Mobile robot

Abstract

The invention describes a mobile robot which comprises a vehicle body provided with at least one storage position used for placing a material box for loading a material plate; the first clamping assembly is arranged at the storage position, and the first clamping assembly comprises a first material box clamping piece and a second material box clamping piece which can move relatively; the second clamping assembly is arranged at the storage position, and the second clamping assembly comprises a first material plate clamping piece and a second material plate clamping piece which can move relatively; and the clamping driving assembly is connected with the first clamping assembly and the second clamping assembly, and the clamping driving assembly is used for driving the first material box clamping piece and the second material box clamping piece to move to clamp the material box and driving the first material plate clamping piece and the second material plate clamping piece to move to clamp the material plate when the material box is placed at the storage position. Therefore, the material box can be clamped and fixed, the material plate can also be clamped and fixed, and the stability of the material plate in the carrying process is greatly improved through the double-fixing structure.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mobile robot. Background Art

[0002] At present, in various stages of the manufacturing or processing procedures of semiconductor products (such as the packaging and testing stage), material boxes (also called carrier material boxes, PCB board material boxes) are usually used to batch load various types of semiconductor component products (such as PCB boards with chips) for transportation, positioning and storage.

[0003] However, semiconductor production factories have extremely high requirements for the cleanliness and safety of their products. If the material boxes are not placed stably during transportation, there is a risk of them falling. Once the material boxes fall, the material plates inside the boxes will be contaminated or even damaged, causing the company to suffer huge production losses. Summary of the invention

[0004] In view of the above existing situation, the present invention provides a mobile robot.

[0005] To this end, the present invention provides a mobile robot, comprising: a vehicle body, provided with at least one storage position, wherein the storage position is used to place a material box loaded with material sheets; a first clamping assembly, arranged in the storage position, the first clamping assembly comprising a first material box clamp and a second material box clamp that can move relative to each other; a second clamping assembly, arranged in the storage position, the second clamping assembly comprising a first material sheet clamp and a second material sheet clamp that can move relative to each other; a clamping drive assembly, connected to the first clamping assembly and the second clamping assembly, the clamping drive assembly being used to drive the first material box clamp and the second material box clamp to move to clamp the material box, and drive the first material sheet clamp and the second material sheet clamp to move to clamp the material sheet when the material box is placed in the storage position.

[0006] In the present invention, the first clamping assembly includes a first material box clamping member and a second material box clamping member that can move relative to each other, and the second clamping assembly includes a first material board clamping member and a second material board clamping member that can move relative to each other. The clamping drive assembly drives the first material box clamping member and the second material box clamping member to move to clamp the material box, and drives the first material board clamping member and the second material board clamping member to move to clamp the material board. Therefore, the present invention can not only clamp and fix the material box, but also clamp and fix the material board. The double fixing structure greatly improves the stability of the material board during transportation, and better adapts to the transportation requirements of semiconductor products with stricter production processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Embodiments of the present invention will now be explained in further detail, by way of example only, with reference to the accompanying drawings, in which:

[0008] Figure 1 It is a schematic diagram showing the overall structure of the mobile robot involved in the present application.

[0009] Figure 2 is an exploded view showing the mobile robot involved in the present application.

[0010] Figure 3 is another exploded view showing the mobile robot involved in the present application.

[0011] Figure 4 It is a schematic diagram showing the overall structure of the material box and material plate involved in the present application.

[0012] Figure 5 It is a schematic diagram showing the overall structure of the storage location involved in this application.

[0013] Figure 6 is an exploded view showing the storage location involved in the present application.

[0014] Figure 7 It is a partial exploded view showing the first clamping assembly and the second clamping assembly of the present application.

[0015] Figure 8 It is another overall structural schematic diagram showing the storage location involved in the present application.

[0016] Fig. 9 It is a schematic diagram showing the overall structure of the shock absorbing assembly involved in the present application.

[0017] Fig.10 is a cross-sectional view showing the shock absorbing assembly involved in the present application.

[0018] Fig.11 It is a schematic diagram showing the overall structure of the clamping mechanism involved in the present application.

[0019] Fig.12 It is a schematic diagram showing the partial internal structure of the clamping mechanism involved in the present application.

[0020] Fig.13 is a partial exploded view showing the clamping mechanism involved in the present application.

[0021] Fig.14 is an exploded view showing the pole assembly involved in the present application.

