CN212314718U - Prevent empting delivery robot - Google Patents

Abstract

The utility model discloses an anti-toppling distribution robot, be fixed with two arc tracks on the bottom support, the arc track is equipped with the A-frame of a vertical setting, the robot body passes through the A-frame to be supported on the bottom support, the A-frame passes through multiunit balance pulley to be installed on the arc track, when encountering the slope in the robot walking process, the balance pulley can freely slide relative to the arc track under the action of gravity, and then guarantee that robot upper portion remains the level all the time, avoid the robot to topple over, prevent that the material in the receiver from appearing toppling over the phenomenon, for the road surface of going up and down slopes, the problem that makes the robot topple over because of whole slope can not appear; every group balance pulley is including two balance pulleys that are located arc track upper and lower both sides respectively, and two balance pulleys are with arc track centre gripping in the centre, and the pulley can not break away from the arc track, guarantees its and the reliable connection of bottom support, and the robot reliability is higher, satisfies multiple road surface environment and uses, and the practicality is stronger.

Description

Prevent empting delivery robot

Technical Field

The utility model relates to the technical field of robots, in particular to prevent empting delivery robot.

Background

With the development of science and technology and the improvement of the living standard of people, the service robot starts to walk into the daily life of people, the life styles of people are gradually changed, and the application range of the service robot is wide, such as the work of transportation, cleaning, administration, rescue, monitoring of old people and the like.

Since some patients have strong infectivity and the like, medical staff needs multi-layer protection when delivering medicines to patients, and is troublesome and unsafe, a dispensing robot is continued to solve the problem. The existing distribution robot simply transports goods to a designated place, but once an up-down slope road exists on a passing path, the robot often falls down to prevent the robot from working normally.

SUMMERY OF THE UTILITY MODEL

For solving the not enough of prior art existence, the utility model aims to provide a prevent empting delivery robot has the self-balancing function, prevents that the robot from empting, guarantees the operational reliability of robot, improves work efficiency.

In order to achieve the above object, the utility model adopts the following technical scheme:

an anti-toppling distribution robot comprises a bottom support, a triangular support, an annular slide rail and a storage box arranged on the annular slide rail;

the bottom support is provided with a shell, two arc-shaped rails which are horizontally arranged in parallel are fixed on the bottom support, each arc-shaped rail is provided with a vertically arranged triangular support, the lower end of each triangular support is provided with a balance pulley, the triangular supports are arranged on the arc-shaped rails through a plurality of groups of balance pulleys, each group of balance pulleys comprises two balance pulleys which are respectively positioned at the upper side and the lower side of the arc-shaped rail, the arc-shaped rails are clamped in the middle by the two balance pulleys, and each group of balance pulleys can freely slide along the arc-shaped rails;

a connecting plate is rigidly fixed at the upper part of each triangular support, and the annular slide rail is arranged on the triangular support through the connecting plate; the storage boxes for storing materials are mounted on the two annular slide rails, each annular slide rail is provided with a transmission mechanism, each transmission mechanism comprises two synchronous wheels which are arranged in the annular slide rails and close to the upper end and the lower end, synchronous belts are arranged on the synchronous wheels, a driving motor is fixed on the connecting plate through a motor base, the synchronous wheels are driven by the driving motors to drive the storage boxes to move along the two annular slide rails, and the materials in the corresponding storage boxes are conveyed to the upper cover position arranged on the shell of the robot;

two driving wheels driven by a motor are fixed at the front lower part of the bottom support through a bearing seat, the steering is realized through the differential operation of the two driving wheels, and two driven wheels installed through bearings are arranged at the rear lower part of the bottom support.

Furthermore, three groups of balance pulleys are arranged at the lower end of the bottom edge of each triangular support at equal intervals.

Further, be equipped with a plurality of pulleys on the annular slide rail, two pulleys are a set of inside and outside both sides that are located the annular slide rail respectively and with the annular slide rail centre gripping in the middle of, and every group pulley is fixed on a supporting seat, and a plurality of supporting seats equidistant setting is fixed on the hold-in range for the hold-in range drives the pulley and follows the motion of annular slide rail, and every receiver is installed on the supporting seat of two annular slide rails.

