A mobile chassis-based robot arm structure and a working method thereof

Abstract

This invention relates to the field of robotic arm technology, and discloses a robotic arm structure and its working method based on a mobile chassis. The structure includes a chassis, a robotic arm, a suction mechanism, a workpiece placement mechanism, and a omnidirectional moving mechanism. The chassis is an L-shaped plate structure with an extension plate fixed to its right end. A battery pack is installed at the bottom of the chassis. The robotic arm is mounted on the upper end of the extension plate, and the suction mechanism is mounted on the upper end of the robotic arm. The workpiece placement mechanism is located on the upper end of the chassis. A right-angled plate-shaped extension frame is installed at the bottom corner of the chassis, and the omnidirectional moving mechanism is installed inside the lower end of the extension frame. This invention achieves efficient collaboration between the robotic arm, suction mechanism, and workpiece placement mechanism. The robotic arm is responsible for grasping and transporting goods, the suction mechanism achieves stable adsorption of goods, and the workpiece placement mechanism completes precise placement of goods. These mechanisms cooperate spatially to form a complete goods handling system, and the omnidirectional moving mechanism ensures the mobility and flexibility of the equipment.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm structure based on a mobile chassis and its working method. Background Technology

[0002] A robotic arm is a mechanism designed to mimic the human arm and belongs to the category of serial robotic mechanisms. By attaching different actuators to the wrist of the robotic arm, such as grippers, drills, welding torches, and other actuators with different working purposes, the desired position and posture of the actuators are achieved through the kinematic pairs of the upper arm, forearm, and even the wrist of the robotic arm.

[0003] Existing robotic arm structures and cargo handling devices struggle to withstand large loads when moving goods, are prone to deformation, have low stability coefficients, and cannot adjust support angles based on swaying during movement. Goods are easily slipped off unevenly placed surfaces. Furthermore, they cannot flexibly adjust movement direction and speed according to preset paths, limiting their applicability. The diverse locations where goods are stacked make high-precision and stable gripping and handling difficult, and they also cannot automatically adjust their movement based on the weight, shape, and position of the goods, potentially leading to damage due to uneven suction. Therefore, corresponding technical solutions are needed to address these issues. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a robotic arm structure based on a mobile chassis and its operating method, thus solving the technical problems.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a robotic arm structure based on a mobile chassis, comprising a chassis, a robotic arm, an adsorption mechanism, a workpiece placement mechanism, and a universal moving mechanism, wherein the chassis is an L-shaped plate structure and an extension plate is fixedly provided at the right end, reinforcing plates are welded to the bottom of the extension plate, and a battery pack is installed at the bottom of the chassis; The robotic arm is mounted on the upper end of the extension plate, and the adsorption mechanism is mounted on the upper end of the robotic arm. The workpiece placement mechanism is located at the upper end of the chassis; A right-angle plate-shaped extension frame is installed at the bottom corner of the chassis, and the omnidirectional moving mechanism is installed inside the lower end of the extension frame.

[0006] Preferably, the robotic arm includes a waist-rotating structure, a shoulder-rotating structure, an elbow-rotating structure, a rotary structure, and a flipping structure. The shoulder-rotating structure is rotatably connected to the upper end of the waist-rotating structure, the elbow-rotating structure is rotatably connected to the upper end of the shoulder-rotating structure, the rotary structure is connected to the front end of the elbow-rotating structure, and the flipping structure is installed at the end of the rotary structure. The waist-rotating structure is used to adjust the horizontal rotation angle of the robotic arm, quickly aligning it with goods in different directions and expanding the working range. The shoulder-rotating structure and the elbow-rotating structure work together to adjust the lifting height of the robotic arm, meeting the needs of grasping goods of different heights. The rotary structure and the flipping structure are used to adjust the orientation of the suction mechanism, ensuring that the suction cup is directly facing the suction surface of the goods, improving the accuracy of suction.

[0007] Preferably, the adsorption mechanism includes an air source device, a mounting plate, a profile horizontal plate, a profile vertical plate, an end plate, suction cups, and a pipe base. The air source device is installed at the end of the robotic arm, and an air inlet connection pipe is provided at the front end of the air source device. The mounting plate is fixedly installed at the outer end of the air source device. The profile horizontal plate is installed at the outer end of the mounting plate, the profile vertical plate is installed at both ends of the profile horizontal plate, the end plate is installed at the outer end of the profile vertical plate, and the suction cup is installed at the outer end of the end plate. The adsorption mechanism is used to achieve stable adsorption of goods, ensuring that the goods do not become loose during handling. It may fall off; the air source device provides the air power required for adsorption, and controls the gas flow through the air inlet connection pipe, air supply pipe, and air return pipe; the mounting plate, profile horizontal plate, profile vertical plate, and end plate are used to construct the frame structure, so that the suction cups are evenly distributed, ensuring uniform adsorption force and adapting to goods of different shapes and sizes; the adapter bend, adapter straight pipe one, and adapter straight pipe two are used to connect the hose, constructing a gas flow channel to ensure normal adsorption and release of the suction cups; the suction cups are used to directly contact the goods to achieve the adsorption function; the pipe seat is used to connect the air supply pipe and the air return pipe, serving as a gas transmission hub.

