Movable stacking robot for indoor and outdoor work

Abstract

The utility model discloses a movable palletizing robot for indoor and outdoor work, which comprises an omnidirectional moving chassis, a mechanical arm, a tail end clamping jaw, a visual system and a navigation system, the mechanical arm and the navigation system are arranged on the omnidirectional moving chassis, and the tail end clamping jaw and the visual system are arranged at the tail end of the mechanical arm; a plurality of driving wheels serving as driving modules are distributed at the bottom of the omni-directional moving chassis, a cooperative mechanical arm mounting table is arranged on the omni-directional moving chassis, the mechanical arm is arranged on the cooperative mechanical arm mounting table, and a jacking mechanism is arranged between the omni-directional moving chassis and the cooperative mechanical arm mounting table; according to the invention, the unstacking and stacking of scattered materials are realized, the automatic operation of the three processes of unloading, transporting and stacking of the materials is realized, the burden of field workers is effectively reduced, and the material carrying efficiency and safety are improved.

Description

Technical Field

[0001] The invention particularly relates to a mobile palletizing robot for indoor and outdoor work. Background Art

[0002] At present, with the rapid development of the construction industry, manual handling and unstacking methods at construction sites can no longer meet the project's requirements for progress, safety, economy, etc. Traditional palletizing robots are all fixed, and have the disadvantages of occupying a large area, being inconvenient to move, and being easy to damage when used at construction sites. Since they cannot be moved at any time, the handling of materials still requires manual assistance, which cannot significantly improve work efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a mobile palletizing robot for indoor and outdoor work, to realize the palletizing of scattered materials, to realize the automation of the three processes of material disassembly, transportation and stacking, to effectively reduce the burden of on-site workers and improve the efficiency and safety of material handling.

[0004] The technical solution adopted by the present invention is:

[0005] A mobile palletizing robot for indoor and outdoor work, comprising an omnidirectional mobile chassis, a mechanical arm, an end gripper, a visual system and a navigation system, wherein the mechanical arm and the navigation system are arranged on the omnidirectional mobile chassis, and the end gripper and the visual system are arranged at the end of the mechanical arm;

[0006] A plurality of driving wheels serving as driving modules are distributed at the bottom of the omnidirectional mobile chassis, a collaborative robot arm mounting platform is arranged on the omnidirectional mobile chassis, the robot arm is arranged on the collaborative robot arm mounting platform, and a lifting mechanism is arranged between the omnidirectional mobile chassis and the collaborative robot arm mounting platform;

[0007] The mobile palletizing robot for indoor and outdoor work also includes a control system and a power supply system. The control system is respectively connected to the omnidirectional mobile chassis, the mechanical arm, the lifting mechanism, the end gripper, the visual system and the navigation system; the power supply system is respectively connected to the control system, the omnidirectional mobile chassis, the mechanical arm, the end gripper, the visual system and the navigation system.

[0008] Preferably, the lifting mechanism comprises a lifting electric cylinder, and the upper and lower ends of the lifting electric cylinder are respectively connected to the collaborative robot arm mounting platform and the omnidirectional mobile chassis.

[0009] Preferably, the end clamp includes a suction cup clamp, a connecting seat and a connecting flange, the upper end of the suction cup clamp is connected to the connecting seat, the connecting seat is connected to the end of the robotic arm through the connecting flange, and the visual system is arranged on the connecting seat.

[0010] Preferably, the navigation system includes a positioning module and a laser radar.

[0011] Preferably, the omnidirectional mobile chassis is also provided with an obstacle recognition and avoidance system, and the obstacle recognition and avoidance system is connected to the control system.

[0012] Preferably, the obstacle recognition and avoidance system includes four visual cameras, and the four visual cameras are arranged around the body of the omnidirectional mobile chassis.

[0013] Preferably, the obstacle recognition and avoidance system further includes two groups of ultrasonic radars, which are respectively arranged at the front and rear of the vehicle body of the omnidirectional mobile chassis.

