CN111633688A

CN111633688A - Robot goods shelf height adjusting mechanism

Info

Publication number: CN111633688A
Application number: CN202010534401.0A
Authority: CN
Inventors: 兰毅; 柳维强
Original assignee: Planetary Computing Power Shenzhen Technology Co ltd
Current assignee: Planetary Computing Power Shenzhen Technology Co ltd
Priority date: 2020-05-27
Filing date: 2020-06-12
Publication date: 2020-09-08
Anticipated expiration: 2040-06-12
Also published as: CN111633688B

Abstract

The invention provides a robot shelf height adjusting mechanism, and belongs to the technical field of transport robots. It has solved current transport robot's goods shelves height and can not adjust, leads to the too high problem that influences robot stability of focus. The height adjusting mechanism for the shelf of the robot comprises a first parallelogram component arranged on a first supporting shaft and a second parallelogram component arranged on a second supporting shaft and symmetrically arranged with the first parallelogram component, wherein one end of the shelf is connected to the upper part of the first parallelogram component, the other end of the shelf is connected to the upper part of the second parallelogram component, and a counterweight component for adjusting the shape is arranged between the first parallelogram component and the second parallelogram component. According to the invention, the height of the goods shelf is adjusted by changing the shapes of the first parallelogram component and the second parallelogram component, so that the gravity center of the goods is controlled within a reasonable range, and the stability is improved.

Description

Robot goods shelf height adjusting mechanism

Technical Field

The invention belongs to the technical field of transport robots, and relates to a height adjusting mechanism for a robot shelf.

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.

In the robot, the height position of the container relative to the chassis cannot be adjusted, and when a heavy object is placed on the container, the gravity center of the container is raised, so that the stability of the container is poor, and the container is easy to topple forwards or backwards; the heavier the cargo, the greater the impact on the stability of the container.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a robot goods shelf height adjusting mechanism capable of automatically adjusting the height of a goods shelf according to the weight of goods.

The purpose of the invention can be realized by the following technical scheme:

robot goods shelves height adjustment mechanism locates between the base of robot and the goods shelves, 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, it is including locating first parallelogram component on the first supporting shaft and locating the second parallelogram component that the second supported epaxial and first parallelogram component symmetry set up, the upper portion at first parallelogram component is connected to the one end of goods shelves, and the upper portion at second parallelogram component is connected to its other end, first parallelogram component and second parallelogram component between be equipped with the counter weight subassembly that is used for adjusting the form.

The counterweight assembly is used for simultaneously adjusting the shapes of the first parallelogram component and the second parallelogram component, the adjustment amplitudes of the first parallelogram component and the second parallelogram component are the same, and the first parallelogram component and the second parallelogram component are always ensured to be symmetrical. The height of the goods shelf can be changed through the form change of the first parallelogram component and the second parallelogram component, the heavier goods put on the goods shelf is, the larger the descending amplitude of the goods shelf is, the lower the integral gravity center is, and the stability can be improved. The first parallelogram component and the second parallelogram component are positioned between the first supporting plate and the second supporting plate, and the goods shelf is positioned between the first parallelogram component and the second parallelogram component.

In the above-mentioned mechanism for adjusting the height of a robot shelf, the first parallelogram component comprises a first swing arm and a second swing arm sleeved on a 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.

In the above-mentioned robot goods shelf height adjusting mechanism, the second parallelogram component comprises a first swing arm and a second swing arm which are sleeved on the second 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 which is 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 which is 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 which is parallel to the first swing arm through a fourth hinge shaft, one end of the third connecting rod, far away from the third connecting rod, is hinged with a fourth connecting rod which is parallel to the second swing arm through a fifth hinge, 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 above robot shelf height adjusting mechanism, one end of the shelf has a first guide groove extending horizontally and a second guide groove located 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; the other end of the goods shelf is provided with a first guide groove and a second guide groove, the first guide groove is symmetrically arranged with the first guide groove, the second guide groove is symmetrically arranged with the second 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.

The two ends of the first guide groove, the second guide groove, the first guide groove and the fourth guide groove are sealed, and the first hinge shaft, the fourth hinge shaft, the first hinge shaft and the fourth hinge shaft are prevented from being separated from the guide grooves correspondingly arranged with the first hinge shaft and the fourth hinge shaft. The width of the first guide groove is matched with the outer diameter of the first hinge shaft, so that the first hinge shaft can 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 first guide groove is matched with the outer diameter of the first hinge shaft, so that the first hinge shaft can slide in the first guide groove; the width of the second guide groove is matched with the outer diameter of the fourth hinge shaft, so that the fourth hinge shaft can slide in the second guide groove.

