CN211893454U

CN211893454U - Multifunctional all-terrain transportation robot

Info

Publication number: CN211893454U
Application number: CN202020407190.XU
Authority: CN
Inventors: 兰毅; 柳维强; 贺国军; 张达
Original assignee: Planetary Computing Power Shenzhen Technology Co ltd
Current assignee: Planetary Computing Power Shenzhen Technology Co ltd
Priority date: 2020-03-26
Filing date: 2020-03-26
Publication date: 2020-11-10
Anticipated expiration: 2030-03-26

Abstract

The utility model provides a multi-functional full topography transport robot belongs to transportation technical field. It has solved the poor problem of current transport robot ability of crossing obstacles. This multi-functional all-terrain transportation robot, including chassis and wheel assembly, be equipped with the axle that verts that extends along the left and right sides direction level on the chassis, the epaxial axle wobbling goods shelves that can wind the axle that verts that are equipped with of verting is equipped with the focus adjustment assembly who is used for changing goods shelves inclination on the goods shelves, still is equipped with on the goods shelves to be used for supporting goods shelves and realizes supplementary auxiliary assembly who hinders more when hindering more. The utility model has the advantages of strong obstacle-crossing capability, wide application range and the like.

Description

Multifunctional all-terrain transportation robot

Technical Field

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

Background

At present, the full-automatic transport robot's application is more and more extensive, and its advantage is: the multifunctional electric vehicle can replace higher and higher labor cost, has high durability and no fatigue feeling, and can execute tasks in polluted environments and dangerous environments and can execute tasks which are harmful to human bodies.

The existing transportation robot is mostly driven by four wheels or driven by auxiliary driving wheels of universal wheels, the chassis is large in size, high in manufacturing cost and large in required walking space, and the robot is not convenient to move and transfer. Therefore, 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; a container; the left wheel assembly and the right wheel assembly are symmetrically arranged along a traveling direction vertical to the left and right direction; the balance induction assembly, the control circuit board, the battery module and the container are symmetrically arranged along the traveling direction, and the container, the control circuit board and the battery are sequentially arranged from top to bottom along the height direction.

The container of the transportation robot is directly fixed on the chassis, so that the container cannot incline relative to the chassis and cannot enter a space with the height lower than that of the transportation robot; the obstacle crossing capability is poor, and the capability of climbing steps or passing through complex ground is not provided; the container is cylindrical, the internal space is large, and any goods which deviate from the gravity center line of the container are placed into the container, so that the gravity center of the container is influenced, and the balance of the chassis of the transportation robot is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the above-mentioned problem to current technique, provided a multi-functional full topography transportation robot that hinders more can the reinforce.

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

multifunctional all-terrain transportation robot, including chassis and wheel assembly, the chassis on be equipped with along the axle that verts of left right direction horizontal extension, the epaxial axis wobbling goods shelves that can wind the axle that verts that are equipped with of verting, goods shelves on be equipped with the focus adjusting part who is used for changing goods shelves inclination, goods shelves on still be equipped with and be used for supporting goods shelves and realize supplementary auxiliary assembly who hinders when hindering more.

The upper part of the robot is formed by the goods shelf, the auxiliary assembly and the gravity center adjusting assembly, and when goods are arranged on the goods shelf, the upper part of the robot comprises the goods shelf, the auxiliary assembly, the gravity center adjusting assembly and the goods. When the goods shelf is in a vertical state, the gravity center of the upper part of the robot is positioned right above the central axis of the tilting shaft. Because goods shelves can be around the axis swing of tilting the axle, can not drive the chassis and take place the slope when goods shelves take place the slope.

When meeting lower part obstacle, the centre of gravity adjusting subassembly makes the goods shelves take place the slope, cooperates the supplementary subassembly to realize the crossing of lower part obstacle. When meeting upper portion obstacle, the centre of gravity adjusting assembly makes the goods shelves take place to incline thereby falls the robot to suitable height, makes the focus of the robot upper portion that is in the tilt state directly over the axle wire that verts under the effect of centre of gravity adjusting assembly afterwards, makes the robot upper portion keep balance.

