CN114770466A

CN114770466A - Shuttle robot with dynamic balance self-stabilization function

Info

Publication number: CN114770466A
Application number: CN202210605161.8A
Authority: CN
Inventors: 吴怀群; 闫飞; 刘滔
Original assignee: No1 Intelligent Technology Nantong Co ltd
Current assignee: No1 Intelligent Technology Nantong Co ltd
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2022-07-22

Abstract

The invention discloses a shuttle robot with a dynamic balance self-stabilization function, which relates to the technical field of plate carrying and comprises a shell, a frame and power wheels, wherein the power wheels are arranged on the outer side of the shell, the frame is arranged in the shell, a bearing assembly is arranged in the frame, and a limiting assembly is arranged above the bearing assembly. According to the invention, through mutual matching of the components above the detection component, the limiting effect of the robot on goods is improved, the dependence of the robot on the weight of transported equipment or the outer surface structure is reduced, and the transportation effect of the robot on light materials such as thin plates is improved.

Description

Shuttle robot with dynamic balance self-stabilization function

Technical Field

The invention relates to the technical field of plate carrying, in particular to a shuttle robot with a dynamic balance self-stabilizing function.

Background

The shuttle robot has two main forms in the warehouse logistics equipment: the shuttle robot type warehouse-in and warehouse-out system and the shuttle robot type warehouse-in system are used for transporting goods to a specified place or equipment for connection by a robot which runs on a fixed track in a reciprocating or loop-back mode. The intelligent sensing system is equipped, the original point position can be automatically memorized, and the system can automatically decelerate.

When the existing shuttle robot carries goods, the goods are transported from a starting point to a heavy ending point through the motion of the shuttle robot, the connection mode of the shuttle robot and the goods is only that the goods are directly placed above a shuttle robot platform, this way facilitates the placing and picking operation of the goods above the shuttle robot by the auxiliary device, but the relative rest between the shuttle robot and the goods is realized by the friction generated by the goods and the shuttle robot, and the device is only suitable for objects with larger weight, and part of thin plates with lighter weight are arranged above the shuttle robot, the material is easy to be relatively displaced as the shuttle robot at the initial stage or the final stage of the transportation, the material is separated from the bearing area of the shuttle robot, the shuttle robot cannot produce the transportation effect on the material, and the transportation quality is not good, the applicability of the shuttle robot is low, and the influence of inertia on the substances is large.

Disclosure of Invention

The present invention is directed to a shuttle robot having a dynamic balance self-stabilization function, so as to solve the problems set forth in the background art.

In order to solve the technical problems, the invention provides the following technical scheme: a shuttle robot with a dynamic balance self-stabilization function comprises a shell, a frame and power wheels, wherein the power wheels are arranged on the outer side of the shell, the frame is arranged in the shell, a bearing component is arranged in the frame and used for placing goods, a limiting component is arranged above the bearing component and used for limiting the position of the goods, a control component is arranged below the bearing component and used for controlling the movement of the bearing component and the limiting component, a detection component is arranged below the frame and used for detecting the movement state of the robot, a main board is arranged on the outer side of the detection component, an adjusting component is arranged on the outer side of the main board, the shell is connected with the frame through the main board and the adjusting component, and the adjusting component is used for changing the inclination angles of the frame and the main board, the power wheels are arranged in two groups, and the power wheels in different groups are positioned at different heights outside the shell.

Further, the bearing assembly is including installing a plurality of bottom plate inside the frame, horizontal arrangement between the bottom plate, through pivot swing joint between the bottom plate, the below of bottom plate is provided with the intermediate lamella, the bottom plate is connected with the restriction subassembly, the intermediate lamella is connected with the control assembly, and the pivot in the middle of the accessible deflects between the adjacent bottom plate, improves the suitability of bottom plate to goods surface structure (the goods is the sheet metal).

Further, the limiting assembly comprises a side plate arranged on one side of the bottom plate, sliding grooves are formed in the front end and the rear end of the bottom plate, the side plate slides relative to the bottom plate through the sliding grooves, a contact element is arranged at the upper end of the side plate, the side plate is connected with a telescopic rod through a power shaft, the telescopic rod is connected with the frame through a sliding block, the sliding grooves are formed in the frame, the sliding block horizontally moves relative to the frame through the sliding grooves, the telescopic rod horizontally moves in the sliding grooves in the frame through the sliding block at the lower end under the limitation of the bottom plate during the extension period of the telescopic rod, the telescopic rod on the two sides in the frame moves towards the goods, the contact element generates an electric signal and transmits the electric signal to the central processing unit when the contact element is contacted with the outer wall of the goods, the central processing unit controls the telescopic rod to stop the extension, and the robot and the goods are fixed, the spout has been seted up at both ends around the bottom plate adjacent with the sideboard, the inside of sideboard is provided with circular convex block, the sideboard passes through lug and spout and moves under the effect of external force, realize that the relative bottom plate of sideboard slides and deflects, wherein the pressure that can produce during the contact between contact element and the goods, contact element is through detecting pressure numerical value, and then whether detect the sideboard and contact between the goods, contact element sends feedback signal to central processing unit simultaneously, spout on the frame inner wall provides the space of horizontal motion for the telescopic link, supplementary bottom plate carries on spacingly to the goods.

