A transport robot

Abstract

This utility model discloses a transport robot. The transport robot includes: a front wheel assembly and a rear wheel swing suspension drive assembly connected to the front and rear ends of the vehicle body, respectively; a control board and a main control module connected to the vehicle body; laser radars installed on opposite sides of the vehicle body; a robotic arm assembly connected to the top of the vehicle body; a depth camera connected to the robotic arm assembly; the laser radars and the robotic arm assembly electrically connected to the control board; and the front wheel assembly, the rear wheel swing suspension drive assembly, the depth camera, and the control board electrically connected to the main control module. This utility model utilizes a dual-radar diagonal arrangement, with each radar having a scanning range of ≥270 degrees, resulting in 360-degree coverage after superposition. This leads to faster recognition efficiency and a more comprehensive recognition range, enabling the robot to identify obstacles around the vehicle without blind spots, thus avoiding collisions caused by radar failing to detect obstacles. Furthermore, the rear wheel swing suspension drive assembly can adaptively swing with the terrain, ensuring rear wheel ground contact and improving passability on complex road surfaces.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a material handling robot. Background Technology

[0002] Intelligent material handling robots, as key equipment in both industrial and educational fields, are robotic devices equipped with multi-jointed manipulators or multiple degrees of freedom. Leveraging their integrated sensors, independent power systems, and precise control capabilities, they can perform diverse functions such as material handling, goods sorting, and educational demonstrations. In industrial production, intelligent material handling robots can effectively replace manual labor in repetitive and high-intensity handling tasks, improving production efficiency and product quality. In education, they serve as important tools for practical teaching, helping students gain a deeper understanding of the principles and applications of robotics technology.

[0003] Currently, with the continuous improvement of industrial automation and the accelerated advancement of educational informatization, the market demand for intelligent handling robots is showing explosive growth.

[0004] Although existing handling robots have demonstrated certain application value in specific scenarios, their technological development still faces many challenges, specifically in the following two aspects:

[0005] 1. Poor adaptability to indoor environments and insufficient intelligence: Existing handling robot designs are mostly focused on fixed indoor applications, and their sensor configurations generally have limitations. For example, some robots are equipped with only a single LiDAR as the core component for environmental perception, leading to the following problems: The scanning range of a single LiDAR is limited, typically only scanning a 180-degree area in front of the robot, making it difficult to cover the entire area of ​​the robot's working environment. Obstacles located to the side of the LiDAR or behind the robot are particularly prone to creating blind spots. This may cause the robot to collide with obstacles during movement because it cannot detect them in time, and in severe cases, it may even cause damage to the robot or injury to personnel.

[0006] 2. Lack of adaptability to all scenarios: Existing handling robots are usually optimized for specific scenarios (such as indoor warehouses, production lines, etc.), and their mechanical structure, motion control algorithms and sensor configurations are difficult to meet the diverse needs of mixed indoor and outdoor scenarios. For example, although omnidirectional mobile robots have the ability to turn flexibly in narrow spaces, their chassis design often cannot take into account the unevenness and complex terrain of outdoor ground, resulting in low efficiency or even failure to work properly in outdoor handling tasks.

[0007] In summary, existing material handling robots still have significant shortcomings in terms of intelligence, environmental adaptability, and all-scenario application capabilities, making it difficult to meet the urgent needs of modern industrial production and education for efficient, safe, and flexible material handling solutions. Therefore, developing an intelligent material handling robot with multi-sensor fusion perception, strong environmental adaptability, and all-scenario operation capabilities has become a key issue that urgently needs to be addressed in the field of robotics. Utility Model Content

[0008] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a material handling robot.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0010] This utility model provides a handling robot, including: a vehicle body, with a front wheel assembly and a rear wheel swing suspension drive assembly respectively connected to the front and rear ends of the vehicle body; a control board and a main control module connected inside the vehicle body; laser radars provided on opposite sides of the vehicle body; a robotic arm assembly connected to the top of the vehicle body; a depth camera connected to the robotic arm assembly; the laser radars and the robotic arm assembly electrically connected to the control board; and the front wheel assembly, the rear wheel swing suspension drive assembly, the depth camera, and the control board electrically connected to the main control module.

[0011] In one specific embodiment, a display screen is also connected to the rear end of the vehicle body, and the display screen is electrically connected to the main control module.

[0012] In one specific embodiment, an OLED screen is also connected to the front end of the vehicle body, and the OLED screen is electrically connected to the main control module.

[0013] In one specific embodiment, an LED light assembly is also connected to the front end of the vehicle body, and the LED light assembly is electrically connected to the main control module.

[0014] In one specific embodiment, the vehicle body is also connected to a voice interaction module, which is electrically connected to the main control module.

[0015] In one specific embodiment, the vehicle body is also connected to a sound cavity speaker, which is electrically connected to the main control module.

[0016] In one specific embodiment, the main control module is also connected to a patch antenna.

[0017] In one specific embodiment, the front wheel assembly includes a front encoder motor and a front roller, the front encoder motor being connected to the vehicle body and the front roller being drivenly connected to the front encoder motor.

[0018] In one specific embodiment, the rear wheel swing suspension drive assembly includes a suspension plate, a rear encoder motor, a motor adapter, and a rear roller. The suspension plate is connected to the vehicle body, the rear encoder motor is connected to the suspension plate through the motor adapter, and the rear roller is driven by the rear encoder motor.

[0019] In one specific embodiment, the robotic arm assembly includes a mounting base and six servo motors. The mounting base is connected to the vehicle body, and the six servo motors form six degrees of freedom, respectively controlling the rotating gimbal, servo arm number one, servo arm number two, servo arm number three, servo arm number four, and robotic gripper. The first servo motor is connected to the mounting base, and the depth camera is connected to servo arm number four via a bracket.