Because goods shelves can be around the axis swing of tilting shaft, the balance of robot upper portion can be adjusted to the marching speed of accessible control robot. Specifically, when the upper part of the robot has a tendency to tilt forward, the travel speed is increased to counteract the tilt; when the upper part of the robot has a tendency to tilt backwards, the travel speed is reduced to counteract the tilt.

In foretell multi-functional all terrain transportation robot, the focus adjusting part include the weight body and be used for driving the power pack of weight body motion, work as goods shelves be in when vertical state the focus of power pack and the focus of weight body all are located directly over the axle axis that verts.

The power unit can drive the counterweight body to move, rotate or swing, and when the power unit drives the counterweight body to move, the moving direction of the counterweight body is vertical to the tilting shaft; when the power unit drives the counterweight body to swing, the swinging central line of the counterweight body is parallel or coaxial with the tilting shaft. The counterweight body has the following functions: when the goods shelf is required to be inclined, the power unit drives the counterweight body to move, so that the gravity center of the counterweight body shifts, and the goods shelf is inclined towards the specified direction; when the goods shelf is inclined due to the upper obstacle, the gravity center of the counterweight body is driven by the power unit to shift to the side far away from the goods shelf, so that the gravity center of the upper part of the robot moves to the position right above the central axis of the tilting shaft, and the upper part of the robot is in a balanced state.

The center of gravity adjustment assembly may also be a gyroscope.

In foretell multi-functional all-terrain transportation robot, power unit for fixing the first motor on goods shelves, the counter weight body locate in the pivot of first motor, the axis of first motor is located the coplanar with the axis that verts the axle, the focus of counter weight body is on the plane with the perpendicular projection point that sets up of axis of first motor and the projection point of the focus of first motor on this plane do not coincide.

The center of gravity of the first motor is located on the central axis of the first motor, and the first motor drives the counterweight body to rotate when working, so that the center of gravity of the counterweight body moves around the central axis of the first motor in a circular manner. According to the difference of the rotating angle of the counterweight body, the upper part of the robot with different inclination angles can be balanced.

In the above-mentioned multi-functional all-terrain transportation robot, the axis of first motor intersects perpendicularly with the axis of inclining the axle. When the goods shelf is in a vertical state, the central axis of the first motor extends vertically, and the projection point of the gravity center of the counterweight body on the horizontal plane is not coincident with the projection point of the gravity center of the first motor on the horizontal plane. When goods shelves incline forward, first motor drives the focus of counter weight body and rotates to the rear of the axle that verts to change the focus of robot upper portion, make this focus be located the axle that verts directly over, maintain robot upper portion's balance. When the goods shelf is inclined backwards, the first motor drives the gravity center of the counterweight body to rotate to the front of the tilting shaft, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft, and the balance of the upper part of the robot is maintained. When the balance of the upper part of the robot is maintained, the first motor stops rotating, so that the counterweight body is kept in the current state.

In foretell multi-functional all-terrain transportation robot, the axis of first motor is parallel with the axle that verts. When goods shelves incline forward, first motor drives the focus of counterweight and rotates to the rear of the axle that verts to change the focus of robot upper portion, make the focus of robot upper portion be located the axle that verts directly over, maintain the balance of robot upper portion. When the goods shelf is inclined backwards, the first motor drives the gravity center of the counterweight body to rotate to the front of the tilting shaft, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft, and the balance of the upper part of the robot is maintained.

In the above multifunctional all-terrain transportation robot, the counterweight body includes a connecting portion symmetrically arranged along the central axis of the first motor and a counterweight block arranged on the connecting portion, and a projection point of the gravity center of the counterweight block on a plane vertically arranged with the central axis of the first motor is not coincident with a projection point of the gravity center of the first motor on the plane.

The shape of the connecting part can be various shapes such as a disc shape, a long strip shape, an oval shape, a rectangle or a column shape. When the connecting part is symmetrically arranged along the central axis of the first motor, a balancing weight needs to be arranged on the connecting part to change the position of the center of gravity. The balancing weight is made of a metal material with a high density, and when the goods shelf inclines, the weight of the balancing weight or the total weight of the balancing weight and the connecting part is enough to keep the balance of the upper part of the robot.

