Mobile robot and robot system with safety protection

Abstract

The present disclosure provides a mobile robot, comprising: a mobile base, used for moving to any position or pausing at any position and determining an orientation angle; a robotic arm, used for picking up cargo from a pickup position and transferring the cargo to a drop-off position; an early warning radar, used for acquiring point cloud information around the mobile base; and a safety radar, used for acquiring point cloud information around the mobile base. The present disclosure can realize safety protection during operation of the mobile robot, and prevent the robotic arm from accidentally injuring moving personnel.

Description

Mobile robot and robot system with safety protection TECHNICAL FIELD

[0001] The present disclosure relates to intelligent devices, in particular to a mobile robot and a robot system with safety protection. BACKGROUND

[0002] The mobile robot is an intelligent device with sensors, objectives and electronic optical systems, which can quickly sort and transport goods.

[0003] More and more visual sensors and force sensors will be used on mobile robots, and mobile robots will become more and more intelligent. With the progress of sensing and identification systems, artificial intelligence and other technologies, robots are developing from being controlled in one direction to storing and applying data themselves, and gradually becoming information-based.

[0004] In order to expand the application scenarios and application range of the mobile robot, the prior art installs the mobile robot on a mobile base to manufacture a robot, so as to realize the movement of the mobile robot to realize the functions of mobile unstacking and mobile picking.

[0005] Container loading is one of the core links of warehouse logistics and factory logistics, and the automation level and efficiency are crucial to the flow efficiency of the entire factory and warehouse. Robots gradually replace manual labor in loading containers in intelligent factories. However, how to protect the safety of human-robot interaction is a problem to be solved.

[0006] Practical new type content

[0007] In view of the defects in the prior art, the purpose of the present disclosure is to provide a mobile robot and a robot system with safety protection.

[0008] According to the mobile robot provided by the present disclosure, the mobile base is used to move to any position or pause at any position and determine the orientation angle according to the received control instruction; the mechanical arm is arranged on the mobile base and is used to grab and move the material on the material taking position to a material placing position; the early warning radar is arranged at the end of the mobile base and is used to collect point cloud information around the mobile base to perform safety early warning; the safety radar is arranged on the mobile base and is used to collect point cloud information around the mobile base to form a safety operation area.

[0009] Optionally, the mobile base comprises a mobile chassis and a mounting base; the mounting base is arranged on the mobile chassis, and the mobile chassis is used to drive the mounting base to move; the mechanical arm is arranged on the mounting base; the safety radar is arranged on the side surface of the mounting base.

[0010] Optionally, the mechanical arm comprises: a base, a rotating seat is arranged on the base, the rotating seat is connected with a multi-axis mechanical arm, and the multi-axis mechanical arm is capable of being driven to rotate around a central axis of the rotating seat; the multi-axis mechanical arm comprises a plurality of connecting rods and a joint module; the joint module is used for driving the connecting rods to rotate in an axial direction or to perform a pitching action.

[0011] Optionally, a lifting machine is arranged in the mounting base, the base is arranged on the lifting machine, and the lifting machine is used for lifting the mechanical arm to realize material taking and placing at different heights.

[0012] Optionally, a control console is further included; the control console is arranged on the mobile chassis; a safety fence is arranged between the control console and the mounting base; and the safety radar is arranged on a side surface of the control console.

[0013] Optionally, the early warning radar is arranged on the mobile chassis; and the early warning radar is arranged on a front side of the control console.

[0014] Optionally, a material grabbing clamp is arranged at an end of the mechanical arm; and a depth camera module is arranged on a side surface of the material grabbing clamp.

[0015] Optionally, the material grabbing clamp comprises: a suction cup mounting main plate, a cavity structure is formed in the suction cup mounting main plate, a plurality of first mounting holes arranged in a matrix are arranged on the suction cup mounting main plate; a suction cup, the suction cup is arranged in the first mounting hole and located on a front side of the suction cup mounting main plate; a suction cup mounting cover plate, the suction cup mounting cover plate is covered with a rear surface of the suction cup mounting main plate to close the cavity structure, a plurality of second mounting holes arranged in a matrix and a suction hole for suctioning vacuum in the cavity structure are arranged on the suction cup mounting cover plate; and a solenoid valve, the solenoid valve is arranged in the second mounting hole; wherein each suction cup is communicated with the cavity structure through a corresponding solenoid valve.

[0016] Optionally, the multi-axis mechanical arm comprises a plurality of pitching joints, rotating joints and a multi-degree-of-freedom wrist, and the plurality of pitching joints, the rotating joints and the multi-degree-of-freedom wrist are connected in sequence.

[0017] Optionally, an installation base plate is connected to an outer wall of the rotating seat, a camera support is arranged on the installation base plate, and a sensing module is arranged on the camera support.