In the robot goods shelf height adjusting mechanism, a first synchronizing rod is arranged between the second hinged shaft and the second hinged shaft, one end of the first synchronizing rod is coaxially and fixedly connected with the second hinged shaft, and the other end of the first synchronizing rod is coaxially and fixedly connected with the second hinged shaft; and a second synchronizing rod is arranged between the fifth articulated shaft and the fifth articulated shaft, one end of the second synchronizing rod is coaxially and fixedly connected with the fifth articulated shaft, and the other end of the second synchronizing rod is coaxially and fixedly connected with the fifth articulated shaft.

In the above-mentioned robot cargo height adjustment mechanism, the counterweight assembly includes a counterweight body i disposed on the first synchronizing rod and a counterweight body ii disposed on the second synchronizing rod. In order not to increase the burden of the robot, the electric box of the robot can be used as a first counterweight body and a second counterweight body. The distance between the first counterweight body and the second counterweight body is influenced by the weight of the goods, and the distance between the first counterweight body and the second counterweight body is larger when the goods are heavier, and is smaller otherwise.

When no goods exist in the goods shelf, the distance between the first synchronizing rod and the second synchronizing rod is minimum under the action of the first counterweight body and the second counterweight body, the first hinged shaft abuts against one end, close to the second guide groove, of the first guide groove, the fourth hinged shaft abuts against one end, close to the first guide groove, of the second guide groove, the first hinged shaft abuts against one end, close to the second guide groove, of the first guide groove, and the fourth hinged shaft abuts against one end, close to the first guide groove, of the second guide groove. After goods are put into the goods shelf, the upper portion of the first swing arm swings towards the direction far away from the upper portion of the second swing arm under the action of the gravity of the goods, the upper portion of the second swing arm synchronously swings towards the direction far away from the upper portion of the first swing arm under the action of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod, meanwhile, the first swing arm synchronously moves along with the first swing arm, the second swing arm synchronously moves along with the second swing arm, the distance between the first synchronizing rod and the second synchronizing rod is increased, and the height of the goods shelf is lowered. When the height of the goods shelf is lowered to a certain position, the shapes of the first parallelogram component and the second parallelogram component are in a balanced state, so that the goods shelf, the first counterweight body and the second counterweight body can be kept at the current positions. After the goods are taken out of the goods shelf, the first parallelogram component and the second parallelogram component are reset under the action of the first counterweight body and the second counterweight body.

In foretell robot goods shelves height adjustment mechanism, first swing arm to swing arm one apart from being less than second swing arm to swing arm two apart from, 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, the base on be equipped with and be used for driving actuating lever pivoted drive structure.

In foretell robot goods shelves height adjustment mechanism, drive structure including locate the motor on the base, coaxial locate the action wheel on the output shaft of motor and coaxial link firmly from the driving wheel on the actuating lever, the action wheel with from the driving wheel transmission and be connected.

The motor is started, the output shaft of the motor drives the driving wheel to rotate, the driving wheel is in transmission connection with the driven wheel through the transmission belt, so that 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 swing synchronously, and the height of the position of the goods shelf can be actively controlled. The motor has a locking function, and the driving rod can be kept in the current state after the motor stops. The purpose of setting the driving structure is: when the weight of the goods is light, the height of the goods shelf can be actively reduced, so that the gravity center is lowered; the first parallelogram block and the second parallelogram block are actively reset when the goods are taken from the shelf.

Compared with the prior art, the height adjusting mechanism for the goods shelf of the robot has the following advantages:

the first parallelogram component and the second parallelogram component are adopted, the structural design is ingenious, the height of the goods shelf can be automatically adjusted according to the weight of goods, the gravity center of the robot is reduced, and the stability can be effectively improved; meanwhile, the height of the goods shelf can be actively adjusted through the driving structure, the adjustment is convenient, and the adjustment effect is good.

Drawings

Fig. 1 is a schematic view of the robot shelf height adjustment mechanism in the absence of a counterweight assembly.