Furthermore, the annular slide rail is in a long-strip oval shape, a horizontally arranged fixing boss is connected to the connecting plate, a vertically arranged supporting plate is fixed on the fixing boss, and first gears are respectively fixed at the positions, close to the circular arc section, of the two ends of the supporting plate;

the pulley is fixed at the rear end of the supporting seat, a second gear is arranged at the front end of the supporting seat, a connecting seat is further arranged at the front end of the supporting seat through a connecting shaft, a third gear is rigidly connected to the connecting seat, the second gear is meshed with the third gear, and the storage box is arranged on the third gears of the two annular slide rails;

a guard plate arranged around the straight line section of the annular slide rail is arranged on the connecting plate, a sliding groove is arranged on the guard plate, rolling wheels are arranged on two sides of the connecting seat, and the rolling wheels move along the sliding groove;

when each group of pulleys moves to the arc section of the annular slide rail, the two rollers are disengaged from the sliding groove, and the second gear is meshed with the first gear.

Further, be fixed with trapezoidal slider on the third gear, receiver both sides all be equipped with dovetail and spring, the dovetail cooperation of installing on trapezoidal slider on the third gear and the receiver for the receiver can slide for trapezoidal slider, spring one end be connected with the receiver, the other end is connected with trapezoidal slider.

Further, the receiver front portion is equipped with the handle, is equipped with the baffle in that the receiver is inside, separates into the polylith with the receiver.

Further, the both sides of shell upper portion inboard are equipped with the arc rack respectively, the upper cover be the arc structure, four trundles are connected respectively in upper cover four corners position through connecting the boss, every trundle next door is provided with the small motor, is connected with the pinion on the small motor output shaft, arc rack and pinion meshing make the upper cover remove along the arc rack under the cooperation of small motor and pinion, realize that the upper cover is opened and is closed.

Further, the top end of the shell is provided with a platform and a storage box, the mounting platform is provided with a rotary platform, the rotary platform is provided with a mechanical arm, the front end of the mechanical arm is provided with a mechanical claw, and materials in the storage box with the upper cover opened are moved to the storage box through the cooperation of the mechanical arm, the rotary platform and the mechanical claw.

Furthermore, the front part of the shell is provided with a camera, the periphery of the shell is provided with distance sensors, the middle part of the shell is provided with a front opening door, the front opening door is connected with the shell through a hinge, and the front opening door is provided with a handle and a door lock.

Furthermore, the driven wheel is connected with the bottom support through a fixed seat, and a bearing is arranged at the matching position of the fixed seat and the bottom support to form a universal wheel structure.

The utility model has the advantages that:

the utility model discloses a prevent empting delivery robot, be fixed with two arc tracks on the support of bottom, every arc track is equipped with the A-frame of a vertical setting, the A-frame lower extreme is equipped with balanced pulley, the robot passes through the A-frame and supports on the support of bottom, the A-frame passes through multiunit balanced pulley and installs on the arc track, when the robot walks the in-process and meets the slope, balanced pulley can arc track free slip relatively under the action of gravity, and then guarantee that robot upper portion remains the level all the time, avoid the robot to tumble, prevent that the phenomenon from appearing empting in the material in the receiver, to the road surface of going up and down the slope, the robot can all easily pass through, can not appear making the problem that the robot emptys because of whole slope.

In addition, every group balance pulley is including being located arc track two balance pulleys of both sides about the track respectively, and two balance pulleys are with arc track centre gripping in the centre, and the pulley can not break away from arc track, under the prerequisite of guaranteeing that the robot can freely slide, even the robot takes place big slope and rocks appear, also can guarantee its and bottom support reliable connection, and the robot reliability is higher, satisfies multiple road surface environment and uses, and the practicality is stronger.

Further, the annular slide rail is equipped with a plurality of pulleys, and every group pulley passes through the equidistant setting of supporting seat and fixes on the synchronous belt, and every receiver is installed on the supporting seat of two annular slide rails, and two pulleys are located the inside and outside both sides of annular slide rail respectively and are in the centre of the centre gripping of annular slide rail, prevent that assembly pulley and annular slide rail break away from, operate steadily, safe and reliable.

