A double-arm linkage intelligent logistics handling vehicle

Abstract

The present invention discloses a dual-arm linkage intelligent logistics trolley, which relates to the fields of automated sorting and unmanned transportation. It includes two major parts: a power vehicle and a cargo vehicle. The load-bearing design of the power vehicle is a triangular support structure, with dual robotic arms on the top and a vertical lifting module at the front end. The module is equipped with an OpenMV gimbal for visual recognition, an obstacle avoidance module at the front of the vehicle shell, and a grayscale sensor at the bottom for tracking. The cargo vehicle is equipped with a pushing device and a pressure sensor to support the automatic lifting bar function. At the same time, the vehicle adopts a vertical shock-absorbing structure and Mecanum wheels to improve handling efficiency and stability. The invention uses a connecting rod assembly and a clamp to realize the linkage operation of the two arms, which is suitable for sorting and handling tasks in an automated logistics environment. Its advantage is that it is comprehensive in function, including a variety of sensors and robotic arm systems, and the collaboration of the two arms can realize efficient logistics handling operations. The present invention is reasonably designed and has high promotion value.

Description

Technical Field

[0001] The present invention relates to the field of automated sorting and unmanned transportation, and in particular to a dual-arm linkage intelligent logistics transport trolley. Background Art

[0002] During factory assembly-line express sorting operations, workers perform intensive, mechanical work for long periods of time. The sorted packages also need to be transported manually to designated locations. Existing logistics transport carts typically only have a handling function and lack flexibility and a single functional form factor. Sorting and transporting at express delivery stations is essentially manual labor. This work inevitably causes physical injuries to workers, and the mental strain of repetitive tasks significantly reduces sorting accuracy and efficiency. Sometimes, in the pursuit of efficiency, excessive parcels are manually transported. If other external factors affect the transporters, the consequences can be unimaginable. Summary of the Invention

[0003] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide a dual-arm linkage intelligent logistics transport vehicle that can solve the problems of the background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a double-arm linkage intelligent logistics handling cart, comprising a power cart and a cargo cart, characterized in that a power cart shell is welded to the upper part of the power cart chassis of the power cart, and a triangular support structure is fixedly connected between the top of the power cart shell and the power cart chassis. Two identical robotic arms are bolted above the top of the power vehicle shell. A vertical lifting module is fixedly connected to the front of the top of the power vehicle shell. The vertical lifting module includes a motor A, a conveyor belt module and a loading platform. The upper surface of the loading platform is bolted to an OpenMV gimbal. The OpenMV gimbal includes an OpenMV, a "door" type support frame, a servo D, a "return" type support frame and a servo E. The "return" type support frame is bolted to the loading platform. The non-rotating part of the servo E is fixedly connected to the upper surface inside the "return" type support frame. The rotating part of the servo E is fixedly connected to the non-rotating part of the servo D. The rotating part of the servo D is fixedly connected to the "door" type support frame. The upper surface of the "door" type support frame is installed with OpenMV.

[0005] As a further solution of the present invention, the surface of the front end of the power vehicle shell is bolted to an ultrasonic obstacle avoidance module, and the ultrasonic obstacle avoidance module includes ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, ultrasonic sensor D and ultrasonic sensor E. A hook pin type connecting device is welded on the rear end surface of the power vehicle shell, and the geometric center of the bottom of the power vehicle chassis is bolted to a four-way grayscale sensor. The rear end of the hook pin type connecting device is welded to a cargo vehicle, and the upper part of the cargo vehicle chassis of the cargo vehicle is welded to a cargo vehicle shell; three identical grooves are opened at the top of the cargo vehicle shell, and a motor D, a threaded rod and a traveling rod are embedded in the grooves. The motor D is directly connected to the threaded rod, and push plates are installed on the upper surfaces of the threaded rod and the traveling rod, and a pressure sensor is installed on the lower surface of the top of the cargo vehicle shell.

