CN212471523U - Multifunctional carrying robot - Google Patents

Abstract

The utility model provides a multi-functional delivery robot belongs to the robotechnology field. It has solved the problem that current robot meets emergency and easily emptys. This multi-functional delivery robot, include the base and locate the goods shelves on the base, the left side of base is equipped with left wheel, its right side is equipped with right wheel, left wheel and the coaxial and symmetry setting of right wheel, be equipped with at least one parking pole on the base and be used for driving the motion of parking pole and make the one end of parking pole support and lean on the planar drive assembly of walking, when the one end of parking pole supports and leans on the walking plane, the one end that parking pole and walking plane support and lean on is located the projected place ahead and/or the rear of axis of left wheel on the walking plane. The utility model discloses a set up the parking pole and can prevent effectively that the robot from empting, stability is good.

Description

Multifunctional carrying robot

Technical Field

The utility model belongs to the technical field of the robot, a multi-functional delivery 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, can execute tasks in polluted environments and dangerous environments, and can replace manual execution of 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 an all-round self-balancing mobile robot based on an infrared sensor [ application publication No. CN109941375A ], which comprises an object stage, a moving mechanism and a control mechanism, wherein the balance of the object stage is maintained by the control mechanism, so as to prevent the object stage from tilting upwards or backwards to cause tipping or side turning over when the object stage bumps on a road. The control mechanism comprises an infrared sensor and a fuzzy PD controller, the infrared sensor is symmetrically fixed at two ends of the lower detection surface of the objective table, and the fuzzy PD controller is electrically connected with the infrared sensor and the driving motor.

The robot described above has the following problems: the driving wheel is driven by the driving motor, and meanwhile, the balance state of the robot is corrected through the output of the driving motor, and the action of the driving wheel and the balance state of the robot are mutually influenced, so that the control on the state of the robot is not facilitated; when the driving wheel of the robot collides with an obstacle at a high speed, the object stage inclines forwards due to inertia, so that the robot is toppled, and the robot is not beneficial to be recycled in a limit space.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problems in the prior art, and provides a multifunctional carrying robot which is not easy to topple.

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

multifunctional carrying robot, include the base and locate the goods shelves on the base, the left side of base is equipped with left wheel, and its right side is equipped with right wheel, left wheel and the coaxial and symmetry setting of right wheel, the base on be equipped with at least one parking pole and be used for driving parking pole motion and make the one end of parking pole support and lean on the planar drive assembly of walking, when the one end of parking pole supports and leans on the walking plane, the one end that parking pole and walking plane support and lean on is located the projected place ahead and/or rear of axis of left wheel on the walking plane.

When the robot is in the normal driving process, only the left wheel and the right wheel are in contact with the walking plane. The left wheel is driven by a hub motor arranged in the left wheel, the right wheel is driven by a hub motor arranged in the right wheel, the robot moves straight when the rotating speeds of the left wheel and the right wheel are the same, and the robot can steer when the rotating speeds of the left wheel and the right wheel are different. The wheel hub motor comprises an inner stator and an outer rotor sleeved on the inner stator, and the outer rotor rotates around the central axis of the inner stator during working to fix the wheel on the outer rotor of the wheel hub motor.

In order to ensure the balance of the robot, the center of gravity of the robot is positioned right above the projection line of the central axis of the left wheel/the right wheel on the walking plane. When the robot meets emergency and will take place to empty, the signal is sensed to the gyroscope chip that sets up on goods shelves or base, gives control circuit board with signal transmission, and control circuit board control drive assembly moves, makes the pole swing or oscilaltion of parking, makes the one end of parking pole support and lean on to the walking plane, can prevent that the robot from empting through the reaction force of walking plane to the pole of parking.