[0018] The robot system with safety protection provided by the present disclosure comprises a first robot, a material pallet, an extendable roller conveying line and a second robot, wherein the first robot and / or the second robot is any of the mobile robots described above; the first robot is used to place the material to be unloaded on the material pallet on the extendable roller conveying line, or to stack the material conveyed on the extendable roller conveying line on the material pallet; the extendable roller conveying line is used to deliver the material to the second robot or the working range of the first robot; the second robot is used to carry out loading or unloading operation on the material delivered by the extendable roller conveying line, or to place the material on the extendable roller conveying line; wherein the safety radar is arranged on both sides and the rear end of the first robot; the pre-warning radar is arranged in the control area at the rear end of the first robot.

[0019] Optionally, the first robot is provided with the material pallet on both sides, and the first safety fence is arranged on the outside of the material pallet; the safety fence is provided with a safety passage for the material pallet to enter or exit; the pre-warning radar is used to perform safety pre-warning on the safety passage to form a safety pre-warning area of the first robot outside the safety passage.

[0020] Optionally, the safety radar is used to form a safety working area of multiple states surrounding the first robot and the material pallet in cooperation with the first safety fence.

[0021] Optionally, the safety working area of multiple states comprises a double-pallet simultaneous safety working area surrounding the first robot and two material pallets in cooperation with the first safety fence; a first single-pallet safety working area surrounding the first robot and the material pallet on the right side in cooperation with the first safety fence; and a second single-pallet safety working area surrounding the first robot and the material pallet on the left side in cooperation with the first safety fence.

[0022] Optionally, when the pre-warning radar detects a moving person entering the safety pre-warning area, the first robot is controlled to work at a low-speed working speed after speed reduction; when the safety working area detects a moving person or flying material, the first robot is controlled to stop working.

[0023] Optionally, when the safety working area detects that the moving person leaves, the first robot is controlled to resume working at the low-speed working speed; when the safety pre-warning area detects that the moving person leaves, the first robot is controlled to resume working at the working speed before speed reduction.

[0024] Optionally, the rear end control area of the first robot is provided with a control console, and the control console is provided with the early warning radar, and a separation fence is arranged between the control console and the first robot.

[0025] Optionally, the control console is provided with a control switch, which is used to trigger the first robot to resume operation at the low-speed operation speed after replacing the material tray; wherein, when the moving person is detected in the safety early warning area, the first robot is still controlled to operate at the low-speed operation speed; when the moving person is not detected in the safety early warning area, the first robot is controlled to resume operation at the operation speed before speed reduction.

[0026] Optionally, the outer side of the second robot is provided with a second safety fence, which is used to form a safety space with the opening of the container for safe operation of the second robot.

[0027] Optionally, the first safety fence includes a plurality of columns and a net, the net is arranged between two adjacent columns, and each column is provided with a roller at the lower end, and the inside of the U-shaped fence separated by the column and the net constitutes a safety space for the loading and unloading operation of the second robot, wherein: the opening side of the U-shaped fence forms an entrance for the material tray to enter and exit, and the other side opposite to the opening of the U-shaped fence is provided with a channel for facilitating the loading and unloading of materials; the front end of the first robot is connected with one end of the telescopic roller conveying line, and the other end of the telescopic roller conveying line extends to the outside of the U-shaped fence through the channel.

[0028] Compared with the prior art, the present disclosure has the following beneficial effects:

[0029] In the present disclosure, the early warning radar is arranged at the end of the mobile base, the point cloud information around the mobile base is collected by the early warning radar for preliminary safety warning, and a plurality of safety radars are arranged on the plurality of side surfaces of the mobile base, the point cloud information around the mobile base is collected by the safety radars to form a safety operation area, the movement speed of the mobile robot is controlled to be reduced when safety warning is performed, and the movement of the mobile robot is controlled to be stopped when a moving object is detected in the safety operation area, so that effective safety protection is realized when the mobile robot operates, and the mechanical arm is prevented from mistakenly injuring the moving person due to inertia;

[0030] In the present disclosure, the elevator is arranged on the mobile base, and the base of the mechanical arm is arranged on the elevator, so that the mechanical arm can be lifted by the elevator, thereby realizing taking and placing of materials at different heights and expanding the application scenarios of the mobile robot.

[0031] The safety radar is arranged on both sides and the rear end of the first robot in the disclosure; the rear end control area of the first robot is provided with a warning radar, the safety passage of the first safety fence is warned by the warning radar, and the safety radar cooperates with the first safety fence to form a safety operation area in multiple states around the first robot and the material tray, so that when a moving person enters the safety warning area, the first robot is controlled to operate at a low speed operation speed with reduced speed, and when a moving person is detected in the safety operation area, the first robot is controlled to stop operation, effective safety protection is realized when the first robot operates, and the mechanical arm is prevented from being injured by inertia on the moving person; in addition, the safety radar can also form a safety operation area in multiple states, so that the replacement of another tray can be carried out without stopping operation on a tray. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the disclosure, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings. Other features, objects and advantages of the disclosure will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0033] Fig. 1 is a schematic view of a structure of a mobile robot in an embodiment of the disclosure;

[0034] Fig. 2 is a schematic view of another structure of a mobile robot in an embodiment of the disclosure;

[0035] Fig. 3 is a schematic view of an inner side structure of a mobile robot in an embodiment of the disclosure;

