CN212473710U - Multifunctional transportation robot - Google Patents

Abstract

The utility model provides a multi-functional transportation robot belongs to the robotechnology field. The robot solves the problems of poor balancing capability and poor loading capability of the existing robot to goods. The wheel assembly comprises a base and a wheel assembly arranged on the base, wherein a first supporting plate and a second supporting plate which is opposite to the first supporting plate are arranged on the base, a first supporting shaft which horizontally extends is arranged on the first supporting plate, a second supporting shaft which is coaxial with the first supporting shaft is arranged on the second supporting plate, a first parallelogram component is arranged on the first supporting shaft, a second parallelogram component which is symmetrical to the first parallelogram component is arranged on the second supporting shaft, a goods shelf is arranged between the first parallelogram component and the second parallelogram component, and a form adjusting assembly which is used for adjusting the forms of the first parallelogram component and the second parallelogram component simultaneously is also arranged on the base. The utility model discloses the balancing capability to the goods is strong, has stronger load capacity, and is functional strong.

Description

Multifunctional transportation robot

Technical Field

The utility model belongs to the technical field of the robot, a multi-functional transportation robot is related to.

Background

At present, the full-automatic transport robot's application is more and more extensive, and its advantage is: the multifunctional electric vehicle can replace higher and higher labor cost, has high durability and no fatigue feeling, and can execute tasks in polluted environments and dangerous environments and can execute tasks which are harmful to human bodies. The Chinese patent discloses a two-wheeled self-balancing transportation robot (with the publication number of CN 209176810U), which comprises 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 a traveling direction vertical to the left and right direction; the balance induction assembly, the control circuit board, the battery module and the container are symmetrically arranged along the traveling 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 transportation robot is directly fixed on the chassis, so that the container cannot incline relative to the chassis and cannot enter a space with a lower floor height; because the height of the container cannot 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 easy to topple forwards or backwards, and the load capacity is poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the above-mentioned problem to current technique, provided a multi-functional transport robot that load capacity is strong.

The purpose of the utility model can be realized by the following technical proposal:

multifunctional transportation robot, include the base and locate the wheel subassembly on the base, the base on be equipped with first backup pad and the relative second backup pad that sets up with first backup pad, first backup pad on be equipped with the first supporting shaft of horizontal extension, the second backup pad on be equipped with the second back shaft coaxial with first supporting shaft, first back shaft on be equipped with first parallelogram component, the second back shaft on be equipped with the second parallelogram component that sets up with first parallelogram component symmetry, first parallelogram component and second parallelogram component between be equipped with the goods shelves, the base on still be equipped with the form adjusting part who is used for adjusting first parallelogram component and second parallelogram component form simultaneously.

The first supporting plate and the second supporting plate are vertically fixed at the left end and the right end of the base, the first supporting shaft and the second supporting shaft horizontally extend along the left-right direction of the base, and the first parallelogram component and the second parallelogram component are located between the first supporting plate and the second supporting plate. The shape adjusting assembly is used for adjusting the shapes of the first parallelogram component and the second parallelogram component simultaneously, the adjusting amplitudes of the first parallelogram component and the second parallelogram component are the same, the height of the goods shelf changes along with the shape change of the first parallelogram component and the second parallelogram component, and the first parallelogram component and the second parallelogram component are always in a symmetrical state in the adjusting process.

The height of the goods shelf can be changed through the form change of the first parallelogram component and the second parallelogram component, when heavier goods are put in, the gravity center of the goods shelf can be reduced, so that the overall gravity center of the robot is reduced, the stability is improved, the height of the robot can be reduced after the height is reduced, and the application range of the robot is improved.

In the above-mentioned multi-functional transportation robot, the first parallelogram component comprises a first swing arm and a second swing arm sleeved on the first supporting shaft, the first swing arm and the second swing arm are arranged in a crossed manner, the upper part of the first swing arm is hinged with a first connecting rod parallel to the second swing arm through a first hinge shaft, one end of the first connecting rod far away from the first swing arm is hinged with a second connecting rod parallel to the first swing arm through a second hinge shaft, one end of the second connecting rod far away from the first connecting rod is hinged with the lower part of the second swing arm through a third hinge shaft, the upper part of the second swing arm is hinged with a third connecting rod parallel to the first swing arm through a fourth hinge shaft, one end of the third connecting rod far away from the second swing arm is hinged with a fourth connecting rod parallel to the second swing arm through a fifth hinge shaft, one end of the fourth connecting rod far away from the third connecting rod is hinged with the lower part of the first swing arm through a sixth hinge shaft, the central line of the first articulated shaft and the central line of the fourth articulated shaft are positioned on the same horizontal plane.

First articulated shaft, second articulated shaft, third articulated shaft, fourth articulated shaft, fifth articulated shaft and sixth articulated shaft are parallel to each other, and extend along the left and right sides direction level of robot. A parallelogram is formed by the first swing arm, the first connecting rod, the second connecting rod and the second swing arm, and another parallelogram is formed by the first swing arm, the second swing arm, the third connecting rod and the fourth connecting rod. When the first swing arm/the second swing arm swings, the second swing arm/the first swing arm synchronously swings reversely under the action of two parallelograms, and one end of the goods shelf close to the first parallelogram component simultaneously acts on the two parallelograms. The first swing arm and the second swing arm are arranged in an inclined mode along the vertical direction, and the included angle formed by the first swing arm and the second swing arm is equal to the included angle formed by the horizontal plane.