[0008] Preferably, an adapter elbow is installed at the inner end of the end plate at the left end, an adapter straight pipe one is installed at the inner end of the end plate at the middle end, and an adapter straight pipe two is installed at the inner end of the end plate at the right end. Flexible hoses connect the adapter elbow, adapter straight pipe one, and adapter straight pipe two. The upper end of adapter straight pipe two is connected to a pipe seat via a flexible hose. An air supply pipe and an air return pipe are connected to the upper end of the pipe seat. The air supply pipe and air return pipe are fixedly connected to the side of the air source device. This allows the adsorption mechanism to flexibly adjust the adsorption force according to different cargo conditions. Increasing the air supply pressure through the air source device allows the suction cup to generate a stable and strong adsorption force, ensuring that the cargo is firmly adsorbed. When placing cargo, depressurization is achieved through the air source device, and gas is recovered through the air return pipe, causing the suction cup to lose its adsorption force, thus facilitating the smooth placement of the cargo. This makes the air circuit connection more flexible, adaptable to the complex shape of the frame structure, and easy to install and maintain. The elasticity of the flexible hose reduces the impact of vibration and stress caused by the movement of the robotic arm on the air circuit, improving the stability and reliability of the air circuit.

[0009] Preferably, the workpiece placement mechanism includes a placement plate, a fixing frame, a horizontal shaft, a bearing, and a fixing ring. The horizontal shaft is rotatably connected to the bearing, and a fixing sleeve is fixedly installed in the middle of the horizontal shaft. The other end of the horizontal shaft is connected to a drive motor. The fixing ring is fixedly installed outside the horizontal shaft and between the bearings. A protruding plate is fixedly installed on the outer side of the fixing ring. The fixing frame is fixedly installed on the upper end of the protruding plate in a "well" shape. The placement plate is fixedly installed on the upper end of the fixing frame. The workpiece placement mechanism is used to accurately place goods, ensuring that the goods are placed stably and accurately. The placement plate is used to support the goods and provide a placement platform. The fixing frame is a "well" shaped structure with high strength, providing reliable support for the placement plate. The telescopic support structure is used to fine-tune the height of the placement plate according to the actual situation of the goods, automatically adapting to the weight and shape of the goods, ensuring stable placement. The horizontal shaft, fixing sleeve, bearing, and drive motor are used to realize the rotation of the horizontal shaft, providing power and support for the fine-tuning of the placement plate angle. The fixing ring and protruding plate are used to connect the fixing frame and the horizontal shaft, transmitting rotational power to realize the adjustment of the placement plate angle.

[0010] Preferably, telescopic support structures are fixedly distributed at both ends of the bottom of the fixed frame. The upper and lower parts of the telescopic support structure are movable hinge seats, and the middle part is a telescopic structure. The telescopic support structure is used for lifting and lowering adjustment, and the fixed frame is oscillating and adjusting by a horizontal adjustment mechanism.

[0011] Preferably, the omnidirectional moving mechanism includes a lower support plate, a support column, an upper support plate, a moving wheel, a helical gear, a first motor, a second motor, a rotating shaft, and a rotating gear. The lower support plate is installed inside the lower end of the extension frame, and the support column is installed around the perimeter between the lower and upper support plates. A rotating ring is rotatably connected inside the lower support plate, and support plates are installed at both ends of the bottom of the rotating ring. The moving wheel is rotatably connected between the support plates. The omnidirectional moving mechanism is used to enable flexible movement of the equipment, and the direction and speed can be adjusted according to a preset path. The lower support plate, the support column, and the upper support plate are used to construct the frame of the moving mechanism, providing an installation foundation and support for other components. The moving wheel and the gear ring are used to enable equipment movement, and the gear ring cooperates with the helical gear to transmit power. The support plate and the rotating ring are used to connect the moving wheel and the lower support plate, enabling the moving wheel to rotate and adjust its direction.

[0012] Preferably, the rotating gear is fixedly mounted on the upper end of the rotating ring, and the rotating shaft is rotatably connected to one end between the lower support plate and the upper support plate. A fixed gear and a rotary gear are fixedly mounted on the upper and lower ends of the rotating shaft, respectively. The second motor is fixedly mounted on the upper end of the upper support plate, and a second drive gear is connected through the bottom of the second motor, meshing with the fixed gear. A transmission belt connects the rotary gear and the rotating gear externally. The helical gear and the rotary gear transmit motor power to drive the moving wheel to rotate. The first motor, the motor shaft, and the first drive gear provide power for the rotation of the moving wheel, enabling the equipment to move straight. The second motor and the second drive gear drive the rotating shaft to rotate, adjusting the direction of travel of the moving wheel. The rotating shaft, the fixed gear, and the rotary gear transmit power from the second motor, causing the rotating gear to rotate. The rotating gear and the transmission belt transmit power to the rotating ring, adjusting the direction of travel of the moving wheel.

[0013] Preferably, the first motor is fixedly mounted on the upper end of the upper support plate, and a motor shaft is connected through the bottom of the first motor. A first drive gear is fixedly mounted on the bottom of the motor shaft, and a rotating gear is meshed with the side of the first drive gear. The rotating gear is rotatably connected to the upper end of the rotating gear disk. A gear ring is mounted on the side of the moving wheel, and a helical gear is rotatably connected to the upper end of the support plate. The lower end of the rotating gear is connected through the upper end of the helical gear, and the helical gear is meshed with the side of the gear ring.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) An extension plate and multiple sets of reinforcing plates are fixedly installed on the right end of the chassis with an L-shaped plate structure, which expands the support area of ​​the chassis, provides a more stable foundation for the installation of the robotic arm, effectively enhances the strength and rigidity of the extension, and ensures that the chassis can withstand a large load without deformation during the movement of the robotic arm, thereby improving the structural stability of the entire equipment.

