CN108454342A - A kind of carrying robot - Google Patents

Abstract

The present invention relates to carrying transmission apparatus fields, specifically, it is related to a kind of carrying robot, including mobile device, front axle damper, rear axle damping and delivery stack, the front axle damper is connected to the front of the mobile device, the rear axle damping is connected to the rear portion of the mobile device, the delivery stack is connect with the mobile device, the delivery stack includes lifting apparatus, grabbing device and transport device, the lifting apparatus, the grabbing device and the transport device are fixedly connected with the mobile device, carrying robot can realize the carrying to article of storing in a warehouse, stacking, it is mobile, reduce the labour workload of worker, facilitate the management in warehouse.

Description

a carrier robot

technical field

The present invention relates to the field of carrying transmission equipment, in particular to a carrying robot.

Background technique

Item handling machines are mostly used in warehousing or factories. The purpose is to improve labor production efficiency, reduce the labor workload of employees, and increase production costs. The existing handling machines or handling structures either use simple mechanical structures or complex electrical systems. Simple mechanical The structure is easy to damage items during the handling process, and the handling method is single and inconvenient to use. Although the mechanical structure controlled by the electrical system has high control accuracy, the mechanical structure controlled by the electrical system is expensive to use, has high requirements for the environment, and is complicated to maintain. In the process, the items are transported to the carrier, and the items are neatly stacked on the carrier through artificial stacking. The labor workload is large, and the carrier is very inconvenient to use.

Contents of the invention

The object of the present invention is to provide a carrying robot, which can realize the handling, stacking and moving of stored items, reduce the labor workload of workers, and facilitate the management of the warehouse.

Embodiments of the present invention are achieved like this:

A carrier robot, comprising a mobile device, a front axle shock absorber, a rear axle shock absorber and a carrying stacking assembly, the front axle shock absorber is connected to the front of the mobile device, and the rear axle shock absorber is connected to the The rear part of the moving device, the carrying and stacking assembly is connected to the moving device, the carrying and stacking assembly includes a lifting device, a grabbing device and a transporting device, the lifting device, the grabbing device and the transporting device The devices are all fixedly connected to the mobile device.

In a preferred embodiment of the present invention, the above-mentioned mobile device includes a vehicle frame and a driving assembly, the front axle shock absorber and the rear axle shock absorber are both connected to the vehicle frame, and the carrying stacking assembly is connected to the vehicle frame The two sides of the shock absorber of the front axle are provided with front axles, the two sides of the shock absorber of the rear axle are provided with rear axles, the front axles are connected with front drive motors, and the rear axles are connected with rear drive motors, Both the front drive motor and the rear drive motor are drive-connected to the corresponding drive assembly.

In a preferred embodiment of the present invention, the above-mentioned driving assembly includes omni-directional wheels along the axis and omni-directional wheels against the axis. The two sides of the shock absorber of the front axle are provided with the omnidirectional wheels along the axis and the omnidirectional wheels against the axis. The omnidirectional wheels along the axis include rollers and rollers. It is arranged obliquely, and the rollers are connected to the outside of the rollers. The rollers on the forward-axis omni-directional wheels and the counter-axis omni-directional wheels are inclined in opposite directions, and the front drive motor and the rear drive motor are both connected There are said scroll wheels.

In a preferred embodiment of the present invention, the above-mentioned front axle shock absorber assembly includes a fixed rod, a transverse shock absorber, a longitudinal shock absorber and a connecting seat, and the transverse shock absorber includes a first connecting rod, a second connecting rod and spring, the first connecting rod and the second connecting rod are hinged with the frame, one end of the spring is fixedly connected with the first connecting rod, and the other end of the spring is connected with the second connecting rod The rods are fixedly connected, one end of the first connecting rod close to the spring is hinged with a first fixed rod, and one end of the second connecting rod close to the spring is hinged with a second fixed rod, and the first fixed rod is far away from the first fixed rod. One end of a connecting rod is hinged with a first connecting seat, and the end of the second fixed rod away from the second connecting rod is hinged with a second connecting seat. Both the first connecting seat and the second connecting seat are hinged to the front axle, and the first connecting seat and the vehicle frame are hinged respectively between the second connecting seat and the vehicle frame There are longitudinal shock absorbers.

