WO2022062683A1

WO2022062683A1 - Robot

Info

Publication number: WO2022062683A1
Application number: PCT/CN2021/110362
Authority: WO
Inventors: 唐亚明
Original assignee: 灵动科技（北京）有限公司
Priority date: 2020-09-27
Filing date: 2021-08-03
Publication date: 2022-03-31
Also published as: CN112174040B; CN112174040A

Abstract

Disclosed in the present application is a robot. The robot comprises a body, with a plurality of drive wheels arranged at the bottom thereof, and a bearing component, which is arranged on the body and, when in a first operating state, is positioned at a rear side of the body, wherein the bearing component comprises a bearing surface, a follower wheel and a lifting mechanism; the follower wheel is connected below the bearing surface by means of the lifting mechanism; and the lifting mechanism executes a lifting action to drive the follower wheel to ascend or descend relative to the bearing surface. The technical solution provided in an embodiment of the present application is simple in structure and low in cost.

Description

robot

cross reference

This application refers to Chinese Patent Application No. 2020110340166 filed on September 27, 2020, entitled "Robot", the entire contents of which are incorporated into this application by reference.

technical field

The present application relates to the field of intelligent handling devices, and in particular, to a robot.

Background technique

Handling robots are industrial robots that can perform automated handling operations. Handling is the use of a piece of equipment to hold or support workpieces, goods, etc., and move them from one location to another. The handling robot can be installed with different end effectors to complete the handling of goods in various shapes and states, which greatly reduces the heavy manual labor of human beings.

For example, for handling robots used in warehouses or supermarkets, the end effector is mainly a jacking mechanism, which lifts and transports it to its destination. The existing jacking mechanism has a complex structure and high cost.

SUMMARY OF THE INVENTION

In order to solve or improve the problems existing in the prior art, the embodiments of the present application provide a robot with a simple structure.

In one embodiment of the present application, a robot is provided. The robot includes:

The body, the bottom of which is provided with a plurality of driving wheels;

a bearing member, which is arranged on the body and is located on the rear side of the body in the first working state;

Wherein, the bearing member includes a bearing surface, a follower wheel and a lifting mechanism; the follower wheel is connected under the bearing surface through the lifting mechanism; The bearing surface is raised or lowered.

Further, the bearing member also has a second working state; in the second working state, the bearing member is retracted into the body.

Further, an accommodating cavity is provided on the body; the accommodating cavity is used for accommodating the bearing member; the bearing member and the body are connected by a telescopic actuator; the telescopic action is performed by the telescopic actuator , to realize that the bearing member extends from the accommodating cavity to the body to be in the first working state, or retracts into the accommodating cavity from the rear side of the body to be in the second working state condition.

Further, the lifting mechanism includes: a motor for outputting rotational power; an execution component, connected with the motor, for converting the rotational power into linear power; a first link, the first end of which is connected to the execution component The linear power end is hinged, and the second end is hinged with the follower wheel; the second link, the first end of which is hinged on the bottom of the bearing surface, and the second end is hinged with the follower wheel; Under the action, by changing the size of the included angle between the first link and the second link, the distance between the follower wheel and the bearing surface is changed.

Further, the lifting mechanism includes: an in-wheel motor for outputting rotational power; a gear set, connected with the in-wheel motor; a wheel connecting rod, one end of which is connected with the axle of a gear in the gear set, and the other end is connected with the wheel shaft of a gear in the gear set. The follower wheel is hinged; through the drive of the hub motor and the gear set, the angle between the wheel connecting rod and the bearing surface is changed, so as to realize the change of the distance between the follower wheel and the bearing surface.

Further, the bearing surface has a front end close to the body, and a rear end away from the body; the follower wheel is arranged at the rear end; the front end is connected with the body through a movable mechanism; the movable The mechanism changes the relative positional relationship between the front end and the body according to the distance between the follower wheel and the bearing surface, so that the bearing surface is horizontal.

Further, the moving mechanism includes: a telescopic assembly, which is arranged on the body and has a fixed part and a telescopic part, the fixed part is provided with a telescopic hole, the telescopic part is inserted into the telescopic hole, and can be inserted into the telescopic hole. move in the telescopic hole; a connecting member, connecting the front end of the bearing surface and the exposed end of the telescopic rod; a third link, one end of which is hinged with the connecting member, and the other end is hinged with the fixing member ; When the rear end of the bearing surface rises and falls due to the follower wheel, the telescopic component of the telescopic assembly follows to change the height of the front end of the bearing surface, so that the bearing surface is horizontal.

