Mecanum wheel-based collaborative handling self-balancing robot and collaborative handling system

Abstract

The present application relates to a collaborative handling self-balancing robot and a collaborative handling system based on Mecanum wheels. In the present application, the center of gravity of the robot is adjusted by using a lifting adjustment component and a horizontal adjustment component to improve the adaptability and stability of the robot under different loads; at the same time, the locking component can also be used in the present application to release / lock the Mecanum wheel to avoid the problems of the existing robot not being able to move too fast and being limited in use when carrying lightweight objects. The present application can also use a combination of balancing robots to form a collaborative handling system. The collaborative handling system uses multiple self-balancing robots to carry objects to be carried, and can realize independent movement and collaborative handling of each balancing vehicle, which can greatly improve the handling efficiency and save space. At the same time, it has strong adaptability, for example, it can adapt to objects of different shapes and sizes, and does not rely on a standardized operating environment.

Description

Technical Field

[0001] The present invention relates to the field of transport robots, and in particular to a Mecanum wheel-based collaborative transport self-balancing robot and a collaborative transport system. Background Art

[0002] Handling robots are an important means for many automated services to improve efficiency, safety and accuracy. Currently, handling robots are often implemented using flatbed trucks with 3 or more wheels or Mecanum wheel 20 carts with 4 or more wheels. The heavy objects are placed on a hollow bottom table, and then the flatbed truck drives into the bottom to lift and transport them. This type of handling robot often requires a customized standard operating environment, has poor adaptability, and occupies a large space, making it unsuitable for new environments and small spaces.

[0003] Although the two-wheeled balancing vehicle has high flexibility and the ability to pass through narrow spaces, its stability is poor. The current two-wheeled transport robots mainly carry some lightweight items, and the speed cannot be too fast after loading, which limits their use. Summary of the invention

[0004] In view of the above problems, a Mecanum wheel-based collaborative handling self-balancing robot and a collaborative handling system are provided to effectively solve the problems existing in the prior art.

[0005] The specific technical solutions are as follows:

[0006] A first aspect of the present invention is to provide a Mecanum wheel-based collaborative transport self-balancing robot, comprising:

[0007] The calf frame has Mecanum wheels installed on both sides of the bottom of the calf frame to drive the calf frame to move in all directions;

[0008] A thigh frame is rotatably mounted on the calf frame, and a docking plate is rotatably mounted between two thigh plates in the thigh frame;

[0009] A lifting and adjusting assembly, used for rotating the thigh frame to adjust the horizontal height of the docking plate, the lifting and adjusting assembly being mounted on the calf frame; and

[0010] The horizontal adjustment component is used for rotating the docking plate so that the top of the docking plate is in a horizontal state. The horizontal adjustment component is installed on the calf frame and the thigh frame.

[0011] As an optional solution, the robot further includes a locking assembly for locking the Mecanum wheel, and the locking assembly is mounted on the Mecanum wheel.

[0012] As an optional solution, the robot also includes a driving component for driving the Mecanum wheel, and the driving component is installed on the calf frame.

[0013] As an option, the drive components include:

[0014] Wheel drive motors, the wheel drive motors are respectively mounted on the calf frame through motor limit housings; and

[0015] The wheel drive flange shaft has a shaft end fixedly connected to the output end of the wheel drive motor, and the flange end of the wheel drive flange shaft is connected to the Mecanum wheel.

[0016] As an option, the lifting and adjusting components include:

[0017] A lifting drive motor, the lifting drive motor is mounted on one of the calf plates in the calf frame through one of the motor limit housings, and the lifting drive motor is coaxially arranged with one of the wheel drive motors; and

[0018] The lifting drive shaft has two ends which pass through two calf plates in the calf frame and are fixedly connected to the thigh frame. The lifting drive motor is drivingly connected to the lifting drive shaft.

[0019] As an optional solution, the lifting and lowering adjustment component also includes:

[0020] A lifting drive wheel 1, the lifting drive wheel 1 is installed on the calf frame, and the lifting drive wheel 1 is also fixed to the output end of the lifting drive motor; and

[0021] The lifting driving wheel 2 is installed on the calf frame, and the lifting driving wheel 2 is also fixed on the lifting driving shaft. The lifting driving wheel 2 is connected with the lifting driving wheel 1 in a transmission manner.

