Uncovering device and autonomous mobile robot

Abstract

The embodiment of the utility model discloses a cover opening device and an autonomous mobile robot, the cover opening device comprises a mounting frame, a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are oppositely arranged on the mounting frame, and a clamping gap for clamping is formed between the first clamping piece and the second clamping piece; at least one of the first clamping piece and the second clamping piece is elastically connected with the mounting frame through an elastic piece, and the elastic piece is used for adjusting the clamping gap. By means of the cover opening device, a handle of a cover can be tightly clamped, and an autonomous mobile robot can effectively open and close the cover of a special box body by assembling the cover opening device.

Description

Technical Field

[0001] This application relates to the field of wafer box handling technology, specifically to a cover opening device and an autonomous mobile robot. Background Technology

[0002] In modern logistics automation, autonomous mobile robots (AMRs) play a crucial role. However, existing AMRs' grippers or forks have significant limitations when grasping boxes stored in special containers. Firstly, they cannot open the lids of these containers, restricting their ability to manipulate items inside, leading to workflow interruptions, requiring manual intervention, and reducing automation efficiency. Secondly, the robotic arm itself cannot provide sufficient power to open the lid, further limiting its application in complex tasks. Therefore, developing a device that can effectively cooperate with AMRs to open the lids of special containers is of great significance. Utility Model Content

[0003] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application provides a lid-opening device and an autonomous mobile robot, solving the problem that there is no device in the prior art that can effectively cooperate with an autonomous mobile robot to realize the function of opening a special box lid.

[0004] The objective of this application can be achieved through the following technical solutions:

[0005] In a first aspect, this application provides a cover opening device, which includes a mounting frame, a first clamping member and a second clamping member. The first clamping member and the second clamping member are disposed opposite to each other on the mounting frame, forming a clamping gap between them. At least one of the first clamping member and the second clamping member is elastically connected to the mounting frame through an elastic member, which is used to adjust the clamping gap.

[0006] Optionally, the mounting bracket includes a guide rod and an upper baffle and a lower baffle respectively disposed at both ends of the guide rod. The first clamping member and the second clamping member are both sleeved on the guide rod and slidably engaged with it. The first clamping member is elastically connected to the upper baffle through a first elastic member, and the second clamping member is elastically connected to the lower baffle through a second elastic member.

[0007] Optionally, multiple guide rods are provided. The first clamping member includes a first body and a first clamping arm extending outward from its front end. The second clamping member includes a second body and a second clamping arm extending outward from its front end. Both the first body and the second body are fitted with multiple guide rods and slide in cooperation with them.

[0008] Optionally, an isolation section is provided between the first body and the second body, the isolation section being used to limit the minimum size of the clamping gap.

[0009] Optionally, the isolation part is integrally formed on the second body and is sleeved on the guide rod and slides in cooperation with the guide rod.

[0010] Optionally, a first roller is rotatably mounted on the end of the first clamping arm away from the first body; a second roller is rotatably mounted on the end of the second clamping arm away from the second body. The first roller and the second roller are arranged opposite to each other, and the outer circumferential surface of the roller extends to the upper and lower sides and end face of the corresponding clamping arm.

[0011] Optionally, both the first and second clamping arms are provided with U-shaped grooves with openings facing away from the main body. The clamping arms have two support arms located on both sides of the U-shaped groove and arranged opposite to each other. A rotating shaft is provided in the U-shaped groove. The two ends of the rotating shaft are rotatably connected to the two support arms through bearings. Rollers are provided in the U-shaped groove and fixedly sleeved on the rotating shaft.

[0012] Optionally, the second clamping arm is located below the first clamping arm, and the second clamping arm includes a horizontal section connected to the second body and an inclined section located at one end of the horizontal section and inclined toward the direction of the first clamping member.

[0013] Optionally, both the first and second elastic elements are springs surrounding the guide rod.

[0014] In a second aspect, this application provides an autonomous mobile robot, which includes a robotic arm and the aforementioned opening device mounted on the robotic arm.

