CN219194352U

CN219194352U - Mobile robot

Info

Publication number: CN219194352U
Application number: CN202223548898.5U
Authority: CN
Inventors: 王毅可; 唐旋来; 李通
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-06-16
Anticipated expiration: 2032-12-29

Abstract

The utility model discloses a mobile robot, and relates to the technical field of mobile robots. The mobile robot comprises a machine body and a bearing piece, wherein a lifting device is arranged between the machine body and the bearing piece and comprises lifting support pieces and a driving assembly, the lifting support pieces are uniformly arranged between the machine body and the bearing piece at intervals, and can synchronously lift under the driving of the driving assembly to drive the bearing piece to stably lift. Because lifting support piece evenly distributed in the below of bearing member, drive assembly can drive lifting support piece synchronous lift, the condition that the bearing member inclines can not appear to avoid the bearing member to bear the unstable condition of goods. The mobile robot provided by the utility model has the advantages that the stability of the lifting device is high, so that the goods are lifted more stably, and the safety is higher.

Description

Mobile robot

Technical Field

The utility model relates to the technical field of mobile robots, in particular to a mobile robot.

Background

The mobile robot is widely applied to different workplaces, and provides great convenience for life of people.

In the prior art, a mobile robot with a lifting function lifts goods on a bearing plate by arranging a lifting device between a machine body and the bearing plate. The articulated assembly that elevating gear adopted one side is fixed, and the opposite side is the scissors formula structure of spout, and such elevating gear can rise the back holding power skew at the loading board, appears carrying the unstable condition of goods.

Disclosure of Invention

The utility model aims to provide a mobile robot, which has better stability of a lifting device and avoids unstable gravity center after lifting.

To achieve the purpose, the utility model adopts the following technical scheme:

the mobile robot comprises a machine body and a bearing piece, wherein a lifting device is arranged between the machine body and the bearing piece and is used for driving the bearing piece to lift;

the lifting device comprises lifting support pieces and a driving assembly, wherein the lifting support pieces are uniformly arranged between the machine body and the bearing pieces at intervals, and can synchronously lift under the driving of the driving assembly to drive the bearing pieces to stably lift.

As an alternative scheme of the mobile robot, the lifting support piece is arranged at a position close to a corner in the mounting surface of the machine body, and the driving assembly is arranged at a middle position in the mounting surface of the machine body and can drive the lifting support piece to synchronously lift.

As an alternative of the mobile robot, the lifting device includes a hinge assembly and a guide assembly, the hinge assembly includes two hinge rods disposed with a middle portion intersecting, the end portion of the hinge rod away from the guide assembly is hinged with the machine body or the bearing member, respectively, and the end portion of the hinge rod close to the guide assembly can move under the guidance and limitation of the guide assembly.

As an alternative scheme of mobile robot, drive assembly passes through coupling assembling and relative setting hinge assembly is connected, coupling assembling's both ends all are provided with the hinge post, and the intersection of two hinge bars of alternately setting is provided with the hinge hole, the hinge post with the hinge hole cooperation is articulated.

As an alternative scheme of the mobile robot, four hinge assemblies are provided, two hinge assemblies are respectively provided along the length direction and the width direction of the machine body, the four hinge assemblies comprise a first hinge assembly, a second hinge assembly, a third hinge assembly and a fourth hinge assembly, the first hinge assembly and the second hinge assembly are in a group along the length direction of the machine body, and the third hinge assembly and the fourth hinge assembly are in a group; along the width direction of the machine body, the first hinge assembly and the third hinge assembly are oppositely arranged, and the second hinge assembly and the fourth hinge assembly are oppositely arranged.

As an alternative of the mobile robot, the driving assembly includes a motor, a screw and a screw nut, the motor is used for driving the screw to rotate, the screw nut is connected with the screw in a transmission manner, the connecting assembly includes a first connecting frame and a second connecting frame, the first connecting frame is fixed on the screw nut, the first hinge assembly and the third hinge assembly are respectively hinged with two ends of the first connecting frame, the motor is fixed on the second connecting frame, and the second hinge assembly and the fourth hinge assembly are respectively hinged with two ends of the second connecting frame.