[0022] As an option, the leveling kit includes:

[0023] A horizontal drive motor, the horizontal drive motor is mounted on another calf plate in the calf frame through another motor limit housing, and the horizontal drive motor is coaxially arranged with another wheel drive motor; and

[0024] The force guiding shaft 1 is fixed on the docking plate, and the two ends of the force guiding shaft 1 are rotatably mounted on the two thigh plates in the thigh frame, and the horizontal driving motor is transmission-connected with the force guiding shaft 1.

[0025] As an option, the leveling kit also includes:

[0026] A horizontal driving wheel one, wherein the horizontal driving wheel one is mounted on another calf plate in the calf frame;

[0027] A second horizontal driving wheel, which is mounted on another calf plate in the calf frame and is in driving connection with the first horizontal driving wheel;

[0028] A horizontal driving wheel three, the horizontal driving wheel three is mounted on another calf plate in the calf frame, and the horizontal driving wheel three is connected to the horizontal driving wheel two through the guide shaft two;

[0029] A horizontal driving wheel four is mounted on another calf plate in the calf frame, and the horizontal driving wheel four is drivingly connected to the horizontal driving wheel three;

[0030] A horizontal driving wheel 5, which is mounted on one of the thigh plates in the thigh frame, and is connected to a horizontal driving wheel 4 via a force guide shaft 3, and the force guide shaft 3 is inserted into the lifting driving shaft; and

[0031] The horizontal driving wheel six is ​​installed on one of the thigh plates in the thigh frame, and the horizontal driving wheel six is ​​drivingly connected with the horizontal driving wheel five.

[0032] As an option, the locking assembly includes:

[0033] A brake push rod, which is mounted on a wheel frame in the Mecanum wheel and can slide toward or away from the wheel in the Mecanum wheel; and

[0034] The brake pad is used to lock the rotating roller in the Mecanum wheel, and the brake pad is installed on the brake push rod.

[0035] As an option, the locking assembly also includes:

[0036] A transmission sleeve is installed on the axle of the Mecanum wheel, the transmission sleeve can slide along the axle of the Mecanum wheel, and the brake push rod is connected to the transmission sleeve through a connecting hinge;

[0037] a brake sleeve mounted on the axle of the Mecanum wheel; and

[0038] The return spring is installed on the transmission sleeve, and the two ends of the return spring are correspondingly abutted on the transmission sleeve and the brake sleeve.

[0039] A second aspect of the present invention is to provide a collaborative transport system, comprising at least two collaborative transport self-balancing robots.

[0040] The beneficial effects of the above scheme are:

[0041] 1) The present invention uses a lifting adjustment component and a horizontal adjustment component to adjust the center of gravity of the robot to improve the adaptability and stability of the robot under different loads;

[0042] 2) The present invention utilizes a locking assembly to release / lock the Mecanum wheel, so as to avoid the problems of the existing robot being unable to run too fast and being limited in use when carrying light objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the structure of a self-balancing robot provided in an embodiment of the present invention;

[0044] Figure 2 An exploded schematic diagram of a drive assembly provided in an embodiment of the present invention;

[0045] Figure 3 It is a structural schematic diagram of a lifting and lowering adjustment assembly provided in an embodiment of the present invention;

[0046] Figure 4 It is a structural schematic diagram of a level adjustment assembly provided in an embodiment of the present invention;

[0047] Figure 5 A schematic diagram of the structure of a brake assembly provided in an embodiment of the present invention;

[0048] Figure 6 A working state diagram of a brake assembly in an embodiment of the present invention;

[0049] Figure 7 Schematic diagram of dual robot collaboration provided in an embodiment of the present invention.

