CN110901714A

CN110901714A - Transfer robot

Info

Publication number: CN110901714A
Application number: CN201911189164.2A
Authority: CN
Inventors: 汤泽波; 徐湘华
Original assignee: Tongling Is With Flying Science And Technology Ltd
Current assignee: Tongling Tongfei Technology Co ltd; Anhui Safe Electronics Co Ltd
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2020-03-24
Anticipated expiration: 2039-11-28
Also published as: CN110901714B

Abstract

The invention belongs to the technical field of carrying, and particularly relates to a carrying robot which comprises a loading box, a fixed plate and a triangular planet wheel, wherein the upper surface of the fixed plate is fixedly connected with a pair of supports; the two brackets are connected with the same loading box in a rotating way; four corners of the fixed plate are respectively provided with a triangular planet wheel; the invention effectively solves the problem that in the prior art, when the transfer robot climbs stairs or goes up steps, the transfer robot tilts due to the height difference of the steps, so that the transfer goods loaded in the transfer robot tilt, the transfer goods are toppled, extruded, collided and the like, and the transfer goods damage accident is caused, thereby realizing the effective protection of the transfer robot on the goods loaded in the transfer robot when the transfer robot climbs the stairs or goes up and down the steps, greatly reducing the occurrence of the damage phenomenon of the transfer goods, and having simple structure and higher use value.

Description

Transfer robot

Technical Field

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

Background

Along with the rapid development of electricity merchants, logistics distribution also develops rapidly, and under many circumstances, the delivery personnel need to carry articles to climb stairs for delivery, such as some household appliances, furniture and other articles, and manual carrying is very laborious, the labor intensity is higher, especially, the absence of a large number of elevator buildings causes the difficulty of couriers going upstairs and downstairs, the labor intensity is large, and the efficiency is low.

The transfer robot is a programmable and multifunctional manipulator for transferring materials, parts and tools, or a special system with changeable and programmable actions for executing different tasks, when transferring materials, parts and tools, it is necessary to move on the flat ground and stairs, and when transferring on the flat ground, it is a simpler function, however, when transferring on the stairs, it puts higher demands on the transfer robot, and it is necessary to adopt a more complex structure to realize the function of climbing stairs, and it is also necessary to adopt a more stable loading structure to ensure the stability of the goods.

Among the prior art, when transfer robot climbs stair or goes up the step, because the high drop problem of step leads to transfer robot slope, and then leads to the slope of the transport goods of loading in the transfer robot for the transport goods appears empting, phenomenon such as extrusion and collision, thereby causes the emergence scheduling problem of transport goods damage accident.

In view of the above, in order to overcome the above technical problems, the present inventors have designed and developed a transfer robot to solve the above technical problems.

Disclosure of Invention

The invention provides a transfer robot, which aims to make up the defects of the prior art and solve the problems that when the transfer robot climbs stairs or goes up steps, the transfer robot is inclined due to the height difference of the steps, so that the transfer goods loaded in the transfer robot are inclined, the transfer goods are toppled, extruded and collided, the damage accidents of the transfer goods are caused, and the like.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a carrying robot, which comprises a loading box, a fixing plate and a triangular planet wheel; the loading box is designed into a cuboid structure; the lower edges of the left side surface and the right side surface of the loading box are provided with large round corners; a cavity is formed in the loading box; the front side and the rear side of the loading box are symmetrically provided with first rotating shafts, and the two first rotating shafts are both positioned on a symmetrical line of a front view of the loading box; the front and rear positions of the loading box are respectively provided with a bracket, and the first rotating shafts are rotatably connected to the corresponding brackets; the lower surfaces of the two brackets are fixedly connected with the same fixing plate; the left side surface and the right side surface of the fixed plate are respectively fixedly connected with a rotating box; the front side and the rear side of each of the two rotating boxes are rotatably connected with a second rotating shaft; the cambered surfaces of the second rotating shafts are rotatably connected with triangular planet wheels; the triangular planet wheel comprises a triangular support frame, a fixed rod and a rolling wheel; the triangular end surface of the triangular support frame is provided with a fixed rod; a rotating hole is formed in the arc surface of the fixed rod; a third rotating shaft is rotatably connected inside the rotating hole; two end faces of the third rotating shaft are fixedly connected with rolling wheels respectively; when the device works, articles to be carried are placed in the loading box, then the power supply is switched on, and the second rotating shaft is driven to rotate through the rotation of the motor; the second rotating shaft further drives the triangular planet wheel to rotate; when the triangular planet wheel rotates to the step, one corner of the triangular planet wheel can climb to the previous step, the next corner of the triangular planet wheel can continue to climb to the previous step along with the rotation, the sequential circulation is realized, the next step is also carried out in the same way, the purpose of transferring the conveyed articles through the step is effectively realized, when the conveying robot passes through the step, the height drop can be formed, because the four triangular planet wheels are not completely on the same step, the conveying robot can seriously incline when climbing the step, therefore, when the conveying robot inclines, the loading box can drive the first rotating shaft to rotate on the bracket under the action of gravity, the loading box can be always in a horizontal state, the phenomenon that the loading box and the bracket synchronously incline to incline the conveyed articles in the loading box, and further the phenomena of the inclined or mutual extrusion of the conveyed articles can occur, thereby lead to the damage of transport article even damage, cause economic loss, through the effectual prior art that has solved of a transfer robot, when transfer robot climbs stair or upper stairs, because the high drop problem of step leads to transfer robot slope, and then lead to the slope of the transport goods of loading in the transfer robot, make the transport goods appear empting, phenomenon such as extrusion and collision, thereby cause the emergence scheduling problem of transport goods damage accident, transfer robot has been realized climbing stair or when going up and down the step, the effective protection to the goods of transfer robot inside loading, greatly reduced the emergence that the damage phenomenon appears in the transport goods, moreover, the steam generator is simple in structure, and high use value.