As an alternative scheme of the mobile robot, a first avoidance hole is formed in the middle of the first connecting frame, and the first avoidance hole penetrates through the screw rod to be connected with the screw rod nut; the middle of the second connecting frame is provided with a second avoiding hole, and the second avoiding hole penetrates through the screw rod to be connected with the motor.

As an alternative of the mobile robot, the end of the hinge rod is hinged with the machine body through a first mounting seat and is hinged with the bearing piece through a second mounting seat; the first mounting seat comprises a first mounting plate and first hinge plates arranged at two ends of the first mounting plate, the first mounting plate is connected with the machine body, and the end parts of the hinge rods hinged with the machine body are hinged with the two first hinge plates through first pin shafts;

the second mounting seat comprises a second mounting plate and second hinge plates arranged at two ends of the second mounting plate, the second mounting plate is connected with the bearing piece, and the end parts of the hinge rods hinged with the bearing piece are hinged with the two second hinge plates through second pin shafts.

As an alternative to the mobile robot, the guiding assembly comprises a first slide provided to the body and a second slide provided to the carrier, the ends of the articulated rod being able to move under the guidance and definition of the first slide and the second slide, respectively.

As an alternative scheme of the mobile robot, the first sliding seat comprises a first transverse plate and first vertical plates arranged at two ends of the first transverse plate, the first transverse plate is connected with the machine body, the end parts of the hinging rods slidably arranged with the machine body are positioned between the two first vertical plates, first sliding grooves are formed in the two first vertical plates, and the end parts of the hinging rods positioned between the two first vertical plates are slidably arranged in the first sliding grooves through third pin shafts;

the second slide comprises a second transverse plate and second vertical plates arranged at two ends of the second transverse plate, the second transverse plate is connected with the bearing piece, the end parts of the hinging rods, which are slidably arranged on the bearing piece, are positioned between the two second vertical plates, second sliding grooves are formed in the two second vertical plates, and the end parts of the hinging rods, which are positioned between the two second vertical plates, are slidably arranged on the second sliding grooves through fourth pin shafts.

The utility model has the beneficial effects that:

the lifting device between the machine body and the bearing piece comprises the lifting supporting piece and the driving component, wherein the lifting supporting piece is uniformly arranged between the machine body and the bearing piece at intervals and can synchronously lift under the driving of the driving component to drive the bearing piece to stably lift. Because lifting support piece evenly distributed in the below of bearing member, drive assembly can drive lifting support piece synchronous lift, the condition that the bearing member inclines can not appear to avoid the bearing member to bear the unstable condition of goods. The mobile robot provided by the utility model has the advantages that the stability of the lifting device is high, so that the goods are lifted more stably, and the safety is higher.

Drawings

Fig. 1 is a schematic structural view of a mobile robot according to an embodiment of the present utility model;

fig. 2 is a schematic structural view of a hidden carrier of a mobile robot according to an embodiment of the present utility model.

In the figure:

1. a body; 2. a carrier; 3. a lifting device; 4. a first mount; 5. a second mounting base;

31. a first hinge assembly; 32. a second hinge assembly; 33. a third hinge assembly; 34. a fourth hinge assembly; 35. a drive assembly; 36. a connection assembly; 37. a first slider; 38. a second slider; 41. a first mounting plate; 42. a first hinge plate; 51. a second mounting plate; 52. a second hinge plate; 371. a first cross plate; 372. a first riser; 381. a second cross plate; 382. a second riser;

351. a motor; 352. a screw rod; 353. a lead screw nut; 361. a first connection frame; 362. a second connecting frame; 3721. a first chute; 3821. a second chute;

3611. a first avoidance hole; 3621. and a second avoiding hole.

Detailed Description

In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the utility model more clear, the technical scheme of the utility model is further described below by a specific embodiment in combination with the attached drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

As shown in fig. 1, the mobile robot provided in this embodiment includes a machine body 1 and a carrier 2, and a lifting device 3 is disposed between the machine body 1 and the carrier 2, where the lifting device 3 is used to drive the carrier 2 to lift.