[0015] The above-described embodiments of this application have at least one or more of the following beneficial effects: the clamping gap of the opening device in this application is flexibly adjustable, and can always maintain a tight clamping of the handle of the lid through the automatic adjustment of the elastic element. When the opening device is assembled on an autonomous mobile robot, the autonomous mobile robot can use its own movement capabilities to effectively open and close the lid of special boxes through the opening device, thereby improving the overall efficiency of automated logistics operations. Attached Figure Description

[0016] The present application will be further described below with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the opening device in one embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the opening device from another perspective in one embodiment of this application;

[0019] Figure 3 This is a structural schematic diagram of the autonomous mobile robot and the housing in one embodiment of this application;

[0020] Figure 4 yes Figure 3 Enlarged view of the structure at point A in the middle.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Lid opening device; 11. Mounting bracket; 111. Guide rod; 112. Upper baffle; 113. Lower baffle; 12. First clamping component; 121. First body; 122. First clamping arm; 123. First U-shaped groove; 124. First support arm; 125. First rotating shaft; 13. Second clamping component; 131. Second body; 132. Second clamping arm; 1321. Horizontal section; 1322. Inclined section; 133. Second U-shaped groove; 134. Second support arm; 135. Second rotating shaft; 14. Elastic component; 141. First elastic component; 142. Second elastic component; 15. First roller; 16. Second roller; 17. Isolation part; 2. Robotic arm; 3. Mounting bracket; 4. Gripper; 100. Autonomous mobile robot; 200. Special box; 201. Lid; 202. Handle; 300. Box body. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] Please see Figure 1-4 As shown, this application provides a lid opening device 1, which can be installed on an autonomous mobile robot 100. By utilizing the movement capability of the autonomous mobile robot 100, the lid 201 of a special box 200 can be effectively opened, thereby improving the overall efficiency of automated logistics operations.

[0025] Please see Figure 1 and Figure 2 As shown, in some embodiments, the cover opening device 1 includes a mounting frame 11, a first clamping member 12, and a second clamping member 13. The mounting frame 11 serves as the basic support structure of the entire device, possessing excellent strength and stability, and providing a reliable mounting foundation and precise positioning reference for other components.

[0026] The first clamping member 12 and the second clamping member 13 are arranged opposite to each other on the mounting frame 11, forming a specific clamping gap between them for clamping the handle 202 of the cover 201 of the special box 200. At least one of the first clamping member 12 and the second clamping member 13 is elastically connected to the mounting frame 11 by an elastic member 14.

[0027] This flexible connection method creates an elastic linkage system between the clamping component and the mounting bracket 11, thereby enabling flexible adjustment of the clamping gap. This structural design gives the lid opening device 1 strong self-adaptability, effectively coping with the diversity of handles 202 on various special boxes 200 lids 201. Regardless of differences in the thickness or irregular shape of the handle 202, or changes in position at different angles, the lid opening device 1 can maintain a tight clamping of the handle 202 of the lid 201 through the automatic adjustment of the elastic element 14. This feature greatly improves the versatility and reliability of the lid opening device 1, enabling it to operate stably in complex logistics automation scenarios and reducing problems such as clamping failure or difficulty in opening the lid due to differences in the handle 202 of the lid 201.

[0028] The flexible connection also acts as a buffer for the clamping components during the clamping process, effectively absorbing the impact force generated by the unstable movement of the autonomous mobile robot 100 or the uneven surface of the handle 202 of the cover 201. This not only protects the handle 202 of the cover 201 from damage and ensures the integrity of the special box 200, but also reduces the impact on the robotic arm 2 of the autonomous mobile robot 100, extends the service life of the autonomous mobile robot 100, and improves the stability and durability of the entire logistics system.

[0029] In some embodiments, the mounting bracket 11 includes a guide rod 111 and an upper baffle 112 and a lower baffle 113 respectively disposed at both ends of the guide rod 111. The guide rod 111 has excellent straightness and wear resistance, providing a precise guide track for the sliding of the clamping component. The upper baffle 112 and the lower baffle 113 are fixedly connected to the guide rod 111 by high-strength bolts, ensuring the stability of the connection structure.

[0030] The first clamping member 12 and the second clamping member 13 are both sleeved on the guide rod 111 and slide in contact with the guide rod 111 through a precision-machined sliding sleeve, which reduces friction and wear and effectively prevents the clamping members from shifting or shaking during the sliding process, thus greatly improving the accuracy of clamping the handle 202 of the cover 201.

