Multifunctional logistics sorting and carrying trolley

Abstract

The utility model relates to the technical field of logistics sorting, in particular to a multifunctional logistics sorting carrying trolley which comprises an independent suspension Mecanum wheel trolley chassis, a trolley body, a mechanical arm and a mechanical clamping jaw. A trolley body is installed on the independent suspension Mecanum wheel trolley chassis, and independent mechanical arms are installed at the four corners of the trolley body. According to the multifunctional logistics sorting and carrying trolley, in a suspension system, a motor for driving the trolley to walk is installed on a suspension damping plate, fixing of the motor is achieved, the front end of the suspension damping plate is connected with a damping spring through a movable hinge, and the other end of the damping spring is connected to a trolley chassis cross beam through a hinge; by means of the design, damage such as bumping possibly generated in the using process of the motor is effectively reduced, in addition, the suspension system is connected with the chassis cross beam through the hinge, the overall using rigidity of the trolley is enhanced, and using abrasion of the suspension system is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics sorting, and in particular to a multifunctional logistics sorting and transporting trolley. Background Art

[0002] Logistics sorting and handling carts are an innovative technology that emerged in the ever-evolving logistics and supply chain landscape. Traditional warehousing and sorting processes often rely on manual labor. However, with growing logistics demands and the constant pursuit of efficiency, automation technology has become a key means of improving operational efficiency and reducing costs. These carts emerged as a response to these labor-intensive operations, designed to perform complex sorting, handling, and storage tasks. These tasks may occur in large warehouses, distribution centers, or production lines, and the carts address these challenges through advanced technology and well-designed structures.

[0003] Currently, most logistics sorting and handling carts on the market use single or dual manipulators to complete handling and sorting tasks. However, the single or dual manipulator structure of these carts complicates path planning. Furthermore, most existing Mecanum wheel chassis rely on hard connections, making them unable to adapt to terrain changes and potentially causing the motor to idle. Due to the characteristics of Mecanum wheels, if one wheel is missing for friction with the ground, the cart will not be able to follow its intended route and may even be unable to move at all.

[0004] A recently published Chinese patent (application publication number: CN116281135A) proposes a logistics sorting cart whose innovation lies in the multi-degree-of-freedom structure of the robotic arm. However, the robotic arm described in this patent still uses a single-arm grasping mechanism, and the arm is relatively long, resulting in high torque during grasping and sorting tasks. Therefore, the design was initially designed to accommodate smaller grasping weights. Moreover, the lack of a rigid connection between the parallel drive arm and the connecting arm may cause the rotating connection between the connecting arms to gradually wear out over time, thereby reducing the stability of the structure.

[0005] In addition, another Chinese patent (application publication number: CN218858085U) discloses a mecanum wheel chassis with a shock-absorbing suspension function. The key to this patent is the independent mecanum wheel suspension system, which achieves a shock-absorbing effect by directly connecting the shock-absorbing spring to the mecanum wheel. However, during use, when the shock-absorbing spring is significantly compressed, it may cause damage to the vehicle's drive motor. In addition, the connection between the shock-absorbing system and the mecanum wheel may have insufficient fatigue strength, which may lead to the potential risk of separation of the shock-absorbing system and the mecanum wheel.

[0006] Therefore, those skilled in the art provide a multifunctional logistics sorting trolley to solve the problems raised in the above background technology. Summary of the Invention

[0007] To overcome the aforementioned technical challenges, the present invention provides a multifunctional logistics sorting and handling trolley. The trolley comprises an independently suspended Mecanum wheel trolley chassis, a robotic arm, and a main trolley body. The Mecanum wheel independent suspension system is connected to the trolley chassis via four suspension damping plates, which in turn are connected to the main trolley body via a chassis connecting plate. At least six ultrasonic sensors are mounted on the trolley chassis connecting plate to detect the position and distance of objects.

[0008] The main body of the trolley consists of a trolley frame and a cargo box. The trolley frame is bolted to the chassis connection plate, while the trolley frame and cargo box are securely bolted together. Four vision systems are mounted on the trolley frame, each with a rotating disk driven by a servo. A pair of mounting elements are fixed to the other side of the rotating disk, the upper ends of which are connected to the robotic arm via a servo drive. This innovative design enables the trolley's multifunctional operation, improving its efficiency and flexibility in logistics sorting and handling.

