robot is provided, FIGS. 1-7 showing one embodiment. As shown in FIG. 1, the single-sided double-arm autonomous mobile carrier robot 100 includes a base 11, a main body having a vertical plate 12 fixed to the base 11 and extending vertically upward, and the base. 11, and two manipulators, each manipulator having a robot arm 3 whose proximal end is connected to said vertical plate 12, and a distal end of said robot arm 3. said robot arm 3 is arranged to enable said jig 4 to reach a desired position, and two said manipulators are arranged to move in cooperation with each other. , an actuating mechanism for clamping/releasing an object 400 by means of the two jigs 4; (front side or rear side; in the embodiment shown in FIGS. 1 to 7, the mounting members 5 are both fixed to the front side of the vertical plate 12; in other embodiments, the mounting members 5 may be fixed to the rear side of the vertical plate 12) and vertically spaced mounting mechanisms, which control the run/stop and bending of the travel mechanism, and the movement of the manipulator. and a control system for controlling the

Through the above technical solution, the autonomous mobile transport robot provided by the first aspect of the present disclosure can transport a plurality of objects 400 at one time. Specifically, the operation process is as follows. First, the vacant autonomous mobile carrier robot controls the traveling mechanism 2 by the control system so as to travel to the first position where the object 400 is stored, and then the shape of the jig 4 (its own pivot axis The control system controls the rotation angle) and the movement of the robot arm 3, feeds the jig 4 to a desired position, clamps the object 400 with the jig 4 by the movement of the robot arm 3, and then moves the robot arm 3. By controlling the movement, the clamped object 400 is placed on one mounting member 5 of the mounting mechanism, thereby completing the "stacking" of one object 400 . The above working process can then be repeated until all mounting members 5 have an object 400 on them. After that, by controlling the traveling mechanism 2, the entire autonomous mobile transfer robot advances to the second position where the object 400 should be transported, and the manipulator sequentially clamps the object 400 from the corresponding mounting member 5 to the second position. , the object 400 is sent to the corresponding placement position, and the object 400 is "unloaded". In this process, the position of the autonomous mobile carrier robot can be changed by controlling the traveling mechanism 2 so that the manipulator can operate easily. Through the above description, the autonomous mobile transfer robot provided by the present disclosure can realize automated transfer of objects 400 without manual loading and unloading, and can transfer multiple objects 400 at one time. , effectively improve the production rhythm and operating efficiency. By arranging the plurality of support members 5 in order in the vertical direction, the upper space of the pedestal 11 can be effectively used, contributing to the realization of a compact autonomous mobile carrier robot, a wide range of applications, and high agility. have.

The autonomous mobile carrier robot provided by the present disclosure can be applied to an unmanned production workshop, for example, to a silicon wafer production workshop, the object 400 is a foup box containing a silicon wafer, and the central control Commands can be issued to autonomous mobile transfer robots to transfer foup boxes between shelves, platform 500, and warehouse storage locations.

The pedestal 11 can have a bottom plate 111 for mounting the traveling mechanism, and the lower end of the vertical plate 12 can be fixed to the bottom plate 111 . It should be noted that the autonomous mobile carrier robot provided by the present disclosure needs to have its own power supply so that it can supply power to each power consuming member. Therefore, the autonomous mobile carrier robot further comprises a power source provided on the bottom plate 111. For aesthetics, the pedestal 11 extends vertically and is surrounded by the outer periphery of the bottom plate 111 to connect the power source and the wire. A skirt plate 112 is further provided to provide a resting space. In addition, the main body can further include a casing 13 forming a closed space with the vertical plate 12. The casing 13 is provided with a man-machine interaction operation console, for example, an operation panel 14 (shown in FIG. 6). is inclined (as shown in FIGS. 4 and 6) and belongs to the control system, so as to facilitate man-machine interaction operation.

In a specific embodiment provided by the first aspect of the present disclosure, as shown in FIG. 3, when "loading", the distance between the autonomous mobile carrier robot and the shelf on which the object 400 is placed is detected. For this purpose, two distance detection devices 113 are provided on the pedestal 11, which are positioned in front (and/or rear) of the autonomous mobile carrier robot and spaced apart in the lateral direction of the autonomous mobile carrier robot. may be The distance detection device 113 is electrically connected to the control system, and controls the traveling mechanism 2 based on the distance signal of the distance detection device 113, thereby causing the autonomous mobile carrier robot to receive the object 400. , where "alignment" can be understood as aligning the shelf with the autonomous mobile transfer robot so that the entire object 400 can be translated to the corresponding mounting member 5 and the positioning of the object 400 can be performed. It is based on the fact that the empty groove can be fitted into the positioning structure in the mounting member 5 described below. Said distance detection device 113 may be configured in any suitable manner, for example as a laser sensor.

In order to ensure the safe progress of the autonomous mobile carrier robot, both the front side and the rear side of the base 11 are electrically connected to the control system to detect surrounding obstacles. An avoidance sensor 114a may be provided and the control system, upon receiving a danger signal emitted from the first obstacle avoidance sensor 114a, causes the running mechanism 2 to stop movement and issue an alarm. The alarm may be an audible alarm or an optical alarm, for example, by emitting a red light by the first signal light source described below.

Optionally, to the left and/or right of said first obstacle avoidance sensor 114a is a second sensor for increasing detection range and increasing sensitivity to assist said first obstacle avoidance sensor 114a. An obstacle avoidance sensor 114b is provided. The support member 5 of the top layer detects surrounding obstacles above the autonomous mobile carrier robot, assists the first obstacle avoidance sensor 114a, increases the detection range, and contributes to heighten sensitivity. A third obstacle avoidance sensor 58 is further provided. When the obstacle avoidance sensor detects an obstacle, it issues a danger signal, and the control system stops the travel operation of the travel mechanism 2 and issues an alarm immediately after receiving the signal.

Since the autonomous mobile carrier robot does not translate left and right, only obstacles in front and behind need to be detected. Optionally, as shown in FIG. 5, the first obstacle avoidance sensors 114a are respectively positioned on the front and rear sides of the autonomous mobile carrier robot and forward (along the propagation direction of the infrared rays). It has two infrared sensors with diffuse detection for a sector of back-to-front propagation.

It should be noted that the base 11 may be provided with two anti-collision strips 115 surrounded on the outside of the base 11, optionally the anti-collision strips 115 are electrically connected to the control system. A connected shock sensor is provided, and the control system controls the traveling mechanism 2 to stop movement and issue an alarm upon receiving a danger signal emitted from the shock sensor, and to detect an emergency shock. to prevent the autonomous mobile carrier robot from continuing to run.

