Omnidirectional mobile intelligent robot comprising multi-axis mechanical arm

Abstract

The utility model relates to the technical field of robots, and provides an omni-directional mobile intelligent robot comprising a multi-axis mechanical arm so as to improve the education popularization range of the omni-directional mobile robot comprising the mechanical arm. The three groups of steering wheels are mounted at the bottom of the mainframe box, the control panel and the battery are arranged at the top of the mainframe box, the mechanical arm is mounted at the front end of the mainframe box, and the storage device is arranged between the battery and the mechanical arm. A groove is formed in the front end of the main machine box, the bottom of the mechanical arm is installed in the groove, the mechanical arm comprises a plurality of steering engines, a lower arm connecting rod, an upper arm connecting rod and a lifting mechanism, multi-degree-of-freedom movement of the mechanical arm can be achieved, the coverage range of the tail end of the mechanical arm is enlarged, and meanwhile the tail end of the mechanical arm is provided with a clamping device to complete object grabbing operation. Mecanum wheels are adopted as the three sets of steering wheels, the steering wheels are arranged at equal intervals of 120 degrees, 360-degree steering and movement of the robot can be achieved, various sensors are integrated, and the obstacle avoidance and tracking functions can be achieved; the method is suitable for large-scale popularization education.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an omnidirectional mobile intelligent robot comprising a multi-axis mechanical arm. Background Art

[0002] In the field of intelligent robotics, omnidirectional mobile intelligent robots with multi-axis manipulators, capable of both material handling and flexible mobility, have become essential equipment for industrial automation and service scenarios. However, existing composite omnidirectional mobile intelligent robots with manipulators have limited environmental adaptability, a limited reach at the end of the manipulator, and are difficult to maintain and upgrade, hindering the widespread application of this technology. Furthermore, their high cost hinders widespread education and popularization in the cultivation of highly skilled talent for the new era.

[0003] Therefore, there is an urgent need to develop an omnidirectional mobile intelligent robot including a multi-axis robotic arm to overcome the shortcomings of the existing technology. Utility Model Content

[0004] The purpose of the present invention is to solve the deficiencies of the prior art and to provide an omnidirectional mobile intelligent robot including a multi-axis robotic arm, so as to enhance the educational popularization scope of the omnidirectional mobile robot including the robotic arm.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An omnidirectional mobile intelligent robot with a multi-axis robotic arm comprises: a main case, three sets of steering wheels arranged at the bottom of the main case, a control panel and several batteries arranged at the top of the main case, a robotic arm arranged at the front end of the main case, and several material storage devices arranged between the batteries and the robotic arm; a groove is provided at the front end of the main case, and the bottom of the robotic arm is installed in the groove; a control panel is provided in the main case, and the control panel is electrically connected to the robotic arm, batteries, control panel and steering wheels respectively; a clamping device is provided at the end of the robotic arm.

[0007] Preferably, the robotic arm includes: a first servo detachably connected to the bottom of the groove, a lifting ladder detachably connected to the output shaft of the first servo, a lifting slider slidably connected to the lifting ladder, a second servo provided on one side of the lifting slider, a first gear provided on the output shaft of the second servo, a third servo provided at the rear end of the lifting slider, a lower arm connecting rod detachably connected to the output shaft of the third servo, a fourth servo provided on one side of the idle end of the lower arm connecting rod, and an upper arm connecting rod detachably connected to the output shaft of the fourth servo; the clamping device is provided at the idle end of the upper arm connecting rod; a rack is provided on one side of the lifting ladder, and the first gear is engaged with the rack.

[0008] Preferably, a rotating base is provided at the bottom of the lifting ladder, the bottom of the rotating base is fixedly connected to the bottom of the groove, the top of the rotating base is rotatably connected to the bottom of the lifting ladder, the top surface of the rotating base is provided with a through cavity, and the first servo output shaft passes through the cavity and is connected to the bottom of the lifting ladder.

[0009] Preferably, the lifting ladder and the rack are provided with slide grooves on both side surfaces adjacent to each other, and the lifting slider is slidingly connected to the lifting ladder through the slide grooves. A rectangular cavity is provided in the lifting slider, and a first gear and a composite gear are rotatably connected in the rectangular cavity. The composite gear includes a large gear and a small gear that is coaxial with the large gear and fixedly connected. The first gear is coaxially connected to the second steering gear output shaft, the first gear is meshed with the small gear, and the large gear is meshed with the rack.