[0022] 1. Car body; 200. Robot arm; 300. Material box; 3001. Positioning aluminum plate; 3002. Groove; 400. Material plate; 10. Storage position; 101. Support plate; 102. Top plate; 103. Support plate; 20. First clamping assembly; 201. First material box clamping piece; 202. Second material box clamping piece; 203. Clamping spring; 204. Bushing; 205. Pin; 30. Second clamping assembly; 301. First material plate clamping piece; 302. Second material plate clamping piece; 40. Clamping drive assembly; 401. Gear; 402. First rack; 403. Second rack; 50. Guide structure; 501. First slider; 502. First slide rail; 503. Second slider; 504. Second slide rail; 60. Shock absorber assembly ;601, top kit;6011, first protrusion;602, bottom kit;6021, second protrusion;603, flexible member;604, first spring;70, clamping jaw mechanism;701, clamping jaw assembly;7011, parallel clamping jaw;7012, positioning bearing;702, holding rod assembly;7021, connecting arm;7022, guide block;70221, limiting part;70222, guiding part;7023, sleeve rod;70231, slot;7024, second spring;7025, fixing block;703, shell;7031, first limiting part;7032, second limiting part;7033, proximity sensor;80, first connecting plate;90, second connecting plate;1001, first clamping base;1002, second clamping base. DETAILED DESCRIPTION

[0023] Hereinafter, with reference to the accompanying drawings, the preferred embodiments of the present invention will be described in detail. In the following description, the same symbols are given to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components or the shapes of the components may be different from the actual ones.

[0024] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0025] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0026] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0027] In the manufacturing of semiconductor products, semiconductor production factories have extremely high requirements for the cleanliness and safety of products. If the material box 300 is not placed stably during transportation, there is a risk of falling. Once the material box 300 falls, it will cause contamination or even damage to the material plate 400 in the material box 300, causing the company to suffer huge production losses.

[0028] Reference Figure 4 , the two sides of the existing material box 300 for loading material sheets 400 are open. If the material boxes 300 are simply stacked on the transfer robot, the material sheets 400 in the material box 300 are likely to fall out from the open sides of the material box 300 due to inertia and other reasons when the transfer robot brakes suddenly, turns, or encounters bumps during driving, thereby contaminating the material sheets 400. In addition, in order to fully accommodate the material sheets 400, the storage space in the material box 300 will be slightly larger than the space required for loading the material sheets 400, which will also cause the material sheets 400 loaded in the material box 300 to shake and rub slightly. If some debris is generated, it will also affect the cleanliness of the material sheets 400.

[0029] Based on the above existing situation, refer to Figures 1 to 7 The present invention provides a mobile robot, comprising: a vehicle body 100, provided with at least one storage position 10, the storage position 10 is used to place a material box 300 loaded with a material plate 400; a first clamping assembly 20, arranged in the storage position 10, the first clamping assembly 20 includes a first material box clamp 201 and a second material box clamp 202 capable of relative movement; a second clamping assembly 30, arranged in the storage position 10, the second clamping assembly 30 includes a first material plate clamp 301 and a second material plate clamp 302 capable of relative movement; a clamping drive assembly 40, connected to the first clamping assembly 20 and the second clamping assembly 30, the clamping drive assembly 40 is used to drive the first material box clamp 201 and the second material box clamp 202 to move to clamp the material box 300, and drive the first material plate clamp 301 and the second material plate clamp 302 to move to clamp the material plate 400 when the material box 300 is placed in the storage position 10.

[0030] In this embodiment, the clamping drive assembly 40 drives the first material box clamping member 201 and the second material box clamping member 202 to move to clamp the material box 300, and drives the first material board clamping member 301 and the second material board clamping member 302 to move to clamp the material board 400. Therefore, the present invention can not only clamp and fix the material box 300, but also clamp and fix the material board 400. The double fixing structure greatly improves the stability of the material board 400 during the transportation process, and better adapts to the transportation requirements of semiconductor products with more stringent production processes.

[0031] Reference Figures 5 to 8 In this embodiment, the storage position 10 has a first side and a second side opposite to the first side. The first material box clamp 201 is arranged on the same side as the first material sheet clamp 301, and the second material box clamp 202 is arranged on the same side as the second material sheet clamp 302. The first material box clamp 201 and the first material sheet clamp 301 are located on the first side of the storage position 10, and the second material box clamp 202 and the second material sheet clamp 302 are located on the second side of the storage position 10. Specifically, when the first clamp 20 and the second clamp 30 of the clamp driving assembly 40 move, the first material box clamp 201 and the second material box clamp 202 move in a direction approaching each other until the material box 300 is clamped, and at the same time, the first material sheet clamp 301 and the second material sheet clamp 302 move in a direction approaching each other until the material sheet 400 is clamped.