In the above multifunctional all-terrain transportation robot, the shelf has a first link connected to the tilting shaft and a second link connected to the tilting shaft, and the center of gravity adjusting assembly is located between the first link and the second link.

Be equipped with the support on the chassis, the axle that verts wears to establish in the support, wherein the support is two and sets up along the central line symmetry that extends around the chassis. In order to realize that goods shelves are rotatory around the axis that verts the axle, adopt following two kinds of modes of setting: 1. a bearing is arranged between the tilting shaft and the support, and the first connecting rod and the second connecting rod are fixedly connected with the tilting shaft respectively; 2. the shaft that will vert is fixed on the support, sets up the bearing between first connecting rod and the shaft that verts, also sets up the bearing between second connecting rod and the shaft that verts. In order to ensure that the first connecting rod and the second connecting rod are stressed uniformly, the first connecting rod and the second connecting rod are symmetrically arranged along the central line extending from the front to the back of the chassis, and the goods shelf is symmetrically arranged along the central line extending from the front to the back of the chassis.

Be equipped with the horizontal pole between first connecting rod and second connecting rod, the horizontal pole is parallel with the axle that verts, and when the axis of first motor and the axis that verts the axle intersect perpendicularly, first motor is fixed on the horizontal pole, and the counter weight body is located first motor directly over/under when goods shelves are in vertical state. When the axis of first motor is parallel with the axis of the axle that verts, be equipped with the montant between this horizontal pole and goods shelves, first motor is fixed on the montant.

In foretell multi-functional all-terrain transportation robot, auxiliary assembly including fix the second motor on goods shelves and locate the epaxial swing arm of second motor shaft, the axis of second motor is parallel with the axle that verts. Wherein, the second motor is two and locates the left and right sides of goods shelves respectively, all is equipped with a swing arm in the pivot of every second motor. Besides realizing auxiliary obstacle crossing, the swing arm can be matched with the movement of the robot to realize the operations of touching/extruding various switches and the like, and when a floor button of an elevator is pressed, the swing arm can press buttons with different heights according to the swing angle of the swing arm.

In foretell multi-functional all-terrain transportation robot, the goods shelves including be located left first support body, be located the second support body on right side and at least one supporter of locating between first support body and the second support body, the supporter on be equipped with and be used for placing the goods put the thing groove and/or couple. The first frame body, the second frame body, the first connecting rod and the second connecting rod are connected into a whole, one of the second motors is arranged on the first frame body, the other second motor is arranged on the second frame body, and the two second motors are symmetrically arranged. Wherein, the whole goods shelf is plate-shaped, which is beneficial to the posture adjustment.

The upper part of the first frame body and/or the second frame body is provided with a probe rod, and the probe rod can be matched with the inclination of the upper part of the robot to realize the operations of extruding various switches and the like.

In foretell multi-functional all-terrain transportation robot, the left part on chassis is equipped with left mount pad, the right part on chassis is equipped with right mount pad, the wheel subassembly including install the third motor on left mount pad, locate the epaxial left wheel of pivot of third motor, install the fourth motor on right mount pad and locate the epaxial right wheel of pivot of fourth motor, be equipped with the electric box on chassis or goods shelves, be equipped with battery module in the electric box. The left wheel and the right wheel are symmetrically arranged, and the steering of the robot can be realized through the difference of the rotating speeds of the left wheel and the right wheel. When the electrical box is fixed to the underside of the chassis, the lowest height of the electrical box is higher than the lowest height of the left or right wheel. The electrical box can also be arranged at the lower part of the goods shelf. The battery module respectively supplies power to the first motor, the second motor, the third motor and the fourth motor.

In foretell multi-functional all-terrain transportation robot, the chassis on be equipped with control circuit board, control circuit board's signal input part is connected with sensor and balanced response module, control circuit board's signal output part is connected with wheel subassembly, focus adjusting part and auxiliary assembly respectively.

