Collecting and transporting robot capable of turning freely

Abstract

The invention discloses a free steering collecting and transporting robot which comprises a transfer cabinet body, a movable steering device is arranged at the bottom of the transfer cabinet body, and the movable steering device comprises a movable steering frame, four universal wheels and four driving wheels with robot hub motor devices. The universal wheels and the driving wheels are symmetrically distributed on the two sides of the movable steering device, the four universal wheels are located at the two ends of the movable steering device, and the four driving wheels are arranged in the middle of the movable steering device. The movable bogie comprises a bearing underframe, a first wheel support, a second wheel support and a third wheel support. Through the combined structure of the four universal wheels and the four driving wheels with the robot hub motor devices, the rotating speed and the rotating direction of the four driving wheels are controlled, and automatic advancing, retreating and turning of the collecting and transporting robot can be achieved; the to-be-transferred articles are automatically stored and placed through the up-down article storage device.

Description

Technical Field

[0001] This invention relates to the field of goods collection and transportation devices, specifically a collection and transportation robot that can freely turn. Background Technology

[0002] In modern logistics, there are many short-distance small-item handling needs, such as moving items into or out of warehouses, moving passengers' checked baggage at airports and train stations, and transferring garbage bins in residential areas. In addition to manual handling, it is gradually developing towards unmanned handling.

[0003] Typically, the distribution and transport of trash cans within a residential community requires manual handling. Full trash cans are moved to a collection point, the trash is loaded into a sanitation truck, and then the empty cans are returned to their original collection point. To achieve automated trash can transport within a community, collection robots (or collection vehicles) are generally used. Due to the complex road network within a community, these robots need to be agile and able to avoid obstacles and pedestrians. Summary of the Invention

[0004] The purpose of this invention is to provide a collection robot that can flexibly turn and reliably use free-turning.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A free-steering collection robot includes a transfer cabinet. The bottom of the transfer cabinet is equipped with a mobile steering device. The mobile steering device includes a mobile bogie, four omnidirectional wheels, and four drive wheels equipped with robot hub motors. The omnidirectional wheels and drive wheels are symmetrically distributed on both sides of the mobile steering device, with the four omnidirectional wheels located at both ends and the four drive wheels located in the middle. The mobile bogie includes a load-bearing base frame, a first wheel bracket, a second wheel bracket, and a third wheel bracket. The load-bearing base frame has multiple upward-extending load-bearing columns and beams. The first wheel bracket, second wheel bracket, and third wheel bracket are respectively connected to the load-bearing base frame. The two ends of the first wheel bracket are located on both sides of the load-bearing base frame and are rotatably connected to one omnidirectional wheel. The second wheel bracket and third wheel bracket are rotatably connected to two drive wheels and one omnidirectional wheel, respectively, and are located on both sides of the load-bearing base frame.

[0006] The collection robot in this solution features drive wheels equipped with robot hub motors. These drive wheels utilize robot hub motor products from Shenzhen Zhongling Technology Co., Ltd. (ZLLG10ASM800-R V2.0 single-axis 10-inch hub servo motor + ZLAC8030D V1.0 one-to-two servo driver-hub). The four omnidirectional wheels and four drive wheels of the movement and steering device are symmetrically distributed, with one omnidirectional wheel on each of the front and rear sides of the transfer cabinet, and two drive wheels on each of the two sides of the middle of the transfer cabinet. The four drive wheels of the collection robot can be controlled independently, rotating at different speeds as needed. The differential movement of the four drive wheels allows the collection robot to achieve different turning angles. For example, when the collection robot needs to turn, the two drive wheels closer to the center of the turning trajectory rotate at a low speed, while the two drive wheels farther from the center of the turning trajectory rotate at a higher speed. The four omnidirectional wheels at the front and rear can be adjusted in any direction, thus enabling the robot to turn. This solution also utilizes existing vehicle motion control systems (controlling and processing the movement of the motion and steering devices, transmitting and processing operation signals), as well as existing navigation technologies (such as lidar and satellite navigation), remote communication systems (Internet remote control, wireless remote control, etc.), road condition detection and obstacle avoidance systems (infrared thermal sensors, lidar, millimeter-wave sensors, etc.), and power supply devices (powering the robot's motion devices and other electrical devices), forming a complete and usable collection robot.

