TWM589627U - Autonomous mobile transfer robot - Google Patents

Abstract

This creation relates to an autonomous mobile handling robot, including: a main body, including a base and two parallel vertical plates; a walking mechanism, including a driving wheel and a driven wheel mounted on the base; an operating mechanism, including two manipulators, each manipulator It includes a mechanical arm and a fixture. The mechanical arm is set to make the fixture reach the desired position. The two robots drive the two fixtures to move closer and farther away from each other to grip and release the target object; the carrying mechanism includes multiple plate-shaped carrying pieces , Two opposite sides of the two vertical plates are fixed with bearing parts, the bearing parts on the same vertical plate are evenly spaced in the vertical direction; and a control system is used to control the walking/stopping and turning of the walking mechanism, And control the movement of the manipulator. The autonomous mobile handling robot provided by this creation can automatically carry the target object without manual loading and unloading, which effectively improves the production cycle and working efficiency.

Description

Autonomous mobile handling robot

This creation relates to the technical field of automated mobile handling robots, in particular, to an autonomous mobile handling robot.

The automatic guided transport vehicle or unmanned vehicle is characterized by wheeled movement. Its active area does not need to lay rails, support frames and other fixed devices, and is not limited 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 silicon-filled front opening unified pods (foup, front opening unified pod), such as from machine to rack, or from rack to machine, or from Carry one shelf to another shelf.

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

The purpose of this creation is to provide an autonomous mobile handling robot that can automatically transport target objects without manual loading and unloading, effectively improving the production cycle and working efficiency.

In order to achieve the above object, the present invention provides an autonomous mobile handling robot, including: a main body, including a base, two parallel vertical plates fixed to the base and extending upward in a vertical direction; a walking mechanism, including a base mounted on the base Driving wheel and driven wheel; working mechanism, including two manipulators, each of which includes a robot arm connected to the vertical plate at the proximal end and a clamp pivotally connected to the distal end of the robot arm, The robotic arm is configured to enable the clamp to reach a desired position, and the two robotic arms drive the two clamps toward and away from each other to grip and release a target object; a carrying mechanism, including A plurality of plate-shaped bearing members of the target object, the two opposite sides of the two vertical boards are fixed with the bearing members, and the bearing members on the same vertical board are evenly spaced in the vertical direction Setting; and a control system for controlling the walking/stopping and steering of the walking mechanism, and controlling the movement of the manipulator.

Through the above technical solutions, the autonomous mobile handling robot provided by this creation can handle multiple target objects at once. The working process is as follows: first, the unloaded autonomous mobile handling robot walks to the first position where the target object is stored through the control of the walking mechanism of the control system; then, the attitude of the fixture (rotation around its own pivot axis) is controlled by the control system Angle) and the movement of the robot arm, the fixture is sent to the desired position, and the movement of the robot arm is used to clamp the target object; afterwards, by controlling the movement of the robot arm, the clamped target object is placed on the carrier On a carrier of the mechanism, the "loading" of a target object is thus completed. After that, the above working process can be repeated until the target object is placed on all the carriers. After that, by controlling the walking mechanism, the autonomous mobile handling robot travels to the second position to which the target object is to be transported, and the target object is sequentially gripped from the corresponding carrier by the manipulator and sent to the corresponding placement position at the second position In order to achieve the "unloading" of the target object. In this process, you can change the position of the autonomous mobile robot by controlling the walking mechanism to facilitate the operation of the robot. Through the above description, the autonomous mobile handling robot provided by this creation can realize the automatic handling of target objects without manual loading and unloading, and can transport multiple target objects in a single pass, effectively improving the production cycle and working efficiency. In addition, by arranging a plurality of supporting members sequentially in the vertical direction, the upper space of the base 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.

Other features and advantages of this creation will be explained in detail in the specific implementation section that follows.

The specific implementation of this creation will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the creation, and are not used to limit the creation.

In this creation, in order to facilitate understanding, it is defined that the autonomous mobile handling robot has a length, width and height, corresponding to the longitudinal direction (X axis), lateral direction (Y axis) and vertical direction (Z direction), among which In the case described on the contrary, the directional words such as “up and down”, “left and right”, “front and back” usually refer to “up and down” in the vertical direction and “left, "Right", "front and back" in the longitudinal direction, "inner and outer" refers to the inner and outer relative to the contour of the corresponding component, "distant and near" refers to the distance relative to a certain component or structure Far and near. In addition, the terms "first", "second", "third", "fourth", etc. used in this creation are just to distinguish one element from another, and do not have order and importance.

The following is about the part of a single-sided carrying two-arm autonomous mobile handling robot:

According to the first preferred embodiment of the present invention, a single-sided carrying two-arm type autonomous mobile handling robot is provided, and one embodiment is shown in FIGS. 1 to 7. Referring to FIG. 1, the single-sided two-armed 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 driving wheel and a driven wheel mounted on the base 11; a working mechanism, including two manipulators, each of which includes a robot arm 3 connected to the vertical plate 12 at a proximal end and pivotally connected to the A clamp 4 at the distal end of the robotic arm 3, the robotic arm 3 is configured to enable the clamp 4 to reach a desired position, and the two robotic arms are configured to move in cooperation with each other to grasp through the two clamps 4 /Release the target object 400; the carrying mechanism includes a plurality of plate-shaped carrier members 5 for carrying the target object 400, and the multiple carrier members 5 are fixed to the same side (front side or rear side) of the vertical plate 12 Side, in the embodiments shown in FIGS. 1 to 7, the carrier 5 is fixed to the front side of the riser 12, but in other embodiments, the carrier 5 may also be fixed to the rear side of the riser 12), and It is arranged at intervals in the vertical direction; and a control system for controlling the walking/stopping and steering of the walking mechanism, and controlling the movement of the manipulator.

Through the above technical solution, the autonomous mobile transport robot provided according to the first preferred embodiment of the present invention can transport multiple target objects 400 at once. The working process is as follows: first, the unloaded autonomous mobile handling robot walks to the first position where the target object 400 is stored by controlling the walking mechanism 2 of the control system; then, the attitude of the fixture 4 (around its own pivot) is controlled by the control system The rotation angle of the rotating shaft) and the movement of the mechanical arm 3, the clamp 4 is sent to the desired position, and the movement of the mechanical arm 3 realizes the clamping of the target object 400 by the clamp 4; afterwards, by controlling the movement of the mechanical arm 3, the The clamped target object 400 is placed on a carrier 5 of the carrier mechanism, thereby completing "loading" of a target object 400. Afterwards, the above working 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 transport robot travels to the second position to which the target object 400 is to be transported, and the target object 400 is sequentially gripped from the corresponding carrier 5 by the robot and sent to the second position At the corresponding placement position, the target object 400 is "unloaded". During this process, the position of the autonomous mobile robot can be changed by controlling the walking mechanism 2 to facilitate the operation of the manipulator. Through the above description, the autonomous mobile handling robot provided by this creation can realize the automatic handling 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 working efficiency. In addition, by arranging a plurality of supporting members 5 sequentially in the vertical direction, the upper space of the base 11 can be effectively used, which is beneficial for miniaturization of the autonomous mobile handling robot, and has a wider application range and higher agility.

The autonomous mobile handling robot provided by this creation can be used in unmanned production workshops. For example, it can be used in silicon wafer production workshops. The target object 400 is a front-open standard box with silicon wafers, and commands are issued through central control. For autonomous mobile handling robots, the front open standard boxes can be transported between shelves, machine 500, and storage locations.

Wherein, 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 also be fixed on the bottom plate 111. In addition, the autonomous mobile handling robot provided by this creation needs its own power supply to be able to function for each electrical component. Therefore, the autonomous mobile handling robot further includes a power supply, which is provided on the bottom plate 111. For the sake of beauty, the base 11 is further provided with a skirt plate 112 which extends in the vertical direction and surrounds the outer periphery of the bottom plate 111. Wires etc. provide space for placement. In addition, the main body may further include a casing 13 enclosing a closed space with the vertical plate 12, and a man-machine interactive operation console such as an operation screen 14 (refer to FIG. 6) is provided on the casing 13, and the operation screen 14 is inclined (Refer to FIGS. 4 and 6) In order to facilitate human-computer interaction, the operation screen 14 belongs to the control system.

