Transportation robot capable of expanding operation range

Abstract

The invention discloses a transportation robot capable of expanding the operation range, the transportation robot comprises a base, a first-stage support assembly, a second-stage support assembly, a third-stage support assembly and a telescopic linkage assembly, the first end of the first-stage support assembly is hinged to the base, and the second end of the first-stage support assembly can swing up and down; the second-stage support assembly is movably arranged on the first-stage support assembly. The third-stage bracket assembly is movably arranged on the second-stage bracket assembly; the telescopic linkage assembly is arranged on the second-stage support assembly, the third-stage support assembly is connected with the telescopic linkage assembly, and the second-stage support assembly drives the third-stage support assembly to move in the same direction through the telescopic linkage assembly, so that the operation range of object taking and placing of the transportation robot is enlarged. When the transportation robot transports objects, the first-stage support assembly, the second-stage support assembly and the third-stage support assembly can be contracted and folded, the gravity center of the transportation robot is lowered, the stability of the transportation robot is improved, and tipping is avoided. The robot can be widely applied to the technical field of robots.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a transport robot with an expanded operating range. Background Art

[0002] Although common robots on the market are equipped with multi-degree-of-freedom robotic arms and are highly flexible, they have a small operating range. Some robots can also achieve a high vertical transportation range, but they are large in size, occupy a large space, and have an unstable center of gravity, which limits their mobility. Summary of the invention

[0003] In order to solve at least one of the above-mentioned technical problems, the present application provides a transport robot with an expanded operating range, and the technical solution adopted is as follows.

[0004] The transport robot with expanded working range provided in the present application includes a base, a first-level bracket assembly, a second-level bracket assembly, a third-level bracket assembly and a telescopic linkage assembly, wherein the first end of the first-level bracket assembly is hinged to the base, and the second end of the first-level bracket assembly can swing up and down; the second-level bracket assembly is movably arranged on the first-level bracket assembly, and the second-level bracket assembly can reciprocate along the direction from the first end to the second end of the first-level bracket assembly; the third-level bracket assembly is movably arranged on the second-level bracket assembly, and the third-level bracket assembly can reciprocate along the direction from the first end to the second end of the first-level bracket assembly; the telescopic linkage assembly is arranged on the second-level bracket assembly, and the third-level bracket assembly is connected to the telescopic linkage assembly, and the second-level bracket assembly drives the third-level bracket assembly to move in the same direction through the telescopic linkage assembly.

[0005] In certain embodiments of the present application, the telescopic linkage assembly includes a transmission belt and a fixed connection structure, and the transmission section of the transmission belt close to the primary support assembly and the transmission section close to the secondary support assembly are both provided with the fixed connection structure, the primary support assembly is fixedly connected to the transmission belt via the fixed connection structure, and the secondary support assembly is fixedly connected to the transmission belt via the fixed connection structure.

[0006] In certain embodiments of the present application, the transport robot includes a first drive assembly, which includes a first driver, a first gear and a first rack. The first driver is disposed on the primary support assembly, and the first rack is disposed on the secondary support assembly. The first driver drives the secondary support assembly to reciprocate through meshing transmission between the first gear and the first rack.

[0007] In certain embodiments of the present application, the transport robot includes a second drive assembly, the second drive assembly includes a second driver, a second movable seat and a lifting transmission member, the second driver is arranged on the base, the second movable seat is movably arranged on the base, one end of the lifting transmission member is hinged to the second movable seat, and the other end of the lifting transmission member is movably connected to the first-level support assembly, and the second driver drives the second end of the first-level support assembly to swing up and down through the second movable seat and the lifting transmission member.

[0008] In certain embodiments of the present application, the transport robot includes an elastic connection component, which is arranged on the primary support assembly, and the elastic connection component is connected to the secondary support assembly via a connecting rope. The elastic connection component applies a pulling force to the secondary support assembly via the connecting rope, and the pulling force applied by the elastic connection component is used to balance the gravity of the secondary support assembly and the tertiary support assembly.

[0009] In certain embodiments of the present application, the transport robot includes a robotic arm assembly, which is hinged to the three-stage support assembly, and the robotic arm assembly is folded or unfolded in a manner that allows it to be flipped on the three-stage support assembly.

