TWI718518B - Manipulator, operating mechanism and autonomous mobile handling robot - Google Patents

Abstract

The invention relates to a mechanical arm, an operating mechanism and an autonomous mobile handling robot. The mechanical arm includes a telescopic arm (31), a rotating arm (32) and a driving device, and the rotating arm (32) includes a plurality of sequentially 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 to clamp/release the target The object (400), the driving device includes: a first driving device (331) for driving the telescopic arm (31) to move in the transverse direction and a first driving device (331) for driving the arm section to rotate around its own hinge axis The second driving device (332), wherein the hinge axes of the arm sections are parallel to each other and parallel to the transverse direction. The mechanical arm provided by the present invention has three degrees of freedom in mutually perpendicular directions, and can send the clamping device to a certain position in the space.

Description

Robotic arms, operating mechanisms and autonomous mobile handling robots

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

The automatic guided transport vehicle or unmanned transport vehicle is characterized by wheeled movement. Its activity area does not need to lay rails, support frames and other fixed devices, and is not restricted by venues, roads and spaces. It has the characteristics of automation and flexibility, so It is widely used in automated logistics systems to realize efficient, economical and flexible unmanned production.

For example, in semiconductor production systems, unmanned trucks are usually used to transport front opening unified pods (foup, front opening unified pod) containing silicon wafers, such as from machine to shelf, or from shelf to machine, or from One rack is moved to another rack.

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

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

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

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

In addition, the present invention also provides an autonomous mobile handling robot, wherein the autonomous mobile handling robot is provided with the above-mentioned working mechanism.

Through the above technical solution, the mechanical arm provided by the present invention has three degrees of freedom in the mutually perpendicular directions (ie, the XYZ direction). The first drive device drives the telescopic arm to move in the transverse direction, which can adjust the telescopic arm and the clamping device. The position in the lateral direction (ie X direction), by driving the second drive device to drive the arm sections of the rotating arm to rotate around their respective hinge axes, the clamping device can be adjusted in a plane perpendicular to the lateral direction (ie XZ plane) Therefore, the mechanical arm provided by the present invention can send the clamping device to a certain position in the space. Since the position of the target object to be clamped is determined in the three-dimensional space with respect to the origin position of the robot arm, the X, Y, and Z coordinates are determined. Therefore, by driving the first driving device and the second driving device, The clamping device can reach the position to be clamped to prepare to clamp the target object. After that, by driving the telescopic arm to move in the transverse direction or driving the arm section to rotate around its own hinge axis, the clamping device can be brought to the clamping position to clamp the target object. By driving the telescopic arm to move in the transverse direction and/or driving the arm section to rotate around its own articulated axis, the target object can be transported to the target position, and then by driving the telescopic arm to move in the transverse direction and/or driving the arm The joint rotates around its own hinge axis, so that the clamping device can release the target object, or the clamping position after releasing the target object 400 is far away from the target object for clamping the next target object.

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

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

In the present invention, for ease of understanding, it is defined that the autonomous mobile handling robot has length, width and height, which correspond to the longitudinal direction (X axis), the transverse direction (Y axis) and the vertical direction (Z axis), respectively. In the case of the opposite description, the positional words used such as "up, down", "left, right", "front, back" usually refer to "up and down" in the vertical direction, and "left and right" in the horizontal direction. "Right", "front and rear" in the longitudinal direction, "inner and outer" refer to the inner and outer relative to the contour of the corresponding component, and "far, near" refer to the distance relative to a certain part or structure Far and near. In addition, the terms "first", "second", "third", "fourth", etc. used in the present invention are only used to distinguish one element from another element, and do not have sequence or importance.

According to the first preferred embodiment of the present invention, there is provided a single-sided carrying two-arm autonomous mobile handling robot, and Figures 1 to 7 show one of the implementations. 1, the single-sided carrying two-arm autonomous mobile handling robot 100 includes: a main body, including a base 11, a vertical plate 12 fixed to the base 11 and extending upward in a vertical direction; a walking mechanism 2, including mounting The driving wheel and the driven wheel on the base 11; the operating mechanism includes two robotic arms, each of which includes a robotic arm 3 connected to the vertical plate 12 at its proximal end and pivotally connected to the machinery The clamp 4 at the distal end of the arm 3, the mechanical arm 3 is configured to enable the clamp 4 to reach a desired position, and the two mechanical arms are configured to move in cooperation with each other so as to be clamped by the two clamps 4 or Release the target object 400; the bearing mechanism includes a plurality of plate-shaped bearing members 5 for bearing the target object 400, and the multiple bearing members 5 are fixed on the same side (front side, or rear side) of the vertical plate 12 In the embodiment shown in Figures 1 to 7, the supporting member 5 is fixed to the front side of the vertical plate 12, but in other embodiments, the supporting member 5 may also be fixed to the rear side of the vertical plate 12), and along Arranged at intervals in the vertical direction; and a control system for controlling the walking or stopping and turning of the walking mechanism, as well as controlling the movement of the mechanical arm.

Through the above technical solutions, the autonomous mobile handling robot provided by the first preferred embodiment of the present invention can handle multiple target objects 400 at one time. The specific working process is as follows: First, the unloaded autonomous mobile handling robot walks to the first position where the target object 400 is stored through the control walking mechanism 2 of the control system; then, the posture of the fixture 4 is controlled by the control system (pivoting around itself) The rotation angle of the rotating shaft) and the movement of the robotic arm 3, the fixture 4 is sent to the desired position, and the fixture 4 is clamped to the target object 400 by the movement of the robotic arm 3; then, by controlling the movement of the robotic arm 3, The clamped target object 400 is placed on a carrier 5 of the carrying mechanism, thereby completing the loading of a target object 400 into a vehicle. After that, the above-mentioned working process can be repeated until the target object 400 is placed on all the supporting members 5. Afterwards, by controlling the walking mechanism 2, the autonomous mobile handling robot travels as a whole to the second position where the target object 400 is to be transported, and the target object 400 is clamped from its corresponding carrier 5 and sent to the second position in turn by the robotic arm. In the corresponding placement position of, the unloading of the target object 400 is realized. In this process, the position of the autonomous mobile handling robot can be changed by controlling the walking mechanism 2 to facilitate the operation of the robotic arm. Through the above description, the autonomous mobile handling robot provided by the present invention can realize automatic handling of the target object 400 without manual loading and unloading, and can transport multiple target objects 400 in a single pass, which effectively improves the production cycle and work efficiency. In addition, by arranging a plurality of supporting members 5 in a vertical direction, the upper space of the base 11 can be effectively used, which is beneficial to realize the miniaturization of the autonomous mobile handling robot, and has a wider application range and higher agility.