[0020] Compared with existing technologies, the advantages of this utility model's handling robot are as follows: By arranging dual radars diagonally on the vehicle body, with each radar having a scanning range of ≥270 degrees and covering 360 degrees when superimposed, the dual radars achieve faster recognition efficiency and a more comprehensive recognition range. This allows for more accurate 360-degree identification of obstacles around the vehicle body without blind spots, avoiding the problem of vehicle collisions caused by radars failing to identify obstacles. In addition, the rear wheel swing suspension drive component can adaptively swing with the terrain, ensuring rear wheel ground contact and improving passability on complex roads, enabling the robot to adapt to various complex indoor and outdoor scenarios.

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A frontal perspective view of the handling robot provided by this utility model;

[0024] Figure 2 A three-dimensional rear view of the handling robot provided by this utility model;

[0025] Figure 3 An exploded front view of the handling robot provided by this utility model;

[0026] Figure 4 An exploded rear view of the handling robot provided by this utility model;

[0027] Figure 5 An exploded view of the internal structure of the handling robot provided by this utility model;

[0028] Figure 6 An exploded view of the rear wheel swing suspension drive assembly provided by this utility model;

[0029] Figure 7 A schematic diagram of the structure of the robotic arm assembly provided by this utility model. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0032] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", 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 are not intended to 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.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0037] See Figures 1 to 7 The specific embodiment shown in this utility model discloses a handling robot, including: a vehicle body 10, with a front wheel assembly 20 and a rear wheel swing suspension drive assembly 30 respectively connected to the front and rear ends of the vehicle body 10; a control board 40 and a main control module 50 are also connected inside the vehicle body 10; laser radars 60 are provided on opposite sides of the vehicle body 10; a robotic arm assembly 70 is connected to the top of the vehicle body 10; a depth camera 80 is connected to the robotic arm assembly 70; the laser radars 60 and the robotic arm assembly 70 are electrically connected to the control board 40; and the front wheel assembly 20, the rear wheel swing suspension drive assembly 30, the depth camera 80, and the control board 40 are electrically connected to the main control module 50.

[0038] Specifically, the vehicle frame 10 is first manufactured to provide the basic support structure for the entire handling robot. The vehicle frame 10 needs sufficient strength and stability to support the various components subsequently installed. Next, a front wheel assembly 20 is installed at the front of the vehicle frame 10. The front wheel assembly 20 can adopt a common omnidirectional wheel structure, facilitating flexible steering during robot movement. Finally, a rear wheel swing-type suspension drive assembly 30 is installed at the rear of the vehicle frame 10. This assembly is designed as a swing-type suspension structure, installed at the rear of the vehicle frame 10 through a specific mechanical connection, and equipped with a drive motor to provide propulsion for the robot. This swing-type suspension structure can automatically adjust the angle and position of the rear wheels according to different ground undulations, ensuring that the rear wheels always maintain good contact with the ground. Additionally, a control board 40 is installed in a suitable location inside the vehicle frame 10. The control board 40 serves as the robot's information processing and command transmission center, requiring a stable circuit design and good heat dissipation performance. Finally, a main control module 50 is installed. The main control module 50 typically uses a high-performance microprocessor or controller, responsible for the overall coordination and control of the robot's various components. The main control module 50 is properly connected to other electrical circuits inside the vehicle body 10 to ensure the stability and accuracy of signal transmission. Additionally, LiDAR sensors 60 are installed diagonally on opposite sides of the vehicle body 10. These LiDAR sensors 60 are fixed to the vehicle body 10 using mounting brackets, ensuring that the angle of laser emission and reception for a single radar reaches 270 degrees, and that the superimposed data from the two diagonally opposite radars covers a 360-degree area around the vehicle body. Furthermore, a robotic arm assembly 70 is installed on the top of the vehicle body 10. The robotic arm assembly 70 consists of multiple joints and links, with each joint driven by a motor for flexible movement. The installation of the robotic arm assembly 70 must ensure that its range of motion meets the requirements of the actual handling task, and that its connection to the vehicle body 10 is secure and reliable. A depth camera 80 is installed at the end of the robotic arm assembly 70. The depth camera 80 is connected to the robotic arm via a specific mechanical interface, ensuring that its shooting direction can be adjusted with the movement of the robotic arm to acquire depth information at different locations.

[0039] The LiDAR 60 and robotic arm assembly 70 are electrically connected to the control board 40 via data cables. This allows the environmental information acquired by the LiDAR 60 to be transmitted to the control board 40 for processing, while the control board 40 can send control commands to the robotic arm assembly 70 to achieve motion control of the robotic arm. Additionally, the front wheel assembly 20, rear wheel swing suspension drive assembly 30, depth camera 80, and control board 40 are electrically connected to the main control module 50 via data cables. The main control module 50 receives feedback information from the front wheel assembly 20 and rear wheel swing suspension drive assembly 30 to adjust the robot's speed and direction in real time; it receives depth information acquired by the depth camera 80 and combines it with data from the LiDAR 60 for more accurate environmental perception and obstacle recognition; and it sends commands to the control board 40 to coordinate the work of the robotic arm assembly 70 and other components.

