Mobile robot

Abstract

The application discloses a mobile robot, which comprises a vehicle body, at least one storage position for placing a material box loaded with a material plate, a first clamping assembly arranged in the storage position and comprising a first material box clamping piece and a second material box clamping piece capable of relative movement, a second clamping assembly arranged in the storage position and comprising a first material plate clamping piece and a second material plate clamping piece capable of relative movement, and a clamping driving assembly connected with the first clamping assembly and the second clamping assembly and used for driving the first material box clamping piece and the second material box clamping piece to clamp the material box and driving the first material plate clamping piece and the second material plate clamping piece to clamp the material plate when the material box is placed in the storage position. Therefore, the material box and the material plate can be clamped and fixed, and the stability of the material plate during the carrying process is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a mobile robot. Background Technology

[0002] Currently, in various stages of semiconductor product manufacturing or processing (such as the packaging and testing stage), cassettes (also known as carrier cassettes or PCB cassettes) are typically used to load various semiconductor components (such as PCBs containing chips) in batches for transfer, positioning, and storage.

[0003] However, semiconductor manufacturing plants have extremely high requirements for the cleanliness and safety of products. If the material boxes are not placed stably during transportation, there is a risk of them falling. Once the material boxes fall, they will contaminate or even damage the material boards inside, causing huge production losses to the company. Summary of the Invention

[0004] In view of the above-mentioned existing situation, this application provides a mobile robot.

[0005] To address this, the present invention provides a mobile robot, comprising: a vehicle body having at least one storage location for placing a material box with a loading plate; a first clamping assembly disposed in the storage location, the first clamping assembly including a first material box clamping member and a second material box clamping member capable of relative movement; a second clamping assembly disposed in the storage location, the second clamping assembly including a first material plate clamping member and a second material plate clamping member capable of relative movement; and a clamping drive assembly connected to the first clamping assembly and the second clamping assembly, the clamping drive assembly being configured to, when the material box is placed in the storage location, 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 plate clamping member and the second material plate clamping member to move to clamp the material plate.

[0006] In this invention, the first clamping assembly includes a first material box clamping member and a second material box clamping member capable of relative movement, and the second clamping assembly includes a first material plate clamping member and a second material plate clamping member capable of relative movement. The clamping drive assembly drives the first and second material box clamping members to move to clamp the material box, and drives the first and second material plate clamping members to move to clamp the material plate. Therefore, this invention can not only clamp and fix the material box, but also clamp and fix the material plate. This dual-fixation structure greatly improves the stability of the material plate during transportation, better adapting to the transportation requirements of semiconductor products with more stringent manufacturing processes. Attached Figure Description

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

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

[0009] Figure 2 This is an exploded view of the mobile robot involved in this application.

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

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

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

[0013] Figure 6 This is an exploded view of the storage location involved in this application.

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

[0015] Figure 8 This is another overall structural schematic diagram of the storage location involved in this application.

[0016] Figure 9 This is a schematic diagram showing the overall structure of the shock absorption assembly involved in this application.

[0017] Figure 10 This is a cross-sectional view showing the shock-absorbing component involved in this application.

[0018] Figure 11 This is a schematic diagram showing the overall structure of the gripper mechanism involved in this application.

[0019] Figure 12 This is a schematic diagram showing a partial internal structure of the gripper mechanism involved in this application.

[0020] Figure 13 This is a partial exploded view of the gripper mechanism involved in this application.

[0021] Figure 14 This is an exploded view of the pole assembly involved in this application.

[0022] Reference numerals: 100, vehicle body; 200, robotic 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 component; 202, second material box clamping component; 203, clamping spring; 204, bushing; 205, pin; 30, second clamping assembly; 301, first material plate clamping component; 302, second material plate clamping component; 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 absorption assembly ; 601, Top kit; 6011, First protrusion; 602, Bottom kit; 6021, Second protrusion; 603, Flexible component; 604, First spring; 70, Gripper mechanism; 701, Gripper assembly; 7011, Parallel gripper; 7012, Positioning bearing; 702, Holding rod assembly; 7021, Connecting arm; 7022, Guide block; 70221, Limiting part; 70222, Guide part; 7023, Sleeve rod; 70231, Slot; 7024, Second spring; 7025, Fixing block; 703, Housing; 7031, First limiting member; 7032, Second limiting member; 7033, Proximity sensor; 80, First connecting plate; 90, Second connecting plate; 1001, First clamping base; 1002, Second clamping base. Detailed Implementation

[0023] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same parts, and repeated descriptions are omitted. Furthermore, the drawings are merely schematic diagrams, and the proportions of the parts or the shapes of the parts may differ from the actual figures.

