Robotic arm with anti-collision function and automated storage system
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NANJING LUMICORE TECH LTD
- Filing Date
- 2025-07-18
- Publication Date
- 2026-06-19
Smart Images
Figure CN224374124U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm transmission technology, and in particular to a robotic arm with anti-collision function and an automated storage system. Background Technology
[0002] In existing high-vacuum chamber transfer robotic arms, the arms are typically used to transfer precision items such as wafers and photomasks. However, during the transfer process, there is a risk of collision due to factors such as item misalignment, obstructed pathways, or environmental conditions. Traditional robotic arms lack effective measures for item misalignment and collision detection and prevention, which can easily lead to damage to the items or the robotic arm itself, affecting production efficiency and product quality.
[0003] Therefore, it is particularly important to design a device that can effectively detect and prevent collisions. Utility Model Content
[0004] This invention provides a robotic arm and an automated storage system with anti-collision function to effectively detect and prevent collisions.
[0005] In a first aspect, this utility model provides a robotic arm with anti-collision function, comprising: a robotic arm body, a robotic arm arm, a robotic arm control device, and a first photoelectric sensor; the first photoelectric sensor includes a transmitter and a receiver.
[0006] One end of the main body of the robotic arm is close to the ground, and the other end is connected to the robotic arm arm; wherein, the main body of the robotic arm can drive the robotic arm arm to rotate;
[0007] The first photoelectric sensor is disposed on the main body of the robotic arm, and the transmitter and receiver of the first photoelectric sensor are both oriented towards the extension direction of the robotic arm.
[0008] The main body of the robotic arm includes a main body transmission device; the robotic arm arm includes an arm transmission device; the robotic arm control device is electrically connected to the first photoelectric sensor, the main body transmission device, and the arm transmission device respectively;
[0009] The first photoelectric sensor is used to detect whether the position of the item carried by the robotic arm has shifted; the first photoelectric sensor is also used to detect whether there is an obstacle on the side of the robotic arm away from the main body of the robotic arm.
[0010] Optionally, the first photoelectric sensor includes a diffused photoelectric sensor.
[0011] Optionally, an alarm module may also be included;
[0012] The alarm module is electrically connected to the first photoelectric sensor;
[0013] The alarm module is used to issue an alarm when the first photoelectric sensor detects a positional shift of the item carried by the robotic arm; and / or, the alarm module is used to issue an alarm when the first photoelectric sensor detects an obstacle on the side of the robotic arm away from the robotic arm body.
[0014] Optionally, the robotic arm control device includes an emergency stop module;
[0015] The emergency stop module is used to control the robotic arm body and the robotic arm arm to stop moving when there is an obstacle on the side of the robotic arm arm away from the robotic arm body.
[0016] Optionally, when the robotic arm is carrying an item, the height of the first photoelectric sensor is higher than the height of the item in the vertical direction.
[0017] Optionally, the first photoelectric sensor further includes a light intensity comparison module and a sensing master control module; the light intensity comparison module is electrically connected to the sensing master control module and the receiver respectively;
[0018] The first photoelectric sensor is used to determine whether the position of the item carried by the robotic arm is off-center, and whether there is an obstacle on the side of the robotic arm away from the main body of the robotic arm, based on the range of light intensity of the light received by the receiver.
[0019] Secondly, this utility model embodiment also provides an automated storage system, including a robotic arm with anti-collision function as described in any of the above claims and a storage bin for storing items.
[0020] Optionally, the storage compartment includes a door; the door includes a door drive mechanism;
[0021] The automated storage system also includes a door control device and a second photoelectric sensor; the door control device is electrically connected to the door drive device and the second photoelectric sensor respectively.
[0022] The second photoelectric sensor is located on the side of the door away from the interior of the storage compartment.
[0023] Optionally, the robotic arm control device includes an automated control module and a semi-automated control module;
[0024] The automated control module is electrically connected to the door control device via the second photoelectric sensor;
[0025] The semi-automatic control module is directly electrically connected to the warehouse door control device;
[0026] The semi-automatic control module being delivered includes an instruction receiving unit;
[0027] Both the automated control module and the semi-automated control module are electrically connected to the first photoelectric sensor.
[0028] Optionally, the automated storage system includes multiple storage bins;
[0029] The automated storage system also includes multiple door control devices and multiple second photoelectric sensors corresponding to the storage compartments; each door control device is electrically connected to one of the door drive devices and one of the second photoelectric sensors.
