CN111688835B

CN111688835B - Carrying robot

Info

Publication number: CN111688835B
Application number: CN202010534427.5A
Authority: CN
Inventors: 兰毅; 柳维强
Original assignee: Planetary Computing Power Shenzhen Technology Co ltd
Current assignee: Planetary Computing Power Shenzhen Technology Co ltd
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2023-09-15
Anticipated expiration: 2040-06-12
Also published as: CN111688835A

Abstract

The invention provides a carrying robot, and belongs to the technical field of robots. The robot solves the problems of poor loading capacity and poor running stability of the existing robot. The carrying robot comprises a base and a wheel assembly arranged on the base, wherein a first supporting shaft extending horizontally and a second supporting shaft coaxially arranged with the first supporting shaft are arranged on the base, a first parallelogram member is arranged on the first supporting shaft, a second parallelogram member symmetrically arranged with the first parallelogram member is arranged on the second supporting shaft, a goods shelf is arranged between the first parallelogram member and the second parallelogram member, and a form adjusting assembly for simultaneously adjusting the forms of the first parallelogram member and the second parallelogram member is further arranged on the base. The invention has the advantages of strong load capacity, good running stability, strong functionality and the like.

Description

Carrying robot

Technical Field

The invention belongs to the technical field of robots, and relates to a carrying robot.

Background

Currently, the full-automatic transportation robot is widely applied, and has the advantages that: can replace higher and higher manpower cost, has high durability and no tiredness, can execute tasks in polluted environment and dangerous environment, and can execute tasks with harm to human bodies. Chinese patent discloses a two-wheeled self-balancing transport robot [ grant bulletin number CN209176810U ], comprising a chassis; a left wheel assembly and a right wheel assembly; a balance sensing assembly; a control circuit board; a battery module and a container; the left wheel assembly and the right wheel assembly are symmetrically arranged along the travelling direction perpendicular to the left-right direction; the balance induction assembly, the control circuit board, the battery module and the container are symmetrically arranged along the advancing direction, and the container, the control circuit board and the battery are sequentially arranged from top to bottom along the height direction.

The container of the transport robot is directly fixed on the chassis, and the container cannot be inclined relative to the chassis, so that the container cannot enter a space with a lower layer height; because the height of the container can not be adjusted, when a heavy object is placed on the container, the gravity center of the container is raised, so that the stability of the robot is poor, the robot is very easy to topple forwards or backwards, and the loading capacity is poor.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a carrying robot with strong load capacity.

The aim of the invention can be achieved by the following technical scheme:

the carrying robot comprises a base and a wheel assembly arranged on the base, wherein a first supporting shaft extending horizontally and a second supporting shaft coaxially arranged with the first supporting shaft are arranged on the base, a first parallelogram member is arranged on the first supporting shaft, a second parallelogram member symmetrically arranged with the first parallelogram member is arranged on the second supporting shaft, a goods shelf is arranged between the first parallelogram member and the second parallelogram member, and a form adjusting assembly for simultaneously adjusting forms of the first parallelogram member and the second parallelogram member is further arranged on the base.

The first support shaft and the second support shaft horizontally extend along the left-right direction, and the form adjusting assembly is used for simultaneously adjusting the forms of the first parallelogram component and the second parallelogram component, the adjusting amplitude of the first parallelogram component and the second parallelogram component is the same, and the height of the goods shelf changes along with the form change of the first parallelogram component and the second parallelogram component. When heavier goods are put into, the gravity center of the goods shelf can be reduced, so that the gravity center of the whole robot is reduced, the stability is improved, the height of the robot can be reduced after the height is reduced, and the application range is wide. Wherein the first parallelogram member and the second parallelogram member are always in a symmetrical state.

In the carrying robot, the first parallelogram component comprises a first swing arm and a second swing arm which are sleeved on the first supporting shaft, the first swing arm and the second swing arm are arranged in a crossing mode, a first connecting rod which is positioned below the first supporting shaft and parallel to the second swing arm is hinged to the first swing arm, a second connecting rod which is parallel to the first swing arm is hinged to one end of the first connecting rod, which is far away from the first swing arm, and one end of the second connecting rod, which is far away from the first connecting rod, is hinged to the second swing arm; the second parallelogram component including the cover establish at the epaxial third swing arm of second back shaft and fourth swing arm, third swing arm and fourth swing arm alternately set up, just third swing arm and first swing arm symmetry set up, fourth swing arm and second swing arm symmetry set up, the third swing arm on articulated have be located the second back shaft below with the parallel third connecting rod of fourth swing arm, the one end that the third connecting rod kept away from the third swing arm articulated have with the parallel fourth connecting rod of third swing arm, the one end that the third connecting rod was kept away from to the fourth connecting rod articulated with the fourth swing arm, third connecting rod and first connecting rod symmetrical setting, fourth connecting rod and second connecting rod symmetrical setting.

The rotating center line of the first connecting rod rotating relative to the first swing arm is parallel to the first supporting shaft, the rotating center line of the second connecting rod rotating relative to the first connecting rod is parallel to the first supporting shaft, and the rotating center line of the second connecting rod rotating relative to the second swing arm is parallel to the first supporting shaft; the rotation center line of the third connecting rod rotating relative to the third swing arm is parallel to the second supporting shaft, the rotation center line of the fourth connecting rod rotating relative to the third connecting rod is parallel to the second supporting shaft, and the rotation center line of the fourth connecting rod rotating relative to the fourth swing arm is parallel to the second supporting shaft.

In the carrying robot, the base is provided with the first supporting plate and the second supporting plate, the first supporting shaft is arranged on the first supporting plate, the second supporting shaft is arranged on the second supporting plate, the first supporting plate is provided with the first guide groove extending longitudinally, the second supporting plate is provided with the second guide groove symmetrically arranged with the first guide groove, the first connecting rod is hinged with the second connecting rod through the first hinge shaft, the first hinge shaft extends into the first guide groove, the third connecting rod is hinged with the fourth connecting rod through the second hinge shaft, and the second hinge shaft extends into the second guide groove.

The first supporting plate and the second supporting plate are respectively and vertically fixed at the left end and the right end of the base, the first parallelogram component and the first guide groove are positioned at one side of the first supporting plate, which is close to the second supporting plate, and the second parallelogram component and the second guide groove are positioned at one side of the second supporting plate, which is close to the first supporting plate. The first hinge shaft is located under the first support shaft, the second hinge shaft is located under the second support shaft, the first hinge shaft is in sliding fit with the first guide groove, and when the shape of the first parallelogram member changes, the first hinge shaft slides along the first guide groove. The second hinge shaft is slidably engaged with the second guide groove, and slides along the second guide groove when the morphology of the second parallelogram member changes.