The sensor is arranged on the goods shelf and mainly used for detecting the space height in front of the robot or detecting whether an obstacle exists in front of the robot; the balance induction module is used for detecting the inclination state of the goods shelf. When the sensor detects that an upper obstacle exists, a signal is transmitted to the control circuit board, the control circuit board processes and analyzes whether the upper obstacle can pass through or not, when the front space cannot pass through is determined, the control circuit board drives the first motor to work, the first motor drives the counterweight body to rotate and enables the gravity center of the counterweight body to move forwards, so that the gravity center of the upper part of the whole robot moves forwards, and the goods shelf tilts; after goods shelves incline to the angle that can pass through the upper portion obstacle, control circuit board drive first motor antiport makes the focus of counterweight body shift backward to the rear side of tilting shaft axis, and the balanced response module of cooperation makes goods shelves keep at balanced state. When the sensor detects that the lower part obstacle exists, a signal is transmitted to the control circuit board, the control circuit board drives the first motor to work, the first motor drives the counterweight body to rotate and enables the gravity center of the counterweight body to move forwards, so that the gravity center of the upper part of the whole robot moves forwards, the goods shelf inclines, meanwhile, the second motor drives the swing arm to swing, the free end of the swing arm is in contact with the lower part obstacle to buffer and support the upper part of the robot, and the obstacle is crossed by matching with the wheel assembly.

The balance induction module can induce whether the upper part of the robot is in a balance state, when the upper part of the robot inclines forwards, the control circuit board controls the wheel assembly to accelerate, and when the upper part of the robot inclines backwards, the control circuit board controls the wheel assembly to decelerate.

Compared with the prior art, this multi-functional all-terrain transportation robot has following advantage:

the transportation robot can enter a space with lower height, and can realize obstacle crossing action by matching with an auxiliary assembly arranged on the goods shelf, so that the trafficability is good; the swinging arm or the probe rod arranged on the goods shelf is matched with the movement of the wheel assembly to realize the actions of touching/extruding various switch buttons, triggering signals and the like, so that the multifunctional goods shelf has multiple functions; the special adjustable posture can bear larger load and has strong load-carrying capacity; and the application range is wide, the cost is low, and the use and maintenance are good.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.

Fig. 2 is a front view of the first embodiment of the present invention.

Fig. 3 is a diagram of an inclined state according to a first embodiment of the present invention.

Fig. 4 is a front view of the second embodiment of the present invention.

Fig. 5 is another schematic structural diagram of the first embodiment of the present invention.

Fig. 6 is a side view of the first embodiment of the present invention.

Fig. 7 is a schematic diagram of obstacle crossing according to a first embodiment of the present invention.

Fig. 8 is a front view of the fourth embodiment of the present invention.

In the figure, 1, a chassis; 2. a tilt shaft; 3. a first motor; 4. a connecting portion; 5. a balancing weight; 6. a first link; 7. a second link; 8. a second motor; 9. swinging arms; 10. a first frame body; 11. a second frame body; 12. a rack; 13. a storage groove; 14. a left mounting base; 15. a right mounting base; 16. a third motor; 17. a left wheel; 18. a fourth motor; 19. a right wheel; 20. an electric box; 21. a support; 22. a probe rod; 23. a cross bar; 24. a vertical rod.

Detailed Description

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

Example one

The multifunctional all-terrain transportation robot as shown in fig. 1 and 5 comprises a chassis 1 and a wheel assembly. As shown in fig. 2, a left mounting seat 14 is arranged at the left part of the chassis 1, a right mounting seat 15 is arranged at the right part of the chassis 1, the wheel assembly comprises a third motor 16 mounted on the left mounting seat 14, a left wheel 17 arranged on a rotating shaft of the third motor 16, a fourth motor 18 mounted on the right mounting seat 15, and a right wheel 19 arranged on a rotating shaft of the fourth motor 18, the left wheel 17 and the right wheel 19 are symmetrically and coaxially arranged, and the steering of the robot can be realized through the difference of the rotating speeds of the left wheel 17 and the right wheel 19. An electrical box 20 fixed on the lower side of the chassis 1 is arranged on the chassis 1, the lowest height of the electrical box 20 is higher than that of the left wheel 17 or the right wheel 19, and a battery module is arranged in the electrical box 20. The battery modules respectively supply power to the third motor 16 and the fourth motor 18.

