Amr composite mobile robot

Abstract

The AMR (Autonomous Mobile Robot) provided by this utility model includes an AMR body and a robotic arm mounted on the AMR body. The robotic arm has a dual gripper unit at its end. The AMR body is equipped with a laser navigation system and a vision camera. It does not rely on magnetic strips or QR codes for positioning and navigation. It has environmental perception, autonomous decision-making and control capabilities, and can dynamically plan paths and autonomously avoid obstacles according to the site conditions. Therefore, the AMR composite mobile robot provided by this utility model does not need to rely on magnetic strips or QR codes for positioning and navigation. It has environmental perception, autonomous decision-making and control capabilities, and can dynamically plan paths and autonomously avoid obstacles according to the site conditions.

Description

Technical Field

[0001] This utility model belongs to the field of AMR (Autonomous Mobile Robot), specifically, it relates to an AMR composite mobile robot. Background Technology

[0002] AMR robots, or Autonomous Mobile Robots, are robots with environmental understanding capabilities that can move independently and perform tasks in their environment. They are widely used in industrial automation, especially in areas such as autonomous material handling, automated inspection, warehouse picking, downtime maintenance, and special operations. They typically rely on ground magnetic strips, laser reflectors, or QR codes for guidance, operate on fixed paths, and often require central control system scheduling. They have relatively poor flexibility and are suitable for structured, repetitive material handling tasks.

[0003] To address the aforementioned issues, patent application number 2020214658421 discloses an AMR robot with accurate obstacle avoidance capabilities. This robot has wheels at its bottom, and an internally mounted electric telescopic rod has a connecting rod at its end. A fixed base is fixed to the lower surface of the connecting rod, and a placement assembly is mounted on the upper surface of the robot. A clamping assembly is fixedly mounted on the upper surface of the placement assembly. This invention, by using a clamping assembly and springs, can limit and fix the items on the first, second, and third placement plates, ensuring stability and effectively preventing items from falling and causing damage during transportation. However, it cannot solve the aforementioned problems.

[0004] Therefore, in order to improve or solve at least one of the above problems, an AMR composite mobile robot is provided that does not rely on magnetic strips or QR codes for positioning and navigation, has environmental perception and autonomous decision-making and control capabilities, and can dynamically plan paths and autonomously avoid obstacles according to the site conditions. Utility Model Content

[0005] This utility model is designed to solve the aforementioned problems. Its purpose is to provide an AMR (Autonomous Mobile Robot) that does not rely on magnetic strips or QR codes for positioning and navigation, possesses environmental perception, autonomous decision-making, and control capabilities, and can dynamically plan paths and autonomously avoid obstacles based on site conditions. To achieve the above objective, the technical solution adopted by this utility model is as follows:

[0006] This utility model provides an AMR composite mobile robot, which includes an AMR body and a robotic arm mounted on the AMR body, with a dual gripper unit at the end of the robotic arm.

[0007] The AMR composite mobile robot provided by this utility model may also have the following features: the dual gripper unit includes a fixed plate, a first gripper driving cylinder and a second gripper driving cylinder. The first gripper driving cylinder is mounted on the fixed plate and is connected to a first gripper; the second gripper driving cylinder is mounted on the fixed plate and is connected to a second gripper.

[0008] The AMR composite mobile robot provided by this utility model may also have the following feature: a vision sensor is also provided on the fixed plate.

[0009] The AMR composite mobile robot provided by this utility model may also have the following features: the AMR body includes a shell and a chassis, the shell is disposed on the chassis, and the bottom of the chassis is provided with a first drive wheel set and a second drive wheel set.

[0010] The AMR composite mobile robot provided by this utility model may also have the following feature: the chassis is also equipped with omnidirectional wheels.

[0011] The AMR composite mobile robot provided by this utility model may also have the following features: the chassis is also equipped with a controller and a battery pack, the battery pack is connected to the controller, and the controller is connected to the first drive wheel group, the second drive wheel group and the robotic arm.

[0012] The AMR composite mobile robot provided by this utility model may also have the following feature: anti-collision strips are provided on the chassis, and the anti-collision strips are located on the front and rear sides of the chassis.

[0013] The AMR composite mobile robot provided by this utility model may also have the following feature: a laser navigation system is provided on the chassis.

[0014] The AMR composite mobile robot provided by this utility model may also have the following features: a vision camera is provided on the chassis, the vision camera is located between the first drive wheel group and the second drive wheel group, and a vision window is provided on the chassis.