Preferably, the lower surface of the loading box is provided with stabilizing plates respectively at positions close to the left side surface and the right side surface of the loading box, and the stabilizing plates are arranged symmetrically left and right; the fixed plate is provided with an anti-collision hole at the lower position of the loading box; the during operation, after the loading case was filled with to the transport goods, the focus of loading case and transport goods increased, make transfer robot when climbing the step, stability is relatively poor, and if the transport goods in the loading case loaded when controlling inequality, also can cause the serious skew of balance point of loading case, make transfer robot stability go wrong, consequently, set up the higher steadying plate of a pair of density through the lower surface left and right sides at the loading case, this steadying plate can effectual reduction loading case's focus, and can make the loading case more stable, thereby guarantee the stable security of the inside transport goods of loading case.

Preferably, the lower surface of the loading box is fixedly connected with a first magnet at the position of the symmetry line of the stabilizing plate; a supporting plate which is arranged in the front and back is arranged in the anti-collision hole below the first magnet, and the front end surface and the back end surface of the supporting plate are fixedly connected with the loading box; the supporting plate is provided with an installation groove at a position right below the first magnet; a second magnet is arranged in the mounting groove; when the carrying robot works, when the carrying robot just begins to climb steps, the carrying robot can quickly incline due to the instantaneous height difference, so that the loading box of the carrying robot can be quickly balanced and adjusted, if the carrying box is not controlled to generate the phenomenon of over-adjustment, the loading box can be rotated and swung, the stability of the carrying robot is reduced, the probability of damage to goods in the loading box is increased, and if the loading box is used for a long time, the loading box is seriously deformed, so that the balance point of the loading box deviates, the continuous use can be influenced, therefore, the first magnet and the second magnet are arranged, the balance point of the loading box can be positioned at the central position for a long time through the mutual attraction of the first magnet and the second magnet, and when the loading box is over-adjusted, the loading box rotates and swings, so that the first magnet and the second magnet can play a role of quickly and stably loading the box, and also can reduce the occurrence of the over-adjustment phenomenon of the loading box.

Preferably, the upper surface of the second magnet is provided with a mounting hole; an electromagnet is arranged in the mounting hole; the during operation, when the goods in the loading case is more or heavier, because the inter attraction of first magnet and second magnet keeps invariable always, consequently the stabilizing effect of first magnet and second magnet descends under this condition, in order to adapt to different loading conditions, satisfy effective stabilizing effect, through the inside at the second magnet sets up the electro-magnet, through the voltage of control circular telegram, and then the electromagnetic strength of control electro-magnet, the realization is to the adjustable of the appeal of first magnet, with this different loading conditions of satisfying, reach comprehensive effectual stabilizing effect.

