Mobile robot

Abstract

The utility model provides a mobile robot which comprises the following components: a mobile base which is used for moving to any position or pausing at any position according to a received control instruction and determining an orientation angle; the mechanical arm is arranged on the movable base and used for grabbing the materials on the material taking position and moving and placing the materials on a material placing position; the early warning radar is arranged at the end part of the mobile base and is used for collecting point cloud information around the mobile base so as to carry out safety early warning; and the plurality of safety radars are arranged on the mobile base and are used for collecting point cloud information around the mobile base so as to form a safe operation area. Effective safety protection can be achieved when the mobile robot works, and accidental injury to a moving person due to inertia of the mechanical arm is avoided.

Description

Technical Field

[0001] The utility model relates to intelligent devices, and more particularly to a mobile robot. Background Art

[0002] A mobile robot is an intelligent device equipped with sensors, objective lenses, and electro-optical systems, and can quickly perform goods sorting and handling.

[0003] More and more visual sensors and force sensors are being used on mobile robots, and mobile robots will become more and more intelligent. With the progress of technologies such as sensing and recognition systems and artificial intelligence, robots are developing from being unidirectionally controlled to storing and applying data by themselves, and are gradually becoming informatized.

[0004] In order to expand the application scenarios and scope of mobile robots, in the prior art, robots are manufactured by installing mobile robots on mobile bases, so as to realize the movement of mobile robots to achieve functions such as mobile depalletizing and mobile picking.

[0005] Container loading is one of the core links in warehousing logistics and factory logistics, and its automation level and efficiency are crucial for the turnover efficiency of the entire factory and warehouse. Robots are also gradually replacing humans in the intelligent factory to perform loading inside containers. However, how to perform safety protection during the joint interaction operation between humans and robots is an urgent problem to be solved. Summary of the Utility Model

[0006] Aiming at the deficiencies in the prior art, the purpose of the utility model is to provide a mobile robot.

[0007] The mobile robot provided by the utility model includes:

[0008] A mobile base, configured to move to any position or pause at any position according to a received control instruction and determine the orientation angle;

[0009] A robotic arm, disposed on the mobile base, configured to grab the material at the material taking position and move it to a material placing position;

[0010] An early warning radar, disposed at the end of the mobile base, configured to collect the point cloud information around the mobile base for safety early warning;

[0011] Safety radars, a plurality of safety radars are disposed on the mobile base, configured to collect the point cloud information around the mobile base to form a safe operation area.

[0012] Preferably, the mobile base includes a mobile chassis and a mounting base;

[0013] The installation base is arranged on the mobile chassis, and the mobile chassis is used to drive the installation base to move;

[0014] The robotic arm is arranged on the installation base;

[0015] Safety radars are arranged on multiple sides of the installation base.

[0016] Preferably, the robotic arm includes:

[0017] A base, on which a rotating seat is arranged. The rotating seat is connected to a multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating seat;

[0018] The multi-axis robotic arm includes multiple connecting rods and joint modules; the joint modules are used to drive the connecting rods to rotate axially or perform pitching motions.

[0019] Preferably, a lift is arranged inside the installation base;

[0020] The base is arranged on the lift;

[0021] The lift is used to lift the robotic arm to achieve material picking and placing at different heights.

[0022] Preferably, a console is further included;

[0023] The console is arranged on the mobile chassis;

[0024] A safety barrier is arranged between the console and the installation base;

[0025] Safety radars are arranged on the side of the safety barrier facing the console.

[0026] Preferably, a warning radar is arranged on the mobile chassis;

[0027] The warning radar is arranged on the front side of the console.

[0028] Preferably, a material grabbing fixture is arranged at the end of the robotic arm;

[0029] A depth camera module is arranged on one side of the material grabbing fixture.

[0030] Preferably, the material grabbing fixture includes:

[0031] A suction cup mounting main board, which forms a cavity structure inside, and multiple first mounting holes arranged in a matrix are provided on the suction cup mounting main board;

[0032] The suction cup is arranged in the first mounting hole and is located on the front side of the suction cup mounting main board;

[0033] A suction cup mounting cover plate, which is covered with the rear side of the suction cup mounting main board to enclose the cavity structure. A plurality of second mounting holes arranged in a matrix and suction holes for evacuating the cavity structure are provided on the suction cup mounting cover plate;

[0034] A solenoid valve, which is arranged in the second mounting hole; wherein, each suction cup is communicated with the cavity structure through a corresponding solenoid valve.