[0036] Fig. 4 is a schematic view of a structure of a lifting machine in an embodiment of the disclosure;

[0037] Fig. 5 is a schematic view of a structure of a material grabbing clamp in an embodiment of the disclosure;

[0038] Fig. 6 is a schematic view of an inner side structure of a material grabbing clamp in an embodiment of the disclosure;

[0039] Fig. 7 is a schematic view of a structure of a mechanical arm in an embodiment of the disclosure;

[0040] Fig. 8 is a schematic view of a structure of a wrist of a mechanical arm in an embodiment of the disclosure;

[0041] Fig. 9 is a schematic view of an application scene of a mobile robot in an embodiment of the disclosure;

[0042] Fig. 10 is a schematic view of a structure of a robot system with safety protection in an embodiment of the disclosure;

[0043] Fig. 11 is a schematic diagram of installation of safety radar and early warning radar in an embodiment of the present disclosure;

[0044] Fig. 12 is a schematic diagram of one working state of a robot system with safety protection in an embodiment of the present disclosure;

[0045] Fig. 13 is a schematic diagram of another working state of a robot system with safety protection in an embodiment of the present disclosure;

[0046] Fig. 14 is a schematic diagram of structure of a first safety fence in an embodiment of the present disclosure;

[0047] Fig. 15 is a schematic diagram of folding of a first safety fence in an embodiment of the present disclosure; and

[0048] Fig. 16 is a schematic diagram of structure of a second robot in an embodiment of the present disclosure.

[0049] In the drawings: 1 - mobile robot; 101 - mobile chassis; 102 - mechanical arm; 1021 - base; 1022 - rotating seat; 1023 - camera support; 10231 - sensing module; 1024 - first joint module; 1025 - first connecting rod; 1026 - second joint module; 1027 - second connecting rod; 1028 - third joint module; 1029 - third connecting rod; 10210 - fourth joint module; 10211 - fourth connecting rod; 10212 - fifth joint module; 10213 - mounting support; 10214 - hollow support; 10215 - hollow flange; 10216 - sixth joint module; 103 - clamp; 1031 - suction cup; 1032 - depth camera module; 1033 - suction cup mounting cover plate; 1034 - battery valve; 1035 - suction cup mounting main plate; 104 - safety radar; 105 - mounting base; 106 - elevator; 1061 - mounting bottom plate; 1062 - drive motor; 1063 - base pipe body; 1064 - lifting pipe; 107 - safety fence; 100 - first robot; 200 - second robot; 3 - telescopic roller conveying line; 4 - material sorting conveying table; 401 - material sorting line main body; 402 - edge returning baffle; 403 - push plate; 404 - edge pushing mechanism; 5 - second safety fence; 6 - first safety fence; 601 - stand column; 602 - net; 603 - safety door; 604 - roller; 7 - container; 8 - control console; 801 - early warning radar; 9 - safety light curtain. DETAILED DESCRIPTION

[0050] The present disclosure will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the present disclosure, but do not limit the present disclosure in any form. It should be noted that, for those skilled in the art, without departing from the concept of the present disclosure, several modifications and improvements can be made. These all belong to the protection scope of the present disclosure.

[0051] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit communication.

[0052] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure.

[0053] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0054] FIG. 1 is a schematic diagram of a structure of a mobile robot 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the mobile robot 1 provided by the present disclosure includes:

[0055] A mobile base for moving to any position or pausing at any position and determining the orientation angle according to the received control instructions;

[0056] A mechanical arm 102 disposed on the mobile base for grabbing and moving the material on the material taking position to a material placing position;

[0057] A warning radar 801 disposed at the end of the mobile base for collecting point cloud information around the mobile base to provide safety warning;

[0058] A safety radar 104, a plurality of safety radars 104 are disposed on the mobile base for collecting point cloud information around the mobile base to form a safe working area.

[0059] In the embodiment of the present disclosure, the early warning radar 801 adopts a 3D laser radar, and when the early warning radar 801 detects a moving object, the control arm 102 is controlled to reduce the running speed;

[0060] The safety radar 104 adopts a 2D laser radar, and when the safety radar 104 detects a moving object, the control arm 102 is controlled to stop moving.

[0061] FIG. 2 is another structural schematic diagram of the mobile robot 1 in the embodiment of the present disclosure, as shown in FIG. 2, the mobile robot 1 provided by the present disclosure further comprises a control console 8;

[0062] The control console 8 is arranged on the mobile chassis 101;

[0063] A safety fence 107 is arranged between the control console 8 and the mounting base 102;

[0064] The safety fence 107 is arranged on the side of the control console 8.

[0065] In the embodiment of the present disclosure, a man-machine interaction interface is arranged on the control console 8, and the running of the control arm 102 and the mobile base can be realized through the man-machine interaction interface.

[0066] In the embodiment of the present disclosure, the mobile base comprises a mobile chassis 101 and a mounting base 105;

[0067] The mounting base 105 is arranged on the mobile chassis 101, and the mobile chassis 101 is used to drive the mounting base 105 to move;

[0068] The control arm 102 is arranged on the mounting base 105;

[0069] The safety radar 104 is arranged on the multiple sides of the mounting base 105.

