Mobile wheeled arm type handling robot

Abstract

The present application relates to the technical field of logistics transportation equipment, and discloses a mobile wheel arm type carrying robot, which comprises a mobile trolley, a sliding component, a pitching mechanism, a damper and a carrying component, the sliding part is slidingly arranged on the stand column, the trunk is rotatably arranged on the stand column, and the counterweight battery compartment is arranged at the bottom of the trunk. One end of the damper is rotatably arranged on the sliding part, the other end of the damper is rotatably arranged on the counterweight battery compartment, and the carrying component is rotatably arranged at the top of the trunk. When the trunk is rotated from the first position to the second position, the carrying component is inclined forward, and the operation range is increased. The sliding part slides upward relative to the stand column, the damper is stretched and absorbs vibration, the damper, the trunk and the sliding part form a triangular structure, and the stability of the device is improved. The counterweight battery compartment swings backward to form a reverse torque, which offsets most of the overturning torque generated by the forward inclination of the carrying component, effectively prevents the mobile trolley from tilting forward, and reduces the risk of instability and overturning of the center of gravity.

Description

Technical Field

[0001] This invention relates to the field of logistics transportation equipment technology, and more particularly to a mobile wheelbarrow-type handling robot. Background Technology

[0002] As logistics and handling scenarios become increasingly complex, higher demands are being placed on the operating range and load-bearing capacity of handling robots. When performing long-distance pickup and drop-off tasks, the robot's torso and handling components need to extend forward or tilt to expand the operating area. At the same time, handling operations often involve heavy goods, requiring the robot to perform large movements while maintaining stability.

[0003] Existing handling robots typically have counterweights such as batteries fixed at the rear of the vehicle body, and the position of the counterweights cannot be adjusted according to the working conditions. When the torso drives the handling components to tilt forward to increase the operating range, the center of gravity of the entire machine shifts forward, which can easily generate a large overturning moment, causing the handling robot to tilt forward and posing a risk of instability and overturning. Summary of the Invention

[0004] The purpose of this invention is to provide a mobile wheelbarrow-type handling robot to solve the aforementioned problems existing in handling robots in related technologies.

[0005] To address the aforementioned problems in the existing technology, the present invention adopts the following technical solution:

[0006] Mobile wheelbarrow handling robots, including:

[0007] Mobile cart;

[0008] A sliding assembly includes a column and a slider, wherein the column is disposed on the moving trolley and the slider is slidably disposed on the column;

[0009] The pitch mechanism includes a torso, a counterweight battery compartment, and a drive assembly. The torso is rotatably mounted on the column, the counterweight battery compartment is located at the bottom of the torso, and the drive assembly is located at the middle position of the torso. The drive assembly is used to drive the torso to adjust its pitch.

[0010] A damper, one end of which is rotatably mounted on the sliding member, and the other end of which is rotatably mounted on the counterweight battery compartment;

[0011] A transport assembly, rotatably mounted on top of the torso, is used to support cargo;

[0012] The torso is rotatable relative to the column to have a first position and a second position. When the torso rotates from the first position to the second position, the conveying assembly tilts forward, the counterweight battery compartment swings backward, and the damper, the torso, and the slider form a triangular structure.

[0013] As an optional technical solution, the rotation center of the torso relative to the column is O; when the torso is in the first position, the rotation center of the conveying component relative to the torso is A; when the torso is in the second position, the rotation center of the conveying component relative to the torso is A. ’ The transport component moves in a circle with center O and the line connecting O and A as the radius of rotation. When the torso is in the second position, O and A... ’ The line is horizontal.

[0014] As an optional technical solution, the pitch rotation angle α of the torso around the rotation center O with the horizontal plane as a reference ranges from -45°≤α≤5°.

[0015] As an optional technical solution, a perpendicular line is drawn along the rotation center A of the torso at the first position and perpendicular to OA of the torso at the second position. ’ The lines intersect at point B, and the forward tilting lateral distance of the transport assembly through the rotation of the torso is A. ’ B.