Also provided on the underside of the base 11 is a bottom camera 116 electrically connected to the control system (shown in FIG. 7), the bottom camera 116 acquires ground features in unscented navigation, In cooperation with the described binocular camera 57 (provided on the side of the uppermost support member 5, corresponding to the front or rear of the forward direction of the autonomous mobile carrier robot, and used to acquire the surrounding environment characteristics) , is used to position the autonomous mobile carrier robot itself and correct the positional deviation by trajectory compensation. At each of the four corners of the pedestal 11, a ground distance detection device electrically connected to the control system is provided, and the detected distance information is transmitted to the control system, and the control system, based on the distance information, It is determined whether or not the bottom surface in front of the forward movement is flat, and based on this, the travel of the travel mechanism is controlled.

The running mechanism may be configured in any suitable manner, optionally said running mechanism structure is a running mechanism provided according to the second aspect of the present disclosure.

The driven wheels may be configured in any suitable manner.

The manipulator may be configured in any suitable manner, and optionally the robotic arm in said manipulator may be configured as a robotic arm for the autonomous mobile carrier robot provided by the third aspect of the present disclosure. Well, the jig in the manipulator may be configured as a jig for an autonomous mobile transfer robot provided by the fourth aspect of the present disclosure.

The mounting mechanism may be configured in any suitable manner, optionally the mounting member in said mounting mechanism is configured as a mounting member for an autonomous mobile carrier robot provided by the fifth aspect of the present disclosure. may

Hereinafter, the present disclosure will be described in detail in combination with corresponding drawings.

Running Mechanism According to a second aspect of the present disclosure, a running mechanism is provided, and as shown in FIGS. The main driving wheel 21 has a central rotational axis (if the main driving wheel 21 rotates about the central rotational axis in a first direction, it moves forward, and when it rotates in the opposite direction, it moves backward, thereby When the traveling mechanism is provided in the autonomous mobile carrier robot provided by the first aspect of the present disclosure, the center rotation axis is parallel to the lateral direction of the autonomous mobile carrier robot), and the main driving wheel 21 is mounted on the pedestal 11, an elastic biasing member is provided between the base 11 and the main driving wheel 21, a first end of the elastic biasing member biases the base 11, and the elastic biasing member biases the main driving wheel 21 so that the main driving wheel 21 rotates about a pivot axis parallel to the central axis of rotation, relative to the base 11 to move up and down.

When the conventional four-wheel drive mechanism runs on uneven ground, one main driving wheel hangs in the air or all four wheels land on the ground, but the receiving force is not uniform, that is, the pressure on the ground In this case, the frictional force between each wheel and the ground is different, and as a result, the idling phenomenon is likely to occur, which affects the running trajectory.

Through the above technical solution, the traveling mechanism provided by the present disclosure is provided with an elastic biasing member so that the main driving wheel 21 rotates around the pivot axis, but is driven to move up and down with respect to the base 11. can adjust the pressure of the main driving wheels 21 on the ground in real time, ensure the frictional force between the two main driving wheels 21 and the ground, and avoid the phenomenon of spinning, or the two main driving wheels 21 and To ensure that the degree of idling with respect to the ground is substantially the same, to ensure the actual amount of movement, and thereby to ensure the travel locus.

In specific embodiments provided by the present disclosure, main driving wheel 21 may be configured in any suitable manner. Optionally, as shown in FIG. 11, the main driving wheel 21 includes a mounting bracket 211, a drive motor 212 fixed to the mounting bracket 211, and a main driving wheel roller fixed to the output shaft of the drive motor 212. 213, the driving motor 212 drives the main driving wheel roller 213 to rotate around the axis of the output shaft of the driving motor 212, and the mounting bracket 211 is fixed to the base 11 by a hinge seat. 110 via a pivot shaft 214, which may be configured in any suitable manner, for example, one end attached via its own head portion, as shown in FIG. It may be configured as a pin shaft that is stopped by the bracket 211 and the other end is stopped by the hinge sheet 110 via a stopper, for example, by a clip 215 that is stopped by the hinge sheet 110 . The second end of the resilient biasing member biases the mounting bracket 211 . As one option, the resilient biasing member may be configured as a spring-loaded plunger 22 , which is fixed to the base 11 and whose head abuts the mounting bracket 211 . It functions as the second end. Also, each main driving wheel 21 may be provided with two corresponding spring-loaded plungers 22 to provide sufficient elastic biasing force. As another option, the resilient biasing member may also be configured as a similar member such as a disc spring.

Optionally, said driven wheel may be configured as a universal wheel 23 to allow the running mechanism 360 to bend. Optionally, the central rotational axes of the two main driving wheels 21 are collinear, and the driven wheel set comprises two pairs of the driven wheels, one pair of the driven wheels in the direction of the central rotational axis. is located on one side of the main driving wheel 21, and another pair of the driven wheels is located on the other side of the main driving wheel 21. With this arrangement, the traveling mechanism can turn 360° when traveling forward or backward. can be done. Optionally, the two pairs of driven wheels are arranged symmetrically with respect to the central rotational axis, and the center of gravity of the traveling mechanism is located at the center of the line connecting the central rotational axes of the two main driving wheels 21 .

In the traveling mechanism provided by the second aspect of the present disclosure, the universal wheels may be configured in any suitable manner.

Based on the above technical solution, the second aspect of the present disclosure further provides an autonomous mobile carrier robot, which comprises the above travel mechanism 2 and thus also has the above advantages.

Robotic Arm According to a third aspect of the present disclosure, a robotic arm is provided, and FIGS. 12 and 13 show one specific embodiment. As shown in FIGS. 12 and 13, the robot arm 3 comprises a telescopic arm 31, a rotating arm 32 and a driving device. Said rotating arm 32 comprises a plurality of arm sections that are hinged in sequence, with the proximal end of said rotating arm 32 being hinged to the distal end of said telescoping arm 31 to clamp/release an object 400 such that said The distal end of rotating arm 32 is pivotally connected to a clamping device (eg jig 4 or gripper 6). Said drives include a first drive 331 for driving lateral movement of said telescopic arm 31 and a second drive for driving said arm section to rotate about its own hinge axis. device 332, the hinge axes of the arm sections themselves being parallel to each other and parallel to the lateral direction.