Further, the annular slide rail is in a long-strip oval shape, a sliding groove is formed in a protective plate arranged on the straight-line section of the annular slide rail, and the roller on the connecting seat moves along the sliding groove to ensure that the storage box is horizontal when moving at the straight-line section of the annular slide rail; first gears are respectively fixed at positions close to arc sections at two ends of the annular slide rail, pulleys are fixed on the supporting seat, a second gear and a third gear are arranged on the supporting seat, the second gear is meshed with the third gear, the storage box is installed on the third gears of the two annular slide rails, when the pulley block moves along the annular slide rail, the rollers move along the sliding grooves at the straight line positions, when each group of pulleys moves to the arc sections of the annular slide rails, the two rollers are separated from the sliding grooves, at the moment, the second gears are meshed with the first gears, and the storage box is ensured to be horizontal when moving at the arc sections of the annular slide rails; through the gyro wheel, under the effect of spout cooperation and first gear, second gear and third gear, guarantee that the receiver keeps the horizontality along all positions of annular slide rail operation, avoids the material to empty.

Furthermore, a trapezoidal sliding block is fixed on the third gear, the trapezoidal sliding block is matched with a dovetail groove installed on the storage box and provided with a reset spring, the dovetail groove slides relative to the trapezoidal sliding block to ensure that the storage box can be pulled out of the machine, and after materials are placed in the storage box, the storage box is automatically retracted under the action of the spring.

Further, the inboard both sides in shell upper portion are equipped with the arc rack respectively, the upper cover be the arc structure, the upper cover is examined and is set up gyro wheel and pinion, through arc rack and pinion engagement, make the upper cover move along the arc rack under the cooperation of motor and pinion, realize that the upper cover is opened and is closed, through control motor, control upper cover is opened and is closed, degree of automation is high, convenient to use.

Further, the materials in the storage box with the upper cover opened are moved to the storage box through the matching of the mechanical arm, the rotary platform and the mechanical claw, the materials are automatically extracted to the storage box, the safety and the reliability are achieved, the goods extraction error is avoided, the goods taker can obtain the corresponding materials from the storage box, and the intelligent degree is high.

Furthermore, the shell is provided with a camera and a distance sensor, so that intelligent control design is facilitated, and automatic addressing and automatic goods delivery of the robot are realized.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a front view of the internal structure of the present invention;

FIG. 4 is a schematic view of the internal transmission structure of the present invention;

FIG. 5 is a schematic view of the structure of the bottom bracket of the present invention;

FIG. 6 is a schematic view of the structure of the driving wheel of the present invention;

FIG. 7 is a schematic view of the structure of the middle driving wheel of the present invention;

fig. 8 is a schematic structural view of the middle balance pulley of the present invention;

fig. 9 is a schematic view of the overall structure of the transmission mechanism of the present invention;

fig. 10 is a schematic structural view of the middle ring-shaped sliding rail of the present invention;

fig. 11 is a schematic view of the mounting structure of the middle triangular bracket of the present invention;

fig. 12 is a schematic view of the structure of the middle support plate mounting gear of the present invention;

FIG. 13 is a schematic view of a middle synchronizing wheel according to the present invention;

fig. 14 is a schematic view of the upper structure of the transmission mechanism of the present invention;

FIG. 15 is a schematic view of the middle pulley mounting structure of the present invention;

FIG. 16 is a schematic view of the structure of the middle support seat of the present invention;

FIG. 17 is a schematic view of the mounting structure of the middle support seat of the present invention;

FIG. 18 is a schematic view of the lower structure of the transmission mechanism of the present invention;

fig. 19 is a schematic view of the structure of the middle roller of the present invention;

fig. 20 is a schematic view of the structure of the middle connection seat of the present invention;

fig. 21 is a schematic view of the installation structure of the storage box of the present invention;

fig. 22 is a schematic structural view of the storage box of the present invention;

fig. 23 is a schematic view of the structure of the middle front opening door of the present invention;

FIG. 24 is a schematic view of a partial structure of the middle housing of the present invention;

FIG. 25 is a schematic view of the structure of the upper cover of the present invention;

FIG. 26 is a top view of the present invention;

fig. 27 is a schematic structural view of the upper cover opening mechanism of the present invention;

in the figure: 101-housing, 102-camera, 103-register box, 104-mounting platform, 105-distance sensor, 106-arc rack, 201-bottom bracket, 202-driving wheel, 203-motor, 204-driven wheel, 205-motor seat, 206-arc track, 207-fixing seat, 301-annular sliding rail, 302-connecting plate, 303-driving motor, 304-guard plate, 305-sliding groove, 306-fixing boss, 307-triangular bracket, 308-balance pulley, 309-synchronous wheel, 310-synchronous belt, 311-supporting plate, 401-storage box, 402-clapboard, 403-handle, 404-dovetail groove, 405-spring, 501-supporting seat, 502-pulley, 503-connecting boss, 504-bearing, 505-second gear, 601-connecting seat, 602-roller, 603-third gear, 604-trapezoidal slider, 605-connecting shaft, 701-upper cover, 702-small motor, 703-connecting boss, 704-small roller, 705-small gear, 801-rotating platform, 802-mechanical arm, 803-mechanical claw, 901-front opening door, 902-handle, 903-door lock and 904-hinge.

