Multi-arm combined omni-directional carrier

Abstract

The utility model discloses a multi-arm combined omni-directional carrier, which belongs to the technical field of article carrying and structurally comprises a support I, a middle mechanical arm mounted in front of the support I, a right upper mechanical arm mounted below the middle mechanical arm, a right lower mechanical arm mounted below the right upper mechanical arm, and a left upper mechanical arm mounted on the left side of the right upper mechanical arm. A lower left mechanical arm is installed below the upper left mechanical arm, a chassis is installed below the first support, Mecanum wheels are installed on the two sides of the chassis, a plurality of 12-path photoelectric sensors and a plurality of single-path photoelectric sensors are installed on the chassis, an independent buffer structure is arranged on each Mecanum wheel, and a main control panel protection shell is installed above the first support. And an external connecting groove is formed in the front of the main control board protection shell. According to the scheme, technologies such as combination of multiple mechanical arms, cooperation of double cameras and independent cushioning omnidirectional mobile chassis are organically integrated, and an efficient, flexible and intelligent carrying trolley system is formed.

Description

Technical Field

[0001] This utility model relates to the field of material handling technology, specifically a multi-arm omnidirectional transport vehicle. Background Technology

[0002] In modern logistics and industrial production, the efficiency, flexibility, and precision of material handling operations are extremely important. Traditional handling equipment often has numerous limitations, making it difficult to meet increasingly complex handling demands. A single robotic arm cannot simultaneously grasp multiple targets, and compared to multiple robotic arms grasping independently, it consumes more time and cannot complete tasks efficiently. Rubber tires significantly limit the adjustment of the robot body, making it impossible to precisely control the robot's posture when precise control is required. Photoelectric and electromagnetic tracking acquire insufficient information, failing to obtain real-time information about the surrounding environment, causing the robot to be unable to make correct responses; furthermore, they have high requirements for the site, requiring specific environmental conditions, and when the environment changes, it is necessary to readjust the module parameters and other operations. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, the purpose of this utility model is to provide a multi-arm omnidirectional transport vehicle.

[0004] The technical solution adopted by this utility model to solve its technical problem is as follows:

[0005] A multi-arm omnidirectional transport vehicle includes a support frame 1, a central robotic arm mounted at the front of the support frame 1, an upper right robotic arm mounted below the central robotic arm, a lower right robotic arm mounted below the upper right robotic arm, an upper left robotic arm mounted to the left of the upper right robotic arm, and a lower left robotic arm mounted below the upper left robotic arm. A chassis is mounted below the support frame 1, and Mecanum wheels are mounted on both sides of the chassis. Several 12-channel photoelectric sensors and several single-channel photoelectric sensors are mounted on the chassis. Each Mecanum wheel has an independent buffer structure. A main control board protective shell is mounted on top of the support frame 1, and an external connection slot is mounted in front of the main control board protective shell. The support frame 1 and the chassis are connected by a support rod. A second support frame, which carries a computing module, is mounted between the support frame 1 and the chassis.

[0006] Preferably, a first camera is mounted under the intermediate robotic arm.

[0007] Preferably, a second camera is installed between the upper right robotic arm and the upper left robotic arm.

[0008] Preferably, battery slots are installed on both the top of the bracket and the top of the chassis.

[0009] Preferably, the buffer structure consists of an outer support, an inner support, and buffer foam.

[0010] Preferably, the outer support is installed on both sides of the support, an inner support is installed below the outer support, cushioning foam is installed between the outer support and the inner support, a motor is installed below the inner support, and the motor is connected to the Mecanum wheel.

[0011] Preferably, the middle robotic arm, the upper right robotic arm, and the upper left robotic arm are mounted on the support, and the lower right robotic arm and the lower left robotic arm are mounted on the chassis.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. The multi-arm omnidirectional transport vehicle of this utility model has an independent shock-absorbing omnidirectional mobile chassis to improve motion performance. The robot can maintain motion consistency even when external conditions change (load, center of gravity, structural deformation, etc.) and has good mobility.

[0014] Multi-arm collaborative technology enables efficient multi-task processing. Robots equipped with multiple robotic arms can simultaneously grasp, transport, and place multiple objects, improving handling efficiency. In complex situations involving multiple targets, intelligent decision-making and multiple robotic arms can effectively solve problems.

