Composite logistics robot for complex unstructured environment

Abstract

The invention provides a complex unstructured environment-oriented composite logistics robot, and relates to the technical field of robots, the complex unstructured environment-oriented composite logistics robot comprises a composite logistics robot, and a free mechanical arm mechanism is arranged on the composite logistics robot. According to the combined type logistics robot, through cooperation of all the components and flexible combination and assembly of the telescopic rods and the leg type structures, the adaptability of the combined type logistics robot to different logistics terrain requirements can be improved, the action sensitivity of forward movement of the robot is improved, and the robot can go to a task site safely and flexibly; four semicircular and circular wheels which are connected end to end are designed on the deformable crawler wheel structure to be deformed into a crawler belt, better road holding force and stability are provided, the adaptability of the combined type logistics robot to soft land or rugged terrain requirements can be improved, the rim is reconfigured to be of a structure similar to the crawler belt in the rugged terrain, and the service life of the combined type logistics robot is prolonged. And the navigation and climbing capabilities of the combined type logistics robot on obstacles and rugged terrains are improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a composite logistics robot for complex unstructured environments. Background Art

[0002] With the rapid development of e-commerce, the demand for efficient and accurate logistics services is growing. Traditional manual operation methods are not only inefficient and error-prone, but also face the problem of rising labor costs. Although existing automation solutions have improved work efficiency to a certain extent, they are still limited in flexibility and adaptability. Therefore, it is particularly important to develop a logistics robot that can flexibly respond to cargo handling needs in complex unstructured environments. However, existing logistics robots still have shortcomings in moving in complex terrain, climbing over obstacles, and quickly grasping, which makes it difficult to meet actual needs.

[0003] Existing logistics robots generally adopt a single wheel or track design. Wheeled robots are fast but have poor terrain adaptability; tracked robots have strong obstacle-crossing capabilities but consume a lot of energy and have difficulty turning. The above two types of robots have limited ability to pass through complex unstructured terrain, such as soft ground or severely rugged terrain, and are easily trapped.

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a composite logistics robot for complex unstructured environments, so as to adapt to diverse complex terrains and complete logistics sorting and shipping tasks quickly, accurately and efficiently. Therefore, we provide a composite logistics robot for complex unstructured environments. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: comprising: a composite logistics robot, wherein the composite logistics robot is provided with a free mechanical arm mechanism;

[0007] A free manipulator mechanism comprises a rotatable chassis, a long U-bracket assembly is arranged on the rotatable chassis, a short support bracket is arranged at one end of the long U-bracket assembly away from the rotatable chassis, an opening and closing claw is arranged at one end of the short support bracket away from the long U-bracket assembly, and a high-power steering gear is arranged on one side of the opening and closing claw.

[0008] As a preferred embodiment, both ends of the composite logistics robot are provided with a supporting wheel-leg mechanism, the supporting wheel-leg mechanism includes a knee joint, an ankle joint is provided on the outer surface of one end of the knee joint, and a roller is provided on the end of the ankle joint away from the knee joint.

[0009] As a preferred implementation, the support wheel-leg mechanism is driven by two DC motors respectively, positioned at the predicted height of the obstacle, and drives the robot to move.

[0010] As a preferred embodiment, both sides of both ends of the composite logistics robot are provided with a deformable track wheel mechanism, the deformable track wheel mechanism includes a telescopic rod, one end of the telescopic rod is provided with a support assembly, the support assembly is provided with a deformable circular wheel, and the outer surface of the deformable circular wheel is provided with a track assembly.

[0011] As a preferred embodiment, the composite logistics robot is directly fixed on the flexible wheel rim in the wheel mode and rolls with the rotation of the wheel rim; the driving motor is installed on the support wheel, and the support is retractable. Both ends of the support are connected to the wheel rim in the diameter direction, and when the wheel rim is pushed, the support contracts; when the motor drives the tire to rotate, the four small track wheels rotate rapidly; the deformable track wheel rim is four semicircular arcs connected end to end; the deformable wheel rim is made of highly plastic and hard rigid material, and the telescopic structure is a telescopic rod fixed in the direction of the outrigger rod of the driving motor, the spokes contract inward, the four semicircular arcs are concave inward, and the track is close to the outer rim to form a track shape.