[0024] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component 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 a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0026] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

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

[0028] Reference Figure 4 The existing loading tray 400 has open sides in its tray 300. If the trays 300 are simply stacked on the transfer robot, the trays 400 inside the trays 300 may fall out due to inertia when the robot brakes suddenly, turns, or encounters bumps during operation, thus contaminating the trays 400. Furthermore, to fully accommodate the trays 400, the internal space of the tray 300 is slightly larger than the required space for loading the trays 400. This causes slight shaking and friction of the trays 400 inside the trays 300, which, if this generates debris, will also affect the cleanliness of the trays 400.

[0029] Based on the existing situation described above, referring to Figures 1 to 7 The present invention provides a mobile robot, comprising: a vehicle body 100 having at least one storage space 10 for placing a material box 300 with a loading plate 400; a first clamping assembly 20 disposed in the storage space 10, the first clamping assembly 20 including a first material box clamping member 201 and a second material box clamping member 202 capable of relative movement; a second clamping assembly 30 disposed in the storage space 10, the second clamping assembly 30 including a first material plate clamping member 301 and a second material plate clamping member 302 capable of relative movement; and a clamping drive assembly 40 connected to the first clamping assembly 20 and the second clamping assembly 30, the clamping drive assembly 40 being used to drive the first material box clamping member 201 and the second material box clamping member 202 to move to clamp the material box 300 when the material box 300 is placed in the storage space 10, and to drive the first material plate clamping member 301 and the second material plate clamping member 302 to move to clamp the material plate 400.

[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 plate clamping member 301 and the second material plate clamping member 302 to move to clamp the material plate 400. Therefore, the present invention can not only clamp and fix the material box 300, but also the material plate 400. This dual-fixation structure greatly improves the stability of the material plate 400 during transportation, better adapting to the transportation requirements of semiconductor products with more stringent manufacturing 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. A first material box clamping member 201 and a first material plate clamping member 301 are disposed on the same side, and a second material box clamping member 202 and a second material plate clamping member 302 are disposed on the same side. The first material box clamping member 201 and the first material plate clamping member 301 are located on the first side of the storage position 10, and the second material box clamping member 202 and the second material plate clamping member 302 are located on the second side of the storage position 10. Specifically, when the clamping drive assembly 40 moves, the first clamping assembly 20 and the second clamping assembly 30, the first material box clamping member 201 and the second material box clamping member 202 move towards each other until they clamp the material box 300, while simultaneously the first material plate clamping member 301 and the second material plate clamping member 302 move towards each other until they clamp the material plate 400.

[0032] Reference Figure 4 Since the accommodating space within the material box 300 is slightly larger than the space required for loading the material plate 400, in order to fully ensure the stability of the transport, 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 a first distance; when the second clamping assembly 30 clamps the material plate 400, the distance between the first material plate clamping member 301 and the second material plate clamping member 302 is a second distance. The first distance is greater than the second distance. Thus, compared to the first material box clamping member 201 and the second material box clamping member 202, the first material plate clamping member 301 and the second material plate clamping member 302 protrude more towards the storage position 10, thereby fully clamping the material plate 400 and reducing the possibility of frictional shaking of the material plate 400 within the material box 300 during transport.