[0015] (2) Through the efficient collaboration of the designed robotic arm, adsorption mechanism and workpiece placement mechanism, the robotic arm is responsible for grabbing and transporting goods, the adsorption mechanism realizes stable adsorption of goods, and the workpiece placement mechanism completes the precise placement of goods. The various mechanisms cooperate with each other in space to form a complete goods handling system. The universal moving mechanism installed at the bottom corner of the chassis ensures the mobility of the equipment.

[0016] (3) The robotic arm is highly flexible due to its multi-joint design. The waist-rotating structure can adjust the horizontal rotation angle of the robotic arm, allowing it to quickly align with goods to be adsorbed in different directions, thus expanding its working range. The combination of the shoulder-rotating and elbow-rotating structures can adjust the lifting height of the robotic arm, adapting to the adsorption needs of goods at different heights. Goods at both low and high positions can be easily grasped. The rotary and flipping structures can further adjust the orientation of the adsorption mechanism, ensuring that the suction cup is facing the adsorption surface of the goods, thus improving the accuracy and stability of adsorption. It can achieve precise motion control. The motion parameters of each joint can be precisely set and adjusted through the control module, allowing the robotic arm to move according to the preset trajectory and posture, achieving precise grasping and placement of goods. During the handling process, each joint works together and automatically adjusts its motion state according to factors such as the weight, shape, and position of the goods, ensuring the smooth transportation of the goods.

[0017] (4) The adsorption mechanism adopts a frame structure composed of profile horizontal plate, profile vertical plate and end plate. The suction cups are installed and distributed on the outer end of the end plate. The frame layout allows the suction cups to be evenly distributed on the adsorption surface of the goods, ensuring the uniform distribution of adsorption force and avoiding the problem of goods slipping or being damaged due to uneven adsorption force. It can better adapt to goods of different shapes and sizes, and improve the stability and reliability of adsorption.

[0018] (5) The workpiece placement mechanism is fixed to the upper end of the convex plate by a fixed frame with a "well" structure, which has high structural strength and stability and can provide reliable support for the placement plate; the horizontal shaft is driven to rotate by the drive motor, and the angle is finely adjusted by the fixed sleeve and the fixed ring, so that the "well" fixed frame at the upper end of the convex plate can accurately support the goods, and the angle of the placement plate can be finely adjusted to ensure that the placement direction of the goods is accurately matched with the placement plate, thus improving the accuracy and stability of the placement of the goods; and the height of the placement plate can be finely adjusted according to the actual situation of the goods through multiple sets of telescopic support structures, ensuring that the goods are placed stably. During the placement of the goods, the telescopic support structure can automatically adapt to the weight and shape of the goods and provide appropriate support force, avoiding the shaking or slippage of the goods due to uneven placement.

[0019] (6) By using the dual-motor coordinated control of motor one and motor two in the universal moving mechanism, the precise control of the moving wheel's direction of travel and speed is achieved; motor two drives the fixed gear plate and rotating shaft to rotate through drive gear two, and the rotary gear drives the rotating gear plate and rotating ring to rotate through the transmission belt, thereby adjusting the moving wheel's direction of travel; motor one drives drive gear one to rotate through the motor shaft, drive gear one to mesh and drive the rotating gear and helical gear to rotate, and the helical gear meshes and drives the gear ring on the side of the moving wheel, so that the moving wheel can move; the dual-motor coordinated control design enables the equipment to flexibly adjust the moving direction and speed according to the preset path, and realize complex actions such as turning and straight-line movement, which greatly improves the equipment's moving flexibility and precision. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall top view structure of the present invention; Figure 2 This is a schematic diagram of the overall bottom view structure of the present invention; Figure 3 This is a schematic diagram of the upper end of the adsorption mechanism of the present invention; Figure 4 This is a schematic diagram of the adsorption mechanism of the present invention from a lower view. Figure 5 This is a schematic diagram of the structure at the other end of the adsorption mechanism of the present invention; Figure 6 This is a schematic diagram of the workpiece placement mechanism of the present invention from a lower view. Figure 7 This is a partial top view structural diagram of the workpiece placement mechanism of the present invention; Figure 8 This is a schematic diagram of the omnidirectional moving mechanism from the lower side of the present invention. Figure 9 This is a schematic diagram of the structure from the top side of the omnidirectional moving mechanism of the present invention; Figure 10 This is a schematic diagram of the omnidirectional moving mechanism from the other side below. Figure 11 This is a schematic diagram of the structure from the other side of the omnidirectional moving mechanism of the present invention.

[0021] In the diagram: 1. Chassis; 11. Battery pack; 12. Extension plate; 121. Reinforcing plate; 13. Extension frame; 2. Robotic arm; 21. Waist rotation structure; 22. Shoulder rotation structure; 23. Elbow rotation structure; 24. Rotation structure; 25. Flipping structure; 3. Adsorption mechanism; 31. Gas source device; 311. Inlet connection pipe; 312. Gas supply pipe; 313. Return pipe; 32. Mounting plate; 33. Profile horizontal plate; 34. Profile vertical plate; 35. End plate; 351. Adapter elbow; 352. Adapter straight pipe one; 353. Adapter straight pipe two; 36. Suction cup; 37. Pipe seat; 4. Workpiece placement mechanism; 41. Placement plate; 42. Fixing frame; 43. Telescopic support structure; 44. Horizontal shaft; 441. Fixing sleeve; 45. Shaft seat; 46. Drive motor; 47. Fixing ring; 471. Protruding plate; 5. Universal moving mechanism; 51. Lower support plate; 511. Support column; 52. Upper support plate; 53. Moving wheel; 531. Gear ring; 54. Support plate; 541. Rotating ring; 55. Helical gear; 551. Rotating gear; 56. Motor 1; 561. Motor shaft; 562. Drive gear 1; 57. Motor 2; 571. Drive gear 2; 58. Rotating shaft; 581. Fixed gear disc; 582. Rotary gear; 59. Rotating gear disc; 591. Transmission belt. Detailed Implementation