The bottom of the machine body 1 is provided with a driving wheel and a driven wheel, the driving wheel is positioned in the middle of the machine body 1, the driven wheels are arranged at the front end and the rear end of the driving wheel along the advancing direction of the mobile robot, and the driving wheel walks to drive the driven wheel and the machine body 1 to walk.

The bearing piece 2 is arranged at the top of the machine body 1, the bearing piece 2 is a bearing plate, the bearing plate is used for bearing goods, and the lifting device 3 is used for lifting the bearing plate so as to lift the goods on the bearing plate; or lowering the carrier plate to lower the height of the cargo on the carrier plate.

As shown in fig. 1 and 2, the lifting device 3 includes a lifting support and a driving assembly, where the lifting support is uniformly spaced between the machine body 1 and the carrier 2, and can be driven by the driving assembly 35 to synchronously lift and drive the carrier 2 to stably lift. Because lifting support evenly distributed in the below of bearing member 2, drive assembly 35 can drive lifting support and go up and down in step for bearing member 2 can not appear the condition of slope, thereby avoid bearing member 2 to bear the unstable condition of goods and take place, make the goods lift more stable, the security is higher.

As an alternative to the mobile robot, the lifting support is disposed in a position near a corner in the mounting surface of the machine body 1, and the driving component 35 is disposed in a middle position in the mounting surface of the machine body 1, so as to drive the lifting support to synchronously lift. The driving component 35 is arranged in the middle of the mounting surface of the machine body 1 and can be connected with a plurality of lifting support pieces which are uniformly distributed at positions close to corners in the mounting surface, so that the driving component 35 drives the lifting support pieces to synchronously lift, the bearing surface of the bearing piece 2 is always parallel to the mounting surface, and the goods lifting is stable.

As an alternative of the mobile robot, the lifting support comprises a hinge assembly and a guide assembly, the hinge assembly comprises two hinge rods which are arranged in a middle part in a crossing manner, the end parts of the hinge rods, which are far away from the guide assembly, are respectively hinged with the machine body 1 or the bearing part 2, and the end parts of the hinge rods, which are close to the guide assembly, can move under the guidance and limitation of the guide assembly.

The two hinge rods which are arranged in a crossing way comprise a first end and a second end, and the end parts of the two hinge rods which are positioned at the first end are respectively hinged with the machine body 1 and the bearing piece 2; the end parts of the two hinging rods at the second end are respectively arranged on the machine body 1 and the bearing piece 2 in a sliding way. When the bearing plate is lifted, the positions of the first ends of the two hinged rods which are arranged in a crossing manner are unchanged in the horizontal direction, and the second ends move towards the direction close to the first ends, so that the bearing plate is lifted. When the bearing plate is lowered, the positions of the first ends of the two hinged rods which are arranged in a crossing manner are unchanged in the horizontal direction, and the second ends move in the direction away from the first ends, so that the bearing plate is lowered.

If only one hinge assembly is provided along the length direction of the machine body 1, one end of the bearing plate is supported by the first ends of the two hinge rods which are arranged in a crossing manner, and the other end of the bearing plate is supported by the second ends of the two hinge rods which are arranged in a crossing manner. When the goods on the bearing plate are heavier, one end of the bearing plate supported by the second end possibly slides under the gravity action of the goods, so that the height of the bearing plate changes, and the situation of unstable bearing of the goods is caused.

In order to solve the above problem, an even number of hinge assemblies are arranged along the length direction of the machine body 1, two hinge assemblies are in a group, in each group, two second ends are close to each other, and two first ends are far away from each other; an even number of hinge assemblies are lifted and lowered simultaneously. Namely, two ends of the machine body 1 in the length direction are the first ends of two hinge rods which are arranged in a crossing manner, and an even number of hinge assemblies are lifted at the same time. After the lifting device 3 lifts the bearing piece 2, the bearing piece 2 cannot deviate and descend at one end, so that the height of the bearing piece 2 is changed; thereby avoiding an unstable load carried by the carrier 2. The mobile robot that this embodiment provided, elevating gear 3's stability is high for the goods lifts more stably, and the security is higher.