[0006] As a further solution of the present invention, three cross-steering gears, four worm gear housings, a motor C and four worm gears are welded to the upper surface of the cargo vehicle chassis. The three cross-steering gears are connected by a rotating shaft. The motor C is directly connected to the cross-steering gear. The rotating shaft of the cross-steering gear engages with the turbine inside the worm gear housing to drive the worm gear to rotate. A rectangular frame is threadedly connected to the surface of the worm gear, and an "L"-shaped lifting bar is welded to the upper surface of the rectangular frame.

[0007] As a further solution of the present invention, a vertical shock-absorbing structure is connected above the chassis of the power vehicle and the cargo vehicle chassis. The vertical shock-absorbing structure consists of a support frame, a rib plate, a motor housing, a motor B and a spring shock-absorbing module. The inner surface of the support frame is bolted with a rib plate, and the rib plate is bolted to the outside of the motor housing. A spring shock-absorbing module is fixedly connected between the motor housing and the support frame. The motor B is nested inside the motor housing, and the motor B is connected to a Mecanum wheel.

[0008] As a further solution of the present invention, a robotic arm base is fixedly connected above the top of the power vehicle shell, and a servo C is embedded in the interior of the robotic arm base. The rotating part of the servo C is connected to the lower surface of the robotic arm base. The servo C controls the robotic arm upper arm and the robotic arm lower arm to rotate radially along the robotic arm base, and the non-rotating part of the servo A is fixed to the upper surface of the robotic arm base.

[0009] As a further solution of the present invention, the rotating part of the servo A is fixedly connected to the upper arm of the robotic arm, the upper surface of the robotic arm is fixedly connected to the non-rotating part of the servo B, the rotating part of the servo B is connected to the connecting rod assembly, the connecting rod assembly is welded to the robotic arm, the front end of the robotic arm is welded to the rotating assembly, the rotating assembly is rotatably connected to the clamper, and the rotating assembly and the servo A, servo B and servo C jointly control the grabbing and releasing of the clamper.

[0010] Compared with the prior art, the effective effects of the present invention are:

[0011] 1. This dual-arm linkage intelligent logistics transport vehicle, through the configuration of two robotic arms, can simultaneously transport multiple items, optimizing the inefficiencies of traditional single-arm systems and maximizing sorting efficiency. The invention is also applicable to a variety of work scenarios, expanding the device's applicability. Its advantages include comprehensive functionality, including multiple sensors and robotic arm systems, and the dual-arm collaboration enables efficient logistics handling operations.

[0012] 2. This double-arm linkage intelligent logistics transport trolley uses a screw lift to move the rectangular frame connected to the worm up and down. By driving the "L"-shaped lifting bar and combining the data of the pressure sensor, it realizes automatic lifting based on the weight of the goods. By opening three grooves on the top of the carrier shell and cooperating with the linear module, the threaded screw drives the push plate forward and backward to push the goods out of the carrier, avoiding malfunctions caused by overweight; at the same time, automated unloading greatly saves labor costs.

[0013] 3. The dual-arm linkage intelligent logistics handling vehicle tightly fixes the two vehicle chassis and the two vehicle shells through the setting of the triangular support structure, and at the same time evenly distributes the weight of the cargo area to the load-bearing structure in various parts; in the design of the power module, the vertical shock-absorbing structure is connected to the Mecanum wheel. The motor part of the vertical shock-absorbing structure is connected to the support frame part through a pointed rib plate, and the spring shock-absorbing structure is used at the same time, so that the wheels can only move in the vertical direction, which greatly improves the load-bearing capacity and stability of the cargo vehicle, making it suitable for a variety of work sites and increasing its versatility.

[0014] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of a dual-arm linkage intelligent logistics handling vehicle of the present invention.

[0016] Figure 2 This is a bottom view of a dual-arm linkage intelligent logistics transport vehicle according to the present invention.

[0017] Figure 3 This is a side view of a dual-arm linkage intelligent logistics handling vehicle according to the present invention.

[0018] Figure 4 It is a top view of the main body of the power vehicle of the present invention.

[0019] Figure 5 It is a top view of the cargo carrier of the present invention.