Further, the control component comprises a flat plate arranged at the lower end of the middle plate, a return spring is arranged at the lower end of the flat plate, the flat plate is connected with a fixed plate through the return spring, a control rod is arranged inside the fixed plate, the flat plate is connected with the frame through the control rod, a first touch plate is arranged between the flat plate and the fixed plate, the adjacent sides of the flat plate and the fixed plate are respectively provided with the first touch plate, the robot detects whether goods are stored above the robot or not through mutual contact between the first touch plates, so that the extension of the telescopic rod is controlled, the flat plate is separated from the fixed plate under the non-pressure state through the return spring, the flat plate and the fixed plate are close to each other under the pressure action, the first touch plates are mutually contacted, namely, the goods are arranged above the bottom plate, and the first touch plate continuously sends a feedback signal to the central processing unit, when goods need leave, the extension of control lever drives the flat board and rises, phase separation between the first touch panel, and first touch panel middle-end sends feedback signal to central processing unit, and central processing unit can control the telescopic link shrink, and the inner structure of robot resets to initial state.

Furthermore, the detection component comprises a clamping plate installed below the inside of the frame, a ball shaft is arranged in the middle of the clamping plate, the ball shaft 602 is located below the power wheel, a long rod is arranged below the ball shaft and penetrates through the frame and the mainboard, circular through holes are formed in the frame and the mainboard, the long rod is located inside the circular through hole, the outer surface diameter of the long rod is smaller than the inner surface diameter of the circular through hole, a hanging block is arranged at the lower end of the long rod, a feedback plate is arranged on the outer wall of the long rod, a plurality of second touch plates are arranged inside the circular through hole of the mainboard, an intermediate electronic element is arranged between the second touch plates and connected with the adjustment component, the height of the second touch plates is larger than that of the feedback plate, intermediate electronic elements are arranged on the two sides of the second touch plates and are contacted with the second through holes through the feedback plate, the middle electronic components on two sides of the second touch plate are communicated with the central processing unit through electric signals, so that the electric rods connected with the middle electronic components work, the two electric rods on one side where the second touch plate is located work simultaneously through the contact between the second touch plate and the feedback plate, the matching between robots is improved, the quick feedback of the electric rods is realized, the frame and goods are kept stable, the ball shaft is located below the power wheel, the long rod and the hanging block are sequentially arranged below the ball shaft, the sensitivity of the detection assembly on the inertia of the robots is increased through the arrangement that the hanging block is far away from the power wheel, the feedback plate is in contact with the second touch plate assembly, namely the hanging block deflects under the action of inertia, the feedback plate and the second touch plate assembly generate feedback signals to the central processing unit, the central processing unit sends control data according to the feedback data, and compensates the inertia by matching with other assemblies, the goods are maintained stable.

Further, the adjusting component comprises an electric rod arranged on one side of the middle electronic component, the middle electronic component is electrically connected with the electric rod, the electric rod is connected with the mainboard through a rotating shaft, two connecting rods are arranged on one side of the electric rod, a rotating shaft group is arranged on one side of each connecting rod and is formed by connecting two vertically arranged rotating shafts, the two connecting rods are respectively arranged on the upper side and the lower side of the electric rod, the two ends of each connecting rod are respectively provided with the rotating shaft group, the upper side of each connecting rod is connected with the framework through the rotating shaft group, the upper side of each connecting rod is of a two-section structure, the middle part of each upper side of each connecting rod is provided with a damping rod, the lower side of each connecting rod is connected with the shell through the rotating shaft group, the rotating shaft groups are connected with each other through sleeve rods, each sleeve rod is formed by sleeving a plurality of round rods with different diameters, and the outer side of each sleeve rod is provided with a pressure detector, the pressure detector is connected with round rods at two ends of the loop bar, the mainboard deflects twice under the action of the electric rod, the twice deflection is caused by the extension of the electric rod, the pressure detector is arranged at the outer side of the loop bar, the pressure detector generates electric signals due to the mutual separation of the round tubes in the loop bar, the electric signals are transmitted to the central processor, the central processor transmits feedback signals to control the contraction of the electric rod until the electric rod returns to the initial length, the pressure detector stops transmitting the electric signals, and under the condition that the pressure detectors at two sides of the goods detect different pressure values transmitted to the central controller, the electric rod at the side with higher numerical value of the pressure detector can be reversely controlled to contract until the numerical values of the pressure detectors at the periphery of the goods are the same, the robot contacts with foreign objects during traveling to generate vibration, the damping rod is used for absorbing the vibration and keeping the goods stable, the pressure detector can continuously transmit a feedback signal to the central processing unit according to the value of the pressure detector.

