TWI724405B - Walking mechanism and autonomous mobile handling robot - Google Patents

Walking mechanism and autonomous mobile handling robot Download PDF

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TWI724405B
TWI724405B TW108112181A TW108112181A TWI724405B TW I724405 B TWI724405 B TW I724405B TW 108112181 A TW108112181 A TW 108112181A TW 108112181 A TW108112181 A TW 108112181A TW I724405 B TWI724405 B TW I724405B
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autonomous mobile
handling robot
driving
driving wheel
mobile handling
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TW202039273A (en
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段煉
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日商Ａｉ Ｒｏｂｏｔ股份有限公司
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Abstract

本發明係為一種行走機構和自主移動搬運機器人，所述行走機構包括底座（11）以及安裝於該底座（11）的兩個主動輪（21）和至少兩個從動輪，所述主動輪（21）具有中心旋轉軸線，且所述主動輪（21）鉸接於所述底座（11），所述底座（11）與所述主動輪（21）之間設置有彈性偏壓件，該彈性偏壓件的第一端偏壓所述底座（11），所述彈性偏壓件的與所述第一端相對的第二端偏壓所述主動輪（21），以使得所述主動輪（21）能夠繞與所述中心旋轉軸線平行的樞轉軸線轉動而相對於所述底座（11）上下移動。本發明提供的行走機構能夠保證行走軌跡，避免由於打滑引起的軌跡偏離。The present invention is a walking mechanism and an autonomous mobile handling robot. The walking mechanism includes a base (11) and two driving wheels (21) and at least two driven wheels installed on the base (11). The driving wheel ( 21) has a central axis of rotation, and the driving wheel (21) is hinged to the base (11), an elastic biasing member is arranged between the base (11) and the driving wheel (21), the elastic biasing The first end of the pressing member biases the base (11), and the second end of the elastic biasing member opposite to the first end biases the driving wheel (21), so that the driving wheel ( 21) It can rotate around a pivot axis parallel to the central rotation axis to move up and down relative to the base (11). The walking mechanism provided by the present invention can ensure the walking trajectory and avoid the deviation of the trajectory caused by slipping.

Description

行走機構和自主移動搬運機器人Walking mechanism and autonomous mobile handling robot

本發明涉及自動化移動搬運機器人技術領域，具體地，涉及一種行走機構和自主移動搬運機器人。The invention relates to the technical field of automated mobile handling robots, in particular to a walking mechanism and an autonomous mobile handling robot.

現有的四輪行走機構行走在不平整的地面上時，會出現一個主動輪懸空或雖然四個輪子均著地但受力並不均勻即對地壓力不相等的情況，在這種情況下，各輪子與地面的摩擦力不同，容易出現打滑現象，從而影響行走軌跡。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.

本發明的目的是提供一種行走機構，該行走機構能夠保證行走軌跡，避免由於打滑引起的軌跡偏離。The object of the present invention is to provide a walking mechanism which can ensure the walking trajectory and avoid the deviation of the trajectory caused by slipping.

為了實現上述目的，本發明提供一種行走機構，包括底座以及安裝於該底座的兩個主動輪和至少兩個從動輪，所述主動輪具有中心旋轉軸線，且所述主動輪鉸接於所述底座，所述底座與所述主動輪之間設置有彈性偏壓件，該彈性偏壓件的第一端偏壓所述底座，所述彈性偏壓件的與所述第一端相對的第二端偏壓所述主動輪，以使得所述主動輪能夠繞與所述中心旋轉軸線平行的樞轉軸線轉動而相對於所述底座上下移動。In order to achieve the above objective, the present invention provides a walking mechanism including a base, two driving wheels and at least two driven wheels mounted on the base, the driving wheel has a central axis of rotation, and the driving wheel is hinged to the base , An elastic biasing member is provided between the base and the driving wheel, a first end of the elastic biasing member biases the base, and a second end of the elastic biasing member opposite to the first end The end biases the driving wheel so that the driving wheel can rotate about a pivot axis parallel to the central rotation axis to move up and down relative to the base.

在上述技術方案的基礎上，本發明還提供一種自主移動搬運機器人，其中，所述自主移動搬運機器人設置有上述的行走機構。On the basis of the above technical solution, the present invention also provides an autonomous mobile handling robot, wherein the autonomous mobile handling robot is provided with the above-mentioned walking mechanism.

通過上述技術方案，本發明提供的行走機構通過設置彈性偏壓件，能夠驅動主動輪繞其樞轉軸線轉動而相對於底座上下移動，即時調節主動輪的對地壓力，保證兩個主動輪與地面之間的摩擦力，避免出現打滑現象或者保證兩個主動輪與地面之間的打滑程度大致相同，保證實際移動量，從而確保行走軌跡。Through the above technical solution, the walking mechanism provided by the present invention can drive the driving wheel to rotate around its pivot axis and move up and down with respect to the base through the provision of elastic biasing elements, and instantly adjust the ground pressure of the driving wheel to ensure that the two driving wheels are in contact with each other. The friction between the ground, avoid slipping phenomenon or ensure that the degree of slippage between the two driving wheels and the ground is approximately the same, to ensure the actual amount of movement, thereby ensuring the walking trajectory.

本發明的其他特徵和優點將在隨後的具體實施方式部分予以詳細說明。Other features and advantages of the present invention will be described in detail in the following specific embodiments.

以下結合附圖對本發明的具體實施方式進行詳細說明。應當理解的是，此處所描述的具體實施方式僅用於說明和解釋本發明，並不用於限制本發明。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.

在本發明中，為了便於理解，定義自主移動搬運機器人具有長度、寬度和高度，分別對應縱向方向（X軸）、橫向方向（Y軸）和垂向方向（Z軸），其中，在未作相反說明的情況下，使用的方位詞如“上、下”、“左、右”、“前、後”通常是指在垂向方向上的“上、下”、橫向方向上的“左、右”、縱向方向上的“前、後”，“內、外”是指相對於對應的部件的輪廓的內、外，“遠、近”是指相對於某一部件或結構的距離上的遠、近。另外，本發明所使用的術語“第一”、“第二”、“第三”、“第四”等是僅為了區別一個要素和另一個要素，不具有順序性和重要性。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 parts relative to the contour of the corresponding part, and "far and near" mean 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.

依據本發明的第一種較佳實施例，提供一種單側承載兩臂式自主移動搬運機器人，圖1至圖7示出了其中的一種實施方式。參照圖1所示，所述單側承載兩臂式自主移動搬運機器人100包括：主體，包括底座11、固定於所述底座11且沿垂直方向向上延伸的豎板12；行走機構2，包括安裝於所述底座11的主動輪和從動輪；作業機構，包括兩個機械手臂，每個所述機械手臂包括近端連接於所述豎板12的機械臂3和樞轉地連接在所述機械臂3的遠端的夾具4，所述機械臂3設置為能夠使得所述夾具4到達所需位置，兩個所述機械手臂設置為相互協作地運動以通過兩個所述夾具4夾取或釋放目標物體400；承載機構，包括用於承載所述目標物體400的多個板狀的承載件5，多個所述承載件5固定於所述豎板12的同一側（前側，或後側，圖1至圖7所示的實施方式中，承載件5均固定於豎板12的前側，但在其它實施例中，承載件5也可以均固定在豎板12的後側），且沿垂直方向間隔設置；以及控制系統，用於控制所述行走機構的走或停和轉向，以及控制所述機械手臂的所述運動。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.

通過上述技術方案，依據本發明的第一種較佳實施例提供的自主移動搬運機器人，能夠一次性搬運多個目標物體400。其工作過程具體為：首先，空載的自主移動搬運機器人通過控制系統的控制行走機構2，行走到存放目標物體400的第一位置；之後，通過控制系統控制夾具4的姿態（繞其自身樞轉軸的旋轉角度）和機械臂3的運動，將夾具4送至所需位置，通過機械臂3的運動，實現夾具4對目標物體400的夾持；之後，通過控制機械臂3的運動，將所夾持的目標物體400放置在承載機構的一個承載件5上，由此完成一個目標物體400的裝車。之後，可以重複上述工作過程，至全部的承載件5上均放置有目標物體400。之後，通過控制行走機構2，自主移動搬運機器人整體行進至目標物體400所要運輸至的第二位置，通過機械手臂依次將目標物體400從其對應的承載件5上夾持並送至第二位置的對應放置位置上，實現目標物體400的卸車。在此過程中，可以通過控制行走機構2改變自主移動搬運機器人的位置，以便於機械手臂的作業。通過以上描述，本發明提供的自主移動搬運機器人能夠實現自動化搬運目標物體400，無需人工裝卸，且單程能夠運送多個目標物體400，有效地提高了生產節拍和工作效率。另外，通過將多個承載件5沿垂向依次佈置，可以有效地利用底座11的上部空間，有益於實現自主移動搬運機器人的小型化，具有更廣的應用範圍和更高的敏捷性。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.