Detailed Description

The present invention will be described in further detail with reference to the following specific examples, which should not be construed as limiting the invention.

As shown in fig. 1 to 4, the anti-toppling distribution robot of the present invention comprises a bottom bracket 201, a triangular bracket 307, an annular slide rail 301, a storage box 401 and a gripping mechanism; the bottom bracket 201 is a bottom support of the robot and is used for integrally bearing the robot; the triangular bracket 307 is arranged on the bottom bracket 201 through a pulley, so that the whole robot is kept horizontal, and the distributed materials are prevented from scattering; annular slide rail 301 is installed on A-frame 307, and a plurality of receiver 401 that are used for storing the material are installed on annular slide rail 301, are provided with drive mechanism on the annular slide rail 301, and each receiver 401 removes along annular slide rail 301 under the drive mechanism effect for the upper cover position that sets up on sending the robot shell to the material in the box 401 is accomodate correspondingly, snatch the mechanism setting on the robot shell, be used for taking out the material from receiver 401.

As shown in fig. 5-7, a driving wheel 202 is fixed at the front lower part of the bottom bracket 201 through a bearing seat, the driving wheel 202 is driven by a motor 203, the motor 203 is connected with the bottom bracket 201 through a motor base 205, the number of the driving wheels 202 is two, and the steering movement can be realized through differential speed. A driven wheel 204 is arranged at the rear lower part of the bottom support 201, the driven wheel 204 is connected with the bottom support 201 through a fixed seat 207, and a bearing is arranged at the matching position of the fixed seat 207 and the bottom support 201 to form a universal wheel structure.

As shown in fig. 8 and 9, two arc rails 206 arranged in parallel are rigidly fixed on the bottom bracket 201, each arc rail 206 is provided with a vertically arranged triangular bracket 307, the lower end of each triangular bracket 307 is provided with a balance pulley 308, the lower end of each triangular bracket 307 is provided with 6 balance pulleys respectively, the two balance pulleys are arranged at the lower end of the triangular bracket 307, each group comprises two balance pulleys respectively positioned at the upper side and the lower side of the arc rail 206, the arc rail 206 is clamped in the middle, and the triangular bracket 307 is prevented from being separated from the arc rail 206. The balance pulley 308 can be matched with the arc-shaped track 206, so that the balance pulley 308 can move along the arc-shaped track 206, and the robot body carried by the triangular bracket 307 can be always kept horizontal without inclination under the action of gravity. The balance pulley 308 is fixed with the lower end of the triangular bracket 307 through a fixed seat, and a bearing is arranged at the matching position of the balance pulley 308 and the fixed seat.

As shown in fig. 10 and 11, a connecting plate 302 is rigidly fixed to an upper portion of each of the triangular brackets 307, an annular slide rail 301 is rigidly connected to the connecting plate 302, and one annular slide rail 301 is provided to each of the triangular brackets 307. The two ends of the connecting plate 302 are provided with guard plates 304, the guard plates 304 are provided with sliding chutes 305, the number of the connecting plates 302 is 5, the connecting plates are uniformly arranged along the annular sliding rail 301 from top to bottom, the two connecting plates 302 at the upper end and the lower end are fixed with driving motors 303 through motor seats, and the three connecting plates 302 at the middle part are connected with fixing bosses 306 which are horizontally arranged. Annular slide rail 301 is rectangular oval, and vertical setting is on A-frame 307 upper portion, and the annular slide rail 301 of rectangular oval structure is favorable to increasing the 401 installation quantity of receiver, reduces the horizontal direction size of robot simultaneously, is convenient for through narrow space.

As shown in fig. 12-14, a supporting plate 311 is fixed on the fixing boss 306, the supporting plate 311 is vertically arranged, two ends of the supporting plate 311 are respectively fixed with a first gear, and the first gears on the supporting plates 311 on two sides are connected through a connecting rod. A synchronizing wheel 309 is provided on an output shaft of the driving motor 303, and a synchronizing belt 310 is provided on the synchronizing wheel 309.