In the first preferred embodiment of the present creation, the base 11 may be provided with a space on the front side (and/or rear side) of the autonomous mobile handling robot along the lateral direction of the autonomous mobile handling robot The two distance detection devices 113 are used to detect the distance between the autonomous mobile handling robot and the shelf on which the target object 400 is placed during "loading", as shown in FIG. 3. The distance detecting device 113 is electrically connected to the control system to control the walking mechanism 2 according to the distance signal of the distance detecting device 113, so that the autonomous mobile handling robot and the object for storing the target object 400 The shelf is aligned, and the "alignment" here can be understood as the relative position of the autonomous mobile handling robot and the shelf, allowing the target object 400 to be translated to the corresponding carrier 5 as a whole, and the positioning slot of the target object 400 can be lowered The positioning structures on the carrier 5 described in this article fit together. Wherein, the distance detection device 113 may be constructed in any suitable manner, for example, it may be constructed 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 first obstacle avoidance sensors 114a for detecting obstacles around them, the first obstacle avoidance sensors 114a and all 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 movement and emit an alarm. The alarm may be an audible alarm or a light. The alarm, for example, emits red light 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 for assisting 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 topmost support member 5 to detect surrounding obstacles on the upper part of the autonomous mobile handling robot, assisting 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 is only necessary to detect obstacles in the front and rear. Alternatively, referring to FIG. 5, the first obstacle avoidance sensor 114a includes two infrared sensors respectively located on the front and rear sides of the autonomous mobile handling robot, so that In the direction, infrared rays propagate from back to front) and the fan-shaped area is diffusely detected.

In addition, the base 11 may be provided with two anti-collision bars 115 surrounding the outer side of the base 11, optionally, the anti-collision bar 115 is provided with a collision 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 its motion and issue an alarm to prevent the autonomous mobile handling robot from continuing to walk in the event of an emergency collision.

In addition, the bottom surface of the base 11 is provided with a bottom camera 116 (refer to FIG. 7) electrically connected to the control system, which is used to capture ground features in trackless navigation. A lens camera 57 (provided on the side of the uppermost support 5 corresponding to the front or rear of the traveling direction of the autonomous mobile handling robot for grabbing the surrounding environment features) to locate and position the autonomous mobile handling robot itself Correct the position deviation through trajectory compensation. The four corners of the base 11 are all provided with a ground distance detection device electrically connected to the control system, and send the detected distance information to the control system, and the control system determines whether the bottom surface in front of the travel is flat according to the distance information , And control the walking mechanism accordingly.

Wherein, the walking mechanism may be constructed in any suitable manner. Alternatively, the walking mechanism is constructed as the walking mechanism provided according to the second preferred embodiment of the present creation.

The driven wheel can be constructed in any suitable way.

Wherein, the manipulator may be constructed in any suitable manner. Alternatively, the manipulator in the manipulator may be constructed as a manipulator provided according to the author's third party, and the clamping device in the manipulator may be constructed as Four preferred embodiments provide jigs for autonomous mobile handling robots.

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

The creation will be described in detail below with reference to the accompanying drawings.

The following are the parts related to walking mechanism:

According to a second preferred embodiment of the present invention, a walking mechanism is provided. Referring to FIGS. 8 to 11, the walking mechanism includes two driving wheels 21 and at least two driven wheels. The driving wheel 21 has a central axis of rotation (if the driving wheel 21 advances when rotating around the central axis of rotation in the first direction, the reverse rotation is backward, and thus, when the autonomous movement provided according to the first preferred embodiment of the present invention is provided When the transport robot is provided with the walking mechanism, the central rotation axis is parallel to the lateral direction of the autonomous mobile transport robot), 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 allows the driving wheel 21 to rotate about a pivot axis parallel to the central rotation axis and move up and down relative to the base 11.

When the existing four-wheeled walking mechanism walks on uneven ground, a driving wheel may be suspended or although the four wheels are on the ground, the force is not uniform, that is, the ground pressure is not equal. In this case, The friction between each wheel and the ground is different, and it is easy to slip, which affects the walking trajectory.

Through the above technical solution, the walking mechanism provided by this creation can drive the driving wheel 21 to rotate about its pivot axis and move up and down relative to the base 11 by setting an elastic biasing member, and instantly adjust the ground pressure of the driving wheel 21 to ensure two The friction between the driving wheel 21 and the ground avoids the phenomenon of slippage or ensures that the degree of slippage between the two driving wheels 21 and the ground is about the same, guarantees the actual amount of movement, and thus ensures the walking trajectory.

In the specific embodiment provided by the present creation, the driving wheel 21 may be constructed 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, a driving wheel roller 213 fixed to the output shaft of the driving motor 212, the driving motor 212 drives the driving wheel roller 213 to rotate around the axis of the output shaft of the driving motor 212, and the mounting bracket 211 is connected to the hinged base 110 fixed to the base 11 via a pivot shaft 214, wherein the pivot shaft 214 can be any suitable Structure, for example, it can be configured as a pin, one end is stopped by its own head to the mounting bracket 211, and the other end is stopped by a stopper to the hinge seat 110, for example, by a clamp 215 to the hinge seat 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, the spring plunger 22 is fixed to the base 11, and the head of the spring plunger 22 abuts against the mounting bracket 211 for use As the second end. In addition, in order to provide sufficient elastic biasing force, each driving wheel 21 may be correspondingly provided with two spring plungers 22. 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 walking mechanism 360 to turn. Alternatively, the central rotation axes of the two driving wheels 21 are collinear, and the driven wheel group includes two pairs of the driven wheels, wherein, in the direction of the central rotation axis, a pair of the driven wheels is located On one side of the driving wheel 21, another pair of 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. Alternatively, the two pairs of the driven wheels are arranged symmetrically with respect to the central rotation axis, so that the center of gravity of the walking mechanism falls on the connecting line center of 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 creation, the above universal wheel may 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, which includes the above-mentioned walking mechanism 2 and therefore also has the above-mentioned advantages.

The following is about the robot arm:

According to the third party aspect of this creation, a robotic arm is provided, and a specific embodiment is shown in FIGS. 12 and 13. Referring to FIGS. 12 and 13, the robot arm 3 includes a telescopic arm 31, a rotating arm 32 and a driving device. The rotating arm 32 includes a plurality of articulated arm sections, the proximal end of the rotating 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 (For example, the clamp 4 or the clamping claw 6) to clamp/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 332 for driving the arm joint to rotate about its own hinge axis, wherein The articulation axes of the boom joints are parallel to each other and to the lateral direction.

Through the above technical solution, the robotic arm provided by the third-party manufacturer of this creation has three degrees of freedom in mutually perpendicular directions (ie, XYZ directions), and the first driving device 331 drives the telescopic arm 31 to move in the lateral direction, which can adjust the telescopic The position of the arm 31 and the clamping device in the lateral direction (that is, the X direction) can be adjusted by driving the second driving device 332 to rotate the arm section of the rotating arm 32 around their respective hinge axes, which can adjust the clamping device to be perpendicular to the lateral direction The position in the plane (ie XZ plane), therefore, the mechanical arm provided by this creation can send the clamping device to a certain position in the space. Since the X, Y, 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, therefore, by driving the first driving device 331 and the second driving The device 332 can make the clamping device reach the position to be clamped to prepare to clamp the target object 400. After that, by driving the telescopic arm 31 to move in the lateral direction or driving the arm joint to rotate around its own hinge axis, the clamping device can be brought to the clamping position to clamp the target object 400. By driving the telescopic arm 31 to move in the lateral direction and/or driving the arm section to rotate around its own hinge axis, the target object 400 can be transported to the target position, and then, by driving the telescopic arm 31 to move in the lateral direction and/or Or the driving arm section rotates around its own hinge axis, which can make the clamping device release the target object 400, or make the clamping position after releasing the target object 400 away from the target object 400 to clamp the next target object 400.