[0007] As a preferred embodiment of the present invention, it also includes an item rack, and the transfer cabinet is provided with an item lifting and lowering device, which can put the item rack into or move it out of the transfer cabinet. The item lifting and lowering device is located on a load-bearing base frame.

[0008] As a preferred embodiment of the present invention, the second wheel bracket includes a drive wheel connecting pipe and a universal wheel connecting pipe. The two ends of the drive wheel connecting pipe are rotatably connected to the axle of a drive wheel, and the drive wheel connecting pipe is connected to the load-bearing base frame. The universal wheel connecting pipe is in the shape of a "7". One end of the universal wheel connecting pipe is connected to the middle of the drive wheel connecting pipe, and the other end extends outward and is rotatably connected to the axle of a universal wheel. The third wheel bracket is mirrored in arrangement with the second wheel bracket.

[0009] As a preferred embodiment of the present invention, the item lifting and lowering device includes a horizontal moving device located at the bottom and a vertically arranged vertical moving device. The horizontal moving device includes two parallel horizontal guide rails, two horizontal moving arms, and a set of horizontal moving drive devices. The horizontal guide rails are connected to the load-bearing base frame, the horizontal moving arms are movably connected to the horizontal guide rails, and the horizontal moving drive devices drive the horizontal moving arms to move. A vertical moving device is provided at the inner end of the horizontal moving arm, and a support leg is provided at the other end of the horizontal moving arm. One end of the support leg is rotatably connected to the middle of the horizontal moving arm, and the other end of the support leg extends to the outer end of the horizontal moving arm and... The device is equipped with support wheels, and the horizontal guide rail is provided with support leg stops corresponding to the support legs. The vertical moving device includes two parallel bottom beams, two parallel vertical guide rails, two vertical moving arms, and a set of vertical moving drive devices. The two bottom beams are respectively connected to the horizontal moving arms. One end of each of the two vertical guide rails is connected to the bottom beam, and the other end extends upward and is connected to each other with a guide rail connecting rod. The two vertical moving arms are each movably connected to one vertical guide rail. The vertical drive device drives the vertical moving arms to move. Each of the two vertical moving arms is provided with an outwardly extending lifting arm, and the lifting arm is configured to cooperate with the item holder.

[0010] This solution addresses the transfer of trash cans by incorporating a loading and unloading device. The trash cans are housed in a pallet rack, allowing the loading and unloading device to operate on the pallet rack without needing to contact the trash can itself. The loading and unloading device includes a lateral movement mechanism and a vertical movement mechanism, both normally located within the transfer cabinet. When a trash can needs to be moved, the robot first moves to the front of the trash can, facing it and maintaining a certain distance. Then, the lateral movement arm of the lateral movement mechanism extends outward along the lateral guide rail, with the support legs extending along with it. The lateral guide rail is equipped with corresponding support leg wheels, allowing the support legs to rotate under the influence of gravity and the support leg's resistance. Once the support legs and wheels touch the ground, they support the lateral moving arm. The lateral moving arm then moves the bottom beam, vertical guide rail, and vertical moving arm of the vertical moving device together until the lifting arm extends to the point where the item tray is lifted. Then, the vertical moving arm moves the lifting arm upward to a designated height and stops moving. The lateral moving arm then moves into the transfer cabinet, taking the bottom beam, vertical guide rail, vertical moving arm, item tray, and trash can with it until the lateral moving arm returns to its original position. The support legs move with the lateral moving arm and rotate to their original position under the action of the support leg's wheel. After the trash can enters the transfer cabinet, the collection robot moves to the trash can collection point and continues the above operation to transfer the trash can out of the transfer cabinet.

