Autonomous mobile robot and material transport system comprising the same

Abstract

The utility model provides a kind of autonomous mobile robot, it includes mobile car body, aluminium profile frame, first control unit and man-machine interactive panel;One end of the aluminium profile frame is provided with conveying groove;The inside of the conveying groove is provided with multiple equidistance distribution electric roller;Between the electric roller, it is connected by synchronous belt transmission;The inside of the conveying groove is also provided with vertically liftable baffle;The both ends of the conveying groove side wall are provided with first photoelectric sensor and second photoelectric sensor, and the first photoelectric sensor and the second photoelectric sensor are electrically connected with the first control unit respectively;The first control unit is connected with remote controller communication;The man-machine interactive panel is electrically connected with the first control unit.The autonomous mobile robot greatly improves the logistics automation level, realizes the safety and stability of material conveying process;Material transport system containing it has higher operation efficiency and unmanned operation level.

Description

Technical Field

[0001] This utility model relates to the field of automated logistics technology, specifically to an autonomous mobile robot and a material transportation system including the robot. Background Technology

[0002] With the development of intelligent manufacturing, autonomous mobile robots (AMRs) are playing a vital role in modern logistics systems due to their flexible navigation and intelligent scheduling capabilities. However, traditional AMRs still have limitations in material handling scenarios in space-constrained areas or special workstations. Because fixed roller conveyors cannot be deployed, material handling often requires manual intervention. Operators must first move the materials to the AMR itself or the shelf, and then issue commands via the control panel or call button, leading to workflow interruptions and preventing true automation. More importantly, existing AMRs often lack intelligent docking capabilities with external conveyor lines, making positioning deviations during material handover prone to occur, severely impacting handling efficiency. Therefore, developing AMR solutions with intelligent roller conveyor capabilities is of great significance for promoting the development of warehousing and logistics towards full automation and high efficiency. Utility Model Content

[0003] To address the above problems, this utility model provides an autonomous mobile robot, comprising a mobile body, an aluminum profile frame, a first control unit, and a human-machine interface panel. One end of the aluminum profile frame is provided with a conveying trough. Multiple equidistant electric rollers are arranged inside the conveying trough. The two ends of each electric roller are rotatably connected to the two side walls of the conveying trough. The electric rollers are connected by a synchronous belt drive. A vertically lifting baffle is also provided inside the conveying trough. In the forward-backward direction of the autonomous mobile robot, the baffle is located in the gap area between the first roller and the second roller. Along the forward-backward direction of the autonomous mobile robot, the first roller is the electric roller closest to the rear end of the autonomous mobile robot, and the second roller is the electric roller adjacent to the first roller. A first photoelectric sensor and a second photoelectric sensor are arranged at both ends of the side wall of the conveying trough along the forward-backward direction of the autonomous mobile robot. The first photoelectric sensor and the second photoelectric sensor are electrically connected to the first control unit. The first control unit is communicatively connected to a remote controller. The human-machine interface panel is electrically connected to the first control unit.

[0004] In an optional technical solution of this utility model, the baffle is driven to move vertically by a servo electric cylinder, and the servo electric cylinder is electrically connected to the first control unit; wherein, the servo electric cylinder includes a push rod, a cylinder body, a servo motor, a connecting piece, and a fixed base; wherein, the end of the push rod is provided with an external thread, and the baffle is provided with a threaded hole, and the baffle is fastened to the push rod by threaded engagement; the lower end of the servo electric cylinder is fixed to the moving vehicle body by the fixed base; one side of the servo electric cylinder is fixed to the aluminum profile frame by a connecting piece, and the number of connecting pieces is two.

[0005] In an optional technical solution of this utility model, the autonomous mobile robot further includes a support column embedded in the aluminum profile frame; wherein, one end of the support column is welded to the mobile vehicle body, and the other end is provided with an installation plane having an inclination angle with the vertical direction, and the human-machine interaction panel is fixed on the installation plane.

[0006] In the optional technical solution of this utility model, the tilt angle is 30 degrees to 50 degrees.

[0007] In an optional technical solution of this utility model, two LED light guide plates are also provided on the surface of the aluminum profile frame on both sides of the support column, and the two LED light guide plates are electrically connected to the first control unit.

[0008] In the optional technical solution of this utility model, the number of electric rollers is 6.

[0009] In an optional technical solution of this utility model, a roller drive motor is also provided inside the aluminum profile frame, and the roller drive motor is electrically connected to the first control unit.