[0030] The second photoelectric sensor is located on the side of the storage compartment door that is controlled by the door control device connected to the second photoelectric sensor, away from the interior of the storage compartment.
[0031] This invention, by setting a first photoelectric sensor at the rear end of the robotic arm, can detect whether the position of the carried item has shifted, and / or whether there is an obstacle on the side of the robotic arm away from the main body. When the item's position shifts, and / or an obstacle exists on the side of the robotic arm away from the main body, it can promptly provide a shift feedback signal and / or an obstacle feedback signal to the robotic arm control device. This allows the robotic arm control device to adjust the movements of the main body and the robotic arm in a timely manner, effectively avoiding possible collisions and damage, protecting the item and the robotic arm. It can also respond in real time to various obstacles and emergencies that may occur during the transfer process, improving the safety and reliability of the transfer operation. Attached Figure Description
[0032] Figure 1 This is a schematic diagram of the physical structure of a robotic arm with anti-collision function provided in an embodiment of this utility model;
[0033] Figure 2 This is a schematic diagram of the circuit structure of a robotic arm with anti-collision function provided in an embodiment of this utility model;
[0034] Figure 3 This is a schematic diagram of the circuit structure of another robotic arm with anti-collision function provided in this embodiment of the utility model;
[0035] Figure 4 This is a schematic diagram of the physical structure of an automated storage system provided in an embodiment of the present invention;
[0036] Figure 5 This is a schematic diagram of the physical structure of another automated storage system provided by this utility model;
[0037] Figure 6This is a schematic diagram of the circuit structure of an automated storage system provided in an embodiment of the present invention.
[0038] In the embodiments of this utility model, the reference numerals and corresponding feature names are as follows:
[0039] 001-First photoelectric sensor, 002-Second photoelectric sensor, 010-Alarm module, 100-Robotic arm control device, 101-Emergency stop module, 102-Automatic control module, 103-Semi-automatic control module, 110-Robotic arm body, 111-Body transmission device, 120-Robotic arm arm, 121-Arm transmission device, 200-Storage compartment, 201-Shelf, 210-Compartment door, 211-Compartment door transmission device, 300-Compartment door control device, 400-Wafer. Detailed Implementation
[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.
[0041] A robotic arm with anti-collision function includes: a robotic arm body, a robotic arm arm, a robotic arm control device, and a first photoelectric sensor; the first photoelectric sensor includes a transmitter and a receiver; one end of the robotic arm body is close to the ground, and the other end is connected to the robotic arm arm; wherein, the robotic arm body can drive the robotic arm arm to rotate; the first photoelectric sensor is disposed on the robotic arm body, and both the transmitter and receiver of the first photoelectric sensor face the extension direction of the robotic arm arm; the robotic arm body includes a body transmission device; the robotic arm arm includes an arm transmission device; the robotic arm control device is electrically connected to the first photoelectric sensor, the body transmission device, and the arm transmission device respectively; wherein, the first photoelectric sensor is used to detect whether the position of the item carried by the robotic arm arm has shifted; the first photoelectric sensor is also used to detect whether there is an obstacle on the side of the robotic arm arm away from the robotic arm body.
[0042] The above is the core idea of this application. The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.
[0043] The terminology used in the embodiments of this utility model is for the purpose of describing specific embodiments only and is not intended to limit the utility model. It should be noted that directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this utility model are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this utility model. Furthermore, in the context, it should be understood that when referring to an element being formed "on" or "below" another element, it can be formed not only directly on or below the other element, but also indirectly on or below it through intermediate elements. The terms "first," "second," etc., are used for descriptive purposes only and do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0044] Figure 1 This is a schematic diagram of the physical structure of a robotic arm with anti-collision function provided in an embodiment of this utility model. Figure 2 This is a circuit structure diagram of a robotic arm with anti-collision function provided in an embodiment of this utility model, for reference. Figure 1 and Figure 2 The robotic arm with anti-collision function includes: a robotic arm body 110, a robotic arm arm 120, a robotic arm control device 100, and a first photoelectric sensor 001; the first photoelectric sensor includes a transmitter and a receiver. Figure 1 and Figure 2 (Not shown in the image). One end of the robotic arm body 110 is close to the ground, and the other end is connected to the robotic arm arm 120; wherein, the robotic arm body 110 can drive the robotic arm arm 120 to rotate; the first photoelectric sensor 001 is disposed on the robotic arm body 110, and the transmitter and receiver of the first photoelectric sensor 001 are both facing the extension direction of the robotic arm arm 120.
