Four-connecting-rod type posture-adjustable autorotation pushing robot

Abstract

The invention discloses a four-connecting-rod type posture-adjustable autorotation pushing robot, and relates to the technical field of automatic pushing of livestock feed, an upper-layer plate is fixedly arranged above a bottom plate, a four-connecting-rod posture-adjustable mechanism is rotatably arranged on the upper-layer plate, and the four-connecting-rod posture-adjustable mechanism is in transmission connection with a rotation driving mechanism; the four-connecting-rod posture adjustable mechanism can drive the rotary driving mechanism to rotate in the longitudinal direction, the roller mechanism is fixedly connected with the rotary driving mechanism, and the rotary driving mechanism can drive the roller mechanism to rotate in the transverse direction. A four-connecting-rod posture-adjustable mechanism is adopted to replace a traditional cam posture-adjustable structure, the four-connecting-rod posture-adjustable mechanism is driven by a telescopic motor to rotate, a mounting plate of the four-connecting-rod posture-adjustable mechanism drives a rotary driving mechanism and a roller mechanism to rotate through a sectional material to adjust the posture, and the posture-adjustable mechanism can improve the complete pushing rate of feed; the robot can work in multiple channels, has the multi-robot cooperative work capacity, is provided with a communication system, and achieves man-machine interaction.

Description

Technical Field

[0001] The invention relates to the technical field of automatic pushing of animal feed, in particular to a four-link type posture-adjustable self-rotating feed pushing robot. Background Art

[0002] In modern pasture management, automatic feed pushing and distribution is a key link to improve breeding efficiency and ensure livestock health. Traditional feed pushing methods mainly rely on manual operation, which is not only labor-intensive, but also inefficient and prone to feed waste and pollution. In order to improve the automation level of feed management and reduce labor costs, feed pushing robots came into being. These robots reduce manual intervention and improve the efficiency and accuracy of feed distribution by automatically pushing feed.

[0003] Although pusher robots play an important role in pasture management, existing pusher robots still have some defects and shortcomings:

[0004] 1) Limitations of autonomous navigation and positioning technologies: Although advanced autonomous navigation and positioning technologies such as LiDAR and visual SLAM can improve the driving accuracy of robots in feed yards and avoid collisions, these technologies may be affected by factors such as light and weather in complex and changeable pasture environments, resulting in limited accuracy and stability.

[0005] 2) Complex structure and high cost: The complexity of the cam posture adjustable structure of the existing pusher robot not only increases the production cost, but also increases the risk of mechanical failure. This leads to the high cost of the existing robot, limiting its application in small-scale farms.

[0006] 3) Single function: The existing feed pushing robots have relatively single functions, focusing more on pushing feed, lacking the mixing function, and unable to meet the demand for uniform distribution of feed.

[0007] 4) Low feed pushing rate: Currently, feed pushing robots generally operate as single machines and do not have the ability to work in multiple machines or multiple channels, resulting in a low feed pushing rate and feed waste. In addition, existing feed pushing robots do not have human-computer interaction functions.

[0008] In view of this, how to provide a material pushing robot that can fully or partially solve the above-mentioned technical problems is an issue that technical personnel in this field urgently need to solve. Summary of the invention

[0009] The purpose of the present invention is to provide a four-link type posture-adjustable self-rotating material-pushing robot to solve the problems existing in the prior art.

[0010] To achieve the above purpose, the present invention provides the following solution: The present invention provides a four-link type posture adjustable self-rotating material pushing robot, comprising:

[0011] Base plate;

[0012] An upper plate, wherein the upper plate is fixedly disposed above the bottom plate and a gap is provided between the upper plate and the bottom plate;

[0013] A four-bar linkage with adjustable posture, wherein the four-bar linkage with adjustable posture can be rotatably arranged on the upper plate;

[0014] A rotation drive mechanism, wherein the four-bar linkage with adjustable posture is in transmission connection with the rotation drive mechanism, and the four-bar linkage with adjustable posture can drive the rotation drive mechanism to rotate in the longitudinal direction;

[0015] A roller mechanism is fixedly connected to the rotary drive mechanism, and the rotary drive mechanism can drive the roller mechanism to rotate in the lateral direction.