Furthermore, the middle plate is connected with the bottom plates through a rotating shaft, the middle plate is located below the middle portions of the two bottom plates, the bottom plates deflect through the rotating shaft, the middle plate is used for limiting the deflection angle of the bottom plates, the middle plate extends into the flat plate, the middle plate is located below the middle portion of the gap between the bottom plates, during mutual deflection between the bottom plates, one side, away from goods, of the bottom plates is limited by the middle plate, the bottom plates deflect downwards relative to the adjacent bottom plate in the horizontal state before the bottom plates, the bottom plates are enabled to reversely act on the limiting assembly under the limiting of the middle plate under the effect of the control assembly, and the telescopic rod can synchronously move towards one side, where the goods are located, during extension.

Furthermore, the side plates are connected with the bottom plate in a sliding manner, the side plates deflect relative to the telescopic rods through the power shafts, the side plates are connected with the adjacent bottom plate in a sliding manner during the process of clamping the goods, the sliding grooves are formed in the bottom plate close to one side of the side plates, the side plates slide relative to the bottom plate through the sliding grooves, the side plates are connected with the telescopic rods through the power shafts, the lower ends of the telescopic rods are sliding blocks capable of moving actively, the side plates, the telescopic rods and the sliding blocks are matched with each other, so that the side plates can be in contact with the goods, meanwhile, the deflected side plates incline downwards to apply pressure to the two sides of the goods, downward pressure generated by the robot to the goods is realized, the fixing effect of the robot to the goods is further improved, the control rods are positioned on the front side and the rear side of the bottom plate, the surfaces on the two sides of the side plates are respectively limited by the goods and the telescopic rods, and the clamping power of the side plates comes from the goods, the intermediate lamella at the very middle part of robot inserts dull and stereotyped inside, realizes that the flat board is to partial intermediate lamella and bottom plate restriction effect, improves the stability of goods during the transportation.

Compared with the prior art, the invention has the following beneficial effects:

1. the shuttle robot with the dynamic balance self-stabilizing function is characterized in that the control assembly is in mutual contact with the first touch plate through the arrangement of the bearing assembly, the limiting assembly and the control assembly, so that the robot can detect whether goods are arranged above the bottom plate or not, the limiting assembly is further controlled by the central controller to limit the goods, the relative position between the goods and the bottom plate is fixed, a plurality of bottom plates are arranged in the bearing assembly, the relative positions of the bottom plates are changed under the driving of the limiting assembly and the control assembly, finally the bottom plates are positioned at the two sides and the lower end of the goods, the limiting effect of the robot on the goods is realized, the relative displacement between the goods and the bottom plates is avoided, and then the arrangement of the plurality of bottom plates is used for realizing that when the goods are placed above the bottom plates, the bottom plates are self-adaptive to the outer surface structures of the goods under the action of the limiting assembly and the control assembly, the bottom plates can deflect according to the outer surface structures of the goods, so that the limiting effect of the robot on different types of goods is improved, manual intervention is not needed, the applicability of the robot is improved, the dependence of the robot on the weight of the goods is reduced, the limiting effect of the robot on the goods is improved, the influence of the robot on the weight or the outer surface structures of transported equipment is reduced, and the transporting effect of the robot on thin-plate light-weight materials is improved;

2. the shuttle robot with the dynamic balance self-stabilizing function is characterized in that a detection assembly is arranged, a ball shaft is connected with a vertical block through a long rod, the vertical block is movably connected with a frame, so that the vertical block is under the action of inertia during the movement of the robot, the vertical block deflects by taking the central point of the ball shaft as the center of a circle, the deflection center of the vertical block is positioned below a power wheel, the vertical block is positioned on one side of the long rod away from the power wheel, the vertical distance between the vertical block and the power wheel is increased, the sensitivity of the vertical block on sensing the inertia is further improved, the robot can quickly feed back according to the detection result of the detection assembly, middle electronic elements are arranged on two sides of a second touch plate, and the middle electronic elements on two sides of the second touch plate are in contact with the second touch plate through contact between the feedback plate and the second touch plate, so that the middle electronic elements on two sides of the second touch plate are in communication with a central processing unit through electric signals, and further the electric rod connected with the middle electronic elements works, through the contact between the second touch plate and the feedback plate, the two electric rods on one side of the second touch plate work simultaneously, the matching between the components is improved, the robot drives the two groups of adjusting components simultaneously when goods are subjected to inertia, the integral deflection of the frame is realized, and the influence of inertia on the goods is reduced;