The robot arm 3 provided by the authoring third party will be described in detail below with reference to FIGS. 12 and 13.

In the specific embodiment provided by the present creation, the first driving device 331 may be configured in any suitable manner, for example, it may be configured as a hydraulic cylinder or a cylinder. Optionally, 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 rotary motion of the output shaft of the motor can be converted into the telescopic arm 31 linear movement 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. The transmission device can be constructed 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 transmission device, which includes a screw rod 341 and a nut that cooperate with each other. Referring to FIGS. 12 and 13, the screw rod 341 is fixed by a fixing seat 342, for example, when the When the robotic arm 3 is applied to an autonomous mobile handling robot, the screw 341 is fixed to the main body (specifically, the vertical plate 12) of the autonomous mobile handling robot through a fixing seat 342, and the nut is fixed to the hollow output shaft of the hollow shaft motor (Of course, a hollow thread may be provided on the hollow output shaft) The hollow shaft motor is fixedly connected to the telescopic arm 31. Thus, when the hollow output shaft rotates forward, for example, the telescopic arm is driven to move in a first direction, and when the hollow output shaft rotates backward, for example, the telescopic arm is driven to move in a second direction opposite to the first direction, thereby adjusting the clamp The position of the holding device in the lateral direction.

Among them, in order to prevent the weight of the hollow shaft motor, the telescopic arm 31, the rotating arm 32, the clamping device and even the target object 400 from being borne by the screw 341, the screw 341 may be bent or deformed or even broken to affect normal work. The hollow shaft motor can be fixed to the first fixed plate 351, the telescopic arm 31 can be fixed to the second fixed plate 352, and the first fixed plate 351 and the second fixed plate 352 are fixed to the slider 361, the slider 361 cooperates with the guide rod 362 extending in the lateral direction provided on the equipment provided with the mechanical arm 3, so that the telescopic arm 31, the rotating arm 32, the clamping device and even the target object 400 can follow the hollow shaft motor To rotate while moving in the lateral direction. In this case, the weight of the hollow shaft motor and the telescopic arm 31, the rotating arm 32, the clamping device, and even the target object 400 are coordinated with the guide bar 362 through the first fixing plate 351 and the second fixing plate 352 and the slider 361 Passed to the device, the device bears it. In the specific embodiment shown in FIGS. 17 and 18, the guide bar 362 is provided on the vertical plate 12 of the autonomous mobile handling robot. Alternatively, the telescopic arm 31 extends in the lateral direction and is hollow to facilitate wiring.

In the specific embodiment provided by the present creation, the second driving device 332 may be configured in any suitable manner, for example, it may be configured as a hydraulic cylinder or a 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, refer to FIG. 12 and As shown in FIG. 13, the proximal end of the first arm section 321 and the telescopic arm 31 are articulated by the hollow shaft motor, and the distal end of the first arm section 321 and the second arm section The proximal end of 322 is hinged by a second driving device 332, and optionally, the arm section is hollow to facilitate wiring.

Alternatively, the driving device further includes a third driving device 333 for driving the clamping device to rotate about its own pivot axis, wherein the pivot axis may be arranged parallel to the lateral direction so that The clamping device can rotate around its own pivot axis to adjust its own posture. In the specific embodiment provided by the present creation, the third driving device 333 may be configured in any suitable manner, for example, it may be configured as a hydraulic oil cylinder or a cylinder. Alternatively, the third driving device 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, used as the third driving device The hollow shaft motor of 333 is disposed at the distal end of the second arm section 322), and the hollow shaft of the hollow shaft motor is used to connect with the clamping device, which can be understood that the clamping device is pivotally connected by the hollow shaft motor At the distal end of the rotating arm 32.

On the basis of the above technical solution, the third-party manufacturer of this creation also provides a working mechanism including a clamping device and the above-mentioned mechanical arm 3, the clamping device is pivotally connected to the distal end of the mechanical arm 3 . In addition, the third-party vendor of this creation also provides an autonomous mobile handling robot, which is provided with the operating mechanism.

The following are the parts related to the jig for autonomous mobile handling robots:

According to a fourth preferred embodiment of the present invention, a jig 4 for an autonomous mobile handling robot is provided, and one embodiment of it is shown in FIGS. 14 to 17. The jig 4 includes a jig body 41 and an elastic clamping member, the jig body 41 is provided with a supporting table 411 for the target object 400 and a boss 412 higher than the supporting 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 with the target object 400 to cooperate with the support table 411 to releasably hold the target Object 400.

Through the above technical solution, the jig 4 for an autonomous mobile 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 table 411 supports, and the distal end of the elastic clamping member abuts the target object 400 to hold the target object 400 on the support table 411, thereby clamping 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 moved away directly, away from the target object 400, so that the target object 400 leaves the support table 411, and the elastic clamping member no longer abuts the target object 400, thereby realizing the target object 400 The release of 400.

In the specific embodiment provided by the present creation, the elastic clamping member may be constructed in any suitable manner. Optionally, the elastic clamping member includes a first elastic clamping member 421 having a first proximal end 4211 fixed to the boss 412 and opposite to the first proximal end 4211 The first distal end 4212 of the first distal end 4212 extends above the support table 411 to form an elastic clamping portion defined between the elastic clamping portion and the support table 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 table 411. Wherein, the end 4213 of the first distal end 4212 can be bent away from the supporting table 411 to guide the target object 400 into the clamping space.

In order to prevent the target object 400 from being subjected to the concentrated stress of the support table 411, optionally, the support table 411 may be provided with a first cushion 431 made of an elastic material. Optionally, two first cushion pads 431 are provided, and the two first cushion pads 431 are spaced apart in the clamping space.

In the specific embodiment provided by the present creation, 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 on the support table 411 and the convex A groove 413 is provided between the tables 412, and the second elastic clamping member 422 is disposed in the groove 413. The second elastic clamping member 422 has a side wall fixed to the side wall of the boss 412 A second proximal end 4221 and a second distal end 4222 opposite to the second proximal end 4221, the second distal end 4222 is used 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. The two clamps 4 clamp the target object 400 on opposite sides. The second distal end 422 of the clamp 4 provides the outward elastic clamping force 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, so as to avoid applying concentrated stress to the target object 400. Alternatively, in order to prevent the target object 400 from being subjected to the concentrated stress of the boss 412 when the two jigs 4 are used to clamp the target object 400 between the two, the side wall of the boss 412 may be connected with elasticity There may be two second cushion pads 432 made of material, and two second cushion pads 432 may be provided, and the two second cushion pads 432 are disposed on the side wall of the boss 412 at intervals.

In the specific embodiment provided by the present creation, the jig 4 may include a positioning member 44 for aligning with a mark (eg, a notch structure) on the target object 400, and the positioning member 44 is telescopically connected to the A boss 412, an end of the positioning member 44 is provided with an alignment sensor (such as a photoelectric 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; a proximity sensor 45 (such as a photoelectric sensor) is provided on the boss 412, and when the positioning member 44 is retracted to approach the proximity sensor 45, The proximity sensor 45 sends out a confirmation signal.

Optionally, the jig 4 further includes a sealing plate 46 which is fixedly connected to the boss 412 above the boss 412, and the jig 4 is provided with an indicator for indicating that the target object 400 is in the clamp Holding the first signal light source 47, the first signal light source 47 is disposed in the sealing plate 46, the sealing plate 46 is made of a translucent material, whereby the first signal light source 47 can be passed through the sealing plate 46 The emitted light is scattered into the environment so that the user can observe it from a distance.

Optionally, the clamp 4 further includes a connection block 48 for pivotally connecting with the robot arm 3 of the autonomous mobile handling robot, and the clamp 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 a corresponding receiving hole. 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.

