Dual-arm autonomous handling robot

Abstract

The present application relates to a dual-arm autonomous transport robot, which includes a frame, the frame includes a chassis and a support frame fixed on the chassis; an unmanned transport vehicle, which is used to carry the frame and drive the frame to move; a rotary drive device, which drives the support frame to rotate on the unmanned transport vehicle; a clamping device, which includes two manipulator mechanisms, which are symmetrically arranged on both sides of the support frame, each of which includes a clamp for clamping objects and a telescopic combined arm that drives the clamp to move closer to or away from the object; a platform device, which carries objects; a control system, which controls the walking action of the unmanned transport vehicle, controls the rotation angle of the rotary drive device, and controls the action of the manipulator mechanism. The present application has the effect of rotating the upper body to various directions without the trolley turning around, thereby completing the action of picking and placing, thereby improving efficiency.

Description

Technical Field

[0001] The present application relates to the semiconductor field, and in particular to a dual-arm autonomous handling robot. Background Art

[0002] Semiconductors have high requirements for the environment during transportation, especially the dust-free environment. And the cost of a dust-free environment that requires manual operation is high. Currently, both the semiconductor industry and the 3C industry are facing the problem of increasing personnel costs. In order to reduce manpower, cut costs, improve work efficiency and ensure safety, factory automation has become what companies are pursuing.

[0003] Handling robots are an indispensable part of these industries. Currently, most of the robots on the market and used in this industry are AGV carts equipped with six-axis robotic arm equipment, and the six-axis equipment is mainly Denmark's UR six-axis robotic arm equipment. There are also some imitation UR products in China.

[0004] With respect to the above-mentioned related technologies, the inventors believe that most of the handling robots in the related technologies realize the moving and carrying of objects through three-dimensional movements of the robotic arms, but the work efficiency needs to be improved. Summary of the invention

[0005] In order to allow the vehicle to rotate its upper body to various directions without turning around, thereby completing the picking and placing actions and improving efficiency, the present application provides a dual-arm autonomous transport robot.

[0006] The dual-arm autonomous handling robot provided in this application adopts the following technical solution:

[0007] Dual-arm autonomous handling robot, including:

[0008] A frame, comprising a chassis and a support frame fixed to the upper part of the chassis;

[0009] An unmanned transport vehicle, used to carry the rack and drive the rack to move;

[0010] A rotation driving device, disposed between the frame and the unmanned guided vehicle, driving the frame to rotate on the unmanned guided vehicle;

[0011] The gripping device comprises two manipulator mechanisms, which are symmetrically arranged on both sides of the support frame, and each of the manipulator mechanisms comprises a clamp for gripping an object and a telescopic combined arm for driving the clamp to approach or move away from the object;

[0012] a loading platform device, disposed on the support frame, for carrying articles; and

[0013] The control system is used to control the walking motion of the unmanned guided vehicle, control the rotation angle of the rotary drive device, and control the motion of the manipulator mechanism.

[0014] By adopting the above technical solution, an unmanned guided vehicle is used to realize the autonomous movement of the robot. The rotating drive device located between the frame and the unmanned guided vehicle can adjust the angle of the frame, and the unmanned guided vehicle can adjust the rotation setting angle of the rotating device without turning around, thereby driving the frame to rotate the setting angle, so that the clamping device is aligned with the object to be clamped, which is conducive to saving time and improving work efficiency.

[0015] Optionally, the rotary drive device includes a rotary drive member and a rotary transmission assembly, the rotary drive member is fixedly connected to the chassis, and the rotary transmission assembly connects the unmanned guided vehicle and the chassis.

[0016] By adopting the above technical solution, the rotary drive member drives the chassis to rotate through the rotary transmission assembly, thereby driving the frame to rotate, so that the clamping device can be aligned with the object.

[0017] Optionally, the rotary transmission assembly includes:

[0018] A bottom plate, fixedly connected to the unmanned guided vehicle;

[0019] A gear plate, fixedly connected to a side of the bottom plate away from the unmanned guided vehicle;

[0020] A transmission gear meshingly connected to the outer peripheral side of the gear plate and transmission-connected to the power output end of the rotary drive member;

[0021] A fixed guide ring, fixedly connected to a side of the bottom plate away from the unmanned guided vehicle and coaxially arranged with the gear disc; and

[0022] The supporting roller is fixedly connected to a side of the chassis close to the bottom plate. A plurality of supporting rollers are provided and arranged in a circular array on the outer peripheral side of the fixed guide ring. The peripheral wall of the supporting roller is tightly arranged against the peripheral wall of the fixed guide ring.

[0023] By adopting the above technical solution, the rotating driving member arranged on the chassis drives the transmission gear to rotate, and the transmission gear rotates around the toothed disc; and because the toothed disc is fixed on the bottom plate, the chassis rotates around the circumference of the fixed guide ring through the supporting roller. Therefore, when the gear rotates around the toothed disc, the chassis rotates with the central axis of the toothed disc as the rotating axis, and the fixed guide ring plays a role of rotational guidance, thereby realizing the rotation of the chassis.

[0024] Optionally, a curved dust-proof member for shielding the supporting rollers is provided on a side of the bottom plate close to the chassis, the curved dust-proof member surrounds a plurality of the supporting rollers, and the curved dust-proof member does not contact the chassis.

[0025] By adopting the above technical solution, the arc-shaped dustproof member is helpful to protect the support roller and reduce the influence of dust on the rotation between the fixed guide ring and the support roller, thereby helping to improve the accuracy of the rotation angle of the rotary drive device.

[0026] Optionally, the telescopic combined arm includes: a fixed arm, an X-axis opening and closing drive assembly, a telescopic arm, a Y-axis telescopic drive assembly and a Z-axis lifting drive assembly;

[0027] An arm opening and closing transmission mounting plate is vertically slidably mounted on the frame;

[0028] The fixed arm is mounted on the arm opening and closing transmission mounting plate through an X-axis opening and closing drive assembly;

[0029] The X-axis opening and closing drive assembly includes an opening and closing drive member and an opening and closing transmission member, the opening and closing drive member is installed on the fixed arm or on the arm opening and closing transmission mounting plate, the opening and closing transmission member is connected to the opening and closing drive member in a transmission manner, and the opening and closing transmission member is connected between the arm opening and closing transmission mounting plate and the fixed arm to drive the fixed arms on both sides to open and close relative to each other;

[0030] The telescopic arm is coaxially arranged with the fixed arm and is slidably connected in the fixed arm along the axial direction of the fixed arm, and the clamp is arranged at the end of the telescopic arm away from the fixed arm;

[0031] The Y-axis telescopic drive assembly includes a telescopic drive member and a telescopic transmission member connected to the telescopic drive member, wherein the telescopic transmission member is connected between the fixed arm and the telescopic arm to drive the telescopic arm to telescope relative to the fixed arm;

[0032] The Z-axis lifting drive assembly includes a lifting drive member and a lifting transmission member that is transmission-connected to the lifting drive member. The lifting transmission member is connected between the lifting drive member and the arm opening and closing transmission mounting plate to drive the arm opening and closing transmission mounting plate to lift and lower.