[0012] As a preferred implementation, a lifting mechanism is provided at the bottom of the composite logistics robot, and the lifting mechanism includes a lifting device, and the lifting device is provided with auxiliary round wheels.

[0013] As a preferred embodiment, the composite logistics robot includes a frame body, a driving device, a 6-DOF grabbing mechanical arm, a deformable track wheel, a variety of sensors, a navigation system, a platform lifting mechanism and a transposition support wheel leg; the frame body is located at the center of the robot, equipped with a spherical camera, a laser transmitter, and a receiving signal antenna, the driving device is built into the frame, the body is located on the frame, and is equipped with a 6-DOF grabbing mechanical arm structure, the deformable track wheel is provided with a push rod mechanism to push the spokes to contract and expand to achieve the purpose of track wheel deformation, the lifting mechanism is placed at the bottom of the vehicle, and consists of two driving wheels and two driven wheels, and the two support legs are located on both sides of the frame and can be extended and contracted.

[0014] As a preferred embodiment, the robot structure includes a rotatable chassis, an articulated robot arm, and an opening and closing gripper, and each joint is driven by an independent servo motor. It is also equipped with a position encoder for real-time feedback of the joint position information. The chassis can rotate the robot arm and the gripper around the vertical axis. The robot arm can adjust the height of the gripper to facilitate grasping target objects in different orientations. The gripper can adjust the extension angle of its gripping device to facilitate grasping while ensuring the integrity of the target object as much as possible.

[0015] As a preferred embodiment, the rotatable chassis provides rotational movement around a vertical axis, so that the manipulator can cover a larger working range, the long U-bracket combination provides pitch movement, so that the manipulator can move up and down, and the short support bracket combination provides additional rotational movement, so that the manipulator can flexibly adjust the grasping angle, and the opening and closing claw is rotated by the servo angle to drive the main rotating claw to extend, and the auxiliary rotating claw is extended in coordination through gear transmission to achieve higher-precision grasping and sorting.

[0016] As a preferred embodiment, it includes a distance sensing system, a navigation and communication system, and a joint force / position sensing system, the distance sensing system includes a depth camera and a lidar, the navigation and communication system includes a GPS, and the joint force / position sensing system includes multiple encoders and torque sensors.

[0017] Compared with the prior art, the advantages and positive effects of the present invention are:

[0018] 1. In the present invention, by coordinating the components and utilizing the flexible combination and assembly of the telescopic rod and the leg structure, the adaptability of the composite logistics robot to different logistics terrain requirements can be improved, the movement sensitivity of the robot forward can be improved, and safe and flexible movement to the mission site can be achieved. The deformable track wheel structure is designed with four semicircular arcs connected end to end. The circular wheel is deformed into a track to provide better grip and stability, which can improve the adaptability of the composite logistics robot to soft land or rugged terrain requirements. When the terrain is rugged, the wheel rim is reconfigured into a structure similar to the track, thereby improving the composite logistics robot's navigation and climbing capabilities over obstacles and rugged terrain.

[0019] 2. In the present invention, the robotic arm has 6 degrees of freedom, can realize large-range movement and fine operation, can move flexibly in three-dimensional space, adapt to various complex working environments, fully consider the safety of the main frame of the four-wheeled robot during movement, add an adaptive platform lifting and adjustment device, and be equipped with a depth camera to capture the terrain conditions ahead in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a composite logistics robot for complex unstructured environments according to the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a 6-DOF mechanical arm of a composite logistics robot for complex unstructured environments according to the present invention;

[0022] Figure 3 It is a schematic diagram of a deformable track wheel mechanism of a composite logistics robot for complex unstructured environments of the present invention;

[0023] Figure 4It is a schematic diagram of a supporting wheel-leg mechanism of a composite logistics robot for complex unstructured environments according to the present invention;

[0024] Figure 5 It is a structural schematic diagram of a composite logistics robot lifting mechanism for complex unstructured environments according to the present invention.