[0010] The second end of the second end of the second cam is connected to the first end of the. second cam and the second end of the second cam are connected to the first end of the. second cam and the second end of the second cam are connected to the first end of the. second cam and the second end of the second cam are connected to the first end of the.

[0011] Preferably, the three groups of steering wheels are equidistantly arranged along the center of the bottom of the main box. The steering wheels include: a wheel body and a steering motor. The wheel body is detachably connected to the output shaft of the steering motor, and the steering motor is electrically connected to the control board.

[0012] Preferably, the material storage device includes: a material storage support detachably connected to the top of the main box at the bottom, and a material storage tray slidably connected to the top of the material storage support; a slide groove is opened on one side of the top of the material storage support, and a plurality of equidistantly arranged threaded holes are provided on the side wall of the slide groove; a mounting block is integrally provided at the bottom of the material storage tray, and the mounting block is provided with threaded holes identical to the threaded holes on the side wall of the slide groove; the mounting block is slidably connected to the slide groove, and a positioning bolt is provided in the threaded hole of the mounting block.

[0013] Preferably, the control panel is provided with a start button, an emergency stop switch, a first power switch, and a second power switch which are electrically connected to the control panel respectively; and the plurality of batteries are arranged on both sides of the control panel.

[0014] Preferably, infrared distance detection sensors are provided on the left and right sides of the main box, and the infrared distance detection sensors are electrically connected to the control board; an ultrasonic distance detection sensor is provided at the rear end of the main box, and the ultrasonic distance detection sensor is electrically connected to the control board; tracking sensors are provided on both sides of the first servo, and the tracking sensors are electrically connected to the control board.

[0015] Preferably, a nine-axis attitude gyroscope sensor is provided at the top center of the main box, and the nine-axis attitude gyroscope sensor is electrically connected to the control board.

[0016] The utility model discloses an omnidirectional mobile intelligent robot including a multi-axis mechanical arm, which has the following beneficial effects.

[0017] The utility model includes a main box, three sets of steering wheels installed at the bottom of the main box, a control panel and several batteries arranged at the top of the main box, a robotic arm installed at the front end of the main box, and a material storage device arranged between the batteries and the robotic arm. A groove is provided at the front end of the main box, and the bottom of the robotic arm is installed in the groove. The robotic arm includes multiple servos, a lower arm connecting rod, an upper arm connecting rod and a lifting mechanism, which can realize the multi-degree-of-freedom movement of the robotic arm, thereby improving the coverage range of the end of the robotic arm. At the same time, a clamping device is provided at the end of the robotic arm to complete the grasping operation of the object. The three sets of steering wheels adopt Mecanum wheels, and the steering wheels are arranged at 120° equal intervals, which can realize 360-degree steering and movement of the robot, and integrate a variety of sensors to realize obstacle avoidance and tracking functions. The main structural parts can be made through 3D printing technology, which greatly reduces the manufacturing cost and facilitates popularization. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The figure is a schematic diagram of the overall structure of an omnidirectional mobile intelligent robot including a multi-axis robotic arm.

[0019] Figure 2 This is a schematic diagram of the front view of an omnidirectional mobile intelligent robot including a multi-axis robotic arm.

[0020] Figure 3 This is a schematic diagram of the top view of the structure of an omnidirectional mobile intelligent robot including a multi-axis robotic arm.

[0021] Figure 4 This is a schematic diagram of the structure of an omnidirectional mobile intelligent robot with a multi-axis robotic arm, viewed from above.

[0022] Figure 5 This is a side view structural diagram of an omnidirectional mobile intelligent robot including a multi-axis robotic arm.

[0023] Figure 6 The figure is a schematic diagram of the cross-section of the lifting slider structure of an omnidirectional mobile intelligent robot with a multi-axis robotic arm.

[0024] Figure 7 for Figure 1 A local enlarged schematic diagram of point A in the middle.

[0025] Figure 8 for Figure 6 A partial enlarged schematic diagram of point B in the middle.