本發明提供的自主移動搬運機器人可以應用於無人化生產車間，例如，可以應用於矽片的生產車間中，目標物體400即為裝有矽片的正面開口標準箱，通過中央控制下發指令給自主移動搬運機器人，可以將正面開口標準箱在貨架、機台500、倉儲位置之間搬運。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.

其中，底座11可以包括底板111，用於安裝行走機構，同時，豎板12的下端也可以固定在底板111上。另外，本發明提供的自主移動搬運機器人需要自帶電源，以能夠為各用電部件功能。因此，自主移動搬運機器人還包括電源，該電源設置在底板111上，為了美觀，底座11還設置有裙板112，該裙板122沿垂向方向延伸，包圍在底板111的外周，以為電源和電線等提供放置空間。另外，主體還可以包括與豎板12圍成封閉空間的殼體13，殼體13上設置有人機交交互操作台，例如操作介面螢幕14（參照圖6中所示），該操作介面螢幕14傾斜設置（參照圖4和圖6中所示），以便於人機交交互操作，該操作介面螢幕14屬於控制系統。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.

在本發明的第一種較佳實施例提供的具體實施方式中，所述底座11可以設置有位於所述自主移動搬運機器人前側（和/或後側）沿所述自主移動搬運機器人的橫向方向間隔佈置的兩個距離檢測裝置113，以用於在裝車時，檢測所述自主移動搬運機器人與放置目標物體400的貨架之間的距離，參照圖3中所示。所述距離檢測裝置113與所述控制系統電連接，以根據所述距離檢測裝置113的距離信號控制所述行走機構2，從而使得所述自主移動搬運機器人與用於存放所述目標物體400的貨架對正，此處的對齊可以理解為使得自主移動搬運機器人與貨架的相對位置，允許目標物體400能夠整體平移至對應的承載件5上，以目標物體400的定位空槽能夠與下文中所述的承載件5上的定位結構配合在一起為准。其中，所述距離檢測裝置113可以以任意合適的方式構造，例如，可以構造為鐳射感測器。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.

為了保障自主移動搬運機器人的安全行駛，所述底座11的前側和後側可以均設置有用於檢測其周圍障礙物的第一避障感測器114a，該第一避障感測器114a與所述控制系統電連接，所述控制系統收到所述第一避障感測器114a發出的危險信號之後控制所述行走機構2停止運動並發出警報，該警報可以是聲音警報，也可以是光線警報，例如，通過下文中所述的第一信號光源發出紅色光線進行警報。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.

可選擇地，所述第一避障感測器114a的左側和/或右側設置有第二避障感測器114b，用於輔助第一避障感測器114a，以增大探測範圍和靈敏度。另外，在最頂層的承托件5上，還設置有第三避障感測器58，在自主移動搬運機器人的上部分檢測周圍障礙物，輔助第一避障感測器114a，有益於增大探測範圍和靈敏度。當避障感測器檢測到障礙物時，發出危險信號，控制系統受到該信號之後立即停止行走機構2的行走動作，並發出警報。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 top support member 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 Large 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.

由於自主移動搬運機器人不進行左右平移，因此，只需要檢測前後方的障礙物即可。可選擇地，參照圖5中所示，所述第一避障感測器114a包括分別位於所述自主移動搬運機器人前側和後側的兩個紅外感測器，以對其前方（沿紅外線傳播的方向，紅外線從後向前傳播）的扇形區域進行擴散式檢測。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 and rear sides of the autonomous mobile handling robot, respectively, so as to be in front of (infrared rays). In the direction in which infrared rays propagate from back to front), diffuse detection is performed in the fan-shaped area.

另外，所述底座11可以設置有兩個圍繞在所述底座11外側的防撞條115，可選擇地，所述防撞條115中設置有與所述控制系統電連接的碰撞感測器，所述控制系統收到所述碰撞感測器發出的危險信號之後控制所述行走機構2停止運動並發出警報，以防止在緊急碰撞的情況下自主移動搬運機器人繼續行走。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.

此外，所述底座11的下表面上設置有與所述控制系統電連接的底部攝影機116（參照圖7中所示），用於無跡導航中抓取地面特徵，配合下文中將要描述的雙鏡頭攝影機57（設置在最上層的承載件5的側面上，對應於自主移動搬運機器人的行進方向的前方或後方，用於抓取周圍環境特徵），以對自主移動搬運機器人自身進行定位和通過軌跡補償修正位置偏差。所述底座11的四個拐角處均設置有與所述控制系統電連接的地面距離檢測裝置，將所探測的距離資訊發送給給控制系統，控制系統根據該距離資訊判斷行進前方的底面是否平整，並據此控制行走機構的行走。In addition, the bottom surface of the base 11 is provided with a bottom camera 116 (shown in FIG. 7) that is electrically connected to the control system for capturing ground features in trackless navigation. The 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.

其中，行走機構可以以任意合適的方式構造，可選擇地，所述行走機構構造為依據本發明第二種較佳實施例提供的行走機構。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.

其中，從動輪可以以任意合適的方式構造。Among them, the driven wheel can be constructed in any suitable manner.

其中，機械手臂可以以任意合適的方式構造，可選擇地，所述機械手臂中的機械臂可以構造為根據本發明協力廠商面提供的機械臂，機械手臂中的夾持裝置可以構造為根據本發明第四種較佳實施例提供的自主移動搬運機器人用夾具。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.

其中，承載機構可以以任意合適的方式構造，可選擇地，所述承載機構中的承載件可以構造為根據本發明的第五種較佳實施例提供的自主移動搬運機器人用承載件。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.

依據本發明的第二種較佳實施例，提供一種行走機構，參照圖8至圖11中所示，所述行走機構包括兩個所述主動輪21和至少兩個所述從動輪，所述主動輪21具有中心旋轉軸線（若主動輪21繞該中心旋轉軸線沿第一方向轉動時前進，則反向轉動為後退，由此，當根據本發明第一種較佳實施例提供的自主移動搬運機器人設置有該行走機構時，該中心旋轉軸線與上述自主移動搬運機器人的橫向方向平行），且所述主動輪21鉸接於所述底座11，所述底座11與所述主動輪21之間設置有彈性偏壓件，該彈性偏壓件的第一端偏壓所述底座11，所述彈性偏壓件的與所述第一端相對的第二端偏壓所述主動輪21，以使得所述主動輪21能夠繞與所述中心旋轉軸線平行的樞轉軸線轉動而相對於所述底座11上下移動。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.

現有的四輪行走機構行走在不平整的地面上時，會出現一個主動輪懸空或雖然四個輪子均著地但受力並不均勻即對地壓力不相等的情況，在這種情況下，各輪子與地面的摩擦力不同，容易出現打滑現象，從而影響行走軌跡。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.

通過上述技術方案，本發明提供的行走機構通過設置彈性偏壓件，能夠驅動主動輪21繞其樞轉軸線轉動而相對於底座11上下移動，即時調節主動輪21的對地壓力，保證兩個主動輪21與地面之間的摩擦力，避免出現打滑現象或者保證兩個主動輪21與地面之間的打滑程度大致相同，保證實際移動量，從而確保行走軌跡。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.

在本發明提供的具體實施方式中，主動輪21可以以任意合適的方式構造。可選擇地，參照圖11中所示，所述主動輪21包括安裝支架211、固定於該安裝支架211的驅動電機212、固定於該驅動電機212輸出軸的主動輪滾輪213，所述驅動電機212驅動該主動輪滾輪213繞所述驅動電機212輸出軸的軸線轉動，所述安裝支架211通過樞轉軸214與固定於所述底座11的鉸接座110連接，其中，樞轉軸214可以以任意合適的方式構造，例如，可以構造為銷軸，一端通過自身的頭部止擋於安裝支架211，另一端通過止擋件止擋於鉸接座110，例如通過卡箍215止擋於鉸接座110，如圖11中所示。所述彈性偏壓件的所述第二端偏壓所述安裝支架211。作為一種選擇，所述彈性偏壓件可以構造為彈簧柱塞22，該彈簧柱塞22固定於所述底座11，且所述彈簧柱塞22的頭部抵靠於所述安裝支架211以用作所述第二端。此外，為了提供足夠的彈性偏壓力，每個主動輪21可以對應設置有兩個彈簧柱塞22。作為另一種選擇，所述彈性他偏壓件還可以構造為碟簧等類似的部件。且兩個所述主動輪21各自對應的彈簧柱塞22均位於所述主動輪的樞轉軸線的同一側，且兩個所述主動輪21和各自對應的彈簧柱塞22相對於所述樞轉軸線的距離相等。 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. And the spring plungers 22 corresponding to the two driving wheels 21 are all located on the same side of the pivot axis of the driving wheels, and the two driving wheels 21 and the corresponding spring plungers 22 are relative to the pivot axis. The distance between the axis of rotation is equal.