The parking rod has three setting modes: one end of the parking rod, which is abutted against the walking plane, is positioned in front of the projection of the central axis of the left wheel on the walking plane, and the robot can be prevented from toppling forwards through the parking rod; one end of the parking rod, which is abutted against the walking plane, is positioned behind the projection of the central axis of the left wheel on the walking plane, and the robot can be prevented from falling backwards through the parking rod; the parking rods are at least two, one end of at least one parking rod, abutted against the walking plane, is positioned in front of the projection of the central axis of the left wheel on the walking plane, and the other ends of the parking rods, abutted against the walking plane, are positioned behind the projection of the central axis of the left wheel on the walking plane, so that the robot can be prevented from toppling forwards and backwards.

In the above multifunctional carrying robot, the number of the parking rods is two: when one end of the first parking rod is abutted against the walking plane, one end of the first parking rod abutted against the walking plane is positioned in front of the projection of the central axis of the left wheel on the walking plane, and when one end of the second parking rod is abutted against the walking plane, one end of the second parking rod abutted against the walking plane is positioned behind the projection of the central axis of the left wheel on the walking plane. The robot is prevented from toppling forwards through the first parking rod, and the robot is prevented from toppling backwards through the second parking rod. In order to ensure the balance of the robot, the first parking rod and the second parking rod are symmetrically distributed along the gravity center line of the robot.

In foretell multi-functional carrying robot, the base on be equipped with the first perforation in the projected the place ahead on the base that is located the axis of left wheel and the second perforation in the projected rear of axis on the base that is located the left wheel, first parking pole wear to establish in first perforation, second parking pole wear to establish in the second perforation.

The first parking rod penetrating through the first through hole is vertical or inclined relative to the base, and the driving assembly drives the parking rod to lift up and down along the length direction of the parking rod; the second parking rod penetrating through the second through hole is arranged vertically or obliquely relative to the base, and the driving assembly drives the parking rod to ascend and descend vertically along the length direction of the parking rod.

In foretell multi-functional carrying robot, the quantity of drive assembly equals and drive assembly and parking pole one-to-one setting with the quantity of parking pole, drive assembly including fix first motor on the base, coaxial locate the epaxial gear of the pivot of first motor and with the rack that this gear engagement set up, the rack fix on the parking pole that corresponds the setting with it and extend along the length direction of parking pole.

The driving assembly drives the parking rod correspondingly arranged to move, the first motor drives the gear to rotate during working, the gear is meshed with the rack, and therefore the rack is driven to move along the length direction of the rack, and finally the parking rod is driven to move along the length direction of the rack. The rack can be arranged on the side part of the parking rod, and the rack and the parking rod are integrally formed; or a plurality of teeth which are uniformly distributed along the length direction of the parking rod are arranged on the side part of the parking rod, and a rack is formed by the plurality of teeth and the parking rod. In addition to the above-described drive assembly, a hydraulic cylinder/air cylinder or the like may be used as the drive assembly, and the extension of the piston thereof may drive the parking rod to move in the longitudinal direction thereof.

In the multifunctional carrying robot, the base is fixed with a first guide block and a second guide block, the first guide block is provided with a first guide groove opposite to the first through hole, the first parking rod is in sliding fit with the first guide groove, the second guide block is provided with a second guide groove opposite to the second through hole, and the second parking rod is in sliding fit with the second guide groove.

The cross-section of parking pole is the rectangle, and first guide way surrounds trilateral the first parking pole, and the rack that corresponds the setting with first parking pole is located one side that first parking pole was not surrounded by first guide way, and the cooperation gear can carry on spacingly to first parking pole, and first parking pole just moves along its length direction when gear revolve. The second guide way surrounds the second parking rod on three sides, the rack which is correspondingly arranged with the second parking rod is positioned on one side of the second parking rod which is not surrounded by the second guide way, the second parking rod can be limited by the matching gear, and the second parking rod moves along the length direction when the gear rotates.