[0070] The early warning radar 801 is arranged on the mobile chassis 101;

[0071] The early warning radar 801 is arranged on the front side of the control console 8.

[0072] In the embodiment of the present disclosure, the number of the safety radar 104 is three, one of which is arranged on the side of the mounting base 105 close to the control console 8, and the other two are arranged on the left and right sides of the mounting base 105.

[0073] In the embodiment of the present disclosure, the control arm 102 comprises:

[0074] A base 1021, a rotating seat 1022 is arranged on the base 1021, the rotating seat 1022 is connected with a multi-axis mechanical arm, and can drive the multi-axis mechanical arm to rotate around the center axis of the rotating seat 1022;

[0075] The multi-axis mechanical arm comprises a plurality of connecting rods and a joint module; the joint module is used for driving the connecting rods to rotate along an axis or to perform a pitching action.

[0076] In the embodiment of the present disclosure, the outer wall of the rotating seat 1022 is connected with a mounting base plate;

[0077] The mounting base plate is provided with a camera support 1023, and the camera support 1023 is provided with a sensing module 10231.

[0078] FIG. 3 is a schematic diagram of the inner side structure of the mobile robot in the embodiment of the present disclosure, as shown in FIG. 3, the mounting base 105 is provided with an elevator 106;

[0079] The base 1021 is arranged on the elevator 106;

[0080] The elevator 106 is used for lifting the mechanical arm 102 to realize the taking and placing of materials at different heights.

[0081] In the embodiment of the present disclosure, the elevator 106 comprises a mounting base plate 1061; the mounting base plate 1061 is provided with a driving motor 1062 and a base pipe body 1063; and the base pipe body 1063 is provided with at least one lifting pipe 1064;

[0082] The driving motor 1062 is used for driving the lifting pipe 1064 to lift along the inner wall of the base pipe body 1063.

[0083] FIG. 5 is a schematic diagram of the structure of the material grabbing clamp in the embodiment of the present disclosure, as shown in FIG. 5, the end of the mechanical arm 102 is provided with a material grabbing clamp 103; one side of the material grabbing clamp 103 is provided with a depth camera module 1032.

[0084] FIG. 6 is a schematic diagram of the inner side structure of the material grabbing clamp in the embodiment of the present disclosure, as shown in FIG. 6, the material grabbing clamp 103 comprises:

[0085] A suction disc mounting main plate 1035 is formed with a cavity structure in the suction disc mounting main plate 1035, and the suction disc mounting main plate 1035 is provided with a plurality of first mounting holes arranged in a matrix;

[0086] A suction disc 1031 is arranged in the first mounting hole and located at the front side of the suction disc mounting main plate 1035;

[0087] A suction disc mounting cover plate 1033 covers the rear side of the suction disc mounting main plate 1035 to close the cavity structure, and the suction disc mounting cover plate 1033 is provided with a plurality of second mounting holes arranged in a matrix and a suction hole for sucking vacuum in the cavity structure;

[0088] The electromagnetic valve 1034 is arranged in the second mounting hole; each suction cup 1031 is connected to the cavity structure through the corresponding electromagnetic valve 1034.

[0089] In the embodiment of the present disclosure, the vacuum joint is connected to the cavity structure through the air suction hole; the vacuum joint is used to connect a vacuum source to provide a vacuum for the cavity structure.

[0090] FIG. 7 is a structural schematic diagram of a mechanical arm in the embodiment of the present disclosure, as shown in FIG. 7, the multi-axis mechanical arm includes multiple pitch joints, multiple rotation joints, and a multi-degree-of-freedom wrist.

[0091] The multiple pitch joints, the multiple rotation joints, and the multi-degree-of-freedom wrist are sequentially connected.

[0092] The pitch joint includes a first joint, a second joint, and a third joint.

[0093] The first joint includes a first joint module 1024 and a first connecting rod 1025, the first joint module 1024 is used to drive the first connecting rod 1025 to rotate to perform a pitch action.

[0094] The second joint includes a second joint module 1026 and a second connecting rod 1027, the second joint module 1026 is arranged at the tip of the first connecting rod 1025 and is used to drive the second connecting rod 1027 to rotate to perform a pitch action; and

[0095] The third joint includes a third joint module 1028 and a third connecting rod 1029, the third joint module 1028 is arranged at the tip of the second connecting rod 1027 and is used to drive the third connecting rod 1029 to rotate to perform a pitch action.

[0096] In the embodiment of the present disclosure, the axial directions of the first joint module 1024, the second joint module 1026, and the third joint module 1028 are parallel to each other.

[0097] The rotation joint includes a fourth joint module 10210 and a fourth connecting rod 10211.

[0098] The third connecting rod 1029 includes an upper support and a lower support, the root end of the lower support is connected to the third joint module 208, the tip end is connected to the upper support, and the fourth joint module 10210 and the fourth connecting rod 10211 are sequentially arranged on the upper support in a direction.

[0099] The fourth joint module 10210 is used to drive the fourth connecting rod 10211 to rotate along the axial direction and further drive the wrist to rotate.