[0050] In the attached figure: 10, calf frame; 11, calf board; 20, Mecanum wheel; 30, thigh frame; 31 thigh board; 40, docking plate; 50, lifting adjustment component; 51, lifting drive motor; 52, lifting drive shaft; 53, lifting drive wheel 1; 54, lifting drive wheel 2; 55, drag reduction bearing; 60, horizontal adjustment component; 61, horizontal drive motor; 62, guide shaft 1; 63, horizontal drive wheel 1; 64, horizontal drive wheel 2; 65, horizontal Driving wheel three; 66, guide shaft two; 67, horizontal driving wheel four; 68, horizontal driving wheel five; 69, guide shaft three; 610, horizontal driving wheel six; 70, locking assembly; 71, brake push rod; 72, brake pad; 73, transmission sleeve; 74, connecting hinge; 75, brake sleeve; 76, return spring; 80, driving assembly; 81, wheel driving motor; 82, motor limit housing; 83, wheel driving flange shaft; 90, platform; 110, objects to be transported. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0053] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0054] like Figure 1 , Figure 2 As shown, the present invention first provides a robot based on Mecanum wheels, the robot comprising a calf frame 10 and a thigh frame 30, Mecanum wheels 20 are correspondingly installed on both sides of the bottom of the calf frame 10, so as to drive the robot to walk omnidirectionally through the Mecanum wheels 20.

[0055] For driving the Mecanum wheel 20 to rotate, the present invention provides a corresponding driving assembly 80, which can be installed on the calf frame 10. As a specific example, the driving assembly 80 may include two wheel drive motors 81 and two wheel drive flange shafts 83, and the wheel drive motors 81 are respectively installed on the bottom side of the calf plate 11 in the calf frame 10 through the motor limit housing 82 to lower the center of gravity of the robot and improve the stability of the robot; and the shaft end of each wheel drive flange shaft 83 is fixedly connected to the output end of the wheel drive motor 81, and the flange end of the wheel drive flange shaft 83 is connected to the cross roller bearing on the Mecanum wheel 20. Under the above structure, the robot can be driven to walk in all directions with the help of the wheel drive motor 81.

[0056] On this basis, the present invention further selects to rotatably install the thigh frame 30 on the calf frame 10, and correspondingly rotatably installs a docking plate 40 between the two thigh plates 31 in the thigh frame 30, so as to adjust the center of gravity of the robot after the robot is loaded, thereby improving the adaptability and stability of the robot under different loads. In order to drive and adjust the corresponding structure, further, the present invention also provides a lifting adjustment component 50 and a horizontal adjustment component 60, the lifting adjustment component 50 is used to rotate the thigh frame 30 and adjust the horizontal height of the docking plate 40, and the horizontal adjustment component 60 is used to rotate the docking plate 40 so that the top of the docking plate 40 is in a horizontal state.

[0057] As a specific example, the lifting and adjusting component 50 includes a lifting drive motor 51 and a lifting drive shaft 52. The lifting drive motor 51 is installed on one of the calf plates 11 in the calf frame 10 through one of the motor limit shells 82 to lower the center of gravity of the robot and improve the stability of the robot; the two ends of the lifting drive shaft 52 pass through the two calf plates 11 in the calf frame 10 and are fixedly connected to the thigh frame 30. The lifting drive motor 51 is transmission-connected to the lifting drive shaft 52. Under the above structure, the lifting drive shaft 52 is driven by the lifting drive motor 51 to swing the thigh frame 30 forward and backward to adjust the horizontal height of the docking plate 40 on the thigh frame 30.

[0058] In order to lower the center of the robot as a whole and avoid the mutual influence between the lifting drive motor 51 and the wheel drive motor 81, the lifting drive motor 51 and the wheel drive motor 81 can be driven independently. Under the above structure, the lifting drive motor 51 and the wheel drive motor 81 can be coaxially arranged, and the output end of the wheel drive motor 81 is connected to the wheel drive flange shaft 83 after passing through the output end of the lifting drive motor 51, and the drag reduction bearing 55 is used to reduce the resistance when the speed difference between the two is reached.

[0059] As a specific example, the lifting and adjusting component 50 may also include a lifting driving wheel 1 53, which is mounted on the calf frame 10 and is also fixed on the output end of the lifting driving motor 51; and a lifting driving wheel 2 54, which is mounted on the calf frame 10 and is also fixed on the lifting driving shaft 52, and the lifting driving wheel 2 54 is connected to the lifting driving wheel 1 53 in transmission. Under the above structure, the lifting driving motor 51 drives the lifting driving shaft 52 through the lifting driving wheel 1 53 and the lifting driving wheel 2 54 in turn, thereby swinging the thigh frame 30 forward and backward.