Fig. 2 is a schematic structural view of the robot shelf height adjusting mechanism in the absence of the first support plate.

Fig. 3 is a side view of a robotic shelf height adjustment mechanism.

Fig. 4 is a cross-sectional view of a robotic shelf-height adjustment mechanism.

Fig. 5 is a schematic view of another configuration of the robotic shelf height adjustment mechanism absent a counterweight assembly.

Fig. 6 is a schematic structural view of the robotic shelf height adjustment mechanism absent the second support plate.

Fig. 7 is a side view of the robotic shelf height adjustment mechanism when the shelf height is high.

Fig. 8 is a side view of the robotic shelf-height adjustment mechanism when the shelf height is low.

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 first guide groove; 204. a second 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 motor; 802. a driving wheel; 803. a driven wheel; 804. a transmission belt.

Detailed Description

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

The height adjusting mechanism for the shelf 200 of the robot is arranged between a base 101 and the shelf 200 of the robot, as shown in fig. 1, a first supporting plate 102 and a second supporting plate 103 which is arranged opposite to the first supporting plate 102 are arranged on the base 101 and are fixedly connected together, a first supporting shaft 104 is arranged on the first supporting plate 102, and a second supporting shaft 105 which is coaxial with the first supporting shaft 104 is arranged on the second supporting plate 103.

The height adjusting mechanism of the robot shelf 200 comprises a first parallelogram component arranged on a first supporting shaft 104 and a second parallelogram component arranged on a second supporting shaft 105 and symmetrical to the first parallelogram component, wherein the first parallelogram component can rotate around the first supporting shaft 104, the second parallelogram component can rotate around the second supporting shaft 105, and the first parallelogram component and the second parallelogram component synchronously act. As shown in fig. 2, one end of the shelf 200 is movably connected to the upper portion of the first parallelogram member, as shown in fig. 6, the other end of the shelf 200 is movably connected to the upper portion of the second parallelogram member, and a weight assembly for adjusting the form is provided between the first parallelogram member and the second parallelogram member. The counterweight assembly is used for simultaneously adjusting the shapes of the first parallelogram component and the second parallelogram component, the adjustment amplitudes of the first parallelogram component and the second parallelogram component are the same, and the first parallelogram component and the second parallelogram component are always ensured to be symmetrical.

The height of the shelf 200 can be changed by changing the shape of the first parallelogram member and the second parallelogram member, and the heavier the goods put on the shelf 200 is, the larger the descending range of the shelf 200 is, the lower the center of gravity of the whole is, and the stability can be improved. The first and second parallelogram members are located between the first and

second support plates

102, 103 and the shelf 200 is located between the first and second parallelogram members.

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 crosswise, as shown in fig. 2 and 3, 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, and 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. As shown in fig. 3 and 4, 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 far 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 310, one end of the fourth link 311 far 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 hinge shaft 303 and the center line of the fourth hinge shaft 308 are located on the same horizontal plane. Wherein the first hinge shaft 303, the second hinge shaft 305, the third hinge shaft 307, the fourth hinge shaft 308, the fifth hinge shaft 310 and the sixth hinge shaft 312 are disposed in parallel with each other. When the first swing arm 301 swings, the second swing arm 302 can be interlocked by the above-described links.

As shown in fig. 6-8, the second parallelogram component includes 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 crosswise, as shown in fig. 7 and 8, the upper part 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, and one end of the second connecting rod 406 far away from the first connecting rod 404 is hinged with the lower part of the second swing arm 402 through a third hinge shaft 407. As shown in fig. 7 and 8, the upper part 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 of the third connecting rod 409 far away from the second swing arm 402 is hinged with a fourth connecting rod 411 parallel to the second swing arm 402 through a fifth hinge shaft 410, one end of the fourth connecting rod 411 far away from the third connecting rod 409 is hinged with the lower part of the first swing arm 401 through a sixth hinge shaft 412, the first hinge shaft 403 is coaxial with the first hinge shaft 303, the second hinge shaft 405 is coaxial with the second hinge shaft 305, the third hinge shaft 407 is coaxial with the third hinge shaft 307, the fourth hinge shaft 408 is coaxial with the fourth hinge shaft 308, the fifth hinge shaft 410 is coaxial with the fifth hinge shaft 310, and the sixth. 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 disposed in parallel with each other. When the swing arm I401 swings, the swing arm II 402 can be linked through the connecting rod I404, the connecting rod II 406, the connecting rod III 409 and the connecting rod IV 411.