[0014] Preferably, each drive wheel is an independently suspended wheel.

[0015] Preferably, the suspension wheel includes a steering motor module, a steering connection assembly, a steering arm, a shock absorbing module, a double fork arm, a drive motor module, a drive motor mounting plate and a drive wheel. The upper end of the steering arm is connected to the omnidirectional mobile chassis through the steering connection assembly, the output end of the steering motor module is connected to the upper end of the steering arm, and can drive the steering arm to rotate. The drive motor module is connected to the steering arm through the double fork arm, and the output end of the drive motor module is connected to the drive wheel through the drive motor mounting plate, and can drive the drive wheel to rotate. The shock absorbing module is arranged between the steering arm and the drive motor mounting plate on the drive wheel.

[0016] Preferably, the control system includes a main controller, a mobile chassis controller, and a palletizing robot controller, and the main controller is connected to the mobile chassis controller and the palletizing robot controller respectively;

[0017] The mobile chassis controller is respectively connected with the navigation system, the obstacle avoidance system as a safety module, the lifting mechanism, the driving module, and the power supply system on the omnidirectional mobile chassis;

[0018] The palletizing robot controller is connected to the visual system, end gripper and robotic arm on the robotic arm respectively.

[0019] The beneficial effects of the present invention are:

[0020] The present invention drives the movement of the mechanical arm through the omnidirectional mobile chassis, and can move freely indoors and outdoors on the construction site. The position of the material to be grabbed can be automatically identified through the visual system, the material can be automatically grabbed by the mechanical arm and the end clamp, and the navigation system can be used for automatic movement, so as to realize the destacking of scattered materials and realize the automation of the three processes of material disassembly, transportation and stacking, which effectively reduces the burden of on-site workers and improves the efficiency and safety of material handling. It is particularly suitable for the characteristics of scattered distribution of materials, a wide variety of materials, and fast site switching on the construction site. The present invention has the advantages of flexible movement, no terrain restrictions, no environmental interference, and normal operation indoors and outdoors. It can effectively improve transportation efficiency, reduce the workload of workers, and ensure the safety of construction site operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a front view of a mobile palletizing robot for indoor and outdoor work in an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 Left view of

[0023] Figure 3 yes Figure 1 A top view of

[0024] Figure 4 is a schematic structural diagram of an omnidirectional mobile chassis in an embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of a control system in an embodiment of the present invention;

[0026] Figure 6 is a front view of an independent suspension wheel in an embodiment of the present invention;

[0027] Figure 7 yes Figure 6 AA section view;

[0028] Figure 8 is a perspective view of an independent suspension wheel in an embodiment of the present invention;

[0029] Fig. 9 is a schematic structural diagram of the end clamping jaws in an embodiment of the present invention;

[0030] In the figure: 1-independent steering mechanism, 2-battery compartment, 3-side vision system, 4-mobile chassis indicator light, 5-mechanical arm, 6-omnidirectional mobile chassis, 7-end gripper, 8-end 3D vision system, 9-lifting electric cylinder, 10-laser radar, 11-mobile chassis vision system, 12-independent suspension wheel, 13-GPS positioning system;

[0031] 7-1-material, 7-2-suction cup fixture, 7-3-connecting flange, 7-4-connecting seat;

[0032] 12-1-steering motor module, 12-2-steering connection assembly, 12-3-steering arm, 12-4-shock absorber module, 12-5-double wishbone, 12-5.1-upper wishbone, 12-5.2-lower wishbone, 12-6-drive motor module, 12-7-drive wheel, 12-8-drive motor mounting plate. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] In the description of the present invention, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like are involved, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Example 1

[0037] A mobile palletizing robot for indoor and outdoor work, such as Figure 1~Figure 5 As shown, it includes an omnidirectional mobile chassis 6, a mechanical arm 5, an end gripper 7, a 3D vision system and a navigation system. The mechanical arm and the navigation system are arranged on the omnidirectional mobile chassis 6, and the end gripper and the 3D vision system are arranged at the end of the mechanical arm; the mobile chassis can move omnidirectionally and has a lifting function, and can automatically adjust the height of the entire mechanical arm according to the position of the material. The mechanical arm is a large-load cooperative mechanical arm;

