A structural device of a unicycle transfer mobile robot

Abstract

The application relates to a structure device of a single-wheel transfer mobile robot, which comprises a rotating platform, a robot main body, a mechanical arm and a wheel, the rotating platform is connected with the robot main body, the mechanical arm is connected with the robot main body, and the wheel is connected with the robot main body. Compared with the prior art, the structure device of the single-wheel transfer mobile robot can be used alone to transfer small articles, can be used in groups to transfer large articles, can replace a truck under certain conditions, can complete the transfer work uninterruptedly for 24 hours, greatly improves the delivery efficiency, and saves the expensive time cost.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a structural device for a wheelbarrow transport mobile robot. Background Technology

[0002] With the development of science and technology, robotics is being applied to various fields, becoming increasingly integrated into human life. The use of robots is gradually expanding from high-end industries to manufacturing and service sectors. The booming internet in recent years has spurred the rise of e-commerce, allowing people to purchase goods online rather than in physical stores. This surge in online orders has created enormous pressure on logistics.

[0003] Wheeled mobile robots are designed to achieve unmanned and intelligent logistics. Driven by only one wheel, they offer significant advantages in saving materials, reducing weight, and conserving energy. Their small size and light weight also make them more agile, suitable for transporting small items. However, most existing wheeled mobile robots can only be used individually for transporting small items; very few can be combined for transporting larger items. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects of the prior art and provide a structural device for a single-wheel transfer mobile robot. The structural device of the single-wheel transfer mobile robot in this solution uses a front and rear connecting part with a working principle similar to that of a ballpoint pen. It can be used alone to transfer small items, or in groups to transfer large items. Under certain circumstances, it can replace a container truck and can complete the transfer work 24 hours a day, which greatly improves the efficiency of delivery and saves expensive time costs.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] The purpose of this invention is to provide a structural device for a single-wheel transport mobile robot, including a rotating platform, a robot body, a robotic arm, and wheels; the rotating platform is connected to the robot body; the robotic arm is connected to the robot body; and the wheels are connected to the robot body.

[0007] Further, the rotary platform includes a front fixed connecting block, a rear fixed connecting block, front and rear connecting parts, a front support plate, and a rear support plate; the front and rear connecting parts include a front vehicle connecting part and a rear vehicle connecting part, which are respectively installed on the front fixed connecting block and the rear fixed connecting block; the front vehicle connecting part includes a spring, a sleeve, and a limiting chuck; the rear vehicle connecting part includes a telescopic rod and a tapered guide groove; the sleeve serves as the outer shell of the front vehicle connecting part; the spring is installed inside the front vehicle connecting part; the telescopic rod is installed in front of the tapered guide groove, and the telescopic rod includes a square component, which is outside the front fixed connecting block; the tapered guide groove is located behind the telescopic rod and is fixed inside the front fixed connecting block; the limiting chuck is located at the front end inside the sleeve; the front support plate is fixed to the telescopic rod by bolts through a protrusion on the front fixed connecting block; the rear support plate is directly connected to the telescopic rod, and the telescopic rod is fixed to the rear fixed connecting block by nuts.

[0008] Furthermore, when a connection is required, the rear vehicle only needs to gently push the front vehicle's connection mechanism with a small relative speed. The telescopic rod of the rear vehicle extends through the conical guide groove and then rotates at a certain angle to lock into the limiting chuck of the front vehicle, thus achieving the connection effect, similar to the principle of a ballpoint pen. When a separation is required, the rear vehicle only needs to gently push the front vehicle again, causing the telescopic rod to rotate inside the sleeve. Since the limiting effect of the sleeve is lost, it returns to the initial position under the elastic force of the spring, thereby achieving the separation of the combination. The spring can also play a role in connecting, buffering and shock absorption.

[0009] Furthermore, the front support plate is a two-piece design; the rear support plate is a single piece.