[0031] The first clamping member 12 is elastically connected to the upper baffle 112 through the first elastic member 141, and the second clamping member 13 is elastically connected to the lower baffle 113 through the second elastic member 142. This not only ensures the reliability of clamping, but also avoids scratches, indentations and other damage to the handle 202 caused by rigid contact of the clamping members. At the same time, it reduces stress concentration inside the opening device 1 and extends the service life of the opening device 1.

[0032] In some embodiments, both the first elastic element 141 and the second elastic element 142 are springs. One end of the spring is welded and fixed to the clamping member, and the other end is connected to a hook on the baffle to complete the elastic connection. This ensures that when the size or angle of the handle 202 of the cover 201 changes, the clamping member can slide smoothly on the guide rod 111 and adjust the clamping gap. Furthermore, the spring surrounds the corresponding guide rod 111, so that the extension and contraction direction of the spring is consistent with the sliding direction of the clamping member, which can effectively transmit the elastic force to the clamping member and achieve precise adjustment of the clamping gap.

[0033] In some embodiments, multiple guide rods 111 are provided, typically 2-4 rods, evenly distributed on the mounting frame 11 to ensure that the mounting frame 11 is subjected to balanced force and moves smoothly, and to enable the first clamping member 12 and the second clamping member 13 to obtain more stable and reliable support when adjusting their positions.

[0034] The first clamping member 12 includes a first body 121 and a first clamping arm 122 extending outward from its front end. The second clamping member 13 includes a second body 131 and a second clamping arm 132 extending outward from its front end. Both the first body 121 and the second body 131 are designed as square structures with a certain thickness and strength. High-precision sliding sleeves (not shown) are machined on the bodies (first body 121 and second body 131) at positions corresponding to the guide rod 111. The first body 121 and the second body 131 are fitted onto the guide rod 111 through these sliding sleeves, forming a stable sliding fit relationship. Both the first clamping arm 122 and the second clamping arm 132 are designed as strip-shaped structures with the same thickness as the corresponding bodies. The strip-shaped clamping arm structure facilitates clamping the handle 202 of the cover 201.

[0035] In some embodiments, an isolation section 17 is provided between the first body 121 and the second body 131. The main function of the isolation section 17 is to effectively prevent the first gripper 12 and the second gripper 13 from getting too close or even colliding due to external forces (such as vibration, collision, etc.) when they are not in operation (such as during the movement of the autonomous mobile robot 100 or when the cover opening device 1 is idle) or after the cover 201 is removed. In automated logistics operation environments, the autonomous mobile robot 100 often needs to move and operate in complex environments, and is inevitably affected by various external forces. The existence of the isolation section 17 acts as a safety barrier, ensuring that the grippers always maintain a certain safe distance, avoiding damage to components caused by collisions, such as deformation of the grippers or bending of the guide rod 111. This not only reduces the maintenance cost and repair frequency of the device and improves the availability and working efficiency of the equipment, but also ensures the reliability and stability of the entire cover opening device 1, enabling it to operate stably in complex working environments for a long time.

[0036] In one possible embodiment, the isolation part 17 and the second body 131 are connected using an advanced one-piece molding process, ensuring extremely high connection strength and integrity between them. Furthermore, the isolation part 17 is sleeved on the guide rod 111 and slides in cooperation with it, further improving the stability of the second clamping member 13 sliding on the guide rod 111.

[0037] In some embodiments, a first roller 15 is rotatably mounted on the end of the first clamping arm 122 away from the first body 121; a second roller 16 is rotatably mounted on the end of the second clamping arm 132 away from the second body 131. The first roller 15 and the second roller 16 are arranged opposite to each other, and the outer circumferential surface of the rollers (first roller 15 and second roller 16) extends to the upper and lower sides and end faces of the corresponding clamping arms. This design can better adapt to changes in the shape and position of the handle 202 of the cover 201, increasing the contact area and friction with the handle 202. Both the first roller 15 and the second roller 16 are made of high-performance rubber material, which has excellent wear resistance, anti-slip properties, and elastic deformation ability. The diameter of the rollers is selected according to the common size range of the handle 202 of the special box 200 cover 201. The surface of the rollers is designed with special anti-slip textures, such as herringbone or diamond patterns, which can effectively increase the friction between the rollers and the handle 202 of the cover 201 and prevent slippage during clamping and opening.

