Anti-toppling mobile robot

Abstract

The invention discloses an anti-toppling mobile robot which comprises a walking mechanism, a swing mechanism is arranged on the top face of the walking mechanism, a material carrying mechanism is arranged on the top face of the swing mechanism, the walking mechanism comprises a base, two walking wheels are rotationally connected to the two sides of one end of the base, and a steering structure is arranged on the bottom face of the other end of the base. Four top openings are formed in the four corners of the top face of the base, and two anti-inclination structures are arranged at the two ends of the top face of the base. An anti-toppling structure is arranged, the universal wheels make contact with the ground to provide supporting and avoid toppling, the height of the main cross rod can be changed, the positions of the universal wheels can be lifted to avoid blocking during uphill, the universal wheels can still provide supporting when making normal contact with the slope surface, the positions of the universal wheels are lowered during downhill, and the universal wheels are gradually lifted during moving; the universal wheels are enabled to be always attached to the slope surface when the user just goes down a slope, the supporting state is ensured, the adaptability is higher, and the anti-toppling function is better.

Description

Technical Field

[0001] The invention relates to the technical field of transport robots, in particular to an anti-dumping mobile robot. Background Art

[0002] A handling robot is an automated product that uses the robot's motion trajectory to replace manual handling. There are two main types of handling robots. One is to move on a track, which has high stability, but the robot's path is fixed and the handling functionality is limited. The other is to use a self-propelled structure and move with a walking base, which has a higher degree of freedom and is therefore more widely used. However, this type of robot has certain defects. When carrying goods, if the goods are heavy, the impact on the center of gravity is greater and it is easy to tip over. The solution is to add counterweights to the base to lower the center of gravity, but it has a greater impact on energy consumption and will also affect the moving speed. In this regard, a Chinese utility model patent with an authorization announcement number of CN216303190U discloses an anti-tipping mobile robot, which discloses a mobile robot body, a mobile mechanism, which is arranged on the mobile robot body along a first direction; the mobile mechanism includes a mobile mechanism body and a loading assembly, and the loading assembly is arranged on one side of the mobile mechanism body facing the first direction. A telescopic body is arranged at the bottom of the mobile robot body; the telescopic body is connected to the lower end of the mobile mechanism body, and the telescopic body is extended toward the first direction; it is supported by a telescopic structure to avoid tipping, but has the following defects: With this telescopic structure, when going uphill, the structure will be blocked, affecting normal movement and causing tipping, resulting in poor adaptability and inability to meet the anti-tip effect under various road conditions.

[0003] To this end, we propose an anti-dumping mobile robot to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide an anti-dumping mobile robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an anti-dumping mobile robot, comprising a running mechanism, a rotating mechanism is arranged on the top surface of the running mechanism, and a material handling mechanism is arranged on the top surface of the rotating mechanism; The running mechanism comprises a base, two running wheels are rotatably connected to two sides of one end of the base, a steering structure is arranged on the bottom surface of the other end of the base, four top openings are arranged at the four corners of the top surface of the base, and two anti-tilt structures are arranged at both ends of the top surface of the base; The anti-tilt structure includes two hinge seats, which are fixed in the top opening. The two hinge seats are rotatably connected to one end of two main cross bars. A sliding cavity is provided at the other end of each main cross bar. The sliding cavity is slidably sleeved with a sub-cross bar. Each end of the sub-cross bar is fixed to an oblique pressure rod. The bottom ends of the two oblique pressure rods are fixed to a cross plate. A plurality of universal wheels are evenly fixed to the bottom surface of the cross plate. A middle rod is horizontally fixed to the ends of the two main cross bars away from the hinge seats. The middle rod is horizontally rotatably connected to a driving rod. The end of the driving rod is located in the sliding cavity and is fixed to a first driving gear. A side opening is provided on the side wall of the sub-cross bar. The bottom surface of the side opening is fixed to a rack. The first driving gear is meshed and connected to the rack.

