Feeding and discharging carrying robot

Abstract

The utility model provides a feeding and discharging carrying robot which comprises an AGV chassis, a middle frame is arranged on the AGV chassis, a storage position is arranged on the middle frame, a mechanical arm is arranged on the top of the middle frame, and a clamping jaw is arranged at the tail end of the mechanical arm. The AGV chassis is provided with a driving wheel and a driven wheel, and the AGV chassis is provided with various radars and is used for navigation and obstacle avoidance; a material placing platform is arranged on the storage position; a visual camera is arranged at the tail end of the mechanical arm, and the clamping jaw is eccentrically connected with the tail end of the mechanical arm so as to avoid the visual camera. The beneficial effects of the utility model lie in that the integrated level is high, the structure is compact, obstacle avoidance can be realized, and flexible operation can be realized; and materials are grabbed through the clamping jaws, so that the requirement for carrying various materials can be met, and the compatibility is better.

Description

Technical Field

[0001] The utility model relates to the technical field of handling robots, in particular to a loading and unloading handling robot. Background Art

[0002] In the semiconductor industry, equipment loading and unloading and material transfer have extremely high requirements for cleanliness, precision and efficiency. Traditional manual handling is prone to pollution, low efficiency and operational risks, while single-function handling equipment is difficult to adapt to the needs of multi-category, small-batch material handling.

[0003] In order to solve at least one of the above problems, it is necessary to provide a new loading and unloading handling robot. Utility Model Content

[0004] The technical problem to be solved by the utility model is: a loading and unloading material handling robot, which is designed to be suitable for handling various categories of products.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a loading and unloading handling robot, including an AGV chassis, a middle frame is provided on the AGV chassis, a storage position is provided on the middle frame, a mechanical arm is provided on the top of the middle frame, and a clamp is provided at the end of the mechanical arm; the AGV chassis is provided with a driving wheel and a driven wheel, and the AGV chassis has multiple radars for navigation and obstacle avoidance; a material placement platform is provided on the storage position; a visual camera is provided at the end of the mechanical arm, and the clamp is eccentrically connected to the end of the mechanical arm to avoid the visual camera.

[0006] Furthermore, a navigation radar is arranged at one corner of the forward direction of the AGV chassis; an obstacle avoidance radar is arranged at the diagonal of the navigation radar; an anti-fall radar arranged obliquely downward is arranged on the front of the forward direction of the AGV chassis; a front obstacle avoidance camera is arranged directly above the anti-fall radar; a high-altitude obstacle avoidance camera arranged obliquely upward is arranged directly above the front obstacle avoidance camera; and a side obstacle avoidance radar is arranged on each side of the forward direction of the AGV chassis.

[0007] Furthermore, a downward-looking camera is provided in the middle of the bottom surface of the AGV chassis for reading a QR code attached to the ground and feeding back the current position deviation so as to adjust the position.

[0008] Furthermore, an opening is provided on the bottom surface of the AGV chassis, and a cooling fan is provided in the cavity of the AGV chassis above the opening.

[0009] Furthermore, a safety touch edge is provided at the bottom of the AGV chassis in the forward direction and the backward direction.

[0010] Furthermore, the middle frame is a vertically installed flat structure with a larger upper part and a smaller lower part. There is a cavity in the middle frame for accommodating various devices; the middle of the middle frame is a robot arm mounting platform, which is a mounting interface for the robot arm.

[0011] Furthermore, air inlets are provided at lower positions of the front and back sides of the middle frame, and a guide fan is provided in the cavity below the middle frame.

[0012] Furthermore, a top maintenance door is provided above the air inlet, and a keyboard and mouse compartment is provided behind the top maintenance door.

[0013] Furthermore, a collision detection structure is provided in front of the clamping jaw for detecting collision with an object in front of the clamping jaw; a material presence detection structure is provided on the material placement surface of the clamping jaw for detecting whether there is material at the material placement position of the clamping jaw.

[0014] Furthermore, a material detection structure is provided on the side of the clamping jaw, which is used to identify whether there is material or obstacle at the destination when the clamping jaw is about to take or place material.

[0015] The beneficial effects of the utility model are as follows: the loading and unloading handling robot of the present scheme has high integration, compact structure, can achieve obstacle avoidance, and realize flexible operation; it grasps materials through the gripper, can meet the handling needs of various materials, and has better compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the mechanisms shown in these drawings without paying creative work.