[0026] In the figure: 1, main box; 101, groove; 2, steering wheel; 201, wheel body; 202, steering motor; 3, control panel; 301, button; 302, emergency stop switch; 303, first power switch; 304, second power switch; 4, battery; 5, mechanical arm; 501, first servo; 502, lifting ladder; 503, lifting slide; 504, second servo; 505, first gear; 506, third servo; 507, lower arm connecting rod; 508, fourth servo; 509, upper arm connecting rod Rod; 510, clamp mounting base; 511, fifth servo; 512, I-shaped steering wheel; 513, first transmission shaft; 514, second transmission shaft; 515, first clamp; 516, second clamp; 517, rotating base; 518, compound gear; 6, material storage device; 601, material storage support; 602, material storage tray; 603, mounting block; 7, tracking sensor; 8, infrared distance detection sensor; 9, ultrasonic distance detection sensor; 10, control board; 11, nine-axis attitude gyroscope sensor. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0029] Example 1

[0030] Reference Figures 1 to 6, an omnidirectional mobile intelligent robot including a multi-axis robotic arm, comprising: a main box 1, three sets of steering wheels 2 arranged at the bottom of the main box 1, a control panel 3 and a plurality of batteries 4 arranged at the top of the main box 1, a robotic arm 5 arranged at the front end of the main box 1, and a plurality of material storage devices 6 arranged between the batteries 4 and the robotic arm 5; a groove 101 is opened at the front end of the main box 1, and the bottom of the robotic arm 5 is installed in the groove 101; a control board 10 is provided in the main box 1, and the control board 10 is electrically connected to the robotic arm 5, batteries 4, control panel 3 and steering wheel 2 respectively; a clamping device is provided at the end of the robotic arm 5.

[0031] Preferably, in this embodiment, the robotic arm 5 includes: a first servo 501 detachably connected to the bottom of the groove 101; a lifting ladder 502 detachably connected to the output shaft of the first servo 501; a lifting slider 503 slidably connected to the lifting ladder 502; a second servo 504 disposed on one side of the lifting slider 503; a first gear 505 disposed on the output shaft of the second servo 504; a third servo 506 disposed at the rear end of the lifting slider 503; a lower arm connecting rod 507 detachably connected to the output shaft of the third servo 506; a fourth servo 508 disposed on the idle end of the lower arm connecting rod 507; and an upper arm connecting rod 509 detachably connected to the output shaft of the fourth servo 508. A gripping device is disposed at the idle end of the upper arm connecting rod 509. A rack is disposed on one side of the lifting ladder 502, and the first gear 505 meshes with the rack. The first servo 501 is connected to the bottom of the lifting ladder 502 via a cross-shaped steering wheel. The third steering gear 506 is connected to the lower arm connecting rod 507 through a circular steering wheel, and the third steering gear 506 drives the lower arm connecting rod 507 to rotate. The fourth steering gear 508 is connected to the upper arm connecting rod 509 through a circular steering wheel, and the fourth steering gear 508 drives the upper arm connecting rod 509 to rotate.

[0032] It should be noted that the control panel 10 is electrically connected to the first servo 501, the second servo 504, the third servo 506, and the fourth servo 508, respectively. The control panel 10 controls the first servo 501 to control the axial rotation of the robotic arm 5 along the output shaft of the first servo 501. The control panel 10 controls the relative sliding of the lifting slide 503 and the lifting ladder 502. The control panel 10 controls the angle between the lower arm connecting rod 507 and the lifting slide 503 by controlling the third servo 506. The control panel 10 controls the angle between the lower arm connecting rod 507 and the lifting slide 503 by controlling the fourth servo 508. In this embodiment, the second servo 504 is coaxially connected to the first gear 505 via a circular steering wheel. By controlling the forward and reverse rotation of the second servo 504, the first gear 505 is controlled to roll up and down along the rack, thereby driving the lifting slide 503 to slide up and down on the lifting ladder 502, thereby controlling the height of the gripping device and improving the coverage range of the end of the robotic arm 5.

[0033] Preferably, in this embodiment, in order to improve the stability of the robotic arm 5 when it rotates axially along the output shaft of the first servo 501, a rotating base 517 is provided at the bottom of the lifting ladder 502, the bottom of the rotating base 517 is fixedly connected to the bottom of the groove 101, the top of the rotating base 517 is rotatably connected to the bottom of the lifting ladder 502 through a bearing, and a through cavity is provided on the top surface of the rotating base 517, and the output shaft of the first servo 501 passes through the cavity and is connected to the bottom of the lifting ladder 502.