[0020] Figure 6 Schematic diagram of the interior structure of the cargo carrier of the present invention.

[0021] Figure 7 Schematic diagram of the vertical shock absorbing structure of the present invention.

[0022] Figure numerals: 1. power vehicle; 2. cargo vehicle; 3. chassis of power vehicle; 4. shell of power vehicle; 4-1. top of shell of power vehicle; 4-2. front end of shell of power vehicle; 4-3. rear end of shell of power vehicle; 5. triangular support structure; 6. robotic arm; 6-1. base of robotic arm; 6-2. servo A; 6-3. upper arm of robotic arm; 6-4. connecting rod assembly; 6-5. servo B; 6-6. lower arm of robotic arm; 6-7. rotating assembly; 6-8. gripper; 6-9. servo C; 7. ultrasonic obstacle avoidance module; 7-1. ultrasonic sensor A; 7-2. ultrasonic sensor B; 7-3. ultrasonic sensor C; 7-4. ultrasonic sensor D; 7-5. ultrasonic sensor E; 8. hook-pin connection device; 9. four-way grayscale sensor; 10. chassis of cargo vehicle; 11. shell of cargo vehicle; 11-1 cargo vehicle Top of the vehicle shell; 12. Vertical shock-absorbing structure; 13. Vertical lifting module; 13-1. Motor A; 13-2. Conveyor belt module; 13-3. Loading platform; 14. OpenMV gimbal; 14-1. OpenMV; 14-2. "Door" type support frame; 14-3. Servo D; 14-4. "Reverse" type support frame; 14-5. Servo E; 15. Motor housing; 16. Motor B; 17. Spring shock-absorbing module; 18. Mecanum wheel; 19. "L" type lifting bar; 20. Groove; 21. Push plate; 22. Support frame; 23. Cross steering gear; 24. Rib plate; 25. Rotating shaft; 26. Motor C; 27. Rectangular frame; 28. Worm; 29. ​​Pressure sensor; 30. Motor D; 31-1. Threaded rod; 31-2. Travel rod; 32. Pushing device; 33. Turbine worm gear box. DETAILED DESCRIPTION

[0023] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention. Example 1

[0024] The power vehicle 1 has a power vehicle shell 4 welded to the upper portion of the power vehicle chassis 3. A triangular support structure 5 is fixedly connected between the top 4-1 of the power vehicle shell and the power vehicle chassis 3, which can distribute the overall weight to the surrounding load-bearing structure. A four-way grayscale sensor 9 is bolted to the geometric center of the bottom of the power vehicle chassis 3. The rear end of the hook-pin connection device 8 is welded to the cargo vehicle 2. The cargo vehicle shell 11 is welded to the upper portion of the cargo vehicle chassis 10 of the cargo vehicle 2. The four-way grayscale sensor 9 is an analog sensor consisting of a light-emitting diode and a photosensitive receiving tube, both of which are mounted on the same surface. The four-way grayscale sensor 9 detects color depth based on the principle that different detection background colors reflect light to different degrees, and the photosensitive receiving tube receives light returned from different detection surfaces, resulting in different resistance values. An ultrasonic obstacle avoidance module 7 is bolted to the surface of the front end 4-2 of the power vehicle shell. The ultrasonic obstacle avoidance module 7 includes ultrasonic sensor A7-1, ultrasonic sensor B7-2, ultrasonic sensor C7-3, ultrasonic sensor D7-4 and ultrasonic sensor E7-5. The ultrasonic sensor in the ultrasonic obstacle avoidance module 7 includes a control end and a receiving end. The control end and the receiving end are respectively connected to the pins of the microcontroller. When the distance value between the object is less than or equal to 25 cm, the obstacle avoidance program is started, thereby reducing the interference of external factors on the movement of the vehicle and improving the safety and reliability of transportation.