[0022] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1-11 This invention provides a technical solution: a robotic arm structure based on a mobile chassis, including a chassis 1, a robotic arm 2, an adsorption mechanism 3, a workpiece placement mechanism 4, and a universal moving mechanism 5. The chassis 1 is an L-shaped plate structure with an extension plate 12 fixed at the right end. Reinforcing plates 121 are welded to the bottom of the extension plate 12. A battery pack 11 is installed at the bottom of the chassis 1. The battery pack 11 provides an independent and stable power supply for the entire device, avoiding the cable constraints caused by external power supply, and enabling the device to move freely in a wider range of working environments. The robotic arm 2 is mounted on the upper end of the extension plate 12, and the adsorption mechanism 3 is mounted on the upper end of the robotic arm 2. The workpiece placement mechanism 4 is located at the upper end of the chassis 1; A right-angle plate-shaped extension frame 13 is installed at the bottom corner of the chassis 1, and the omnidirectional moving mechanism 5 is installed inside the lower end of the extension frame 13.

[0024] Further improvements include a waist-rotating structure 21, a shoulder-rotating structure 22, an elbow-rotating structure 23, a rotary structure 24, and a flipping structure 25. The shoulder-rotating structure 22 is rotatably connected to the upper end of the waist-rotating structure 21, the elbow-rotating structure 23 is rotatably connected to the upper end of the shoulder-rotating structure 22, the rotary structure 24 is connected to the front end of the elbow-rotating structure 23, and the flipping structure 25 is installed at the end of the rotary structure 24. The waist-turning structure 21 is used to adjust the horizontal rotation angle of the robotic arm, quickly align with goods in different directions, and expand the working range; the shoulder-turning structure 22 and the elbow-turning structure 23 work together to adjust the lifting height of the robotic arm to meet the needs of grasping goods at different heights; the rotary structure 24 and the flipping structure 25 are used to adjust the orientation of the adsorption mechanism to ensure that the suction cup is facing the adsorption surface of the goods and improve the adsorption accuracy.

[0025] Further improvements include an adsorption mechanism 3 comprising an air source device 31, a mounting plate 32, a profile horizontal plate 33, a profile vertical plate 34, an end plate 35, a suction cup 36, and a pipe seat 37. The air source device 31 is mounted at the end of the robotic arm 2, and the front end of the air source device 31 is provided with an air inlet connection pipe 311. Mounting plate 32 is fixedly mounted on the outer end of air source device 31, profile horizontal plate 33 is mounted and distributed on the outer end of mounting plate 32, profile vertical plate 34 is mounted on both ends of profile horizontal plate 33, end plate 35 is mounted and distributed on the outer end of profile vertical plate 34, and suction cup 36 is mounted and distributed on the outer end of end plate 35. The adsorption mechanism 3 is used to achieve stable adsorption of goods, ensuring that the goods will not fall during handling; the air source device 31 is used to provide the air source power required for adsorption, and the gas flow is controlled through the air inlet connection pipe 311, the air supply pipe 312, and the air return pipe 313; the mounting plate 32, the profile horizontal plate 33, the profile vertical plate 34, and the end plate 35 are used to construct the frame structure, so that the suction cups are evenly distributed, ensuring uniform adsorption force and adapting to goods of different shapes and sizes; the adapter bend 351, the adapter straight pipe one 352, and the adapter straight pipe two 353 are used to connect the hoses, constructing a gas flow channel to ensure normal adsorption and release of the suction cups; the suction cup 36 is used to directly contact the goods to achieve the adsorption function; the pipe seat 37 is used to connect the air supply pipe and the air return pipe, serving as a gas transmission hub.

[0026] Further improvements include an adapter bend 351 installed at the inner end of the left end plate 35, an adapter straight pipe 352 installed at the inner end of the middle end plate 35, and an adapter straight pipe 353 installed at the inner end of the right end plate 35. Flexible hoses are connected between the adapter bend 351, the adapter straight pipe 352, and the adapter straight pipe 353. The upper end of the adapter straight pipe 353 is connected to the pipe seat 37 via a flexible hose. The upper end of the pipe seat 37 is connected to the air supply pipe 312 and the air return pipe 313. The air supply pipe 312 and the air return pipe 313 are fixedly connected to the side of the air source device 31. This allows the adsorption mechanism 3 to flexibly adjust the adsorption force according to different cargo conditions. By increasing the air supply pressure through the air source device 31, the suction cup 36 can generate a stable and strong adsorption force, ensuring that the cargo is firmly adsorbed. When placing cargo, the air source device 31 is depressurized and the return air pipe 313 recovers the gas, causing the suction cup 36 to lose its adsorption force, thus enabling the cargo to be placed smoothly. This makes the air circuit connection more flexible, able to adapt to the complex shape of the frame structure, and also facilitates installation and maintenance. The elasticity of the hose can reduce the impact of vibration and stress caused by the movement of the robotic arm on the air circuit, improving the stability and reliability of the air circuit.