In foretell multi-functional carrying robot, the front portion of base is equipped with first extension seat, first parking pole wear to establish in first extension seat, the rear portion of base is equipped with the second and extends the seat, second parking pole wear to establish in the second extension seat.

A first motor and a gear which drive the first parking rod to ascend and descend are arranged on the first extension seat, and a first motor and a gear which drive the second parking rod to ascend and descend are arranged on the second extension seat. Meanwhile, a battery, an electrical box and the like are arranged on the first extension seat and the second extension seat, and the control circuit board is arranged in the electrical box. In order to ensure the balance of the robot, the gravity center of a whole body formed by other structures except the left wheel and the right wheel is positioned right above the projection of the central axis of the left wheel on a walking plane, and the whole body comprises a base, a goods shelf, a first extending seat, a second extending seat, an electric box, a battery, a parking rod and a driving assembly.

In foretell multi-functional carrying robot, the left end of base is fixed with first backup pad, the right-hand member of base is fixed with the second backup pad, first backup pad and second backup pad between be equipped with and follow self axis pivoted drive shaft, the drive shaft extend along left right direction, the drive shaft on be fixed with the rocker, base and drive shaft before be equipped with and be used for making the drive shaft around self axis pivoted power component.

First backup pad and second backup pad symmetry set up, and on first backup pad was located to left wheel, on the second backup pad was located to right wheel, the goods shelves were connected to first backup pad and second backup pad through two links on, two links set up for the axis symmetry of left wheel. The inclination angle of the swing frame is adjusted by controlling the rotation of the driving shaft, so that the center of gravity of the robot is always positioned right above the projection of the central axis of the left wheel on the walking plane, and the balance of the robot is effectively guaranteed. The top end of the swing frame can be provided with a display screen/a camera/a sensor/an illuminating light source/a traction interface and the like, and the operations of shooting, gas detection, cable traction and the like can be realized. The central axis of the driving shaft is positioned right above the central axis of the left wheel.

In the above multifunctional carrying robot, the power assembly includes a second motor fixed on the base, a driving wheel coaxially disposed on a rotating shaft of the second motor, and a driven wheel coaxially disposed on the driving shaft, and the driving wheel is in transmission connection with the driven wheel. After the second motor is started, the output shaft of the second motor drives the driving wheel to rotate, the driving wheel is in transmission connection with the driven wheel through a transmission belt or other transmission modes, so that the driven wheel is driven to rotate, the driven wheel drives the driving shaft to rotate around the central axis of the driven wheel, the swing frame is driven to swing synchronously, and the purpose of adjusting the gravity center of the robot is achieved.

In the multifunctional carrying robot, the swing frame is hinged with a swing rod driven by a third motor, and a rotation center line of the swing rod horizontally extends along the left-right direction. The center of gravity of the robot can be finely adjusted through rotation of the swing rod, and meanwhile, the swing rod can touch/extrude various switch buttons, trigger signals and other actions. The swing rod is positioned on the upper part of the swing frame, the third motor is positioned in the middle or the lower part of the swing frame, and the transmission connection relationship between the swing rod and the third motor is as follows: a first driving wheel is arranged on a rotating shaft of the third motor, a second driving wheel is arranged on a rotating shaft of the swing rod, the first driving wheel and the second driving wheel are in transmission connection through a steel wire or a round belt, and the first driving wheel and the second driving wheel are steel wire wheels or belt wheels. When the third motor works, the first driving wheel is driven to rotate, and the first driving wheel drives the second driving wheel to rotate through a steel wire or a round belt, so that the swing rod swings.

In the multifunctional carrying robot, the left side of the first supporting plate is fixedly connected with a first limiting rod, the driving shaft is fixedly connected with a second limiting rod positioned on the left side of the first supporting plate, the driving shaft is sleeved with a first torsion spring, one end of the first torsion spring acts on the first limiting rod, and the other end of the first torsion spring acts on the second limiting rod; the right side of second backup pad has linked firmly the third gag lever post, the drive shaft on link firmly the fourth gag lever post that is located the second backup pad right side, the drive shaft on still the cover be equipped with the second torsional spring, the one end of second torsional spring is used in on the third gag lever post, its other end is used in on the fourth gag lever post, the power that first torsional spring was used in on the second gag lever post is opposite with the power that the second torsional spring was used in on the fourth gag lever post.

