Multi-terrain load carrying robot

Abstract

The application discloses a multi-terrain load robot, which comprises an integrated load platform, the bottom of the integrated load platform is slidably matched with at least eight supporting transmission rods, and the bottom of the integrated load platform is provided with a bidirectional slide rail, and the eight supporting transmission rods are all slidably matched in the bidirectional slide rail; the integrated load platform comprises a load platform base and a general control processor embedded in the load platform base, a horizontal and distance monitoring mechanism is arranged on the load platform base, the general control processor is electrically connected with the horizontal and distance monitoring mechanism, the top end of the supporting transmission rod is provided with a driving mechanism matched with the bidirectional slide rail, and the bottom end of the supporting transmission rod is provided with a hydraulic supporting rod; the integrated load platform, the supporting transmission rod and the hydraulic supporting rod are arranged, a plurality of hydraulic supporting rods are adopted to realize high load, the integrated load platform can keep the platform horizontal during transportation, the application is suitable for high-precision instrument or equipment transportation, and can be used for dangerous goods transportation.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a multi-terrain load-bearing robot. Background Technology

[0002] According to the International Federation of Robotics (IFR) 2023 report, the global logistics robot market has reached $18.9 billion and is expected to exceed $30 billion by 2025. With the rapid growth in demand for transport robots due to logistics automation, multi-terrain load-bearing robots have become one of the core research directions in the field of intelligent equipment.

[0003] However, traditional high-load transport robots struggle to maintain a level platform during transport, posing a risk of damage or leakage when transporting high-precision instruments and hazardous materials. While precision transport robots offer high stability, they have lower load capacities and limited mobility and obstacle-crossing capabilities. Therefore, there is an urgent need to design a multi-terrain load-bearing robot to address these issues. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-terrain load-bearing robot to overcome the above-mentioned shortcomings in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A multi-terrain loading robot includes an integrated loading platform, at least eight support transmission rods are slidably fitted on the bottom of the integrated loading platform, and a bidirectional slide rail is provided on the bottom of the integrated loading platform, with all eight support transmission rods slidably fitted within the bidirectional slide rail.

[0007] The integrated load platform includes a load-bearing platform base and a main control processor embedded in the load-bearing platform base. A horizontal and distance monitoring mechanism is provided on the load-bearing platform base. The main control processor is electrically connected to the horizontal and distance measuring mechanism. A drive mechanism that cooperates with the bidirectional slide rail is provided at the top of the support transmission rod. A hydraulic support rod is provided at the bottom of the support transmission rod.

[0008] The bidirectional slide rail includes multiple movable tracks and multiple straight long tracks installed at the bottom of the load-bearing platform base, and a rotating track rotatably fitted at the bottom of the load-bearing platform base. The multiple rotating tracks are respectively located at the intersections of the multiple movable tracks and the multiple straight long tracks. The drive mechanism cooperates with the movable tracks, the rotating tracks and the straight long tracks.

[0009] Furthermore, the horizontal and distance measuring mechanism includes multiple millimeter-wave radars respectively disposed around the periphery of the load-bearing platform base, and a horizontal control unit disposed within the load-bearing platform base.

[0010] Furthermore, an interactive display screen is provided on the top of the load-bearing platform base. The interactive display screen is electrically connected to the main control processor, the horizontal control unit, and the multiple millimeter-wave radars. The interactive display screen is used for manual interactive switching and displaying load and horizontal monitoring values.

[0011] Furthermore, a ranging unit is provided on one side of each of the multiple supporting transmission rods, and a control module is provided inside each of the multiple supporting transmission rods. The control module is electrically connected to the ranging unit, and the main control processor is wirelessly connected to the multiple control modules.

[0012] Furthermore, the drive mechanism includes a transmission gear rotatably engaged at the top of the support transmission rod, a transmission mechanism disposed within the support transmission rod and meshing with the transmission gear, a bracket mounted at the top of the support transmission rod, and a motor mounted within the support transmission rod and connected to the transmission mechanism.

[0013] Furthermore, the bracket slides in conjunction with the moving track, the rotating track, and the straight long track. Each of the moving track, the rotating track, and the straight long track is provided with a serrated meshing structure, and the transmission gear meshes with the serrated meshing structure.

[0014] Furthermore, rechargeable batteries are installed in both the load-bearing platform base and the plurality of supporting transmission rods.