Of course, in other embodiments, the lifting support may be lifting support rods distributed at four angular positions in the installation surface of the machine body 1, and the driving assembly 35 capable of driving the four lifting support rods to lift is disposed in the middle of the installation surface.

In order to further increase the stability of the load carried by the load carrying plate, the drive assembly 35 is connected to the oppositely arranged hinge assemblies by means of a connecting assembly 36. An even number of rows of hinge assemblies are arranged along the width direction of the machine body 1, two groups of hinge assemblies oppositely arranged between every two rows of hinge assemblies share one driving assembly 35 for driving, and the driving assembly 35 is connected with the two groups of hinge assemblies oppositely arranged through a connecting assembly 36. Through be provided with even row's hinge assemblies along the width direction of organism 1, at the width direction of loading board promptly, support the loading board through even row's hinge assemblies, can avoid the loading board when carrying the goods, the goods height on the loading board that leads to along one side height, one side low in the both sides of loading board width direction is inconsistent, or the goods slides from lower one side. And the hinged assemblies on two sides of the bearing plate are driven to move simultaneously through the driving assembly 35, so that the technical effect that the bearing plate is lifted or lowered simultaneously on two sides of the width direction is achieved, and the stability of the bearing plate for bearing goods is further guaranteed.

The two hinge rods which are arranged in a crossing way are hinged to realize that the hinge assembly drives the bearing plate to lift. In order to save raw materials and reduce cost, both ends of the connecting component 36 are provided with hinge posts, and the intersection of two hinge rods which are arranged in a crossing way is provided with a hinge hole, and the hinge posts are matched and hinged with the hinge hole. Such an arrangement allows both the hinging of two hinging bars arranged crosswise and the simultaneous driving of two groups of hinging assemblies on both sides thereof up and down by means of a single driving assembly 35.

In order to facilitate the fixation of the hinge rod with the machine body 1 and the bearing plate, the end of the hinge rod is hinged with the machine body 1 through the first mounting seat 4 and is hinged with the bearing piece 2 through the second mounting seat 5. The ends of two hinge rods at the first end, wherein the end of one hinge rod is hinged with the machine body 1 through a first mounting seat 4, and the end of the other hinge rod is hinged with the bearing piece 2 through a second mounting seat 5. The first mounting seat 4 is fixedly connected with the upper surface of the machine body 1 by means of screws or welding and the like; the second mounting seat 5 is fixedly connected with the lower surface of the bearing plate by means of screws or welding and the like.

Specifically, the first mounting seat 4 includes a first mounting plate 41 and first hinge plates 42 disposed at both ends of the first mounting plate 41, the first mounting plate 41 is connected to the machine body 1, and an end portion of a hinge rod hinged to the machine body 1 is hinged to the two first hinge plates 42 through a first pin. The second mounting seat 5 includes a second mounting plate 51 and second hinge plates 52 disposed at both ends of the second mounting plate 51, the second mounting plate 51 is connected to the carrier 2, and an end of a hinge rod hinged to the carrier 2 is hinged to the two second hinge plates 52 through a second pin.

The first mounting plate 41 is parallel to the upper surface of the machine body 1 and is fixedly connected to the machine body 1 by means of screws or welding. The two first hinge plates 42 are perpendicular to the first mounting plate 41, the end part of a hinge rod hinged with the first mounting seat 4 is located between the two first hinge plates 42, and after the first pin shaft passes through the end part of the hinge rod, the two ends of the first pin shaft are fixedly connected with the two first hinge plates 42 respectively.

The second mounting plate 51 is parallel to the lower surface of the carrier plate and is fixedly connected to the carrier plate by means of screws or welding. The two second hinge plates 52 are perpendicular to the second mounting plate 51, the end part of the hinge rod hinged with the second mounting seat 5 is located between the two second hinge plates 52, and after the second pin shaft passes through the end part of the hinge rod, the two ends of the second pin shaft are fixedly connected with the two second hinge plates 52 respectively.

