TW201943517A - Mechanical arm, working mechanism, and autonomous movement transporting robot - Google Patents

Abstract

A mechanical arm, a working mechanism, and an autonomous movement transporting robot, the mechanical arm comprising a telescopic arm (31), a rotating arm (32), and a drive apparatus, the rotating arm (32) comprising a plurality of arms hinged in sequence, the proximal end of the rotating arm (32) being hinged to the distal end of the telescopic arm (31), and the distal end of the rotating arm (32) being used for pivotal connection to a clamping apparatus in order to clamp/release a target object (400); the drive apparatus comprises: a first drive apparatus (331) used for driving the telescopic arm (31) to move in a lateral direction and a second drive apparatus (332) used for driving the arm segments to rotate about the hinge axis thereof, the hinge axes of the arm segments being parallel to one another and parallel to the lateral direction. The mechanical arm has three degrees of freedom in mutually perpendicular directions, and can convey the clamping apparatus to any given spatial position.

Description

Robotic arm, working mechanism and autonomous mobile handling robot

The invention relates to the technical field of automated mobile handling robots, and in particular, to a mechanical arm, a working mechanism, and an autonomous mobile handling robot.

The automatic guided transport vehicle or unmanned transport vehicle is characterized by wheeled movement. Its movable area does not need to be fixed with rails, supports and other fixed devices. It is not restricted by the site, road and space. It has the characteristics of automation and flexibility. It is widely used in automated logistics systems to achieve efficient, economical and flexible unmanned production.

For example, in semiconductor production systems, unmanned trucks are often used to transport front opening unified pods (foups) with silicon wafers, such as from a machine to a rack, or from a rack to a machine, or from Moving one shelf to another.

However, the existing unmanned trucks can usually only carry one front-opening standard box at a time, and need manual loading and unloading, which is very inefficient.

An object of the present invention is to provide a mechanical arm, which has three degrees of freedom in mutually perpendicular directions, and can send the clamping device to a certain position in the space.

In order to achieve the above object, the present invention provides a mechanical arm including a telescopic arm, a rotary arm, and a driving device. The rotary arm includes a plurality of articulated arm sections, and a proximal end of the rotary arm is articulated to a remote end of the telescopic arm. End, the distal end of the rotary arm is used to pivotally connect the clamping device to clamp or release the target object, and the driving device includes a first driving device for driving the telescopic arm to move in a lateral direction And a second driving device for driving the arm section to rotate about its own articulation axis, wherein the articulation axes of the arm sections are parallel to each other and parallel to the lateral direction.

On the basis of the above technical solution, the present invention also provides a working mechanism including a clamping device, wherein the working mechanism includes the above-mentioned mechanical arm, and the clamping device is pivotally connected to the distal end of the mechanical arm. .

In addition, the present invention also provides an autonomous mobile carrying robot, wherein the autonomous mobile carrying robot is provided with the operation mechanism described above.

According to the above technical solution, the mechanical arm provided by the present invention has three degrees of freedom in mutually perpendicular directions (ie, XYZ directions). The first driving device drives the telescopic arm to move in the lateral direction, and the telescopic arm and the clamping device can be adjusted. The position in the lateral direction (ie, the X direction) can be adjusted by driving the second driving device to drive the arm joints of the rotary arm around their respective hinge axes, so that the clamping device can be adjusted in a plane perpendicular to the lateral direction (ie, the XZ plane) Therefore, the gripper can be sent to a certain position in the space by the robot arm provided by the present invention. Since the X, Y, and Z coordinates of the target object to be gripped in the three-dimensional space are determined relative to the origin position of the robotic arm, by driving the first driving device and the second driving device, The gripping device can be made to reach the position to be gripped to prepare to grip the target object. Thereafter, by driving the telescopic arm to move in the lateral direction or driving the arm section to rotate around its own hinge axis, the clamping device can be brought to the clamping position to clamp the target object. By moving the telescopic arm in the lateral direction and / or driving the arm section around its own hinge axis, the target object can be transported to the target position. Then, the telescopic arm is driven in the lateral direction and / or the arm Rotating the joint around its own hinge axis can make the clamping device release the target object, or make the clamping position after releasing the target object 400 away from the target object for clamping of the next target object.

Other features and advantages of the present invention will be described in detail in the following specific embodiments.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

In the present invention, for ease of understanding, it is defined that the autonomous mobile handling robot has a length, a width, and a height, respectively corresponding to a longitudinal direction (X axis), a lateral direction (Y axis), and a vertical direction (Z axis). In the case of the contrary description, the orientation words such as "up, down", "left, right", and "front and back" usually refer to "up, down" in the vertical direction, and "left, "Right", "front, back" in the longitudinal direction, "inside, outside" refers to the inside and outside of the contour of the corresponding component, and "far, near" refers to the distance from a certain component or structure Far and near. In addition, the terms "first", "second", "third", "fourth" and the like used in the present invention are only for distinguishing one element from another element, and have no order and importance.

According to a first preferred embodiment of the present invention, a single-side carrying two-arm type autonomous mobile handling robot is provided, and one embodiment of which is shown in FIGS. 1 to 7. Referring to FIG. 1, the single-sided carrying two-arm autonomous mobile handling robot 100 includes a main body including a base 11, a vertical plate 12 fixed to the base 11 and extending upward in a vertical direction; a walking mechanism 2 including a mounting A driving wheel and a driven wheel on the base 11; an operating mechanism including two robotic arms, each of which includes a robotic arm 3 proximally connected to the vertical plate 12 and pivotally connected to the mechanical arm A clamp 4 at the distal end of the arm 3, the robot arm 3 is arranged to enable the clamp 4 to reach a desired position, and the two robot arms are arranged to move in cooperation with each other to clamp or Release the target object 400; a bearing mechanism including a plurality of plate-shaped carriers 5 for supporting the target object 400, and the plurality of carriers 5 are fixed to the same side (front side, or rear side) of the vertical plate 12 In the embodiments shown in FIG. 1 to FIG. 7, the supporting members 5 are all fixed on the front side of the vertical plate 12, but in other embodiments, the supporting members 5 may also be fixed on the rear side of the vertical plate 12. Vertical interval setting; and control system for controlling To walk or stop and the steering mechanism, and the motion control of the robot arm.

Through the above technical solution, the autonomous mobile carrying robot provided by the first preferred embodiment of the present invention can carry a plurality of target objects 400 at one time. The working process is as follows: first, the unloaded autonomous mobile handling robot walks to the first position storing the target object 400 through the control system's control walking mechanism 2; then, the attitude of the clamp 4 (around its own pivot) is controlled by the control system The rotation angle of the rotating shaft) and the movement of the robot arm 3 send the clamp 4 to a desired position, and the movement of the robot arm 3 is used to realize the clamping of the target object 400 by the clamp 4; thereafter, by controlling the movement of the robot arm 3, The clamped target object 400 is placed on a carrier 5 of the supporting mechanism, thereby completing the loading of one target object 400. After that, the above working process can be repeated until the target objects 400 are placed on all the carriers 5. After that, by controlling the walking mechanism 2, the autonomous mobile carrying robot travels to the second position to which the target object 400 is to be transported, and the target object 400 is sequentially held by its corresponding carrier 5 by the robot arm and sent to the second position. At the corresponding placement position, unloading of the target object 400 is achieved. In this process, the position of the autonomous mobile handling robot can be changed by controlling the walking mechanism 2 to facilitate the operation of the robot arm. Through the above description, the autonomous mobile carrying robot provided by the present invention can realize the automatic carrying of the target object 400 without manual loading and unloading, and can transport multiple target objects 400 in a single pass, effectively improving the production cycle and work efficiency. In addition, by arranging a plurality of carriers 5 sequentially in the vertical direction, the upper space of the base 11 can be effectively used, which is beneficial to the miniaturization of the autonomous mobile handling robot, and has a wider application range and higher agility.