[0034] like Figure 7 As shown, as a preference, in this embodiment, the clamping device includes: a clamping claw mounting base 510 detachably connected to the idle end of the upper arm connecting rod 509, a fifth steering gear 511 provided below the clamping claw mounting base 510, a straight-line steering wheel 512 detachably connected to the output shaft of the fifth steering gear 511, a first transmission shaft 513 rotatably connected to one end of the straight-line steering wheel 512, a second transmission shaft 514 rotatably connected to the idle end of the straight-line steering wheel 512, a first clamping claw 515 and a second clamping claw 516 slidably connected to the front end of the clamping claw mounting base 510; the first clamping claw 515 The first and second clamping jaws 515, 516 are arranged in a mirror-image manner, a slide rail is provided at the front end of the clamping jaw mounting base 510, and the first and second clamping jaws 515, 516 are provided with slide grooves matching the slide rail, and the ends of the first and second clamping jaws 515, 516 are respectively provided with connecting blocks, the idle end of the first transmission shaft 513 is rotatably connected to the connecting block at the end of the first clamping jaw 515, and the idle end of the second transmission shaft 514 is rotatably connected to the connecting block at the end of the second clamping jaw 516; a through hole is provided in the middle of the clamping jaw mounting base 510, and the output shaft of the fifth servo 511 passes through the through hole of the clamping jaw mounting base 510 and is connected to the I-shaped steering wheel 512. In this embodiment, the spacing between the first clamping jaw 515 and the second clamping jaw 516 is controlled by controlling the fifth servo 511. Specifically, the fifth servo 511 controls the inline steering wheel 512 to rotate around its output shaft, thereby pulling the first transmission shaft 513 and the second transmission shaft 514. The first transmission shaft 513 and the second transmission shaft 514 in turn pull the first clamping jaw 515 and the second clamping jaw 516 to slide along the clamp mounting base 510, thereby controlling the spacing between the first clamping jaw 515 and the second clamping jaw 516.

[0035] like Figure 4 As shown, as a preference, in this embodiment, three groups of steering wheels 2 are equidistantly arranged along the center of the bottom of the main case 1. In this embodiment, the bottom surface of the main case 1 is circular, the three groups of steering wheels 2 are arranged with equal spans, the span of two adjacent groups of steering wheels 2 is 120°, and the three groups of steering wheels 2 constitute an omnidirectionally driven motion platform, which can realize 360-degree steering and movement of the robot; the steering wheel 2 includes: a wheel body 201 and a steering motor 202, the wheel body 201 and the output shaft of the steering motor 202 are detachably connected, the steering motor 202 is fixed to the bottom of the main case 1 and is electrically connected to the control board 10. In this embodiment, the wheel body 201 adopts a Mecanum wheel.

[0036] Preferably, in this embodiment, the control panel 3 is provided with a start button 301, an emergency stop switch 302, a first power switch 303, and a second power switch 304, which are electrically connected to the control panel 10 respectively; a number of batteries 4 are arranged on both sides of the control panel 3, and in this embodiment, there are two groups of batteries 4.

[0037] In this embodiment, about 80% of the components are made of PLA environmentally friendly and degradable materials and are produced through 3D printing technology, which greatly reduces the manufacturing cost of components and can be mass-produced in a short period of time, effectively reducing the production cost of the omnidirectional mobile intelligent robot including the robotic arm 5 and facilitating its promotion.

[0038] Example 2

[0039] Based on Example 1, Figure 2 and Figure 5 As shown, as a preferred embodiment, in this embodiment, the material storage device 6 includes: a material storage support 601 whose bottom is detachably connected to the top of the main chassis 1, and a material storage tray 602 slidably connected to the top of the material storage support 601; a chute is opened on one side of the top of the material storage support 601, and a plurality of threaded holes arranged at equal intervals are provided on the side wall of the chute; a mounting block 603 is integrally provided at the bottom of the material storage tray 602, and the mounting block 603 is provided with a threaded hole identical to the threaded hole on the side wall of the chute, and the mounting block 603 is slidably connected to the chute, and a positioning bolt is provided in the threaded hole of the mounting block 603. When it is necessary to adjust the height of the material storage tray 602, it is only necessary to unscrew the positioning bolt, slide the material storage tray 602 to the corresponding height, align the threaded hole of the mounting block 603 with the threaded hole on the side wall of the chute, screw in the positioning bolt, and the end of the positioning bolt needs to be screwed into the threaded hole on the side wall of the chute, and the height adjustment of the material storage tray 602 is completed.