[0006] Preferably, the anti-tilt structure also includes a dual-axis servo reduction motor fixedly connected to the center of the top surface of the base end, the two rotating shaft ends of the dual-axis servo reduction motor are fixedly connected to two power rods, the power rods are rotatably connected to the inside of the base, the ends of the power rods are located in the top opening and fixedly connected to the rotating shaft of the main cross bar, the side wall of the middle rod is fixedly connected to the first servo reduction motor, the rotating shaft end of the first servo reduction motor is fixedly connected to the second driving pulley, the second driven pulley is fixedly sleeved on the driving rod, and the second driving pulley and the second driven pulley are sleeved with a second synchronous belt.

[0007] Preferably, the material handling mechanism includes a vertical block, a vertical plate is vertically slidably provided on the side wall of the vertical block, a U-shaped frame is vertically slidably provided on the side of the vertical plate away from the vertical block, two sliding plates are vertically slidably provided on both sides of the U-shaped frame, the ends of the two sliding plates are fixedly connected to a moving frame, and the side walls of the moving frame are fixedly connected to a robot.

[0008] Preferably, the rotary mechanism includes a bottom ring and a turntable, the bottom ring is fixedly connected to the top surface of the base, the turntable is located above the bottom ring, the bottom end of the vertical block is fixedly connected to the top surface of the turntable, a rotary bearing is arranged between the bottom ring and the turntable, the rotary bearing includes a bearing outer ring and a bearing inner ring, the bearing inner ring is rotatably sleeved on the inner side of the bearing outer ring, the bearing outer ring is fixedly connected to the top surface of the bottom ring, the top surface of the bearing inner ring is fixedly connected to the bottom surface of the turntable, the inner side wall of the bearing inner ring is fixedly connected to the inner gear ring, the inner side wall of the bottom ring is fixedly connected to the third servo reduction motor, the rotating shaft end of the third servo reduction motor is fixedly connected to the third driving gear, and the third driving gear is meshedly connected to the inner gear ring.

[0009] Preferably, a first sliding groove is provided on one side of the vertical block close to the vertical plate, a first sliding block is vertically slidably connected to the first sliding groove, the first sliding block is fixedly connected to the side wall of the vertical block, a first screw rod is vertically rotatably connected to the first sliding groove, a first threaded sleeve is fixedly connected to the first sliding block, the first screw rod is threadedly connected to the first threaded sleeve, a fourth servo reduction motor is fixedly embedded in the center of the top surface of the vertical block, and the shaft end of the fourth servo reduction motor is fixedly connected to the top end of the first screw rod.

[0010] Preferably, the middle of the top surface of the vertical plate close to the U-shaped frame is fixed to the upper plate, and the middle of the bottom surface of the vertical plate close to the U-shaped frame is fixed to the lower plate. Two second screw rods are vertically rotatably connected between the upper plate and the lower plate, and two second threaded sleeves are fixed to the U-shaped frame, and the second screw rods are threadedly connected to the second threaded sleeves.

[0011] Preferably, a fifth servo reduction motor is fixedly embedded in the center of the top surface of the upper plate, the shaft end of the fifth servo reduction motor is located inside the upper plate and fixedly connected to two third driving pulleys, each of the second screw rods is fixedly connected to a first short shaft at the top end, the first short shaft is located inside the upper plate and fixedly connected to the third driven pulley, and the third driving pulley and the third driven pulley are sleeved with a third synchronous belt.

[0012] Preferably, two second sliding grooves are provided on both sides of the U-shaped frame, the second sliding grooves are vertically slidingly connected to the second slider, the second slider is fixedly connected to the side wall of the sliding plate, the second sliding grooves are vertically rotatably connected to the third screw rod, the second slider is fixedly connected to the third threaded sleeve, the third screw rod is threadedly connected to the third threaded sleeve, the sixth servo reduction motor is fixedly embedded in the center of the bottom surface of the U-shaped frame, the rotating shaft end of the sixth servo reduction motor is located inside the U-shaped frame and fixedly connected to two fourth driving pulleys, the bottom end of the third screw rod is fixedly connected to the second short shaft, the second short shaft is located inside the U-shaped frame and fixedly connected to the fourth driven pulley, and the fourth driving pulley and the fourth driven pulley are sleeved with a fourth synchronous belt.