In foretell multi-functional transportation robot, the second parallelogram component establish swing arm one and swing arm two on the second back shaft including the cover, swing arm one and swing arm two cross arrangement, the upper portion of swing arm one articulates through articulated shaft one has the connecting rod one parallel with swing arm two, connecting rod one keep away from the one end of swing arm one and articulate through articulated shaft two has the connecting rod two parallel with swing arm one, the one end that connecting rod one was kept away from to connecting rod two is articulated through articulated shaft three with the lower part of swing arm two, the upper portion of swing arm two articulates through articulated shaft four has the connecting rod three parallel with swing arm one, connecting rod three keep away from the one end of swing arm two and articulate through articulated shaft five has the connecting rod four parallel with swing arm two, the connecting rod four keep away from the one end of connecting rod three and the lower part of swing arm one and pass.

Swing arm one sets up with first swing arm symmetry, and swing arm two sets up with second swing arm symmetry, and articulated shaft one, articulated shaft two, articulated shaft three, articulated shaft four, articulated shaft five and articulated shaft six are parallel to each other, and extend along the left and right sides direction level of robot. The first swing arm, the first connecting rod, the second connecting rod and the second swing arm form a parallelogram, and the first swing arm, the second swing arm, the third connecting rod and the fourth connecting rod form another parallelogram. When the first swing arm/the second swing arm swings, the second swing arm/the swing arm synchronously swings reversely under the action of the two parallelograms, and one end of the goods shelf close to the second parallelogram component simultaneously acts on the two parallelograms. Furthermore, the first hinge shaft is coaxial with the first hinge shaft, the second hinge shaft is coaxial with the second hinge shaft, the third hinge shaft is coaxial with the third hinge shaft, the fourth hinge shaft is coaxial with the fourth hinge shaft, the fifth hinge shaft is coaxial with the fifth hinge shaft, and the sixth hinge shaft is coaxial with the sixth hinge shaft.

In the multi-functional transport robot, one end of the shelf 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 at the same height as the first guide groove, the first hinge shaft is inserted into the first guide groove, and the fourth hinge shaft is inserted into the second guide groove; one end of the goods shelf close to the second parallelogram component is provided with a third guide groove and a fourth guide groove, wherein the third guide groove is symmetrically arranged with the first guide groove, the fourth guide groove is symmetrically arranged with the second guide groove, the first hinged shaft is inserted into the third guide groove, and the fourth hinged shaft is inserted into the fourth guide groove.

The first guide groove, the second guide groove, the third guide groove and the fourth guide groove horizontally extend along the front-back direction, the width of the first guide groove is matched with the outer diameter of the first hinge shaft, and the first hinge shaft can be guaranteed to slide in the first guide groove; the width of the second guide groove is matched with the outer diameter of the fourth hinged shaft, so that the fourth hinged shaft can slide in the second guide groove; the width of the third guide groove is matched with the outer diameter of the first hinge shaft, so that the first hinge shaft can slide in the third guide groove; the width of the fourth guide groove is matched with the outer diameter of the fourth hinge shaft, so that the fourth hinge shaft can slide in the fourth guide groove. Both ends all seal around first guide slot, second guide slot, third guide slot and the fourth guide slot, prevent that first articulated shaft, fourth articulated shaft, articulated shaft one and articulated shaft four from deviating from in the guide slot that corresponds the setting with it.

In the multifunctional transportation robot, a first synchronizing rod is coaxially arranged between the second articulated shaft and the second articulated shaft, and a first counterweight body is arranged on the first synchronizing rod; and a second synchronizing rod is coaxially arranged between the fifth articulated shaft and the fifth articulated shaft, and a second counterweight body is arranged on the second synchronizing rod.

One end of the first synchronizing rod is coaxially and fixedly connected with the second hinged shaft, the other end of the first synchronizing rod is coaxially and fixedly connected with the second hinged shaft, one end of the second synchronizing rod is coaxially and fixedly connected with the fifth hinged shaft, and the other end of the second synchronizing rod is coaxially and fixedly connected with the fifth hinged shaft. For convenience of manufacture and assembly, the second hinge shaft, and the first synchronizing lever may be designed as one rod, and the fifth hinge shaft, and the second synchronizing lever may be designed as one rod. In order not to increase the additional burden of the robot, the parts essential to the robot may be used as the first counterweight body and the second counterweight body, for example, two electrical boxes of the robot may be used as the first counterweight body and the second counterweight body, and a battery, a control circuit board, and the like are arranged in the electrical boxes.

In the multifunctional transportation robot, a first through hole is formed in the upper part of the first counterweight body, and the first synchronizing rod is arranged in the first through hole in a penetrating manner; and a second through hole is formed in the upper part of the second counterweight body, and the second synchronizing rod is arranged in the second through hole in a penetrating manner.

The aperture of the first through hole is larger than the outer diameter of the first synchronizing rod, the first counterweight body can rotate around the first synchronizing rod, the aperture of the second through hole is larger than the outer diameter of the second synchronizing rod, the second counterweight body can rotate around the second synchronizing rod, and when the first synchronizing rod and the second synchronizing rod move up and down, the bottom ends of the first counterweight body and the second counterweight body face downwards all the time.