[0015] Furthermore, a turntable is provided between the load-bearing platform base and each of the multiple rotating tracks, and an adjustment mechanism is provided between the turntable and the rotating track.

[0016] Furthermore, the load-bearing platform base is rectangular, and each of the four sides of the load-bearing platform base is provided with multiple fixing straps and multiple slots. One end of each fixing strap is provided with a lock head that engages with the slot.

[0017] A method of using a multi-terrain load-bearing robot includes:

[0018] Step 1: In the initial state of the multi-terrain load robot, eight support transmission rods are distributed at the center of the bottom of the load platform base and at the center of gravity at the opposite corners. The eight support transmission rods are supported by eight hydraulic support rods. The extension and retraction of the eight hydraulic support rods can adjust the height and level of the load platform base. Then, the item is fixed on the top of the load platform base to make the item stable.

[0019] Step 2: Multi-terrain load robot transportation process. First, two diagonal hydraulic support rods and two relatively far hydraulic support rods at the center extend to support the load-bearing platform base. The four hydraulic support rods are arranged in a trapezoidal shape to form a center of gravity support. The other four hydraulic support rods will be suspended in the air along with the load-bearing platform base. Then, the load-bearing platform base is moved by the drive mechanism, so that the eight hydraulic support rods are distributed in two rows. Then, the four suspended hydraulic support rods are moved to their corresponding center of gravity support positions by the drive mechanism and the rotating track. After the suspended hydraulic support rods extend to support, the supporting hydraulic support rods retract and suspend in the air. The above process is repeated to make the load-bearing platform base move smoothly.

[0020] Step 3: Multi-terrain load-bearing robot stair-climbing process. First, it performs environmental detection to determine whether to go up or down stairs, measures the height of the stairs, moves to the front of the stairs, and eight hydraulic support rods extend to support the load-bearing platform base, so that the bottom of the support transmission rods is higher than the stair steps. Then, it retracts the two hydraulic support rods at the rear, and moves the two hydraulic support rods to the top of the stair steps through the drive mechanism and rotating track. Then, it extends onto the stair steps to support the load-bearing platform base, and multiple drive mechanisms move the load-bearing platform base forward. Then, it moves the two hydraulic support rods from the rear to the stair steps in front to carry out stair-climbing transportation.

[0021] Step 4: Multi-terrain load-bearing robot obstacle crossing process. Detect the surrounding environment and the size and height of obstacles. Once the conditions are met, the robot will attempt to overcome the obstacle. First, the eight hydraulic support rods raise the load-bearing platform base so that the bottom of the support transmission rods is higher than the obstacle. Then, four hydraulic support rods are retracted and suspended in the air, so that the remaining four hydraulic support rods form a trapezoidal center of gravity support. Move the load-bearing platform base and the four suspended hydraulic support rods so that two of the hydraulic support rods cross the obstacle. Then, the four suspended hydraulic support rods extend to support the obstacle. Repeat the above process to allow all eight hydraulic support rods to cross the obstacle in sequence.

[0022] In the above technical solution, the multi-terrain load-bearing robot provided by the present invention has the following beneficial effects:

[0023] The integrated load platform, supporting transmission rods, and hydraulic support rods enable high load capacity through multiple hydraulic support rods. Simultaneously, the integrated load platform maintains a level position during transport, making it suitable for transporting high-precision instruments or equipment, as well as hazardous materials. It offers a stable and safe transport experience. The bidirectional sliding rails allow for autonomous and intelligent adjustment of the multiple supporting transmission rods, enabling the hydraulic support rods within them to extend and retract, facilitating obstacle avoidance and stair climbing. This allows for autonomous transport without supervision and provides stable transport across most challenging terrains. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a schematic diagram of the structure of a multi-terrain load-bearing robot according to an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of an integrated load platform structure provided in an embodiment of a multi-terrain load robot according to the present invention.

[0027] Figure 3 This is a schematic diagram of the support transmission rod structure provided in an embodiment of a multi-terrain load robot according to the present invention.

[0028] Figure 4 This is a schematic diagram of a bidirectional slide rail structure provided in an embodiment of a multi-terrain load-bearing robot according to the present invention.

[0029] Figure 5 This is a schematic diagram of the movement process provided by an embodiment of a multi-terrain load robot according to the present invention.

