CN112297987A

CN112297987A - Transfer robot

Info

Publication number: CN112297987A
Application number: CN201910713626.XA
Authority: CN
Inventors: 黄春; 李锦川; 罗沛
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2021-02-02

Abstract

The invention belongs to the technical field of robots, and particularly relates to a transfer robot, which comprises: the chassis comprises a base and a chassis frame fixed on the base, and the base is provided with a walking mechanism; the rack comprises an upper shell and a bearing frame embedded in the upper shell, the bearing frame is covered by the upper shell, a storage cavity for placing goods is defined by the upper shell and the bearing frame together, the bearing frame abuts against the chassis frame, an opening communicated with the storage cavity is formed in the rack, and a movable door capable of opening and closing is arranged at the opening. The bearing frame of the rack is fixed on a chassis frame of the chassis, a larger storage cavity can be enclosed between the bearing frame and the upper shell, large-size goods can be stored in the storage cavity, and the chassis frame can support the bearing frame, so that the load capacity of the bearing frame is improved, and the transmission and transportation requirements of different sizes and different types of goods can be met; the whole structure is compact, the size of the whole machine is small, and the machine can be suitable for different application places.

Description

Transfer robot

Technical Field

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

Background

The mobile robot is a robot with self-planning, self-organization and self-adaptation capability and works in a complex environment. At present, most of mobile robots are only applied to the aspects of welcoming, carrying, patrolling and preschool education in the commercial service field, and still belong to the primary stage in the aspects of automatic transportation and goods delivery.

For the commercial service field, the mobile robot is not only an advanced concept and way for labor liberation and labor replacement, but also should exert the due efficiency in the practical application level. The mobile robot is simple in application in aspects of welcoming, carrying, patrolling and preschool education, does not have the function of absolute labor force substitution, is limited by architectural reasons in aspects of cargo transportation and transportation in the field of commercial services, and is insufficient in actual load capacity. Therefore, designing a mobile robot with large storage space and large cargo capacity is very important for the commercial service field.

Disclosure of Invention

The invention aims to provide a transfer robot, and aims to solve the technical problems that the transfer robot in the prior art is small in storage space and insufficient in cargo carrying capacity.

In order to achieve the purpose, the invention adopts the technical scheme that: a transfer robot comprising:

the chassis comprises a base and a chassis frame fixed on the base, wherein the base is provided with a walking mechanism, and a lower shell is arranged outside the chassis frame;

the rack comprises an upper shell and a bearing frame embedded in the upper shell, the bearing frame is covered by the upper shell, a storage cavity for placing goods is defined by the upper shell and the bearing frame together, the bearing frame abuts against the chassis frame, an opening communicated with the storage cavity is formed in the rack, and a movable door capable of opening and closing is arranged at the opening.

Further, the bearing frame include the bearing base with connect in the bearing stand of bearing base, the bearing base includes underframe and connects in the vertical board of underframe one end, vertical board with underframe integrated into one piece, the underframe supports and is fixed in the top of underframe rack, both sides the bearing stand passes through crossbeam welded fastening.

Further, the bearing stand is bow-shaped structure, the bearing stand includes the first section of level setting and the second section of vertical setting, the one end of first section with vertical board is fixed, the second section has the extension, the extension for the underframe stretches out and passes the inferior valve with the pedestal connection is fixed.

Furthermore, an intermediate connecting plate is arranged between the bottom frame and the bottom frame, cushion blocks used for supporting the bottom frame are respectively arranged at the corners of the top surface of the intermediate connecting plate, and the intermediate connecting plate, the cushion blocks and the bottom frame are locked together through screws.

Further, the top surface of the middle connecting plate is provided with an expansion circuit board for installing an expansion function module.

Furthermore, an upper sealing plate used for supporting goods is arranged on the bottom frame, a plurality of water leakage holes are formed in the upper sealing plate, a water receiving disc is arranged at the bottom of the upper sealing plate to collect liquid flowing out of the water leakage holes, and at least part of the water receiving disc is contained in the bottom frame.