Through the above technical solution, the robot arm provided by the third aspect of the present disclosure has degrees of freedom in three mutually perpendicular directions (that is, XYZ directions), and the telescopic arm 31 is laterally moved by the first driving device 331 . The directional movement can be driven to adjust the position of the telescoping arm 31 and the clamping position in the lateral direction (i.e. the X direction), and by driving the second drive 332 the arm sections of the rotating arm 32 are aligned with the respective hinge axes. It can be driven to rotate around and adjust the position of the clamping position in the laterally perpendicular plane (i.e., the XZ plane), thus the robotic arm provided by the present disclosure can move the clamping device to a position in space. can send. The X, Y, Z coordinates in three-dimensional space of the position of the object 400 to be clamped are fixed with respect to the origin position of the robot arm, thus driving the first drive 331 and the second drive 332. By doing so, in order to clamp the object 400, the clamping device can reach the clamping position. Thereafter, by driving the movement of the telescopic arm 31 in the lateral direction or by driving the arm section to rotate about its own hinge axis, the clamping device reaches the clamping position and clamps said object 400. be able to. By driving movement of the telescopic arm 31 in the lateral direction and/or driving the arm section to rotate about its own hinge axis, the object 400 can be transported to a target position and then laterally. By driving the movement of the telescopic arm 31 in a direction and/or driving the arm section to rotate about its own hinge axis, the clamping device releases the object 400 or removes the object 400. The clamping position after release can be moved away from the target object 400, and the next target object 400 can be clamped.

Hereinafter, the robot arm 3 provided by the third aspect of the present disclosure will be described in detail by combining FIGS. 12 and 13. FIG.

In particular embodiments provided by the present disclosure, first drive 331 may be configured in any suitable manner, for example, as a hydraulic or air cylinder. Optionally, the first driving device 331 is configured as a motor, the telescopic arm 31 is connected to the output shaft of the motor through a transmission structure, and the rotary motion of the output shaft of the motor is driven in the lateral direction. can be converted into linear motion of the telescopic arm 31 at .

A hollow shaft motor is selected as the motor in order to optimize the limited space and achieve the purpose of compactness. On the other hand, the transmission structure may be configured in any suitable manner, for example as a rack and pinion transmission structure. Optionally, the transmission structure is configured as a ball-screw transmission structure, comprising a threaded rod 341 and a nut that are fitted together, as shown in FIGS. For example, when the robot arm 3 is applied to an autonomous mobile carrier robot, the threaded rod 341 is fixed to the body (specifically, the vertical plate 12) of the autonomous mobile carrier robot through a fixed seat 342, and the nut is It is fixed to the hollow output shaft of the hollow shaft motor (of course, the hollow output shaft may be internally threaded), and the hollow shaft motor is fixedly connected to the telescopic arm 31 . Thereby, when the hollow output shaft rotates forward, for example, the telescopic arm is interlocked to move in the first direction, and when the hollow output shaft reverses, for example, the telescopic arm moves in the second direction opposite to the first direction. directional movement, thereby adjusting the position of the clamping position in the lateral direction.

The weight of the hollow shaft motor, telescopic arm 31, rotating arm 32, clamping position, and the object 400 are all loaded by the threaded rod 341, and the threaded rod 341 may be deformed such as bending, and may even crack to affect normal operation. The hollow shaft motor can be fixed to a first fixing plate 351, the telescopic arm 31 can be fixed to a second fixing plate 352, and the first fixing plate 351 and the second fixing plate 352 can be fixed in order to avoid the impact. The plates 352 are both fixed to a slider 361 , which engages the laterally extending guide rod 362 provided on the device provided on the robot arm 3 , so that the telescopic arm 31 is , the rotating arm 32, the clamping position and thus the object 400 can move laterally with the rotation of the hollow shaft motor. In this case, the weight of the hollow shaft motor, telescopic arm 31 , rotating arm 32 , clamping position and object 400 are all transferred through the fitting of the first fixing plate 351 , the second fixing plate 352 , the slider 361 and the guide rod 362 . is transmitted to the device and loaded. In the specific embodiment shown in Figures 17 and 18, guide rods 362 are provided on the vertical plate 12 of the autonomous mobile transfer robot. Optionally, said telescoping arm 31 extends in said lateral direction and is hollow for easy wiring.

In particular embodiments provided by the present disclosure, second drive 332 may be configured in any suitable manner, for example, as a hydraulic or air cylinder. Optionally, the second driving device 332 may be a hollow shaft motor, the rotating arm 32 comprises a first arm section 321 and a second arm section 322, and is adapted to the arm of the human body. Obtaining a similar bionic structure, as shown in FIGS. 12 and 13, the proximal end of the first arm section 321 and the telescoping arm 31 are hinged via the hollow shaft motor, and the first The distal end of arm section 321 and the proximal end of said second arm section 322 are hinged via said second drive 332 and optionally said arm section is hollow for easy wiring. is.

Optionally, said drive device further comprises a third drive device 333 for driving said clamping position to rotate about its own pivot axis, said clamping position rotating about its own pivot axis. The pivot axis may be provided parallel to the lateral direction so that it can rotate around the axis to adjust its posture. In particular embodiments provided by the present disclosure, the third drive 333 may be configured in any suitable manner, for example, as a hydraulic or air cylinder. Optionally, the third drive 333 may be configured as a hollow shaft motor, which is provided at the distal end of the rotating arm 32 (in the embodiment shown in FIGS. 17 and 18 , a hollow shaft motor, which is a third driving device 333, is provided at the far end of the second arm section 322), the hollow shaft of the hollow shaft motor is connected to the clamping position, and the clamping position is through the hollow shaft motor. can be understood as being pivotally connected to the distal end of the rotating arm 32 .

Based on the above technical solution, the third aspect of the present disclosure further provides an actuating mechanism comprising a clamping position and the robot arm 3 described above, wherein the clamping position is pivotally connected to the distal end of the robot arm 3 . A third aspect of the present disclosure further provides an autonomous mobile carrier robot provided with the actuation mechanism.

Jig for Autonomous Mobile Transfer Robot According to a fourth aspect of the present disclosure, there is provided a jig 4 for an autonomous mobile transfer robot, FIGS. 14-17 showing one embodiment. The jig 4 includes a jig body 41 and an elastic clamping member. The jig body 41 is provided with a support base 411 for the object 400 and a boss 412 higher than the support base 411. The elastic clamping member comprises: It has a proximal end fixedly connected to the boss 412 and a distal end opposite to the proximal end, the distal end abuts the object 400 and fits into the support base 411 to engage the object. An object 400 is releasably clamped.

Through the above technical solution, the jig 4 for an autonomous mobile carrier robot provided according to the fourth aspect of the present disclosure provides a support base 411 for the object 400 by providing the jig body 41, and holds the object 400. , the object 400 is supported through the support base 411, and the distal end of the elastic clamping member abuts against the object 400 to hold the object 400 on the support base 411, thereby clamping the object 400. Furthermore, the movement of the object 400 can be interlocked. When the object 400 needs to be released, the jig 4 can be directly released, and the object 400 is separated from the support base 411 so as to release the object 400, and the elastic clamping member hits the object 400. out of contact, thereby releasing the object 400 .