[0010] In certain embodiments of the present application, the transport robot includes a roller assembly, the roller assembly is disposed on the base, and the roller assembly includes an omnidirectional wheel.

[0011] In certain embodiments of the present application, the roller assembly includes a suspension assembly, the omnidirectional wheel is connected to the suspension assembly, the suspension assembly is connected to the base, and the omnidirectional wheel is elastically disposed on the base through the suspension assembly.

[0012] In certain embodiments of the present application, the suspension assembly includes a first mounting seat, a second mounting seat, a shock absorber and a hinge assembly, the first mounting seat is arranged on the base, the omnidirectional wheel is arranged on the second mounting seat, one end of the hinge assembly is hinged to the first mounting seat, the other end of the hinge assembly is hinged to the second mounting seat, one end of the shock absorber is hinged to the first mounting seat, and the other end of the shock absorber is hinged to the hinge assembly.

[0013] In certain embodiments of the present application, the hinge assembly includes a first hinge and a second hinge, one end of the first hinge is hinged to the first mounting seat, the other end of the first hinge is hinged to the second mounting seat, one end of the second hinge is hinged to the first mounting seat, the other end of the second hinge is hinged to the second mounting seat, and the shock absorber is hinged to the first hinge.

[0014] The embodiments of the present application have at least the following beneficial effects: the second end of the first-level bracket assembly designed in the transport robot can swing up and down, the second-level bracket assembly can telescopically move on the first-level bracket assembly, and the second-level bracket assembly can achieve synchronous telescopic movement of the third-level bracket assembly through the telescopic linkage assembly. The transport robot can not only expand the operating range of picking up and placing items, but also when the transport robot transports items, it can also shrink and close the first-level bracket assembly, the second-level bracket assembly and the third-level bracket assembly, thereby lowering the center of gravity of the transport robot, improving the structural stability of the transport robot, and avoiding tipping. The present application can be widely used in the field of robotics technology.

[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present application is further illustrated below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments embodied in the following drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0017] Figure 1 This is the structural diagram of the transport robot after it is extended.

[0018] Figure 2 This is the structural diagram of the transport robot after it is extended.

[0019] Figure 3 This is the structural diagram of the transport robot after it is retracted and folded.

[0020] Figure 4 It is a structural diagram of the primary bracket assembly, the secondary bracket assembly and the tertiary bracket assembly.

[0021] Figure 5 This is a structural diagram of the first-level bracket assembly being set on the base.

[0022] Figure 6 The structure diagram of the roller assembly.

[0023] Figure 7 The structure diagram of the roller assembly.

[0024] Figure markings: 1000, base; 2100, primary bracket assembly; 2200, secondary bracket assembly; 2300, tertiary bracket assembly; 2400, robotic arm assembly; 3100, transmission belt; 3200, fixed connection structure; 4100, first drive assembly; 4101, first gear; 4102, first rack; 4200, second drive assembly; 4201, second movable seat; 4202, lifting transmission member; 5000, roller assembly; 5100, omnidirectional wheel; 5200, suspension assembly; 5201, first mounting seat; 5202, second mounting seat; 5203, shock absorber; 5204, first hinge; 5205, second hinge. DETAILED DESCRIPTION

[0025] Combine the following Figures 1 to 7 The embodiments of the present application are described in detail, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0026] In the description of the present application, it should be understood that the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, 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 application.

[0027] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0028] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] In the description of the present application, if there is a description with reference to the terms "one embodiment", "some embodiments", "an embodiment", "some examples", "some embodiments", "illustrative embodiment", "example", "specific example", "some examples", etc., it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0030] The present application relates to a transport robot with an expanded operating range, the transport robot comprising a base 1000, a primary support assembly 2100, a secondary support assembly 2200 and a tertiary support assembly 2300. On the upper side of the base 1000, the primary support assembly 2100 is arranged on the base 1000, the secondary support assembly 2200 is arranged on the primary support assembly 2100 and the secondary support assembly 2200 can be retracted on the primary support assembly 2100, and the tertiary support assembly 2300 is arranged on the secondary support assembly 2200 and the tertiary support assembly 2300 can be retracted on the secondary support assembly 2200. In the transport robot, the operating range of the transport robot is expanded in a retractable manner of the secondary support assembly 2200 and the tertiary support assembly 2300, so that items can be delivered to a farther or higher position.