As shown in fig. 2, two supports 21 symmetrically arranged along a central line extending from the front to the rear of the chassis 1 are provided on the chassis 1, a tilting shaft 2 parallel to the axis of the left wheel 17 is inserted into the two supports 21, and the tilting shaft 2 is located right below the central axis of the left wheel 17 and the right wheel 19. Be connected with first connecting rod 6 and second connecting rod 7 on tilting shaft 2, the one end that tilting shaft 2 was kept away from to first connecting rod 6 and second connecting rod 7 links firmly with goods shelves. In the present embodiment, the tilt shaft 2 is fixed to the mount 21, a bearing is provided between the first link 6 and the tilt shaft 2, and a bearing is also provided between the second link 7 and the tilt shaft 2. In order to ensure that the first connecting rod 6 and the second connecting rod 7 are stressed uniformly, the first connecting rod 6 and the second connecting rod 7 are symmetrically arranged along the central line extending from the front to the back of the chassis 1, and the goods shelf is symmetrically arranged along the central line extending from the front to the back of the chassis 1. A gravity center adjusting component is arranged between the first connecting rod 6 and the second connecting rod 7, and an auxiliary component for supporting the goods shelf and realizing auxiliary obstacle crossing is arranged on the goods shelf when the obstacle crossing is carried out.

As shown in fig. 5, the shelf includes a first frame body 10 located on the left side, a second frame body 11 located on the right side, and at least one shelf 12 disposed between the first frame body 10 and the second frame body 11, wherein a storage slot 13 for placing goods is disposed on the shelf 12, and the storage slot 13 horizontally extends along the left-right direction. First support body 10, second support body 11, first connecting rod 6 and second connecting rod 7 link as an organic whole, are equipped with probe 22 on the upper portion of first support body 10 and second support body 11, and this probe 22 can cooperate the slope of robot upper portion to realize operations such as extrusion various switches.

The upper part of the robot is formed by the goods shelf, the auxiliary assembly and the gravity center adjusting assembly, and when goods are arranged on the goods shelf, the upper part of the robot comprises the goods shelf, the auxiliary assembly, the gravity center adjusting assembly and the goods. When the goods shelf is in a vertical state, the gravity center of the upper part of the robot is positioned right above the central axis of the tilting shaft 2. Because goods shelves can be around the axis swing of 2 of verting, can not drive chassis 1 when goods shelves take place to incline and take place to incline.

When meeting lower part obstacle, the centre of gravity adjusting subassembly makes the goods shelves take place the slope, cooperates the supplementary subassembly to realize the crossing of lower part obstacle. When meeting upper portion obstacle, the centre of gravity adjusting assembly makes the goods shelves take place to incline thereby falls the robot to suitable height, makes the focus of the robot upper portion that is in the tilt state directly over the axis of axle 2 that verts under the effect of centre of gravity adjusting assembly afterwards, makes the robot upper portion keep balance.

Because the goods shelves can be swung around the axis of tilting shaft 2, the balance of the upper part of the robot can be adjusted by controlling the traveling speed of the robot. Specifically, when the upper part of the robot has a tendency to tilt forward, the travel speed is increased to counteract the tilt; when the upper part of the robot has a tendency to tilt backwards, the travel speed is reduced to counteract the tilt.

As shown in fig. 1 and 3, the gravity center adjusting assembly includes a counterweight body and a power unit for driving the counterweight body to move, and when the goods shelf is in a vertical state, the gravity center of the power unit and the gravity center of the counterweight body are both located right above the central axis of the tilting shaft 2.