Based on the above technical solution, the fourth preferred embodiment of the present invention also provides an operating mechanism for an autonomous mobile handling robot, which includes a pair of manipulators, each of which includes a robot arm and the above A jig 4 for an autonomous mobile handling robot, which is connected to the distal end of the robot arm, and two jigs 4 in each pair of manipulators cooperate with each other to clamp/release the target object 400.

In each pair of manipulators, two clamps 4 are set oppositely. Referring to FIG. 1, when the two clamps 4 are close to each other, they are used to clamp the target object 400, and when the two clamps 4 are far from each other, they are used to release the target object 400.

Among them, on the basis of the above technical solutions, the manipulator in the autonomous mobile handling robot working mechanism provided by the fourth preferred embodiment of this creation can be constructed in any suitable way, for example, it can be constructed as a third-party manufacturer The mechanical arm provided by the surface 3.

Alternatively, the front side of one of the two jigs 4 of the two manipulators may be provided with a camera 491, and the front side of the other one of the two jigs 4 of the two manipulators A flash 492 may be provided to fill the photo camera 491. Before clamping the target object 400, a camera 491 may be used to take a picture in front of it to grab the visual feature point.

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

The following are the parts related to the carrier for autonomous mobile handling robots:

According to a fifth preferred embodiment of the present invention, a carrier 5 for an autonomous mobile handling robot is provided, and one embodiment 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; a positioning structure 52 fixed to the bearing surface for positioning Cooperate with the positioning holes and grooves of the target object 400 to limit the movement of the target object 400 on the plate-shaped body 51; a radio frequency identification (RFID, Radio Frequency IDentification) antenna 53, 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 fifth preferred carrier 5 of the present creation can carry the target object 400 while also being able to know the number of the target object 400 carried, so that the user can grasp the target carried by the carrier 5 Information about 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 external force, but also enable 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 a target object 400 on the carrier 5. On the one hand, it can avoid repeatedly placing the target object 400 repeatedly. On the other hand, it can be known whether the carrier 5 is idle.

In the specific embodiment provided by the present creation, the positioning structure 52 may be constructed in any suitable manner. Optionally, the positioning structure 52 is configured as three positioning columns, and the three positioning columns are arranged in a triangle shape with connecting lines, as shown in FIGS. 18 to 20. The target object detection device 54 includes a detection portion protruding from the bearing surface, and when the positioning hole of the target object 400 cooperates with the positioning structure 52, the detection portion can be retracted under the action of the gravity of the target object 400 Into the plate-shaped body 51, the target object detection device 54 issues a confirmation signal to indicate that the target object 400 is placed on the carrying surface.

In the specific embodiment provided by the present creation, the radio frequency identification antenna 53 can be configured in any suitable manner. Alternatively, as shown in FIGS. 18 to 20, the radio frequency identification antenna 53 is disposed adjacent to the target object detection device 54 to facilitate wiring.

In the specific embodiment provided by the present creation, the target object detection device 54 may be constructed in any suitable manner. Alternatively, the target object detection device 54 is configured as a photoelectric sensor, and its working principle may be: when a target object 400 is placed on the carrier 5, the target object 400 covers the photoinductor Sensor, the photoelectric sensor sends a definite signal.

In the specific embodiment provided by the present creation, the plate-shaped body 51 may be constructed in any suitable manner. Alternatively, referring to FIGS. 19 and 20, the plate-shaped body 51 includes a main board 511, a sandwich plate 512, and a cover plate 513 which are sequentially connected and overlapped. The sandwich plate 512 is provided with an opening 5121. A second signal light source 55 is provided in the opening 5121, and the second signal light source 55 can emit multiple colors of light, and each color of light indicates a working condition. For example, the second signal light source 55 can emit red light indicating an alarm , Indicating normal green light, blue light indicating insufficient power, etc. Both the cover plate 513 and the interlayer plate 512 are made of translucent or transparent materials to scatter the light emitted by the second signal light source 55 to the surrounding environment for the user to observe from multiple angles and multiple positions. In addition, an emergency stop button 56 is provided on the cover plate 513 to stop the autonomous movement of the transport robot in an emergency.

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 as a bar, and four openings 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 irradiates each azimuth and corner.

In the specific embodiment provided by the present creation, the cover plate 513 and the interlayer plate 512 may be made of a plexiglass material, so as to have the advantages of easy processing, strong light transmittance, impact resistance, and durability.

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

Optionally, the carrier 5 is provided with a third obstacle avoidance sensor 58 that 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.

Based on the above technical solution, the fifth preferred embodiment of the present invention further provides an autonomous mobile handling robot, including the jig for the autonomous mobile handling robot provided by the fifth preferred embodiment of the present invention.

In summary, a single-sided two-armed autonomous mobile handling robot provided according to the first preferred embodiment of the present creation can be obtained. The single-sided two-armed autonomous mobile handling robot includes the second preferred implementation of the present creation The walking mechanism provided by the example, the robot arm 3 provided by the third-party manufacturer according to the creation, the jig 4 for the autonomous mobile handling robot provided according to the fourth preferred embodiment of the creation, the fifth preferred implementation according to the creation Example provides a carrier 5 for an autonomous mobile handling robot. For the walking mechanism, the driving motor 212 is electrically connected to the control system to control the rotation of the driving motor 212 through the control system. For the robot arm 3, the fixing seat 342 and the guide rod 362 may be disposed 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 fixing seat 342 Fixed at the middle position of the screw, the screw part on the left is used for the robot arm on the left, and the screw part on the right is used for the robot arm on the right. The first drive device 331, the second drive device 332, and the third drive device 333 configured as a hollow shaft motor are all electrically connected to the control system, and the jig 4 is fixed to the hollow shaft of the hollow shaft motor used as the third drive device 333. The alignment sensor, the proximity sensor 45, the first signal light source 47, the photo camera 491, and the flash 492 in the jig 4 are all electrically connected to the control system. The radio frequency identification antenna 53, 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 in the carrier 5 are all electrically connected to the control system. In the autonomous mobile handling robot, two mechanical arm hands are provided, and the two mechanical arm hands are symmetrically arranged with respect to the longitudinal direction of the autonomous mobile handling robot. The autonomous mobile handling robot is provided with three carriers 5, and defines the side of the vertical plate 12 where the carriers 5 are provided as the front and the other side as the rear. Among them, the uppermost carrier 5 is constructed in the embodiment shown in FIGS. 19 and 20, and the two lower carriers 5 are constructed in the embodiment shown in FIG. 18, that is, only the uppermost carrier The component 5 is provided with a second signal light source 55, an emergency stop button 56, a dual-lens camera 57 and a third obstacle avoidance sensor 58, and only the plate-shaped body 51 of the uppermost carrier 5 has a main board 511 and a sandwich panel 512 and cover 513 constitute. The following will take the unmanned workshop of the semiconductor factory as the working environment, and transport the front open standard box as the target object 400 between the shelf and the machine as the working content. The working process of this autonomous mobile handling robot will be described in detail with reference to the drawings .