3. the shuttle robot with the dynamic balance self-stabilization function has the advantages that through the arrangement of the adjusting component, the robot can be subjected to the inertia effect during the speed change period, after the adjusting component receives a control signal of the central controller, the frame and the main board can be synchronously inclined by extending the power rod on one side of the frame, the strength of resisting the inertia of goods can be improved by changing the inclination angles of the frame and the main board, the pressure of the feedback plate on the second touch plate is changed during the inclination period of the main board due to the synchronous inclination of the frame and the main board until the long rod and the main board are mutually vertical, the pressure of the feedback plate on the second touch plate disappears, namely the effect of the robot on the goods at the moment is realized, the goods can be counteracted from the influence caused by the inertia, the robot can detect the pressure and the direction of the robot on the goods due to the movement of the inertia during the movement process of the robot, and the real-time pressure of the robot on the second touch plate can be generated by the feedback plate, the adjusting part actively extends or contracts through a real-time control signal transmitted by the central processing unit, so that the long rod and the main board are mutually perpendicular, the influence of inertia on goods is avoided, and the goods are dislocated relative to a robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a front view of the frame of the present invention;

FIG. 2 is a schematic top view of the present invention;

FIG. 3 is a schematic front elevational view in full section of the frame of the present invention;

FIG. 4 is a front elevational view in full section of the frame after movement of the control assembly of the present invention;

FIG. 5 is a schematic bottom view of the plate of the present invention;

FIG. 6 is a bottom side view of the frame of the present invention;

FIG. 7 is a schematic view of a main board of the present invention;

FIG. 8 is a left side elevational view in full section of the frame of the present invention;

FIG. 9 is a bottom side view of the main board of the present invention;

FIG. 10 is a schematic top view of the main board of the present invention;

FIG. 11 is an enlarged schematic view of the invention at A in FIG. 10;

fig. 12 is a front view of the adjusting assembly of the present invention.

In the figure: 1. a housing; 2. a frame; 3. a load bearing assembly; 301. a base plate; 302. a middle plate; 4. a restraining component; 401. a side plate; 402. a contact element; 403. a telescopic rod; 404. a slider; 5. a control component; 501. a flat plate; 502. a return spring; 503. a fixing plate; 504. a control lever; 505. a first touch panel; 6. a detection component; 601. a splint; 602. a ball shaft; 603. a long rod; 604. a hanging block; 605. a feedback board; 606. a second touch panel; 607. an intermediate electronic component; 7. a main board; 8. an adjustment assembly; 801. an electric rod; 802. a connecting rod; 803. a rotating shaft group; 804. a loop bar; 805. a pressure detector.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 12, the present invention provides a technical solution: a shuttle robot with dynamic balance self-stabilization function comprises a shell 1, the robot comprises a frame 2 and power wheels, wherein the power wheels are arranged on the outer side of a shell 1, the frame 2 is arranged in the shell 1, a bearing component 3 is arranged in the frame 2, the bearing component 3 is used for placing goods, a limiting component 4 is arranged above the bearing component 3, the limiting component 4 is used for limiting the position of the goods, a control component 5 is arranged below the bearing component 3, the control component 5 is used for controlling the movement of the bearing component 3 and the limiting component 4, a detection component 6 is arranged below the frame 2, the detection component 6 is used for detecting the movement state of the robot, a main board 7 is arranged on the outer side of the detection component 6, an adjusting component 8 is arranged on the outer side of the main board 7, the shell 1 is connected with the frame 2 through the main board 7, and the adjusting component 8 is used for changing the inclination angles of the frame 2 and the main board 7;

the bearing component 3 comprises a plurality of bottom plates 301 arranged in the frame 2, the bottom plates 301 are horizontally arranged, the bottom plates 301 are movably connected through a rotating shaft, an intermediate plate 302 is arranged below the bottom plates 301, the bottom plates 301 are connected with the limiting component 4, and the intermediate plate 302 is connected with the control component 5;

the limiting assembly 4 comprises a side plate 401 arranged on one side of a bottom plate 301, sliding grooves are formed in the front end and the rear end of the bottom plate 301, the side plate 401 slides relative to the bottom plate 301 through the sliding grooves, a contact element 402 is arranged at the upper end of the side plate 401, the side plate 401 is connected with a telescopic rod 403 through a power shaft, the telescopic rod 403 is connected with a frame 2 through a sliding block 404, the sliding grooves are formed in the frame 2, and the sliding block 404 horizontally moves relative to the frame 2 through the sliding grooves;

