Integrated mobile robot

Abstract

The utility model provides an integrated mobile robot which comprises 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 moving the target box body on the material taking position to a material placing position; a first camera supporting mechanism and a second camera supporting mechanism are arranged on the two sides of a rotating base of the mechanical arm correspondingly. A first visual perception module is arranged on the first camera supporting mechanism, and a second visual perception module is arranged on the second camera supporting mechanism; the visual perception module comprises a 2D camera and a laser radar, and the 2D camera and the laser radar are used for achieving image information collection of the target box body or a box stack body formed by the target box body in a matched mode. The visual perception module can rotate along with the mechanical arm and can also rotate through the camera supporting mechanism, the imaging efficiency of the target box body can be improved, and then the grabbing efficiency of the mechanical arm on the target box body is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent robot, concretely, relates to integrated mobile robot. BACKGROUND

[0002] Intelligent robot is an intelligent equipment with sensor, objective lens and electronic optical system, which can quickly sort and carry goods.

[0003] More and more visual sensors and force sensors will be used on intelligent robots, and intelligent robots will become more and more intelligent. With the progress of sensing and identification system, artificial intelligence and other technologies, robots develop from one-way control to self-storage and self-application of data, and gradually become information-based.

[0004] In order to expand the application scenarios and application range of intelligent robots, the prior art installs intelligent robots on mobile bases to manufacture mobile robots, so as to realize the movement of intelligent robots to realize mobile unstacking and mobile picking functions. However, in order to realize the rapid operation of mobile robots, how to realize physical visual information collection is a problem to be solved. UTILITY MODEL CONTENT

[0005] In view of the defects in the prior art, the utility model aims to provide an integrated mobile robot.

[0006] The integrated mobile robot according to the utility model comprises:

[0007] A mobile base is used to move to any position or pause at any position and determine the orientation angle according to the received control instruction.

[0008] A mechanical arm is arranged on the mobile base and used to move a target box on a taking position to a placing position. First and second camera support mechanisms are arranged on both sides of the rotating seat of the mechanical arm.

[0009] A first visual perception module is arranged on the first camera support mechanism, and a second visual perception module is arranged on the second camera support mechanism. The visual perception module comprises a 2D camera and a laser radar, which are used to cooperate to realize image information collection of the target box or a box stack formed by the target box.

[0010] Preferably, the camera support mechanism comprises a mounting base and a support column.

[0011] The mounting base is connected to the rotating seat of the mechanical arm through a mounting bottom plate.

[0012] The support column is arranged on the mounting base, and the mounting base is used to drive the support column to rotate.

[0013] The sense perception module is arranged at the top end of the support column to rotate with the support column.

[0014] Preferably, a first rotation driving module and a second rotation driving module are further included, the first rotation driving module is used to drive the first camera support mechanism to rotate along its axial direction;

[0015] The second rotation driving module is used to drive the second camera support mechanism to rotate along its axial direction.

[0016] Preferably, the mounting base includes a hollow shaft rotating platform and a bracket motor.

[0017] The power output end of the bracket motor is connected to the motor connection port of the hollow shaft rotating platform.

[0018] The support column is arranged on the rotating platform of the hollow shaft rotating platform.

[0019] The bracket motor is used to drive the support column to rotate through the hollow shaft rotating platform.

[0020] Preferably, the laser radar includes a first laser radar and a second laser radar.

[0021] The first laser radar and the second laser radar are arranged symmetrically back to back on the support column.

[0022] The 2D camera is provided with a first wide-angle lens.

[0023] The 2D camera is arranged between the first laser radar and the second laser radar or arranged on the upper side of the abutting position of the first laser radar and the second laser radar.

[0024] Preferably, the mechanical arm includes a mechanical arm body, a fixed seat, and a rotating seat.

[0025] The fixed seat is arranged on the moving base, the rotating seat is rotationally connected to the fixed seat, the lower end of the mechanical arm body is connected to the rotating seat, and the mechanical arm body can rotate along its axial direction under the driving of the rotating seat.

[0026] Preferably, the mechanical arm body adopts a six-degree-of-freedom robot arm.

[0027] Preferably, the rotating seat includes a driving motor and a speed reducer.

[0028] The output end of the driving motor is drivingly connected to the input end of the speed reducer.

[0029] The speed reducer is provided with an output end cover; an outer edge of the output end cover extends out of a mounting base plate; a first joint module is arranged on the mounting base plate;

[0030] The speed reducer is provided with a hollow structure; a wire tube is arranged in the hollow structure.