[0025] Legend:

[0026] 1. Composite logistics robot;

[0027] 2. Free mechanical arm mechanism; 21. Opening and closing claws; 22. High-power servo; 23. Short support bracket; 24. Long U bracket combination; 25. Rotatable chassis;

[0028] 3. Support wheel leg mechanism; 31. Roller; 32. Ankle joint; 33. Knee joint;

[0029] 4. Deformable crawler wheel mechanism; 41. crawler assembly; 42. Deformable round wheel; 43. Telescopic rod; 44. Support assembly;

[0030] 5. Lifting mechanism; 51. Lifting device; 52. Auxiliary round wheel. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0032] It should be further explained that the drawings and implementation modes of the present invention mainly describe the concept of the present invention. On the basis of this concept, the specific forms and settings of some connection relationships, positional relationships, power mechanisms, power supply systems, hydraulic systems and control systems may not be fully described. However, on the premise that those skilled in the art understand the concept of the present invention, those skilled in the art can implement the above-mentioned specific forms and settings in a well-known manner.

[0033] When an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0034] The directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself. The directions or positional relationships indicated by the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the drawings and are only for the convenience of describing the present invention and simplifying the description. They 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, and therefore should not be understood as limiting the present invention.

[0035] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, and the spatially relative descriptions used here are interpreted accordingly.

[0036] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, and "several" means one or more, unless otherwise clearly and specifically defined.

[0037] A composite logistics robot for complex unstructured environments provided by the present invention is now described.

[0038] Reference Figures 1 to 5 As shown, a composite logistics robot for complex unstructured environments includes a composite logistics robot 1, a free manipulator arm mechanism 2, a supporting wheel-leg mechanism 3, a deformable track wheel mechanism 4 and a lifting mechanism 5 connected in sequence. The free manipulator arm mechanism 2, the supporting wheel-leg mechanism 3 and the deformable track wheel mechanism 4 can all rotate around their own axes. Each of the supporting wheel-leg mechanism 3 and the deformable track wheel mechanism 4 can be assembled into different forms according to different terrain conditions.

[0039] In the above, the frame is set in the middle of the entire robot, as the main body of the robot, used to connect the remaining parts and load control devices. The drive motor is installed inside the main body of the frame, and the main four sets of drive devices are symmetrically distributed at the four corners of the body, as well as a separate robotic arm drive servo, which provides movements including the rotation of the track wheel, deformation movement, swing of the support wheel leg around the drive center and multi-degree-of-freedom spatial movement of the robotic arm. The two different rotational movements of the track wheel and the support wheel leg are achieved by rotating around the rotation center of the drive pulley. Different combinations can improve the adaptability of the composite logistics robot to different logistics terrain requirements, improve the robot's forward movement sensitivity, and achieve safe and flexible access to target tasks.

[0040] In the preferred implementation mode of this embodiment, the above-mentioned free robotic arm mechanism 2 includes a rotatable chassis 25, a long U bracket assembly 24, a short support bracket 23, and an opening and closing gripper 21, and each joint is driven by an independent high-power servo 22, and is also equipped with a position encoder for real-time feedback of the position information of the joint.

[0041] In the preferred embodiment of the present invention, the rotatable chassis 25 provides rotational motion around a vertical axis, so that the manipulator can cover a larger working range. The long U bracket assembly 24 provides pitch motion, so that the manipulator can move up and down. The short support bracket 23 provides additional rotational motion, so that the manipulator can flexibly adjust the gripping angle.

[0042] In the above, the opening and closing claw 21 is rotated by the steering gear angle, driving the main rotating claw to extend, and the auxiliary rotating claw is extended in coordination through gear transmission, thereby achieving high-precision grasping and sorting.