[0011] As a preferred embodiment of the present invention, the top of the transverse guide rail is in the shape of a channel steel, the openings of the two transverse guide rails face inward, the bottom crossbeam is in the shape of a channel steel, the opening of the bottom crossbeam is opposite to the opening of the transverse guide rail, the transverse moving arm is disposed between the transverse guide rail and the bottom crossbeam, and the two sides of the transverse moving arm are respectively provided with staggered moving wheels, and the moving wheels roll in the transverse guide rail and the bottom crossbeam respectively.

[0012] As a preferred embodiment of the present invention, a reinforcing rod is provided between the two vertical guide rails and the bottom crossbeam, a crossbeam connecting rod is provided between the two bottom crossbeams to connect them, and a bottom reinforcing rod is provided between the bottom crossbeam and the crossbeam connecting rod.

[0013] As a preferred embodiment of the present invention, a rolling shaft is provided between the two bottom crossbeams, the rolling shaft is connected to the bottom crossbeams through a bearing seat, and rolling wheels are provided at both ends of the rolling shaft, the rolling wheels rolling on the top of the transverse guide rail.

[0014] Compared with the prior art, the beneficial effects of the present invention are: In this invention, by combining four omnidirectional wheels and four drive wheels equipped with robot hub motors, the speed and direction of rotation of the four drive wheels can be controlled, enabling the automatic forward, backward, and turning of the collection robot; and by using an item loading and unloading device, the items to be transferred can be automatically collected and placed. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of one structure of the present invention.

[0016] Figure 2 This is an exploded view of one of the structures of the present invention.

[0017] Figure 3 This is a schematic diagram of a moving steering device according to the present invention.

[0018] Figure 4 This is a schematic diagram of the structure of the article loading and unloading device of the present invention.

[0019] In the diagram: 1. Transfer cabinet; 2. Moving steering device; 3. Moving bogie; 4. Casters; 5. Drive wheels; 6. Item rack; 7. Item loading and unloading device; 8. Lateral movement device; 9. Vertical movement device; 31. Load-bearing base frame; 32. First wheel bracket; 33. Second wheel bracket; 34. Third wheel bracket; 35. Load-bearing column; 36. Load-bearing beam; 37. Drive wheel connecting pipe; 38. Caster wheel connecting pipe; 81. Lateral guide rail; 82. Lateral moving arm; 83. Support leg; 84. Support wheel; 85. Support leg stop wheel; 91. Bottom crossbeam; 92. Vertical guide rail; 93. Vertical moving arm; 94. Lifting arm; 95. Reinforcing rod; 96. Crossbeam connecting rod; 97. Bottom reinforcing rod; 98. Rolling shaft; 99. Rolling wheel. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] For examples, please refer to Figures 1-4 The present invention provides a technical solution: A free-steering collection robot includes a transfer cabinet 1. A mobile steering device 2 is located at the bottom of the transfer cabinet 1. The mobile steering device 2 includes a mobile bogie 3, four omnidirectional wheels 4, and four drive wheels 5 equipped with robot hub motors. The omnidirectional wheels 4 and drive wheels 5 are symmetrically distributed on both sides of the mobile steering device 2, with the four omnidirectional wheels 4 located at both ends of the mobile steering device 2, and the four drive wheels 5 located in the middle of the mobile steering device 2. The mobile bogie 3 includes a load-bearing base frame 31, a first wheel bracket 32, and a second wheel bracket 33. The third wheel bracket 34 and the load-bearing base frame 31 are provided with multiple upwardly extending load-bearing columns 35 and load-bearing beams 36. The first wheel bracket 32, the second wheel bracket 33 and the third wheel bracket 34 are respectively connected to the load-bearing base frame 31. The two ends of the first wheel bracket 32 ​​are located on both sides of the load-bearing base frame 31 and are rotatably connected to a universal wheel 4 respectively. The second wheel bracket 33 and the third wheel bracket 34 are rotatably connected to two drive wheels 5 and a universal wheel 4 respectively. The second wheel bracket 33 and the third wheel bracket 34 are located on both sides of the load-bearing base frame 31.