[0016] As an optional technical solution, the transport assembly includes a thoracic cavity, a robotic arm, and a first rotating shaft. The robotic arm is disposed in the thoracic cavity, and the thoracic cavity is hinged to the torso via the first rotating shaft. The pitch rotation angle θ of the thoracic cavity around the rotation center A with the horizontal plane as a reference ranges from -45° to θ to 45°.

[0017] As an optional technical solution, the conveying assembly further includes a first motor, which is disposed inside the chest cavity, and the output end of the first motor is connected to the first rotating shaft.

[0018] As an optional technical solution, the drive assembly includes a second motor and a second rotating shaft. The second motor is disposed inside the body, and the output end of the second motor is connected to the second rotating shaft for transmission. The second rotating shaft is fixedly connected to the body and is rotatably disposed on the column.

[0019] As an optional technical solution, there are two sliding components, which are arranged in parallel and spaced apart, and the torso is rotatably positioned between the columns corresponding to the two sliding components.

[0020] As an optional technical solution, a lidar is also included, which is installed on the column.

[0021] As an optional technical solution, the mobile vehicle includes a chassis and multiple steering wheels, all of which are rotatably mounted on the bottom of the chassis, and the chassis is provided with the column.

[0022] The mobile wheel-type handling robot provided by this invention has at least the following beneficial effects:

[0023] This mobile wheeled handling robot includes a mobile cart, a sliding assembly, a pitching mechanism, a damper, and a handling assembly. The sliding assembly includes a column and a slider; the column is mounted on the mobile cart, and the slider is slidably mounted on the column. The pitching mechanism includes a torso, a counterweight battery compartment, and a drive assembly. The torso is rotatably mounted on the column, the counterweight battery compartment is located at the bottom of the torso, and the drive assembly is located in the middle of the torso. One end of the damper is rotatably mounted on the slider, and the other end is rotatably mounted on the counterweight battery compartment. The handling assembly is rotatably mounted on the top of the torso. The torso can rotate relative to the column to have a first position and a second position. When the torso rotates from the first position to the second position, the handling assembly tilts forward, increasing the operating range. The slider slides upward relative to the column, the damper stretches and absorbs vibrations, and the damper, torso, and slider form a triangular structure, improving the stability of the device. The counterweight battery compartment swings backward to generate a reverse torque, which counteracts most of the overturning torque generated by the forward tilting of the transport components, effectively preventing the moving trolley from tilting forward and reducing the risk of instability and overturning. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the mobile wheelbarrow-type handling robot in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram showing the positions of the mobile wheelb arm handling robot in the first and second positions in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the mobile wheel-type handling robot in the second position according to an embodiment of the present invention.

[0027] In the picture:

[0028] 1. Mobile trolley; 11. Chassis; 12. Steering wheel;

[0029] 2. Sliding assembly; 21. Column; 22. Sliding element;

[0030] 3. Pitch mechanism; 31. Torso; 32. Counterweight battery compartment; 33. Second pivot;

[0031] 4. Dampers;

[0032] 5. Handling assembly; 51. Thoracic cavity; 52. Robotic arm; 53. First rotating shaft;

[0033] 6. LiDAR. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0035] 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. They are used only for the convenience of describing the invention and for 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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.

[0037] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0038] like Figures 1 to 3As shown, this embodiment provides a mobile wheeled handling robot, which includes a mobile trolley 1, a sliding assembly 2, a pitching mechanism 3, a damper 4, and a handling assembly 5. The sliding assembly 2 includes a column 21 and a slider 22. The column 21 is mounted on the mobile trolley 1, and the slider 22 is slidably mounted on the column 21. The pitching mechanism 3 includes a torso 31, a counterweight battery compartment 32, and a drive assembly. The torso 31 is rotatably mounted on the column 21, the counterweight battery compartment 32 is located at the bottom of the torso 31, and the drive assembly is located in the middle of the torso 31, used to drive the torso 31 to adjust its pitch. One end of the damper 4 is rotatably mounted on the slider 22, and the other end is rotatably mounted on the counterweight battery compartment 32. The handling assembly 5 is rotatably mounted on the top of the torso 31 and is used to support goods. The torso 31 can rotate relative to the column 21 to have a first position and a second position. When the torso 31 rotates from the first position to the second position, the conveying assembly 5 tilts forward, the counterweight battery compartment 32 swings backward, and the damper 4, the torso 31 and the slider 22 form a triangular structure.