The autonomous mobile handling robot provided by the present invention can be applied to an unmanned production workshop. For example, it can be applied to a silicon wafer production workshop. The target object 400 is a front-opening standard box equipped with a silicon wafer, and sends instructions to the central control. The mobile robot can move the open front standard box between the shelves, the machine 500 and the storage position.

The base 11 may include a bottom plate 111 for installing a walking mechanism, and at the same time, the lower end of the vertical plate 12 may be fixed on the bottom plate 111. In addition, the autonomous mobile handling robot provided by the present invention needs to have its own power supply so as to be able to function for each electric component. Therefore, the autonomous mobile handling robot also includes a power source. The power source is provided on the base plate 111. For aesthetics, the base 11 is also provided with a skirt plate 112 which extends in a vertical direction and surrounds the outer periphery of the base plate 111. Wires, etc. provide space for storage. In addition, the main body may further include a housing 13 enclosed with a vertical board 12, and a man-machine interactive operation console is provided on the housing 13, for example, an operation interface screen 14 (refer to FIG. 6). The operation interface screen 14 Tilt setting (refer to Fig. 4 and Fig. 6) to facilitate human-machine interactive operation. The operation interface screen 14 belongs to the control system.

In a specific implementation manner provided by the first preferred embodiment of the present invention, the base 11 may be provided at a front side (and / or a rear side) of the autonomous mobile handling robot in a lateral direction of the autonomous mobile handling robot Two distance detection devices 113 arranged at intervals are used to detect the distance between the autonomous mobile carrying robot and a shelf on which the target object 400 is placed when loading the vehicle, as shown in FIG. 3. The distance detection device 113 is electrically connected to the control system to control the walking mechanism 2 according to the distance signal of the distance detection device 113, so that the autonomous mobile carrying robot and the Shelf alignment. The alignment here can be understood as the relative position of the autonomous mobile robot and the shelf, allowing the target object 400 to be translated to the corresponding carrier 5 as a whole. The positioning slot of the target object 400 can be compared with the following. The positioning structure on the carrier 5 described above shall prevail. The distance detection device 113 may be configured in any suitable manner, for example, it may be configured as a laser sensor.

In order to ensure the safe driving of the autonomous mobile handling robot, the front side and the rear side of the base 11 may be provided with a first obstacle avoidance sensor 114a for detecting obstacles around the first obstacle avoidance sensor 114a. The control system is electrically connected. After receiving the danger signal from the first obstacle avoidance sensor 114a, the control system controls the walking mechanism 2 to stop moving and issues an alarm. The alarm may be an audible alarm or a light. The alarm is, for example, a red light emitted by the first signal light source described below.

Optionally, a second obstacle avoidance sensor 114b is provided on the left and / or right side of the first obstacle avoidance sensor 114a to assist the first obstacle avoidance sensor 114a to increase the detection range and sensitivity. . In addition, a third obstacle avoidance sensor 58 is also provided on the support member 5 on the topmost layer, which detects the surrounding obstacles on the upper part of the autonomous mobile carrying robot and assists the first obstacle avoidance sensor 114a, which is beneficial to increase Large detection range and sensitivity. When the obstacle avoidance sensor detects an obstacle, a danger signal is issued, and the control system immediately stops the walking action of the walking mechanism 2 after receiving the signal, and issues an alarm.

Since the autonomous mobile robot does not translate left and right, it only needs to detect obstacles in front and rear. Alternatively, referring to FIG. 5, the first obstacle avoidance sensor 114 a includes two infrared sensors located on the front side and the rear side of the autonomous mobile handling robot, respectively, so as to propagate forward (along infrared rays). Direction, infrared rays propagate from back to front) for diffuse detection.

In addition, the base 11 may be provided with two anti-collision bars 115 surrounding the outer side of the base 11. Alternatively, the anti-collision bar 115 is provided with an impact sensor electrically connected to the control system. After receiving the danger signal from the collision sensor, the control system controls the walking mechanism 2 to stop moving and issue an alarm to prevent the autonomous mobile handling robot from continuing to walk in the event of an emergency collision.

In addition, a bottom camera 116 (refer to FIG. 7) electrically connected to the control system is provided on the lower surface of the base 11 for capturing ground features in trackless navigation. Lens camera 57 (located on the side of the uppermost carrier 5 and corresponding to the travel direction of the autonomous mobile robot in front or rear to capture surrounding environmental features) to locate and pass the autonomous mobile robot itself Trajectory compensation corrects position deviation. Ground distance detection devices electrically connected to the control system are provided at the four corners of the base 11, and the detected distance information is sent to the control system, and the control system determines whether the bottom surface in front of the travel is flat based on the distance information. And control the walking of the walking mechanism accordingly.

The walking mechanism may be configured in any suitable manner. Alternatively, the walking mechanism is configured as a walking mechanism provided according to a second preferred embodiment of the present invention.

Among them, the driven wheel can be constructed in any suitable manner.

The robot arm can be configured in any suitable manner. Alternatively, the robot arm in the robot arm can be configured as a robot arm provided by a third-party vendor according to the present invention, and the clamping device in the robot arm can be configured according to the present invention. A fourth preferred embodiment of the invention provides a jig for an autonomous mobile carrying robot.

The bearing mechanism may be configured in any suitable manner. Alternatively, the bearing member in the bearing mechanism may be configured as a bearing member for an autonomous mobile handling robot according to a fifth preferred embodiment of the present invention.

According to a second preferred embodiment of the present invention, a walking mechanism is provided. Referring to FIG. 8 to FIG. 11, the walking mechanism includes two of the driving wheels 21 and at least two of the driven wheels. The driving wheel 21 has a central rotation axis (if the driving wheel 21 moves forward in the first direction around the central rotation axis, the reverse rotation is backward, and thus, when the autonomous movement is provided according to the first preferred embodiment of the present invention When the carrying robot is provided with the walking mechanism, the central rotation axis is parallel to the lateral direction of the autonomous mobile carrying robot described above), and the driving wheel 21 is hinged to the base 11 between the base 11 and the driving wheel 21 An elastic biasing member is provided, a first end of the elastic biasing member biases the base 11, and a second end of the elastic biasing member opposite to the first end biases the driving wheel 21 to This enables the driving wheel 21 to rotate about a pivot axis parallel to the central rotation axis to move up and down relative to the base 11.

When the existing four-wheeled walking mechanism walks on uneven ground, there will be a situation where one driving wheel is suspended or the four wheels are all on the ground but the forces are not uniform, that is, the pressure on the ground is not equal. In this case, The friction between each wheel and the ground is different, which is prone to slipping, which affects the walking trajectory.

Through the above technical solution, the walking mechanism provided by the present invention can drive the driving wheel 21 to rotate about its pivot axis to move up and down relative to the base 11 by providing elastic biasing members, and adjust the ground pressure of the driving wheel 21 in real time to ensure The friction between the driving wheel 21 and the ground prevents slippage or ensures that the degree of slip between the two driving wheels 21 and the ground is approximately the same, ensuring the actual amount of movement, thereby ensuring the walking trajectory.

In the specific embodiment provided by the present invention, the driving wheel 21 may be configured in any suitable manner. Alternatively, referring to FIG. 11, the driving wheel 21 includes a mounting bracket 211, a driving motor 212 fixed to the mounting bracket 211, and a driving wheel roller 213 fixed to an output shaft of the driving motor 212. The driving motor 212 drives the driving wheel 213 to rotate about the axis of the output shaft of the driving motor 212. The mounting bracket 211 is connected to the hinge base 110 fixed to the base 11 through a pivot shaft 214. The pivot shaft 214 may be any suitable For example, it can be configured as a pin, one end of which is stopped by the mounting bracket 211 by its own head, and the other end of which is stopped by the hinge base 110 by a stopper, for example, it is stopped by the clamp 215 at the hinge base 110, As shown in Figure 11. The second end of the elastic biasing member biases the mounting bracket 211. As an option, the elastic biasing member may be configured as a spring plunger 22 which is fixed to the base 11 and a head of the spring plunger 22 abuts against the mounting bracket 211 for use. For the second end. In addition, in order to provide a sufficient elastic biasing force, each driving wheel 21 may be provided with two spring plungers 22 correspondingly. As another option, the elastic biasing member can also be configured as a disc spring or the like.