[0013] Preferably, the steering structure includes a fixed frame, which is fixedly connected to the bottom surface of the base, the center of the bottom surface of the fixed frame is rotatably connected to a column, the bottom end of the column is fixedly connected to one end of a first rotating rod, and the other end of the first rotating rod is rotatably connected to the center of the top surface of the steering rod, the bottom surfaces at both ends of the fixed frame are both rotatably connected to one end of a second rotating rod, and the other end of the second rotating rod is rotatably connected to the top surface of the end of the steering rod, the side wall of the second rotating rod near one end of the fixed frame is horizontally fixed to a shaft column, and the end of the shaft column is rotatably connected to a steering wheel, the bottom surface of the base near the middle of the fixed frame is fixedly embedded with a second servo reduction motor, the shaft end of the second servo reduction motor is fixedly connected to a second driving gear, and a driven gear is fixedly sleeved on the column, and the second driving gear is meshed and connected to the driven gear.

[0014] Preferably, a main shaft is fixed between the two running wheels, the main shaft is rotatably connected in the base, a driving motor is fixed in the base, a rotating shaft end of the driving motor is fixed to a first driving pulley, a first driven pulley is fixed on the main shaft, and a first synchronous belt is sleeved on the first driving pulley and the first driven pulley.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention is provided with an anti-tilt structure, which provides support by the universal wheel contacting the ground to avoid tipping, and the main cross bar can change its height. When going uphill, the position of the universal wheel can be raised to avoid obstruction, and the universal wheel can normally contact the slope surface to still provide support. When going downhill, the position of the universal wheel is lowered and gradually raised during movement, so that when just going downhill, the universal wheel is guaranteed to always fit the slope surface to ensure the support state, the adaptability is stronger, and the anti-tipping function is also better. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the main structure in the first and second embodiments of the present invention; Figure 2 It is a schematic diagram of the cross-section structure of the walking mechanism in the first and second embodiments of the present invention; Figure 3 It is a schematic diagram of the cross-section structure of the anti-tilt structure in the first and second embodiments of the present invention; Figure 4 It is a schematic cross-sectional structure diagram of the material handling mechanism in the second embodiment of the present invention; Figure 5 It is a schematic diagram of the cross-section structure of the U-shaped frame in the second embodiment of the present invention; Figure 6 It is a schematic diagram of the cross-section structure of the rotary mechanism in the second embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the steering structure in the second embodiment of the present invention; Figure 8 For the present invention Figure 5 A schematic diagram of the enlarged structure of the structure at center A; Fig. 9 For the present invention Figure 5 Schematic diagram of the enlarged structure at point B in the middle.

[0017] In the figure: 1, running mechanism; 2, slewing mechanism; 3, material handling mechanism; 11, base; 12, top opening; 13, anti-tilt structure; 14, running wheel; 15, steering structure; 16, main shaft; 17, driving motor; 18, first driving pulley; 19, first driven pulley; 110, first synchronous belt; 131, hinge seat; 132, main cross bar; 133, sliding cavity; 134, sub cross bar; 135, oblique pressure rod; 136, cross plate; 137, universal wheel; 138, middle rod; 139, driving rod; 131 0, side opening; 1311, first driving gear; 1312, rack; 1313, first servo reduction motor; 1314, second driving pulley; 1315, second driven pulley; 1316, second synchronous belt; 1317, double-axis servo reduction motor; 1318, power rod; 151, fixed frame; 152, column; 153, first rotating rod; 154, steering rod; 155, second rotating rod; 156, shaft column; 157, steering wheel; 158, second servo reduction motor; 159, second driving gear wheel; 1510, driven gear; 21, bottom ring; 22, turntable; 23, slewing bearing; 24, third servo reduction motor; 25, third driving gear; 231, outer ring of bearing; 232, inner ring of bearing; 233, inner gear ring; 31, vertical block; 32, vertical plate; 33, U-shaped frame; 34, sliding plate; 35, mobile frame; 36, manipulator; 37, first slide; 38, first slider; 39, first screw rod; 310, first threaded sleeve; 311, fourth servo reduction motor; 312, upper Plate; 313, lower plate; 314, second screw rod; 315, second threaded sleeve; 316, fifth servo reduction motor; 317, third driving pulley; 318, first short shaft; 319, third driven pulley; 320, third synchronous belt; 321, second slide groove; 322, second slider; 323, third screw rod; 324, third threaded sleeve; 325, sixth servo reduction motor; 326, fourth driving pulley; 327, second short shaft; 328, fourth driven pulley; 329, fourth synchronous belt. DETAILED DESCRIPTION