[0015] Featuring dual cameras, the first camera is mobile while the second is fixed. This allows for wide-range recognition, tracking, and obstacle avoidance, as well as precise object placement. It maximizes accuracy while offering flexibility.

[0016] Dual-camera and photoelectric sensor fusion enhances environmental perception: The design of dual cameras and photoelectric sensors enables the transport vehicle to acquire information about its surrounding environment in real time and accurately, and to make rapid feedback through fusion computing.

[0017] The independent shock-absorbing omnidirectional chassis design (i.e., through Mecanum wheels and independent shock-absorbing structures) not only achieves omnidirectional mobility but also improves the robot's stability and flexibility in complex terrain. The addition of the shock-absorbing system further reduces the impact of uneven ground on the robot and its internal precision components, extending its service life.

[0018] The fusion computing of dual cameras and photoelectric sensors enables the transport robot to acquire information about its surrounding environment in real time and accurately, and to react quickly. This capability enhances the robot's stability and safety in complex and changing environments, and reduces its dependence on specific environments.

[0019] 2. This utility model illustrates a multi-arm omnidirectional transport vehicle, utilizing multiple robotic arms in tandem. Especially for scenarios requiring efficient multi-tasking, it provides the ability to simultaneously grasp and place multiple targets, reducing the time spent acquiring and placing objects, enabling multi-threaded tasks and improving work efficiency.

[0020] 3. This utility model example features a multi-arm omnidirectional transporter that integrates dual cameras and photoelectric sensors for fusion calculations. The use of photoelectric sensors ensures compatibility with existing photoelectric transport robots. Adding dual cameras mimics the human binocular vision system, allowing for more real-time observation of environmental changes. Combined with the photoelectric sensors, this provides strong support for the robot's autonomous navigation and decision-making. The dual-camera system, consisting of a stationary camera and a moving camera, provides sufficient object placement accuracy while ensuring real-time acquisition of surrounding information, enabling it to handle complex external situations.

[0021] 4. The multi-arm omnidirectional transporter of this utility model provides stable omnidirectional mobility under various conditions through its independent shock absorption and omnidirectional moving platform. Omnidirectional movement can significantly reduce turning time and path length and improve work efficiency in scenarios that require frequent changes of direction or complex path planning; it can achieve arbitrary movement in all directions (forward, backward, left, right, and diagonal) without changing the robot's orientation, greatly improving the robot's operational flexibility in confined spaces.

[0022] 5. The multi-arm omnidirectional transport vehicle of this utility model has a shock absorption system that overcomes the limitations of traditional rubber tires and omnidirectional wheels in specific environments. It can effectively reduce the impact of uneven ground on the robot body and its internal precision components, and extend the service life of the robot. When the load changes or uneven ground is encountered, the independent shock absorption system can automatically adjust the contact force and height of each wheel to ensure that the wheel always maintains full contact with the ground, thereby maintaining the stability and consistency of movement. The independent shock absorption design enables the robot to maintain optimal motion performance in different terrains and environments, enhancing its environmental adaptability. Attached Figure Description

[0023] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 1 ;

[0025] Figure 2 This is a schematic diagram of the right structure of this utility model;

[0026] Figure 3This is a schematic diagram of the overall structure of this utility model. Figure 2 ;

[0027] Figure 4 This is a schematic diagram of the outer support structure of this utility model;

[0028] Figure 5 This is a schematic diagram of the inner support layer of this utility model.

[0029] In the diagram: 1. Support 1; 2. Middle robotic arm; 3. Upper right robotic arm; 4. Lower right robotic arm; 5. Upper left robotic arm; 6. Lower left robotic arm; 7. Chassis; 8. Mecanum wheel; 9. 12-channel photoelectric sensor; 10. Single-channel photoelectric sensor; 11. Buffer foam; 12. Main control board protective shell; 13. Peripheral connection slot; 14. First camera; 15. Second camera; 16. Battery slot; 17. Outer support; 18. Inner support; 19. Support rod; 20. Support 2. Detailed Implementation

[0030] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0031] The components of the present invention embodiments described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0032] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Furthermore, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings.