In the multifunctional carrying robot, a first bearing seat is arranged at the top end of the first supporting plate, the left end of the driving shaft penetrates through the first bearing seat, and the first limiting rod is fixed on the first bearing seat; the top of the second supporting plate is provided with a second bearing seat, the right end of the driving shaft penetrates through the second bearing seat, and the third limiting rod is fixed on the second bearing seat.

Set up the bearing between drive shaft and the first bearing frame, also set up the bearing between drive shaft and the second bearing frame, guarantee the drive shaft around the pivoted flexibility of self axis. When the swing frame is vertical, the elastic force of the first torsion spring acting on the second limiting rod is zero, and the elastic force of the second torsion spring acting on the fourth limiting rod is zero. When the swing frame tilts forwards/backwards, the elastic force of the first torsion spring acting on the second limiting rod is larger than zero, and the larger the forward/backward tilting angle of the swing frame is, the larger the elastic force of the first torsion spring acting on the second limiting rod is, and at the moment, the elastic force of the second torsion spring acting on the fourth limiting rod is zero; when the swing frame tilts backwards/forwards, the elastic force of the second torsion spring acting on the fourth limiting rod is larger than zero, and the larger the angle of the swing frame which tilts backwards/forwards is, the larger the elastic force of the second torsion spring acting on the fourth limiting rod is, and the elastic force of the first torsion spring acting on the second limiting rod is zero at the moment. The burden of the second motor can be effectively reduced.

Compared with the prior art, the multifunctional carrying robot has the following advantages:

the first parking rod and the second parking rod are arranged on the base and driven by different driving components, so that the robot can be prevented from toppling in case of emergency; the driving shaft is provided with the swing frame, the gravity center position of the robot can be adjusted by controlling the tilting angle of the swing frame, the adjustment is convenient, and the robot is in a balanced state; the burden of the second motor is reduced through the first torsion spring and the second torsion spring, so that the reliability and the stability are improved.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to a preferred embodiment of the present invention.

Fig. 2 is a cross-sectional view of a robot according to a preferred embodiment of the present invention.

Fig. 3 is a schematic view of a part of the structure of the robot according to the preferred embodiment of the present invention.

Fig. 4 is a schematic structural diagram of another part of the robot according to the preferred embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a part of a robot according to a preferred embodiment of the present invention.

Fig. 6 is an enlarged schematic view of a in fig. 4 according to the present invention.

Fig. 7 is an enlarged schematic view of the position B in fig. 3 according to the present invention.

In the figure, 1, a base; 2. a shelf; 3. a left wheel; 4. a right wheel; 5. a first parking lever; 6. a second parking lever; 7. a first motor; 8. a gear; 9. a rack; 10. a first guide block; 11. a second guide block; 12. a first extension base; 13. a second extension base; 14. a first support plate; 15. a second support plate; 16. a drive shaft; 17. placing a frame; 18. a second motor; 19. a driving wheel; 20. a driven wheel; 21. a third motor; 22. a swing rod; 23. a first limit rod; 24. a second limiting rod; 25. a first torsion spring; 26. a third limiting rod; 27. a fourth limiting rod; 28. a second torsion spring; 29. a first bearing housing; 30. a second bearing housing; 31. and a connecting frame.

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.