[0018] 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. Example

[0019] See also Figure 1-3 The present invention provides a technical solution: an anti-dumping mobile robot, comprising a running mechanism 1, a rotating mechanism 2 is arranged on the top surface of the running mechanism 1, and a material handling mechanism 3 is arranged on the top surface of the rotating mechanism 2; The running mechanism 1 comprises a base 11, two running wheels 14 are rotatably connected to two sides of one end of the base 11, a steering structure 15 is arranged on the bottom surface of the other end of the base 11, four top openings 12 are arranged at the four corners of the top surface of the base 11, and two anti-tilt structures 13 are arranged at both ends of the top surface of the base 11; The anti-tilt structure 13 includes two hinge seats 131, which are fixedly connected to the top opening 12. The two hinge seats 131 are rotatably connected to one end of two main cross bars 132. A sliding cavity 133 is provided at the other end of each main cross bar 132. The sliding cavity 133 is slidably sleeved with a sub-cross bar 134. An oblique pressure rod 135 is fixedly connected to the end of each sub-cross bar 134. A horizontal plate 136 is fixedly connected to the bottom end of the two oblique pressure rods 135. A plurality of universal wheels 137 are evenly fixedly connected to the bottom surface of the horizontal plate 136. A middle rod 138 is horizontally fixedly connected between the ends of the two main cross bars 132 away from the hinge seats 131. A driving rod 139 is horizontally rotatably connected in the middle rod 138. The end of the driving rod 139 is located in the sliding cavity 133 and is fixedly connected to the first A driving gear 1311 and a side opening 1310 are provided on the side wall of the sub-cross bar 134, a rack 1312 is fixedly connected to the bottom surface of the side opening 1310, and the first driving gear 1311 is meshedly connected to the rack 1312, and the universal wheel 137 contacts the ground to provide support to avoid tipping over, and the main cross bar 132 can change its height. When going uphill, the position of the universal wheel 137 can be raised to avoid obstruction, and the universal wheel 137 can normally contact the slope surface and still provide support. When going downhill, the position of the universal wheel 137 is lowered and gradually raised during movement, so that when just going downhill, the universal wheel 137 is always in contact with the slope surface to ensure the support state, with stronger adaptability and better anti-tipover functionality. Example

[0020] See also Figure 1-9 , which is the second embodiment of the present invention. This embodiment is based on the previous embodiment. The anti-tilt structure 13 also includes a double-axis servo reduction motor 1317 fixedly connected to the center of the top surface of the end of the base 11. The two rotating shaft ends of the double-axis servo reduction motor 1317 are fixedly connected to two power rods 1318. The power rod 1318 is rotatably connected to the inside of the base 11. The end of the power rod 1318 is located in the top opening 12 and is fixedly connected to the rotating shaft of the main cross bar 132. The side wall of the middle rod 138 is fixedly connected to the first servo reduction motor 1313. The rotating shaft end of the first servo reduction motor 1313 is fixedly connected to the second driving pulley 1314. The second driven pulley 1315 is fixedly sleeved on the driving rod 139. The second driving pulley 1314 and the second driven pulley 1315 are sleeved with the second synchronous belt 1316. The first servo reduction motor 1313 can change the length of the sub-cross bar 134 and the support position, so as to flexibly adjust for goods of different weights.