[0100] In the embodiment of the present disclosure, the axis of the fourth joint module 10210 is perpendicular to the axes of the first joint module 1024, the second joint module 1026, and the third joint module 1028.

[0101] Fig. 8 is a structural schematic diagram of a mechanical arm wrist in an embodiment of the present disclosure. As shown in Fig. 8, the wrist includes a fifth joint module 10212, a sixth joint module 10216, a mounting bracket 10213, a hollow bracket 10214, and a hollow flange 10215;

[0102] The mounting bracket 10213 is arranged at the tip of the fourth connecting rod 10211; the fifth joint module 10212 is arranged on the mounting bracket 10213 and is used to drive the hollow bracket 10214 to perform rotational movement;

[0103] The hollow bracket 10214 is sequentially provided with the hollow flange 10215 and the sixth joint module 10216 in a direction; the sixth joint module 10216 is used to drive the hollow flange 10215 to rotate, and the hollow flange 10215 is used for mounting an end effector.

[0104] Fig. 9 is a schematic diagram of an application scenario of a mobile robot in an embodiment of the present disclosure. As shown in Fig. 9, the safety light curtain emitted by each safety radar 104 is parallel to three side surfaces of the corresponding mobile base; the safety radar can also be a 3D safety laser radar, and in its detection range, different monitoring ranges can be customized, and different monitoring ranges can be switched according to instructions to realize the safety operation area in multiple states.

[0105] The safety warning area formed by the early warning radar 801 is a semicircle perpendicular to the ground.

[0106] On both sides of the mobile robot, a material tray can be arranged respectively, and a safety fence is arranged outside the material tray; the safety fence is provided with a safety passage for facilitating the entry and exit of the tray;

[0107] The early warning radar 801 is used for safety warning of the safety passage and forms a safety warning area of the mobile robot outside the safety passage.

[0108] In an embodiment of the present disclosure, when the mobile person is detected by the early warning radar 801 to enter the safety warning area, the mobile robot 1 is controlled to work at a low-speed working speed after reducing the speed;

[0109] When a mobile person is detected in the safety operation area, the mobile robot is controlled to stop working.

[0110] The end of the mobile base is provided with a warning radar in the embodiment of the present disclosure, the point cloud information around the mobile base is collected by the warning radar to preliminarily warn of safety, and a plurality of safety radars are arranged on the plurality of sides of the mobile base, the point cloud information around the mobile base is collected by the safety radars to form a safe operation area, the movement speed of the mobile robot is controlled to be reduced when the safety warning is performed, and the movement of the mobile robot is stopped when a mobile object is detected in the safe operation area, so that effective safety protection is realized when the mobile robot operates, and the mechanical arm is prevented from being damaged to the mobile object due to inertia; in the embodiment of the present disclosure, the mobile base is provided with an elevator, and the base of the mechanical arm is arranged on the elevator, so that the mechanical arm can be lifted by the elevator, and materials at different heights can be taken and placed, thereby expanding the application scenarios of the mobile robot.

[0111] In another embodiment, the present disclosure also discloses a robot system with safety protection, and FIG. 10 is a structural schematic diagram of the robot system with safety protection in the embodiment of the present disclosure. As shown in FIG. 10, the robot system with safety protection provided by the present disclosure comprises a first robot 100, a material tray, a telescopic roller conveying line 3 and a second robot 200, the first robot 100 and / or the second robot 200 are the mobile robot 1 described in any one of the above.

[0112] The first robot 100 is used for placing the material to be unloaded on the material tray on the telescopic roller conveying line 3.

[0113] The telescopic roller conveying line 3 is used for conveying the material to the working range of the second robot 2.

[0114] The second robot 200 is used for carrying out loading operation on the material conveyed by the telescopic roller conveying line 3.

[0115] Or, the first robot 100 is used for stacking the material conveyed on the telescopic roller conveying line 3 on the material tray; the telescopic roller conveying line 3 is used for conveying the material to the working range of the first robot 100; and the second robot 200 is used for carrying out unloading operation to place the material on the telescopic roller conveying line 3.

[0116] The two sides and the rear end of the first robot 100 are respectively provided with a safety radar 104; and the rear end control area of the first robot 100 is provided with a warning radar 801.

[0117] FIG. 11 is a mounting schematic diagram of the safety radar and the warning radar in the embodiment of the present disclosure. As shown in FIG. 11, the rear side and the two sides of the mobile base of the first robot 100 are respectively provided with a safety radar 104; and the safety curtain 9 emitted by each safety radar 104 is parallel to the side of the corresponding mobile base.

[0118] The safety radar adopts a 3D or 2D safety laser radar, and in the detection range thereof, different monitoring ranges can be customized, and different monitoring ranges can be switched according to instructions, so as to realize a safety operation area in multiple states.

[0119] The rear end control area of the first robot 100 is provided with a console 8, and the bottom end of the console 8 is provided with a pre-warning radar 801. The safety pre-warning area formed by the pre-warning radar 801 is a semicircle perpendicular to the ground.