[0045] The main body 110 of the robotic arm includes a main transmission device 111; the robotic arm 120 includes an arm transmission device 121; the robotic arm control device 100 is electrically connected to the first photoelectric sensor 001, the main transmission device 111 and the arm transmission device 121 respectively; wherein, the first photoelectric sensor 001 is used to detect whether the position of the item carried by the robotic arm 120 is offset; the first photoelectric sensor 001 is also used to detect whether there is an obstacle on the side of the robotic arm 120 away from the main body 110.
[0046] For example, the robotic arm 120 includes a front end and a rear end. The front end of the robotic arm 120 can be used to carry an item, and the rear end of the robotic arm 120 is connected to the upper end of the robotic arm body 110. A first photoelectric sensor 001 can be disposed at the rear end of the robotic arm 120, and at least a portion of the rear end of the robotic arm 120 is located at the upper end of the robotic arm body 110.
[0047] In one optional embodiment, the main drive device 111 can drive the main body of the robotic arm 110 to move, rotate, and extend and retract vertically; in another optional embodiment, the arm drive device 121 can drive the robotic arm 120 to extend and retract in a direction closer to or further away from the main body of the robotic arm 110.
[0048] When the robotic arm 120 is not carrying any items and there is an obstacle in the transfer channel, the first photoelectric sensor 001 emits a light beam. If the obstacle blocks the light beam from extending, the first photoelectric sensor 001 can receive the reflected light and determine that there is an obstacle on the side of the robotic arm 120 away from the robotic arm body 110. The transfer channel cannot carry out the transfer. The first photoelectric sensor can output the determination result to the robotic arm control device 100. The robotic arm control device 100 can change the transfer path of the robotic arm 120 accordingly to avoid possible collisions and damage.
[0049] When the robotic arm 120 carries an item and there are no obstacles in the transfer channel, the first photoelectric sensor 001 emits a light beam. The item can block the beam's extension. The first photoelectric sensor 001 can receive the reflected light and detect its intensity. Based on the intensity, it can determine whether the item carried by the robotic arm 120 has shifted position. The first photoelectric sensor can output the determination result to the robotic arm control device 100. The robotic arm control device 100 can then perform further operations based on whether the item has shifted or the degree of shift. For example, the first photoelectric sensor 001 can determine the degree of shift based on the light intensity. If the degree of shift exceeds a preset threshold, it outputs a shift feedback signal to the robotic arm 120. The robotic arm 120 can then adjust the item's position accordingly to avoid potential collisions and damage.
[0050] When the robotic arm 120 carries an object and an obstacle appears in the transfer channel, the first photoelectric sensor 001 emits a light beam. Both the object and the obstacle can block the extension of the light beam. However, due to the different materials of the object and the obstacle, and the different distances between the object and the first photoelectric sensor 001 and between the obstacle and the first photoelectric sensor 001, the light intensity reflected back by the object is different from the light intensity reflected back by the obstacle. The first photoelectric sensor 001 can determine whether the reflected light is reflected back by the object, the obstacle, or by both the object and the obstacle by the magnitude of the light intensity.
[0051] It is understood that the robotic arm with anti-collision function provided in this embodiment is suitable for various environments for transferring objects, especially in the field of precision transfer (such as semiconductor manufacturing, photolithography, etc.).
[0052] The anti-collision robotic arm provided in this embodiment of the invention, by setting a first photoelectric sensor at the rear end of the robotic arm arm, can detect whether the position of the carried item has shifted, and / or whether there is an obstacle on the side of the robotic arm arm away from the robotic arm body. When the item's position shifts, and / or an obstacle exists on the side of the robotic arm arm away from the robotic arm body, the sensor promptly provides a shift feedback signal and / or an obstacle feedback signal to the robotic arm control device. This allows the robotic arm control device to adjust the movements of the robotic arm body and the robotic arm arm in a timely manner, effectively avoiding potential collisions and damage, and protecting both the item and the robotic arm. The anti-collision robotic arm can respond in real time to various obstacles and emergencies that may occur during the transfer process, improving the safety and reliability of the transfer operation.
[0053] Optionally, the first photoelectric sensor 001 includes a diffused photoelectric sensor.
[0054] For example, diffused photoelectric sensors can output light with a wide angle, which can cover a large area of photoelectric detection. This is beneficial for simultaneously detecting object displacement and obstacle detection. Furthermore, diffused photoelectric sensors have a simple structure, can efficiently sense displacement and obstacle collisions, and are low in cost.