[0030] Figure 6 This is a schematic diagram a of the stair-climbing process provided in an embodiment of a multi-terrain load robot according to the present invention.

[0031] Figure 7 This is a schematic diagram (b) of a stair-climbing process provided for an embodiment of a multi-terrain load robot according to the present invention.

[0032] Figure 8 This is a schematic diagram a of the obstacle-crossing process provided by an embodiment of a multi-terrain load robot according to the present invention.

[0033] Figure 9 This is a schematic diagram (b) illustrating the obstacle-crossing process of an embodiment of a multi-terrain load robot according to the present invention.

[0034] Figure 10 This is a schematic diagram c illustrating the obstacle-crossing process of an embodiment of a multi-terrain load robot according to the present invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Integrated load platform; 11. Load-bearing platform base; 12. Fixing straps; 13. Card slot; 14. Millimeter-wave radar; 15. Horizontal control unit; 16. Interactive display screen; 17. Main control processor; 2. Support transmission rod; 21. Transmission gear; 22. Transmission mechanism; 23. Bracket; 24. Motor; 25. Rechargeable battery; 26. Control module; 27. Hydraulic support rod; 28. Distance measuring unit; 3. Bidirectional slide rail; 31. Moving track; 32. Turntable; 33. Rotating track; 34. Adjustment mechanism; 35. Long straight track; 51. Ground; 61. Stairs; 71. Obstacle. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] like Figure 1-10 As shown in the figure, an embodiment of the present invention provides a multi-terrain load robot.

[0039] The integrated load platform 1 includes at least eight support transmission rods 2 that slide together at the bottom of the integrated load platform 1. The bottom of the integrated load platform 1 is provided with a bidirectional slide rail 3, and all eight support transmission rods 2 slide together within the bidirectional slide rail 3.

[0040] The integrated load platform 1 includes a load platform base 11 and a main control processor 17 embedded in the load platform base 11. The load platform base 11 is equipped with a horizontal and distance monitoring mechanism. The main control processor 17 is electrically connected to the horizontal and distance measuring mechanism. The top of the support transmission rod 2 is equipped with a drive mechanism that cooperates with the bidirectional slide rail 3. The bottom of the support transmission rod 2 is equipped with a hydraulic support rod 27.

[0041] The bidirectional slide rail 3 includes multiple moving rails 31 and multiple straight long rails 35 installed at the bottom of the load-bearing platform base 11, and a rotating rail 33 rotatably fitted at the bottom of the load-bearing platform base 11. The multiple rotating rails 33 are respectively located at the intersection of the multiple moving rails 31 and the multiple straight long rails 35. The drive mechanism cooperates with the moving rails 31, the rotating rails 33 and the straight long rails 35.

[0042] Reference Figure 1 The horizontal and distance measuring mechanism in this embodiment includes multiple millimeter-wave radars 14 respectively disposed around the load-bearing platform base 11, and a horizontal control unit 15 disposed within the load-bearing platform base 11. The millimeter-wave radars 14 can detect the environment around the load-bearing platform base 11, and the horizontal control unit 15 includes a horizontal sensor to measure the tilt angle of the load platform in real time.

[0043] Reference Figure 2In this embodiment, an interactive display screen 16 is provided on the top of the load-bearing platform base 11. The interactive display screen 16 is electrically connected to the main control processor 17, the horizontal control unit 15, and multiple millimeter-wave radars 14. The interactive display screen 16 is used for manual interactive switching and displaying load and horizontal monitoring values. Through the interactive display screen 16, the data content transmitted from the horizontal control unit 15 to the main control processor 17 can be displayed, enabling the interactive display screen 16 to control the switching of the equipment.

[0044] Reference Figure 3 In this embodiment, a ranging unit 28 is provided on one side of each of the multiple supporting transmission rods 2, and a control module 26 is provided inside each of the multiple supporting transmission rods 2. The control module 26 is electrically connected to the ranging unit 28, and the main control processor 17 is wirelessly connected to the multiple control modules 26. Through the provided control modules 26, the multiple control modules 26 can control the corresponding ranging unit 28 and driving device respectively, so that the control modules 26 transmit data to the main control processor 17 for processing, and receive processed signals for transportation work.