[0040] Example 3

[0041] Based on Example 1, Figure 6 and Figure 8 As shown, in this embodiment, preferably, slide grooves are provided on both sides of the lifting ladder 502 adjacent to the rack. The lifting slider 503 is slidably connected to the lifting ladder 502 via the slide grooves. The lifting slider 503 has a rectangular cavity within it, in which a first gear 505 and a composite gear 518 are rotatably connected. The composite gear 518 includes a large gear and a pinion coaxially fixedly connected to the large gear. The first gear 505 is coaxially connected to the output shaft of the second servo 504. The first gear 505 meshes with the pinion, and the large gear meshes with the rack, forming a two-stage reduction transmission system. Using only a single power component, the entire robotic arm 5 can be directly driven to move freely in the Z-axis degree of freedom.

[0042] Example 4

[0043] Based on Example 1, Figure 3 As shown, as a preference, in this embodiment, infrared distance detection sensors 8 are provided on the left and right sides of the main chassis 1, and the infrared distance detection sensor 8 is electrically connected to the control board 10; an ultrasonic distance detection sensor 9 is provided at the rear end of the main chassis 1, and the ultrasonic distance detection sensor 9 is electrically connected to the control board 10, which can realize ultrasonic automatic obstacle avoidance, ultrasonic automatic following, and ultrasonic correction functions; tracking sensors 7 are provided on both sides of the first servo 501, and the tracking sensor 7 is electrically connected to the control board 10.

[0044] Preferably, in this embodiment, a nine-axis gyroscope sensor 11 is provided at the top center of the main chassis 1 and is electrically connected to the control board 10. The infrared distance detection sensor 8, a commercially available GP2Y0A21YK0F model, enables the robot to perceive its surroundings, plan its path, avoid collisions, and achieve precise positioning and movement. The ultrasonic distance detection sensor 9, a HC-SR04P model, enables the robot to determine the distance to objects. The control board 10, a NI-myRIO1900 model, provides the robot with communication capabilities, data acquisition and processing, programming and learning, motion control, and input and output management. The tracking sensor 7, a TCRT5000 model, enables the robot to detect markings or features on the ground or on a specific path, allowing it to accurately travel along a preset path. The nine-axis gyroscope sensor 11, a MPU6050 model, is equipped with posture correction, and combined with three sets of Mecanum wheels arranged at 120° intervals, it can reduce motion trajectory deviation and achieve 360° omnidirectional movement.

[0045] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Replacements may include partial structures, devices, method steps, or complete technical solutions. Equivalent replacements or modifications based on the technical solution and its concept of the present invention are intended to fall within the scope of protection of the present invention.

Claims

1. An omnidirectional mobile intelligent robot comprising a multi-axis robotic arm, characterized in that: include: A main box (1), three sets of steering wheels (2) arranged at the bottom of the main box (1), a control panel (3) and a plurality of batteries (4) arranged at the top of the main box (1), a mechanical arm (5) arranged at the front end of the main box (1), and a plurality of material storage devices (6) arranged between the batteries (4) and the mechanical arm (5); a groove (101) is provided at the front end of the main box (1), and the bottom of the mechanical arm (5) is installed in the groove (101); a control panel (10) is provided in the main box (1), and the control panel (10) is electrically connected to the mechanical arm (5), the batteries (4), the control panel (3) and the steering wheels (2) respectively; and a clamping device is provided at the end of the mechanical arm (5).

2. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 1, characterized in that: The mechanical arm (5) comprises: a first servo (501) detachably connected to the bottom of the groove (101), a lifting ladder (502) detachably connected to the output shaft of the first servo (501), a lifting slider (503) slidably connected to the lifting slider (502), a second servo (504) provided on one side of the lifting slider (503), a first gear (505) provided on the output shaft of the second servo (504), a third servo (506) provided at the rear end of the lifting slider (503), a lower arm connecting rod (507) detachably connected to the output shaft of the third servo (506), a fourth servo (508) provided on one side of the idle end of the lower arm connecting rod (507), and an upper arm connecting rod (509) detachably connected to the output shaft of the fourth servo (508); the clamping device is provided at the idle end of the upper arm connecting rod (509); a rack is provided on one side of the lifting ladder (502), and the first gear (505) is engaged with the rack.

3. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 2, characterized in that: A rotating base (517) is provided at the bottom of the lifting ladder (502), the bottom of the rotating base (517) is fixedly connected to the bottom of the groove (101), the top of the rotating base (517) is rotatably connected to the bottom of the lifting ladder (502), and a through cavity is provided on the top surface of the rotating base (517), and the output shaft of the first steering gear (501) passes through the cavity and is connected to the bottom of the lifting ladder (502).

4. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 2, characterized in that: The lifting ladder (502) is provided with a slide groove on both sides adjacent to the rack. The lifting slider (503) is slidably connected to the lifting ladder (502) through the slide groove. A rectangular cavity is provided in the lifting slider (503). A first gear (505) and a composite gear (518) are rotatably connected in the rectangular cavity. The composite gear (518) includes a large gear and a small gear coaxial with the large gear and fixedly connected. The first gear (505) is coaxially connected to the output shaft of the second steering gear (504). The first gear (505) is meshed with the small gear, and the large gear is meshed with the rack.

5. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 2, characterized in that: The clamping device comprises: a clamping claw mounting base (510) detachably connected to the idle end of the upper arm connecting rod (509), a fifth steering gear (511) provided below the clamping claw mounting base (510), a straight-line steering wheel (512) detachably connected to the output shaft of the fifth steering gear (511), a first transmission shaft (513) having one end rotatably connected to one end of the straight-line steering wheel (512), a second transmission shaft (514) having one end rotatably connected to the idle end of the straight-line steering wheel (512), a first clamping claw (515) and a second clamping claw (516) slidably connected to the front end of the clamping claw mounting base (510); the first clamping claw (515) and the second clamping claw (516) are mirror images of the first clamping claw (515) and the second clamping claw (516). The arrangement is as follows: the front end of the clamping jaw mounting base (510) is provided with a slide rail, the first clamping jaw (515) and the second clamping jaw (516) are provided with a slide groove matching the slide rail, the ends of the first clamping jaw (515) and the second clamping jaw (516) are respectively provided with a connecting block, the idle end of the first transmission shaft (513) is rotatably connected to the connecting block at the end of the first clamping jaw (515), and the idle end of the second transmission shaft (514) is rotatably connected to the connecting block at the end of the second clamping jaw (516); a through hole is provided in the middle of the clamping jaw mounting base (510), and the output shaft of the fifth steering gear (511) passes through the through hole of the clamping jaw mounting base (510) and is connected to the straight-line steering wheel (512).

6. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 1, characterized in that: The three groups of steering wheels (2) are equidistantly arranged along the center of the bottom of the main box (1); the steering wheels (2) include a wheel body (201) and a steering motor (202); the wheel body (201) and the output shaft of the steering motor (202) are detachably connected; and the steering motor (202) is electrically connected to the control panel (10).

7. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 1, characterized in that: The material storage device (6) comprises: a material storage support (601) whose bottom is detachably connected to the top of the main box (1), and a material storage tray (602) slidably connected to the top of the material storage support (601); a slide groove is provided on one side of the top of the material storage support (601), and a plurality of threaded holes arranged at equal intervals are provided on the side wall of the slide groove; a mounting block (603) is integrally provided at the bottom of the material storage tray (602), and a threaded hole identical to the threaded hole on the side wall of the slide groove is provided on the mounting block (603); the mounting block (603) is slidably connected to the slide groove, and a positioning bolt is provided in the threaded hole of the mounting block (603).

8. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 1, characterized in that: The control panel (3) is provided with a start button (301), an emergency stop switch (302), a first power switch (303), and a second power switch (304) which are electrically connected to the control panel (10) respectively; the plurality of batteries (4) are arranged on both sides of the control panel (3).

9. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 2, characterized in that: The left and right sides of the main box (1) are both provided with infrared distance detection sensors (8), and the infrared distance detection sensors (8) are electrically connected to the control board (10); the rear end of the main box (1) is provided with an ultrasonic distance detection sensor (9), and the ultrasonic distance detection sensor (9) is electrically connected to the control board (10); and tracking sensors (7) are provided on both sides of the first steering gear (501), and the tracking sensors (7) are electrically connected to the control board (10).

10. The omnidirectional mobile intelligent robot comprising a multi-axis robotic arm according to claim 1, characterized in that: A nine-axis attitude gyroscope sensor (11) is provided at the top center of the main box (1), and the nine-axis attitude gyroscope sensor (11) is electrically connected to the control board (10).

Images