[0009] The preferred Mecanum wheel independent suspension chassis consists of shock-absorbing springs, a suspension damping plate, a movable hinge, a chassis crossbeam, a drive motor, and Mecanum wheels. The detailed structure is as follows: The chassis is equipped with four independently driven Mecanum wheels, each with its own independent suspension system. Within the suspension system, the motor driving the vehicle is cleverly mounted on the suspension damping plate. The front end of the suspension damping plate is connected to the shock-absorbing spring via a movable hinge, while the other end of the damping spring is hinged to the chassis crossbeam. This design not only effectively reduces potential bumps and damage to the motor during use, but also, through the hinged connection between the suspension system and the chassis crossbeam, improves the overall rigidity of the vehicle and reduces wear and tear on the suspension system.

[0010] Preferably, the chassis connection plate is equipped with a control panel and at least six ultrasonic sensors for object detection and distance measurement. The control panel is responsible for precise control of the drive motors, drive servos, and various sensors.

[0011] Optimal: Four vision systems are configured on the vehicle's main connecting frame. With the assistance of these vision systems, the efficiency and accuracy of the vehicle in sorting and handling tasks can be significantly improved.

[0012] Preferred: The vehicle fully utilizes four manipulators to sort and transport items, greatly improving the vehicle's flexibility while reducing the complexity of path planning. This design not only increases the initial weight of sorting and transporting, but also significantly improves the durability of the manipulators.

[0013] Optimized: The manipulator has six degrees of freedom, giving the robot greater mobility and flexibility when sorting and moving items. This optimization solution helps further improve the robot's adaptability in complex environments, allowing it to perform sorting and moving tasks more efficiently.

[0014] Preferably, the rotating portion of the robot arm is connected to the main body of the robot via an independent drive servo. Drive Arm 1 and Drive Arm 2 of the robot arm are each connected to the rotating portion of the robot via their own independent drive servos. Furthermore, Drive Arm 3 of the robot arm is connected to Drive Arm 1 via an independent drive servo, while Drive Arm 3 and Drive Arm 4 are each connected via their own independent drive servos. The gripper is rotated by a separate drive motor. Each joint is equipped with an independent motor drive, ensuring that the robot arm can achieve more precise operation during object grasping.

[0015] Preferably, the parallel driving arms 1 and 2 within the robot are connected by a copper post, while the parallel driving arms 3 and connecting arm 1 are also connected by a copper post. Furthermore, the parallel driving arms 4 and connecting arm 2 are connected by a rigid component. This design effectively increases the overall rigidity of the robot, ensuring more robust and reliable operation.

[0016] Preferably, an independent gripping screw transmission component is embedded inside the mechanical gripper of the manipulator, so as to accurately control the rotation, gripping and releasing actions of the mechanical gripper.

[0017] Preferred: The mechanical gripper adopts a bionic gripper structure with excellent adaptability. It can flexibly adjust the gripping method according to the shape and size of the object being grasped. It is suitable for a variety of tasks and environments, thereby improving its application flexibility.

[0018] The vehicle has ample free space throughout, allowing for optional installation of sensors such as infrared and lidar. The main control board, installed within the vehicle's main body, interacts with multiple sensors, enabling precise control of the drive motor and battery management. Furthermore, the vehicle's Mecanum wheels enable multi-angle movement, further enhancing its maneuverability and adaptability.

[0019] The technical effects and advantages of the present invention are as follows:

[0020] In the suspension system, the motor that drives the vehicle is mounted on a suspension damper plate, securing the motor. The front end of the damper plate is connected to the damper spring via a living hinge, while the other end of the damper spring is hinged to the vehicle's chassis crossbeam. This design effectively reduces potential damage to the motor from bumps and other impacts during use. Furthermore, the hinged connection between the suspension system and the chassis crossbeam not only enhances the vehicle's overall rigidity but also reduces wear and tear on the suspension system.

[0021] The robot boasts exceptional object sorting and handling capabilities, fully operated by four manipulators. This significantly enhances the robot's flexibility and reduces the complexity of path planning, while also reducing the initial weight required for sorting and handling, and improving the durability of the manipulator arms. The manipulators possess six degrees of freedom, providing the robot with a wider range of motion and greater flexibility when sorting and handling objects. Each component of the robot's manipulators is meticulously designed. The rotating unit is connected to the robot body via independent drive servos, and the drive arms are connected by copper pillars, ensuring independent movement of each component. Each joint is equipped with an independent motor, enabling more precise grasping of objects. The gripper's built-in independent screw drive provides flexible control of gripper rotation, gripping, and release. The bionic gripper structure offers high adaptability, allowing it to adjust its grip based on the shape and size of the object being grasped, making it suitable for a variety of tasks and environments. The robot's overall design leaves ample space for the installation of sensors such as infrared and lidar as needed. The main control board facilitates information exchange between these sensors, while also controlling the drive motor and battery management. Equipped with Mecanum wheels, the trolley can move at multiple angles, further enhancing its flexibility.