[0021] The material handling mechanism 3 includes a vertical block 31, a vertical plate 32 is vertically slidably provided on the side wall of the vertical block 31, a U-shaped frame 33 is vertically slidably provided on the side of the vertical plate 32 away from the vertical block 31, two sliding plates 34 are vertically slidably provided on both sides of the U-shaped frame 33, a moving frame 35 is fixedly connected to the end of the two sliding plates 34, and a manipulator 36 is fixedly connected to the side wall of the moving frame 35. The material handling mechanism 3 can be lifted and lowered over a long stroke, the vertical plate 32 can be lifted and lowered, the U-shaped frame 33 can be lifted and lowered, and the sliding plate 34 can be lifted and lowered, which can increase the vertical movement stroke of the manipulator 36 and increase the height range of goods being handled.

[0022] The slewing mechanism 2 includes a bottom ring 21 and a slewing table 22. The bottom ring 21 is fixedly connected to the top surface of the base 11. The slewing table 22 is located above the bottom ring 21. The bottom end of the vertical block 31 is fixedly connected to the top surface of the slewing table 22. A slewing bearing 23 is arranged between the bottom ring 21 and the slewing table 22. The slewing bearing 23 includes a bearing outer ring 231 and a bearing inner ring 232. The bearing inner ring 232 is rotatably sleeved on the inner side of the bearing outer ring 231. The bearing outer ring 231 is fixedly connected to the top surface of the bottom ring 21. The bearing inner ring The top surface 232 is fixedly connected to the bottom surface of the turntable 22, the inner side wall of the bearing inner ring 232 is fixedly connected to the inner gear ring 233, the inner side wall of the bottom ring 21 is fixedly connected to the third servo reduction motor 24, the rotating shaft end of the third servo reduction motor 24 is fixedly connected to the third driving gear 25, and the third driving gear 25 is meshedly connected to the inner gear ring 233. The rotary mechanism 2 can change the direction of the manipulator 36, which is convenient for carrying goods. There is no need to frequently adjust the direction of the manipulator 36 through the walking mechanism 1, which is more convenient.

[0023] A first sliding groove 37 is provided on one side of the vertical block 31 close to the vertical plate 32, and a first sliding block 38 is vertically slidably connected in the first sliding groove 37, and the first sliding block 38 is fixedly connected to the side wall of the vertical block 31. A first screw rod 39 is vertically rotatably connected in the first sliding groove 37, and a first threaded sleeve 310 is fixedly connected to the first sliding block 38. The first screw rod 39 is threadedly connected to the first threaded sleeve 310. A fourth servo reduction motor 311 is fixedly embedded in the center of the top surface of the vertical block 31, and the shaft end of the fourth servo reduction motor 311 is fixedly connected to the top end of the first screw rod 39.

[0024] The middle of the top surface of the vertical plate 32 close to the U-shaped frame 33 is fixed to the upper plate 312, and the middle of the bottom surface of the vertical plate 32 close to the U-shaped frame 33 is fixed to the lower plate 313. The upper plate 312 and the lower plate 313 are vertically rotatably connected with two second screw rods 314. Two second threaded sleeves 315 are fixed to the U-shaped frame 33, and the second screw rods 314 are threadedly connected to the second threaded sleeves 315.

[0025] The fifth servo reduction motor 316 is fixedly embedded in the center of the top surface of the upper plate 312. The shaft end of the fifth servo reduction motor 316 is located inside the upper plate 312 and fixedly connected to two third driving pulleys 317. The top of each second screw rod 314 is fixedly connected to a first short shaft 318. The top of the first short shaft 318 is located inside the upper plate 312 and fixedly connected to the third driven pulley 319. The third driving pulley 317 and the third driven pulley 319 are sleeved with a third synchronous belt 320.

[0026] Two second sliding grooves 321 are provided on both sides of the U-shaped frame 33, and the second sliding grooves 321 are vertically slidably connected to the second slider 322, and the second slider 322 is fixedly connected to the side wall of the sliding plate 34. The second sliding grooves 321 are vertically rotatably connected to the third screw rod 323, and the second slider 322 is fixedly connected to the third threaded sleeve 324. The third screw rod 323 is threadedly connected to the third threaded sleeve 324. The sixth servo reduction motor 325 is fixedly embedded in the center of the bottom surface of the U-shaped frame 33. The shaft end of the sixth servo reduction motor 325 is located inside the U-shaped frame 33 and fixedly connected to two fourth driving pulleys 326. The bottom end of the third screw rod 323 is fixedly connected to the second short shaft 327, and the second short shaft 327 is located inside the U-shaped frame 33 and fixedly connected to the fourth driven pulley 328. The fourth driving pulley 326 and the fourth driven pulley 328 are sleeved with the fourth synchronous belt 329.