[0025] A vertical lifting module 13 is fixedly connected to the front of the top 4-1 of the power vehicle shell. The vertical lifting module 13 includes a motor A13-1, a conveyor belt module 13-2, and a loading platform 13-3. The upper surface of the loading platform 13-3 is bolted with an OpenMV gimbal 14. The OpenMV gimbal 14 includes an OpenMV14-1, a "door" type support frame 14-2, a servo D14-3, a "return" type support frame 14-4 and a servo E14-5. The "return" type support frame 14-4 is bolted to the loading platform 13-3, and the non-rotating part of the servo E14-5 Fixedly connected to the upper surface of the "Hu"-shaped support frame 14-4, the rotating part of the servo E14-5 is fixedly connected to the non-rotating part of the servo D14-3. The rotating part of the servo D14-3 is fixedly connected to the "door"-shaped support frame 14-2, which not only increases the height but also expands the field of view. The upper surface of the "door"-shaped support frame 14-2 is installed with OpenMV14-1. Through the visual recognition function of OpenMV14-1, the barcode of the goods is scanned to obtain information about different goods, and then a signal is sent to the two robotic arms 6 to realize the grabbing of the goods. At the same time, if the goods information is not recognized, OpenMV will feedback a signal to make the vertical lifting module 13 rise and fall to accurately obtain the goods information.

[0026] A mechanical arm base 6-1 is fixedly connected above the top 4-1 of the power vehicle shell, and a servo C6-9 is embedded in the mechanical arm base 6-1. The rotating part of the servo C6-9 is connected to the lower surface of the mechanical arm base 6-1. The servo C6-9 has no direct connection with the servo A6-2. The servo C6-9 controls the mechanical arm big arm 6-3 and the mechanical arm small arm 6-6 to rotate radially along the mechanical arm base 6-1. The non-rotating part of the servo A6-2 is fixed to the upper surface of the mechanical arm base 6-1, and the rotating part of the servo A6-2 is fixedly connected to the mechanical arm big arm 6-3. The upper surface of the arm 6-3 is fixedly connected to the non-rotating part of the servo B6-5, the rotating part of the servo B6-5 is connected to the connecting rod assembly 6-4, the connecting rod assembly 6-4 is welded to the robotic arm 6-6, the front end of the robotic arm 6-6 is welded to the rotating assembly 6-7, the rotating assembly 6-7 is rotatably connected to the clamp 6-8, the rotating assembly 6-7 and the servo A6-2, servo B6-5, and servo C6-9 jointly control the grasping and releasing of the clamp 6-8, thereby improving the flexibility of the clamp 6-8, and at the same time expanding the range of action of the robotic arm 6 and increasing its working space.

[0027] Furthermore, in actual use, after the express package is transported to the express transfer station via logistics, the staff will perform simple pre-processing on the express package, so that the side with the barcode faces up or forward. After the trolley arrives at the designated location, the barcode is found and scanned by the OpenMV gimbal 14 on the top of the power vehicle shell 4-1. After determining that the express package belongs to the sorting area of ​​the trolley, the robotic arm 6 will grasp the package and place it at the front of the loading area of ​​the cargo trolley 2. After the cargo trolley 2 reaches the specified weight range, the trolley will pull the cargo to the target storage point. The four-way grayscale sensor 9 uses the receiving tube to receive different amounts of dark and light color signals to track and determine whether to turn, thereby improving the accuracy of the trolley's tracking. During the tracking process, the ultrasonic obstacle avoidance module 7 will measure the distance. When the distance between the obstacle and the vehicle is less than or equal to 25 cm, the obstacle avoidance program will be executed and the obstacle will be bypassed, thereby reducing the interference of accidental factors on the vehicle, improving the safety and reliability of transportation, and avoiding sorting errors caused by human factors in traditional express sorting. At the same time, the dual-arm linkage greatly improves the sorting efficiency, replaces meaningless repetitive manual labor, and increases economic benefits. Example 2

[0028] The top 11-1 of the cargo vehicle's shell features three identical grooves 20, embedded within which are housed a motor D30, a threaded rod 31-1, and a travel rod 31-2. The motor D30 is directly axially connected to the threaded rod 31-1, powering the entire push plate 21. The push plate 21 is mounted on the upper surfaces of the threaded rod 31-1 and travel rod 31-2. Together, the push plate 21, motor D30, threaded rod 31-1, and travel rod 31-2 form a screw-driven push mechanism 32. A pressure sensor 29 is mounted on the lower surface of the top 11-1 of the cargo vehicle's shell. When the identification device detects that the cargo has reached a preset height, it activates the push mechanism 32, pushing the cargo backwards to ensure effective storage space for the robotic arm 6 and improve the device's production efficiency.