[0043] In the preferred implementation mode of the present embodiment, the above-mentioned support wheel leg mechanism 3 and the deformable track wheel mechanism 4, when the external road conditions are good, the robot adopts a wheeled motion mode, and the deformable track wheel is in a wheel form, and the robot can move forward smoothly at a higher speed and a simpler control method. On a flat ground, the deformable circular wheel 42 remains circular. It is driven by the rotational motion of the support, and the rotational motion of the support is further driven by the motor through the telescopic rod 43 to maintain a contracted state. The track assembly 41 is fixed on the deformable circular wheel 42 and rotates synchronously with it. The robot walks in a wheeled mode.

[0044] In the preferred implementation manner of the present embodiment, the above-mentioned deformable track wheel deformable circular wheel 42 is four semicircular arcs connected end to end.

[0045] In the preferred implementation of this embodiment, the deformable circular wheel 42 is made of a rigid material with high plasticity and hardness.

[0046] In the above, when the external terrain is steep, the robot adopts the crawler motion mode, and the deformable drive motor is installed on the support, which is also retractable and connected to the wheel rim in the diameter direction. The telescopic rod 43 on the track wheel is extended, and the deformable circular wheel 42 contracts inward to form a crawler shape, which has a good effect in environments such as flat roads and steps with small spacing.

[0047] In the preferred implementation of this embodiment, the deformable circular wheel 42 is converted into a track mode during the deformation stage, and the track contacts the ground in a linear manner. In the track mode, the wheel rim remains stationary or swings relative to the support shaft, and the track rolls around the semi-flat wheel rim under the drive of the track wheel, so that the robot can pass through a rough road.

[0048] In the preferred implementation mode of this embodiment, the structural dimensions of the tensioning limiting rim and the track wheel of the above-mentioned track assembly 41, the deformation angle changes when the arc rim changes from circular to flat, and the tensioning screw is designed as a tensioning device, resulting in real-time length changes of the track circle.

[0049] In the above, the support wheel leg mechanism 3 includes two support arms, the ankle joint 32 and the knee joint 33 are of appropriate length, and the two support arms are connected in series. The knee joint 33 is connected to the support leg shaft and gear in the frame body. One end of the ankle joint 32 is connected in series with the knee joint 33, and the other end is connected to the support leg roller 31. The ankle joint 32 and the knee joint 33 are fastened by bolts to achieve the adjustment of the length of the support wheel leg.

[0050] The preferred implementation in this embodiment also includes a wheeled lifting mechanism 5, which is arranged in the middle of the composite logistics robot 1 and connected to the frame through a slide rail device. The stepper motor can drive the wheeled lifting mechanism 5 to achieve ascending and descending movements, so as to ensure that the wheeled lifting mechanism 5 can avoid obstacles well during the obstacle crossing process, thereby maximizing the robot's obstacle crossing ability. At the same time, the wheeled lifting mechanism 5 has two auxiliary round wheels 52, which are respectively driven by two DC motors, and the driven wheels assist in realizing the wheeled motion mode of the robot, and the steering function of the robot is realized by using the differential principle.

[0051] In the above, the movement form of the robot is not limited to a single form. In other embodiments, it can also be a combination of wheel legs and leg shoes.

[0052] The preferred implementation scheme in this embodiment also includes a distance sensing system, a tactile sensing system and a joint force / position sensing system. The distance sensing system includes a depth camera and a lidar, the tactile sensing system includes multiple tactile sensors, and the joint force / position sensing system includes multiple encoders and torque sensors.

[0053] In the above, a depth camera and a laser radar are installed at the characteristic points of the composite logistics robot, and the visual perception system is used to perceive and process the distance information between the robot and the task target online; the camera is embedded in the fitting surface of the robot frame body, and the GPS is integrated with the navigation communication system to perceive the robot's movement route and feedback information in real time in the logistics site. Encoders and torque sensors are arranged at each joint to design a joint force / position perception system, and the joint angle and joint torque are measured and fed back in real time. A ground road condition perception system is designed using force sensors to monitor the distribution of relevant logistics terrain obstacles and obtain real-time ground road condition maps of the logistics site.