In foretell multi-functional transportation robot, first swing arm and swing arm one be located between second swing arm and the swing arm two, first swing arm on link firmly the actuating lever with the coaxial setting of first supporting shaft, the other end and the swing arm one of actuating lever link firmly, form adjusting part locate between base and the first actuating lever.

Or the second swing arm and the second swing arm are positioned between the first swing arm and the first swing arm, the second swing arm is fixedly connected with a driving rod which is coaxial with the first supporting shaft, the other end of the driving rod is fixedly connected with the second swing arm, and the shape adjusting assembly is arranged between the base and the driving rod.

In foretell multifunctional transportation robot, the form adjusting part including locate the first motor on the base, locate the action wheel on the output shaft of first motor and coaxial link firmly from the driving wheel on the actuating lever, the action wheel with follow the driving wheel transmission and be connected.

After the first motor is started, the output shaft of the first motor drives the driving wheel to rotate, the driving wheel is in transmission connection with the driven wheel through a transmission belt or other transmission modes, the driven wheel is driven to rotate, the driven wheel drives the driving rod to rotate around the central axis of the driving rod, the first swing arm and the swing arm are driven to synchronously swing, when the first swing arm and the swing arm swing, the second swing arm and the swing arm are driven to synchronously swing through the first parallelogram component and the second parallelogram component, and finally, the goods shelf is lifted or lowered through the first hinge shaft, the fourth hinge shaft, the first hinge shaft and the fourth hinge shaft. The first motor has a locking function, the driving rod can be kept in the current state after the first motor stops, and the first counterweight body and the second counterweight body balance the weight of the goods.

In the above multifunctional transport robot, an extension frame extending upwards along the length direction of the first swing arm/the second swing arm is connected between the first swing arm and the first swing arm/between the second swing arm and the second swing arm, and a gravity center adjusting assembly for adjusting the gravity center position is arranged on the extension frame.

When the first swing arm and the first swing arm tilt forwards and upwards along the walking direction of the robot, the extension frame is arranged between the first swing arm and the first swing arm; when the second swing arm and the second swing arm tilt forwards and upwards along the walking direction of the robot, the extension frame is arranged between the second swing arm and the second swing arm. Because the first parallelogram component is arranged on the first supporting shaft, the first counterweight body is arranged on the first parallelogram component, the second parallelogram component is arranged on the second supporting shaft, the second counterweight body is arranged on the second parallelogram component, and the goods shelf acts on the first parallelogram component and the second parallelogram component, in order to keep a stable state, the gravity center of the whole body consisting of the first parallelogram component, the second parallelogram component, the first counterweight body, the second counterweight body, the goods shelf and the extension frame is positioned right above the central axis of the driving rod under the action of the gravity center adjusting component.

In the above multifunctional transportation robot, the gravity center adjusting assembly includes a second motor disposed at the top end of the extending frame and a swing rod driven by the second motor, and a third counterweight body is disposed at one end of the swing rod away from the second motor.

Because the extension frame is arranged, when goods are not placed, the projection of the center of gravity of the whole consisting of the first parallelogram component, the second parallelogram component, the first counterweight body, the second counterweight body, the goods shelf and the extension frame on the horizontal plane is positioned in front of the projection of the central axis of the driving rod on the horizontal plane, and in order to maintain balance, the projection of the center of gravity of the third counterweight body on the horizontal plane is positioned behind the projection of the central axis of the driving rod on the horizontal plane. After the goods are put in, the position of the center of gravity can be adjusted by swinging the angle of the swing rod, so that the whole body formed by the first parallelogram component, the second parallelogram component, the first counterweight body, the second counterweight body, the goods shelf, the extension frame, the third counterweight body and the goods keeps balance.

In the multifunctional transportation robot, the rotation center line of the swing rod extends left and right along the horizontal direction, the counterweight body is a roller, and the rotation center line of the roller is parallel to the rotation center line of the swing rod.

When the roller is used as a counterweight body, the swing rod is positioned above the goods shelf. The swing rod can also swing to the front part of the whole robot under the action of the second motor, and when the swing rod swings to a proper position, the roller is in contact with the ground and supports the robot together with the wheel assembly. Moreover, the roller can be replaced by a camera/sensor/illumination source/traction interface and the like, and operations such as image pickup, gas detection, cable traction and the like can be realized. Meanwhile, the counterweight body can be matched with the movement of the wheel assembly to realize the actions of touching/extruding various switch buttons, triggering signals and the like.

In foretell multi-functional transportation robot, the wheel subassembly including locate the right wheel by wheel hub motor drive in the first backup pad with locate the left wheel by wheel hub motor drive in the second backup pad, left wheel and the coaxial setting of right wheel.

A wheel hub motor for driving the action of right wheel locates in the right wheel, a wheel hub motor for driving the motion of left wheel locates in the left wheel, and the robot that both rotational speeds are the same moves straightly, and both speeds are different, can realize turning to of robot.

In the above multifunctional transport robot, the right wheel is coaxial with the first support shaft, and the left wheel is coaxial with the second support shaft. The wheel hub motor comprises an inner rotor and an outer stator sleeved on the inner rotor, and the outer stator rotates around the central axis of the inner rotor during working to fix the wheel on the outer stator of the wheel hub motor. The first support shaft is coaxially and fixedly connected with a rotor shaft of the hub motor located in the right wheel, the first support plate is fixed on the first support shaft, the second support shaft is coaxially and fixedly connected with the rotor shaft of the hub motor located in the left wheel, and the second support plate is fixed on the second support shaft.