[0031] Preferably, the mechanical arm body comprises three pitch joints, a rotation joint and a two-degree-of-freedom wrist connected in sequence.

[0032] Preferably, the pitch joints comprise a first joint, a second joint and a third joint.

[0033] The first joint comprises a first joint module and a first connecting rod; the first joint module is used to drive the first connecting rod to rotate to perform a pitch action.

[0034] The second joint comprises a second joint module and a second connecting rod; the second joint module is arranged at a distal end of the first connecting rod and is used to drive the second connecting rod to rotate to perform a pitch action.

[0035] The third joint comprises a third joint module and a third connecting rod; the third joint module is arranged at a distal end of the second connecting rod and is used to drive the third connecting rod to rotate to perform a pitch action.

[0036] Compared with the prior art, the speed reducer has the following beneficial effects:

[0037] In the utility model, the mechanical arm is arranged on a mobile base; the mechanical arm comprises a mechanical arm body, a fixing seat and a rotation seat; the fixing seat is arranged on the mobile base; the rotation seat is rotationally connected to the fixing seat; the lower end of the mechanical arm body is connected to the rotation seat and can rotate along the axial direction of the rotation seat; the rotation seat is provided with a first camera support mechanism and a second camera support mechanism arranged on the two sides, respectively; a visual perception module is arranged on each camera support mechanism; the visual perception module can rotate with the mechanical arm and can also rotate through the camera support mechanism; the imaging efficiency of the target box can be improved; the efficiency of the mechanical arm in grabbing the target box is improved; the setting of the double camera support mechanisms can provide a 360° visual field for the robot; the interference of the mechanical arm on the vision is avoided; the visual requirements of the feeding and discharging of multiple trays can be met at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings. Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 The structural schematic diagram of the integrated mobile robot in the embodiment of the present application;

[0040] Figure 2 The cooperation schematic diagram of the rotating seat and the camera support mechanism in the embodiment of the present application;

[0041] Figure 3 The cooperation schematic diagram of the mechanical arm main body and the camera support mechanism in the embodiment of the present application;

[0042] Figure 4 The structural schematic diagram of the mechanical wrist arm in the embodiment of the present application;

[0043] Figure 5 The structural schematic diagram of the camera support mechanism in the embodiment of the present application;

[0044] Figure 6 The driving schematic diagram of the mechanical arm rotation in the embodiment of the present application;

[0045] Figure 7 The exploded view of the mechanical arm wrist arm in the embodiment of the present application;

[0046] Figure 8 The catheter communication schematic diagram of the end effector in the embodiment of the present application; and

[0047] Figure 9 The sectional schematic diagram of the fourth connecting rod in the embodiment of the present application.

[0048] In the drawings:

[0049] 100 is a mechanical arm; 200 is a mobile base; 300 is a first camera support mechanism; 301 is a support motor; 302 is a hollow shaft rotating platform; 303 is a support column; 304 is a first visual perception module; 3041 is a first laser radar; 3042 is a second laser radar; 3043 is a 2D camera; 305 is a mounting bottom plate; 400 is an end effector; 500 is a second camera support mechanism;

[0050] 101 is a fixed base; 102 is a rotating base; 103 is a drive motor; 104 is a first joint module; 105 is a first connecting rod; 106 is a second joint module; 107 is a second connecting rod; 108 is a third joint module; 109 is a third connecting rod; 110 is a fourth joint module; 1101 is a first transmission gear; 111 is a fourth connecting rod; 1111 is a second transmission gear; 1112 is a gear output connection mechanism; 1113 is a first bearing; 1114 is a short tube for the forearm; 112 is a fifth joint module; 113 is a mounting bracket; 114 is a hollow bracket; 115 is a hollow flange; 1151 is a third transmission gear; 116 is a sixth joint module; 1161 is a fourth transmission gear. Detailed Implementation

[0051] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0052] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0053] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] Figure 1 This is a schematic diagram of the integrated mobile robot in an embodiment of the present invention.Figure 1 As shown, the integrated mobile robot provided by this utility model includes:

[0056] The movable base 200 is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0057] A robotic arm 100 is mounted on the movable base and is used to move the target box at the picking position to a discharging position; a first camera support mechanism and a second camera support mechanism are respectively provided on both sides of the rotating base of the robotic arm.