In order to achieve a sliding arrangement of the hinge assembly with the machine body 1 and the carrier plate, the guide assembly comprises a first slide 37 provided to the machine body 1 and a second slide 38 provided to the carrier 2, the ends of the hinge rod being capable of moving under the guidance and definition of the first slide 37 and the second slide 38, respectively. The end parts of the two hinge rods are located at the second end, wherein one end part of one hinge rod is slidably arranged on the machine body 1 through the first sliding seat 37, and the end part of the other hinge rod is slidably arranged on the bearing piece 2 through the second sliding seat 38. In each group of two hinge assemblies arranged along the length direction of the machine body 1, as the two second ends are arranged close to each other, the two second ends share one first sliding seat 37 and one second sliding seat 38, thereby saving the occupied space and reducing the cost.

Of course, in other embodiments, a first slider 37 and a second slider 38 may be disposed at each first end.

The first slider 37 is fixed to the body 1 by means of screws or welding, and the second slider 38 is fixed to the carrier plate by means of screws or welding.

Specifically, the first slider 37 includes a first transverse plate 371 and first vertical plates 372 disposed at two ends of the first transverse plate 371, the first transverse plate 371 is connected with the machine body 1, ends of hinge rods slidably disposed with the machine body 1 are located between the two first vertical plates 372, first sliding grooves 3721 are formed in the two first vertical plates 372, and ends of hinge rods located between the two first vertical plates 372 are slidably disposed in the first sliding grooves 3721 through third pin shafts. The second sliding seat 38 includes a second transverse plate 381 and second vertical plates 382 disposed at two ends of the second transverse plate 381, the second transverse plate 381 is connected with the bearing member 2, the end of the hinge rod slidably disposed with the bearing member 2 is located between the two second vertical plates 382, the two second vertical plates 382 are provided with second sliding grooves 3821, and the end of the hinge rod located between the two second vertical plates 382 is slidably disposed in the second sliding grooves 3821 through a fourth pin shaft.

The first transverse plate 371 is parallel to the upper surface of the machine body 1, is connected with the machine body 1 by means of screws or welding and the like, a hinge rod slidably arranged with the machine body 1 is positioned between the two first vertical plates 372, a third pin shaft is fixed at the end part of the hinge rod, and two ends of the third pin shaft extend out of the first sliding grooves 3721 respectively arranged at two sides, so that the end part of the hinge rod is slidably arranged in the first sliding seat 37.

The second transverse plate 381 is parallel to the lower surface of the bearing plate, and is connected with the bearing plate by means of screws or welding, etc., the hinge rod slidably arranged with the bearing member 2 is located between the two second vertical plates 382, the fourth pin shaft is fixed at the end of the hinge rod, and both ends of the fourth pin shaft extend out of the second sliding grooves 3821 respectively arranged at both sides, so that the end of the hinge rod is slidably arranged in the second sliding seat 38.

In order to facilitate understanding of the technical solution provided in the present embodiment, there are four hinge assemblies, two each along the length direction and the width direction of the machine body 1, and the four hinge assemblies include a first hinge assembly 31, a second hinge assembly 32, a third hinge assembly 33 and a fourth hinge assembly 34, and along the length direction of the machine body 1, the first hinge assembly 31 and the second hinge assembly 32 are in a group, and the third hinge assembly 33 and the fourth hinge assembly 34 are in a group; the first hinge assembly 31 and the third hinge assembly 33 are disposed opposite to each other, and the second hinge assembly 32 and the fourth hinge assembly 34 are disposed opposite to each other in the width direction of the body 1.

Of course, two hinge assemblies may be provided, which are disposed at intervals along the length direction of the body 1, and are each located at an intermediate position along the width direction of the body 1.

The number of hinge assemblies provided along the length direction of the machine body 1 is not particularly limited in this embodiment, but may be an even number of four, six or eight, etc., and those skilled in the art can reasonably set the number according to the length of the machine body 1 and the length of one hinge assembly. The number of hinge assemblies provided in the width direction of the body 1 is not particularly limited, and even-numbered rows such as four, six, or eight rows may be provided according to the width of the body 1.