In specific embodiments provided by the present disclosure, the elastic clamping members may be configured in any suitable manner. Optionally, said resilient clamping member comprises a first resilient clamping member 421, said first resilient clamping member 421 having a first proximal end 4211 secured to said boss 412 and said first proximal end 4211 secured to said boss 412; and a first distal end 4212 opposite the proximal end 4211, the first distal end 4212 extending above the support base 411 to form an elastic clamp, and the elastic clamp and the support base. 411 , a clamping space for the object 400 is defined, and the elastic clamping part provides the object 400 with an elastic clamping force to the support base 411 . The end 4213 of the first far end 4212 can be bent away from the support 411 and used to guide the object 400 into the clamping space.

Optionally, said support 411 may be provided with a first cushion 431 made of elastic material in order to avoid the object 400 from being subjected to concentrated stress by the support 411 . Optionally, the first cushions 431 are two spaced apart in the middle of the pinching space.

In a specific embodiment provided by the present disclosure, the elastic clamping member can further comprise a second elastic clamping member 422, and as shown in FIGS. A hook-shaped groove 413 is provided between the base 411 and the boss 412 , the second elastic clamping member 422 is provided in the hook-shaped groove 413 , and the second elastic clamping member 422 is positioned on the boss 412 . It has a second proximal end 4221 fixed to a side wall and a second distal end 4222 opposite said second proximal end 4221 , said second distal end (4222) being attached to said object 400 . can abut and provide an outward elastic clamping force to the object 400, when used, two jigs 4 need to be used in combination, and the two jigs 4 are on opposite sides of the object With the object 400 clamped, the outward elastic clamping force provided by the second distal end 4222 of the jig 4 just clamps the object 400 located between them. The second distal end ( 4222 ) is folded at the end and bent outward to avoid concentrated stresses applied to the object 400 . Optionally, when using two jigs 4 to clamp an object 400 between them, in order to avoid subjecting the object 400 to concentrated stress by the boss 412, the side walls of said boss 412 are: A second cushion 432 made of an elastic material may be connected, and the second cushion 432 may be two spaced apart on the side wall of the boss 412 .

In a specific embodiment provided by the present disclosure, the jig 4 can include a locator 44 that aligns with a mark (e.g., notch feature) on the object 400 , the locator 44 being attached to the boss 412 . An alignment sensor (e.g., a photoelectric sensor) is provided at the end of the positioning device 44, which is telescopically connected, and the alignment sensor detects when the end of the positioning device 44 is aligned with the mark. A confirmation signal is issued, otherwise an alarm signal is issued, the boss 412 is provided with a proximity sensor 45 (for example, a photoelectric sensor), and when the positioning tool 44 is contracted and approaches the proximity sensor 45 , the proximity sensor 45 issues a confirmation signal.

Optionally, said jig 4 further comprises a seal plate 46 fixedly connected to said boss 412 above said boss 412, said jig 4 having said object 400 in a clamping position. A first signal light source 47 is provided for indicating, the first signal light source 47 is provided on the seal plate 46 made of translucent material, so that the light emitted from the first signal light source 47 The light can be scattered into the environment by the seal plate 46, allowing the user to observe it at a distance.

Optionally, said jig 4 may further comprise a connection block 48 pivotally connected to the robot arm 3 of the autonomous mobile transfer robot, said jig body 41 being fixedly connected to said connection block 48. . The first signal light source 47 can be fixed on the connecting block 48, and the sealing plate 46 is provided with corresponding receiving holes and fixed on the boss 412 when connecting the jig body 41 to the fixing block 48. A seal plate 46 positions the first signal light source 47 just within the receiving hole.

Based on the above technical solution, the fourth aspect of the present disclosure further provides an operating mechanism for an autonomous mobile carrier robot, the operating mechanism comprising a pair of manipulators, each manipulator comprising a robot arm and the above , the jig 4 is connected to the distal end of the robot arm, and the two jigs 4 in each pair of manipulators cooperate with each other to clamp/release the object 400. do.

As shown in FIG. 1, in each pair of manipulators, two jigs 4 are provided facing each other. When the object 400 is released.

Based on the above technical proposal, the manipulator in the autonomous mobile carrier robot operating mechanism provided by the fourth aspect of the present disclosure may be configured in any appropriate manner, for example, provided by the third aspect of the present disclosure. It may be configured as a robot arm 3 that is

Optionally, the front side of one of the two jigs 4 of the two manipulators may be provided with a photographic camera 491, and the front side of the other of the two jigs 4 of the two manipulators may be provided with a photographic camera 491. A flash lamp 492 may be provided to supplement the light in the camera 491 . Before clamping the object 400, the front can be photographed by the photo camera 491 to obtain visual feature points.

A fourth aspect of the present disclosure further provides an autonomous mobile carrier robot comprising the autonomous mobile carrier robot actuation mechanism provided by the fourth aspect of the present disclosure.

Mounting Member for Autonomous Mobile Transfer Robot According to a fifth aspect of the present disclosure, a mounting member 5 for an autonomous mobile transfer robot is provided, and FIGS. 18-20 show one embodiment. As shown in FIGS. 18 to 20, the mounting member 5 includes a plate-like main body 51 having a mounting surface for mounting the object 400, and a plate-like main body 51 fixed to the mounting surface so as to fit into the positioning hole groove of the object 400. A positioning structure 52 for fitting and restricting movement of the object 400 on the plate-like body 51, and an RFID antenna 53 fixed to the plate-like body 51 for reading the number of the object 400. and an object detection device 54 fixed to the plate-like main body 51 for detecting whether or not an object 400 is placed on the mounting member 5 .

Through the above technical solution, the mounting member 5 provided by the fifth aspect of the present disclosure can mount the object 400 and grasp the number of the object 400 to be mounted, so that the user can use the mounting member 5 To make it possible to grasp information of a mounted object 400.例文帳に追加When the object 400 is placed on the mounting surface, the positioning structure 52 can prevent the object 400 from slipping or even falling on the mounting surface under the action of an external force, and furthermore, any The position of the object 400 can also be made unique, which is advantageous for automated loading and unloading of the object 400 . It should be noted that the object detection device 454 makes it possible to confirm whether or not the mounting member 5 has the object 400, and on the one hand it is possible to avoid placing the object 400 repeatedly, and on the other hand the mounting member 5 is free. It is possible to know whether or not there is

In particular embodiments provided by the present disclosure, positioning structure 52 may be configured in any suitable manner. Optionally, as shown in FIGS. 18-20, the positioning structure 52 is provided as three positioning posts, and the three positioning posts are arranged such that the connecting lines form a triangle. The object detection device 54 has a detection part protruding from the mounting surface, and when the positioning hole groove of the object 400 is fitted into the positioning structure 52, the detection part is projected under the gravitational force of the object 400. It can be retracted into the plate-like body 51 and the object detection device 54 emits a confirmation signal to indicate that the object 400 has been placed on the mounting surface.