[0058] A first visual perception module is provided on the first camera support mechanism, and a second visual perception module is provided on the second camera support mechanism; the visual perception module includes a 2D camera and a lidar, and the visual perception module 304 includes a 2D camera 3043 and a lidar, the 2D camera 3043 and the lidar are used to cooperate to realize the acquisition of image information of the target box or the box stack formed by the target box.

[0059] In a variation of this utility model, the integrated mobile robot provided by this utility model further includes a first rotation drive module and a second rotation drive module;

[0060] The first rotation drive module is used to drive the first camera support mechanism 300 to rotate along its axial direction so that the first visual perception module 304 has a 360° field of view around the first camera support mechanism 300.

[0061] The second rotation drive module is used to drive the second camera support mechanism 500 to rotate along its axis so that the second visual perception module has a 360° field of view around the second camera support mechanism 500.

[0062] In this embodiment, the lower end of the camera support mechanism is connected to the rotation drive module. The rotation drive module can be configured to include a bracket motor and a reducer. The bracket motor drives the camera support mechanism to rotate through the reducer. When the camera support mechanism rotates, it can drive the visual perception module 304 to rotate, so as to collect image information of the target box or the stack of boxes formed by the target box within a 360° range.

[0063] Figure 2 This is a schematic diagram illustrating the cooperation between the rotating base and the camera support mechanism in an embodiment of this utility model. Figure 2 As shown in the embodiment of this utility model, the camera support mechanism 300 includes a mounting base and a support column 303;

[0064] The mounting base is connected to the rotating seat 102 of the robotic arm 100 via a mounting base plate 305;

[0065] The support column 303 is disposed on the mounting base, and the mounting base is used to drive the support column 303 to rotate;

[0066] The first visual perception module 304 is disposed at the top of the support column 303 so as to rotate with the support column 303.

[0067] The mounting base includes a hollow shaft rotary platform 302 and a bracket motor 301;

[0068] The power output end of the bracket motor 301 is connected to the motor connection port 302 of the hollow shaft rotating platform;

[0069] The support column 303 is disposed on the rotating platform of the hollow shaft rotating platform 302;

[0070] The bracket motor 301 is used to drive the support column 303 to rotate via the hollow shaft rotating platform 302.

[0071] In this embodiment of the utility model, the support column 303 is driven to rotate by the bracket motor 301, so that when the rotating seat 102 rotates in one direction, the support column 303 can be driven to rotate in another direction, thus maintaining the acquisition of image information of the target box or the stack of boxes formed by the target box on the front side of the movable base 200.

[0072] like Figure 5 As shown, each of the aforementioned visual perception modules includes a 2D camera 3043 and a lidar;

[0073] The 2D camera 3043 is used to acquire RGB images of the target box or the stack of boxes formed by the target box;

[0074] The lidar is used to acquire point cloud image information of the target box or the stack of boxes formed by the target box.

[0075] The visual perception module 304 further includes a processor unit, which is used to acquire RGB image and point cloud image information, detect the region of each target box on the RGB image through a pre-set deep learning model, project the RGB image of each target box position into the point cloud image, determine the pose of the target box according to the point cloud corresponding to each target box, and send the pose of each target box to the robotic arm so that the robotic arm 100 performs a grasping action on the target box.

[0076] In this embodiment of the utility model, the lidar includes a first lidar 3041 and a second lidar 3042; the first lidar 3041 is disposed on one side of the lidar vertical plate, and the second lidar 3042 is disposed on the other side of the lidar vertical plate.

[0077] The 2D camera 3043 is mounted on the side of the radar vertical plate and is located between the first lidar 3041 and the second lidar 3042.

[0078] The radar vertical plate is sheet-shaped, with its lower end face connected to the upper end face of the support column 303 and its upper end face connected to the camera base; the 2D camera 3043 is mounted on the camera base.

[0079] In this embodiment of the invention, the field of view of the 2D camera 3043 is tilted downwards.

[0080] If the angle between the central axis of the 2D camera 3043 and the vertical direction is set to be between 30° and 60°, preferably 45°, then images can be acquired of the target box near the movable base and the stack of boxes formed by the target box.

[0081] The 2D camera 3043 is equipped with a first wide-angle lens, which is a fisheye lens, so the 2D camera 3043 is also called a fisheye camera; the fisheye camera is located between the first lidar 3041 and the second lidar 3042.

[0082] The imaging field of view of the first fisheye camera 304 is associated with the imaging field of view of the first lidar 3041 and the second lidar 3042 by calibration.