[0017] Figure 1 This is an isometric view of the loading and unloading handling robot according to an embodiment of the utility model;

[0018] Figure 2 This is an isometric view of the AGV chassis of the utility model embodiment. Figure 1 ;

[0019] Figure 3 This is a bottom view of the AGV chassis of an embodiment of the utility model;

[0020] Figure 4 This is a side view of the AGV chassis of an embodiment of the utility model;

[0021] Figure 5 This is an isometric view of the AGV chassis of the utility model embodiment. Figure 2 ;

[0022] Figure 6 The middle frame isometric view of the embodiment of the utility model Figure 1 ;

[0023] Figure 7 The middle frame isometric view of the embodiment of the utility model Figure 2 ;

[0024] Figure 8 It is an isometric view of a storage position of an embodiment of the utility model;

[0025] Fig. 9 It is an isometric view of the clamping jaws of an embodiment of the utility model;

[0026] Fig.10 A cross-sectional view of a clamping jaw according to an embodiment of the present utility model;

[0027] Fig.11 This is a schematic diagram of a storage location suitable for multiple materials according to an embodiment of the utility model. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] It should be noted that the descriptions of "first", "second", etc. in the present utility model 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 utility model.

[0030] like Figure 1 As shown, an embodiment of the utility model is: a loading and unloading handling robot 1, which is mainly composed of an AGV chassis 20, a middle frame 30, a storage position 40, a clamping claw 50, and a mechanical arm 60.

[0031] Among them, the AGV chassis 20 is composed of a driving wheel 201, four driven wheels 202, a navigation radar 203, an obstacle avoidance radar 204, an anti-fall radar 205, a front obstacle avoidance camera 206, a high-altitude obstacle avoidance camera 207, a side obstacle avoidance radar 208, an optical communication 209, a turn signal 2010, a downward-looking camera 2011, a cooling fan 2012, an automatic charging port 2013, a floor brush charging port 2014, a safety touch edge 2015, a chassis maintenance door 2016, and a top mounting platform 2017.

[0032] Among them, the middle frame 30 is composed of a storage position installation platform 301, a robotic arm installation platform 302, an upper maintenance door 303, an emergency stop button 304, a control button 305, a status light 306, a guide fan 307, a keyboard and mouse compartment 308, a touch screen 309, a storage position electrical interface A3010, an antenna 3011, an air inlet 3012, and a V-shaped groove 3013.

[0033] Among them, the storage location 40 is composed of a crank rocker safety lock 41, a material placement platform 401, a positioning pin 402, a positioning rib 403, an RFID reader 404, a storage location material arrival detection switch 405, a storage location material presence detection switch 406, a shock-absorbing bracket 407, a storage location electrical interface B408, a mounting surface 409, and an auxiliary mounting pin 4010.

[0034] Among them, the clamp 50 is composed of a clamp in place detection 51, a robot arm connecting plate 501, a clamp body 502, a positioning pin 503, a clamp material presence detection 504, a collision detection 505, and a front material presence detection 506.

[0035] The position relationship of each component is as follows Figures 1 to 11 As shown, the relationship in space from bottom to top is AGV chassis 20, middle frame 30, storage position 40, mechanical arm 60, and gripper 50. The middle frame 30 is located in the middle above the AGV chassis 20 and is bolted to the top mounting platform 2017. Four identical storage positions 40 are opposite to each other and are installed on both sides of the middle frame 30 one above and one below, respectively, and are bolted to the storage position mounting platform 301. The mechanical arm 60 is installed on the mechanical arm mounting platform 302 just above the middle frame 30 and is bolted. The gripper 50 is installed at the end of the mechanical arm and is bolted.