[0039] The column 21 is fixedly mounted on the mobile trolley 1 and extends vertically. The slider 22 is located inside the column 21 and can slide along the extension direction of the column 21. The fixed end of the damper 4 is hinged to the slider 22, and the telescopic end of the damper 4 is hinged to the counterweight battery compartment 32. The torso 31 is rotatably connected to the column 21, and the counterweight battery compartment 32 is fixedly mounted at the bottom of the torso 31, serving both as a power supply and a counterweight. The handling component 5 is a seven-axis robotic arm 52, hinged to the top of the torso 31, and used to support and handle goods. The drive component is a rotary drive source, with its fixed end installed inside the torso 31 and its output end connected to the torso 31 via gears. Under the drive of the drive component, the torso 31 can rotate relative to the column 21 for pitch adjustment.

[0040] In the default state, the torso 31 is in the first position. As the torso 31 rotates from the first position to the second position, the transport component 5 tilts forward in a sinking manner, increasing the operating range. The slider 22 slides upward relative to the column 21, and the damper 4 stretches and absorbs the vibration generated by the transport component 5 during movement, increasing the operating accuracy of the end effector of the transport component 5. The damper 4, torso 31, and slider 22 form a triangular structure, improving the stability of the transport component 5 and even the entire device. The counterweight battery compartment 32 swings backward to generate a reverse torque, offsetting most of the overturning torque generated by the forward tilt of the transport component 5, effectively preventing the mobile trolley 1 from tilting forward and reducing the risk of instability and overturning. After the goods are transported, as the torso 31 rotates from the second position to the first position, the transport component 5 floats backward, and the counterweight battery compartment 32 swings forward, realizing the active follow-up adjustment of the center of gravity of the mobile arm transport robot.

[0041] Furthermore, referring to Figures 1-3 The rotation center of the torso 31 relative to the column 21 is O. When the torso 31 is in the first position, the rotation center of the transport assembly 5 relative to the torso 31 is A. When the torso 31 is in the second position, the rotation center of the transport assembly 5 relative to the torso 31 is A. ’ The transport component 5 moves in a circle with O as the center and the line connecting OA as the radius of rotation. When the torso 31 is in the second position, OA... ’ The line is horizontal.

[0042] The rotation center of the torso 31 is point O. With the horizontal plane as a reference, the pitch angle α of the torso 31 around the rotation center O ranges from -45° to α to 5°. Under the driving action of the drive assembly, the torso 31 can rotate relative to the column 21 to adjust its pitch, with a maximum pitch angle of 45° and a maximum elevation angle of 5°. The rotation center of the transport assembly 5 when it is in the first position is point A, and the rotation center of the transport assembly 5 when it is in the second position is point A. ’ Point A, the line connecting rotation center A and rotation center O is the rotation radius r of the transport component 5 rotating around rotation center O. Under the driving action of the drive component, when the torso 31 can rotate relative to the column 21 to the second position, the rotation center of the transport component 5 relative to the torso 31 moves from A to A... ’ The conveying component 5 is tilted forward in a sunken manner, OA ’ When the connection is horizontal, the forward tilt distance of the conveying component 5 is at its maximum.

[0043] Furthermore, referring to Figures 1-3 Draw a perpendicular line along the rotation center A of the torso 31 in the first position and perpendicular to OA of the torso 31 in the second position. ’ The lines intersect at point B, and the forward tilting lateral distance of the transport component 5 through the rotation of the torso 31 is A. ’ B.

[0044] When the torso 31 is in the first position, draw a perpendicular line downwards along the rotation center A, intersecting the line OA where the torso 31 is in the second position. ’ The lines intersect at point B, A ’ B is the forward tilting lateral distance of the conveying component 5, which is the extension distance L of the end effector of the conveying component 5, and is regarded as the size of the operable range of the conveying component 5.