[0040] In other words, because two LiDARs 60 are installed on opposite sides of the vehicle body 10, the two radars can work simultaneously, scanning and detecting different areas around the vehicle at the same time. Compared with the method of scanning sequentially by a single radar, this greatly shortens the overall recognition time and improves recognition efficiency. The installation positions and scanning coverage areas of the two LiDARs 60 complement each other, covering a 360-degree range around the vehicle, avoiding the scanning blind spots that may exist with a single radar, and achieving comprehensive recognition of the environment around the vehicle. In addition, through the collaborative work of the two radars, combined with advanced data processing algorithms, the position, distance, and shape of obstacles around the vehicle can be obtained more accurately, achieving 360-degree obstacle recognition without blind spots. This effectively avoids the problem of collisions caused by the radar failing to recognize obstacles, improving the safety and reliability of the robot during operation. Furthermore, the swing suspension structure of the rear wheel swing suspension drive assembly 30 can automatically adjust the angle and position of the rear wheels according to different ground undulations, ensuring that the rear wheels always maintain good contact with the ground. This design allows the robot to adapt to various complex indoor and outdoor scenarios, including uneven ground and sloping roads. Even in complex terrain, the robot can maintain stable driving performance, ensuring the smooth progress of transport tasks and improving the robot's versatility and adaptability.

[0041] See Figures 1 to 4 As shown, in one embodiment, a display screen 90 is also connected to the rear end of the vehicle body 10, and the display screen 90 is electrically connected to the main control module 50.

[0042] Specifically, based on the usage scenario and functional requirements of the handling robot, as well as the available space at the rear of the vehicle body 10, a suitable type and size of display screen 90 should be selected. For example, if the robot is mainly used in an indoor environment and requires high display clarity, a high-definition LCD display screen 90 can be selected; if cost and durability are considered, an LED display screen 90 can also be selected. Simultaneously, the resolution, brightness, contrast, and other parameters of the display screen 90 should be determined to ensure clear display of information under different lighting conditions. Furthermore, a suitable location should be selected at the rear of the vehicle body 10 to install the display screen 90. This location should be easily observable by the operator without affecting the overall movement of the robot or the normal operation of its components. Generally, a relatively flat area with a wide field of vision at the rear of the vehicle body 10 can be selected, such as the upper middle position at the rear of the vehicle body 10. Additionally, a dedicated mounting bracket or structure should be designed to secure the display screen 90. The mounting bracket can be made of metal, such as aluminum alloy, to ensure sufficient strength and stability. Based on the size and shape of the display screen 90, corresponding slots, screw holes, and other fixing structures should be designed on the mounting bracket to ensure that the display screen 90 can be securely installed at the rear of the vehicle body 10. Simultaneously, vibration damping design of the installation structure should be considered to reduce the impact of vibrations generated during robot movement on the display screen 90, protecting its normal operation. Additionally, a suitable data cable should be used to electrically connect the display screen 90 to the main control module 50. Based on the interface types of the display screen 90 and the main control module 50, select the appropriate connecting cable, such as an HDMI cable, VGA cable, or a custom data cable. During connection, ensure the interface is firmly inserted to avoid poor contact. Furthermore, correctly connect the power and signal lines of the display screen 90 according to the circuit diagram to ensure data transmission and power supply between the main control module 50 and the display screen 90.

[0043] In other words, the display screen 90 can show various operational status information of the handling robot in real time, such as current speed, direction of travel, battery level, and task progress. Operators can intuitively understand the robot's working status without needing other complex equipment or methods, facilitating timely monitoring and decision-making. When the main control module 50 receives external task instructions or the robot completes a task, it can provide feedback to the operator through the display screen 90. For example, it can display the specific content of the task, the execution result (success or failure), and possible error messages. This helps operators understand the task execution status in a timely manner, improving work efficiency and the accuracy of task management. Furthermore, combined with environmental information obtained from other sensors on the robot (such as LiDAR 60 and depth camera 80), the display screen 90 can graphically present an environmental map of the robot's surroundings, obstacle locations, and other information. Operators can use this information to better plan the robot's path, avoid collisions, and ensure safe operation in complex environments. Additionally, a local operating interface can be designed on the display screen 90, allowing operators to directly operate the robot by touching the display screen 90 or connecting external input devices (such as a keyboard or mouse). For example, users can set robot operating parameters, start or stop tasks, and adjust the robotic arm's movements. This local operation method reduces reliance on remote control devices and improves operational flexibility and convenience. When the robot malfunctions, the display screen 90 can show fault codes, fault descriptions, and corresponding troubleshooting suggestions. Operators can use this information to quickly locate the cause of the fault, perform targeted repairs and adjustments, shorten troubleshooting time, and improve the robot's reliability and availability.

[0044] See Figure 1 , Figure 3 and Figure 5 As shown, in one embodiment, the front end of the vehicle body 10 is also connected to an OLED screen 100, which is electrically connected to the main control module 50.

[0045] Specifically, the appropriate OLED screen 100 is selected based on the robot's usage scenario, functional requirements, and available space at the front of the vehicle body 10. If the robot frequently operates in dimly lit indoor environments, a high-brightness, high-contrast OLED screen 100 can be chosen to ensure clear display even in low light conditions. If high color accuracy is required, such as for displaying product information or artistic patterns, a OLED screen 100 with good color reproduction should be selected. Simultaneously, the size, resolution, and other parameters of the OLED screen 100 must be determined to match the space at the front of the vehicle body 10 and the display requirements. Furthermore, a location at the front of the vehicle body 10 should be chosen that is convenient for user observation without interfering with the robot's normal movement and the operation of its components. For example, a position slightly to the left or right of the center at the top of the front of the vehicle body 10 would allow operators or relevant personnel to naturally see the information displayed on the screen during robot movement, while this position would not interfere with the movement of the front wheel assembly 20 or the normal operation of sensors (such as the obstacle avoidance sensor at the front). Additionally, a dedicated mounting structure should be designed to secure the OLED screen 100. Lightweight but sufficiently strong materials, such as plastic or aluminum alloy, can be used to create the mounting bracket. Based on the shape and size of the OLED screen 100, corresponding mounting slots, screw holes, and other fixing components are designed on the bracket to ensure that the OLED screen 100 can be securely installed at the front end of the vehicle body 10. Additionally, a suitable data cable is used to electrically connect the OLED screen 100 to the main control module 50. Depending on the interface type of the OLED screen 100 and the main control module 50, appropriate connecting cables are selected, such as FPC cables (flexible printed circuit boards) or custom data cables. During the connection process, it is crucial to ensure that the interfaces are firmly inserted to avoid poor contact. Simultaneously, the power and signal lines of the OLED screen 100 are correctly connected according to the circuit schematic to ensure data transmission and power supply between the main control module 50 and the OLED screen 100.