[0060] like Figure 3 As shown, as a specific example of a transmission structure, the horizontal adjustment component 60 includes a horizontal drive motor 61 and a force guide shaft 62. The horizontal drive motor 61 is installed on another calf plate 11 in the calf frame 10 through another motor limit shell 82 to lower the center of gravity of the robot and improve the stability of the robot; the force guide shaft 62 is fixed on the docking plate 40, and the two ends of the force guide shaft 62 are rotatably installed on the two thigh plates 31 in the thigh frame 30. The horizontal drive motor 61 is connected to the force guide shaft 62 for transmission. Under the above structure, the force guide shaft 62 is driven by the horizontal drive motor 61, so as to swing the docking plate 40 on the thigh frame 30 forward and backward to cooperate with the adjustment of the thigh frame 30 so that the top of the docking plate 40 on the thigh frame 30 is always in a horizontal state.

[0061] In order to lower the center of the robot as a whole and avoid the mutual influence between the horizontal drive motor 61 and the wheel drive motor 81, the horizontal drive motor 61 and the wheel drive motor 81 can be driven independently. Under the above structure, the horizontal drive motor 61 and the wheel drive motor 81 can be coaxially arranged, and the output end of the wheel drive motor 81 is connected to the wheel drive flange shaft 83 after passing through the output end of the horizontal drive motor 61, and another drag-reducing bearing 55 is used to reduce the resistance when the speed difference between the two is reached.

[0062] like Figure 4As shown, as a specific example of a transmission structure, the above-mentioned horizontal adjustment component 60 also includes a horizontal driving wheel 1 63, which is installed on another calf plate 11 in the calf frame 10; a horizontal driving wheel 2 64, which is installed on another calf plate 11 in the calf frame 10, and the horizontal driving wheel 2 64 is connected to the horizontal driving wheel 1 63 by transmission; a horizontal driving wheel 3 65, which is installed on another calf plate 11 in the calf frame 10, and the horizontal driving wheel 3 65 is connected to the horizontal driving wheel 2 64 through a guide shaft 2 66; a horizontal driving wheel 4 67, which is installed on another calf plate 11 in the calf frame 10, and the horizontal driving wheel 4 67 is connected to the horizontal driving wheel 3 65 by transmission. Horizontal drive wheel 5 68, horizontal drive wheel 5 68 is installed on one of the thigh plates 31 in the thigh frame 30, horizontal drive wheel 5 68 is connected to horizontal drive wheel 4 67 through guide shaft 3 69, guide shaft 3 69 is inserted into the lifting drive shaft 52; and horizontal drive wheel 6 610, horizontal drive wheel 6 610 is installed on one of the thigh plates 31 in the thigh frame 30, horizontal drive wheel 6 610 is connected to horizontal drive wheel 5 68 in transmission. Under the above structure, horizontal drive motor 61 drives lifting drive shaft 52 through horizontal drive wheel 1 63, horizontal drive wheel 2 64, horizontal drive wheel 3 65, horizontal drive wheel 4 67, horizontal drive wheel 5 68, and horizontal drive wheel 6 610 in sequence, thereby swinging docking plate 40 forward and backward. At the same time, since guide shaft 3 69 is inserted into the lifting drive shaft 52, the horizontal adjustment component 60 and the lifting adjustment component 50 can act independently to adjust the thigh frame 30 and docking plate 40 independently.

[0063] On this basis, the present invention further provides a locking assembly 70 for locking the Mecanum wheel 20 , and the locking assembly 70 is installed on the Mecanum wheel 20 .

[0064] As a specific example, the locking assembly 70 includes a brake push rod 71, which is mounted on a wheel frame in the Mecanum wheel 20 and can slide toward or away from the wheel in the Mecanum wheel 20; and a brake pad 72, which is used to lock the rotating roller in the Mecanum wheel 20, and the brake pad 72 is mounted on the brake push rod 71. When braking, the brake push rod 71 moves and makes the brake pad 72 fit on the rotating roller in the Mecanum wheel 20 to lock the Mecanum wheel 20 and prevent it from rotating, thereby improving its stability during loading.