The autonomous mobile handling robot provided by the present invention can be applied to unmanned production workshops. For example, it can be applied to silicon wafer production workshops. The target object 400 is a front-open standard box containing silicon wafers, and commands are issued to The autonomous mobile handling robot can transport the front-opening standard box between the shelf, the machine 500, and the storage location.

Among them, 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 the present invention needs to have its own power supply to be able to function as various electrical components. Therefore, the autonomous mobile handling robot also includes a power source. The power source is arranged on the bottom plate 111. For aesthetics, the base 11 is also provided with a skirt plate 112. The skirt plate 122 extends in the vertical direction and surrounds the outer periphery of the bottom plate 111 to provide power and Wires, etc. provide space for placement. In addition, the main body may also include a housing 13 enclosing a closed space with the vertical board 12, and a man-machine interactive operation console is provided on the housing 13, such as an operation interface screen 14 (refer to FIG. 6). The operation interface screen 14 Tilt setting (refer to FIG. 4 and FIG. 6) to facilitate interactive man-machine interaction. The operation interface screen 14 belongs to the control system.

In the specific implementation provided by the first preferred embodiment of the present invention, the base 11 may be provided with a front side (and/or rear side) of the autonomous mobile handling robot along the lateral direction of the autonomous mobile handling robot. Two distance detection devices 113 arranged at intervals are used to detect the distance between the autonomous mobile handling robot and the shelf where the target object 400 is placed when loading the vehicle, as shown in FIG. 3. The distance detection device 113 is electrically connected to the control system to control the walking mechanism 2 according to the distance signal of the distance detection device 113, so that the autonomous mobile handling robot and the storage device for storing the target object 400 The rack is aligned. The alignment here can be understood as the relative position of the autonomous mobile handling robot and the rack, allowing the target object 400 to be moved to the corresponding carrier 5 as a whole, and the positioning empty slot of the target object 400 can be aligned with the following The positioning structures on the carrier 5 mentioned above are matched together. Wherein, the distance detecting device 113 can be constructed in any suitable manner, for example, can be constructed as a laser sensor.

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

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

Since the autonomous mobile handling robot does not move left and right, it only needs to detect obstacles in the front and rear. Optionally, referring to FIG. 5, the first obstacle avoidance sensor 114a includes two infrared sensors located on the front side and the back side of the autonomous mobile handling robot, respectively, to move forward (along the infrared radiation). In the direction in which infrared rays propagate from back to front), diffuse detection is performed in the fan-shaped area.

In addition, the base 11 may be provided with two anti-collision bars 115 surrounding the outside of the base 11, optionally, the anti-collision bars 115 are provided with collision sensors electrically connected to the control system, After receiving the danger signal from the collision sensor, the control system controls the walking mechanism 2 to stop moving and issue an alarm, so as 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 (shown in FIG. 7) electrically connected to the control system, which is used to capture ground features in untracked navigation, and cooperates with the dual camera described below. A lens camera 57 (installed on the side of the uppermost carrier 5, corresponding to the front or rear of the traveling direction of the autonomous mobile handling robot, used to capture the surrounding environment features) to locate and pass the autonomous mobile handling robot itself Trajectory compensation corrects the position deviation. The four corners of the base 11 are provided with ground distance detection devices that are electrically connected to the control system, and send the detected distance information to the control system, and the control system judges whether the bottom surface of the traveling front is flat according to the distance information , And control the walking of the walking mechanism accordingly.

Wherein, the walking mechanism can be constructed in any suitable manner. Optionally, the walking mechanism is configured as the walking mechanism provided according to the second preferred embodiment of the present invention.

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

Wherein, the robotic arm can be constructed in any suitable manner. Optionally, the robotic arm in the robotic arm can be configured as a robotic arm provided by a third-party manufacturer according to the present invention, and the clamping device in the robotic arm can be configured according to the present invention. The fourth preferred embodiment of the invention provides a clamp for an autonomous mobile handling robot.

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

According to a second preferred embodiment of the present invention, a walking mechanism is provided. Referring to Figures 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 moves forward in the first direction around the central axis of rotation, the reverse rotation is retreat). Therefore, when the driving wheel 21 moves forward according to the first preferred embodiment of the present invention, the autonomous movement is provided. When the handling robot is provided with the walking mechanism, the central rotation axis is parallel to the lateral direction of the autonomous mobile handling 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 The driving wheel 21 can rotate around a pivot axis parallel to the central rotation axis to move up and down relative to the base 11.

When the existing four-wheel walking mechanism is walking on uneven ground, there will be a situation where one driving wheel hangs in the air or even though the four wheels are on the ground but the force is uneven, that is, the pressure on the ground is not equal. In this case, The friction between the wheels and the ground is different, which is prone to slipping, which affects the walking trajectory.

Through the above technical solution, the walking mechanism provided by the present invention is able to drive the driving wheel 21 to rotate around its pivot axis and move up and down relative to the base 11 through the provision of elastic biasing elements, and instantly adjust the ground pressure of the driving wheel 21 to ensure two The friction force between the driving wheel 21 and the ground avoids slipping or ensures that the degree of slippage between the two driving wheels 21 and the ground is approximately the same, ensuring the actual amount of movement, thereby ensuring the walking track.

In the specific implementation provided by the present invention, the driving wheel 21 can be constructed in any suitable manner. Optionally, 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, and the driving motor 212 drives the driving wheel roller 213 to rotate around the axis of the output shaft of the drive motor 212, the mounting bracket 211 is connected to the hinge seat 110 fixed to the base 11 through a pivot shaft 214, wherein the pivot shaft 214 can be any suitable For example, it can be configured as a pin shaft, one end is stopped by the mounting bracket 211 by its own head, and the other end is stopped by the hinge seat 110 by a stopper, for example, is stopped by the hinge seat 110 by a clamp 215, 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 provided with two spring plungers 22 correspondingly. As another option, the elastic biasing member can also be configured as a disc spring or the like.