In order to realize the simultaneous lifting of four hinge assemblies by one driving assembly 35, the driving assembly 35 comprises a motor 351, a screw rod 352 and a screw rod nut 353, the motor 351 is used for driving the screw rod 352 to rotate, the screw rod nut 353 is in transmission connection with the screw rod 352, the connecting assembly 36 comprises a first connecting frame 361 and a second connecting frame 362, the first connecting frame 361 is fixed on the screw rod nut 353, the first hinge assembly 31 and the third hinge assembly 33 are respectively hinged with two ends of the first connecting frame 361, the motor 351 is fixed on the second connecting frame 362, and the second hinge assembly 32 and the fourth hinge assembly 34 are respectively hinged with two ends of the second connecting frame 362.

The driving component 35 provided in this embodiment is connected with four hinge components through the first connecting frame 361 and the second connecting frame 362, and the four hinge components play a supporting role on the driving component 35, and meanwhile, the driving component 35 can drive the four hinge components to lift simultaneously.

The motor 351 drives the screw rod 352 to rotate, the screw rod 352 drives the screw rod nut 353 to perform linear motion, and the screw rod nut 353 drives the first hinge assembly 31 and the third hinge assembly 33 to move through the first connecting frame 361, so that the second end of the first hinge assembly 31 and the second end of the third hinge assembly 33 slide. At the same time, the screw nut 353 applies a force to the screw 352 in an opposite direction, so that the screw 352 drives the motor 351 to move in a direction opposite to the screw nut 353, and the second connecting frame 362 drives the second end of the second hinge assembly 32 and the second end of the fourth hinge assembly 34 to move in a direction opposite to the second end of the first hinge assembly 31 and the second end of the third hinge assembly 33, thereby realizing the function of simultaneously driving the four hinge assemblies to move up and down by one driving assembly 35. In this process, the driving unit 35 is lifted and lowered along with the lifting and lowering of the four hinge units at the same time as driving the four hinge units.

Of course, in other embodiments, one driving assembly 35 may be disposed on each hinge assembly, and four driving assemblies 35 may be simultaneously operated, so that four hinge assemblies may be simultaneously lifted and lowered. The driving unit 35 may be provided as a linear driving element such as an electric push rod or a hydraulic rod.

In order to achieve the consistency of movement of the first hinge assemblies 31 and the third hinge assemblies 33 at both sides of the first connecting frame 361 and the consistency of movement of the second hinge assemblies 32 and the fourth hinge assemblies 34 at both sides of the second connecting frame 362 when the driving assembly 35 is operated, a first avoidance hole 3611 is formed in the middle of the first connecting frame 361, and the first avoidance hole 3611 penetrates through the screw 352 to be connected with the screw nut 353; the first escape hole 3611 is fixedly connected to the screw nut 353 in the circumferential direction by a fastening screw, welding, or the like. A second avoidance hole 3621 is formed in the middle of the second connecting frame 362, and the second avoidance hole 3621 penetrates through the screw 352 to be connected with the motor 351. The second connecting frame 362 is connected with an end face of an output end of the motor 351, and the second avoidance hole 3621 can play a role of avoiding a main shaft of the motor 351 so as not to influence connection of the main shaft of the motor 351 and the screw 352. The circumference of the second avoidance hole 3621 is fixedly connected with the end face of the output end of the motor 351 by a fastening screw or welding mode.

In the mobile robot provided in this embodiment, referring to the direction of the machine body 1 shown in fig. 2, the motor 351 drives the screw rod 352 to rotate in the clockwise direction, the screw rod nut 353 and the motor 351 move in the direction away from each other, so as to drive the first connecting frame 361 and the second connecting frame 362 to move in the direction away from each other, the first connecting frame 361 drives the second end of the first hinge assembly 31 and the second end of the third hinge assembly 33 to move in the direction close to their respective first ends, and the second connecting frame 362 drives the second end of the second hinge assembly 32 and the second end of the fourth hinge assembly 34 to move in the direction close to their respective first ends, so as to lift the carrier plate.