[0036] like Figures 2 to 5As shown, the AGV chassis 20 is used as the mobile basis of the entire device. A pair of driving wheels 201 are set respectively on the left and right sides of the central axis of the AGV chassis 20. The two sets of driving wheels 201 can move independently to provide power for the movement of the entire device in space. A set of driven wheels 202 is set at each of the four corners of the AGV chassis 20. The driven wheels 202 are universal wheel structures to provide support for the entire device. A down-view camera 2011 is set in the middle of the bottom surface of the AGV chassis 20. Its function is to read the QR code attached to the ground and feedback the current position deviation so as to adjust the position and improve the positioning accuracy. An opening is set at a certain point on the bottom surface of the AGV chassis 20. A cooling fan 2012 is set in the cavity of the AGV chassis 20 above the opening. The fan airflow flows from top to bottom to discharge the hot air in the device downward. The advantage of this is that it can avoid the dust that may be carried by the gas discharged by the fan from polluting the dust-free environment. A floor brush charging port 2014 is set at the back direction of the central axis of the bottom surface of the AGV chassis 20 as one of the charging interfaces of the device. A navigation radar 203 is set at a corner of the forward direction of the AGV chassis 20 to provide real-time location for the equipment and identify surrounding obstacles. An obstacle avoidance radar 204 is set at the diagonal of the navigation radar 203 to identify surrounding obstacles. The scanning surfaces of the navigation radar 203 and the obstacle avoidance radar 204 complement each other to form a 360° identification area around the equipment. An anti-fall radar 205 arranged obliquely downward is set on the front of the forward direction of the AGV chassis 20 to identify the pits on the ground in front of the equipment to prevent the equipment from falling into them. A front obstacle avoidance camera 206 is set directly above the anti-fall radar 205 to identify obstacles in front of the equipment that are higher or lower than the scanning surface of the navigation radar 203. A high-altitude obstacle avoidance camera 207 arranged obliquely upward is set directly above the front obstacle avoidance camera 206 to identify high-altitude hanging objects in front of the equipment. A side obstacle avoidance radar 208 is set on each side of the forward direction of the AGV chassis 20 to identify obstacles on the side of the equipment and identify whether the state of the robotic arm 60 exceeds the equipment shape. A turn signal 2010 is provided at each of the four corners of the AGV chassis 20 to display the next moving direction and the current motion state of the device. A chassis maintenance door 2016 is provided on each of the two sides of the forward direction of the AGV chassis 20, which can be removed to facilitate the repair and maintenance of the internal parts. A safety touch edge is provided at the lowest position of the forward direction and the backward direction of the AGV chassis 20, and its function is to alarm and stop any action of the device when it hits an object. An automatic charging port 2013 is provided in the middle position of the backward direction of the AGV chassis 20, which is the main charging interface of the device. There is a lower storage installation platform 2018 on the top surface of the AGV chassis 20 in the forward and backward directions, which provides an installation interface for the storage position 40.

[0037] like Figure 6 , Figure 7As shown, the middle frame 30 is a flat structure that is installed vertically and is large at the top and small at the bottom. It has a cavity inside to accommodate various devices, and the bottom is a mounting surface that can be connected to the AGV chassis 20. The top surface is slightly wider, and the middle is a robot arm mounting platform 301, which is the mounting interface of the robot arm 60. There is a storage position mounting platform 301 in the middle upper position of the left and right sides, which provides a mounting interface for the storage position 40. There is also a storage position electrical interface A3010 in the middle lower position, which provides an interface for the electrical quick plug of the storage position 40. A pair of V-shaped grooves 3013 are also provided on the upper edge to provide a convenient hanging point for the storage position 40 when it is installed. An air inlet 3012 is provided at the lower position of the front and back, and a guide fan 307 is provided in the cavity below it. The airflow direction is from top to bottom, and the external low-temperature gas is inhaled to cool the equipment. An upper maintenance door 303 is provided above the air inlet 3012, which can be quickly disassembled to remove the internal device. A keyboard and mouse compartment 308 is provided behind the upper maintenance door 303, and the display screen, keyboard and mouse, or mechanical arm teaching device used for equipment debugging can be placed in this position. An emergency stop button 304 is provided above the upper maintenance door 303 on both sides, which is a button for cutting off the power supply of the equipment in an emergency state. A control button 305 is provided above the emergency stop button 304, and this button can operate the equipment to start and shut down, pause and continue, etc. A tilted touch screen 309 is provided above the operation button 305, and its built-in editable program can display the status of each sensor of the equipment and control each actuator of the equipment. Its tilted installation conforms to ergonomics and is more convenient to operate. Above the touch screen 309, a status light 306 is provided on the top surface of the middle frame 30, which can display different colors and flash at different frequencies to display the status of the equipment. Its color is consistent with the turn signal 2010, and its appearance is hemispherical. Antennas 3011 are provided on the top and side surfaces of the middle frame 30, which are antennas for external wireless communication of the equipment.

[0038] like Figure 8 , Fig.11 As shown, there is a material placement platform 401 on the storage position 40, and different platforms can be selected according to the type of materials. A pair of auxiliary mounting pins 4010 are provided on the mounting surface 409 of the storage position 40. This structure cooperates with the V-shaped groove 3013 of the middle frame 30 to form a positioning structure that can be assembled without screws, and the work that requires two people to assemble can be easily assembled by one person. A storage position electrical interface B408 is provided at the lower position in the middle of the mounting surface 409, which can be quickly plugged into the storage position electrical interface A3010 of the middle frame 30. Several shock-absorbing brackets 407 are provided below the material placement platform 401, which can effectively filter the vibration transmitted from the AGV chassis 20 to protect the materials placed thereon.

