Four-wheel-drive obstacle-avoiding goods-taking trolley

Abstract

The utility model relates to the technical field of goods transfer in express stations, in particular to a four-wheel-drive obstacle-avoiding goods-taking trolley which comprises a mechanical arm, a rotating base, a manipulator, a control system, a frame, radar equipment and a moving structure. The driving device is fixed on the frame, the output end of the driving device is connected with a rotating base, and the driving device drives the rotating base to rotate; the bottom of the mechanical arm is fixed on the upper surface of the rotating base, and the top of the mechanical arm is connected with the manipulator; the moving structure is used for moving the trolley, and the control system is electrically connected with the driving device, the mechanical arm, the mechanical hand, the radar equipment and the moving structure. Through the multi-degree-of-freedom design of the rotating base, the mechanical arm and the mechanical hand, goods can be flexibly grabbed and placed in a complex environment, and the multi-degree-of-freedom mechanical arm is suitable for goods of different shapes and positions. The radar device and the control system can detect surrounding obstacles and effectively avoid collision.

Description

Technical Field

[0001] The utility model relates to the technical field of goods transfer in express stations, and specifically relates to a four-wheel drive obstacle avoidance picking cart. Background Technique

[0002] In today's society, with the rapid development of e-commerce, the express delivery industry has shown an explosive growth trend. On the one hand, the throughput of goods in express stations is increasing continuously, and the efficiency of manual goods transfer is difficult to meet the demand. Long-term high-intensity work has led to a shortage of labor and a sharp rise in labor costs. On the other hand, the existing picking cart equipment often has a relatively complex design and a large number of components, resulting in easy failure.

[0003] The Chinese utility model patent discloses a four-wheel drive mapping navigation handling robot with the authorization announcement number of CN216859712 U. Its structure includes a four-wheel drive traveling system, a vehicle frame arranged on the four-wheel drive traveling system, a lidar, a depth camera, a robotic arm, and a main control system. The lidar is arranged at the front of the vehicle frame, the main control system is arranged on the vehicle frame, and the robotic arm is used for handling items.

[0004] The mechanism of this patent is complex, especially the part of the robotic arm has a large number of components, resulting in easy failure.

[0005] Therefore, developing a picking cart with four-wheel drive obstacle avoidance function and a simple and efficient robotic arm structure has become an urgent problem to be solved by people. Content of the Utility Model

[0006] The utility model provides a four-wheel drive obstacle avoidance picking cart. Through the multi-degree-of-freedom design of the rotating base, the robotic arm, and the manipulator, the picking work can be completed, and the structure of the robotic arm is simple to solve the problems existing in the prior art.

[0007] To achieve the above purpose, the utility model provides the following technical solution: a four-wheel drive obstacle avoidance picking cart, including a robotic arm, a rotating base, a manipulator, a control system, a vehicle frame, a radar device, and a moving structure;

[0008] A driving device is fixed on the vehicle frame, and the output end of the driving device is connected to the rotating base to drive the rotating base to make a rotational motion through the driving device; the bottom of the robotic arm is fixed on the upper surface of the rotating base, and the top of the robotic arm is connected to the manipulator;

[0009] The control system and the radar device are fixed on the vehicle frame,

[0010] The moving structure is used for the movement of the cart and is arranged at the bottom of the vehicle frame;

[0011] The control system is electrically connected to the driving device, the robotic arm, the robotic hand, the radar device, and the mobile structure respectively.

[0012] Further, the robotic arm includes a base, a large arm, a small arm, a rotating bracket, a driving structure one, a driving structure two, and a driving structure three;

[0013] The base is fixed on the rotating base as the support structure of the robotic arm;

[0014] The lower end of the large arm is hinged to the base;

[0015] The driving structure one is arranged on the base and located on one side of the large arm; the output end of the driving structure one is connected to the lower end of the large arm and drives the large arm to swing back and forth;

[0016] The middle part of the small arm is hinged to the top end of the large arm;

[0017] The driving structure two is arranged on the base, the output end of the driving structure two is hinged to the left end of the small arm, and drives the small arm to swing up and down relative to the large arm through the driving structure two;

[0018] The rotating bracket is hinged to the right end of the small arm;

[0019] The driving structure three is fixed to the right end of the small arm and the output end of the driving structure three is connected to the rotating bracket; the rotating bracket is driven to swing up and down through the driving structure three;

[0020] The robotic hand is arranged on the rotating bracket.

[0021] Further, a driving structure four is arranged on the rotating bracket; the robotic hand is installed on the output end of the driving structure four, and the robotic hand is driven to rotate through the driving structure four.