The power unit can drive the counterweight body to move, rotate or swing, and when the power unit drives the counterweight body to move, the moving direction of the counterweight body is vertical to the tilting shaft 2; when the power unit drives the balance weight body to swing, the swinging central line of the balance weight body is parallel or coaxial with the tilting shaft 2. The counterweight body has the following functions: when the goods shelf is required to be inclined, the power unit drives the counterweight body to move, so that the gravity center of the counterweight body shifts, and the goods shelf is inclined towards the specified direction; when the goods shelf is inclined due to the upper obstacle, the gravity center of the counterweight body is driven by the power unit to shift to the side far away from the goods shelf, so that the gravity center of the upper part of the robot moves to be right above the central axis of the tilting shaft 2, and the upper part of the robot is in a balanced state.

Specifically, as shown in fig. 2, the power unit is a first motor 3 fixed on the shelf, the counterweight body is disposed on a rotating shaft of the first motor 3, a central axis of the first motor 3 and a central axis of the tilting shaft 2 are located in the same plane, and a projection point of a center of gravity of the counterweight body on a plane perpendicular to the central axis of the first motor 3 does not coincide with a projection point of the center of gravity of the first motor 3 on the plane. The center of gravity of the first motor 3 is located on the central axis of the first motor 3, and the first motor 3 drives the counterweight body to rotate when working, so that the center of gravity of the counterweight body moves around the central axis of the first motor 3 in a circular manner. According to the difference of the rotating angle of the counterweight body, the upper part of the robot with different inclination angles can be balanced.

As shown in fig. 2, the central axis of the first electric motor 3 intersects the central axis of the tilting shaft 2 perpendicularly. When the goods shelf is in a vertical state, the central axis of the first motor 3 extends vertically, and at the moment, the projection point of the gravity center of the counterweight body on the horizontal plane is not coincident with the projection point of the gravity center of the first motor 3 on the horizontal plane. When the goods shelf inclines forwards, the first motor 3 drives the gravity center of the counterweight body to rotate to the rear part of the tilting shaft 2, so that the gravity center of the upper part of the robot is changed, the gravity center is positioned right above the tilting shaft 2, and the balance of the upper part of the robot is maintained. When the goods shelf is inclined backwards, the first motor 3 drives the gravity center of the counterweight body to rotate to the front of the tilting shaft 2, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is located right above the tilting shaft 2, and the balance of the upper part of the robot is maintained. When the balance of the upper part of the robot is maintained, the first motor 3 stops rotating, so that the counterweight body is kept in the current state.

As shown in fig. 1 and 3, the counterweight body includes a connecting portion 4 symmetrically disposed along the central axis of the first motor 3 and a counterweight 5 disposed on the connecting portion 4, and a projection point of the center of gravity of the counterweight 5 on a plane perpendicular to the central axis of the first motor 3 does not coincide with a projection point of the center of gravity of the first motor 3 on the plane. The shape of the connecting portion 4 may be various shapes such as a disc shape, a long strip shape, an oval shape, a rectangle or a column shape, and the connecting portion 4 in this embodiment is a disc shape and is disposed coaxially with the central axis of the first motor 3. When the connecting portion 4 is symmetrically arranged along the central axis of the first motor 3, a weight 5 is required to be arranged on the connecting portion 4 to change the position of the center of gravity. The counterweight 5 is made of metal material with higher density, and when the goods shelf inclines, the weight of the counterweight 5 or the whole weight of the counterweight 5 and the connecting part 4 is enough to keep the balance of the upper part of the robot.

As shown in fig. 2, a cross bar 23 is arranged between the first connecting rod 6 and the second connecting rod 7, the cross bar 23 is parallel to the tilting shaft 2, the first motor 3 is fixed on the cross bar 23, and the counterweight body is positioned right above the first motor 3 when the goods shelf is in a vertical state.

As shown in fig. 1 and 6, the auxiliary assembly includes a second motor 8 fixed on the shelf and a swing arm 9 disposed on a rotation shaft of the second motor 8, and a central axis of the second motor 8 is parallel to the tilting shaft 2. Wherein, one of the second motors 8 is arranged on the first frame body 10, and the other second motor 8 is arranged on the second frame body 11, and the two motors are symmetrically arranged. And a swing arm 9 is arranged on the rotating shaft of each second motor 8. The swing arm 9 can realize auxiliary obstacle crossing, and can realize operations such as touching/squeezing various switches by matching with the movement of the robot, and when a floor button of an elevator is pressed, the buttons with different heights can be pressed according to the swing angle of the swing arm 9.