The motor 351 drives the screw rod 352 to rotate in the counterclockwise direction, the screw rod nut 353 and the motor 351 move in the direction approaching each other, the first connecting frame 361 and the second connecting frame 362 are driven to move in the direction approaching each other, the first connecting frame 361 drives the second end of the first hinge assembly 31 and the second end of the third hinge assembly 33 to move in the direction away from the respective first ends, and the second connecting frame 362 drives the second end of the second hinge assembly 32 and the second end of the fourth hinge assembly 34 to move in the direction away from the respective first ends, so that the bearing plate is lowered.

The foregoing is merely exemplary of the present utility model, and those skilled in the art should not be considered as limiting the utility model, since modifications may be made in the specific embodiments and application scope of the utility model in light of the teachings of the present utility model.

Claims

1. The mobile robot is characterized by comprising a machine body and a bearing piece, wherein a lifting device is arranged between the machine body and the bearing piece and is used for driving the bearing piece to lift;

2. The mobile robot of claim 1, wherein the lifting support is disposed in the mounting surface of the body at a position near a corner, and the driving assembly is disposed in the middle position in the mounting surface of the body, and is capable of driving the lifting support to synchronously lift.

3. The mobile robot of claim 1 or 2, wherein the lifting support comprises a hinge assembly and a guide assembly, the hinge assembly comprises two hinge rods arranged in a middle part in a crossing way, the end parts of the hinge rods away from the guide assembly are respectively hinged with the machine body or the bearing member, and the end parts of the hinge rods close to the guide assembly can move under the guidance and limitation of the guide assembly.

4. A mobile robot according to claim 3, wherein the driving assembly is connected to the hinge assemblies arranged oppositely through a connecting assembly, hinge posts are arranged at both ends of the connecting assembly, hinge holes are formed at intersections of two hinge rods arranged in a crossing manner, and the hinge posts are hinged to the hinge holes in a matching manner.

5. The mobile robot of claim 4, wherein four hinge assemblies are provided, two each along a length direction and a width direction of the body, the four hinge assemblies including a first hinge assembly, a second hinge assembly, a third hinge assembly, and a fourth hinge assembly, the first hinge assembly and the second hinge assembly being one group, and the third hinge assembly and the fourth hinge assembly being one group along the length direction of the body; along the width direction of the machine body, the first hinge assembly and the third hinge assembly are oppositely arranged, and the second hinge assembly and the fourth hinge assembly are oppositely arranged.

6. The mobile robot of claim 5, wherein the driving assembly comprises a motor, a screw and a screw nut, the motor is used for driving the screw to rotate, the screw nut is in transmission connection with the screw, the connecting assembly comprises a first connecting frame and a second connecting frame, the first connecting frame is fixed on the screw nut, the first hinging assembly and the third hinging assembly are hinged with two ends of the first connecting frame respectively, the motor is fixed on the second connecting frame, and the second hinging assembly and the fourth hinging assembly are hinged with two ends of the second connecting frame respectively.

7. The mobile robot of claim 6, wherein a first avoidance hole is formed in the middle of the first connecting frame, and the first avoidance hole penetrates through the screw rod and is connected with the screw rod nut; the middle of the second connecting frame is provided with a second avoiding hole, and the second avoiding hole penetrates through the screw rod to be connected with the motor.

8. The mobile robot of claim 7, wherein an end of the hinge rod is hinged to the body via a first mount and to the carrier via a second mount; the first mounting seat comprises a first mounting plate and first hinge plates arranged at two ends of the first mounting plate, the first mounting plate is connected with the machine body, and the end parts of the hinge rods hinged with the machine body are hinged with the two first hinge plates through first pin shafts;

9. A mobile robot as claimed in claim 3, wherein the guide assembly comprises a first slide provided to the body and a second slide provided to the carrier, the ends of the hinge rod being movable under guidance and definition of the first slide and the second slide, respectively.

10. The mobile robot of claim 9, wherein the first slider comprises a first transverse plate and first vertical plates arranged at two ends of the first transverse plate, the first transverse plate is connected with the machine body, the end parts of the hinge rods slidably arranged with the machine body are positioned between the two first vertical plates, first sliding grooves are formed in the two first vertical plates, and the end parts of the hinge rods positioned between the two first vertical plates are slidably arranged in the first sliding grooves through third pin shafts;