First, after receiving the command, the unloaded autonomous mobile transport robot drives the walking mechanism to the front of the shelf. At this time, the autonomous mobile transport robot faces the shelf to set a position, and detects the distance from the shelf by the distance detection devices 113 on the left and right sides. Comparing the two distances, if they are equal, it means that the autonomous mobile robot is facing the shelf, otherwise, the control system controls the rotation of one or two driving wheels 21 to adjust the autonomous mobile robot to align 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 gripped on the shelf. At this time, the photo camera 491 on the jig 4 takes a picture of the front, grabs the visual feature points, and controls The system judges whether the position of the jig 4 at this time is in the aligned position, and if so, the second driving devices 332 of the two manipulators synchronously drive the rotating arm 32 to rotate around its hinge axis to synchronize the two jigs 4 Move forward to the position to be gripped, that is, located on both sides of the open front standard box respectively. 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 that controls the two manipulators drives the two telescopic arms 31 to move relative to each other, so that the two clamps 4 approach each other, so that the clamped portion of the front open standard box enters the clamp space of the clamp 4 , Respectively, held by the first elastic clamping member 421 on the support table 411. When the clamp 4 is in contact with the front opening standard box, if the end of the positioning member 44 is aligned with the mark on the front opening standard box, a confirmation signal is sent to the control system, the control clamp 4 continues to move relatively, and the two clamps 4 The second elastic clamping member 422 elastically deforms to provide a relative clamping force from both sides of the front opening standard box, and the positioning member 44 is retracted by the thrust of the front opening standard box when approaching the proximity feeling When the sensor 45 is detected, the proximity sensor 45 sends a confirmation signal to the control system. The control system controls the mechanical arm 3 to stop moving, the clamp 4 stops, and the first signal light source 47 on it emits a green light, indicating that the front opening standard box is completed Of clamping. 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 A sound signal is used to inform the user to adjust the position of the front open standard box, so that the clamp 4 can hold it correctly.

After the clamp 4 clamps the front opening standard box, the control system controls the movement of the robot arm 3 to place the clamped front opening standard box on one of the carriers 5, for example, the lowermost carrier 5. When the front opening standard box is placed on the carrier 5, if the positioning hole of the front opening standard box is matched with the positioning structure 52, the target object detection device 54 sends a confirmation signal to the control system to indicate that the front opening standard box has Place 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 know the information of the front open standard box placed on the carrier 5.

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

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

After being fully loaded, the control system controls the autonomous mobile handling robot to walk to the machine to unload the truck. In the process of walking, the bottom camera 116 is used to capture the image of the bottom plate 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 there is a deviation in the position. When the characteristics of the bottom plate cannot be confirmed, the current image of the autonomous mobile robot can be determined by the slam algorithm using the environmental image captured by the dual-lens camera 57. In the course of walking, 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 moving handling robot can be ensured. The ground distance detection device senses the road ahead, and once a pothole or 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 detect the traveling direction of the autonomous mobile handling robot If there is an obstacle, the control system will control the autonomous mobile handling robot to immediately stop walking and alarm. In addition, if the front open standard box on the carrier 5 is taken away by the person, the control system controls the autonomous mobile transport robot to immediately stop walking and give an alarm after the signal sent by the target object detection device 54.

The following is the part about the two-sided carrying two-arm autonomous mobile handling robot:

According to the sixth preferred embodiment of the present invention, a double-sided load-bearing autonomous mobile handling robot 200 is provided. The autonomous mobile handling robot differs from the autonomous mobile handling robot provided by the first preferred embodiment of the present invention in that : The double-sided load-bearing autonomous mobile handling robot provided according to the sixth preferred embodiment of the present invention is provided with two vertical boards 12, the housing 13 is located between the two vertical boards 12, and the two vertical boards The mutually facing sides of 12 form an enclosed space, and the structure of the first driving device 331 of the robot arm 3, the screw 341, the fixing seat 342, and the like are provided in the enclosed space. The bearing members 5 are fixed on both sides of the two vertical plates 12 facing outward, and the bearing members 5 on the same side are evenly spaced in the vertical direction, as shown in FIG. 21. Considering the spatial arrangement, the double-sided load-bearing autonomous mobile handling robot provided by the sixth preferred embodiment of the present invention no longer has an operation screen, that is, a human-machine interaction interface.

According to the autonomous mobile handling robot provided by the sixth preferred embodiment of the present invention, multiple target objects 400 can be handled at once. The working process is as follows: first, the unloaded autonomous mobile handling robot walks to the first position where the target object 400 is stored by controlling the walking mechanism 2 of the control system; then, the attitude of the fixture 4 (around its own pivot) is controlled by the control system The rotation angle of the rotating shaft) and the movement of the mechanical arm 3, the clamp 4 is sent to the desired position, and the movement of the mechanical arm 3 realizes the clamping of the target object 400 by the clamp 4; afterwards, by controlling the movement of the mechanical arm 3, the The clamped target object 400 is placed on a carrier 5 of the carrier mechanism, thereby completing "loading" of a target object 400. Afterwards, the above working 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 transport robot travels to the second position to which the target object 400 is to be transported, and the target object 400 is sequentially gripped from the corresponding carrier 5 by the robot and sent to the second position At the corresponding placement position, the target object 400 is "unloaded". During this process, the position of the autonomous mobile robot can be changed by controlling the walking mechanism 2 to facilitate the operation of the manipulator. Through the above description, the autonomous mobile handling robot provided by this creation can realize the automatic handling 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 working efficiency. In addition, by arranging a plurality of supporting members 5 sequentially in the vertical direction, the upper space of the base 11 can be effectively used, which is beneficial for miniaturization of the autonomous mobile handling robot, and has a wider application range and higher agility.

Based on the above, it is also possible to obtain a two-sided load-bearing two-arm autonomous mobile handling robot provided according to the sixth preferred embodiment of the present creation, which includes the second kind of the creative The walking mechanism provided by the preferred embodiment, the robot arm 3 provided by the third-party manufacturer according to the present creation, the jig 4 for the autonomous mobile handling robot provided by the fourth preferred embodiment of the present creation, and the fifth The carrier 5 for the autonomous mobile handling robot provided by the preferred embodiment.

Because of the above-mentioned distinguishing features between the two-sided two-armed autonomous mobile handling robot and the single-sided two-armed autonomous mobile handling robot that is preferably provided according to the first creation of the present creation, the working process is also only there There is a difference, that is, when loading a front opening standard box (target object 400), when one side carrier 5 has been correspondingly filled with a front opening standard box, it is necessary to continue to fill the other side carrier 5 as well, The same is true for dump trucks. In addition, for this type of double-sided two-armed autonomous mobile handling robot, any direction in the longitudinal direction can be defined as the front.

The following is the part about the single-arm autonomous mobile handling robot:

According to the seventh preferred embodiment of the present invention, there is provided a single-arm autonomous mobile handling robot 300, the distinguishing features between the autonomous mobile handling robot and the autonomous mobile handling robot provided by the first preferred embodiment of the present invention, It may be that the autonomous mobile handling robot provided according to the seventh preferred embodiment of the present invention is provided with only one manipulator. Referring to FIG. 22, the manipulator includes a manipulator 3 (the manipulator 3 may be The robot arm 3 in the autonomous mobile handling robot provided by the first preferred embodiment of the present invention is the same) and the gripper 6 (which is pivotally connected to the distal end of the robot arm 3 for grabbing/releasing the target object 400) ( Instead of the clamp 4), the mechanical arm 3 is configured to be movable so that the clamping jaw 6 reaches the desired position.

In addition to the above distinguishing features, there can be another distinguishing feature between the autonomous mobile handling robot provided by the seventh preferred embodiment of the present creation and the autonomous mobile handling robot provided by the first preferred embodiment of the present creation , 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 author and the autonomous mobile handling robot provided according to the first preferred embodiment of the present In the autonomous mobile robot provided by the seventh preferred embodiment of the present invention, two vertical boards 12 are provided, and the housing 13 is located between the two vertical boards 12 and faces the two vertical boards 12 The side of the enclosure forms an enclosed space, and the structure of the first driving device 331, the screw rod 341, the fixed seat 342 of the robot arm 3 is disposed in the enclosed space. The bearing members 5 are fixed on both sides of the two vertical plates 12 facing outward, and the bearing members 5 on the same side are evenly spaced in the vertical direction, as shown in FIG. 21. Considering the spatial arrangement, the operation screen is no longer set, that is, the human-computer interaction interface.