In this embodiment, a control circuit board is disposed in the electrical box 20, a signal input end of the control circuit board is connected to the sensor and the balance sensing module, and a signal output end of the control circuit board is connected to the wheel assembly, the center-of-gravity adjusting assembly and the auxiliary assembly respectively.

The sensor can be a laser navigation module, a vision sensor, an ultrasonic detection module or a camera, and the like, is arranged on the goods shelf and is mainly used for detecting the space height in front of the robot or detecting whether an obstacle exists in front of the robot; the balance induction module is a gyroscope and is used for detecting the inclination state of the goods shelf. When the sensor detects that an upper obstacle exists, a signal is transmitted to the control circuit board, the control circuit board processes and analyzes whether the upper obstacle can pass through or not, when the front space cannot pass through is determined, the control circuit board drives the first motor 3 to work, the first motor 3 drives the counterweight body to rotate and enables the gravity center of the counterweight body to move forwards, so that the gravity center of the upper part of the whole robot moves forwards, and the goods shelf tilts; after goods shelves incline to the angle that can pass through the upper portion obstacle, control circuit board drive first motor 3 antiport makes the focus of counter weight body shift backward to the rear side of 2 axis of tilting shaft, and the balanced response module of cooperation makes goods shelves keep at balanced state.

When the sensor detects that a lower obstacle exists, a signal is transmitted to the control circuit board, the control circuit board drives the first motor 3 to work, the first motor 3 drives the counterweight body to rotate and enables the gravity center of the counterweight body to move forwards, so that the gravity center of the upper part of the whole robot moves forwards, the goods shelf inclines, meanwhile, the second motor 8 drives the swing arm 9 to swing, as shown in fig. 7, the free end of the swing arm 9 is in contact with the lower obstacle to buffer and support the upper part of the robot, and the obstacle is crossed by matching with the wheel assembly. The specific working process is as follows:

1. when the robot meets a step in the process of traveling, the sensor sends out a signal;

2. the swing arm 9 rotates forwards, and meanwhile, the whole upper part of the robot tilts forwards;

3. the swing arm 9 rotates forwards to directly abut against the step, the upper part of the robot is buffered and supported, and the whole robot starts to climb over the step under the action of the driving force of the wheels. At this time, the robot is wholly tilted, the gravity center position of the robot is lowered, and the robot is helped to climb over steps. The adoption of such a posture by the robot when walking on a rough ground also contributes to obstacle crossing, even if not facing a step.

4. When the robot climbs the steps and enters the horizontal ground, the swing arm 9 rotates clockwise, and meanwhile, the counterweight plate rotates to adjust the gravity center of the upper part of the robot, so that the upper part of the robot is enabled to be restored to the vertical state.

The feeler lever 22 and the swing arm 9 on the upper part of the rack can perform tasks such as pressing an elevator button, triggering a signal, etc. in cooperation with the tilting of the sensor and the robot attitude.

Example two

The structure principle of the present embodiment is basically the same as that of the first embodiment, except that, as shown in fig. 4, the central axis of the first motor 3 is parallel to the tilting shaft 2. As shown in fig. 4, a vertical bar 24 is provided between the cross bar 23 and the shelf, and the first motor 3 is fixed to the vertical bar 24. When goods shelves incline forward, first motor 3 drives the focus of counter weight body and rotates to the rear of axle 2 that verts to change the focus of robot upper portion, make the focus of robot upper portion be located and vert the axle 2 directly over, maintain robot upper portion's balance. When the goods shelf is inclined backwards, the first motor 3 drives the gravity center of the counterweight body to rotate to the front of the tilting shaft 2, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is located right above the tilting shaft 2, and the balance of the upper part of the robot is maintained.

EXAMPLE III

The structure principle of the present embodiment is basically the same as that of the first embodiment, except that the center-of-gravity adjusting assembly is a gyroscope.