Furthermore, a storage rack is arranged in the storage cavity, and the storage rack is provided with a partition plate so that the storage cavity is formed into a plurality of layers which are vertically spaced; a lamp strip is arranged in the machine frame and close to the opening.

Further, the dodge gate is automatic rolling slats door, automatic rolling slats door includes spool, door curtain and motor, the epitheca corresponds the both sides of opening part are equipped with the guide rail, the spool rotates to set up on the bearing frame, the door curtain with the spool is connected, the both ends of door curtain slide respectively and set up the guide rail, the output of motor with the spool is connected, with through the spool drive the door curtain is opened or is closed.

Furthermore, the middle position of the base is recessed downwards to form an accommodating groove, the traveling mechanism comprises a driving module and a brushless driving motor which are arranged in the accommodating groove, and two driving wheels and two pairs of universal wheels which are rotatably arranged on two sides of the base, an output shaft of the brushless driving motor is connected with the driving wheels, the driving module is electrically connected with the brushless driving motor to drive the driving wheels to rotate, and the four universal wheels are rotatably arranged below the bottom plate through foot stands; the central rotation axes of the two driving wheels are collinear, one pair of universal wheels is positioned on one side of the driving wheels, the other pair of universal wheels is positioned on the other side of the driving wheels, and the two pairs of universal wheels are symmetrically arranged around the central rotation axes.

Furthermore, a power module, a middle-layer control module and an upper-layer control module are sequentially arranged in the chassis frame from bottom to top, the chassis frame, the power module, the middle-layer control module and the upper-layer control module form a drawer type structure respectively, the middle-layer control module is used for controlling the power supply of the power module to each part, and the upper-layer control module comprises an elevator communication module and is used for realizing automatic elevator loading and unloading and interactive classification control with a plurality of running carrying robots.

The invention has the beneficial effects that: according to the transfer robot, the bearing frame of the rack is fixed on the chassis frame of the chassis, a large storage cavity can be enclosed between the bearing frame and the upper shell, large-size goods can be stored in the storage cavity, the chassis frame can support the bearing frame, so that the load carrying capacity of the bearing frame is improved, the carrying capacity of the transfer robot is greatly improved, the transfer robot can meet the transfer and transportation requirements of different sizes and different types of goods, and the applicability of the transfer robot is improved; the whole structure is compact, the size of the whole machine is small, and the machine can be suitable for different application places.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a transfer robot according to an embodiment of the present invention;

fig. 2 is a partial structural view of the transfer robot shown in fig. 1;

FIG. 3 is a side view of the transfer robot of FIG. 1;

FIG. 4 is a schematic perspective view of the transfer robot shown in FIG. 1 moving out of the enclosure;

FIG. 5 is a side view of the transfer robot of FIG. 1 shown in a configuration in which it is removed from a housing;

FIG. 6 is a first perspective view of the bearing frame of FIG. 4;

fig. 7 is a schematic perspective view of the bearing frame in fig. 4;

FIG. 8 is an exploded view of the carrier of FIG. 4;

FIG. 9 is a first schematic view of the assembly of the chassis and the traveling mechanism of FIG. 4;

FIG. 10 is a schematic view of the intermediate connecting plate and chassis frame assembly of FIG. 9;

FIG. 11 is a second schematic view of the assembly of the chassis and the traveling mechanism of FIG. 4;

fig. 12 is a schematic bottom view of the transfer robot shown in fig. 1;

fig. 13 is a partial schematic structural view of the transfer robot shown in fig. 4.