[0038] The roller configuration changes the friction between the handle 202 of the cover 201 and the clamping component from sliding friction to rolling friction. Rolling friction significantly reduces frictional force, effectively preventing wear and scratches on the surface of the handle 202 of the cover 201. For handles 202 of covers with coatings, decorations, or more delicate surfaces, this better protects their appearance and structural integrity, extending the service life of the cover 201. Furthermore, the lower frictional force makes opening the cover easier and smoother, improving the working efficiency and response speed of the opening device 1, meeting the requirements of efficient operation in logistics automation systems.

[0039] The rollers, made of high-performance rubber material and featuring an anti-slip texture, ensure sufficient friction between the rollers and the handle 202 of the lid 201 during gripping and opening, preventing slippage. Whether handling a dry, smooth handle 202 or a handle 202 in harsh conditions such as moisture or oil, the rollers can stably grip the handle 202, providing reliable gripping and rotational power to ensure smooth lid opening. This is significant for improving the reliability and adaptability of the lid opening device 1, enabling it to operate stably in various complex working environments and effectively solving the slippage and unstable gripping problems faced by existing autonomous mobile robots 100 when opening the lid 201 of special boxes 200.

[0040] Furthermore, the first clamping arm 122 is provided with a first U-shaped groove 123 with an opening facing away from the first body 121. The first U-shaped groove 123 is machined on the first clamping arm 122 by precision milling. The first clamping arm 122 has two first support arms 124 located on both sides of the first U-shaped groove 123 and arranged opposite to each other. A first rotating shaft 125 is provided in the first U-shaped groove 123. The two ends of the first rotating shaft 125 are rotatably connected to the two first support arms 124 through first bearings (not shown). A first roller 15 is provided in the first U-shaped groove 123 and fixedly sleeved on the first rotating shaft 125.

[0041] The second clamping arm 132 is provided with a second U-shaped groove 133 with an opening opposite to the second body 131. The second U-shaped groove 133 is machined on the second clamping arm 132 by precision milling. The second clamping arm 132 has two second support arms 134 located on both sides of the second U-shaped groove 133 and arranged opposite to each other. A second rotating shaft 135 is provided in the second U-shaped groove 133. The two ends of the second rotating shaft 135 are rotatably connected to the two second support arms 134 through second bearings (not shown). A second roller 16 is provided in the second U-shaped groove 133 and fixedly sleeved on the second rotating shaft 135.

[0042] This structural design makes the rotation of the rollers on the clamping arm more flexible and stable. When the autonomous mobile robot 100 controls the lid opening device 1 to perform the lid opening operation, the rollers can smoothly rotate with the handle 202 of the lid 201, reducing energy loss and motion lag caused by frictional resistance.

[0043] The second clamping arm 132 is located below the first clamping arm 122. The second clamping arm 132 includes a horizontal section 1321 connected to the second body 131 and an inclined section 1322 located at one end of the horizontal section 1321 and inclined towards the first clamping member 12. The horizontal section 1321 and the second body 131 are manufactured using an integral molding process. The lengths of the horizontal section 1321 and the inclined section 1322 are determined according to the overall size of the device and the usage requirements. The horizontal section 1321 and the inclined section 1322 are connected by an arc transition. Through this special structural design of the second clamping arm 132, frictional wear is avoided by the second clamping arm 132 contacting the handle 202 of the cover 201. For example, when the handle 202 of the cover 201 has a certain degree of inclination or curvature, the inclined section 1322 allows the second roller 16 to contact the handle 202 of the cover 201 well, while the second clamping arm 132 will not touch the handle 202 of the cover 201.

[0044] Please see Figure 3 and Figure 4As shown, this application also provides an autonomous mobile robot 100, which includes a robotic arm 2 and the aforementioned opening device 1 mounted on the robotic arm 2. The robotic arm 2 adopts a multi-joint structure, generally having 4-6 degrees of freedom, and is capable of accurately moving and positioning the opening device 1 in three-dimensional space. A fork or gripper 4 can be mounted on the robotic arm 2.