[0045] Reference Figure 3 The drive mechanism in this embodiment includes a transmission gear 21 rotatably engaged with the top of the support transmission rod 2, a transmission mechanism 22 disposed within the support transmission rod 2 and meshing with the transmission gear 21, a bracket 23 mounted on the top of the support transmission rod 2, and a motor 24 mounted within the support transmission rod 2 and connected to the transmission mechanism 22. Through the transmission mechanism 22, the motor 24 drives the transmission mechanism 22, causing the transmission mechanism 22 to rotate the transmission gear 21.

[0046] Reference Figure 3 In this embodiment, the support 23 slides in conjunction with the moving track 31, the rotating track 33, and the straight long track 35. Each of the moving track 31, the rotating track 33, and the straight long track 35 is equipped with a serrated meshing structure, and the transmission gear 21 meshes with this structure. Through the transmission gear 21, its rotation drives the corresponding support transmission rod 2 to move via the serrated meshing structure. When multiple support transmission rods 2 are supported on the ground, multiple transmission gears 21 rotate simultaneously in the same direction, thus moving the load-bearing platform base 11.

[0047] Reference Figure 3 In this embodiment, rechargeable batteries 25 are installed in both the load-bearing platform base 11 and the multiple support transmission rods 2. The rechargeable batteries 25 can supply power to the equipment in the load-bearing platform base 11 and the equipment in the support transmission rods 2, and can be charged subsequently.

[0048] Reference Figure 4In this embodiment, a turntable 32 is provided between the load-bearing platform base 11 and the multiple rotating tracks 33, and an adjustment mechanism 34 is provided between the turntable 32 and the rotating tracks 33. Through the turntable 32, the adjustment mechanism 34 can drive the rotating tracks 33 to rotate. After the support transmission rod 2 moves into the rotating track 33, the rotating track 33 rotates, adjusting the direction of movement of the support transmission rod 2.

[0049] Reference Figure 1 In this embodiment, the load-bearing platform base 11 is rectangular. Each of the four sides of the load-bearing platform base 11 is provided with multiple fixing straps 12 and multiple slots 13. One end of each fixing strap 12 is provided with a lock head that engages with the slot 13. By pulling the fixing straps 12, the lock head can be moved and inserted into the corresponding slot 13 for engagement, allowing multiple fixing straps 12 to secure the item. The multiple fixing straps 12 can be cross-bundled.

[0050] This invention provides a method for using a multi-terrain load-bearing robot, applicable to a multi-terrain load-bearing robot according to any of the above embodiments, comprising:

[0051] Step 1: In the initial state of the multi-terrain load robot, eight support transmission rods 2 are distributed at the center of gravity of the bottom center and the diagonal corners of the load platform base 11. The eight support transmission rods 2 are supported by eight hydraulic support rods 27. The extension and retraction of the eight hydraulic support rods 27 can adjust the height and level of the load platform base 11. Then, the item is fixed on the top of the load platform base 11 to make the item stable.

[0052] Step 2: Multi-terrain load robot transportation process. First, two diagonal hydraulic support rods 27 and two relatively far hydraulic support rods 27 at the center extend to support the load platform base 11. The four hydraulic support rods 27 are arranged in a trapezoidal shape to form a center of gravity support. The other four hydraulic support rods 27 will be suspended in the air along with the load platform base 11. Then, the load platform base 11 is moved by the drive mechanism, so that the eight hydraulic support rods 27 are distributed in two rows. Then, the four suspended hydraulic support rods 27 are moved to the corresponding center of gravity support positions by the drive mechanism and the rotating track 33. After the suspended hydraulic support rods 27 extend to support, the supporting hydraulic support rods 27 retract and suspend in the air. The above process is repeated to make the load platform base 11 move smoothly.

[0053] Step 3: Multi-terrain load robot stair climbing process. First, environmental detection is performed to determine whether to go upstairs or downstairs, the height of the stairs is measured, and the robot moves to the front of the stairs. Eight hydraulic support rods 27 extend to support the load-bearing platform base 11, so that the bottom of the support transmission rod 2 is higher than the stair step. Then, the two hydraulic support rods 27 at the rear are retracted, and the two hydraulic support rods 27 are moved above the stair step through the drive mechanism and rotating track 33. Then, they extend onto the stair step to support the load-bearing platform base 11, so that multiple drive mechanisms move the load-bearing platform base 11 forward. Then, the two hydraulic support rods 27 are moved from the rear to the front stair step to carry out stair climbing and transportation.