[0120] FIG. 12 is a schematic diagram of one working state of the robot system with safety protection in the embodiment of the present disclosure. As shown in FIG. 12, two material pallets are arranged on the two sides of the first robot 100 respectively, and the outer side of each material pallet is provided with a first safety fence 6; the first safety fence 6 is provided with a safety passage for facilitating the entry and exit of the pallets;

[0121] The pre-warning radar 801 is used for safety pre-warning of the safety passage, and forms a safety pre-warning area of the first robot 100 outside the safety passage.

[0122] In the embodiment of the present disclosure, when a moving person enters the safety pre-warning area detected by the pre-warning radar 801, the first robot 100 is controlled to work at a low-speed working speed after reducing the speed;

[0123] When a moving person is detected in the safety operation area, the first robot 100 is controlled to stop working.

[0124] FIG. 13 is another working state of the robot system with safety protection in the embodiment of the present disclosure. As shown in FIG. 13, the safety radar is used to form a safety operation area in multiple states around the first robot 100 and the material pallets in cooperation with the first safety fence 6.

[0125] The safety operation area in multiple states includes:

[0126] The double-pallet simultaneous safety operation area around the first robot 100 and the two material pallets formed in cooperation with the first safety fence 6;

[0127] The first single-pallet safety operation area around the first robot 100 and the material pallet located on the right side formed in cooperation with the first safety fence 6;

[0128] The second single-pallet safety operation area around the first robot 100 and the material pallet located on the left side formed in cooperation with the first safety fence 6.

[0129] In the double-pallet simultaneous safety operation area state, as long as a moving person enters the double-pallet simultaneous safety operation area, the first robot 100 is controlled to stop working;

[0130] In the first single-tray safe operation area state, the material tray on the left side of the first robot 100 can be replaced, and the first robot 100 can operate at a low-speed operation speed in the first single-tray safe operation area; but as long as a moving person enters the first single-tray safe operation area, the first robot 100 is controlled to stop operation.

[0131] In the second single-tray safe operation area state, the material tray on the right side of the first robot 100 can be replaced, and the first robot 100 can operate at a low-speed operation speed in the second single-tray safe operation area; but as long as a moving person enters the second single-tray safe operation area, the second robot 200 is controlled to stop operation.

[0132] In the embodiment of the present disclosure, the safe operation area in multiple states can be automatically switched according to the operation state of the first robot 100, can be switched by a control switch on the console, and the current safe operation area state is displayed on the human-computer interaction interface of the console after switching.

[0133] In the embodiment of the present disclosure, when the moving person entering the safe early warning area is detected by the early warning radar 801, the first robot 100 is controlled to operate at a low-speed operation speed after speed reduction;

[0134] When a moving person is detected in the safe operation area, the first robot 100 is controlled to stop operation.

[0135] In the embodiment of the present disclosure, the moving person is any obstacle, including a person, a mechanical arm, and material, which will trigger the robot to stop operation.

[0136] When the moving person is detected to leave the safe operation area, the first robot 100 is controlled to resume operation at a low-speed operation speed;

[0137] When the moving person is detected to leave the safe early warning area, the first robot 100 is controlled to resume operation at a speed before speed reduction.

[0138] In the embodiment of the present disclosure, the target person can make the first robot resume low-speed operation from static state through the human-computer interaction interface on the console, or set the controller to automatically resume low-speed operation from static state when continuously monitoring that no person is in the safe operation area; the target person can make the first robot resume high-speed operation from low-speed operation through the human-computer interaction interface on the console, or set the controller to automatically resume high-speed operation from low-speed operation when continuously monitoring that no person is in the safe early warning area.

[0139] The control switch is arranged on the console 8.

[0140] The control switch is used to trigger the first robot 100 to restore the working speed after replacing the pallet; wherein, when the moving person is detected in the safety warning area, the first robot 100 is still controlled to work at the low-speed working speed, and when the moving person is not detected in the safety warning area, the first robot 100 is controlled to restore to the working speed before the speed reduction to work.

[0141] In the embodiment of the present disclosure, the outer side of the second robot 200 is provided with a second safety fence 5.

[0142] The second safety fence 5 is used to form a safety space with the opening of the container 7 for safe operation of the second robot 200.

[0143] FIG. 14 is a structural schematic diagram of the first safety fence in the embodiment of the present disclosure, as shown in FIG. 14, the first safety fence 6 includes a plurality of upright columns 601 and a net 602; the net 602 is arranged between two adjacent upright columns 601, and each upright column 601 is provided with a roller 604 at the lower end, and the inside of the U-shaped fence isolated by the upright column 601 and the net 602 constitutes a safety space for the loading and unloading operation of the first robot 100, wherein:

[0144] The opening side of the U-shaped fence forms an entrance for the pallet to enter and exit, and the other side opposite to the opening of the U-shaped fence is provided with a passage for facilitating the loading and unloading of materials.

[0145] The front end of the first robot 100 is connected with one end of the telescopic roller conveyor line 3, and one end of the telescopic roller conveyor line 3 extends to the outside of the U-shaped fence through the passage.

[0146] In the embodiment of the present disclosure, the lower end of the upright column 601 can be directly arranged on the ground.