[0055] Optionally, when the robotic arm 120 is carrying an object, the height of the first photoelectric sensor 001 is higher than the height of the object in the vertical direction. This prevents the light emitted by the first photoelectric sensor 001 from being blocked by the object and unable to reach the side of the robotic arm 120 away from the robotic arm body 110, thus avoiding the inability to cover the obstacle detection area.
[0056] Optionally, the first photoelectric sensor 001 further includes a light intensity comparison module and a sensing main control module; the light intensity comparison module is electrically connected to the sensing main control module and the receiver respectively. Figure 2(Not shown in the image). The first photoelectric sensor 001 is used to determine whether the position of the item carried by the robotic arm is off-center, and whether there is an obstacle on the side of the robotic arm 120 away from the robotic arm body 110, based on the range of light intensity received by the receiver.
[0057] For example, the main sensor control module can determine the range of light intensity received by the receiver through the light intensity comparison module. For example, if it is in a small range, it can be assumed that the object has not shifted and there is no obstacle. If it is in the middle range, it can be assumed that the object has shifted but there is no obstacle, and there is a certain risk of collision. If it is in a large range, it can be assumed that there is an obstacle in front, and there is a greater risk of collision.
[0058] When the light intensity is in a large range, it can be assumed that there is an obstacle on the side of the robotic arm 120 away from the robotic arm body 110. At this time, it is no longer important whether the object is offset. That is, regardless of whether there is an object or whether the object is offset, the presence of an obstacle will pose a greater risk of collision. At this time, it is not necessary for the first photoelectric sensor 001 to output an offset feedback signal, as long as it can be ensured that the first photoelectric sensor 001 can output an obstacle feedback signal.
[0059] In an optional implementation, the light intensity comparison module can receive a first light intensity threshold and a second light intensity threshold, where the first light intensity threshold is less than the second light intensity threshold. When the light intensity of the reflected light received by the first photoelectric sensor 001 is less than the first light intensity threshold, the sensing master control module may neither output an offset feedback signal nor an obstacle feedback signal, and there is no collision risk. When the light intensity of the reflected light received by the first photoelectric sensor 001 is greater than the first light intensity threshold but less than the second light intensity threshold, the sensing master control module may output an offset feedback signal but not an obstacle feedback signal, and there is a certain collision risk. When the light intensity of the reflected light received by the first photoelectric sensor 001 is greater than the second light intensity threshold, the sensing master control module may output both an offset feedback signal and an obstacle feedback signal, and there is a significant collision risk.
[0060] Optional, Figure 3 This is a circuit structure diagram of another robotic arm with anti-collision function provided in this embodiment of the present invention, for reference. Figure 3 The robotic arm with anti-collision function also includes an alarm module 010; the alarm module 010 is electrically connected to the first photoelectric sensor 001; the alarm module 010 is used to issue an alarm when the first photoelectric sensor 001 detects a positional shift of the item carried by the robotic arm arm 120; and / or, the alarm module 010 is used to issue an alarm when the first photoelectric sensor detects an obstacle on the side of the robotic arm arm 120 away from the robotic arm body 110.
[0061] For example, the alarm module 010 may include audible warnings, visual signals, or other forms of alerts to potential collisions and damage to the operator or system. In an optional embodiment, the alarm module 010 is linked to the robotic arm control device 100, automatically stopping the robotic arm's transfer operation in the event of a collision risk to prevent further damage.
[0062] Optional, continue to refer to Figure 3 The robotic arm control device 100 includes an emergency stop module 101; the emergency stop module 101 is used to control the robotic arm body 110 and the robotic arm arm 120 to stop moving when there is an obstacle on the side of the robotic arm arm 120 away from the robotic arm body 110.
[0063] For example, when the robotic arm control device 100 determines the risk of collision, the robotic arm will enter a safety stop mode, stopping the transmission action of the robotic arm body 110 and the robotic arm arm 120 to prevent further collisions or equipment damage. It can react instantly when a collision occurs and stop the transmission operation of the robotic arm in time, reducing the risk caused by delayed response.
[0064] In an optional embodiment, the emergency stop module 101 may be electrically connected to the first photoelectric sensor 001. Figure 3 (Not shown in the image) When the first photoelectric sensor 001 detects an obstacle, it can receive the obstacle feedback signal output by the first photoelectric sensor 001 and react quickly.