[0022] It also includes an item rack 6, and the transfer cabinet 1 is equipped with an item loading and unloading device 7. The item loading and unloading device 7 can put the item rack 6 into or move it out of the transfer cabinet 1. The item loading and unloading device 7 is located on the load-bearing base 31, and the item rack 6 is connected to the item to be transferred.

[0023] The second wheel bracket 33 includes a drive wheel connecting pipe 37 and a universal wheel connecting pipe 38. The two ends of the drive wheel connecting pipe 37 are rotatably connected to the axle of a drive wheel 5, and the drive wheel connecting pipe 37 is connected to the load-bearing base frame 31. The universal wheel connecting pipe 38 is in the shape of a "7". One end of the universal wheel connecting pipe 38 is connected to the middle of the drive wheel connecting pipe 37, and the other end extends outward and is rotatably connected to the axle of a universal wheel 4. The third wheel bracket 34 is mirrored in arrangement with the second wheel bracket 33.

[0024] The item loading and unloading device 7 includes a horizontal moving device 8 located at the bottom and a vertically arranged vertical moving device 9. The horizontal moving device 8 includes two parallel horizontal guide rails 81, two horizontal moving arms 82, and a set of horizontal moving drive devices. The horizontal guide rails 81 are connected to the load-bearing base frame 31, and the horizontal moving arms 82 are movably connected to the horizontal guide rails 81. The horizontal moving drive device 8 drives the horizontal moving arms 82 to move. The vertical moving device 9 is provided on the inner end of the horizontal moving arm 82, and the other end of the horizontal moving arm 82 is provided with a support leg 83. One end of the support leg 83 is rotatably connected to the middle of the horizontal moving arm 82, and the other end of the support leg 83 extends to the outer end of the horizontal moving arm 82 and is provided with a support wheel 84. The horizontal guide rails 81 are provided with support leg stop wheels 85 corresponding to the support legs 83. The vertical moving device 9 includes two parallel bottom crossbeams 91, two parallel vertical guide rails 92, two vertical moving arms 93, and a set of vertical moving drive devices. The two bottom crossbeams 91 and 92 are connected to the load-bearing base frame 31. The horizontal moving arms 82 are movably connected to the load-bearing base frame 31, and the horizontal moving arms 82 are movably ... 1. Two vertical guide rails 92 are connected to the horizontal moving arm 82 respectively. One end of each vertical guide rail 92 is connected to the bottom crossbeam 91, and the other end extends upward and is connected to each other with a guide rail connecting rod 93. Two vertical moving arms 93 are movably connected to one vertical guide rail 92 respectively. The vertical driving device drives the vertical moving arm 93 to move. Each of the two vertical moving arms 93 is provided with an outwardly extending lifting arm 94. The lifting arm 94 is set in cooperation with the item holder 6. The horizontal moving driving device and the vertical moving driving device can use a stepper motor plus chain drive or gear belt drive to drive the horizontal moving arm 82 or the vertical moving arm 93 respectively. For example, the two ends of the chain or gear belt are connected to the horizontal moving arm 82 or the vertical moving arm 93. The chain or gear belt then passes around one or two sprockets, one or two gears and meshes with the motor output sprocket or the motor output gear to form a C-shaped transmission route. When the motor rotates forward and reverse, the horizontal moving arm 82 or the vertical moving arm 93 can move in the forward and reverse directions.

