An all-terrain smart picking robot

Abstract

This utility model provides an all-terrain intelligent picking robot, including a robot body. The robot body includes a first main body and a second main body. The first main body is provided with a first driving device and a robotic arm. One side of the first main body is rotatably connected to one side of the second main body. The second main body is provided with a second driving device. A third main body is provided on the other side of the second main body. A third driving device is provided between the third main body and the second main body. It can adapt to various complex terrains.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an all-terrain intelligent pickup robot. Background Technology

[0002] In existing ball-picking robots, a multi-degree-of-freedom end effector is installed on a mobile chassis. The robot can move to the corresponding position of the ball by moving the chassis, and then pick up the ball by the end effector. In practical applications, the ball may appear in various complex environments, such as grass, sand, uneven ground or areas with obstacles. At this time, the all-terrain adaptability of the robot's mobile chassis is crucial.

[0003] Furthermore, it is equally crucial that the robot can autonomously adjust its posture to return to normal working status after falling due to external forces or other factors.

[0004] For example, patent document with patent application number 202110062851.9 and publication date of August 6, 2021 discloses an automatic, non-stop ball-picking and collecting robot, including a frame assembly, a pulley assembly, a cable assembly, and a gripper assembly. The encoder is located at the center of the lower surface of the chassis frame. The centers of the main pulley and the driven pulley are respectively connected to the two ends of the upper surface of the chassis frame. The first end of the quick-release plate is connected to the outer rear carbon fiber plate of the gripper assembly, the second end of the quick-release plate is connected to the cable slider, the first end of the upper guide wheel is connected to the second end of the inclined guide rail, the picking cylinder is connected to the first end of the four-bar connector, the second end of the four-bar connector is connected to the first end of the lower swing arm, the third end of the four-bar connector is connected to the first end of the upper swing arm, the second ends of the upper and lower swing arms are respectively connected to the lower gripper plate and the first end of the upper gripper, and the second end of the gripper plate is connected to the inner carbon fiber plate. The four-wheel drive forward drive and the pulley assembly reverse pull the sliding bracket work together to achieve non-stop collection, greatly improving work efficiency.

[0005] The above literature primarily describes robots that rely on passive damping and steering capabilities, such as MacPherson struts and Mecanum wheels, to cope with uneven terrain. However, this only provides a certain degree of cushioning and flexibility, and cannot proactively address the need for autonomous escape after rollovers in complex terrain or extreme situations. For example, if a robot becomes stuck in deep sand or mud, damping and wheel steering alone may not be enough to extricate it. Furthermore, if a robot rolls over unexpectedly, it may not be able to react quickly and adjust its posture, thus failing to escape on its own. Summary of the Invention

[0006] This invention provides an all-terrain intelligent pickup robot that can adapt to various complex terrains and can rescue itself from difficult situations.

[0007] To achieve the above objectives, the technical solution of this utility model is: an all-terrain intelligent picking robot, comprising a robot body, the robot body comprising a first main body and a second main body, the first main body being provided with a first driving device and a robotic arm, the second main body being provided with a second driving device, the first driving device being used to drive the first main body to move, the second driving device being used to drive the second main body to move, one side of the first main body being rotatably connected to one side of the second main body, the first main body rotating around the plane in which the first main body is located, the second main body swinging towards the first main body around the connection between the first and second main bodies, the top and bottom surfaces of the second main body being identically configured, a third main body being provided on the other side of the second main body, a third driving device being provided between the third main body and the second main body, the third driving device driving the third main body to rotate in the plane in which the third main body is located and to flip between the top and bottom surfaces of the second main body around the connection between the third and second main bodies.