[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 plate clamping member 301; a second transmission member connecting the second material box clamping member 202 and the second material plate clamping member 302; and a clamping drive member connected to the first transmission member and the second transmission member, used to drive the first transmission member and the second transmission member to move, so as to move the first material box clamping member 201 and the second material box clamping member 202 to clamp or release the material box 300, and to move the first material plate clamping member 301 and the second material plate clamping member 302 to clamp or release the material plate 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 motor's output shaft. The first transmission component includes a first rack 402, which drives the first material box clamping member 201 and the first material plate clamping member 301 to move. The second transmission component includes a second rack 403, which drives the second material box clamping member 202 and the second material plate clamping member 302 to move. The first rack 402 and the second rack 403 are respectively disposed on both sides of the gear 401 and mesh with the gear 401. The motor drives the gear 401 to rotate, thereby causing 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 plate clamping member 301 are fixedly connected to the first rack 402, and the second material box clamping member 202 and the second material plate 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 operator to place the material box 300 loaded with the material plate 400. After the material box 300 loaded with the material plate 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 move towards the storage position 10. At this time, the first material box clamping member 201 moves to abut one side of the material box 300, and the first material plate clamping member 301 abuts one side of the edge of the material plate 400. At the same time, the second material box clamping member 202 moves to abut the other side of the material box 300, and the second material plate clamping member 302 abuts the other side of the edge of the material plate 400. This achieves clamping of the material box 300 and the material plate 400, enabling more stable operation of the material box 300 loaded with the material plate 400. During unloading, the motor drives the gear 401 to rotate in the opposite direction, thereby moving the first material box clamping member 201, the first material plate clamping member 301, the second material box clamping member 202, and the second material plate clamping member 302 away from the material box 300 and the material plate 400, making it easier for the robot or operator to remove the material box 300 loaded with the material plate 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 component 20 and a second clamping component 30. The clamping drive component 40 is connected to the first clamping component 20 and the second clamping component 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 plate clamping member 301 and the second material plate clamping member 302 on the multiple storage positions 10 to move to clamp the material plate 400.

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

[0038] Additionally, refer to Figure 7 In some examples, the mobile robot also 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 a first material box clamping member 201 and a first material plate 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 a second material box clamping member 202 and a second material plate 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 6A guide structure 50 is disposed at the storage position 10 and extends along a first direction. A first material box clamping member 201 and a second material box clamping member 202 are slidably connected to the guide structure 50. The guide structure 50 guides the first material box clamping member 201 and the second material box clamping member 202 to move relative to each other along the first direction. A second material plate clamping member 302 is also slidably connected to the guide structure 50, guiding the first material plate clamping member 301 and the second material plate clamping member 302 to move relative to each other along the first direction. Of course, in some embodiments, the guide structure 50 may only be used to connect the first material box clamping member 201 and the second material box clamping member 202, or only to connect the first material plate clamping member 301 and the second material box clamping member 302. It should be noted that the first direction refers to the direction in which the first material box clamping member 201 and the second material box clamping member 202 move closer to or further away from each other, which is also the direction in which the first material plate clamping member 301 and the second material plate clamping member 302 move closer to or further away from each other. The guide structure 50 can make the first material box clamping member 201, the second material box clamping member 202, the first material plate clamping member 301, and the second material plate clamping member 302 more stable during movement.

[0040] For example, refer to Figure 6 and Figure 8 The storage compartment 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 some other examples, the first slide rail 502 may also be directly connected to the first rack 402, and the second slide rail 504 may 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 element. At least one of the first material box clamping member 201 and the second material box clamping member 202 is connected to the first elastic element. The first elastic element provides elastic cushioning when the first material box clamping member 201 and / or the second material box clamping member 202 abuts against the material box 300. Specifically, both the first material box clamping member 201 and the second material box clamping member 202 can be connected to the first elastic element. Thus, 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 clamping forces to both sides of the material box 300. When encountering bumps during transport, elastic cushioning can be provided in the lateral direction of the material box 300, thereby improving the stability of clamping the material box 300 and preventing insufficient clamping of the material box 300 due to bumps during transport. In some embodiments, the first elastic member may be connected only to the first material box clamping member 201, or only to the second material box clamping member 202. This also applies an elastic clamping force to one side of the material box 300, provides elastic cushioning in the lateral direction of the material box 300, and saves materials.