可選擇地，所述從動輪可以構造為萬向輪23，以允許行走機構360轉彎。可選擇地，兩個所述主動輪21的中心旋轉軸線共線，所述從動輪組包括兩對所述從動輪，其中，沿所述中心旋轉軸線的方向，一對所述從動輪位於所述主動輪21的一側，另一對所述從動輪位於所述主動輪21的另一側，通過這種佈置，允許行走機構在向前或向後行走時都能夠360。轉彎。可選擇地，所述兩對所述從動輪關於所述中心旋轉軸線對稱佈置，以使得行走機構的重心落在兩個主動輪21的中心旋轉軸線的連線中心上。 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 be able to walk forward or backward for 360 degrees. Turn. 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.

其中，在本發明第二種較佳實施例提供的行走機構中，上述萬向輪可以以任意合適的方式構造。 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.

在上述技術方案的基礎上，本發明第二種較佳實施例還提供一種自主移動搬運機器人，該自主移動搬運機器人包括上述行走機構2，因此，同樣具有上述優點。 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.

依據本發明的第三種較佳實施例，提供一種機械臂，圖12和圖13示出了其一種具體實施方式；參照圖12和圖13中所示，所述機械臂3包括伸縮臂31、旋轉臂32和驅動裝置。所述旋轉臂32包括多個依次鉸接的臂節，所述旋轉臂32的近端鉸接於所述伸縮臂31的遠端，所述旋轉臂32的遠端用於樞轉地連接夾持裝置(例如夾具4或夾爪6)，以夾持或釋放目標物體400；所述驅動裝置包括：用於驅動所述伸縮臂31在橫向方向上移動的第一驅動裝置331和用於驅動所述臂節繞其自身的鉸接軸轉動的第二驅動裝置332，其中，所述 臂節自身的鉸接軸彼此相互平行且平行於所述橫向方向。 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 that rotates the arm section around its own hinge axis, wherein the The hinge axes of the arm sections are parallel to each other and parallel to the transverse direction.

通過上述技術方案，本發明的第三種較佳實施例提供的機械臂具有三個相互垂直方向(即XYZ方向)上的自由度，通過第一驅動裝置331驅動伸縮臂31在橫向方向上移動，能夠調整伸縮臂31和夾持裝置在橫向方向(即X方向)上的位置，通過驅動第二驅動裝置332驅動旋轉臂32的臂節繞其各自的鉸接軸轉動，能夠調整夾持裝置在與橫向方向垂直的平面(即XZ平面)內的位置，因此，通過本發明提供的機械臂，能夠將夾持裝置送至空間的某一個位置。而由於待夾取的目標物體400所在的位置在三維空間內的X、Y、Z座標相對於機械臂的原點位置來說是確定的，因此，通過驅動第一驅動裝置331和第二驅動裝置332，能夠使得夾持裝置到達待夾持位置，以準備夾持所述目標物體400；之後，通過驅動伸縮臂31在橫向方向上的移動或驅動臂節繞其自身的鉸接軸轉動，能夠使得夾持裝置到達夾持位置，以夾持所述目標物體400；而通過驅動伸縮臂31在橫向方向上的移動和/或驅動臂節繞其自身的鉸接軸轉動，能夠運送目標物體400至目標位置，之後，通過驅動伸縮臂31在橫向方向上的移動和/或驅動臂節繞其自身的鉸接軸轉動，能夠使得夾持裝置釋放目標物體400，或者，使得釋放目標物體400之後的夾持位置遠離目標物體400以進行下一個目標物體400的夾持。 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 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.

後述將結合圖12和圖13詳細描述本發明人的第三種較佳實施例提供的機械臂3。 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.

在本發明申請提供的具體實施方式中，第一驅動裝置331可以以任意合適的方式構造，例如可以構造為液壓油缸或氣缸；可選擇地，所述第一驅動裝置331構造為電機，所述伸縮臂31通過傳動裝置與所述電機的輸出軸連接，以使得所述電機的輸出軸的旋轉運動能夠轉換為所述伸縮臂31在所述橫向方向上的直線運動。 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.

其中，為了優化利用有限的空間，實現小型化的目標，所述電機選用空心軸電機；而傳動裝置可以以任意合適的方式構造，例如，可以構造為齒輪齒條傳動結構。可選擇地，所述傳動裝置構造為絲桿傳動裝置，包括相互配合的絲桿341和螺母，參照圖12和圖13中所示，所述絲桿341通過固定座342固定，例如，當將機械臂3應用於自主移動搬運機器人時，絲桿341通過固定座342固定於自主移動搬運機器人的所述主體(具體為豎板12)，所述螺母固定於所述空心軸電機的空心輸出軸(當然，也可以是在空心輸出軸上設置內螺紋)，所述空心軸電機與所述伸縮臂31固定連接；由此，當空心輸出軸例如正轉時，帶動伸縮臂朝向第一方向運動，當空心輸出軸例如反轉時，帶動伸縮臂朝向與所述第一方向相反的第二方向運動，從而調整夾持裝置在橫向方向上的位置。 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 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, 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.

其中，為了避免空心軸電機、伸縮臂31、旋轉臂32、夾持裝置甚至目標物體400的重量都由絲桿341承擔，進而使得絲桿341出現彎曲等形變甚至斷裂而影響正常工作，所述空心軸電機可以固定於第一固定板351，所述伸縮臂31可以固定於第二固定板352，而所述第一固定板351和第二固定板352均固定於滑塊361，該滑塊361與設置有所述機械臂3的設備上所設置的沿所述橫向方向延伸的導桿362相配合，以使得伸縮臂31、旋轉臂32、夾持裝置甚至目標物體400能夠隨空心軸電機的轉動而在橫向方向上移動；在這種情況下，空心軸電機和伸縮臂31、旋轉臂32、夾持裝置甚至目標物體400的重量都通過第一固定板351和第二固定板352以及滑塊361與導桿362的配合傳遞給所述設備，由該設備來承擔；在圖17和圖18所示的具體實施方式中，導桿362設置在自主移動搬運機器人的豎板12上；可選擇地，所述伸縮臂31沿所述橫向方向延伸，且中空以便於佈線。 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.

在本發明申請之較佳實施例中，第二驅動裝置332可以以任意合適的方式構造，例如可以構造為液壓油缸或氣缸。可選擇地，所述第二驅動裝置332也可以為空心軸電機，所述旋轉臂32包括第一臂節321和第二臂節322，以獲得一種類似人體胳膊的仿生結構，參照圖12和圖13中所示，所述第一臂節321的近端與所述伸縮臂31之間通過一所述空心軸電機鉸接，所述第一臂節321的遠端與所述第二臂節322的近端通過一所述第二驅動裝置332鉸接，可選擇地，所述臂節中空，以便於佈線。 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.

可選擇地，所述驅動裝置還包括用於驅動所述夾持裝置繞其自身的樞轉軸214轉動的第三驅動裝置333，其中，所述樞轉軸214可以設置為平行於所述橫向方向，以使得所述夾持裝置能夠繞其自身的樞轉軸214轉動以調整其自身的姿態。在本發明申請之較佳實施例中，該第三驅動裝置333可以以任意合適的方式構造，例如，可以構造為液壓油缸或氣缸。可選擇地；所述第三驅動裝置333可以構造為空心軸電機，該空心軸電機設置在所述旋轉臂32的遠端(圖17和18所示的實施方式中，用作第三驅動裝置333的空心軸電機設置在第二臂節322的遠端)，所述空心軸電機的空心軸用於與所述夾持裝置連接，可以理解為，夾持裝置通過空心軸電機樞轉地連接於旋轉臂32的遠端。 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.

在上述技術方案的基礎上，本發明的第三種較佳實施例還提供一種作業機構，該作業機構包括夾持裝置和上述的機械臂3，所述夾持裝置樞轉地連接於機械臂3的遠端。此外，本發明的第三種較佳實施例還提供一種自主移動搬運機器人，該自主移動搬運機器人設置有該作業機構。 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.