[0008] The above configuration includes a first driving device for the first main body and a second driving device for the second main body. These devices can move the robot body to a specific position. When the robot body reaches the desired position, its robotic arm can pick up a sphere. If the robot body is overturned due to external forces, causing the third main body to be below the second main body, while the first main body is in a side-flipped state, the first main body rotates within its own plane, stabilizing itself. Meanwhile, the second main body swings upwards and outwards around the connection point between the first and second main bodies, causing its tail to lift and lift the third main body off the ground. The third driving device then drives the third main body to swing upwards and outwards around the connection point between the second and third main bodies, reaching the top of the second main body. Simultaneously, the third main body rotates within its own plane, flipping itself over. The top and bottom surfaces of the second main body have identical structures, allowing it to move even after being overturned. Even after the third main body and the second main body come into contact, the robot can still pick up items, thus enabling self-rescue capabilities in various complex terrains and situations.

[0009] Furthermore, a first driving device is provided on each side of the first main body. The first driving device includes a first shock-absorbing wheel, a first driving motor and a first auxiliary wheel. One side of the output shaft of the first driving motor is connected to the first shock-absorbing wheel, and the other side of the output shaft of the first driving motor is connected to the first auxiliary wheel. The bottom of the first shock-absorbing wheel is lower than the bottom of the first auxiliary wheel.

[0010] The above configuration includes a first shock-absorbing wheel on the first main body, which effectively absorbs the impact and vibration caused by uneven ground. When the first main body travels on uneven roads, the shock-absorbing wheel can buffer the bumps in the ground, reduce the impact force on the main structure, and thus improve the driving stability of the first main body. Furthermore, a first auxiliary wheel is set on the same axis as the first shock-absorbing wheel. When the first shock-absorbing wheel makes centrifugal motion and lifts off the ground under special road conditions, the bottom of the first shock-absorbing wheel is lower than the bottom of the first auxiliary wheel, allowing the first auxiliary wheel to contact the ground. This allows the first auxiliary wheel to alleviate the force generated by the centrifugal motion of the first shock-absorbing wheel on the output shaft of the first drive motor. When the first shock-absorbing wheel is in a suspended state, the first auxiliary wheel can be used as the main drive wheel, reducing the possibility of the robot body getting stuck due to road conditions.

[0011] Furthermore, a rotating gimbal is fixedly mounted on the upper side of the first main body, and a robotic arm is mounted on the rotating gimbal. The robotic arm includes a servo motor assembly and a robotic gripper. One side of the servo motor assembly is connected to the rotating gimbal, and the other side of the servo motor assembly is connected to the robotic gripper.

[0012] The above setup involves mounting a robotic arm on a rotating gimbal, which can then rotate using the gimbal.

[0013] Furthermore, the servo assembly includes a first servo, a second servo, a third servo, and a fourth servo. The first servo is fixed on the rotating gimbal, and its output shaft is fixedly connected to the first main body. The first servo is fixedly connected to one end of the second servo via a first connecting block. The output shaft of the second servo is fixedly connected to the third servo via a second connecting block. The output shaft of the third servo is fixedly connected to the fourth servo via a third connecting block. The output shaft of the fourth servo is fixedly connected to the mechanical claw via a fourth connecting block.

[0014] With the above setup, the first servo can drive the robotic arm to rotate on the rotating platform, while the second, third, and fourth servos can adjust the angle and direction of the robotic claw in multiple dimensions, allowing the robotic claw to pick up the sphere.

[0015] Furthermore, a fifth connecting block is provided on the second main body, a fifth servo motor is fixedly connected to one side of the fifth connecting block, the output end of the fifth servo motor is fixedly connected to the first main body, the output end of a sixth servo motor is fixedly connected to the fifth connecting block, and the sixth servo motor is fixed to the second main body through the sixth connecting block.

[0016] The above configuration allows the fifth servo to rotate the first body relative to the second body, and the sixth servo to swing the second body around the first body in the vertical direction. Therefore, the sixth and fifth servos can work together to allow the first body to rotate relative to the second body.

[0017] Furthermore, the second main body has a second assist device on the side near the sixth servo motor. The second assist device includes a second assist drive and a second assist wheel, and the output shaft of the second assist drive is connected to the second assist wheel.

[0018] The second assist wheel is designed to provide additional driving power when the robot encounters various complex road conditions.