[0042] In this embodiment, the second clamping assembly 30 further includes a second elastic element. At least one of the first material plate clamping member 301 and the second material plate clamping member 302 is connected to the second elastic element. The second elastic element provides elastic cushioning when the first material plate clamping member 301 and / or the second material plate clamping member 302 abuts against the material plate 400. Specifically, both the first material plate clamping member 301 and the second material plate clamping member 302 can be connected to the second elastic element. Thus, when clamping the material plate 400, the first material plate clamping member 301 and the second material plate clamping member 302 can respectively apply elastic clamping forces to the two sides opposite the edge of the material plate 400. When encountering bumps during transport, elastic cushioning can be provided in the lateral direction of the material plate 400, thereby improving the stability of clamping the material plate 400 and preventing insufficient clamping of the material plate 400 due to bumps during transport. In some embodiments, the second elastic member may be connected only to the first material plate clamping member 301, or only to the second material plate clamping member 302. This also applies an elastic clamping force to one side of the material plate 400, provides elastic cushioning in the lateral direction of the material plate 400, and saves material.

[0043] In some examples, the first elastic element may include a clamping spring 203, a bushing 204, and a pin 205. Several bushings 204 are disposed on a first clamping base 1001, and the first clamping base 1001 correspondingly provides several pins 205 passing through the bushings 204. The first cassette clamping member 201 and / or the second cassette clamping member 202 are connected to the pins 205 by screws, and a clamping spring 203 is provided between the first cassette clamping member 201 and / or the second cassette clamping member 202 and the first clamping base 1001. Thus, the first cassette clamping member 201 and / or the second cassette clamping member 202 has a pre-clamping effect on the cassette 300. Under the action of the clamping spring 203, the first cassette clamping member 201 and / or the second cassette clamping member 202 can apply an elastic clamping force to the cassette 300.

[0044] In some examples, the specific structure of the second elastic element is the same as that of the first elastic element, and the connection method of the second elastic element is also the same as that of the first elastic element, which will not be described in detail here. Thus, under the action of the clamping spring 203, the first material plate clamping member 301 and / or the second material plate clamping member 302 can apply an elastic clamping force to the material plate 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 number of shock-absorbing components 60 are connected to the bottom of the support plate 101.

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

[0047] Specifically, when the material box 300 of the loading plate 400 encounters bumps during transport, the vehicle body 100 will vibrate vertically. 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. Under the action of the first spring 604, the top kit 601 elastically expands and contracts within the bottom kit 602. Thus, the support plate 101, with the cooperation of the top kit 601, the bottom kit 602, and the first spring 604, can buffer the vertical vibration, thereby reducing the vertical vibration of the material box 300 supported by the support plate 101 and reducing the possibility of product defects caused by vibration within the material box 300.

[0048] In some examples, the flexible element 603 can be foam, thereby further improving the shock absorption effect of the damping component 60 under the action of the foam, while also providing sound insulation and noise reduction.

[0049] In some examples, refer to Figure 10 The top sleeve 601 is provided with a first protrusion 6011, and the bottom sleeve 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 play a guiding role for the first spring 604 when it elastically stretches and contracts, and can also limit the displacement of the first spring 604 in the lateral direction.

[0050] In some examples, refer to Figure 3 and Figure 5 The storage compartment 10 also includes a top plate 102 disposed above the support plate 101, with a distance between the top plate 102 and the support plate 101. The storage compartment also includes a support plate 103 for connecting the top plate 102 and the support plate 101. A clamping drive assembly 40 is positioned between the top plate 102 and the support plate 101, meaning the top plate 102 covers the clamping drive assembly 40. Therefore, the structure of the clamping drive assembly 40 can be concealed internally and not exposed.

[0051] In addition, in some other examples, a rubber pad (not shown in the figure) may be provided above the top plate 102, thereby enabling the storage space 10 to also have a shock-absorbing effect.

[0052] Reference Figures 1 to 3In some embodiments, the mobile robot is provided with multiple storage layers, each storage layer having multiple storage positions 10 distributed laterally. Further, each storage layer has a support platform, with different heights of the support platforms from the ground, and the height increases with the distance between the support platform and the robotic arm 200. This design is more conducive to the placement of the material box 300 by the robotic arm 200 and the stability of the robot's center of gravity. Further, the height difference between the support platforms of adjacent storage layers is not less than the height of the material box 300. In some embodiments, the multiple storage layers are all located on the same side of the robotic arm 200, making the robot's layout more compact.