Through the above technical solution, the autonomous mobile handling robot provided in the seventh preferred embodiment of the present invention can handle multiple target objects 400 at once. The working process is as follows: First, the unloaded autonomous mobile handling robot walks to the first position where the target object 400 is stored by controlling the walking mechanism 2 of the control system; then, the attitude of the gripper 6 (around its own) is controlled by the control system The rotation angle of the pivot shaft) and the movement of the mechanical arm 3, the gripper 6 is sent to the desired position to grab the target object 400; then, by controlling the movement of the mechanical arm 3, the captured target object 400 is placed in On a carrier 5 of the carrier mechanism, the "loading" of a target object 400 is completed. Afterwards, the above working 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 transport robot travels to the second position to which the target object 400 is to be transported, and the target object 400 is sequentially gripped from the corresponding carrier 5 by the robot and sent to the second position At the corresponding placement position, the target object 400 is "unloaded". During this process, the position of the autonomous mobile robot can be changed by controlling the walking mechanism 2 to facilitate the operation of the manipulator. Through the above description, the autonomous mobile handling robot provided by this creation can realize the automatic handling 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 working efficiency. In addition, by arranging a plurality of supporting members 5 sequentially in the vertical direction, the upper space of the base 11 can be effectively used, which is beneficial for miniaturization of the autonomous mobile handling robot, and has a wider application range and higher agility.

Among them, the jaws 6 can be constructed in any suitable manner. Alternatively, referring to FIGS. 23 and 24, the clamping jaw 6 includes a clamping jaw body 61, a fixed clamping member 62 and a movable clamping member 63, and the fixed clamping member 62 is fixed to the clamping jaw The main body 61, the movable clamping member 63 is movably connected to the clamping jaw 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.

Optionally, the movable clamping member 63 is connected to the clamping jaw body 61 through a sliding connection structure to approach and move away from the fixed clamping member 62. In the specific embodiment provided by the present creation, the sliding connection structure may be constructed 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 jaw body 61, the sliding rail 641 and the sliding rail The other of the slots 642 is provided in the movable clamping member 63. For example, the slide rail 641 is provided on the jaw body 61. In order to prevent the sliding groove 642 from separating from the sliding rail 641, the sliding groove 642 may be configured as a dovetail groove.

In a specific embodiment provided by the present creation, a driving member 65 may be provided between the movable clamping member 63 and the jaw body 61, and the driving member 65 is used to drive the movable clamping member 63 to move closer to Or away from the fixed clamping member 62. The driving member 65 may be configured in any suitable manner. Alternatively, the driving member 65 is configured as a cylinder, the cylinder body of the cylinder is fixed to the jaw body 61, and the end of the piston rod of the cylinder is fixed.于find clip 63. When the piston rod extends 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 retracts into the cylinder, the movable clamping member 63 is driven close to the fixed clamping member 62 to grab the target object 400.

In the specific embodiment provided by the present creation, the fixed clamp 62 may be constructed in any suitable manner. Alternatively, 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 body 61, a movable clamping portion 632, and the movable connecting portion 631 connected to the movable clamping The second intermediate connecting portion 633 between the portions 632, the first intermediate connecting portion 623 and the second intermediate connecting portion 633 make the fixed connecting portion 621 and the movable connecting portion 631 and the jaw body 61 There is a clamping space for the target object 400 between them, 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 clamping jaw 6 further includes a joint block 66 pivotally connected to the distal end of the robot arm 3, and the clamping jaw body 61 is fixed to the joint block 66. When the robot arm 3 is a robot hand provided by a third-party manufacturer according to the present creation, the joint block 66 is fixed to the hollow output shaft of the hollow shaft motor used as the third driving device.

In addition, in the specific implementation provided by the author, the gripper 6 can also be the same as the clamp 4 provided in the fourth preferred embodiment of the author, in which a positioning member, an alignment sensor, and a proximity sensor are provided Wait for the structure.

Based on the above, a single-arm autonomous mobile handling robot provided according to the seventh preferred embodiment of the present invention can also be obtained. The single-arm autonomous mobile handling robot includes the walking mechanism provided by the second preferred embodiment of the present invention 3. The robotic arm 3 provided by the third-party manufacturer of the present creation, and the carrier 5 for the autonomous mobile handling robot provided by the fifth preferred embodiment of the present creation.

Due to the above-mentioned distinguishing features between the double-sided two-armed autonomous mobile handling robot and the single-sided two-armed autonomous mobile handling robot provided according to the first preferred embodiment of the present creation, its working process is only in There is a difference here, that is, in the whole process of loading and unloading the front opening standard box (target object 400), a single manipulator is used, and the above-mentioned clamping claw 6 is used to grab and release the front opening standard box. In addition, when loading the vehicle, when one side of the carrier 5 has been correspondingly filled with a front-opening standard box, it is necessary to continue to fill the other side of the carrier 5 as well, even when unloading the vehicle. In addition, for this type of double-sided single-arm autonomous mobile transport robot, any direction in the longitudinal direction can also be defined as the front.

The above is only the preferred embodiment of this creation and is not intended to limit this creation. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of this creation should be included in this creation. Within the scope of protection.

100‧‧‧Single-sided two-arm autonomous mobile handling robot 200‧‧‧Double-arm two-arm autonomous mobile handling robot 300‧‧‧Single-arm autonomous mobile handling robot 400‧‧‧Object 500‧‧‧machine 11‧‧‧Base 110‧‧‧ articulated seat 111‧‧‧Bottom plate 112‧‧‧skirt 113‧‧‧Distance detection device 114a‧‧‧The first obstacle avoidance sensor 114b‧‧‧Second obstacle avoidance sensor 115‧‧‧Anti-collision strip 116‧‧‧Bottom camera 12‧‧‧Vertical 13‧‧‧Housing 14‧‧‧Operation screen 2‧‧‧ Walking mechanism 21‧‧‧Drive wheel 211‧‧‧Mounting bracket 212‧‧‧Drive motor 213‧‧‧Drive wheel 214‧‧‧ pivot axis 215‧‧‧Clamp 22‧‧‧Spring plunger 23‧‧‧Universal wheel 3‧‧‧Robot 31‧‧‧Telescopic arm 32‧‧‧Rotary arm 321‧‧‧ First Arm 322‧‧‧Second Arm 331‧‧‧ First driving device 332‧‧‧Second driving device 333‧‧‧ Third driving device 341‧‧‧Screw 342‧‧‧Fixed seat 351‧‧‧First fixed plate 352‧‧‧Second fixing plate 361‧‧‧slider 362‧‧‧Guide rod 4‧‧‧ Fixture 41‧‧‧Jig body 411‧‧‧Supporting table 412‧‧‧Boss 413‧‧‧Groove 421‧‧‧The first elastic clamping part 4211‧‧‧First proximal 4212‧‧‧Second proximal 4213‧‧‧End 422‧‧‧Second elastic clamping part 4221‧‧‧second proximal 4222‧‧‧Second far end 431‧‧‧ First cushion 432‧‧‧second cushion 44‧‧‧Locating parts 45‧‧‧Proximity sensor 46‧‧‧Seal 47‧‧‧First signal light source 48‧‧‧ connection block 491‧‧‧Photo camera 492‧‧‧Flash 5‧‧‧Carrier 51‧‧‧Plate body 511‧‧‧Motherboard 512‧‧‧Sandwich board 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‧‧‧The third obstacle avoidance sensor 6‧‧‧jaw 61‧‧‧Jaw body 62‧‧‧Fixed clamping parts 621‧‧‧Fixed connection 622‧‧‧Fixed clamping part 623‧‧‧The first intermediate connection 63‧‧‧Mobile clamping parts 631‧‧‧ Activity Connection Department 632‧‧‧Mobile clamping department 633‧‧‧Second middle connecting part 641‧‧‧slide 642‧‧‧Chute 65‧‧‧Drive parts 66‧‧‧joint block