[0032] Reference Figure 4 , since the accommodation space in the material box 300 is slightly larger than the space required for loading the material sheet 400. Therefore, in order to fully ensure the stability of transportation, in this embodiment, when the first clamping assembly 20 clamps the material box 300, the distance between the first material box clamping member 201 and the second material box clamping member 202 is the first distance, and when the second clamping assembly 30 clamps the material sheet 400, the distance between the first material sheet clamping member 301 and the second material sheet clamping member 302 is the second distance. Among them, the first distance is greater than the second distance. In this way, compared with the first material box clamping member 201 and the second material box clamping member 202, the first material sheet clamping member 301 and the second material sheet clamping member 302 will be more protruding toward the storage position 10, so that the material sheet 400 can be fully clamped, reducing the possibility of friction and shaking of the material sheet 400 in the material box 300 during transportation.

[0033] In this embodiment, the clamping drive assembly 40 includes: a first transmission member, connecting the first material box clamping member 201 and the first material sheet clamping member 301; a second transmission member, connecting the second material box clamping member 202 and the second material sheet clamping member 302; a clamping drive member, connected to the first transmission member and the second transmission member, for driving the first transmission member and the second transmission member to move, so as to drive the first material box clamping member 201 and the second material box clamping member 202 to move to clamp or release the material box 300, and drive the first material sheet clamping member 301 and the second material sheet clamping member 302 to move to clamp or release the material sheet 400.

[0034] Reference Figure 5 and Figure 6 In some examples, the clamping drive may include a motor and a gear 401 connected to the output shaft of the motor. The first transmission member includes a first rack 402, which drives the first material box clamp 201 and the first material sheet clamp 301 to move, and the second transmission member includes a second rack 403, which drives the second material box clamp 202 and the second material sheet clamp 302 to move. The first rack 402 and the second rack 403 are respectively arranged on both sides of the gear 401 and mesh with the gear 401. The motor is used to drive the gear 401 to rotate, so as to drive the first rack 402 and the second rack 403 to move relative to each other.

[0035] Specifically, refer to Figure 5 and Figure 6 , the first material box clamping member 201 and the first material sheet clamping member 301 are fixedly connected to the first rack 402, and the second material box clamping member 202 and the second material sheet clamping member 302 are fixedly connected to the second rack 403. Before loading, the storage position 10 needs to reserve enough space for the robot or the staff to place the material box 300 loaded with the material sheet 400. After the material box 300 loaded with the material sheet 400 is placed in the storage position 10, the motor drives the gear 401 to rotate in a preset direction, so that the first rack 402 and the second rack 403 are both moved in the direction close to the storage position 10. At this time, the first material box clamping member 201 moves to abut against one side of the material box 300, the first material sheet clamping member 301 abuts against the side of the edge of the material sheet 400, and the second material box clamping member 202 moves to abut against the other side of the material box 300, and the second material sheet clamping member 302 abuts against the other side of the edge of the material sheet 400. Thus, the material box 300 and the material sheet 400 are clamped, so that the material box 300 loaded with the material sheet 400 can be operated more stably. When unloading, the motor driving gear 401 can be controlled to rotate in the opposite direction, so that the first material box clamping member 201, the first material sheet clamping member 301, the second material box clamping member 202, and the second material sheet clamping member 302 are all away from the material box 300 and the material sheet 400, which is convenient for the robot or the staff to remove the material box 300 loaded with the material sheet 400.

[0036] In this embodiment, refer to Figures 1 to 3 The number of storage positions 10 can be multiple, and each storage position 10 is provided with a first clamping assembly 20 and a second clamping assembly 30. The clamping drive assembly 40 is connected to the first clamping assembly 20 and the second clamping assembly 30 on the multiple storage positions 10 to synchronously drive the first material box clamping member 201 and the second material box clamping member 202 on the multiple storage positions 10 to move to clamp the material box 300, and synchronously drive the first material sheet clamping member 301 and the second material sheet clamping member 302 on the multiple storage positions 10 to move to clamp the material sheet 400.

[0037] Reference Figure 5 and Figure 6 In some examples, the first rack 402 is connected to a first connecting plate 80 on a side away from the gear 401, and the top of the first connecting plate 80 is fixedly connected to the first material box clamp 201 and the first material sheet clamp 301 on multiple storage positions 10. The second rack 403 is connected to a second connecting plate 90 on a side away from the gear 401, and the top of the second connecting plate 90 is fixedly connected to the second material box clamp 202 and the second material sheet clamp 302 on multiple storage positions 10. In this way, the first material box clamp 201, the first material sheet clamp 301, the second material box clamp 202 and the second material sheet clamp 302 on multiple storage positions 10 can be linked. In this embodiment, each storage layer can be provided with only one set of gear sets, that is, only one gear 401, one first rack 402, and one second rack 403.

[0038] In addition, refer to Figure 7 In some examples, the mobile robot further includes a first clamping base 1001 and a second clamping base 1002. The bottom of the first clamping base 1001 is fixedly connected to the top of the first connecting plate 80, and the first material box clamping member 201 and the first material sheet clamping member 301 are connected to the side of the first clamping base 1001 facing the storage position 10. The bottom of the second clamping base 1002 is fixedly connected to the top of the second connecting plate 90, and the second material box clamping member 202 and the second material sheet clamping member 302 are connected to the side of the second clamping base 1002 facing the storage position 10.