[0054] Step 4: Multi-terrain load-bearing robot obstacle crossing process. Detect the surrounding environment and the size and height of obstacles. Once the conditions are met, the robot will cross the obstacle. First, the eight hydraulic support rods 27 raise the load-bearing platform base 11 so that the bottom of the support transmission rod 2 is higher than the obstacle. Then, four hydraulic support rods 27 are retracted and suspended in the air, so that the remaining four hydraulic support rods 27 form a trapezoidal center of gravity support. Move the load-bearing platform base 11 and the four suspended hydraulic support rods 27 so that two of the hydraulic support rods 27 cross the obstacle. Then, the four suspended hydraulic support rods 27 extend to support the obstacle. Repeat the above process to allow all eight hydraulic support rods 27 to cross the obstacle in sequence.

[0055] Reference Figure 5This embodiment illustrates the specific flowchart of the forward movement of the multi-terrain load robot. The ground 51 can be a flat surface or a slightly rugged road. The load is secured to the integrated load platform 1 by multiple fixing straps 12. The upper right diagram is a simplified schematic of the bottom of the multi-terrain load robot of this invention. Multiple circular shapes represent the support transmission rods 2, namely 5a to 5h. Multiple rectangular combinations represent the simplified bidirectional slide rails 3, and the central triangle represents the center of gravity of the entire integrated load platform 1 and the load. The upper right diagram corresponds to the action of the load robot on the lower left. Step 1: The load robot is in a ready state, with the eight support transmission rods symmetrically distributed around the center of gravity, all in contact with the ground 51. Step 2: Support transmission rods 5a, 5b, 5e, and 5f use hydraulic support rods 27 to lift the integrated load platform 1, and at the same time, the drive mechanism is activated to move the integrated load platform 1 in the forward direction. Support transmission rods 5c, 5d, 5g, and 5h are in a suspended state and move along with the integrated load platform 1. Step 3: The diagram shows the position of the integrated load platform after movement and the relative positions of the support transmission rods 2 and 3 on the bidirectional slide rails. Step 4: The support transmission rods 5c, 5d, 5g, and 5h move to the designated position on the bidirectional slide rails 3 using the rotating track 33, the moving track 31, and the long straight track 35, driven by the motor 24 and the transmission mechanism 22, which in turn drives the transmission gear 21. Step 5: The support transmission rods 5c, 5d, 5g, and 5h extend the support columns through the hydraulic support rods 27 to contact the ground 51, serving as the force points for the load robot device. After the load robot device is stabilized, the support transmission rods 5a, 5b, 5e, and 5f retract the support columns through the hydraulic structure. After retraction, the motor 24 is used to move the support columns to the designated position on the bidirectional slide rails 35. Step 6: The support transmission rods 5c, 5d, 5g, and 5f slowly retract the support column to the standby state through the hydraulic structure. At this time, together with 5a, 5b, 5e, and 5f, they serve as support points. After the action is completed, they return to the standby state. Repeat the above steps to iterate and complete the forward movement.