Alternatively, the driven wheel may be configured as a universal wheel 23 to allow the traveling mechanism 360 to turn. Optionally, the center rotation axes of the two driving wheels 21 are collinear, and the driven wheel set includes two pairs of the driven wheels, wherein, in the direction of the center rotation axis, a pair of the driven wheels are located at One side of the driving wheel 21 is described, and another pair of the driven wheels is located on the other side of the driving wheel 21. With this arrangement, the walking mechanism is allowed to turn 360 ° when walking forward or backward. Optionally, the two pairs of the driven wheels are symmetrically arranged with respect to the central rotation axis, so that the center of gravity of the walking mechanism falls on the center of the line connecting the central rotation axes of the two driving wheels 21.

Among them, in the walking mechanism provided by the second preferred embodiment of the present invention, the above-mentioned universal wheel can be constructed in any suitable manner.

On the basis of the above technical solution, the second preferred embodiment of the present invention also provides an autonomous mobile handling robot. The autonomous mobile handling robot includes the above-mentioned walking mechanism 2. Therefore, it also has the above advantages.

According to a third preferred embodiment of the present invention, a mechanical arm is provided, and a specific implementation manner is shown in FIGS. 12 and 13. Referring to FIG. 12 and FIG. 13, the mechanical arm 3 includes a telescopic arm 31 , Rotating arm 32 and driving device. The rotating arm 32 includes a plurality of arm sections that are hinged in sequence. The proximal end of the rotating arm 32 is hinged to the distal end of the telescopic arm 31. The distal end of the rotating arm 32 is used to pivotally connect the clamping device. (Such as the clamp 4 or the gripper 6) to clamp or release the target object 400; the driving device includes: a first driving device 331 for driving the telescopic arm 31 to move in a lateral direction, and for driving the The second driving device 332 for which the arm section rotates about its own hinge axis, wherein the hinge axes of the arm sections themselves are parallel to each other and parallel to the transverse direction.

Through the above technical solution, the robot arm provided by the third preferred embodiment of the present invention has three degrees of freedom in mutually perpendicular directions (ie, XYZ directions), and the telescopic arm 31 is driven to move in the lateral direction by the first driving device 331 The position of the telescopic arm 31 and the clamping device in the lateral direction (ie, the X direction) can be adjusted, and the arm joint of the rotating arm 32 is driven to rotate about its respective hinge axis by driving the second driving device 332, and the clamping device can be adjusted in The position in a plane perpendicular to the lateral direction (ie, the XZ plane). Therefore, by using the robot arm provided by the present invention, the clamping device can be sent to a certain position in the space. Since the X, Y, and Z coordinates of the position of the target object 400 to be gripped in the three-dimensional space are determined relative to the origin position of the robot arm, the first driving device 331 and the second driving are driven by The device 332 can make the clamping device reach the to-be-clamped position to prepare to clamp the target object 400. Then, by driving the movement of the telescopic arm 31 in the lateral direction or driving the arm section to rotate about its own hinge axis, it can The gripping device is brought to the gripping position to grip the target object 400; and by driving the telescopic arm 31 in a lateral direction and / or driving the arm section to rotate about its own hinge axis, the target object 400 can be transported to The target position, after which, by driving the telescopic arm 31 in the lateral direction and / or the driving arm section to rotate around its own hinge axis, the clamping device can be released, or the clamp behind the target object 400 can be released. Hold the position away from the target object 400 to clamp the next target object 400.

The robot arm 3 provided by the third preferred embodiment of the present inventor will be described in detail below with reference to FIGS. 12 and 13.

In a specific implementation manner provided by the present application, the first driving device 331 may be configured in any suitable manner, for example, it may be configured as a hydraulic oil cylinder or a cylinder; alternatively, the first driving device 331 is configured as a motor, and The telescopic arm 31 is connected to the output shaft of the motor through a transmission device, so that the rotational movement of the output shaft of the motor can be converted into a linear motion of the telescopic arm 31 in the lateral direction.

Among them, in order to optimize the use of limited space and achieve the goal of miniaturization, the motor is a hollow shaft motor; and the transmission device can be configured in any suitable manner, for example, it can be configured as a rack and pinion transmission structure. Alternatively, the transmission device is configured as a screw rod transmission device, and includes a screw rod 341 and a nut that cooperate with each other. Referring to FIG. 12 and FIG. 13, the screw rod 341 is fixed by a fixing base 342. When the robot arm 3 is applied to an autonomous mobile carrying robot, the screw rod 341 is fixed to the main body (specifically, the vertical plate 12) of the autonomous mobile carrying robot through a fixing seat 342, and the nut is fixed to the hollow output shaft of the hollow shaft motor. (Of course, an internal thread can also be provided on the hollow output shaft), the hollow shaft motor is fixedly connected to the telescopic arm 31; therefore, when the hollow output shaft is rotated forward, for example, the telescopic arm is driven to move in the first direction. When the hollow output shaft is reversed, for example, the telescopic arm is driven to move in a second direction opposite to the first direction, thereby adjusting the position of the clamping device in the lateral direction.

Among them, in order to avoid the weight of the hollow shaft motor, the telescopic arm 31, the rotating arm 32, the clamping device and even the target object 400 being borne by the screw rod 341, thereby causing deformation or even breakage of the screw rod 341 to affect normal work, The hollow shaft motor may be fixed to the first fixing plate 351, the telescopic arm 31 may be fixed to the second fixing plate 352, and both the first fixing plate 351 and the second fixing plate 352 are fixed to the slider 361, which 361 cooperates with a guide rod 362 provided in the transverse direction in a device provided with the robot arm 3, so that the telescopic arm 31, the rotary arm 32, the clamping device and even the target object 400 can follow the hollow shaft motor In the lateral direction; in this case, the weight of the hollow shaft motor and the telescopic arm 31, the rotary arm 32, the clamping device and even the target object 400 passes through the first fixing plate 351 and the second fixing plate 352, and The cooperation between the slider 361 and the guide rod 362 is transmitted to the device, which is assumed by the device; in the specific embodiment shown in FIG. 17 and FIG. 18, the guide rod 362 is provided on the vertical plate 12 of the autonomous mobile handling robot; Optional , The telescopic arm 31 extending in the transverse direction, and is hollow to facilitate routing.

In a preferred embodiment of the present application, the second driving device 332 may be configured in any suitable manner, for example, it may be configured as a hydraulic oil cylinder or a pneumatic cylinder. Alternatively, the second driving device 332 may also be a hollow shaft motor, and the rotating arm 32 includes a first arm section 321 and a second arm section 322 to obtain a bionic structure similar to a human arm. Referring to FIG. 12 and As shown in FIG. 13, the proximal end of the first arm section 321 and the telescopic arm 31 are hinged by a hollow shaft motor, and the distal end of the first arm section 321 and the second arm section are articulated. The proximal end of 322 is articulated by a second driving device 332. Optionally, the arm section is hollow to facilitate wiring.

Optionally, the driving device further includes a third driving device 333 for driving the clamping device to rotate around its own pivot axis 214, wherein the pivot axis 214 may be disposed parallel to the lateral direction, So that the clamping device can rotate around its own pivot axis 214 to adjust its own posture. In a preferred embodiment of the present application, the third driving device 333 may be configured in any suitable manner, for example, it may be configured as a hydraulic oil cylinder or an air cylinder. Alternatively, the third driving device 333 may be configured as a hollow shaft motor provided at a distal end of the rotating arm 32 (in the embodiment shown in FIGS. 17 and 18, it is used as a third driving device The hollow shaft motor of 333 is disposed at the distal end of the second arm section 322). The hollow shaft of the hollow shaft motor is used to connect with the clamping device. It can be understood that the clamping device is pivotally connected by the hollow shaft motor. At the distal end of the rotating arm 32.