Preferably, the triangular end surfaces of the triangular support frames are respectively provided with a first sliding cavity; pistons are connected to the inner parts of the first sliding cavities in a sliding mode; the side surface of the piston, which corresponds to one side of the opening of the first sliding cavity, is fixedly connected with a first sliding rod; the side surfaces of the first sliding rods, which are parallel to the corresponding pistons, are provided with second sliding rods, and the second sliding rods connect the first sliding rods with the corresponding fixed rods; pipelines are arranged in the triangular support frame and can communicate the three first sliding cavities; the lower surface of the fixed plate is fixedly connected with an anti-collision plate at the lower position of the supporting plate; the lower surface of the fixed plate is fixedly connected with an air bag at the position below the anti-collision plate, and the interior of the air bag is communicated with the three first sliding cavities; when the three-angle planetary gear is in work, when the three-angle planetary gear rotates, the rolling wheel contacting the ground is under the action of gravity, the rolling wheel drives the first sliding rod to slide in the first sliding cavity through the second sliding rod, the first sliding rod slides and further drives the piston to slide in the first sliding cavity, therefore, when one corner of the three-angle planetary gear contacts the next step, the stress of the one corner of the three-angle planetary gear is increased, the inner piston is driven to move, air in the first sliding cavity at the corner of the three-angle planetary gear is compressed and is led into the other two first sliding cavities, the distance between the rolling wheel and the rotating shaft center of the three-angle support frame is reduced, the distance between the other two rolling wheels and the rotating shaft center of the three-angle support frame is increased, when height difference occurs, the effect of compensating can be achieved, the inclination phenomenon of the transfer robot is effectively reduced, and because of stable design needs, the gravity center moves downwards, because need be adapted to different steps, when the step height drop is great, transfer robot's bottom produces the collision phenomenon with the step easily, consequently set up the gasbag through the below that sets up crashproof board and crashproof board, when transfer robot produces the collision with the step, can effectively play the guard action, and the gasbag receives the collision compression, the inside gas of gasbag can enter into first sliding chamber, thereby make first slide bar all outwards stretch out in the first sliding chamber that corresponds, realize the automatic rising of transfer robot height, reduce the normal operating that the collision resistance that lasts influences transfer robot.

Preferably, the side surface of the first sliding rod, which is parallel to the corresponding piston, is provided with a second sliding cavity; a second sliding rod is connected inside the second sliding cavity in a sliding manner; springs are fixedly connected between the second sliding rods and the corresponding second sliding cavities; the during operation, when transfer robot's triangle planet wheel rotated, produced vibration phenomenon easily, lead to loading the transport goods in the case to receive comparatively strong jolting, increased the damage risk of carrying the goods in the loading case, consequently through setting up second slide bar and spring, and the second slide bar can slide in the second slides the intracavity, gliding in-process, and the spring can effectually cushion, consequently the effectual jolt phenomenon that reduces transfer robot.

The invention has the following beneficial effects:

1. the invention relates to a transfer robot, which is provided with a loading box, a fixed plate and triangular planet wheels, wherein a pair of brackets are arranged on the fixed plate, the pair of brackets are connected with the same loading box in a rotating way, the triangular planet wheels are respectively arranged at the four corners of the fixed plate, the lower surface of the loading box is provided with a first magnet, and a second magnet is correspondingly arranged at the position of the first magnet through a support plate above the fixed plate, so that the problems that the transfer robot inclines due to the height difference of the steps when the transfer robot climbs stairs or goes up the steps, the goods loaded in the transfer robot inclines, the goods to be transferred incline, the goods to be transferred fall, extrude and collide are caused in the prior art are effectively solved, the damage accidents of the goods to be transferred are effectively protected when the transfer robot climbs the stairs or goes up and down the steps, greatly reduced the emergence that the phenomenon damaged appears in the transport goods, simple structure, use value is higher.

2. According to the transfer robot, the first sliding rod, the second sliding rod, the piston and the spring are arranged, the first sliding cavities are respectively formed in the triangular end faces of the triangular support frames, the pistons are connected with the first sliding cavities in a sliding mode inside the first sliding cavities, the pistons are fixedly connected with the first sliding rods correspondingly, the first sliding rods are respectively provided with the second sliding cavities, the second sliding cavities are connected with the second sliding rods in a sliding mode inside the second sliding cavities, the second sliding rods are connected with the corresponding second sliding cavities through the springs, when height difference exists, a height difference compensation effect can be achieved, the inclination phenomenon of the transfer robot is effectively reduced, the second sliding rods can slide in the second sliding cavities through the second sliding rods and the springs, and the springs can effectively buffer in the sliding process, so that the bumping phenomenon of the transfer robot is effectively reduced.