[0010] Furthermore, the rotary platform also includes a rotary base, a spring damper, a platform base plate, a bearing seat bracket, a ball screw and guide rail, a guide rail bracket, side guide rails, and a clamping block support frame. The rotary base is fixed to the rotary support on the robot body by bolts. The spring damper is installed on the rotary base by threads at the bottom and the platform base plate is fixed by bolts at the top. The guide rail bracket, on which the side guide rails are placed, is bolted below the platform base plate, and the bearing seat bracket is fixed above it by bolts. A ball screw and guide rail are placed on each of the front and rear sides of the bearing seat bracket. The ball screw and guide rail are used to drive the clamping block support frame to move back and forth. The clamping block support frame is connected to the ball screw and guide rail. The front fixed connecting block and the rear fixed connecting block are both fixed to the clamping block support frame.

[0011] Furthermore, both the front fixed connecting block and the rear fixed connecting block are fixed on the clamping block support frame by a shaft and a first bearing, and are driven by a first bevel gear and a spur gear.

[0012] Furthermore, the robot body includes a vertical rotor balancing mechanism, a rotary support, a reduction gearbox, a main body shell, and a side connecting plate; the reduction gearbox is bolted to the inside of the main body shell; the vertical rotor balancing mechanism is installed in the cavity enclosed by the rear half of the main body shell to provide dynamic balance adjustment during robot operation; the rotary support is bolted to the top plate of the main body shell to provide rotational power for the rotary platform; the side connecting plate is bolted to the main body shell for mounting a planetary gear reducer; the rotary base is bolted to the rotary support on the robot body.

[0013] Furthermore, the robotic arm includes a planetary gear reducer, an upper arm, a lead screw and nut telescopic mechanism, a forearm end, a second bevel gear, a folding end of the forearm, a torsion spring, and a gripper. The planetary gear reducer is bolted to a side connecting plate, and its input shaft is connected to the output shaft of a reduction gearbox inside the main body housing via a key. The reducer output shaft is connected to the upper arm housing to transmit power for the rotation of the upper arm. The lead screw and nut telescopic mechanism is installed inside the upper arm, enabling the upper arm to extend and retract. The forearm end is installed at the end of the upper arm, and the folding end of the forearm is equipped with a built-in second bevel gear to unfold the forearm into a folded state. The gripper is fixed to the folding end of the forearm by a bracket, and a torsion spring is installed inside the gripper so that it can return to its original position after rotation.

[0014] Furthermore, the wheel includes a hub, a bearing support frame, a motor stator, a wheel axle, a spring damper, a damping ring, a bushing, and a second bearing; the motor stator is installed inside the hub as the robot's power source; the hub serves as the motor rotor; the wheel axle passes through the center of the motor stator; the inner ring of the second bearing is installed on the wheel axle, the second bearing is separated from the motor by a bushing fixed by a pin, and the outer ring of the second bearing is fixed by the bearing support frame; the bearing support frame is connected to the hub by bolts; the spring damper is fixed to the damping ring by pins to form a spring damping spoke damping assembly, and the center of the spring damping spoke damping assembly is connected to the wheel axle through the bushing connected by the spring damper; the damping ring includes a square shaft end; a square hole is provided on the inner side of the main body shell; the square shaft end on the damping ring is connected to the square hole on the inner side of the main body shell of the robot body.

[0015] Furthermore, the wheel also includes spokes and a tire; the spokes are bolted to the hub to protect the internal structure of the wheel; the tire is connected to the hub.

[0016] Furthermore, the three spring dampers are arranged in a group, spaced 120° apart, and fixed to the damping ring by pins to form a spring damping spoke damping assembly.

[0017] Furthermore, the bearing support frame is circular.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1) The present invention provides a structural device for a single-wheel transfer mobile robot. The structural device of the single-wheel transfer mobile robot in this solution uses a front and rear connecting part with a working principle similar to that of a ballpoint pen. It can be used alone to transfer small items, or in groups to transfer large items. Under certain circumstances, it can replace a container truck and can complete the transfer work 24 hours a day, which greatly improves the efficiency of delivery and saves expensive time costs.

[0020] 2) The structural device of the single-wheel transport mobile robot provided by the present invention, when it needs to be connected, only requires the rear vehicle to gently push the front vehicle connecting mechanism with a small relative speed. The telescopic rod of the rear vehicle is centered through the conical guide groove and then rotated at a certain angle to lock into the limiting chuck of the front vehicle to achieve the connection effect, similar to the principle of a ballpoint pen. When it needs to be disengaged, the rear vehicle only needs to gently push the front vehicle again to make the telescopic rod rotate in the sleeve. Since the limiting effect of the sleeve is lost, it returns to the initial position under the action of the spring force, thereby realizing the separation of the combination. The spring can also play a role in connection buffering and shock absorption.