[0035] Preferably, the multi-axis robotic arm includes a plurality of pitching joints, rotating joints and a wrist with multiple degrees of freedom;

[0036] The plurality of pitching joints, the rotating joints and the wrist with multiple degrees of freedom are connected in sequence.

[0037] Preferably, a mounting base plate is connected to the outer wall of the rotating base;

[0038] A camera support is provided on the mounting base plate, and a sensing module is provided on the camera support.

[0039] Compared with the prior art, the utility model has the following beneficial effects:

[0040] In the utility model, a warning radar is arranged at the end of the mobile base, and the point cloud information around the mobile base is collected through the warning radar for preliminary safety warning. A plurality of safety radars are arranged on multiple sides of the mobile base, and the point cloud information around the mobile base is collected through the safety radars to form a safe operation area. When performing safety warning, the movement speed of the mobile robot is controlled to decrease. When a moving object is detected in the safe action area, the mobile robot is stopped from moving, realizing effective safety prevention during the operation of the mobile robot and avoiding accidental injury to the moving person by the robotic arm due to inertia;

[0041] In the utility model, a lift is arranged on the mobile base, and the base of the robotic arm is arranged on the lift, so that the robotic arm can be lifted through the lift, thereby realizing the picking and placing of materials at different heights and expanding the applicable scenarios of the mobile robot. Description of the Drawings

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0043] Figure 1 It is a schematic structural diagram of a mobile robot in an embodiment of the present invention;

[0044] Figure 2 It is another schematic structural diagram of a mobile robot in an embodiment of the present invention;

[0045] Figure 3 It is a schematic inner structure diagram of a mobile robot in an embodiment of the present invention;

[0046] Figure 4 It is a schematic structural diagram of a lift in an embodiment of the present invention;

[0047] Figure 5 It is a schematic structural diagram of a material grasping fixture in an embodiment of the present invention;

[0048] Figure 6 It is a schematic inner structure diagram of a material grasping fixture in an embodiment of the present invention;

[0049] Figure 7 It is a schematic structural diagram of a robotic arm in an embodiment of the present invention;

[0050] Figure 8 It is a schematic structural diagram of the wrist of a robotic arm in an embodiment of the present invention; and

[0051] Figure 9 It is a schematic application scenario diagram of a mobile robot in an embodiment of the present invention.

[0052] In the figure:

[0053] 1 is a mobile base; 101 is a mobile chassis; 102 is a mounting base; 2 is a robotic arm; 201 is a base; 202 is a rotating base; 203 is a camera bracket; 2031 is a sensing module; 204 is a first joint module; 205 is a first connecting rod; 206 is a second joint module; 207 is a second connecting rod; 208 is a third joint module; 209 is a third connecting rod; 210 is a fourth joint module; 211 is a fourth connecting rod; 212 is a fifth joint module; 213 is a mounting bracket; 214 is a hollow bracket; 215 is a hollow flange; 216 is a sixth joint module; 3 is a safety radar; 4 is a warning radar; 5 is a material grasping fixture; 501 is a suction cup; 502 is a depth camera module; 503 is a suction cup mounting cover plate; 504 is a solenoid valve; 505 is a suction cup mounting main board; 6 is a control console; 7 is a safety railing; 8 is a lift; 801 is a mounting base plate; 802 is a driving motor; 803 is a base pipe body; 804 is a lifting pipe; 9 is a safety fence. Detailed implementation manners

[0054] The present utility model will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can be made. These all belong to the protection scope of the present utility model.

[0055] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for a fixing function or for a circuit connection function.

[0056] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.