Drawings

The invention will be further explained with reference to the drawings.

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a cross-sectional view of the present invention;

fig. 3 is a cross-sectional view of a triangular planetary gear of the present invention;

FIG. 4 is a partial enlarged view of the portion A in FIG. 2

In the figure: the loading box comprises a loading box 1, a first magnet 11, a stabilizing plate 12, a fixed plate 2, a bracket 21, a supporting plate 22, a second magnet 23, an electromagnet 24, an anti-collision plate 25, an air bag 26, a triangular planetary wheel 3, a triangular supporting frame 31, a fixed rod 32, a rolling wheel 33, a piston 34, a first sliding rod 35, a second sliding rod 36 and a spring 37.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 4, the transfer robot according to the present invention includes a loading box 1, a fixed plate 2, and a triangular planetary gear 3; the loading box 1 is designed into a cuboid structure; the lower edges of the left side surface and the right side surface of the loading box 1 are chamfered with large round corners; a cavity is formed in the loading box 1; the front side and the rear side of the loading box 1 are symmetrically provided with first rotating shafts, and the two first rotating shafts are both positioned on a symmetrical line of a front view of the loading box 1; the front and rear positions of the loading box 1 are respectively provided with a bracket 21, and the first rotating shafts are rotatably connected to the corresponding brackets 21; the lower surfaces of the two brackets 21 are fixedly connected with the same fixing plate 2; the left side surface and the right side surface of the fixed plate 2 are fixedly connected with a rotating box respectively; the front side and the rear side of each of the two rotating boxes are rotatably connected with a second rotating shaft; the cambered surfaces of the second rotating shafts are rotatably connected with triangular planet wheels 3; the triangular planet wheel 3 comprises a triangular support frame 31, a fixed rod 32 and a rolling wheel 33; the triangular end surfaces of the triangular support frames 31 are provided with fixing rods 32; a rotating hole is formed in the arc surface of the fixing rod 32; a third rotating shaft is rotatably connected inside the rotating hole; two end faces of the third rotating shaft are fixedly connected with rolling wheels 33 respectively; when the device works, articles to be carried are placed in the loading box 1, then the power supply is switched on, and the second rotating shaft is driven to rotate through the rotation of the motor; the second rotating shaft further drives the triangular planet wheel 3 to rotate; when the triangular planet wheel 3 rotates to a step, one corner of the triangular planet wheel 3 can climb to the previous step, as the rotation continues, one corner of the next triangular planet wheel 3 can continue to climb to the previous step, the sequential circulation is carried out, the next step is carried out in the same way, the purpose of transferring the conveyed articles through the step is effectively realized, when the conveying robot passes through the step, a height drop is formed, because the four triangular planet wheels 3 are not on the same step, the conveying robot can seriously incline when climbing the step, therefore, when the conveying robot inclines, the loading box 1 can drive the first rotating shaft to rotate on the bracket 21 under the action of gravity, the loading box 1 can be always in a horizontal state, the phenomenon that the loading box 1 and the bracket 21 synchronously incline, the conveyed articles in the loading box 1 incline, the phenomena that the conveyed articles topple over or are extruded mutually occur, thereby lead to the damage of transport article even damage, cause economic loss, through the effectual prior art that has solved of a transfer robot, when transfer robot climbs stair or upper stairs, because the high drop problem of step leads to transfer robot slope, and then lead to the slope of the transport goods of loading in the transfer robot, make the transport goods appear empting, phenomenon such as extrusion and collision, thereby cause the emergence scheduling problem of transport goods damage accident, transfer robot has been realized climbing stair or when going up and down the step, the effective protection to the goods of transfer robot inside loading, greatly reduced the emergence that the damage phenomenon appears in the transport goods, moreover, the steam generator is simple in structure, and high use value.

As an embodiment of the present invention, stabilizing plates 12 are respectively disposed on the lower surface of the loading box 1 near the left and right side surfaces of the loading box 1, and are symmetrically disposed left and right; the fixed plate 2 is provided with an anti-collision hole at the lower position of the loading box 1; the during operation, after the transport goods filled up loading box 1, loading box 1 and the focus of transport goods increased, make transfer robot when climbing the step, stability is relatively poor, and if the transport goods in loading box 1 loaded when controlling inequality, also can cause the serious skew of balance point of loading box 1, make transfer robot stability go wrong, consequently, set up the higher stabilizer plate 12 of a pair of density through the lower surface left and right sides at loading box 1, this stabilizer plate 12 can effectual reduction loading box 1's focus, and can make loading box 1 more stable, thereby guarantee the stable security of the inside transport goods of loading box 1.