[0036] Example: Please refer to Figure 1-5 This utility model provides a technical solution:

[0037] A multi-arm omnidirectional transport vehicle includes a support frame 1. A middle robotic arm 2 is mounted at the front of the support frame 1. A right upper robotic arm 3 is mounted below the middle robotic arm 2. A right lower robotic arm 4 is mounted below the right upper robotic arm 3. A left upper robotic arm 5 is mounted to the left of the right upper robotic arm 3. A left lower robotic arm 6 is mounted below the left upper robotic arm 5. A chassis 7 is mounted below the support frame 1. Mecanum wheels 8 are mounted on both sides of the chassis 7. Several 12-channel photoelectric sensors 9 and several single-channel photoelectric sensors 10 are mounted on the chassis 7. Each Mecanum wheel 8 has an independent buffer structure. A main control board protective shell 12 is mounted on top of the support frame 1. An external connection slot 13 is mounted at the front of the main control board protective shell 12. The support frame 1 and the chassis 7 are connected by a support rod 19. A support frame 20 carrying a computing module is mounted between the support frame 1 and the chassis 7. In this embodiment, the computing module is a Raspberry Pi 4b.

[0038] Specifically, a first camera 14 is installed under the intermediate robotic arm 2.

[0039] Specifically, a second camera 15 is installed between the upper right robotic arm 3 and the upper left robotic arm 5.

[0040] Specifically, battery slots 16 are installed on both the top of the bracket 1 and the top of the chassis 7.

[0041] Specifically, the buffer structure consists of an outer support 17, an inner support 18, and a buffer foam 11.

[0042] Specifically, the outer support 17 is installed on both sides of the support 1, and the inner support 18 is installed below the outer support 17. A cushioning foam 11 is installed between the outer support 17 and the inner support 18. A motor is installed below the inner support 18, and the motor is connected to the Mecanum wheel 8.

[0043] Specifically, the middle robotic arm 2, the upper right robotic arm 3, and the upper left robotic arm 5 are mounted on the support 1, and the lower right robotic arm 4 and the lower left robotic arm 6 are mounted on the chassis 7.

[0044] Specifically, bracket 20 is equipped with a Raspberry Pi 4b, which can provide powerful computing power to process the images transmitted back from the first camera 14 and the second camera 15 in real time.

[0045] Specifically, peripheral connection slot 13 can accommodate a 9-axis gyroscope servo driver and a multi-stage battery.

[0046] Specifically, the first camera 14 is mounted on the middle robotic arm 2 and can be angled. The second camera 15 is fixed on the bracket 1, which can meet the functions of wide-range recognition, tracking, and obstacle avoidance, as well as the precise object placement conditions.

[0047] Specifically, such as Figure 4 or Figure 5 As shown, the outer support 17 and the inner support 18 are connected by slots and blocks. The inner support 18 can move vertically in the outer support 17 through the elastic kinetic and potential energy of the buffer foam 11 to achieve the effect of shock absorption.

[0048] Working principle:

[0049] The transport vehicle has started working; it will now be initialized. After initialization, the target task will be read and the route for the transported target will be obtained.

[0050] The first camera 14 starts working, determining whether there are obstacles blocking the way in front of the equipment. If there are obstacles, it will bypass them; if there are no obstacles, it will use the first camera 14 to locate the target to be transported.

[0051] If the first camera 14 fails to locate the target, it first determines whether it has reached the vicinity of the predetermined location. If it has not, it continues to drive along the planned route. If it has, it adjusts the camera angle and vehicle angle on the spot to search for the target.

[0052] Once the equipment locates a transport target, it determines the number of targets within its field of view, then adjusts the vehicle body and plans the grabbing path accordingly. After planning, the corresponding robotic arms (middle robotic arm 2, upper right robotic arm 3, lower right robotic arm 4, upper left robotic arm 5, and lower left robotic arm 6) are adjusted to enter the grabbing preparation state, and then the robotic arms begin grabbing.

[0053] After the grabbing is complete, determine whether all grabbing targets have been grabbed. If not, replan the route for grabbing and moving targets. If all grabbing is complete, plan a route to prevent the targets from being moved.