[0054] Working principle:

[0055] like Figure 1-5 As shown, flexible movement is achieved through its deformable track wheel mechanism 4 and support wheel leg mechanism 3. When the external terrain is flat, the robot adopts a wheeled motion mode, and the track wheel is in a wheel shape, which can move forward smoothly at a higher speed and with a simple control method; when encountering rugged or steep terrain, the track wheel is transformed into a track mode, which enhances the robot's ability to pass under complex road conditions. In addition, the support wheel leg mechanism 3 can flexibly adjust the robot's support posture according to terrain changes through two support arms and adjustable joint lengths to ensure its stability and adaptability. This multi-mode motion structure greatly improves the robot's adaptability and mobility flexibility in a changing environment, ensuring that it can reach the target mission location safely and quickly.

[0056] The free manipulator mechanism 2 plays a key role in operating tasks. The manipulator consists of a rotatable chassis 25, a long U bracket assembly 24, a short support bracket 23, and an opening and closing gripper 21. Each joint is driven by an independent high-power servo 22 and is equipped with a position encoder to provide real-time feedback of joint position information. The rotatable chassis 25 provides a wide range of working range, and the long U bracket and the short support bracket 23 respectively realize the pitch and additional rotation movement of the manipulator, allowing the manipulator to operate flexibly in a multi-degree-of-freedom space. The opening and closing gripper 21 achieves high-precision grasping and sorting operations through precise gear transmission. This complex manipulator arm structure not only improves the flexibility and accuracy of the robot in the process of handling items, but also enables it to efficiently complete various complex logistics tasks such as handling, sorting and loading, thereby significantly improving the overall operating efficiency.

[0057] The robot is equipped with advanced perception systems, including distance perception system, tactile perception system and joint force / position perception system. The distance perception system consists of a depth camera and a laser radar, which can sense the distance between the robot and the mission target in real time, and ensure the precise positioning and path planning of the robot in the logistics site through an embedded camera and a GPS navigation system. The tactile perception system uses multiple tactile sensors, combined with encoders and torque sensors in the joint force / position perception system, to monitor and feedback the angle and torque of the joints in real time, ensuring that the robot can sense the ground conditions and the distribution of obstacles during operation. The integration of these perception systems enables the robot to autonomously avoid obstacles, accurately navigate, and adjust its operation strategy in real time in complex and changing environments, greatly improving its intelligence level and work reliability in practical applications.

[0058] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0059] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0060] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

Claims

1. A composite logistics robot for complex unstructured environments, characterized in that: include: A composite logistics robot (1), wherein the composite logistics robot (1) is provided with a free mechanical arm mechanism (2); A free-hand mechanical arm mechanism (2) comprises a rotatable chassis (25), a long U-bracket assembly (24) being arranged on the rotatable chassis (25), a short support bracket (23) being arranged at one end of the long U-bracket assembly (24) away from the rotatable chassis (25), an opening and closing hand claw (21) being arranged at one end of the short support bracket (23) away from the long U-bracket assembly (24), and a high-power steering gear (22) being arranged on one side of the opening and closing hand claw (21).

2. The composite logistics robot for complex unstructured environments according to claim 1, characterized in that: Both ends of the composite logistics robot (1) are provided with a supporting wheel-leg mechanism (3), the supporting wheel-leg mechanism (3) includes a knee joint (33), an ankle joint (32) is provided on the outer surface of one end of the knee joint (33), and a roller (31) is provided at the end of the ankle joint (32) away from the knee joint (33).

3. The composite logistics robot for complex unstructured environments according to claim 2, characterized in that: The support wheel and leg mechanism (3) is driven by two DC motors respectively, positioned at the predicted height of the obstacle, and drives the robot to move.