the control component 5 comprises a flat plate 501 arranged at the lower end of the middle plate 302, a return spring 502 is arranged at the lower end of the flat plate 501, the flat plate 501 is connected with a fixed plate 503 through the return spring 502, a control rod 504 is arranged inside the fixed plate 503, the flat plate 501 is connected with the frame 2 through the control rod 504, a first touch plate 505 is arranged between the flat plate 501 and the fixed plate 503, the first touch plates 505 are arranged on the adjacent sides of the flat plate 501 and the fixed plate 503, the control component 5 realizes that the robot detects whether goods are arranged above the bottom plate 301 through mutual contact between the first touch plates 505, the limitation component 4 is controlled by the central controller to limit the goods, the relative position between the goods and the bottom plate 301 is fixed, the plurality of bottom plates 301 are arranged inside the bearing component 3, the bottom plate 301 is driven by the limitation component 4 and the control component 5, the relative position between the bottom plates 301 is changed, finally, the bottom plates 301 are located at two sides and the lower end of the goods, the limiting effect of the robot on the goods is achieved, relative displacement between the goods and the bottom plates 301 is avoided, and then the bottom plates 301 are arranged and used for achieving that when the goods are placed above the bottom plates 301, the bottom plates 301 are under the action of the limiting assemblies 4 and the control assemblies 5, the bottom plates 301 are adaptive to the outer surface structures of the goods, deflection can be conducted between the bottom plates 301 according to the length or the width of the goods, the limiting effect of the robot on the goods of different types is improved, manual intervention is not needed, the applicability of the robot is improved, and the dependence of the robot on the weight of the goods is reduced;

the detection component 6 comprises a clamping plate 601 arranged below the inside of the frame 2, a ball shaft 602 is arranged in the middle of the clamping plate 601, the ball shaft 602 is positioned below the power wheel, a long rod 603 is arranged below the ball shaft 602, the long rod 603 penetrates through the frame 2 and the main board 7, circular through holes are formed in the frame 2 and the main board 7, the long rod 603 is positioned in the circular through hole, the diameter of the outer surface of the long rod 603 is smaller than the diameter of the inner surface of the circular through hole, a hanging block 604 is arranged at the lower end of the long rod 603, a feedback plate 605 is arranged on the outer wall of the long rod 603, a plurality of second touch plates 606 are arranged in the circular through hole of the main board 7, a middle electronic element 607 is arranged between the second touch plates 606, the middle electronic element 607 is connected with the adjustment component 8, the height of the second touch plates 606 is larger than that of the feedback plate 605, the ball shaft 602 is connected with a hanging block 604 through the long rod 603, and the hanging block 604 is movably connected with the frame 2, so that the hanging block 604 is acted by inertia during the movement of the robot, the hanging block 604 deflects by taking the central point of the ball shaft 602 as the center of a circle, the deflection center of the hanging block 604 is positioned below the power wheel, and the hanging block 604 is positioned at one side of the long rod 603 far away from the power wheel, so as to increase the vertical distance between the hanging block 604 and the power wheel, further improve the sensitivity of the hanging block 604 on sensing the inertia, and realize the quick feedback of the robot according to the detection result of the detection assembly 6, wherein the two sides of the second touch panel 606 are provided with middle electronic elements 607, and the middle electronic elements 607 at the two sides of the second touch panel 606 are in electric signal communication with the central processor through the contact between the feedback panel 605 and the second touch panel 606, so as to realize the work of the electric rods 801 connected with the middle electronic elements 607, and the two electric rods 601 at the side of the second touch panel 606 are in contact with the feedback panel 605, the cooperation among the assemblies is improved, so that the robot can drive the two groups of adjusting assemblies 8 simultaneously when the goods are subjected to inertia, the integral deflection of the frame 2 is realized, and the influence of the inertia on the goods is reduced;

the adjusting assembly 8 comprises an electric rod 801 arranged on one side of a middle electronic element 607, the middle electronic element 607 is electrically connected with the electric rod 801, the electric rod 801 is connected with the mainboard 7 through a rotating shaft, one side of the electric rod 801 is provided with two connecting rods 802, one side of the connecting rods 802 is provided with a rotating shaft group 803, the rotating shaft group 803 is formed by connecting two vertically arranged rotating shafts, the two connecting rods 802 are respectively positioned on the upper side and the lower side of the electric rod 801, both ends of the connecting rods 802 are provided with the rotating shaft group 803, the upper connecting rod 802 is connected with the frame 2 through the rotating shaft group 803, the upper connecting rod 802 is of a two-section structure, the middle part of the upper connecting rod 802 is provided with a damping rod, the lower connecting rod 802 is connected with the shell 1 through the rotating shaft group 803, the rotating shaft groups 803 are connected through sleeve rods 804, the sleeve rod 804 is formed by sleeving a plurality of round rods with different diameters, the outer side of the sleeve rod 804 is provided with a pressure detector 805, the pressure detector 805 is connected with the round rods at both ends of the sleeve rod 804, when the robot changes speed, goods can be subjected to the inertia effect, after the adjusting component 8 receives a control signal of the central controller, the frame 2 and the main board 7 are synchronously inclined by extending the power rod 801 on one side of the frame 2, the strength of resisting the inertia of the goods is improved by changing the inclination angles of the frame 2 and the main board 7, as the frame 2 and the main board 7 are synchronously inclined, the pressure of the feedback board 605 on the second contact board 606 is changed during the inclination of the main board 7 until the long rod 603 and the main board 7 are mutually vertical, the pressure of the feedback board 605 on the second contact board 606 disappears, namely the effect of the robot on the goods at the moment is realized, the influence of the goods on the inertia is counteracted, and the real-time pressure of the robot on the second contact board 606 according to the feedback board 605 during the motion process of the robot can detect the pressure and the direction of the robot on the goods caused by the inertia, the adjusting component 8 actively extends or contracts through a real-time control signal transmitted by the central processing unit, so that the long rod 603 and the main board 7 are perpendicular to each other, and the phenomenon that the goods are dislocated relative to a robot due to the influence of inertia is avoided;