[0019] Furthermore, a second drive device is provided on the side of the second main body away from the sixth servo motor, and the second drive device has the same structure as the first drive device.

[0020] With the above configuration, the second drive device can drive the second main body to move. When the first main body and the second main body are connected, the first drive device and the second drive device can work together to drive the robot body to move.

[0021] Furthermore, the third main body includes a storage compartment, the upper side of which is provided with long-shaft rollers, and a third driving device is provided between one side of the storage compartment and one side of the second main body.

[0022] The above configuration includes a storage compartment for storing the spheres gripped by the robotic claw, a third drive unit positioned between the second and third main bodies to facilitate the rotation of the third main body, and a long-axis roller to reduce friction between the third main body and the ground during the flipping process.

[0023] Furthermore, the third drive unit includes a seventh servo motor, which is fixed to one side of the third main body. The output shaft of the seventh servo motor is fixedly connected to one side of a seventh connecting block. The other side of the seventh connecting block is fixedly connected to one side of an eighth servo motor. The output end of the eighth servo motor is fixedly connected to the upper end of the eighth connecting block. The lower end of the eighth connecting block is connected to the output end of a ninth servo motor. The other side of the ninth servo motor is fixed to one side of the second main body.

[0024] With the above configuration, the eighth and ninth servos can drive the storage compartment to swing vertically along the second main body, and the seventh servo can drive the storage compartment to rotate relative to the second main body.

[0025] When the robot body flips over, after the second body lifts backward, the ninth servo drives the eighth servo and the third body to rotate 180 degrees vertically. Then the eighth servo drives the third body to rotate 180 degrees, so that the third body rotates to the top surface of the second body after it has flipped over. Then the seventh servo drives the third body to rotate in the plane in which the third body is located, thereby realizing the flipping of the third body.

[0026] Furthermore, a cooling fan is provided between the second main body and the seventh servo motor.

[0027] The above configuration includes a control module, such as a PLC module, installed inside the second main body. The cooling fan can reduce the internal temperature of the second main body, thereby enhancing the stability of the control module. Attached Figure Description

[0028] Figure 1 This is the main view of the present utility model. Figure 1 .

[0029] Figure 2 This is a front view of the first shock-absorbing wheel of this utility model.

[0030] Figure 3 This is the main view of the present utility model. Figure 2 .

[0031] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0032] Figure 5 for Figure 3 Enlarged view of section B in the middle.

[0033] Figure 6 for Figure 1 Enlarged view of point D in the middle.

[0034] Figure 7 This is a schematic diagram showing the connection between the fifth servo, the fifth connecting block, and the sixth servo.

[0035] Figure 8 This is another perspective view of the present invention.

[0036] Figure 9 for Figure 10 Enlarged view of point E in the middle.

[0037] Figure 10 The diagram shows the self-rescue process of this utility model after it is overturned, omitting the robotic arm structure.

[0038] Explanation of reference numerals: 1-First main body; 11-Rotating gimbal; 2-Second main body; 21-Ninth servo; 3-Third main body; 31-Storage compartment; 311-Long-shaft roller; 32-Seventh servo; 321-Seventh connecting block; 33-Eighth servo; 331-Eighth connecting block; 332-Ninth connecting block; 4-First drive unit; 41-First shock-absorbing wheel; 42-First drive motor; 43-First auxiliary wheel; 5-Mechanical arm; 51-First servo; 511-First connecting block; 52-Second servo; 521-Second connecting block; 53-Third servo; 531-Third connecting block; 54-Fourth servo; 541-Fourth connecting block; 6-Second drive unit; 61-Second power assist drive; 62-Second power assist wheel; 7-Mechanical claw; 8-Cooling fan; 9-Fifth servo; 91-Fifth connecting block; 10-Sixth servo; 101-Sixth connecting block. Detailed Implementation

[0039] Example 1.