Based on the above technical solution, the third preferred embodiment of the present invention further provides a working mechanism, which includes a clamping device and the above-mentioned robot arm 3, the clamping device is pivotally connected to the robot arm The far end of 3. In addition, the third preferred embodiment of the present invention also provides an autonomous mobile handling robot, which is provided with the operating mechanism.

According to a fourth preferred embodiment of the present invention, a jig 4 for an autonomous mobile carrying robot is provided, and an embodiment of which is shown in FIGS. 14 to 17. The clamp 4 includes a clamp body 41 and an elastic clamping member. The clamp body 41 is provided with a support table 411 for the target object 400 and a projection 412 higher than the support table 411. The elastic clamping member has a fixed Connected to the proximal end of the boss 412 and the distal end opposite to the proximal end, the distal end is used to abut the target object 400 to cooperate with the support table 411 to releasably clamp the target Object 400.

According to the above technical solution, the jig 4 for an autonomous mobile handling robot provided by the fourth preferred embodiment of the present invention provides a support table 411 for the target object 400 by setting the jig body 41. When the target object 400 is clamped, the target object 400 passes The support platform 411 supports and holds the target object 400 on the support platform 411 by abutting the distal end of the elastic clamping member against the target object 400, thereby achieving the clamping of the target object 400 and further driving the target object 400 to move. When the target object 400 needs to be released, the clamp 4 can be directly moved away from the target object 400, so that the target object 400 leaves the support platform 411, and the elastic clamping member no longer abuts the target object 400, thereby realizing the target object. 400 releases.

In a specific embodiment provided by the present invention, the elastic clamping member may be configured in any suitable manner. Optionally, the elastic clamping member includes a first elastic clamping member 421, and the first elastic clamping member 421 has a first proximal end 4211 fixed to the boss 412 and is opposite to the first proximal end 4211. A first distal end 4212 which extends above the support base 411 to form an elastic clamping portion, which is defined between the elastic clamping portion and the support base 411 for the target object In the clamping space of 400, the elastic clamping portion provides the target object 400 with an elastic clamping force toward the support base 411. The end portion 4213 of the first distal end 4212 may be bent in a direction away from the support base 411 to guide the target object 400 into the clamping space.

Among them, in order to prevent the target object 400 from being stressed by the supporting platform 411, optionally, the supporting platform 411 may be provided with a first cushion pad 431 made of an elastic material. Optionally, two first cushion pads 431 are provided, and the two first cushion pads 431 are disposed at intervals in the clamping space.

In a specific embodiment provided by the present invention, the elastic clamping member may further include a second elastic clamping member 422. Referring to FIG. 16 and FIG. 17, the clamp body 41 is located on the supporting table 411 and the projection. A groove-shaped groove 413 is provided between the stands 412, the second elastic clamping member 422 is disposed in the groove-shaped groove 413, and the second elastic clamping member 422 has a A second proximal end 4221 and a second distal end 4222 opposite to the second proximal end 4221, the second distal end 4222 is configured to abut the target object 400 so as to provide the target object 400 with an outward facing The elastic clamping force requires two clamps 4 to be used together during use. The two clamps 4 clamp the target object 400 on opposite sides. The outward elastic clamping force provided by the second distal end 422 of the clamp 4 is just right. The target object 400 located between the two is clamped; wherein, the end of the second distal end (4222) is folded, and the bend is outward to avoid concentrated stress applied to the target object 400; optionally In order to avoid the situation in which the target object 400 is clamped between the two using the two fixtures 4, The object 400 is subjected to the concentrated stress of the boss 412, and a sidewall of the boss 412 may be connected with a second cushion pad 432 made of an elastic material, and the second cushion pad 432 may be provided with two, the two said first Two buffer pads 432 are disposed on the sidewall of the boss 412 at intervals.

In a specific embodiment provided by the present invention, the clamp 4 may include a positioning member 44 for aligning with a mark (such as a notch structure) on the target object 400, and the positioning member 44 is telescopically connected to the positioning member 44. A boss 412, an end of the positioning member 44 is provided with an alignment sensor (such as a photo sensor), and when the end of the positioning member 44 is aligned with the mark, the alignment sensor A confirmation signal is issued, otherwise an alarm signal is issued; the protrusion 412 is provided with a proximity sensor 45 (such as a photosensor), and when the positioning member 44 is retracted to approach the proximity sensor 45, The proximity sensor 45 sends a confirmation signal.

Optionally, the clamp 4 further includes a sealing plate 46 which is fixedly connected to the projection 412 above the projection 412, and the clamp 4 is provided for indicating that the target object 400 is in a clamp. A first signal light source 47 in a holding position, the first signal light source 47 is disposed in the cover plate 46, and the cover plate 46 is made of a translucent material; The emitted light is scattered into the environment so that the user can observe it from a distance.

Optionally, the jig 4 further includes a connection block 48 for pivotally connecting with the robot arm 3 of the autonomous mobile carrying robot, and the jig body 41 is fixedly connected to the connection block 48. The first signal light source 47 may be fixed on the connecting block 48, and the sealing plate 46 is provided with corresponding receiving holes. When the clamp body 41 is connected to the fixing block 48, the sealing plate 46 fixed to the boss 412 just makes the first The signal light source 47 is located in the receiving hole.

On the basis of the above technical solution, a fourth preferred embodiment of the present invention further provides an operating mechanism for an autonomous mobile carrying robot. The operating mechanism includes a pair of robot arms, and each robot arm includes a robot arm and the aforementioned The robot gripper 4 is autonomously moved. The gripper 4 is connected to the distal end of the robot arm. Two grippers 4 in each pair of robot arms cooperate with each other to grip or release the target object 400.

In each pair of robotic arms, two grippers 4 are disposed opposite each other. As shown in FIG. 1, when the two grippers 4 are close to each other, they are used to hold the target object 400, and when the two grippers 4 are far away from each other, they are used to release the target. Object 400.

Wherein, on the basis of the above technical solution, the robot arm in the working mechanism of the autonomous mobile handling robot provided by the fourth preferred embodiment of the present invention can be constructed in any suitable manner, for example, it can be constructed as the third aspect of the present invention. A robot arm 3 provided by a preferred embodiment.

Alternatively, a photographic camera 491 may be provided on the front side of one of the two grippers 4 of the two robot arms, and the front side of the other of the two grippers 4 of the two robot arms. A flash 492 may be provided to supplement the light of the camera 491. Before the target object 400 is clamped, the front of the target object 400 can be photographed by the photographing camera 491 to capture the visual feature points.

In addition, the fourth preferred embodiment of the present invention also provides an autonomous mobile handling robot, which includes the autonomous mobile handling robot operating mechanism provided by the fourth preferred embodiment of the present invention.

According to a fifth preferred embodiment of the present invention, a carrier 5 for an autonomous mobile handling robot is provided, and one of them is shown in FIGS. 18 to 20. Referring to FIGS. 18 to 20, the carrier 5 includes: a plate-shaped body 51 having a bearing surface for carrying the target object 400; and a positioning structure 52 fixed to the bearing surface for: Cooperate with the positioning holes and slots of the target object 400 to limit the movement of the target object 400 on the plate-shaped body 51; a radio frequency identification antenna 53 (RFID, Radio Frequency Identification), the radio frequency identification antenna 53 Fixed to the plate-shaped body 51 for reading the number of the target object 400; and a target object detection device 54 fixed to the plate-shaped body 51 for detecting whether there is a target object 400 is placed on the carrier 5.