[0022] Further, a driving structure five is connected to the robotic hand, and the robotic hand is driven by the driving structure five to perform an opening and closing action to grab an object.

[0023] Further, the driving structure two includes a power source, a driving arm, and a connecting rod; the driving arm and the connecting rod form a crank-rocker structure;

[0024] The power source is fixed on the base, the output end of the power source is fixedly connected to one end of the driving arm, the other end of the driving arm is hinged to the lower end of the connecting rod, and the upper end of the connecting rod is connected to the left end of the small arm; the driving arm is driven to rotate by the power source, and the driving arm drives the left end of the small arm to move up and down, so that the small arm makes a pitching motion relative to the large arm.

[0025] Further, the mobile structure includes wheels, a steering servo, and a steering link mechanism;

[0026] The steering link mechanism is fixed to the bottom of the vehicle frame, and the steering servo is fixed to the middle of the steering link mechanism; the output end of the steering servo is connected to the steering link mechanism;

[0027] There are four wheels, which are divided into two front wheels and two rear wheels. Each wheel is equipped with a separate drive motor; the two front wheels are respectively rotatably connected to both ends of the steering link mechanism; the two rear wheels are respectively rotatably connected to the bottom of the vehicle frame;

[0028] The steering servo drives the steering link mechanism, and the steering link mechanism converts the rotation of the steering servo into the steering movement of the front wheels.

[0029] Furthermore, the steering link mechanism includes a fixed bracket, a driving rod, a driven rod and two bogies;

[0030] The fixed bracket is fixed to the bottom of the vehicle frame;

[0031] The two bogies are rotatably connected to both ends of the fixed bracket in the length direction;

[0032] The driving rod moves driven by the steering servo; both ends of the driving rod are hinged to one side of the two bogies;

[0033] The driven rod is arranged parallel to the driving rod, and both ends of the driven rod are hinged to the other side of the two bogies;

[0034] The driving rod, the driven rod and the two bogies form a four-bar linkage structure;

[0035] One front wheel is respectively connected to the outside of the two bogies;

[0036] The steering servo drives the driving rod to move, the driving rod drives the two bogies to move, and the rotation movement of the output end of the steering servo is converted into the steering movement of the two bogies through the driving rod, so as to change the movement direction of the two front wheels.

[0037] Advantageous Effects

[0038] Through the multi-degree-of-freedom design of the rotating base, the robotic arm and the robotic hand, the utility model can flexibly grasp and place goods in a complex environment, adapt to goods of different shapes and positions, also reduce labor costs and reduce the dependence on a large amount of labor.

[0039] The radar device and the control system equipped with the utility model can detect the surrounding obstacles in real time, and timely adjust the driving path and speed of the trolley, effectively avoiding collisions.

[0040] The robotic arm structure of the utility model is simple, can efficiently complete the work of picking up goods, and has few components and is not easy to be damaged. Description of the Drawings

[0041] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments described in the present utility model. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0042] Figure 1 Schematic diagram of the overall structure of the four-wheel drive obstacle avoidance goods pickup trolley disclosed by the utility model;

[0043] Figure 2 Schematic diagram of the structure of the robotic arm disclosed by the utility model;

[0044] Figure 3 Exploded structure diagram of the drive structure II disclosed by the utility model;

[0045] Figure 4 Schematic diagram of the structure of the moving structure disclosed by the utility model;

[0046] Figure 5 Schematic diagram of the structure of the moving structure when turning.

[0047] In the figure:

[0048] 1, robotic arm; 2, rotating base; 3, control system; 4, vehicle frame; 5, moving structure; 6, radar device; 7, manipulator; 8, drive structure V; 11, base; 12, large arm; 13, small arm; 14, rotating bracket; 15, drive structure I; 16, drive structure II; 17, drive structure III; 18, drive structure IV; 51, wheel; 52, steering servo; 53, fixed bracket; 54, active rod; 55, driven rod; 56, bogie; 161, power source; 162, drive arm; 163, connecting rod. Detailed implementation manners

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0050] To achieve the above object, the present utility model provides the following technical solutions, as Figures 1-5 shown, a four-wheel drive obstacle avoidance goods pickup trolley, including a robotic arm 1, a rotating base 2, a manipulator 7, a control system 3, a vehicle frame 4, a radar device 6 and a moving structure 5;

[0051] The rotating base 2 is a disc-shaped structure. A driving device is connected to the lower end of the rotating base 2, and the driving device is fixed on the vehicle frame 4. The rotating base 2 is driven to perform a rotating motion by the driving device; the bottom of the robotic arm 1 is fixed on the upper surface of the rotating base 2, and the top of the robotic arm 1 is connected to the manipulator 7;

[0052] The control system 3 and the radar device 6 are fixed on the vehicle frame 4. In this embodiment, the model of the radar device 6 selected is a lidar sensor of YDLIDAR X3; the radar device 6 is used to detect the environmental information around the vehicle, including the position, shape, and distance of obstacles, etc. This information is transmitted to the control system 3 in real time to provide a basis for the obstacle avoidance and path planning of the vehicle.