[0038] A plurality of driving wheels serving as driving modules are distributed at the bottom of the omnidirectional mobile chassis 6. A collaborative robot arm mounting platform is provided on the omnidirectional mobile chassis 6. The collaborative robot arm mounting platform is provided at the exact center of the upper end surface of the omnidirectional mobile chassis 6. The robot arm is provided on the collaborative robot arm mounting platform. A lifting mechanism is provided between the omnidirectional mobile chassis and the collaborative robot arm mounting platform.

[0039] The mobile palletizing robot for indoor and outdoor work also includes a control system and a power supply system. The control system is respectively connected to the omnidirectional mobile chassis 6, the robotic arm 5, the lifting mechanism, the end gripper 7, the visual system and the navigation system; and controls and communicates with each component; the power supply system is respectively connected to the control system, the omnidirectional mobile chassis 6, the robotic arm 5, the end gripper 7, the visual system and the navigation system, and the large-load collaborative robotic arm is connected to the power supply system of the omnidirectional mobile chassis by bottom routing to realize the internalization of cables.

[0040] Furthermore, the lifting mechanism includes a lifting electric cylinder, and the upper and lower ends of the lifting electric cylinder are respectively connected to the collaborative robot arm mounting platform and the omnidirectional mobile chassis.

[0041] Furthermore, there are four lifting electric cylinders, which are arranged in an array between the collaborative robot arm mounting platform and the mobile chassis. During operation, the height direction can be adjusted through the four lifting electric cylinders, so that the mobile palletizing robot can adapt to materials of different heights.

[0042] The lifting cylinder is an electric servo cylinder.

[0043] Furthermore, if Fig. 9 As shown, the end clamp includes a suction cup clamp, a connecting seat and a connecting flange. The upper end of the suction cup clamp is connected to the connecting seat, and the connecting seat is connected to the end of the robot arm through the connecting flange. The 3D vision system is arranged on the connecting seat.

[0044] Furthermore, sponges are distributed around the bottom of the suction cup clamp, which is aimed at materials such as building blocks.

[0045] Furthermore, the navigation system includes a positioning module and a laser radar; the positioning module is a satellite positioning module, which can be a GPS navigation positioning module or a Beidou navigation positioning module, used for positioning and navigation in outdoor environments, and the laser radar is used for positioning and navigation in outdoor environments.

[0046] There is also a side visual recognition system on both sides of the omnidirectional mobile chassis.

[0047] Furthermore, the omnidirectional mobile chassis 6 is also provided with an obstacle recognition and avoidance system, which is connected to the control system.

[0048] Furthermore, the obstacle recognition and avoidance system includes four visual cameras, which are arranged around the body of the omnidirectional mobile chassis 6 and are used to detect obstacles when moving forward, backward, and sideways to guide the mobile palletizing robot to avoid obstacles.

[0049] Furthermore, the obstacle recognition and avoidance system also includes two sets of ultrasonic radars, which are respectively arranged at the front and rear of the vehicle body of the omnidirectional mobile chassis 6, and are used to detect obstacles at a long distance.

[0050] Example 2

[0051] like Figure 6-8 As shown, the driving wheel is further limited on the basis of Example 1, and the performance of Example 2 after the limitation is better.

[0052] Each driving wheel is an independent suspension wheel, and each independent suspension wheel is connected to a control system and a power supply system.

[0053] Furthermore, the number of independent suspension wheels is 4, and the independent suspension wheels are composed of a driving module, a steering module, and a shock absorbing module, which can enable the mobile palletizing robot to have omnidirectional rotation and obstacle surmounting capabilities.