[0046] In other words, the OLED screen 100 can display various operational status information of the handling robot in real time, such as current speed, direction of travel, battery level, and task progress. Operators can intuitively understand the robot's working status without needing other complex equipment or methods, facilitating timely monitoring and decision-making. For example, when the battery level is low, a reminder message will be displayed on the screen, allowing operators to schedule timely charging and prevent task interruption due to insufficient power. During task execution, the OLED screen 100 can display the specific content of the task, target location, and other information. For instance, in a logistics warehousing scenario, when the robot is handling goods, the screen will display the goods' number, starting position, and destination, allowing operators to monitor task execution and ensure the robot completes the task according to correct instructions. Additionally, the OLED screen 100 can display safety warnings. When the robot detects dangerous obstacles or is about to enter a dangerous area, a warning message will pop up on the screen, such as a red warning sign and text prompts like "Obstacle ahead, please avoid." This helps to remind operators or those around them to pay attention to safety, avoid safety accidents such as collisions caused by negligence, and enhance the operational safety of the robot.

[0047] See Figure 1 , Figure 3 and Figure 5 As shown, in one embodiment, the front end of the vehicle body 10 is also connected to an LED light assembly 110, which is electrically connected to the main control module 50.

[0048] Specifically, the LED light assembly 110 consists of an LED light strip 111, a light guide cover 112, and a light strip fixing plate 113. The light strip fixing plate 113 is connected to the vehicle body 10, the LED light strip 111 is connected to the light strip fixing plate 113, the light guide cover 112 wraps around the LED light strip 111 and is connected to the light strip fixing plate 113, and the LED light strip 111 is electrically connected to the main control module 50.

[0049] More specifically, the appropriate LED light strip 111 should be selected based on the usage scenario and lighting requirements of the handling robot. For example, if the robot mainly works in a dimly lit indoor environment, a high-brightness, uniformly emitting LED light strip 111 can be selected; if color is required, such as displaying different colored warning information, an RGB color-adjustable LED light strip 111 should be selected. Additionally, the light guide cover 112 is typically made of plastics with good optical properties, such as polycarbonate (PC) or acrylic (PMMA). When selecting the light guide cover 112, its optical parameters such as transmittance and refractive index should be considered to ensure effective diffusion and guidance of the light emitted by the LED light strip 111, achieving a uniform lighting effect. Furthermore, the shape and size of the light guide cover 112 must match the LED light strip 111 and the light strip fixing plate 113. Additionally, the light strip fixing plate 113 should be made of a material with sufficient strength and light weight, such as aluminum alloy or engineering plastics. Its shape and size should be designed according to the structure of the front end of the vehicle body 10 and the installation requirements of the LED light assembly 110 to ensure that it can be firmly connected to the vehicle body 10 and provide stable support for the LED light strip 111 and the light guide cover 112.

[0050] In other words, in nighttime or low-light environments, the LED light assembly 110 can provide additional illumination, enabling the handling robot to more clearly observe the road ahead and its surroundings, avoiding collisions with obstacles and improving the robot's safety and reliability under low-light conditions. When the robot is performing cargo handling or operational tasks, the LED light assembly 110 can illuminate the work area, allowing operators to easily observe the position and status of the goods, improving work efficiency and operational accuracy. Furthermore, by controlling the light color and flashing frequency of the LED light assembly 110 through the main control module 50, different working states of the handling robot can be intuitively displayed. For example, when the robot is in normal operation, the LED light strip 111 can display a solid green light; when the robot malfunctions or encounters a dangerous situation, the LED light strip 111 can flash red, promptly alerting surrounding personnel and preventing accidents. When the robot is turning, the direction of turn can be indicated by controlling the light changes of the LED light assembly 110. For example, when turning left, the left LED light strip 111 flashes or changes to a specific color, enhancing the robot's safety and predictability during movement.

[0051] See Figures 1 to 4 As shown, in one embodiment, the vehicle body 10 is also connected to a voice interaction module 120, which is electrically connected to the main control module 50.

[0052] Specifically, the microphone type should be determined based on the usage scenario of the handling robot. If the robot is frequently in a noisy industrial environment, a microphone with a high signal-to-noise ratio and strong anti-interference capability, such as a digital microphone, should be selected. This effectively reduces background noise interference and accurately captures voice commands issued by operators or people in the vicinity. Simultaneously, the microphone's sensitivity should be considered to ensure clear sound pickup at different distances. Additionally, the speaker should be selected based on the robot's application scenario and the required volume. When used in open spaces such as large warehouses, a speaker with high power, sufficient volume, and clear sound quality should be selected to ensure that voice information is clearly conveyed to those around. If higher sound quality is required, such as for playing prompt music or providing detailed instructions, a speaker with good frequency response characteristics can be selected. Furthermore, a powerful voice processing chip with good compatibility with the main control module 50 should be selected. This chip should have functions such as voice recognition, voice synthesis, and voice encoding / decoding. For example, some advanced chips support multiple voice recognition algorithms, which can quickly and accurately convert voice commands into digital signals for processing by the main control module 50; at the same time, their voice synthesis function can generate natural and fluent voice prompts. Additionally, use suitable data cables to connect the microphone and speaker of the voice interaction module 120 to the voice processing chip, and then electrically connect the voice processing chip to the main control module 50. Select the appropriate connecting cables, such as audio cables or data cables, according to the interface type of each component.