[0040] like Figure 1-10 As shown, an all-terrain intelligent picking robot includes a robot body, which comprises a first main body 1 and a second main body 2. The first main body 1 is equipped with a first drive device 4 and a robotic arm 5. One side of the first main body 1 is rotatably connected to one side of the second main body 2. The first main body 1 rotates around the plane containing the first main body 1. The second main body 2 swings towards the first main body 1 around the connection point between the first and second main bodies 1. The top and bottom surfaces of the second main body 2 are identically configured. A second drive device is mounted on the second main body 2. A third main body 3 is mounted on the other side of the second main body 2. A third drive device is positioned between the third main body 3 and the second main body 2. The third drive device drives the third main body 3 to rotate within the plane containing the third main body 3 and to swing around the connection point between the top and bottom surfaces of the second main body 2. The robot body is rotated between two bodies. The first body 1 is equipped with a first drive device 4 and the second body 2 is equipped with a second drive device. The first drive device 4 and the second drive device can drive the robot body to move to the corresponding position. When the robot body reaches the corresponding position, the robotic arm 5 can pick up the ball. The first body is rotatably connected to the second body on one side. When the robot body is overturned due to external forces or other factors, since the second body 2 is designed to be used in both directions, it is only necessary to adjust the posture of the first body 1 relative to the second body 2 to restore it to the normal working state. The third body 3 is mainly used to store the ball picked up by the robotic arm 5. A third drive device is set between the third body 3 and the second body 2. The third drive device can assist the first body 1 in rotating relative to the second body 2.

[0041] like Figure 2As shown, a first driving device 4 is provided on both sides of the first main body 1. The first driving device 4 includes a first shock-absorbing wheel 41, a first driving motor 42 and a first auxiliary wheel 43. One side of the output shaft of the first driving motor 42 is connected to the first shock-absorbing wheel 41, and the other side of the output shaft of the first driving motor 42 is connected to the first auxiliary wheel 43. The bottom of the first auxiliary wheel 43 is higher than the bottom of the first shock-absorbing wheel 41. The first shock-absorbing wheel 41 provided on the first main body can effectively absorb the impact and vibration caused by uneven ground. When the first main body 1 travels on uneven roads, the shock-absorbing wheels can buffer the bumps in the ground and reduce the impact on the main structure, thereby improving the driving stability of the first main body 1. Furthermore, a first auxiliary wheel 43 is provided on the same axis as the first shock-absorbing wheel 41. When the first shock-absorbing wheel 41 makes centrifugal motion under special road conditions, the first auxiliary wheel 43 can alleviate the force generated by the centrifugal motion of the first shock-absorbing wheel 41 on the output shaft of the first drive motor 42. When the first shock-absorbing wheel 41 is in a suspended state, the first auxiliary wheel 43 can be used as the main drive wheel to reduce the possibility of the robot body getting stuck due to road conditions.

[0042] like Figure 3-4 As shown, a rotating gimbal 11 is fixedly mounted on the upper side of the first main body 1. A robotic arm 5 is mounted on the rotating gimbal 11. The robotic arm 5 includes a servo motor assembly and a robotic claw 7. One side of the servo motor assembly is connected to the rotating gimbal 11, and the other side of the servo motor assembly is connected to the robotic claw 7. By mounting the robotic arm 5 on the rotating gimbal 11, the robotic arm 5 can rotate by relying on the rotating gimbal 11. In this embodiment, the structure of the robotic claw 7 is the prior art, such as the working principle of patent application number CN119795125A, which will not be elaborated here.

[0043] like Figure 1 and 4 As shown, the servo assembly includes a first servo 51, a second servo 52, a third servo 53, and a fourth servo 54. The first servo 51 is fixed to the rotating gimbal, and its output shaft is fixedly connected to the first main body 1. The first servo 51 is fixedly connected to one end of the second servo 52 via a first connecting block 511. The output shaft of the second servo 52 is fixedly connected to the third servo 53 via a second connecting block 521. The output shaft of the third servo 53 is fixedly connected to the fourth servo 54 via a third connecting block 531. Next, the output shaft of the fourth servo motor 54 is connected to the mechanical claw 7 through the fourth connecting block 541. The first servo motor 51 can drive the mechanical arm 5 to rotate on the rotating gimbal 11. The second servo motor 52, the third servo motor 53 and the fourth servo motor 54 can make the mechanical claw 7 adjust its angle and direction in multiple dimensions. The mechanical claw 7 picks up the ball. In this embodiment, the first connecting block 511, the second connecting block 521 and the third connecting block 531 are U-shaped blocks, and the servo motors are respectively set to drive the servo motor output end to rotate.