Figure 1: A perspective schematic view of an autonomous mobile handling robot provided by the first preferred embodiment of this creation; Figure 2: A schematic front view of an autonomous mobile handling robot provided by the first preferred embodiment of this creation; Figure 3: A schematic front view of an autonomous mobile handling robot provided according to the first preferred embodiment of the present invention, wherein, in order to show the structural components in the base, the skirt board is not shown; Figure 4: A schematic side view of an autonomous mobile handling robot provided by the first preferred embodiment of this creation; Fig. 5 is a schematic side view of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention, wherein, in order to show the structural components in the base, the skirt board is not shown; Figure 6: A schematic rear view of the autonomous mobile handling robot provided by the first preferred embodiment of this creation; Figure 7: A schematic top view of the autonomous mobile handling robot provided by the first preferred embodiment of this creation; Figure 8: A perspective schematic view of the walking mechanism provided by the second preferred embodiment of the present creation; Figure 9: Another perspective schematic view of the walking mechanism provided by the second preferred embodiment of the present creation; Fig. 10: Another schematic perspective view of the walking mechanism provided by the second preferred embodiment of the present invention, in which the driven wheel is not shown; FIG. 11 is a perspective schematic view of the driving wheel in the walking mechanism provided by the second preferred embodiment of the present creation; Figure 12: A perspective schematic view of the robotic arm provided by the third-party manufacturer's embodiment of this creation Figure 13: Another perspective schematic view of the mechanical arm provided by the third-party manufacturer's embodiment of the present creation. In this figure, it can be seen that the arm joint is hollow, and the second driving device and the third driving device can be seen; Figure 14: A perspective schematic view of a jig for an autonomous mobile handling robot provided by the fourth preferred embodiment of the present creation; 15: It is a perspective schematic view of another direction of a jig for an autonomous mobile handling robot provided by a fourth preferred embodiment of the present creation; Fig. 16: Another perspective schematic view of the jig for an autonomous mobile handling robot provided by the fourth preferred embodiment of the present invention. In order to show the internal structure, the sealing plate is not shown in this figure; Figure 17: A schematic plan view of the internal structure of the jig for an autonomous mobile handling robot provided by the fourth preferred embodiment of the present creation; Figure 18: A perspective schematic view of a supporting member for an autonomous mobile handling robot provided by a fifth preferred embodiment of the present creation; FIG. 19: A perspective schematic view of a support member for an autonomous mobile handling robot provided by a fifth preferred another embodiment of the present creation; FIG. 20 is a perspective schematic view of a supporting member for an autonomous mobile handling robot provided by a fifth preferred another embodiment of the present invention. In order to show the internal structure, a cover plate is omitted; Figure 21: A schematic side view of an autonomous mobile handling robot provided by the sixth preferred embodiment of this creation; Figure 22: A perspective schematic view of an autonomous mobile handling robot provided by the seventh preferred embodiment of the present creation; Figure 23: A perspective schematic view of the gripper of the autonomous mobile handling robot provided by the seventh preferred embodiment of the present creation; Fig. 24 is another perspective schematic view of the gripper of the autonomous mobile handling robot provided by the seventh preferred embodiment of the present invention.

3‧‧‧Robot

5‧‧‧Carrier

12‧‧‧Vertical

13‧‧‧Housing

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

400‧‧‧Object

500‧‧‧machine

Claims (10)