In a preferred embodiment of the present invention, the above-mentioned rear axle damping assembly includes a fixing frame, a shock absorbing device, and a shock absorbing plate, the fixing frame is fixedly connected to the vehicle frame, the shock absorbing plate is connected to the fixing frame, Both sides of the fixed frame are hinged with rear axles, one end of the shock absorber is connected with the shock plate, the other end of the shock absorber is connected with the rear wheel axle, and a drive is arranged in the fixed frame. The power supply is electrically connected to the front drive motor and the rear drive motor.

In a preferred embodiment of the present invention, the above-mentioned lifting device includes a support column and a slide frame, the support column is fixed on both sides of the transport device, the slide frame is slidably connected to the support column, and the slide frame and the support column is provided with a transmission assembly for driving the carriage to move on the support column, and the carriages on both sides of the transportation device are symmetrically provided with fixed plates, and the fixed plates are connected with shovel plates, so The shoveling plate is fixedly connected with a power device, and the power device can control the shoveling plate to reciprocate toward the carriage.

In a preferred embodiment of the present invention, the above-mentioned transportation device includes a wheel shaft, a transmission frame and a drive motor, the transmission frame is connected to the vehicle frame, the wheel shaft is perpendicular to the transmission frame and is rotatably connected to the transmission frame, The drive motor is in transmission connection with the wheel shaft.

In a preferred embodiment of the present invention, the above-mentioned transmission assembly includes a rack and pinion mechanism and a lifting motor, the lifting motor is connected to the carriage, and the rack and pinion mechanism is a gear and a rack that mesh with each other. The gear is in transmission connection with the lifting motor, and the rack is connected with the support column.

In a preferred embodiment of the present invention, the above-mentioned transverse shock absorber is hinged to the vehicle frame through a first pin shaft, the longitudinal shock absorber is hinged to the vehicle frame through a second pin shaft, and the transverse shock absorber The shock absorber and the first fixed rod are hinged through the third pin, the transverse shock absorber and the second fixed rod are hinged through the fourth pin, and the first fixed rod and the first connecting seat are hinged through the fifth pin, so The second fixed rod and the second connecting seat are hinged through the sixth pin shaft, the first connecting seat and the second connecting seat are hinged with the front wheel shaft through the seventh pin shaft and the eighth pin shaft respectively, and the The first pin shaft, the second pin shaft, the third pin shaft, the fourth pin shaft, the fifth pin shaft, the sixth pin shaft, the seventh pin shaft and the first pin shaft The axis of the eight-pin shaft is vertical to the axis of the roller.

In a preferred embodiment of the present invention, the grabbing device is a mechanical claw, a mounting plate is fixed on the mechanical claw, a lifting rod is fixed on the vehicle frame, and the mounting plate is connected to the lifting rod by transmission.

The beneficial effects of the embodiments of the present invention are:

A carrier robot, including a mobile device, a front axle shock absorber, a rear axle shock absorber and a carrying stacking assembly, the front axle shock absorber is connected to the front of the mobile device, the rear axle shock absorber is connected to the rear of the mobile device, and the carrier stack The stacking assembly is connected with the mobile device. The shock absorption of the front axle and the rear axle reduces the vibration force of the carrying robot during the movement and ensures the stability of the carrying robot. The carrying stacking assembly includes a lifting device, a grabbing device and a transporting device. The device, grabbing device and transportation device are all fixedly connected to the mobile device. Through the carrier-to-many device, items can be placed on the carrier robot and stacked on the robot. The carrier robot will move the stacked items to other locations. The grabbing device stacks the items on the robot, and the carrying robot facilitates the management of stored items and reduces the labor intensity of labor.