[0016] Furthermore, the four-bar linkage with adjustable posture includes:

[0017] A front connecting rod, wherein two front connecting rods are arranged in parallel, and one end of the two front connecting rods is rotatably arranged on the upper plate;

[0018] A rear connecting rod, wherein two rear connecting rods are arranged in parallel, one end of the two rear connecting rods is rotatably arranged on the upper plate, and the front connecting rod and the rear connecting rod are located in corresponding positions;

[0019] A mounting plate, the mounting plate being rotatably connected to the other end of the front link and the other end of the rear link respectively, and the mounting plate rotates in the longitudinal direction when the front link and the rear link rotate;

[0020] A profile rod, one end of which is fixedly connected to the lower surface of the mounting plate, and the other end of which extends downward and penetrates the upper plate, and the other end of which is fixedly connected to the rotary drive mechanism;

[0021] A telescopic motor is rotatably arranged on the upper plate, and an output end of the telescopic motor is fixedly connected to the front connecting rod and / or the rear connecting rod.

[0022] Furthermore, the rotation drive mechanism comprises:

[0023] An annular slide rail, the annular slide rail is drivingly connected to the four-bar posture-adjustable mechanism;

[0024] A gear ring bracket, wherein the gear ring bracket is slidably connected to the annular slide rail via a pulley module, and the roller mechanism is fixedly connected to the gear ring bracket;

[0025] An inner gear ring, the inner gear ring is integrally connected with the gear ring bracket;

[0026] A driving motor is fixedly arranged on the lower surface of the annular slide rail through a mounting seat, and a driving gear is arranged at the output end of the driving motor, and the driving gear is meshed with the inner gear ring.

[0027] Furthermore, the pulley module includes a pulley mounting plate, an inner pulley and an outer pulley, the inner pulley and the outer pulley are both arranged on the pulley mounting plate, and the pulley mounting plate is fixedly connected to the ring gear bracket; the outer surface of the annular slide rail is circumferentially provided with an inner slide groove and an outer slide groove, the inner pulley and the outer pulley are respectively correspondingly inserted into the inner slide groove and the outer slide groove, the inner pulley is slidably connected to the inner slide groove, and the outer pulley is slidably connected to the outer slide groove.

[0028] Furthermore, the roller mechanism comprises:

[0029] A roller bracket, which is sleeved on the outer surface of the rotary drive mechanism and fixedly connected to the rotary drive mechanism;

[0030] A push roller, the push roller is fixedly arranged on the outer surface of the roller bracket, and a rubber brush is arranged on the lower edge of the push roller;

[0031] A stirring auger is spirally arranged on the outer surface of the pushing drum.

[0032] Furthermore, it also includes:

[0033] An upper cover is arranged to cover the upper surface of the pushing roller and is fixedly connected to the bottom plate, and a gap is provided between the inner surface of the upper cover and the upper edge of the pushing roller.

[0034] Furthermore, it also includes:

[0035] A walking mechanism, wherein the walking mechanism is arranged on the lower surface of the base plate;

[0036] An ultrasonic mechanism, wherein the ultrasonic mechanism is disposed on the surface of the upper cover;

[0037] A laser radar mechanism, which is arranged on the surface of the upper cover and corresponds to the forward direction of the walking mechanism;

[0038] An autonomous navigation and positioning module, wherein the autonomous navigation and positioning module is communicatively connected with the laser radar mechanism and the ultrasonic mechanism.

[0039] Furthermore, it also includes:

[0040] A battery, which is arranged on the bottom plate and can supply power to the four-bar posture adjustable mechanism, the rotation drive mechanism, the walking mechanism, the ultrasonic mechanism, the laser radar mechanism and the autonomous navigation and positioning module;

[0041] A charging electrode is disposed on the surface of the upper cover and is electrically connected to the storage battery.

[0042] Furthermore, it also includes:

[0043] A control center, wherein the control center is electrically connected to the four-bar posture-adjustable mechanism, the rotation drive mechanism, the walking mechanism, the ultrasonic mechanism, the laser radar mechanism, and the autonomous navigation and positioning module;

[0044] A remote communication module, through which the control center is connected to an external terminal for communication.