[0031] Furthermore, the first end of the primary support assembly 2100 is hinged to the base 1000, and the second end of the primary support assembly 2100 can swing up and down. Specifically, the hinge axis of the first end of the primary support assembly 2100 is arranged horizontally, and the second end of the primary support assembly 2100 uses the hinge axis of the first end as the rotation axis, and the primary support assembly 2100 rotates up and down on the base 1000, thereby adjusting the height of the transport robot to drop items, so as to further expand the operating range of the transport robot.

[0032] It can be understood that if the secondary support assembly 2200 and the tertiary support assembly 2300 are both retracted, and the primary support assembly 2100 is swung downward and laid flat on the base 1000, the primary support assembly 2100, the secondary support assembly 2200 and the tertiary support assembly 2300 in the transport robot can be retracted and closed, thereby reducing the space occupied by the transport robot.

[0033] It should be noted that at least one of the primary support assembly 2100 , the secondary support assembly 2200 and the tertiary support assembly 2300 is made of aluminum material to reduce weight.

[0034] The secondary support assembly 2200 is movably disposed on the primary support assembly 2100, and the secondary support assembly 2200 can reciprocate in the direction from the first end to the second end of the primary support assembly 2100, thereby realizing the extension and retraction of the secondary support assembly 2200 on the primary support assembly 2100. Further, the primary support assembly 2100 is provided with a guide structure, and the secondary support assembly 2200 is slidably connected to the guide structure through a slider. Specifically, the guide structure is provided as a guide groove, a guide rail, or a guide rod.

[0035] The tertiary support assembly 2300 is movably arranged on the secondary support assembly 2200, and the tertiary support assembly 2300 can reciprocate along the direction from the first end to the second end of the primary support assembly 2100, so as to realize the extension and retraction of the tertiary support assembly 2300 on the secondary support assembly 2200. Further, the secondary support assembly 2200 is provided with a guide structure, and the tertiary support assembly 2300 is slidably connected to the guide structure through a slider. Specifically, the guide structure is set as a guide groove, a guide rail or a guide rod.

[0036] Further, the secondary support assembly 2200 and the tertiary support assembly 2300 can be synchronously extended and retracted. When the primary support assembly 2100 extends the secondary support assembly 2200, the tertiary support assembly 2300 extends synchronously. When the primary support assembly 2100 retracts the secondary support assembly 2200, the tertiary support assembly 2300 retracts synchronously. Specifically, the transport robot includes a telescopic linkage assembly, which is arranged on the secondary support assembly 2200, and the tertiary support assembly 2300 is connected to the telescopic linkage assembly. The secondary support assembly 2200 drives the tertiary support assembly 2300 to move in the same direction through the telescopic linkage assembly, thereby realizing the synchronous extension and retraction of the secondary support assembly 2200 and the tertiary support assembly 2300.

[0037] In some embodiments, the telescopic linkage assembly includes a transmission belt 3100, and the pulleys at both ends of the transmission belt 3100 are both set on the secondary support assembly 2200. When the secondary support assembly 2200 moves in telescopic motion, the transmission belt 3100 is started and the transmission belt 3100 is used to drive the tertiary support assembly 2300 to move in telescopic motion.

[0038] Specifically, the telescopic linkage assembly includes a fixed connection structure 3200, and the secondary support assembly 2200 is fixedly connected to the transmission belt 3100 through the fixed connection structure 3200, so that the transmission belt 3100 can drive the tertiary support assembly 2300 to telescopically move. It can be understood that the transmission belt 3100 has a transmission section close to the primary support assembly 2100 and a transmission section close to the secondary support assembly 2200, and the transmission section of the transmission belt 3100 close to the secondary support assembly 2200 is provided with a fixed connection structure 3200 so as to be fixedly connected to the tertiary support assembly 2300.