The front axle shock absorber and the rear axle shock absorber adopt decentralized settings, and the two sides of the front axle shock absorber are separately hinged with the rollers, so that the shock absorber effect is better during the moving process of the robot, which improves the ability of the carrying robot to cross obstacles during the moving process. ability.

The omni-directional wheels along the axis and the omni-directional wheels against the axis adopt a pair design, which are respectively arranged on both sides of the frame, and each omni-directional wheel along the axis and the omni-directional wheel against the axis are driven separately. By controlling each omni-directional wheel along the axis The rotation direction of the directional wheel and the counter-axis omnidirectional wheel realizes the forward, horizontal movement and rotation of the carrier robot.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is a schematic structural diagram of a carrier robot in Embodiment 1 of the present invention;

2 is a schematic diagram of the drive structure of the carrier robot in Embodiment 1 of the present invention;

3 is a schematic diagram of the side structure of the driving structure of the carrier robot in Embodiment 1 of the present invention;

Fig. 4 is a schematic diagram of the shock absorbing structure of the front axle in Embodiment 1 of the present invention;

Fig. 5 is a schematic diagram of the damping structure of the rear axle in Embodiment 1 of the present invention,

Fig. 6 is a schematic structural diagram of a lifting device according to Embodiment 1 of the present invention;

Fig. 7 is a schematic structural diagram of the transportation device of Embodiment 1 of the present invention;

Fig. 8 is a schematic structural diagram of a driving device according to Embodiment 1 of the present invention.

Icons: 100-mobile device; 200-front axle shock absorber; 300-rear axle shock absorber; 400-stacking assembly; 410-lifting device; 420-grabbing device; 430-transportation device; 110-frame; 120- Drive assembly; 121-rear axle; 122-front axle; 123-front drive motor; 124-rear drive motor; 130-along-axis omnidirectional wheel; 140-counter-axis omnidirectional wheel; 210-the first fixed rod; 211-the second fixed rod; 220-transverse shock absorber; 230-longitudinal shock absorber; 240-the first connecting seat; 241-the second connecting seat; 221-the first connecting rod; 222 - second connecting rod; 223 - spring; 310 - fixed frame; 320 - shock absorbing device; 330 - shock absorbing plate; 411 - sliding frame; 412 - supporting column; 413 - transmission assembly; 414 - fixed plate; 416-power device; 431-axle; 432-transmission frame; 433-driving motor; 4131-rack and pinion mechanism; 4132-lifting motor; 421-installation plate;

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that a component is absolutely level or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

first embodiment

Please refer to Fig. 1, please refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, and in combination with Fig. 7 and Fig. 8, this embodiment provides a carrier robot , comprising a mobile device 100, a front axle shock absorber 200, a rear axle shock absorber 300 and a carrying stacker assembly 400, the front axle shock absorber 200 is connected to the front of the mobile device 100, and the rear axle shock absorber 300 is connected to the rear of the mobile device 100 part, the carrying and stacking assembly 400 is connected with the mobile device 100, the carrying and stacking assembly 400 includes a lifting device 410, a grabbing device 420 and a transport device 430, and the lifting device 410, the grabbing device 420 and the transporting device 430 are all fixed to the mobile device 100 connect.

