Double-arm linkage type logistics transfer robot

Abstract

The utility model relates to the technical field of logistics robots, in particular to a double-arm linkage type logistics transfer robot which comprises a bottom plate, two sets of storage boxes of different specifications are installed on the bottom plate, a three-degree-of-freedom camera mechanism is arranged on the bottom plate on the right sides of the storage boxes, and four-degree-of-freedom mechanical arms are installed on the front side and the rear side of the three-degree-of-freedom camera mechanism. A clamping device used for clamping materials is installed at the tail end of the four-freedom-degree mechanical arm, a supporting plate is fixedly arranged at the right end of the chassis, and two material clamping assemblies are symmetrically and fixedly connected to the right end of the upper surface of the chassis. The two four-degree-of-freedom mechanical arms and the three-degree-of-freedom camera are adopted, the material positioning and grabbing capacity and the working flexibility of the robot are improved, and meanwhile the supporting plate in front of the vehicle body can be matched with the mechanical arms to fix, consign and grab the materials; and the robot can complete a series of grabbing and storing actions without stopping running of other devices of the vehicle body, so that the working efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of logistics robot technology, and more specifically, to a dual-arm linkage logistics handling robot. Background Technology

[0002] Whether for convenient home life, competitive material handling, or even industrial material handling, a system needs to respond promptly and handle materials quickly. However, most logistics and material handling robots only have a single robotic arm or use a lifting gripping structure, resulting in significant downtime and limitations. Furthermore, to ensure gripping stability, it's necessary to pause the operation of other robot components, such as the robot's own movement (a drawback particularly pronounced with lifting gripping structures). After gripping, the materials are then placed back onto the platform one by one. This not only leads to low efficiency but also results in a limited and simplistic handling method.

[0003] Meanwhile, most robots rely on LiDAR, various photoelectric sensors, and other means to collect information about the shape, color, size, and environment of objects. This results in weak adaptability to the working environment and limited information acquisition capabilities. Even robots equipped with cameras are mostly fixed in one location on the vehicle body and cannot move freely or be placed around the work environment. This is severely limited by the mobility of the vehicle body and its placement. Utility Model Content

[0004] To address the shortcomings of existing robots, this utility model provides a dual-arm linkage logistics handling robot, which aims to solve the problems of low grasping and placing efficiency, single operation mode, and limited information acquisition capabilities of existing robots.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A dual-arm linkage logistics handling robot includes a chassis for fixing various structures, a frame mounted on the chassis, four sets of omnidirectional wheels for movement symmetrically mounted on the front and rear sides of the frame, a base plate fixed on the top of the frame, two sets of storage boxes of different specifications mounted on the base plate, a three-degree-of-freedom camera mechanism set on the base plate on the right side of the storage box, four-degree-of-freedom robotic arms mounted on the front and rear sides of the three-degree-of-freedom camera mechanism, a gripper for holding materials mounted at the end of the four-degree-of-freedom robotic arms, a tray fixed on the right end of the chassis, and two sets of material clamping assemblies symmetrically fixedly connected to the right end of the upper surface of the chassis.

[0007] Furthermore, the three-degree-of-freedom camera mechanism includes a camera, a connecting frame, a first servo motor, a support frame, a second servo motor, a base, and a third servo motor. The base is fixedly installed on a base plate. The third servo motor is assembled inside the base. The upper output end of the third servo motor is connected to the second servo motor. The second servo motor has a support frame on its upper side, and the lower end of the support frame is rotatably connected to the output end of the second servo motor. The first servo motor is installed on the upper end of the support frame. The first servo motor has an H-shaped connecting frame on its upper side, and the lower end of the connecting frame is rotatably connected to the output end of the first servo motor. The camera is installed inside the upper end of the connecting frame.

[0008] Furthermore, the tray is designed with a V-shaped structure, and its open end faces outward.

[0009] Furthermore, the pallet is welded and fixed to the chassis, and the area between the front end of the chassis on the left side and the omnidirectional wheel is a material storage area.

