Wheel type multi-mechanical-arm cooperative hoisting system and control method thereof

Abstract

The invention relates to the technical field of multi-component circulation, in particular to a wheel type multi-mechanical-arm cooperative hoisting system and a control method thereof. The wheel type multi-mechanical-arm cooperative hoisting system comprises a main frame; the wheel frame is arranged on the main frame, can bidirectionally rotate around the wheel shaft, and comprises an annular outline and a plurality of radial rails, so that all the radial rails form a radial shape; the driving part is arranged on the main frame and is connected with the wheel frame; the executing end comprises a mechanical arm and an executing mechanism, one end of the mechanical arm is arranged on the radial track, and the other end of the mechanical arm is provided with the executing mechanism. Through parallel collaborative operation of multiple mechanical arms, the efficiency bottleneck of serial operation of a single mechanical arm is broken through, and the transfer efficiency is remarkably improved; the overall structure of the system is modularized, the movement mode is flexible, when production tasks change, a program does not need to be greatly rewritten or the system does not need to be reconstructed, the response speed is higher, and the defect that the flexibility is poor in the prior art is effectively overcome.

Description

Technical Field

[0001] This invention relates to the field of multi-component transfer technology, and more specifically, to a wheeled multi-robotic arm collaborative hoisting system and its control method. Background Technology

[0002] In fields such as automated manufacturing, logistics sorting, and component assembly, existing technologies mainly employ the following solutions for scenarios requiring the handling of multiple component transfers: (1) Layout of multiple independent robotic arms: Multiple independent robotic arms are arranged, and each robotic arm is usually assigned a specific task, such as one arm is responsible for loading and the other arm is responsible for unloading, resulting in a rigid working mode.

[0003] (2) Single robotic arm + conveyor belt / rotating table: Using a single robotic arm, a conveyor belt or rotating table is used to contact parts in multiple locations. The operation is essentially sequential and serial.

[0004] Existing technology has obvious drawbacks: (1) Uneven equipment utilization: In a multi-robot scheme, the robot arm responsible for the busy process becomes the bottleneck, while other robot arms may be idle, making it impossible to achieve dynamic load balance.

[0005] (2) Large space occupation and interference risk: The layout of multiple independent robotic arms requires a larger installation space, and when the working range of the robotic arms overlaps, a complex real-time collision avoidance algorithm is required; (3) Low work efficiency: There is an inherent efficiency bottleneck in serial operation of a single robotic arm; (4) Poor system flexibility and slow response: In the face of changes in production tasks, traditional systems are difficult to dynamically adjust their work strategies, and the cycle of program rewriting and system reconstruction is long and costly. Summary of the Invention

[0006] The purpose of this invention is to provide a wheeled multi-robotic arm collaborative hoisting system and its control method, which can solve the above-mentioned technical problems.

[0007] In a first aspect, the present invention provides a wheeled multi-manipulator collaborative lifting system, comprising: Main frame; The wheel frame is rotatably mounted on the main frame and can rotate bidirectionally around the wheel axle. It includes an annular outer contour and several radial tracks. One end of each radial track is connected to the inner wall of the annular contour, and the other end of each radial track extends toward the wheel axle of the wheel frame, so that all the radial tracks form a radial shape. A drive unit is mounted on the main frame and connected to the wheel frame, capable of driving the wheel frame to rotate on the main frame; The actuator includes a robotic arm and an actuator mechanism. One end of the robotic arm is mounted on the radial track and is capable of linear displacement in the horizontal and vertical directions on the radial track. The other end of the robotic arm has the actuator mechanism.

[0008] In an optional embodiment, the drive unit includes a power unit and a drive gear; The power unit is fixedly mounted on the main frame, and its output end is connected to the drive gear. The outer periphery of the wheel frame is provided with connecting teeth, and the drive gear meshes with the connecting teeth.

[0009] In an optional embodiment, the actuator is based on at least one of a force field adsorption structure, a mechanical clamping structure, or a plug-in support structure.

[0010] In an optional embodiment, the robotic arm has a rotating mechanism for driving the actuator to rotate.

[0011] In an optional implementation, the main frame includes horizontal supports and multiple vertical columns; The upright column is located below the horizontal support and is used to support the horizontal support. The wheel frame is rotatably mounted on the horizontal support.

[0012] In an optional embodiment, the horizontal support has a rotating groove, and the wheel frame is at least partially rotatably disposed within the rotating groove.

[0013] In an optional implementation, the included angles between adjacent radial tracks are equal.

[0014] In optional implementations, a conductive component is also included; One end of the conductive component is disposed on the wheel frame, and the other end is disposed on the main frame, for supplying power to the actuator.

[0015] In an optional embodiment, the conductive component includes a collector base, a current collector, an arc-shaped guide rail, and a guide rail mounting base; The current collector is mounted on the current collector base, and the arc-shaped slide rail is mounted on the slide rail mounting base; The current collector is slidably connected to the arc-shaped sliding line to achieve continuous electrical connection during relative rotation.

[0016] Secondly, the present invention provides a control method for a wheeled multi-manipulator collaborative hoisting system according to any of the foregoing embodiments, comprising the following steps: Receive the overall task containing multiple material transfer instructions; For each material to be transferred, determine its starting coordinates and target coordinates in the coordinate space formed by the rotation angle of the wheel frame and the radial position of the robotic arm; With the goal of minimizing the total system operation time, each transfer command is dynamically assigned to the corresponding robotic arm; Plan a collision-free motion path for each robotic arm from its current position to the task point; The wheel frame and each robotic arm are controlled to move in coordination along the planned path to complete all transfer commands.