In the multifunctional transportation 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 a signal to the control circuit board in the electric box, and the control circuit board controls the second motor to work to adjust the horizontal state of the goods shelf.

When the robot is unloaded, the gravity center of the whole body consisting of the first parallelogram component, the second parallelogram component, the first counterweight body, the second counterweight body, the goods shelf, the extension frame and the third counterweight body is positioned right above the central axis of the driving rod; after goods are put in, the second motor drives the swing rod to swing to change the position of the third counterweight body, so that the purpose of adjusting the gravity center is achieved, and the gravity center of the whole body formed by the first parallelogram component, the second parallelogram component, the first counterweight body, the second counterweight body, the goods shelf, the extension frame and the third counterweight body returns to the position right above the central axis of the driving rod.

Compared with the prior art, the multifunctional transportation robot has the following advantages:

the lower part of the goods shelf is connected with a first counterweight body and a second counterweight body through a first parallelogram component and a second parallelogram component, the heavier the goods is, the farther the distance between the first counterweight body and the second counterweight body is, the more the goods can be balanced effectively, the stability is improved, and meanwhile, the goods shelf has unique adjustable postures, can bear larger load and has strong load-carrying capacity; when the first motor is powered off, the first counterweight body/the second counterweight body are in contact with the ground to brake the robot, and meanwhile, the first counterweight body/the second counterweight body can support the first swing arm and the first swing arm/the second swing arm and the second swing arm to prevent the robot from toppling; the gravity center of the robot can be accurately adjusted through the gyroscope chip, the second motor, the swing arm and the third counterweight body, and the stability of the robot is effectively ensured; the swing rod can be matched with the movement of the wheel assembly to realize the actions of touching/extruding various switch buttons, triggering signals and the like, and has multiple functions; the structure is reasonable in design and convenient to adjust.

Drawings

Fig. 1 is a first structural schematic diagram of a partial structure of a robot provided by the present invention.

Fig. 2 is a second schematic structural diagram of a partial structure of the robot provided by the present invention.

Fig. 3 is a right side view of a partial structure of the robot provided by the present invention.

Fig. 4 is a sectional view of a partial structure of the robot provided by the present invention.

Fig. 5 is a third schematic structural diagram of a partial structure of the robot provided by the present invention.

Fig. 6 is a fourth schematic structural diagram of a partial structure of the robot provided by the present invention.

Fig. 7 is a side view of the robot according to the present invention when the shelf height is high.

Fig. 8 is a side view of the robot provided by the present invention when the shelf height is low.

Fig. 9 is a first structural schematic diagram of the complete structure of the robot provided by the present invention.

Fig. 10 is a second schematic structural diagram of the complete structure of the robot provided by the present invention.

Fig. 11 is a fifth schematic structural diagram of a partial structure of the robot provided by the present invention.

Fig. 12 is a sectional view of another embodiment of the robot according to the present invention.

In the figure, 101, a base; 102. a first support plate; 103. a second support plate; 104. a first support shaft; 105. a second support shaft; 200. a shelf; 201. a first guide groove; 202. a second guide groove; 203. a third guide groove; 204. a fourth guide groove; 301. a first swing arm; 302. a second swing arm; 303. a first hinge shaft; 304. a first link; 305. a second hinge shaft; 306. a second link; 307. a third hinge shaft; 308. a fourth hinge shaft; 309. a third link; 310. a fifth hinge shaft; 311. a fourth link; 312. a sixth hinge shaft; 401. a first swing arm; 402. a second swing arm; 403. a first hinge shaft; 404. a first connecting rod; 405. a second hinge shaft; 406. a second connecting rod; 407. a third hinge shaft; 408. a fourth hinge shaft; 409. a third connecting rod; 410. hinging a shaft V; 411. a connecting rod IV; 412. hinging a shaft six; 501. a first synchronization lever; 502. a second synchronizing bar; 601. a first counterweight body; 602. a second counterweight body; 700. a drive rod; 801. a first motor; 802. a driving wheel; 803. a driven wheel; 804. a transmission belt; 900. an extension frame; 901. a second motor; 902. a swing rod; 903. a third counterweight body; 1000. a brake pad; 1101. a right wheel; 1102. and (4) a left wheel.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

As shown in fig. 9 and 10, the multifunctional transportation robot includes a base 101 and a wheel assembly disposed on the base 101, as shown in fig. 5, a first supporting plate 102 is vertically disposed at a right end of the base 101, a second supporting plate 103 is disposed at a left end of the base 101 and opposite to the first supporting plate 102, a first supporting shaft 104 horizontally extending in a left-right direction is disposed on the first supporting plate 102, and a second supporting shaft 105 coaxial with the first supporting shaft 104 is disposed on the second supporting plate 103.