依據本發明的第四種較佳實施例，提供一種自主移動搬運機器人用的夾具4， 圖14至圖17示出了其一種實施方式。所述夾具4包括夾具主體41和彈性夾持件，所述夾具主體41設置有用於目標物體400的支撐台411和高於所述支撐台411的凸台412，所述彈性夾持件具有固定連接於所述凸台412的近端和與該近端相對的遠端，該遠端用於與目標物體400抵接，以與所述支撐台411相配合而可釋放地夾持所述目標物體400。 According to a fourth preferred embodiment of the present invention, a clamp 4 for an autonomous mobile handling robot is provided, Figures 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.

通過上述技術方案，本發明的第四種較佳實施例提供的自主移動搬運機器人用夾具4通過設置夾具主體41為目標物體400提供支撐台411，在夾持目標物體400時，目標物體400通過支撐台411支撐，通過彈性夾持件的遠端抵接與目標物體400而將目標物體400保持在支撐台411上，從而實現對目標物體400的夾持，進一步可以帶動目標物體400移動。當需要釋放目標物體400時，夾具4可以直接移開，以遠離目標物體400的方式，使得目標物體400離開支撐台411，而彈性夾持件不再抵接目標物體400，從而實現對目標物體400的釋放。 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.

在本發明提供的具體實施方式中，彈性夾持件可以以任意合適的方式構造。可選擇地，所述彈性夾持件包括第一彈性夾持件421，該第一彈性夾持件421具有固定於所述凸台412的第一近端4211和與該第一近端4211相對的第一遠端4212，該第一遠端4212延伸至所述支撐台411的上方以形成為彈性夾持部，該彈性夾持部與所述支撐台411之間限定用於所述目標物體400的夾持空間，所述彈性夾持部為所述目標物體400提供朝向所述支撐台411的彈性夾緊力。其中，所述第一遠端4212的端部4213可以朝向遠離所述支撐台411的方向折彎，以用於引導所述目標物體400進入所述夾持空間。 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.

其中，為了避免目標物體400受到支撐台411集中的應力，可選擇地，所述支撐台411上可以設置有由彈性材料製成的第一緩衝墊431。可選擇地，該第一緩衝墊431設置有兩個，該兩個所述第一緩衝墊431在所述夾持空間中間隔設置。 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.

在本發明提供的具體實施方式中，所述彈性夾持件還可以包括第二彈性夾持件422，參照圖16和圖17中所示，所述夾具主體41在支撐台411和所述凸台412之間設置有溝狀槽413，所述第二彈性夾持件422設置在所述溝狀槽413中，所述第二彈性夾持件422具有固定於所述凸台412的側壁的第二近端4221和與該第二近端4221相對的第二遠端4222，該第二遠端4222用於與所述目標物體400抵接，以能夠為所述目標物體400提供朝外的彈性夾緊力，在使用時，需要兩個夾具4搭配使用，兩個夾具4在相對的兩側夾持目標物體400，夾具4的第二遠端422提供的朝外的彈性夾緊力恰好將位於兩者之間的目標物體400夾緊；其中，所述第二遠端(4222)的端部折疊，且折彎處朝外，以避免施加給目標物體400集中 的應力；可選擇地，為了避免在使用兩個夾具4將目標物體400夾緊在兩者之間的情況下，目標物體400受到凸台412的集中應力，所述凸台412的側壁可以連接有由彈性材料製成的第二緩衝墊432，該第二緩衝墊432可以設置有兩個，該兩個所述第二緩衝墊432間隔地設置在所述凸台412的側壁上。 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 between the two; wherein, the end of the second distal end (4222) is folded, and the bend is facing outwards, so as to avoid concentration on the target object 400 Optionally, in order to avoid using two clamps 4 to clamp the target object 400 between the two, the target object 400 is subject to the concentrated stress of the boss 412, and the side walls of the boss 412 can be connected There is a second cushion pad 432 made of an elastic material, the second cushion pad 432 may be provided with two, and the two second cushion pads 432 are arranged on the side wall of the boss 412 at intervals.

在本發明提供的具體實施方式中，所述夾具4可以包括用於與所述目標物體400上的標記(例如凹口結構)對齊的定位件44，該定位件44可伸縮地連接於所述凸台412，所述定位件44的端部設置有對準感測器(例如光電感測器)，當所述定位件44的端部與所述標記對準時，所述對準感測器發出確認信號，反之則發出報警信號；所述凸台412上設置有接近感測器45(例如光電感測器)，當所述定位件44縮回以接近所述接近感測器45時，所述接近感測器45發出確認信號。 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.

可選擇地，所述夾具4還包括封板46，該封板46在所述凸台412的上方與所述凸台412固定連接，所述夾具4設置有用於指示所述目標物體400處於夾持位置的第一信號光源47，該第一信號光源47設置在所述封板46中，所述封板46由半透明材料製成，由此，通過封板46能夠將第一信號光源47發出的光散射到環境中，以使得用戶能夠遠距離觀察到。 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.

可選擇地，所述夾具4還包括用於與自主移動搬運機器人的機械臂3樞轉地連接的連接塊48，所述夾具主體41固定連接於所述連接塊48。第一信號光源47可以固定在該連接塊48上，封板46上設置有對應的容納孔，當將夾具主體41與固定塊48連接時，固定於凸台412的封板46恰好使得第一信號光源47位於容納孔中。 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.

在上述技術方案的基礎上，本發明的第四種較佳實施例還提供一種自主移動搬運機器人用作業機構，該作業機構包括成對的機械手臂，每個機械手臂均包括機械臂和上述的自主移動搬運機器人用夾具4，該夾具4連接於所述機械臂的遠端，每對機械手臂中的兩個夾具4相互協作以夾持或釋放目標物體400。 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.

每對機械手臂中，兩個夾具4相對設置，參照圖1中所示，當兩個夾具4相互靠近時，用於夾持目標物體400，當兩個夾具4相互遠離時，用於釋放目標物體400。 In each pair of robot arms, two clamps 4 are arranged opposite to each other. 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.

其中，在上述技術方案的基礎上，本發明的第四種較佳實施例提供的自主移動搬運機器人作業機構中的機械手臂可以以任意合適的方式構造，例如，可以構造為依據本發明第三種較佳實施例提供的機械臂3。 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.

可選擇地，兩個所述機械手臂的兩個所述夾具4的其中一者的前側可以設置 有拍照攝影機491，兩個所述機械手臂的兩個所述夾具4的其中另一者的前側可以設置有閃光燈492，用於對拍照攝影機491進行補光。在夾持目標物體400之前，可以通過拍照攝影機491對其前方進行拍照，以抓取視覺特徵點。 Optionally, the front side of one of the two clamps 4 of the two robot arms may be provided There is a photographing camera 491, and a flash 492 may be provided on the front side of the other of the two clamps 4 of the two robotic arms to supplement the light of the photographing 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.

另外，本發明的第四種較佳實施例還提供一種自主移動搬運機器人，該自主移動搬運機器人包括本發明的第四種較佳實施例提供的自主移動搬運機器人作業機構。 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.

依據本發明的第五種較佳實施例，提供一種自主移動搬運機器人用承載件5，圖18至圖20示出了其中的一種實施方式。參照圖18至圖20中所示，所述承載件5包括：板狀主體51，具有用於承載目標物體400的承載表面；定位結構52，該定位結構52固定於所述承載表面，用於與所述目標物體400的定位孔槽相配合，以限制所述目標物體400在所述板狀主體51上的移動；無線射頻辨識天線53(RFID,Radio Frequency Identification)，該無線射頻辨識天線53固定於所述板狀主體51，用於讀取所述目標物體400的編號；以及目標物體檢測裝置54，該目標物體檢測裝置54固定於所述板狀主體51，用於檢測是否有目標物體400放置在承載件5上。 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 restrict the movement of the target object 400 on the plate-shaped main 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.

通過上述技術方案，本發明的第五種較佳實施例提供的承載件5能夠承載目標物體400的同時，還能夠獲知所承載的目標物體400的編號，以使得用戶能夠掌握該承載件5所承載的目標物體400的資訊。在目標物體400放置到承載表面上時，通過定位結構52不僅能夠防止目標物體400在外力的作用下在承載表面上發生滑動，甚至掉落，而且還能夠使得放置在承載表面上的任一目標物體400的位置唯一，這有利於自動化裝卸目標物體400。另外，通過目標物體檢測裝置454，能夠確認承載件5上是否有目標物體400，一方面可以避免重複重複放置目標物體400，另一方面，可以知道該承載件5是否閒置。 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.

在本發明提供的具體實施方式中，定位結構52可以以任意合適的方式構造。可選擇地，所述定位結構52設置為三個定位柱，三個所述定位柱呈連線為三角形狀佈置，如圖18至圖20中所示。所述目標物體檢測裝置54包括從承載表面突出的檢測部，當所述目標物體400的定位孔槽與所述定位結構52相配合時，該檢測部在目標物體400的重力作用下能夠縮回到所述板狀主體51中，所述目標物體檢測裝置54發出確認信號，以指示有所述目標物體400放置在所述承載表面上。 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.