Through the above technical solution, the carrier 5 provided by the fifth preferred embodiment of the present invention can carry the target object 400, and can also know the number of the carried target object 400, so that the user can master the carrier 5 Information of the carried target object 400. When the target object 400 is placed on the bearing surface, the positioning structure 52 can not only prevent the target object 400 from sliding or even falling on the bearing surface under the action of an external force, but also make any target placed on the bearing surface The position of the object 400 is unique, which facilitates automatic loading and unloading of the target object 400. In addition, the target object detection device 454 can confirm whether there is the target object 400 on the carrier 5. On the one hand, it is possible to avoid repeatedly placing the target object 400 on the other hand, and on the other hand, it can be known whether the carrier 5 is idle.

In the specific embodiment provided by the present invention, the positioning structure 52 may be configured in any suitable manner. Alternatively, the positioning structure 52 is provided as three positioning posts, and the three positioning posts are arranged in a triangle shape with a connection line, as shown in FIGS. 18 to 20. The target object detection device 54 includes a detection portion protruding from the bearing surface. When the positioning hole groove of the target object 400 cooperates with the positioning structure 52, the detection portion can retract under the gravity of the target object 400. In the plate-shaped body 51, the target object detection device 54 sends a confirmation signal to indicate that the target object 400 is placed on the bearing surface.

In the specific embodiment provided by the present invention, the radio frequency identification antenna 53 may be configured in any suitable manner; alternatively, as shown in FIGS. 18 to 20, the radio frequency identification antenna 53 and the target object are detected. The device 54 is arranged adjacent to facilitate wiring.

In the specific embodiment provided by the present invention, the target object detection device 54 may be configured in any suitable manner; alternatively, the target object detection device 54 is configured as a photoinductor, and its working principle may be: when there is When the target object 400 is placed on the carrier 5, the target object 400 covers the photo sensor, and the photo sensor sends a determination signal.

In the specific embodiment provided by the present invention, the plate-shaped body 51 may be configured in any suitable manner. Alternatively, referring to FIG. 19 and FIG. 20, the plate-shaped body 51 includes a main board 511, a sandwich plate 512, and a cover plate 513 which are sequentially connected in an overlapping manner. The sandwich plate 512 is provided with an opening 5121. A second signal light source 55 is provided in the opening 5121. The second signal light source 55 can emit light of multiple colors, and each color of light indicates a working condition. For example, the second signal light source 55 can emit a red light indicating an alarm. , Indicating normal green light, blue light indicating insufficient power, and so on. Both the cover plate 513 and the sandwich plate 512 are made of a translucent or transparent material to scatter the light emitted by the second signal light source 55 to the surrounding environment for users to observe from multiple angles and multiple locations; The cover plate 513 is provided with an emergency stop button 56 to stop the work of the autonomous mobile handling robot in an emergency.

Wherein, in order to enable the user to observe the light emitted by the second signal light source 55 from various angles and orientations, the second signal light source 55 may be configured in a strip shape, and four of the second signal light sources 55 are provided in the opening 5121. The signal light source 55 emits light toward the front, back, left, and right, respectively, so that the light emitted by the second signal light source 55 is irradiated to each direction and corner.

In a specific embodiment provided by the present invention, the cover plate 513 and the sandwich plate 512 may both be made of a plexiglass material, so that they have the advantages of easy processing, strong light transmission, impact resistance, and durability.

In a specific embodiment provided by the present invention, the carrier 5 is provided with a dual-lens camera 57, for example, a 150 ° stereo depth of field can be obtained. The dual-lens camera 57 may be fixed to the plate-shaped body 51, for example, may be fixed to a side surface of the plate-shaped body 5.

Alternatively, the carrier 5 is provided with a third obstacle avoidance sensor 58 which is fixed to the plate-shaped body 51 on the front side, and the third obstacle avoidance sensor 58 Two are provided, and the dual-lens camera 57 is located between the two obstacle avoidance sensors 58.

On the basis of the above technical solution, the fifth preferred embodiment of the present invention also provides an autonomous mobile handling robot, including a jig for an autonomous mobile handling robot provided by the fifth preferred embodiment of the present invention.

In summary, a single-sided carrying two-arm autonomous mobile handling robot provided by the first preferred embodiment of the present invention can be obtained. The single-side carrying two-arm autonomous mobile handling robot includes the second preferred implementation of the present invention. The walking mechanism provided by the example, the robot arm 3 provided according to the third preferred embodiment of the present invention, the jig 4 for an autonomous mobile carrying robot provided according to the fourth preferred embodiment of the present invention, the fifth according to the present invention A carrier 5 for an autonomous mobile handling robot provided by a preferred embodiment. For the traveling mechanism, the driving motor 212 is electrically connected to the control system, so as to control the rotation of the driving motor 212 through the control system. For the robot arm 3, the fixed seat 342 and the guide rod 362 may be provided in the housing 13 and fixed on one side of the vertical plate 12, and the screw rods 341 of the two robot arms 3 may be combined into one, namely the fixed seat 342 It is fixed in the middle position of the lead screw. The left screw part is used for the left robot arm, and the right screw part is used for the right robot arm. The first driving device 331, the second driving device 332, and the third driving device 333 configured as a hollow shaft motor are all electrically connected to the control system, and the clamp 4 is fixed on the hollow shaft of the hollow shaft motor serving as the third driving device 333. The alignment sensor, the proximity sensor 45, the first signal light source 47, the camera 491, and the flash 492 in the jig 4 are all electrically connected to the control system; the radio frequency identification antenna 53 in the carrier 5 and the target object detection device 54. The second signal light source 55, the emergency stop button 56, the dual-lens camera 57 and the third obstacle avoidance sensor 58 are all electrically connected to the control system; in the autonomous mobile handling robot, two mechanical arms are provided. The two robot arms are arranged symmetrically about the longitudinal direction of the autonomous mobile handling robot; the autonomous mobile handling robot is provided with three carriers 5, defining one side of the riser 12 on which the carrier 5 is provided as the front, and the other side as the rear; among them, The uppermost carrier 5 is configured in the embodiment shown in FIGS. 19 and 20, and the lower two carriers 5 are configured in the embodiment shown in FIG. 18, that is, only the uppermost carrier 5 is constructed. A second signal light source 55, an emergency stop button 56, a dual-lens camera 57 and a third obstacle avoidance sensor 58 are provided thereon, and only the plate-shaped body 51 of the uppermost carrier 5 has a main board 511, a sandwich board 512 and Cover plate 513 composition; lower Nobody will workshop working environment for semiconductor factories, to a target object TEU opening 400 between the front shelves and the contents of the work machine transport, the detailed description in conjunction with the accompanying drawings which autonomous mobile transfer robot working process.

First, after receiving the instruction, the unloaded autonomous mobile handling robot drives the walking mechanism to the front of the shelf. At this time, the autonomous mobile handling robot faces the shelf and positions it, and detects the distance to the shelf through the distance detection devices 113 on the left and right sides. Compare the two distances. If they are equal, it means that the autonomous mobile handling robot is facing the shelf. Otherwise, the control system controls the rotation of one or two driving wheels 21 to adjust the autonomous mobile handling robot to be aligned with the shelf. After that, the second driving device 332 is operated to send the jig 4 to the front of the front open standard box to be clamped on the shelf. At this time, the camera 491 on the jig 4 takes a picture of the front, captures the visual characteristic points, and controls the system. It is determined whether the position of the clamp 4 at this time is in an aligned position. If so, the second driving device 332 of the two mechanical arms synchronously drives the rotary arm 32 to rotate about its hinge axis to synchronously move the two clamps 4 toward Move forward to the position to be clamped, that is, on both sides of the open standard box on the front. If not, the first driving device 331 can be controlled to rotate to move the two telescopic arms 31 to the left or right at the same time, so that the clamp 4 reaches the alignment position. After that, the first driving device 331 of the two robotic arms is controlled. The two telescopic arms 31 are driven to move relative to each other so that the two clamps 4 are close to each other, so that the clamped portion of the open front standard box enters the clamping space of the clamp 4 and is respectively held on the support table by the first elastic clamping members 421 411; when the fixture 4 is in contact with the front open standard box, if the end of the positioning member 44 is aligned with the mark on the front open standard box, a confirmation signal is sent to the control system, and the control fixture 4 continues to move relative to each other, and the two fixtures The second elastic clamping member 422 of 4 is elastically deformed to provide relative clamping force from both sides of the front open standard box. The positioning member 44 retracts when receiving the thrust of the front open standard box. When approaching the proximity sensing, When the sensor 45 is near, the proximity sensor 45 sends a confirmation signal to the control system. The control system controls the robot arm 3 to stop moving and the clamp 4 to stop. The first signal light source 47 on it emits green light to indicate completion. The front open standard case is clamped. If the end of the positioning member 44 is not aligned with the mark on the front open standard box, an alarm signal is sent to the control system, the control system stops the movement of the robot arm 3, and controls the first signal light source 47 to emit red light and / or sound A signal to inform the user that the position of the front opening standard box is adjusted so that the clamp 4 can be correctly clamped.