Further, the robot further comprises: a fourth connecting rod, one end of which is connected to the axle of a gear in the gear set; a telescopic rod, one end of which is hinged to the other end of the third connecting rod, and the other end is hinged to the other end of the third connecting rod. The bottom of the front end of the bearing surface; the fifth link, one end of which is hinged to the bottom of the front end of the bearing surface, and the other end is hinged to the connecting member.

Further, the follower wheel includes two small wheels arranged in the front and rear; the two small wheels are connected by a sixth connecting rod; the other end of the wheel connecting rod is hinged with the fourth connecting rod.

Further, an auxiliary wheel is provided at the bottom of the front end of the bearing surface; after the bearing surface is lifted, the auxiliary wheel is separated from the ground; after the bearing surface is lowered, the auxiliary wheel is in contact with the ground.

In the technical solutions provided by the embodiments of the present application, the autonomous movement control device on the robot enables the robot to move autonomously on the running surface; the carrying component is located on the rear side of the body in the first working state, wherein the carrying component It includes a bearing surface, a follower wheel and a lifting mechanism, the follower wheel is arranged below the bearing surface, and the lifting mechanism performs a lifting action to realize the The lifting and lowering of the bearing surface can further lift the load on the bearing surface or perform subsequent handling work; the realization structure is simple and the cost is low.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 shows a schematic structural diagram of a robot provided by an embodiment of the present application;

2 is a schematic diagram of the lifting mechanism of the first realization structure of the robot provided by an embodiment of the application, and the lifting of the bearing surface;

3 is a schematic diagram of the lifting mechanism of the second realization structure adopted by the robot provided by an embodiment of the present application, and the bearing surface is not lifted;

4 is a schematic diagram of the lifting mechanism of the second realization structure of the robot provided by an embodiment of the application, and the lifting of the bearing surface;

FIG. 5 is a schematic diagram of a lifting mechanism of a third realization mechanism adopted by a robot according to an embodiment of the present application.

detailed description

In order to make those skilled in the art better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different components, elements, structures, etc., and do not represent a sequence, nor do they limit "first" and "second" are different types. In addition, the embodiments described below are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.

FIG. 1 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in FIG. 1 , the robot includes: a body 10 , a plurality of driving wheels 20 , an autonomous movement control device (not shown in the figure) and a bearing member 40 . specifically:

A plurality of driving wheels 20 are arranged on the bottom of the body 10 . The autonomous movement control device is arranged on the body 10 and is used to control the actions of the plurality of driving wheels 20, so that the body 10 has the ability to move autonomously on the running surface. The bearing member 40 is arranged on the body 10 and is located at the rear side of the body 10 in the first working state.

Specifically, the bearing member 40 includes a bearing surface 401 , a follower wheel 402 and a lifting mechanism 403 . The follower wheel 402 is connected below the bearing surface 401 through a lifting mechanism 403 , and the lifting mechanism 403 performs a lifting action to drive the follower wheel 402 to rise or fall relative to the bearing surface 401 .

During specific implementation, the autonomous mobile control device may include: sensors (such as visual sensors, radar, etc.), controllers, positioning devices, communication components (such as Bluetooth, WiFi, 4G, 5G network communication devices), etc. This embodiment This is not specifically limited. The autonomous mobile control device senses the surrounding environment through the sensor, and the controller plans the path according to the sensed environmental information, the positioning information of the positioning device, the destination position information, etc., and controls the actions of the plurality of driving wheels according to the planned path. (such as turning, straight, etc.), so that the robot has the ability to move autonomously.

In the technical solutions provided by the embodiments of the present application, the lifting mechanism can be realized by adopting the following structures. What needs to be added here is that the internal structure of the robot body corresponding to the lifting mechanism of different structures may be different, and the working principle and working process of the lifting mechanism may also be different. Each implementation structure and lifting principle are described below.