在本發明提供的具體實施方式中，無線射頻辨識天線53可以以任意合適的方式配置；可選擇地，如圖18至圖20中所示，所述無線射頻辨識天線53與所述目標物體檢測裝置54鄰近設置，以便於佈線。 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.

在本發明提供的具體實施方式中，目標物體檢測裝置54可以以任意合適的方式構造；可選擇地，所述目標物體檢測裝置54構造為光電感測器，其工作原理可以是：當到有目標物體400放置在所述承載件5上時，所述目標物體400覆蓋所述光電感測器，所述光電感測器發出確定信號。 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.

在本發明提供的具體實施方式中，板狀主體51可以以任意合適的方式構造。可選擇地，參照圖19和圖20中所示，所述板狀主體51包括依次重疊連接的主機板511、夾層板512和蓋板513，所述夾層板512設置有開孔5121，在所述開孔5121內設置有第二信號光源55，該第二信號光源55能夠發出多種顏色的光線，每種顏色的光線指示一種工作狀況，例如，第二信號光源55可以發出指示警報的紅色光線，指示正常的綠色光線，指示電源不足的藍色光線等等。所述蓋板513和所述夾層板512均由半透明或透明材料製成，以將第二信號光源55所發出的光線散射到周圍環境，供用戶從多個角度和多個位置觀察；另外，所述蓋板513上設置有急停按鈕56，以在緊急情況下停止自主移動搬運機器人的工作。 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.

其中，為了使得用戶從各個角度和方位都能夠觀察到第二信號光源55發出的光線，所述第二信號光源55可以構造為條狀，並且所述開孔5121內設置有四條所述第二信號光源55，分別朝向前、後、左、右發出光線，以使得第二信號光源55發出的光線照射到每一個方位和角落。 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.

在本發明提供的具體實施方式中，所述蓋板513和所述夾層板512可以均由有機玻璃材料製成，以具有易於加工、透光性強、耐衝擊、耐用等有點。 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.

在本發明提供的具體實施方式中，所述承載件5設置有雙鏡頭攝影機57，例如，可以獲得150°立體景深。所述雙鏡頭攝影機57可以固定於所述板狀主體51，例如，可以固定在板狀主體5的側面上。 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.

可選擇地，所述承載件5設置有第三避障感測器58，該第三避障感測器58在前側固定於所述板狀主體51，所述第三避障感測器58設置有兩個，所述雙鏡頭攝影機57位於兩個所述避障感測器58之間。 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.

在上述技術方案的基礎上，本發明第五種較佳實施例還提供一種自主移動搬運機器人，包括本本發明第五種較佳實施例提供的自主移動搬運機器人用夾具。 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.

綜上，能夠獲得一種根據本發明第一種較佳實施例提供的單側承載兩臂式自主移動搬運機器人，該單側承載兩臂式自主移動搬運機器人包括本發明的第二種較佳實施例提供的行走機構、依據本發明的第三種較佳實施例提供的機械臂3、依據本發明的第四種較 佳實施例提供的自主移動搬運機器人用夾具4、依據本發明的第五種較佳實施例提供的自主移動搬運機器人用承載件5。其中，對於行走機構來說，驅動電機212與控制系統電連接，以通過控制系統控制驅動電機212的轉動。對於機械臂3來說，固定座342和導桿362可以設置在殼體13中，固定在豎板12的一側，而兩個機械臂3的絲桿341可以合併為一個，即固定座342固定在該絲桿的中間位置，左側的絲桿部分用於左側的機械臂，右側的絲桿部分用於右側的機械臂。構造為空心軸電機的第一驅動裝置331、第二驅動裝置332和第三驅動裝置333均與控制系統電連接，夾具4固定在用作第三驅動裝置333的空心軸電機的空心軸上。夾具4中的對準感測器、接近感測器45、第一信號光源47、拍照攝影機491和閃光燈492均與控制系統電連接；承載件5中的無線射頻辨識天線53、目標物體檢測裝置54、第二信號光源55、急停按鈕56、雙鏡頭攝影機57和第三避障感測器58均與控制系統電連接；在該自主移動搬運機器人中，設置有兩個機械臂，該兩個機械臂關於自主移動搬運機器人的縱向方向對稱佈置；該自主移動搬運機器人設置有三個承載件5，定義豎板12的設置有承載件5的一側為前，另一側為後；其中，最上方的承載件5是以圖19和圖20所示的實施方式構造，下方的兩個承載件5是以圖18中所示的實施方式構造，也就是說，只有最上方的承載件5上設置有第二信號光源55、急停按鈕56、雙鏡頭攝影機57和第三避障感測器58，也只有最上方的承載件5的板狀主體51有主機板511、夾層板512和蓋板513構成；下面將以半導體工廠的無人車間為工作環境，以將作為目標物體400的正面開口標準箱在貨架和機台之間運輸為工作內容，結合附圖詳細說明這種自主移動搬運機器人的工作過程。 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 by the example, the robotic arm 3 provided by the third preferred embodiment of the present invention, and the fourth comparative example provided by the present invention The clamp 4 for an autonomous mobile handling robot provided by the preferred embodiment, and the carrier 5 for an autonomous mobile handling robot provided by the fifth preferred embodiment of the present invention. 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 standard box with the front opening 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.

首先，空載的自主移動搬運機器人接收指令之後，驅動行走機構運行至貨架前方，此時自主移動搬運機器人面向貨架站定位置，通過左右兩側的距離檢測裝置113檢測與貨架之間的距離，將該兩個距離進行對比，若相等，則說明自主移動搬運機器人正對貨架，反之，則控制系統控制一個或兩個主動輪21的轉動，以將自主移動搬運機器人調整為與貨架對正；之後，第二驅動裝置332運轉，以將夾具4送至貨架上待夾取的正面開口標準箱的前方，此時夾具4上的拍照攝影機491對前方進行拍照，抓取視覺特徵點，控制系統判斷此時的夾具4的位置是否處於對正位置，若為是，則兩個機械手臂的第二驅動裝置332同步地驅動旋轉臂32繞其鉸接軸轉動，以將兩個夾具4同步地向前移動至待夾取位置，即分別位於正面開口標準箱的兩側。若為否，則可以通過控制第一驅動裝置331旋轉以同時向左或向右移動兩個伸縮臂31，從而使得夾具4到達對正位置；之後，控制兩個機械手臂的第一驅動裝置331驅動兩個伸縮臂31相對運動，以使得兩個夾具4相互靠近，以使得正面開口標準箱的被 夾持部分進入夾具4的夾持空間，分別被第一彈性夾持件421保持在支撐台411上；在夾具4與正面開口標準箱接觸時，若定位件44的端部與正面開口標準箱上的標記對準，則向控制系統發出確認信號，控制夾具4繼續相對運動，兩個夾具4的第二彈性夾持件422發生彈性形變，從正面開口標準箱的兩側提供相對的夾持力，定位件44收到正面開口標準箱的推力而縮回，當接近所述接近感測器45時，接近感測器45發出確認信號給控制系統，控制系統控制機械臂3停止運動，夾具4停止，其上的第一信號光源47發出綠色光線，指示完成該正面開口標準箱的夾持。若定位件44的端部未與正面開口標準箱上的標記對準，則發出報警信號給控制系統，控制系統停止機械臂3的運動，並控制第一信號光源47發出紅色光線和/或聲音信號，以告知使用者，調整正面開口標準箱的位置，以便於夾具4能夠正確地夾持。 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 front opening of the standard box is The clamping part enters the clamping space of the clamp 4, and is held on the support table 411 by the first elastic clamping member 421; when the clamp 4 is in contact with the front opening standard box, if the end of the positioning member 44 is in contact with the front opening standard box When the marks on the upper part are aligned, a confirmation signal is sent to the control system to control the clamp 4 to continue relative movement, and the second elastic clamping members 422 of the two clamps 4 are elastically deformed, providing relative clamping 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 it approaches the proximity sensor 45, the proximity sensor 45 sends a confirmation signal to the control system, and the control system controls the robot arm 3 to stop moving, and the clamp 4 Stop, the first signal light source 47 on it emits green light, indicating that the clamping of the standard box with the front opening is completed. 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.