[0053] The moving structure 5 is used for the movement of the vehicle and is arranged at the bottom of the vehicle frame 4;

[0054] The control system 3 is electrically connected to the driving device, the robotic arm 1, the manipulator 7, the radar device 6, and the moving structure 5 respectively. The control system 3 is responsible for coordinating and controlling the actions of each component. The control system 3 receives the environmental information from the radar device 6 and sends instructions to the driving device, the robotic arm 1, the manipulator 7, the moving structure 5, etc. according to the preset programs and algorithms to realize functions such as autonomous obstacle avoidance, cargo grasping, and transportation of the vehicle.

[0055] Furthermore, the robotic arm 1 includes a base 11, a large arm 12, a small arm 13, a rotating bracket 14, a driving structure one 15, a driving structure two 16, and a driving structure three 17; in this embodiment, the driving structure one 15 and the driving structure three 17 are selected as servo motors or electric steering gears;

[0056] The base 11 is fixed on the rotating base 2 as the support structure of the robotic arm 1; the lower end of the large arm 12 is hinged to the base 11;

[0057] The driving structure one 15 is arranged on the base 11 and on one side of the large arm 12; the output end of the driving structure one 15 is connected to the lower end of the large arm 12 and drives the large arm 12 to swing back and forth; the middle of the small arm 13 is hinged to the top of the large arm 12; the driving structure two 16 is arranged on the base 11, the output end of the driving structure two 16 is hinged to the left end of the small arm 13, and the small arm 13 is driven to swing up and down relative to the large arm 12 by the driving structure two 16; the rotating bracket 14 is hinged to the right end of the small arm 13, and the driving structure three 17 is fixed to the right end of the small arm 13 and the output end of the driving structure three 17 is connected to the rotating bracket 14; the rotating bracket 14 is driven to swing up and down by the driving structure three 17; the manipulator 7 is arranged on the rotating bracket 14.

[0058] The robotic arm 1 is a key component for the picking cart to grasp and place goods. Through the coordinated movement of multiple joints, it can operate at different positions and angles. The base 11 provides stable support for the robotic arm 1; the forward and backward swing of the upper arm 12, the up and down swing of the lower arm 13, and the up and down swing of the rotating bracket 14 together achieve the flexible positioning of the manipulator 7 in three-dimensional space. In actual work, when the goods are placed at a higher or farther position, the forward and backward swing of the upper arm 12 can bring the manipulator 7 close to the horizontal position of the goods, the up and down swing of the lower arm 13 can adjust the height of the manipulator 7, and the up and down swing of the rotating bracket 14 further fine-tunes the grasping angle, so as to accurately grasp the goods.

[0059] Furthermore, a driving structure four 18 is provided on the rotating bracket 14. In this embodiment, the driving structure four 18 is selected as a servo motor or an electric steering gear. The manipulator 7 is installed on the output end of the driving structure four 18, and the driving structure four 18 drives the manipulator 7 to make a rotational motion. During use, after the manipulator 7 clamps the goods, the angle of the goods can be adjusted through the driving structure four 18.

[0060] Furthermore, a driving structure five 8 is connected to the manipulator 7. In this embodiment, the driving structure five 8 is selected as a servo motor or an electric steering gear. The driving structure five 8 drives the manipulator 7 to perform an opening and closing action to grasp an object. The manipulator 7 is an existing device, and its specific structure is not described in detail as it is prior art.

[0061] Furthermore, the driving structure two 16 includes a power source 161, a driving arm 162, and a connecting rod 163; the power source 161 is fixed on the base 11, the output end of the power source 161 is fixedly connected to one end of the driving arm 162, the other end of the driving arm 162 is hinged to the lower end of the connecting rod 163, and the upper end of the connecting rod 163 is connected to the left end of the lower arm 13; the power source 161 drives the driving arm 162 to rotate, and the driving arm 162 drives the left end of the lower arm 13 to move up and down, so that the lower arm 13 makes a pitching motion relative to the upper arm 12.