After the clamp 4 clamps the front open standard case, the control system controls the robot arm 3 to move the clamped front open standard case on one of the carriers 5, for example, the lowermost carrier 5. When the front open standard box is placed on the carrier 5, if the positioning hole groove of the front open standard box matches the positioning structure 52, the target object detection device 54 sends a confirmation signal to the control system, indicating that the front open standard box has been placed in the On the carrier 5. Through the radio frequency identification antenna 53 on the carrier 5, the FID code of the front open standard box can be read, so as to obtain the information of the front open standard box placed on the carrier 5.

Since then, the loading of a standard open front box has been completed.

By analogy, after the loading of the previous front-opening standard box is completed, the control system controls the walking mechanism so that the autonomous mobile handling robot walks to the next front-opening standard box on the shelf to be loaded for the front. Loading of open standard boxes.

After full load, the control system controls the autonomous mobile handling robot to walk to the machine dump truck. During the walking process, the bottom plate 116 is used to capture the bottom plate image to obtain the characteristics of the bottom plate to determine the current position of the autonomous mobile handling robot, and to perform trajectory compensation when the position deviation occurs. When the characteristics of the bottom plate cannot be confirmed, the current position of the autonomous mobile handling robot can be determined through the synchronous positioning and map construction (SLAM or Simultaneous localization and mapping) algorithm of the environmental image taken by the dual-lens camera 57. During the walking process, since the walking mechanism provided by the second preferred embodiment of the present invention is used, the ground pressure of the two driving wheels 21 can be ensured, and the traveling direction of the autonomous mobile carrying robot can be ensured; the ground distance detection is passed The device senses the road ahead, and once a pothole or an obstacle is found, the control system controls the autonomous mobile handling robot to stop walking and alarm; at the same time, if 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 collision sensor detects an obstacle in the traveling direction of the autonomous mobile handling robot, the control system will control the autonomous mobile handling robot to stop walking immediately and alarm; in addition, if the carrier The front open standard box on 5 was taken away. After the signal sent by the target object detection device 54, the control system controls the autonomous mobile handling robot to stop walking immediately and alarm.

According to a sixth preferred embodiment of the present invention, a double-sided carrying type autonomous mobile handling robot 200 is provided. The autonomous mobile handling robot is distinguished from the autonomous mobile handling robot provided by the first preferred embodiment of the present invention in that: : According to a sixth preferred embodiment of the present invention, a double-sided load-bearing autonomous mobile handling robot is provided with two said vertical plates 12, and a housing 13 is located between the two vertical plates 12, and two vertical plates The mutually facing sides of 12 form a closed space, and the first driving device 331, the screw 341, and the fixed seat 342 of the robot arm 3 are arranged in the closed space. The two supporting plates 5 on the two outwardly facing sides of the two vertical plates 12 are fixed, and the supporting members 5 on the same side are evenly spaced in the vertical direction, as shown in FIG. 21; considering the space arrangement, An operation interface screen, that is, a human-machine interaction interface, is no longer provided in the double-sided carrying type autonomous mobile handling robot provided by the sixth preferred embodiment of the present invention.

The autonomous mobile carrying robot provided by the sixth preferred embodiment of the present invention can carry multiple target objects 400 at one time. The working process is as follows: first, the unloaded autonomous mobile handling robot walks to the first position storing the target object 400 through the control system's control walking mechanism 2; then, the attitude of the clamp 4 (around its own pivot) is controlled by the control system The rotation angle of the rotating shaft) and the movement of the robot arm 3 send the clamp 4 to a desired position, and the movement of the robot arm 3 is used to realize the clamping of the target object 400 by the clamp 4; thereafter, by controlling the movement of the robot arm 3, The clamped target object 400 is placed on a carrier 5 of the supporting mechanism, thereby completing the loading of one target object 400. After that, the above-mentioned work process can be repeated until the target object 400 is placed on all the carriers 5. After that, by controlling the walking mechanism 2, the autonomous mobile robot moves to the second position to which the target object 400 is to be transported. The arm sequentially clamps the target object 400 from its corresponding carrier 5 and sends it to the corresponding placement position of the second position to realize the unloading of the target object 400. In this process, the autonomous movement can be changed by controlling the walking mechanism 2 The position of the transport robot is convenient for the operation of the robotic arm. According to the above description, the autonomous mobile transport robot provided by the present invention can automatically transport the target object 400 without manual loading and unloading, and can transport multiple target objects 400 in a single pass, effectively improving Production speed and work efficiency; In addition, by arranging multiple carriers 5 in the vertical direction in sequence, the upper space of the base 11 can be effectively used, which is beneficial to the miniaturization of the autonomous mobile handling robot, and has a wider application range and more High agility.

Based on the foregoing, it is also possible to obtain a double-sided carrying two-arm autonomous mobile handling robot provided by a sixth preferred embodiment of the present invention. The double-side carrying two-arm autonomous mobile handling robot includes the second aspect of the present invention. A walking mechanism provided by a preferred embodiment, a robot arm 3 provided according to a third preferred embodiment of the present invention, a jig 4 for an autonomous mobile carrying robot provided according to a fourth preferred embodiment of the present invention, A fifth preferred embodiment of the invention provides a carrier 5 for an autonomous mobile handling robot.

Due to the above-mentioned distinguishing features between the double-sided carrying two-arm autonomous mobile handling robot and the single-sided carrying two-arm autonomous mobile handling robot provided by the first preferred embodiment of the present invention, the working process is only There is a difference here, that is, when loading the front open standard box (target object 400), when the one side carrier 5 has been filled with the front open standard box, the other side carrier 5 needs to be filled The same is true for unloading trucks. In addition, for such a two-sided, two-arm, autonomous mobile handling robot, any direction in the longitudinal direction can be defined as the forward direction.

According to the seventh preferred embodiment of the present invention, a single-arm autonomous mobile handling robot 300 is provided. The distinguishing feature between the autonomous mobile handling robot and the autonomous mobile handling robot provided by the first preferred embodiment of the present invention may be : According to a seventh preferred embodiment of the present invention, there is only one robot arm provided in the autonomous mobile handling robot. Referring to FIG. 22, the robot arm includes a robot arm 3 (the robot arm 3 may A robotic arm 3 in an autonomous mobile handling robot provided by a preferred embodiment is the same) and a gripper 6 (not anymore a gripper 6) for pivotally connecting to the distal end of the robotic arm 3 for grasping or releasing the target object 400 Jig 4), the robot arm 3 is arranged to be movable so that the clamping claw 6 reaches a desired position.

In addition to the above distinguishing features, there may be another distinguishing feature between the autonomous mobile handling robot provided according to the seventh preferred embodiment of the present invention and the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. The distinguishing feature may be the same as the distinguishing feature between the autonomous mobile handling robot provided according to the sixth preferred embodiment of the present invention and the autonomous mobile handling robot provided according to the first preferred embodiment of the present invention, that is, according to the seventh aspect of the present invention. In an autonomous mobile handling robot provided by a preferred embodiment, two vertical plates 12 are provided, and the housing 13 is located between the two vertical plates 12 and is enclosed by the sides facing each other. In the space, structures such as the first driving device 331, the screw 341, and the fixed seat 342 of the robot arm 3 are disposed in the closed space. The bearing members 5 are fixed on two outwardly facing sides of the two vertical plates 12, and the bearing members 5 located on the same side are evenly spaced along the vertical direction, as shown in FIG. 21. Considering the space layout, the operation interface screen is no longer set, that is, the human-computer interaction interface.