[0039] Further, the transmission section of the transmission belt 3100 close to the primary support assembly 2100 is provided with a fixed connection structure 3200, and the primary support assembly 2100 is fixedly connected to the transmission belt 3100 through the fixed connection structure 3200. It can be understood that the movement direction of the transmission section of the transmission belt 3100 close to the primary support assembly 2100 and the transmission section close to the tertiary support assembly 2300 are opposite, so the transmission belt 3100 of the telescopic linkage assembly can realize the relative movement between the tertiary support assembly 2300 and the secondary support assembly 2200 by utilizing the relative movement between the secondary support assembly 2200 and the primary support assembly 2100.

[0040] When the secondary support assembly 2200 extends from the primary support assembly 2100, since the transmission section on the transmission belt 3100 close to the primary support assembly 2100 is fixedly connected to the primary support assembly 2100 through the fixed connection structure 3200, the transmission section on the transmission belt 3100 close to the primary support assembly 2100 moves in the opposite direction relative to the moving direction of the secondary support assembly 2200, and then the transmission section on the transmission belt 3100 close to the tertiary support assembly 2300 moves in the same direction relative to the moving direction of the secondary support assembly 2200, so that the transmission section on the transmission belt 3100 close to the tertiary support assembly 2300 drives the tertiary support assembly 2300 to extend on the secondary support assembly 2200, so that the tertiary support assembly 2300 and the secondary support assembly 2200 extend synchronously. Correspondingly, when the secondary support assembly 2200 retracts on the primary support assembly 2100, under the action of the transmission belt 3100, the tertiary support assembly 2300 and the secondary support assembly 2200 retract synchronously.

[0041] In some examples, the transmission belt 3100 is configured as a synchronous belt, and the pulley is configured as a synchronous pulley. In this case, on the one hand, the transmission belt 3100 can be prevented from slipping, and on the other hand, the accuracy of the telescopic distance of the secondary support assembly 2200 and the tertiary support assembly 2300 can be improved.

[0042] In some examples, the fixed connection structure 3200 includes a clamping plate, which is fixedly connected to the transmission belt 3100 in a clamping manner.

[0043] In some embodiments, the transport robot includes a first drive assembly 4100, and the first drive assembly 4100 is used to drive the secondary support assembly 2200 to telescopically move on the primary support assembly 2100. The first drive assembly 4100 includes a first driver, and the first driver is disposed on the primary support assembly 2100, and the first driver provides power for the telescopic movement of the secondary support assembly 2200.

[0044] Further, the first driving assembly 4100 includes a first gear 4101 and a first rack 4102, the first rack 4102 is disposed on the secondary support assembly 2200, the first rack 4102 is extended and arranged along the direction of telescopic movement of the secondary support assembly 2200, the first gear 4101 is meshed with the first rack 4102 for transmission, the first driver includes a motor, and the first gear 4101 is connected to the rotating shaft of the first driver. It can be understood that the first driver drives the secondary support assembly 2200 to reciprocate through the meshing transmission of the first gear 4101 and the first rack 4102.

[0045] Regarding the first driving assembly 4100, there are at least the following alternative embodiments.

[0046] In some alternative embodiments, the first driving assembly 4100 drives the secondary support assembly 2200 to move back and forth in a belt drive manner.

[0047] In some alternative embodiments, the first drive assembly 4100 has a telescopic push rod, and the telescopic push rod drives the secondary support assembly 2200 to move back and forth. Specifically, the first drive includes a hydraulic cylinder or a pneumatic cylinder or a linear motor.

[0048] In some alternative embodiments, the first drive assembly 4100 drives the secondary support assembly 2200 to move back and forth in a screw rod manner.

[0049] In some embodiments, the transport robot includes an elastic connection component, which is disposed on the primary support component 2100 and connected to the secondary support component 2200 .

[0050] It should be noted that, since the primary support assembly 2100 is in an inclined state, under the gravity of the secondary support assembly 2200 and the tertiary support assembly 2300, the secondary support assembly 2200 has a tendency to slide down on the primary support assembly 2100. Therefore, the elastic connection assembly connects the secondary support assembly 2200 and applies a pulling force to the secondary support assembly 2200, and the pulling force is an elastic pulling force. The pulling force applied by the elastic connection assembly is used to balance the gravity of the secondary support assembly 2200 and the tertiary support assembly 2300 to prevent the secondary support assembly 2200 from sliding down. On the other hand, when the first drive assembly 4100 is not working, due to the pulling force of the elastic connection assembly on the secondary support assembly 2200, it is ensured that the secondary support assembly 2200 remains stationary on the primary support assembly 2100. With the help of the pulling force, when the first drive assembly 4100 is started, the friction between the secondary support assembly 2200 and the primary support assembly 2100 can be overcome with less power.