Example four

The structure principle of the present embodiment is basically the same as that of the first embodiment, except that an electrical box 20 is provided on the shelf. Specifically, as shown in fig. 8, the electrical box 20 is disposed between the first link 6 and the second link 7, and the electrical box 20 is located above the center of gravity adjustment assembly.

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

Claims

1. The utility model provides a multi-functional all-terrain transportation robot, includes chassis (1) and wheel assembly, its characterized in that, chassis (1) on be equipped with along the horizontal rotation axle (2) that verts that extends of left right direction, the axle (2) of verting on be equipped with and to wind the axis wobbling goods shelves of the axle (2) of verting, the goods shelves on be equipped with the focus adjusting part who is used for changing goods shelves inclination, the goods shelves on still be equipped with when hindering more be used for supporting goods shelves and realize supplementary auxiliary assembly who hinders more.

2. The multifunctional all-terrain transportation robot of claim 1, wherein the gravity center adjusting assembly comprises a counterweight body and a power unit for driving the counterweight body to move, and when the goods shelf is in the vertical state, the gravity center of the power unit and the gravity center of the counterweight body are both positioned right above the central axis of the tilting shaft (2).

3. The multifunctional all-terrain transportation robot according to claim 2, characterized in that the power unit is a first motor (3) fixed on the goods shelf, the counterweight body is arranged on a rotating shaft of the first motor (3), a central axis of the first motor (3) and a central axis of the tilting shaft (2) are positioned in the same plane, and a projection point of a gravity center of the counterweight body on a plane perpendicular to the central axis of the first motor (3) is not coincident with a projection point of the gravity center of the first motor (3) on the plane.

4. The multifunctional all-terrain transportation robot according to claim 3, characterized in that the counterweight body comprises a connecting part (4) symmetrically arranged along the central axis of the first motor (3) and a counterweight (5) arranged on the connecting part (4), and the projection point of the gravity center of the counterweight (5) on a plane perpendicular to the central axis of the first motor (3) is not coincident with the projection point of the gravity center of the first motor (3) on the plane.

5. A multi-functional all-terrain transportation robot according to claim 1, characterized in that the loading frame has a first link (6) connected to the tilt shaft (2) and a second link (7) connected to the tilt shaft (2), and the center of gravity adjustment assembly is located between the first link (6) and the second link (7).

6. A multifunctional all-terrain transportation robot as claimed in claim 1, 2, 3, 4 or 5, characterized in that the auxiliary assembly comprises a second motor (8) fixed on the goods shelf and a swing arm (9) arranged on a rotating shaft of the second motor (8), and a central axis of the second motor (8) is parallel to the tilting shaft (2).

7. The multifunctional all-terrain transportation robot according to claim 1, characterized in that the shelf comprises a first shelf body (10) located on the left side, a second shelf body (11) located on the right side, and at least one shelf (12) arranged between the first shelf body (10) and the second shelf body (11), wherein the shelf (12) is provided with a storage groove (13) for placing goods.

8. The multifunctional all-terrain transportation robot of claim 1, characterized in that a left mounting seat (14) is arranged at the left part of the chassis (1), a right mounting seat (15) is arranged at the right part of the chassis (1), and the wheel assembly comprises a third motor (16) arranged on the left mounting seat (14), a left wheel (17) arranged on a rotating shaft of the third motor (16), a fourth motor (18) arranged on the right mounting seat (15), and a right wheel (19) arranged on a rotating shaft of the fourth motor (18).

9. The multifunctional all-terrain transportation robot as claimed in claim 1, 2, 3, 4, 5, 7 or 8, characterized in that a control circuit board is arranged on the chassis (1), a signal input end of the control circuit board is connected with a sensor and a balance induction module, and a signal output end of the control circuit board is respectively connected with the wheel assembly, the gravity center adjusting assembly and the auxiliary assembly.

10. A multi-functional all-terrain transport robot as claimed in claim 3 or 4, characterized in that the central axis of the first motor (3) intersects the central axis of the tilting shaft (2) perpendicularly.