[0083] In the embodiments of this utility model, such as Figure 2 As shown, the robotic arm 100 includes a robotic arm body, a fixed base 101, and a rotating base 102;

[0084] The fixed base 101 is disposed on the movable base 200, the rotating base 102 is rotatably connected to the fixed base 101, and the lower end of the main body of the robotic arm is connected to the rotating base 102, which can rotate along its axial direction driven by the rotating base 102.

[0085] In this embodiment of the invention, the rotating base 102 can be configured as the first rotating joint of the robotic arm 100. The camera support mechanism 300 is mounted on the rotating base 102.

[0086] In this embodiment of the invention, the robotic arm 100 can be a six-axis robotic arm, a four-axis robotic arm, an eight-axis robotic arm, or other multi-axis robotic arms. Alternatively, it can be a Scara robotic arm with three rotary joints capable of assembly operations, or a Delta robot capable of high-precision material picking, etc. It is worth noting that in practical application scenarios, any automated device capable of grasping and transporting can be applied to the technical solution of this invention.

[0087] In a modified embodiment of this utility model, the support column 303 is capable of being raised and lowered;

[0088] The visual perception module 304 is mounted on the support column 303 so that it rises and falls with the support column 303.

[0089] The support column 303 can be raised and lowered by a motor or cylinder to suit different application scenarios. For example, when it is necessary to enter the container for loading and unloading of the target container, the support column 303 can be lowered according to the height of the container. In addition, the support column 303 can be raised and lowered according to the loading and unloading scenario to expand the field of view of the visual perception module 304.

[0090] In this embodiment of the invention, the main body of the robotic arm is a six-degree-of-freedom robotic arm. The rotating base 102 includes a drive motor 103 and a reducer;

[0091] The output end of the drive motor 103 is connected to the input end of the reducer;

[0092] The reducer is provided with an output end cover; the outer edge of the output end cover extends to a mounting chassis; a first joint module 104 is provided on the mounting chassis.

[0093] The speed reducer has a hollow structure; a conduit is installed inside the hollow structure.

[0094] The main body of the robotic arm includes three pitch joints, a rotation joint, and a two-degree-of-freedom wrist connected in sequence.

[0095] The pitch joint includes: a first joint, a second joint, and a third joint;

[0096] The first joint includes a first joint module 104 and a first link 105. The first joint module 104 is used to drive the first link 105 to rotate in order to perform a pitching motion.

[0097] The second joint includes a second joint module 106 and a second link 107. The second joint module 106 is disposed at the distal end of the first link 105 and is used to drive the second link 107 to rotate for pitching motion; and

[0098] The third joint includes a third joint module 108 and a third link 109. The third joint module 108 is disposed at the end of the second link 107 and is used to drive the third link 109 to rotate for pitching.

[0099] In this embodiment of the invention, the axial directions of the first joint module 104, the second joint module 106, and the third joint module 108 are parallel to each other.

[0100] In this embodiment of the invention, the joint module enables rapid production and rapid assembly of robots, saving the manpower and time costs of selecting, designing, purchasing, and assembling hundreds of mechanical and electronic components.

[0101] The joint module includes:

[0102] An absolute encoder at the motor end is used to measure joint speed and is placed at the end of the motor to acquire the motor speed.

[0103] The output end features a multi-turn absolute encoder that can memorize single-turn and multi-turn power-off positions, enabling full closed-loop control.

[0104] Frameless torque motors are used to output torque to speed reducers;

[0105] Precision harmonic reducers, including 50, 80, 100, or 120 reduction ratios.

[0106] A DC driver is used to change the motor voltage to control the speed of a brushless DC motor.

[0107] Friction brake retainer is used for braking and position holding of joint modules, enabling full-load zero-speed start and full-speed heavy-load emergency stop;

[0108] Torque sensor, used to measure torque and speed.

[0109] Figure 4 This is a schematic diagram of the mechanical wrist arm in an embodiment of the present invention, as shown below. Figure 4 As shown, the rotary joint includes a fourth joint module 110 and a fourth link 111;

[0110] The third link 109 includes an upper support and a lower support; the root end of the lower support is connected to the third joint module 108, and the tip end is connected to the upper support; the fourth joint module 110 and the fourth link 111 are sequentially arranged on the upper support along one direction;

[0111] The fourth joint module 110 is used to drive the fourth link 111 to rotate in the axial direction, and thereby drive the wrist to rotate.

[0112] In this embodiment of the invention, the axis of the fourth joint module 110 is perpendicular to the axes of the first joint module 104, the second joint module 106, and the third joint module 108.