As shown in fig. 14, 15, 16, 17 and 18, a plurality of pulleys 502 are cooperatively disposed on the annular slide rail 301, two pulleys 502 are respectively disposed at the inner side and the outer side of the annular slide rail 301 to clamp the annular slide rail 301 in the middle, each group of pulleys 502 is fixed on a support base 501, a bearing is disposed at the cooperative position, a connecting boss 503 is disposed at the middle of the support base 501, the connecting boss 503 can position the timing belt 310, and the support bases 501 are equidistantly disposed and fixed on the timing belt 310, so that the timing belt 310 drives the pulleys 502 to move along the annular slide rail.

As shown in fig. 17-20, the pulley 502 is fixed at the rear end of the support base 501, a second gear 505 is provided at the front end of the support base 501, and a bearing is provided at the position where the second gear 505 is engaged with the support base 501. The supporting seat 501 is provided with a bearing 504, the connecting shaft 605 is mounted at the front end of the supporting seat 501 through the bearing 504, so that the connecting shaft 605 can rotate relative to the supporting seat 501, the connecting seat 601 is rigidly fixed on the connecting shaft 605, rollers 602 are arranged on two sides of the connecting seat 601, the bearing is arranged at the matching position of the rollers 602 and the connecting seat 601, the rollers 602 are matched with a sliding groove 305 arranged on the protection plate 304, the rollers 602 move along the sliding groove 305, the connecting seat 601 is rigidly connected with a third gear 603, the second gear 505 is meshed with the third gear 603, and a trapezoidal sliding block 604 is fixed on the third gear 603.

As shown in fig. 14, when each set of pulleys 502 moves along the endless slide rail 301 to the upper and lower ends of the endless slide rail 301, the second gear 505 is engaged with the first gear at the two ends of the support plate 311, and the storage case 401 is mounted on the support base 501, and when the storage case moves along the arc-segment slide rail of the endless slide rail 301, the storage case is kept horizontal by the first gear, the second gear 505, and the third gear 603.

As shown in fig. 21 and 22, each support base 501 is provided with a storage box 401, dovetail grooves 404 and springs 405 are arranged on two sides of each storage box 401, a handle 403 is arranged on the front portion of each storage box 401 to facilitate pulling out the storage box 401, and partition plates 402 are arranged inside the storage boxes 401 to separate the storage boxes 401 into a plurality of pieces to facilitate article classification. The trapezoidal slider 604 of the third gear 603 is engaged with the dovetail groove 404 provided in the storage case 401, so that the storage case 401 can slide relative to the trapezoidal slider 604, and the storage case 401 is provided with a spring 405, one end of the spring 405 is connected to the storage case 401, and the other end is connected to the trapezoidal slider 604.

As shown in fig. 1 and 23, a casing 101 is rigidly fixed on a bottom bracket 201, a camera 102 is arranged at the front part of the casing 101, a distance sensor 105 is arranged at the periphery of the casing 101, and a front opening door 901 is arranged at the middle part of the casing 101. The front opening door 901 is connected with the shell 101 through a hinge 904, a handle 902 and a door lock 903 are arranged on the front opening door 901, an opening is formed in the upper portion of the shell 101, and an openable upper cover 701 is arranged at the opening position, so that materials can be taken out conveniently.

As shown in fig. 24, fig. 25, fig. 26 and fig. 27, arc-shaped racks 106 are respectively disposed on two sides of the inner side of the upper portion of the housing 101, the upper cover 701 has an arc-shaped structure, four small rollers 704 are respectively connected to four corners of the upper cover 701 through connecting bosses 703, a small motor 702 disposed beside each small roller 704 is fixed on the upper cover 701, a small gear 705 is connected to an output shaft of the small motor 702, the arc-shaped racks 106 can be engaged with the small gears 705 and the small rollers 704, and the upper cover 701 moves along the arc-shaped racks 106 under the engagement of the small motors 702 and the small gears 705, so as to open and close the opening of the upper portion of the housing 101.

As shown in fig. 26, a mounting platform 104 and a storage box 103 are provided at the top end of the housing 101, a rotary platform 801 is provided on the mounting platform 104, a robot 802 is provided on the rotary platform 801, and a gripper 803 is provided at the front end of the robot 802, so that the material in the storage box 401 can be moved to the storage box 103 by the cooperation of the robot 802, the rotary platform 801 and the gripper 803.