[0025] The top of the transverse guide rail 81 is shaped like a channel steel, and the openings of the two transverse guide rails 81 face inward. The bottom crossbeam 91 is shaped like a channel steel, and the opening of the bottom crossbeam 91 is opposite to the opening of the transverse guide rail 81. The transverse moving arm 82 is located between the transverse guide rail 81 and the bottom crossbeam 91. The two sides of the transverse moving arm 82 are respectively provided with staggered moving wheels 86, which roll in the transverse guide rail 81 and the bottom crossbeam 91 respectively.

[0026] Two vertical guide rails 92 are respectively provided with reinforcing rods 95 between them and the bottom crossbeam 91. Two bottom crossbeams 91 are connected by a crossbeam connecting rod 96. A bottom reinforcing rod 97 is provided between the bottom crossbeam 91 and the crossbeam connecting rod 96.

[0027] A rolling shaft 98 is provided between the two bottom crossbeams 91. The rolling shaft 98 is connected to the bottom crossbeam 91 through a bearing seat. Rolling wheels 99 are provided at both ends of the rolling shaft 98. The rolling wheels 99 roll on the top of the transverse guide rail 81.

[0028] The workflow of this invention is as follows: The four drive wheels 5 of the collection robot can be controlled independently and rotate at different speeds as needed. When the four drive wheels 5 rotate in the same direction, the collection robot moves forward or backward. The differential rotation (different speeds) of the four drive wheels 5 allows the collection robot to turn at different angles. For example, when the collection robot needs to turn, the two drive wheels 5 closer to the center of the turning trajectory rotate at a low speed, while the two drive wheels 5 farther from the center of the turning trajectory rotate at a higher speed. The directions of the four universal wheels 4 at the front and rear ends can be adjusted at will, thus realizing the turning of the collection robot.

[0029] The item loading and unloading device 7 is normally located inside the transfer cabinet 1. When items such as trash cans need to be moved, the trash can is connected to the item rack 6. The collection robot first moves to the front of the trash can, facing it and maintaining a certain distance. Then, the lateral moving arm 82 of the lateral moving device 8 extends outward along the lateral guide rail 81, and the support leg 83 extends along with the lateral moving arm 82. The lateral guide rail 81 is equipped with support leg stop wheels 85 corresponding to the support leg 83. Under the action of gravity and the obstruction of the support leg stop wheels 85, the support leg 83 rotates until the support wheel 84 of the support leg 83 touches the ground, providing rolling support for the lateral moving arm 82. The lateral moving arm 82 drives the bottom beam 91, vertical guide rail 92, and vertical moving arm 93 of the vertical moving device 9 to move together. The lifting arm 94 extends to the bottom of the item carrier 6, and then the vertical moving arm 93 moves the lifting arm 94 and the item carrier 6 upward to a designated height and stops moving. The horizontal moving arm 82 moves into the transfer cabinet 1, taking the bottom crossbeam 91, vertical guide rail 92, vertical moving arm 93, item carrier 6 and trash can into the transfer cabinet 1 together, until the horizontal moving arm 82 returns to its original position. The support leg 83 moves with the horizontal moving arm 82 and rotates to its reset position under the action of the support leg stop wheel 85. After the trash can enters the transfer cabinet 1 with the item carrier 6, the collection robot moves to the trash can collection point and continues the above operation to transfer the trash can out of the transfer cabinet 1 and place it on the ground, and then reset until the horizontal moving arm 82 moves back into the transfer cabinet 1.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A free steering pick and delivery robot comprising a transfer cabinet, characterized in that: The bottom of the transfer cabinet body is provided with a mobile steering device, the mobile steering device comprises a mobile steering frame, four universal wheels, four drive wheels provided with robot wheel hub motor devices, the universal wheels and the drive wheels are symmetrically distributed on both sides of the mobile steering device, the four universal wheels are located at both ends of the mobile steering device, and the four drive wheels are arranged in the middle of the mobile steering device. The mobile steering frame comprises a bearing chassis, a first wheel support, a second wheel support and a third wheel support, the bearing chassis is provided with a plurality of upward extending bearing columns and a bearing beam, and the first wheel support, the second wheel support and the third wheel support are connected with the bearing chassis. The first wheel support is rotatably connected with a universal wheel at both ends and located on both sides of the bearing chassis, the second wheel support and the third wheel support are rotatably connected with two drive wheels and a universal wheel, and the second wheel support and the third wheel support are located on both sides of the bearing chassis.