[0051] Specifically, the elastic connection assembly is connected to the secondary support assembly 2200 through a connecting rope, and the elastic connection assembly applies tension to the secondary support assembly 2200 through the connecting rope. Further, an elastic member is provided in the elastic connection assembly, and the elastic member is installed with the connecting rope, thereby generating elastic tension on the secondary support assembly 2200.

[0052] In some examples, the elastic connection component is configured as a pull rope elastic wire take-up device, which has been described in detail in the related art and will not be described here. Of course, the elastic connection component can at least be replaced by a design in which the connection rope is made of an elastic material, and the elastic connection component applies an elastic tension to the secondary bracket component 2200 through the elastic connection rope.

[0053] In some embodiments, the transport robot includes a second drive assembly 4200, which is used to drive the primary support assembly 2100 to rotate on the base 1000, thereby realizing the up and down swinging of the second end of the primary support assembly 2100. The second drive assembly 4200 includes a second driver, which is disposed on the base 1000 and provides power for the rotation of the primary support assembly 2100.

[0054] Furthermore, the second driving assembly 4200 includes a second movable seat 4201 and a lifting transmission member 4202, the second movable seat 4201 is movably arranged on the base 1000, one end of the lifting transmission member 4202 is hinged to the second movable seat 4201, and the other end of the lifting transmission member 4202 is movably connected to the first-level support assembly 2100, and the second driver drives the second end of the first-level support assembly 2100 to swing up and down through the second movable seat 4201 and the lifting transmission member 4202.

[0055] It can be understood that the second driver drives the second movable seat 4201 to move back and forth, and the second movable seat 4201 lifts the first-level bracket assembly 2100 or pulls the first-level bracket assembly 2100 downward through the lifting transmission member 4202, thereby realizing the up and down swinging of the second end of the first-level bracket assembly 2100.

[0056] In some examples, the lifting transmission member 4202 is hinged to the primary support assembly 2100. Regarding the active connection between the lifting transmission member 4202 and the primary support assembly 2100, at least one alternative design is that the lifting transmission member 4202 and the primary support assembly 2100 are slidably connected.

[0057] In some examples, the lifting transmission member 4202 is configured as a connecting rod.

[0058] In some examples, the second driver includes a motor, and the second driving assembly 4200 drives the second movable seat 4201 to reciprocate in the form of a screw pair.

[0059] Regarding the second driving assembly 4200, there are at least the following alternative embodiments.

[0060] In some alternative embodiments, the second driving assembly 4200 drives the second movable seat 4201 to reciprocate by belt transmission.

[0061] In some other alternative embodiments, the second driving assembly 4200 drives the second movable seat 4201 to reciprocate by means of a gear rack engagement transmission.

[0062] In some alternative embodiments, the second driving assembly 4200 has a telescopic push rod, and the telescopic push rod drives the second moving seat 4201 to reciprocate. Specifically, the second driver includes a hydraulic cylinder or a pneumatic cylinder or a linear motor.

[0063] In some embodiments, the transport robot includes a mechanical arm assembly 2400 , which is disposed on the three-stage support assembly 2300 , and the mechanical arm assembly 2400 is used to pick up, place and transfer objects. Specifically, the mechanical arm assembly 2400 is located at the end of the three-stage support assembly 2300 .

[0064] Furthermore, the mechanical arm assembly 2400 is hinged to the tertiary support assembly 2300, and the mechanical arm assembly 2400 is folded or unfolded in a manner that it can be flipped on the tertiary support assembly 2300. When the primary support assembly 2100, the secondary support assembly 2200, and the tertiary support assembly 2300 in the transport robot are shrunk and closed, the mechanical arm assembly 2400 flips backward to a state of being folded on the tertiary support assembly 2300, further reducing the occupied space of the transport robot.