[0056] Reference Figure 6-7 This embodiment illustrates the specific flowchart of the multi-terrain load robot climbing stairs. The stairs 61 can be various sizes of pedestrian stairs. The load is fixed to the integrated load platform 1 by multiple fixing straps 12. The upper left diagram is a simplified schematic diagram of the bottom of the multi-terrain load robot of this invention. Multiple circular shapes represent the supporting transmission rods 2, namely 6a to 6h. Multiple rectangular combinations represent the simplified bidirectional slide rails 3, and the central triangle represents the center of gravity of the entire integrated load platform 1 and the transported load. In the first step, the multi-terrain load robot uses the ranging unit 28 and the millimeter-wave radar 14 to detect the surrounding environment, such as whether there are obstacles or stairs. After determining that there are pedestrian stairs ahead, it executes... Figure 5The forward movement continues until the support transmission rods are in contact with the front side of the stairs, entering a standby state. Step 2: Support transmission rods 6c and 6d remain stationary with hydraulic support rods 27. The remaining support transmission rods 6a, 6b, 6e, and 6f use hydraulic support rods 27 to lift the entire load-bearing platform. At this time, support transmission rods 6c and 6d are engaged with the bidirectional slide rail device via gears, remaining suspended. Step 3: Support transmission rods 6c and 6d move on the bidirectional slide rail 3 using the rotating track, moving track 31, and straight long track 35, driven by the drive mechanism to drive the transmission mechanism 22 and drive the transmission gear 21, moving to the designated position shown in the diagram. At this time, the support transmission rods are located at the first floor level of the stairs 61. After stabilizing, the hydraulic support rods 27 extend the support columns to the first floor level. At this time, all support transmission rods 2 are in contact with the ground and under load. Step 4: All support transmission rods activate the drive mechanism to move the integrated load platform 1 in the forward direction to the position shown in the diagram. Step 5: Support transmission rods 6a and 6b retract their support columns, and use the rotating track 33 to move them to the edge of the track and then prop them up as force points. Then, support transmission rods 6g and 6h retract their support columns and use the inner track combination of the bidirectional slide rail 3 to move to the designated position shown in the diagram. At this time, support transmission rods 6g and 6h are directly above the second step. Then, the support rods are propped up again to serve as force points. After the load robot's load is stabilized, support transmission rods 6a and 6b retract their support columns and use the track to return to their original position shown in the diagram. Step 6: All support transmission rods activate their drive mechanisms to move the integrated load platform 1 in the forward direction to the position shown in the diagram, and activate the hydraulic support rods 27 to raise the integrated load platform 1 until the distance below the front side of the load platform can accommodate the support transmission rods without propping up their support columns. Step 7: Support transmission rods 6a and 6b retract their support columns and use the inner track combination of the bidirectional slide rail 3 to move to the designated position shown in the diagram. The hydraulic support rods 27 are then used to prop up the support columns to contact the horizontal surface of the second step as support points. Subsequently, support transmission rods 6g and 6h retract the support columns and move to the designated position shown in the diagram using the inner track combination of the bidirectional slide rail 3. Hydraulic support rod 27 is used to extend the support columns to contact the horizontal surface of the third step as a support point. In step 8, all support transmission rods activate their drive mechanisms to move the integrated load platform 1 to the position shown in the diagram in the forward direction. In step 9, support transmission rods 6a and 6b retract the support columns and move to the designated position shown in the diagram using the inner track combination of the bidirectional slide rail 3. Hydraulic support rod 27 is used to extend the support columns to contact the horizontal surface of the second step as a support point. At this point, the multi-terrain load robot is in a ready state. The load robot has now completed its stair-climbing action and can iteratively climb to the designated position. The principle of descending stairs is similar to... Figure 6 The operation is similar, so I won't go into details here.