[0017] The beneficial effects of this invention are: By using a wheel frame that can rotate around an axle and several radial tracks, multiple robotic arms can share an integrated support structure, avoiding the discrete layout of multiple independent robotic arms, significantly reducing installation space. Furthermore, the robotic arm's motion range is in a regular cylindrical coordinate space, reducing the risk of motion interference and eliminating the need for complex real-time collision avoidance algorithms. The robotic arm can move linearly along the radial tracks and rotate with the wheel frame, breaking away from the rigid mode of fixed task allocation and dynamically adapting to different transfer needs, achieving load balancing and solving the problem of uneven equipment utilization. Multiple robotic arms can work in parallel and collaboratively, breaking the efficiency bottleneck of single-arm serial operation and significantly improving transfer efficiency. The system's overall structure is modular and its motion mode is flexible. When facing changes in production tasks, there is no need to significantly rewrite the program or reconstruct the system, resulting in faster response speed and effectively improving the poor flexibility of existing technologies. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a front view of the wheeled multi-manipulator collaborative hoisting system provided in an embodiment of the present invention; Figure 2 for Figure 1 A magnified view of a portion of point I; Figure 3 This is a top view of a wheeled multi-manipulator collaborative hoisting system provided in an embodiment of the present invention.

[0020] Icons: 1-Column; 2-Wheel frame; 3-Mechanical arm; 4-Actuator; 5-Electric collector base; 6-Collector; 7-Circular arc slide rail; 8-Slide rail mounting base; 9-Radial track; 10-Main frame; 11-Drive unit. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] The following is combined with Figures 1-3The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] In a first aspect, the present invention provides a wheeled multi-robotic arm 3-cooperative hoisting system, such as Figures 1-3 As shown, it includes: Main frame 10; The wheel frame 2 is rotatably mounted on the main frame 10 and can rotate bidirectionally around its own axle. It includes an annular outer contour and several radial tracks. One end of the radial track is connected to the inner wall of the annular contour, and the other end of the radial track extends toward the wheel axle of the wheel frame, so that all the radial tracks form a radial shape. The drive unit 11 is mounted on the main frame 10 and connected to the wheel frame 2, and can drive the wheel frame 2 to rotate on the main frame 10; The execution end includes a robotic arm 3 and an execution mechanism 4. One end of the robotic arm 3 is set on a radial track 9 and can perform linear displacement in the horizontal and vertical directions on the radial track 9. The other end of the robotic arm 3 has an execution mechanism 4.

[0029] In this embodiment, the wheel frame 2 is a circular support carrier that can rotate in both directions. It is itself a motion unit that integrates the drive unit 11 and the control module. Its rotational motion provides the robotic arm 3 with efficient circumferential positioning capability.

[0030] In this embodiment, multiple robotic arms 3 correspond one-to-one with the radial track 9, enabling linear displacement in the horizontal and vertical directions on the radial track 9. This layout constitutes a cylindrical coordinate workspace, forming a spatial rectangular coordinate system. It can be a coordinate system composed of the x-axis, y-axis, and z-axis, or the rotation angle θ of the wheel frame 2, or a coordinate system composed of the position r and height z on the radial track 9.

[0031] The vertical linear displacement of robotic arm 3 is achieved through lifting. By setting up a lifting mechanism, robotic arm 3 establishes multiple degrees of freedom, enabling each robotic arm 3 to possess the following degrees of freedom for flexible movement: 1) Linear movement along the radial direction of wheel frame 2, i.e., changing the working radius.

[0032] 2) Vertical lifting and lowering movement, i.e., changing the height of the actuator.

[0033] 3) Driven by wheel frame 2, it performs circular motion, that is, changes its horizontal position.

[0034] Specifically, in this embodiment, the lifting mechanism can be a sleeve type, a scissor type, or a threaded screw type, a worm gear type, a gear rack type, or a four-bar linkage structure, as long as it can realize the extension and retraction of the robotic arm 3, thereby achieving the adjustment of the height of the actuator 4.

[0035] Specifically, in this embodiment, the position of the robotic arm is adjusted, that is, the position of the actuator is adjusted, so as to achieve a more flexible and accurate execution of the action.

[0036] Specifically, in this embodiment, the number of robotic arms 3 is a key parameter that can be optimized based on the coverage requirements of the working range, the work cycle, and the cost.

[0037] In applications where the tasks are relatively simple and the cycle time requirements are not extremely stringent, the number of robotic arms 3 can be reduced to 2 or 3. For example, with 3 arms, they can be symmetrically distributed on the wheel frame 2 at 120-degree intervals. This layout can still maintain good system balance and coverage. Although the theoretical parallel efficiency is lower than the 4-robotic-arms-3 scheme, by optimizing the rotation speed of the wheel frame 2 and the movement path of the robotic arms 3, it can still significantly outperform the traditional scheme and has a lower initial cost.

[0038] For scenarios with a larger working range, more complex processes, and extremely high cycle time requirements, the number of robotic arms 3 can be increased, such as to 5 or 6. In this case, the diameter of the wheel frame 2 needs to be increased accordingly to ensure that each robotic arm 3 has sufficient room to move.

[0039] The layout of multiple robotic arms can effectively enhance the system's parallel processing capabilities, making it particularly suitable for complex assembly and sorting scenarios that require the simultaneous handling of multiple different parts or processes. Regardless of the number of robotic arms, its core architecture of "multi-arm co-loop and collaborative scheduling" remains unchanged.

[0040] More specifically, in this embodiment, the number of robotic arms 3 is set according to the number of radial tracks 9, that is, under normal circumstances, there is one robotic arm 3 on each radial track 9.

[0041] In an optional embodiment, the drive unit 11 includes a power unit and a drive gear; the power unit is fixedly mounted on the main frame 10, and its output end is connected to the drive gear; the outer periphery of the wheel frame 2 is provided with connecting teeth, and the drive gear meshes with the connecting teeth.

[0042] In this embodiment, the power unit is a servo motor. A high-precision servo motor drives a pinion gear, which meshes with a large internal or external gear ring mounted on the wheel frame 2 to achieve rotational transmission of the wheel frame 2.