[0021] 3) The structural device of the single-wheel transfer mobile robot provided by the present invention can solve the problem of high manpower and time consumption in the transfer of goods in the logistics and express delivery industry. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the single-wheel transport mobile robot in an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the rotating platform of the single-wheel transport mobile robot in an embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the main body of the single-wheel transport mobile robot in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the mechanical arm of the wheelbarrow transport mobile robot in an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the wheel structure of the single-wheel transport mobile robot in an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the front vehicle connector in an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram of the structure of the rear vehicle connector in an embodiment of the present invention.

[0029] The numbers in the diagram are as follows:

[0030] 101. Rotary base; 102. Spring damper; 103. Platform base plate; 104. Bearing seat bracket; 105. Ball screw and guide rail; 106. Guide rail bracket; 107. Side guide rail; 108. Clamping block support frame; 109. Front fixed connecting block; 110. Rear fixed connecting block; 111. Front and rear connecting parts; 112. Front support plate; 113. Rear support plate; 201. Vertical rotor balancing mechanism; 202. Rotary support; 203. Reduction gearbox; 204. 1. Main body shell; 205. Side connecting plate; 301. Planetary gear reducer; 302. Boom; 303. Screw nut telescopic mechanism; 304. Front end of forearm; 305. Second bevel gear; 306. Folding end of forearm; 307. Torsion spring; 308. Grab; 401. Wheel hub; 402. Bearing support frame; 403. Motor stator; 404. Wheel axle; 405. Spring shock absorber; 406. Shock absorber ring; 407. Bushing; 408. Spoke; 409. Tire;

[0031] 111-1, Spring; 111-2, Telescopic rod; 111-3, Sleeve; 111-4, Conical guide groove; 111-5, Limit chuck. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, and other features not explicitly described in this invention are considered common technical features disclosed in the prior art.

[0033] Example

[0034] like Figures 1-5 As shown, this embodiment provides a structural device for a single-wheel transport mobile robot, including a rotating platform 100, a robot body 200, a robotic arm 300, and wheels 400. The rotating platform 100 is connected to the robot body 200; the robotic arm 300 is connected to the robot body 200; and the wheels 400 are connected to the robot body 200.

[0035] The slewing platform 100 includes a slewing base 101, a spring damper 102, a platform base plate 103, a bearing seat bracket 104, a ball screw and guide rail 105, a guide rail bracket 106, a side guide rail 107, a clamping block support frame 108, a front fixed connecting block 109, a rear fixed connecting block 110, front and rear connecting parts 111, a front support plate 112, and a rear support plate 113.

[0036] The robot body 200 includes a vertical rotor balancing mechanism 201, a rotary support 202, a reduction gearbox 203, a main body shell 204, and a side connecting plate 205.

[0037] The robotic arm 300 includes a planetary gear reducer 301, an upper arm 302, a lead screw and nut telescopic mechanism 303, a forearm front end 304, a second bevel gear 305, a forearm folding end 306, a torsion spring 307, and a gripper 308.

[0038] The wheel 400 includes a hub 401, a bearing support frame 402, a motor stator 403, a wheel axle 404, a spring damper 405, a damping ring 406, a bushing 407, a spoke 408, and a tire 409.