[0045] Furthermore, the walking mechanism includes a main wheel and an auxiliary wheel, the main wheel is arranged in the middle of the base plate, and the auxiliary wheels are respectively arranged on the front and rear sides of the base plate.

[0046] The present invention discloses the following technical effects:

[0047] 1. The present invention adopts a four-link posture adjustable mechanism to replace the traditional cam posture adjustable structure. The four-link posture adjustable mechanism is driven to rotate by a telescopic motor. The mounting plate of the four-link posture adjustable mechanism drives the rotary drive mechanism and the roller mechanism to rotate and adjust the posture through the profile. The posture adjustable mechanism can improve the feed pushing rate, can operate in multiple channels, has the ability of multi-robot collaborative operation, and has a communication system to achieve human-machine interaction. At the same time, the four-link posture adjustable mechanism enables the robot to adjust its pushing and mixing posture according to different feed characteristics and working environments, further improving the robot's adaptability and operational flexibility. This structural optimization also reduces the friction between the pushing roller and the ground, reduces energy consumption, and improves the pushing efficiency.

[0048] 2. The drum mechanism of the present invention includes a pushing drum and a stirring auger. By integrating the pushing and mixing functions, the work process of the farm is simplified, the need for manual intervention and additional equipment is reduced, and work efficiency is improved. The auger mixing mechanism ensures uniform mixing of the feed during the pushing process, improves the utilization rate of the feed and the feeding effect of the livestock. The auger mixing mechanism allows the feed to be better mixed during the pushing process, improves the nutritional uniformity of the feed, and helps to improve the health and production performance of the livestock.

[0049] 3. The present invention improves the navigation and positioning capabilities of the robot in a complex pasture environment by setting an ultrasonic mechanism and a laser radar mechanism on the surface of the upper cover and communicating with the autonomous navigation and positioning module, reduces the interference of external environmental factors, and enhances the stability and accuracy of the robot. The present invention realizes intelligent control and remote operation of the robot by setting a control center and a remote communication module, and improves the convenience and flexibility of operation. It enables users to remotely monitor and diagnose the robot, timely understand the operating status of the equipment and take measures to solve it, reduces the risk of robot downtime, and improves the reliability and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a schematic diagram of the structure of the present invention;

[0052] Figure 2 for Figure 1 Schematic diagram of the structure after removing the upper cover;

[0053] Figure 3 for Figure 2 Schematic diagram of the structure without the push roller;

[0054] Figure 4 It is a schematic diagram of the internal structure of the present invention;

[0055] Figure 5 It is a schematic diagram of the cooperation between the four-bar posture-adjustable mechanism and the rotation drive mechanism of the present invention;

[0056] Figure 6 It is a schematic diagram of the connection between the profile rod and the annular slide rail;

[0057] Figure 7 It is a schematic diagram of the connection between the driving motor and the annular slide rail;

[0058] Figure 8 It is a schematic diagram of the structure of a four-bar posture adjustable mechanism;

[0059] Fig. 9 It is a schematic diagram of the structure of the rotary drive mechanism;

[0060] Fig.10 It is a schematic diagram of the pulley module structure;

[0061] Fig.11 It is a schematic diagram of the structure of the present invention under normal conditions;

[0062] Fig.12 It is a schematic diagram of the structure after the mounting plate is rotated longitudinally;