[0054] Furthermore, the independent suspension wheel includes a steering motor module 12-1, a steering connection assembly 12-2, a steering arm 12-3, a shock absorbing module 12-4, a double wishbone 12-5, a drive motor module 12-6, a drive motor mounting plate 12-8 and a drive wheel 12-7. The upper end of the steering arm 12-3 is connected to the omnidirectional mobile chassis 6 through the steering connection assembly 12-2. The output end of the steering motor module 12-1 is connected to the upper end of the steering arm 12-3, which can drive the steering arm 12-3 to rotate. The drive motor module 12-6 is connected to the steering arm 12-3 through the double wishbone 12-5. The output end of the drive motor module 12-6 is connected to the drive wheel 12-7 through the drive motor mounting plate 12-8, which can drive the drive wheel 12-7 to rotate. The shock absorbing module 12-4 is arranged between the steering arm 12-3 and the drive motor mounting plate 12-8 on the drive wheel 12-7.

[0055] The steering motor module 12-1, the steering arm 12-3 and the steering connection assembly 12-2 serve as an independent steering mechanism.

[0056] Furthermore, the shock absorbing module 12-4 includes a shock absorbing rod and a shock absorbing spring, the two ends of the shock absorbing rod are respectively hinged to the steering arm 12-3 and the driving motor mounting plate 12-8 on the driving wheel 12-7, the shock absorbing rod is vertically arranged, the two ends of the shock absorbing spring are sleeved on the shock absorbing rod, the two ends of the shock absorbing spring are respectively connected to the steering arm and the driving motor mounting plate 12-8 on the driving wheel 12-7, and a brake is provided on the driving wheel.

[0057] Furthermore, the double fork arm 12-5 includes an upper fork arm 12-5.1 and a lower fork arm 12-5.2 which are arranged laterally, and the two ends of the upper fork arm 12-5.1 are respectively hinged to the steering arm 12-3 and the drive motor mounting plate 12-8 on the drive wheel 12-7, and the two ends of the lower fork arm 12-5.2 are respectively hinged to the steering arm 12-3 and the drive motor mounting plate 12-8 on the drive wheel 12-7.

[0058] Furthermore, the control system includes a main controller, a mobile chassis controller, and a palletizing robot controller, and the main controller is connected to the mobile chassis controller and the palletizing robot controller respectively;

[0059] The mobile chassis controller is respectively connected to the communication module, I / O module, navigation system, obstacle avoidance system as a safety module, lifting mechanism, drive module, and power supply system on the omnidirectional mobile chassis, and controls them;

[0060] The palletizing robot controller is respectively connected to the communication module, safety module, terminal 3D vision system, terminal gripper and robotic arm on the robotic arm, and controls them.

[0061] The mobile chassis controller controls the communication module, navigation module, I / O module, safety module, lifting module, drive module, power module, etc. of the chassis respectively. The communication module includes 5G module, WIFI module, etc. The navigation module includes 3D laser radar, 2D laser radar, IMU, GPS, RTK, etc. The I / O module includes light switch, safety edge switch, emergency stop switch, alarm, etc. The safety module includes laser radar, 3D vision, millimeter wave radar, ultrasonic radar, anti-fall device, ultrasonic sensor, etc. The drive module includes steering motor, lifting electric cylinder, drive motor, brake, encoder, etc. The power supply system includes power battery, inverter, etc. The power supply system is arranged in the battery compartment of the omnidirectional mobile chassis; wherein, 1) the 3D laser radar and 2D laser radar in the navigation module and the safety module are the same. 2) The anti-collision device in the safety module has a total of two functions. The first is automatic navigation and obstacle avoidance; the second is the anti-collision bar. When colliding with an external object, the switch on the anti-collision bar will be triggered, and the car will immediately react and make an emergency stop to prevent further damage. 3) The safety module on the palletizing robot mainly uses the camera at the end of the robotic arm to identify the surrounding environment, thereby guiding the robotic arm to move within a certain range and avoid possible collision objects. 4) The anti-fall module is mainly the function of the suction cup gripper at the end of the robotic arm. When the gripper grabs the material, if the power is off, it can also maintain suction for a certain period of time through the pressure regulating valve to ensure that the material will not fall.