[0039] The rotary base 101 is bolted to the rotary support 202 on the robot body 200; the spring damper 102 is installed on the rotary base 101 by threads at the bottom and the platform base 103 is fixed by bolts at the top; a guide rail bracket 106 with side guide rails 107 is bolted to the bottom of the platform base 103 and a bearing seat bracket 104 is bolted to the top; a ball screw and guide rail 105 are placed on each of the front and rear sides of the bearing seat bracket 104, and the ball screw and guide rail 105 are used to drive the clamping blocks. The support frame 108 moves back and forth, and the clamping block support frame 108 is connected to the ball screw and guide rail 105; the front fixed connecting block 109 and the rear fixed connecting block 110 are both fixed on the clamping block support frame 108 by shafts and first bearings, and are driven by the first bevel gear and spur gear; the front and rear connecting parts 111 include a front connecting part and a rear connecting part, which are respectively installed on the front fixed connecting block 109 and the rear fixed connecting block 110; the front connecting part includes a spring 111-1 and a sleeve 111-1. 3. Limiting chuck 111-5; the rear vehicle connector includes a telescopic rod 111-2 and a tapered guide groove 111-4; the sleeve 111-3 serves as the outer shell of the front vehicle connector; the spring 111-1 is installed inside the front vehicle connector; the telescopic rod 111-2 is installed in front of the tapered guide groove 111-4, the telescopic rod 111-2 includes a square component, the square portion being outside the front fixed connecting block 109; the tapered guide groove 111-4 is located behind the telescopic rod 111-2, the tapered guide groove 111-4... 11-4 is fixed inside the front fixed connecting block 109; the limiting chuck 111-5 is located at the front end inside the sleeve 111-3; the front support plate 112 is a split type, consisting of two pieces, which are fixed to the telescopic rod 111-2 by bolts through the protrusion on the front fixed connecting block 109; the torsion spring is installed inside the connection between the front support plate 112 and the telescopic rod 111-2; the rear support plate 113 is an integral piece, directly connected to the telescopic rod 111-2, and the telescopic rod 111-2 is fixed by nuts connected to the rear fixed connecting block 110. When the connection needs to be made, the rear vehicle only needs to gently push the front vehicle's connecting mechanism with a small relative speed. The telescopic rod of the rear vehicle will extend through the conical guide groove and then rotate at a certain angle to lock into the limiting chuck of the front vehicle, thus achieving the connection effect, similar to the principle of a ballpoint pen. When the connection needs to be made, the rear vehicle only needs to gently push the front vehicle again, causing the telescopic rod to rotate inside the sleeve. Since the limiting effect of the sleeve is lost, it returns to the initial position under the elastic force of the spring, thus achieving the separation of the combination. In addition, the spring torsion spring can also play a role in connection buffering and shock absorption.

[0040] The front fixed connecting block 109 and the rear fixed connecting block 110 are both fixed on the clamping block support frame 108 by a shaft and a first bearing, and are driven by a second bevel gear and a spur gear.

[0041] The reduction gearbox 203 is bolted to the interior of the main housing 204; the vertical rotor balancing mechanism 201 is installed in the cavity enclosed by the rear half of the main housing 204 to provide dynamic balance adjustment during robot operation; the slewing support 202 is bolted to the top plate of the main housing 204 to provide rotational power for the slewing platform 100; the side connecting plate 205 is bolted to the main housing 204 and is used to install the planetary gear reducer 301.

[0042] The planetary gear reducer 301 is bolted to the side connecting plate 205. The input shaft of the planetary gear reducer 301 is connected to the output shaft of the reduction gearbox 203 inside the main body housing 204 via a key. The output shaft of the reducer is connected to the housing of the boom 302 to transmit power for the rotation of the boom 302. The lead screw and nut telescopic mechanism 303 is installed inside the boom 302, giving the boom 302 a telescopic function. The forearm front end 304 is installed at the end of the boom 302. The forearm folding end 306 is equipped with a built-in second bevel gear 305 to unfold the forearm in the folded state. The gripper 308 is fixed to the forearm folding end 306 by a bracket. A torsion spring 307 is installed inside the gripper so that the gripper 308 can return to its original position after rotation.

[0043] The wheel 400 also includes a second bearing; the motor stator 403 is installed inside the wheel hub 401 as the power source for the robot; the wheel hub 401 serves as the motor rotor; the wheel axle 404 passes through the center of the motor stator 403; the inner ring of the second bearing is installed on the wheel axle 404, and the second bearing is separated from the motor by a bushing fixed by a pin, and the outer ring of the second bearing is fixed by a circular bearing support frame 402; the bearing support frame 402 is connected to the wheel hub 401 by bolts; three spring dampers 405 are arranged in a group, spaced 120° apart, and fixed to the damping ring 406 by pins to form a spring damping spoke damping assembly, and the center of the spring damping spoke damping assembly is connected to the wheel axle 404 through a bushing 407 connected by the spring dampers; the spokes 408 are bolted to the wheel hub 401 to protect the internal structure of the wheel; the tire 409 is connected to the wheel hub 401. The shock-absorbing ring 406 includes a square shaft end; the inner side of the main body shell 204 is provided with a square hole; the square shaft end on the shock-absorbing ring 406 is connected to the square hole on the inner side of the main body shell 204 of the robot body 200.