[0044] like Figure 1 ,8 As shown, a fifth connecting block 91 is provided on one side of the first main body 1, and a fifth servo motor 9 is fixedly connected to one side of the fifth connecting block 91. The output end of the fifth servo motor 9 is fixedly connected to the first main body 1. The output end of the sixth servo motor 10 is fixedly connected to the fifth connecting block 91. The sixth servo motor 10 is fixed to the second main body 2 through the sixth connecting block 101. The fifth servo motor 9 allows the first main body to rotate relative to the second main body, and the sixth servo motor 10 allows the first main body to swing in the vertical direction. Therefore, the sixth servo motor 10 and the fifth servo motor 9 can cooperate with each other to allow the first main body 1 to rotate relative to the second main body 2.

[0045] like Figure 3 , 5 As shown, the second main body 2 is provided with a second drive device 6 on the side close to the first main body 1 and on the side close to the sixth servo motor 10. The second drive device 6 includes a second power assist drive 61 and a second power assist wheel 62. The output shaft of the second power assist drive 61 is connected to the second power assist wheel 62. The second power assist wheel 62 is provided so that the robot body can be used as an additional driving force when encountering various complex road conditions.

[0046] like Figure 1 , 8 As shown, the third main body 3 includes a storage compartment 31. A long-shaft roller 311 is provided on the upper side of the storage compartment 31. A third drive device is provided on one side of the storage compartment 31. The third drive device includes a seventh servo motor 32. The seventh servo motor 32 is fixed to one side of the third main body. The output shaft of the seventh servo motor 32 is fixedly connected to one side of the seventh connecting block 321. The other side of the seventh connecting block 321 is connected to the eighth servo motor 33. The output end of the eighth servo motor 33 is fixedly connected to the upper end of the eighth connecting block 331. The lower end of the eighth connecting block 331 is connected to the output end of the ninth servo motor 21. The other side of the ninth servo motor 21 is fixed to one side of the second main body 2. The other side of the ninth servo motor 21 is fixedly connected to the second main body 2 through the ninth connecting block 332. The storage compartment 31 is used to store the ball grasped by the robotic claw. The eighth servo motor 33 and the ninth servo motor 21 can drive the storage compartment 31 to swing vertically along the second main body 2. The seventh servo motor 32 can drive the storage compartment 31 to rotate relative to the second main body 2.

[0047] In this embodiment, the seventh connecting block 321, the eighth connecting block 331 and the ninth connecting block 332 are U-shaped blocks. The top and bottom surfaces of the second main body 2 have the same structure. The distance between the second drive wheel on the second main body 2 and the top and bottom surfaces is the same, so that the second main body 2 can still drive normally after it is overturned.

[0048] The working principle of this utility model is as follows: A first main body 1 is equipped with a first driving device, and a second main body 2 is equipped with a second driving device. The first and second driving devices can drive the robot body to move to a corresponding position. When the robot body reaches the corresponding position, the robotic arm can pick up the ball. If the robot body is overturned due to external forces, causing the third main body to be below the second main body, while the first main body is in a side-overturned state... Figure 10 As shown in (a), the first body rotates within the plane of the first body, thereby placing the first body in a flat state. The second body swings upward and outward around the connection between the first and second bodies, causing the tail of the second body to lift off the ground, thus lifting the third body off the ground. Then, a third driving device drives the third body to swing outward and upward around the connection between the third body and the second body, until the upper end of the second body... Figure 10 As shown in (b)-(c), the third body is simultaneously rotated within the plane in which it is located to achieve the flipping of the third body as follows. Figure 10 As shown in (d), the top and bottom structures of the second body are the same, so that the second body can move even after it is overturned. Then, the third body can still collect items after it is attached to the second body, thus enabling the self-rescue function to adapt to different situations in different complex terrains.