[0010] This utility model also provides a material transportation system, which includes: a conveyor line device; a material box; and an autonomous mobile robot as described in any of the preceding claims.

[0011] In an optional technical solution of this utility model, the conveyor line device includes a roller line and a second control unit, the roller line being electrically connected to the second control unit, and the second control unit being communicatively connected to the remote controller.

[0012] This utility model has the following technical effects:

[0013] This invention provides an autonomous mobile robot and a material handling system incorporating it. Under the command of a remote controller, the autonomous mobile robot can independently complete the entire process of automatic navigation and positioning, automatic material receiving and delivery, greatly improving the level of logistics automation. Furthermore, through the coordinated operation of electric rollers and vertically lifting baffles, not only is smooth material transfer achieved, but the four-sided limiting structure formed by the baffles and the three inner walls of the conveying trough reliably fixes the material boxes, significantly improving the safety and stability of the transportation process. In addition, the material handling system incorporating the autonomous mobile robot constructs a complete closed-loop material handling system through intelligent collaborative operation between the autonomous mobile robot and external conveyor line devices. While ensuring the reliability of the transfer process, it effectively improves the overall operating efficiency and unmanned operation level of the logistics system.

[0014] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] Figure 1 This is a first-person view structural diagram of the autonomous mobile robot in the embodiment of this utility model.

[0016] Figure 2 This is a structural schematic diagram of the autonomous mobile robot from a second perspective in an embodiment of this utility model.

[0017] Figure 3 This is a schematic diagram showing the structural relationship between the baffle and the servo electric cylinder in the embodiment of this utility model.

[0018] Figure 4 This is a schematic diagram showing the structural relationship between the baffle, the electric roller, and the servo electric cylinder when the baffle is raised in this embodiment of the present invention.

[0019] Figure 5 This is a schematic diagram of the material transport system in an embodiment of this utility model.

[0020] Figure label:

[0021] Mobile vehicle body 100; power wheels 110; aluminum profile frame 200; LED light guide plate 210; human-machine interface panel 300; conveyor trough 400; electric roller 500; first roller 510; second roller 520; baffle 600; first photoelectric sensor 710; second photoelectric sensor 720; servo electric cylinder 800; push rod 810; cylinder body 820; servo motor 830; connector 840; fixed base 850; support column 900; conveyor line device 2000; roller line 2100; material box 3000. Detailed Implementation

[0022] To make the technical solutions and beneficial effects of the embodiments of this utility model more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this utility model pertains.

[0023] In the description of the embodiments of this utility model, the terms "center", "upper", "lower", "front", "rear", "left", "right", "horizontal", "vertical (or vertical)", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and should not be construed as a limitation of this application.

[0024] In the embodiments of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating the relative importance of the indicated features or the number of indicated technical features. Therefore, a feature defined with "first" and "second" can explicitly include at least one of those features. In the description of the embodiments of this utility model, "multiple" means at least two, such as two, three, etc.

[0025] In the embodiments of this utility model, unless otherwise explicitly defined, the terms "installation," "connection," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction 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.

[0026] In this embodiment of the invention, unless otherwise explicitly defined, "on" the first feature and the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "on" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the horizontal level of the first feature is higher than the horizontal level of the second feature.

[0027] Obviously, the embodiments described in this utility model are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] Please refer to Figure 1 and Figure 2This utility model provides an autonomous mobile robot, which includes a mobile vehicle body 100, an aluminum profile frame 200, a first control unit (not shown), and a human-machine interface panel 300. One end of the aluminum profile frame 200 is provided with a conveying trough 400. Multiple equally spaced electric rollers 500 are arranged inside the conveying trough 400. The two ends of each electric roller 500 are rotatably connected to the two side walls of the conveying trough 400. The electric rollers 500 are connected by a synchronous belt (not shown). A vertically lifting baffle 600 is also provided inside the conveying trough 400. In the forward-backward direction of the autonomous mobile robot, the baffle 600 is located between the first roller 510 and... The gap area between the second rollers 520; wherein, along the front-rear direction of the autonomous mobile robot, the first roller 510 is the first electric roller closest to the rear end of the autonomous mobile robot, and the second roller 520 is the electric roller adjacent to the first roller; a first photoelectric sensor 710 and a second photoelectric sensor 720 are provided at both ends of the sidewall of the conveying trough 400 along the front-rear direction of the autonomous mobile robot, and the first photoelectric sensor 710 and the second photoelectric sensor 720 are electrically connected to the first control unit respectively; the first control unit is communicatively connected to a remote controller (not shown); the human-machine interface panel 300 is electrically connected to the first control unit.