[0044] When transporting small items, the present invention provides dynamic balance for the unicycle shape through the vertical rotor balancing mechanism 201 in the robot body 200; the wheel 400 has a built-in stator and the wheel hub 401 is regarded as a rotor to drive the robot to move as an electric motor; the robotic arm 300 lifts the item by unfolding the forearm folding end 306 and places the item on the rotary platform 100 by rotating the upper arm 302 mounted on the planetary gear reducer 301. After that, the robotic arm 300 can serve as the two sides of the item to fix the position of the item; after the item is placed on the rotary platform 100, the motor drives the ball screw and the ball screw in the guide rail 105 to move the clamp support frame 108 along the guide rail to unfold the shell of the rotary platform 100. Then the front fixed connecting block 109 and the rear fixed connecting block 110 are opened, so that the front support plate 112 and the rear support plate 113 are unfolded to serve as the front and rear support of the item. When transporting large items, four robots can be positioned in a diamond shape to support the item. The rotating platforms 100 of the left and right robots rotate 90°, so that their front support plates 112 and rear support plates 113 serve as the side support plates for the large item. When used in groups, the front fixed connecting block 109 and rear fixed connecting block 110 in the rotating platform 100 can be fully extended to 180°. The rear fixed connecting block 110 of the previous robot and the front fixed connecting block 109 of the next robot are combined together by the front and rear connecting parts 111, allowing the robots to be connected and used together.

[0045] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A structural device for a wheelbarrow transport mobile robot, characterized in that, Includes a rotary platform (100), a robot body (200), a robotic arm (300), and wheels (400); The rotary platform (100) is connected to the robot body (200); The robotic arm (300) is connected to the robot body (200); The wheels (400) are connected to the robot body (200); The rotary platform (100) includes a front fixed connecting block (109), a rear fixed connecting block (110), front and rear connecting parts (111), a front support plate (112), and a rear support plate (113); The front and rear connecting parts (111) include a front vehicle connecting part and a rear vehicle connecting part, which are respectively installed on the front fixed connecting block (109) and the rear fixed connecting block (110); The front vehicle connecting component includes a spring (111-1), a sleeve (111-3), and a limiting chuck (111-5); The rear vehicle connector includes a telescopic rod (111-2) and a tapered guide groove (111-4); The sleeve (111-3) is used as the outer shell of the front vehicle connector; The spring (111-1) is installed inside the front vehicle connector; The telescopic rod (111-2) is installed in front of the tapered guide groove (111-4). The telescopic rod (111-2) includes a square part, which is outside the front fixed connecting block (109). The tapered guide groove (111-4) is located behind the telescopic rod (111-2), and the tapered guide groove (111-4) is fixed inside the front fixed connecting block (109); The limiting chuck (111-5) is located at the front end of the sleeve (111-3); The front support plate (112) is fixed to the telescopic rod (111-2) by bolts through the protrusion on the front fixed connecting block (109); The rear support plate (113) is directly connected to the telescopic rod (111-2), and the telescopic rod (111-2) is fixed to the rear fixed connecting block (110) by nuts.

2. The structural device of the wheelbarrow transport mobile robot according to claim 1, characterized in that, The front support plate (112) is a two-part design; The rear support plate (113) is a single piece.