Wherein, in the figures, the respective reference numerals:

11-a lower shell; 12-upper shell; 13-a transparent window; 100-a chassis; 200-a bearing frame; 300-a traveling mechanism; 400-automatic rolling door; 500-human-computer interaction touch screen; 101-wheel cover; 110-a base; 111-a holding tank; 112-a strap; 120-a chassis frame; 121-a power supply module; 122-middle layer control module; 123-upper control module; 130-intermediate connection plates; 140-cushion blocks; 150-an expansion circuit board; 160-support column; 201-a storage chamber; 210-a load-bearing base; 211-bottom frame; 212-vertical plate; 213-load bearing links; 220-load bearing columns; 221-first stage; 222-a second segment; 223-an extension; 224-a cross beam; 230-an upper closing plate; 240-a water pan; 310-a driving wheel; 320-universal wheels; 410-door curtain; 420-a guide rail; 430-a motor; 510-lower liner.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 4, a transfer robot according to an embodiment of the present invention includes a chassis 100, a frame, and a traveling mechanism 300. The chassis 100 comprises a base 110 and a chassis frame 120 fixed on the base 110, and the walking mechanism 300 is mounted on the base 110 to drive the robot to walk and turn; the chassis frame 120 may be covered with a lower case 11, and one end of the lower case 11 is fixed to the base 110. The rack comprises an upper shell 12 and a bearing frame 200, wherein the upper shell 12 can be fixedly connected with a lower shell 11 to form a sealing connection, the upper shell 12 and the lower shell 11 form a shell, the cross sections of the upper shell 12 and the lower shell 11 can be both set to be approximately rectangular, the upper shell 12 and the lower shell 11 can be made of injection molding parts, and small doors are arranged in different functional areas to facilitate maintenance; the bearing frame 200 is embedded in the upper shell 12, the bearing frame 200 can be made of stainless steel sections or sheet metal parts, the bearing frame 200 can be locked and fixed with the upper shell 12 through screws, the bearing frame 200 is covered on the upper shell 12, the upper shell 12 and the bearing frame 200 jointly enclose a storage cavity 201 for placing goods, the bearing frame 200 is abutted against the chassis frame 120, the bottom of the bearing frame 200 can be of a hollow structure, and then the upper sealing plate 230 is installed to bear the goods. The frame is provided with the opening that communicates with storing chamber 201, and the opening part is provided with the dodge gate that can open and shut, and the dodge gate can be mechanical door or electrically operated gate, gets when putting the goods, opens the dodge gate, closes the dodge gate during the transport goods.

According to the transfer robot provided by the embodiment, the bearing frame 200 of the rack is fixed on the chassis frame 120 of the chassis 100, a larger storage cavity 201 can be enclosed between the bearing frame 200 and the upper shell 12, large-size goods can be stored in the storage cavity 201, and the chassis frame 120 can support the bearing frame 200, so that the load capacity of the bearing frame 200 is improved, the carrying capacity of the transfer robot is greatly improved, the transfer robot can meet the transfer and transportation requirements of different sizes and different types of goods, and the applicability of the transfer robot is improved; the whole structure is compact, the size of the whole machine is small, and the machine can be suitable for different application places.

In one embodiment, as shown in fig. 4 and 5, the load-bearing frame 200 includes a load-bearing base 210 and a load-bearing upright 220 connected to the load-bearing base 210, and the load-bearing base 210 includes a bottom frame 211 and a vertical plate 212. The two bearing upright posts 220 and the two vertical plates 212 are arranged, the two vertical plates 212 are connected to two ends of one end of the bottom frame 211, the vertical plates 212 and the bottom frame 211 can be integrally formed and can also be fixed through welding, and the bottom frame 211 abuts against and is fixed at the top of the chassis frame 120; the bearing upright posts 220 on the two sides are welded and fixed through the cross beam 224, so that the structural strength of the bearing frame 200 can be improved, and the bearing frame is not easy to deform. The whole rectangle that roughly is of underframe 211, is hollow out construction in the middle of underframe 211, and the hollow region of underframe 211 can be welded a plurality of bearing connecting rods 213, like a plurality of bearing connecting rods 213 of interval parallel arrangement, bearing connecting rod 213 and underframe 211 integrated into one piece, and a plurality of bearing connecting rods 213 of setting can place the last shrouding 230 that is used for bearing the weight of the goods.