[0029] In this embodiment, the first photoelectric sensor 710 is positioned approximately flush with the baffle 600 in the horizontal direction. When a material tray needs to be fed to an external connecting device, it detects whether the material tray has completely detached from the baffle area. When the material tray is detected to have completely detached, it sends a first trigger signal to the first control unit, which then controls the baffle 600 to perform a vertical lifting action. The second photoelectric sensor 720 is positioned approximately flush with the gap between the front wall of the conveying trough 400 and the electric roller closest to the front wall in the horizontal direction. When a material tray needs to be received from an external connecting device, it detects whether the material tray has accurately reached the predetermined position at the front end of the conveying trough. When the material tray is detected to be in place, it sends a second trigger signal to the first control unit, which then controls the baffle 600 to perform a vertical lifting action. Those skilled in the art will understand that the first photoelectric sensor 710 and the second photoelectric sensor 720 can be disposed on different side walls of the conveying trough 400, as long as the aforementioned positional relationship is satisfied.

[0030] In this embodiment, the "gap region between the first roller 510 and the second roller 520" refers to the space formed between the outer surfaces of the first roller 510 and the second roller 520 in the forward-backward direction of the autonomous mobile robot. Viewed from a top-down perspective (i.e., along a vertical plane perpendicular to the direction of travel of the autonomous mobile robot), the baffle 600 is approximately located in the center of the gap space, and the surface of the baffle 600 parallel to the front wall of the conveying trough 400 remains in non-contact with both the first roller 510 and the second roller 520. For example, the projected width of this gap region on the horizontal plane can be 700 mm, in which case the projected width of the baffle 600 on the horizontal plane can be 300–600 mm, for example, 550 mm.

[0031] In this embodiment, the remote controller is used to remotely control the autonomous mobile robot. When material needs to be received, it sends a first docking signal to the first control unit. The first control unit then controls the mobile vehicle 100 to move to the docking area. After the autonomous mobile robot arrives at the area, the first control unit sends a first arrival signal to the remote controller and simultaneously controls the electric roller 500 to rotate in front of the autonomous mobile robot and the baffle 600 to perform a lowering action. When material needs to be delivered to an external receiving device, the remote controller sends a second docking signal to the first control unit. The first control unit then controls the mobile vehicle 100 to move to the docking area. After the autonomous mobile robot arrives at the area, the first control unit sends a second arrival signal to the remote controller and simultaneously controls the electric roller 500 to rotate behind the autonomous mobile robot and the baffle 600 to perform a lowering action. Those skilled in the art will understand that the above can also be implemented by having an operator issue commands to the autonomous mobile robot via the human-machine interface panel 300.

[0032] In this embodiment, the sidewall is either one of the left or right sidewalls of the conveying trough 400 in the left-right direction of the autonomous mobile robot. The front wall is a wall perpendicular to the sidewall.

[0033] According to this technical solution, the autonomous mobile robot provided by this utility model can independently complete the entire process of automatic navigation and positioning, automatic material receiving and delivery under the command of a remote controller, greatly improving the level of logistics automation. Furthermore, through the coordinated operation of the electric roller 500 and the vertically lifting baffle 600, not only is the smooth transfer of materials achieved, but also the four-sided limiting structure formed by the baffle 600 and the three inner walls of the conveying trough 400 reliably fixes the material box, greatly improving the safety and stability of the transportation process and meeting the material connection needs in different scenarios.

[0034] Please refer to Figure 3 and Figure 4 The baffle 600 is driven to move vertically by a servo electric cylinder 800, which is electrically connected to the first control unit. The servo electric cylinder 800 includes a push rod 810, a cylinder body 820, a servo motor 830, a connector 840, and a fixed base 850. The push rod 810 has an external thread at its end, and the baffle 600 has a threaded hole. The baffle 600 is fastened to the push rod 810 via a threaded connection. The lower end of the servo electric cylinder 800 is fixed to the mobile vehicle body 100 via the fixed base 850. One side of the servo electric cylinder 800 is fixed to the aluminum profile frame 200 via two connectors 840. In this embodiment, the specific model and installation method of the servo electric cylinder 800 can be adjusted according to actual load-bearing requirements and spatial layout. For example, different specifications of connectors can be used or the structure of the fixed base can be changed. These adaptive changes based on actual engineering conditions should be considered equivalent replacements for the technical solution of this utility model. Through the precise control of the servo motor 830 and the intelligent management of the first control unit, the precise positioning of the baffle 600's lifting position and the smooth control of its movement speed can be achieved, ensuring the reliability and safety of the material handling process. For example, the servo electric cylinder can be selected from the MISUMI E-ECTL40-10-S50-BC-P50W-HA-C2 model electric cylinder.