Claims

1. An all-terrain intelligent picking robot, comprising a robot body, the robot body comprising a first body and a second body, a first driving device and a mechanical arm being arranged on the first body, a second driving device being arranged on the second body, the first driving device being used to drive the first body to move, and the second driving device being used to drive the second body to move, characterized in that: The first main body is rotatably connected to the second main body on one side. The first main body rotates around the plane in which it is located. The second main body swings towards the first main body around the connection between the first and second main bodies. The top and bottom surfaces of the second main body are identically configured. A third main body is provided on the other side of the second main body. A third driving device is provided between the third main body and the second main body. The third driving device drives the third main body to rotate in the plane in which it is located and to flip between the top and bottom surfaces of the second main body around the connection between the third and second main bodies.

2. The all-terrain pick-up robot according to claim 1, wherein: The first main body is provided with a first driving device on each side. The first driving device includes a first shock-absorbing wheel, a first driving motor and a first auxiliary wheel. One side of the output shaft of the first driving motor is connected to the first shock-absorbing wheel, and the other side of the output shaft of the first driving motor is connected to the first auxiliary wheel. The bottom of the first shock-absorbing wheel is lower than the bottom of the first auxiliary wheel.

3. The all-terrain pick-up robot of claim 1, wherein: A rotating gimbal is fixedly mounted on the upper side of the first main body, and a robotic arm is mounted on the rotating gimbal. The robotic arm includes a servo motor assembly and a robotic gripper. One side of the servo motor assembly is connected to the rotating gimbal, and the other side of the servo motor assembly is connected to the robotic gripper.

4. The all-terrain pick-up robot according to claim 3, wherein: The servo assembly includes a first servo, a second servo, a third servo, and a fourth servo. The first servo is fixed on a rotating gimbal, and its output shaft is fixedly connected to a first main body. The first servo is connected to the second servo via a first connecting block. The output shaft of the second servo is fixedly connected to one end of the third servo via a second connecting block. The output shaft of the third servo is fixedly connected to the fourth servo via a third connecting block. The output shaft of the fourth servo is fixedly connected to a mechanical gripper via a fourth connecting block.

5. The all-terrain intelligent pickup robot according to claim 1, characterized in that: The second main body is provided with a fifth connecting block, and a fifth servo motor is fixedly connected to one side of the fifth connecting block. The output end of the fifth servo motor is fixedly connected to the first main body. The output end of the sixth servo motor is fixedly connected to the fifth connecting block, and the sixth servo motor is fixed to the second main body through the sixth connecting block.

6. The all-terrain pick-up robot of claim 1, wherein: The second main body has a second drive device on the side near the sixth servo motor. The second drive device includes a second power-assisted drive and a second power-assisted wheel. The output shaft of the second power-assisted drive is connected to the second power-assisted wheel.

7. The all-terrain pick-up robot of claim 1, wherein: The second main body is provided with a second drive device on the side away from the sixth servo motor, and the second drive device has the same structure as the first drive device.

8. The all-terrain pick-up robot of claim 1, wherein: The third main body includes a storage compartment, and a long-shaft roller is provided on the upper side of the storage compartment. A third driving device is provided between one side of the storage compartment and one side of the second main body.

9. The all-terrain pick-up robot of claim 1, wherein: The third drive unit includes a seventh servo motor, which is fixed to one side of the third main body. The output shaft of the seventh servo motor is fixedly connected to one side of a seventh connecting block. The other side of the seventh connecting block is fixedly connected to one side of an eighth servo motor. The output end of the eighth servo motor is fixedly connected to the upper end of the eighth connecting block. The lower end of the eighth connecting block is connected to the output end of a ninth servo motor. The other side of the ninth servo motor is fixed to one side of the second main body.

10. The all-terrain pick-up robot of claim 9, wherein: A cooling fan is provided between the second main body and the seventh servo motor.

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