In an embodiment, as shown in fig. 5 to 7, the load-bearing upright column 220 is an arch structure, the load-bearing upright column 220 includes a first section 221 horizontally disposed and a second section 222 vertically disposed, one end of the first section 221 is fixed to the vertical plate 212, the second section 222 has an extension 223, the extension 223 extends out relative to the bottom frame 211 and penetrates through the lower shell 11 to be connected and fixed with the base 110, for example, the extension 223 is locked on the base 110 by screws, and the left and right load-bearing upright columns 220 are arch hoisting structures. The junction of the first section 221 and the second section 222 may form an arc corner suitable for erecting a guide rail 420 in the storage cavity 201, and further installing a rolling door; the first section 221 may have an L-shaped structure as a whole, which is fastened to the vertical plate 212 of the corresponding side by screws.

In one embodiment, as shown in fig. 6 to 8, the bottom frame 211 may be provided with an upper sealing plate 230, the upper sealing plate 230 is used for bearing and supporting the goods in the storage cavity 201, and a bottom surface of the upper sealing plate 230 abuts against the bearing link 213 and is fixed to the bottom frame 211 through a screw locking. The upper sealing plate 230 has a plurality of water leakage holes, the bottom of the upper sealing plate 230 may have a water receiving tray 240, the water receiving tray 240 is used for collecting the liquid flowing out from the water leakage holes, and at least a portion of the water receiving tray 240 is accommodated in the bottom frame 211. The water pan 240 is detachably mounted at the bottom of the bottom frame 211, for example, by a screw locking or a clamping structure, a drain pipe may be disposed at one side of the water pan 240, and a drain opening is disposed at a position of the upper shell 12 corresponding to the drain pipe, so as to drain the collected liquid.

In one embodiment, a shelf is disposed in the storage chamber 201, and the shelf is provided with partitions to form multiple layers in the storage chamber 201. The commodity shelf can be a steel frame or other metal frames, and the shape and contour of the commodity shelf are matched with the storage cavity 201. Set up supporter and interlayer structure, can be used to separately place different types of goods to satisfy the demand of once transporting different types of goods.

In an embodiment, as shown in fig. 5, 9, 10, and 11, an intermediate connection plate 130 is disposed between the bottom frame 211 and the chassis frame 120, the intermediate connection plate 130 is substantially rectangular, the bottom frame 211 is supported by cushion blocks 140 respectively disposed at corners of a top surface of the intermediate connection plate 130, and the intermediate connection plate 130, the cushion blocks 140, and the bottom frame 211 can be fastened together by screws. That is, the width of the middle connecting plate 130 is adapted to the width of the bottom frame 211, four cushion blocks 140 are disposed on the top surface of the middle connecting plate 130, the four cushion blocks 140 are respectively disposed at the corners of the middle connecting plate 130, and the upper and lower sides of each cushion block 140 are locked to the middle connecting plate 130 and the bottom frame 211 by screws. The spacer block 140 may be, but is not limited to, a cylindrical metal block, such as a cylindrical aluminum block. A plurality of support pillars 160 may be welded between the intermediate connection plate 130 and the chassis frame 120, and the intermediate connection plate 130 may be supported by the support pillars 160.