In the carrying robot, a fifth connecting rod which is positioned above the first supporting shaft and parallel to the second swing arm is hinged to the first swing arm, a sixth connecting rod which is parallel to the first swing arm is hinged to one end of the fifth connecting rod, which is far away from the first swing arm, and one end of the sixth connecting rod, which is far away from the fifth connecting rod, is hinged to the second swing arm; the third swing arm is further hinged with a seventh connecting rod which is positioned above the second supporting shaft and parallel to the fourth swing arm, one end of the seventh connecting rod, which is far away from the third swing arm, is hinged with an eighth connecting rod which is parallel to the third swing arm, one end of the eighth connecting rod, which is far away from the seventh connecting rod, is hinged with the fourth swing arm, the seventh connecting rod and the fifth connecting rod are symmetrically arranged, and the eighth connecting rod and the sixth connecting rod are symmetrically arranged.

The first swing arm and the second swing arm are obliquely arranged along the vertical direction, and the included angles formed by the first swing arm and the second swing arm are equal to the included angle formed by the horizontal plane; the third swing arm and the fourth swing arm are obliquely arranged along the vertical direction, and the included angles formed by the third swing arm and the fourth swing arm are equal to the included angle formed by the horizontal plane. When the first swing arm swings, the second swing arm is driven to swing in the opposite direction and at the same angle under the action of the first connecting rod, the second connecting rod, the fifth connecting rod and the sixth connecting rod; meanwhile, the third swing arm swings in the same direction and in the same angle with the first swing arm, and the fourth swing arm is driven to swing in the opposite direction and in the same angle under the action of the third connecting rod, the fourth connecting rod, the seventh connecting rod and the eighth connecting rod.

In the carrying robot, one end of the goods shelf, which is close to the first parallelogram component, is provided with a first guide groove horizontally extending along the front-back direction and a second guide groove positioned at the same height with the first guide groove, the upper part of the first swing arm is provided with a first rotating shaft horizontally extending along the left-right direction, the first rotating shaft is coaxially provided with a first roller rolling in the first guide groove, the upper part of the second swing arm is provided with a second rotating shaft horizontally extending along the left-right direction, and the second rotating shaft is coaxially provided with a second roller rolling in the second guide groove; the goods shelf is close to one end of the second parallelogram component and is provided with a third guide groove horizontally extending along the front-back direction and a fourth guide groove which is positioned at the same height with the third guide groove, the upper part of the third swing arm is provided with a third rotating shaft horizontally extending along the left-right direction, the third rotating shaft is coaxially provided with a third roller which rolls in the third guide groove, the upper part of the fourth swing arm is provided with a fourth rotating shaft horizontally extending along the left-right direction, and the fourth rotating shaft is coaxially provided with a fourth roller which rolls in the fourth guide groove.

The first guide groove and the third guide groove are symmetrically arranged, the second guide groove and the fourth guide groove are symmetrically arranged, when the first swing arm, the second swing arm, the third swing arm and the fourth swing arm swing, the first roller rolls in the first guide groove, the second roller rolls in the second guide groove, the third roller rolls in the third guide groove, and the fourth roller rolls in the fourth guide groove. The first rotating shaft is coaxial with the third rotating shaft, and the second rotating shaft is coaxial with the fourth rotating shaft. The front end and the rear end of the first guide groove, the second guide groove, the third guide groove and the fourth guide groove are all closed, and the first roller, the second roller, the third roller and the fourth roller are prevented from being separated from the guide grooves correspondingly arranged.

In the carrying robot, the lower part of the first swing arm is provided with a first hanging rod horizontally extending along the left-right direction, the lower part of the second swing arm is provided with a second hanging rod horizontally extending along the left-right direction, the lower part of the third swing arm is provided with a third hanging rod horizontally extending along the left-right direction, the lower part of the fourth swing arm is provided with a fourth hanging rod horizontally extending along the left-right direction, a first counterweight is hung between the first hanging rod and the third hanging rod, and a second counterweight is hung between the second hanging rod and the fourth hanging rod.

The first counterweight is hung between the first hanging rod and the third hanging rod, the first counterweight can rotate relative to the first hanging rod and the third hanging rod, and the second counterweight is hung between the second hanging rod and the fourth hanging rod, and the second counterweight can rotate relative to the second hanging rod and the fourth hanging rod. When the robot suddenly stops, the first counterweight/second counterweight is in contact with the ground, so that the braking of the robot is realized, and meanwhile, the first counterweight/second counterweight can support the first swing arm, the third swing arm, the second swing arm and the fourth swing arm, so that the robot is prevented from toppling over.

In order to avoid the additional burden of the robot, the essential components of the robot are taken as a first counterweight and a second counterweight, for example, two electric boxes of the robot are respectively taken as the first counterweight and the second counterweight, and a battery, a control circuit board and the like are arranged in the electric boxes. In order to facilitate the installation of the first counterweight, a first tray is hung between the first hanging rod and the third hanging rod, and the first counterweight is placed in the first tray. In order to facilitate the installation of the second counterweight, a second tray is hung between the second hanging rod and the fourth hanging rod, and the second counterweight is placed in the second tray.

In the carrying robot, a driving shaft is arranged between the first supporting shaft and the second supporting shaft, one end of the driving shaft, which is close to the first supporting shaft, is sleeved on the first supporting shaft, a bearing is arranged between the first supporting shaft and the second supporting shaft, one end of the driving shaft, which is close to the second supporting shaft, is sleeved on the second supporting shaft, a bearing is arranged between the second supporting shaft and the second supporting shaft, the first swing arm and the third swing arm are fixed on the driving shaft, the second swing arm and the fourth swing arm are sleeved on the driving shaft, and the form adjusting assembly is arranged between the base and the driving shaft.

The driving shaft, the first supporting shaft and the second supporting shaft are coaxial, and two ends of the driving shaft are respectively sleeve-shaped. When the form adjusting assembly drives the driving shaft to rotate, the driving shaft drives the first swing arm and the third swing arm to swing synchronously, and the third swing arm and the fourth swing arm are driven to swing under the action of the first parallelogram component and the second parallelogram component.

In the carrying robot, the form adjusting assembly comprises a first motor arranged on the base, a driving wheel arranged on an output shaft of the first motor and a driven wheel coaxially and fixedly connected to the driving shaft, and the driving wheel is in transmission connection with the driven wheel.