[0027] In a further improvement, the workpiece placement mechanism 4 includes a placement plate 41, a fixing frame 42, a horizontal shaft 44, a bearing 45, and a fixing ring 47. The horizontal shaft 44 is rotatably connected to the bearing 45. A fixing sleeve 441 is fixedly provided in the middle of the horizontal shaft 44. The other end of the horizontal shaft 44 is connected to a drive motor 46. The fixing ring 47 is fixedly disposed on the outside of the horizontal shaft 44 and located between the shaft seats 45. The outer side of the fixing ring 47 is fixedly provided with a protruding plate 471. The fixing frame 42 is fixedly disposed on the upper end of the protruding plate 471 in a "well" shape. The placement plate 41 is fixedly disposed on the upper end of the fixing frame 42. The workpiece placement mechanism 4 is used to accurately place the goods, ensuring that the goods are placed stably and accurately; the placement plate 41 is used to support the goods and provide a placement platform; the fixing frame 42 is a "well" shaped structure with high strength, providing reliable support for the placement plate; the telescopic support structure 43 is used to fine-tune the height of the placement plate according to the actual situation of the goods, automatically adapting to the weight and shape of the goods, ensuring stable placement; the horizontal shaft 44, the fixing sleeve 441, the bearing 45, and the drive motor 46 are used to realize the rotation of the horizontal shaft, providing power and support for the fine-tuning of the placement plate angle; the fixing ring 47 and the convex plate 471 are used to connect the fixing frame and the horizontal shaft, transmitting rotational power to realize the adjustment of the placement plate angle.

[0028] Further improvements include the fixed ends of the bottom of the fixed frame 42 having telescopic support structures 43, with movable hinge seats at the top and bottom and a telescopic structure in the middle. The telescopic support structure 43 is used for lifting and adjusting, and the auxiliary fixed frame 42 is adjusted by reciprocating swing through the horizontal adjustment mechanism.

[0029] Further improvements include a lower support plate 51, a support column 511, an upper support plate 52, a moving wheel 53, a helical gear 55, a first motor 56, a second motor 57, a rotating shaft 58, and a rotating gear 59. The lower support plate 51 is installed at the lower end of the interior of the extension frame 13, and the support column 511 is installed and distributed around the perimeter between the lower support plate 51 and the upper support plate 52. A rotating ring 541 is rotatably connected inside the lower support plate 51. Support plates 54 are installed at both ends of the bottom of the rotating ring 541, and the moving wheel 53 is rotatably connected between the support plates 54. The omnidirectional moving mechanism 5 is used to enable flexible movement of the equipment, and the direction and speed can be adjusted according to the preset path; the lower support plate 51, the column 511, and the upper support plate 52 are used to construct the frame of the moving mechanism, providing an installation foundation and support for other components; the moving wheel 53 and the gear ring 531 are used to enable the equipment to move, and the gear ring and the helical gear cooperate to transmit power; the support plate 54 and the rotating ring 541 are used to connect the moving wheel and the lower support plate, enabling the moving wheel to rotate and adjust its direction.

[0030] In a further improvement, the rotating gear 59 is fixedly mounted on the upper end of the rotating ring 541, and the rotating shaft 58 is rotatably connected to one end between the lower support plate 51 and the upper support plate 52. The upper and lower ends of the rotating shaft 58 are respectively fixedly mounted with a fixed gear 581 and a rotary gear 582. Motor 2 57 is fixedly mounted on the upper end of the upper support plate 52. A drive gear 2 571 is connected through the bottom of motor 2 57 and meshes with the fixed gear plate 581. A drive belt 591 is externally connected between the rotary gear 582 and the rotary toothed disk 59; Helical gear 55 and rotating gear 551 are used to transmit motor power and drive the moving wheel to rotate; motor 1 56, motor shaft 561, and drive gear 1 562 are used to provide power for the rotation of the moving wheel to achieve straight movement of the equipment; motor 2 57 and drive gear 2 571 are used to drive the rotating shaft to rotate and adjust the direction of travel of the moving wheel; rotating shaft 58, fixed gear 581, and rotary gear 582 are used to transmit power from motor 2 to drive the rotating gear 59 to rotate; rotating gear 59 and transmission belt 591 are used to transmit power to the rotating ring to achieve adjustment of the direction of the moving wheel.

[0031] Specifically, the motor 56 is fixedly mounted on the upper end of the upper support plate 52, and a motor shaft 561 is connected through the bottom of the motor 56. A drive gear 562 is fixedly mounted on the bottom of the motor shaft 561. A rotating gear 551 is meshed with the side of the drive gear 562. The rotating gear 551 is rotatably connected to the upper end of the rotating gear disk 59. A toothed ring 531 is installed on the side of the movable wheel 53. A helical gear 55 is rotatably connected to the upper end of the support plate 54. The lower end of the rotating gear 551 is connected through to the upper end of the helical gear 55. The helical gear 55 is meshed with the side of the toothed ring 531. It achieves precise power distribution and accurate speed control, ensuring the stable operation of the moving wheel 53.