In one embodiment, as shown in fig. 1, 2, 6, and 7, the movable door is an automatic rolling door 400, and the automatic rolling door 400 includes a roller, a curtain 410, and a motor 430. Guide rails 420 are arranged on two opposite sides of the bearing frame 200, namely, a space for accommodating the guide rails 420 is reserved in the storage cavity 201, and one side of each guide rail 420 can be attached to the inner side wall of the bearing frame 200; the roller shaft is rotatably arranged on the bearing frame 200, the motor 430 is fixed on the bearing frame 200, an output shaft of the motor is connected with the roller shaft, the motor 430 is partially exposed out of the upper shell 12, the door curtain 410 is connected with the roller shaft, two sides of the door curtain 410 in the width direction are slidably connected with the corresponding guide rails 420, and the motor 430 drives the roller shaft to rotate so as to drive the door curtain 410 to open or close through the roller shaft. The front end of the bearing frame 200 is further provided with an electronic lock, when the roller shutter door is closed, the electronic lock locks the roller shutter door on the bearing frame 200, when the electronic lock receives an opening instruction, the electronic lock is unlocked, so that the roller shutter door is in an openable state, and then the motor 430 drives the roller to open the roller shutter door.

As shown in fig. 6, one side of the bottom frame 211 near the rear end may be bent upwards to form an arc-shaped surface, so as to adapt to the contour of the corners of the guide rails 420 at two sides, and not occupy too much internal space.

In an embodiment, the position that is close to the opening part in epitheca 12 is equipped with the lamp area, can improve the effect of backing a jacket in the storing chamber 201 through setting up the lamp area, also is favorable to observing the condition of goods in the storing chamber 201 under the not good environment of light.

The both sides edge department that epitheca 12 outside is close to the rear end also can set up the lamp area, and when the distance between two transfer robots was less than predetermineeing the threshold value, this lamp area was lighted or is twinkled, sets up the suggestion effect that the lamp area can play the robot left and right sides margin.

In an embodiment, as shown in fig. 1 and 2, a transparent window 13 is disposed on a side wall of the upper shell 12, for example, transparent windows 13 are respectively disposed on two opposite side surfaces of the upper shell 12, and the condition of the goods in the storage cavity 201 can be further observed through the transparent windows 13 on the two sides, so that whether the goods exist in the storage cavity 201 can be judged from the outside.

In an embodiment, as shown in fig. 1 and 4, a human-computer interaction touch screen 500 may be disposed on the top of the upper shell 12, the human-computer interaction touch screen 500 forms a human-computer interaction operation interface, and when the transfer robot operates, information such as a destination to be transported, a navigation radar cloud map, and the like may be displayed, and the human-computer interaction operation interface further includes various function selection keys, and the transfer robot is controlled to perform corresponding actions by touching the corresponding selection keys. The bottom of the human-computer interaction touch screen 500 may be provided with a lower lining plate 510 for supporting, two sides of the lower lining plate 510 may abut against the top surface of one end of the two side guide rails 420, and a through hole exposing the top of the upper case 12 corresponding to the display area of the human-computer interaction touch screen 500 is formed.

The traveling mechanism 300 may be, but is not limited to, a six-wheel driving structure, for example, the traveling mechanism 300 includes two driving wheels 310 and four driven wheels rotatably mounted on the chassis 100, the driven wheels are universal wheels 320, the four universal wheels 320 are divided into two groups, and each group includes two universal wheels 320, that is, two groups of universal wheels 320 are respectively disposed on the front and rear sides of the rotating shaft. The chassis 100 mechanism is provided with two brushless motors to respectively drive the two driving wheels 310, so as to realize the forward, backward and steering movements of the robot.

In an embodiment, as shown in fig. 3, 12 and 13, a receiving groove 111 is formed at a middle position of the base 110 and is recessed downward, and the traveling mechanism 300 includes a driving module and a brushless driving motor (not shown) disposed in the receiving groove 111, and two driving wheels 310 and two pairs of universal wheels 320 rotatably mounted on two sides of the base 110. The output shaft of the brushless driving motor is connected with the driving wheel 310, the driving module is electrically connected with the brushless driving motor to drive the driving wheel 310 to rotate, the four universal wheels 320 are rotatably installed below the bottom plate through foot stands, and the wheel covers 101 can be installed on two corresponding sides of the base 110 to cover all parts in the accommodating groove 111. Through the arrangement of the accommodating groove 111, the installation space of the part of the walking mechanism 300, which occupies the top surface of the base 110, can be reduced, so that the overall structure of the robot is more compact, and the space below the base can be reasonably utilized.