[0022] The robot is equipped with an interactive information control center, a vision system, and an ultrasonic sensing system. Optional laser radar and infrared sensing systems are also available to enhance its intelligence. This equipment configuration is designed to optimize the robot's motion path and further improve the accuracy of object recognition and grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of a multifunctional logistics sorting and handling trolley;

[0024] Figure 2 and Figure 3 This is a structural diagram of the main part of the multifunctional logistics sorting trolley;

[0025] Figure 4 This is a schematic diagram of the chassis structure of the multifunctional logistics sorting trolley with independent suspension Mecanum wheels;

[0026] Figure 5 This is a schematic diagram of the shock-absorbing structure in the chassis of the multifunctional logistics sorting trolley;

[0027] Figure 6 and Figure 7 This is a schematic diagram of the structure of the robotic arm and mechanical gripper in the multifunctional logistics sorting vehicle;

[0028] In the figure: 1. Independent suspension Mecanum wheel trolley chassis; 2. Trolley main body; 3. Robotic arm; 4. Shock absorption structure; 5. Mechanical gripper;

[0029] 101. Acrylic shock-absorbing plate (one); 102. 450mm aluminum square tube (one); 103. Acrylic shock-absorbing plate (two); 104. 250mm aluminum square tube (two); 105. Trolley chassis crossbeam; 106. Hinge; 107. Mecanum wheel motor base plate; 108. Shock absorber lower mounting bracket; 109. Shock absorber upper mounting bracket; 110. Gear motor base; 111. Mecanum wheel;

[0030] 201, chassis connection plate; 202, ROS control board; 203, ultrasonic sensor; 204, vehicle main body connection frame; 205, cargo box; 206, vision system; 207, camera bracket;

[0031] 301. Rotating unit; 302. Servo bracket; 303. Driving arm 1; 304. Driving arm 2; 305. Copper column 1; 306. Driving arm 3; 307. Connecting arm 1; 308. Driving arm 4; 309. Connecting arm 2; 310. Servo upper plate; 311. Servo lower plate; 312. Rotating unit servo; 313. First joint servo 1; 314. First joint servo 2; 315. Second joint servo; 316. Third joint servo; 317. Wrist rotation servo;

[0032] 401, spring support; 402 spring;

[0033] 501. Mechanical gripper rotating base; 502. Copper pillar 2; 503. Gripper fixed base; 504. Rotating motor; 505. Screw; 506. Well-shaped connector; 507. Connector 1; 508. Connector 2; 509. Connector 3; 510. Finger. DETAILED DESCRIPTION

[0034] The present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention are intended to be exemplary and illustrative only and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described to better explain the principles and practical applications of the present invention so that those skilled in the art can understand the present invention and design various embodiments suitable for specific applications, including various possible modifications.

[0035] See also Figures 1 to 4 In this embodiment, a multifunctional logistics sorting trolley is provided, including an independent suspension Mecanum wheel trolley chassis 1, a trolley body 2, a robotic arm 3, and a robotic gripper 5. A chassis connecting plate 201 is connected to the chassis crossbeam of the independent suspension Mecanum wheel trolley chassis 1, and a ROS control board 202 and six ultrasonic sensors 203 are installed on the chassis connecting plate 201. Infrared sensors and laser radars can be additionally installed at the chassis connecting plate 201. The trolley body is installed on the chassis connecting plate 201. The connecting frame 204, the trolley main body connecting frame 204 is connected to the cargo box 205 by bolts, and is rotationally connected to the manipulator 3 at its four corners through a servo. There are four visual systems 206 below the manipulator 3 connected to the trolley main body connecting frame 204 through a camera bracket 207, wherein the chassis connecting plate 201, the trolley main body connecting frame 204, the cargo box 205, the ROS control board 202, the ultrasonic sensor 203, the visual system 206, and the camera bracket 207 together constitute the trolley main body 2.