As an embodiment of the present invention, a first magnet 11 is fixedly connected to the lower surface of the loading box 1 at the position of the symmetry line of the stabilizing plate 12; supporting plates 22 which are placed in the front and back are arranged in the anti-collision holes below the first magnet 11, and the front end face and the back end face of each supporting plate 22 are fixedly connected to the loading box 1; the supporting plate 22 is provided with a mounting groove at a position right below the first magnet 11; a second magnet 23 is arranged in the mounting groove; when the transporting robot works, when the transporting robot just begins to climb steps, the transporting robot can quickly incline due to the instantaneous height difference, so that the loading box 1 of the transporting robot can be quickly balanced and adjusted, if the transporting robot is not controlled, the phenomenon of over-adjustment of the loading box 1 can occur, the loading box 1 can be rotated and swung, so that the stability of the transporting robot is reduced, the probability of damage to goods in the loading box 1 is increased, and if the loading box 1 is used for a long time, the loading box 1 is seriously deformed, so that the balance point of the loading box 1 is deviated, and the continuous use can be influenced, so that the balance point of the loading box 1 can be positioned at the central position for a long time through the mutual attraction of the first magnet 11 and the second magnet 23 by arranging the first magnet 11 and the second magnet 23, and the loading box 1 rotates and swings when the loading box 1 is over-adjusted, the first magnet 11 and the second magnet 23 may play a role of rapidly stabilizing the loading compartment 1, and may also play a role of reducing the occurrence of the overshoot phenomenon of the loading compartment 1.

In an embodiment of the present invention, a mounting hole is formed in an upper surface of the second magnet 23; an electromagnet 24 is arranged in the mounting hole; during operation, when the goods in loading case 1 is more or heavier, because the inter attraction of first magnet 11 and second magnet 23 keeps invariable always, consequently the stabilizing effect of first magnet 11 and second magnet 23 descends under this condition, in order to adapt to different loading conditions, satisfy effective stabilizing effect, through set up electro-magnet 24 in the inside of second magnet 23, through the voltage of control circular telegram, and then the electromagnetic strength of control electro-magnet 24, realize the adjustable to the appeal of first magnet 11, with this different loading conditions of satisfying, reach comprehensive effectual stabilizing effect.

As an embodiment of the present invention, the triangular end surfaces of the triangular support frame 31 are respectively provided with a first sliding cavity; the interior of the first sliding cavity is connected with a piston 34 in a sliding way; a first sliding rod 35 is fixedly connected to the side surface of the piston 34 corresponding to one side of the opening of the first sliding cavity; the first sliding rods 35 are provided with second sliding rods 36 parallel to the side surfaces of the corresponding pistons 34, and the second sliding rods 36 connect the first sliding rods 35 with the corresponding fixing rods 32; pipelines are arranged inside the triangular support frame 31 and can communicate the three first sliding cavities; the lower surface of the fixed plate 2 is fixedly connected with an anti-collision plate 25 at the lower position of the supporting plate 22; the lower surface of the fixed plate 2 is fixedly connected with an air bag 26 at the position below the anti-collision plate 25, and the interior of the air bag 26 is communicated with the three first sliding cavities; when the triangular planet wheel 3 works, the rolling wheel 33 contacting the ground is under the action of gravity, so that the rolling wheel 33 drives the first sliding rod 35 to slide in the first sliding cavity through the second sliding rod 36, the first sliding rod 35 slides and further drives the piston 34 to slide in the first sliding cavity, therefore, when one corner of the triangular planet wheel 3 contacts the next step, the stress on the corner of the triangular planet wheel 3 is increased, the inner piston 34 is driven to move, further, the air in the first sliding cavity of the corner of the triangular planet wheel 3 is compressed and guided into the other two first sliding cavities, the distance between the rolling wheel 33 and the rotating axis of the triangular support frame 31 is reduced, the distance between the other two rolling wheels 33 and the rotating axis of the triangular support frame 31 is increased, when a height difference occurs, a compensation effect can be achieved, and the inclination phenomenon of the transfer robot is effectively reduced, because the stable design needs, the focus moves down, consequently, transfer robot's fixed plate 2 is less apart from ground height, owing to need be adapted to different steps, when step height fall is great, transfer robot's bottom produces the collision phenomenon with the step easily, consequently, set up gasbag 26 through the below that sets up crashproof board 25 and crashproof board 25, when transfer robot produces the collision with the step, can effectively play the guard action, and gasbag 26 receives the collision compression, the inside gas of gasbag 26 can enter into first sliding chamber, thereby make first slide bar 35 all outwards stretch out in the first sliding chamber that corresponds, realize the automatic rising of transfer robot height, reduce the normal operating that continuous collision resistance influences transfer robot.