[0039] In this embodiment, refer to Figure 6, the guide structure 50 is disposed at the storage position 10 and extends along the first direction. The first material box clamp 201 and the second material box clamp 202 are slidably connected to the guide structure 50, and the guide structure 50 is used to guide the first material box clamp 201 and the second material box clamp 202 to move relative to each other along the first direction, and the second material plate clamp 302 and the second material plate clamp 302 are slidably connected to the guide structure 50, and the guide structure 50 is used to guide the first material plate clamp 301 and the second material plate clamp 302 to move relative to each other along the first direction. Of course, in other embodiments, the guide structure 50 is only used to connect the first material box clamp 201 and the second material box clamp 202, or only used to connect the first material plate clamp 301 and the second material box 300 plate clamp. It should be noted that the first direction is the direction in which the first material box clamping member 201 and the second material box clamping member 202 approach each other or move away from each other, that is, it is also the direction in which the first material sheet clamping member 301 and the second material sheet clamping member 302 approach each other or move away from each other. The setting of the guide structure 50 can make the first material box clamping member 201, the second material box clamping member 202, the first material sheet clamping member 301 and the second material sheet clamping member 302 more stable during movement.

[0040] For example, refer to Figure 6 and Figure 8 The storage position 10 is also provided with a support plate 101 for supporting the material box 300. The guide structure 50 includes a first slider 501 and a second slider 503 connected to the support plate 101, a first slide rail 502 connected to the first connecting plate 80, and a second slide rail 504 connected to the second connecting plate 90. The first slide rail 502 is slidably connected to the first slider 501, and the second slide rail 504 is slidably connected to the second slider 503. In other examples, the first slide rail 502 can also be directly connected to the first rack 402, and the second slide rail 504 can also be directly connected to the second rack 403.

[0041] Reference Figure 7In this embodiment, the first clamping assembly 20 further includes a first elastic member, and at least one of the first material box clamping member 201 and the second material box clamping member 202 is connected with the first elastic member, and the first elastic member is used to provide elastic buffering when the first material box clamping member 201 and / or the second material box clamping member 202 abuts against the material box 300. Specifically, the first material box clamping member 201 and the second material box clamping member 202 can both be connected with the first elastic member, so that when clamping the material box 300, the first material box clamping member 201 and the second material box clamping member 202 can respectively apply elastic abutting forces to both sides of the material box 300, and when the transportation encounters bumps, elastic buffering can be provided in the lateral direction of the material box 300, thereby also improving the stability of clamping the material box 300, so as to prevent the situation where the material box 300 cannot be fully clamped due to bumps during transportation. In some embodiments, the first elastic member may be connected only to the first material box clamping member 201, or may be connected only to the second material box clamping member 202. In this way, an elastic pressing force is applied to one side of the material box 300, and elastic buffering can be provided in the lateral direction of the material box 300, and material can be saved.

[0042] In this embodiment, the second clamping assembly 30 further includes a second elastic member, and at least one of the first sheet clamping member 301 and the second sheet clamping member 302 is connected with the second elastic member, and the second elastic member is used to provide elastic buffering when the first sheet clamping member 301 and / or the second sheet clamping member 302 abuts against the sheet 400. Specifically, the first sheet clamping member 301 and the second sheet clamping member 302 can both be connected with the second elastic member, so that when clamping the sheet 400, the first sheet clamping member 301 and the second sheet clamping member 302 can respectively apply elastic abutting forces to the two sides opposite to the edge of the sheet 400, and when the transportation encounters bumps, elastic buffering can be provided in the lateral direction of the sheet 400, thereby also improving the stability of clamping the sheet 400, so as to prevent the sheet 400 from being insufficiently clamped due to bumps during transportation. In some embodiments, the second elastic member may be connected only to the first sheet clamp 301, or may be connected only to the second sheet clamp 302. This can apply an elastic clamping force to one side of the sheet 400, provide elastic buffering in the lateral direction of the sheet 400, and save materials.

[0043] In some examples, the first elastic member may include a clamping spring 203, a sleeve 204 and a pin 205. Among them, a plurality of sleeves 204 are arranged on the first clamping base 1001, and the first clamping base 1001 is correspondingly provided with a plurality of pins 205 that penetrate the sleeves 204. The first material box clamping member 201 and / or the second material box clamping member 202 are connected to the pin 205 by screws, and a clamping spring 203 is provided between the first material box clamping member 201 and / or the second material box clamping member 202 and the first clamping base 1001. Thus, the first material box clamping member 201 and / or the second material box clamping member 202 have a pre-clamping effect on the material box 300. Under the action of the clamping spring 203, the first material box clamping member 201 and / or the second material box clamping member 202 can apply an elastic pressing force to the material box 300.