[0032] Working principle: Fully charge the battery pack 11 at the bottom of chassis 1, turn on the power, activate the control modules of robotic arm 2, adsorption mechanism 3, workpiece placement mechanism 4 and omnidirectional moving mechanism 5, and complete the initialization and reset of each mechanism. The air supply device 31 is activated by connecting the air inlet pipe 311 to the air pipe, and air is supplied to each pipeline through the air supply pipe 312, air return pipe 313, and pipe seat 37. The horizontal rotation angle of the robotic arm 2 is adjusted by controlling the waist rotation structure 21, so that the entire robotic arm 2 is aligned with the goods to be adsorbed. The lifting height of the robotic arm is adjusted by controlling the shoulder rotation structure 22 and elbow rotation structure 23 to match the adsorption height of the goods. The orientation of the adsorption mechanism 3 is adjusted by the rotation structure 24 and the flipping structure 25, so that the suction cup 36 on the end plate 35 is facing the adsorption surface of the goods. The robotic arm 2 is controlled to slowly move the adsorption mechanism 3 closer to the goods until it is adsorbed. The suction cup 36 is fully fitted to the surface of the goods, ensuring the stable support of the frame composed of the profile horizontal plate 33 and profile vertical plate 34, and avoiding uneven force on the suction cup 36. The air supply pressure is increased by the air source device 31, enabling the suction cup 36 to generate a stable suction force. After confirming that the goods are firmly adsorbed, a pressure sensor feedback signal confirms this and controls the robotic arm 2 to slowly lift, preventing the goods from shaking. The multi-joint flexible design of the robotic arm 2 gives it extremely high flexibility. The waist-turning structure 21 can adjust the horizontal rotation angle of the robotic arm 2, allowing it to quickly align with goods to be adsorbed in different directions, expanding the working range. The working range is as follows: the cooperation of the shoulder rotation structure 22 and the elbow rotation structure 23 enables the adjustment of the lifting height of the robotic arm 2, which can adapt to the cargo adsorption needs of different heights, and can easily grasp cargo whether it is low or high. The rotation structure 24 and the flipping structure 25 can further adjust the orientation of the adsorption mechanism 3 to ensure that the suction cup 36 is facing the cargo adsorption surface, which improves the accuracy and stability of adsorption. It can achieve precise motion control. Through the control module, the motion parameters of each joint can be precisely set and adjusted, and the robotic arm can move according to the preset trajectory and posture to achieve precise cargo adsorption. Grasping and placing; during the handling process, each joint works in coordination, automatically adjusting its movement state according to factors such as the weight, shape, and position of the goods to ensure stable transportation of the goods; the adsorption mechanism 3 adopts a frame structure composed of profile horizontal plate 33, profile vertical plate 34, and end plate 35, with suction cups 36 installed and distributed on the outer end of the end plate 35. The frame layout allows the suction cups 36 to be evenly distributed on the adsorption surface of the goods, ensuring a uniform distribution of adsorption force and avoiding the problem of goods slipping or being damaged due to uneven adsorption force. It can better adapt to goods of different shapes and sizes, improving the stability and reliability of adsorption; The waist-turning structure 21, shoulder-turning structure 22, and elbow-turning structure 23 of the robotic arm 2 are readjusted to move the adsorbed goods to directly above the workpiece placement mechanism 4 on the upper end of the chassis 1. The posture of the goods is finely adjusted through the rotation structure 24 and the flipping structure 25 to ensure that the placement direction of the goods is adapted to the placement plate 41. The robotic arm 2 is controlled to slowly descend so that the bottom of the goods is close to the placement plate 41. At the same time, the gyroscope of the workpiece placement mechanism 4 stabilizes the level of the placement plate 41. The drive motor 46 is started to drive the fixed sleeve 441 and the fixed ring 47 through the horizontal shaft 44 to finely adjust the angle so that the "well"-shaped fixing frame 42 at the upper end of the convex plate 471 accurately supports the goods. The height of the placement plate 41 is finely adjusted automatically through the telescopic support structure 43 to ensure that the goods are placed stably. After confirming that the goods are completely placed on the placement plate 41, the air source device 31 is depressurized and the gas is recovered through the return air pipe 313, so that the suction cup 36 loses its adsorption force. The robotic arm 2 is controlled to drive the adsorption mechanism 3 The workpiece is slowly withdrawn and returns to its initial position. A "well"-shaped fixing frame 42, part of the workpiece placement mechanism 4, is fixed to the upper end of the convex plate 471, providing high structural strength and stability and reliable support for the placement plate 41. A drive motor 46 rotates the horizontal shaft 44, and the fixing sleeve 441 and fixing ring 47 finely adjust the angle, allowing the "well"-shaped fixing frame 42 on the upper end of the convex plate 471 to precisely support the goods. This enables fine-tuning of the angle of the placement plate 41, ensuring precise alignment between the goods' placement direction and the plate, thus improving the accuracy and stability of the placement. Furthermore, multiple sets of telescopic support structures 43 allow for fine-tuning of the height of the placement plate 41 according to the actual condition of the goods, ensuring stable placement. During placement, the telescopic support structure 43 automatically adapts to the weight and shape of the goods, providing appropriate support and preventing swaying or slippage due to uneven placement. Motors 56 and 57 of the omnidirectional moving mechanism 5 are started. Motor 57 drives the fixed gear 581 and rotating shaft 58 to rotate via drive gear 571. Rotating gear 582 drives rotating gear 59 and rotating ring 541 to rotate via transmission belt 591, thereby adjusting the direction of travel of the moving wheel 53. Motor 56 drives drive gear 562 to rotate via motor shaft 561. Drive gear 562 meshes with rotating gear 551 and helical gear 55 to rotate. Helical gear 55 meshes with the toothed ring 531 on the side of the moving wheel 53, preparing the moving wheel 53 to move. According to the preset path, multiple sets of omnidirectional moving mechanisms 5 are controlled to work together to achieve turning, straight-line movement, etc. by adjusting the speed and direction of each moving wheel 53, driving the chassis 1 and the workpiece placement mechanism 4 above it to move the entire cargo. When the equipment moves to the target position, motors 56 and 57 are stopped, and the moving wheel 5... 3. Locking completes the movement and transfer of goods; the universal moving mechanism 5 employs a dual-motor collaborative control method using motor 1 56 and motor 2 57 to achieve precise control of the moving wheel 53's direction of travel and speed; motor 2 57 drives the fixed gear disc 581 and rotating shaft 58 to rotate via drive gear 2 571, while the rotary gear 582 drives the rotating gear disc 59 and rotating ring 541 to rotate via transmission belt 591, thereby adjusting the moving wheel 53's direction of travel; motor 1 56 drives the drive gear 1 562 to rotate via motor shaft 561, and drive gear 1 562 meshes with the rotating gear 551 and helical gear 55 to rotate, and helical gear 55 meshes with the toothed ring 531 on the side of the moving wheel 53, enabling the moving wheel 53 to move; the dual-motor collaborative control design allows the equipment to flexibly adjust its direction of travel and speed according to a preset path, realizing complex actions such as turning and straight-line movement, greatly improving the equipment's mobility and precision.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or basic characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the invention is defined by the appended technical solutions rather than the foregoing description, and thus all changes falling within the meaning and scope of equivalent elements of the technical solutions are intended to be included within the present invention.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robotic arm structure based on a mobile chassis, comprising a chassis (1), a robotic arm (2), an adsorption mechanism (3), a workpiece placement mechanism (4), and a universal moving mechanism (5), characterized in that: The chassis (1) is an L-shaped plate structure and an extension plate (12) is fixedly provided on the right end. Reinforcing plates (121) are welded to the bottom of the extension plate (12), and a battery pack (11) is installed at the bottom of the chassis (1). The robotic arm (2) is mounted on the upper end of the extension plate (12), and the adsorption mechanism (3) is mounted on the upper end of the robotic arm (2); The workpiece placement mechanism (4) is located at the upper end of the chassis (1); A right-angle plate-shaped extension frame (13) is installed at the bottom corner of the chassis (1), and the universal moving mechanism (5) is installed at the lower inside of the extension frame (13).