[0063] Among them, 1. bottom plate; 2. upper plate; 3. four-link posture adjustable mechanism; 301. front link; 302. rear link; 303. mounting plate; 304. profile rod; 3041. extension; 305. telescopic motor; 4. rotation drive mechanism; 401. annular slide rail; 402. gear ring bracket; 403. inner gear ring; 404. drive motor; 405. mounting seat; 406. pulley module; 4061. pulley mounting plate; 4062 , inner pulley; 4063, outer pulley; 407, driving gear; 5, roller mechanism; 501, roller bracket; 502, pushing roller; 503, stirring auger; 504, rubber brush; 6, upper cover; 7, ultrasonic mechanism; 8, laser radar mechanism; 9, battery; 10, charging electrode; 11, main wheel; 12, auxiliary wheel; 13, first support column; 14, second support column; 15, hinged seat; 16, cross bar; 17, connecting bracket. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0066] like Figure 1-Figure 10 As shown, the embodiment of the present invention provides a four-link type posture adjustable self-rotating pusher robot, the bottom plate 1 is a quadrilateral structure with a wide middle and narrow ends, the walking mechanism is arranged on the lower surface of the bottom plate 1, and the walking mechanism includes a main wheel 11 and an auxiliary wheel 12, the main wheel 11 is arranged in the middle of the bottom plate 1, and the auxiliary wheels 12 are respectively arranged on the front and rear sides of the bottom plate 1, and the outer diameter of the main wheel 11 is greater than the outer diameter of the auxiliary wheel 12. The upper plate 2 is fixedly arranged above the bottom plate 1 through a vertically arranged first support column 13, and there is a gap between the upper plate 2 and the bottom plate 1, providing sufficient space for the connection structure and posture adjustment of the rotary drive mechanism 4 and the roller mechanism 5. The four-link posture adjustable mechanism 3 is rotatably arranged on the upper plate 2, and the four-link posture adjustable mechanism 3 is transmission-connected with the rotary drive mechanism 4, and the four-link posture adjustable mechanism 3 can drive the rotary drive mechanism 4 to rotate in the longitudinal direction; the roller mechanism 5 is fixedly connected with the rotary drive mechanism 4, and the rotary drive mechanism 4 can drive the roller mechanism 5 to rotate in the transverse direction.

[0067] like Figure 4-Figure 8 As shown, the four-link posture adjustable mechanism 3 includes: a front link 301, two front links 301 are arranged in parallel, the two front links 301 are respectively close to the two sides of the upper plate 2, and one end of the two front links 301 can be rotatably set on the upper plate 2 through a hinge seat 15; two rear links 302 are arranged in parallel, the two rear links 302 are respectively close to the two sides of the upper plate 2, and one end of the two rear links 302 can be rotatably set on the upper plate 2 through a hinge seat 15, and the front links 301 and the rear links 302 are in corresponding positions; the mounting plate 303 is rotatably connected to the other end of the front link 301 and the other end of the rear link 302, respectively, and the mounting plate 303 rotates longitudinally when the front link 301 and the rear link 302 rotate. When the mounting plate 303 is in a horizontal position, the front link 301 is close to a vertical state, and the rear link 302 is in a significantly inclined state. The profile rod 304 is a connecting structure of the four-link posture adjustable mechanism 3 and the rotation drive mechanism 4. Two profile rods 304 are arranged in parallel. One end of the profile rod 304 is fixedly connected to the lower surface of the mounting plate 303. A through hole is arranged in the middle of the upper plate 2 through the upper and lower surfaces. The through hole is arranged at intervals with the front link 301, the rear link 302 and the telescopic motor 305, leaving sufficient installation area on the upper plate 2. The other end of the profile rod 304 extends downward and passes through the through hole. Figure 6 and Figure 7 As shown, the two profile rods 304 extend to the left and right sides respectively to form extension parts 3041, and the extension parts 3041 reach the annular slide rail 401 and are then fixedly connected to the annular slide rail 401; Figure 5 and Figure 6 As shown, the telescopic motor 305 is rotatably arranged on the upper plate 2, the output end of the telescopic motor 305 is fixedly connected to the rear connecting rod 302 via the cross bar 16, the middle part of the cross bar 16 is fixedly connected to the output end of the telescopic motor 305, and the two ends of the cross bar 16 are respectively fixed to the middle area of ​​the two rear connecting rods 302.

[0068] like Fig. 9 As shown, the rotary drive mechanism 4 includes: an annular slide rail 401, the annular slide rail 401 is connected to the extension portion 3041 formed by the horizontal extension of the profile rod 304; the ring gear bracket 402 is slidably connected to the annular slide rail 401 through the pulley module 406, and the roller mechanism 5 is fixedly connected to the ring gear bracket 402; the inner ring gear 403 is integrally connected to the ring gear bracket 402; Figure 7 As shown, the drive motor 404 is fixedly arranged on the lower surface of the annular slide rail 401 through a mounting seat 405, so that the drive motor 404 can rotate longitudinally together with the annular slide rail 401, and a drive gear 407 is arranged at the output end of the drive motor 404. During the posture adjustment process, the drive gear 407 and the inner gear ring 403 are always meshed with the drive gear 407.