在夾具4夾持到正面開口標準箱之後，控制系統控制機械臂3運動以將被夾持的正面開口標準箱放置在其中一個承載件5上，例如，最下方的承載件5上。正面開口標準箱放置在承載件5上時，若正面開口標準箱的定位孔槽與定位結構52相配合，則目標物體檢測裝置54發出確認信號給控制系統，指示正面開口標準箱已放置在該承載件5上。通過承載件5上的無線射頻辨識天線53，能夠讀取該正面開口標準箱的FID碼，從而獲知放置在該承載件5上的正面開口標準箱的信息。 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.

自此，完成一個正面開口標準箱的裝車。 Since then, the loading of a standard box with front opening has been completed.

以此類推，可以在完成上一個正面開口標準箱的裝車之後，控制系統控制行走機構，以使得自主移動搬運機器人行走至下一個待裝車的位於貨架上的正面開口標準箱，進行該正面開口標準箱的裝車。 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.

在滿載之後，控制系統控制自主移動搬運機器人行走至機台卸車。在行走的過程中，通過底部攝影機116拍攝底板圖像，獲取底板特徵，以確定自主移動搬運機器人當前所在位置，在位置出現偏差時，進行軌跡補償。在底板特徵無法確認時，可以通過雙鏡頭攝影機57拍攝的環境圖像，通過同步定位與地圖構建(SLAM或Simultaneous localization and mapping)演算法，確定自主移動搬運機器人的當前位置。在行走的過程中，由於使用了本發明第二種較佳實施例提供的行走機構，因此能夠保證兩個主動輪21的對地壓力，確保其自主移動搬運機器人的行進方向；通過地面距離檢測裝置感知前方的路況，一旦發現坑窪或障礙物，控制系統控制自主移動搬運機器人停止行走並報警；同時，若通過第一避障感測器114a和/或第二避障感測器114b和/或第三避障感測器58和/或碰撞感測器檢測到自主移動搬運機器人行進方向上有障礙物，則控制系統會控制自主移動搬運機器人立即停止行走並報警；此 外，若承載件5上的正面開口標準箱被人取走，控制系統在目標物體檢測裝置54發送來的信號之後，控制自主移動搬運機器人立即停止行走並報警。 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 there is a deviation in the position. 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 captured 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; this In addition, if the front opening standard box on the carrier 5 is taken away by a person, 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.

依據本發明的第六種較佳實施例，提供一種雙側承載式自主移動搬運機器人200，該自主移動搬運機器人與本發明的第一種較佳實施例提供的自主移動搬運機器人的區別特徵在於：依據本發明的第六種較佳實施例提供的雙側承載式自主移動搬運機器人中設置有兩個所述豎板12，殼體13位於兩個豎板12之間，與兩個豎板12的相互面對的側面圍成封閉空間，機械臂3的第一驅動裝置331、絲桿341、固定座342等結構設置在該封閉空間中。而兩個豎板12朝外的兩個側面均固定有所述承載件5，位於同一側的所述承載件5沿垂直方向間隔均勻地設置，參照圖21中所示；考慮到空間佈置，在本發明的第六種較佳實施例提供的雙側承載式自主移動搬運機器人中不再設置操作介面螢幕，即人機交互介面。 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.

依據本發明的第六種較佳實施例提供的自主移動搬運機器人，能夠一次性搬運多個目標物體400。其工作過程具體為：首先，空載的自主移動搬運機器人通過控制系統的控制行走機構2，行走到存放目標物體400的第一位置；之後，通過控制系統控制夾具4的姿態(繞其自身樞轉軸的旋轉角度)和機械臂3的運動，將夾具4送至所需位置，通過機械臂3的運動，實現夾具4對目標物體400的夾持；之後，通過控制機械臂3的運動，將所夾持的目標物體400放置在承載機構的一個承載件5上，由此完成一個目標物體400的裝車。之後，可以重複上述工作過程，至全部的承載件5上均放置有目標物體400；之後，通過控制行走機構2，自主移動搬運機器人整體行進至目標物體400所要運輸至的第二位置，通過機械手臂依次將目標物體400從其對應的承載件5上夾持並送至第二位置的對應放置位置上，實現目標物體400的卸車；在此過程中，可以通過控制行走機構2改變自主移動搬運機器人的位置，以便於機械手臂的作業；通過以上描述，本發明提供的自主移動搬運機器人能夠實現自動化搬運目標物體400，無需人工裝卸，且單程能夠運送多個目標物體400，有效地提高了生產速度和工作效率；另外，通過將多個承載件5沿垂直方向依次佈置，可以有效地利用底座11的上部空間，有益於實現自主移動搬運機器人的小型化，具有更廣的應用範圍和更高的敏捷性。 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 working process is specifically 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 send the clamp 4 to the desired position. Through the movement of the robotic arm 3, the clamp 4 can clamp the target object 400; 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.

基於以上所述，也能夠獲得一種依據本發明的第六種較佳實施例提供的雙側承載兩臂式自主移動搬運機器人，該雙側承載兩臂式自主移動搬運機器人包括本發明的第二種較佳實施例提供的行走機構、依據本發明的第三種較佳實施例提供的機械臂3、依據本發明的第四種較佳實施例提供的自主移動搬運機器人用夾具4、依據本發明的第五種較佳實施例提供的自主移動搬運機器人用承載件5。 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 gripper 4 according to the present invention The fifth preferred embodiment of the invention provides a carrier 5 for an autonomous mobile handling robot.

由於該雙側承載兩臂式自主移動搬運機器人與依據本發明的第一種較佳實施例提供的單側承載兩臂式自主移動搬運機器人之間的上述區別特徵，因此，其工作過程也僅在該處存在區別，即在正面開口標準箱(目標物體400)裝車時，當一側承載件5已對應裝滿正面開口標準箱時，需要繼續將另一側的承載件5也裝滿，卸車亦然；另外，對於這種雙側承載兩臂式自主移動搬運機器人來說，可以定義縱向上的任意一個方向為前方。 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.

依據本發明第七種較佳實施例，提供一種單臂自主移動搬運機器人300，該自主移動搬運機器人與本發明第一種較佳實施例提供的自主移動搬運機器人之間的區別特徵，可以是：依據本發明第七種較佳實施例提供的自主移動搬運機器人中只設置有一個機械手臂，參照圖22中所示，所述機械手臂包括機械臂3(該機械臂3可以與本發明第一種較佳實施例提供的自主移動搬運機器人中的機械臂3相同)和樞轉地連接在機械臂3的遠端的用於抓取或釋放目標物體400的夾爪6(而不再是夾具4)，所述機械臂3設置為能夠運動以使得所述夾爪6到達所需位置。 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. The robotic arm 3 in the autonomous mobile handling robot provided by a preferred embodiment 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 (instead of being Clamp 4), the mechanical arm 3 is set to be able to move so that the clamping jaw 6 reaches a desired position.

除了上述區別特徵之外，依據本發明第七種較佳實施例提供的自主移動搬運機器人與本發明第一種較佳實施例提供的自主移動搬運機器人之間還可以具有另一區別特徵，該區別特徵可以與依據本發明第六種較佳實施例提供的自主移動搬運機器人與依據本發明第一種較佳實施例提供的自主移動搬運機器人之間的區別特徵相同，即依據本發明第七種較佳實施例提供的自主移動搬運機器人中，設置有兩個所述豎板12，殼體13位於兩個豎板12之間，與兩個豎板12的相互面對的側面圍成封閉空間，機械臂3的第一驅動裝置331、絲桿341、固定座342等結構設置在該封閉空間中。而兩個豎板12朝外的兩個側面均固定有所述承載件5，位於同一側的所述承載件5沿垂向方向間隔均勻地設置，參照圖21中所示。考慮到空間佈置，不再設置操作介面螢幕，即人機交互介面。 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.

通過上述技術方案，本發明第七種較佳實施例提供的自主移動搬運機器人，能夠一次性搬運多個目標物體400。其工作過程具體為：首先，空載的自主移動搬運機器人通過控制系統的控制行走機構2，行走到存放目標物體400的第一位置；之後，通過控制系統控制夾爪6的姿態(繞其自身樞轉軸的旋轉角度)和機械臂3的運動，將夾爪6送至所需位置，以抓取目標物體400；之後，通過控制機械臂3的運動，將所抓取的目標物體400放置在承載機構的一個承載件5上，由此完成一個目標物體400的裝車。之後，可以重複上述工作過程，至全部的承載件5上均放置有目標物體400。之後，通過控制行走機構2，自主移動搬運機器 人整體行進至目標物體400所要運輸至的第二位置，通過機械手臂依次將目標物體400從其對應的承載件5上夾持並送至第二位置的對應放置位置上，實現目標物體400的卸車。在此過程中，可以通過控制行走機構2改變自主移動搬運機器人的位置，以便於機械手臂的作業。通過以上描述，本發明提供的自主移動搬運機器人能夠實現自動化搬運目標物體400，無需人工裝卸，且單程能夠運送多個目標物體400，有效地提高了生產節拍和工作效率。另外，通過將多個承載件5沿垂向依次佈置，可以有效地利用底座11的上部空間，有益於實現自主移動搬運機器人的小型化，具有更廣的應用範圍和更高的敏捷性。 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 its own The rotation angle of the pivot shaft) 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. After that, by controlling the walking mechanism 2, autonomously move the handling machine The person travels as a whole to the second position where the target object 400 is to be transported. The robot arm grips the target object 400 from its corresponding carrier 5 and sends it to the corresponding placement position of the second position to achieve the target object 400 Unloading. 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.