As shown in fig. 1, the multifunctional carrying robot comprises a base 1 and a shelf 2 arranged on the base 1, as shown in fig. 2, a first supporting plate 14 vertically arranged is fixed at the left end of the base 1, a second supporting plate 15 vertically arranged is fixed at the right end of the base 1, the first supporting plate 14 is symmetrically arranged with the second supporting plate 15, a left wheel 3 driven by a hub motor is arranged on the first supporting plate 14, a right wheel 4 driven by the hub motor is arranged on the second supporting plate 15, and the left wheel 3 is coaxially and symmetrically arranged with the right wheel 4. The left wheel 3 is driven by a hub motor arranged in the left wheel, the right wheel 4 is driven by a hub motor arranged in the right wheel, the robot moves straight when the rotating speeds of the left wheel and the right wheel are the same, and the robot can steer when the rotating speeds of the left wheel and the right wheel are different. The hub motor comprises an inner stator and an outer rotor sleeved on the inner stator, the outer rotor rotates around the central axis of the inner stator during working, and the left wheel 3/the right wheel 4 are fixed on the outer rotor of the hub motor correspondingly arranged with the outer rotor.

As shown in fig. 3 and 4, the goods shelf 2 is connected to the first support plate 14 and the second support plate 15 through two connecting frames 31, and the two connecting frames 31 are symmetrically arranged with respect to the central axis of the left wheel 3/the right wheel 4. As shown in fig. 6 and 7, a first bearing seat 29 is provided at the top end of the first support plate 14, a second bearing seat 30 is provided at the top end of the second support plate 15, a drive shaft 16 extending in the left-right direction is inserted into the first bearing seat 29 and the second support shaft, the center axis of the drive shaft 16 is positioned right above the center axis of the left wheel 3/the right wheel 4, a bearing is provided between the left end of the drive shaft 16 and the first bearing seat 29, and a bearing is provided between the right end thereof and the front of the second bearing seat 30.

As shown in fig. 3 and 4, a swing frame 17 located between the two connecting frames 31 is fixed on the driving shaft 16, the swing frame 17 is shaped like a door frame, one end of the swing frame 17 is sleeved on the driving shaft 16 and circumferentially and fixedly connected with the driving shaft 16 through a connecting key, the other end of the swing frame 17 is also sleeved on the driving shaft 16 and circumferentially and fixedly connected with the driving shaft 16 through a connecting key, and the goods shelf 2 is located on the inner side of the swing frame 17. The top end of the swing frame 17 can be provided with a display screen/camera/sensor/lighting source/traction interface and the like, so that the operations of shooting, gas detection, cable traction and the like can be realized. A swing link 22 driven by a third motor 21 is hinged on the swing frame 17, and the rotation center line of the swing link 22 horizontally extends along the left-right direction.

The center of gravity of the robot can be finely adjusted by rotating the swing link 22, and the swing link 22 can realize actions such as touching/squeezing various switch buttons, triggering signals and the like. The swing rod 22 is located at the upper part of the swing frame 17, the third motor 21 is located at the middle part or the lower part of the swing frame 17, and the transmission connection relationship between the swing rod and the third motor is as follows: a first steel wire wheel is arranged on a rotating shaft of the third motor 21, a second steel wire wheel is arranged on a rotating shaft of the swing rod 22, and the first steel wire wheel and the second steel wire wheel are in transmission connection through steel wires. When the third motor 21 is operated, the first wire wheel is driven to rotate, and the first wire wheel drives the second wire wheel to rotate through the steel wire, so that the swing rod 22 swings.

As shown in fig. 2 and 5, the base 1 and the driving shaft 16 are provided with a power assembly in front thereof for rotating the driving shaft 16 about its central axis. The inclination angle of the swing frame 17 is adjusted by controlling the rotation of the driving shaft 16, so that the center of gravity of the robot is always positioned right above the projection of the central axis of the left wheel 3 on the walking plane, and the balance of the robot is effectively ensured.