An autonomous mobile handling robot is characterized by including: The main body includes a base (11), two parallel vertical plates (12) fixed to the base (11) and extending upward in the vertical direction; Walking mechanism (2), including driving wheel and driven wheel mounted on the base (11); Working mechanism, including two manipulators, each of which includes a manipulator arm (3) connected proximally to the vertical plate (12) and a manipulator pivotally connected to the distal end of the manipulator arm (3) A jig (4), the robot arm (3) is set to enable the jig (4) to reach a desired position, and the two manipulators drive the two jigs (4) toward and away from each other to grip And release the target object (400); The carrying mechanism includes a plurality of plate-shaped carrying members (5) for carrying the target object (400), and the two facing sides of the two vertical plates (12) are fixed with the carrying members (5) ), the bearing members (5) on the same vertical plate (12) are evenly spaced along the vertical direction; and A control system is used to control the walking/stopping and steering of the walking mechanism, and control the movement of the manipulator. The autonomous mobile handling robot according to claim 1, characterized by comprising a base (11) and two driving wheels (21) and at least two driven wheels mounted on the base (11), the driving wheels (21 ) Has a central axis of rotation, and the driving wheel (21) is hinged to the base (11), an elastic biasing member is provided between the base (11) and the driving wheel (21), the elastic bias The first end of the member biases the base (11), and the second end of the elastic biasing member opposite the first end biases the driving wheel (21), so that the driving wheel (21 ) Capable of rotating around a pivot axis parallel to the central axis of rotation and moving up and down relative to the base (11); Optionally, 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 the output shaft of the driving motor (212) , The driving motor (212) is electrically connected to the control system and used to drive the driving wheel roller (213) to rotate around the axis of the output shaft of the driving motor (212), and the mounting bracket (211) passes through the pivot shaft (214) connected to a hinged seat (110) fixed to the base (11), the second end of the elastic biasing member biases the mounting bracket (211), optionally, the elastic biasing The pressing member is configured as a spring plunger (22), the spring plunger (22) is fixed to the base (11), and the head of the spring plunger (22) abuts against the mounting bracket (211) to Used as the second end; optionally, each of the driving wheels (21) is correspondingly provided with two of the spring plungers (22); Optionally, the pivot shaft (214) is configured as a pin shaft, one end of which is stopped to the mounting bracket (211) by its own head, and the other end is stopped to the hinge seat (110) by a stopper, Optionally, the stopper is configured as a clamp (215); Optionally, the central rotation axes of the two driving wheels (21) are collinear, and the driven wheel group includes two pairs of the driven wheels, wherein, in the direction of the central rotation axis, a pair of the driven wheels Is located on one side of the driving wheel (21), and another pair of driven wheels is located on the other side of the driving wheel (21); Alternatively, the two pairs of driven wheels are arranged symmetrically with respect to the central rotation axis. The autonomous mobile handling robot according to claim 1 or 2, wherein the driven wheel is configured as a universal wheel (23). The autonomous mobile handling robot according to claim 1, wherein the mechanical arm (3) includes a telescopic arm (31), a rotating arm (32), and a driving device electrically connected to the control system, the rotating The arm (32) includes a plurality of articulated arm sections, the proximal end of the rotating arm (32) is hinged to the distal end of the telescopic arm (31), and the distal end of the rotating arm (32) is used for pivoting Ground connection to the clamp (4), the driving device includes: a first driving device (331) for driving the telescopic arm (31) to move in a lateral direction and a driving device for driving the arm section around itself A second driving device (332) for rotating the hinge shaft, wherein the hinge shafts of the arm sections themselves are parallel to each other and parallel to the lateral direction; Optionally, 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 rotary motion of the output shaft can be converted into the Linear movement of the telescopic arm (31) in the lateral direction, optionally, the motor is a hollow shaft motor, and the transmission device is configured as a screw transmission device, including a screw rod (341) and a nut that cooperate with each other, The screw rod (341) is fixed by a fixing seat (342), the nut is fixed to the hollow output shaft of the hollow shaft motor, and the hollow shaft motor is fixedly connected to the telescopic arm (31), optionally, The hollow shaft motor is fixed to the first fixing plate (351), the telescopic arm (31) is fixed to the second fixing plate (352), the first fixing plate (351) and the second fixing plate (352) are both Fixed to a slider (361), the slider (361) cooperates with a guide rod (362) extending in the lateral direction provided on the device provided with the mechanical arm (3); Optionally, 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), and the first arm section (321) ) Between the proximal end of the telescopic arm (31) and a hollow shaft motor, the distal end of the first arm section (321) and the proximal end of the second arm section (322) pass through a The second driving device (332) is hinged; Optionally, the extending direction of the arm section is perpendicular to the lateral direction, and the arm section is hollow; the telescopic arm (31) extends along the lateral direction and is hollow; Optionally, the driving device further includes a third driving device (333) for driving the clamp (4) to rotate about its own pivot axis, the pivot axis is set parallel to the lateral direction, optionally Ground, the third driving device (333) is a hollow shaft motor, the hollow shaft motor is disposed at the distal end of the rotating arm (32), the hollow shaft of the hollow shaft motor is used to communicate with the clamp (4) connection. The autonomous mobile handling robot according to claim 1, wherein the jig (4) includes a jig body (41) and an elastic clamping member, and the jig body (41) is provided with a target object (400) A support platform (411) and a boss (412) higher than the support platform (411), the elastic clamping member has a proximal end fixedly connected to the boss (412) and a far end opposite to the proximal end The distal end is used to abut with the target object (400) to cooperate with the support table (411) to releasably clamp the target object (400); Optionally, the elastic clamping member includes a first elastic clamping member (421) having a first proximal end (4211) fixed to the boss (412) and A first distal end (4212) opposite to the first proximal end (4211), the first distal end extends above the support table (411) to form an elastic clamping portion, the elastic clamping portion and all A clamping space for the target object (400) is defined between the support tables (411), and the elastic clamping portion provides the target object (400) with elastic clamping toward the support table (411) Optionally, the end (4213) of the first distal end (4212) is bent away from the support table (411) in order to guide the target object (400) into the clip Hold space Optionally, the support table (411) is provided with first cushion pads (431) made of an elastic material. Optionally, two first cushion pads (431) are provided, and the two The first buffer pads (431) are arranged at intervals in the clamping space; Optionally, the elastic clamping member includes a second elastic clamping member (422), and the clamp body (41) is provided with a groove shape between the support platform (411) and the boss (412) A groove (413), the second elastic clamping member (422) is disposed in the groove-shaped groove (413), the second elastic clamping member (422) has a fixed to the boss (412) A second proximal end (4221) of the side wall and a second distal end (4222) opposite to the second proximal end (4221), the second distal end (4222) is used to abut with the target object (400), To be able to provide the target object (400) with an outward elastic clamping force, optionally, the end of the second distal end (4222) is folded, and the bend is outward, optionally, the A second buffer pad (432) made of an elastic material is connected to the side wall of the boss (412). Optionally, two second buffer pads (432) are provided, and the two second buffer pads (432) 432) Spaced on the side wall of the boss (412); Optionally, the clamp (4) includes a positioning member (44) for aligning with a mark on the target object (400), the positioning member (44) is telescopically connected to the boss (412) , The end of the positioning member (44) is provided with an alignment sensor electrically connected to the control system, when the end of the positioning member (44) is aligned with the mark, the sense of alignment The detector sends a confirmation signal, otherwise the alarm signal is issued; the boss (412) is provided with a proximity sensor (45) electrically connected to the control system, when the positioning member (44) retracts to approach When the proximity sensor (45), the proximity sensor (45) sends a confirmation signal; Optionally, the clamp (4) further includes a sealing plate (46) that is fixedly connected to the boss (412) above the boss (412), and the clamp (4) ) A first signal light source (47) for indicating that the target object (400) is in a clamping position is provided, the first signal light source (47) is electrically connected to the control system and is provided on the sealing plate (46) In the above, the sealing plate (46) is made of translucent material; Optionally, the clamp (4) further includes a connection block (48) for pivotally connecting with a robot arm of the autonomous mobile handling robot, and the clamp body (41) is fixedly connected to the connection block (48) ; Optionally, the front side of one of the two clamps (4) of the two manipulators is provided with a camera (491) electrically connected to the control system, two of the two manipulators A flash (492) electrically connected to the control system is provided on the front side of the other of the clamps (4). The autonomous mobile handling robot according to claim 1, wherein the carrier (5) includes: A plate-shaped body (51) having a bearing surface for carrying a target object (400); A positioning structure (52) fixed to the bearing surface for cooperating with a positioning hole of the target object (400) to restrict the target object (400) in the plate shape Movement on the main body (51); A radio frequency identification antenna (53) electrically connected to the control system and fixed to the plate-shaped body (51), for reading the number of the target object (400); and A target object detection device (54), which is electrically connected to the control system and fixed to the plate-shaped body (51), is used to detect whether a target object (400) is placed on the carrier ( 5) On; Optionally, the positioning structure (52) is provided as three positioning posts, the three positioning posts are arranged in a triangle shape with connecting lines, and the target object detection device (54) includes a detection portion protruding from the bearing surface, When the positioning hole of the target object (400) cooperates with the positioning structure (52), the detection part can be retracted into the plate-shaped body (51) under the gravity of the target object (400) , The target object detection device (54) sends a confirmation signal to indicate that the target object (400) is placed on the carrying surface; Optionally, the wireless radio frequency identification antenna (53) is disposed adjacent to the target object detection device (54) to facilitate wiring; Optionally, the target object detection device (54) is configured as a photoelectric sensor; Optionally, the plate-shaped body (51) includes a main board (511), a sandwich plate (512) and a cover plate (513) that are sequentially connected and overlapped, and the sandwich plate (512) is provided with an opening (5121); A second signal light source (55) electrically connected to the control system is provided in the opening (5121), the second signal light source (55) can emit multiple colors of light, and each color of light indicates a work condition; Both the cover plate (513) and the sandwich plate (512) are made of translucent or transparent materials to transmit light; An emergency stop button (56) electrically connected to the control system is provided on the cover plate (513); Optionally, the second signal light source (55) is configured in a strip shape, and four second signal light sources (55) are provided in the opening (5121), respectively directed toward the front, back, left, and right Light Optionally, both the cover plate (513) and the sandwich plate (512) are made of plexiglass material; Optionally, the carrier (5) is provided with a dual-lens camera (57) electrically connected to the control system, and the dual-lens camera (57) is fixed to the plate-shaped body (51); Optionally, the carrier (5) is provided with a third obstacle avoidance sensor (58) electrically connected to the control system, the third obstacle avoidance sensor (58) is fixed to the plate-shaped body (51); Optionally, two third obstacle avoidance sensors (58) are provided, and the dual lens camera (57) is located between the two obstacle avoidance sensors (58). The autonomous mobile handling robot according to claim 1, characterized in that the base (11) is provided at intervals on the front side and/or the rear side of the autonomous mobile handling robot along the lateral direction of the autonomous mobile handling robot Two distance detection devices (113) for detecting the distance between the autonomous mobile handling robot and the shelf, the distance detection device (113) is electrically connected to the control system to detect the distance according to the distance device (113) 113) The distance signal controls the walking mechanism (2), so that the autonomous mobile handling robot is aligned with the shelf for storing the target object (400); Alternatively, the distance detection device (113) is configured as an infrared sensor. The autonomous mobile handling robot according to claim 1, characterized in that the front side and the rear side of the base (11) are provided with first obstacle avoidance sensors (114a) for detecting surrounding obstacles, the first The obstacle avoidance sensor (114a) is electrically connected to the control system, and the control system controls the walking mechanism (2) to stop moving after receiving the danger signal from the first obstacle avoidance sensor (114a) and Alert; Optionally, a second obstacle avoidance sensor (114b) is provided on the left and/or right side of the first obstacle avoidance sensor (114a); Optionally, the first obstacle avoidance sensor (114a) includes two infrared sensors respectively located on the front and rear sides of the autonomous mobile handling robot; Optionally, the base (11) is provided with two anti-collision strips (115) surrounding the outside of the base (11); Optionally, a collision sensor electrically connected to the control system is provided in the anti-collision strip (115), and the control system controls the walking mechanism after receiving a danger signal from the collision sensor (2) Stop motion and issue an alarm. The autonomous mobile handling robot according to claim 1, wherein the main body includes a space between two vertical boards (12) and forms a closed space with the two vertical boards (12) Housing (13). The autonomous mobile handling robot according to claim 1, wherein a bottom camera (116) electrically connected to the control system is provided on the lower surface of the base (11), and four of the base (11) Each corner is provided with a ground distance detection device electrically connected to the control system.

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