[0053] In other words, operators do not need to be physically present with the handling robot. They can control the robot's basic movements such as starting, stopping, moving forward, backward, and turning, as well as performing specific handling tasks, simply through voice commands. For example, in a large warehouse, operators can issue voice commands from a distance to instruct the robot to move goods to a designated location, greatly improving operational convenience and efficiency. For some complex tasks, the voice interaction module 120 allows operators to convey instructions more intuitively. For instance, when the robot needs to move goods across multiple layers of shelving, the operator can describe the location of the goods and the handling requirements in detail via voice. The robot then accurately executes the task based on the voice commands, reducing errors and wasted time caused by operational complexity. Furthermore, voice interaction is a very natural and intuitive interaction method. Operators do not need to learn complex operating interfaces or button combinations; they can simply issue voice commands as if communicating with a person, and the robot will understand and execute the corresponding operations. This natural interaction method reduces the learning cost for operators and improves the comfort and user-friendliness of human-machine interaction. The voice interaction module 120 can provide real-time feedback to the operator on the robot's working status and operational results. For example, when the robot completes a carrying task, it will play a voice prompt saying "Task completed" through a speaker; if the robot encounters a problem during the task, such as encountering an obstacle and being unable to move forward, it will promptly play a prompt message saying "Obstacle ahead, please handle it", so that the operator can understand the robot's situation in a timely manner and take appropriate action.

[0054] See Figures 1 to 4 As shown, in one embodiment, the vehicle body 10 is also connected to a sound cavity speaker 130, which is electrically connected to the main control module 50.

[0055] Specifically, the appropriate power of the speaker 130 should be selected based on the usage scenario of the handling robot and the required sound propagation range. If the robot is working in open and noisy environments such as large warehouses or factory workshops, a higher power speaker, such as 10W or even higher, is needed to ensure that the sound can propagate clearly and cover a large area, allowing operators or people nearby to hear the prompts clearly. In relatively quiet, smaller indoor environments, such as small offices or laboratories, a 3-5W speaker is usually sufficient.

[0056] In other words, the acoustic cavity speaker 130 can play various types of prompts, such as voice prompts and sound effect prompts. Compared to traditional indicator light prompts, voice prompts can convey more detailed and accurate information, such as "Obstacle ahead, please detour" or "Task completed, please return," allowing operators to more clearly understand the robot's working status and next operation instructions. Sound effect prompts can be used to quickly attract attention, such as a rapid alarm sound indicating an emergency. In large work scenarios, operators may be some distance away from the robot; the sounds played through the acoustic cavity speaker 130 can be heard from a greater distance, promptly conveying important information to operators and avoiding work delays or safety accidents caused by the inability to obtain information in a timely manner due to excessive distance.

[0057] See Figure 5 As shown, in one embodiment, the main control module 50 is also connected to a patch antenna 140.

[0058] Specifically, based on the wireless communication technology standard used by the handling robot, such as Wi-Fi (commonly 2.4GHz and 5GHz bands), Bluetooth (2.4GHz band), or ZigBee (2.4GHz band), a patch antenna 140 matching its frequency should be selected. For example, if the robot uses Wi-Fi for data transmission and mainly operates in the 2.4GHz band, a patch antenna 140 operating at 2.4GHz should be selected to ensure effective signal transmission and reception. Additionally, the antenna gain should be determined based on the robot's usage scenario and communication distance requirements. In open environments such as large warehouses, where longer communication distances are required, a higher gain patch antenna 140, such as 3-5 dBi or even higher, can be selected. Higher gain means stronger signal radiation in a specific direction, allowing for longer propagation distances. In relatively confined spaces with many obstacles, such as small offices, a lower gain antenna (1-2 dBi) may be sufficient to meet communication needs and provide more uniform signal coverage.

[0059] In other words, the wireless communication function enabled by the patch antenna 140 allows operators to control and monitor the handling robot from a distance. For example, in a large warehouse, managers can send task instructions to the robot via a host computer or handheld terminal using wireless signals, such as the starting and ending points of the goods being moved and the transportation route. Simultaneously, the robot can provide real-time feedback to the operator on its working status (such as battery level, running speed, and task progress) and surrounding environmental information (such as whether it has encountered obstacles), enabling remote real-time management and scheduling. Furthermore, the patch antenna 140 enables the handling robot to transmit and share data with other devices. In a logistics system, the robot can wirelessly communicate with a warehouse management system (WMS) to promptly upload goods handling information, such as the time of goods entering and leaving the warehouse and their storage location, for real-time system updates and management. The robot can also obtain the latest task instructions and goods information from the system, improving the efficiency and accuracy of logistics operations. Additionally, due to the use of wireless communication, the handling robot is not restricted by cables during operation and can move freely within the work area. Whether navigating complex warehouse shelves or operating within vast factory workshops, robots can maintain stable communication with the control center or other equipment, greatly improving their operational flexibility and applicability.

[0060] In one embodiment, the main control module 50 includes a main control board, which is a Raspberry Pi 5, Jetson Nano, Orin Nano, or Orin NX.

[0061] Specifically, the Raspberry Pi 5 is relatively inexpensive, making it a cost-effective choice for material handling robot projects with limited budgets. It can reduce the overall project cost while meeting basic functional requirements. Furthermore, the Raspberry Pi has a large developer community with a wealth of open-source code, tutorials, and project examples available for reference. Developers can quickly obtain technical support and solutions, accelerating the development process of their material handling robots. The Raspberry Pi 5 supports multiple programming languages ​​and development frameworks, enabling easy implementation of various functions such as sensor data acquisition, motor control, and communication. It is suitable for all types of material handling robots, from simple material handling to complex intelligent logistics robots.