After the first motor is started, an output shaft of the first motor drives a driving wheel to rotate, the driving wheel is in transmission connection with a driven wheel through a transmission belt or other transmission modes, so that the driven wheel is driven to rotate, the driven wheel drives a driving shaft to rotate around a central axis of the driven wheel, so that the first swing arm and the third swing arm are driven to swing synchronously, when the first swing arm and the third swing arm swing, the first parallelogram member and the second parallelogram member drive the second swing arm and the fourth swing arm to swing synchronously, and finally the shelf is enabled to ascend or descend through the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft. The first motor has a locking function, and the driving shaft can be kept in the current state after the first motor stops.

In the carrying robot, a first connecting frame is arranged on the upper portion of the first swing arm, a second connecting frame is arranged on the upper portion of the third swing arm, a supporting frame located right above the driving shaft is arranged between the first connecting frame and the second connecting frame, and a gravity center adjusting assembly is arranged on the supporting frame.

The first swing arm and the third swing arm incline forwards and upwards along the walking direction of the robot, the first connecting frame and the second connecting frame are symmetrically arranged, and the first connecting frame and the second connecting frame incline backwards and upwards along the walking direction of the robot. In order to keep stable state, the gravity center of the whole body formed by the first parallelogram component, the second parallelogram component, the first counterweight, the second counterweight, the goods shelf, the first connecting frame, the second connecting frame, the supporting frame and the gravity center adjusting component is positioned right above the central axis of the driving shaft under the action of the gravity center adjusting component.

The first link can dismantle the upper portion of connecting at first swing arm, can adjust the inclination of first link, and the second link can dismantle the upper portion of connecting at the third swing arm, can adjust the inclination of third link, and the support frame can dismantle the connection between first link and second link, the inclination of adjustable support frame.

The support frame can be provided with a camera/sensor/illumination source/traction interface and the like, so that the operations such as shooting, gas detection, cable traction and the like can be realized.

In the carrying robot, the gravity center adjusting assembly comprises a swing rod hinged to the side portion of the support frame and a second motor for driving the swing rod to swing, and the rotation center line of the swing rod horizontally extends along the left-right direction.

When goods are placed on the goods shelf, the position of the gravity center can be adjusted through swinging the angle of the swinging rod, so that the integral gravity center formed by the first parallelogram component, the second parallelogram component, the first counterweight, the second counterweight, the goods shelf, the first connecting frame, the second connecting frame, the supporting frame and the gravity center adjusting component is positioned right above the central axis of the driving shaft. The swing rod can realize the actions of touching/extruding various switch buttons, triggering signals and the like.

In order to lower the center of gravity, the second motor is arranged at the lower part of the supporting frame, the swing rod is positioned at the upper part of the supporting frame, and the second motor is in transmission connection with the swing rod: the output shaft of the second motor is provided with a first steel wire wheel, the rotating shaft of the swing rod is provided with a second steel wire wheel, and the first steel wire wheel is connected with the second steel wire wheel through steel wire transmission. When the output shaft of the second motor rotates, the first wire wheel is driven to rotate, and the first wire wheel drives the second wire wheel to rotate through the wire, so that the swing rod swings.

In the carrying robot, the wheel assembly comprises a right wheel arranged on the first supporting plate and driven by the hub motor, and a left wheel arranged on the second supporting plate and driven by the hub motor, and the left wheel and the right wheel are coaxially arranged.

The wheel hub motor for driving the right wheel to act is arranged in the right wheel, the wheel hub motor for driving the left wheel to move is arranged in the left wheel, the robot moves straight when the rotating speeds of the wheel hub motor and the wheel hub motor are the same, and the steering of the robot can be realized when the rotating speeds of the wheel hub motor and the wheel hub motor are different. The hub motor comprises an inner stator and an outer rotor sleeved on the inner stator, and the outer rotor rotates around the central axis of the inner stator when in operation, so that the wheel is fixed on the outer rotor of the hub motor.

In the above carrying robot, the right wheel is coaxial with the first support shaft, and the left wheel is coaxial with the second support shaft. The first support shaft is fixedly connected with or is a shaft coaxial with a rotor shaft of the hub motor positioned in the right wheel, the first support plate is fixedly connected with the first support shaft, the second support shaft is fixedly connected with or is a shaft coaxial with a rotor shaft of the hub motor positioned in the left wheel, and the second support plate is fixedly connected with the second support shaft.

In the carrying robot, a gyroscope chip is arranged in the goods shelf. The gyroscope chip is used for sensing whether the goods shelf is in a horizontal state or not, when the goods shelf is inclined, the gyroscope chip transmits signals to a control circuit board in the electric box, and the control circuit board controls the second motor to work to drive the swing rod to swing, so that the horizontal state of the goods shelf is adjusted.

In the carrying robot, a first connecting plate is arranged at one end of the goods shelf, which is close to the first parallelogram component, and the first guide groove and the second guide groove are arranged on the first connecting plate; and a second connecting plate is arranged at one end of the goods shelf, which is close to the second parallelogram component, and the third guide groove and the fourth guide groove are arranged on the second connecting plate.

In the carrying robot, the first rotating shaft passes through the first guide groove and then extends to one side of the first connecting plate, which is close to the second connecting plate, the second rotating shaft passes through the second guide groove and then extends to one side of the first connecting plate, which is close to the second connecting plate, a first limit column positioned between the first guide groove and the second guide groove is arranged on one side of the first connecting plate, a first tension spring is arranged between the first limit column and the first rotating shaft, and a second tension spring is arranged between the first limit column and the second rotating shaft; the third pivot pass behind the third guide slot and extend to one side that the second connecting plate is close to first connecting plate, the fourth pivot pass behind the fourth guide slot and extend to one side that the second connecting plate is close to first connecting plate, one side that the second connecting plate is close to first connecting plate be equipped with the spacing post of second that is located between third guide slot and the fourth guide slot, spacing post of second and third pivot between be equipped with the third extension spring, spacing post of second and fourth pivot between be equipped with the fourth extension spring.

The distance from the first limit column to the first rotating shaft is equal to the distance from the first limit column to the second rotating shaft, one end of the first tension spring acts on the first limit column, the other end of the first tension spring acts on the first rotating shaft, one end of the second tension spring acts on the first limit column, the other end of the second tension spring acts on the second rotating shaft, and the tensile force of the first tension spring is equal to the tensile force of the second tension spring; the distance from the second limiting column to the third rotating shaft is equal to the distance from the second limiting column to the fourth rotating shaft, one end of the third tension spring acts on the second limiting column, the other end acts on the third rotating shaft, one end of the fourth tension spring acts on the second limiting column, the other end acts on the fourth rotating shaft, and the tension force of the third tension spring is equal to the tension force of the fourth tension spring. The tension is applied to the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft through the tension springs, so that the front and back positions of the goods shelf relative to the base can be prevented from being changed, and the goods shelf can be buffered in lifting.