Structural principle: the front part of the mobile device 100 is provided with a front axle shock absorber 200, and the rear part of the mobile device 100 is provided with a rear axle shock absorber 300. The vibration of the carrier robot ensures the stability during the moving process of the carrier robot. The carrier stacking device is fixed on the mobile device 100, and the mobile device 100 drives the carrier and stacker device to move during the moving process. The carrier and stacker assembly 400 includes a lifting device 410, a grabbing The device 420 and the transportation device 430, the lifting device 410, the grabbing device 420 and the transportation device 430 are all fixedly connected with the mobile device 100, and the robot is carried, and the mobile device 100 moves to the position where the item is placed, and the grabbing device 420 grabs the item , the grabbing device 420 places the article on the transportation device 430, transports the article to the lifting device 410, the lifting device 410 lifts the article, the grabbing device 420 grabs the article again and places it on the transportation device 430, and the transportation device 430 lifts the article Transported to the bottom of the lifting device 410, the lifting device 410 drives the first grabbed item down, places the first grabbed item on top of the second grabbed item, and then the lifting device 410 moves to the second grabbed item At the position, the first grabbing item and the second grabbing item are lifted at the same time, and the grabbing device 420 grabs the item again, repeating this, the lifting and transporting device 430 places the item on the transporting device 430 on the grabbing device 420 For stacking, the moving device 100 drives the carrying and stacking device stacked with articles to move, and the front axle shock absorber 200 and the rear axle shock absorber 300 ensure the stability of the carrying robot during the movement process.

Wherein the moving device 100 includes a vehicle frame 110 and a drive assembly 120, the front axle shock absorber 200 and the rear axle shock absorber 300 are all connected with the vehicle frame 110, the carrying stacking assembly 400 is connected with the vehicle frame 110, and the both sides of the front axle shock absorber 200 Front axle 122 is provided with, rear axle 121 is arranged on both sides of rear axle shock absorber 300, and front axle 122 is connected with front drive motor 123, and rear axle 121 is connected with rear drive motor 124, and front drive motor 123 and rear drive motor 124 both The transmission is connected to the corresponding driving assembly 120 .

The driving assembly 120 includes the omnidirectional wheels 130 and 140, the omnidirectional wheels 130 and 140 are arranged on both sides of the vehicle frame 110, and the front axle shock absorbers 200 are provided with The omnidirectional wheel 130 along the axis and the omnidirectional wheel 140 against the axis. The omnidirectional wheel 130 includes a roller 131 and a roller 132. The roller 132 is inclined relative to the axle 431 of the roller 131, and the roller 132 is connected to the On the outside, the inclination directions of the rollers 132 on the omnidirectional wheels 130 and 140 are opposite, and the front drive motor 123 and the rear drive motor 124 are both connected with rollers 131 .

The front drive motors 123 on both sides of the front axle shock absorber 200 are connected to the rollers 131 through transmission. The rollers 132 are arranged on the outer side of the rollers 131 with respect to the axis of the rollers 131. On the contrary, the rear drive motor 124 on both sides of the rear axle shock absorber 300 is transmission-connected with a roller 131, and the direction of inclination of the roller 132 on the roller 131 on both sides of the rear drive motor 124 is opposite. Viewed from the outside of the roller 131, the roller 132 is relatively If the axis of the roller 131 is inclined clockwise, it is the omnidirectional wheel 130, and if the roller 132 is inclined counterclockwise relative to the axis of the roller 131, it is the omnidirectional wheel 140. The omnidirectional wheel 140 and the omnidirectional wheel 130 are arranged On the same side of the vehicle frame 110, each along-axis omni-directional wheel 130 and counter-axis omni-directional wheel 140 can rotate independently. When moving, the rollers 131 on the front axle shock absorber 200 and the rollers 131 on the rear axle shock absorber 300 rotate in opposite directions; The rotation direction is opposite to that of the two rollers 131 on the same side of the vehicle frame 110, and the carrier robot rotates at this time.

The front axle shock absorber 200 assembly includes a fixed rod, a transverse shock absorber 220, a longitudinal shock absorber 230 and a connecting seat, and the transverse shock absorber 220 includes a first connecting rod, a second connecting rod and a spring 223, and the first connecting rod and the second connecting rod Both connecting rods are hinged with the vehicle frame 110, one end of the spring 223 is fixedly connected with the first connecting rod, the other end of the spring 223 is fixedly connected with the second connecting rod, and one end of the first connecting rod close to the spring 223 is hinged with a first fixed rod 210, the end of the second connecting rod close to the spring 223 is hinged with a second fixed rod 211, the end of the first fixed rod 210 away from the first connecting rod is hinged with a first connecting seat 240, and the second fixed rod 211 is away from the end of the second connecting rod One end is hinged with a second connecting seat 241 . Both the first connecting seat 240 and the second connecting seat 241 are hinged to the front axle 122 , and longitudinal shock absorbers 230 are respectively hinged between the first connecting seat 240 and the vehicle frame 110 and between the second connecting seat 241 and the vehicle frame 110 .