[0147] FIG. 15 is a folding schematic diagram of the first safety fence in the embodiment of the present disclosure, as shown in FIG. 15, the passage is located between two upright columns 601, and the crossbeam at the top end of the passage is a separable structure.

[0148] When in the separated state, the U-shaped fence is split into two L-shaped structures.

[0149] In the embodiment of the present disclosure, at least one side of the second safety fence 5 is further provided with a safety door 603.

[0150] The robot system with safety protection provided by the present disclosure further includes an application entry button, the application entry button is installed on the upright column 601 corresponding to the safety door 603, and is used to open and / or close the safety door 603.

[0151] When the safety door 603 is opened, the second robot 200 located inside the second safety fence 5 is controlled to stop working.

[0152] Fig. 16 is a schematic diagram of the structure of the second robot in the embodiment of the present disclosure. As shown in Fig. 16, the second robot 200 is provided with a material sorting conveying table 4;

[0153] The front end of the material sorting conveying table 4 is connected with the rear end of the telescopic roller conveying line 3.

[0154] The material sorting conveying table 4 is used for sorting the multiple materials conveyed by the telescopic roller conveying line 3 to form a material combination for one-time grabbing by the second robot 200.

[0155] In the embodiment of the present disclosure, the material sorting conveying table 4 comprises:

[0156] The material sorting line body 401 is used for conveying materials.

[0157] The edge returning baffle 402 is arranged on the material sorting line body 401 and is used for placing the sliding of the materials.

[0158] The push plate 403 is arranged on the material sorting line body 401 and is arranged opposite to the edge returning baffle 402 and is used for pushing the materials to be close to the edge returning baffle 402.

[0159] The push plate driving mechanism is used for moving the push plate 403 relative to the edge returning baffle 402 to push the materials to be close to the edge returning baffle 402.

[0160] The edge returning mechanism 404 is arranged at the feeding port of the material sorting line body 401.

[0161] The edge returning mechanism 404 is used for guiding the target box flowing into the material sorting line body 401 to move to the other side edge of the material sorting line body 401.

[0162] In addition, when the target box does not need to be sorted, the electric cylinder drives the guide plate to move away from the upper side of the telescopic conveyor to directly pass the target box.

[0163] The edge returning mechanism 404 comprises a telescopic mechanism and a front push frame; the front push frame is arranged at the front end of the telescopic mechanism; the rear end of the telescopic mechanism is connected with the material sorting line body 401 through a fixed frame.

[0164] The first sensor is arranged on the fixed frame and is used for triggering the edge returning mechanism 404; when the first sensor detects the target box, the edge returning mechanism 404 performs the edge returning operation on the target box.

[0165] The second sensor is arranged at the discharging port end of the material sorting line body 401 and is used for triggering the sorting action of the material sorting conveying line; when the second sensor detects the target box, the push plate driving mechanism pushes the push plate to push the target box to perform the sorting operation.

[0166] In the embodiments of the present disclosure, a safety radar is arranged on each side and the rear end of the first robot; a warning radar is arranged on the rear end control area of the first robot, the safety passage of the first safety fence is warned by the warning radar, and the safety radar cooperates with the first safety fence to form a safety working area with multiple states around the first robot and the material pallet, so that when a moving person enters the safety warning area, the first robot works at a low speed after reducing the speed, and when a moving person is detected in the safety working area, the first robot stops working, effectively preventing the first robot from working, and avoiding the mechanical arm from being injured by inertia. In addition, the safety radar can also form a safety working area with multiple states, so that the replacement of another pallet can be carried out without stopping work on a pallet

[0167] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present disclosure. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0168] The specific embodiments of the present disclosure are described above. It should be understood that the present disclosure is not limited to the specific embodiments described above, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present disclosure.

Claims

1. A mobile robot comprising: a mobile base for moving to or pausing at any position and determining an orientation angle according to a received control instruction; a mechanical arm arranged on the mobile base for picking up and moving materials on a material taking position to a material placing position; a pre-warning radar arranged at an end of the mobile base for collecting point cloud information around the mobile base to provide a safety warning; a safety radar arranged on the mobile base for collecting point cloud information around the mobile base to form a safety working area.

2. The mobile robot of claim 1, wherein, The mobile base comprises a mobile chassis and a mounting base; The mounting base is arranged on the mobile chassis, and the mobile chassis is used to drive the mounting base to move; The mechanical arm is arranged on the mounting base; The safety radar is arranged on the side surface of the mounting base.

3. The mobile robot of claim 2, wherein, The mechanical arm comprises: a base, a rotating seat is arranged on the base, the rotating seat is connected to a multi-axis mechanical arm, and the multi-axis mechanical arm can be driven to rotate around the central axis of the rotating seat; a multi-axis mechanical arm comprising a plurality of connecting rods and joint modules; the joint modules are used to drive the connecting rods to rotate along the axis or to perform a pitching action.

4. The mobile robot of claim 3, wherein, A lift is arranged in the mounting base, the base is arranged on the lift, and the lift is used to lift the mechanical arm to achieve material taking and placing at different heights.