In specific embodiments provided by the present disclosure, RFID antenna 53 may be configured in any suitable manner. Optionally, as shown in FIGS. 18-20, said RFID antenna 53 and said object detection device 54 are provided adjacently for easy wiring.

In particular embodiments provided by the present disclosure, object detection device 54 may be configured in any suitable manner. Optionally, the object detection device 54 is configured as a photoelectric sensor, the principle of operation of which is that when an object 400 is placed on the mounting member 5, the object 400 covers the photoelectric sensor, The photoelectric sensor emits an acknowledgment signal.

In specific embodiments provided by the present disclosure, plate-like body 51 may be configured in any suitable manner. Optionally, as shown in FIGS. 19 and 20, the plate-like body 51 comprises a main plate 511, an intermediate layer plate 512, and a cover plate 513, which are connected in sequence, and the intermediate layer plate 512 is provided with an aperture 5121, a second signal light source 55 is provided in the aperture 5121, and the second signal light source 55 emits light of a plurality of colors respectively indicating one operating state. For example, the second signal light source 55 can emit red light to indicate alarm, green light to indicate normality, blue light to indicate power shortage, and the like. Both the cover plate 513 and the intermediate layer plate 512 are made of semi-transparent or transparent material, so that the light emitted from the second signal light source 55 can be scatter in the environment. The covering plate 513 is provided with an emergency stop button 56 for stopping the operation of the autonomous mobile carrier robot in case of emergency.

Said second signal light source 55 may be configured as a strip and within said aperture 5121, so that a user can observe the light emitted from said second signal light source 55 from all angles and azimuths. is provided with four second signal light sources 55 that emit light forward, rearward, leftward, and rightward, respectively. .

In the specific embodiment provided by the present disclosure, the cover plate 513 and the intermediate layer plate 512 are both made of acrylic glass material, which is easy to process, highly translucent, impact resistant, and durable. has the advantage of being

In a specific embodiment provided by the present disclosure, the mounting member 5 is provided with a binocular camera 57 capable of acquiring, for example, a 150° depth of field with a stereoscopic effect. The binocular camera 57 may be fixed to the plate-like main body 51 , or may be fixed to the side surface of the plate-like main body 5 , for example.

Optionally, the mounting member 5 is provided with a third obstacle avoidance sensor 58, the third obstacle avoidance sensor 58 is fixed to the plate-like main body 51 on the front side and has two The binocular camera 57 is positioned between the two obstacle avoidance sensors 58 .

Based on the above technical proposal, a fifth aspect of the present disclosure further provides an autonomous mobile carrier robot including the jig for an autonomous mobile carrier robot provided by the fifth aspect of the present disclosure.

Thus, it is possible to obtain a single-mounted double-arm autonomous mobile transfer robot provided by the first aspect of the present disclosure, wherein the single-sided double-arm autonomous mobile transfer robot is provided according to the second aspect of the present disclosure A traveling mechanism provided, a robot arm 3 provided by the third aspect of the present disclosure, a jig 4 for an autonomous mobile carrier robot provided by the fourth aspect of the present disclosure, and a fifth aspect of the present disclosure and a mounting member 5 for an autonomous mobile carrier robot provided by In the travel mechanism, the drive motor 212 is electrically connected to a control system, and the control system controls the rotation of the drive motor 212 . The robot arm 3 may be provided with a fixed seat 342 and a guide rod 362 on the casing 13 and fixed to one side of the vertical plate 12, or the screw rods 341 of the two robot arms 3 may be merged into one; That is, the fixed seat 342 is fixed at the middle position of the screw rod, the left screw rod part is used for the left robot arm, and the right screw rod part is used for the right robot arm. A first drive 331, a second drive 332 and a third drive 333 configured as hollow shaft motors are all electrically connected to the control system, the jig 4 being the third drive 333. It is fixed to the hollow shaft of the hollow shaft motor. The alignment sensor in jig 4, proximity sensor 45, first signal light source 47, photo camera 491 and flash lamp 492 are all electrically connected to the control system. The RFID antenna 53, the object detection device 54, the second signal light source 55, the emergency stop button 56, the binocular camera 57 and the third obstacle avoidance sensor 58 in the mounting member 5 are all electrically connected to the control system. . The autonomous mobile carrier robot is provided with two manipulators arranged symmetrically with respect to the longitudinal direction of the autonomous mobile carrier robot. The autonomous mobile carrier robot is provided with three mounting members 5, and one side of the vertical plate 12 on which the mounting members 5 are provided is defined as the front and the other side is defined as the rear. The uppermost mounting member 5 is constructed in the embodiment shown in FIGS. 19 and 20 and the two lower mounting members 5 are constructed in the embodiment shown in FIG. Only the member 5 is provided with a second signal light source 55 , an emergency stop button 56 , a binocular camera 57 and a third obstacle avoidance sensor 58 . , an intermediate layer plate 512 and a cover plate 513 . In the following, the operating environment is an unmanned workplace in a semiconductor factory. I will explain in detail.

First, after receiving the command, the vacant autonomous mobile carrier robot drives the traveling mechanism to drive to the front of the shelf, at this time, the autonomous mobile carrier robot stands facing the shelf, and the left and right sides The distance between the shelf is detected by the distance detection device 113, the two distances are compared, and if equal, it is indicated that the autonomous mobile carrier robot is heading to the shelf, otherwise the control system The rotation of one or two main driving wheels 21 is controlled to adjust the autonomous mobile carrier robot to face the shelf. After that, the second drive 332 is activated to send the jig 4 to the front of the foup box to be clamped on the shelf, when the photo camera 491 in the jig 4 takes a picture of the front and obtains visual feature points. Then, the control system determines whether the position of the jig 4 at this time is in the alignment position, and if it is in the alignment position, the second driving device 332 of the two manipulators is controlled so that the rotating arm 32 is hinged. Synchronously driven to rotate about the axis, the two jigs 4 are synchronously moved forward to the position to be clamped, i.e. positioned on either side of the foup box respectively. Otherwise, by controlling the rotation of the first drive device 331, the two telescoping arms 31 can be moved left or right at the same time so that the jig 4 reaches the alignment position. After that, the first driving device 331 of the two manipulators is controlled to drive the relative movement of the two telescoping arms 31 to bring the two jigs 4 closer to each other, so that the pinched portion of the foup box is moved by the jigs 4 . It is placed in the clamping space and held on the support base 411 by the first elastic clamping member 421 . When the jig 4 contacts the foup box, when the end of the positioning tool 44 is aligned with the mark on the foup box, it issues a confirmation signal to the control system, the control jig 4 continues to move relative to each other, and the two jigs 4 The second elastic clamping member 422 of is elastically deformed to provide a corresponding clamping force from both sides of the foup box, and the positioner 44 shrinks under the thrust of the foup box and approaches the proximity sensor 45, the proximity sensor 45 emits a confirmation signal and sends it to the control system, the control system controls the robot arm 3 to stop moving, the jig 4 stops and its first signal light source 47 emits green light. out to indicate completion of clamping of the foup box. If the end of the positioner 44 is not aligned with the mark on the foup box, it will issue an alarm signal to the control system, which will control the robot arm 3 to stop movement and turn on the first signal light source. 47 controls to emit a red light and/or sound signal to inform the user to adjust the position of the foup box so that the jig 4 can clamp correctly.