As shown in fig. 1 to 3, one end of the shelf 200 has a first guide groove 201 extending horizontally and a second guide groove 202 located at the same height as the first guide groove 201, a first hinge shaft 303 is inserted into the first guide groove 201, and a fourth hinge shaft 308 is inserted into the second guide groove 202. As shown in fig. 6 to 8, the other end of the shelf 200 has a first guide groove 203 symmetrically disposed with respect to the first guide groove 201 and a second guide groove 204 symmetrically disposed with respect to the second guide groove 202, a hinge shaft one 403 is inserted into the first guide groove 203, and a hinge shaft four 408 is inserted into the second guide groove 204.

Both ends of the first guide groove 201, the second guide groove 202, the first guide groove 203 and the second guide groove 204 are closed, and 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 removed from the guide grooves correspondingly arranged. The width of the first guide groove 201 is matched with the outer diameter of the first hinge shaft 303, so that the first hinge shaft 303 can 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 first 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 first guide groove 203; the width of the second guide groove 204 is matched with the outer diameter of the fourth hinge shaft 408, so that the fourth hinge shaft 408 can slide in the second guide groove 204.

As shown in fig. 1, a first synchronization rod 501 is disposed between the second hinge shaft 305 and the second hinge shaft 405, one end of the first synchronization rod 501 is coaxially and fixedly connected to the second hinge shaft 305, and the other end of the first synchronization rod 501 is coaxially and fixedly connected to the second hinge shaft 405. As shown in fig. 2, a second synchronizing rod 502 is disposed between fifth hinge shaft 310 and fifth hinge shaft 410, one end of second synchronizing rod 502 is coaxially and fixedly connected to fifth hinge shaft 310, and the other end thereof is coaxially and fixedly connected to fifth hinge shaft 410.

As shown in fig. 3, 7 and 8, the counterweight assembly includes a first counterweight 601 disposed on the first synchronizing bar 501 and a second counterweight 602 disposed on the second synchronizing bar 502. In order not to increase the load of the robot, the electrical boxes of the robot may be the first counterweight 601 and the second counterweight 602. The distance between the first counterweight 601 and the second counterweight 602 is affected by the weight of the cargo, and the distance between the first counterweight 601 and the second counterweight 602 is larger when the cargo is heavier, and is smaller when the cargo is heavier.

When no goods are placed in the shelf 200, the distance between the first synchronizing bar 501 and the second synchronizing bar 502 is minimized under the action of the first counterweight 601 and the second counterweight 602, the first hinge shaft 303 abuts against one end of the first guide slot 201 close to the second guide slot 202, the fourth hinge shaft 308 abuts against one end of the second guide slot 202 close to the first guide slot 201, the first hinge shaft 403 abuts against one end of the first guide slot 203 close to the second guide slot 204, and the fourth hinge shaft 408 abuts against one end of the second guide slot 204 close to the first guide slot 203, as shown in fig. 7, the shelf 200 is in a high posture. After the goods are placed on the shelf 200, the upper portion of the first swing arm 301 is swung in a direction away from the upper portion of the second swing arm 302 under the action of the weight of the goods, the upper portion of the second swing arm 302 is synchronously swung in a direction away from the upper portion of the first swing arm 301 under the action of the first link 304, the second link 306, the third link 309 and the fourth link 311, the first swing arm 401 synchronously moves with the first swing arm 301, the second swing arm 402 synchronously moves with the second swing arm 302, the distance between the first synchronization rod 501 and the second synchronization rod 502 is increased, the height of the shelf 200 is lowered, and the shelf 200 is in a short posture as shown in fig. 8.

As shown in fig. 5 and 6, the distance from the first swing arm 301 to the first swing arm 401 is smaller than the distance from the second swing arm 302 to the second swing arm 402, that is, the second swing arm 302 is located on the side of the first swing arm 301 away from the first swing arm 401, and the second swing arm 402 is located on the side of the first swing arm 401 away from the first swing arm 301. 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 base 101 is provided with a driving structure for driving the driving rod 700 to rotate.

As shown in fig. 1, the driving structure includes a motor 801 disposed on the base 101, a driving wheel 802 coaxially disposed on an output shaft of the 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.