2. The robotic arm structure based on a mobile chassis according to claim 1, characterized in that: The robotic arm (2) includes a waist-rotating structure (21), a shoulder-rotating structure (22), an elbow-rotating structure (23), a rotary structure (24), and a flipping structure (25). The shoulder-rotating structure (22) is rotatably connected to the upper end of the waist-rotating structure (21), the elbow-rotating structure (23) is rotatably connected to the upper end of the shoulder-rotating structure (22), the rotary structure (24) is connected to the front end of the elbow-rotating structure (23), and the flipping structure (25) is installed at the end of the rotary structure (24).

3. The robotic arm structure based on a mobile chassis according to claim 1, characterized in that: The adsorption mechanism (3) includes an air source device (31), a mounting plate (32), a profile horizontal plate (33), a profile vertical plate (34), an end plate (35), a suction cup (36), and a pipe seat (37). The air source device (31) is installed at the end of the robotic arm (2), and the front end of the air source device (31) is provided with an air inlet connection pipe (311). The mounting plate (32) is fixedly installed at the outer end of the air source device (31), the profile horizontal plate (33) is installed and distributed at the outer end of the mounting plate (32), the profile vertical plate (34) is installed at both ends of the profile horizontal plate (33), the end plate (35) is installed and distributed at the outer end of the profile vertical plate (34), and the suction cup (36) is installed and distributed at the outer end of the end plate (35).

4. The robotic arm structure based on a mobile chassis according to claim 3, characterized in that: An adapter bend (351) is installed at the inner end of the end plate (35) located at the left end, an adapter straight pipe one (352) is installed at the inner end of the end plate (35) located at the middle end, and an adapter straight pipe two (353) is installed at the inner end of the end plate (35) located at the right end. A flexible hose is connected between the adapter bend (351), the adapter straight pipe one (352), and the adapter straight pipe two (353). The upper end of the adapter straight pipe two (353) is connected to the pipe seat (37) through the flexible hose. The upper end of the pipe seat (37) is connected to the air supply pipe (312) and the air return pipe (313). The air supply pipe (312) and the air return pipe (313) are fixedly connected to the side of the air source device (31).

5. The robotic arm structure based on a mobile chassis according to claim 1, characterized in that: The workpiece placement mechanism (4) includes a placement plate (41), a fixing frame (42), a horizontal shaft (44), a bearing seat (45), and a fixing ring (47). The horizontal shaft (44) is rotatably connected to the bearing seat (45). A fixing sleeve (441) is fixedly provided in the middle of the horizontal shaft (44). The other end of the horizontal shaft (44) is connected to a drive motor (46). The fixing ring (47) is fixed outside the horizontal shaft (44) and located between the shaft seats (45). A protruding plate (471) is fixed on the outside of the fixing ring (47). The fixing frame (42) is fixed on the upper end of the protruding plate (471) in a "well" shape. The placement plate (41) is fixed on the upper end of the fixing frame (42).

6. The robotic arm structure based on a mobile chassis according to claim 5, characterized in that: The bottom ends of the fixed frame (42) are fixedly distributed with telescopic support structures (43), and the upper and lower parts of the telescopic support structure (43) are movable hinge seats and the middle part is a telescopic structure.

7. The robotic arm structure based on a mobile chassis according to claim 1, characterized in that: The omnidirectional moving mechanism (5) includes a lower support plate (51), a support column (511), an upper support plate (52), a moving wheel (53), a helical gear (55), a motor one (56), a motor two (57), a rotating shaft (58), and a rotating gear disk (59). The lower support plate (51) is installed at the lower end of the inside of the extension frame (13), and the support column (511) is installed and distributed around the perimeter between the lower support plate (51) and the upper support plate (52). The lower support plate (51) is rotatably connected to a rotating ring (541), and support plates (54) are installed at both ends of the bottom of the rotating ring (541). The moving wheel (53) is rotatably connected between the support plates (54).