[0033] By adopting the above technical solution, the Z-axis lifting drive assembly drives the fixed arm and the telescopic arm to lift and lower as a whole to adapt to the vertical height position of the target object; the Y-axis telescopic drive assembly drives the telescopic arm to extend and retract within the fixed arm to adjust the elongated length of the manipulator mechanism to adapt to the horizontal distance position of the target object; the X-axis opening and closing drive assembly drives the manipulator mechanisms on both sides of the frame to open and close, thereby driving the opening and closing of the clamp to facilitate the picking up of objects.

[0034] Optionally, the lifting transmission member includes a first pulley transmission assembly and a first screw transmission assembly that are transmission-connected, the first pulley transmission assembly is transmission-connected to the lifting drive member, the first screw transmission assembly is vertically arranged on the frame, and is transmission-connected to the arm opening and closing transmission mounting plate.

[0035] By adopting the above technical solution, the lifting drive component transmits the driving force to the first screw transmission assembly through the first pulley transmission assembly, and the first screw transmission assembly is used to drive the lifting and lowering of the arm opening and closing transmission mounting plate. The rotary motion is converted into linear motion through the transmission and drive of the pulley and the screw, thereby realizing the lifting and lowering action of the manipulator mechanism.

[0036] Optionally, the opening and closing drive member is connected to the fixed arm, and the opening and closing transmission member includes a first gear rack transmission assembly, the first gear rack transmission assembly includes a first spur gear connected to the power output end of the opening and closing drive member and a first spur rack fixed to the arm opening and closing transmission mounting plate, and the driving directions of the opening and closing drive members connected to the fixed arms on both sides are respectively opposite.

[0037] By adopting the above technical solution, the opening and closing driving member converts the rotational motion of the driving member into a linear motion through the first gear rack transmission assembly to drive the opening and closing movement of the fixed arm.

[0038] Optionally, a limit sensor is provided on the opening and closing driving member, and the limit sensor is connected to a control system to limit the distance between two opening and closing driving members.

[0039] By adopting the above technical solution, when the opening and closing driving members are approaching or moving away from each other, the limit sensor detects the distance between the two opening and closing driving members, so that the two are not likely to collide with each other.

[0040] Optionally, the telescopic transmission member includes a power transmission component and a motion transmission component, the power transmission component is transmission connected to the power output end of the telescopic drive member, the motion transmission component is transmission connected to the power output end of the power transmission component, and the power output end of the motion transmission component is connected to the telescopic arm.

[0041] By adopting the above technical solution, the power transmission assembly cooperates with the motion transmission assembly to convert the rotary motion of the telescopic drive member into the linear motion of the telescopic arm, so that the clamp at the end of the telescopic arm can approach or move away from the target object.

[0042] Optionally, the telescopic drive member is fixed to the arm opening and closing transmission mounting plate; the power transmission assembly includes a second pulley transmission assembly connected to the power output end of the telescopic drive member, a spline shaft coaxially connected to the power output end of the second pulley transmission assembly, and a third pulley transmission assembly connected to the spline shaft, the third pulley transmission assembly is connected to the fixed arm, and at the same time, the third pulley transmission assembly is slidably connected to the spline shaft in the axial direction of the spline shaft.

[0043] By adopting the above technical solution, the telescopic driving member changes the driving direction of the telescopic driving member through the second pulley transmission assembly, and can simultaneously drive the third pulley transmission assembly for synchronous transmission through the spline shaft. The third pulley transmission assembly continues to transmit the driving force of the telescopic driving member to the second gear rack transmission assembly, and finally drives the telescopic movement of the telescopic arm through the second gear rack transmission assembly, thereby converting the rotational motion of the telescopic driving member into the linear motion of the telescopic arm, thereby driving the telescopic action of the telescopic arm.

[0044] Optionally, the motion transmission assembly includes a spline transmission shaft coaxially connected to the power output end of the third pulley transmission assembly and a fourth pulley transmission assembly transmission connected to the spline transmission shaft, the power output end of the fourth pulley transmission assembly is transmission connected to a second gear rack transmission assembly, the gear of the second gear rack transmission assembly is coaxially connected to the power output end of the fourth pulley transmission assembly, and the rack of the second gear rack transmission assembly is fixedly connected to the telescopic arm.

[0045] By adopting the above technical solution, the power output end of the third pulley transmission assembly drives the spline transmission shaft to rotate synchronously, the spline transmission shaft drives the fourth pulley transmission assembly to transmit synchronously, and the fourth pulley transmission assembly drives the second gear rack transmission assembly to transmit synchronously, thereby driving the telescopic arm to be telescopically connected in the fixed arm.

[0046] Optionally, position sensing sensors are provided at the front and rear of the telescopic arm, and the position sensing sensors are connected to a control system to limit the telescopic arm from extending out of the fixed arm to a maximum position or a minimum position.

[0047] By adopting the above technical solution, the induction sensor is helpful to limit the maximum and minimum displacement distances of the telescopic arm, so that the telescopic arm is not easy to collide with the end of the fixed arm, which is helpful to protect the telescopic arm.

[0048] Optionally, a camera is provided at the end of the telescopic arm away from the fixed arm, and the camera is connected to a control system to correct the position of the clamp based on vision.

[0049] By adopting the above technical solution, when the clamp is pre-gripping an object, the camera first takes a picture of the object and the environment in which it is located, and determines whether the clamp is exactly at the pre-gripping position of the object based on operations such as image recognition, thereby correcting the position of the clamp so that the clamp can correctly clamp the object and improve the clamping accuracy of the manipulator mechanism.

[0050] Optionally, the fixture comprises:

[0051] A base, fixedly connected to the end of the telescopic combined arm away from the frame;

[0052] An elastic limiter, arranged on one side opposite to the two bases, comprises a limiter seat, an elastic member and a limiter pin, wherein the limiter seat is fixedly connected to the base, the elastic member is sleeved on the limiter pin, and one end of the elastic member is fixedly connected to the limiter seat, and the other end of the elastic member is fixedly connected to the limiter pin; and

[0053] A clamping induction sensor is arranged in the base and is used to detect the position of the limit pin.

[0054] By adopting the above technical solution, when the clamps approach each other and clamp the object, the limit pin abuts the target object, the limit pin contracts, the elastic part compresses, and the clamping sensing sensor is triggered. If both clamping sensing sensors are triggered, it is judged that the clamp has clamped the target object, and the manipulator mechanism executes the next operation. When the manipulator places the object to the set position, the clamps move away from each other. At this time, the elastic part releases elastic potential energy to help the limit pin to extend.

[0055] Optionally, a clamping groove is provided on one opposite side of the two bases, and a buffer layer is provided in the clamping groove.

[0056] By adopting the above technical solution, the clamping groove is conducive to increasing the contact area between the clamp and the article, wrapping the edge of the part to be clamped of the article, thereby helping to increase the stability of the clamp in clamping the article. On the one hand, the buffer layer is conducive to buffering the collision between the clamp and the article, which is conducive to protecting the clamp and the article; on the other hand, it increases the friction between the clamp and the article, further increasing the stability of the clamp's clamping.