[0062] The control system of the palletizing robot mainly controls the communication module, the terminal 3D vision module, the terminal gripper control module, the mechanical arm control module, the safety module, etc. The communication module includes a network interface, a bus, a communication protocol, etc. The terminal 3D vision module includes a visual camera, a visual processing software, etc. The terminal gripper control module includes a terminal gripper, a drive mechanism, a power supply module, a gripper control system, etc. The mechanical arm control module includes a controller, a sensor, an encoder, a power supply system, etc. The safety module includes an anti-collision device, an emergency stop button, a robot posture monitoring, and a robot speed limit, etc.

[0063] Under the joint action of the navigation module and the driving module of the mobile chassis, the mobile palletizing robot has the ability to locate and navigate indoors and outdoors, can automatically and safely drive from indoors to indoors along a certain route, can automatically switch navigation modes according to changes in the indoor and outdoor environments, and realize unmanned transportation of building materials from outdoor yards to indoor floor work surfaces. The mobile chassis safety module can ensure that the mobile palletizing robot can automatically identify obstacles such as pedestrians, vehicles, and complex terrain during driving and respond to them, ensuring safety during work and situations. The communication module can upload real-time working conditions and status to the background control system, and autonomously complete corresponding tasks according to the instructions of the control system.

[0064] Furthermore, mobile chassis indicator lights are arranged around the body of the omnidirectional mobile chassis.

[0065] The working principle of the present invention is to use GPS / Beidou, laser radar, etc. to obtain real-time map data indoors and outdoors, use gyroscopes, encoders, etc. to accumulate mileage to obtain current positioning confidence, and use vision, QR code, UWB, RTK, etc. to obtain the target position, which is used as the basis for the path planning of the mobile stacking robot.

[0066] After obtaining the path of the mobile palletizing robot, the controller controls the movement of the mobile chassis to make it move along the path at a certain speed, angle, and posture. When the mobile palletizing robot reaches a predetermined position, it continues to control the movement of the chassis to make it approach the target position until it reaches the target position. At this time, the visual system of the mobile chassis scans and identifies the materials to be unstackered, and returns the obtained information to the controller. If the visual system of the mobile chassis cannot completely identify the materials to be unstackered, it continues to control the movement of the mobile chassis to adjust its posture until the mobile chassis can completely scan the materials to be unstackered.

[0067] After that, the mobile chassis keeps the same position, and the palletizing robot control system starts to control the collaborative robot arm to move along the pre-set path, transport it to the upper end of the material to be depalletized, trigger the visual system at the end of the robot arm to take pictures, and identify them after taking pictures to see if they match the target features. If they do not match, it means that the robot arm and the end vision have not reached the right position, and it is necessary to readjust the movement path of the robot arm and take pictures again, until the end vision of the robot arm takes pictures to obtain model data and position information, and guide the robot arm and the end gripper to perform depalletizing operations.

[0068] Repeat the above process until the material is depalletized.

[0069] In summary, 1. The mobile palletizing robot proposed in the present invention can adapt to the indoor and outdoor environment of the construction site at the same time, has the ability to autonomously locate and navigate indoors and outdoors, is not restricted by the environment, and can work all day long; 2. The mobile palletizing robot proposed in the present invention can independently complete the depalletizing and palletizing operations of any stacked materials, and the whole process does not require manual assistance, and is fully intelligent; 3. The mobile palletizing robot proposed in the present invention is adaptive to the position and height of materials, and can perform motion control in real time according to the detected data, with strong adaptability and high safety. In particular, the mobile palletizing robot can move freely outdoors at the construction site, take the elevator autonomously, and shuttle autonomously between indoor floors, without being restricted by the terrain and environment.