The motor 801 is started, an output shaft of the 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 driving rod, so that the first swing arm 301 and the first swing arm 401 are driven to swing synchronously, the second swing arm 302 and the second swing arm 402 swing synchronously under the action of the connecting rods and the counterweight assembly, and the height of the position of the shelf 200 can be actively controlled. Since the motor 801 has a lock function, the driving lever 700 can be maintained in the current state after the motor 801 is stopped.

Due to the driving structure, when the weight of the goods is light, the height of the goods shelf 200 can be actively adjusted to be low, so that the gravity center is lowered; when the goods are removed from the shelf 200, the first parallelogram block and the second parallelogram block are actively reset, and the height of the shelf 200 is raised.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. The utility model provides a robot goods shelves height adjustment mechanism, locates between base (101) and goods shelves (200) of robot, base (101) on be equipped with first backup pad (102) and with first backup pad (102) relative second backup pad (103) that set up, first backup pad (102) on be equipped with first supporting shaft (104), second backup pad (103) on be equipped with first supporting shaft (104) coaxial second back shaft (105), its characterized in that, it includes first parallelogram component of locating on first supporting shaft (104) and locate on second back shaft (105) with the second parallelogram component that first parallelogram component symmetry set up, the upper portion of first parallelogram component is connected to one end of goods shelves (200), and its other end is connected on the upper portion of second parallelogram component, first parallelogram component and second parallelogram component between be equipped with the counter weight subassembly that is used for adjusting the form.

2. The robotic shelf-height adjusting mechanism according to 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 crosswise, 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 robotic shelf height adjustment mechanism of claim 2, wherein the second parallelogram link 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 of the connecting rod three (409) far away from the swing arm two (402) is hinged with a connecting rod four (411) parallel to the swing arm two (402) through a hinge shaft five (410), one end of the connecting rod four (411) far away from the connecting rod three (409) is hinged with the lower part of the swing arm one (401) through a hinge shaft six (412), the hinge shaft one (403) is coaxial with the first hinge shaft (303), the hinge shaft two (405) is coaxial with the second hinge shaft (305), the hinge shaft three (407) is coaxial with the third hinge shaft (307), the hinge shaft four (408) is coaxial with the fourth hinge shaft (308), the hinge shaft five (410) is coaxial with the fifth hinge shaft (310), and the hinge shaft six (412) is coaxial with the sixth hinge shaft (312).

4. The robot shelf height adjusting mechanism according to claim 3, wherein one end of the shelf (200) has a first guide groove (201) extending horizontally and a second guide groove (202) located at the same height as the first guide groove (201), 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); the other end of the shelf (200) is provided with a first guide groove (203) which is symmetrically arranged with the first guide groove (201) and a second guide groove (204) which is symmetrically arranged with the second guide groove (202), the first hinge shaft (403) is inserted into the first guide groove (203), and the fourth hinge shaft (408) is inserted into the second guide groove (204).

5. The robotic shelf height adjustment mechanism according to claim 3 or 4, wherein a first synchronization rod (501) is disposed between the second hinge axis (305) and the second hinge axis (405), one end of the first synchronization rod (501) is coaxially connected to the second hinge axis (305), and the other end thereof is coaxially connected to the second hinge axis (405); and a second synchronizing rod (502) is arranged between the fifth hinge shaft (310) and the fifth hinge shaft (410), one end of the second synchronizing rod (502) is coaxially and fixedly connected with the fifth hinge shaft (310), and the other end of the second synchronizing rod is coaxially and fixedly connected with the fifth hinge shaft (410).

6. The robotic shelf-height adjusting mechanism of claim 5 wherein the counterweight assembly comprises a first counterweight (601) disposed on the first synchronizing bar (501) and a second counterweight (602) disposed on the second synchronizing bar (502).

7. The mechanism of claim 3, wherein the distance from the first swing arm (301) to the first swing arm (401) is less than the distance from the second swing arm (302) to 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 base (101) is provided with a driving structure for driving the driving rod (700) to rotate.

8. The mechanism of claim 7, wherein the driving structure comprises a motor (801) disposed on the base (101), a driving wheel (802) coaxially disposed on an output shaft of the motor (801), and a driven wheel (803) coaxially connected to the driving rod (700), and the driving wheel (802) is in transmission connection with the driven wheel (803).