2. A free steering delivery robot according to claim 1, characterized in that: Further comprising an article carrier, the transfer cabinet body is provided with an article up-and-down storage device, the article up-and-down storage device is used for storing or discharging the article carrier into or out of the transfer cabinet body, and the article up-and-down storage device is arranged on the bearing chassis.

3. A free steering delivery robot according to claim 1, characterized in that: The second wheel support comprises a drive wheel connecting pipe and a universal wheel connecting pipe, the drive wheel connecting pipe is rotatably connected with the shaft of one drive wheel at both ends, the drive wheel connecting pipe is connected with the bearing chassis, the universal wheel connecting pipe is in the shape of 7, one end of the universal wheel connecting pipe is connected with the middle of the drive wheel connecting pipe, the other end of the universal wheel connecting pipe extends outward and is rotatably connected with the shaft of one universal wheel, and the third wheel support is arranged in mirror image with the second wheel support.

4. A free steering delivery robot according to claim 2, characterized in that: The article up-and-down storage device comprises a horizontal moving device arranged at the bottom and a vertical moving device arranged vertically, the horizontal moving device comprises two parallel horizontal guide rails, two horizontal moving arms, and a set of horizontal moving driving devices, the horizontal guide rails are connected with the bearing chassis, the horizontal moving arms are movably connected with the horizontal guide rails, the horizontal moving driving devices drive the horizontal moving arms to move, the inner side end of the horizontal moving arm is provided with the vertical moving device, the other end of the horizontal moving arm is provided with a supporting leg, one end of the supporting leg is rotatably connected with the middle of the horizontal moving arm, the other end of the supporting leg extends to the outer side end of the horizontal moving arm and is provided with a supporting wheel, and the horizontal guide rail is provided with a supporting leg blocking wheel corresponding to the supporting leg; The vertical moving device comprises two parallel bottom cross beams, two parallel vertical guide rails, two vertical moving arms and a set of vertical moving driving devices, the two bottom cross beams are connected with the horizontal moving arms, one end of each of the two vertical guide rails is connected with the bottom cross beam, the other end of each of the two vertical guide rails extends upward and is provided with a guide rail connecting rod to be connected with each other, the two vertical moving arms are movably connected with one vertical guide rail respectively, the vertical driving devices drive the vertical moving arms to move, and the two vertical moving arms are respectively provided with an outward extending lifting arm, and the lifting arm is arranged in cooperation with the article carrier.

5. A free steering delivery robot according to claim 4, characterized in that: The top of the transverse guide rail is shaped like a channel steel, and the openings of the two transverse guide rails face inward. The bottom crossbeam is shaped like a channel steel, and the opening of the bottom crossbeam is opposite to the opening of the transverse guide rail. The transverse moving arm is located between the transverse guide rail and the bottom crossbeam. The two sides of the transverse moving arm are respectively provided with staggered moving wheels, and the moving wheels roll in the transverse guide rail and the bottom crossbeam respectively.

6. A free steering delivery robot according to claim 4, characterized in that: The two vertical guide rails are respectively provided with reinforcing rods between them and the bottom crossbeams. The two bottom crossbeams are connected by a crossbeam connecting rod. The bottom crossbeams and the crossbeam connecting rods are provided with bottom reinforcing rods.

7. A free steering delivery robot according to claim 4, characterized in that: A rolling shaft is provided between the two bottom crossbeams. The rolling shaft is connected to the bottom crossbeams through a bearing seat. Rolling wheels are provided at both ends of the rolling shaft. The rolling wheels roll on the top of the transverse guide rail.

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