其中，夾爪6可以以任意合適的方式構造。可選擇地，參照圖23和圖24中所示，所述夾爪6包括抓手主體61、固定夾持件62和活動夾持件63，所述固定夾持件62固定於所述夾爪主體61，所述活動夾持件63活動地連接於所述夾爪主體61，以能夠靠近和遠離所述固定夾持件62，與所述固定夾持件62相配合地實現對所述目標物體400的抓取和釋放。 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.

可選擇地，所述活動夾持件63通過滑動連接結構連接於所述夾爪主體61，以靠近和遠離固定夾持件62。在本發明提供的具體實施方式中，可以以任意合適的方式構造所述滑動連接結構。可選擇地，所述滑動連接結構包括相互配合的滑軌641和滑槽642，所述滑軌641和滑槽642中的一者設置於所述夾爪主體61，所述滑軌641和滑槽642中的另一者設置於所述活動夾持件63。例如，所述滑軌641設置於所述夾爪主體61。而為了避免滑槽642從滑軌641脫離，所述滑槽642可以構造為燕尾槽。 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.

在本發明提供的具體實施方式中，所述活動夾持件63與所述夾爪主體61之間可以設置有驅動件65，該驅動件65用於驅動所述活動夾持件63運動以靠近或遠離所述固定夾持件62。其中，驅動件65可以以任意合適的方式構造，可選擇地，所述驅動件65構造為氣缸，該氣缸的缸體固定於所述夾爪主體61，所述氣缸的活塞桿的端部固定於所述活動夾持件63。當活塞桿從缸體中伸出時，驅動活動夾持件63遠離固定夾持件62，以釋放目標物體400。當活塞桿縮回缸體時，驅動活動夾持件63靠近固定夾持件62，以抓取目標物體400。 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.

在本發明提供的具體實施方式中，固定夾持件62可以以任意合適的方式構造。可選擇地，所述固定夾持件62包括與所述夾爪主體61連接的固定連接部621、固定夾持部622和連接在所述固定連接部621與所述固定夾持部622之間的第一中間連接部623，所述活動夾持件63包括與所述夾爪主體61連接的活動連接部631、活動夾持部632和連接在所述活動連接部631與所述活動夾持部632之間的第二中間連接部633，所述第一中間連接部623 和所述第二中間連接部633使得所述固定連接部621和所述活動連接部631與所述夾爪主體61之間具有用於所述目標物體400的夾持空間，所述固定夾持部622和所述活動夾持部632彼此相對地延伸，以用於承托目標物體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 so that there is a clamping space for the target object 400 between the fixed connecting portion 621 and the movable connecting portion 631 and the clamping jaw body 61, and the fixed clamping The portion 622 and the movable clamping portion 632 extend opposite to each other for supporting the target object 400.

另外，所述夾爪6還包括樞轉地連接在所述機械臂3的遠端的關節塊66，所述夾爪主體61固定於該關節塊66。當機械臂3為依據本發明的協力廠商面提供的機械手臂時，該關節塊66固定於用作第三驅動裝置的空心軸電機的空心輸出軸。 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.

另外，在本發明提供的具體實施方式中，夾爪6中也可以如本發明第四種較佳實施例提供的夾具4一樣，其中設置有定位件、對準感測器、接近感測器等結構。 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.

基於以上所述，也能夠獲得一種依據本發明第七種較佳實施例提供的單臂自主移動搬運機器人，該單臂自主移動搬運機器人包括本發明第二種較佳實施例提供的行走機構、依據本發明的第三種較佳實施例提供的機械臂3、依據本發明第五種較佳實施例提供的自主移動搬運機器人用承載件5。 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.

由於該雙側承載兩臂式自主移動搬運機器人與依據本發明第一種較佳實施例提供的單側承載兩臂式自主移動搬運機器人之間的上述區別特徵，因此，其工作過程也僅在該處存在區別，即在整個裝卸正面開口標準箱(目標物體400)的過程中，使用單個機械手臂，且使用上述夾爪6對正面開口標準箱進行抓取和釋放。另外，在裝車時，當一側承載件5已對應裝滿正面開口標準箱時，需要繼續將另一側的承載件5也裝滿，卸車亦然。另外，對於這種雙側承載單臂式自主移動搬運機器人來說，也可以定義縱向上的任意一個方向為前方 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 above-mentioned 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

以上所述僅為本發明的較佳實施例而已，並不用以限制本發明，凡在本發明的精神和原則之內，所作的任何修改、等同替換、改進等，均應包含在本發明的保護範圍之內。 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:底座 11: Base

110:鉸接座 110: articulated seat

111:底板 111: bottom plate

112:裙板 112: skirt

113:距離檢測裝置 113: Distance detection device

114a:第一避障感測器 114a: The first obstacle avoidance sensor

114b:第二避障感測器 114b: Second obstacle avoidance sensor

115:防撞條 115: Anti-collision strip

116:底部攝影機 116: bottom camera

12:豎板 12: vertical board

13:殼體 13: shell

14:操作介面螢幕 14: Operation interface screen

2:行走機構 2: walking mechanism

21:主動輪 21: Driving wheel

211:安裝支架 211: Mounting bracket

212:驅動電機 212: drive motor

213:主動輪滾輪 213: driving wheel roller

214:樞轉軸 214: pivot axis

215:卡箍 215: Clamp

22:彈簧柱塞 22: Spring plunger

23:萬向輪 23: Universal wheel

3:機械臂 3: Robotic arm

31:伸縮臂 31: Telescopic boom

32:旋轉臂 32: Rotating arm

321:第一臂節 321: First Arm Section

322:第二臂節 322: Second Arm Section

331:第一驅動裝置 331: first drive device

332:第二驅動裝置 332: second drive device

333:第三驅動裝置 333: Third Drive

341:絲桿 341: Screw

342:固定座 342: fixed seat

351:第一固定板 351: The first fixed plate

352:第二固定板 352: second fixed plate

361:滑塊 361: Slider

362:導桿 362: guide rod

4:夾具 4: Fixture

41:夾具主體 41: Fixture body

411:支撐台 411: Support Table

412:凸台 412: Boss

413:溝狀槽 413: groove

421:第一彈性夾持件 421: The first elastic clamping piece

4211:第一近端 4211: first proximal

4212:第二近端 4212: second proximal

4213:端部 4213: end

422:第二彈性夾持件 422: second elastic clamping piece

4221:第二近端 4221: second proximal

4222:第二遠端 4222: second remote

431:第一緩衝墊 431: first cushion

432:第二緩衝墊 432: second cushion

44:定位件 44: positioning parts

45:接近感測器 45: proximity sensor

46:封板 46: Sealing plate

47:第一信號光源 47: The first signal light source

48:連接塊 48: connection block

491:拍照攝影機 491: Camera

492:閃光燈 492: flash

5:承載件 5: Carrier

51:板狀主體 51: plate body

511:主機板 511: Motherboard

512:夾層板 512: Sandwich board

5121:開孔 5121: Hole

513:蓋板 513: Cover

52:定位結構 52: Positioning structure

53:無線射頻辨識天線 53: RFID antenna

54:目標物體檢測裝置 54: Target object detection device

55:第二信號光源 55: second signal light source

56:急停按鈕 56: Emergency stop button

57:雙鏡頭攝影機 57: Dual lens camera

58:第三避障感測器 58: The third obstacle avoidance sensor

6:夾爪 6: Gripper

61:夾爪主體 61: Gripper body

62:固定夾持件 62: fixed clamp

621:固定連接部 621: Fixed connection part

622:固定夾持部 622: Fixed clamping part

623:第一中間連接部 623: The first intermediate connection

63:活動夾持件 63: movable clamp

631:活動連接部 631: Movable Connection Department

632:活動夾持部 632: movable clamping part

633:第二中間連接部 633: Second Intermediate Connection

641:滑軌 641: Slide

642:滑槽 642: Chute

65:驅動件 65: drive

66:關節塊 66: joint block

100:單側承載兩臂式自主移動 搬運機器人 100: One-sided load-bearing two-arm autonomous movement Handling robot