As shown in fig. 12, the central rotation axes of the two driving wheels 310 are collinear and are coaxially arranged, and along the direction of the central rotation axes, one pair of universal wheels 320 is located on one side of the driving wheel 310, the other pair of universal wheels 320 is located on the other side of the driving wheel 310, and the two pairs of universal wheels 320 are symmetrically arranged about the central rotation axis, i.e., two universal wheels 320 are respectively arranged on the front side and the rear side. Adopt this six rounds of structures can make things convenient for turning to and walking of robot, can satisfy the transport transmission demand when supporting and being equipped with heavier goods.

The middle position of the accommodating groove 111 can be provided with a driving module, the left side and the right side of the driving module are respectively provided with a brushless driving motor, the output shaft of the brushless driving motor is connected with the driving wheel 310 on the corresponding side, one part of the driving wheel 310 is covered by the wheel cover 101, the wheel cover 101 is detachably arranged on the bottom shell, and when various parts in the accommodating groove 111 of the base need to be maintained or replaced, the wheel covers 101 on the two sides can be opened for operation, so that the operation is convenient and fast.

In an embodiment, as shown in fig. 9 and 11, a power module 121, a middle layer control module 122, an upper layer control module 123 and a navigation module are sequentially disposed in the chassis frame 120 from bottom to top, and the chassis frame 120, the power module 121, the middle layer control module 122, the upper layer control module 123 and the navigation module form a drawer structure respectively. The robot is divided into a plurality of modules, so that the main body of the robot can be deformed, disassembled, replaced and maintained, and the parts can be conveniently, conveniently and quickly assembled and disassembled in a modularized manner; the modules of each layer can be electrically connected or communicatively connected through connecting wires, and the wiring harnesses are arranged in a standardized manner, so that connection among all the modules is facilitated.

The chassis frame 120 adopts a drawer type structure, so that the modules are independent from each other and do not interfere with each other, and the assembly, disassembly and modeling change are easy. The drawer type line arranging device has the advantages that the drawer type line arranging device is arranged in a drawer mode, all modules can be communicated through connecting lines among all drawers, the whole body looks clean and tidy, and various line faults are convenient to check. The overall planning layout of the robot is more reasonable, each module has clear division of labor, and the functions can be reasonably distributed. When individual parts break down, the corresponding modules can be detached for examination, and time and labor are saved. The upgrading or replacement of each component can be performed on the whole module without changing the whole module; when the modules between the robots are completely consistent, the modules between the two robots can be replaced with each other, each module is connected in a simple connection mode, and the modular combination is also convenient. The modular design can be responsible for different modules through the people of difference and produce the equipment when the volume production, assembles each module in the later stage again, can improve production packaging efficiency.

The upper control module 123 includes an elevator communication module for implementing automatic elevator loading and unloading and classification control of interaction with a plurality of operating transfer robots. The upper control module 123 can comprise an upper computer and an elevator communication module in the robot, and can also comprise an audio function module and a Zgbee module, and mainly realizes a robot navigation algorithm and a man-machine interaction function.

The middle layer control module 122 is used for controlling the power supply of the power supply module 121 to the components. The middle layer control module 122 may include a power management module, a lamp strip control module, and a motor power supply control module, as long as movie management and distribution of the entire system are realized, and receive an instruction from the upper layer control module 123 to perform control of the lamp strip and control of motor power supply.

As shown in fig. 9 and 13, the top surface of the base 110 may be provided with the bridging plate 112 at intervals in parallel, the bridging plate 112 spans across the accommodating slot, the bottom of the power module 121 is provided with a fixing block, and the fixing block is slidably connected with the bridging plate 112, so that a drawer-like structure is formed, and the maintenance and replacement are easy.