As shown in fig. 9 and 10, the wheel assembly includes a right wheel 1101 disposed on the right side of the first support plate 102 and a left wheel 1102 disposed on the left side of the second support plate 103, the left wheel 1102 is disposed coaxially with the right wheel 1101, in the right wheel 1101 and the left wheel 1102, there are hub motors, when the two hub motors have the same rotation speed, the robot moves straight, and when the two hub motors have different rotation speeds, the robot turns. Specifically, the wheel hub motor comprises an inner rotor and an outer stator sleeved on the inner rotor, and the outer stator rotates around the central axis of the inner rotor during operation to fix the wheel on the outer stator of the wheel hub motor. The first support shaft 104 is coaxially and fixedly connected with a rotor shaft of the hub motor positioned in the right wheel 1101, the first support plate 102 is fixed on the first support shaft 104, the second support shaft 105 is coaxially and fixedly connected with a rotor shaft of the hub motor positioned in the left wheel 1102, and the second support plate 103 is fixed on the second support shaft 105.

As shown in fig. 1 and 2, the first support shaft 104 is provided with a first parallelogram member, and as shown in fig. 6, the second support shaft 105 is provided with a second parallelogram member symmetrically arranged with respect to the first parallelogram member, and the first parallelogram member and the second parallelogram member are located between the first support plate 102 and the second support plate 103. As shown in fig. 1 and 2, a shelf 200 is provided between a first parallelogram component and a second parallelogram component, a form adjusting component for adjusting the forms of the first parallelogram component and the second parallelogram component simultaneously is provided on a base 101, the form adjusting component is used for adjusting the forms of the first parallelogram component and the second parallelogram component simultaneously, the adjusting amplitudes of the first parallelogram component and the second parallelogram component are the same, the height of the shelf 200 changes along with the change of the forms of the first parallelogram component and the second parallelogram component, and the first parallelogram component and the second parallelogram component are in a symmetrical state all the time in the adjusting process.

As shown in fig. 1 and 2, the first parallelogram component includes a first swing arm 301 and a second swing arm 302 sleeved on the first support shaft 104, the first swing arm 301 and the second swing arm 302 are arranged in a crossed manner, and the first swing arm 301 and the second swing arm 302 are arranged in an inclined manner along the vertical direction, and the included angles formed by the first swing arm 301 and the second swing arm 302 and the horizontal plane are equal. As shown in fig. 3, the upper portion of the first swing arm 301 is hinged to a first link 304 parallel to the second swing arm 302 through a first hinge shaft 303, one end of the first link 304 away from the first swing arm 301 is hinged to a second link 306 parallel to the first swing arm 301 through a second hinge shaft 305, one end of the second link 306 away from the first link 304 is hinged to the lower portion of the second swing arm 302 through a third hinge shaft 307, the upper portion of the second swing arm 302 is hinged to a third link 309 parallel to the first swing arm 301 through a fourth hinge shaft 308, one end of the third link 309 away from the second swing arm 302 is hinged to a fourth link 311 parallel to the second swing arm 302 through a fifth hinge shaft 301, one end of the fourth link 311 away from the third link 309 is hinged to the lower portion of the first swing arm 301 through a sixth hinge shaft 312, and the center line of the first swing arm 303 and the center line of the fourth hinge shaft 308 are located on the same horizontal plane.

The first hinge shaft 303, the second hinge shaft 305, the third hinge shaft 307, the fourth hinge shaft 308, the fifth hinge shaft 301, and the sixth hinge shaft 312 are parallel to each other and horizontally extend in the left and right direction of the robot. One parallelogram is formed by the first swing arm 301, the first link 304, the second link 306 and the second swing arm 302, and the other parallelogram is formed by the first swing arm 301, the second swing arm 302, the third link 309 and the fourth link 311. When the first swing arm 301 swings, the second swing arm 302 swings synchronously in opposite directions under the action of the two parallelograms on which the end of the shelf 200 near the first parallelogram element acts simultaneously.

As shown in fig. 7 and 8, the second parallelogram component comprises a first swing arm 401 and a second swing arm 402 which are sleeved on the second support shaft 105, the first swing arm 401 and the second swing arm 402 are arranged in a crossed manner, a first connecting rod 404 parallel to the second swing arm 402 is hinged to the upper portion of the first swing arm 401 through a first hinge shaft 403, a second connecting rod 406 parallel to the first swing arm 401 is hinged to one end, away from the first swing arm 401, of the first connecting rod 404 through a second hinge shaft 405, a third connecting rod 409 parallel to the first swing arm 401 is hinged to one end, away from the first connecting rod 404, of the second connecting rod 406 through a third hinge shaft 407, the lower portion, away from the second swing arm 402, of the second connecting rod 409 is hinged to a fourth connecting rod 411 parallel to the second swing arm 402 through a fifth hinge shaft 410, and one end, away from the third connecting rod 409, of the fourth connecting rod.

The first swing arm 401 and the first swing arm 301 are symmetrically arranged, the second swing arm 402 and the second swing arm 302 are symmetrically arranged, and the first hinge shaft 403, the second hinge shaft 405, the third hinge shaft 407, the fourth hinge shaft 408, the fifth hinge shaft 410 and the sixth hinge shaft 412 are parallel to each other and horizontally extend along the left and right directions of the robot. A parallelogram is formed by the first swing arm 401, the first connecting rod 404, the second connecting rod 406 and the second swing arm 402, and another parallelogram is formed by the first swing arm 401, the second swing arm 402, the third connecting rod 409 and the fourth connecting rod 411. When the first swing arm 401 swings, the second swing arm 402 synchronously swings reversely under the action of two parallelograms, and one end of the shelf 200 close to the second parallelogram component simultaneously acts on the two parallelograms. Wherein hinge shaft one 403 is coaxial with first hinge shaft 303, hinge shaft two 405 is coaxial with second hinge shaft 305, hinge shaft three 407 is coaxial with third hinge shaft 307, hinge shaft four 408 is coaxial with fourth hinge shaft 308, hinge shaft five 410 is coaxial with fifth hinge shaft 301, and hinge shaft six 412 is coaxial with sixth hinge shaft 312.