[0062] The Jetson Nano is equipped with an NVIDIA GPU, enabling it to perform large-scale artificial intelligence calculations, such as running lightweight deep learning models. This allows the handling robot to achieve intelligent functions such as target detection, recognition, and path planning, improving its autonomous decision-making capabilities and work efficiency. For handling robots that require processing image and video data, such as those with visual navigation capabilities, the Jetson Nano provides powerful image processing capabilities. It can analyze and process images captured by cameras in real time, achieving precise positioning and navigation.

[0063] Orin Nano and Orin NX offer superior computing performance, enabling them to handle more complex tasks and larger data volumes. They are suitable for high-performance material handling robots, such as high-speed, high-precision industrial handling robots or intelligent sorting robots in large-scale logistics warehouses. Their powerful computing capabilities allow Orin Nano or Orin NX to process data from multiple sensors simultaneously, achieving multi-sensor fusion. By fusing data from various sensors, including LiDAR, cameras, and ultrasonic sensors, the environmental awareness and decision-making accuracy of the handling robot can be improved, enhancing its safety and reliability. As material handling robot technology continues to evolve, the performance requirements for the main control board will also increase. Orin Nano and Orin NX offer good future scalability, meeting the needs of future functional upgrades and performance enhancements, and extending the robot's lifespan.

[0064] See Figures 3 to 4 As shown, in one embodiment, the vehicle body 10 is also provided with a battery pack 150 and a USB 3.0 HUB board 160, both of which are electrically connected to the main control module 50.

[0065] Specifically, the battery pack 150 provides a stable DC power supply to the main control module 50 and other electronic devices on the vehicle body 10, ensuring that the vehicle body 10 can operate normally without an external power source. This is crucial for mobile transport vehicles or vehicles that need to be used in different locations, improving the mobility and flexibility of the vehicle body 10. Additionally, the USB 3.0 hub board 160 provides multiple USB ports, facilitating the connection of the vehicle body 10 to various USB devices, such as sensors, cameras, and storage devices. This allows the vehicle body 10 to integrate more functional modules, enabling more complex data acquisition, processing, and storage tasks, thus improving its intelligence and functional versatility. The USB 3.0 standard offers a higher data transfer rate, allowing for faster transmission of large amounts of data compared to older standards like USB 2.0. This is essential for vehicle body 10 applications that require real-time transmission of high-definition video and large amounts of sensor data, reducing data transmission latency and improving system response speed and real-time performance.

[0066] See Figures 1 to 4 As shown, in one embodiment, the front wheel assembly 20 includes a front encoder motor 21 and a front roller 22, the front encoder motor 21 being connected to the vehicle body 10, and the front roller 22 being drivenly connected to the front encoder motor 21.

[0067] Specifically, a suitable front encoder motor 21 is selected based on factors such as the load capacity, operating speed requirements, and operating environment of the transport vehicle 10. For example, if the vehicle 10 needs to transport heavy goods and operate on a sloped surface, a motor with higher power and torque, such as a DC brushless motor with a planetary gearbox, should be selected, which can provide stable and powerful power output. The size and weight of the motor should be considered to ensure it can be installed in a suitable position at the front of the vehicle 10 without excessively affecting the overall balance and structural strength of the vehicle 10. For example, for a small transport vehicle 10, a compact, highly integrated miniature encoder motor can be selected. Additionally, a dedicated motor mounting base 71 is designed at the front of the vehicle 10. The mounting base 71 should have sufficient strength and rigidity to withstand the vibrations and torque generated during motor operation. The mounting base 71 can be made of metal materials (such as aluminum alloy), and the motor can be securely fixed to the mounting base 71 with bolts. The motor's installation position must be accurate, ensuring that the motor's output shaft is aligned with the direction of travel of the vehicle 10. Simultaneously, the horizontal and vertical alignment of the motor should be adjusted to prevent eccentricity or tilting during operation, which would affect transmission efficiency and motor lifespan. Shock-absorbing pads or rubber pads should be added between the motor and mounting base 71 to reduce the transmission of vibrations generated during motor operation to the vehicle body 10, thereby reducing noise and improving the stability of the vehicle body 10 during operation. Additionally, a roller bracket should be designed to mount the front roller 22. The roller bracket should have sufficient strength and rigidity to withstand the loads experienced by the front roller 22 during operation. The roller bracket can be fabricated using sheet metal through welding or riveting. The front roller 22 should be mounted on the roller bracket using bearings to ensure flexible rotation. A suitable bearing type should be selected, such as a deep groove ball bearing, which offers advantages such as low friction, high speed, and long lifespan. During bearing installation, attention should be paid to bearing lubrication and sealing to reduce wear and prevent dust and moisture from entering the bearing. The bracket containing the front roller 22 should be fixed to the front of the vehicle body 10 using bolts or other connection methods and connected to the output shaft of the front encoder motor 21 for transmission.

[0068] In other words, the front encoder motor 21 integrates an encoder, enabling real-time feedback of motor speed, position, and other information. By cooperating with the control system of the vehicle body 10, precise control of the front wheel assembly 20 can be achieved, allowing the transport vehicle body 10 to operate accurately along a predetermined route and speed, improving the motion accuracy and controllability of the vehicle body 10. Furthermore, selecting a suitable front encoder motor 21 based on different loads and operating conditions provides stable and sufficient power to the front rollers 22, ensuring the vehicle body 10 can operate normally under various working conditions, including climbing, acceleration, and deceleration, improving the adaptability and reliability of the vehicle body 10. The feedback information provided by the encoder facilitates the monitoring and adjustment of the motor's operating status by technicians. When the vehicle body 10 experiences operational abnormalities, the problem can be quickly located by reading the encoder data, allowing for timely repair and adjustment, reducing troubleshooting time and maintenance costs. Additionally, selecting a suitable transmission method and correctly installing the transmission components ensures that the power of the front encoder motor 21 is efficiently transmitted to the front rollers 22, reducing power loss, improving the energy utilization efficiency of the vehicle body 10, and extending battery life. A good transmission connection ensures smooth rotation of the front roller 22, reduces vibration and noise during operation, and improves the comfort and stability of the vehicle body 10. At the same time, it also reduces wear on transmission components and extends their service life.