4. The composite logistics robot for complex unstructured environments according to claim 1, characterized in that: Both sides of both ends of the composite logistics robot (1) are provided with a deformable track wheel mechanism (4), and the deformable track wheel mechanism (4) includes a telescopic rod (43), one end of the telescopic rod (43) is provided with a support assembly (44), a deformable circular wheel (42) is provided in the support assembly (44), and the outer surface of the deformable circular wheel (42) is provided with a track assembly (41).

5. The composite logistics robot for complex unstructured environments according to claim 4, characterized in that: The composite logistics robot (1) is directly fixed on the flexible wheel rim in the wheel-moving mode and rolls with the rotation of the wheel rim; the driving motor is installed on the support wheel, the support is retractable, and the two ends of the support are connected to the wheel rim in the diameter direction. When the wheel rim is pushed, the support shrinks; when the motor drives the tire to rotate, the four small track wheels rotate rapidly; the deformable track wheel rim is four semicircular arcs connected end to end; the deformable wheel rim is made of a highly plastic and hard rigid material, and the telescopic structure is a telescopic rod (43) fixed in the direction of the extension rod of the driving motor, the spokes shrink inward, the four semicircular arcs are concave inward, and the track is tightly attached to the outer wheel rim to form a track shape.

6. The composite logistics robot for complex unstructured environments according to claim 1, characterized in that: A lifting mechanism (5) is arranged at the bottom of the composite logistics robot (1), and the lifting mechanism (5) comprises a lifting device (51), and an auxiliary circular wheel (52) is arranged on the lifting device (51).

7. The composite logistics robot for complex unstructured environments according to claim 1, characterized in that: The composite logistics robot (1) comprises a vehicle frame, a driving device, a 6-DOF grabbing mechanical arm, a deformable track wheel, a variety of sensors, a navigation system, a platform lifting mechanism (5) and a transposition support wheel leg; the vehicle frame is located at the center of the robot and is equipped with a spherical camera, a laser transmitter and a signal receiving antenna; the driving device is built into the vehicle frame, the vehicle body is located on the vehicle frame and is equipped with a 6-DOF grabbing mechanical arm structure; a push rod mechanism is arranged on the deformable track wheel to push the spokes to contract and expand to achieve the purpose of deforming the track wheel; the lifting mechanism (5) is arranged at the bottom of the vehicle and is composed of two driving wheels and two driven wheels; the two support legs are located on both sides of the vehicle frame and can be extended and contracted.

8. The composite logistics robot for complex unstructured environments according to claim 1, characterized in that: The manipulator structure comprises a rotatable chassis (25), a jointed mechanical arm, and an opening and closing gripper (21), and each joint is driven by an independent servo motor and is also equipped with a position encoder for real-time feedback of joint position information. The chassis can enable the mechanical arm and the gripper to rotate around a vertical axis, the mechanical arm can adjust the height of the gripper to facilitate grasping target objects in different orientations, and the gripper can adjust the extension angle of its gripping device to facilitate grasping while ensuring the integrity of the target object as much as possible.

9. The composite logistics robot for complex unstructured environments according to claim 1, characterized in that: The rotatable chassis (25) provides rotational movement around a vertical axis, so that the manipulator can cover a larger working range; the long U bracket assembly (24) provides pitching movement, so that the manipulator can move up and down; the short support bracket (23) assembly provides additional rotational movement, so that the manipulator can flexibly adjust the grasping angle; the opening and closing claw (21) is rotated by the steering gear angle to drive the main rotating claw to extend, and the auxiliary rotating claw is extended in coordination through gear transmission, so as to achieve high-precision grasping and sorting.

10. The composite logistics robot for complex unstructured environments according to claim 1, characterized in that: It includes a distance perception system, a navigation and communication system, and a joint force / position perception system. The distance perception system includes a depth camera and a laser radar, the navigation and communication system includes a GPS, and the joint force / position perception system includes multiple encoders and torque sensors.

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