[0057] Optionally, the stage device includes:

[0058] The displacement mechanism comprises a displacement driving member, a displacement transmission assembly connected to the power output end of the displacement driving member, and a stage mounting seat, wherein the stage mounting seat is vertically slidably connected to the frame, the displacement driving member is electrically connected to the control system, and the displacement transmission assembly is connected between the stage mounting seat and the frame to drive the stage mounting seat to slide relative to the frame; and

[0059] Multiple groups of platform mechanisms are arranged at intervals, including a fixed platform and a movable platform, the fixed platform is fixedly connected to the top and / or bottom of the frame, and the movable platform is fixedly connected to the platform mounting seat.

[0060] By adopting the above technical solution, a plurality of platforms are provided on the platform device for carrying a plurality of target objects, and the movable platforms are conducive to following the displacement of the robot mechanism to reduce the action steps of the robot, thereby facilitating improving work efficiency.

[0061] Optionally, the platform mechanism is provided with:

[0062] A radio frequency component, used for identifying a radio frequency tag on a target object placed on the carrier mechanism;

[0063] a positioning component, used to identify whether a target object is placed on the platform mechanism; and

[0064] An indicator light assembly, used to indicate the working status of the stage mechanism;

[0065] The radio frequency component, the positioning component and the indicator light component are all electrically connected to the control system.

[0066] By adopting the above technical solution, the radio frequency component is convenient for identifying the radio frequency tags on the items, and monitoring the location and transportation status of the items in real time, so as to facilitate the management of the items; the positioning component is used to identify whether there are items on the platform, so as to facilitate the control system to control the operation of the manipulator; the indicator light component is conducive to prompting the working status of the platform mechanism, so that the staff can monitor the working status of the robot and determine whether the robot is charged, etc.

[0067] In summary, the present application includes at least one of the following beneficial technical effects:

[0068] 1. The use of an unmanned guided vehicle ensures that the robot can move autonomously. The rotating part allows the unmanned guided vehicle to rotate the frame part without changing direction, thereby completing the grasping tasks in various directions, which is conducive to improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0070] Figure 2 is a schematic diagram of the overall structure of the rotary drive device in an embodiment of the present application;

[0071] Figure 3 is an exploded schematic diagram of a rotary drive device in an embodiment of the present application;

[0072] Figure 4 is a cross-sectional schematic diagram of a rotation drive device in an embodiment of the present application;

[0073] Figure 5 yes Figure 4 A magnified schematic diagram of the middle part;

[0074] Figure 6 It is a structural schematic diagram mainly used to show the clamping device in the embodiment of the present application;

[0075] Figure 7 It is a structural schematic diagram mainly used to show the Z-axis lifting drive assembly in the embodiment of the present application;

[0076] Figure 8 It is a schematic diagram of the exploded structure mainly used to show the Z-axis lifting drive assembly in the embodiment of the present application;

[0077] Fig. 9 It is a structural schematic diagram mainly used to show the X-axis opening and closing drive assembly in the embodiment of the present application;

[0078] Fig.10 It is a schematic diagram of an exploded structure mainly used to show the first gear rack transmission assembly in the embodiment of the present application;

[0079] Fig.11 It is a structural schematic diagram mainly used to show the Y-axis telescopic drive assembly in the embodiment of the present application;

[0080] Fig.12 yes Fig.11 The enlarged schematic diagram of the middle B part;

[0081] Fig.13 It is a schematic diagram of the exploded structure of the bearing assembly mainly used to show the embodiment of the present application;

[0082] Fig.14 It is a schematic diagram of the exploded structure of the embodiment of the present application mainly used to show the telescopic combined arm, the fourth pulley transmission assembly and the second gear rack transmission assembly;

[0083] Fig.15 This is a schematic diagram of the structure of the fourth pulley transmission assembly and the second gear rack transmission assembly, which is mainly used to illustrate the embodiment of the present application;

[0084] Fig.16 It is a schematic diagram of the exploded structure of the embodiment of the present application mainly used to show the clamp;

[0085] Fig.17 It is a structural schematic diagram mainly used to show the displacement mechanism in the embodiment of the present application;

[0086] Fig.18 The embodiment of the present application is mainly used to show the structural diagram of the stage mechanism.

[0087] Figure numerals: 1, frame; 11, chassis; 12, support frame; 2, unmanned guided vehicle; 3, rotating drive device; 31, rotating drive member; 32, rotating transmission assembly; 321, bottom plate; 322, fixed guide ring; 323, toothed disc; 324, transmission gear; 325, supporting roller; 33, arc-shaped dustproof member; 4, clamping device; 41, clamp; 411, base; 4111, receiving groove; 4112, clamping groove; 4113, buffer layer; 412, elastic limit member; 4121, limit seat; 4122, elastic member; 4123, limit pin; 413, clamping induction sensor; 42, telescopic combination arm; 421, fixed arm; 422, telescopic arm; 4221, position induction sensor; 423 , Z-axis lifting drive assembly; 4231, lifting transmission member; 42311, first pulley transmission assembly; 423111, first driving wheel; 423112, first driven wheel; 423113, first synchronous belt; 423114, first slide rail; 423115, first slider; 423115, first stop block; 42312, first lead screw transmission assembly; 423121, first screw member; 423122, first nut member; 4232, lifting drive member; 424, X-axis opening and closing drive assembly; 4241, opening and closing transmission member; 42411, first straight rack; 42412, first straight gear; 42413, second slide rail; 42414, second slider; 42415, second stop block; 424 2. Opening and closing drive member; 4243. Connecting plate; 4244. Limit sensor; 4245. Opening and closing trigger member; 425. Y-axis telescopic drive assembly; 4251. Telescopic transmission member; 42511. Second pulley transmission assembly; 425111. Second driving wheel; 425112. Second driven wheel; 425113. Second synchronous belt; 42512. Bearing group; 425121. Spline shaft; 425122. Key bearing; 425123. Bearing seat; 425124. Retaining ring; 425125. Locking nut; 425126. Ball spline bushing; 425127. Ball spline; 425128. Circlip; 42513. Third pulley transmission assembly; 425131. Third driving wheel; 425 132, third driven wheel; 425133, third synchronous belt; 425134, guide wheel; 425135, first tension wheel; 425136, third slide rail; 4251367, slide bar; 42514, spline transmission shaft; 42515, fourth pulley transmission assembly; 425151, fourth driving wheel; 425152, fourth driven wheel; 425153, fourth synchronous belt; 425154, second tension wheel; 42516, second gear rack transmission assembly; 425161, bevel gear; 425162, bevel rack; 4252, telescopic drive member; 426, arm opening and closing transmission mounting plate; 4261, lifting trigger member; 4262, lifting induction sensor; 427, opening and closing mounting frame;428, connecting shaft; 43, camera; 5, stage device; 51, displacement mechanism; 511, displacement driving member; 512, displacement transmission assembly; 5121, second screw member; 5122, second nut member; 513, stage mounting seat; 5131, stage trigger member; 5132, stage induction sensor; 514, fourth slider; 515, fourth slide rail; 52, stage mechanism; 521, fixed stage; 522, movable stage; 523, radio frequency assembly; 524, positioning assembly; 525, indicator assembly. ; DETAILED DESCRIPTION

[0088] The following is combined with Figure 1-18 This application is described in further detail.