As shown in fig. 1 and 2, the first swing arm 401 is symmetrically disposed with respect to the first swing arm 301, the second swing arm 402 is symmetrically disposed with respect to the second swing arm 302, the first link 304 is symmetrically disposed with respect to the first link 404, the second link 306 is symmetrically disposed with respect to the second link 406, the third link 309 is symmetrically disposed with respect to the third link 409, and the fourth link 311 is symmetrically disposed with respect to the fourth link 411.

As shown in fig. 1 to 3, one end of the shelf 200 adjacent to the first parallelogram member has a first guide groove 201 horizontally extending in the front-rear direction and a second guide groove 202 located at the same height as the first guide groove 201, with a first hinge shaft 303 inserted into the first guide groove 201 and a fourth hinge shaft 308 inserted into the second guide groove 202. As shown in fig. 5 to 8, the shelf 200 has a third guide groove 203 symmetrically disposed with respect to the first guide groove 201 and a fourth guide groove 204 symmetrically disposed with respect to the second guide groove 202 at an end thereof adjacent to the second parallelogram member, with a hinge shaft one 403 inserted into the third guide groove 203 and a hinge shaft four 408 inserted into the fourth guide groove 204.

The first guide groove 201, the second guide groove 202, the third guide groove 203 and the fourth guide groove 204 extend horizontally in the front-back direction, the width of the first guide groove 201 is matched with the outer diameter of the first hinge shaft 303, and the first hinge shaft 303 can be ensured to slide in the first guide groove 201; the width of the second guide groove 202 is matched with the outer diameter of the fourth hinge shaft 308, so that the fourth hinge shaft 308 can slide in the second guide groove 202; the width of the third guide groove 203 is matched with the outer diameter of the first hinge shaft 403, so that the first hinge shaft 403 can slide in the third guide groove 203; the width of the fourth guide groove 204 matches the outer diameter of the hinge shaft four 408, so that the hinge shaft four 408 can slide in the fourth guide groove 204. The front and rear ends of the first guide groove 201, the second guide groove 202, the third guide groove 203 and the fourth guide groove 204 are closed, so that the first hinge shaft 303, the fourth hinge shaft 308, the first hinge shaft 403 and the fourth hinge shaft 408 are prevented from being pulled out of the guide grooves correspondingly arranged to the first hinge shaft 303, the fourth hinge shaft 308, the first hinge shaft 403 and the fourth hinge shaft 408.

As shown in fig. 1, a first synchronizing rod 501 is coaxially arranged between the second hinge shaft 305 and the second hinge shaft 405, and as shown in fig. 10, a first counterweight 601 is arranged on the first synchronizing rod 501; as shown in fig. 2, a second synchronizing rod 502 is coaxially disposed between the fifth hinge shaft 301 and the fifth hinge shaft 410, and a second weight 602 is disposed on the second synchronizing rod 502. One end of the first synchronizing rod 501 is coaxially and fixedly connected with the second hinge shaft 305, the other end thereof is coaxially and fixedly connected with the second hinge shaft 405, one end of the second synchronizing rod 502 is coaxially and fixedly connected with the fifth hinge shaft 301, and the other end thereof is coaxially and fixedly connected with the fifth hinge shaft 410. For convenience of manufacture and assembly, the second hinge shaft 305, the second hinge shaft 405, and the first synchronizing lever 501 may be designed as one lever, and the fifth hinge shaft 301, the fifth hinge shaft 410, and the second synchronizing lever 502 may be designed as one lever.

The first counterweight 601 is one of the electrical boxes of the robot, the second counterweight 602 is the other electrical box of the robot, and a battery, a control circuit board, and the like are disposed in the electrical boxes.

As shown in fig. 11, two connection portions are disposed at the upper portion of the first counterweight body 601 and located at the left and right ends, respectively, a first through hole is disposed at the upper end of each connection portion, the aperture of the first through hole is larger than the outer diameter of the first synchronization rod 501, the first synchronization rod 501 is inserted into the first through hole, and the first counterweight body 601 can rotate around the first synchronization rod 501.

As shown in fig. 2 and fig. 6, the upper portion of the second counterweight body 602 is provided with two connecting portions respectively located at the left and right ends, the upper end of each connecting portion is provided with a second through hole, the aperture of the second through hole is larger than the outer diameter of the second synchronizing rod 502, the second synchronizing rod 502 is inserted into the second through hole, and the second counterweight body 602 can rotate around the second synchronizing rod 502.

The brake pad 1000 is disposed at a position close to the front end of the lower portion of the first weight 601, and the brake pad 1000 made of an anti-slip material such as rubber is also disposed at a position close to the rear end of the lower portion of the second weight 602, so that the brake pad 1000 does not contact the ground during normal walking of the robot, and when the upper portion of the robot is greatly inclined, the brake pad 1000 preferentially contacts the ground, thereby reducing wear of the first weight 601 and the second weight 602 and increasing friction with the ground.