Alternatively, the driven wheel may be configured as a universal wheel 23 to allow the traveling mechanism 360 to turn. Optionally, the central rotation axes of the two driving wheels 21 are collinear, and the driven wheel set includes two pairs of the driven wheels, wherein, along the direction of the central rotation axis, a pair of the driven wheels is located at the center of rotation. One side of the driving wheel 21 and the other pair of driven wheels are located on the other side of the driving wheel 21. This arrangement allows the walking mechanism to turn 360° when walking forward or backward. Optionally, the two pairs of 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 center of the line connecting the central rotation axes of the two driving wheels 21.

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

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

According to a third preferred embodiment of the present invention, a robotic arm is provided. Figures 12 and 13 show a specific implementation; referring to Figures 12 and 13, the robotic arm 3 includes a telescopic arm 31. , Rotating arm 32 and 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 (Such as the clamp 4 or the clamping jaw 6) to clamp or release the target object 400; the driving device includes: a first driving device 331 for driving the telescopic arm 31 to move in the transverse direction and a first driving device 331 for driving the The second driving device 332 for the arm section to rotate around its own hinge axis, wherein the hinge axes of the arm section are parallel to each other and parallel to the transverse direction.

Through the above technical solution, the robot arm provided by the third preferred embodiment of the present invention has three degrees of freedom in mutually perpendicular directions (that is, the XYZ directions), and the telescopic arm 31 is driven to move in the lateral direction by the first driving device 331 , Can adjust the position of the telescopic arm 31 and the clamping device in the lateral direction (that is, the X direction), by driving the second driving device 332 to drive the arm sections of the rotating arm 32 to rotate around their respective hinge axes, the clamping device can be adjusted in the The position in the plane perpendicular to the transverse direction (that is, the XZ plane). Therefore, the mechanical arm provided by the present invention can send the clamping device to a certain position in space. Since the X, Y, and Z coordinates of the target object 400 to be clamped are determined in the three-dimensional space relative to the origin position of the robot arm, the first driving device 331 and the second driving device 331 are driven. 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 transverse direction or driving the arm section to rotate around its own hinge axis, it can Make the clamping device reach the clamping position to clamp the target object 400; and by driving the telescopic arm 31 to move in the transverse direction and/or driving the arm section to rotate around its own articulated axis, the target object 400 can be transported to The target position, afterwards, 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 clamping device can release the target object 400, or the clamping device after the target object 400 can be released. The holding position is far away from the target object 400 for the next target object 400 to be clamped.

The following description will describe in detail the robotic arm 3 provided by the third preferred embodiment of the present inventor in conjunction with FIG. 12 and FIG. 13.

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

Among them, in order to optimize the use of limited space and achieve the goal of miniaturization, the motor uses a hollow shaft motor; and the transmission device can be constructed in any suitable manner, for example, can be constructed as a rack and pinion transmission structure. Optionally, the transmission device is configured as a screw rod transmission device, including 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 robot 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, the hollow output shaft can also be provided with internal threads), the hollow shaft motor is fixedly connected to the telescopic arm 31; thus, when the hollow output shaft, for example, rotates forward, the telescopic arm is driven to move in the first direction When the hollow output shaft is reversed, for example, the telescopic arm is driven to move in a second direction opposite to the first direction, so as to adjust the position of the clamping device in the transverse direction.

Among them, in order to avoid the weight of the hollow shaft motor, the telescopic arm 31, the rotating arm 32, the clamping device and even the target object 400 being borne by the screw rod 341, the screw rod 341 may be deformed or even broken due to bending, which may affect normal operation. The hollow shaft motor can be fixed to the first fixing plate 351, the telescopic arm 31 can be fixed to the second fixing plate 352, and the first fixing plate 351 and the second fixing plate 352 are both fixed to the slider 361, which 361 cooperates with a guide rod 362 extending in the transverse direction provided on the equipment provided with the robotic 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 In this case, the hollow shaft motor and the telescopic arm 31, the rotating arm 32, the clamping device and even the weight of the target object 400 pass through the first fixing plate 351 and the second fixing plate 352 and The cooperation between the slider 361 and the guide rod 362 is transferred to the device, which is borne by the device; in the specific implementation shown in FIGS. 17 and 18, the guide rod 362 is set on the vertical plate 12 of the autonomous mobile handling robot; Optionally, the telescopic arm 31 extends in the transverse direction and is hollow to facilitate wiring.

In the preferred embodiment of the present application, the second driving device 332 can be configured in any suitable manner, for example, can be configured as a hydraulic oil cylinder or an air cylinder. Optionally, 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 FIGS. 12 and 12 and As shown in FIG. 13, the proximal end of the first boom section 321 and the telescopic arm 31 are articulated by the hollow shaft motor, and the distal end of the first boom section 321 is connected to the second boom section. The proximal end of 322 is hinged by a second driving device 332. Optionally, the arm section is hollow to facilitate wiring.

Optionally, the driving device further includes a third driving device 333 for driving the clamping device to rotate about its own pivot axis 214, wherein the pivot axis 214 may be arranged parallel to the transverse direction, This allows the clamping device to rotate around its own pivot axis 214 to adjust its own posture. In a preferred embodiment of the present application, the third driving device 333 can be constructed in any suitable manner, for example, can be constructed as a hydraulic oil cylinder or an air cylinder. Optionally; 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, it is used as a third driving device The hollow shaft motor of 333 is arranged at the distal end of the second arm section 322), the hollow shaft of the hollow shaft motor is used to connect with the clamping device, it can be understood that the clamping device is pivotally connected by the hollow shaft motor At the distal end of the rotating arm 32.

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

According to a fourth preferred embodiment of the present invention, a clamp 4 for an autonomous mobile handling robot is provided, and Figs. 14 to 17 show an embodiment thereof. The clamp 4 includes a clamp main body 41 and an elastic clamp. The clamp main body 41 is provided with a support table 411 for the target object 400 and a boss 412 higher than the support table 411. The elastic clamp has a fixed Connected to the proximal end of the boss 412 and the distal end opposite to the proximal end, and the distal end is used to abut the target object 400 to cooperate with the supporting platform 411 to releasably clamp the target Object 400.