[0069] See Figures 1 to 4 ,and Figure 6 As shown, in one embodiment, the rear wheel swing suspension drive assembly 30 includes a suspension plate 31, a rear encoder motor 32, a motor adapter 33, and a rear roller 34. The suspension plate 31 is connected to the vehicle body 10, the rear encoder motor 32 is connected to the suspension plate 31 through the motor adapter 33, and the rear roller 34 is drivenly connected to the rear encoder motor 32.

[0070] Specifically, the suspension plate 31 is made of high-strength, lightweight materials, such as aluminum alloy. Aluminum alloy has good strength and rigidity, while being relatively lightweight, which helps to reduce the overall weight of the vehicle body 10 and improve the energy efficiency of the transport vehicle body 10. In addition, mounting holes for connecting the suspension plate 31 are reserved on the vehicle body 10, and the suspension plate 31 is firmly fixed to the rear of the vehicle body 10 using bolts. To reduce the transmission of vibrations from the vehicle body 10 to the suspension plate 31 during operation, shock-absorbing rubber pads or shock-absorbing springs can be installed between the suspension plate 31 and the vehicle body 10. These shock-absorbing elements can absorb and buffer some of the vibration energy, improving the smoothness of the vehicle body 10's operation. Furthermore, a suitable rear encoder motor 32 is selected based on factors such as the load capacity, operating speed, and operating environment of the transport vehicle body 10. If the vehicle body 10 needs to transport heavy goods and operate on a sloped surface, a high-power, high-torque DC brushless motor should be selected, which has advantages such as high efficiency, energy saving, and high control precision. In addition, the function of the motor adapter 33 is to securely connect the rear encoder motor 32 to the suspension plate 31. A suitable motor adapter 33 is designed based on the motor's mounting interface and the structure of the suspension plate 31. Common motor adapters 33 can be metal brackets or connecting plates, and their materials can be steel or aluminum alloy.

[0071] In other words, the suspension plate 31, as the basic support component of the rear wheel swing suspension drive assembly 30, provides a stable mounting platform for the rear encoder motor 32 and the rear roller 34, ensuring that the entire assembly maintains a relatively stable position during the operation of the vehicle body 10, thus improving the reliability of the vehicle body 10's operation. Furthermore, the rear encoder motor 32 integrates an encoder, enabling real-time feedback of motor speed, position, and other information. By cooperating with the control system of the vehicle body 10, precise control of the rear wheel assembly can be achieved, allowing the transport vehicle body 10 to run accurately along a predetermined route and speed, improving the motion accuracy and controllability of the vehicle body 10. Selecting a suitable rear encoder motor 32 based on different loads and operating conditions can provide stable and sufficient power to the rear roller 34, ensuring that the vehicle body 10 can operate normally under various working conditions, including climbing, acceleration, and deceleration, thus improving the adaptability and power performance of the vehicle body 10. In addition, by using a suitable transmission method to achieve the transmission connection between the rear roller 34 and the rear encoder motor 32, it is possible to ensure that the power of the motor is efficiently transmitted to the rear roller 34, reduce power loss, improve the energy utilization efficiency of the vehicle body 10, and extend the battery range.

[0072] In one embodiment, the front roller 22 and the rear roller 34 are both Mecanum wheels, which enable the robot to move in all directions, including translation in multiple directions such as forward, backward, left, right and diagonal.

[0073] Specifically, traditional wheeled robots typically only perform basic movements such as forward, backward, left, and right turns. However, robots using Mecanum wheels as front wheels 22 and rear wheels 34 can translate in eight directions, including forward, backward, left, right, and four diagonal directions. This multi-directional translational capability allows the robot to move more flexibly and avoid obstacles in confined spaces and complex environments, significantly improving its operability and applicability. For example, in a warehouse, the robot can move laterally directly to the shelf to store or retrieve goods without needing to perform complex turning operations first. Furthermore, because the robot can translate in multiple directions, its ability to navigate narrow passages is significantly improved. In narrow passages where traditional wheeled robots might be unable to pass, robots using Mecanum wheels can smoothly pass through by lateral translation, reducing areas that are inaccessible due to space constraints and improving workspace utilization.

[0074] See Figures 1 to 4 ,and Figure 7 As shown, in one embodiment, the robotic arm assembly 70 includes a mounting base 71 and six servo motors 72. The mounting base 71 is connected to the vehicle body 10. The six servo motors 72 constitute six degrees of freedom and control the rotating gimbal 73, the first servo arm 74, the second servo arm 75, the third servo arm 76, the fourth servo arm 77, and the robotic gripper 78, respectively. The first servo motor 72 is connected to the mounting base 71, and the depth camera 80 is connected to the fourth servo arm 77 via a bracket.