After the jig 4 has clamped the foup box, the control system controls the movement of the robot arm 3 to place the clamped foup box on one of the mounting members 5 thereof, for example the lowest mounting member 5 . When the foup box is placed on the mounting member 5 and the positioning hole groove of the foup box is fitted into the positioning structure 52, the object detection device 54 issues a confirmation signal to the control system to indicate that the foup box is positioned on the mounting member. indicates that it was placed on 5. The FID code of the foup box can be read by the RFID antenna 53 on the mounting member 5, thereby grasping the information of the foup box placed on the mounting member 5. FIG.

Up to this point, the stacking of one foup box is completed.

After repeating this process and completing the loading of the previous foup box, the control system controls the traveling mechanism so that the autonomous mobile carrier robot travels to the next foup box positioned on the shelf to be loaded. The stacking of the foup box can be performed by using the

After full loading, the control system controls the autonomous mobile carrier robot to travel to the platform and unload. During running, the bottom camera 116 captures the bottom plate image, acquires the bottom plate features, determines the current position of the autonomous mobile carrier robot, and performs trajectory compensation when the position deviates. When the bottom plate feature cannot be confirmed, the environment image can be taken by the binocular camera 57 and the current position of the autonomous mobile carrier robot can be determined through the slam algorithm. Since the traveling mechanism provided by the second aspect of the present disclosure is used during traveling, the pressure on the ground by the two main driving wheels 21 can be ensured, and the forward direction of the autonomous mobile carrier robot can be ensured. The ground distance detection device senses the road conditions ahead, and if a pothole or obstacle is found, the control system controls the autonomous mobile carrier robot to stop traveling and issue an alarm. Also, the first obstacle avoidance sensor 114a and/or the second obstacle avoidance sensor 114b and/or the third obstacle avoidance sensor 58 and/or the impact sensor detect that there is an obstacle in the forward direction of the autonomous mobile carrier robot. When this is detected, the control system controls the autonomous mobile carrier robot to immediately stop running and issue an alarm. In addition, when the foup box on the mounting member 5 is taken away by a person, the control system immediately stops the autonomous mobile carrier robot after transmitting a signal from the object detection device 54, and controls the autonomous mobile carrier robot to issue an alarm. .

Dual-arm type autonomous mobile carrier robot with mounting on both sides:
According to a sixth aspect of the present disclosure, a dual-mounted autonomous mobile transfer robot 200 is provided, and the differences between the autonomous mobile transfer robot and the autonomous mobile transfer robot provided by the first aspect of the present disclosure are: They are as follows. The double-sided autonomous mobile transfer robot provided by the sixth aspect of the present disclosure is provided with two said vertical plates 12, the casing 13 is positioned between the two vertical plates 12, and the two vertical plates 12 facing each other forms an enclosed space, in which structures such as the first driving device 331, the screw rod 341 and the fixed seat 342 of the robot arm 3 are installed. As shown in FIG. 21, the mounting members 5 are fixed to the two outer side surfaces of the two vertical plates 12, and the mounting members 5 positioned on the same side are vertically spaced apart and uniformly mounted. provided in Considering spatial arrangement, the double-sided autonomous mobile carrier robot provided by the sixth aspect of the present disclosure is not provided with an operation panel, ie, a man-machine interface.

The autonomous mobile transfer robot provided by the sixth aspect of the present disclosure can transfer multiple objects 400 at one time. Specifically, the operation process is as follows. First, the vacant autonomous mobile carrier robot controls the traveling mechanism 2 by the control system so as to travel to the first position where the object 400 is stored, and then the shape of the jig 4 (its own pivot axis The control system controls the rotation angle) and the movement of the robot arm 3, feeds the jig 4 to a desired position, clamps the object 400 with the jig 4 by the movement of the robot arm 3, and then moves the robot arm 3. By controlling the movement, the clamped object 400 is placed on one mounting member 5 of the mounting mechanism, thereby completing the "stacking" of one object 400 . The above working process can then be repeated until all mounting members 5 have an object 400 on them. After that, by controlling the traveling mechanism 2, the entire autonomous mobile transfer robot advances to the second position where the object 400 should be transported, and the manipulator sequentially clamps the object 400 from the corresponding mounting member 5 to the second position. , the object 400 is sent to the corresponding placement position, and the object 400 is "unloaded". In this process, the position of the autonomous mobile carrier robot can be changed by controlling the traveling mechanism 2 so that the manipulator can operate easily. Through the above description, the autonomous mobile transfer robot provided by the present disclosure can realize automated transfer of objects 400 without manual loading and unloading, and can transfer multiple objects 400 at one time. , effectively improve the production cycle and operation efficiency. By arranging the plurality of support members 5 in order in the vertical direction, the upper space of the pedestal 11 can be effectively used, contributing to the realization of a compact autonomous mobile carrier robot, a wide range of applications, and high agility. have.

Based on the above, the dual-mounted double-arm autonomous mobile transfer robot provided by the sixth correspondence of the present disclosure can be obtained, and the dual-mounted double-arm autonomous mobile transfer robot is the second A traveling mechanism provided by the aspect of the present disclosure, a robot arm 3 provided by the third aspect of the present disclosure, a jig 4 for an autonomous mobile carrier robot provided by the fourth aspect of the present disclosure, and a third aspect of the present disclosure 5, and a mounting member 5 for an autonomous mobile carrier robot provided by the aspect of 5.

Due to the above differences between the dual-mounted double-arm autonomous mobile transfer robot and the single-sided double-arm autonomous mobile transfer robot provided by the first aspect of the present disclosure, the operation process differs only in this point. That is, when stacking the foup boxes (objects 400), if the mounting member 5 on one side is fully loaded with foup boxes, the mounting member 5 on the other side must also be fully loaded, and the same applies to unloading. In the case of such a dual-armed autonomous mobile carrier robot, any vertical direction can be defined as the front.