[0069] like Figure 7 and Fig.10 As shown, the pulley module 406 includes a pulley mounting plate 4061, an inner pulley 4062 and an outer pulley 4063, the inner pulley 4062 and the outer pulley 4063 are both arranged on the pulley mounting plate 4061, and the pulley mounting plate 4061 is fixedly connected to the ring gear bracket 402; the outer surface of the annular slide rail 401 is provided with an inner slide groove and an outer slide groove along the circumferential direction, the inner pulley 4062 and the outer pulley 4063 are respectively correspondingly inserted into the inner slide groove and the outer slide groove, the inner pulley 4062 is slidably connected to the inner slide groove, and the outer pulley 4063 is slidably connected to the outer slide groove. The use of the above pulley module 406 can prevent the pulley module 406 from being separated from the annular slide rail 401 during the posture adjustment process, thereby improving the stability and reliability of the structural operation.

[0070] like Figure 2 and Figure 3 As shown, the roller mechanism 5 includes: a roller bracket 501, which is generally a hollow trapezoidal column, and a connecting bracket 17 is arranged at the position of the roller bracket 501 corresponding to the gear ring bracket 402, and the connecting bracket 17 is fixedly connected to the gear ring bracket 402 by bolts, and the roller bracket 501 is sleeved on the outer surface of the rotary drive mechanism 4, and the four-link posture adjustable mechanism 3, the rotary drive mechanism 4, the bottom plate 1 and the walking mechanism are all located inside the roller bracket 501. The push roller 502 is fixedly arranged on the outer surface of the roller bracket 501, and a rubber brush 504 is arranged on the lower edge of the push roller 502; and a stirring auger 503, which is spirally arranged on the outer surface of the push roller 502.

[0071] like Figure 1 As shown, it also includes: an upper cover 6, which covers the upper surface of the push roller 502 and is fixedly connected to the bottom plate 1 through the second support column 14, and there is a gap between the inner surface of the upper cover 6 and the upper edge of the push roller 502. When the push roller 502 and the roller bracket 501 rotate in the longitudinal direction, the top of the push roller 502 and the roller bracket 501 can partially enter the upper cover 6, and the gap between the inner surface of the upper cover 6 and the upper edge of the push roller 502 should ensure that the push roller 502 and the push bracket will not collide with the upper cover 6. The laser radar mechanism 8 is arranged on the surface of the upper cover 6 and corresponds to the forward direction of the walking mechanism; the ultrasonic mechanism 7 is arranged on the surface of the upper cover 6, and it is arranged on the left and right sides of the laser radar mechanism 8. The autonomous navigation and positioning module is connected to the laser radar mechanism 8 and the ultrasonic mechanism 7 for communication.

[0072] like Figure 4 As shown, it also includes: a battery 9, which is arranged on the base plate 1, and the battery 9 can supply power to the four-bar posture adjustable mechanism 3, the rotation drive mechanism 4, the walking mechanism, the ultrasonic mechanism 7, the laser radar mechanism 8 and the autonomous navigation and positioning module; a charging electrode 10 is arranged on the surface of the upper cover 6, and the charging electrode 10 is electrically connected to the battery 9.

[0073] In this embodiment, it also includes: a control center, which is electrically connected to the four-bar posture adjustable mechanism 3, the rotation drive mechanism 4, the walking mechanism, the ultrasonic mechanism 7, the laser radar mechanism 8 and the autonomous navigation and positioning module, and the control center is connected to the external terminal through the remote communication module.