Compared with the prior art, the carrying robot has the following advantages:

the lower part of the goods shelf is connected with the first counterweight and the second counterweight through the first parallelogram component and the second parallelogram component, the heavier the goods are, the farther the distance between the first counterweight and the second counterweight is, the goods can be effectively balanced, the stability is improved, and meanwhile, the goods shelf has a unique adjustable posture, can bear larger load and has strong loading capacity; the center of gravity of the robot can be accurately adjusted through the gyroscope chip, the second motor and the swinging rod, so that the stability of the robot is effectively ensured; the first guide groove is formed in the first supporting plate, deformation of the first parallelogram component can be limited, the second guide groove is formed in the second supporting plate, deformation of the second parallelogram component can be limited, the goods shelf is always kept in a horizontal state, and stability of goods is guaranteed.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.

Fig. 2 is a schematic view of a part of the structure of a preferred embodiment provided by the present invention.

Fig. 3 is a schematic structural view of a further part of a preferred embodiment provided by the present invention.

Fig. 4 is a front-rear sectional view of a preferred embodiment provided by the present invention.

Fig. 5 is a schematic structural view of a further part of a preferred embodiment provided by the present invention.

Fig. 6 is a schematic structural view of a further part of the preferred embodiment provided by the present invention.

Fig. 7 is a schematic structural view of a further part of a preferred embodiment provided by the present invention.

Fig. 8 is a left-right sectional view of a preferred embodiment provided by the present invention.

In the figure, 1, a base; 2. a first support shaft; 3. a second support shaft; 4. a goods shelf; 5. a first swing arm; 6. a second swing arm; 7. a first link; 8. a second link; 9. a third swing arm; 10. a fourth swing arm; 11. a third link; 12. a fourth link; 13. a first support plate; 14. a second support plate; 15. a first guide groove; 16. a second guide groove; 17. a first hinge shaft; 18. a second hinge shaft; 19. a fifth link; 20. a sixth link; 21. a seventh link; 22. an eighth link; 23. a first guide groove; 24. a second guide groove; 25. a first rotating shaft; 26. a second rotating shaft; 27. a third guide groove; 28. a fourth guide groove; 29. a third rotating shaft; 30. a fourth rotating shaft; 31. a first hanger bar; 32. a second hanging rod; 33. a third hanger bar; 34. a fourth hanger bar; 35. a first counterweight; 36. a second counterweight; 37. a drive shaft; 38. a first motor; 39. a driving wheel; 40. driven wheel; 41. a first connection frame; 42. a second connecting frame; 43. a support frame; 44. swing rod; 45. a second motor; 46. a right wheel; 47. a left wheel; 48. a first connection plate; 49. a second connecting plate; 50. a first limit post; 51. a first tension spring; 52. a second tension spring; 53. the second limit column; 54. a third tension spring; 55. a fourth tension spring; 56. a first tray; 57. and a second tray.

Detailed Description

The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

The carrying robot shown in fig. 1 comprises a base 1 and a wheel assembly arranged on the base 1, wherein a first supporting plate 13 and a second supporting plate 14 are arranged on the base 1, the first supporting plate 13 and the second supporting plate 14 are respectively and vertically fixed at the left end and the right end of the base 1, and the first supporting plate 13 and the second supporting plate 14 are oppositely arranged.

As shown in fig. 1, the wheel assembly includes a right wheel 46 driven by an in-wheel motor provided on the first support plate 13 and a left wheel 47 driven by an in-wheel motor provided on the second support plate 14, the left wheel 47 being disposed coaxially with the right wheel 46. The hub motor comprises an inner stator and an outer rotor sleeved on the inner stator, and the outer rotor rotates around the central axis of the inner stator when in operation, so that the wheel is fixed on the outer rotor of the hub motor. The hub motor for driving the right wheel 46 to move is arranged in the right wheel 46, the hub motor for driving the left wheel 47 to move is arranged in the left wheel 47, the robot moves straight when the rotation speeds of the hub motor and the left wheel are the same, and the steering of the robot can be realized when the rotation speeds of the hub motor and the left wheel are different.

In the present embodiment, as shown in fig. 8, the right wheel 46 is coaxial with the first support shaft 2, and the left wheel 47 is coaxial with the second support shaft 3. The first support shaft 2 is coaxially and fixedly connected with or is one shaft of a rotor shaft of the hub motor positioned in the right wheel 46, the first support plate 13 is fixedly connected with the first support shaft 2, the second support shaft 3 is coaxially and fixedly connected with or is one shaft of a rotor shaft of the hub motor positioned in the left wheel 47, and the second support plate 14 is fixedly connected with the second support shaft 3.

As shown in fig. 2, the first support plate 13 is provided with a first support shaft 2 horizontally arranged in the left-right direction, the second support plate 14 is provided with a second support shaft 3 coaxially arranged with the first support shaft 2, the first support shaft 2 is provided with a first parallelogram member, the second support shaft 3 is provided with a second parallelogram member symmetrically arranged with the first parallelogram member, and the base 1 is further provided with a form adjusting component for simultaneously adjusting the forms of the first parallelogram member and the second parallelogram member. The form adjusting component is used for adjusting the forms of the first parallelogram component and the second parallelogram component simultaneously, and the adjustment amplitude of the first parallelogram component and the second parallelogram component is the same. The first parallelogram member and the second parallelogram member are always in a symmetrical state.

As shown in fig. 2, 3 and 4, the first parallelogram member comprises a first swing arm 5 and a second swing arm 6 which are sleeved on the first support shaft 2, the first swing arm 5 and the second swing arm 6 are arranged in a crossing manner, a first connecting rod 7 which is positioned below the first support shaft 2 and parallel to the second swing arm 6 is hinged on the first swing arm 5, a second connecting rod 8 which is parallel to the first swing arm 5 is hinged on one end of the first connecting rod 7 away from the first swing arm 5, and one end of the second connecting rod 8 away from the first connecting rod 7 is hinged with the second swing arm 6. The rotation center line of the first connecting rod 7 rotating relative to the first swing arm 5 is parallel to the first supporting shaft 2, the rotation center line of the second connecting rod 8 rotating relative to the first connecting rod 7 is parallel to the first supporting shaft 2, and the rotation center line of the second connecting rod 8 rotating relative to the second swing arm 6 is parallel to the first supporting shaft 2.