Single-Arm Autonomous Mobile Transfer Robot According to the seventh aspect of the present disclosure, a single-arm autonomous mobile transfer robot 300 is provided, the autonomous mobile transfer robot and the autonomous mobile transfer provided by the first aspect of the present disclosure. Differences from robots may be as follows. The autonomous mobile transfer robot provided by the seventh aspect of the present disclosure is provided with only one manipulator, and as shown in FIG. and a gripper 6 (which may be similar to the robot arm 3 in the autonomous mobile transfer robot provided by aspect 1) and pivotally connected to the distal end of the robot arm 3 for gripping/releasing the object 400 ( jig 4), the robot arm 3 being movably mounted so that the gripper 6 reaches a desired position.

In addition to the above differences, the autonomous mobile carrier robot provided by the seventh aspect of the present disclosure and the autonomous mobile carrier robot provided by the first aspect of the present disclosure further have other differences. The difference may be the same as the difference between the autonomous mobile carrier robot provided by the sixth aspect of the present disclosure and the autonomous mobile carrier robot provided by the first aspect of the present disclosure. That is, the autonomous mobile carrier robot provided by the seventh aspect of the present disclosure is provided with two vertical plates 12, the casing 13 is positioned between the two vertical plates 12, and the two vertical plates 12 facing each other forms an enclosed space, in which structures such as the first driving device 331, the screw rod 341 and the fixed seat 342 of the robot arm 3 are installed. As shown in FIG. 21, the mounting members 5 are fixed to the two outer side surfaces of the two vertical plates 12, and the mounting members 5 positioned on the same side are vertically spaced apart and uniformly mounted. provided in Taking into account the spatial arrangement, an operation panel, that is, a man-machine interface is no longer provided.

Through the above technical solution, the autonomous mobile transport robot provided by the seventh aspect of the present disclosure can transport a plurality of objects 400 at one time. The operation process is specifically as follows. First, the vacant autonomous mobile carrier robot controls the traveling mechanism 2 by the control system so as to travel to the first position where the object 400 is stored, and then the posture of the gripper 6 (its own pivot axis The angle of rotation) and the motion of the robot arm 3 are controlled by the control system, the gripper 6 is sent to the desired position to grip the object 400, and then the gripped object is controlled by controlling the motion of the robot arm 3. An object 400 is placed on one mounting member 5 of the mounting mechanism, thereby completing one object 400 “stack”. The above working process can then be repeated until all mounting members 5 have an object 400 on them. After that, by controlling the traveling mechanism 2, the entire autonomous mobile transfer robot advances to the second position where the object 400 should be transported, and the manipulator sequentially clamps the object 400 from the corresponding mounting member 5 to the second position. , the object 400 is sent to the corresponding placement position, and the object 400 is "unloaded". In this process, the position of the autonomous mobile carrier robot can be changed by controlling the traveling mechanism 2 so that the manipulator can operate easily. Through the above description, the autonomous mobile transfer robot provided by the present disclosure can realize automated transfer of objects 400 without manual loading and unloading, and can transfer multiple objects 400 at one time. , effectively improve the production cycle and operation efficiency. By arranging the plurality of support members 5 in order in the vertical direction, the upper space of the pedestal 11 can be effectively used, contributing to the realization of a compact autonomous mobile carrier robot, a wide range of applications, and high agility. have.

Gripper 6 may be configured in any suitable manner. Optionally, as shown in FIGS. 23 and 24, said gripper 6 comprises a gripper body 61 , a fixed clamping member 62 and a movable clamping member 63 , said fixed clamping member 62 being attached to said gripper body 61 . The fixed, movable clamping member 63 is movably connected to the gripper body 61 and can move toward and away from the fixed clamping member 62 and, by fitting into the fixed clamping member 62, allows the object to be gripped. It realizes grasping and releasing the object 400 .

Optionally, the movable clamping member 63 is connected to the gripper body 61 via a sliding connection structure to move toward or away from the fixed clamping member 62 . In specific embodiments provided by the present disclosure, the sliding connection structure may be configured in any suitable manner. Optionally, said sliding connection structure comprises an interfitting slide rail 641 and a chute 642, one of said slide rail 641 and chute 642 being provided on said gripper body 61, said slide rail 641 and said chute 642 The other of the chutes 642 is provided on the movable clamping member 63 . For example, the slide rail 641 is provided on the gripper body 61 . In order to avoid the chute 642 detaching from the slide rail 641, said chute 642 may be configured as a dovetail groove.

In a specific embodiment provided by the present disclosure, between the movable clamping member 63 and the gripper body 61, there is a mechanism for driving the movable clamping member 63 toward and away from the fixed clamping member 62. A drive member 65 may be provided for driving. The drive member 65 may be configured in any suitable manner, optionally said drive member 65 has a cylinder body fixed to said gripper body 61 and a piston rod end connected to said movable clamping member 63 . configured as an air cylinder fixed to the When the piston rod extends out of the cylinder body, the movable clamping member 63 moves away from the fixed clamping member 62, driving the object 400 to release. As the piston rod retracts into the cylinder body, the movable clamping member 63 approaches the fixed clamping member 62 and drives it to grip the object 400 .

In specific embodiments provided by the present disclosure, stationary clamping member 62 may be configured in any suitable manner. Optionally, the fixed clamping member 62 is connected between a fixed connecting part 621 connected to the gripper body 61, a fixed clamping part 622, and between the fixed connecting part 621 and the fixed clamping part 622. The movable clamping member 63 includes a movable connecting portion 631 connected to the gripper body 61 , a movable clamping portion 632 , the movable connecting portion 631 and the movable clamping portion 632 . a second intermediate connection portion 633 connected between the first intermediate connection portion 623 and the second intermediate connection portion 633 to connect the fixed connection portion 621 and the movable connection portion 631 to the gripper A clamping space for the object 400 is provided between the main body 61 and the fixed clamping part 622 extends opposite to the movable clamping part 632 to support the object 400 .

It should be noted that the gripper 6 further comprises an articulation block 66 to which the gripper body 61 is fixed and which is pivotally connected to the distal end of the robot arm 3 . When the robot arm 3 is the manipulator provided by the third aspect of the present disclosure, the articulation block 66 is fixed to the hollow output shaft of the hollow shaft motor, which is the third driving device.

It should be noted that, in the specific embodiment provided by the present disclosure, the gripper 6 also has structures such as positioning tools, alignment sensors, proximity sensors, etc., similar to the jig 4 provided by the fourth aspect of the present disclosure. may be provided.

Based on the above, the single-arm autonomous mobile carrier robot provided by the seventh aspect of the present disclosure can be obtained, and the single-arm autonomous mobile carrier robot is provided by the second aspect of the present disclosure. It comprises a traveling mechanism, a robot arm 3 provided by the third aspect of the present disclosure, and a mounting member 5 for an autonomous mobile carrier robot provided by the fifth aspect of the present disclosure.