[0065] like Figure 5 , Figure 6As shown, as a specific example of a transmission structure, the locking assembly 70 further includes a transmission sleeve 73, which is mounted on the axle of the Mecanum wheel 20, and the transmission sleeve 73 can slide along the axle of the Mecanum wheel 20, and the brake push rod 71 is connected to the transmission sleeve 73 through a connecting hinge 74; a brake sleeve 75, which is mounted on the axle of the Mecanum wheel 20; and a return spring 76, which is mounted on the transmission sleeve 73, and the two ends of the return spring 76 are correspondingly abutted on the transmission sleeve 73 and the brake sleeve 75; an energized coil is installed in the brake sleeve 75, and when the energized coil is energized, the transmission sleeve 73 slides in the direction close to the wheel body of the Mecanum wheel 20 under the action of the energized coil, so that the brake push rod 71 is ejected and the brake pad 72 is pushed by the connecting hinge 74 to lock the Mecanum wheel 20; and when the energized coil is de-energized, the transmission sleeve 73 can be reset under the action of the return spring 76.

[0066] It should be noted that each robot in the present invention can perform the transport action independently, or two or more robots can be combined to form a collaborative transport system (such as Figure 7 As shown), when the above system is carrying out transportation, the robots first move to the side of the platform 90 in an interval manner, and each robot then swings the thigh frame 30 to lower the height of the docking plate 40, and then drives under the object to be transported 110, and the thigh frame 30 swings and raises the docking plate 40 to complete the adaptive alignment, and then the thigh frame 30 continues to swing and uses the docking plate 40 to lift the object to be transported 110 on the platform 90, so as to use the docking plates 40 on two or more robots as fulcrums to carry the object to be transported 110, and the robot then walks and transports the items to the designated location. It is worth noting that before successfully transporting the object to be transported 110, the rotating rollers of the Mecanum wheels 20 of each balancing vehicle are in a braking state to prevent slipping. After successfully lifting the object to be transported 110, the object to be transported 110 itself will provide restrictions for multiple balancing vehicles. At this time, the Mecanum wheels 20 are no longer braked, and the multiple balancing robots as a whole will achieve the effect of a multi-wheeled flatbed vehicle (more than 4 wheels) and move in all directions. The above system of the present invention has strong adaptability, for example, it can adapt to transported objects of different shapes and sizes and does not rely on a standardized operating environment.

[0067] It should be noted that, based on the above principle, a set of locking components 70 can be provided on each Mecanum wheel 20 in the present invention; similarly, in order to further improve the locking effect, a plurality of brake push rods 71 ​​and brake pads 72 corresponding to each brake push rod 71 can be provided in each set of locking components 70 (the brake push rods 71 ​​and the brake pads 72 can be provided in a circular array at this time), so that each brake pad can be used to lock multiple or all rotating rollers in the Mecanum wheel 20.

[0068] It should be noted that the driving wheel in the present invention can be a conventional transmission structure such as a sprocket, a synchronous belt pulley, etc. Correspondingly, conventional transmission forms such as chain drive, synchronous belt drive, rope drive, etc. can be adopted between the wheels, so they are not repeated in the present invention.

[0069] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A collaborative handling self-balancing robot based on Mecanum wheels, characterized in that: include: A calf frame, wherein Mecanum wheels are installed on both sides of the bottom of the calf frame respectively, for driving the calf frame to move in all directions; A thigh frame, the thigh frame is rotatably mounted on the calf frame, and a docking plate is rotatably mounted between two thigh plates in the thigh frame; A lifting and adjusting assembly, used for rotating the thigh frame to adjust the horizontal height of the docking plate, the lifting and adjusting assembly being mounted on the calf frame; and A horizontal adjustment component, used for rotating the docking plate so that the top of the docking plate is in a horizontal state, and the horizontal adjustment component is installed on the calf frame and the thigh frame; The horizontal adjustment assembly includes a horizontal drive motor, and the horizontal drive motor is installed on one of the calf plates in the calf frame; and A force guiding shaft 1 is fixed on the docking plate, and both ends of the force guiding shaft 1 are rotatably mounted on the two thigh plates in the thigh frame, and the horizontal driving motor is transmission-connected with the force guiding shaft 1.