As shown in fig. 5, the second parallelogram member comprises a third swing arm 9 and a fourth swing arm 10 which are sleeved on the second supporting shaft 3, the third swing arm 9 and the fourth swing arm 10 are arranged in a crossing manner, the third swing arm 9 and the first swing arm 5 are symmetrically arranged, the fourth swing arm 10 and the second swing arm 6 are symmetrically arranged, a third connecting rod 11 which is positioned below the second supporting shaft 3 and is parallel to the fourth swing arm 10 is hinged on the third swing arm 9, a fourth connecting rod 12 which is parallel to the third swing arm 9 is hinged on one end of the third connecting rod 11, which is far away from the third connecting rod 11, is hinged on one end of the fourth connecting rod 12, which is far away from the third connecting rod 11, and the third connecting rod 11 and the first connecting rod 7 are symmetrically arranged, and the fourth connecting rod 12 and the second connecting rod 8 are symmetrically arranged. The rotation center line of the third link 11 rotating relative to the third swing arm 9 is parallel to the second support shaft 3, the rotation center line of the fourth link 12 rotating relative to the third link 11 is parallel to the second support shaft 3, and the rotation center line of the fourth link 12 rotating relative to the fourth swing arm 10 is parallel to the second support shaft 3.

The side of the first supporting plate 13, which is close to the second supporting plate 14, is provided with a first guide groove 15 which extends longitudinally, the side of the second supporting plate 14, which is close to the first supporting plate 13, is provided with a second guide groove 16 which is symmetrically arranged with the first guide groove 15, the first connecting rod 7 is hinged with the second connecting rod 8 through a first hinge shaft 17, the first hinge shaft 17 stretches into the first guide groove 15, the third connecting rod 11 is hinged with the fourth connecting rod 12 through a second hinge shaft 18, and the second hinge shaft 18 stretches into the second guide groove 16. The first parallelogram member, the first guide slot 15, is located on the side of the first support plate 13 adjacent to the second support plate 14, and the second parallelogram member, the second guide slot 16, is located on the side of the second support plate 14 adjacent to the first support plate 13. The first hinge shaft 17 is located directly under the first support shaft 2, the second hinge shaft 18 is located directly under the second support shaft 3, the first hinge shaft 17 is slidably engaged with the first guide groove 15, and when the morphology of the first parallelogram member is changed, the first hinge shaft 17 slides along the first guide groove 15. The second hinge shaft 18 is slidably engaged with the second guide groove 16, and when the morphology of the second parallelogram member is changed, the second hinge shaft 18 slides along the second guide groove 16.

As shown in fig. 5, the first swing arm 5 is further hinged with a fifth connecting rod 19 located above the first supporting shaft 2 and parallel to the second swing arm 6, one end of the fifth connecting rod 19 away from the first swing arm 5 is hinged with a sixth connecting rod 20 parallel to the first swing arm 5, and one end of the sixth connecting rod 20 away from the fifth connecting rod 19 is hinged with the second swing arm 6. The first swing arm 5, the second swing arm 6, the fifth connecting rod 19 and the sixth connecting rod 20 form a diamond shape. As shown in fig. 5, the third swing arm 9 is further hinged with a seventh connecting rod 21 which is positioned above the second supporting shaft 3 and parallel to the fourth swing arm 10, one end of the seventh connecting rod 21, which is far away from the third swing arm 9, is hinged with an eighth connecting rod 22 which is parallel to the third swing arm 9, one end of the eighth connecting rod 22, which is far away from the seventh connecting rod 21, is hinged with the fourth swing arm 10, the seventh connecting rod 21 and the fifth connecting rod 19 are symmetrically arranged, and the eighth connecting rod 22 and the sixth connecting rod 20 are symmetrically arranged. The third swing arm 9, the fourth swing arm 10, the seventh connecting rod 21 and the eighth connecting rod 22 form a diamond shape.

As shown in fig. 4, the first swing arm 5 and the second swing arm 6 are obliquely arranged along the vertical direction, and the included angles formed by the first swing arm 5 and the second swing arm and the horizontal plane are equal. As shown in fig. 5, the third swing arm 9 and the fourth swing arm 10 are obliquely arranged along the vertical direction, and the included angles formed by the third swing arm 9 and the fourth swing arm and the horizontal plane are equal. When the first swing arm 5 swings, the second swing arm 6 is driven to swing in the opposite direction and at the same angle under the action of the first connecting rod 7, the second connecting rod 8, the fifth connecting rod 19 and the sixth connecting rod 20; meanwhile, the third swing arm 9 swings in the same direction and at the same angle as the first swing arm 5, and drives the fourth swing arm 10 to swing in the opposite direction and at the same angle under the action of the third connecting rod 11, the fourth connecting rod 12, the seventh connecting rod 21 and the eighth connecting rod 22.

The goods shelf 4 is arranged between the first parallelogram component and the second parallelogram component, the height of the goods shelf 4 changes along with the shape change of the first parallelogram component and the second parallelogram component, when heavier goods are put in, the gravity center of the goods shelf 4 can be lowered, the gravity center of the whole robot is lowered, the stability is improved, the height of the robot can be lowered after the height is lowered, and the application range is wide.

Specifically, as shown in fig. 4, one end of the shelf 4, which is close to the first parallelogram member, is provided with a first connecting plate 48, the first connecting plate 48 is provided with a first guide groove 23 extending horizontally along the front-rear direction and a second guide groove 24 located at the same height as the first guide groove 23, the upper part of the first swing arm 5 is provided with a first rotating shaft 25 extending horizontally along the left-right direction, the first rotating shaft 25 is coaxially provided with a first rotating wheel rolling in the first guide groove 23, the upper part of the second swing arm 6 is provided with a second rotating shaft 26 extending horizontally along the left-right direction, and the second rotating shaft 26 is coaxially provided with a second rotating wheel rolling in the second guide groove 24.

As shown in fig. 5, a second connecting plate 49 is provided at one end of the shelf 4 near the second parallelogram member, a third guide groove 27 extending horizontally in the front-rear direction and a fourth guide groove 28 located at the same height as the third guide groove 27 are provided on the second connecting plate 49, a third rotating shaft 29 extending horizontally in the left-right direction is provided on the upper portion of the third swing arm 9, a third roller rolling in the third guide groove 27 is coaxially provided on the third rotating shaft 29, a fourth rotating shaft 30 extending horizontally in the left-right direction is provided on the upper portion of the fourth swing arm 10, and a fourth roller rolling in the fourth guide groove 28 is coaxially provided on the fourth rotating shaft 30. Wherein, the first guide groove 23 and the third guide groove 27 are symmetrically arranged, the second guide groove 24 and the fourth guide groove 28 are symmetrically arranged, when the first swing arm 5, the second swing arm 6, the third swing arm 9 and the fourth swing arm 10 swing, the first roller rolls in the first guide groove 23, the second roller rolls in the second guide groove 24, the third roller rolls in the third guide groove 27, and the fourth roller rolls in the fourth guide groove 28. The first axis of rotation 25 is coaxial with the third axis of rotation 29, and the second axis of rotation 26 is coaxial with the fourth axis of rotation 30. The front and rear ends of the first guide groove 23, the second guide groove 24, the third guide groove 27 and the fourth guide groove 28 are closed, and the first roller, the second roller, the third roller and the fourth roller are prevented from being separated from the guide grooves correspondingly arranged. Adjusting bolts are arranged at the front end of the first guide groove 23, the front end of the third guide groove 27, the rear end of the second guide groove 24 and the rear end of the fourth guide groove 28, and are used for adjusting the effective length of each guide groove and limiting the movement range of each rotating shaft.