Through the above technical solution, the autonomous mobile carrying robot provided by the seventh preferred embodiment of the present invention can carry multiple target objects 400 at one time. The working process is as follows: first, the unloaded autonomous mobile handling robot walks to the first position storing the target object 400 through the control system's control walking mechanism 2; then, the control system controls the attitude of the gripper 6 (around itself) The rotation angle of the pivot axis) and the movement of the robot arm 3, the gripper 6 is sent to a desired position to grasp the target object 400; then, by controlling the movement of the robot arm 3, the captured target object 400 is placed on the The loading of a target object 400 is completed on a carrier 5 of the carrier. After that, the above working process can be repeated until the target objects 400 are placed on all the carriers 5. After that, by controlling the walking mechanism 2, the autonomous mobile carrying robot travels to the second position to which the target object 400 is to be transported, and the target object 400 is sequentially held by its corresponding carrier 5 by the robot arm and sent to the second position. At the corresponding placement position, unloading of the target object 400 is achieved. In this process, the position of the autonomous mobile handling robot can be changed by controlling the walking mechanism 2 to facilitate the operation of the robot arm. Through the above description, the autonomous mobile carrying robot provided by the present invention can realize the automatic carrying of the target object 400 without manual loading and unloading, and can transport multiple target objects 400 in a single pass, effectively improving the production cycle and work efficiency. In addition, by arranging a plurality of carriers 5 sequentially in the vertical direction, the upper space of the base 11 can be effectively used, which is beneficial to the miniaturization of the autonomous mobile handling robot, and has a wider application range and higher agility.

Among them, the clamping jaw 6 may be configured in any suitable manner. Alternatively, referring to FIGS. 23 and 24, the gripper 6 includes a gripper body 61, a fixed gripper 62, and a movable gripper 63, and the fixed gripper 62 is fixed to the gripper A main body 61, and the movable clamping member 63 is movably connected to the clamping claw main body 61 so as to be able to approach and move away from the fixed clamping member 62 and cooperate with the fixed clamping member 62 to achieve the goal. Grab and release of object 400.

Alternatively, the movable clamping member 63 is connected to the clamping claw body 61 through a sliding connection structure to approach and move away from the fixed clamping member 62. In a specific embodiment provided by the present invention, the sliding connection structure may be configured in any suitable manner. Optionally, the sliding connection structure includes a sliding rail 641 and a sliding groove 642 that cooperate with each other, and one of the sliding rail 641 and the sliding groove 642 is disposed on the gripper body 61, the sliding rail 641 and the sliding The other of the grooves 642 is provided in the movable clamping member 63. For example, the slide rail 641 is provided on the gripper body 61. In order to prevent the sliding groove 642 from detaching from the sliding rail 641, the sliding groove 642 may be configured as a dovetail groove.

In a specific embodiment provided by the present invention, a driving member 65 may be disposed between the movable clamping member 63 and the clamping claw body 61, and the driving member 65 is configured to drive the movable clamping member 63 to move to approach Or away from the fixed clamping member 62. Wherein, the driving member 65 may be configured in any suitable manner. Alternatively, the driving member 65 is configured as an air cylinder, a cylinder body of which is fixed to the jaw body 61, and an end of a piston rod of the air cylinder is fixed.于 于 Mobile clamping member 63. When the piston rod protrudes from the cylinder, the movable clamping member 63 is driven away from the fixed clamping member 62 to release the target object 400. When the piston rod is retracted into the cylinder, the movable clamping member 63 is driven close to the fixed clamping member 62 to grasp the target object 400.

In the specific embodiment provided by the present invention, the fixed clamping member 62 may be configured in any suitable manner. Optionally, the fixed clamping member 62 includes a fixed connection portion 621 connected to the jaw body 61, a fixed clamping portion 622, and a connection between the fixed connection portion 621 and the fixed clamping portion 622. The first intermediate connecting portion 623, the movable clamping member 63 includes a movable connecting portion 631 connected to the jaw main body 61, a movable clamping portion 632, and the movable connecting portion 631 and the movable clamping portion A second intermediate connection portion 633 between the portions 632, the first intermediate connection portion 623 and the second intermediate connection portion 633 such that the fixed connection portion 621 and the movable connection portion 631 and the jaw body 61 There is a clamping space for the target object 400 therebetween, and the fixed clamping portion 622 and the movable clamping portion 632 extend opposite to each other for supporting the target object 400.

In addition, the gripper claw 6 further includes a joint block 66 pivotally connected to the distal end of the robot arm 3, and the gripper body 61 is fixed to the joint block 66. When the robot arm 3 is a robot arm provided by a third-party manufacturer according to the present invention, the joint block 66 is fixed to a hollow output shaft of a hollow shaft motor used as a third driving device.

In addition, in the specific embodiment provided by the present invention, the clamping claw 6 may also be the same as the clamp 4 provided by the fourth preferred embodiment of the present invention, in which a positioning member, an alignment sensor, and a proximity sensor are provided. And other structures.

Based on the above, it is also possible to obtain a single-arm autonomous mobile handling robot provided according to the seventh preferred embodiment of the present invention. The single-arm autonomous mobile handling robot includes a walking mechanism provided by the second preferred embodiment of the present invention, The robot arm 3 provided according to the third preferred embodiment of the present invention, and the carrier 5 for an autonomous mobile handling robot provided according to the fifth preferred embodiment of the present invention.

Because of the above-mentioned distinguishing features between the double-sided carrying two-arm autonomous mobile handling robot and the single-side carrying two-arm autonomous mobile handling robot provided according to the first preferred embodiment of the present invention, its working process is also only in There is a difference here, that is, during the entire process of loading and unloading the front open standard box (target object 400), a single robotic arm is used, and the above-mentioned clamping claw 6 is used to grab and release the front open standard box. In addition, when loading the vehicle, when one side of the carrier 5 has been filled with the front open standard box, it is necessary to continue to fill the other side of the carrier 5 as well as unload the vehicle. In addition, for such a double-sided single-arm autonomous mobile handling robot, any one of the longitudinal directions can also be defined as the forward direction.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall be included in the present invention. Within the scope of protection.