[0043] This configuration offers good transmission rigidity, strong load-bearing capacity, high precision, and is a mature technology, making it suitable for heavy-duty and high-precision applications.

[0044] It is understandable that the drive unit 11 can also use a disc torque motor to directly drive the wheel frame 2 to rotate, eliminating the gear transmission link and realizing "direct drive".

[0045] This configuration results in zero backlash, smooth movement, low noise, simple maintenance (no lubrication required), and better dynamic response performance.

[0046] Alternatively, the drive unit 11 can also consist of multiple servo motors working in conjunction with friction wheels or belt drives, suitable for scenarios with relatively light loads and cost sensitivity. Multiple motors drive the friction wheels or synchronous belts, relying on friction or meshing to transmit torque.

[0047] This setup is simple in structure, low in cost, and produces little noise during operation.

[0048] The choice of the above-mentioned drive scheme depends on the specific load, accuracy, speed and cost budget, and all of them are reasonable alternatives that can be achieved by those skilled in the art.

[0049] It is understood that the drive unit 11 can be one of the configurations provided in this embodiment, but it is not limited to the above configurations. It can also be other configurations that enable the wheel frame 2 to rotate, such as chain drive.

[0050] In an optional embodiment, the actuator 4 is based on at least one of a force field adsorption structure, a mechanical clamping structure, or a plug-in support structure.

[0051] Actuator 4 is the component that directly contacts the parts. Its modularity and configurability are key to the system's adaptability to different application scenarios, which may include, but are not limited to: 1) By adsorption method: Vacuum suction cups are mainly suitable for parts with flat, smooth, and air-proof surfaces (such as metal plates, glass, boxes, etc.). They are the first choice for lifting small and light parts and have the advantages of simple structure and fast gripping.

[0052] Electromagnetic chuck: Specifically designed for magnetic materials (such as steel), it has a strong gripping force, requires no pre-compressed air, is energy-saving and easy to control, and is especially suitable for lifting heavy steel components.

[0053] 2) By clamping method: Clamping hooks: Suitable for non-magnetic materials, irregularly shaped workpieces, or workpieces where there is no place to apply suction. Clamping / releasing can be achieved through pneumatic, electric, or servo control, providing reliable gripping and wide adaptability.

[0054] Specialized tooling: For parts with specific shapes (such as engine blocks, car couplers, etc.), specialized contour-following grippers or lifting devices can be designed to achieve fast, stable, and non-destructive gripping.

[0055] 3) Insertion bracket support method: Hook-type actuators: Suitable for heavy workpieces (such as castings, molds, and large structural components) with built-in lifting rings, lugs, or reliable flange structures. Lifting is achieved by mechanically interlocking the hook with the workpiece's suspension point. They feature simple structure and high load-bearing capacity, making them a classic solution for handling heavy industrial components.

[0056] Side-support / L-type actuators: Suitable for plate-shaped and sheet-like workpieces (such as glass plates, metal sheets, and solar panels). By extending from the bottom edge of the workpiece and vertically lifting it for support, contact damage to the workpiece surface can be completely avoided, making it an ideal choice for non-destructive handling of large-area, fragile materials.

[0057] In this embodiment, different types of actuators 4 are pre-configured for different robotic arms 3. Under the task scheduling of the central control system, robotic arms 3 with corresponding grasping capabilities can be automatically called to perform tasks, thereby enabling the processing of various heterogeneous workpieces without stopping the machine to change molds, which greatly enhances the flexibility of the system.

[0058] Different robotic arms 3 can be configured with different types and load capacities of actuators 4, such as electromagnetic chucks, vacuum chucks, and grippers, depending on the characteristics of the parts they frequently handle, such as size, weight, and material. This configuration is modular and pre-set, eliminating the need for changes during a single work process.

[0059] In an optional embodiment, the robotic arm 3 has a rotating mechanism for driving the actuator 4 to rotate.

[0060] In this embodiment, a rotation mechanism is added, so that the actuator 4 not only has the degree of freedom of three-dimensional spatial movement, but also the degree of freedom of rotation.

[0061] A rotary mechanism is an independent motion module, typically comprising a fixed end, a rotating end, a drive source, transmission components, and feedback elements. The fixed end is rigidly connected to the output end of the last segment of the robotic arm or the telescopic mechanism via a flange or connecting plate. The rotating end forms an output flange that can rotate relative to the fixed end, directly connecting to the mounting interface of the actuator. The drive source is usually a servo motor or stepper motor, its housing integrated with or connected to the fixed end. The transmission components transmit the output motion of the drive source to the rotating end. Common structures include direct connection, where the motor output shaft is directly connected to the rotating end via a coupling; or connection via a reducer, such as a planetary gear reducer or harmonic reducer to increase output torque and improve motion accuracy; for heavy-duty applications, worm gear drives may also be used.

[0062] In this embodiment, the rotating mechanism can be set separately or integrated into the actuator 4. That is, the rotating mechanism is not connected to the robotic arm 3, but the actuator 4 itself has a rotating function.

[0063] In an optional embodiment, the main frame 10 includes a horizontal support and multiple columns 1; the columns 1 are disposed below the horizontal support and are used to support the horizontal support; the wheel frame 2 is rotatably disposed on the horizontal support.

[0064] In this embodiment, the main frame 10 adopts a combination structure of a horizontal support and multiple uprights 1, forming a stable frame-type support system. The horizontal support is made of rigid plates or profiles welded together, and has a circular structure. Its size is adapted to the installation requirements of the wheel frame 2, providing sufficient installation space for the wheel frame 2. The uprights 1 are made of cylindrical or square profiles, and the number is determined according to the size of the horizontal support and the load-bearing requirements, usually 4-6, evenly distributed in the lower edge area of ​​the horizontal support. The upper end of the uprights 1 is fixed to the horizontal support by welding or bolts to ensure the connection strength; the lower end is provided with a fixed base, and the base has mounting holes. It is connected to the ground foundation by expansion bolts and other fasteners to form a stable support and fixing structure. The horizontal support and the uprights 1 are both made of high-strength steel to ensure the overall rigidity and load-bearing capacity of the main frame 10, which can withstand the weight of the wheel frame 2, radial track 9, actuator and other components, as well as the load during operation.