[0113] Figure 6 This is a schematic diagram of the drive mechanism for the rotation of the robotic arm in an embodiment of this utility model, as shown below. Figure 6 As shown, a first transmission gear 1111 is provided on the output flange of the fourth joint module 110, and a second transmission gear 1111 is provided at the root end of the fourth connecting rod 111; the first transmission gear 1111 and the second transmission gear 1111 mesh so that the fourth joint module 110 drives the fourth connecting rod 111 to rotate in sequence through the first transmission gear 1111 and the second transmission gear 1111.

[0114] The fourth link 111 and the fourth joint module 110 are connected by a fixing bracket 901;

[0115] Figure 7 This is an exploded view of the robotic arm's wrist in an embodiment of this utility model, as shown below. Figure 7 As shown, the wrist includes a fifth joint module 112, a sixth joint module 116, a mounting bracket 113, a hollow bracket 114, and a hollow flange 115;

[0116] The mounting bracket 113 is disposed at the tip of the fourth link 111; the fifth joint module 112 is disposed on the mounting bracket 113 and is used to drive the hollow bracket 114 to rotate.

[0117] The hollow support 114 is provided with the hollow flange 115 and the sixth joint module 116 in sequence along one direction; the sixth joint module 116 is used to drive the hollow flange 115 to rotate, and the hollow flange 115 is used for the installation of the end effector.

[0118] In this embodiment of the utility model, a third transmission gear 1151 is provided on the hollow flange 115; a fourth transmission gear 1161 is provided on the output flange of the sixth joint module 116; the fourth transmission gear 1161 meshes with the third transmission gear 1151.

[0119] The sixth joint module 116 drives the hollow flange 115 to rotate sequentially through the fourth transmission gear 1161 and the third transmission gear 1151, thereby driving the end effector on the hollow flange 115 to rotate.

[0120] In this embodiment of the invention, the axes of the fifth joint module 112 and the sixth joint module 116 are perpendicular to each other;

[0121] The axis of the fourth joint module 110 is perpendicular to the axis of the fifth joint module 112 and parallel to the axis of the sixth joint module 116.

[0122] The axis of the fifth joint module 112 is parallel to the axes of the first joint module 104, the second joint module 106 and the third joint module 108.

[0123] The axis of the sixth joint module 116 is perpendicular to the axes of the first joint module 104, the second joint module 106, and the third joint module 108.

[0124] Figure 8 This is a schematic diagram of the conduit connection of the end effector in an embodiment of the present invention, as shown below. Figure 8 As shown in this embodiment of the invention, the end effector includes a vacuum source, a conduit, and a suction cup assembly;

[0125] The vacuum source is connected to the suction cup assembly via the conduit, and is used to provide a vacuum to the suction cup assembly;

[0126] The conduit passes sequentially through the inner cavity of the fourth connecting rod 111 and the inner cavity of the hollow flange 115 to connect to the suction cup assembly.

[0127] In this embodiment of the utility model, the hollow flange 115 and the fourth connecting rod 111 are coaxially arranged.

[0128] Figure 9 This is a cross-sectional schematic diagram of the fourth link in an embodiment of the present invention, as shown below. Figure 9 As shown, the fourth link 111 includes a forearm short tube 1114, a first bearing 1113, and a gear output connection mechanism 1112; the first transmission gear 1111 is connected to the root end of the forearm short tube 1114 through the gear output connection mechanism 1112, and the tip end of the forearm short tube 1114 is connected to the mounting bracket 113.

[0129] When using the integrated mobile robot provided by this utility model, trays are respectively provided on both sides of the mobile base 200, and a transmission line is provided on the front side;

[0130] The robotic arm 100 can sequentially stack the materials transported by the conveyor line onto the pallets on both sides. When the robotic arm 100 stacks the left pallet located on the mobile base 200, it acquires image information through the first vision sensing module on the first camera support mechanism on the left side; when the robotic arm 100 stacks the right pallet located on the mobile base 200, it acquires image information through the second vision sensing module on the second camera support mechanism on the right side.

[0131] The robotic arm 100 can sequentially place materials from the pallets on both sides onto the conveyor line for transport. When the robotic arm 100 grasps materials on the left pallet of the mobile base 200, image information is acquired through the first visual perception module on the first camera support mechanism on the left side. When the robotic arm 100 grasps materials on the right pallet of the mobile base 200, image information is acquired through the second visual perception module on the second camera support mechanism on the right side.