[0053] In this embodiment, the mobile robot also includes a robotic arm 200 connected to the vehicle body 100 and a gripper mechanism 70 located at the end of the robotic arm 200 away from the vehicle body 100. The gripper mechanism 70 grips the material box 300 under the drive of the robotic arm 200. For example, the gripper mechanism 70 may include two sets of gripper assemblies 701. Each gripper assembly 701 includes a parallel gripper 7011, a positioning bearing 7012 located inside the parallel gripper 7011, and a positioning bead located at the bottom of the parallel gripper 7011. When it is necessary to grip the material box 300, the robotic arm 200 drives the gripper mechanism 70 to move downwards until the positioning bead presses against the surface of the material box 300. Subsequently, the two sets of gripper assemblies 701 close to grip 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. The positioning aluminum plate 3001 has a groove 3002 adapted to the positioning bearing 7012. When the two sets of gripper assemblies 701 are closed, the positioning bearing 7012 is placed in the groove 3002 and the parallel gripper 7011 is placed between the positioning aluminum plate 3001 and the material box 300. The positioning bearing 7012 is used to limit the displacement of the material box 300 in the lateral direction. The robotic arm 200 moves upward, causing the parallel gripper 7011 to lift the positioning aluminum plate 3001, thereby lifting the material box 300 and completing the gripping of the material box 300.

[0054] Since the material box 300 of the existing loading plate 400 is open on both sides, if the robotic arm 200 operates carelessly, the material plate 400 may fall out from the openings on both sides of the material box 300. In view of this, in this embodiment, the gripper mechanism 70 further includes two gripping rod assemblies 702 and a gripping rod drive connected to the gripping rod assemblies 702. The gripping rod drive is used to drive the two gripping rod assemblies 702 to rotate, so that the two gripping rod assemblies 702 rotate towards each other until they abut against the openings on both sides of the material box 300. Therefore, when the gripper mechanism 70 grips the material box 300, the gripping rod assemblies 702 can block the openings on both sides of the material box 300, preventing the material plate 400 from falling out.

[0055] In this embodiment, refer to Figures 11 to 14The pole assembly 702 further includes: a connecting arm 7021, one end of which is connected to the pole drive component, and the other end of which is connected to a guide block 7022; a sleeve rod 7023, which has an internal cavity and a slot 70231 through the cavity on one side, through which the guide block 7022 passes to the inside of the sleeve rod 7023; a second spring 7024, which is located 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 the end of the second spring 7024 away from the guide block 7022 and is fixedly connected to the bottom of the sleeve rod 7023.

[0056] When the gripper mechanism picks up the material box 300, the gripping rod drive drives the connecting arm 7021 to move towards the opening on the side of the material box 300. The connecting arm 7021 drives the sleeve rod 7023 to move to abut against the opening of the material box 300 via the guide block 7022. In addition, in order to fully block the openings on both sides of the material box 300, the gripping rod assembly 702 is usually set to be longer than the opening. However, this can easily cause the bottom of the gripping rod assembly 702 to interfere with the support plate 101 or the external platform when the robotic arm 200 picks up or puts down the material box 300. Therefore, this embodiment also provides a second spring 7024 and a fixing block 7025. The fixing block 7025 is connected to the bottom of the sleeve rod 7023, and the second spring 7024 is connected to the fixing block 7025 and the guide block 7022. When the bottom of the gripping 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 upward, which in turn compresses the second spring 7024 and pushes the sleeve rod 7023 connected to the fixed block 7025 upward. When the robotic arm 200 lifts the material box 300, the bottom of the gripping rod assembly 702 moves away from the support plate 101 or the external platform, and the fixed block 7025 also returns to its preset position under the elastic reset action of the second spring 7024, which in turn drives the sleeve rod 7023 connected to the fixed block 7025 to return to its preset position. Thus, the fixed block 7025 and the sleeve rod 7023 can move up and down under the action of external force, avoiding interference between the bottom of the gripping rod assembly 702 and the support plate 101 or the external platform when the robotic arm 200 grips or lowers the material box 300.