[0089] The present application embodiment discloses a dual-arm autonomous transport robot. Figure 1 The dual-arm autonomous transport robot includes a frame 1, an unmanned transport vehicle 2 for carrying the frame 1 and driving the frame 1 to move, a rotation drive device 3 arranged between the frame 1 and the unmanned transport vehicle 2, driving the frame 1 to rotate in the horizontal direction relative to the unmanned transport vehicle 2, a clamping device 4 installed on the frame 1 and used to clamp the target object, a platform device 5 located on the frame 1 and used to temporarily carry the target object, and a control system for controlling the unmanned transport vehicle 2, the rotation drive device 3, the clamping device 4 and the platform device 5 to cooperate with each other. The frame 1 includes a chassis 11 and a support frame 12 vertically installed on the upper part of the chassis 11, and the support frame 12 is a rectangular parallelepiped as a whole. The clamping device 4 includes two manipulator mechanisms, which are symmetrically arranged on both sides of the frame 1. Each manipulator mechanism includes a clamp 41 for clamping an object and a telescopic combined arm 42 for driving the clamp 41 to approach or move away from the object. The two relative manipulator mechanisms approach or move away from each other to realize the clamp 41 to pick up and place the object. In the process of transporting the target object, the unmanned guided vehicle 2 moves the carrying frame 1 to the initial position of the target object according to the preset route, and the rotating drive device 3 adjusts the horizontal angle of the frame 1 until the target object is within the grasping range of the clamping device 4, and then the telescopic combination arm 42 is actuated to enable the clamp 41 to clamp the objects from both sides of the target object and transport them to the stage device 5. Thereafter, the unmanned guided vehicle 2 moves to the target position of the target object according to the preset route, and then the target object is clamped and transported to the placement point of the target position through the clamping device 4.

[0090] Reference Figure 2The rotary drive device 3 includes a rotary drive member 31 and a rotary transmission assembly 32. The rotary drive member 31 is fixedly mounted on the side of the chassis 11 away from the unmanned guided vehicle 2, and the rotary transmission assembly 32 connects the unmanned guided vehicle 2 and the chassis 11. The rotary drive member 31 drives the chassis 11 to rotate through the rotary transmission assembly 32, thereby driving the frame 1 to rotate, so that the gripping device 4 can align with the object. The rotary drive member 31 includes a stepping motor and a reduction box, and the reduction box is used to reduce the rotation speed, increase the torque, and match the inertia.

[0091] Reference Figure 3 The rotating transmission assembly 32 includes a base plate 321 , a fixed guide ring 322 , a toothed disc 323 , a transmission gear 324 and a supporting roller 325 .

[0092] The bottom plate 321 is in the shape of a disk as a whole and is fixedly mounted on the top of the automated guided vehicle 2 .

[0093] The fixed guide ring 322 is fixedly mounted on a side of the bottom plate 321 away from the AGV 2 and is located at the center of the bottom plate 321 .

[0094] The toothed disc 323 is fixedly mounted on a side of the bottom plate 321 away from the AGV 2 , has a diameter smaller than that of the fixed guide ring 322 , and is coaxially arranged with the fixed guide ring 322 .

[0095] The transmission gear 324 is meshed with the outer peripheral side of the gear plate 323 and is located inside the fixed guide ring 322 . The rotating driving member 31 drives the transmission gear 324 to rotate.

[0096] The support roller 325 is fixedly mounted on the side of the chassis 11 close to the bottom plate 321 through the threaded end, and does not contact the bottom plate 321; there are multiple support rollers 325, and the circumferential array is distributed on the circumference of the fixed guide ring 322, and the support rollers 325 rotate around the outer circumference of the fixed guide ring 322. The number of support rollers 325 is adjustable, and the number of support rollers 325 can be appropriately increased according to the overall weight of the frame 1. The support rollers 325 include multiple spur wheels and eccentric wheels distributed in a circumferential array on the circumference of the fixed guide ring 322, and the polygon formed by the multiple spur wheels does not include / cover the center of the transmission gear 324. The number of spur wheels is preferably two, and the two spur wheels can play a centering role at an angle less than 180°. During installation, the side with a smaller radius of the eccentric wheel is first moved close to the toothed disc 323. After the fixed guide ring 322 is installed, the side with a larger inner diameter of the eccentric wheel is rotated toward the toothed disc 323, so that the support roller 325 is pressed against the peripheral side of the fixed guide ring 322. Therefore, the eccentric wheel is provided to improve the convenience of installation. The rotating drive member 31 drives the rotation of the transmission gear 324, and the transmission gear 324 rotates around the toothed disc 323; because the toothed disc 323 is fixed on the bottom plate 321, the chassis 11 is rotatably connected to the fixed guide ring 322 through the support roller 325 thereon. Therefore, when the transmission gear 324 rotates around the toothed disc 323, the chassis 11 rotates with the central axis of the toothed disc 323 as the rotating axis, and the fixed guide ring 322 plays a guiding role, thereby realizing the rotation of the chassis 11, and the rotation angle is determined by the rotating drive member 31.

[0097] Reference Figure 3 and Figure 4 The arc-shaped dustproof member 33 for shielding the supporting roller 325 is installed on the side of the bottom plate 321 close to the chassis 11. The arc-shaped dustproof member 33 is cylindrical in shape and surrounds the outer periphery of the supporting roller 325 to reduce the influence of dust and other impurities in the external environment on the rotation between the supporting roller 325 and the fixed guide ring 322, thereby improving the accuracy of the robot's rotation angle. Figure 4 and Figure 5 The height of the arc-shaped dustproof member 33 is smaller than the distance between the chassis 11 and the bottom plate 321 , that is, the arc-shaped dustproof member 33 does not contact the chassis 11 , so that the arc-shaped dustproof member 33 is not easy to affect the rotation of the chassis 11 .

[0098] Reference Figure 6 The telescopic combined arm 42 includes: a fixed arm 421, a telescopic arm 422, a Z-axis lifting drive component 423, an X-axis opening and closing drive component 424 and a Y-axis telescopic drive component 425.

[0099] The fixed arm 421 is mounted on the arm opening and closing transmission mounting plate 426 through the X-axis opening and closing driving assembly 424. The arm opening and closing transmission mounting plate 426 is slidably connected in the frame 1, and the sliding direction of the arm opening and closing transmission mounting plate 426 is perpendicular to the chassis 11. The length direction of the fixed arm 421 is parallel to the plane where the chassis 11 is located.

[0100] The telescopic arm 422 is slidably connected in the fixed arm 421 along the length direction of the fixed arm 421 , and the clamp 41 is installed at the end of the telescopic arm 422 away from the fixed arm 421 .

[0101] Reference Figure 7 The Z-axis lifting drive assembly 423 is mounted on the frame 1, and includes a lifting transmission member 4231 and a lifting drive member 4232, which is used to drive the arm opening and closing transmission mounting plate 426 to lift and lower, thereby driving the fixed arm 421 to lift and lower, so that the manipulator mechanism is aligned with the height of the target object. The lifting drive member 4232 includes a stepping motor and a reduction box, which is mounted on the chassis 11 and is symmetrically arranged with the rotating drive member 31.

[0102] Reference Figure 8 The lifting transmission component 4231 includes a first pulley transmission assembly 42311 and a first screw transmission assembly 42312.

[0103] The first pulley transmission assembly 42311 includes a first driving wheel 423111 and a first driven wheel 423112, and a first synchronous belt 423113 wound around the outside of the first driving wheel 423111 and the first driven wheel 423112 to drive the two to rotate synchronously.