[0065] The main frame 10 provides a stable support foundation for the entire system, ensuring structural stability and positional accuracy of each component during operation. The horizontal support, serving as the direct mounting carrier for the wheel frame 2, bears the weight of the wheel frame 2, radial rail 9, and actuator. Its flat mounting surface ensures smooth rotation of the wheel frame 2, preventing jamming or misalignment due to uneven mounting surfaces. The uprights 1, through their evenly distributed layout, distribute the weight of the horizontal support and upper components evenly to the ground foundation, dispersing the load and preventing localized stress concentration that could lead to deformation of the main frame 10. The height design of the uprights 1 ensures the horizontal support is at a suitable working height, allowing the actuator to cover the preset working range, while also reserving space below the work area for equipment maintenance and material handling. The entire main frame 10 structure forms a rigid support system, resisting vibrations and impacts generated during operation, ensuring the stability and safety of the system during high-speed operation or heavy-load work.

[0066] The horizontal support and column 1 form a statically determinate or statically indeterminate frame structure. Utilizing the high strength of steel, the frame possesses excellent resistance to bending, torsion, and compression. Column 1, as a vertical load-bearing member, bears the axial pressure transmitted by the horizontal support. Its evenly distributed layout ensures balanced stress on each column 1, enhancing the overall load-bearing capacity. The horizontal support, as a bending member, resists bending deformation through its rigidity when bearing the weight of the upper components and operational loads, ensuring the flatness of the mounting surface. The connection structure between the fixed base and the ground foundation uses expansion bolts to firmly fix column 1 to the ground, limiting the horizontal and vertical displacement of column 1 and ensuring the overall positional stability of the main frame 10. The integrity of the frame structure allows each component to constrain and support each other, forming a collaborative force-bearing system that effectively disperses the dynamic loads generated during operation, preventing damage to local components due to excessive stress.

[0067] The application of the main frame 10 requires site planning and foundation construction. Based on the overall dimensions and weight of the system, a concrete foundation is poured at a pre-designated location on the work site to ensure its strength can withstand the load of the main frame 10 and its upper components. During installation, the columns 1 are first fixed to the concrete foundation using fixed bases and expansion bolts. The verticality of the columns 1 is adjusted to ensure all columns 1 are at the same height. Then, the horizontal supports are hoisted to the top of the columns 1 and fixed by welding or bolting. Welded connections must ensure weld strength, and bolted connections must be tightened to the specified torque to ensure reliable connections. After installation, the main frame 10 undergoes levelness testing and load-bearing tests. The height of the columns 1 is adjusted to ensure the horizontal support meets the installation requirements of the wheel frame 2. Load tests verify the load-bearing capacity and stability of the main frame 10. During operation, the main frame 10 continuously provides stable support to all components, coordinating with the rotation of the wheel frame 2, the movement of the robotic arm 3, and the operation of the actuator 4 to ensure the smooth operation of the entire system. Regular maintenance and inspections of the main frame 10 are conducted to check the connection between the columns 1 and the horizontal supports, the fixing of the bases, and structural deformation, addressing any potential problems promptly.

[0068] In an optional embodiment, the horizontal support has a rotating groove, and the wheel frame 2 is at least partially rotatably disposed within the rotating groove.

[0069] In this embodiment, the rotating groove on the horizontal support is an annular groove structure, and its opening position corresponds to the installation position of the wheel frame 2. The inner diameter of the groove is adapted to the outer diameter of the wheel frame 2, ensuring that the wheel frame 2 can be accurately embedded in the rotating groove. The groove wall and bottom of the rotating groove are precision machined to ensure surface flatness and verticality. A lubrication groove is provided on the inner side of the groove wall for filling with grease to reduce the coefficient of friction between the wheel frame 2 and the groove wall. The lower part of the wheel frame 2 is embedded in the rotating groove, and the fit clearance between the wheel frame 2 and the rotating groove is controlled within a reasonable range, ensuring that the wheel frame 2 can rotate flexibly while avoiding excessive shaking during rotation. The depth design of the rotating groove ensures that the wheel frame 2 has sufficient support length after being embedded, improving the stability of the wheel frame 2 installation and preventing axial displacement of the wheel frame 2 during operation. The horizontal support is made of high-strength alloy steel, and the area around the rotating groove is locally thickened to enhance the structural strength of this area and withstand the lateral force generated during the rotation of the wheel frame 2.

[0070] The rotating groove provides precise installation positioning and stable rotation guidance for the wheel frame 2, ensuring that it maintains coaxial rotation and structural stability during operation. Through the positioning function of the annular groove, the wheel frame 2 can be quickly and accurately installed into the preset position on the horizontal support, avoiding installation deviations that could cause the wheel frame 2 to jam during rotation. The groove wall provides radial constraint for the wheel frame 2, limiting its radial displacement and preventing it from shifting due to load changes or power fluctuations during rotation. This ensures the central axis of the wheel frame 2 remains fixed, thereby ensuring the accuracy of the robotic arm 3's working position. The lubrication groove inside the groove wall, filled with grease, forms a lubrication interface, reducing frictional resistance between the wheel frame 2 and the groove wall, minimizing component wear, and improving the smoothness and service life of the wheel frame 2's rotation. The depth and fit clearance design of the rotating groove effectively constrain the wheel frame 2 both axially and radially, improving the stability of the wheel frame 2 installation and ensuring that it does not loosen or shift during high-speed rotation or heavy-load operation.