[0065] In another optional embodiment, the emergency stop module 101 can be electrically connected to the control terminal of the first switch in the main drive device 111 and to the control terminal of the second switch in the arm drive device 121; wherein the first switch can be disposed between the main drive circuit and the power supply terminal in the main drive device 111, and the second switch can be disposed between the arm drive circuit and the power supply terminal in the arm drive device 121. Figure 3 (Not shown in the image). Thus, when there is an obstacle on the side of the robotic arm 120 away from the robotic arm body 110, the main body transmission device 111 and the arm transmission device 121 can be quickly powered down, thereby controlling the robotic arm body 110 and the robotic arm 120 to stop moving.
[0066] Based on the same inventive concept, this utility model embodiment also provides an automated storage system. Figure 4 This is a schematic diagram of the physical structure of an automated storage system provided in an embodiment of the present invention, with reference to... Figure 4 The automated storage system includes a robotic arm with anti-collision function as provided in any embodiment of this application, and a storage compartment 200 for storing items.
[0067] Optional, Figure 5This is a schematic diagram of the physical structure of another automated storage system provided by this utility model. Figure 6 This is a circuit structure diagram of an automated storage system provided in an embodiment of the present invention, for reference. Figures 4-6 The storage compartment 200 includes a door 210, which includes a door drive device 211. The automated storage system also includes a door control device 300 and a second photoelectric sensor 002. The door control device 300 is electrically connected to the door drive device 211 and the second photoelectric sensor 002. The second photoelectric sensor 002 is located on the side of the door 210 away from the interior of the storage compartment 200.
[0068] For example, the second photoelectric sensor 002 is used to detect whether the robotic arm 120 has moved to the front of the door 210, and when the robotic arm 120 moves to the front of the door 210, it outputs an opening control signal to the door control device 300. The door control device 300 can control the door transmission device 211 to open the door 210 to avoid the robotic arm 120 from colliding with the door 210.
[0069] In an optional embodiment, the storage compartment 200 is provided with a shelf 201, which can be used to place the wafer 400.
[0070] Optional, continue to refer to Figures 4-6 The robotic arm control device 100 includes an automated control module 102 and a semi-automated control module 103; the automated control module 102 is electrically connected to the door control device 300 via a second photoelectric sensor 002; the semi-automated control module 103 is directly electrically connected to the door control device 300; the semi-automated control module 103 includes an instruction receiving unit (…). Figure 6 (not shown in the image); wherein, both the automatic control module 102 and the semi-automatic control module 103 are electrically connected to the first photoelectric sensor 001.
[0071] For example, the robotic arm control device 100 includes an automated control mode and a semi-automated control mode. In the automated control mode, the automated control module 102 operates, and the first photoelectric sensor 001 and the second photoelectric sensor 002, which are electrically connected to the automated control module 102, also operate. The automated control module 102 can control the robotic arm body 110 and the robotic arm arm 120 to automatically transfer items without human intervention or operation. When the robotic arm arm 120 moves to the door 210, the second photoelectric sensor 002 can output an opening control signal to the door control device 300, and the door control device 300 can control the door transmission device 211 to open the door 210.
[0072] In the semi-automatic control mode, the semi-automatic control module 103 works, and the first photoelectric sensor 001, which is electrically connected to the semi-automatic control module 103, works. The semi-automatic control module 103 can receive manual operation instructions through the instruction receiving unit and transfer items according to the manual operation instructions. When the robotic arm 120 moves to the door 210, it also needs to output an opening control signal to the door control device 300 according to the manual operation instructions. The door control device 300 can control the door transmission device 211 to open the door 210.
[0073] The first photoelectric sensor 001 operates in both automated and semi-automated control modes. In automated control mode, the second photoelectric sensor 002 operates, causing the door 210 to open when the robotic arm 120 moves in front of it. The first photoelectric sensor 001 does not need to detect obstacles; instead, it detects whether the item has shifted, preventing the item from shifting and colliding with it, thus avoiding damage.
[0074] In semi-automatic control mode, the second photoelectric sensor 002 stops working, and the first photoelectric sensor 001 can detect whether the door 210 is open when the robotic arm 120 moves to the front of the door 210, so as to avoid manual operation errors that cause the door 210 to not open, resulting in collisions and damage to equipment and items.
[0075] In an optional embodiment, it can be electrically connected to the main drive unit 111 and the arm drive unit 121 respectively, or it can be electrically connected to the main drive unit 111 and the arm drive unit 121 respectively. Figure 6 (Not shown in the image). Thus, whether in automated control mode or semi-automated control mode, the main body 110 and the robotic arm 120 can be controlled to transfer items.