[0062] The driving arm 162 and the connecting rod 163 form a crank-rocker structure; the crank-rocker structure realizes the pitching motion of the lower arm 13 relative to the upper arm 12. This structure is simple and reliable, can control the movement amplitude and speed of the lower arm 13, and provides support for the overall movement of the robotic arm 1.

[0063] Furthermore, the moving structure 5 enables the cart to move freely in different working scenarios; the moving structure 5 includes wheels 51, a steering servo 52, and a steering link mechanism; the steering link mechanism is fixed to the bottom of the vehicle frame 4, and the steering servo 52 is fixed in the middle of the steering link mechanism; the output end of the steering servo 52 is connected to the steering link mechanism; in this embodiment, the model of the steering servo 52 selected is MG996.

[0064] The wheel 51 has four wheels divided into two front wheels and two rear wheels, and each wheel 51 is equipped with an individual drive motor; the two front wheels are respectively rotatably connected to both ends of the steering linkage mechanism; the two rear wheels are respectively rotatably connected to the bottom of the vehicle frame 4; the wheel 51 can also be selected as a Mecanum wheel to provide the vehicle with a more flexible movement function;

[0065] In a complex warehouse environment, the four-wheel drive design can ensure that the vehicle can drive smoothly under various ground conditions. By driving the steering linkage mechanism through the steering servo 52, the steering linkage mechanism converts the rotation of the steering servo 52 into the steering movement of the front wheels, realizing the flexible steering of the vehicle, enabling the vehicle to easily avoid obstacles and accurately reach the target position.

[0066] Furthermore, the steering linkage mechanism includes a fixed bracket 53, a driving rod 54, a driven rod 55 and two bogies 56;

[0067] The fixed bracket 53 is fixed to the bottom of the vehicle frame 4, and the two bogies 56 are rotatably connected to both ends of the fixed bracket 53 in the length direction; the middle of the driving rod 54 is hinged to the output end of the steering servo 52; it should be noted that a toggle rod is provided on the output end of the steering servo 52, and the toggle rod is hinged to the middle of the driving rod 54. The steering servo 52 drives the toggle rod to rotate, and the toggle rod drives the driving rod 54 to move left and right; both ends of the driving rod 54 are hinged to one side of the two bogies 56; the driven rod 55 is arranged parallel to the driving rod 54, and both ends of the driven rod 55 are hinged to the other side of the two bogies 56; the driving rod 54, the driven rod 55 and the two bogies 56 form a four-bar linkage structure; a front wheel is respectively connected to the outside of the two bogies 56.

[0068] By driving the driving rod 54 through the steering servo 52, the driving rod 54 drives the two bogies 56 to move synchronously. By converting the rotational movement of the output end of the steering servo 52 into the steering movement of the two bogies 56 through the driving rod 54, the front wheels are steered at a predetermined angle, thereby realizing the steering operation of the vehicle.

[0069] Working principle:

[0070] When the four-wheel drive obstacle avoidance and goods picking vehicle starts to work, the radar device 6 first scans and monitors the surrounding environment, and transmits the obtained information to the control system 3. The control system 3 plans the driving path of the vehicle according to this information, and controls the steering servo 52 and the drive motor in the moving structure 5, so that the vehicle can avoid obstacles and accurately drive to the position where the target goods are located.

[0071] After reaching the target position, the control system 3 controls each driving structure of the robotic arm 1 according to the position and shape of the goods, adjusts the posture of the robotic arm 1, so that the mechanical hand 7 can accurately align with the goods. Then, the mechanical hand 7 completes the grasping action of the goods.

[0072] After grasping the goods, the trolley transports the goods to the designated location according to the preset path. During the transportation process, the radar device 6 continuously monitors the environment, and the control system 3 adjusts the driving state of the trolley as needed. After reaching the destination, the mechanical hand 7 accurately places the goods at the designated position with the cooperation of the robotic arm 1.

[0073] The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the present invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the present invention and its practical applications, and to enable those of ordinary skill in the art to understand the present invention so as to design various embodiments with various modifications suitable for specific purposes.