[0036] The independent suspension Mecanum wheel trolley chassis 1 is provided with two acrylic shock-absorbing plates 101 connected to the chassis connecting plate 201 by bolts. The two acrylic shock-absorbing plates 101 are connected by two 450mm aluminum square tubes 102. At the same time, two identical acrylic shock-absorbing plates 103 are also installed at the corresponding position below the 450mm aluminum square tube 102. Two 250mm aluminum square tubes 104 are connected to the two 450mm aluminum square tubes 102 to connect the trolley chassis crossbeam 105 (the chassis crossbeam is 25 0mm aluminum square tube 2 104, four hinges 106 are set at each trolley chassis crossbeam 105, and every two hinges 106 are connected to the end of a McLennan motor base plate 107. It can be seen that the trolley chassis has a total of four McLennan motor base plates 107, and a shock absorber lower mounting bracket 108 is installed at the other end of the McLennan motor base plate 107, and a shock absorber upper mounting bracket 109 is installed at the acrylic shock absorber plate 2 (103), and a shock absorber 4 is set between the shock absorber lower mounting bracket 108 and the shock absorber upper mounting bracket 109.

[0037] A reduction motor base 110 is installed on each of the Mecanum wheel motor base plates 107 , and the Mecanum wheel 111 and the reduction motor are connected to the Mecanum wheel motor base plate 107 via the reduction motor base 110 .

[0038] The shock absorber 4 comprises a shock absorbing support 401 and a spring 402 . The shock absorbing spring 402 is fixed on the shock absorbing support 402 . The shock absorbing support 401 is rotatably connected to the mounting bracket 109 on the shock absorber.

[0039] The mechanical arm 3 includes a rotating part 301, on which a servo support 302 is installed. The servo support 302 is connected to the driving arm 1 303 and the driving arm 2 304 respectively through two servos. The driving arm 1 303 and the driving arm 2 304 are connected through a copper column 1 305. The driving arm 3 306 is connected to the driving arm 1 303 through the servo, and the driving arm 2 304 is rotatably connected to the connecting arm 1 307. The driving arm 3 306 is connected to the connecting arm 1 307 through the copper column 1 305. The driving arm 3 306 is connected to the driving arm 4 308 through the servo, and the connecting arm 2 309 is rotatably connected to the connecting arm 1 307. The driving arm 4 is connected to the connecting arm 2 through the servo upper splint 310. A servo is provided between the servo upper splint 310 and the servo lower splint 311 to drive the mechanical gripper 5 to rotate.

[0040] The rotating part 301 of the robotic arm 3 is connected to the trolley main body connecting frame 204 through a servo 312. The servos connected to the servo support 302 and the driving arm 1 303 and the driving arm 2 304 are servos 313 and 314 respectively. The servo connected to the driving arm 306 and the driving arm 1 303 is servo 315. The servo connected to the driving arm 306 and the driving arm 4 308 is servo 316. The servo arranged between the servo upper plate 310 and the servo lower plate 311 is servo 317.

[0041] The mechanical gripper (5) and the mechanical arm (3) are connected in rotation via a servo. The mechanical gripper rotating base 501 is connected to the gripper fixed base 503 via a copper column 2 502. A rotating motor 504 is installed between the two bases to drive the movement of the screw rod (505). The screw rod 505 is connected to a well-shaped connector 506. The well-shaped connector 506 is connected to connector 1 507 via connector 2 508. Connector 2 508 and connector 3 509 form a parallelogram mechanism. Connector 2 508 is connected to connector 3 509 and a finger 510.

[0042] The working process of the present invention:

[0043] The central processing controller of the present invention is a ROS control board. This board enables information communication between components such as the vision system, ultrasonic sensors, infrared sensors, lidar, reduction motors, and stepper motors, controlling the vehicle to perform functions such as path planning, movement, and object sorting and handling. The specific operating process is as follows: the vehicle is manually controlled to move along the planned path, collecting information from sensor components such as ultrasonic sensors, infrared sensors, and lidar, communicating this information, and processing this information through the ROS control board 202 to enter the planned path, enabling autonomous movement of the vehicle. The ROS control board 202 controls the reduction motor 112 to move the robot to the specified object after passing the planned path. The ROS control board 202 collects and processes information from the vision system 206 and the ultrasonic sensor 203, and issues instructions to control the reduction servo 312 to rotate the robot arm 3. It controls the servos 313 and 314 to rotate the driving arm 1 303 and the driving arm 2 304. It controls the servo 315 to rotate the driving arm 3 306 and the connecting arm 1 307. It controls the servo 316 to rotate the driving arm 4 308 and the connecting arm 2 309. It controls the servo 317 to rotate the robot arm to the appropriate position. The ROS control board 202 also controls the rotation motor 504 to rotate and drive the lead screw 505, thereby driving the well-shaped connector 506 to move along the direction of the lead screw. The well-shaped connector 506 in turn drives the connector 1 507 to move, thereby driving the connector 2 508 and the connector 3 509 to form a parallelogram mechanism, and finally drives the finger 510 to complete the grasping of the object.