5. The mobile robot of claim 2, wherein, A control console is further included; The control console is arranged on the mobile chassis; A safety fence is arranged between the control console and the mounting base; The safety radar is arranged on the side surface of the control console facing the control console.

6. The mobile robot of claim 5, wherein, The pre-warning radar is arranged on the front side of the control console.

7. The mobile robot of claim 1, wherein, A material gripping clamp is arranged at the end of the mechanical arm, and a depth camera module is arranged on one side of the material gripping clamp.

8. The mobile robot of claim 7, wherein, The material gripping clamp comprises: a suction cup mounting main plate, a cavity structure is formed in the suction cup mounting main plate, and a plurality of first mounting holes arranged in a matrix are arranged on the suction cup mounting main plate; a suction cup arranged in the first mounting hole and located on the front side of the suction cup mounting main plate; a suction cup mounting cover plate covering the rear surface of the suction cup mounting main plate to close the cavity structure, a plurality of second mounting holes arranged in a matrix and a suction hole for vacuum suction of the cavity structure are arranged on the suction cup mounting cover plate; a solenoid valve arranged in the second mounting hole; wherein each suction cup is connected to the cavity structure through a corresponding solenoid valve.

9. The mobile robot of claim 3, wherein, The multi-axis mechanical arm comprises a plurality of pitching joints, rotating joints, and a multi-degree-of-freedom wrist, and the plurality of pitching joints, rotating joints, and multi-degree-of-freedom wrist are connected in sequence.

10. The mobile robot of claim 3, wherein, An installation base plate is connected to the outer wall of the rotating seat, a camera support is arranged on the installation base plate, and a sensing module is arranged on the camera support.

11. A robot system with safety guard, wherein, The first robot and / or the second robot is the mobile robot of any one of claims 1 to 10. The first robot is configured to place the materials on the material pallet to be unloaded on the telescopic roller conveyor line or to stack the materials conveyed on the telescopic roller conveyor line on the material pallet. The telescopic roller conveyor line is configured to convey the materials to the second robot or the working range of the first robot. The second robot is configured to carry out loading or unloading operation on the materials conveyed by the telescopic roller conveyor line or to place the materials on the telescopic roller conveyor line. The first robot is provided with the safety radar on both sides and the rear end thereof.

12. The robot system with safety guard according to claim 11, wherein, The first robot is provided with the material pallet on both sides thereof, and the first safety fence is arranged on the outside of the material pallet. The safety radar is configured to perform safety warning on the safety passage and form a safety warning area of the first robot outside the safety passage.

13. The robot system with safety guard according to claim 12, wherein, The safety radar is configured to form a safety operation area of multiple states around the first robot and the material pallet in cooperation with the first safety fence.

14. The robot system with safety guard according to claim 13, wherein, The safety operation area of multiple states includes: a double-pallet simultaneous safety operation area around the first robot and the two material pallets in cooperation with the first safety fence; a first single-pallet safety operation area around the first robot and the material pallet on the right side in cooperation with the first safety fence; a second single-pallet safety operation area around the first robot and the material pallet on the left side in cooperation with the first safety fence.

15. The robot system with safety guard according to claim 13, wherein, When the moving person is detected by the safety warning radar to enter the safety warning area, the first robot is controlled to operate at a low-speed operation speed after speed reduction. When the moving person or the flying material is detected in the safety operation area, the first robot is controlled to stop operation.

16. The robot system with safety guard according to claim 15, wherein, When the moving person is detected to leave the safety operation area, the first robot is controlled to resume operation at the low-speed operation speed. When the moving person is detected to leave the safety warning area, the first robot is controlled to resume operation at the operation speed before speed reduction.

17. The robot system with safety guard according to claim 11, wherein, The rear control area of the first robot is provided with a control console, the control console is provided with the safety warning radar, and an isolation fence is arranged between the control console and the first robot.

18. The robot system with safety guard according to claim 17, wherein, The control console is provided with a control switch, which is configured to trigger the first robot to resume operation at the low-speed operation speed after replacement of the material pallet. When the moving person is detected in the safety warning area, the first robot is still controlled to operate at the low-speed operation speed; when the moving person is not detected in the safety warning area, the first robot is controlled to resume operation at the operation speed before speed reduction.

19. The robot system with safety guard according to claim 11, wherein, The second safety fence is arranged on the outside of the second robot and is configured to form a safety space for safe operation of the second robot in cooperation with the opening of the container.

20. The robot system with safety guard according to claim 12, wherein, The first safety fence comprises a plurality of columns and a net, the net is arranged between two adjacent columns, and each lower end of the column is provided with a roller, and the inside of the U-shaped fence formed by the columns and the net constitutes a safety space for the loading and unloading operation of the second robot, wherein: An opening side of the U-shaped fence forms an entrance for the material pallet to enter and exit, and the other side opposite to the opening of the U-shaped fence is provided with a channel facilitating the loading and unloading of the material to enter and exit; The front end of the first robot is connected with one end of the telescopic roller conveying line, and the other end of the telescopic roller conveying line extends to the outside of the U-shaped fence through the channel.

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