[0057] In some examples, refer to Figure 13The guide block 7022 includes a limiting part 70221 and a guide part 70222 disposed on one side of the limiting part 70221. The outer wall of the limiting part 70221 abuts against the inner wall of the sleeve rod 7023, and the guide part 70222 is connected to the connecting arm 7021 via a slot 70231. The limiting part 70221 is placed within the cavity of the sleeve rod 7023, and the external dimension of the limiting part 70221 is larger than the dimension of the slot 70231 of the sleeve rod 7023, thus preventing the limiting part 70221 from dislodging from the cavity via the slot 70231. One end of the guide part 70222 is connected to the limiting part 70221, and the other end is connected to the connecting arm 7021 via the slot 70231. Furthermore, the slot 70231 of the sleeve 7023 extends along the length of the sleeve 7023, and the sleeve 7023 moves along the direction of the slot 70231 under the action of external force.

[0058] In some examples, the pole drive can be a motor.

[0059] In this embodiment, refer to Figures 11 to 13 The gripper mechanism 70 also includes a housing 703, with one end of the connecting arm 7021 away from the guide block 7022 extending into the housing 703. Inside the housing 703 is a first limiting member 7031 that abuts against the connecting arm 7021 when it rotates to a first preset position, and a second limiting member 7032 that abuts against the connecting arm 7021 when it rotates to a second preset position. Specifically, the lever assembly 702 moves between the first preset position and the second preset position, where the first preset position is the extreme position when both lever assemblies 702 are in an open state, and the second preset position is the extreme position where the two lever assemblies 702 block the openings on both sides of the material box 300.

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

[0061] In this embodiment, the contact surface between the gripper mechanism 70 and the material box 300 is made of polyoxymethylene resin. Specifically, since the gripper mechanism 70 needs to perform a large number of gripping operations during operation, the applicant has found that using polyoxymethylene resin can prevent the accumulation of charge during a large number of gripping operations, and can achieve technical effects such as antistatic and wear resistance.

[0062] While the present invention has been 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 way. Those skilled in the art can make modifications and variations to the present invention as needed without departing from the essential spirit and scope of the invention, and all such modifications and variations 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 space for placing a material box for loading material plates; A first clamping assembly is disposed at the storage location. The first clamping assembly includes a first material box clamping member and a second material box clamping member that are capable of relative movement. A second clamping assembly is disposed at the storage position. The second clamping assembly includes a first material plate clamping member and a second material plate clamping member that are capable of relative movement. A clamping drive assembly is connected to the first clamping assembly and the second clamping assembly. The clamping drive assembly is used to drive the first material box clamping member and the second material box clamping member to move to clamp the material box when the material box is placed in the storage position, and to drive the first material plate clamping member and the second material plate clamping member to move to clamp the material plate. The storage location is equipped with a support plate for supporting the material box, and a number of shock-absorbing components are connected to the bottom of the support plate. The shock absorption assembly includes a top kit, which is fixedly connected to the bottom of the support plate, and a flexible element is circumferentially sleeved on one end of the top kit away from the support plate. The top kit has a cavity communicating with the outside. The shock absorption assembly also includes a bottom kit, one end of which is fitted onto the top kit, and the other end of which is fixedly connected to the vehicle body; The cavity of the top kit is provided with a first spring, the two ends of the first spring abutting against the inner walls of the top kit and the bottom kit respectively. Under the elastic action of the first spring, the top kit elastically expands and contracts within the bottom kit. The top kit has a first protrusion, the bottom kit has a second protrusion, and the two ends of the first spring are respectively sleeved on the first protrusion and the second protrusion; The mobile robot also includes a robotic arm connected to the vehicle body and a gripper mechanism located at the end of the robotic arm away from the vehicle body. The gripper mechanism grips the material box under the drive of the robotic arm. The gripper mechanism includes two gripping rod assemblies and a gripping rod drive connected to the gripping rod assemblies. The gripping rod drive is used to drive the two gripping rod assemblies to rotate so that the two gripping rod assemblies rotate toward each other until they abut against the openings on both sides of the material box. The pole assembly also includes: A connecting arm, one end of which is connected to the rod drive component, and the other end of which is connected to a guide block; The sleeve rod has an internal cavity and a slot through the cavity on one side. The guide block passes through the slot into the inside of the sleeve rod. A second spring is disposed within the cavity, and one end of the second spring is connected to the guide block; and A fixing block is connected to the end of the second spring away from the guide block and is fixedly connected to the bottom of the sleeve rod; The guide block includes a limiting part and a guide part disposed on one side of the limiting part; The outer wall of the limiting part abuts against the inner side wall of the sleeve rod, and the guide part is connected to the connecting arm through the slot.