As shown in fig. 2 and 5, the power assembly includes a second motor 18 fixed on the base 1, a driving wheel 19 coaxially disposed on a rotating shaft of the second motor 18, and a driven wheel 20 coaxially disposed on the driving shaft 16, wherein the driving wheel 19 is in transmission connection with the driven wheel 20. After the second motor 18 is started, the output shaft of the second motor 18 drives the driving wheel 19 to rotate, the driving wheel 19 is in transmission connection with the driven wheel 20 through a transmission belt or other transmission modes, so that the driven wheel 20 is driven to rotate, the driven wheel 20 drives the driving shaft 16 to rotate around the central axis of the driving shaft, the swing frame 17 is driven to swing synchronously, and the purpose of adjusting the gravity center of the robot is achieved.

As shown in fig. 6, a first limiting rod 23 is fixedly connected to the left side of the first bearing seat 29, a second limiting rod 24 located on the left side of the first bearing seat 29 is fixedly connected to the driving shaft 16, a first torsion spring 25 is sleeved on the driving shaft 16, one end of the first torsion spring 25 acts on the first limiting rod 23, and the other end of the first torsion spring acts on the second limiting rod 24. As shown in fig. 7, the right side of the second bearing block 30 is fixedly connected with a third limiting rod 26, the driving shaft 16 is fixedly connected with a fourth limiting rod 27 located on the right side of the second bearing block 30, the driving shaft 16 is further sleeved with a second torsion spring 28, one end of the second torsion spring 28 acts on the third limiting rod 26, the other end of the second torsion spring 28 acts on the fourth limiting rod 27, and the force of the first torsion spring 25 acting on the second limiting rod 24 is opposite to the force of the second torsion spring 28 acting on the fourth limiting rod 27.

When the swing frame 17 is vertical, the elastic force of the first torsion spring 25 acting on the second limiting rod 24 is zero, and the elastic force of the second torsion spring 28 acting on the fourth limiting rod 27 is zero. When the swing frame 17 tilts forward/backward, the elastic force of the first torsion spring 25 acting on the second limiting rod 24 is greater than zero, and the greater the angle of forward/backward tilting of the swing frame 17 is, the greater the elastic force of the first torsion spring 25 acting on the second limiting rod 24 is, and at this time, the elastic force of the second torsion spring 28 acting on the fourth limiting rod 27 is zero; when the swing frame 17 tilts backward/forward, the elastic force of the second torsion spring 28 acting on the fourth stopper rod 27 is larger than zero, and the larger the angle of the swing frame 17 tilting backward/forward, the larger the elastic force of the second torsion spring 28 acting on the fourth stopper rod 27, and at this time, the elastic force of the first torsion spring 25 acting on the second stopper rod 24 is zero.

As shown in fig. 3 and 4, a first extension base 12 is disposed at the front of the base 1, a second extension base 13 is disposed at the rear of the base 1 and is symmetrical to the first extension base 12, a battery, an electrical box, and the like are disposed on the first extension base 12 and the second extension base 13, respectively, and a control circuit board is disposed in the electrical box. Be equipped with the first perforation of vertical setting on first extension seat 12, vertically wear to be equipped with first parking pole 5 in first perforation, extend the second perforation that is equipped with vertical setting on seat 13 at the second, wear to be equipped with second parking pole 6 in the second perforation, still be equipped with the drive assembly who is used for driving first parking pole 5 oscilaltion on first extension seat 12, still be equipped with the drive assembly who is used for driving second parking pole 6 oscilaltion on second extension seat 13.

As shown in fig. 5, when the lower end of the first parking rod 5 abuts against the walking plane, the lower end of the first parking rod 5 is located in front of the projection of the central axis of the left wheel 3 on the walking plane, and when the lower end of the second parking rod 6 abuts against the walking plane, the lower end of the second parking rod 6 is located behind the projection of the central axis of the left wheel 3 on the walking plane. The robot is prevented from toppling forwards through the first parking rod 5, the robot is prevented from toppling backwards through the second parking rod 6, and the first parking rod 5 and the second parking rod 6 are symmetrically distributed along the gravity center line of the robot.