The first implementation structure

As shown in FIG. 1 and FIG. 2 , the lifting mechanism includes: a motor 4031 , an actuator 4032 , a first link 4033 and a second link 4034 . Among them, the motor 4031 is used to output rotational power. The actuator 4032 is connected with the motor 4031 and is used for converting the rotational power into linear power. In this embodiment of the present application, the execution component 4032 may be specifically a lead screw nut structure. The lead screw is driven by the motor 4031 to rotate, and the nut arranged on the lead screw converts the rotational power into linear power. The first link 4033 is hinged with the linear power end of the actuator assembly 4032 at the first end, and is hinged with the follower wheel 402 at the second end. The first end of the first link 4033 can slide back and forth in the direction of the linear power provided by the actuator 4032 under the linear power provided by the actuator 4032 . The first end of the second link 4034 is hinged to the bottom of the bearing surface 401 , and the second end is hinged to the follower wheel 402 .

Under the action of the linear power provided by the actuator 4032, the first end of the first link 4033 of the lifting mechanism can change the position of the first end of the first link 4033 on the actuator 4032, so that the first link can be changed The size of the included angle between 4033 and the second connecting rod 4034 realizes the change of the distance between the follower wheel 402 and the bearing surface 401 .

Specifically, the lifting principle of the lifting mechanism is as follows:

The bearing surface 401 , the first link 4033 and the second link 4034 form a triangle, and the hinged position of the bearing surface 401 and the second link 4034 is fixed. When the lifting mechanism needs to be lifted, as shown in FIG. 1 , the motor 4031 rotates in the first direction to generate rotational power, and the actuator 4032 connected to the motor 4031 converts the rotational power into the actuator 4032 itself under the drive of the motor 4031 . Linear power, driven by the linear power, the first end of the first link 4033 slides on the actuator 4032 in the direction away from the body 10, so that the angle between the first link 4033 and the second link 4034 is slow Slowly becomes smaller, and subsequently, the distance between the follower wheel 402 and the bearing surface 401 becomes larger, that is, the bearing surface 401 is lifted, as shown in FIG. 2 . The carrying surface 401 is lifted, that is, the load on the carrying surface, such as the pallet and the objects on the pallet, leaves the ground and has a certain distance from the ground, and the robot body can move to drag the load on the rear side to the destination.

Assuming that when the robot reaches the destination and needs to put down the load, as shown in Figure 2, the motor 4031 rotates in the opposite direction to generate rotational power, and the actuator 4032 connected to the motor 4031 converts the rotational power into a straight line of the actuator 4032 itself driven by the motor 4031. Power, driven by the linear power, the first end of the first link 4033 slides on the actuator 4032 in the direction close to the body 10, so that the angle between the first link 4033 and the second link 4034 is slowly As the distance increases, the distance between the follower wheel 402 and the bearing surface 401 decreases, that is, the bearing surface 401 descends.

The second implementation structure

As shown in FIG. 3 and FIG. 4 , the lifting mechanism includes a hub motor (not shown in the figure), a gear set (not shown in the figure) and a wheel connecting rod 4037 . Among them, the in-wheel motor is used to output rotational power. The gear set is connected with the hub motor. One end of the wheel connecting rod 4037 is connected with the wheel shaft of a gear in the gear set, and the other end is hinged with the follower wheel 402 .

The lifting mechanism changes the angle between the wheel connecting rod 4037 and the bearing surface 401 through the drive of the hub motor and the gear set, so as to realize the change of the distance between the follower wheel 402 and the bearing surface 401 . In specific implementation, the gear set may include a plurality of gears with meshing relationship, and the number of gears, meshing relationship, and the size and number of teeth of each gear can be determined based on actual design requirements, which are not specifically limited in this embodiment.

Further, as shown in FIGS. 3 and 4 , the bearing surface 401 has a front end close to the body and a rear end away from the body 10 . The follower wheel 402 can be arranged at the rear end, and the front end is connected to the body 10 through a movable mechanism. The movable mechanism changes the relative positional relationship between the front end and the body 10 according to the distance between the follower wheel 402 and the bearing surface 401, so that the bearing surface 401 is horizontal.