Through the above technical solution, the gripper 4 for an autonomous mobile handling robot provided by the fourth preferred embodiment of the present invention provides a support table 411 for the target object 400 by setting the gripper body 41. When the target object 400 is clamped, the target object 400 passes The support platform 411 is supported, and the target object 400 is held on the support platform 411 by the distal end of the elastic clamping member abutting against the target object 400, thereby achieving clamping of the target object 400, and further driving the target object 400 to move. When the target object 400 needs to be released, the clamp 4 can be moved 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 against the target object 400, so as to achieve the target object 400. The release of 400.

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

Wherein, in order to prevent the target object 400 from being subjected to the concentrated stress of the support platform 411, optionally, the support platform 411 may be provided with a first cushion pad 431 made of an elastic material. Optionally, there are two first buffer pads 431 provided, and the two first buffer pads 431 are provided at intervals in the clamping space.

In the specific embodiment provided by the present invention, the elastic clamping member may further include a second elastic clamping member 422. Referring to FIG. 16 and FIG. 17, as shown in FIG. A groove-shaped groove 413 is provided between the platforms 412, the second elastic clamping member 422 is arranged in the groove-shaped groove 413, and the second elastic clamping member 422 has a groove 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 outward facing Elastic clamping force. When in use, two clamps 4 are required 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 an outward elastic clamping force. Clamp the target object 400 located between the two; wherein the end of the second distal end (4222) is folded, and the bend is facing outwards to avoid concentrated stress on the target object 400; optionally In order to prevent the target object 400 from being subjected to the concentrated stress of the boss 412 when two clamps 4 are used to clamp the target object 400 between the two, the side wall of the boss 412 may be connected with an elastic material. There may be two second buffer pads 432, and the two second buffer pads 432 are arranged on the side wall of the boss 412 at intervals.

In the specific embodiment provided by the present invention, the clamp 4 may include a positioning member 44 for aligning with a mark (such as a notch structure) on the target object 400, and the positioning member 44 is telescopically connected to the The boss 412, the end of the positioning member 44 is provided with an alignment sensor (for example, a photoelectric sensor), 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 a confirmation signal.

Optionally, the clamp 4 further includes a sealing plate 46, the sealing plate 46 is fixedly connected to the boss 412 above the boss 412, and the clamp 4 is provided to indicate that the target object 400 is in the clamp. The first signal light source 47 in the holding position, the first signal light source 47 is arranged in the sealing plate 46, and the sealing plate 46 is made of a translucent material. Therefore, the first signal light source 47 can be removed 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 connecting block 48 for pivotally connecting with the robotic arm 3 of the autonomous mobile handling robot, and the clamp body 41 is fixedly connected to the connecting block 48. The first signal light source 47 can be fixed on the connecting block 48, and the sealing plate 46 is provided with a corresponding accommodating 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.

On the basis of the above technical solution, the fourth preferred embodiment of the present invention also provides an operating mechanism for an autonomous mobile handling robot. The operating mechanism includes a pair of robotic arms, each of which includes a robotic arm and the aforementioned A clamp 4 for an autonomous mobile handling robot is connected to the distal end of the robot arm, and two clamps 4 in each pair of robot arms cooperate with each other to clamp or release the target object 400.

In each pair of robot arms, two clamps 4 are arranged oppositely. As shown in 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 away from each other, they are used to release the target. Object 400.

Among them, on the basis of the above technical solution, the robotic arm in the autonomous mobile handling robot operating mechanism provided by the fourth preferred embodiment of the present invention can be constructed in any suitable manner. For example, it can be constructed in accordance with the third preferred embodiment of the present invention. A mechanical arm 3 provided by a preferred embodiment.

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

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

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

Through the above technical solution, the carrier 5 provided by the fifth preferred embodiment of the present invention can carry the target object 400 while also being able to know the number of the carried target object 400, so that the user can grasp the position of the carrier 5. Information about the target object 400 carried. 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 can make any target placed on the bearing surface The position of the object 400 is unique, which facilitates automatic loading and unloading of the target object 400. In addition, the target object detection device 454 can confirm whether there is a target object 400 on the carrier 5. On the one hand, it can avoid repeatedly placing the target object 400, and on the other hand, it can be known whether the carrier 5 is idle.

In the specific embodiment provided by the present invention, the positioning structure 52 can be constructed in any suitable manner. Optionally, the positioning structure 52 is configured as three positioning pillars, and the three positioning pillars are arranged in a triangular shape in a connected line, as shown in FIGS. 18 to 20. The target object detection device 54 includes a detection part protruding from the bearing surface. When the positioning hole of the target object 400 is matched with the positioning structure 52, the detection part 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 sends a confirmation signal to indicate that the target object 400 is placed on the bearing surface.

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

In the specific implementation provided by the present invention, the target object detection device 54 can be constructed in any suitable manner; alternatively, the target object detection device 54 is constructed as a photoelectric sensor, and its working principle can be: When the target object 400 is placed on the carrier 5, the target object 400 covers the photoelectric sensor, and the photoelectric sensor sends a determination signal.

In the specific embodiment provided by the present invention, the plate-shaped main body 51 may be constructed in any suitable manner. Optionally, referring to FIG. 19 and FIG. 20, the plate-shaped body 51 includes a main board 511, a sandwich board 512, and a cover board 513 that are sequentially overlapped and connected. The sandwich board 512 is provided with an opening 5121, A second signal light source 55 is provided in the opening 5121. The second signal light source 55 can emit light of multiple colors, and each color of light indicates a working condition. For example, the second signal light source 55 can emit a red light indicating an alarm. , Indicating normal green light, blue light indicating insufficient power supply, etc. Both the cover plate 513 and the sandwich 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; An emergency stop button 56 is provided on the cover 513 to stop the work of the autonomous mobile handling robot in an emergency.

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

In the specific embodiment provided by the present invention, the cover plate 513 and the sandwich plate 512 may both be made of organic glass material, so as to have the advantages of easy processing, strong light transmission, impact resistance, durability and the like.