[0010] Furthermore, the material clamping assembly includes a gripper, a support arm, and a fourth servo motor. The fourth servo motor is fixedly installed at the front edge of the chassis. The support arm is connected to the output end of the fourth servo motor, and the outer end of the support arm is fixedly provided with a gripper of an arc-shaped structure.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. This utility model employs two four-degree-of-freedom robotic arms and a three-degree-of-freedom camera capable of 360-degree rotation, enhancing the robot's information acquisition capabilities and thus improving its material positioning, grasping, and operational flexibility. Simultaneously, the pallet at the front of the robot body, along with the material gripping assembly, works in conjunction with the robotic arms to secure, transport, and grasp materials. This significantly reduces the impact of other components on grasping stability, and one robotic arm can immediately perform its next grasping task after the previous one, minimizing downtime and improving efficiency. Furthermore, by replacing traditional photoelectric sensors with cameras, the robot can adapt to a wider range of handling tasks and working environments, diversifying its operational modes and reducing handling error rates.

[0013] 2. The dual-arm linkage design of this utility model enables the robot to handle multiple materials simultaneously. With the assistance of storage boxes and pallets, the robot can complete more tasks in a single transport, thereby improving the overall transport efficiency.

[0014] 3. In this utility model, through the coordinated work of three servo motors, the camera can achieve angle adjustment in three degrees of freedom: pitch, yaw, and roll, thereby capturing more comprehensive environmental information. The three-degree-of-freedom design enables the camera mechanism to adapt to shooting requirements at different angles and positions, providing more possibilities for the robot's autonomous navigation and material recognition. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall vehicle body structure of this utility model.

[0016] Figure 2 This is a partial structural schematic diagram of the present invention.

[0017] Figure 3 This is a schematic diagram of the structure of the four-degree-of-freedom robotic arm in this utility model.

[0018] Figure 4 This is a schematic diagram of the three-degree-of-freedom camera mechanism in this utility model.

[0019] Figure 5 This is a schematic diagram of the chassis structure in this utility model.

[0020] In the diagram: 1. Storage box; 2. Three-degree-of-freedom camera mechanism; 21. Camera; 22. Connecting frame; 23. First servo motor; 24. Support frame; 25. Second servo motor; 26. Base; 27. Third servo motor; 3. Four-degree-of-freedom robotic arm; 4. Gripper; 5. Material gripping assembly; 51. Gripper; 52. Support arm; 53. Fourth servo motor; 6. Pallet; 7. Chassis; 8. Omnidirectional wheel; 9. Frame; 10. Base plate. Detailed Implementation

[0021] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0022] Example: Figures 1 to 5 As shown, a dual-arm linkage logistics handling robot includes a chassis 7 for fixing various structures, a frame 9 mounted on the chassis 7, four sets of omnidirectional wheels 8 for movement symmetrically mounted on the front and rear sides of the frame 9, a base plate 10 fixed on the top of the frame 9, two sets of storage boxes 1 of different specifications mounted on the base plate 10, a three-degree-of-freedom camera mechanism 2 set on the right side of the base plate 10 of the storage box 1, four-degree-of-freedom robotic arms 3 mounted on the front and rear sides of the three-degree-of-freedom camera mechanism 2, and a gripper 4 for gripping materials mounted at the end of the four-degree-of-freedom robotic arms 3. The four-degree-of-freedom robotic arms 3 and the gripper 4 are existing technologies and will not be described in detail here. A tray 6 is fixed on the right end of the chassis 7, and two sets of material gripping components 5 are fixedly connected to the right end of the tray 6. This design solves the problems of low gripping and releasing efficiency and single operation mode of existing logistics handling robots.

[0023] This solution employs two four-degree-of-freedom robotic arms and a three-degree-of-freedom camera 21, enabling precise and stable positioning and gripping of materials. The two robotic arms process the data transmitted from the camera 21, operating in coordination, much like human hands. A material storage area is also located at the front of the vehicle, allowing for temporary storage, securing, and transport of materials. The two robotic arms then grip the materials in the storage area. This allows for a stable completion of a series of gripping and storage actions without interrupting the operation of other devices on the vehicle. Furthermore, the solution offers diverse operating modes, enabling both gripping and transporting via the robotic arms and transporting materials through the storage area.