As shown in fig. 2, the first swing arm 301 and the first swing arm 401 are located between the second swing arm 302 and the second swing arm 402, the first swing arm 301 is fixedly connected to a driving rod 700 coaxially disposed with the first supporting shaft 104, the other end of the driving rod 700 is fixedly connected to the first swing arm 401, and the form adjusting assembly is disposed between the base 101 and the first driving rod 700. As shown in fig. 1, the form adjusting assembly includes a first motor 801 disposed on the base 101, a driving wheel 802 disposed on an output shaft of the first motor 801, and a driven wheel 803 coaxially connected to the driving rod 700, wherein the driving wheel 802 and the driven wheel 803 are in transmission connection through a transmission belt 804. After the first motor 801 is started, the output shaft of the first motor 801 drives the driving wheel 802 to rotate, the driving wheel 802 drives the driven wheel 803 to rotate, the driven wheel 803 drives the driving rod 700 to rotate around the central axis of the driven wheel 803, so that the first swing arm 301 and the first swing arm 401 are driven to synchronously swing, when the first swing arm 301 and the first swing arm 401 swing, the second swing arm 302 and the second swing arm 402 are driven to synchronously swing through the first parallelogram component and the second parallelogram component, and finally, the goods shelf 200 is lifted or lowered through the first hinge shaft 303, the fourth hinge shaft 308, the first hinge shaft 403 and the fourth hinge shaft 408. The first motor 801 has a locking function, and when the first motor 801 stops, the driving rod 700 can be kept in a current state, and the first counterweight 601 and the second counterweight 602 balance the weight of the goods.

As shown in fig. 9 to 12, an extension frame 900 extending obliquely upward along the length direction of the first swing arm 301 is detachably connected between the first swing arm 301 and the first swing arm 401, and a center of gravity adjusting assembly for adjusting the position of the center of gravity is disposed at the top of the extension frame 900.

As shown in fig. 9-12, the gravity center adjusting assembly includes a second motor 901 disposed at the top end of the extension frame 900, and a swing rod 902 driven by the second motor 901, wherein a third counterweight 903 is disposed at an end of the swing rod 902 far from the second motor 901. When no load is placed, the projection of the center of gravity of the whole of the first parallelogram member, the second parallelogram member, the first counterweight body 601, the second counterweight body 602, the shelf 200, and the extension bracket 900 on the horizontal plane is located in front of the projection of the central axis of the drive lever 700 on the horizontal plane, and the projection of the center of gravity of the third counterweight body 903 on the horizontal plane is located behind the projection of the central axis of the drive lever 700 on the horizontal plane in order to maintain balance. After the goods are put in, the position of the center of gravity can be adjusted by swinging the angle of the swing link 902, so that the whole body formed by the first parallelogram member, the second parallelogram member, the first counterweight body 601, the second counterweight body 602, the goods shelf 200, the extension frame 900, the third counterweight body 903 and the goods is kept balanced.

The rotation center line of the swing rod 902 extends left and right along the horizontal direction, the counterweight body is a roller, and the rotation center line of the roller is parallel to the rotation center line of the swing rod 902. As shown in fig. 12, the swing link 902 can swing to the front of the whole robot under the action of the second motor 901, and when the swing link swings to a proper position, the roller contacts with the ground, and supports the robot together with the wheel assembly. The roller can be replaced by a camera/sensor/illumination source/traction interface and the like, and operations such as camera shooting, gas detection, cable traction and the like can be realized. Meanwhile, the counterweight body can be matched with the movement of the wheel assembly to realize the actions of touching/extruding various switch buttons, triggering signals and the like.

A gyroscope chip is arranged in the shelf 200 and used for sensing whether the shelf 200 is in a horizontal state, when the shelf 200 is inclined, the gyroscope chip transmits a signal to a control circuit board in the electrical box, and the control circuit board controls the second motor 901 to work to adjust the horizontal state of the shelf 200.

When the robot is unloaded, the gravity center of the whole body consisting of the first parallelogram component, the second parallelogram component, the first counterweight body 601, the second counterweight body 602, the goods shelf 200, the extension frame 900 and the third counterweight body 903 is positioned right above the central axis of the driving rod 700; after goods are put in, the second motor 901 drives the swing rod 902 to swing to change the position of the third counterweight body 903, so that the purpose of adjusting the center of gravity is achieved, and the center of gravity of the whole formed by the first parallelogram member, the second parallelogram member, the first counterweight body 601, the second counterweight body 602, the goods shelf 200, the extension frame 900 and the third counterweight body 903 returns to the position right above the central axis of the driving rod 700.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (10)

1. The utility model provides a multifunctional transportation robot, includes base (101) and locates the wheel subassembly on base (101), base (101) on be equipped with first backup pad (102) and with second backup pad (103) of first backup pad (102) relative setting, first backup pad (102) on be equipped with first supporting shaft (104) that the level extends, second backup pad (103) on be equipped with coaxial second back shaft (105) of first supporting shaft (104), a serial communication port, first supporting shaft (104) on be equipped with first parallelogram component, second back shaft (105) on be equipped with the second parallelogram component with first parallelogram component symmetry setting, first parallelogram component and second parallelogram component between be equipped with goods shelves (200), base (101) on still be equipped with the form adjustment subassembly that is used for adjusting first parallelogram component and second parallelogram component form simultaneously .