[0044] In some examples, the specific structure of the second elastic member is consistent with that of the first elastic member, and the connection method of the second elastic member is also consistent with that of the first elastic member, which will not be described in detail. Thus, under the action of the clamping spring 203, the first sheet clamping member 301 and / or the second sheet clamping member 302 can apply an elastic clamping force to the sheet 400.

[0045] In this embodiment, refer to Figure 8 The storage position 10 is provided with a support plate 101 for supporting the material box 300 , and a plurality of shock absorbing components 60 are connected to the bottom of the support plate 101 .

[0046] In some examples, reference Figures 8 to 10 The shock absorbing assembly 60 includes a top assembly 601, which is fixedly connected to the bottom of the support plate 101, and a flexible member 603 is circumferentially sleeved on one end of the top assembly 601 away from the support plate 101, and the top assembly 601 is provided with a cavity communicated with the outside; the shock absorbing assembly 60 also includes a bottom assembly 602, one end of the bottom assembly 602 is sleeved on the top assembly 601, and the other end of the bottom assembly 602 is fixedly connected to the vehicle body 100; a first spring 604 is provided in the cavity of the top assembly 601, and the two ends of the first spring 604 respectively abut against the inner walls of the top assembly 601 and the bottom assembly 602, and under the elastic action of the first spring 604, the top assembly 601 elastically expands and contracts in the bottom assembly 602.

[0047] Specifically, when the material box 300 loaded with the material plate 400 encounters bumps during transportation, the vehicle body 100 will vibrate up and down in the vertical direction. The top kit 601 of the shock-absorbing assembly 60 is connected to the support plate 101 for supporting the material box 300, and the bottom kit 602 is connected to the vehicle body 100, and under the action of the first spring 604, the top kit 601 elastically expands and contracts in the bottom kit 602. Therefore, the support plate 101 can buffer the vertical vibration under the cooperation of the top kit 601, the bottom kit 602 and the first spring 604, thereby slowing down the vertical vibration of the material box 300 supported by the support plate 101, and reducing the possibility of product defects caused by the vibration of the material plate 400 in the material box 300.

[0048] In some examples, the flexible member 603 may be foam, whereby, under the effect of the foam, the shock absorbing component 60 further enhances the anti-vibration effect and can also provide sound insulation and noise reduction.

[0049] In some examples, reference Fig.10 The top kit 601 is provided with a first protrusion 6011, and the bottom kit 602 is provided with a second protrusion 6021. The two ends of the first spring 604 are respectively sleeved on the first protrusion 6011 and the second protrusion 6021. The first protrusion 6011 and the second protrusion 6021 guide the first spring 604 when it is elastically stretched and contracted, and can also limit the displacement of the first spring 604 in the lateral direction.

[0050] In some examples, reference Figure 3 and Figure 5 The storage location 10 further includes a top plate 102 disposed above the support plate 101, and the top plate 102 is spaced apart from the support plate 101. The storage location 10 further includes a support plate 103, and the support plate 103 is used to connect the top plate 102 and the support plate 101. The clamping drive assembly 40 is disposed between the top plate 102 and the support plate 101, that is, the top plate 102 covers the top of the clamping drive assembly 40. Thus, the structure of the clamping drive assembly 40 can be stored inside without being exposed.

[0051] Furthermore, in some other examples, a rubber pad (not shown in the figure) may be provided above the top plate 102, so that the storage space 10 can also have a shock-absorbing effect.

[0052] Reference Figures 1 to 3In some embodiments, the mobile robot is provided with a plurality of material storage layers, and each material storage layer has a plurality of storage positions 10 distributed laterally. Furthermore, the material storage layer has a bearing platform, and the bearing platforms of different material storage layers have different heights from the ground, and the height increases with the increase of the distance between the bearing platform and the robot arm 200. The adoption of this solution can be more conducive to the placement of the material box 300 by the robot arm 200 and the stability of the center of gravity of the robot. Furthermore, the height difference of the bearing platforms of adjacent material storage layers is not less than the height of the material box 300. In some embodiments, the plurality of material storage layers are all arranged on the same side of the robot arm 200, so that the layout of the robot is more compact.