[0035] Please continue to refer to this. Figure 1 , Figure 2 and Figure 4 In some embodiments, the autonomous mobile robot further includes a support column 900 embedded in the aluminum profile frame 200; wherein, one end of the support column 900 is welded to the mobile vehicle body 100, and the other end is provided with an installation plane having an angle with the vertical direction, and the human-machine interaction panel 300 is fixed on the installation plane.

[0036] Please continue to refer to this. Figure 1 , Figure 2 and Figure 4 In some embodiments, the tilt angle is 30 to 50 degrees.

[0037] According to this technical solution, when the tilt angle is between 30 and 50 degrees, the human-computer interaction panel 300 is in the optimal ergonomic viewing angle range, allowing workers to easily view and operate it without bending over or looking down excessively. This angle design effectively improves interaction comfort, making it especially suitable for long-term work scenarios, while avoiding the risk of accidental touches or misreadings due to viewing angle deviations.

[0038] Please continue to refer to this. Figure 1 In some embodiments, two LED light guide plates 210 are also provided on the aluminum profile frame surfaces on both sides of the support column 900, and the two LED light guide plates 210 are electrically connected to the first control unit.

[0039] According to this technical solution, the LED light guide plate 210 can be switched on and off via the human-machine interface panel 300 or a remote controller, and the lighting mode can be switched quickly. The light guide plate is located on the front surface of the autonomous mobile robot and can be used for functions such as status indication, interactive feedback or ambient lighting.

[0040] In some embodiments, the number of electric rollers 500 installed in the conveying trough 400 is six. Those skilled in the art will understand that the specific number of electric rollers 500 can be adaptively adjusted according to the size of the conveying trough 400, load-bearing requirements, and material characteristics. For example, it can be set to four, five, seven, or more rollers. These reasonable changes to the number of rollers based on actual application needs are all equivalent substitutions of the present invention and fall within the protection scope of the present invention. The six electric rollers 500, linked by a synchronous belt, constitute a complete conveying system, ensuring stable conveying while adapting to the transmission needs of materials of different specifications.

[0041] In some embodiments, a roller drive motor (not shown) is also provided within the aluminum profile frame 200. This roller drive motor is electrically connected to the first control unit and is used to drive the synchronous operation of the electric roller 500. Those skilled in the art will understand that the location and driving method of the roller drive motor can be adjusted according to actual needs. For example, a single motor can drive multiple rollers via a synchronous belt, or multiple distributed motors can drive each group of rollers separately. These variations should be considered equivalent substitutions for the technical solution of this utility model and fall within the protection scope of this utility model. The coordinated operation of the roller drive motor and the first control unit enables precise control of the start, stop, speed, and direction of the electric roller 500, thereby achieving intelligent management of the material conveying process.

[0042] Please continue to refer to this. Figure 1 and Figure 2In some embodiments, the system further includes four drive wheels 110, symmetrically arranged at the four bottom corners of the mobile vehicle body 100. Those skilled in the art will understand that the number and arrangement of the drive wheels 110 can be adjusted according to actual load-bearing requirements and mobility performance requirements. For example, a triangular arrangement of three drive wheels or a symmetrical arrangement of six drive wheels can be used, and these variations all fall within the protection scope of this utility model. The drive wheels 110 are electrically connected to the first control unit, which coordinates and controls the rotational speed and direction of each drive wheel 110 to achieve the forward, backward, and turning motion control functions of the autonomous mobile robot, ensuring accurate positioning and stable movement of the autonomous mobile robot within the docking area.

[0043] Please refer to Figure 5 This utility model also provides a material transport system, which includes: a conveyor line device 2000; a material box 3000; and an autonomous mobile robot as described in any of the preceding claims. This material transport system achieves efficient transfer of the material box 3000 through the coordinated operation of the autonomous mobile robot and the conveyor line device 2000.