3. The structural device of the wheelbarrow transport mobile robot according to claim 1, characterized in that, The rotary platform (100) also includes a rotary base (101), a spring damper (102), a platform base plate (103), a bearing seat bracket (104), a ball screw and guide rail (105), a guide rail bracket (106), a side guide rail (107), and a clamping block support frame (108). The rotary base (101) is fixed to the robot body (200) by bolts; The spring damper (102) is installed on the rotary base (101) by the bottom thread and the platform base plate (103) is fixed by the top bolt; The platform base plate (103) is connected to a guide rail bracket (106) with side guide rails (107) by bolts below, and a bearing seat bracket (104) is fixed above by bolts. The bearing seat bracket (104) has a ball screw and guide rail (105) placed on each of its front and rear sides. The ball screw and guide rail (105) are used to drive the clamp support frame (108) to move back and forth. The clamp support frame (108) is connected to the ball screw and guide rail (105). The front fixed connecting block (109) and the rear fixed connecting block (110) are both fixed on the clamping block support frame (108).

4. The structural device of the wheelbarrow transport mobile robot according to claim 3, characterized in that, The front fixed connecting block (109) and the rear fixed connecting block (110) are both fixed on the clamping block support frame (108) by a shaft and a first bearing, and are driven by a first bevel gear and a spur gear.

5. The structural device of the wheelbarrow transport mobile robot according to claim 4, characterized in that, The robot body (200) includes a vertical rotor balancing mechanism (201), a rotary support (202), a reduction gearbox (203), a main body shell (204), and a side connecting plate (205); The reduction gearbox (203) is bolted to the interior of the main housing (204); The vertical rotor balancing mechanism (201) is installed in the cavity formed by the rear half of the main body shell (204); The slewing support (202) is bolted to the top plate of the main body shell (204); the side connecting plate (205) is bolted to the main body shell (204); The rotary base (101) is fixed to the rotary support (202) on the robot body (200) by bolts.

6. The structural device of the wheelbarrow transport mobile robot according to claim 5, characterized in that, The robotic arm (300) includes a planetary gear reducer (301), an upper arm (302), a lead screw and nut telescopic mechanism (303), a forearm front end (304), a second bevel gear (305), a forearm folding end (306), a torsion spring (307), and a gripper (308). The planetary gear reducer (301) is bolted to the side connecting plate (205), and the input shaft of the planetary gear reducer (301) is connected to the output shaft of the reduction gearbox (203) inside the main housing (204) by a key; The output shaft of the reducer is connected to the outer shell of the boom (302); The lead screw nut telescopic mechanism (303) is installed inside the boom (302); The forearm front end (304) is installed at the end of the upper arm (302), and the forearm folding end (306) is equipped with a built-in second bevel gear (305); The gripper (308) is fixed to the folded end of the forearm (306) by a bracket, and a torsion spring (307) is installed inside the gripper (308).

7. The structural device of the wheelbarrow transport mobile robot according to claim 6, characterized in that, The wheel (400) includes a hub (401), a bearing support frame (402), a motor stator (403), a wheel axle (404), a spring damper (405), a damping ring (406), a bushing (407), and a second bearing; The motor stator (403) is installed inside the wheel hub (401); The motor stator (403) passes through the wheel axle (404) in the middle; The inner ring of the second bearing is mounted on the wheel axle (404), the second bearing is separated from the motor by a bushing (407) fixed by a pin, and the outer ring of the second bearing is fixed by a bearing support frame (402); The bearing support frame (402) is connected to the wheel hub (401) by bolts; The spring damper (405) is fixed to the damping ring (406) by a pin to form a spring damping spoke damping assembly. The center of the spring damping spoke damping assembly is connected to the wheel axle (404) through the bushing (407) connected by the spring damper. The damping ring (406) includes a square shaft end; The main body shell (204) has a square hole on its inner side; The square shaft end on the shock-absorbing ring (406) is connected to the square hole on the inner side of the main body shell (204) of the robot body (200).

8. The structural device of the wheelbarrow transport mobile robot according to claim 7, characterized in that, The wheel (400) also includes spokes (408) and tires (409); The spokes (408) are bolted to the hub (401) to protect the internal structure of the wheel; The tire (409) is connected to the wheel hub (401).

9. The structural device of the wheelbarrow transport mobile robot according to claim 7, characterized in that, Three spring dampers (405) are arranged in a group, spaced 120° apart, and fixed to the damping ring (406) by pins to form a spring damping spoke damping assembly.

10. The structural device of the wheelbarrow transport mobile robot according to claim 7, characterized in that, The bearing support frame (402) is circular.

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