[0065] In some embodiments, the transport robot includes a roller assembly 5000, at least two roller assemblies 5000 are provided, and the roller assembly 5000 is provided on the base 1000, and the base 1000 is provided with a chassis for installing the roller assembly 5000. It can be understood that the transport robot can walk and move through the roller assembly 5000, further expanding the working range.

[0066] It should be noted that after the primary support assembly 2100, the secondary support assembly 2200, the tertiary support assembly 2300 and the mechanical arm assembly 2400 in the transport robot are shrunk and closed, the center of gravity of the transport robot is lowered, thereby improving the walking stability of the transport robot. When the transport robot arrives at the unloading point, the primary support assembly 2100, the secondary support assembly 2200, the tertiary support assembly 2300 and the mechanical arm assembly 2400 of the transport robot are gradually unfolded and the items are dropped to the designated location.

[0067] In some examples, the roller assembly 5000 includes omnidirectional wheels 5100 so that the transport robot can walk in any direction.

[0068] In some examples, the number of roller assemblies 5000 is four, and the four roller assemblies 5000 are symmetrically distributed.

[0069] In some embodiments, the roller assembly 5000 includes a suspension assembly 5200, the omnidirectional wheel 5100 is connected to the suspension assembly 5200, and the suspension assembly 5200 is connected to the base 1000. Specifically, one end of the suspension assembly 5200 is connected to the omnidirectional wheel 5100, and the other end of the suspension assembly 5200 is connected to the base 1000, and the omnidirectional wheel 5100 is disposed on the base 1000 through the suspension assembly 5200.

[0070] Furthermore, the omnidirectional wheels 5100 are elastically arranged on the base 1000 through the suspension assembly 5200 to improve the stability of the transport robot's walking, reduce shock and prevent bumps. When the transport robot sinks due to gravity when it goes to the ground, the suspension assembly 5200 can provide elastic support for the transport robot to play the role of floating support.

[0071] In some examples, the suspension assembly 5200 includes a first mounting seat 5201 and a second mounting seat 5202, wherein the first mounting seat 5201 is located at one end of the suspension assembly 5200, and the second mounting seat 5202 is located at the other end of the suspension assembly 5200, the first mounting seat 5201 is disposed on the base 1000, and the omnidirectional wheel 5100 is disposed on the second mounting seat 5202. Further, the suspension assembly 5200 includes a hinge assembly, wherein one end of the hinge assembly is hinged to the first mounting seat 5201, and the other end of the hinge assembly is hinged to the second mounting seat 5202.

[0072] Further, the suspension assembly 5200 includes a shock absorber 5203, one end of the shock absorber 5203 is hinged to the first mounting seat 5201, and the other end of the shock absorber 5203 is hinged to the hinge assembly. It can be understood that the shock absorber 5203 can be elastically retracted to provide elastic support between the roller assembly 5000 and the base 1000. Specifically, the shock absorber 5203 includes a pneumatic spring.

[0073] In some examples, the hinge assembly includes a first hinge 5204, one end of the first hinge 5204 is hinged to the first mounting seat 5201, and the other end of the first hinge 5204 is hinged to the second mounting seat 5202. Further, the shock absorber 5203 is hinged to the first hinge 5204, and the hinge point between the shock absorber 5203 and the first hinge 5204 is located between the two ends of the first hinge 5204.

[0074] Further, the hinge assembly includes a second hinge 5205, one end of the second hinge 5205 is hinged to the first mounting seat 5201, and the other end of the second hinge 5205 is hinged to the second mounting seat 5202. It should be noted that the two ends of the first hinge 5204 are respectively hinged to the first mounting seat 5201 and the second mounting seat 5202, and the two ends of the second hinge 5205 are respectively hinged to the first mounting seat 5201 and the second mounting seat 5202. The rectangular pattern formed by the four hinge points, combined with the shock absorber 5203 hinged to the first hinge 5204, can realize the elastic and floating connection between the suspension assembly 5200 and the base 1000.

[0075] In some embodiments, the roller assembly 5000 includes a hub motor, the shaft of the hub motor is connected to the omnidirectional wheel 5100, and the hub motor is disposed in the suspension assembly 5200. Further, the hub motor is partially located in the omnidirectional wheel 5100 to reduce the volume of the roller assembly 5000.