[0071] In this embodiment, there are several structural alternatives for the rotating groove. A ring-shaped guide rail and roller combination structure can replace the traditional sliding rotating groove. The ring-shaped guide rail is installed on a horizontal support, and a suitable roller is installed at the bottom of the wheel frame 2. The roller and the ring-shaped guide rail roll together, converting sliding friction into rolling friction, further reducing frictional resistance and improving the smoothness and service life of the wheel frame 2's rotation, suitable for high-speed rotation scenarios. For scenarios requiring extremely high rotational accuracy, a hydrostatic bearing can be installed inside the rotating groove. The wheel frame 2 is connected to the horizontal support through the hydrostatic bearing. Utilizing the support of the hydrostatic oil film, the wheel frame 2 is suspended and rotates, with almost no frictional loss, significantly improving rotational accuracy and stability. Furthermore, a wear-resistant bushing can be installed on the groove wall of the rotating groove. The bushing is made of high-strength wear-resistant material and mates with the outer circumference of the wheel frame 2, reducing direct wear between the wheel frame 2 and the horizontal support. The bushing can be replaced individually after wear, reducing maintenance costs.

[0072] In an optional implementation, the included angle between adjacent radial tracks 9 is equal.

[0073] In this embodiment, several radial tracks 9 are evenly distributed along the circumference of the wheel frame 2, with equal angles between adjacent radial tracks 9, forming a symmetrical radial layout. The number of radial tracks 9 is determined according to operational requirements, typically 2-6 tracks. Each radial track 9 has identical structural dimensions to ensure balanced force and synchronized movement. The connection points between one end of each radial track 9 and the inner wall of the wheel frame 2 are evenly distributed along the circumference of the wheel frame 2, with equal arc lengths between the connection points. The other ends are fixedly connected to each other with the central axis of the wheel frame 2 as the convergence point, forming a symmetrical structure with the central axis of the wheel frame 2 as the core. This evenly distributed layout ensures that the force points of the wheel frame 2 are symmetrically distributed, avoiding force imbalance caused by uneven radial track 9 layout, which would affect rotational stability.

[0074] In terms of operational coverage, the evenly distributed radial tracks 9 uniformly divide the operational areas of each robotic arm 3, ensuring seamless connectivity between adjacent robotic arms 3 and eliminating blind spots. This guarantees that during the rotation of the wheel frame 2, the actuator can cover all operational positions within the circumferential and radial range, enhancing operational coverage integrity. From a force balance perspective, the symmetrically distributed radial tracks 9 ensure a uniform distribution of radial force and torque on the wheel frame 2 during rotation, preventing localized force concentration that could lead to deformation or rotational vibration, thus improving the overall structural stability and lifespan of the system. Regarding operational coordination, the equal-angled layout maintains consistent distances between the robotic arms 3, providing a structural foundation for multi-arm collaborative operations. This facilitates task allocation and path planning by the control system, preventing collisions between robotic arms and improving collaborative operation efficiency.

[0075] During the installation of radial rails 9, the included angles of adjacent radial rails 9 need to be calculated based on the diameter of wheel frame 2 and the number of robotic arms 3. For example, the included angle for 3 radial rails 9 is 120 degrees, and the included angle for 4 rails is 90 degrees. The connection points of the radial rails 9 on the inner wall of wheel frame 2 are precisely marked using an angle measuring tool to ensure that the included angle error between each connection point is controlled within the allowable range. The radial rails 9 are then fixedly installed according to the marked positions, ensuring that each radial rail 9 points towards the central axis of wheel frame 2, and that the included angles between the rails meet the preset requirements. After installation, the smoothness of displacement of each robotic arm 3 on the radial rails 9 is tested, and the complete connection of the working range of each robotic arm 3 is checked for any blind spots. During operation, the control system allocates material transfer tasks to the corresponding robotic arms 3 according to the evenly distributed working area, enabling each robotic arm 3 to work efficiently within its respective working area. Simultaneously, utilizing the advantage of equal included angles, the movement paths of the robotic arms 3 are planned to ensure that multiple robotic arms 3 do not interfere with each other during collaborative operation. When the workload is uneven, the wheel frame 2 adjusts by rotating, allowing the idle robotic arm 3 to quickly cover the busy area and achieve load balancing.

[0076] In an optional embodiment, a conductive component is also included; one end of the conductive component is disposed on the wheel frame 2 and the other end is disposed on the main frame 10, for supplying power to the actuator.

[0077] In this embodiment, the conductive component serves as the power transmission part of the system, and its structural design must be adapted to the relative rotational movement of the wheel frame 2 and the main frame 10. One end of the conductive component is connected to the wheel frame 2 via a fixed bracket. This connection point needs to be close to the central axis area of ​​the wheel frame 2 to reduce the range of motion of the conductive component when the wheel frame 2 rotates. The other end is fixed to the main frame 10 via a mounting base to ensure a fixed position. The conductive component contains a conductive core and an insulating protection structure. The conductive core is made of a high-conductivity material, such as copper or silver alloy, to ensure current transmission efficiency. The insulating protection structure uses high-temperature resistant and wear-resistant insulating material to prevent current leakage or short circuits. The overall structure of the conductive component needs to have a certain degree of flexibility or sliding characteristics to adapt to the relative displacement generated when the wheel frame 2 rotates, avoiding damage to the conductive component or interruption of connection due to relative movement.

[0078] Specifically, in this embodiment, the conductive component can continuously and stably supply power to the actuator during the dynamic process of the wheel frame 2 rotating relative to the main frame 10, ensuring the normal operation of the robotic arm 3 and the actuator 4. The radial displacement, vertical lifting and lowering of the robotic arm 3, and the gripping and releasing actions of the actuator 4 all require electric drive. As a power supply channel, the conductive component must ensure the continuity and stability of current transmission to avoid work interruption or equipment damage due to power outages. Simultaneously, the conductive component must also have a certain current-carrying capacity. Based on the power requirements of the actuator, a conductive core with an appropriate cross-sectional area is selected to ensure that the power consumption of multiple robotic arms 3 operating simultaneously can be met. Furthermore, the insulation protection structure of the conductive component must effectively isolate the conductive core from the external structure to prevent electric shock accidents and ensure the safety of the equipment and operators.