[0044] The visual system 206 in this invention is not only used to identify and grasp objects, but also can be used to monitor road conditions, make up for the shortcomings of the ultrasonic sensor 203, and achieve mutually complementary functions.

[0045] Obviously, the embodiments described are only part of the present invention, not all of it. Based on the present invention, all other embodiments obtained by professionals in this and related fields without inventive work should be included within the scope of protection of the present invention. Structures, devices, and operating methods not explicitly described and explained in the present invention should be implemented in accordance with common means in the art unless otherwise specified or limited.

Claims

1. A multifunctional logistics sorting and transporting trolley, characterized by: The invention comprises an independently suspended Mecanum wheel trolley chassis (1), a trolley main body (2), a mechanical arm (3) and a mechanical gripper (5); A trolley main body (2) is mounted on an independently suspended Mecanum wheel trolley chassis (1), and independent mechanical arms (3) are mounted at four corners of the trolley main body (2), and a mechanical gripper (5) is mounted at the end of each mechanical arm (3); A ROS control board (202) and six ultrasonic sensors (203) are installed on the chassis connecting plate (201), and an infrared sensor and a laser radar can be additionally installed at the chassis connecting plate (201). Four visual systems (206) are provided below the robotic arm (3) and are connected to the vehicle main body connecting frame (204) through a camera bracket (207).

2. A multifunctional logistics sorting and transporting trolley according to claim 1, characterized in that: The independently suspended Mecanum wheel trolley chassis (1) also includes two acrylic shock-absorbing plates (101) connected to the chassis connecting plate (201) by bolts. The two acrylic shock-absorbing plates (101) are connected by two 450mm aluminum square tubes (102). At the same time, two identical acrylic shock-absorbing plates (103) are also installed at the corresponding positions below the 450mm aluminum square tubes (102). Two 250mm aluminum square tubes (104) are connected to the two 450mm aluminum square tubes (102) to connect the trolley chassis crossbeam (105), and the chassis crossbeam is made of The trolley chassis is composed of two 250mm aluminum square tubes (104). Four hinges (106) are provided at each trolley chassis crossbeam (105). Every two hinges (106) are connected to the end of a wheat wheel motor base plate (107). This shows that the trolley chassis has a total of four wheat wheel motor base plates (107). At the other end of the wheat wheel motor base plate (107), a shock absorber lower mounting bracket (108) is installed, and a shock absorber upper mounting bracket (109) is installed at the acrylic shock absorber plate (103). A shock absorber (4) is provided between the shock absorber lower mounting bracket (108) and the shock absorber upper mounting bracket (109).

3. The multifunctional logistics sorting and transporting vehicle according to claim 1, characterized in that: The mechanical arm (3) is composed of a rotating part (301), a steering gear support (302) is installed on the rotating part (301), the steering gear support (302) is connected to the driving arm 1 (303) and the driving arm 2 (304) respectively through two steering gears, the driving arm 1 (303) and the driving arm 2 (304) are connected through the copper column 1 (305), and the driving arm 3 (306) is connected to the driving arm 1 (303) through the steering gear, and the driving arm 2 (304) is rotatably connected to the connecting arm One (307), and the driving arm three (306) is connected to the connecting arm one (307) through the copper column one (305), the driving arm three (306) is connected to the driving arm four (308) through the steering gear, and the connecting arm two (309) is rotatably connected to the connecting arm one (307), and the driving arm four is connected to the connecting arm two through the steering gear upper clamping plate (310), and a steering gear is provided between the steering gear upper clamping plate (310) and the steering gear lower clamping plate (311) to drive the rotation of the mechanical clamping claw (5).

4. The multifunctional logistics sorting and transporting vehicle according to claim 1, characterized in that: The mechanical gripper (5) and the mechanical arm (3) are connected in rotation via a servo. The rotating base (501) of the mechanical gripper is connected to the fixed base (503) of the gripper via a second copper column (502). A rotating motor (504) is installed between the two bases to drive the movement of the screw rod (505). The screw rod (505) is connected to a well-shaped connector (506), and the well-shaped connector (506) is connected to the first connector (507) via a second connector (508). The second connector (508) and the third connector (509) form a parallelogram mechanism and are connected to the finger (510) via the third connector (509).

5. The multifunctional logistics sorting and transporting vehicle according to claim 1, characterized in that: The central processing controller of the present invention is a ROS control board, through which information communication of the visual system, ultrasonic sensor, infrared sensor, laser radar, reduction motor, and stepper motor components can be realized, and the trolley can be controlled to complete path planning, movement, and object sorting and transportation functions.

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