The first fixed rod 210 and the second fixed rod 211 have the same structure, but they are installed in different positions in the carrier robot. The first connecting seat 240 and the second connecting seat 241 have the same structure. The setting positions are different. The two sides of the front axle shock absorber 200 are separately hinged with the rollers 131, and the rollers 131 are fixed in a decentralized connection, so that the shock absorption effect is better during the moving process of the robot, which improves the stability of the carrying robot during the moving process. Ability to overcome obstacles.

The rear axle shock absorber 300 assembly includes a fixed frame 310, a shock absorbing device 320, and a shock absorbing plate 330. The fixed frame 310 is fixedly connected with the vehicle frame 110, and the shock absorbing plate 330 is connected with the fixed frame 310. Both sides of the fixed frame 310 are hinged with rear axles. Wheel shaft 121, one end of shock absorber 320 is connected with shock absorber 330, and the other end of shock absorber 320 is connected with rear axle 121, and drive power supply 500 is arranged in fixed frame 310, and drive power supply 500 is connected with front drive motor 123 and rear drive. The motors 124 are electrically connected, and the driving power supply 500 provides power for the movement of the carrier robot.

Lifting device 410 comprises support column 412 and slide frame 411, and support column 412 is fixed on the both sides of transport device 430, and slide frame 411 is slidably connected to support column 412, is provided with on slide frame 411 and support column 412 and is used for driving slide frame. 411 is the transmission assembly 413 that moves on the support column 412, and the carriages 411 on both sides of the transportation device 430 are symmetrically provided with fixed plates 414, the fixed plates 414 are connected with a shovel plate 415, and the shovel plate 415 is fixedly connected with a power unit 416, and the power unit 416 The shovel plate 415 can be controlled to reciprocate toward the carriage 411. The transportation device 430 includes a wheel shaft 431, a transmission frame 432 and a drive motor 433. The transmission frame 432 is connected to the vehicle frame 110. The wheel shaft 431 is vertical to the transmission frame 432 and is connected to the transmission frame 432 in rotation. , the driving motor 433 is connected to the wheel shaft 431 in transmission, and the transmission assembly 413 includes a rack and pinion mechanism 4131 and a lifting motor 4132. The motor 4132 is connected in transmission, and the rack is connected with the support column 412 .

Structural principle: the lifting motor 4132 moves the carriage 411 to the top of the support column 412, turns on the driving motor 433, the driving motor 433 is connected to the roller 132, the wheel shaft 431 rotates on the transmission frame 432, and the grabbing device 420 grabs the item. Placed on the wheel shaft 431, the wheel shaft 431 rotates to transmit the item to the lifting device 410, the power device 416 drives the shovel 415 to move away from the carriage 411, when the shovel 415 is completely detached from the carriage 411, the lifting motor 4132 drives the carriage 411 Moving down, the article is placed inside the carriage 411. When the carriage 411 fits the transmission frame 432, the power device 416 is turned on, and the power device 416 drives the shovel 415 to move towards the article, and the shovel 415 supports the article from the bottom of the article. The lifting motor 4132 drives the carriage 411 to move upward, so that the shovel plate 415 supports the article to move upward, and the grabbing device 420 grabs the article again. When the article grabbed for the second time moves to the lifting device 410, the lifting motor 4132 drives the carriage 411 When the shovel plate 415 is attached to the top of the item grabbed for the second time, the power device 416 drives the shovel plate 415 to move away from the carriage 411, and the carriage 411 is set on the outside of the article, and the carriage 411 has a position-limiting effect on the article. To prevent objects from moving, when the shovel 415 is completely separated from the carriage 411, the lifting motor 4132 drives the carriage 411 to move downward. The bottom of the item grabbed for the second time moves, the shovel plate 415 lifts the item grabbed for the first time and the item grabbed for the second time at the same time, and the grabbing device 420 grabs the item again, repeating this, the transmission device and the lifting device 410 stacks the items to facilitate the handling of the items; further, the power unit 416 and the shovel plate 415 on the lifting device 410 can be replaced by the power unit 416 and the squeeze plate, and the squeeze plate squeezes the items from both sides of the item Press to increase the friction between the object and the sliding frame 411. During the movement of the carriage 411, the pressing plate is relatively fixed to the object.