[0015] The technical effects of this utility model are as follows: The AMR composite mobile robot provided by this utility model includes an AMR body and a robotic arm set on the AMR body. The robotic arm has a dual gripper unit at its end. The AMR body is equipped with a laser navigation system and a vision camera. It does not need to rely on magnetic strips or QR codes for positioning and navigation. It has environmental perception and autonomous decision-making and control capabilities. It can dynamically plan paths and autonomously avoid obstacles according to the site conditions.

[0016] Therefore, the AMR composite mobile robot provided by this utility model does not need to rely on magnetic strips or QR codes for positioning and navigation. It has environmental perception, autonomous decision-making and control capabilities, and can dynamically plan paths and autonomously avoid obstacles according to the on-site conditions. Attached Figure Description

[0017] This manual includes the following figures, which illustrate the following:

[0018] Figure 1 This is a schematic diagram of the structure of the AMR composite mobile robot in an embodiment of this utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the dual gripper unit in an embodiment of this utility model;

[0020] Figure 3 This is a schematic diagram of the chassis structure in an embodiment of this utility model;

[0021] Figure 4 This is a structural schematic diagram of the chassis in a bottom view of an embodiment of this utility model.

[0022] The components in the diagram are labeled as follows: AMR body-10, shell-11, chassis-12, first drive wheel assembly-121, second drive wheel assembly-122, omnidirectional wheels-123, controller-13, battery pack-14, anti-collision strip-15, laser navigation system-16, vision camera-17, vision window-18, robotic arm-20, dual gripper unit-30, fixing plate-31, first gripper drive cylinder-32, second gripper drive cylinder-33, first gripper-34, second gripper-35, vision sensor-36. Detailed Implementation

[0023] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention, and to facilitate its implementation.

[0024] Figure 1 This is a schematic diagram of the structure of the AMR composite mobile robot in an embodiment of this utility model.

[0025] like Figure 1 As shown, the AMR composite mobile robot provided by this utility model includes an AMR body 10 and a robotic arm 20 mounted on the AMR body 10. The robotic arm 20 has a dual gripper unit 30 at its end. The AMR body 10 is equipped with a laser navigation system and a vision camera. It does not need to rely on magnetic strips or QR codes for positioning and navigation. It has environmental perception, autonomous decision-making and control capabilities, and can dynamically plan paths and autonomously avoid obstacles according to the site conditions.

[0026] Figure 2 This is a schematic diagram of the structure of the dual gripper unit in an embodiment of this utility model.

[0027] like Figure 2 As shown, the robotic arm 20 is a six-axis robotic arm capable of freely performing various complex actions, such as rotation, bending, and extension. It can reach almost any position and posture within the workspace, increasing the workspace of the dual-gripper unit 30. The dual-gripper unit 30 includes a fixed plate 31, a first gripper drive cylinder 32, and a second gripper drive cylinder 33. The first gripper drive cylinder 32 is mounted on the fixed plate 31 and is connected to a first gripper 34. The second gripper drive cylinder 33 is mounted on the fixed plate 31 and is connected to a second gripper 35. The first gripper drive cylinder 32 and the second gripper drive cylinder 33 can drive the first gripper 34 and the second gripper 35 to grip materials.

[0028] like Figure 2 As shown, a vision sensor 36 is also provided on the fixed plate 31. The vision sensor 36 enables the robotic arm 20 to perceive the surrounding environment. By collecting image information through the vision sensor 36, the robotic arm 20 can obtain information such as the distribution of objects and spatial structure in the environment, and then build an environmental model. In warehousing and logistics, the robotic arm 20 uses the vision sensor 36 to identify the shelf layout, the placement of goods, etc., to provide basic environmental information for subsequent operations.

[0029] Figure 3 This is a schematic diagram of the chassis structure in an embodiment of this utility model; Figure 4 This is a structural schematic diagram of the chassis in a bottom view of an embodiment of this utility model.

[0030] like Figure 3 and Figure 4 As shown, the AMR body 10 includes a housing 11 and a chassis 12. The housing 11 is mounted on the chassis 12, and the robotic arm 20 is mounted on the housing 11. The bottom of the chassis 12 is provided with a first drive wheel set 121 and a second drive wheel set 122. The first drive wheel set 121 and the second drive wheel set 122 are independently adjustable floating drive wheel sets, which can meet the needs of different road conditions. They not only ensure that the first drive wheel set 121 and the second drive wheel set 122 are in close contact with the ground, but also provide sufficient driving friction.