[0053] In this embodiment, the mobile robot further includes a mechanical arm 200 connected to the vehicle body 100 and a clamp mechanism 70 disposed at one end of the mechanical arm 200 away from the vehicle body 100, and the clamp mechanism 70 clamps the material box 300 under the drive of the mechanical arm 200. Exemplarily, the clamp mechanism 70 may include two groups of clamp assemblies 701, and the clamp assemblies 701 include parallel clamps 7011, positioning bearings 7012 disposed inside the parallel clamps 7011, and positioning beads disposed at the bottom of the parallel clamps 7011. When it is necessary to clamp the material box 300, the mechanical arm 200 drives the clamp mechanism 70 to move downward until the positioning beads are pressed onto the surface of the material box 300, and then the two groups of clamp assemblies 701 are closed to clamp the material box 300. The top of the material box 300 is provided with a positioning aluminum plate 3001, and the positioning aluminum plate 3001 has a gap with the top of the material box 300, and the positioning aluminum plate 3001 is provided with a groove 3002 adapted to the positioning bearing 7012. When the two sets of clamping jaw assemblies 701 are closed, the positioning bearing 7012 is placed in the groove 3002 and the parallel clamping jaws 7011 are placed between the positioning aluminum plate 3001 and the material box 300, and the positioning bearing 7012 is used to limit the displacement of the material box 300 in the lateral direction. The mechanical arm 200 moves upward, so that the parallel clamping jaws 7011 lift the positioning aluminum plate 3001 and thus lift the material box 300, and complete the clamping of the material box 300.

[0054] Since the two sides of the existing material box 300 for loading the material sheet 400 are open, if the robot arm 200 is not operated carefully, the material sheet 400 will fall from the openings on both sides of the material box 300. In view of this situation, in this embodiment, the clamping mechanism 70 also includes two holding rod assemblies 702 and a holding rod driving member connected to the holding rod assemblies 702, and the holding rod driving member is used to drive the two holding rod assemblies 702 to rotate, so that the two holding rod assemblies 702 rotate in a direction close to each other until they are against the openings on both sides of the material box 300. Therefore, when the clamping mechanism 70 clamps the material box 300, the holding rod assemblies 702 can block the openings on both sides of the material box 300 to prevent the material sheet 400 from falling.

[0055] In this embodiment, refer to Figures 11 to 14The pole assembly 702 also includes: a connecting arm 7021, one end of which is connected to the pole driving member, and the other end of the connecting arm 7021 is connected to a guide block 7022; a sleeve rod 7023, which has a cavity inside and a slot 70231 penetrating the cavity on one side, and the guide block 7022 penetrates into the sleeve rod 7023 through the slot 70231; a second spring 7024, which is arranged in the cavity, and one end of the second spring 7024 is connected to the guide block 7022; and a fixing block 7025, which is connected to one end of the second spring 7024 away from the guide block 7022 and fixedly connected to the bottom of the sleeve rod 7023.

[0056] When the claw clamp mechanism is clamping the material box 300, the holding rod driving member drives the connecting arm 7021 to move toward the opening on the side of the material box 300, and the connecting arm 7021 drives the sleeve rod 7023 to move to the opening of the material box 300 through the guide block 7022. In addition, in order to fully block the openings on both sides of the material box 300, the holding rod assembly 702 is usually set longer than the opening, but this also makes it easy for the bottom of the holding rod assembly 702 to interfere with the support plate 101 or the external platform when the robot arm 200 clamps or puts down the material box 300. Therefore, the second spring 7024 and the fixed block 7025 are further provided in this embodiment, the fixed block 7025 is connected to the bottom of the sleeve rod 7023, and the second spring 7024 is connected to the fixed block 7025 and the guide block 7022. When the bottom of the holding rod assembly 702 interferes with the support plate 101 or the external platform, the support plate 101 or the external platform pushes the fixed block 7025 to move upward, and at the same time compresses the second spring 7024 and pushes the sleeve rod 7023 connected to the fixed block 7025 to move upward. After the robot arm 200 lifts the material box 300, the bottom of the holding rod assembly 702 is away from the support plate 101 or the external platform, and the fixed block 7025 is also reset to the preset position under the elastic reset action of the second spring 7024, and drives the sleeve rod 7023 connected to the fixed block 7025 to reset to the preset position. As a result, the fixed block 7025 and the sleeve rod 7023 can move up and down under the action of external force, avoiding the interference between the bottom of the holding rod assembly 702 and the support plate 101 or the external platform when the robot arm 200 clamps or puts down the material box 300.

[0057] In some examples, reference Fig.13The guide block 7022 includes a limiting portion 70221 and a guide portion 70222 disposed on one side of the limiting portion 70221. The outer wall of the limiting portion 70221 abuts against the inner wall of the sleeve rod 7023, and the guide portion 70222 is connected to the connecting arm 7021 through the slot 70231. The limiting portion 70221 is placed in the cavity of the sleeve rod 7023, and the outer size of the limiting portion 70221 is larger than the size of the slot 70231 of the sleeve rod 7023, so that the limiting portion 70221 will not escape from the cavity through the slot 70231. One end of the guide portion 70222 is connected to the limiting portion 70221, and the other end is connected to the connecting arm 7021 through the slot 70231. In addition, the slot 70231 of the sleeve rod 7023 extends along the length direction of the sleeve rod 7023 , and the sleeve rod 7023 moves along the direction of the slot 70231 under the action of external force.