As shown in fig. 6, the first rotating shaft 25 passes through the first guide groove 23 and then extends to one side of the first connecting plate 48 close to the second connecting plate 49, the second rotating shaft 26 passes through the second guide groove 24 and then extends to one side of the first connecting plate 48 close to the second connecting plate 49, a first limiting column 50 located between the first guide groove 23 and the second guide groove 24 is arranged on one side of the first connecting plate 48 close to the second connecting plate 49, a first tension spring 51 is arranged between the first limiting column 50 and the first rotating shaft 25, and a second tension spring 52 is arranged between the first limiting column 50 and the second rotating shaft 26. The distance from the first limiting post 50 to the first rotating shaft 25 is equal to the distance from the first limiting post 50 to the second rotating shaft 26, one end of the first tension spring 51 acts on the first limiting post 50, the other end acts on the first rotating shaft 25, one end of the second tension spring 52 acts on the first limiting post 50, the other end acts on the second rotating shaft 26, and the tension forces of the first tension spring 51 and the second tension spring 52 are equal. In this embodiment, there are two first limiting posts 50.

As shown in fig. 7, the third rotating shaft 29 passes through the third guide groove 27 and then extends to one side of the second connecting plate 49 close to the first connecting plate 48, the fourth rotating shaft 30 passes through the fourth guide groove 28 and then extends to one side of the second connecting plate 49 close to the first connecting plate 48, a second limiting column 53 located between the third guide groove 27 and the fourth guide groove 28 is arranged on one side of the second connecting plate 49 close to the first connecting plate 48, a third tension spring 54 is arranged between the second limiting column 53 and the third rotating shaft 29, and a fourth tension spring 55 is arranged between the second limiting column 53 and the fourth rotating shaft 30. The distance from the second limiting post 53 to the third rotating shaft 29 is equal to the distance from the second limiting post 53 to the fourth rotating shaft 30, one end of the third tension spring 54 acts on the second limiting post 53, the other end acts on the third rotating shaft 29, one end of the fourth tension spring 55 acts on the second limiting post 53, the other end acts on the fourth rotating shaft 30, and the tension of the third tension spring 54 is equal to the tension of the fourth tension spring 55. In this embodiment, there are two second limiting posts 53. By applying tension to the first, second, third and fourth rotating shafts 25, 26, 29 and 30 by the tension springs, the shelf 4 is prevented from being displaced forward and backward with respect to the base 1, and at the same time, the lifting of the shelf 4 is buffered.

As shown in fig. 3 and 5, the lower part of the first swing arm 5 is provided with a first hanging rod 31 extending horizontally in the left-right direction, the lower part of the second swing arm 6 is provided with a second hanging rod 32 extending horizontally in the left-right direction, the lower part of the third swing arm 9 is provided with a third hanging rod 33 extending horizontally in the left-right direction, the lower part of the fourth swing arm 10 is provided with a fourth hanging rod 34 extending horizontally in the left-right direction, a first counterweight 35 is hung between the first hanging rod 31 and the third hanging rod 33, and a second counterweight 36 is hung between the second hanging rod 32 and the fourth hanging rod 34. Since the first weight 35 is hung between the first hanger bar 31 and the third hanger bar 33, the first weight 35 can rotate relative to the first hanger bar 31 and the third hanger bar 33, and since the second weight 36 is hung between the second hanger bar 32 and the fourth hanger bar 34, the second weight 36 can rotate relative to the second hanger bar 32 and the fourth hanger bar 34.

When the robot suddenly stops, the first counterweight 35/second counterweight 36 contacts with the ground to realize the braking of the robot, and meanwhile, the first counterweight 35/second counterweight 36 can support the first swing arm 5, the third swing arm 9, the second swing arm 6 and the fourth swing arm 10 to prevent the robot from toppling over. In order not to increase the burden of the robot, the essential components of the robot are the first weight 35 and the second weight 36, for example, two electric boxes of the robot are the first weight 35 and the second weight 36, and a battery, a control circuit board, and the like are provided in the electric boxes.

As shown in fig. 4, in order to facilitate the installation of the first weight 35, a first tray 56 is hung between the first hanger bar 31 and the third hanger bar 33, and the first weight 35 is placed in the first tray 56. To facilitate installation of the second weight 36, a second tray 57 is hung between the second hanger bar 32 and the fourth hanger bar 34, and the second weight 36 is placed in the second tray 57.

As shown in fig. 8, a driving shaft 37 is arranged between the first supporting shaft 2 and the second supporting shaft 3, one end, close to the first supporting shaft 2, of the driving shaft 37 is sleeved on the first supporting shaft 2, a bearing is arranged between the first supporting shaft and the second supporting shaft, one end, close to the second supporting shaft 3, of the driving shaft 37 is sleeved on the second supporting shaft 3, a bearing is arranged between the second supporting shaft and the driving shaft, the first swing arm 5 and the third swing arm 9 are fixed on the driving shaft 37, the second swing arm 6 and the fourth swing arm 10 are sleeved on the driving shaft 37, and the form adjusting assembly is arranged between the base 1 and the driving shaft 37. The driving shaft 37, the first supporting shaft 2 and the second supporting shaft 3 are coaxial, and both ends of the driving shaft 37 are respectively sleeve-shaped. When the form adjusting assembly drives the driving shaft 37 to rotate, the driving shaft 37 drives the first swing arm 5 and the third swing arm 9 to swing synchronously, and the first parallelogram member and the second parallelogram member drive the third swing arm 9 and the fourth swing arm 10 to swing.