[0027] The steering structure 15 includes a fixed frame 151, which is fixedly connected to the bottom surface of the base 11. The center of the bottom surface of the fixed frame 151 is rotatably connected to a column 152. The bottom end of the column 152 is fixedly connected to one end of a first rotating rod 153. The other end of the first rotating rod 153 is rotatably connected to the center of the top surface of a steering rod 154. The bottom surfaces of both ends of the fixed frame 151 are rotatably connected to one end of a second rotating rod 155. The other end of the second rotating rod 155 is rotatably connected to the top surface of the end of the steering rod 154. The side wall of the second rotating rod 155 near one end of the fixed frame 151 is horizontally fixed to a shaft column 156. The end of the shaft column 156 is rotatably connected to a steering wheel 157. A second servo reduction motor 158 is fixedly embedded in a position near the middle of the fixed frame 151 on the bottom surface of the base 11, and the second driving gear 159 is fixedly connected to the rotating shaft end of the second servo reduction motor 158. A driven gear 1510 is fixedly sleeved on the column 152, and the second driving gear 159 is meshedly connected to the driven gear 1510. The second servo reduction motor 158 is used to change the rotation position of the first rotating rod 153, change the position of the steering rod 154, and change the rotation angle of the two second rotating rods 155 according to the distance between the parallelograms, so that the steering wheel 157 changes its angle, which is convenient for steering.

[0028] A main shaft 16 is fixed between the two running wheels 14, and the main shaft 16 is rotatably connected in the base 11. A driving motor 17 is fixed in the base 11, and the rotating shaft end of the driving motor 17 is fixed to a first driving pulley 18. A first driven pulley 19 is fixed to the main shaft 16, and a first synchronous belt 110 is sleeved on the first driving pulley 18 and the first driven pulley 19. Example

[0029] See also Figure 1-9 , which is the third embodiment of the present invention. This embodiment is based on the above two embodiments. When the present invention is used, the moving mechanism 1 drives the material handling mechanism 3 to move, and the material handling mechanism 3 picks up and puts down the goods through the manipulator 36 to realize automated handling work; the present invention is provided with an anti-tilt structure 13, and the universal wheel 137 contacts the ground to provide support to avoid tipping, and the main cross bar 132 can change its height. When going uphill, the position of the universal wheel 137 can be raised to avoid obstruction, and the universal wheel 137 can normally contact the slope surface and still provide support. When going downhill, the position of the universal wheel 137 is lowered, and it is gradually raised during movement, so that when just going downhill, the universal wheel 137 is always in contact with the slope surface to ensure the support state, with stronger adaptability and better anti-tipping functionality.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An anti-dumping mobile robot, comprising a running mechanism (1), characterized in that: The top surface of the running mechanism (1) is provided with a rotating mechanism (2), and the top surface of the rotating mechanism (2) is provided with a material moving mechanism (3); The running mechanism (1) comprises a base (11), two running wheels (14) are rotatably connected to two sides of one end of the base (11), a steering structure (15) is provided on the bottom surface of the other end of the base (11), four top openings (12) are provided at the four corners of the top surface of the base (11), and two anti-tilt structures (13) are provided at both ends of the top surface of the base (11); The anti-tilt structure (13) comprises two hinge seats (131), the hinge seats (131) are fixedly connected in the top opening (12), the two hinge seats (131) are rotatably connected to one end of two main cross bars (132), the other end of each main cross bar (132) is provided with a sliding cavity (133), the sliding cavity (133) is slidably sleeved with a sub-cross bar (134), the end of each sub-cross bar (134) is fixedly connected to an oblique pressure rod (135), the bottom ends of the two oblique pressure rods (135) are fixedly connected to a transverse plate (136), and the bottom surface of the transverse plate (136) is uniformly A plurality of universal wheels (137) are fixedly connected, a middle rod (138) is horizontally fixedly connected between the ends of the two main cross bars (132) away from the hinge seat (131), the middle rod (138) is horizontally rotatably connected to a driving rod (139), the end of the driving rod (139) is located in the sliding cavity (133) and is fixedly connected to a first driving gear (1311), a side opening (1310) is formed on the side wall of the sub-cross bar (134), a rack (1312) is fixedly connected to the bottom surface of the side opening (1310), and the first driving gear (1311) is meshedly connected to the rack (1312).