Specifically, the movable mechanism may include: a telescopic assembly, a connecting member 502 and a third link 503 . Specifically, the telescopic assembly is provided on the body 10 and has a fixed part 5011 and a telescopic part 5012. The fixed part 5011 is provided with a telescopic hole, and the telescopic part 5012 is inserted into the telescopic hole and can move in the telescopic hole. The connecting member 502 connects the front end of the bearing surface 401 and the exposed end of the telescopic member 5012 . One end of the third link 503 is hinged with the connecting member 502 and the other end is hinged with the fixing member 5011 ; when the rear end of the bearing surface 401 moves up and down due to the follower wheel 402 , the telescopic member 5012 of the telescopic assembly 501 follows to change the bearing surface 401 . The height of the front end makes the bearing surface 401 level.

Further, the movable mechanism further includes: a fourth connecting rod 504 , a telescopic rod 505 and a fifth connecting rod 506 . One end of the fourth connecting rod 504 is connected to the axle of a gear in the gear set. One end of the telescopic rod 505 is hinged to the other end of the fourth link 504 , and the other end is hinged to the bottom of the front end of the bearing surface 401 . One end of the fifth link 506 is hinged to the bottom of the front end of the bearing surface 401 , and the other end is hinged to the connecting member 502 .

Further, the follower wheel 402 includes two small wheels 4021 arranged in the front and rear, as shown in FIG. .

In a specific implementation, an auxiliary wheel 405 may also be provided at the bottom of the front end of the bearing surface 401 , and after the bearing surface 401 is lifted, the auxiliary wheel 405 is separated from the ground. After the bearing surface 401 descends, the auxiliary wheels 405 come into contact with the ground.

Specifically, the lifting principle of the lifting mechanism is as follows:

When the bearing surface 401 needs to be lifted, as shown in FIG. 3 , the hub motor rotates in one direction to output rotational power, the rotational power of the hub motor drives the gear set connected to the hub motor to rotate, and the wheel shaft of a gear in the gear set rotates to drive the wheel connection The lever 4037 turns clockwise (direction x in Figure 3). 4, the wheel link 4037 rotates clockwise so that the angle between the wheel link 4037 and the bearing surface 401 increases, so that the distance between the follower wheel 402 and the bearing surface 401 increases from D to D', that is, The bearing surface 401 rises away from the rear end of the body. At the same time, the fourth link 504 also rotates from the posture shown in FIG. 3 to the posture shown in FIG. 4 . That is, the end of the fourth link 504 connected to the telescopic rod 505 moves in a direction away from the body. The telescopic rod 505 also needs to extend the length of the rod and rotate to a certain angle due to the change in the posture of the fourth link, so as to drive the fifth link 506 to move, so that the connecting part rises, and then the height of the front end of the bearing surface 401 is increased, so as to carry the load Face 401 remains horizontal. After the bearing surface 401 is lifted, the auxiliary wheel 405 is separated from the ground. The carrying surface 401 is lifted, that is, the load on the carrying surface, such as the pallet and the objects on the pallet, leaves the ground and has a certain distance from the ground, the robot body can move to drag the load on the rear side to the destination.

Assuming that when the robot reaches the destination and needs to put down the load, as shown in Figure 4, the hub motor rotates in the opposite direction to output rotational power. The rotational power of the hub motor drives the gear set connected to the hub motor to rotate, and the axle of a gear in the gear set drives the The wheel connecting rod 4037 connected by the wheel shaft rotates counterclockwise (in the y direction in Figure 4), and the wheel connecting rod 4037 rotates counterclockwise to make the angle between the wheel connecting rod 4037 and the bearing surface 401 smaller, so that the follower wheel 402 and the bearing surface 401 are smaller. The distance between the bearing surfaces 401 becomes smaller, that is, the bearing surfaces 401 descend away from the rear end of the body. At the same time, the end of the fourth link 504 that is hinged with the telescopic rod 505 moves in a direction close to the body. Due to the movement of the fourth link 504, the telescopic rod needs to be retracted and the angle needs to be changed, as shown in FIG. 4 . , the telescopic rod changes the angle to the horizontal position in the figure (that is, the angle between the telescopic rod and the horizontal plane is 0 degrees). The change of the telescopic rod drives the action of the fifth link 506 to lower the connecting member 502 , thereby reducing the height of the front end of the bearing surface 401 , so that the bearing surface 401 remains horizontal. After the bearing surface 401 descends, the auxiliary wheels 405 come into contact with the ground.