[0057] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more such features. In the description of the embodiments of the present utility model, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0058] Figure 1 This is a schematic structural diagram of a mobile robot in an embodiment of the present utility model. As Figure 1 shown, the mobile robot provided by the present utility model includes:

[0059] A mobile base 1, configured to move to any position or pause at any position according to received control instructions and determine the orientation angle;

[0060] A robotic arm 2, arranged on the mobile base 1, configured to grab the materials at the material taking position and move and place them at a material placing position;

[0061] An early warning radar 4, arranged at the end of the mobile base 1, configured to collect the point cloud information around the mobile base 1 for safety early warning;

[0062] Safety radars 3, a plurality of safety radars 3 are arranged on the mobile base 1, configured to collect the point cloud information around the mobile base 1 to form a safe operation area.

[0063] In the embodiments of the present utility model, the early warning radar 4 uses a 3D lidar. When the early warning radar 4 detects a moving object, it controls the robotic arm 2 to reduce the operating speed;

[0064] The safety radar 3 uses a 2D lidar. When the safety radar 3 detects a moving object, it controls the robotic arm 2 to stop moving.

[0065] Figure 2 This is another schematic structural diagram of a mobile robot in an embodiment of the present utility model. As Figure 2 shown, the mobile robot provided by the present utility model further includes a console 6;

[0066] The console 6 is arranged on the mobile chassis 101;

[0067] A safety barrier 7 is arranged between the console 6 and the mounting base 102;

[0068] Safety radars 3 are arranged on the side of the safety barrier 7 facing the console 6.

[0069] In the embodiment of the present utility model, a human-machine interaction interface is provided on the console 6, and the operation of the robotic arm 2 and the mobile base 1 can be realized through the human-machine interaction interface.

[0070] In the embodiment of the present utility model, the mobile base 1 includes a mobile chassis 101 and a mounting base 102;

[0071] The mounting base 102 is arranged on the mobile chassis 101, and the mobile chassis 101 is used to drive the mounting base 102 to move;

[0072] The robotic arm 2 is arranged on the mounting base 102;

[0073] Safety radars 3 are arranged on multiple sides of the mounting base 102.

[0074] An early warning radar 4 is arranged on the mobile chassis 101;

[0075] The early warning radar 4 is arranged on the front side of the console 6.

[0076] In the embodiment of the present utility model, the number of the safety radars 3 is three, one of which is arranged on the side of the mounting base 102 close to the console 6, and the other two are arranged on the left and right sides of the mounting base 102.

[0077] In the embodiment of the present utility model, the robotic arm 2 includes:

[0078] A base 201, on which a rotating base 202 is arranged. The rotating base 202 is connected to a multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating base 202;

[0079] The multi-axis robotic arm includes multiple connecting rods and joint modules; the joint modules are used to drive the connecting rods to rotate axially or perform pitching movements.

[0080] In the embodiment of the present utility model, a mounting bottom plate is connected to the outer wall of the rotating base 202;

[0081] A camera bracket 203 is arranged on the mounting bottom plate, and a sensing module 2031 is arranged on the camera bracket 203.

[0082] Figure 3 It is a schematic diagram of the inner structure of the mobile robot in the embodiment of the present utility model. As Figure 3 shown, a lift 8 is arranged inside the mounting base 102;

[0083] The base 201 is arranged on the lift 8;

[0084] The elevator 8 is used to lift the robotic arm 2 to achieve material picking and placing at different heights.

[0085] In the embodiment of the present invention, the elevator 8 includes a mounting base plate 801; a driving motor 802 and a base tube 803 are arranged on the mounting base plate 801; at least one lifting tube 804 is arranged in the base tube 803;

[0086] The driving motor 802 is used to drive the lifting tube 804 to lift along the inner wall of the base tube 803.

[0087] Figure 5 It is a schematic structural diagram of the material grasping fixture in the embodiment of the present invention. As Figure 5 shown, a material grasping fixture 5 is arranged at the end of the robotic arm 2;

[0088] A depth camera module 502 is arranged on one side surface of the material grasping fixture 5.

[0089] Figure 6 It is a schematic inner structure diagram of the material grasping fixture in the embodiment of the present invention. As Figure 6 shown, the material grasping fixture 5 includes:

[0090] A suction cup mounting main board 505, a cavity structure is formed inside the suction cup mounting main board 505, and a plurality of first mounting holes arranged in a matrix are arranged on the suction cup mounting main board 505;

[0091] Suction cups 501, the suction cups 501 are arranged in the first mounting holes and are located on the front side of the suction cup mounting main board 505;

[0092] A suction cup mounting cover plate 503, the suction cup mounting cover plate 503 is covered with the rear side surface of the suction cup mounting main board 505 to close the cavity structure, and a plurality of second mounting holes arranged in a matrix and suction holes for evacuating the cavity structure are arranged on the suction cup mounting cover plate 503;

[0093] Solenoid valves 504, the solenoid valves 504 are arranged in the second mounting holes; wherein, each suction cup 501 communicates with the cavity structure through a corresponding solenoid valve 504.