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

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

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

In summary, it is possible to obtain a single-sided carrying two-arm autonomous mobile handling robot according to the first preferred embodiment of the present invention. The single-sided carrying two-arm autonomous mobile handling robot includes the second preferred embodiment of the present invention. The walking mechanism provided in the example, the robotic arm 3 provided according to the third preferred embodiment of the present invention, the clamp 4 for autonomous mobile handling robots provided according to the fourth preferred embodiment of the present invention, and the fifth preferred embodiment of the present invention A preferred embodiment provides a carrier 5 for an autonomous mobile handling robot. For the traveling mechanism, the driving motor 212 is electrically connected to the control system, so as to control the rotation of the driving motor 212 through the control system. For the robot arm 3, the fixing seat 342 and the guide rod 362 can be arranged 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 can be combined into one, that is, the fixing seat 342 Fixed in the middle of the screw, the screw part on the left is used for the mechanical arm on the left, and the screw part on the right is used for the mechanical arm on the right. The first drive device 331, the second drive device 332 and the third drive device 333 configured as hollow shaft motors are all electrically connected to the control system, and the clamp 4 is fixed on 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 camera 491, and the flash 492 in the fixture 4 are all electrically connected to the control system; the radio frequency identification antenna 53, the target object detection device in the carrier 5 54. The second signal light source 55, the emergency stop button 56, the dual-lens camera 57, and the third obstacle avoidance sensor 58 are all electrically connected to the control system; in the autonomous mobile handling robot, two mechanical arms are provided. The robot arms are arranged symmetrically with respect to the longitudinal direction of the autonomous mobile handling robot; the autonomous mobile handling robot is provided with three bearing members 5, which defines the side of the vertical board 12 provided with the bearing member 5 as the front and the other side as the rear; wherein, The uppermost carrier 5 is constructed in the embodiment shown in Figs. 19 and 20, and the lower two carriers 5 are constructed in the embodiment shown in Fig. 18, that is, only the uppermost carrier 5 is constructed. There are 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, a mezzanine board 512 and The cover plate 513 is composed; 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 work content. This autonomous mobile transportation will be described in detail with the accompanying drawings. The working process of the robot.

First, after the empty autonomous mobile handling robot receives the instruction, it drives the walking mechanism to move to the front of the shelf. At this time, the autonomous mobile handling robot faces the shelf and stands at a fixed position. The distance detection device 113 on the left and right sides detects the distance to the shelf. Comparing the two distances, if they are equal, it means that the autonomous mobile handling robot is facing the shelf, otherwise, the control system controls the rotation of one or two driving wheels 21 to adjust the autonomous mobile handling robot to be aligned with the shelf; After that, the second driving device 332 operates to send the clamp 4 to the front of the front opening standard box to be clamped on the shelf. At this time, the camera 491 on the clamp 4 takes a picture of the front, grabs the visual feature points, and controls the system It is judged whether the position of the clamp 4 at this time is in the alignment position. If it is, the second driving device 332 of the two robot arms synchronously drives the rotating arm 32 to rotate around its hinge axis, so as to synchronize the two clamps 4 to Move forward to the position to be clamped, that is, located on both sides of the standard box with the front opening. If not, you can control the first driving device 331 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; then, control the first driving device 331 of the two robot arms Drive the two telescopic arms 31 to move relative to each other so that the two clamps 4 are close to each other, so that the clamped part of the front-open standard box enters the clamping space of the clamp 4, and is held on the support table by the first elastic clamps 421, respectively On 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 to control the clamp 4 to continue relative movement, and the two clamps The second elastic clamping member 422 of 4 is elastically deformed to provide relative clamping force from both sides of the front opening standard box. The positioning member 44 receives the thrust of the front opening standard box and retracts. When approaching the proximity sensor When the device 45 is closed, the proximity sensor 45 sends a confirmation signal to the control system, and the control system controls the robotic arm 3 to stop moving and the clamp 4 to stop. The first signal light source 47 on it emits a green light to indicate the completion of the clamping of the front opening standard box. hold. If the end of the positioning member 44 is not aligned with the mark on the front opening standard box, an alarm signal is sent to the control system, the control system stops the movement of the mechanical arm 3, and controls the first signal light source 47 to emit red light and/or sound A signal to inform the user to adjust the position of the front opening standard box so that the clamp 4 can be clamped correctly.

After the clamp 4 is clamped to the front opening standard box, the control system controls the movement of the mechanical arm 3 to place the clamped front opening standard box on one of the supporting members 5, for example, the lowermost supporting member 5. When the front opening standard box is placed on the carrier 5, if the positioning hole slot of the front opening standard box matches 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 been placed there. Carrier 5 on. 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 front opening has been completed.

By analogy, after the loading of the previous 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 and performs the frontal opening. Loading of open standard containers.

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 images of the bottom plate to obtain the characteristics of the bottom plate to determine the current location of the autonomous mobile handling robot, and perform trajectory compensation when the position deviation occurs. When the characteristics of the floor cannot be confirmed, the current position of the autonomous mobile handling robot can be determined through the environment image taken by the dual-lens camera 57 and the synchronous positioning and map construction (SLAM or Simultaneous localization and mapping) algorithm. In the process of walking, because the walking mechanism provided by the second preferred embodiment of the present invention is used, the ground pressure of the two driving wheels 21 can be ensured, and the traveling direction of the autonomous mobile handling robot can be ensured; through ground distance detection The device senses the road conditions ahead. Once a pothole or obstacle is found, the control system controls the autonomous mobile handling robot to stop walking and give an alarm; at the same time, if it passes the first obstacle avoidance sensor 114a and/or the second obstacle avoidance sensor 114b and / Or the third obstacle avoidance sensor 58 and/or the collision sensor detects that there is an obstacle in the traveling direction of the autonomous mobile handling robot, the control system will control the autonomous mobile handling robot to immediately stop walking and give an alarm; in addition, if the load is loaded The front opening standard box on 5 is taken away by a person, and the control system controls the autonomous mobile handling robot to immediately stop walking and give an alarm after the signal sent by the target object detection device 54.