[0057] Reference Figure 8-10This embodiment illustrates the specific flowchart of the multi-terrain load robot's obstacle-crossing process. The obstacle 71 can be an insurmountable obstacle, a ground depression, etc. The load is fixed to the integrated load platform 1 by multiple fixing straps 12. The upper right diagram is a simplified schematic diagram of the bottom of the multi-terrain load robot of this invention. Multiple circular shapes represent the supporting transmission rods 2, namely 7a to 7h. Multiple rectangular combinations represent the simplified bidirectional slide rails 3, and the central triangle represents the center of gravity of the entire integrated load platform 1 and the transported load. Step 1: The entire load robot device is in a ready state. The distance and size of the obstacle in front are detected by the millimeter-wave radar 14 on the integrated load platform 1 and the ranging unit 28 of the supporting transmission rod 2. After comprehensive evaluation by the central control processor 17 in the integrated load platform 1, if it cannot be bypassed, the following operation is performed. Step 2: The load robot device moves forward to the front of the obstacle. After detection by the ranging unit 28, it stops when the distance between the front supporting transmission rod and the obstacle is sufficient to overcome it. Step 3: Support transmission rods 7a, 7b, 7e, and 7f use hydraulic support rod 27 to support the integrated load platform 1. The remaining support transmission rod 2 is also supported and suspended in the air. Step 4: Support transmission rods 7a, 7b, 7e, and 7f activate the drive mechanism to move the integrated load platform 1 in the forward direction to the position shown in the diagram. The remaining support transmission rods follow the integrated load platform 1 to the position shown in the diagram. Step 5: Support transmission rods 7c, 7d, 7g, and 7h use the inner rail combination of the bidirectional slide rail 3 to move to the designated position shown in the diagram. Step 6: Support transmission rods 7a, 7b, 7e, and 7f use the inner rail combination of the bidirectional slide rail 3 to move to the designated position shown in the diagram. After the displacement is stable, the support rods are supported to the horizontal plane using a hydraulic structure as the force point. After stabilization, the support columns of support transmission rods 7a, 7b, 7c, and 7d are retracted to facilitate the next step of operation. Step 7: Support transmission rods 7a, 7b, 7e, and 7f activate the drive mechanism to move the integrated load platform 1 in the forward direction to the position shown in the diagram. Step 8: Support transmission rods 7a, 7b, 7e, and 7f move to the designated position shown in the diagram using the inner rail combination of the bidirectional slide rail 3. Step 9: Support transmission rods 7a, 7b, 7e, and 7f activate hydraulic support rod 27 to lift the support column to contact the horizontal plane as a new force-bearing point. After stabilization, support transmission rods 7c, 7d, 7g, and 7h use hydraulic support rod 27 to retract the support column and move to the designated position shown in the diagram using the inner rail combination of the bidirectional slide rail 3. Step 10: Support transmission rods 7a, 7b, 7e, and 7f activate the drive mechanism to move the integrated load platform 1 in the forward direction to the position shown in the diagram. The remaining support transmission rods follow the integrated load platform 1 to the position shown in the diagram. Step 11: Support transmission rods 7c, 7d, 7g, and 7h move to the designated position shown in the diagram using the inner rail combination of the bidirectional slide rail 3.Step 12: Support transmission rods 7c, 7d, 7g, and 7h are hydraulically supported to a horizontal plane as the stress point. Support transmission rods 7a, 7b, 7e, and 7f are retracted and moved to the designated position shown in the diagram using the inner rail combination of the bidirectional slide rail 3. Step 13: Support transmission rods 7c, 7d, 7g, and 7h activate the drive mechanism to move the integrated load platform 1 in the forward direction to the position shown in the diagram. The remaining support transmission rods follow the integrated load platform 1 to the position shown in the diagram. Step 14: Support transmission rods 7a, 7b, 7e, and 7f are moved to the designated position shown in the diagram using the inner rail combination of the bidirectional slide rail 3. Step 15: Support transmission rods 7a, 7b, 7e, and 7f are hydraulically supported to a horizontal plane as the stress point. After stabilization, the remaining support transmission rods are retracted and moved to the designated position shown in the diagram using the inner rail combination of the bidirectional slide rail 3. Step 16: Support transmission rods 7a, 7b, 7e, and 7f retract the hydraulic rods. At this point, the bottom of all support transmission rods is in contact with the horizontal surface as a force-bearing point. The load robot completes the obstacle avoidance action and is in a ready state.

[0058] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-terrain load-carrying robot comprising an integrated load platform (1), characterized in that, The bottom of the integrated load platform (1) is slidably fitted with at least eight support transmission rods (2), and the bottom of the integrated load platform (1) is provided with a bidirectional slide rail (3), and the eight support transmission rods (2) are slidably fitted in the bidirectional slide rail (3); The integrated load platform (1) comprises a load platform base (11) and a total control processor (17) embedded in the load platform base (11), the load platform base (11) is provided with a horizontal and distance monitoring mechanism, the total control processor (17) is electrically connected with the horizontal and distance monitoring mechanism, the top end of the support transmission rod (2) is provided with a driving mechanism matched with the bidirectional slide rail (3), and the bottom end of the support transmission rod (2) is provided with a hydraulic support rod (27); The bidirectional slide rail (3) comprises a plurality of moving tracks (31) and a plurality of straight long tracks (35) installed at the bottom of the load platform base (11), and a plurality of rotating tracks (33) rotatably fitted at the bottom of the load platform base (11), the plurality of rotating tracks (33) are respectively located at the intersection of the plurality of moving tracks (31) and the plurality of straight long tracks (35), and the driving mechanism is matched with the moving track (31), the rotating track (33) and the straight long track (35); The driving mechanism comprises a transmission gear (21) rotatably fitted at the top end of the support transmission rod (2), a transmission mechanism (22) arranged in the support transmission rod (2) and engaged with the transmission gear (21), a bracket (23) installed at the top end of the support transmission rod (2), and a motor (24) installed in the support transmission rod (2) and connected with the transmission mechanism (22), the bracket (23) is slidably fitted between the moving track (31), the rotating track (33) and the straight long track (35), the moving track (31), the rotating track (33) and the straight long track (35) are provided with sawtooth engagement structures, the transmission gear (21) is engaged with the sawtooth engagement structures, the load platform base (11) and the plurality of rotating tracks (33) are provided with rotating tables (32), and the rotating table (32) and the rotating track (33) are provided with an adjusting mechanism (34).