[0094] In the embodiment of the present invention, the vacuum joint communicates with the cavity structure through the suction hole; the vacuum joint is used to communicate with a vacuum source to provide vacuum to the cavity structure.

[0095] Figure 7 It is a schematic structural diagram of the robotic arm in the embodiment of the present invention. As Figure 7 shown, the multi-axis robotic arm includes a plurality of pitching joints, rotating joints and a wrist with multiple degrees of freedom;

[0096] A plurality of the pitching joints, the rotating joint and the wrist with multiple degrees of freedom are connected in sequence.

[0097] The pitching joint includes: a first joint, a second joint and a third joint;

[0098] The first joint includes a first joint module 204 and a first connecting rod 205. The first joint module 204 is used to drive the first connecting rod 205 to rotate for pitching motion;

[0099] The second joint includes a second joint module 206 and a second connecting rod 207. The second joint module 206 is arranged at the distal end of the first connecting rod 205 and is used to drive the second connecting rod 207 to rotate for pitching motion; and

[0100] The third joint includes a third joint module 208 and a third connecting rod 209. The third joint module 208 is arranged at the distal end of the second connecting rod 207 and is used to drive the third connecting rod 209 to rotate for pitching motion.

[0101] In the embodiment of the present invention, the axial directions of the first joint module 204, the second joint module 206 and the third joint module 208 are parallel to each other.

[0102] The rotating joint includes a fourth joint module 210 and a fourth connecting rod 211;

[0103] The third connecting rod 209 includes an upper bracket and a lower bracket; the root end of the lower bracket is connected to the third joint module 208, and the distal end is connected to the upper bracket; the fourth joint module 210 and the fourth connecting rod 211 are sequentially arranged on the upper bracket along a direction;

[0104] The fourth joint module 210 is used to drive the fourth connecting rod 211 to rotate along the axial direction, and further drive the wrist to rotate.

[0105] In the embodiment of the present invention, the axis of the fourth joint module 210 is perpendicular to the axes of the first joint module 4, the second joint module 206 and the third joint module 208.

[0106] Figure 8 It is a schematic structural diagram of the wrist of the robotic arm in the embodiment of the present invention, as Figure 8 shown, the wrist includes a fifth joint module 212, a sixth joint module 216, a mounting bracket 213, a hollow bracket 214 and a hollow flange 215;

[0107] The mounting bracket 213 is arranged at the distal end of the fourth connecting rod 211; the fifth joint module 212 is arranged on the mounting bracket 213 and is used for driving the hollow bracket 214 to perform a rotational motion;

[0108] The hollow flange 215 and the sixth joint module 216 are sequentially arranged on the hollow bracket 214 along a direction; the sixth joint module 216 is used for driving the hollow flange 215 to rotate, and the hollow flange 215 is used for mounting an end effector.

[0109] Figure 9 It is a schematic diagram of the application scenario of the mobile robot in the embodiment of the present invention. As Figure 9 shown, the safety light curtain emitted by each safety radar 3 is parallel to three sides of the corresponding mobile base; the safety radar adopts a 3D safety lidar, and within its detection range, different monitoring ranges can be customized, and different monitoring ranges can be switched according to instructions to implement the safety operation areas in multiple states.

[0110] The safety warning area formed by the warning radar 4 is a semi - circle perpendicular to the ground.

[0111] On both sides of the mobile robot, a material tray can be respectively arranged, and a safety fence 9 is arranged outside the material tray; the safety fence 9 is provided with a safety passage for the tray to enter and exit.

[0112] The warning radar 4 is used for safety warning of the safety passage and forms a safety warning area for the mobile robot outside the safety passage.