The third realization structure

Referring to FIG. 5 , the lifting mechanism includes: a jacking motor 4038, a jacking assembly 4039, a support base 4040, a folding lifting bracket 4041, a bearing surface 401, and a driven wheel (not shown in the figure). Among them, the jacking motor 4038 is used to output rotational power. The jacking assembly 4039 is connected to the jacking motor 4038, and is used for converting the rotational power into the jacking force. The support base 4040 is used to support the folding lifting bracket 4041 . The folding lifting bracket 4041 is composed of two sets of cross-hinged support rods 40411, the upper part is hinged with the bearing surface 401 and the upper part of one of the support rods can slide relative to the bearing surface, and the lower part is hinged with the support seat 4040 and the lower part of one of the support rods can slide. By sliding relative to the support base, by folding and opening the folding lifting bracket 4041 , the lifting and lowering of the bearing member 40 can be realized.

Specifically, the jacking assembly 4039 may include: a lead screw nut mechanism and a jacking rod. One end of the jacking rod is hinged with the nut in the lead screw nut mechanism, and the other end is hinged with the support rod 40411 . Under the action of the jacking force provided by the jacking assembly 4039, the end of the lifting mechanism close to the motor 4038 can change the size of the angle between the two sets of cross-hinged support rods 40411 of the folding lifting bracket 4041 to realize the lifting of the bearing surface 401.

Specifically, the lifting principle of the lifting mechanism is as follows:

When the bearing surface 401 needs to be lifted, the jacking motor 4038 rotates in one direction to generate rotational power, and the jacking assembly 4039 connected to the jacking motor 4038 converts the rotational power into a jacking force under the driving of the motor 4038, and under the action of the jacking force Then, the angle between the two sets of cross-hinged support rods 40411 of the folding lift bracket 4041 becomes smaller, and subsequently, the distance between the driven wheel 4042 and the bearing surface 401 increases, that is, the bearing surface 401 is lifted.

When the bearing surface needs to be lowered, the jacking motor 4038 rotates in the opposite direction to generate rotational power. The jacking assembly 4039 connected to the jacking motor 4038 converts the rotational power into a recovery force driven by the motor 4038, and is driven by the recovery force. , the angle between the two sets of cross-hinged support rods 40411 of the folding lift bracket 4041 increases, and subsequently, the distance between the driven wheel 4042 and the bearing surface 401 decreases, that is, the bearing surface 401 descends.

It should be noted here that the body of the robot corresponding to the lifting mechanism only needs to be slidably connected with the bearing member 40 , and the internal structure of the body is not specifically limited here.

In the technical solutions provided by the embodiments of the present application, the bearing member 40 also has a second working state. In the second working state, the carrying member 40 is retracted into the body 10 . Correspondingly, an accommodating cavity is provided on the body 10 , and the accommodating cavity is used for accommodating the bearing member 40 . The carrying member 40 and the body 10 can be connected by a telescopic actuator, and the telescopic actuator is used to perform a telescopic action, so that the carrying member 40 extends from the accommodating cavity to the body 10 to be in the first working state, or retracts from the rear side of the body 10 to the container. placed in the cavity to be in the second working state.

The bearing member 40 is accommodated by arranging the accommodating cavity, so that the bearing member 40 is located in the body 10 and does not protrude from the body 10, thereby saving space. In addition, the top opening of the above-mentioned accommodating cavity is provided on the top of the body 10, and the side opening is provided on the side of the body 10, that is, the top of the above-mentioned accommodating cavity is communicated with the outside world, so that the lifting mechanism can lift and lower, and the side surface of the accommodating cavity is connected to the outside world. Connected to facilitate the expansion and contraction of the telescopic actuator. In addition, the above-mentioned accommodating cavity may only penetrate through the top of the body 10 , or may penetrate both the top and the bottom of the body 10 . In addition, the above-mentioned telescopic actuator can drive the bearing surface to extend out of the side of the accommodating cavity, or shrink into the side of the accommodating cavity, and the lifting mechanism can drive the bearing surface to rise above the top of the accommodating cavity, or descend to the side of the accommodating cavity. below the top of the cavity.