[0104] The first screw transmission assembly 42312 includes a first screw member 423121 and a first nut member 423122 .

[0105] Among them, the first driving wheel 423111 is fixedly installed with the driving shaft of the lifting driving member 4232, and the two ends of the first screw member 423121 are rotatably connected to the frame 1 and are arranged perpendicular to the direction of the chassis 11. The first driven wheel 423112 is fixedly installed at one end of the first screw member 423121, and the arm opening and closing transmission mounting plate 426 is fixedly installed on the first nut member 423122. In addition, two first slide rails 423114 are installed on the frame 1 in a direction parallel to the first screw member 423121, and the two first slide rails 423114 are symmetrically distributed on both sides of the first screw member 423121. The first slider 423115 is installed at the position of the arm opening and closing transmission mounting plate 426 corresponding to the slide rail, and the first slider 423115 is slidably connected to the first slide rail 423114. First limit blocks 423115 are installed at both ends of the first slide rail 423114 to limit the position of the first slider 423115. An L-shaped lifting trigger 4261 is fixedly mounted on the arm opening and closing transmission mounting plate 426, and lifting induction sensors 4262 are arranged at both ends of the length direction of the first screw member 423121 on the frame 1, and the lifting induction sensors 4262 are arranged as infrared sensors. When the lifting trigger 4261 blocks and triggers the lifting induction sensor 4262, that is, the arm opening and closing transmission mounting plate 426 reaches the extreme position, the lifting drive member 4232 stops rotating at this time to protect the manipulator mechanism.

[0106] The lifting drive member 4232 converts the rotary motion into linear motion through the first pulley transmission assembly 42311 and the first screw transmission assembly 42312 in sequence, thereby realizing the lifting action of the manipulator mechanism.

[0107] Reference Fig. 9 The X-axis opening and closing drive assembly 424 is arranged on the arm opening and closing transmission mounting plate 426, and includes an opening and closing transmission member 4241 and an opening and closing drive member 4242. Two opening and closing drive members 4242 are provided, and are symmetrically distributed on the arm opening and closing transmission mounting plate 426. The opening and closing drive member 4242 drives the two fixed arms 421 to open and close through the opening and closing transmission member 4241, thereby realizing the approach and distance of the clamp 41. The opening and closing drive member 4242 is set as a stepping motor.

[0108] Reference Fig. 9 and Fig.10 The opening and closing transmission member 4241 includes a first gear rack transmission assembly, which is installed on the arm opening and closing transmission mounting plate 426 through a connecting plate 4243.

[0109] The first gear rack transmission assembly includes a first spur rack 42411 and a first spur gear 42412 that are meshed and connected. The length direction of the first spur rack 42411 is perpendicular to the length direction of the first screw member 423121, and is fixedly mounted on the side of the connecting plate 4243 away from the engaging transmission mounting plate 426. Second slide rails 42413 parallel to the length direction of the first spur rack 42411 are fixedly mounted on both sides of the connecting plate 4243 along the length direction of the first spur rack 42411, and two groups of second sliders 42414 are slidably connected to the second slide rails 42413, and second limit blocks 42415 are fixedly mounted on both ends of the second slide rails 42413. An opening and closing installation frame 427 integrally connected to the fixed arm 421 is fixedly installed on each set of second sliders 42414, an opening and closing driving member 4242 is installed in the opening and closing installation frame 427, a first spur gear 42412 is fixedly installed on a driving shaft of the opening and closing driving member 4242, and the first spur gear 42412 is meshedly connected to the first spur rack 42411. The opening and closing driving member 4242 converts the rotary motion of the opening and closing driving member 4242 into a linear motion through the first gear rack transmission assembly to drive the opening and closing motion of the fixed arm 421.

[0110] The connection plate 4243 is provided with limit sensors 4244 on both sides near its symmetry line, and the limit sensors 4244 are infrared sensors. The opening and closing mounting frame 427 is fixedly provided with an opening and closing triggering member 4245 that moves synchronously with the opening and closing driving member 4242. When the two opening and closing driving members 4242 approach each other to the symmetry line of the connection plate 4243, the opening and closing triggering member 4245 triggers the limit sensors 4244, so that the two opening and closing driving members 4242 are not likely to collide, which is beneficial to protecting the opening and closing driving members 4242. In addition, the limit sensors 4244 can also be installed on both sides of the connection plate 4243 to further limit the maximum displacement distance of the opening and closing driving member 4242.

[0111] Reference Fig.11 The Y-axis telescopic drive assembly 425 is arranged on the arm opening and closing transmission mounting plate 426, and includes a telescopic transmission member 4251 and a telescopic drive member 4252. The telescopic drive member 4252 is installed on the arm opening and closing transmission mounting plate 426 through an extension plate. The telescopic drive member 4252 drives the telescopic action of the telescopic arm 422 through the telescopic transmission member 4251, so that the clamp 41 is close to or away from the object. The telescopic drive member 4252 is set as a stepping motor.

[0112] The telescopic transmission member 4251 includes a power transmission component and a motion transmission component. The power transmission component is transmission-connected to the power output end of the telescopic driving member 4252 . The motion transmission component is transmission-connected to the power output end of the power transmission component. The power output end of the motion transmission component is connected to the telescopic arm 422 .

[0113] Reference Fig.12and Fig.13 The power transmission assembly includes a second pulley transmission assembly 42511, a bearing group 42512, a third pulley transmission assembly 42513, and a spline transmission shaft 42514.

[0114] The motion transmission assembly includes a fourth pulley transmission assembly 42515 and a second rack and pinion transmission assembly 42516 .

[0115] The second pulley transmission assembly 42511 includes a second driving wheel 425111 and a second driven wheel 425112, and a second synchronous belt 425113 wound around the second driving wheel 425111 and the second driven wheel 425112 to drive the two wheels to rotate synchronously.

[0116] The bearing assembly 42512 includes a spline shaft 425121, key bearings 425122 slidably connected at both ends of the spline shaft 425121, and a bearing seat 425123 for mounting the key bearing 425122, as well as a coaxially arranged retaining ring 425124, a locking nut 425125, a ball spline sleeve 425126, a ball spline 425127, and a retaining ring 425128. The spline shaft 425121 can drive the key bearing 425122 to rotate synchronously.

[0117] The third pulley transmission assembly 42513 includes a third driving wheel 425131 and a third driven wheel 425132, and a third synchronous belt 425133 wound around the outside of the third driving wheel 425131 and the third driven wheel 425132 to drive the two to rotate synchronously, and also includes a guide wheel 425134 and a first tension wheel 425135. The third synchronous belt 425133 is wound around the outside of the guide wheel 425134, and the first tension wheel 425135 is pressed against the outside of the third synchronous belt 425133. The guide wheel 425134 is conducive to the reasonable planning of the transmission path of the third pulley transmission assembly 42513 and saves space. The first tension wheel 425135 increases the surface tension of the third synchronous belt 425133, making the third pulley transmission assembly 42513 more stable.

[0118] Reference Fig.14 and Fig.15 The fourth pulley transmission assembly 42515 includes a fourth driving wheel 425151 and a fourth driven wheel 425152, and a fourth synchronous belt 425153 wound around the outer sides of the fourth driving wheel 425151 and the fourth driven wheel 425152 to drive the two to rotate synchronously, and also includes a second tensioner 425154.