the middle plate 302 is connected with the bottom plates 301 through rotating shafts, the middle plate 302 is located below the middle parts of the two bottom plates 301, the bottom plates 301 deflect through the rotating shafts, the middle plate 302 is used for limiting the deflection angle of the bottom plates 301, and the middle plate 302 extends into the flat plate 501;

side plate 401 is slidably connected to bottom plate 301, and side plate 401 is deflected relative to telescoping rod 403 by a power shaft.

The working principle of the invention is as follows: a central processor (not shown in the figure) is installed inside the robot, electrical components inside the robot are electrically connected with the central processor, the robot is placed above the track before being used, two groups of power wheels are arranged on the outer side of the robot and are positioned at different heights outside the shell 1, the track is changed to be in contact with the power wheels of the groups with different heights, and the moving direction of the robot is further changed;

goods (goods are thin plates) to be transported are placed above a bottom plate 301, the weight of the goods directly acts on the bottom plate 301, the bottom plate 301 moves downwards under the action of gravity, the bottom plate 301 drives a flat plate 501 to descend through an intermediate plate 302, first touch plates 505 are mounted on the surfaces of the flat plate 501 and a fixing plate 503, which are close to each other, the flat plate 501 and the fixing plate 503 are close to each other under the pressure of the goods until the first touch plates 505 mounted between the flat plate 501 and the fixing plate 503 are in contact with each other, interaction current is generated after the first touch plates 505 are in contact with each other, the interaction current transmits an electric signal to a central processor in the robot, and the central processor controls telescopic rods 403 on two sides in a frame 2 to move;

the telescopic rod 403 extends under the control of the central processor, the upper end of the telescopic rod 403 is connected with the side plate 401, a plurality of horizontally arranged bottom plates 301 are arranged above the frame 2, the bottom plates 301 are connected through rotating shafts, the rotating shafts are deflection nodes of the bottom plates 301, the outermost bottom plate 301 is connected with the telescopic rod 403 through the side plate 401, the telescopic rod 403 drives the outermost bottom plate 301 and the side plate 401 to deflect during extension, the deflection circle center is a node adjacent to a cargo, the node is not covered by the cargo, the telescopic rod 403 is in an upper lifting period, and the telescopic rod 403 moves horizontally in a sliding chute in the frame 2 through a sliding block 404 at the lower end;

the telescopic rods 403 on two sides of the goods approach the goods under the action of the sliding blocks 404 until the contact elements 402 above the side plates 401 contact the outer walls on two sides of the goods, at the moment, the included angle between the bottom plates 301 on two sides of the goods and the bottom plate 301 for bearing the goods is a right angle, at the moment, the outer walls on two sides of the goods are attached to the bottom plate 301 and the side plates 401, and meanwhile, the telescopic rods 403 and the bottom plates 301 on two sides of the goods are located in the same vertical longitudinal plane, when the upper surface of the bottom plate 301 is under the condition that the goods are completely covered, the telescopic rods 403 extend, the side plates 401 deflect by taking the connection part of the side plates 401 and the bottom plate 301 as the circle center, the sliding blocks 404 drive the telescopic rods 403 to horizontally move during deflection of the side plates 401, the telescopic rods drive the side plates 401 to slide along the sliding grooves on the outer sides of the bottom plates 301, the side plates 401 approach the goods synchronously during deflection until the contact elements 402 above the side plates 401 contact with the outer walls on two sides of the goods, the side plate 401 clamps the goods;

when the contact element 402 is in contact with the outer wall of the goods, the contact element 402 generates an electric signal and transmits the electric signal to the central processor, the central processor controls the telescopic rod 403 to stop extending, the robot and the goods are fixed, and the robot can carry the goods to transfer after the goods are fixed by the robot;

the central processing unit controls a group of power wheels on the outer side of the shell 1 to start to move, the robot is always in an acceleration state from standing to constant-speed running, the structure inside the shell 1 and goods generate inertia opposite to the moving direction in the acceleration state, a ball shaft 602 is connected to the lower part of the frame 2 through a clamping plate 601, the clamping plate 601 and the ball shaft 602 are matched with each other to form a universal shaft-like structure, the ball shaft 602 is connected with a hanging block 604 through a long rod 603, the hanging block 604 is movably connected with the frame 2, so that the hanging block 604 is acted by the inertia in the robot movement period, and the hanging block 604 deflects by taking the central point of the ball shaft 602 as the center of a circle;