[0076] The above is a detailed description of the implementation methods of the present application in conjunction with the accompanying drawings, but the present application is not limited to the above implementation methods. Various changes can be made within the knowledge of ordinary technicians in the technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A transport robot with an expanded operating range, characterized in that: include Base; A primary bracket assembly, wherein a first end of the primary bracket assembly is hinged to the base, and a second end of the primary bracket assembly can swing up and down; A secondary support assembly, wherein the secondary support assembly is movably disposed on the primary support assembly, and the secondary support assembly can reciprocate along the direction from the first end to the second end of the primary support assembly; A three-stage bracket assembly, wherein the three-stage bracket assembly is movably disposed on the two-stage bracket assembly, and the three-stage bracket assembly can reciprocate along the direction from the first end to the second end of the one-stage bracket assembly; A telescopic linkage component is provided on the secondary support component, and the tertiary support component is connected to the telescopic linkage component, and the secondary support component drives the tertiary support component to move in the same direction through the telescopic linkage component.

2. The transport robot with expanded operating range according to claim 1, characterized in that: The telescopic linkage assembly includes a transmission belt and a fixed connection structure. The transmission section of the transmission belt close to the primary bracket assembly and the transmission section close to the secondary bracket assembly are both provided with the fixed connection structure. The primary bracket assembly is fixedly connected to the transmission belt via the fixed connection structure, and the secondary bracket assembly is fixedly connected to the transmission belt via the fixed connection structure.

3. The transport robot with expanded operating range according to claim 1 or 2, characterized in that: The transport robot includes a first driving component, which includes a first driver, a first gear and a first rack. The first driver is arranged on the primary support assembly, and the first rack is arranged on the secondary support assembly. The first driver drives the secondary support assembly to reciprocate through the meshing transmission of the first gear and the first rack.

4. The transport robot with expanded operating range according to claim 1, characterized in that: The transport robot includes a second driving component, which includes a second driver, a second moving seat and a lifting transmission member. The second driver is arranged on the base, and the second moving seat is movably arranged on the base. One end of the lifting transmission member is hinged to the second moving seat, and the other end of the lifting transmission member is movably connected to the first-level support assembly. The second driver drives the second end of the first-level support assembly to swing up and down through the second moving seat and the lifting transmission member.

5. The transport robot with expanded operating range according to claim 1, characterized in that: The transport robot includes an elastic connection component, which is arranged on the first-level support component. The elastic connection component is connected to the second-level support component through a connecting rope. The elastic connection component applies a pulling force to the second-level support component through the connecting rope. The pulling force applied by the elastic connection component is used to balance the gravity of the second-level support component and the third-level support component.

6. The transport robot with expanded operating range according to claim 1, characterized in that: The transport robot comprises a mechanical arm assembly, wherein the mechanical arm assembly is hinged to the three-stage support assembly, and the mechanical arm assembly can be folded or unfolded in a manner of being able to flip on the three-stage support assembly.

7. The transport robot with expanded operating range according to claim 1, characterized in that: The transport robot comprises a roller assembly, wherein the roller assembly is arranged on the base, and the roller assembly comprises an omnidirectional wheel.

8. The transport robot with expanded operating range according to claim 7, characterized in that: The roller assembly comprises a suspension assembly, the omnidirectional wheel is connected to the suspension assembly, the suspension assembly is connected to the base, and the omnidirectional wheel is elastically arranged on the base through the suspension assembly.

9. The transport robot with expanded operating range according to claim 8, characterized in that: The suspension assembly includes a first mounting seat, a second mounting seat, a shock absorber and a hinge assembly, the first mounting seat is arranged on the base, the omnidirectional wheel is arranged on the second mounting seat, one end of the hinge assembly is hinged to the first mounting seat, and the other end of the hinge assembly is hinged to the second mounting seat, one end of the shock absorber is hinged to the first mounting seat, and the other end of the shock absorber is hinged to the hinge assembly.

10. The transport robot with expanded operating range according to claim 9, characterized in that: The hinge assembly includes a first hinge and a second hinge, one end of the first hinge is hinged to the first mounting seat, the other end of the first hinge is hinged to the second mounting seat, one end of the second hinge is hinged to the first mounting seat, the other end of the second hinge is hinged to the second mounting seat, and the shock absorber is hinged to the first hinge.

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