As shown in fig. 2-5, the driving assembly includes a first motor 7 fixed on the base 1, a gear 8 coaxially disposed on a rotating shaft of the first motor 7, and a rack 9 engaged with the gear 8, wherein the rack 9 is fixed on a parking rod correspondingly disposed thereon and extends along a length direction of the parking rod. During operation, the first motor 7 drives the gear 8 to rotate, the gear 8 is meshed with the rack 9, so that the rack 9 is driven to move along the length direction of the rack, and finally the first parking rod 5/the second parking rod 6 are driven to lift up and down. In the present embodiment, the rack 9 is provided at the side of the parking lever, and the rack 9 and the parking lever are integrally formed.

As shown in fig. 4, a first guide block 10 is fixed to the first extension base 12, a second guide block 11 is fixed to the second extension base 13, the first guide block 10 has a first guide groove disposed opposite to the first through hole, the first parking rod 5 is slidably fitted to the first guide groove, the second guide block 11 has a second guide groove disposed opposite to the second through hole, and the second parking rod 6 is slidably fitted to the second guide groove. The cross section of first parking pole 5 and second parking pole 6 is the rectangle, and first guide way surrounds first parking pole 5 trilateral, and the rack 9 that corresponds the setting with first parking pole 5 is located first parking pole 5 one side not surrounded by first guide way, and cooperation gear 8 can carry on spacingly to first parking pole 5, and first parking pole 5 just moves along its length direction when gear 8 rotates. The second guide way surrounds the second parking rod 6 on three sides, the rack 9 correspondingly arranged with the second parking rod 6 is positioned on one side of the second parking rod 6 which is not surrounded by the second guide way, the matching gear 8 can limit the second parking rod 6, and the second parking rod 6 moves along the length direction when the gear 8 rotates.

In order to ensure the balance of the robot, the center of gravity of the whole body formed by other structures except the left wheel 3 and the right wheel 4 is positioned right above the projection of the central axis of the left wheel 3 on the walking plane. When the robot meets emergency and will take place to empty, the gyroscope chip that sets up on goods shelves 2 senses the signal, gives control circuit board with the signal transmission, and control circuit board control drive assembly moves. When the robot emptys forward, locate first motor 7 on first extension seat 12 and drive gear 8 and rotate, gear 8 and the rack 9 meshing that corresponds the setting with it to make its first parking pole 5 descend and lean on to the walking plane, prevent that the robot from continuing to emptys forward, adjustable first parking pole 5 descends simultaneously highly messenger robot resets. When the robot emptys backward, locate the second and extend the first motor 7 on the seat 13 and drive gear 8 and rotate, gear 8 and the rack 9 meshing that corresponds the setting with it to make its second parking pole 6 descend and lean on to the walking plane, prevent that the robot from continuing to emptys backward, adjustable second parking pole 6 descends simultaneously highly makes the robot reset.

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 (10)

1. The utility model provides a multi-functional delivery robot, includes base (1) and locates goods shelves (2) on base (1), the left side of base (1) is equipped with left wheel (3), and its right side is equipped with right wheel (4), left wheel (3) and coaxial and symmetry setting of right wheel (4), its characterized in that, base (1) on be equipped with at least one parking pole and be used for driving the motion of parking pole and make the one end of parking pole support and lean on the planar drive assembly of walking, when the one end of parking pole supports and lean on the walking plane, the one end that parking pole and walking plane support and lean on is located the projected place ahead and/or the rear of axis on the walking plane of left wheel (3).

2. The multi-function carrier robot of claim 1, wherein the parking levers are two: when one end of the first parking rod (5) is abutted against the walking plane, one end of the first parking rod (5) abutted against the walking plane is located in front of the projection of the central axis of the left wheel (3) on the walking plane, and when one end of the second parking rod (6) is abutted against the walking plane, one end of the second parking rod (6) abutted against the walking plane is located behind the projection of the central axis of the left wheel (3) on the walking plane.