[0058] In some examples, the boom drive may be a motor.

[0059] In this embodiment, refer to Figures 11 to 13 The clamp mechanism 70 further includes a housing 703, one end of the connecting arm 7021 away from the guide block 7022 penetrates into the housing 703; a first stopper 7031 is provided inside the housing 703 to abut against the connecting arm 7021 when the connecting arm 7021 rotates to the first preset position, and a second stopper 7032 is provided inside the housing 703 to abut against the connecting arm 7021 when the connecting arm 7021 rotates to the second preset position. Specifically, the holding bar assembly 702 moves between the first preset position and the second preset position, wherein the first preset position is the limit position when the two holding bar assemblies 702 are in an open state, and the second preset position is the limit position where the two holding bar assemblies 702 block the openings on both sides of the material box 300.

[0060] In this embodiment, the first stopper 7031 and the second stopper 7032 are both provided with a proximity sensor 7033 for detecting the position of the connecting arm 7021. Specifically, when the connecting arm 7021 reaches the first preset position, the connecting arm 7021 abuts against the first stopper 7031, and the proximity sensor 7033 sends a sensor signal to the controller, indicating that the placement of the material box 300 has been completed. When the connecting arm 7021 reaches the second preset position, the connecting arm 7021 abuts against the second stopper 7032, and the sensor sends a sensor signal, indicating that the holding arm assembly 702 has completed blocking the opening of the material box 300.

[0061] In this embodiment, the contact surface between the clamping mechanism 70 and the material box 300 is made of polyoxymethylene resin material. Specifically, since the clamping mechanism 70 needs to perform a large amount of clamping work during operation, the applicant has found that the use of polyoxymethylene resin material can prevent the accumulation of charges during a large amount of clamping work, and can achieve technical effects such as anti-static and wear resistance.

[0062] Although the present invention is specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the present invention in any form. Those skilled in the art can deform and change the present invention as needed without departing from the essential spirit and scope of the present invention, and these deformations and changes all fall within the scope of the present invention.

Claims

1. A mobile robot, characterized in that: include: The vehicle body is provided with at least one storage position, wherein the storage position is used to place a material box loaded with material plates; A first clamping assembly, disposed at the storage position, the first clamping assembly comprising a first cartridge clamping member and a second cartridge clamping member capable of relative movement; A second clamping assembly, disposed at the storage position, the second clamping assembly comprising a first sheet metal clamping member and a second sheet metal clamping member capable of relative movement; A clamping drive assembly is connected to the first clamping assembly and the second clamping assembly, and is used to drive the first material box clamping member and the second material box clamping member to move to clamp the material box, and drive the first material sheet clamping member and the second material sheet clamping member to move to clamp the material sheet when the material box is placed in the storage position.

2. The mobile robot according to claim 1, characterized in that: The storage location has a first side and a second side opposite to the first side, the first magazine clamping piece and the first sheet clamping piece are located on the first side of the storage location, and the second magazine clamping piece and the second sheet clamping piece are located on the second side of the storage location.

3. The mobile robot according to claim 2, characterized in that: When the first clamping assembly clamps the material box, the distance between the first material box clamping piece and the second material box clamping piece is a first distance, and when the second clamping assembly clamps the material sheet, the distance between the first material sheet clamping piece and the second material sheet clamping piece is a second distance; Wherein, the first distance is greater than the second distance.

4. The mobile robot according to claim 2, characterized in that: The clamping drive assembly comprises: A first transmission member, connecting the first material box clamping member and the first material plate clamping member; A second transmission member, connecting the second material box clamping member and the second material plate clamping member; A clamping drive member is connected to the first transmission member and the second transmission member, and is used to drive the first transmission member and the second transmission member to move, so as to drive the first material box clamping member and the second material box clamping member to move to clamp or release the material box, and drive the first material sheet clamping member and the second material sheet clamping member to move to clamp or release the material sheet.

5. The mobile robot according to claim 4, characterized in that: The clamping driving member includes a motor and a gear connected to the output shaft of the motor, the first transmission member includes a first rack, the first rack drives the first material box clamping member and the first material sheet clamping member to move, and the second transmission member includes a second rack, the second rack drives the second material box clamping member and the second material sheet clamping member to move; The first rack and the second rack are respectively arranged on both sides of the gear and mesh with the gear. The motor is used to drive the gear to rotate, so as to drive the first rack and the second rack to move relative to each other.