[0024] In this embodiment, the three-degree-of-freedom camera mechanism 2 includes a camera 21, a connecting frame 22, a first servo motor 23, a support frame 24, a second servo motor 25, a base 26, and a third servo motor 27. The base 26 is fixedly mounted on the base plate 10. The third servo motor 27 is installed inside the base 26. The third servo motor 27 is used to control the horizontal rotation of the entire three-degree-of-freedom camera mechanism 2. The upper output end of the third servo motor 27 is connected to the second servo motor 25. The second servo motor 25 is used to control the vertical movement of the support frame 24 and the camera 21. The second servo motor 25 is equipped with a support frame 24 on its upper side, and the lower end of the support frame 24 is rotatably connected to the output end of the second servo motor 25. The upper end of the support frame 24 is equipped with a first servo motor 23, which is used to control the vertical rotation of the camera 21 and the connecting frame 22. The upper side of the first servo motor 23 is equipped with an H-shaped connecting frame 22, and the lower end of the connecting frame 22 is rotatably connected to the output end of the first servo motor 23. The upper end of the connecting frame 22 is equipped with a camera 21, which is used to capture image and video information. The rotation of the first servo motor 23 causes the connecting frame 22 and the camera 21 to rotate up and down around the connection point with the support frame 24, thereby adjusting the pitch angle of the camera 21. The rotation of the second servo motor 25 causes the support frame 24, the first servo motor 23, the connecting frame 22 and the camera 21 to rotate left and right as a whole, thereby adjusting the yaw angle of the camera 21. The rotation of the third servo motor 27 causes the second servo motor 25, the support frame 24, the first servo motor 23, the connecting frame 22 and the camera 21 to rotate around their own axis, thereby adjusting the roll angle of the camera 21.

[0025] It should be noted that, through the coordinated operation of the three servo motors, the camera 21 can achieve angle adjustment in three degrees of freedom: pitch, yaw, and roll, thereby capturing more comprehensive environmental information. The three-degree-of-freedom design enables the camera mechanism to adapt to shooting requirements at different angles and positions, providing more possibilities for the robot's autonomous navigation and material recognition.

[0026] In this embodiment, the pallet 6 is designed with a V-shaped structure and its open end faces outward. The V-shaped pallet 6 is used to accommodate and fix materials, thereby realizing the storage and transportation of materials.

[0027] In this embodiment, the pallet 6 is welded and fixed to the chassis 7, and the area between the front end of the chassis 7 on its left side and the omnidirectional wheel 8 is a material storage area. Materials can slide through the pallet to the material storage area on the chassis for temporary storage and fixation.

[0028] In this embodiment, the material clamping assembly 5 includes a gripper 51, a support arm 52, and a fourth servo motor 53. The fourth servo motor 53 is fixedly installed at the front edge of the chassis 7. The support arm 52 is connected to the output end of the fourth servo motor 53, and the gripper 51 with an arc-shaped structure is fixed to the outer end of the support arm 52. The material clamping assembly 5 can clamp and push materials into the V-shaped tray 6 to achieve material containment and fixation. When it is necessary to clamp materials, the control system drives the fourth servo motor 53 to rotate. The rotation of the fourth servo motor 53 drives the support arm 52 and the gripper 51 to rotate relative to each other, clamping the materials and pushing them inward into the V-shaped tray 6. At the same time, the material clamping assembly 5 can limit the materials in the V-shaped tray 6 to prevent the materials from falling out.

[0029] The working principle of a dual-arm linkage logistics handling robot:

[0030] This handling robot generally operates in the following ways:

[0031] The first type of three-degree-of-freedom camera mechanism 2 starts working, capturing information about the surrounding environment and accurately locating the target material. Based on the visual positioning results, the vehicle body moves towards the material, grabs the material with the gripper 51, and pushes the material into the V-shaped pallet 6 to achieve the containment and fixation of the material. Then, the gripper 51 is used to fix and grab the material for transport. After the transport is completed, the gripper 51 is released to prepare for the next grab.

[0032] The second method is to use a three-degree-of-freedom camera mechanism 2 to find the material position. After locating the material position, the four-degree-of-freedom robotic arm 3 accurately finds the material position by calculating the data transmitted back by the camera 21, and then directly grabs it with the gripper 4 and stores the material in the storage box 1.