2. The multi-purpose transportation robot of claim 1, wherein the first parallelogram component comprises a first swing arm (301) and a second swing arm (302) sleeved on the first supporting shaft (104), the first swing arm (301) and the second swing arm (302) are arranged in a crossed manner, the upper portion of the first swing arm (301) is hinged with a first connecting rod (304) parallel to the second swing arm (302) through a first hinge shaft (303), one end of the first connecting rod (304) far away from the first swing arm (301) is hinged with a second connecting rod (306) parallel to the first swing arm (301) through a second hinge shaft (305), one end of the second connecting rod (306) far away from the first connecting rod (304) is hinged with the lower portion of the second swing arm (302) through a third hinge shaft (307), the upper portion of the second swing arm (302) is hinged with a third connecting rod (309) parallel to the first swing arm (301) through a fourth hinge shaft (308), one end, far away from the second swing arm (302), of the third connecting rod (309) is hinged to a fourth connecting rod (311) parallel to the second swing arm (302) through a fifth hinge shaft (310), one end, far away from the third connecting rod (309), of the fourth connecting rod (311) is hinged to the lower portion of the first swing arm (301) through a sixth hinge shaft (312), and the center line of the first hinge shaft (303) and the center line of the fourth hinge shaft (308) are located on the same horizontal plane.

3. The multi-purpose transport robot of claim 2, wherein the second parallelogram comprises a first swing arm (401) and a second swing arm (402) sleeved on the second support shaft (105), the first swing arm (401) and the second swing arm (402) are arranged in a crossed manner, the upper portion of the first swing arm (401) is hinged with a first connecting rod (404) parallel to the second swing arm (402) through a first hinge shaft (403), one end of the first connecting rod (404) far away from the first swing arm (401) is hinged with a second connecting rod (406) parallel to the first swing arm (401) through a second hinge shaft (405), one end of the second connecting rod (406) far away from the first connecting rod (404) is hinged with the lower portion of the second swing arm (402) through a third hinge shaft (407), the upper portion of the second swing arm (402) is hinged with a third connecting rod (409) parallel to the first swing arm (401) through a fourth hinge shaft (408), one end, far away from the second swing arm (402), of the third connecting rod (409) is hinged to a fourth connecting rod (411) parallel to the second swing arm (402) through a fifth hinge shaft (410), and one end, far away from the third connecting rod (409), of the fourth connecting rod (411) is hinged to the lower portion of the first swing arm (401) through a sixth hinge shaft (412).

4. The multi-purpose transport robot according to claim 3, wherein the shelf (200) has a first guide groove (201) horizontally extending in the front-rear direction and a second guide groove (202) located at the same height as the first guide groove (201) at an end thereof adjacent to the first parallelogram member, the first hinge shaft (303) is inserted into the first guide groove (201), and the fourth hinge shaft (308) is inserted into the second guide groove (202); one end of the shelf (200) close to the second parallelogram component is provided with a third guide groove (203) which is symmetrically arranged with the first guide groove (201) and a fourth guide groove (204) which is symmetrically arranged with the second guide groove (202), the first hinged shaft (403) is inserted into the third guide groove (203), and the fourth hinged shaft (408) is inserted into the fourth guide groove (204).

5. The multi-purpose transport robot of claim 3, characterized in that a first synchronizing rod (501) is coaxially arranged between the second hinge shaft (305) and the second hinge shaft (405), and a first counterweight body (601) is arranged on the first synchronizing rod (501); and a second synchronous rod (502) is coaxially arranged between the fifth articulated shaft (310) and the fifth articulated shaft (410), and a second counterweight body (602) is arranged on the second synchronous rod (502).

6. The multi-functional transport robot of claim 5, characterized by, that the upper portion of the first counterweight body (601) is equipped with the first perforation, the said first synchronizing rod (501) is worn and set up in the first perforation; the upper portion of the second counter weight body (602) is provided with a second through hole, and the second synchronous rod (502) penetrates through the second through hole.

7. The multifunctional transportation robot of claim 3, wherein the first swing arm (301) and the first swing arm (401) are located between the second swing arm (302) and the second swing arm (402), the first swing arm (301) is fixedly connected with a driving rod (700) coaxially arranged with the first supporting shaft (104), the other end of the driving rod (700) is fixedly connected with the first swing arm (401), and the shape adjusting assembly is arranged between the base (101) and the first driving rod (700).

8. The multi-functional transportation robot of claim 7, characterized in that the shape adjustment assembly comprises a first motor (801) disposed on the base (101), a driving wheel (802) disposed on an output shaft of the first motor (801), and a driven wheel (803) coaxially connected to the driving rod (700), wherein the driving wheel (802) is in transmission connection with the driven wheel (803).

9. The multi-functional transportation robot of claim 3, characterized in that, be connected with between first swing arm (301) and swing arm (401)/between second swing arm (302) and swing arm two (402) and extend frame (900) along the length direction of first swing arm (301)/second swing arm (302) upwards, be equipped with on extension frame (900) and be used for adjusting the focus adjusting subassembly of centre of gravity position.

10. The multi-purpose transport robot of claim 9, wherein the center of gravity adjusting assembly comprises a second motor (901) disposed at the top end of the extension frame (900) and a swing link (902) driven by the second motor (901), and a third counterweight (903) is disposed at an end of the swing link (902) far away from the second motor (901).

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