6. The mobile robot according to claim 1, characterized in that: There are multiple storage locations, and each storage location is provided with the first clamping assembly and the second clamping assembly; The clamping drive assembly is connected to the first clamping assembly and the second clamping assembly on the multiple storage positions to synchronously drive the first material box clamping members and the second material box clamping members on the multiple storage positions to move to clamp the material boxes, and synchronously drive the first material sheet clamping members and the second material sheet clamping members on the multiple storage positions to move to clamp the material sheets.

7. The mobile robot according to claim 1, characterized in that: The vehicle body also includes: A guide structure, disposed at the storage position and extending along a first direction; The first material box clamping member and the second material box clamping member are slidably connected to the guide structure, and the guide structure is used to guide the first material box clamping member and the second material box clamping member to move relative to each other along the first direction; and / or, the second material sheet clamping member and the second material sheet clamping member are slidably connected to the guide structure, and the guide structure is used to guide the first material sheet clamping member and the second material sheet clamping member to move relative to each other along the first direction.

8. The mobile robot according to claim 1, characterized in that: The first clamping assembly further comprises a first elastic member, at least one of the first cartridge clamping member and the second cartridge clamping member is connected to the first elastic member, and the first elastic member is used to provide elastic buffering when the first cartridge clamping member and / or the second cartridge clamping member abuts against the cartridge; and / or, The second clamping assembly further comprises a second elastic member, and at least one of the first sheet metal clamping member and the second sheet metal clamping member is connected to the second elastic member, and the second elastic member is used to provide elastic buffering when the first sheet metal clamping member and / or the second sheet metal clamping member abuts against the sheet metal.

9. The mobile robot according to claim 1, characterized in that: The storage position is provided with a support plate for supporting the material box, and the bottom of the support plate is connected with a plurality of shock absorbing components.

10. The mobile robot according to claim 9, characterized in that: The shock absorbing assembly comprises a top kit, the top kit is fixedly connected to the bottom of the support plate, and a flexible member is provided in the circumferential sleeve of one end of the top kit away from the support plate, and the top kit is provided with a cavity communicating with the outside; The shock absorbing assembly further comprises a bottom kit, one end of which is sleeved on the top kit, and the other end of which is fixedly connected to the vehicle body; A first spring is disposed in the cavity of the top kit, and two ends of the first spring respectively abut against inner walls of the top kit and the bottom kit. Under the elastic action of the first spring, the top kit elastically expands and contracts in the bottom kit.

11. The mobile robot according to claim 1, characterized in that: The mobile robot further comprises a mechanical arm connected to the vehicle body, the mobile robot is provided with a plurality of material storage layers, each of the material storage layers has a plurality of storage positions distributed laterally; and / or The material storage layer has a bearing platform, and different bearing platforms have different heights from the ground, and the height increases as the distance between the bearing platform and the mechanical arm increases.

12. The mobile robot according to claim 1, characterized in that: The mobile robot further comprises a mechanical arm connected to the vehicle body and a clamping mechanism arranged at one end of the mechanical arm away from the vehicle body, and the clamping mechanism clamps the material box under the drive of the mechanical arm.

13. The mobile robot according to claim 12, characterized in that: The clamp mechanism includes two holding rod assemblies and a holding rod driving member connected to the holding rod assemblies, and the holding rod driving member is used to drive the two holding rod assemblies to rotate so that the two holding rod assemblies rotate in a direction approaching each other until they are against the openings on both sides of the material box.

14. The mobile robot according to claim 13, characterized in that: The pole holding assembly also includes: A connecting arm, one end of which is connected to the pole driving member, and the other end of which is connected to a guide block; A sleeve rod, which has a cavity inside and a slot penetrating the cavity on one side, and the guide block penetrates into the sleeve rod through the slot; A second spring is disposed in the cavity, one end of the second spring is connected to the guide block; and The fixed block is connected to one end of the second spring away from the guide block and is fixedly connected to the bottom of the sleeve rod.

15. The mobile robot according to claim 14, characterized in that: The guide block includes a limiting portion and a guiding portion provided on one side of the limiting portion; The outer wall of the limiting portion abuts against the inner wall of the sleeve rod, and the guiding portion is connected to the connecting arm via the slot.

16. The mobile robot according to claim 15, characterized in that: The clamp mechanism further comprises a housing, and one end of the connecting arm away from the guide block penetrates into the housing; A first limiting member is disposed inside the shell and abuts against the connecting arm when the connecting arm rotates to a first preset position. A second limiting member is also disposed inside the shell and abuts against the connecting arm when the connecting arm rotates to a second preset position.

17. The mobile robot according to claim 16, characterized in that: The first limiting member and the second limiting member are both provided with proximity sensors for detecting the position of the connecting arm.

18. The mobile robot according to claim 12, characterized in that: The contact surface between the clamping jaw mechanism and the material box is made of polyoxymethylene resin material.

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