[0079] In an optional embodiment, the conductive component includes a power collector base 5, a current collector 6, an arc-shaped sliding wire 7, and a sliding wire mounting base 8; the current collector 6 is disposed on the power collector base 5, and the arc-shaped sliding wire 7 is disposed on the sliding wire mounting base 8; the current collector 6 and the arc-shaped sliding wire 7 are slidably connected to achieve continuous electrical connection during relative rotation.

[0080] In this embodiment, the conductive assembly comprises a power collector base 5, a current collector 6, an arc-shaped sliding rail 7, and a sliding rail mounting base 8, forming a complete dynamic power supply structure. The power collector base 5 is made of rigid sheet metal and is bolted to the wheel frame 2, rotating synchronously with it. Its structural design ensures the installation stability of the current collector 6. The current collector 6, as the core component of the conductive connection, contains a conductive brush and an elastic clamping structure. The conductive brush is made of a high-conductivity, high-wear-resistant alloy material, and the elastic clamping structure ensures stable contact pressure between the brush and the arc-shaped sliding rail 7. The arc-shaped sliding rail 7 is made of copper or silver conductive strips, bent into a ring along the rotation trajectory of the wheel frame 2, with its center coinciding with the central axis of the wheel frame 2. It is fixed to the main frame 10 by the sliding rail mounting base 8, which provides stable mounting support for the arc-shaped sliding rail 7, ensuring its fixed position and coaxiality with the central axis of the wheel frame 2. The surface of the arc-shaped sliding rail 7 is precision-machined to ensure flatness and reduce contact friction with the brush of the current collector 6.

[0081] Specifically, in this embodiment, the conductive component achieves continuous and stable electrical connection during rotation. The power collector base 5 drives the current collector 6 to rotate synchronously with the wheel frame 2. Under the action of the elastic clamping structure, the brush of the current collector 6 always maintains close contact with the stationary arc-shaped sliding line 7, forming a continuous current transmission channel to provide stable power to the actuator. The annular structure of the arc-shaped sliding line 7 adapts to the 360-degree rotation requirement of the wheel frame 2, ensuring that the current collector 6 and the arc-shaped sliding line 7 remain in contact at any rotation angle of the wheel frame 2, without power interruption. The elastic clamping structure of the current collector 6 can automatically compensate for the wear of the brush and the sliding line, maintain stable contact pressure, ensure stable contact resistance, reduce voltage fluctuations, and ensure the normal operation of components such as the motor and actuator 4 at the actuator. In addition, this structure also has a certain dustproof and wear-resistant capability, extending the service life of the conductive component and improving the reliability of the system power supply.

[0082] Secondly, the present invention provides a control method for a wheeled multi-manipulator 3 collaborative hoisting system according to any of the foregoing embodiments, comprising the following steps: Receive the overall task containing multiple material transfer instructions; For each material to be transferred, determine its starting coordinates and target coordinates in the coordinate space formed by the rotation angle of the wheel frame and the radial position of the robotic arm 3; With the goal of minimizing the total system operation time, each transfer instruction is dynamically assigned to the corresponding robotic arm 3; Plan a collision-free motion path from its current position to the task point for each robotic arm 3; The control wheel frame 2 and each robotic arm 3 move in coordination according to the planned path to complete all transfer instructions.

[0083] In this embodiment, the control method of the wheeled multi-manipulator 3 collaborative hoisting system can utilize the characteristics of the ring structure to achieve optimal path and dynamic task allocation, so as to support complex material flow patterns.

[0084] (1) Central task scheduling: After receiving the overall task, the central control system allocates global tasks based on the current coordinates and target coordinates of all components.

[0085] (2) Supports dynamic path planning for mixed material flow patterns. The system can efficiently handle the following patterns: 1) Distribution mode (one to many): When multiple parts need to be transported to different unloading points at a loading point, the system can command multiple robotic arms 3 to work together to pick up the parts from that point and then transport them separately.

[0086] 2) Assembly mode (multiple to one): When parts from multiple loading points need to be assembled at one assembly point, multiple robotic arms 3 pick up materials from their nearest loading points and deliver them to the target point sequentially or almost simultaneously.

[0087] 3) Hybrid mode: The system can handle both distribution and aggregation tasks simultaneously. The robotic arm 3 can achieve efficient assembly line operation based on dynamic scheduling.

[0088] Specifically, in this embodiment, the control method is based on the cylindrical coordinate positioning principle, dynamic optimization algorithm, and path planning algorithm. The cylindrical coordinate positioning principle uses the central axis of wheel frame 2 as the Z-axis, the rotation angle of wheel frame 2 as the polar angle θ, and the radial displacement of robotic arm 3 as the polar radius r. The position of the material on the horizontal plane is determined by the combination of θ and r, and combined with the height parameters of the lifting mechanism of robotic arm 3, three-dimensional spatial coordinate positioning is achieved. Dynamic task allocation is based on a greedy algorithm or genetic algorithm, with the shortest total operation time as the objective function. Each transfer instruction is used as an optimization variable, considering constraints such as the distance from the current position of robotic arm 3 to the task point and the operation time, to solve for the optimal task allocation scheme. Path planning uses the artificial potential field method or A... The algorithm treats robotic arm 3 as the moving entity, obstacles within the workspace and other robotic arms 3 as repulsive potential fields, and the target position as an attractive potential field. It calculates the optimal motion path by superimposing these potential fields. Simultaneously, it combines the cooperative characteristics of the rotation of wheel frame 2 and the radial displacement of robotic arm 3 to plan a time-optimal and collision-free trajectory. Cooperative control, based on forward and inverse kinematics algorithms, transforms the planned path into motion parameters for drive unit 11 and robotic arm 3. Precise motion control is achieved through PID control, ensuring synchronized movements of all components.