Due to the above differences between the dual-mounted double-arm autonomous mobile transfer robot and the single-sided double-arm autonomous mobile transfer robot provided by the first aspect of the present disclosure, the operation process differs only in this point. That is, in the entire process of loading and unloading the foup box (object 400), one manipulator is used and the gripper 6 is used to grip and release the foup box. When stacking, if the mounting member 5 on one side is full of foup boxes, it is necessary to continue to load the mounting member 5 on the other side, and the same applies to unloading. In the case of this dual-mounted single-arm autonomous mobile carrier robot, any direction in the vertical direction can be defined as the front.

The above are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure, and any revisions, equivalent substitutions, improvements, etc. should fall within the protection scope of the disclosure.

100-Single side mounted double arm type autonomous mobile transfer robot, 200-Double side mounted double arm type autonomous mobile transfer robot, 300-Single arm type autonomous mobile transfer robot, 400-Object, 500 machine base,
11 - base, 110 - hinge seat, 111 - bottom plate, 112 - skirt plate, 113 - distance detection device, 114a - first obstacle avoidance sensor, 114b - second obstacle avoidance sensor, 115 - anti-collision strip, 116 - bottom camera, 12 - longitudinal plate, 13 - casing, 14 - operating panel,
2—running mechanism, 21—main driving wheel, 211—mounting bracket, 212—drive motor, 213—main driving wheel roller, 214—pivot shaft, 215—clip, 22—spring-loaded plunger, 23—universal wheel,
3 - robot arm, 31 - telescopic arm, 32 - rotating arm, 321 - first arm section, 322 - second arm section, 331 - first drive, 332 - second drive, 333 - second 3 drive device, 341 - screw rod, 342 - fixed seat, 351 - first fixed plate, 352 - second fixed plate, 361 - slider, 362 - guide rod,
4 - jig, 41 - jig body, 411 - support base, 412 - boss, 413 - hooked groove, 421 - first elastic clamping member, 4211 - first proximal end, 4212 - second proximal end, 4213 - end, 422 - second elastic clamping member, 4221 second proximal end, 4222 second distal end, 431 - first cushion, 432 - second cushion, 44 - positioner, 45 - proximity sensor. , 46 - seal plate, 47 - first signal light source, 48 - connection block, 491 - photographic camera, 492 - flash lamp,
5-mounting member, 51-plate body, 511-main plate, 512-intermediate layer plate, 5121-hole, 513-coating plate, 52-positioning structure, 53-RFID antenna, 54-object detection device, 55- second signal light source, 56 - emergency stop button, 57 - binocular camera, 58 - third obstacle avoidance sensor,
6-Gripper 61 Gripper main body 62 Fixed clamping member 621 Fixed connection part 622 Fixed clamping part 623 First intermediate connection part 63 Movable clamping member 631 Movable connection part 632 Movable clamping part 633 Second Intermediate connection, 641 slide rail, 642 chute, 65 drive member, 66 articulation block.

Claims (10)

The jig (4) comprises a jig body (41) and an elastic clamping member, said jig body (41) having a support (411) for the object (400) and a boss higher than said support (411). (412) is provided, and the resilient clamping member has a proximal end fixedly connected to said boss (412) and a distal end opposite said proximal end, said distal end being connected to the object (400). ) and fit into the support base (411) to releasably clamp the object (400),
Said elastic pinching member comprises a first elastic pinching member (421), said first elastic pinching member (421) having a first proximal end (4211) fixed to said boss (412) and said a first distal end (4212) opposite a first proximal end (4211), said first distal end extending above said support platform (411) to form an elastic clamp; A clamping space for the object (400) is defined between the elastic clamping part and the support base (411), and the elastic clamping part moves the object (400) to the support base (411). 411) A chuck of an autonomous mobile transfer robot, characterized in that it provides an oriented elastic clamping force. The end (4213) of the first far end (4212) is bent away from the support base (411) and used to guide the object (400) into the clamping space. 2. The chuck of claim 1, wherein . Said support base (411) is provided with a first cushion (431) made of elastic material, optionally said first cushion (431) is spaced in the middle of said clamping space. 3. A chuck according to claim 2, wherein there are two of said chucks. The elastic clamping member has a second elastic clamping member (422), and the jig body (41) is provided with a hook-shaped groove (413) between the support base (411) and the boss (412). The second elastic clamping member (422) is provided in the hook-shaped groove (413), and the second elastic clamping member (422) is fixed to the side wall of the boss (412). having a proximal end (4221) and a second distal end (4222) opposite said second proximal end (4221), said second distal end (4222) being directed towards said object (400) abutting and used to provide an outward elastic clamping force to said object (400), optionally said second distal end (4222) having an end folded and a bend having a 2. The chuck of claim 1, wherein the chuck faces outward. A second cushion (432) made of an elastic material is connected to the side wall of said boss (412), optionally said second cushion (432) is attached to the side wall of said boss (412). 5. The chuck of claim 4, wherein there are two spaced apart chucks. Said jig (4) comprises a locator (44) aligned with a mark on said object (400), said locator (44) telescopically connected to said boss (412), said locator (44) ) is provided with an alignment sensor, said alignment sensor emitting a confirmation signal if the end of said locator (44) is aligned with said mark, otherwise an alarm A proximity sensor (45) is provided on the boss (412), and the proximity sensor (45) confirms when the positioning tool (44) is contracted and approaches the proximity sensor (45). A chuck according to any one of claims 1 to 5, characterized in that it emits a signal. Said jig (4) further comprises a seal plate (46) fixedly connected to said boss (412) above said boss (412), said jig (4) having said object (400) A first signal light source (47) is provided for indicating that the is in the clamping position, said first signal light source (47) being provided on said sealing plate (46) made of translucent material. 2. The chuck of claim 1, wherein . Said jig (4) further comprises a connection block (48) pivotally connected to a robot arm of an autonomous mobile transfer bot, said jig body (41) being fixedly connected to said connection block (48). The chuck according to claim 1, characterized in that: A pair of manipulators is provided, each of the manipulators includes a robot arm and a chuck of the autonomous mobile transfer robot according to any one of claims 1 to 8, wherein the chuck (4) is the connected to the distal end of a robot arm, said chucks (4) in each pair of said manipulators cooperating with each other to clamp/release said object (400); An operating mechanism for an autonomous mobile transfer robot, characterized in that a photographic camera (491) is provided on the front side of one of two chucks (4) in , and a flash lamp (492) is provided on the front side of the other. An autonomous mobile carrier robot comprising the operating mechanism of the autonomous mobile carrier robot according to claim 9 .

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