The transverse shock absorber 220 is hinged to the frame 110 through a first pin, the longitudinal shock absorber 230 is hinged to the frame 110 through a second pin, and the transverse shock absorber 220 is hinged to the first fixed rod 210 through a third pin. The transverse shock absorber 220 and the second fixed rod 211 are hinged through the fourth pin, the first fixed rod 210 and the first connecting seat 240 are hinged through the fifth pin, and the second fixed rod 211 and the second connecting seat 241 are hinged through the sixth pin. The pins are hinged, and the first connecting seat 240 and the second connecting seat 241 are respectively hinged with the front wheel shaft 122 through the seventh pin shaft and the eighth pin shaft, and the first pin shaft, the second pin shaft, the third pin shaft, and the fourth pin shaft The axes of the pin shaft, the fifth pin shaft, the sixth pin shaft, the seventh pin shaft and the eighth pin shaft are perpendicular to the axis of the roller 131 .

The hinges on the front axle damper 200 are all pin hinges, and the axis of the pin shaft is vertical to the axis of the roller 131. During the moving process of the carrying robot, the front axle damper 200 effectively absorbs the vibration generated during the movement of the mobile device 100.

The grabbing device 420 is a mechanical claw, on which a mounting plate 421 is fixed, on the frame 110 is fixed a lifting rod 422 , and the mounting plate 421 is in transmission connection with the lifting rod 422 .

The grabbing device 420 is a mechanical claw, a manipulator, and a mechanical clamping device. The grabbing device 420 in this embodiment is an existing structure capable of grabbing objects. A motor is fixed on the mounting plate 421. The motor passes through the transmission structure and the lifting rod. 422 drives leveling, the motor drives the grabbing device 420 to move on the lifting rod 422, adjusts the height of the grabbing device 420, and the grabbing device 420 can grab items of different heights.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. a kind of carrying robot, which is characterized in that including mobile device, front axle damper, rear axle damping and stack is delivered, The front axle damper is connected to the front of the mobile device, and the rear axle damping is connected to the rear portion of the mobile device, institute It states delivery stack to connect with the mobile device, the delivery stack includes lifting apparatus, grabbing device and transport Device, the lifting apparatus, the grabbing device and the transport device are fixedly connected with the mobile device.

2. carrying robot according to claim 1, which is characterized in that the mobile device includes vehicle frame and driving group Part, the front axle damper and the rear axle damping are connect with the vehicle frame, and the delivery stack is connect with the vehicle frame, The both sides of the front axle damper are provided with front axle, and the both sides of the rear axle damping are provided with hind axle, the front-wheel axis connection There are preceding driving motor, the hind axle to be connected with rear driving motor, the preceding driving motor and the rear driving motor are driven It is connected to corresponding the driving component.

3. carrying robot according to claim 2, which is characterized in that the driving component includes direct-axis omni-directional wheel and inverse Axis omni-directional wheel, the direct-axis omni-directional wheel and inverse axis omni-directional wheel are arranged in the both sides of the vehicle frame, and the both sides of the front axle damper are set It is equipped with the direct-axis omni-directional wheel and the inverse axis omni-directional wheel, the direct-axis omni-directional wheel includes idler wheel and roller bearing, and the roller bearing is opposite It is arranged in the tilts of the idler wheel, and the roller bearing is connected to the outside of the idler wheel, the direct-axis omni-directional wheel and inverse axis Roller bearing inclined direction on omni-directional wheel is on the contrary, the preceding driving motor and the rear driving motor are respectively connected with the idler wheel.