[0054] Similarly, the first camera 14 first determines whether there is an obstacle blocking the way. If there is an obstacle, it will be bypassed; if there is no obstacle, the transport will proceed.

[0055] After the transport is completed, it is determined whether the target location has been reached. If the target location has not been reached, the vehicle continues to travel along the planned route. If the vehicle has reached the vicinity of the predetermined location, the camera angle and vehicle orientation are adjusted on the spot, and the target placement point is located. The corresponding robotic arms (middle robotic arm 2, upper right robotic arm 3, lower right robotic arm 4, upper left robotic arm 5, and lower left robotic arm 6) are then operated to place the transported target in the designated location.

[0056] Then, it is determined whether the transport target has been placed accurately. If placement fails, the robotic arms work together again to push the transport target to a more precise position. If the position is accurate, it is determined whether all transport targets have been placed. If not, the route for placing the transport targets is replanned. If all transport targets have been placed, the route back to the predetermined position is planned.

[0057] After the prevention is completed, walk along the planned path. The first camera 14 determines whether there is an obstruction ahead. If there is an obstruction, go around the obstacle. If there is no obstruction, determine whether you have reached the vicinity of the predetermined position. If not, continue walking along the planned path. If you have reached the vicinity of the predetermined position, the work ends.

[0058] The vehicle's posture and position are adjusted by Mecanum 8 wheels, which can perform lateral movement and U-turns on the spot for ordinary tires.

[0059] The 12-channel photoelectric sensor 9 and the single-channel photoelectric sensor 10 ensure that the robot can walk along photoelectric trajectory lines. Through cooperation with the first camera 14 and the second camera 15, the robot can detect the environment and make intelligent judgments.

[0060] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0061] Apart from the technical features described in the specification, the other technical features are known to those skilled in the art. To highlight the innovative features of this utility model, the other technical features will not be described in detail here.

Claims

1. A multi-arm combined omnidirectional carrier vehicle comprising a support one (1), characterized in that: The bracket one (1) is provided with an intermediate mechanical arm (2) in front, the intermediate mechanical arm (2) is provided with a right upper mechanical arm (3) below, the right upper mechanical arm (3) is provided with a right lower mechanical arm (4) below, the right upper mechanical arm (3) is provided with a left upper mechanical arm (5) on the left side, the left upper mechanical arm (5) is provided with a left lower mechanical arm (6) below, the bracket one (1) is provided with a chassis (7) below, the chassis (7) is provided with a Mecanum wheel (8) on both sides, the chassis (7) is provided with a plurality of 12-way photoelectric sensors (9) and a plurality of single-way photoelectric sensors (10) on it, each Mecanum wheel (8) is provided with an independent buffer structure, the bracket one (1) is provided with a main control board protection shell (12) above, the main control board protection shell (12) is provided with an external connection slot (13) in front, the bracket one (1) and the chassis (7) are connected by a support rod (19), and the bracket one (1) and the chassis (7) are provided with a bracket two (20) carrying a calculation module.

2. The multi-armed combined omnidirectional carrier according to claim 1, characterized in that: The intermediate mechanical arm (2) is provided with a first camera (14) below.

3. The multi-armed combined omnidirectional carrier according to claim 1, characterized in that: The right upper mechanical arm (3) and the left upper mechanical arm (5) are provided with a second camera (15) therebetween.

4. The multi-armed combined omnidirectional carrier according to claim 1, wherein: The bracket one (1) and the chassis (7) are provided with a battery slot (16) above.

5. The multi-armed combined omni-directional carrier according to claim 1, wherein: The buffer structure is composed of an outer bracket (17), an inner bracket (18) and buffer foam (11).

6. A multi-armed combined omnidirectional carrier according to claim 5, characterized in that: The outer bracket (17) is installed on both sides of the bracket one (1), the inner bracket (18) is installed below the outer bracket (17), the buffer foam (11) is installed between the outer bracket (17) and the inner bracket (18), and a motor is installed below the inner bracket (18).

7. The multi-armed articulated omni-directional carrier of claim 5, wherein: The intermediate mechanical arm (2), the right upper mechanical arm (3) and the left upper mechanical arm (5) are installed on the bracket one (1), and the right lower mechanical arm (4) and the left lower mechanical arm (6) are installed on the chassis (7).

Images