2. The anti-dumping mobile robot according to claim 1, characterized in that: The anti-tilt structure (13) further comprises a dual-axis servo reduction motor (1317) fixedly connected to the center of the top surface of the end of the base (11); two rotating shaft ends of the dual-axis servo reduction motor (1317) are fixedly connected to two power rods (1318); the power rods (1318) are rotatably connected inside the base (11); the ends of the power rods (1318) are located inside the top opening (12) and are fixedly connected to the rotating shaft of the main cross bar (132); the side wall of the middle bar (138) is fixedly connected to the first servo reduction motor (1313); the rotating shaft end of the first servo reduction motor (1313) is fixedly connected to the second driving pulley (1314); the second driven pulley (1315) is fixedly sleeved on the driving rod (139); and the second driving pulley (1314) and the second driven pulley (1315) are sleeved with a second synchronous belt (1316).

3. The anti-dumping mobile robot according to claim 1, characterized in that: The material handling mechanism (3) comprises a vertical block (31), a vertical plate (32) is vertically slidably provided on the side wall of the vertical block (31), a U-shaped frame (33) is vertically slidably provided on the side of the vertical plate (32) away from the vertical block (31), two sliding plates (34) are vertically slidably provided on both sides of the U-shaped frame (33), the ends of the two sliding plates (34) are fixedly connected to a moving frame (35), and the side wall of the moving frame (35) is fixedly connected to a robot arm (36).

4. The anti-dumping mobile robot according to claim 3, characterized in that: The rotary mechanism (2) comprises a bottom ring (21) and a rotary table (22), wherein the bottom ring (21) is fixedly connected to the top surface of the base (11), the rotary table (22) is located above the bottom ring (21), the bottom end of the vertical block (31) is fixedly connected to the top surface of the rotary table (22), a rotary bearing (23) is arranged between the bottom ring (21) and the rotary table (22), the rotary bearing (23) comprises a bearing outer ring (231) and a bearing inner ring (232), the bearing inner ring (232) is rotatably sleeved On the inner side of the bearing outer ring (231), the bearing outer ring (231) is fixedly connected to the top surface of the bottom ring (21), the top surface of the bearing inner ring (232) is fixedly connected to the bottom surface of the turntable (22), the inner side wall of the bearing inner ring (232) is fixedly connected to the inner gear ring (233), the inner side wall of the bottom ring (21) is fixedly connected to the third servo reduction motor (24), the rotating shaft end of the third servo reduction motor (24) is fixedly connected to the third driving gear (25), and the third driving gear (25) is meshingly connected to the inner gear ring (233).

5. The anti-dumping mobile robot according to claim 3, characterized in that: The vertical block (31) is provided with a first sliding groove (37) on one side close to the vertical plate (32); a first sliding block (38) is vertically slidably connected in the first sliding groove (37); the first sliding block (38) is fixedly connected to the side wall of the vertical block (31); a first screw rod (39) is vertically rotatably connected in the first sliding groove (37); a first threaded sleeve (310) is fixedly connected to the first sliding block (38); the first screw rod (39) is threadedly connected to the first threaded sleeve (310); a fourth servo reduction motor (311) is fixedly embedded in the center of the top surface of the vertical block (31); and a rotating shaft end of the fourth servo reduction motor (311) is fixedly connected to the top end of the first screw rod (39).