As shown in fig. 8, the form adjusting assembly includes a first motor 38 provided on the base 1, a driving wheel 39 provided on an output shaft of the first motor 38, and a driven wheel 40 coaxially fixedly connected to the driving shaft 37, and the driving wheel 39 is in transmission connection with the driven wheel 40. After the first motor 38 is started, an output shaft of the first motor 38 drives the driving wheel 39 to rotate, the driving wheel 39 is in transmission connection with the driven wheel 40 through a transmission belt or other transmission modes, so that the driven wheel 40 is driven to rotate, the driven wheel 40 drives the driving shaft 37 to rotate around the central axis of the driven wheel, so that the first swing arm 5 and the third swing arm 9 are driven to swing synchronously, when the first swing arm 5 and the third swing arm 9 swing, the first parallelogram member and the second parallelogram member drive the second swing arm 6 and the fourth swing arm 10 to swing synchronously, and finally the shelf 4 is lifted or lowered through the first rotating shaft 25, the second rotating shaft 26, the third rotating shaft 29 and the fourth rotating shaft 30. The first motor 38 has a locking function, and the drive shaft 37 can be kept in the current state after the first motor 38 is stopped.

As shown in fig. 1-5, a first connecting frame 41 is arranged at the upper part of the first swing arm 5, a second connecting frame 42 is arranged at the upper part of the third swing arm 9, a supporting frame 43 positioned right above the driving shaft 37 is arranged between the first connecting frame 41 and the second connecting frame 42, and a gravity center adjusting component is arranged on the supporting frame 43. The first swing arm 5 and the third swing arm 9 are inclined forward and upward along the walking direction of the robot, the first connecting frame 41 and the second connecting frame 42 are symmetrically arranged, and the first connecting frame 41 and the second connecting frame 42 are inclined backward and upward along the walking direction of the robot. In order to maintain a stable state, the center of gravity of the whole formed by the first parallelogram block, the second parallelogram block, the first counterweight 35, the second counterweight 36, the shelf 4, the first connecting frame 41, the second connecting frame 42, the supporting frame 43 and the center of gravity adjusting block is located right above the central axis of the driving shaft 37 by the center of gravity adjusting block.

The first connecting frame 41 can be detachably connected to the upper portion of the first swing arm 5, the inclination angle of the first connecting frame 41 can be adjusted, the second connecting frame 42 can be detachably connected to the upper portion of the third swing arm 9, the inclination angle of the third connecting frame can be adjusted, the supporting frame 43 can be detachably connected between the first connecting frame 41 and the second connecting frame 42, and the inclination angle of the supporting frame 43 can be adjusted. A camera/sensor/illumination source/traction interface and the like may be provided on the support frame 43, and operations such as image pickup, gas detection, cable traction and the like may be realized.

As shown in fig. 1 to 5, the gravity center adjusting assembly includes a swing link 44 hinged to a side portion of the support frame 43 and a second motor 45 for driving the swing link 44 to swing, and a rotation center line of the swing link 44 horizontally extends in a left-right direction. When the cargo is placed on the cargo rack 4, the position of the center of gravity can be adjusted by swinging the angle of the swing link 44 so that the center of gravity of the whole formed by the first parallelogram member, the second parallelogram member, the first counterweight 35, the second counterweight 36, the cargo rack 4, the first link 41, the second link 42, the support frame 43, and the center of gravity adjusting assembly is located directly above the center axis of the drive shaft 37. The swing rod 44 can realize the actions of touching/pressing various switch buttons, triggering signals and the like.

As shown in fig. 3, in order to lower the center of gravity, a second motor 45 is disposed at the lower part of the supporting frame 43, a swing rod 44 is disposed at the upper part of the supporting frame 43, and the second motor 45 is in transmission connection with the swing rod 44: a first wire wheel is arranged on the output shaft of the second motor 45, a second wire wheel is arranged on the rotating shaft of the swing rod 44, and the first wire wheel is connected with the second wire wheel through wire transmission. When the output shaft of the second motor 45 rotates, the first wire wheel is driven to rotate, and the first wire wheel drives the second wire wheel to rotate through the wire, so that the swing rod 44 swings.

A gyroscope chip is arranged in the goods shelf 4 and is used for sensing whether the goods shelf 4 is in a horizontal state or not, when the goods shelf 4 is inclined, the gyroscope chip transmits signals to a control circuit board in the electric box, and the control circuit board controls the second motor 45 to work to drive the swing rod 44 to swing, so that the horizontal state of the goods shelf 4 is adjusted.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. The carrying robot comprises a base (1) and a wheel assembly arranged on the base (1), wherein a first supporting shaft (2) which horizontally extends and a second supporting shaft (3) which is coaxially arranged with the first supporting shaft (2) are arranged on the base (1), and the carrying robot is characterized in that a first parallelogram component is arranged on the first supporting shaft (2), a second parallelogram component which is symmetrically arranged with the first parallelogram component is arranged on the second supporting shaft (3), a goods shelf (4) is arranged between the first parallelogram component and the second parallelogram component, and a form adjusting assembly which is used for simultaneously adjusting the forms of the first parallelogram component and the second parallelogram component is also arranged on the base (1); the first parallelogram component comprises a first swing arm (5) and a second swing arm (6) which are sleeved on a first supporting shaft (2), the first swing arm (5) and the second swing arm (6) are arranged in a crossing mode, a first connecting rod (7) which is positioned below the first supporting shaft (2) and parallel to the second swing arm (6) is hinged to the first swing arm (5), a second connecting rod (8) which is parallel to the first swing arm (5) is hinged to one end, far away from the first swing arm (5), of the first connecting rod (7), and one end, far away from the first connecting rod (7), of the second connecting rod (8) is hinged to the second swing arm (6); the second parallelogram component comprises a third swing arm (9) and a fourth swing arm (10) which are sleeved on the second supporting shaft (3), the third swing arm (9) and the fourth swing arm (10) are arranged in a crossing mode, the third swing arm (9) and the first swing arm (5) are symmetrically arranged, the fourth swing arm (10) and the second swing arm (6) are symmetrically arranged, a third connecting rod (11) which is positioned below the second supporting shaft (3) and is parallel to the fourth swing arm (10) is hinged on the third swing arm (9), a fourth connecting rod (12) which is parallel to the third swing arm (9) is hinged on one end, far from the third connecting rod (11), of the fourth connecting rod (12) is hinged with the fourth swing arm (10), the third connecting rod (11) and the first connecting rod (7) are symmetrically arranged, and the fourth connecting rod (12) and the second connecting rod (8) are symmetrically arranged; the lower part of the first swing arm (5) is provided with a first hanging rod (31) horizontally extending along the left-right direction, the lower part of the second swing arm (6) is provided with a second hanging rod (32) horizontally extending along the left-right direction, the lower part of the third swing arm (9) is provided with a third hanging rod (33) horizontally extending along the left-right direction, the lower part of the fourth swing arm (10) is provided with a fourth hanging rod (34) horizontally extending along the left-right direction, a first counterweight (35) is hung between the first hanging rod (31) and the third hanging rod (33), and a second counterweight (36) is hung between the second hanging rod (32) and the fourth hanging rod (34); a driving shaft (37) is arranged between the first supporting shaft (2) and the second supporting shaft (3), one end, close to the first supporting shaft (2), of the driving shaft (37) is sleeved on the first supporting shaft (2) and a bearing is arranged between the first supporting shaft and the second supporting shaft, one end, close to the second supporting shaft (3), of the driving shaft (37) is sleeved on the second supporting shaft (3) and a bearing is arranged between the second supporting shaft and the second supporting shaft, the first swing arm (5) and the third swing arm (9) are fixed on the driving shaft (37), the second swing arm (6) and the fourth swing arm (10) are sleeved on the driving shaft (37), and the form adjusting assembly is arranged between the base (1) and the driving shaft (37); the form adjusting assembly comprises a first motor (38) arranged on the base (1), a driving wheel (39) arranged on an output shaft of the first motor (38) and a driven wheel (40) coaxially and fixedly connected to the driving shaft (37), and the driving wheel (39) is in transmission connection with the driven wheel (40); the upper part of the first swing arm (5) is provided with a first connecting frame (41), the upper part of the third swing arm (9) is provided with a second connecting frame (42), a supporting frame (43) positioned right above the driving shaft (37) is arranged between the first connecting frame (41) and the second connecting frame (42), and the supporting frame (43) is provided with a gravity center adjusting component; the gravity center adjusting assembly comprises a swing rod (44) hinged to the side portion of the supporting frame (43) and a second motor (45) used for driving the swing rod (44) to swing, and the rotation center line of the swing rod (44) horizontally extends along the left-right direction.