[0119] The second gear rack transmission assembly 42516 includes a mutually meshing helical gear 425161 and a helical rack 425162. The helical gear 425161 and the helical rack 425162 have the advantages of stable transmission, low noise and large bearing capacity, especially when the clamp 41 is clamping an object, the telescopic arm 422 needs to have a certain bearing capacity while moving.

[0120] Among them, the second driving wheel 425111 is fixedly installed on the end of the driving shaft of the telescopic driving member 4252, and the second driven wheel 425112 is sleeved and installed in the middle of the spline shaft 425121 to drive the spline shaft 425121 to rotate synchronously. The two ends of the spline shaft 425121 are rotatably connected to the connecting plate 4243. The key bearings 425122 at both ends of the spline shaft 425121 are symmetrically arranged with the second driven wheel 425112 as the symmetry point, and are embedded in the bearing seat 425123, and the bearing seat 425123 is fixedly installed at the angle formed by the connecting plate 4243 and the opening and closing installation frame 427.

[0121] The third driving wheel 425131 is sleeved on both ends of the spline shaft 425121 and is located on the side of the bearing seat 425123 away from the second driven wheel 425112. The spline shaft 425121 drives the third driving wheel 425131 to rotate synchronously. The third driven wheel 425132 is rotatably mounted on the opening and closing mounting frame 427, and the guide wheel 425134 and the first tensioning wheel 425135 are rotatably mounted on the bearing seat 425123. The third driving wheel 425131, the third driven wheel 425132, the guide wheel 425134 and the first tensioning wheel 425135 are located on the same horizontal plane perpendicular to the chassis 11. The third driving wheel 425131 drives the third driven wheel 425132, the guide wheel 425134 and the first tensioning wheel 425135 to rotate synchronously through the third synchronous belt 425133.

[0122] The third driven wheel 425132 is sleeved on one end of the spline transmission shaft 42514. The end of the spline shaft 425121 is rotatably mounted on the opening and closing mounting frame 427, and the other end is rotatably mounted on the side wall of the fixed arm 421 close to the frame 1. The third driven wheel 425132 drives the spline shaft 425121 to rotate synchronously. The fourth driving wheel 425151 is sleeved on the end of the spline shaft 425121 away from the third driven wheel 425132 and is located on the inner wall of the fixed arm 421. The spline shaft 425121 drives the fourth driving wheel 425151 to rotate synchronously. The fourth driven wheel 425152 is rotatably mounted on the same side wall of the fixed arm 421 where the fourth driving wheel 425151 is disposed. The second tensioning wheel 425154 is mounted on the side wall of the fixed arm 421 and is pressed against the outer side of the fourth synchronous belt 425153. The third driving wheel 425131 drives the third driven wheel 425132 and the second tensioning wheel 425154 to rotate synchronously through the fourth synchronous belt 425153.

[0123] The fourth driven wheel 425152 is sleeved with a connecting shaft 428, and the fourth driven wheel 425152 drives the connecting shaft 428 to rotate synchronously. The bevel gear 425161 is sleeved on the end of the connecting shaft 428, and the bevel gear 425161 is driven by the connecting shaft 428 to rotate synchronously. The bevel rack 425162 is fixedly installed in the telescopic arm 422 and distributed along the length direction of the telescopic arm 422. The third slide rail 425136 is installed inside the fixed arm 421 along its length direction, and the outer wall of the telescopic arm 422 is installed with a slide bar 4251367 embedded in the third slide rail 425136. The bevel gear 425161 drives the bevel rack 425162 to move, thereby driving the telescopic arm 422 to telescope and move along the third slide rail 425136 in the fixed arm 421.

[0124] Therefore, the telescopic drive member 4252 drives the telescopic action of the telescopic arm 422 in sequence through the second pulley transmission assembly 42511, the bearing assembly 42512, the third pulley transmission assembly 42513, the spline transmission shaft 42514, the fourth pulley transmission assembly 42515 and the second gear rack transmission assembly 42516. The rotary motion of the telescopic drive member 4252 is converted into the linear motion of the telescopic arm 422, thereby driving the telescopic action of the telescopic arm 422.

[0125] Position sensing sensors 4221 are installed at the front and rear of the telescopic arm 422. The position sensing sensors 4221 are set as infrared sensors. Trigger rods for triggering and blocking the infrared sensors are installed at the front and rear ends of the fixed arm 421. The infrared sensor is conducive to limiting the maximum and minimum displacement distances of the telescopic arm 422, so that the telescopic arm 422 is not easy to hit the end of the fixed arm 421, which is conducive to protecting the telescopic arm 422.

[0126] A camera 43 is installed at the end of the telescopic arm 422 away from the fixed arm 421. When the clamp 41 pre-clamps an object, the camera 43 first takes a picture of the object and the environment in which it is located, and determines whether the clamp 41 is in the pre-clamping position of the object based on image recognition and other operations, thereby correcting the position of the clamp 41 so that the clamp 41 can clamp the object correctly and improve the clamping accuracy of the manipulator mechanism.

[0127] The cooperation between the Z-axis lifting drive assembly 423, the X-axis opening and closing drive assembly 424 and the Y-axis telescopic drive assembly 425 enables the clamp 41 to approach or move away from and pick up and place the target object, so as to achieve the picking and placing of the target object.

[0128] Reference Fig.16 The clamp 41 includes a base 411 , an elastic limiter 412 and a clamping induction sensor 413 .

[0129] The base 411 is fixedly mounted on the end of the telescopic arm 422 away from the fixed arm 421 , and a receiving groove 4111 is provided in the middle position of the opposite side of the base 411 .

[0130] The elastic limiting member 412 is installed in the receiving groove 4111, and includes a limiting seat 4121, an elastic member 4122 and a limiting pin 4123. The limiting seat 4121 is fixedly installed inside the base 411. The elastic member 4122 is sleeved on the limiting pin 4123, and one end of the elastic member 4122 is fixedly installed with the limiting seat 4121, and the other end is fixedly installed with the limiting pin 4123. The extension direction of the limiting pin 4123 is perpendicular to the extension direction of the telescopic arm 422.

[0131] The clamping induction sensor 413 is disposed at the bottom of the accommodating groove 4111 and is directly opposite to the telescopic end of the limiting pin 4123 .

[0132] When the clamps 41 approach each other and clamp the object, the limit pin 4123 contacts the object. When the limit pin 4123 retracts, the clamping sensor 413 detects the limit pin 4123. If both clamping sensors 413 are triggered, it is determined that the clamp 41 has clamped the object, the opening and closing drive member 4242 stops rotating, the clamp 41 clamps the object, and the manipulator mechanism performs the next operation. After the manipulator places the object at the set position, the clamps 41 move away from each other. At this time, the elastic member 4122 releases elastic potential energy to help the limit pin 4123 reset.

[0133] A clamping groove 4112 is provided on the opposite side of the base 411, and a buffer layer 4113 is installed in the clamping groove 4112, and the buffer layer 4113 is set as a rubber layer. The clamping groove 4112 increases the contact area between the clamp 41 and the object, so that the clamp 41 wraps the edge of the part to be clamped of the object, which is conducive to increasing the stability of the clamp 41 clamping the object. On the one hand, the buffer layer 4113 is conducive to buffering the collision between the clamp 41 and the object, which is conducive to protecting the clamp 41 and the object; on the other hand, it increases the friction between the clamp 41 and the object, and further improves the stability of the clamp 41 clamping.