the long rod 603 and the hanging block 604 deflect under the action of inertia, a feedback plate 605 is arranged on the outer side of the long rod 603, the feedback plate 605 moves synchronously along with the long rod 603, the feedback plate 605 contacts with a second touch plate 606 in a circular through hole of the main board 7 during movement, the second touch plate 606 is positioned around the feedback plate 605, when the feedback plate 605 contacts with the second touch plate 606 on one side under the action of inertia, the second touch plate 606 generates a feedback electric signal, the electric signal is transmitted to the central processing unit, the central processing unit transmits a control signal to the electric rod 801 according to the feedback electric signal, and the electric rod 801 starts to extend;

a square structure is formed between the second touch panels 606 and located around the feedback panel 605, the feedback panel 605 is in a limited state, the central axis of the feedback panel 605 intersects the center point of the square, the second touch panels 606 are connected with each other through the middle electronic component 607, the electric rods 801 are arranged around the middle electronic component 607, the middle electronic component 607 is electrically connected with the adjacent electric rods 801, that is, the electric rods 801 around the frame 2 are individually connected with one electronic component, the central processor sends out control signals to the electric rods 801 according to the feedback electric signals, that is, the middle electronic components 607 at two sides of the second touch panels 606 receive the electric signals, and the electric rods 801 electrically connected with the two middle electronic components 607 start to extend;

during the extension of the electric rod 801, the joint between the electric rod 801 and the connecting rod 802 approaches to the loop bar 804, so that the included angle between the connecting rods 802 on the upper and lower sides of the electric rod 801 increases, the loop bar 804 separates from each other under the action of the connecting rods 802, the frame 2 on one side where the electric rod 801 extends rises relative to the housing 1, one side of the frame 2 is continuously lifted, the frame 2 and the main board 7 are relatively fixed, the main board 7 is synchronously tilted until the tilted frame 2 is perpendicular to the long rod 603 under the action of inertia, at this time, the long rod 603 and the feedback plate 605 are again positioned between the second contact plates 606 to form a central point of a square, at this time, the second contact plates 606 and the feedback plate 605 are disconnected, no feedback signal is generated between the second contact plates 606 and the feedback plate 605, and the central processor does not continuously reflect an electric signal to control the electric rod 801 to continue to extend;

the frame 2 is inclined, the inclined frame 2 has an inclined thrust force on the goods, and the component force in the horizontal direction of the thrust force is the same as the moving direction of the robot, namely the component force in the horizontal direction of the thrust force helps the goods resist the inertia generated by the movement of the robot

After the robot finishes acceleration, inertia disappears, the long rod 603 returns to a vertical state, the long rod 603 drives to contact with the second touch panel 606 on the other side during the return period, further, the electric rod 801 on the other side extends until the frame 2 and the main board 7 return to a horizontal state, the main board 7 deflects twice under the action of the electric rod 801 during the robot from the beginning acceleration to the completion of acceleration, the twice deflections are both caused by the extension of the electric rod 801, the pressure detector 805 is arranged on the outer side of the loop bar 804, the pressure detector 805 generates electric signals due to the mutual separation of the circular tubes in the loop bar 804, the electric signals are transmitted to the central processing unit, the central processing unit transmits feedback signals to control the contraction of the electric rod 801 until the electric rod 801 returns to the initial length, the pressure detector 805 stops transmitting the electric signals, and then the pressure detector 805 is matched with the connecting rod 802 with the damping rod, when the robot collides during traveling, a damping rod in the connecting rod 802 absorbs a part of energy generated by collision through extension or contraction, and then the sleeve rod 804 is connected with the connecting rod 802 through the rotating shaft group 803, so that the sleeve rod 804 needs to perform relative extension or contraction operation, the pressure detector 805 generates corresponding numerical value change and feeds back an electric signal to the central processing unit, and the central processing unit controls the electric rod 801 to perform relative contraction or extension to perform motion compensation on the connecting rod 802 and the sleeve rod 804, so as to maintain the overall stability of the frame 2;

when the robot carries goods and transports to a key point, a control rod 504 in the robot starts to extend to drive the flat plate 501 to ascend, the upper ends of the bottom plates 301 on two sides of the goods incline towards the outer side, then the telescopic rods 403 on two sides of the goods contract synchronously, and the bottom plates 301 reset under the driving of the telescopic rods 403 and the sliding blocks 404.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A shuttle robot with dynamic balance self-stabilization function comprises a shell (1), a framework (2) and power wheels, and is characterized in that: the outer side of the shell (1) is provided with a power wheel, the inner part of the shell (1) is provided with a frame (2), the inner part of the frame (2) is provided with a bearing component (3), the bearing component (3) is used for placing goods, a limiting component (4) is arranged above the bearing component (3), the limiting component (4) is used for limiting the position of the goods, a control component (5) is arranged below the bearing component (3), the control component (5) is used for controlling the movement of the bearing component (3) and the limiting component (4), a detection component (6) is arranged below the frame (2), the detection component (6) is used for detecting the movement state of the robot, a main board (7) is arranged on the outer side of the detection component (6), an adjusting component (8) is arranged on the outer side of the main board (7), and the shell (1) is connected with the frame (2) through the main board (7) and the adjusting component (8), the adjusting component (8) is used for changing the inclination angles of the frame (2) and the main board (7).