3. The multi-functional carrying robot of claim 2, characterized in that, the base (1) is provided with a first through hole located in front of the projection of the central axis of the left wheel (3) on the base (1) and a second through hole located in back of the projection of the central axis of the left wheel (3) on the base (1), the first parking rod (5) is inserted into the first through hole, and the second parking rod (6) is inserted into the second through hole.

4. The multi-functional carrier robot of claim 1 or 2 or 3, characterized in that, the number of the drive components is equal to the number of the parking rods and the drive components and the parking rods are arranged in a one-to-one correspondence, the drive components include a first motor (7) fixed on the base (1), a gear (8) coaxially arranged on a rotating shaft of the first motor (7) and a rack (9) engaged with the gear (8), and the rack (9) is fixed on the parking rod correspondingly arranged and extends along the length direction of the parking rod.

5. A multi-function carrier robot as claimed in claim 2, wherein the base (1) is fixed with a first guide block (10) and a second guide block (11), the first guide block (10) is provided with a first guide groove opposite to the first through hole, the first parking rod (5) is slidably fitted with the first guide groove, the second guide block (11) is provided with a second guide groove opposite to the second through hole, and the second parking rod (6) is slidably fitted with the second guide groove.

6. The multi-purpose carrying robot according to claim 1, wherein a first supporting plate (14) is fixed to a left end of the base (1), a second supporting plate (15) is fixed to a right end of the base (1), a driving shaft (16) capable of rotating along a central axis of the driving shaft is arranged between the first supporting plate (14) and the second supporting plate (15), the driving shaft (16) extends in the left-right direction, a swing frame (17) is fixed to the driving shaft (16), and a power assembly for enabling the driving shaft (16) to rotate around the central axis of the driving shaft (16) is arranged in front of the base (1) and the driving shaft (16).

7. A multi-function carrier robot as claimed in claim 6, wherein the power assembly comprises a second motor (18) fixed on the base (1), a driving wheel (19) coaxially arranged on the rotating shaft of the second motor (18), and a driven wheel (20) coaxially arranged on the driving shaft (16), the driving wheel (19) and the driven wheel (20) are in transmission connection.

8. A multipurpose carrier robot as claimed in claim 6 or 7, wherein said swing frame (17) is hinged with a swing link (22) driven by a third motor (21), and the rotation center line of said swing link (22) horizontally extends in the left-right direction.

9. A multi-function carrier robot as claimed in claim 6, wherein the left side of the first support plate (14) is fixedly connected with a first stop lever (23), the driving shaft (16) is fixedly connected with a second stop lever (24) positioned at the left side of the first support plate (14), the driving shaft (16) is sleeved with a first torsion spring (25), one end of the first torsion spring (25) acts on the first stop lever (23), and the other end of the first torsion spring acts on the second stop lever (24); the right side of second backup pad (15) has linked firmly third gag lever post (26), drive shaft (16) on link firmly fourth gag lever post (27) that are located second backup pad (15) right side, drive shaft (16) on still the cover be equipped with second torsional spring (28), the one end of second torsional spring (28) is used in third gag lever post (26), its other end is used in fourth gag lever post (27), the power that first torsional spring (25) was used in second gag lever post (24) is opposite with the power that second torsional spring (28) was used in fourth gag lever post (27).

10. A multi-function carrier robot as defined in claim 9, wherein the top end of the first supporting plate (14) is provided with a first bearing seat (29), the left end of the driving shaft (16) is inserted into the first bearing seat (29), and the first stopper rod (23) is fixed on the first bearing seat (29); the top end of the second supporting plate (15) is provided with a second bearing seat (30), the right end of the driving shaft (16) penetrates through the second bearing seat (30), and the third limiting rod (26) is fixed on the second bearing seat (30).

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