The utility model discloses a theory of operation:

taking medicine distribution as an example, when a doctor needs to transport medicine for a patient, the front-opening door lock is opened by using a key, the front-opening door 901 is opened by using a handle, the storage box is pulled out by using a handle, the storage box is automatically retracted under the action of a spring after the medicine is put into the storage box 401, the dovetail groove 404 slides relative to the trapezoidal sliding block 604, and at the moment, the robot records the corresponding storage box number.

The driving wheel 202 rotates under the driving of the motor to drive the whole device to move towards a ward, the whole device realizes steering through the differential of the two driving wheels and the matching of rear universal wheels, the radial path planning and obstacle avoidance of the camera and the distance sensor are realized, if the condition of ascending and the like occurs in the conveying process, the bottom bracket part can incline to a certain degree due to the terrain, the balance pulley 308 can slide relative to the arc-shaped track 206 under the action of gravity to ensure the level of the upper part of the robot, the phenomenon of toppling over of medicaments and the like in the storage box can not occur, the driving motor 303 starts to work after reaching the corresponding ward to drive the synchronous wheel 309 to rotate, the synchronous belt 310 arranged on the synchronous wheel 309 correspondingly moves to drive the pulley 502 to move along the annular track, the pulley moves to drive the storage box 401 to move together, and the two rollers 602 are matched with the sliding chute 305 when, guarantee the level of receiver, two gyro wheels and spout break away from the cooperation when the pulley moves to annular slide rail circular arc department along annular slide rail, second gear 505 and the first gear engagement at backup pad both ends this moment, when the receiver moves along circular arc section slide rail, the receiver still keeps the horizontality under the effect of first gear and second gear and third gear, stop when the receiver is located the peak, small motor 702 works this moment, at small gyro wheel 704, the cooperation of pinion 705 and arc rack 106 drives the upper cover and opens, can remove the medicine in the receiver to depositing in the box under rotary platform, the cooperation of arm and gripper, patient takes away the medicine and can accomplish the distribution. The upper cover is closed after the completion, and the medicine distribution of the next patient is continuously carried out, so that the whole process is convenient and fast, and a large amount of manpower and material resources are saved.

The present invention has been described in detail with reference to the above embodiments, and it will be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims (10)

1. An anti-toppling distribution robot is characterized in that: comprises a bottom bracket (201), a triangular bracket (307), an annular slide rail (301) and a storage box (401) arranged on the annular slide rail (301);

the bottom support (201) is provided with a shell (101), the bottom support (201) is fixed with two arc-shaped rails (206) which are horizontally arranged in parallel, each arc-shaped rail (206) is provided with a vertically arranged triangular support (307), the lower end of each triangular support (307) is provided with a balance pulley (308), the triangular supports (307) are arranged on the arc-shaped rails (206) through a plurality of groups of balance pulleys (308), each group of balance pulleys (308) comprises two balance pulleys which are respectively positioned at the upper side and the lower side of the arc-shaped rail (206), the two balance pulleys clamp the arc-shaped rails (206) in the middle, and each group of balance pulleys (308) can freely slide along the arc-shaped rails (206);

a connecting plate (302) is rigidly fixed at the upper part of each triangular bracket (307), and the annular slide rail (301) is installed on the triangular bracket (307) through the connecting plate (302); the storage boxes (401) for storing materials are mounted on the two annular slide rails (301), a transmission mechanism is arranged on each annular slide rail (301), the transmission mechanism comprises two synchronizing wheels (309) which are arranged in the annular slide rails (301) and close to the upper end and the lower end, a synchronous belt (310) is arranged on each synchronizing wheel (309), a driving motor (303) is fixed on the connecting plate (302) through a motor base, the synchronizing wheels (309) are driven through the driving motor (303) to drive each storage box (401) to move along the two annular slide rails (301), and the materials in the corresponding storage boxes (401) are conveyed to the positions of upper covers (701) arranged on the robot shell (101);

two driving wheels (202) driven by a motor (203) are fixed at the front lower part of the bottom support (201) through a bearing seat, steering is realized through differential operation of the two driving wheels (202), and two driven wheels (204) mounted through bearings are arranged at the rear lower part of the bottom support (201).

2. The anti-toppling dispensing robot according to claim 1, characterized in that: three groups of balance pulleys (308) are arranged at the lower end of the bottom edge of each triangular support (307) at equal intervals.