[0045] Furthermore, referring to Figures 1-3 The transport assembly 5 includes a thoracic cavity 51, a robotic arm 52, and a first rotating shaft 53. The robotic arm 52 is disposed in the thoracic cavity 51. The thoracic cavity 51 is hinged to the torso 31 via the first rotating shaft 53. The pitch angle θ of the thoracic cavity 51 around the rotation center A with the horizontal plane as the reference ranges from -45° to θ to 45°.

[0046] The robotic arm 52 is a seven-axis robotic arm 52, with robotic arms 52 located on both sides of the chest cavity 51. The robotic arms 52 are used for transporting goods. A first rotating shaft 53 is mounted on the back of the chest cavity 51, which is hinged to the upper end of the torso 31 via the first rotating shaft 53. The rotation center of the first rotating shaft 53 is A. With the horizontal plane as a reference, the chest cavity 51 can be adjusted for pitch and rotation around the first rotating shaft 53, with a maximum pitch angle of 45° and a maximum elevation angle of 45°. In the figure, the chest cavity 51 is in a horizontal plane with a pitch rotation angle of 0°.

[0047] Furthermore, referring to Figures 1-3 The transport assembly 5 also includes a first motor, which is located inside the chest cavity 51 and the output end of the first motor is connected to the first rotating shaft 53.

[0048] The first motor is a servo motor, with its fixed end installed inside the thoracic cavity 51. The output end of the first motor is connected to the first rotating shaft 53 via gear transmission. Under the action of the first motor, the first rotating shaft 53 is driven to rotate, allowing the thoracic cavity 51 to be adjusted in pitch around its rotation center A.

[0049] Furthermore, referring to Figures 1-3 The drive assembly includes a second motor and a second rotating shaft 33. The second motor is located inside the body 31, and the output end of the second motor is connected to the second rotating shaft 33. The second rotating shaft 33 is fixedly connected to the body 31 and is rotatably mounted on the column 21.

[0050] The second motor is a servo motor. The fixed end of the second motor is installed inside the body 31, and the output end of the second motor is connected to the second rotating shaft 33 through gear transmission. Under the action of the second motor, the second rotating shaft 33 is driven to rotate, and the body 31 can be adjusted in pitch around the rotation center O.

[0051] Furthermore, referring to Figures 1-3There are two sliding components 2, which are parallel and spaced apart. The torso 31 is rotatably positioned between the columns 21 corresponding to the two sliding components 2.

[0052] Two uprights 21 are vertically spaced and parallel to each other on the mobile trolley 1. Two sliding members 22 are slidably mounted on their respective uprights 21. The torso 31 is rotatably mounted between the two uprights 21 and can rotate relative to the uprights 21. When the transport component 5 tilts forward, the height of the thoracic cavity 51 decreases, which can be compensated by the upward sliding of the sliding members 22 relative to the uprights 21. At the same time, the counterweight battery compartment 32 swings backward to offset most of the overturning moment generated by the forward tilt of the thoracic cavity 51, effectively preventing the mobile trolley 1 from tilting forward. When the transport component 5 floats and tilts backward, the counterweight battery compartment 32 swings forward, realizing the active follow-up adjustment of the center of gravity of the mobile arm-type transport robot.

[0053] Furthermore, referring to Figures 1-3 The mobile wheelb arm handling robot also includes a LiDAR 6, which is mounted on the column 21. The LiDAR 6 can acquire the precise position of the goods in three-dimensional space and calculate the translation coordinates and rotation angles of the robotic arm 52, ensuring that the robotic arm 52 can accurately grasp the goods. Furthermore, when the robotic arm 52 is operating, the LiDAR 6 can judge and perceive the surrounding environment, planning a reasonable movement route for the mobile cart 1, enabling the mobile wheelb arm handling robot to move autonomously in scenarios such as warehouses.