According to the sixth preferred embodiment of the present invention, there is provided a double-sided carrying-type autonomous mobile handling robot 200, which is distinguished from the autonomous mobile handling robot provided in the first preferred embodiment of the present invention in that : According to the sixth preferred embodiment of the present invention, the double-sided carrying-type autonomous mobile handling robot is provided with two vertical plates 12, and the shell 13 is located between the two vertical plates 12 and the two vertical plates The mutually facing sides of the manipulator 12 enclose a closed space, and the first driving device 331, the screw 341, and the fixing seat 342 of the robot arm 3 are arranged in the closed space. The two sides of the two vertical plates 12 facing outwards are both fixed with the bearing member 5, and the bearing members 5 on the same side are arranged at even intervals in the vertical direction, as shown in Fig. 21; considering the spatial arrangement, In the double-sided carrying-type autonomous mobile handling robot provided by the sixth preferred embodiment of the present invention, an operation interface screen, that is, a human-computer interaction interface, is no longer provided.

According to the autonomous mobile transport robot provided by the sixth preferred embodiment of the present invention, it is possible to transport multiple target objects 400 at one time. The specific working process is as follows: First, the unloaded autonomous mobile handling robot walks to the first position where the target object 400 is stored through the control walking mechanism 2 of the control system; then, the posture of the fixture 4 is controlled by the control system (pivoting around itself) The rotation angle of the rotating shaft) and the movement of the robotic arm 3, the fixture 4 is sent to the desired position, and the fixture 4 is clamped to the target object 400 by the movement of the robotic arm 3; then, by controlling the movement of the robotic arm 3, The clamped target object 400 is placed on a carrier 5 of the carrying mechanism, thereby completing the loading of a target object 400 into a vehicle. After that, 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 handling robot travels to the second position where the target object 400 is to be transported as a whole, and passes through the machine The arm grips the target object 400 from its corresponding carrier 5 and sends it to the corresponding placement position of the second position to realize the unloading of the target object 400; in this process, the autonomous movement can be changed by controlling the walking mechanism 2 The position of the handling robot is convenient for the operation of the robotic arm; through the above description, the autonomous mobile handling robot provided by the present invention 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, which effectively improves Production speed and work efficiency; in addition, by arranging multiple carriers 5 in a vertical direction, the upper space of the base 11 can be effectively used, which is beneficial to realize the miniaturization of autonomous mobile handling robots, and has a wider range of applications and more High agility.

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

Due to the above-mentioned differences between the two-sided carrying two-arm autonomous mobile handling robot and the one-side carrying two-arm autonomous mobile handling robot provided according to the first preferred embodiment of the present invention, the working process is only There is a difference here, that is, when loading the front-opening standard box (target object 400), when one side of the carrier 5 has been correspondingly filled with the front-opening standard box, it is necessary to continue to fill the other side of the carrier 5 as well , The unloading is also the same; in addition, for this dual-sided carrying two-arm autonomous mobile handling robot, any one of the longitudinal directions can be defined as the front.

According to the seventh preferred embodiment of the present invention, a single-arm autonomous mobile handling robot 300 is provided. The distinguishing features between the autonomous mobile handling robot and the autonomous mobile handling robot provided in the first preferred embodiment of the present invention may be : According to the seventh preferred embodiment of the present invention, only one robotic arm is provided in the autonomous mobile handling robot. Referring to FIG. 22, the robotic arm includes a robotic arm 3 (the robotic arm 3 can be compatible with the first embodiment of the present invention. A preferred embodiment provides an autonomous mobile handling robot in which the robotic arm 3 is the same) and the gripper 6 pivotally connected to the distal end of the robotic arm 3 for grabbing or releasing the target object 400 (rather than Clamp 4), the mechanical arm 3 is set to be able to move so that the clamping jaw 6 reaches a desired position.

In addition to the above-mentioned distinguishing features, there may be another distinguishing feature between the autonomous mobile handling robot provided in the seventh preferred embodiment of the present invention and the autonomous mobile handling robot provided in the first preferred embodiment of the present invention. The distinguishing feature may be the same as the distinguishing feature between the autonomous mobile handling robot provided according to the sixth preferred embodiment of the present invention and the autonomous mobile handling robot provided according to the first preferred embodiment of the present invention, that is, according to the seventh preferred embodiment of the present invention. In the autonomous mobile handling robot provided by a preferred embodiment, two of the vertical boards 12 are provided, and the housing 13 is located between the two vertical boards 12 and enclosed with the mutually facing sides of the two vertical boards 12 Space, the first driving device 331 of the robot arm 3, the screw 341, the fixing seat 342 and other structures are arranged in the enclosed space. The two sides of the two vertical plates 12 facing outwards are both fixed with the carrier 5, and the carrier 5 on the same side is evenly spaced along the vertical direction, as shown in FIG. 21. Taking into account the space layout, no longer set up the operation interface screen, that is, the human-computer interaction interface.

Through the above technical solutions, the autonomous mobile transport robot provided by the seventh preferred embodiment of the present invention can transport multiple target objects 400 at one time. The specific working process is as follows: First, the unloaded autonomous mobile handling robot walks to the first position where the target object 400 is stored through the control walking mechanism 2 of the control system; then, the posture of the gripper 6 is controlled by the control system (around itself The rotation angle of the pivot axis) and the movement of the robot arm 3, the gripper 6 is sent to the desired position to grab the target object 400; after that, by controlling the movement of the robot arm 3, the grabbed target object 400 is placed on On a bearing member 5 of the bearing mechanism, the loading of a target object 400 is thus completed. After that, the above-mentioned working process can be repeated until the target object 400 is placed on all the supporting members 5. Afterwards, by controlling the walking mechanism 2, the autonomous mobile handling robot travels as a whole to the second position where the target object 400 is to be transported, and the target object 400 is clamped from its corresponding carrier 5 and sent to the second position in turn by the robotic arm. In the corresponding placement position of, the unloading of the target object 400 is realized. In this process, the position of the autonomous mobile handling robot can be changed by controlling the walking mechanism 2 to facilitate the operation of the robotic arm. Through the above description, the autonomous mobile handling robot provided by the present invention can realize automatic handling of the target object 400 without manual loading and unloading, and can transport multiple target objects 400 in a single pass, which effectively improves the production cycle and work efficiency. In addition, by arranging a plurality of supporting members 5 in a vertical direction, the upper space of the base 11 can be effectively used, which is beneficial to realize the 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 gripper 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 main body 61 so as to be able to approach and move away from the fixed clamping member 62, and cooperate with the fixed clamping member 62 to achieve the target Grab and release of object 400.