[0045] The opening device 1 is mounted on the end of the robotic arm 2 via a specially designed mounting bracket 3, and is simultaneously mounted on the end joint of the robotic arm 2 along with the toothed fork or gripper 4, so that the opening device 1 and the toothed fork or gripper 4 share the same drive source. The mounting bracket 3 can be fixedly mounted on the robotic arm 2 with bolts, and the upper baffle 112 and lower baffle 113 of the opening device 1 are fixedly mounted on the mounting bracket 3 with bolts.

[0046] By integrating the lid-opening device 1 onto the autonomous mobile robot 100, the lid-opening operation is automated and intelligent. The autonomous mobile robot 100 can autonomously navigate to the target special box 200 according to a preset program or remote command. Then, using the precise motion control of the robotic arm 2, it moves the lid-opening device 1 to the front of the handle 202 of the lid 201 of the special box 200, precisely gripping the handle 202 to complete the lid-opening operation. After opening, the robotic arm 2 drives the lid-opening device 1 to disengage from the handle 202, moves the fork or gripper 4 into the special box 200, and transfers the box 300 inside the special box 200 onto the transport autonomous mobile robot 100. Then, the robotic arm 2 drives the lid-opening device 1 to grip the handle 202 of the lid 201 of the special box 200 to complete the lid-closing operation.

[0047] The foregoing has provided a detailed description of one embodiment of this application, but the description is merely a preferred embodiment and should not be construed as limiting the scope of this application. All equivalent variations and modifications made within the scope of this application should still fall within the patent coverage of this application.

[0048] It should be noted that the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Descriptions in this application regarding directions such as "left," "right," "upper," "lower," "left side," "right side," "upper part," "lower part," "top," and "bottom" are defined based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, not to indicate or imply that the described structure must be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0049] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

Claims

1. A lid-opening device, characterized in that, The opening device includes a mounting frame, a first clamping member, and a second clamping member. The first clamping member and the second clamping member are disposed opposite to each other on the mounting frame, forming a clamping gap between them. At least one of the first clamping member and the second clamping member is elastically connected to the mounting frame through an elastic member, which is used to adjust the clamping gap. The mounting bracket includes a guide rod and an upper baffle and a lower baffle respectively disposed at both ends of the guide rod. The first clamping member and the second clamping member are both sleeved on the guide rod and slidably engaged with it. The first clamping member is elastically connected to the upper baffle through a first elastic member, and the second clamping member is elastically connected to the lower baffle through a second elastic member.

2. The lid-opening device according to claim 1, characterized in that, The guide rods are provided in multiple ways. The first clamping member includes a first body and a first clamping arm extending outward from its front end. The second clamping member includes a second body and a second clamping arm extending outward from its front end. Both the first body and the second body are fitted with multiple guide rods and slide in cooperation with them.

3. The lid-opening device according to claim 2, characterized in that, An isolation portion is provided between the first body and the second body, the isolation portion being used to define the minimum size of the clamping gap.

4. The lid-opening device according to claim 3, characterized in that, The isolation part is integrally formed on the second body and is sleeved on the guide rod and slides in cooperation with the guide rod.

5. The lid-opening device according to claim 2, characterized in that, A first roller is rotatably mounted on the end of the first clamping arm away from the first body; a second roller is rotatably mounted on the end of the second clamping arm away from the second body. The first roller and the second roller are arranged opposite to each other, and the outer circumferential surface of the roller extends to the upper and lower sides and end face of the corresponding clamping arm.

6. The lid-opening device according to claim 5, characterized in that, Both the first clamping arm and the second clamping arm are provided with U-shaped grooves with openings facing away from the main body. The clamping arm has two support arms located on both sides of the U-shaped groove and arranged opposite to each other. A rotating shaft is provided in the U-shaped groove. The two ends of the rotating shaft are rotatably connected to the two support arms through bearings. A roller is provided in the U-shaped groove and fixedly sleeved on the rotating shaft.

7. The lid-opening device according to claim 2, characterized in that, The second clamping arm is located below the first clamping arm. The second clamping arm includes a horizontal section connected to the second body and an inclined section located at one end of the horizontal section and inclined toward the first clamping member.

8. The lid-opening device according to any one of claims 2 to 7, characterized in that, Both the first elastic element and the second elastic element are springs that surround the guide rod.

9. An autonomous mobile robot, characterized in that, The autonomous mobile robot includes a robotic arm and a cover-opening device as described in any one of claims 1 to 8 mounted on the robotic arm.

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