[0070] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0071] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A mobile palletizing robot for indoor and outdoor work, characterized in that: It comprises an omnidirectional mobile chassis (6), a mechanical arm (5), an end gripper (7), a visual system and a navigation system, wherein the mechanical arm and the navigation system are arranged on the omnidirectional mobile chassis (6), and the end gripper and the visual system are arranged at the end of the mechanical arm; A plurality of driving wheels serving as driving modules are distributed at the bottom of the omnidirectional mobile chassis (6); a collaborative robot arm mounting platform is provided on the omnidirectional mobile chassis (6); the robot arm is provided on the collaborative robot arm mounting platform; and a lifting mechanism is provided between the omnidirectional mobile chassis (6) and the collaborative robot arm mounting platform; The mobile palletizing robot for indoor and outdoor work also includes a control system and a power supply system. The control system is respectively connected to the omnidirectional mobile chassis (6), the mechanical arm (5), the lifting mechanism, the end gripper (7), the visual system and the navigation system; and the power supply system is respectively connected to the control system, the omnidirectional mobile chassis (6), the mechanical arm (5), the lifting mechanism, the end gripper (7), the visual system and the navigation system.

2. The mobile palletizing robot for indoor and outdoor work according to claim 1, characterized in that: The lifting mechanism comprises a lifting electric cylinder, and the upper and lower ends of the lifting electric cylinder are respectively connected to the collaborative robot arm mounting platform and the omnidirectional mobile chassis.

3. The mobile palletizing robot for indoor and outdoor work as claimed in claim 1, characterized in that: The end clamp includes a suction cup clamp, a connecting seat and a connecting flange. The upper end of the suction cup clamp is connected to the connecting seat. The connecting seat is connected to the end of the robot arm through the connecting flange. The visual system is arranged on the connecting seat.

4. The mobile palletizing robot for indoor and outdoor work according to claim 1, characterized in that: The navigation system includes a positioning module and a lidar.

5. The mobile palletizing robot for indoor and outdoor work as claimed in claim 1, characterized in that: The omnidirectional mobile chassis (6) is also provided with an obstacle recognition and avoidance system, which is connected to the control system.

6. The mobile palletizing robot for indoor and outdoor work as claimed in claim 5, characterized in that: The obstacle recognition and avoidance system comprises four visual cameras, which are arranged around the body of the omnidirectional mobile chassis (6).

7. The mobile palletizing robot for indoor and outdoor work according to claim 6, characterized in that: The obstacle recognition and avoidance system also includes two sets of ultrasonic radars, which are respectively arranged at the front and rear of the vehicle body of the omnidirectional mobile chassis (6).

8. The mobile palletizing robot for indoor and outdoor work as claimed in claim 1, characterized in that: Each drive wheel is an independent suspension wheel.

9. The mobile palletizing robot for indoor and outdoor work according to claim 8, characterized in that: The independent suspension wheel comprises a steering motor module (12-1), a steering connection assembly (12-2), a steering arm (12-3), a shock absorbing module (12-4), a double wishbone (12-5), a driving motor module (12-6) and a driving wheel (12-7); the upper end of the steering arm (12-3) is connected to the omnidirectional mobile chassis (6) through the steering connection assembly (12-2); the output end of the steering motor module (12-1) is connected to the upper end of the steering arm (12-3) and can drive the steering arm (12-3) to rotate; the driving motor module (12-6) is connected to the steering arm (12-3) through the double wishbone (12-5); the output end of the driving motor module (12-6) is connected to the driving wheel (12-7) and can drive the driving wheel (12-7) to rotate; and the shock absorbing module (12-4) is arranged between the steering arm (12-3) and the driving wheel (12-7).

10. The mobile palletizing robot for indoor and outdoor work according to claim 5, characterized in that: The control system includes a main controller, a mobile chassis controller, and a palletizing robot controller. The main controller is connected to the mobile chassis controller and the palletizing robot controller respectively. The mobile chassis controller is respectively connected with the navigation system, the obstacle avoidance system as a safety module, the lifting mechanism, the driving module, and the power supply system on the omnidirectional mobile chassis; The palletizing robot controller is connected to the visual system, end gripper and robotic arm on the robotic arm respectively.

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