[0074] The specific working process is as follows:

[0075] like Fig.11 As shown, under normal conditions, the mounting plate 303 is in a horizontal state, and the push roller 502 is also in a horizontal state. When the posture of the push roller 502 needs to be adjusted, the telescopic motor 305 is started, as shown in FIG. Figure 4 As shown, the output end of the telescopic motor 305 extends to the right, at which time the rear connecting rod 302 rotates to the upper right, the front connecting rod 301 rotates to the lower right, the mounting plate 303 gradually forms a shape of being lower on the left and higher on the right, and the bottom end of the profile rod 304 integrally connected to the mounting plate 303 rotates to the upper right. Since the profile rod 304 is integrally connected to the annular slide rail 401, under the action of the profile rod 304, the annular slide rail 401, the ring gear bracket 402, the inner ring gear 403, the drive motor 404 and the push roller 502 rotate to the upper right together, and finally reach Fig.12 At this time, the upper right part of the push roller 502 enters the upper cover 6, but does not contact the inner surface of the upper cover 6.

[0076] When the driving motor 404 rotates, the driving gear 407 drives the inner ring gear 403 to rotate, and the inner ring gear 403 drives the integrally connected ring gear bracket 402 to rotate. The ring gear bracket 402 is slidingly connected to the annular slide rail 401 through the pulley module 406, and the inner pulley 4062 and the outer pulley 4063 of the pulley module 406 are respectively inserted into the inner slide groove and the outer slide groove to ensure that the pulley module 406 does not separate from the annular slide rail 401 during the posture adjustment process.

[0077] The gear ring bracket 402 is integrally connected with the roller bracket 501 . The rotation of the gear ring bracket 402 drives the roller bracket 501 , the pushing roller 502 and the rubber brush 504 at the bottom to rotate synchronously, thereby realizing material pushing and mixing.

[0078] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0079] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A four-link type posture-adjustable self-rotating pusher robot, characterized in that: include: Bottom plate (1); An upper plate (2), the upper plate (2) being fixedly arranged above the bottom plate (1) and having a gap between the upper plate (2) and the bottom plate (1); A four-bar linkage with adjustable posture mechanism (3), wherein the four-bar linkage with adjustable posture mechanism (3) is rotatably arranged on the upper plate (2); A rotation drive mechanism (4), the four-bar posture-adjustable mechanism (3) being in transmission connection with the rotation drive mechanism (4), and the four-bar posture-adjustable mechanism (3) being capable of driving the rotation drive mechanism (4) to rotate in the longitudinal direction; A roller mechanism (5), wherein the roller mechanism (5) is fixedly connected to the rotary drive mechanism (4), and the rotary drive mechanism (4) can drive the roller mechanism (5) to rotate in the transverse direction.

2. A four-link type posture-adjustable self-rotating pusher robot according to claim 1, characterized in that: The four-bar linkage with adjustable posture (3) comprises: A front connecting rod (301), wherein two front connecting rods (301) are arranged in parallel, and one end of the two front connecting rods (301) is rotatably arranged on the upper plate (2); A rear connecting rod (302), wherein two rear connecting rods (302) are arranged in parallel, one end of the two rear connecting rods (302) is rotatably arranged on the upper plate (2), and the front connecting rod (301) and the rear connecting rod (302) are located correspondingly; A mounting plate (303), wherein the mounting plate (303) is rotatably connected to the other end of the front connecting rod (301) and the other end of the rear connecting rod (302), and when the front connecting rod (301) and the rear connecting rod (302) rotate, the mounting plate (303) rotates in the longitudinal direction; A profile rod (304), one end of which is fixedly connected to the lower surface of the mounting plate (303), and the other end of which extends downward and penetrates the upper plate (2), and the other end of which is fixedly connected to the rotary drive mechanism (4); A telescopic motor (305), wherein the telescopic motor (305) is rotatably arranged on the upper plate (2), and an output end of the telescopic motor (305) is fixedly connected to the front connecting rod (301) and / or the rear connecting rod (302).