As an embodiment of the present invention, a second sliding cavity is opened on a side surface of the first sliding rod 35 parallel to the corresponding piston 34; a second sliding rod 36 is connected inside the second sliding cavity in a sliding manner; springs 37 are fixedly connected between the second sliding rods 36 and the corresponding second sliding cavities; the during operation, when transfer robot's triangle planet wheel 3 rotated, produced vibration phenomenon easily, lead to loading the transport goods in the case 1 to receive comparatively strong jolting, increased the damage risk of carrying the goods in the case 1, consequently through setting up second slide bar and spring 37, and the second slide bar can slide in the second slides the intracavity, gliding in-process, spring 37 can effectually cushion, consequently the effectual jolt phenomenon that reduces transfer robot.

The specific working process is as follows:

when the device works, articles to be carried are placed in the loading box 1, then the power supply is switched on, and the second rotating shaft is driven to rotate through the rotation of the motor; the second rotating shaft further drives the triangular planet wheel 3 to rotate; when the triangular planet wheel 3 rotates to a step, one corner of the triangular planet wheel 3 can climb to the previous step, as the rotation continues, one corner of the next triangular planet wheel 3 can continue to climb to the previous step, the sequential circulation is carried out, the next step is carried out in the same way, the purpose of transferring the conveyed articles through the step is effectively realized, when the conveying robot passes through the step, a height drop is formed, because the four triangular planet wheels 3 are not on the same step, the conveying robot can seriously incline when climbing the step, therefore, when the conveying robot inclines, the loading box 1 can drive the first rotating shaft to rotate on the bracket 21 under the action of gravity, the loading box 1 can be always in a horizontal state, the phenomenon that the loading box 1 and the bracket 21 synchronously incline, the conveyed articles in the loading box 1 incline, the phenomena that the conveyed articles topple over or are extruded mutually occur, thereby causing damage and even damage to the conveyed articles and causing economic loss; after the carrying box 1 is filled with the carried goods, the gravity centers of the carrying box 1 and the carried goods are increased, so that the stability is poor when the carrying robot climbs a step, and if the carried goods in the carrying box 1 are loaded unevenly from left to right, the balance point of the carrying box 1 is also caused to shift seriously, so that the stability of the carrying robot is caused to be problematic, therefore, the stability plates 12 are arranged on the left side and the right side of the lower surface of the carrying box 1, the gravity centers of the carrying box 1 can be effectively reduced through the stability plates 12, the carrying box 1 can be more stable, and the stable safety of the carried goods in the carrying box 1 is ensured; when the triangular planet wheel 3 rotates, the rolling wheel 33 contacting the ground is subject to the action of gravity, so that the rolling wheel 33 drives the first sliding rod 35 to slide in the first sliding cavity through the second sliding rod 36, the first sliding rod 35 slides and further drives the piston 34 to slide in the first sliding cavity, therefore, when one corner of the triangular planet wheel 3 contacts the next step, the stress of the corner of the triangular planet wheel 3 is increased, the inner piston 34 is driven to move, further, the air in the first sliding cavity of the corner of the triangular planet wheel 3 is compressed and guided into the other two first sliding cavities, the distance between the rolling wheel 33 and the rotating axis of the triangular support frame 31 is reduced, the distance between the other two rolling wheels 33 and the rotating axis of the triangular support frame 31 is increased, when a height drop occurs, a compensation effect can be achieved, the tilting phenomenon of the transfer robot is effectively reduced, and due to the requirement of stable design, the gravity center moves downwards, so that the height of the fixed plate 2 of the transfer robot from the ground is smaller, the transfer robot is required to be adapted to different steps, when the height difference of the steps is larger, the bottom of the transfer robot is easy to collide with the steps, therefore, the collision-proof plate 25 is arranged, the airbag 26 is arranged below the collision-proof plate 25, when the transfer robot collides with the steps, the protection effect can be effectively achieved, the airbag 26 is compressed by collision, gas in the airbag 26 can enter the first sliding cavity, and therefore the first sliding rods 35 extend outwards in the corresponding first sliding cavities, and the height of the transfer robot is automatically increased; when transfer robot's triangle planet wheel 3 rotated, produced vibration phenomenon easily, lead to loading the transport goods in the case 1 to receive comparatively strong jolt, increased the damage risk of transport goods in the case 1, consequently through setting up second slide bar and spring 37, and the second slide bar can slide in the second slides the intracavity, gliding in-process, and spring 37 can effectually cushion.