[0076] Optional, continue to refer to Figures 4-6 The automated storage system includes multiple storage compartments 200; the automated storage system also includes multiple door control devices 300 and multiple second photoelectric sensors 002, which are respectively arranged corresponding to the storage compartments 200; the door control device 300 is electrically connected to a door drive device 211 and a second photoelectric sensor 002 in one of the storage compartments 200; the second photoelectric sensor 002 is arranged on the side of the door 210 controlled by the door control device 300 connected to the second photoelectric sensor 002 away from the interior of the storage compartment 200.
[0077] The display device includes any of the aforementioned robotic arms with anti-collision functions, thus the automated storage system possesses the corresponding functions and beneficial effects.
[0078] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims
1. A robotic arm with anti-collision function, characterized in that, include: Robotic arm body, robotic arm arm, robotic arm control device, first photoelectric sensor; The first photoelectric sensor includes a transmitter and a receiver; One end of the main body of the robotic arm is close to the ground, and the other end is connected to the robotic arm arm; wherein, the main body of the robotic arm can drive the robotic arm arm to rotate; The first photoelectric sensor is disposed on the main body of the robotic arm, and the transmitter and receiver of the first photoelectric sensor are both oriented towards the extension direction of the robotic arm. The main body of the robotic arm includes a main body transmission device; the robotic arm arm includes an arm transmission device; the robotic arm control device is electrically connected to the first photoelectric sensor, the main body transmission device, and the arm transmission device respectively; The first photoelectric sensor is used to detect whether the position of the item carried by the robotic arm has shifted; the first photoelectric sensor is also used to detect whether there is an obstacle on the side of the robotic arm away from the main body of the robotic arm.
2. The robot arm with anti-collision function according to claim 1, characterized in that, The first photoelectric sensor includes a diffused photoelectric sensor.
3. The robot arm with anti-collision function according to claim 1, characterized in that, It also includes an alarm module; The alarm module is electrically connected to the first photoelectric sensor; The alarm module is used to issue an alarm when the first photoelectric sensor detects a positional shift of the item carried by the robotic arm; and / or, the alarm module is used to issue an alarm when the first photoelectric sensor detects an obstacle on the side of the robotic arm away from the robotic arm body.
4. The robotic arm with anti-collision function according to claim 1, characterized in that, The robotic arm control device includes an emergency stop module; the emergency stop module is used to control the robotic arm body and the robotic arm arm to stop moving when there is an obstacle on the side of the robotic arm arm away from the robotic arm body.
5. The robotic arm with anti-collision function according to claim 1, characterized in that, When the robotic arm is carrying an item, the height of the first photoelectric sensor is higher than the height of the item in the vertical direction.
6. The robotic arm with anti-collision function according to claim 1, characterized in that, The first photoelectric sensor further includes a light intensity comparison module and a sensing master control module; the light intensity comparison module is electrically connected to the sensing master control module and the receiver respectively; The first photoelectric sensor is used to determine whether the position of the item carried by the robotic arm is off-center, and whether there is an obstacle on the side of the robotic arm away from the main body of the robotic arm, based on the range of light intensity of the light received by the receiver.
7. An automated storage system, characterized by include: The robotic arm with anti-collision function and the storage compartment for storing items as described in any one of claims 1-6.
8. The automated storage system according to claim 7, characterized in that, The storage compartment includes a compartment door; the compartment door includes a compartment door transmission device; The automated storage system also includes a door control device and a second photoelectric sensor; the door control device is electrically connected to the door drive device and the second photoelectric sensor respectively. The second photoelectric sensor is located on the side of the door away from the interior of the storage compartment.
9. The automated storage system according to claim 8, characterized in that, The robotic arm control device includes an automated control module and a semi-automated control module; The automated control module is electrically connected to the door control device via the second photoelectric sensor; The semi-automatic control module is directly electrically connected to the warehouse door control device; The semi-automatic control module being delivered includes an instruction receiving unit; Both the automated control module and the semi-automated control module are electrically connected to the first photoelectric sensor.
10. The automated storage system according to claim 8, characterized in that, The automated storage system includes multiple storage bins; The automated storage system also includes multiple door control devices and multiple second photoelectric sensors corresponding to the storage compartments; each door control device is electrically connected to one of the door drive devices and one of the second photoelectric sensors. The second photoelectric sensor is located on the side of the storage compartment door that is controlled by the door control device connected to the second photoelectric sensor, away from the interior of the storage compartment.