2. The mobile robot according to claim 1, characterized in that, The storage space has a first side and a second side opposite to the first side, the first material box clamp and the first material plate clamp are located on the first side of the storage space, and the second material box clamp and the second material plate clamp are located on the second side of the storage space.

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 member and the second material box clamping member is a first distance; when the second clamping assembly clamps the material plate, the distance between the first material plate clamping member and the second material plate clamping member 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 includes: The first transmission component connects the first material box clamping component and the first material plate clamping component; The second transmission component connects the second material box clamping component and the second material plate clamping component; A clamping drive unit is connected to the first transmission unit and the second transmission unit, and is used to drive the first transmission unit and the second transmission unit to move, so as to move the first material box clamping unit and the second material box clamping unit to clamp or release the material box, and to move the first material plate clamping unit and the second material plate clamping unit to clamp or release the material plate.

5. The mobile robot according to claim 4, characterized in that, The clamping drive includes a motor and a gear connected to the output shaft of the motor. The first transmission component includes a first rack, which drives the first material box clamping component and the first material plate clamping component to move. The second transmission component includes a second rack, which drives the second material box clamping component and the second material plate clamping component to move. The first rack and the second rack are respectively disposed 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, The number of storage locations is multiple, and each storage location is equipped with the first clamping component and the second clamping component; The clamping drive assembly is connected to the first clamping assembly and the second clamping assembly on the plurality of storage positions to synchronously drive the first material box clamping member and the second material box clamping member on the plurality of storage positions to move to clamp the material box, and synchronously drive the first material plate clamping member and the second material plate clamping member on the plurality of storage positions to move to clamp the material plate.

7. The mobile robot according to claim 1, characterized in that, The vehicle body also includes: A guide structure is provided at the storage location and extends 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 first material plate clamping member and the second material plate clamping member are slidably connected to the guide structure, and the guide structure is used to guide the first material plate clamping member and the second material plate 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 includes a first elastic element, wherein at least one of the first and second cassette clamping members is connected to the first elastic element, and the first elastic element provides elastic cushioning when the first and / or second cassette clamping members abut against the cassette; and / or, The second clamping assembly further includes a second elastic element, at least one of the first material plate clamping member and the second material plate clamping member is connected to the second elastic element, the second elastic element is used to provide elastic cushioning when the first material plate clamping member and / or the second material plate clamping member abuts the material plate.

9. The mobile robot according to claim 1, characterized in that, The mobile robot also includes a robotic arm connected to the vehicle body. The mobile robot is equipped with multiple storage layers, each storage layer having multiple storage locations distributed laterally; and / or The storage layer has a support platform, and different support platforms are at different heights from the ground, and the height increases as the distance between the support platform and the robotic arm increases.

10. The mobile robot according to claim 1, characterized in that, The gripper mechanism also includes a housing, and the end of the connecting arm away from the guide block extends into the interior of the housing; The housing is provided with a first limiting member that abuts against the connecting arm when the connecting arm rotates to a first preset position, and the housing is also provided with a second limiting member that abuts against the connecting arm when the connecting arm rotates to a second preset position.

11. The mobile robot according to claim 10, characterized in that, Both the first limiting member and the second limiting member are equipped with proximity sensors for detecting the position of the connecting arm.

12. The mobile robot according to claim 1, characterized in that, The contact surface between the gripper mechanism and the material box is made of polyoxymethylene resin material.

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