200:雙側承載兩臂式自主移動搬運機器人 200: Two-sided carrying two-arm autonomous mobile handling robot

300:單臂自主移動搬運機器人 300: Single-arm autonomous mobile handling robot

400:目標物體 400: target object

500:機台 500: machine

圖1：係本發明的第一種較佳實施例提供的自主移動搬運機器人的立體示意圖。 圖2：係本發明的第一種較佳實施例提供的自主移動搬運機器人的主視示意圖。 圖3：係本發明的第一種較佳實施例提供的自主移動搬運機器人的主視示意圖，其中，為了示出底座內的結構部件，未示出裙板。 圖4：係本發明的第一種較佳實施例提供的自主移動搬運機器人的側視示意圖。 圖5：係本發明的第一種較佳實施例提供的自主移動搬運機器人的側視示意圖，其中，為了示出底座內的結構部件，未示出裙板。 圖6：係本發明的第一種較佳實施例提供的自主移動搬運機器人的後視示意圖。 圖7：係本發明的第一種較佳實施例提供的自主移動搬運機器人的俯視示意圖。 圖8：係本發明的第二種較佳實施例提供的行走機構的立體示意圖。 圖9：係本發明的第二種較佳實施例提供的行走機構的另一立體示意圖。 圖10：係本發明的第二種較佳實施例提供的行走機構的立體另一示意圖，在該圖中未示出從動輪。 圖11：係本發明的第二種較佳實施例提供的行走機構中的主動輪的立體示意圖。 圖12：係本發明的第三種較佳實施例提供的機械臂的立體示意圖。 圖13：係本發明的第三種較佳實施例提供的機械臂的另一立體示意圖，在該圖中，能夠看到臂節為中空，且能看到第二驅動裝置和第三驅動裝置。 圖14：係本發明的第四種較佳實施例提供的自主移動搬運機器人用夾具的立體示意圖。 圖15係本發明的第四種較佳實施例提供的自主移動搬運機器人用夾具的另一方向的立體示意圖。 圖16：係本發明的第四種較佳實施例提供的自主移動搬運機器人用夾具的另一立體示意圖，為了示出內部結構，該圖中未示出封板。 圖17：係本發明的第四種較佳實施例提供的自主移動搬運機器人用夾具的內部結構的俯視示意圖。 圖18：係本發明的第五種較佳實施例提供的自主移動搬運機器人用承載件的立體示意圖。 圖19：係本發明的第五種較佳實施例另一實施例提供的自主移動搬運機器人用承載件的立體示意圖。 圖20：係本發明的第五種較佳實施例另一實施例提供的自主移動搬運機器人用承載件的立體示意圖，為了示出內部結構，省去蓋板。 圖21：係本發明的第六種較佳實施例提供的自主移動搬運機器人的側視示意圖。 圖22：係本發明的第七種較佳實施例提供的自主移動搬運機器人的立體示意圖。 圖23：係本發明的第七種較佳實施例提供的自主移動搬運機器人的夾爪的立體示意圖。 圖24：係本發明的第七種較佳實施例提供的自主移動搬運機器人的夾爪的另一方向立體示意圖。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 perspective 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.

111:底板 111: bottom plate

21:主動輪 21: Driving wheel

214:樞轉軸 214: pivot axis

22:彈簧柱塞 22: Spring plunger

23:萬向輪 23: Universal wheel

Claims (8)

一種行走機構，其特徵在於，包括底座(11)以及安裝於該底座(11)的兩個主動輪(21)和至少兩個從動輪，所述主動輪(21)具有中心旋轉軸線，且所述主動輪(21)鉸接於所述底座(11)，所述底座(11)與所述主動輪(21)之間設置有彈性偏壓件，該彈性偏壓件的第一端偏壓所述底座(11)，所述彈性偏壓件的與所述第一端相對的第二端偏壓所述主動輪(21)，以使得所述主動輪(21)能夠繞與所述中心旋轉軸線平行的樞轉軸線轉動而相對於所述底座(11)上下移動；所述主動輪(21)包括安裝支架(211)、固定於該安裝支架(211)的驅動電機(212)、固定於該驅動電機(212)輸出軸的主動輪滾輪(213)，所述驅動電機(212)驅動該主動輪滾輪(213)繞所述驅動電機(212)輸出軸的軸線轉動，所述安裝支架(211)通過樞轉軸(214)與固定於所述底座(11)的鉸接座(110)連接，所述彈性偏壓件的所述第二端偏壓所述安裝支架(211)；所述彈性偏壓件構造為彈簧柱塞(22)，該彈簧柱塞(22)固定於所述底座(11)，且所述彈簧柱塞(22)的頭部抵靠於所述安裝支架(211)以用作所述第二端；其中，兩個所述主動輪(21)並排且同向設置，並且兩個所述主動輪(21)的樞轉軸線共線，且兩個所述主動輪(21)各自對應的彈簧柱塞(22)均位於所述主動輪的樞轉軸線的同一側，且兩個所述主動輪(21)和各自對應的彈簧柱塞(22)相對於所述樞轉軸線的距離相等。 A walking mechanism, characterized by comprising a base (11), two driving wheels (21) and at least two driven wheels installed on the base (11), the driving wheel (21) has a central axis of rotation, and The driving wheel (21) is hinged to the base (11), an elastic biasing member is arranged between the base (11) and the driving wheel (21), and the first end of the elastic biasing member biases the seat The base (11), the second end of the elastic biasing member opposite to the first end biases the driving wheel (21), so that the driving wheel (21) can rotate around the center The pivot axis parallel to the axis rotates to move up and down relative to the base (11); the driving wheel (21) includes a mounting bracket (211), a drive motor (212) fixed to the mounting bracket (211), and The driving wheel roller (213) of 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 hinge seat (110) fixed to the base (11) through a pivot shaft (214), and the second end of the elastic biasing member biases the mounting bracket (211); the elastic The biasing 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 be used as the second end; wherein, the two driving wheels (21) are arranged side by side and in the same direction, and the pivot axes of the two driving wheels (21) are collinear, and the two driving wheels (21) The respective corresponding spring plungers (22) are all located on the same side of the pivot axis of the driving wheel, and the two driving wheels (21) and the respective corresponding spring plungers (22) are relative to the The distances of the pivot axes are equal. 如請求項1所述的行走機構，每個所述主動輪(21)對應設置有兩個所述彈簧柱塞(22)。 According to the walking mechanism according to claim 1, each of the driving wheels (21) is correspondingly provided with two spring plungers (22). 如請求項1所述的行走機構，所述樞轉軸(214)構造為銷軸，一 端通過自身的頭部止擋於所述安裝支架(211)，另一端通過止擋件止擋於所述鉸接座(110)。 According to the traveling mechanism of claim 1, the pivot shaft (214) is configured as a pin shaft, One end is stopped on the mounting bracket (211) by its own head, and the other end is stopped on the hinge seat (110) by a stopper. 如請求項3所述的行走機構，所述止擋件構造為卡箍(215)。 According to the walking mechanism according to claim 3, the stopper is configured as a clamp (215). 如請求項1所述的行走機構，兩個所述主動輪(21)的中心旋轉軸線共線，所述至少兩個從動輪包括兩對所述從動輪，其中，沿所述中心旋轉軸線的方向，一對所述從動輪位於所述主動輪(21)的一側，另一對所述從動輪位於所述主動輪(21)的另一側。 According to the walking mechanism according to claim 1, the central rotation axes of the two driving wheels (21) are collinear, and the at least two driven wheels include two pairs of the driven wheels, wherein the axis of rotation along the central rotation axis In the direction, one pair of driven wheels is located on one side of the driving wheel (21), and the other pair of driven wheels is located on the other side of the driving wheel (21). 如請求項5所述的行走機構，其所述兩對所述從動輪關於所述中心旋轉軸線對稱佈置。 In the walking mechanism according to claim 5, the two pairs of driven wheels are arranged symmetrically about the central rotation axis. 如請求項1-6中任意一項所述的行走機構，所述從動輪構造為萬向輪(23)。 In the walking mechanism according to any one of claims 1-6, the driven wheel is configured as a universal wheel (23). 一種自主移動搬運機器人，包括底座(11)，其特徵在於，所述自主移動搬運機器人設置有依據請求項1-7中任意一項所述的行走機構。An autonomous mobile handling robot, comprising a base (11), characterized in that the autonomous mobile handling robot is provided with a walking mechanism according to any one of claim items 1-7.
TW108112181A 2019-04-25 2019-04-25 Walking mechanism and autonomous mobile handling robot TWI724405B (en)

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