[0134] Reference Fig.17 The stage device 5 includes a displacement mechanism 51 and a plurality of stages mechanisms 52 .

[0135] The displacement mechanism 51 includes a displacement driving member 511, a displacement transmission assembly 512 and a stage mounting seat 513. The displacement driving member 511 is configured as a stepping motor. The displacement transmission assembly 512 includes a second screw member 5121 and a second nut member 5122 which are threadedly connected. Both ends of the second screw member 5121 are rotatably mounted on the frame 1 and are perpendicular to the chassis 11. One end of the second screw member 5121 is fixedly mounted on the driving shaft of the displacement driving member 511, and the displacement driving member 511 drives the rotation of the second screw member 5121. The stage mounting seat 513 is fixedly mounted on the second nut member 5122, and a fourth slider 514 is fixedly mounted on the stage mounting seat 513. A fourth slide rail 515 parallel to the second screw member 5121 is mounted on both sides of the second screw member 5121 on the frame 1, and the fourth slider 514 is slidably connected to the fourth slide rail 515. The second screw member 5121 rotates to drive the second nut member 5122 to move, thereby driving the stage mounting seat 513 to slide and connect to the frame 1. An L-shaped stage trigger member 5131 is fixedly installed on the stage mounting seat 513, and stage sensing sensors 5132 are installed on the frame 1 at both ends along the length direction of the second screw member 5121. The stage sensing sensors 5132 are set as infrared sensors. When the stage trigger member 5131 is raised and lowered with the stage mounting seat 513, once the stage sensing sensor 5132 is blocked and triggered by the stage trigger member 5131, the displacement driving member 511 stops rotating, that is, the stage mounting seat 513 reaches the limit position to protect the stage mounting seat 513.

[0136] Multiple sets of platform mechanisms 52 are used to carry articles, and the platform mechanisms 52 are arranged at intervals, including fixed platforms 521 and movable platforms 522. The fixed platform 521 is fixedly mounted on the frame 1, and the movable platform 522 is fixedly mounted on the platform mounting seat 513. The movable platform 522 can follow the displacement of the manipulator mechanism to reduce the action steps of the manipulator mechanism, thereby facilitating improving work efficiency.

[0137] Reference Fig.18, the carrier mechanism 52 is provided with: a radio frequency component 523 for identifying the radio frequency tag on the object placed on the carrier mechanism 52; a positioning component 524 for identifying whether there is an object placed on the carrier mechanism 52; and an indicator light component 525 for indicating the working status of the carrier mechanism 52. The radio frequency component 523, the positioning component 524 and the indicator light component 525 are all electrically connected to the control system. The radio frequency component 523 is set as a radio frequency reader, which is convenient for identifying the radio frequency tag on the object, monitoring the location and transportation status of the object in real time, so as to manage the object. The positioning component 524 is set as a trigger button, a switch or other sensor, etc., which is used to identify whether there is an object on the carrier, so as to facilitate the control system to control the operation of the manipulator. The indicator light component 525 is set as an LED lamp, which is installed on the side of the carrier mechanism 52, so as to indicate the working status of the carrier mechanism 52 in real time, so that the staff can monitor the working status of the robot, thereby judging whether the robot is charged, etc.

[0138] An operation interface is also installed on the side of the frame 1 away from the clamping device 4, which is convenient for the staff to debug and set the parameters of the robot.

[0139] The implementation principle of the dual-arm autonomous transport robot of the present application embodiment is as follows: the unmanned transport vehicle 2 can realize the autonomous movement of the robot. And when the unmanned transport vehicle 2 does not need to turn around, the rotary drive device 3 can make the frame 1 rotate to a set angle so that the gripping device 4 is aligned with the object to be gripped. And at the same time, the stage device 5 that can move with the gripping device 4 is conducive to saving the operation steps of the gripping device 4, thereby saving operation time and improving work efficiency.

[0140] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. Dual-arm autonomous handling robot, characterized by: include: A frame (1) comprising a chassis (11) and a support frame (12) fixed to the upper part of the chassis (11); An unmanned guided vehicle (2), used for carrying the frame (1) and driving the frame (1) to move; A rotation drive device (3) is disposed between the frame (1) and the unmanned guided vehicle (2), driving the frame (1) to rotate on the unmanned guided vehicle (2); The gripping device (4) comprises two manipulator mechanisms, the two manipulator mechanisms are symmetrically arranged on both sides of the support frame (12), each of the manipulator mechanisms comprises a clamp (41) for gripping an object and a telescopic combined arm (42) for driving the clamp (41) to move closer to or away from the object; a platform device (5), arranged on the support frame (12) and used for carrying articles; and A control system, used to control the walking motion of the unmanned guided vehicle (2), control the rotation angle of the rotary drive device (3), and control the motion of the manipulator mechanism; The rotary drive device (3) comprises a rotary drive member (31) and a rotary transmission assembly (32), wherein the rotary drive member (31) is fixedly connected to the chassis (11), and the rotary transmission assembly (32) is connected to the unmanned guided vehicle (2) and the chassis (11); the rotary transmission assembly (32) comprises: a bottom plate (321) fixedly connected to the unmanned guided vehicle (2); A toothed disc (323) is fixedly connected to a side of the bottom plate (321) away from the unmanned guided vehicle (2); a transmission gear (324) is meshingly connected to the outer peripheral side of the toothed disc (323) and is transmission-connected to the power output end of the rotating drive member (31); a fixed guide ring (322) fixedly connected to a side of the base plate (321) away from the unmanned guided vehicle (2) and coaxially arranged with the toothed disc (323); and a support roller (325) fixedly connected to a side of the base plate (11) close to the base plate (321), wherein a plurality of support rollers (325) are arranged in a circular array on the outer peripheral side of the fixed guide ring (322), and the peripheral wall of the support roller (325) is tightly arranged against the peripheral wall of the fixed guide ring (322); The support rollers (325) are provided in plurality and are distributed in a circular array on the circumference of the fixed guide ring (322). The support rollers (325) rotate around the outer circumference of the fixed guide ring (322). The support rollers (325) include a plurality of spur wheels and eccentric wheels distributed in a circular array on the circumference of the fixed guide ring (322), and the polygon formed by the plurality of spur wheels does not include / cover the center of the transmission gear (324). During installation, the side of the eccentric wheel with a smaller radius is first brought close to the toothed disc (323). After the fixed guide ring (322) is installed, the side of the eccentric wheel with a larger inner diameter is rotated in the direction of the toothed disc (323), so that the support rollers (325) are pressed against the circumference of the fixed guide ring (322). A curved dustproof piece (33) for shielding the supporting rollers (325) is provided on one side of the bottom plate (321) close to the bottom plate (11); the curved dustproof piece (33) surrounds a plurality of supporting rollers (325); and the curved dustproof piece (33) does not contact the bottom plate (11); The clamp (41) comprises: A base (411) fixedly connected to an end of the telescopic combined arm (42) away from the frame (1); an elastic limiting member (412) disposed on one side opposite to the two bases (411), comprising a limiting seat (4121), an elastic member (4122) and a limiting pin (4123), wherein the limiting seat (4121) is fixedly connected to the base (411), the elastic member (4122) is sleeved on the limiting pin (4123), and one end of the elastic member (4122) is fixedly connected to the limiting seat (4121) and the other end of the elastic member (4122) is fixedly connected to the limiting pin (4123); and A clamping induction sensor (413), arranged in the base (411) and used for detecting the position of the limit pin (4123); A clamping groove (4112) is provided on one opposite side of the two bases (411), and a buffer layer (4113) is provided in the clamping groove (4112).