4. carrying robot according to claim 2, which is characterized in that the front axle damper component includes fixed link, cross To damper, longitudinal damper and connecting seat, the transverse damper includes first connecting rod, second connecting rod and spring, and described the One connecting rod and the second connecting rod are hinged with the vehicle frame, and one end of the spring is fixedly connected with the first connecting rod, institute The other end for stating spring is fixedly connected with the second connecting rod, and the first connecting rod is hinged with first close to one end of the spring Fixed link, the second connecting rod are hinged with the second fixed link close to one end of the spring, and first fixed link is far from first One end of connecting rod is hinged with the first connecting seat, and the described one end of second fixed link far from second connecting rod is hinged with the second connecting seat, First connecting seat and second connecting seat are hinged with the front axle, between first connecting seat and the vehicle frame It is respectively articulated with longitudinal damper between second connecting seat and the vehicle frame.

5. carrying robot according to claim 2, which is characterized in that the rear axle dampening assembly includes fixed frame, subtracts Device, vibration damper plate are shaken, the fixed frame is fixedly connected with vehicle frame, and the vibration damper plate is connect with the fixed frame, the fixed frame Both sides be hinged with hind axle, one end of the damping device is connect with the vibration damper plate, the other end of the damping device with The trailing wheel axis connection, driving power is provided in the fixed frame, and the driving power and preceding driving motor and rear driving are electric Machine is electrically connected.

6. carrying robot according to claim 4, which is characterized in that the lifting apparatus includes support column and balladeur train, The support column is fixed on the both sides of transport device, and the balladeur train is slidably coupled to the support column, in the balladeur train and institute State the transmission component being provided on support column for driving the balladeur train to be moved on the support column, the transport device both sides Balladeur train be symmetrically arranged with fixed plate, the fixed plate is connected with shovel board, and the shovel board is fixedly connected with power plant, described dynamic Power apparatus can control shovel board and be moved back and forth towards balladeur train.

7. carrying robot according to claim 6, which is characterized in that the transport device include wheel shaft, transmission frame and Driving motor, the transmission frame are connect with the vehicle frame, the wheel shaft vertically the transmission frame and with the transmission frame rotate connect It connects, the driving motor is sequentially connected with wheel shaft.

8. carrying robot according to claim 6, which is characterized in that the transmission component include rack and pinion mechanism and Lifting motor, the lifting motor are connect with the balladeur train, and the rack and pinion mechanism is pitch wheel and rack, institute It states gear to be sequentially connected with the lifting motor, the rack is connect with the support column.

9. carrying robot according to claim 4, which is characterized in that the transverse damper and the vehicle frame pass through the One axis pin is hinged, and the longitudinal direction damper is hinged by the second axis pin with the vehicle frame, and the transverse damper and first is fixed Bar is hinged by third axis pin, and the transverse damper and the second fixed link are hinged by the 4th axis pin, first fixed link Hinged by the 5th axis pin with the first connecting seat, second fixed link is hinged by the 6th axis pin with the second connecting seat, described First connecting seat and second connecting seat are hinged by the 7th axis pin and the 8th axis pin and the front axle respectively, and described first Axis pin, second axis pin, the third axis pin, the 4th axis pin, the 5th axis pin, the 6th axis pin, described The axis of the axis vertical wheel of seven axis pins and the 8th axis pin.

10. carrying robot according to claim 2, which is characterized in that the grabbing device is gripper, the machinery It is fixed with mounting plate on pawl, elevating lever is fixed on the vehicle frame, the mounting plate is sequentially connected with elevating lever.