[0089] As can be seen from the above, the effects of the wheeled multi-manipulator 3-cooperative hoisting system provided by the present invention are as follows: (1) Simplified Collision Avoidance Design and Improved System Reliability: The wheel frame 2-wheel structure adopted in this scheme integrates all robotic arms 3 onto the same circular track, limiting their range of motion to a regular circular area, thereby constructing a highly predictable cylindrical coordinate workspace. This layout transforms the complex dynamic collision avoidance problem that traditionally requires real-time calculation in Cartesian space into a static area planning problem based on a preset safety distance, significantly reducing the dependence on controller computing power and real-time collision avoidance algorithms, significantly simplifying the system design complexity, and improving operational reliability and safety.

[0090] (2) Enhanced flexibility and dynamic adaptability of operation modes: Based on the 360-degree bidirectional rotation of the wheel frame 2 and the independent multi-degree-of-freedom control of each robotic arm 3, the system can achieve omnidirectional rapid scheduling and positioning in the cylindrical coordinate space. Combined with the central intelligent task allocation algorithm, the system can efficiently support various operation modes such as "centralized and decentralized", "decentralized and centralized" and mixed material flow, adapting to the complex and ever-changing hoisting task requirements in flexible manufacturing.

[0091] (3) Equipment resource utilization and system throughput optimization: The rotation of the wheel frame 2 provides rapid positioning in the circumferential direction, which, together with the parallel operation of the multiple robotic arms 3 in the radial and vertical directions, realizes the saturated utilization of equipment resources in the time dimension. The central scheduler dynamically allocates tasks with the goal of minimizing the global task completion time, effectively avoiding equipment idleness and bottleneck effects, and significantly improving the overall system throughput and work cycle.

[0092] (4) Significantly improved space efficiency and layout: The three robotic arms share the same ring base, and their workspaces naturally overlap in three dimensions to form a ring-shaped area, rather than a simple superposition of multiple independent workspaces. This layout eliminates the large amount of safety redundancy reserved for collision avoidance in traditional multi-arm systems. Under the premise of achieving coverage of the same or more work points, it can save more than 50% of the floor space, which is particularly suitable for space-constrained industrial scenarios.

[0093] (5) Improved system integration and reduced lifecycle costs: The wheel frame 2 wheeled integrated structure replaces multiple independent robotic arms 3 and their supporting systems, significantly reducing the number of hardware components, installation complexity, and infrastructure costs. At the same time, the unified control model based on cylindrical coordinates simplifies the development and debugging of kinematics, path planning, and collision avoidance algorithms, reducing the implementation difficulty and maintenance costs of the software control system, thereby achieving better economy and scalability throughout the entire lifecycle.

[0094] The core technological advantage of this invention stems from its collaborative innovation across multiple levels, including mechanical structure, workspace theory, motion control, and scheduling algorithms.

[0095] (1) The integrated support structure of the wheel frame 2. This is the basic platform and core load-bearing structure of the present invention. The frame is not a simple ring support, but an integrated motion unit that integrates drive, transmission and control interfaces. Its innovation lies in integrating the discrete support bases of multiple independent robotic arms 3 into a common base that can rotate 360 ​​degrees in both directions. This design not only provides circumferential positioning capability for all robotic arms 3, but also fundamentally ensures the inherent synchronicity and relative position stability of each execution unit in physical space, laying a solid mechanical foundation for subsequent collaborative control.

[0096] (2) Cylindrical coordinate workspace structure with radial layout of multiple robotic arms 3. This point is an innovation in the spatial model for multi-point access operation scenarios in three-dimensional space. By symmetrically arranging multiple robotic arms 3 radially on the wheel frame 2, a cylindrical coordinate workspace with the central axis of the wheel frame 2 as the Z-axis is naturally constructed. This structure allows the position of any point in the space to be uniquely determined by three parameters: polar angle (θ, determined by the rotation angle of the wheel frame 2), polar radius (r, determined by the radial extension and retraction of the robotic arm 3 along the wheel frame 2), and height (z-axis, determined by the vertical lifting and lowering motion of the robotic arm 3). Under this cylindrical coordinate space structure, the layout and main motion modes (rotation, radial extension and retraction, vertical lifting and lowering) of the robotic arms 3 correspond perfectly with the three parameters of the cylindrical coordinate system. This correspondence greatly simplifies the logical complexity of forward and inverse kinematics calculations, path planning, and multi-arm collaborative collision avoidance, because control commands can be directly and intuitively mapped to the physical motion axes of the equipment, providing the optimal mathematical model basis for achieving efficient and accurate three-dimensional collaborative operations.

[0097] (3) Multi-degree-of-freedom decoupling and composite motion control capability of robotic arm 3. Each robotic arm 3 has multiple degrees of freedom, including linear motion along the radial direction of the wheel frame 2, vertical lifting and lowering in the longitudinal direction, rotation of the end effector around the longitudinal axis, and grasping / releasing. The key to this invention is not the number of degrees of freedom, but the precise decoupling and composite control strategy. The system can flexibly adopt different modes such as "vertical motion only" and "composite rotation and radial movement" according to task requirements. It can avoid interference through decoupling motion in links where absolute safety is required (such as the initial stage of lifting), and shorten the cycle through composite motion in links where efficiency is prioritized (such as horizontal conveying). This flexible and precise motion control capability is the foundation for realizing complex hoisting trajectories.

[0098] (4) Supports dynamic intelligent task scheduling algorithm for mixed material flow mode. This is the brain and decision-making core of the system. The algorithm is based on cylindrical coordinate workspace model and can perform global optimal dynamic task allocation for complex tasks in "one-to-many" (distribution), "many-to-one" (aggregation) and mixed modes. Its innovation lies in that the scheduler no longer assigns robotic arm 3 to a fixed workstation or task, but treats all pick-up and drop-off point tasks as a whole. Based on the real-time system status (position of each robotic arm 3, task queue), with the goal of minimizing the total operation time, it dynamically allocates each task to the most suitable robotic arm 3.