6. The anti-dumping mobile robot according to claim 5, characterized in that: The middle part of the top surface of the vertical plate (32) close to the U-shaped frame (33) is fixed to the upper plate (312), and the middle part of the bottom surface of the vertical plate (32) close to the U-shaped frame (33) is fixed to the lower plate (313). Two second screw rods (314) are vertically rotatably connected between the upper plate (312) and the lower plate (313). Two second threaded sleeves (315) are fixed to the U-shaped frame (33), and the second screw rods (314) are threadedly connected to the second threaded sleeves (315).

7. The anti-dumping mobile robot according to claim 6, characterized in that: A fifth servo reduction motor (316) is fixedly embedded in the center of the top surface of the upper plate (312); the rotating shaft end of the fifth servo reduction motor (316) is located inside the upper plate (312) and fixedly connected to two third driving pulleys (317); the top end of each second screw rod (314) is fixedly connected to a first short shaft (318); the top end of the first short shaft (318) is located inside the upper plate (312) and fixedly connected to a third driven pulley (319); and a third synchronous belt (320) is sleeved on the third driving pulley (317) and the third driven pulley (319).

8. The anti-dumping mobile robot according to claim 7, characterized in that: Two second slide grooves (321) are provided on both sides of the U-shaped frame (33); the second slide grooves (321) are vertically slidably connected to the second slider (322); the second slider (322) is fixedly connected to the side wall of the sliding plate (34); the second slide grooves (321) are vertically rotatably connected to the third screw rod (323); the second slider (322) is fixedly connected to the third threaded sleeve (324); the third screw rod (323) is threadedly connected to the third threaded sleeve (324); the bottom of the U-shaped frame (33) is A sixth servo reduction motor (325) is fixedly embedded in the center of the surface; the rotating shaft end of the sixth servo reduction motor (325) is located inside the U-shaped frame (33) and is fixedly connected to two fourth driving pulleys (326); the bottom end of the third screw rod (323) is fixedly connected to a second short shaft (327); the second short shaft (327) is located inside the U-shaped frame (33) and is fixedly connected to a fourth driven pulley (328); and a fourth synchronous belt (329) is sleeved on the fourth driving pulley (326) and the fourth driven pulley (328).

9. The anti-dumping mobile robot according to claim 1, characterized in that: The steering structure (15) comprises a fixed frame (151), the fixed frame (151) being fixedly connected to the bottom surface of the base (11), the bottom center of the fixed frame (151) being rotatably connected to a column (152), the bottom end of the column (152) being fixedly connected to one end of a first rotating rod (153), the other end of the first rotating rod (153) being rotatably connected to the center of the top surface of a steering rod (154), the bottom surfaces of both ends of the fixed frame (151) being rotatably connected to one end of a second rotating rod (155), the other end of the second rotating rod (155) being rotatably connected to the top surface of the end of the steering rod (154), the first rotating rod (153) and the second rotating rod (155) being rotatably connected to the top surface of the end of the steering rod (154), and the first rotating rod (153) and the second rotating rod (155) being rotatably connected to the top surface of the end of the steering rod (154). A shaft column (156) is horizontally fixedly connected to the side wall of one end of the second rotating rod (155) close to the fixed frame (151); the end of the shaft column (156) is rotatably connected to a steering wheel (157); a second servo reduction motor (158) is fixedly embedded in a position close to the middle of the fixed frame (151) on the bottom surface of the base (11); a rotating shaft end of the second servo reduction motor (158) is fixedly connected to a second driving gear (159); a driven gear (1510) is fixedly sleeved on the column (152); and the second driving gear (159) is meshingly connected to the driven gear (1510).

10. The anti-dumping mobile robot according to claim 1, characterized in that: A main shaft (16) is fixedly connected between the two running wheels (14); the main shaft (16) is rotatably connected in the base (11); a driving motor (17) is fixedly connected in the base (11); a rotating shaft end of the driving motor (17) is fixedly connected to a first driving pulley (18); a first driven pulley (19) is fixedly connected to the main shaft (16); and a first synchronous belt (110) is sleeved on the first driving pulley (18) and the first driven pulley (19).

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