3. The four-link type posture-adjustable self-rotating pusher robot according to claim 1, characterized in that: The rotary drive mechanism (4) comprises: An annular slide rail (401), the annular slide rail (401) being in driving connection with the four-bar posture-adjustable mechanism (3); A gear ring bracket (402), wherein the gear ring bracket (402) is slidably connected to the annular slide rail (401) via a pulley module (406), and the roller mechanism (5) is fixedly connected to the gear ring bracket (402); An inner gear ring (403), wherein the inner gear ring (403) is integrally connected to the gear ring bracket (402); A driving motor (404) is fixedly arranged on the lower surface of the annular slide rail (401) via a mounting seat (405); a driving gear (407) is arranged at the output end of the driving motor (404); and the driving gear (407) is meshed with the inner gear ring (403).

4. The four-link type posture-adjustable self-rotating pusher robot according to claim 3 is characterized in that: The pulley module (406) includes a pulley mounting plate (4061), an inner pulley (4062) and an outer pulley (4063), wherein the inner pulley (4062) and the outer pulley (4063) are both arranged on the pulley mounting plate (4061), and the pulley mounting plate (4061) is fixedly connected to the ring gear bracket (402); the outer surface of the annular slide rail (401) is provided with an inner slide groove and an outer slide groove along the circumferential direction, and the inner pulley (4062) and the outer pulley (4063) are respectively correspondingly inserted into the inner slide groove and the outer slide groove, and the inner pulley (4062) is slidably connected to the inner slide groove, and the outer pulley (4063) is slidably connected to the outer slide groove.

5. The four-link type posture-adjustable self-rotating pusher robot according to claim 1, characterized in that: The roller mechanism (5) comprises: A roller bracket (501), wherein the roller bracket (501) is sleeved on the outer surface of the rotary drive mechanism (4) and is fixedly connected to the rotary drive mechanism (4); A pushing roller (502), the pushing roller (502) being fixedly arranged on the outer surface of the roller bracket (501), and a rubber brush (504) being arranged on the lower edge of the pushing roller (502); A stirring auger (503), wherein the stirring auger (503) is spirally arranged on the outer surface of the pushing roller (502).

6. The four-link type posture-adjustable self-rotating pusher robot according to claim 5, characterized in that: Also includes: An upper cover (6), the upper cover (6) covers the upper surface of the pushing roller (502) and is fixedly connected to the bottom plate (1), and there is a gap between the inner surface of the upper cover (6) and the upper edge of the pushing roller (502).

7. The four-link type posture-adjustable self-rotating pusher robot according to claim 6, characterized in that: Also includes: A walking mechanism, the walking mechanism being arranged on the lower surface of the base plate (1); An ultrasonic mechanism (7), wherein the ultrasonic mechanism (7) is arranged on the surface of the upper cover (6); A laser radar mechanism (8), the laser radar mechanism (8) being arranged on the surface of the upper cover (6) and corresponding to the forward direction of the walking mechanism; An autonomous navigation and positioning module, wherein the autonomous navigation and positioning module is communicatively connected with the laser radar mechanism (8) and the ultrasonic mechanism (7).

8. The four-link type posture-adjustable self-rotating pusher robot according to claim 7, characterized in that: Also includes: A storage battery (9), wherein the storage battery (9) is arranged on the base plate (1), and the storage battery (9) is capable of supplying power to the four-bar posture-adjustable mechanism (3), the rotary drive mechanism (4), the walking mechanism, the ultrasonic mechanism (7), the laser radar mechanism (8), and the autonomous navigation and positioning module; A charging electrode (10), wherein the charging electrode (10) is arranged on the surface of the upper cover (6), and the charging electrode (10) is electrically connected to the storage battery (9).

9. The four-link type posture-adjustable self-rotating pusher robot according to claim 7, characterized in that: Also includes: A control center, the control center being electrically connected to the four-bar attitude-adjustable mechanism (3), the rotation drive mechanism (4), the walking mechanism, the ultrasonic mechanism (7), the laser radar mechanism (8) and the autonomous navigation and positioning module respectively; A remote communication module, through which the control center is connected to an external terminal for communication.

10. The four-link type posture-adjustable self-rotating pusher robot according to claim 7, characterized in that: The walking mechanism comprises a main wheel (11) and an auxiliary wheel (12); the main wheel (11) is arranged in the middle of the base plate (1), and the auxiliary wheels (12) are respectively arranged at the front and rear sides of the base plate (1).

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