3. The anti-toppling dispensing robot according to claim 2, characterized in that: be equipped with a plurality of pulleys (502) on annular slide rail (301), two pulleys (502) are a set of and are located annular slide rail (301) inside and outside both sides respectively and centre gripping annular slide rail (301), and every group pulley (502) is fixed on a supporting seat (501), and equidistant setting of a plurality of supporting seats (501) is fixed on hold-in range (310), makes hold-in range (310) drive pulley (502) along the motion of annular slide rail, and every receiver (401) is installed on supporting seat (501) of two annular slide rails (301).

4. The anti-toppling dispensing robot according to claim 3, characterized in that: the annular slide rail (301) is in a long-strip oval shape, a horizontally arranged fixing boss (306) is connected to the connecting plate (302), a vertically arranged supporting plate (311) is fixed on the fixing boss (306), and first gears are respectively fixed at the positions, close to the arc section of the annular slide rail (301), of the two ends of the supporting plate (311);

the pulley (502) is fixed at the rear end of the supporting seat (501), a second gear (505) is arranged at the front end of the supporting seat (501), a connecting seat (601) is further mounted at the front end of the supporting seat (501) through a connecting shaft (605), a third gear (603) is rigidly connected to the connecting seat (601), the second gear (505) is meshed with the third gear (603), and the storage box (401) is mounted on the third gears (603) of the two annular sliding rails (301);

a protective plate (304) arranged around the straight line section of the annular slide rail (301) is arranged on the connecting plate (302), a sliding groove (305) is arranged on the protective plate (304), rollers (602) are arranged on two sides of the connecting seat (601), and the rollers (602) move along the sliding groove (305);

when each group of pulleys (502) moves to the arc section of the annular slide rail, the two rollers (602) are disengaged from the sliding groove (305), and at the moment, the second gear (505) is meshed with the first gear.

5. The anti-toppling dispensing robot according to claim 4, characterized in that: trapezoidal slider (604) is fixed with on third gear (603), receiver (401) both sides all be equipped with dovetail (404) and spring (405), trapezoidal slider (604) on third gear (603) and the cooperation of dovetail (404) of installing on receiver (401) for receiver (401) can slide for trapezoidal slider (604), spring (405) one end be connected with receiver (401), the other end is connected with trapezoidal slider (604).

6. The anti-toppling dispensing robot according to any one of claims 1 to 5, wherein: the front part of the storage box (401) is provided with a handle (403), and the storage box (401) is internally provided with a partition plate (402) which divides the storage box (401) into a plurality of blocks.

7. The anti-toppling dispensing robot according to claim 6, characterized in that: arc-shaped racks (106) are respectively arranged on two sides of the inner side of the upper portion of the shell (101), the upper cover (701) is of an arc-shaped structure, four small rollers (704) are respectively connected to four corners of the upper cover (701) through connecting bosses (703), a small motor (702) is arranged beside each small roller (704), a small gear (705) is connected to an output shaft of each small motor (702), the arc-shaped racks (106) are meshed with the small gears (705), the upper cover (701) moves along the arc-shaped racks (106) under the matching of the small motors (702) and the small gears (705), and the upper cover (701) is opened and closed.

8. The anti-toppling dispensing robot according to claim 6, characterized in that: the storage box is characterized in that a platform (104) and a storage box (103) are installed on the top end of the shell (101), a rotating platform (801) is arranged on the installation platform (104), a mechanical arm (802) is arranged on the rotating platform (801), a mechanical claw (803) is arranged at the front end of the mechanical arm (802), and materials in the storage box (401) with the upper cover opened are moved to the storage box (103) through the cooperation of the mechanical arm (802), the rotating platform (801) and the mechanical claw (803).

9. The anti-toppling dispensing robot according to claim 6, characterized in that: the front part of the shell (101) is provided with a camera (102), distance sensors (105) are arranged on the periphery of the shell (101), a front opening door (901) is arranged in the middle of the shell (101), the front opening door (901) is connected with the shell (101) through a hinge (904), and a handle (902) and a door lock (903) are arranged on the front opening door (901).

10. The anti-toppling dispensing robot according to claim 6, characterized in that: the driven wheel (204) is connected with the bottom support (201) through a fixed seat (207), and a bearing is arranged at the matching position of the fixed seat (207) and the bottom support (201) to form a universal wheel structure.

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