8. The robotic arm structure based on a mobile chassis according to claim 7, characterized in that: The rotating gear (59) is fixedly mounted on the upper end of the rotating ring (541), and the rotating shaft (58) is rotatably connected to one end between the lower support plate (51) and the upper support plate (52). The upper and lower ends of the rotating shaft (58) are respectively fixedly mounted with a fixed gear (581) and a rotary gear (582). The second motor (57) is fixedly mounted on the upper end of the upper support plate (52), and the bottom of the second motor (57) is connected to the second drive gear (571), which is meshed with the fixed gear plate (581). A transmission belt (591) is externally connected between the rotary gear (582) and the rotary toothed disk (59).

9. The robotic arm structure based on a mobile chassis according to claim 8, characterized in that: The motor (56) is fixedly mounted on the upper end of the upper support plate (52). The bottom of the motor (56) is connected to a motor shaft (561). The bottom of the motor shaft (561) is fixedly mounted with a drive gear (562). The side of the drive gear (562) is meshed with a rotating gear (551). The rotating gear (551) is rotatably connected to the upper end of the rotating gear disk (59). A toothed ring (531) is installed on the side of the movable wheel (53). The helical gear (55) is rotatably connected to the upper end of the support plate (54). The lower end of the rotating gear (551) is connected through to the upper end of the helical gear (55). The helical gear (55) is meshed with the side of the toothed ring (531).

10. A method for operating a robotic arm structure based on a mobile chassis, wherein the robotic arm structure based on a mobile chassis according to any one of claims 1-9 is characterized in that, The method and steps include the following: S1, fully charge the battery pack (11) at the bottom of the chassis (1), turn on the power, activate the control modules of the robotic arm (2), adsorption mechanism (3), workpiece placement mechanism (4) and universal moving mechanism (5), and complete the initialization and reset of each mechanism; S2, the air source device (31) is started by connecting the air pipe through the air inlet connecting pipe (311), and the air supply pipe (312), the air return pipe (313) and the pipe seat (37) supply air to each pipeline; S3, by controlling the waist rotation structure (21) of the robotic arm (2) to adjust the horizontal rotation angle, the robotic arm (2) is aligned with the goods to be adsorbed; by controlling the shoulder rotation structure (22) and elbow rotation structure (23) to adjust the lifting height of the robotic arm to match the adsorption height of the goods; by adjusting the orientation of the adsorption mechanism (3) through the rotary structure (24) and the flipping structure (25), the suction cup (36) on the end plate (35) is facing the adsorption surface of the goods; S4, control the robotic arm (2) to drive the suction mechanism (3) to slowly approach the goods until the suction cup (36) is completely attached to the surface of the goods; ensure that the frame composed of the profile horizontal plate (33) and the profile vertical plate (34) can be stably supported, and avoid uneven force on the suction cup (36); S5, increase the air supply pressure through the air source device (31) so that the suction cup (36) generates a stable suction force. After confirming that the goods are firmly suctioned, control the robotic arm (2) to slowly lift it to avoid the goods shaking. S6, adjust the waist rotation structure (21), shoulder rotation structure (22), and elbow rotation structure (23) of the robotic arm (2) again to move the adsorbed goods to the workpiece placement mechanism (4) at the top of the chassis (1); fine-tune the posture of the goods through the rotation structure (24) and the flipping structure (25) to ensure that the placement direction of the goods is compatible with the placement plate (41); S7, control the robotic arm (2) to slowly descend, so that the bottom of the goods is close to the placement plate (41); at the same time, stabilize the level of the placement plate (41) through the gyroscope of the workpiece placement mechanism (4), start the drive motor (46) to drive the fixed sleeve (441) and the fixed ring (47) through the horizontal axis (44) to finely adjust the angle, so that the "well" shaped fixing frame (42) at the top of the convex plate (471) accurately supports the goods, and automatically adjust the height of the placement plate (41) through the telescopic support structure (43) to ensure that the goods are placed stably; S8, after confirming that the goods are completely placed on the placement plate (41), control the air source device (31) to depressurize and recover the gas through the return air pipe (313) so that the suction cup (36) loses its suction force; control the robotic arm (2) to drive the suction mechanism (3) to slowly withdraw and return to the initial posture; S9, the motors 1 (56) and 2 (57) controlling the universal moving mechanism (5) are started. The motor 2 (57) drives the fixed gear plate (581) and the rotating shaft (58) to rotate through the drive gear 2 (571). The rotary gear (582) drives the rotating gear plate (59) and the rotating ring (541) to rotate through the transmission belt (591), thereby adjusting the direction of travel of the moving wheel (53). The motor 1 (56) drives the drive gear 1 (562) to rotate through the motor shaft (561). The drive gear 1 (562) meshes with the rotating gear (551) and the helical gear (55) to rotate. The helical gear (55) meshes with the toothed ring (531) on the side of the moving wheel (53), so that the moving wheel (53) is ready to move. S10, according to the preset path, control multiple sets of universal moving mechanisms (5) to work together to drive the chassis (1) and the workpiece placement mechanism (4) above it and the goods to move as a whole; S11, when the equipment moves to the target position, control motor one (56) and motor two (57) stop working, the moving wheel (53) is locked, and the movement and transfer of goods is completed.

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