2. The carrying robot according to claim 1, wherein the base (1) is provided with a first supporting plate (13) and a second supporting plate (14), the first supporting shaft (2) is arranged on the first supporting plate (13), the second supporting shaft (3) is arranged on the second supporting plate (14), the first supporting plate (13) is provided with a first guiding groove (15) extending longitudinally, the second supporting plate (14) is provided with a second guiding groove (16) symmetrically arranged with the first guiding groove (15), the first connecting rod (7) is hinged with the second connecting rod (8) through a first hinging shaft (17), the first hinging shaft (17) stretches into the first guiding groove (15), the third connecting rod (11) is hinged with the fourth connecting rod (12) through a second hinging shaft (18), and the second hinging shaft (18) stretches into the second guiding groove (16).

3. The carrying robot according to claim 1 or 2, wherein a fifth connecting rod (19) which is positioned above the first supporting shaft (2) and parallel to the second swinging arm (6) is hinged on the first swinging arm (5), a sixth connecting rod (20) which is parallel to the first swinging arm (5) is hinged on one end of the fifth connecting rod (19) which is far away from the first swinging arm (5), and a second swinging arm (6) is hinged on one end of the sixth connecting rod (20) which is far away from the fifth connecting rod (19); the third swing arm (9) is further hinged with a seventh connecting rod (21) which is positioned above the second supporting shaft (3) and is parallel to the fourth swing arm (10), one end, far away from the third swing arm (9), of the seventh connecting rod (21) is hinged with an eighth connecting rod (22) which is parallel to the third swing arm (9), one end, far away from the seventh connecting rod (21), of the eighth connecting rod (22) is hinged with the fourth swing arm (10), the seventh connecting rod (21) and the fifth connecting rod (19) are symmetrically arranged, and the eighth connecting rod (22) and the sixth connecting rod (20) are symmetrically arranged.

4. The carrying robot according to claim 1, wherein one end of the shelf (4) close to the first parallelogram component is provided with a first guide groove (23) horizontally extending along the front-rear direction and a second guide groove (24) positioned at the same height as the first guide groove (23), a first rotating shaft (25) horizontally extending along the left-right direction is arranged at the upper part of the first swing arm (5), a first roller rolling in the first guide groove (23) is coaxially arranged on the first rotating shaft (25), a second rotating shaft (26) horizontally extending along the left-right direction is arranged at the upper part of the second swing arm (6), and a second roller rolling in the second guide groove (24) is coaxially arranged on the second rotating shaft (26); the goods shelf (4) be close to the one end of second parallelogram component have along the third guide slot (27) of fore-and-aft direction horizontal extension and be located same high fourth guide slot (28) with third guide slot (27), the upper portion of third swing arm (9) be equipped with along horizontal direction horizontally extending's third pivot (29), third pivot (29) on coaxial be equipped with the third gyro wheel of rolling in third guide slot (27), the upper portion of fourth swing arm (10) be equipped with along horizontal direction horizontally extending's fourth pivot (30), fourth pivot (30) on coaxial be equipped with the fourth gyro wheel of rolling in fourth guide slot (28).

5. The carrying robot according to claim 2, wherein the wheel assembly comprises a right wheel (46) driven by an in-wheel motor provided on the first support plate (13) and a left wheel (47) driven by an in-wheel motor provided on the second support plate (14), the left wheel (47) being coaxially arranged with the right wheel (46), the right wheel (46) being coaxial with the first support shaft (2), the left wheel (47) being coaxial with the second support shaft (3).

6. The carrying robot according to claim 4, wherein a first connecting plate (48) is provided at one end of the shelf (4) adjacent to the first parallelogram member, and the first guide groove (23) and the second guide groove (24) are provided on the first connecting plate (48); a second connecting plate (49) is arranged at one end of the goods shelf (4) close to the second parallelogram component, and the third guide groove (27) and the fourth guide groove (28) are arranged on the second connecting plate (49); the first rotating shaft (25) passes through the first guide groove (23) and then extends to one side, close to the second connecting plate (49), of the first connecting plate (48), the second rotating shaft (26) passes through the second guide groove (24) and then extends to one side, close to the second connecting plate (49), of the first connecting plate (48), one side, close to the second connecting plate (49), of the first connecting plate (48) is provided with a first limiting column (50) located between the first guide groove (23) and the second guide groove (24), a first tension spring (51) is arranged between the first limiting column (50) and the first rotating shaft (25), and a second tension spring (52) is arranged between the first limiting column (50) and the second rotating shaft (26); the third pivot (29) pass behind third guide slot (27) and extend to one side that second connecting plate (49) is close to first connecting plate (48), fourth pivot (30) pass behind fourth guide slot (28) and extend to one side that second connecting plate (49) is close to first connecting plate (48), one side that second connecting plate (49) is close to first connecting plate (48) be equipped with second spacing post (53) that are located between third guide slot (27) and fourth guide slot (28), second spacing post (53) and third pivot (29) between be equipped with third extension spring (54), second spacing post (53) and fourth pivot (30) between be equipped with fourth extension spring (55).