2. A shuttle robot having a dynamic balance self-stabilization function according to claim 1, wherein: the bearing assembly (3) comprises a plurality of bottom plates (301) arranged inside a frame (2), the bottom plates (301) are horizontally arranged, the bottom plates (301) are movably connected through rotating shafts, an intermediate plate (302) is arranged below each bottom plate (301), the bottom plates (301) are connected with a limiting assembly (4), and the intermediate plate (302) is connected with a control assembly (5).

3. A shuttle robot having a dynamic balance self-stabilization function according to claim 2, wherein: restriction subassembly (4) are including installing sideboard (401) in bottom plate (301) one side, the spout has been seted up at the front and back both ends of bottom plate (301), sideboard (401) slide through relative bottom plate (301) of spout, the upper end of sideboard (401) is provided with contact element (402), sideboard (401) are connected with telescopic link (403) through the power shaft, telescopic link (403) are connected with frame (2) through slider (404), the inside of frame (2) is provided with the spout, slider (404) carry out horizontal motion through relative frame (2) of spout.

4. A shuttle robot having a dynamic balance self-stabilization function according to claim 2, wherein: the control assembly (5) comprises a flat plate (501) arranged at the lower end of a middle plate (302), a return spring (502) is arranged at the lower end of the flat plate (501), the flat plate (501) is connected with a fixing plate (503) through the return spring (502), a control rod (504) is arranged inside the fixing plate (503), the flat plate (501) is connected with the frame (2) through the control rod (504), a first touch plate (505) is arranged between the flat plate (501) and the fixing plate (503), and the adjacent sides of the flat plate (501) and the fixing plate (503) are provided with the first touch plate (505).

5. A shuttle robot having a dynamic balance self-stabilization function according to claim 1, wherein: the detection assembly (6) comprises a clamping plate (601) arranged below the inside of a frame (2), a ball shaft (602) is arranged in the middle of the clamping plate (601), the ball shaft (602) is positioned below a power wheel, a long rod (603) is arranged below the ball shaft (602), the long rod (603) penetrates through the frame (2) and a main board (7), circular through holes are formed in the frame (2) and the main board (7), the long rod (603) is positioned in the circular through holes, the diameter of the outer surface of the long rod (603) is smaller than that of the inner surface of the circular through holes, a hanging block (604) is arranged at the lower end of the long rod (603), a feedback plate (605) is arranged on the outer wall of the long rod (603), a plurality of second touch plates (606) are arranged in the circular through holes of the main board (7), a middle electronic element (607) is arranged between the second touch plates (606), the intermediate electronic element (607) is connected with the adjusting component (8), and the height of the second contact plate (606) is larger than that of the feedback plate (605).

6. A shuttle robot with dynamic balance self-stabilization function according to claim 5, characterized in that: the adjusting assembly (8) comprises an electric rod (801) installed on one side of a middle electronic element (607), the middle electronic element (607) is electrically connected with the electric rod (801), the electric rod (801) is connected with a mainboard (7) through a rotating shaft, two connecting rods (802) are arranged on one side of the electric rod (801), a rotating shaft group (803) is arranged on one side of each connecting rod (802), the rotating shaft group (803) is formed by connecting two vertically arranged rotating shafts, the two connecting rods (802) are respectively positioned on the upper side and the lower side of the electric rod (801), rotating shaft groups (803) are arranged at two ends of each connecting rod (802), the upper side of each connecting rod (802) is connected with a frame (2) through the rotating shaft group (803), the upper side of each connecting rod (802) is of a two-section structure, a damping rod is arranged in the middle of each connecting rod (802), and the lower side of each connecting rod (802) is connected with a shell (1) through the rotating shaft group (803), the rotating shaft groups (803) are connected through sleeve rods (804), the sleeve rods (804) are formed by sleeving a plurality of round rods with different diameters, pressure detectors (805) are arranged on the outer sides of the sleeve rods (804), and the pressure detectors (805) are connected with the round rods at the two ends of the sleeve rods (804).

7. A shuttle robot having a dynamic balance self-stabilization function according to claim 2, wherein: the middle plate (302) is connected with the bottom plates (301) through a rotating shaft, the middle plate (302) is located below the middle portions of the two bottom plates (301), the bottom plates (301) deflect through the rotating shaft, the middle plate (302) is used for limiting the deflection angle of the bottom plates (301), and the middle plate (302) penetrates into the flat plate (501).

8. A shuttle robot having a dynamic balance self-stabilization function according to claim 3, wherein: the side plate (401) is connected with the bottom plate (301) in a sliding mode, and the side plate (401) deflects relative to the telescopic rod (403) through a power shaft.