[0044] Those skilled in the art will understand that the conveyor line device 2000 can be a belt conveyor, roller conveyor, or other conventional material conveying equipment, and the size and structure of the material box 3000 can also be adjusted according to actual transportation needs. These reasonable modifications based on specific application scenarios, as long as they employ the autonomous mobile robot technology solution described in this utility model, should all be considered to fall within the protection scope of this utility model. This material transportation system, by integrating the intelligent control function of the autonomous mobile robot and the continuous conveying capacity of the conveyor line device 2000, forms a complete material transportation solution, significantly improving the automation level and operational efficiency of material transfer.

[0045] Please continue to refer to this. Figure 5 In some embodiments, the conveyor line device includes a roller line 2100 and a second control unit (not shown), the roller line 2100 being electrically connected to the second control unit, and the second control unit being communicatively connected to the remote controller.

[0046] As previously described, after the autonomous mobile robot reaches the designated docking position of the conveyor line device 2000, the first control unit sends a signal to the remote controller. In this embodiment, upon receiving the signal, the remote controller immediately sends a docking signal to the second control unit. Upon receiving the signal, the second control unit immediately controls the roller conveyor 2100 to rotate in the same direction as the electric roller 500 in the autonomous mobile robot. Through the coordinated action of the electric roller 500 and the baffle 600 within its conveying trough 400, precise docking and safe transfer of the material box 3000 are achieved.

[0047] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An autonomous mobile robot, characterized in that, It includes a mobile vehicle body, an aluminum profile frame, a first control unit, and a human-machine interface panel; among which, A conveying groove is provided at one end of the aluminum profile frame; The conveying trough is equipped with multiple equally spaced electric rollers; the two ends of each electric roller are rotatably connected to the two side walls of the conveying trough; the electric rollers are connected to each other by a synchronous belt drive. The conveying trough is also equipped with a vertically lifting baffle; in the front-rear direction of the autonomous mobile robot, the baffle is located in the gap area between the first roller and the second roller; wherein, in the front-rear direction of the autonomous mobile robot, the first roller is the first electric roller closest to the rear end of the autonomous mobile robot, and the second roller is the electric roller adjacent to the first roller. A first photoelectric sensor and a second photoelectric sensor are provided at both ends of the sidewall of the conveying trough along the front-rear direction of the autonomous mobile robot. The first photoelectric sensor and the second photoelectric sensor are electrically connected to the first control unit, respectively. The first control unit is communicatively connected to the remote controller; The human-computer interaction panel is electrically connected to the first control unit.

2. The autonomous mobile robot according to claim 1, characterized in that, The baffle is vertically raised and lowered by a servo electric cylinder, which is electrically connected to the first control unit; wherein... The servo electric cylinder includes a push rod, a cylinder body, a servo motor, a connector, and a fixed base; The end of the push rod is provided with an external thread, and the baffle is provided with a threaded hole. The baffle is fastened to the push rod by threaded engagement. The lower end of the servo electric cylinder is fixed to the mobile vehicle body by a fixed base; One side of the servo electric cylinder is fixed to the aluminum profile frame by two connectors.

3. The autonomous mobile robot according to claim 1, characterized in that, The autonomous mobile robot also includes a support column embedded in the aluminum profile frame; wherein, one end of the support column is welded to the mobile vehicle body, and the other end is provided with an installation plane with an angle to the vertical direction, and the human-machine interaction panel is fixed on the installation plane.

4. The autonomous mobile robot according to claim 3, characterized in that, The tilt angle is between 30 and 50 degrees.

5. The autonomous mobile robot according to claim 3, characterized in that, Two LED light guide plates are also provided on the aluminum profile frame surfaces on both sides of the support column, and the two LED light guide plates are electrically connected to the first control unit.

6. The autonomous mobile robot according to claim 1, characterized in that, The number of electric rollers is 6.

7. The autonomous mobile robot according to claim 1, characterized in that, The aluminum profile frame is also equipped with a roller drive motor, which is electrically connected to the first control unit.

8. A material transport system, characterized in that, The material transport system includes: Conveyor line equipment; Material box; and, The autonomous mobile robot according to any one of claims 1-7.

9. The material transport system according to claim 8, characterized in that, The conveyor line device includes a roller conveyor and a second control unit; the roller conveyor is electrically connected to the second control unit, and the second control unit is communicatively connected to the remote controller.

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