2. The cooperative transport self-balancing robot according to claim 1, characterized in that: The robot also includes a locking assembly for locking the Mecanum wheel, wherein the locking assembly is mounted on the Mecanum wheel.

3. The cooperative transport self-balancing robot according to claim 1 or 2, characterized in that: The robot also includes a driving assembly for driving the Mecanum wheel, wherein the driving assembly is mounted on the calf frame.

4. The cooperative transport self-balancing robot according to claim 3, characterized in that: The drive assembly comprises: Wheel drive motors, the wheel drive motors are respectively mounted on the calf frame through motor limit housings; and A wheel drive flange shaft, wherein the shaft end of the wheel drive flange shaft is fixedly connected to the output end of the wheel drive motor, and the flange end of the wheel drive flange shaft is connected to the Mecanum wheel.

5. The cooperative transport self-balancing robot according to claim 4, characterized in that: The lifting and adjusting component comprises: A lifting drive motor, the lifting drive motor is installed on one of the calf plates in the calf frame through one of the motor limit housings, and the lifting drive motor is coaxially arranged with one of the wheel drive motors; and A lifting drive shaft, both ends of which pass through two calf plates in the calf frame and are fixedly connected to the thigh frame, and the lifting drive motor is drivingly connected to the lifting drive shaft.

6. The cooperative transport self-balancing robot according to claim 5, characterized in that: The lifting and adjusting component also includes: A lifting drive wheel 1, wherein the lifting drive wheel 1 is mounted on the calf frame, and the lifting drive wheel 1 is also fixed to the output end of the lifting drive motor; and A second lifting driving wheel is installed on the calf frame, and the second lifting driving wheel is also fixed on the lifting driving shaft. The second lifting driving wheel is transmission-connected with the first lifting driving wheel.

7. The cooperative transport self-balancing robot according to claim 5 or 6, characterized in that: The horizontal drive motor is installed on another calf plate in the calf frame through another motor limiting housing, and the horizontal drive motor is coaxially arranged with another wheel drive motor.

8. The cooperative transport self-balancing robot according to claim 7, characterized in that: The level adjustment assembly also includes: A horizontal driving wheel 1, wherein the horizontal driving wheel 1 is mounted on another calf plate in the calf frame; A second horizontal driving wheel, the second horizontal driving wheel being mounted on another calf plate in the calf frame, and the second horizontal driving wheel being in driving connection with the first horizontal driving wheel; A horizontal driving wheel three, the horizontal driving wheel three is mounted on another calf plate in the calf frame, and the horizontal driving wheel three is connected to the horizontal driving wheel two through a guide shaft two; A horizontal driving wheel four, the horizontal driving wheel four being mounted on another calf plate in the calf frame, the horizontal driving wheel four being in transmission connection with the horizontal driving wheel three; A horizontal driving wheel five, the horizontal driving wheel five is mounted on one of the thigh plates in the thigh frame, the horizontal driving wheel five is connected to the horizontal driving wheel four through a force guide shaft three, and the force guide shaft three is passed through the lifting driving shaft; and A horizontal driving wheel six is ​​installed on one of the thigh plates in the thigh frame, and the horizontal driving wheel six is ​​drivingly connected to the horizontal driving wheel five.

9. The cooperative transport self-balancing robot according to claim 2, characterized in that: The locking assembly comprises: A brake push rod, the brake push rod is mounted on the wheel frame in the Mecanum wheel, and the brake push rod can slide toward or away from the wheel in the Mecanum wheel; and A brake pad is used to lock the rotating roller in the Mecanum wheel, and the brake pad is installed on the brake push rod.

10. The cooperative transport self-balancing robot according to claim 9, characterized in that: The locking assembly also includes: A transmission sleeve, wherein the transmission sleeve is mounted on the axle of the Mecanum wheel, the transmission sleeve can slide along the axle of the Mecanum wheel, and the brake push rod is connected to the transmission sleeve through a connecting hinge; a brake sleeve mounted on an axle in the Mecanum wheel; and A return spring is installed on the transmission sleeve, and two ends of the return spring are correspondingly abutted against the transmission sleeve and the brake sleeve.

11. A collaborative handling system, characterized in that: The method comprises at least two collaborative transport self-balancing robots as described in any one of claims 1 to 10.

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