[0132] In this embodiment of the invention, a robotic arm is mounted on a movable base. The robotic arm includes a robotic arm body, a fixed base, and a rotating base. The fixed base is mounted on the movable base, and the rotating base is rotatably connected to the fixed base. The lower end of the robotic arm body is connected to the rotating base, allowing it to rotate along its axial direction. The rotating base is provided with a first camera support mechanism and a second camera support mechanism on both sides. Each camera support mechanism is equipped with a vision perception module, enabling the vision perception module to rotate with the robotic arm or through the camera support mechanism. This improves the imaging efficiency of the target box, thereby increasing the efficiency of the robotic arm in grasping the target box. Furthermore, the dual-camera support mechanism provides the robot with a 360° field of view, avoiding interference with vision from the robotic arm and simultaneously meeting the visual requirements for loading and unloading multiple pallets.

[0133] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0134] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. An integrated mobile robot, characterized by The utility model relates to a kind of box picking and placing device, including: Mobile base is used to move to arbitrary position or pause in arbitrary position and determine orientation angle according to received control instruction; Mechanical arm is arranged on the mobile base, for moving target box on picking position to a placing position;Two sides of the rotating seat of the mechanical arm are respectively provided with first camera support mechanism and second camera support mechanism; First visual perception module is arranged on the first camera support mechanism, and second visual perception module is arranged on the second camera support mechanism;The visual perception module includes 2D camera and laser radar, and the 2D camera and the laser radar are used to cooperate to realize the image information collection of the target box or the box stack formed by the target box.

2. The integrated mobile robot of claim 1, wherein, The camera support mechanism includes a mounting base and a support column. The mounting base is connected to the rotating seat of the mechanical arm through a mounting bottom plate. The support column is arranged on the mounting base, and the mounting base is used to drive the support column to rotate. The sensing module is arranged at the top end of the support column to rotate with the support column.

3. The integrated mobile robot of claim 1, wherein, It also includes a first rotation driving module and a second rotation driving module. The second rotation driving module is used to drive the second camera support mechanism to rotate along its axial direction.

4. The integrated mobile robot of claim 2, wherein, The mounting base includes a hollow shaft rotating platform and a bracket motor. The power output end of the bracket motor is connected to the motor connection port of the hollow shaft rotating platform. The support column is arranged on the rotating platform of the hollow shaft rotating platform. The bracket motor is used to drive the support column to rotate through the hollow shaft rotating platform.

5. The integrated mobile robot of claim 2, wherein, The laser radar includes a first laser radar and a second laser radar. The first laser radar and the second laser radar are arranged symmetrically back to back on the support column. The 2D camera is provided with a first wide-angle lens. The 2D camera is arranged between the first laser radar and the second laser radar or arranged on the upper side of the joint of the first laser radar and the second laser radar.

6. The integrated mobile robot of claim 1, wherein, The mechanical arm includes a mechanical arm body, a fixed seat and a rotating seat. The fixed seat is arranged on the mobile base, the rotating seat is rotationally connected to the fixed seat, and the lower end of the mechanical arm body is connected to the rotating seat and can rotate along the axial direction of the rotating seat.

7. The integrated mobile robot of claim 6, wherein, The mechanical arm body adopts a six-degree-of-freedom robot arm.

8. The integrated mobile robot of claim 6, wherein, The rotating seat includes a drive motor and a speed reducer. The output end of the drive motor is drivingly connected to the input end of the speed reducer. The speed reducer is provided with an output end cover. The outer edge of the output end cover extends out of a mounting bottom plate.

9. The integrated mobile robot of claim 6, wherein, The mounting bottom plate is provided with a first joint module.

10. The integrated mobile robot of claim 9, wherein, The speed reducer is provided in a hollow structure. The hollow structure is provided with a wire tube. The mechanical arm body includes three pitch joints, a rotation joint and a two-degree-of-freedom wrist connected in sequence. The pitch joints include a first joint, a second joint and a third joint. The first joint includes a first joint module and a first connecting rod. The first joint module is used to drive the first connecting rod to rotate for pitch action. The second joint comprises a second joint module and a second connecting rod, the second joint module is arranged at the tip of the first connecting rod, and is used for driving the second connecting rod to rotate to perform a pitching action; The third joint comprises a third joint module and a third connecting rod, the third joint module is arranged at the tip of the second connecting rod, and is used for driving the third connecting rod to rotate to perform a pitching action.

Images