[0033] Alternatively, the gripper 51 can be used to allow the material to first enter the V-shaped pallet 6 and slide it into the material storage area at the front of the chassis for temporary storage and transport. During transport, the four-degree-of-freedom robotic arm 3 can grab the material fixed in the storage area. This can minimize the impact of the operation of other devices on the gripping stability, so that the robot does not have to stop the operation of other devices to ensure the gripping stability.

[0034] When placing materials, the robot can push the materials to the destination using the pallet 6 and then move the robot body backward to leave the materials in place. Alternatively, it can place materials using the four-degree-of-freedom robotic arm 3. The robot can perform two placement methods simultaneously. The four-degree-of-freedom robotic arm 3, the pallet 6, and the gripper 51 do not conflict with each other, which further improves the operating efficiency.

[0035] In summary, this robot, through two four-degree-of-freedom robotic arms and a three-degree-of-freedom camera 21, improves its ability to locate and grasp materials and enhances its operational flexibility. Simultaneously, the pallet 6 and gripper 51 at the front of the robot can work in conjunction with the robotic arms for transport and grasping, minimizing the impact of other robot components on grasping stability. This allows the robot to stably complete a series of grasping and storage actions without stopping the operation of other components, thus improving work efficiency. Furthermore, by using the camera 21 instead of traditional photoelectric sensors, the robot can adapt to a wider variety of handling tasks and working environments, achieving diversified operation modes and reducing the handling error rate.

[0036] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. Any obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. A dual-arm linkage type logistics handling robot, comprising a chassis (7) for fixing various structures, characterized in that: A frame (9) is mounted on the chassis (7). Four sets of omnidirectional wheels (8) for movement are symmetrically mounted on the front and rear sides of the frame (9). A base plate (10) is fixed on the top of the frame (9). Two sets of storage boxes (1) of different specifications are mounted on the base plate (10). A three-degree-of-freedom camera mechanism (2) is set on the base plate (10) on the right side of the storage box (1). Four-degree-of-freedom robotic arms (3) are mounted on both the front and rear sides of the three-degree-of-freedom camera mechanism (2). A gripper (4) for clamping materials is installed at the end of the four-degree-of-freedom robotic arm (3). A tray (6) is fixed on the right end of the chassis (7). Two sets of material clamping components (5) are symmetrically fixedly connected to the right end of the upper surface of the chassis (7).

2. The dual-arm linkage logistics handling robot according to claim 1, characterized in that: The three-degree-of-freedom camera mechanism (2) includes a camera (21), a connecting frame (22), a first servo motor (23), a support frame (24), a second servo motor (25), a base (26), and a third servo motor (27). The base (26) is fixedly installed on the base plate (10). The third servo motor (27) is installed inside the base (26). The output end of the third servo motor (27) is connected to the second servo motor (25). The second servo motor (25) is provided with a support frame (24) on its upper side. The lower end of the support frame (24) is rotatably connected to the output end of the second servo motor (25). The first servo motor (23) is installed on the upper end of the support frame (24). The first servo motor (23) is provided with an H-shaped connecting frame (22) on its upper side. The lower end of the connecting frame (22) is rotatably connected to the output end of the first servo motor (23). The camera (21) is installed inside the upper end of the connecting frame (22).

3. The dual-arm linkage logistics handling robot according to claim 1, characterized in that: The tray (6) is designed with a V-shaped structure and its open end faces outward.

4. The dual-arm linkage logistics handling robot according to claim 3, characterized in that: The pallet (6) is welded and fixed to the chassis (7), and the area between the front end of the chassis (7) on the left side and the omnidirectional wheel (8) is the material storage area.

5. The dual-arm linkage logistics handling robot according to claim 1, characterized in that: The material clamping assembly (5) includes a gripper (51), a support arm (52) and a fourth servo motor (53). The fourth servo motor (53) is fixedly installed at the front edge of the chassis (7). The support arm (52) is connected to the output end of the fourth servo motor (53). The outer end of the support arm (52) is fixed with a gripper (51) of an arc-shaped structure.

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