[0039] like Fig. 9 , Fig.10As shown, the clamp 50 is a universal clamp for material A4011 and material B4012, including a clamp body 502, a U-shaped structure, and a hollow part to accommodate the material. Its eccentrically arranged mechanical arm connecting plate 501 can be bolted to the end of the mechanical arm 60, and the eccentric design can effectively avoid the visual camera on the mechanical arm. The clamp 50 is asymmetrically arranged with a pair of clamp in-place detection 51, which can detect whether the material clamped by the clamp is accurately positioned and whether the material is placed flat and reliable. A number of positioning pins 503 are arranged on the clamp 50, which are mutually positioned with the structure of material A4011 and material B4012 to prevent the position of the material from shifting. The relationship between the positioning pins 503 and the clamp in-place detection 51 ensures that the sensor of the clamp in-place detection 51 will be triggered only when the material is correctly clamped by the clamp, otherwise an error will be reported. A collision detection structure 505 is arranged in front of the clamp 50, which is composed of a spring, a sensor, etc., and can detect the collision from the object in front of the clamp to protect the material being picked up and placed. A material detection structure 504 is provided near the material placement surface of the clamp 50 to detect whether there is material at the material placement position of the clamp. A material detection structure 506 is provided on the side of the clamp 50 to identify whether there is material or obstacles at the destination when the clamp 50 is about to take or place materials.

[0040] The loading and unloading handling robot 1 of this solution has a high degree of integration, a compact structure, and can achieve obstacle avoidance and flexible operation. The gripper 50 is used to grasp materials, which can meet the needs of handling a variety of materials and has better compatibility.

[0041] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A loading and unloading handling robot, characterized in that: It includes an AGV chassis, a middle frame is provided on the AGV chassis, a storage position is provided on the middle frame, a mechanical arm is provided on the top of the middle frame, and a clamp is provided at the end of the mechanical arm; the AGV chassis is provided with a driving wheel and a driven wheel, and the AGV chassis has multiple radars for navigation and obstacle avoidance; a material placement platform is provided on the storage position; a visual camera is provided at the end of the mechanical arm, and the clamp is eccentrically connected to the end of the mechanical arm to avoid the visual camera.

2. The loading and unloading handling robot according to claim 1, characterized in that: A navigation radar is arranged at one corner of the forward direction of the AGV chassis; an obstacle avoidance radar is arranged at the diagonal of the navigation radar; an anti-fall radar arranged obliquely downward is arranged on the front of the forward direction of the AGV chassis; a front obstacle avoidance camera is arranged directly above the anti-fall radar; a high-altitude obstacle avoidance camera arranged obliquely upward is arranged directly above the front obstacle avoidance camera; and a side obstacle avoidance radar is arranged on each side of the forward direction of the AGV chassis.

3. The loading and unloading handling robot according to claim 2, characterized in that: A downward-looking camera is provided in the middle of the bottom surface of the AGV chassis for reading the QR code attached to the ground and feeding back the current position deviation so as to adjust the position.

4. The loading and unloading handling robot according to claim 3, characterized in that: The bottom surface of the AGV chassis is provided with an opening, and a cooling fan is arranged in the cavity of the AGV chassis above the opening.

5. The loading and unloading handling robot according to claim 4, characterized in that: A safety touch edge is respectively arranged at the bottom position of the forward direction and the backward direction of the AGV chassis.

6. The loading and unloading handling robot according to claim 1, characterized in that: The middle frame is a vertically installed flat structure with a larger top and a smaller bottom. The middle frame has a cavity for accommodating various devices. The middle of the middle frame is a robot arm mounting platform, which is a mounting interface for the robot arm.

7. The loading and unloading handling robot according to claim 6, characterized in that: Air inlets are arranged at the lower positions of the front and back of the middle frame, and a guide fan is arranged in the cavity below the middle frame.

8. The loading and unloading handling robot according to claim 7, characterized in that: A top maintenance door is arranged above the air inlet, and a keyboard and mouse compartment is arranged behind the top maintenance door.

9. The loading and unloading handling robot according to claim 1, characterized in that: A collision detection structure is provided in front of the clamping jaw for detecting collision from an object in front of the clamping jaw; a clamping jaw material presence detection structure is provided on the material placement surface of the clamping jaw for detecting whether there is material at the material placement position of the clamping jaw.

10. The loading and unloading handling robot according to claim 9, characterized in that: A material detection structure is provided on the side of the clamping jaw, which is used to identify whether there is material or obstacle at the destination when the clamping jaw is about to take or place material.

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