Optionally, the movable clamping member 63 is connected to the clamping jaw main body 61 through a sliding connection structure so as to be close to and away from the fixed clamping member 62. In the specific implementation provided by the present invention, the sliding connection structure can 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, 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 groove 642 The other of the grooves 642 is provided in the movable clamping member 63. For example, the sliding rail 641 is provided on the jaw body 61. In order to prevent the sliding groove 642 from being separated from the sliding rail 641, the sliding groove 642 may be configured as a dovetail groove.

In the specific embodiment provided by the present invention, a driving member 65 may be provided between the movable clamping member 63 and the clamping 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. Wherein, the driving member 65 can be configured in any suitable manner. Optionally, the driving member 65 is configured as a cylinder, the cylinder of which is fixed to the jaw body 61, and the end of the piston rod of the cylinder is fixed.于The movable clamp 63. When the piston rod extends from the cylinder, the movable clamp 63 is driven away from the fixed clamp 62 to release the target object 400. When the piston rod retracts into the cylinder, the movable clamp 63 is driven to approach the fixed clamp 62 to grab the target object 400.

In the specific embodiment provided by the present invention, the fixed clamp 62 may be configured in any suitable manner. Optionally, the fixed clamping member 62 includes a fixed connecting portion 621 connected to the clamping jaw body 61, a fixed clamping portion 622, and connected between the fixed connecting portion 621 and the fixed clamping portion 622 The movable clamping member 63 includes a movable connecting portion 631 connected with the jaw body 61, a movable clamping portion 632, and a movable connecting portion 631 connected to the movable connecting portion 631 and the movable clamping The second intermediate connecting portion 633 between the parts 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 therebetween, and the fixed clamping portion 622 and the movable clamping portion 632 extend opposite to each other for supporting the target object 400.

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

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

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

Due to the above-mentioned distinguishing features between the dual-sided carrying two-arm autonomous mobile handling robot and the single-sided carrying two-arm autonomous mobile handling robot provided according to the first preferred embodiment of the present invention, the working process is only There is a difference here, that is, in the entire process of loading and unloading the front opening standard box (target object 400), a single robotic arm is used, and the aforementioned gripper 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 the front opening standard box, it is necessary to continue to fill the other side of the carrier 5 as well, and the same is true for unloading. In addition, for this dual-sided single-arm autonomous mobile handling robot, any one of the longitudinal directions can also be defined as the front

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

11‧‧‧Base 110‧‧‧Hinged seat 111‧‧‧Bottom plate 112‧‧‧Apron 113‧‧‧Distance detection device 114a‧‧‧First obstacle avoidance sensor 114b‧‧‧Second Obstacle Avoidance Sensor 115‧‧‧Anti-collision strip 116‧‧‧Bottom camera 12‧‧‧Riser 13‧‧‧Shell 14‧‧‧Operation interface screen 2‧‧‧Walking mechanism 21‧‧‧Drive Wheel 211‧‧‧Mounting bracket 212‧‧‧Drive motor 213‧‧‧Drive wheel roller 214‧‧‧Pivot axis 215‧‧‧Clamp 22‧‧‧Spring plunger 23‧‧‧Universal Wheel 3‧‧‧Robot arm 31‧‧‧Telescopic boom 32‧‧‧Rotating arm 321‧‧‧First Arm Section 322‧‧‧Second Arm Section 331‧‧‧The first drive device 332‧‧‧Second drive device 333‧‧‧Third drive device 341‧‧‧Screw 342‧‧‧Fixed seat 351‧‧‧First fixing plate 352‧‧‧Second fixing plate 361‧‧‧Slider 362‧‧‧Guide rod 4‧‧‧Fixture 41‧‧‧Jig body 411‧‧‧Support Table 412‧‧‧Boss 413‧‧‧Gutter groove 421‧‧‧First elastic clamping piece 4211‧‧‧First proximal 4212‧‧‧Second proximal 4213‧‧‧End 422‧‧‧Second elastic clamping piece 4221‧‧‧Second proximal 4222‧‧‧Second remote 431‧‧‧First cushion 432‧‧‧Second cushion 44‧‧‧Positioning piece 45‧‧‧Proximity sensor 46‧‧‧Cover plate 47‧‧‧First signal light source 48‧‧‧Connecting block 491‧‧‧Photo Camera 492‧‧‧Flash 5‧‧‧Carrier 51‧‧‧Plate body 511‧‧‧Motherboard 512‧‧‧Sandwich board 5121‧‧‧Opening 513‧‧‧Cover plate 52‧‧‧Positioning structure 53‧‧‧Radio Frequency Identification Antenna 54‧‧‧Target object detection device 55‧‧‧Second signal light source 56‧‧‧Emergency stop button 57‧‧‧Dual lens camera 58‧‧‧Third Obstacle Avoidance Sensor 6‧‧‧Gripper 61‧‧‧Gripper body 62‧‧‧Fixed clamp 621‧‧‧Fixed connection part 622‧‧‧Fixed clamping part 623‧‧‧The first intermediate connection 63‧‧‧movable clamp 631‧‧‧Activity Connection Department 632‧‧‧movable clamping part 633‧‧‧Second Intermediate Connection 641‧‧‧Slide rail 642‧‧‧Chute 65‧‧‧Drive parts 66‧‧‧Joint block 100‧‧‧One-sided carrying two-arm autonomous mobile handling robot 200‧‧‧Double-sided carrying two-arm autonomous mobile handling robot 300‧‧‧Single-arm autonomous mobile handling robot 400‧‧‧Target object 500‧‧‧machine