11‧‧‧ base

110‧‧‧ Articulated Seat

111‧‧‧ floor

112‧‧‧ skirt board

113‧‧‧Distance detection device

114a‧‧‧The first obstacle avoidance sensor

114b‧‧‧Second obstacle avoidance sensor

115‧‧‧ bumper

116‧‧‧ bottom camera

12‧‧‧ vertical board

13‧‧‧shell

14‧‧‧ operation interface screen

2‧‧‧ walking mechanism

21‧‧‧Driver

211‧‧‧Mounting bracket

212‧‧‧Drive motor

213‧‧‧Driven wheel

214‧‧‧ Pivot

215‧‧‧Clamp

22‧‧‧Spring plunger

23‧‧‧ universal wheel

3‧‧‧ robotic arm

31‧‧‧ Telescopic Arm

32‧‧‧ rotating arm

321‧‧‧First arm section

322‧‧‧ second arm section

331‧‧‧first drive

332‧‧‧second drive

333‧‧‧Third drive

341‧‧‧Screw

342‧‧‧Fixed

351‧‧‧First fixing plate

352‧‧‧Second fixing plate

361‧‧‧ slider

362‧‧‧Guide

4‧‧‧ Fixture

41‧‧‧Jig body

411‧‧‧Support

412‧‧‧Boss

413‧‧‧Gutter

421‧‧‧The first elastic clamp

4211‧‧‧First proximal

4212‧‧‧ Second proximal

4213‧‧‧End

422‧‧‧Second elastic clamp

4221‧‧‧ second proximal

4222‧‧‧Second far end

431‧‧‧First cushion

432‧‧‧Second cushion

44‧‧‧ Positioning piece

45‧‧‧ Proximity Sensor

46‧‧‧Seal

47‧‧‧First Signal Light Source

48‧‧‧ connection block

491‧‧‧Camera

492‧‧‧Flash

5‧‧‧ load

51‧‧‧ plate body

511‧‧‧Motherboard

512‧‧‧ sandwich panel

5121‧‧‧Opening

513‧‧‧ Cover

52‧‧‧ Positioning Structure

53‧‧‧Radio Frequency Identification Antenna

54‧‧‧Target object detection device

55‧‧‧second signal light source

56‧‧‧Emergency stop button

57‧‧‧Dual lens camera

58‧‧‧Third obstacle avoidance sensor

6‧‧‧Jaw

61‧‧‧Claw body

62‧‧‧Fixed clamp

621‧‧‧Fixed connection

622‧‧‧Fixed clamping part

623‧‧‧First intermediate connection

63‧‧‧ movable clamp

631‧‧‧Event Connection Department

632‧‧‧movable clamping section

633‧‧‧second middle connecting part

641‧‧‧Slide

642‧‧‧Chute

65‧‧‧Driver

66‧‧‧Joint Block

100‧‧‧ Two-arm autonomous mobile handling robot

200‧‧‧ Double-sided carrying two-arm autonomous mobile handling robot

300‧‧‧ Single-arm autonomous mobile handling robot

400‧‧‧ target object

500‧‧‧machine

FIG. 1 is a schematic perspective view of an autonomous mobile handling robot provided by a first preferred embodiment of the present invention.

FIG. 2 is a schematic front view of an autonomous mobile handling robot provided by the first preferred embodiment of the present invention.

FIG. 3 is a schematic front view of an autonomous mobile handling robot provided by a first preferred embodiment of the present invention. In order to show the structural components in the base, the skirt is not shown.

FIG. 4 is a schematic side view of an autonomous mobile handling robot provided by the first preferred embodiment of the present invention.

FIG. 5 is a schematic side view of an autonomous mobile handling robot provided by a first preferred embodiment of the present invention. In order to show structural components in a base, a skirt is not shown.

FIG. 6 is a schematic rear view of an autonomous mobile handling robot provided by the first preferred embodiment of the present invention.

FIG. 7 is a schematic top view of an autonomous mobile handling robot provided by the first preferred embodiment of the present invention.

FIG. 8 is a schematic perspective view of a walking mechanism provided by a second preferred embodiment of the present invention.

FIG. 9 is another schematic perspective view of a walking mechanism provided by a second preferred embodiment of the present invention.

FIG. 10 is another schematic perspective view of the walking mechanism provided by the second preferred embodiment of the present invention, and the driven wheel is not shown in the figure.

11 is a schematic perspective view of a driving wheel in a walking mechanism provided by a second preferred embodiment of the present invention.

FIG. 12 is a schematic perspective view of a robot arm provided by a third preferred embodiment of the present invention.

FIG. 13 is another schematic perspective view of a mechanical arm provided by a third preferred embodiment of the present invention. In this figure, the arm section can be seen as hollow, and the second driving device and the third driving device can be seen. .

FIG. 14 is a schematic perspective view of a jig for an autonomous mobile carrying robot according to a fourth preferred embodiment of the present invention.

FIG. 15 is a schematic perspective view in another direction of a jig for an autonomous mobile carrying robot according to a fourth preferred embodiment of the present invention.

FIG. 16 is another schematic perspective view of a jig for an autonomous mobile carrying robot according to a fourth preferred embodiment of the present invention. In order to show the internal structure, the sealing plate is not shown in the figure.

FIG. 17 is a schematic top view of the internal structure of a jig for an autonomous mobile carrying robot according to a fourth preferred embodiment of the present invention.

FIG. 18 is a schematic perspective view of a carrier for an autonomous mobile carrying robot according to a fifth preferred embodiment of the present invention.

FIG. 19 is a schematic perspective view of a carrier for an autonomous mobile carrying robot according to another embodiment of the fifth preferred embodiment of the present invention.

FIG. 20 is a schematic perspective view of a carrier for an autonomous mobile carrying robot according to another embodiment of the fifth preferred embodiment of the present invention. In order to show the internal structure, a cover plate is omitted.

FIG. 21 is a schematic side view of an autonomous mobile handling robot provided by a sixth preferred embodiment of the present invention.

22 is a schematic perspective view of an autonomous mobile handling robot provided by a seventh preferred embodiment of the present invention.

FIG. 23 is a schematic perspective view of a clamping jaw of an autonomous mobile carrying robot according to a seventh preferred embodiment of the present invention.

FIG. 24 is a schematic perspective view of the clamping jaws of an autonomous mobile handling robot according to a seventh preferred embodiment of the present invention in another direction.

Claims (10)

A mechanical arm, characterized in that the mechanical arm (3) includes a telescopic arm (31), a rotating arm (32), and a driving device, and the rotating arm (32) includes a plurality of arm sections hinged in order, and the rotation The proximal end of the arm (32) is hinged to the distal end of the telescopic arm (31), and the distal end of the rotating arm (32) is used to pivotally connect the clamping device to clamp or release the target object (400) The driving device includes a first driving device (331) for driving the telescopic arm (31) to move in a lateral direction, and a second driving device for driving the arm section to rotate about its own hinge axis. (332), wherein the hinge axes of the arm sections themselves are parallel to each other and parallel to the lateral direction. The mechanical arm according to claim 1, wherein the first driving device (331) is configured as a motor, and the telescopic arm (31) is connected to an output shaft of the motor through a transmission device, so that the The rotary motion of the output shaft can be converted into a linear motion of the telescopic arm (31) in the lateral direction. The mechanical arm according to claim 2, wherein the motor is a hollow shaft motor, and the transmission device is configured as a screw rod transmission device, which includes a screw rod (341) and a nut that cooperate with each other, and the screw rod ( 341) It is fixed by a fixing seat (342), the nut is fixed to a hollow output shaft of the hollow shaft motor, and the hollow shaft motor is fixedly connected to the telescopic arm (31). The mechanical arm according to claim 3, wherein the hollow shaft motor is fixed to a first fixing plate (351), the telescopic arm (31) is fixed to a second fixing plate (352), and the first The fixing plate (351) and the second fixing plate (352) are both fixed to the slider (361), and the slider (361) and the device provided with the robot arm (3) extend in the lateral direction. The guide (362) fits. The mechanical arm according to claim 1, wherein the second driving device (332) is a hollow shaft motor, and the rotating arm (32) includes a first arm section (321) and a second arm section (322). ), The proximal end of the first arm section (321) and the telescopic arm (31) are hinged by a hollow shaft motor, and the distal end of the first arm section (321) and the second The proximal end of the arm section (322) is articulated by a second driving device (332). The mechanical arm according to claim 1, wherein the extending direction of the arm section is perpendicular to the lateral direction, and the arm section is hollow; the telescopic arm (31) extends and is hollow in the lateral direction. . The robot arm according to any one of claims 1-6, wherein the driving device further includes a third driving device (333) for driving the clamping device to rotate about its own pivot axis, The pivot axis is disposed parallel to the lateral direction. The mechanical arm according to claim 7, wherein the third driving device (333) is a hollow shaft motor, the hollow shaft motor is disposed at a distal end of the rotating arm (32), and the hollow shaft motor The hollow shaft is used for connecting with the clamping device. An operating mechanism includes a clamping device, characterized in that the operating mechanism includes a robot arm according to any one of claims 1-8, and the clamping device is pivotally connected to the robot arm (3 ) 'S far end. An autonomous mobile carrying robot, characterized in that the autonomous mobile carrying robot is provided with an operating mechanism according to any one of the above-mentioned request items 1-9.