[0031] like Figure 3 and Figure 4As shown, the chassis 12 is also provided with omnidirectional wheels 123. The four omnidirectional wheels 123 are evenly arranged at the bottom of the chassis 12 to support the chassis 12 together, reducing the weight borne by the first drive wheel group 121 and the second drive wheel group 122. This helps to increase the maximum mass that the AMR composite mobile robot provided by this utility model can carry and improves the reliability of the structure.

[0032] like Figure 3 and Figure 4 As shown, the chassis 12 also includes a controller 13 and a battery pack 14. The controller 13 is a PLC controller and is mounted on the chassis 12. The battery pack 14 is also mounted on the chassis 12 and connected to the controller 13. The controller 13 is connected to the first drive wheel set 121 and the second drive wheel set 122, enabling it to control the movement and steering of the AMR composite mobile robot independently or to drive the first drive wheel set 121 and the second drive wheel set 122, thereby achieving dynamic path planning and autonomous obstacle avoidance for the AMR composite mobile robot. The controller 13 is also connected to the robotic arm 20 and can control the robotic arm 20 and the dual gripper unit 30 to perform material gripping and material placement operations.

[0033] like Figure 3 and Figure 4 As shown, the chassis 12 is also equipped with anti-collision strips 15, which are located on the front and rear sides of the chassis 12. These anti-collision strips 15 can reduce the impact on the AMR composite mobile robot when it is close to a wall or material.

[0034] like Figure 3 and Figure 4 As shown, a laser navigation system 16 is installed on the chassis 12. Two laser navigation systems 16 are located on the front and rear sides of the chassis 12, respectively, which can enhance the perception intensity and range of the surrounding environment. A vision camera 17 is installed on the chassis 12, which is located between the first drive wheel set 121 and the second drive wheel set 122. A vision window 18 is installed on the chassis 12. The vision camera 17 can observe the driving path of the AMR composite mobile robot through the vision window 18. The robot perceives the scene environment through the laser navigation system 16 and the vision camera 17, and the collected information is transmitted to the controller 13. The controller 13 uses intelligent algorithms to analyze the perceived data, builds a real-time map based on SLAM (Simultaneous Localization and Mapping) technology, determines its own position, and plans the optimal action path, thereby realizing autonomous movement and task execution. It does not need to rely on magnetic strips or QR codes for positioning and navigation. It has environmental perception, autonomous decision-making and control capabilities, and can dynamically plan paths and autonomously avoid obstacles according to the scene conditions.

[0035] The role and effect of the embodiments

[0036] The AMR composite mobile robot provided by this utility model includes an AMR body 10 and a robotic arm 20 mounted on the AMR body 10. The robotic arm 20 has a dual gripper unit 30 at its end. The AMR body 10 is equipped with a laser navigation system and a vision camera. It does not need to rely on magnetic strips or QR codes for positioning and navigation. It has environmental perception, autonomous decision-making and control capabilities, and can dynamically plan paths and autonomously avoid obstacles according to the site conditions.

[0037] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. An AMR (Autonomous Mobile Robot) composite mobile robot, characterized in that, The system includes an AMR body (10) and a robotic arm (20) mounted on the AMR body (10). The robotic arm (20) has a dual gripper unit (30) at its end. The AMR body (10) includes a housing (11) and a chassis (12). The housing (11) is mounted on the chassis (12). The bottom of the chassis (12) has a first drive wheel set (121) and a second drive wheel set (122). The chassis (12) also has a controller (13) and a battery pack (14). The battery pack (14) is connected to the controller (13). The controller (13) is connected to the first drive wheel group (121), the second drive wheel group (122) and the robotic arm (20); the chassis (12) is provided with anti-collision strips (15), which are located on the front and rear sides of the chassis (12); the chassis (12) is provided with a laser navigation system (16); the chassis (12) is provided with a vision camera (17), which is located between the first drive wheel group (121) and the second drive wheel group (122); the chassis (12) is provided with a vision window (18).

2. The AMR composite mobile robot according to claim 1, characterized in that, The dual gripper unit (30) includes a fixed plate (31), a first gripper drive cylinder (32) and a second gripper drive cylinder (33). The first gripper drive cylinder (32) is mounted on the fixed plate (31) and is connected to a first gripper (34). The second gripper drive cylinder (33) is mounted on the fixed plate (31) and is connected to a second gripper (35).

3. The AMR composite mobile robot according to claim 2, characterized in that, The fixed plate (31) is also equipped with a vision sensor (36).

4. The AMR composite mobile robot according to claim 3, characterized in that, The chassis (12) is also equipped with omnidirectional wheels (123).

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