[0029] Three cross-steering gears 23 are welded on the upper surface of the cargo vehicle chassis 10. The cross-steering gear 23 changes the direction of the rotating shaft 25 driven by the motor C26 and increases the circuit at the same time. The four worm gear housings 33, the motor C26, the four worm gears 28 and the three cross-steering gears 23 are connected by the rotating shaft 25. The motor C26 is directly connected to the cross-steering gear 23 to transmit the power provided by the motor C26 to various positions. The rotating shaft 25 of the cross-steering gear 23 engages with the turbine inside the worm gear housing 33 to drive the worm gear 28 to rotate. The surface of the worm gear 28 is threadedly connected to a rectangular frame 27. At this time, the turbine inside the worm gear housing 33 engages to drive the worm gear 28 to rotate, so that the rectangular frame 27 threadedly connected to its surface can move up and down. An "L"-shaped lifting bar 19 is welded on the upper surface of the rectangular frame 27, which effectively extends the small rectangular frame 27 in the middle, thereby achieving maximum utilization of space.

[0030] Working principle: In actual use, when the cargo in the loading area of ​​the cargo cart 2 reaches a certain weight, the pushing device 32 will activate the push plate 21 to push the cargo backward a specified distance. After reaching the specified distance, the push plate 21 will return to its original position to continue the next work cycle. When the cargo cart 2 arrives at the designated unloading area, the screw lifting module automatically descends, causing the cargo to scatter into the unloading area. After the "L"-shaped lifting bar 19 descends to the specified height, it waits for five seconds, and the pushing device 32 is activated. The push plate 21 pushes all the remaining cargo in the loading area onto the cargo cart 2. After all work is completed, the push plate 21 is reset, and the "L"-shaped lifting bar 19 returns to the preset height. Finally, the trolley returns to the sorting area along the preset route for the next work cycle. This set of processes realizes fully automated sorting and unloading, improves the functionality of the trolley, and further enhances its versatility.

[0031] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the technical field without departing from the scope of the present invention.