What needs to be added here is that the above-mentioned plurality of driving wheels 20, follower wheels 402 and driven wheels can all be set as universal wheels, which is convenient for turning in all directions, improves the flexibility of transportation, and is suitable for cargo transportation in narrow spaces. 's transportation.

It should be noted that although the specific embodiments of the present application have been described in detail with reference to the accompanying drawings, they should not be construed as limiting the protection scope of the present application. Within the scope described in the embodiments of the present application, various modifications and deformations that can be made by those skilled in the art without creative efforts still belong to the protection scope of the present application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims

A robot, characterized in that it includes:

The body, the bottom of which is provided with a plurality of driving wheels;

a bearing member, which is arranged on the body and is located on the rear side of the body in the first working state;

Wherein, the bearing member includes a bearing surface, a follower wheel and a lifting mechanism; the follower wheel is connected under the bearing surface through the lifting mechanism; The bearing surface is raised or lowered.
The robot according to claim 1, wherein the carrying member further has a second working state;

In the second working state, the carrier part is retracted into the body.
The robot according to claim 2, wherein the body is provided with a accommodating cavity;

the accommodating cavity is used for accommodating the bearing member;

The bearing member is connected with the body through a telescopic actuator;

The telescopic action is performed by the telescopic actuator, so that the bearing member extends from the accommodating cavity to the body to be in the first working state, or retracts into the accommodating body from the rear side of the body inside the cavity to be in the second working state.
The robot according to any one of claims 1 to 3, wherein the lifting mechanism comprises:

The motor is used to output rotational power;

an execution component, connected with the motor, for converting rotational power into linear power;

a first connecting rod, the first end of which is hinged with the linear power end of the actuator, and the second end is hinged with the follower wheel;

a second connecting rod, the first end of which is hinged to the bottom of the bearing surface, and the second end is hinged to the follower wheel;

Under the action of the linear power, the distance between the follower wheel and the bearing surface can be changed by changing the size of the included angle between the first link and the second link.
The robot according to any one of claims 1 to 3, wherein the lifting mechanism comprises:

In-wheel motor for outputting rotational power;

a gear set, connected with the hub motor;

a wheel connecting rod, one end of which is connected with the wheel shaft of a gear in the gear set, and the other end is hinged with the follower wheel;

Through the driving of the in-wheel motor and the gear set, the angle between the wheel connecting rod and the bearing surface is changed, so as to realize the change of the distance between the follower wheel and the bearing surface.
The robot according to claim 5, wherein the bearing surface has a front end close to the body and a rear end away from the body;

the follower wheel is arranged at the rear end;

The front end is connected with the body through a movable mechanism;

The movable mechanism changes the relative positional relationship between the front end and the body according to the distance between the follower wheel and the bearing surface, so that the bearing surface is horizontal.
The robot according to claim 6, wherein the movable mechanism comprises:

The telescopic assembly is arranged on the body, and has a fixed part and a telescopic part, the fixed part is provided with a telescopic hole, and the telescopic part is inserted into the telescopic hole and can move in the telescopic hole;

a connecting part, connecting the front end of the bearing surface and the exposed end of the telescopic rod;

a third connecting rod, one end of which is hinged with the connecting member, and the other end is hinged with the fixing member;

When the rear end of the bearing surface rises and falls due to the follower wheel, the telescopic component of the telescopic assembly follows to change the height of the front end of the bearing surface, so that the bearing surface is horizontal.
The robot of claim 7, further comprising:

a fourth connecting rod, one end of which is connected with the axle of a gear in the gear set;

a telescopic rod, one end of which is hinged to the other end of the fourth connecting rod, and the other end is hinged to the bottom of the front end of the bearing surface;

One end of the fifth link is hinged to the bottom of the front end of the bearing surface, and the other end is hinged to the connecting member.
The robot according to claim 5, wherein the follower wheel comprises two small wheels arranged in the front and rear;

The two small wheels are connected by a sixth connecting rod;

The other end of the wheel link is hinged with the fourth link.
The robot according to claim 6, wherein an auxiliary wheel is provided at the bottom of the front end of the bearing surface;

After the bearing surface is lifted, the auxiliary wheel leaves the ground;

After the bearing surface is lowered, the auxiliary wheel contacts the ground.