While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

1. A transfer robot comprises a loading box (1), a fixing plate (2) and a triangular planet wheel (3); the method is characterized in that: the loading box (1) is designed into a cuboid structure; the lower edges of the left side surface and the right side surface of the loading box (1) are chamfered with big fillets; a cavity is formed in the loading box (1); the front side and the rear side of the loading box (1) are symmetrically provided with first rotating shafts, and the two first rotating shafts are both positioned on a symmetrical line of a front view of the loading box (1); the front and rear positions of the loading box (1) are respectively provided with a bracket (21), and the first rotating shafts are rotatably connected to the corresponding brackets (21); the lower surfaces of the two brackets (21) are fixedly connected with the same fixing plate (2); the left side surface and the right side surface of the fixed plate (2) are fixedly connected with a rotating box respectively; the front side and the rear side of each of the two rotating boxes are rotatably connected with a second rotating shaft; the cambered surfaces of the second rotating shafts are rotatably connected with triangular planet wheels (3); the triangular planet wheel (3) comprises a triangular support frame (31), a fixed rod (32) and a rolling wheel (33); the triangular end surfaces of the triangular support frames (31) are provided with fixing rods (32); a rotating hole is formed in the arc surface of the fixing rod (32); a third rotating shaft is rotatably connected inside the rotating hole; and two end faces of the third rotating shaft are respectively fixedly connected with rolling wheels (33).

2. The transfer robot according to claim 1, wherein: stabilizing plates (12) are respectively arranged on the lower surface of the loading box (1) close to the left side surface and the right side surface of the loading box (1) and are arranged symmetrically left and right; the fixed plate (2) is provided with an anti-collision hole at the lower position of the loading box (1).

3. The transfer robot according to claim 2, wherein: the lower surface of the loading box (1) is fixedly connected with a first magnet (11) at the position of the symmetry line of the stabilizing plate (12); supporting plates (22) which are placed in front and back are arranged in the anti-collision holes below the first magnet (11), and the front end face and the back end face of each supporting plate (22) are fixedly connected to the loading box (1); the supporting plate (22) is provided with an installation groove at a position right below the first magnet (11); and a second magnet (23) is arranged in the mounting groove.

4. The transfer robot according to claim 3, wherein: the upper surface of the second magnet (23) is provided with a mounting hole; an electromagnet (24) is arranged in the mounting hole.

5. The transfer robot according to claim 1, wherein: the triangular end surfaces of the triangular support frames (31) are respectively provided with a first sliding cavity; the interior of each first sliding cavity is connected with a piston (34) in a sliding manner; a first sliding rod (35) is fixedly connected to the side face of the piston (34) corresponding to one side of the opening of the first sliding cavity; the side surfaces of the first sliding rods (35) parallel to one side of the corresponding pistons (34) are respectively provided with a second sliding rod (36), and the second sliding rods (36) connect the first sliding rods (35) with the corresponding fixing rods (32); pipelines are arranged in the triangular support frame (31) and can communicate the three first sliding cavities; the lower surface of the fixed plate (2) is fixedly connected with an anti-collision plate (25) at the position below the supporting plate (22); the lower surface of the fixed plate (2) is fixedly connected with an air bag (26) at the position below the anti-collision plate (25), and the interior of the air bag (26) is communicated with the three first sliding cavities.

6. The transfer robot of claim 5, wherein: the side surfaces of the first sliding rods (35) parallel to one side of the corresponding piston (34) are provided with second sliding cavities; a second sliding rod (36) is connected inside the second sliding cavity in a sliding manner; and springs (37) are fixedly connected between the second sliding rods (36) and the corresponding second sliding cavities.