[0075] Specifically, the mounting base 71 can be connected to the vehicle body 10 by screws or welding. The first servo motor 72 is mounted on the mounting base 71. A dedicated mounting slot or hole for the servo motor 72 is designed on the mounting base 71 to ensure accurate and stable installation. For example, the first servo motor 72 is fixed to the mounting base 71 with bolts, and damping pads are added between the servo motor 72 and the mounting base 71 to reduce the impact of vibration on the performance of the servo motor 72. In addition, the output shaft of the first servo motor 72 is connected to the rotary gimbal 73, and reliable transmission between the two is ensured by a coupling or key connection. The rotary gimbal 73, as the first rotary joint of the robotic arm, enables the robotic arm to rotate horizontally. The second servo motor 72 is connected to the rotary gimbal 73, and its output shaft is connected to the first servo arm 74. The first servo arm 74 typically serves as the first segment of the robotic arm and can swing at a certain angle in the vertical plane. During connection, ensure the coaxiality of the servo arm and the output shaft of the servo motor 72 to avoid uneven force distribution or inflexible movement of the servo motor 72 due to installation misalignment. The third servo motor 72 is installed at the other end of the first servo arm 74, and its output shaft is connected to the second servo arm 75. The second servo arm 75 further extends the working range of the robotic arm, also capable of swinging in the vertical plane. The connection method is similar to that of the first servo arm 74; attention should be paid to adjusting the angle and positional relationship between the servo arms to meet the overall movement requirements of the robotic arm. The fourth servo motor 72 is installed on the second servo arm 75, and its output shaft is connected to the third servo arm 76. The third servo arm 76 continues to extend the length of the robotic arm and achieves swinging at different angles through the control of the servo motor 72. The fifth servo motor 72 is installed on the third servo arm 76, and its output shaft is connected to the fourth servo arm 77. The fourth servo arm 77 is a critical part near the end effector of the robotic arm; its movement directly affects the position and attitude of the gripper 78. The sixth servo motor 72 is installed on the fourth servo arm 77, and its output shaft is connected to the gripper 78. The robotic gripper 78, acting as the end effector of the robotic arm, can perform actions such as grasping and releasing through the control of the sixth servo motor 72. Additionally, the depth camera 80 is mounted on a bracket using bolts, nuts, and other fasteners, and then the bracket with the depth camera 80 mounted is secured to the fourth servo arm 77 using bolts.

[0076] In other words, the six degrees of freedom formed by the six servo motors 72 enable the robotic arm assembly 70 to achieve omnidirectional movement in three-dimensional space. It can perform complex movements such as rotation, extension, and bending, just like a human arm, reaching target objects in various directions and positions around the vehicle body 10. For example, in confined spaces, the robotic arm can flexibly navigate around obstacles and complete grasping tasks through combinations of different degrees of freedom, greatly improving the robot's operational flexibility and adaptability. Furthermore, a depth camera 80, mounted on the fourth servo arm 77, can acquire real-time depth information within the robotic arm's working area. Through the analysis and processing of depth images, the robot can perceive information such as the distance, shape, and position of objects in its surrounding environment, thereby achieving autonomous obstacle avoidance. When the robotic arm encounters an obstacle during movement, the depth camera 80 can detect it promptly and feed the information back to the control system. The control system adjusts the robotic arm's trajectory based on the feedback information to avoid collisions with obstacles, improving the robot's safety and reliability. In addition, the integration of the robotic arm assembly 70 with the vehicle body 10 gives the robot a variety of operational capabilities. In addition to traditional mobility functions, robots can also perform various tasks such as grasping, handling, assembly, and inspection using robotic arms, making them suitable for multiple fields including industrial production, logistics and warehousing, medical care, and home services. For example, on industrial production lines, robots can replace manual labor in grasping and assembling parts, improving production efficiency and product quality; in home services, robots can use robotic arms to perform household chores such as sorting and moving items.

[0077] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A transport robot, characterized in that include: The vehicle body has a front wheel assembly and a rear wheel swing suspension drive assembly connected to its front and rear ends, respectively. A control board and a main control module are also connected inside the vehicle body. LiDARs are installed on opposite sides of the vehicle body. A robotic arm assembly is connected to the top of the vehicle body. A depth camera is connected to the robotic arm assembly. The LiDARs and the robotic arm assembly are electrically connected to the control board. The front wheel assembly, the rear wheel swing suspension drive assembly, the depth camera, and the control board are electrically connected to the main control module.

2. The transport robot of claim 1, wherein, The rear end of the vehicle body is also connected to a display screen, which is electrically connected to the main control module.

3. The transport robot of claim 1, wherein, The front end of the vehicle body is also connected to an OLED screen, which is electrically connected to the main control module.

4. The transport robot of claim 1, wherein, The front end of the vehicle body is also connected to an LED light assembly, which is electrically connected to the main control module.

5. The handling robot according to claim 1, characterized in that, The vehicle body is also connected to a voice interaction module, which is electrically connected to the main control module.

6. The handling robot according to claim 1, characterized in that, The vehicle body is also connected to a sound cavity speaker, which is electrically connected to the main control module.

7. The handling robot according to claim 1, characterized in that, The main control module is also connected to a patch antenna.

8. The handling robot according to claim 1, characterized in that, The front wheel assembly includes a front encoder motor and a front roller, the front encoder motor being connected to the vehicle body and the front roller being drivenly connected to the front encoder motor.

9. The handling robot according to claim 1, characterized in that, The rear wheel swing suspension drive assembly includes a suspension plate, a rear encoder motor, a motor adapter, and a rear roller. The suspension plate is connected to the vehicle body, the rear encoder motor is connected to the suspension plate through the motor adapter, and the rear roller is driven by the rear encoder motor.

10. The handling robot according to claim 1, characterized in that, The robotic arm assembly includes a mounting base and six servo motors. The mounting base is connected to the vehicle body. The six servo motors form six degrees of freedom and control the rotating gimbal, servo arm number one, servo arm number two, servo arm number three, servo arm number four, and robotic gripper, respectively. The first servo motor is connected to the mounting base, and the depth camera is connected to servo arm number four via a bracket.

Images