[0054] Furthermore, referring to Figures 1-3 The mobile vehicle 1 includes a chassis 11 and multiple steering wheels 12. The steering wheels 12 are rotatably mounted on the bottom of the chassis 11, and the chassis 11 is provided with a column 21. The steering wheels 12 are rotatably mounted on the bottom of the chassis 11. There are multiple steering wheels 12, which are arranged in a matrix. The steering wheels 12 drive the chassis 11 to move, enabling the handling robot to transport the supported goods to a designated location.

[0055] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A mobile wheeled handling robot, characterized in that, include: Mobile cart (1); The sliding assembly (2) includes a column (21) and a slider (22), wherein the column (21) is disposed on the moving trolley (1) and the slider (22) is slidably disposed on the column (21); The pitch mechanism (3) includes a torso (31), a counterweight battery compartment (32), and a drive assembly. The torso (31) is rotatably mounted on the column (21), the counterweight battery compartment (32) is located at the bottom of the torso (31), and the drive assembly is located at the middle position of the torso (31). The drive assembly is used to drive the torso (31) to pitch. A damper (4), one end of which is rotatably mounted on the sliding member (22), and the other end of which is rotatably mounted on the counterweight battery compartment (32). The transport assembly (5) is rotatably mounted on top of the body (31) and is used to support cargo; The torso (31) is able to rotate relative to the column (21) to have a first position and a second position. When the torso (31) rotates from the first position to the second position, the transport assembly (5) tilts forward and the counterweight battery compartment (32) swings backward. The damper (4), the torso (31) and the slider (22) form a triangular structure.

2. The mobile wheel-arm handling robot according to claim 1, characterized in that, The rotation center of the torso (31) relative to the column (21) is O. When the torso (31) is in the first position, the rotation center of the conveying assembly (5) relative to the torso (31) is A. When the torso (31) is in the second position, the rotation center of the conveying assembly (5) relative to the torso (31) is A. ’ The transport component (5) moves in a circle with O as the center and the line connecting OA as the radius of rotation. When the torso (31) is in the second position, OA ’ The line is horizontal.

3. The mobile wheel-arm handling robot according to claim 2, characterized in that, The pitch angle α of the torso (31) around the rotation center O with the horizontal plane as the reference ranges from -45°≤α≤5°.

4. The mobile wheel-arm handling robot according to claim 2, characterized in that, Draw a perpendicular line from the rotation center A of the torso (31) at the first position to the line OA of the torso (31) at the second position. ’ The lines intersect at point B, and the forward tilting lateral distance of the transport component (5) through the rotation of the torso (31) is A. ’ B.

5. The mobile wheel-arm handling robot according to claim 2, characterized in that, The transport assembly (5) includes a thoracic cavity (51), a robotic arm (52) and a first rotating shaft (53). The robotic arm (52) is disposed in the thoracic cavity (51). The thoracic cavity (51) is hinged to the torso (31) through the first rotating shaft (53). The thoracic cavity (51) has a pitch rotation angle θ around the rotation center A with the horizontal plane as the reference, which ranges from -45° to θ to 45°.

6. The mobile wheel-arm handling robot according to claim 5, characterized in that, The transport assembly (5) also includes a first motor, which is disposed inside the thoracic cavity (51), and the output end of the first motor is connected to the first rotating shaft (53).

7. The mobile wheel-arm handling robot according to claim 1, characterized in that, The drive assembly includes a second motor and a second rotating shaft (33). The second motor is located inside the body (31), and the output end of the second motor is connected to the second rotating shaft (33) for transmission. The second rotating shaft (33) is fixedly connected to the body (31), and the second rotating shaft (33) is rotatably mounted on the column (21).

8. The mobile wheel-arm handling robot according to claim 1, characterized in that, There are two sliding components (2), which are arranged in parallel and spaced apart. The torso (31) is rotatably arranged between the columns (21) corresponding to the two sliding components (2).

9. The mobile wheel-arm handling robot according to claim 1, characterized in that, It also includes a lidar (6), which is mounted on the column (21).

10. The mobile wheel-arm handling robot according to claim 1, characterized in that, The mobile trolley (1) includes a chassis (11) and multiple steering wheels (12). The multiple steering wheels (12) are rotatably mounted on the bottom of the chassis (11), and the chassis (11) is provided with the column (21).

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