[0113] In the embodiment of the present invention, when the warning radar 801 detects that a moving person enters the safety warning area, the mobile robot 1 is controlled to operate at a low - speed operation speed with a reduced speed;

[0114] When a moving person is detected in the safety operation area, the mobile robot is controlled to stop operating.

[0115] In the embodiment of the present utility model, a warning radar is arranged at the end of the mobile base. The point cloud information around the mobile base is collected through the warning radar for preliminary safety warning. A plurality of safety radars are arranged on multiple sides of the mobile base, and the point cloud information around the mobile base is collected through the safety radars to form a safe operation area. When performing safety warning, the movement speed of the mobile robot is controlled to decrease. When a moving object is detected in the safe operation area, the movement of the mobile robot is stopped, realizing effective safety prevention during the operation of the mobile robot and avoiding accidental injury to the moving person by the robotic arm due to inertia. In the embodiment of the present utility model, a lift is arranged on the mobile base, and the base of the robotic arm is arranged on the lift, so that the robotic arm can be lifted by the lift, thereby realizing the picking and placing of materials at different heights and expanding the applicable scenarios of the mobile robot.

[0116] The various embodiments in this specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0117] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present utility model.

Claims

1. A mobile robot, characterized in that, Comprising: A mobile base, configured to move to any position or pause at any position according to received control instructions and determine the orientation angle; A robotic arm, arranged on the mobile base, configured to grab materials at a picking position and move and place them at a discharging position; A warning radar, arranged at the end of the mobile base, configured to collect point cloud information around the mobile base for safety warning; Safety radars, multiple safety radars are arranged on the mobile base, configured to collect point cloud information around the mobile base to form a safe operation area.

2. The mobile robot according to claim 1, wherein The mobile base includes a mobile chassis and a mounting base; The mounting base is arranged on the mobile chassis, and the mobile chassis is configured to drive the mounting base to move; The robotic arm is arranged on the mounting base; Safety radars are arranged on multiple side surfaces of the mounting base.

3. The mobile robot according to claim 2, characterized in that, The robotic arm includes: A base, on which a rotating seat is arranged, the rotating seat is connected to a multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating seat; A multi-axis robotic arm, including multiple connecting rods and joint modules; the joint modules are configured to drive the connecting rods to rotate axially or perform pitching actions.

4. The mobile robot according to claim 3, characterized in that, A lift is arranged inside the mounting base; The base is arranged on the lift; The lift is configured to lift the robotic arm to achieve material picking and placing at different heights.

5. The mobile robot according to claim 2, wherein, It further includes a console; The console is arranged on the mobile chassis; A safety fence is arranged between the console and the mounting base; Safety radars are arranged on the side surface of the safety fence facing the console.

6. The mobile robot according to claim 5, characterized in that, A warning radar is arranged on the mobile chassis; The warning radar is arranged on the front side of the console.

7. The mobile robot according to claim 1, characterized in that A material grabbing fixture is arranged at the end of the robotic arm; A depth camera module is arranged on one side surface of the material grabbing fixture.

8. The mobile robot according to claim 7, characterized in that, The material grabbing fixture includes: A suction cup mounting main board, a cavity structure is formed inside the suction cup mounting main board, and multiple first mounting holes arranged in a matrix are formed on the suction cup mounting main board; Suction cups, the suction cups are arranged in the first mounting holes and are located on the front side of the suction cup mounting main board; A suction cup mounting cover board, the suction cup mounting cover board covers the rear side surface of the suction cup mounting main board to enclose the cavity structure, and multiple second mounting holes arranged in a matrix and suction holes for evacuating the cavity structure are formed on the suction cup mounting cover board; Solenoid valves, the solenoid valves are arranged in the second mounting holes; wherein, each suction cup is communicated with the cavity structure through a corresponding solenoid valve.

9. The mobile robot according to claim 3, characterized in that, The multi-axis robotic arm includes multiple pitching joints, rotating joints and a wrist with multiple degrees of freedom; The multiple pitching joints, the rotating joints and the wrist with multiple degrees of freedom are connected in sequence.

10. The mobile robot according to claim 3, characterized in that, A mounting bottom board is connected to the outer wall of the rotating seat; A camera support is arranged on the mounting bottom board, and a sensing module is arranged on the camera support.

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