2. The multi-terrain load robot of claim 1, wherein, The horizontal and distance monitoring mechanism comprises a plurality of millimeter wave radars (14) arranged on the periphery of the load platform base (11) and a horizontal control unit (15) arranged in the load platform base (11).

3. A multi-terrain load robot according to claim 2, wherein, The top of the load platform base (11) is provided with an interactive display screen (16), the interactive display screen (16) is electrically connected with the total control processor (17), the horizontal control unit (15) and the plurality of millimeter wave radars (14), and the interactive display screen (16) is used for manual interaction switch and display of load and horizontal monitoring values.

4. The multi-terrain load robot of claim 3, wherein, The side of the plurality of support transmission rods (2) is provided with a distance measuring unit (28), and the plurality of support transmission rods (2) is provided with a control module (26), and the control module (26) and the distance measuring unit (28) are electrically connected, and the total control processor (17) and the plurality of control modules (26) are wirelessly connected.

5. The multi-terrain load robot of claim 1, wherein, The load platform base (11) and the plurality of support transmission rods (2) are provided with a charging battery (25).

6. The multi-terrain load robot of claim 1, wherein, The load platform base (11) is rectangular, and the four sides of the load platform base (11) are provided with a plurality of fixed bands (12) and a plurality of clamping grooves (13), and one end of the fixed band (12) is provided with a lock head matched with the clamping groove (13).

7. A method of using a multi-terrain load robot, suitable for use in a multi-terrain load robot according to any one of claims 1-6, characterized in that, The steps include: Step 1: the initial state of the multi-terrain load robot eight support transmission rods (2) are respectively distributed at the center and the diagonal of the load platform base (11) bottom gravity center, and the eight support transmission rods (2) are supported by eight hydraulic support rods (27), the eight hydraulic support rods (27) can adjust the height and level of the load platform base (11), then the goods are fixed on the top of the load platform base (11), and the goods are fixed stably; Step 2: the multi-terrain load robot transportation process, first, the two hydraulic support rods (27) at the diagonal and the two hydraulic support rods (27) far away from the center are stretched to support the load platform base (11), the four hydraulic support rods (27) are distributed in a trapezoidal shape to form a gravity support, and the other four hydraulic support rods (27) will be suspended with the load platform base (11), then the drive mechanism drives the load platform base (11) to move, so that the eight hydraulic support rods (27) are distributed in two rows, then the four suspended hydraulic support rods (27) are moved to the corresponding gravity support position through the drive mechanism and the rotating track (33), the suspended hydraulic support rod (27) is stretched to support, and the supported hydraulic support rod (27) is retracted to be suspended, and the above process is repeated to move the load platform base (11) stably; Step 3: the multi-terrain load robot climbing process, first, the environment is detected, the upstairs or downstairs is judged, the stair height is measured, the load platform base (11) is moved to the front of the stairs, the eight hydraulic support rods (27) are stretched to support the load platform base (11), so that the height of the bottom end of the support transmission rod (2) is higher than the stair step, then the two hydraulic support rods (27) behind are retracted, the two hydraulic support rods (27) are moved to the above of the stair step through the drive mechanism and the rotating track (33), then the two hydraulic support rods (27) are stretched to support the load platform base (11) on the stair step, the plurality of drive mechanisms move the load platform base (11) forward, then the two hydraulic support rods (27) are moved to the front of the stair step again, and the load platform base (11) is transported by climbing stairs; Step 4: Multi-terrain load robot obstacle crossing process, detect the surrounding environment and obstacle size height, meet the conditions and cross the obstacle, first eight hydraulic support rods (27) lift the load platform base (11), make the bottom end of the support transmission rod (2) higher than the obstacle, then retract the four hydraulic support rods (27) to be suspended, make the remaining four hydraulic support rods (27) form a trapezoidal gravity center support, move the load platform base (11) and the suspended four hydraulic support rods (27), make two of the hydraulic support rods (27) cross the obstacle, then the suspended four hydraulic support rods (27) are extended to support, repeat the above process to make the eight hydraulic support rods (27) cross the obstacle in turn.

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