[0099] (5) Based on the cylindrical coordinate space and the system-level time-optimal real-time path planning method, this method serves as the core of the scheduling algorithm. Under the cylindrical coordinate space model composed of polar angle, polar radius and height, it plans the time-optimal and collision-free motion path for each robotic arm 3. This method fully considers the dynamic characteristics of the motion axes such as the rotation of the wheel frame 2 and the radial extension of the robotic arm 3. It can generate efficient and smooth trajectories such as approximate spirals or circular arcs connected to straight lines. Its "optimality" is reflected in the fact that it aims to minimize the overall task completion time of the system. By coordinating the planning of the motion sequence and timing of the multiple arms, it effectively avoids congestion and waiting, thereby maximizing the global efficiency.

[0100] (6) Differentiated and modular end effector configuration strategy. This ensures the system's broad adaptability to external work objects. This invention allows different robotic arms 3 to be pre-configured with different types and load capacities of end effectors (such as electromagnetic chucks for heavy steel parts, vacuum chucks for sheet metal boxes, and gripper hooks for irregularly shaped parts) based on the characteristics of the parts they frequently handle (such as size, weight, and material). This modular and differentiated configuration strategy enables the system to handle a variety of heterogeneous workpieces at the hardware level, achieving seamless switching without stopping the machine to change grippers during operation, greatly improving the system's flexibility and operational efficiency. This is a key link in achieving true "flexible automation".

[0101] The beneficial effects of this invention are: By using a wheel frame 2 that can rotate around an axle and several radial tracks 9, multiple robotic arms 3 can share an integrated support structure, avoiding the discrete layout of multiple independent robotic arms 3, significantly reducing installation space. Moreover, the movement range of the robotic arms 3 is in a regular cylindrical coordinate space, reducing the risk of motion interference and eliminating the need for complex real-time collision avoidance algorithms. The robotic arms 3 can move linearly along the radial tracks 9 and rotate with the wheel frame 2, breaking away from the rigid mode of fixed task allocation, dynamically adapting to different transfer needs, achieving load balancing, and solving the problem of uneven equipment utilization. Multiple robotic arms 3 can work in parallel and collaboratively, breaking the efficiency bottleneck of single robotic arm 3 serial operation and significantly improving transfer efficiency. The overall system structure is modular and the movement mode is flexible. When facing changes in production tasks, there is no need to rewrite the program or reconstruct the system, resulting in faster response speed and effectively improving the shortcomings of poor flexibility in existing technologies.

[0102] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wheeled multi-robotic arm collaborative hoisting system, characterized in that, include: The main frame is used to support the main structure; The wheel frame is rotatably mounted on the main frame and can rotate bidirectionally around the wheel axle. It includes an annular outer contour and several radial tracks. One end of each radial track is connected to the inner wall of the annular contour, and the other end of each radial track extends toward the wheel axle of the wheel frame, so that all the radial tracks form a radial shape. A drive unit is mounted on the main frame and connected to the wheel frame, capable of driving the wheel frame to rotate on the main frame; The actuator includes a robotic arm and an actuator mechanism. The robotic arm is mounted on the radial track and is capable of linear displacement in the horizontal and vertical directions on the radial track. The actuator mechanism is located at the other end of the robotic arm.

2. The wheeled multi-manipulator collaborative hoisting system according to claim 1, characterized in that, The drive unit includes a power unit and a drive gear; The power unit is fixedly mounted on the main frame, and its output end is connected to the drive gear. The outer periphery of the wheel frame is provided with connecting teeth, and the drive gear meshes with the connecting teeth.

3. The wheeled multi-manipulator collaborative hoisting system according to claim 1, characterized in that, The actuator is at least one of the following: a force field-based adsorption structure, a mechanical clamping structure, or a plug-in support structure.

4. The wheeled multi-manipulator collaborative hoisting system according to claim 1, characterized in that, The robotic arm has a rotating mechanism for driving the actuator to rotate.

5. The wheeled multi-manipulator collaborative hoisting system according to claim 1, characterized in that, The main frame includes horizontal supports and multiple vertical columns; The upright column is located below the horizontal support and is used to support the horizontal support. The wheel frame is rotatably mounted on the horizontal support.

6. The wheeled multi-manipulator collaborative hoisting system according to claim 5, characterized in that, The horizontal support has a rotating groove, and the wheel frame is rotated at least partially within the rotating groove.

7. The wheeled multi-manipulator collaborative hoisting system according to claim 1, characterized in that, The included angles between adjacent radial tracks are equal.

8. The wheeled multi-manipulator collaborative hoisting system according to claim 1, characterized in that, It also includes conductive components; One end of the conductive component is disposed on the wheel frame, and the other end is disposed on the main frame, for supplying power to the actuator.

9. The wheeled multi-manipulator collaborative hoisting system according to claim 8, characterized in that, The conductive component includes a collector base, a current collector, an arc-shaped guide rail, and a guide rail mounting base; The current collector is mounted on the current collector base, and the arc-shaped slide rail is mounted on the slide rail mounting base; The current collector is slidably connected to the arc-shaped sliding line to achieve continuous electrical connection during relative rotation.

10. A control method for a wheeled multi-manipulator collaborative hoisting system according to any one of claims 1-9, characterized in that, Includes the following steps: Receive the overall task containing multiple material transfer instructions; For each material to be transferred, determine its starting coordinates and target coordinates in the coordinate space formed by the rotation angle of the wheel frame and the radial position of the robotic arm; With the goal of minimizing the total system operation time, each transfer instruction is dynamically assigned to the corresponding robotic arm; Plan a collision-free motion path for each robotic arm from its current position to the task point; The wheel frame and each robotic arm are controlled to move in coordination along the planned path to complete all transfer commands.

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