Claims

1. A four-wheel drive obstacle avoidance cargo pickup vehicle, characterized in that: It comprises a mechanical arm (1), a rotating base (2), a mechanical hand (7), a control system (3), a frame (4), a radar device (6) and a mobile structure (5); A driving device is fixed on the vehicle frame (4), and an output end of the driving device is connected to a rotating base (2), and the rotating base (2) is driven by the driving device to perform a rotating motion; the bottom of the mechanical arm (1) is fixed on the upper surface of the rotating base (2), and the top of the mechanical arm (1) is connected to a mechanical hand (7); The control system (3) and the radar device (6) are fixed on the vehicle frame (4). The moving structure (5) is used for moving the trolley and is arranged at the bottom of the frame (4); The control system (3) is electrically connected to the driving device, the mechanical arm (1), the mechanical hand (7), the radar device (6) and the mobile structure (5) respectively; The mechanical arm (1) comprises a base (11), a large arm (12), a small arm (13), a rotating bracket (14), a driving structure 1 (15), a driving structure 2 (16) and a driving structure 3 (17); The base (11) is fixed on the rotating base (2) to serve as a supporting structure of the robot arm (1); The lower end of the upper arm (12) is hinged to the base (11); The driving structure (15) is arranged on the base (11) and is located on one side of the upper arm (12); the output end of the driving structure (15) is connected to the lower end of the upper arm (12) and drives the upper arm (12) to swing forward and backward; The middle part of the small arm (13) is hinged to the top end of the large arm (12); The second driving structure (16) is arranged on the base (11), and the output end of the second driving structure (16) is hinged to the left end of the small arm (13), and the small arm (13) is driven by the second driving structure (16) to swing up and down relative to the large arm (12); The rotating bracket (14) is hinged to the right end of the small arm (13); The driving structure three (17) is fixed to the right end of the small arm (13) and the output end of the driving structure three (17) is connected to the rotating bracket (14); the driving structure three (17) drives the rotating bracket (14) to swing up and down; The manipulator (7) is arranged on a rotating bracket (14).

2. The four-wheel drive obstacle avoidance cargo pickup vehicle according to claim 1, characterized in that: A driving structure four (18) is provided on the rotating bracket (14); the manipulator (7) is installed on the output end of the driving structure four (18), and the driving structure four (18) drives the manipulator (7) to perform rotational motion.

3. The four-wheel drive obstacle avoidance cargo pickup vehicle according to claim 2, characterized in that: The manipulator (7) is connected to a driving structure five (8), and the driving structure five (8) drives the manipulator (7) to realize an opening and closing action so as to grasp an object.

4. The four-wheel drive obstacle avoidance cargo pickup vehicle according to claim 1, characterized in that: The second driving structure (16) comprises a power source (161), a driving arm (162) and a connecting rod (163); the driving arm (162) and the connecting rod (163) form a crank rocker structure; The power source (161) is fixed on the base (11); the output end of the power source (161) is fixedly connected to one end of the driving arm (162); the other end of the driving arm (162) is hinged to the lower end of the connecting rod (163); the upper end of the connecting rod (163) is connected to the left end of the forearm (13); the driving arm (162) is driven to rotate by the power source (161), and the driving arm (162) drives the left end of the forearm (13) to move up and down, so that the forearm (13) performs a pitching motion relative to the upper arm (12).

5. The four-wheel drive obstacle avoidance cargo pickup vehicle according to claim 1, characterized in that: The mobile structure (5) comprises wheels (51), a steering servo (52), and a steering linkage mechanism; The steering linkage mechanism is fixed to the bottom of the vehicle frame (4), and the steering servo (52) is fixed to the middle of the steering linkage mechanism; the output end of the steering servo (52) is connected to the steering linkage mechanism; The wheels (51) have four wheels, two front wheels and two rear wheels, and each wheel (51) is equipped with a separate driving motor; the two front wheels are rotatably connected to the two ends of the steering linkage mechanism; the two rear wheels are rotatably connected to the bottom of the frame (4); The steering linkage mechanism is driven by the steering steering gear (52), and the steering linkage mechanism converts the rotation of the steering steering gear (52) into the steering movement of the front wheels.

6. The four-wheel drive obstacle avoidance cargo pickup vehicle according to claim 5, characterized in that: The steering linkage mechanism comprises a fixed bracket (53), an active rod (54), a driven rod (55) and two bogies (56); The fixing bracket (53) is fixed to the bottom of the vehicle frame (4); The two bogies (56) are rotatably connected to both ends of the fixed bracket (53) in the length direction; The active rod (54) moves under the drive of the steering servo (52); both ends of the active rod (54) are hinged to one side of two bogies (56); The driven rod (55) and the active rod (54) are arranged parallel to each other, and both ends of the driven rod (55) are hinged to the other sides of the two bogies (56); The active rod (54), the driven rod (55) and the two bogies (56) form a four-bar linkage structure; The outer sides of the two bogies (56) are respectively connected to a front wheel.

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