2. The dual-arm autonomous handling robot according to claim 1, characterized in that: The telescopic combined arm (42) comprises: a fixed arm (421), an X-axis opening and closing drive assembly (424), a telescopic arm (422), a Y-axis telescopic drive assembly (425), and a Z-axis lifting drive assembly (423); An arm opening and closing transmission mounting plate (426) is vertically slidably mounted on the frame (1); The fixed arm (421) is mounted on the arm opening and closing transmission mounting plate (426) via an X-axis opening and closing driving assembly (424); The X-axis opening and closing drive assembly (424) comprises an opening and closing drive member (4242) and an opening and closing transmission member (4241); the opening and closing drive member (4242) is mounted on the fixed arm (421) or on the arm opening and closing transmission mounting plate (426); the opening and closing transmission member (4241) is in transmission connection with the opening and closing drive member (4242); and the opening and closing transmission member (4241) is connected between the arm opening and closing transmission mounting plate (426) and the fixed arm (421) to drive the fixed arms (421) on both sides to perform relative opening and closing movements; The telescopic arm (422) is coaxially arranged with the fixed arm (421) and is slidably connected to the fixed arm (421) along the axial direction of the fixed arm (421); the clamp (41) is arranged at an end of the telescopic arm (422) away from the fixed arm (421); The Y-axis telescopic drive assembly (425) comprises a telescopic drive member (4252) and a telescopic transmission member (4251) which is transmission-connected to the telescopic drive member (4252); the telescopic transmission member (4251) is connected between the fixed arm (421) and the telescopic arm (422) to drive the telescopic arm (422) to perform a telescopic movement relative to the fixed arm (421); The Z-axis lifting drive assembly (423) comprises a lifting drive member (4232) and a lifting transmission member (4231) that is transmission-connected to the lifting drive member (4232); the lifting transmission member (4231) is connected between the lifting drive member (4232) and the arm opening and closing transmission mounting plate (426) to drive the arm opening and closing transmission mounting plate (426) to lift and lower.

3. The dual-arm autonomous transport robot according to claim 2, characterized in that: The lifting transmission member (4231) comprises a first pulley transmission assembly (42311) and a first screw transmission assembly (42312) which are in transmission connection with each other; the first pulley transmission assembly (42311) is in transmission connection with the lifting drive member (4232); the first screw transmission assembly (42312) is vertically arranged on the frame (1) and is in transmission connection with the arm opening and closing transmission mounting plate (426).

4. The dual-arm autonomous handling robot according to claim 2, characterized in that: The opening and closing driving member (4242) is connected to the fixed arm (421), and the opening and closing transmission member (4241) includes a first gear rack transmission assembly, and the first gear rack transmission assembly includes a first spur gear (42412) connected to the power output end of the opening and closing driving member (4242) and a first spur rack (42411) fixed to the arm opening and closing transmission mounting plate (426), and the opening and closing driving members (4242) connected to the fixed arms (421) on both sides have driving directions opposite to each other.

5. The dual-arm autonomous handling robot according to claim 2, characterized in that: The opening and closing driving member (4242) is provided with a limit sensor (4244), and the limit sensor (4244) is connected to a control system to limit the distance between the two opening and closing driving members (4242).

6. The dual-arm autonomous transport robot according to claim 2, characterized in that: The telescopic transmission member (4251) comprises a power transmission component and a motion transmission component, the power transmission component is transmission-connected to the power output end of the telescopic drive member (4252), the motion transmission component is transmission-connected to the power output end of the power transmission component, and the power output end of the motion transmission component is connected to the telescopic arm (422).

7. The dual-arm autonomous transport robot according to claim 6, characterized in that: The telescopic drive member (4252) is fixed to the arm opening and closing transmission mounting plate (426); the power transmission assembly comprises a second pulley transmission assembly (42511) transmission-connected to the power output end of the telescopic drive member (4252), a spline shaft (425121) coaxially connected to the power output end of the second pulley transmission assembly (42511), and a third pulley transmission assembly (42513) transmission-connected to the spline shaft (425121), wherein the third pulley transmission assembly (42513) is connected to the fixed arm (421), and the third pulley transmission assembly (42513) is slidingly connected to the spline shaft (425121) in the axial direction of the spline shaft (425121).

8. The dual-arm autonomous transport robot according to claim 7, characterized in that: The motion transmission assembly comprises a spline transmission shaft (42514) coaxially connected to the power output end of the third pulley transmission assembly (42513) and a fourth pulley transmission assembly (42515) transmission-connected to the spline transmission shaft (42514); the power output end of the fourth pulley transmission assembly (42515) is transmission-connected to a second rack and pinion transmission assembly (42516); the gear of the second rack and pinion transmission assembly (42516) is coaxially connected to the power output end of the fourth pulley transmission assembly (42515); and the rack of the second rack and pinion transmission assembly (42516) is fixedly connected to the telescopic arm (422).

9. The dual-arm autonomous transport robot according to claim 2, characterized in that: Position sensing sensors (4221) are provided at the front and rear of the telescopic arm (422), and the position sensing sensors (4221) are connected to a control system to limit the telescopic arm (422) from extending out of the fixed arm (421) to a maximum position or a minimum position.

10. The dual-arm autonomous transport robot according to claim 2, characterized in that: A camera (43) is provided at the end of the telescopic arm (422) away from the fixed arm (421); the camera (43) is connected to a control system to correct the position of the clamp (41) based on vision.

11. The dual-arm autonomous transport robot according to claim 1, characterized in that: The stage device (5) comprises: A displacement mechanism (51), comprising a displacement driving member (511), a displacement transmission assembly (512) transmission-connected to a power output end of the displacement driving member (511), and a platform mounting seat (513), wherein the platform mounting seat (513) is vertically slidably connected to the frame (1), the displacement driving member (511) is electrically connected to the control system, and the displacement transmission assembly (512) is connected between the platform mounting seat (513) and the frame (1) to drive the platform mounting seat (513) to slide relative to the frame (1); and A plurality of groups of platform mechanisms (52), each platform mechanism (52) being arranged at intervals, and comprising a fixed platform (521) and a movable platform (522), wherein the fixed platform (521) is fixedly connected to the top and / or bottom of the frame (1), and the movable platform (522) is fixedly connected to the platform mounting seat (513).

12. The dual-arm autonomous transport robot according to claim 11, characterized in that: The platform mechanism (52) is provided with: A radio frequency component (523) used for identifying a radio frequency tag on a target object placed on the carrier mechanism (52); a positioning component (524), used for identifying whether a target object is placed on the carrier mechanism (52); and An indicator light assembly (525) for indicating the working state of the stage mechanism (52); The radio frequency component (523), the positioning component (524) and the indicator light component (525) are all electrically connected to the control system.

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