Claims

1. A dual-arm linkage intelligent logistics transport vehicle, comprising a power vehicle (1) and a cargo vehicle (2), characterized in that: The power vehicle (1) has a power vehicle shell (4) welded to the upper part of the power vehicle chassis (3), a triangular support structure (5) is fixedly connected between the top end (4-1) of the power vehicle shell (4) and the power vehicle chassis (3), and two identical mechanical arms (6) are bolted to the top of the power vehicle shell (4-1); a vertical lifting module (13) is fixedly connected to the front of the top end (4-1) of the power vehicle shell, and the vertical lifting module (13) includes a motor A (13-1), a conveyor belt module (13-2) and a loading platform (13-3), and the upper surface of the loading platform (13-3) is bolted to an Ope nMV gimbal (14), the OpenMV gimbal (14) comprises an OpenMV (14-1), a "door" type support frame (14-2), a steering gear D (14-3), a "return" type support frame (14-4) and a steering gear E (14-5), wherein the "return" type support frame (14-4) is bolted to the loading platform (13-3); the non-rotating portion of the steering gear E (14-5) is fixedly connected to the upper surface inside the "return" type support frame (14-4), the rotating portion of the steering gear E (14-5) is fixedly connected to the non-rotating portion of the steering gear D (14-3), and the rotating portion of the steering gear D (14-3) is fixedly connected to the A "door" type support frame (14-2) is provided, and an OpenMV (14-1) is installed on the upper surface of the "door" type support frame (14-2); an ultrasonic obstacle avoidance module (7) is connected to the surface of the front end of the power vehicle shell (4-2) by bolts, and the ultrasonic obstacle avoidance module (7) includes an ultrasonic sensor A (7-1), an ultrasonic sensor B (7-2), an ultrasonic sensor C (7-3), an ultrasonic sensor D (7-4) and an ultrasonic sensor E (7-5); a hook pin type connection device (8) is welded on the surface of the rear end of the power vehicle shell (4-3); and a four-way grayscale sensor (9) is connected to the geometric center of the bottom of the power vehicle chassis (3) by bolts. ), a carrier (2) is welded to the rear end of the hook-pin type connection device (8), and a carrier shell (11) is welded to the upper part of the carrier chassis (10) of the carrier (2); three identical grooves (20) are opened at the top end (11-1) of the carrier shell, and a motor D (30), a threaded rod (31-1) and a travel rod (31-2) are embedded in the grooves (20); the motor D (30) is directly connected to the threaded rod (31-1), and push plates (21) are installed on the upper surfaces of the threaded rod (31-1) and the travel rod (31-2); a pressure sensor (29) is installed on the lower surface of the top end (11-1) of the carrier shell;The upper surface of the cargo vehicle chassis (10) is welded with three cross-steering gears (23), four worm gear housings (33), a motor C (26) and four worm gears (28). The three cross-steering gears (23) are connected by a rotating shaft (25). The motor C (26) is directly connected to the cross-steering gear (23). The rotating shaft (25) of the cross-steering gear (23) engages with the worm gear inside the worm gear housing (33) to drive the worm gear (28) to rotate. The surface of the worm gear (28) is threadedly connected to a rectangular frame (27). The upper surface of the rectangular frame (27) is welded with an "L"-shaped lifting bar (19).

2. The dual-arm linkage intelligent logistics transport vehicle according to claim 1, characterized in that: A vertical shock-absorbing structure (12) is connected above the power vehicle chassis (3) and the cargo vehicle chassis (10). The vertical shock-absorbing structure (12) is composed of a support frame (22), a rib plate (24), a motor housing (15), a motor B (16) and a spring shock-absorbing module (17). The inner surface of the support frame (22) is bolted with the rib plate (24); the rib plate (24) is bolted to the outer side of the motor housing (15); the spring shock-absorbing module (17) is fixedly connected between the motor housing (15) and the support frame (22); the motor B (16) is nested inside the motor housing (15); and the motor B (16) is connected to a Mecanum wheel (18).

3. The dual-arm linkage intelligent logistics transport vehicle according to claim 1, characterized in that: A robotic arm base (6-1) is fixedly connected above the top end (4-1) of the power vehicle shell, a steering gear C (6-9) is embedded in the interior of the robotic arm base (6-1), a rotating portion of the steering gear C (6-9) is connected to the lower surface of the robotic arm base (6-1), and the steering gear C (6-9) controls the robotic arm upper arm (6-3) and the robotic arm lower arm (6-6) to rotate radially along the robotic arm base (6-1), and a non-rotating portion of the steering gear A (6-2) is fixed to the upper surface of the robotic arm base (6-1).

4. The dual-arm linkage intelligent logistics transport vehicle according to claim 3, characterized in that: The rotating part of the servo A (6-2) is fixedly connected to the upper arm of the mechanical arm (6-3), the upper surface of the upper arm of the mechanical arm (6-3) is fixedly connected to the non-rotating part of the servo B (6-5), the rotating part of the servo B (6-5) is connected to the connecting rod assembly (6-4), the connecting rod assembly (6-4) is welded to the mechanical arm (6-6), the front end of the mechanical arm (6-6) is welded to the rotating assembly (6-7), the rotating assembly (6-7) is rotatably connected to the clamp (6-8), and the rotating assembly (6-7) and the servo A (6-2), the servo B (6-5) and the servo C (6-9) jointly control the grasping and releasing of the clamp (6-8).

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