In one embodiment, as shown in fig. 9 and 10, the top surface of the middle connection board 130 is provided with an expansion circuit board 150 for mounting the expansion function module. The expansion circuit board 150 is provided with a plurality of functional module interfaces, and when the robot needs to add other functions, the corresponding modules can be connected through the corresponding functional module interfaces. The extended function module can receive an instruction from the upper control module 123, can receive a power supply provided by the middle control module 122, and can extend other functions of the robot, such as a lateral protective radar, a human-computer interaction touch screen 500, a human face recognition camera, and functional components such as an electronic lock, a code scanner, a lamp strip and the like.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A transfer robot, characterized in that: the method comprises the following steps:

2. The transfer robot of claim 1, wherein: the bearing frame include the bearing base with connect in the bearing stand of bearing base, the bearing base includes underframe and connects in the vertical board of underframe one end, vertical board with underframe integrated into one piece, the underframe supports and is fixed in the top of underframe rack, both sides the bearing stand passes through crossbeam welded fastening.

3. The transfer robot of claim 2, wherein: the bearing stand is bow-shaped structure, the bearing stand includes the first section of level setting and the second section of vertical setting, the one end of first section with vertical board is fixed, the second section has the extension, the extension for the underframe is stretched out and is passed the inferior valve with pedestal connection is fixed.

4. The transfer robot of claim 3, wherein: an intermediate connecting plate is arranged between the bottom frame and the bottom frame rack, cushion blocks used for supporting the bottom frame are arranged at corners of the top surface of the intermediate connecting plate respectively, and the intermediate connecting plate, the cushion blocks and the bottom frame are locked together through screws.

5. The transfer robot of claim 4, wherein: and the top surface of the middle connecting plate is provided with an extended circuit board for installing an extended functional module.

6. The transfer robot of claim 2, wherein: the bottom frame is provided with an upper sealing plate for supporting goods, the upper sealing plate is provided with a plurality of water leakage holes, the bottom of the upper sealing plate is provided with a water receiving disc for collecting liquid flowing out of the water leakage holes, and at least part of the water receiving disc is contained in the bottom frame.

7. The transfer robot according to any one of claims 1 to 6, wherein: the storage cavity is internally provided with a storage rack, and the storage rack is provided with a partition plate so that the storage cavity is formed into a plurality of layers which are spaced up and down; a lamp strip is arranged in the machine frame and close to the opening.

8. The transfer robot according to any one of claims 1 to 6, wherein: the dodge gate is automatic rolling slats door, automatic rolling slats door includes spool, door curtain and motor, the epitheca corresponds the both sides of opening part are equipped with the guide rail, the spool rotates to set up on the bearing frame, the door curtain with the spool is connected, the both ends of door curtain slide respectively and set up the guide rail, the output of motor with the spool is connected, with through the spool drive the door curtain is opened or is closed.

9. The transfer robot according to any one of claims 1 to 6, wherein: the middle position of the base is recessed downwards to form an accommodating groove, the walking mechanism comprises a driving module and a brushless driving motor which are arranged in the accommodating groove, two driving wheels and two pairs of universal wheels, wherein the two driving wheels and the two pairs of universal wheels are rotatably arranged on two sides of the base; the central rotation axes of the two driving wheels are collinear, one pair of universal wheels is positioned on one side of the driving wheels, the other pair of universal wheels is positioned on the other side of the driving wheels, and the two pairs of universal wheels are symmetrically arranged around the central rotation axes.

10. The transfer robot according to any one of claims 1 to 6, wherein: the intelligent elevator control system is characterized in that a power module, a middle-layer control module and an upper-layer control module are sequentially arranged in the chassis frame from bottom to top, the chassis frame, the power module, the middle-layer control module and the upper-layer control module form a drawer type structure respectively, the middle-layer control module is used for controlling power supply of the power module to all parts, and the upper-layer control module comprises an elevator communication module and is used for achieving automatic elevator ascending and descending and classification control of interaction with multiple running carrying robots.