Fig. 1 is a three-dimensional schematic diagram of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. Figure 2 is a schematic front view of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. Fig. 3 is a schematic front view of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. In order to show the structural components in the base, the skirt board is not shown. Figure 4: is a schematic side view of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. Fig. 5 is a schematic side view of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. In order to show the structural components in the base, the skirt is not shown. Fig. 6 is a schematic rear view of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. Fig. 7 is a schematic top view of the autonomous mobile handling robot provided by the first preferred embodiment of the present invention. Fig. 8 is a three-dimensional schematic diagram of the walking mechanism provided by the second preferred embodiment of the present invention. Fig. 9 is another three-dimensional schematic diagram of the walking mechanism provided by the second preferred embodiment of the present invention. Fig. 10 is another perspective view of the walking mechanism provided by the second preferred embodiment of the present invention, and the driven wheel is not shown in this figure. Fig. 11 is a three-dimensional schematic diagram of the driving wheel in the walking mechanism provided by the second preferred embodiment of the present invention. Fig. 12 is a three-dimensional schematic diagram of a mechanical arm provided by a third preferred embodiment of the present invention. Figure 13: Another perspective schematic view of the mechanical arm provided by the third preferred embodiment of the present invention. In this figure, it can be seen that the arm section is hollow, and the second driving device and the third driving device can be seen . Fig. 14 is a three-dimensional schematic diagram of a clamp for an autonomous mobile handling robot provided by a fourth preferred embodiment of the present invention. Fig. 15 is a perspective schematic view of another direction of the clamp for the autonomous mobile handling robot provided by the fourth preferred embodiment of the present invention. Fig. 16 is another three-dimensional schematic diagram of the clamp for the 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 the figure. Fig. 17 is a schematic top view of the internal structure of a clamp for an autonomous mobile handling robot provided by a fourth preferred embodiment of the present invention. Fig. 18 is a perspective schematic diagram of a carrier for an autonomous mobile handling robot provided by a fifth preferred embodiment of the present invention. Fig. 19 is a perspective schematic view of a carrier for an autonomous mobile handling robot provided by another embodiment of the fifth preferred embodiment of the present invention. Fig. 20 is a three-dimensional schematic diagram of a carrier for an autonomous mobile handling robot provided by another embodiment of the fifth preferred embodiment of the present invention. In order to show the internal structure, the cover is omitted. Fig. 21 is a schematic side view of the autonomous mobile handling robot provided by the sixth preferred embodiment of the present invention. Fig. 22 is a three-dimensional schematic diagram of the autonomous mobile handling robot provided by the seventh preferred embodiment of the present invention. Fig. 23 is a three-dimensional schematic diagram of a gripper of an autonomous mobile handling robot provided by a seventh preferred embodiment of the present invention. Fig. 24: Another perspective schematic view of the gripper of the autonomous mobile handling robot provided by the seventh preferred embodiment of the present invention.

12‧‧‧Riser

31‧‧‧Telescopic boom

32‧‧‧Rotating arm

321‧‧‧First Arm Section

322‧‧‧Second Arm Section

331‧‧‧The first drive device

332‧‧‧Second drive device

333‧‧‧Third drive device

341‧‧‧Screw

342‧‧‧Fixed seat

351‧‧‧First fixing plate

352‧‧‧Second fixing plate

361‧‧‧Slider

362‧‧‧Guide rod

4‧‧‧Fixture

5‧‧‧Carrier

Claims (9)

An operating mechanism, characterized in that: the operating mechanism includes a mechanical arm (3) and a clamping device, the mechanical arm (3) includes a telescopic arm (31), a rotating arm (32) and a driving device, the rotating arm (32) It includes a plurality of arm sections hinged in sequence, 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. The clamping device is connected to clamp or release the target object (400), and the driving device includes: a first driving device (331) for driving the telescopic arm (31) to move in the transverse direction and a first driving device (331) for driving the The second driving device (332) for rotating the arm section around its own hinge axis, wherein the hinge axes of the arm section are parallel to each other and parallel to the transverse direction, and the clamping device is configured as a clamp (4) The clamp (4) includes a clamp main body (41) and an elastic clamp, the clamp main body (41) is pivotally connected to the distal end of the mechanical arm (3) and is provided with a target object (400) The support platform (411) and the boss (412) higher than the support platform (411), the elastic clamping member has a proximal end fixedly connected to the boss (412) and a proximal end opposite to the proximal end The distal end, the distal end is used to abut the target object (400) so as to cooperate with the support platform (411) to releasably clamp the target object (400), and the elastic clamping member includes a first An elastic clamping member (421), the first elastic clamping member (421) has a first proximal end (4211) fixed to the boss (412) and a first proximal end (4211) opposite to the first proximal end (4211) A distal end (4212), the first distal end extends above the support platform (411) to form an elastic clamping part, and the elastic clamping part and the support platform (411) define a space for The clamping space of the target object (400), the clamping space has an opening in the transverse direction for the target object (400) to enter and exit, and the elastic clamping portion provides the target object (400) with an orientation The elastic clamping force of the support platform (411) is described. The working mechanism according to claim 1, wherein 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 output The rotational movement of the output shaft can be converted into the linear movement of the telescopic arm (31) in the transverse direction. The working mechanism according to claim 2, wherein the motor is a hollow shaft motor, the transmission device is configured as a screw rod transmission device, and includes a screw rod (341) and a nut that cooperate with each other, and the screw rod (341) is fixed The seat (342) is fixed, 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). The working mechanism according to claim 3, wherein the hollow shaft motor is fixed to the first fixing plate (351), the telescopic arm (31) is fixed to the second fixing plate (352), and the first fixing plate (351) ) And the second fixing plate (352) are both fixed to the slider (361), the slider (361) and the guide rod ( 362) to cooperate. The working mechanism according to claim 1, wherein the second driving device (332) is a hollow shaft motor, the rotating arm (32) includes a first arm section (321) and a second arm section (322), and The proximal end of the first boom section (321) and the telescopic arm (31) are hinged by a hollow shaft motor, and the distal end of the first boom section (321) is hinged with the second boom section (322). The proximal end of) is hinged by a second driving device (332). The working mechanism according to claim 1, wherein the extension direction of the boom section is perpendicular to the transverse direction, and the boom section is hollow; the telescopic arm (31) extends in the transverse direction and is hollow. The working mechanism according to any one of claims 1-6, wherein the driving device further includes a third driving device (333) for driving the clamping device to rotate about its own pivot axis, the pivot axis It is arranged parallel to the lateral direction. The working mechanism according to claim 7, wherein the third driving device (333) is a hollow shaft motor, the hollow shaft motor is arranged at the distal end of the rotating arm (32), and the hollow shaft of the hollow shaft motor is used To connect with the clamping device. An autonomous mobile handling robot, wherein the autonomous mobile handling robot is provided with an operating mechanism according to any one of the above claims 1-8.

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