A highly efficient indoor transport robot

Abstract

The present invention discloses a highly efficient indoor handling robot, which relates to the field of logistics handling technology, and includes a first robot component, wherein a second robot component and a third robot component are arranged inside the first robot component. When the present invention is used, when it is necessary to carry large and heavy goods indoors, the second shovel board is placed at the bottom of the goods under the cooperation of the third visual module and the first VGA chassis, and then the four third robot components jointly provide thrust for the resistance plate, and then cooperate with the scissor frame to drive the second shovel board to rise and carry the goods. At the same time, the four second robot components can also push the third robot component to rise and further increase the lifting height of the goods. During the lifting process, the four groups of second robot components and the third robot components jointly provide thrust, so that heavier goods can be carried. At the same time, when it is not necessary to carry at a higher height, only the third robot component needs to be operated, thereby saving more energy.

Description

Technical Field

[0001] The invention relates to the technical field of logistics handling, and in particular to a high-efficiency indoor handling robot. Background Art

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence level of terminal logistics is also constantly improving, and intelligent warehousing is an important part of the logistics process. In intelligent warehousing, handling robots are the main equipment that can realize automated handling operations. Handling robots can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, greatly reducing the heavy physical labor of humans.

[0003] In the prior art, such as Chinese patent publication number CN113788259A, a transport robot is disclosed, which relates to the field of intelligent warehousing technology and is used to solve the problem that the transport efficiency of the transport robot is relatively low and the time spent on storing and retrieving goods is relatively long. The transport robot includes a mobile VGA chassis, a shelf and a transport device, and the shelf is arranged on the mobile VGA chassis; the transport device includes a connecting seat and a first fork assembly, the first end of the connecting seat is connected to one side of the shelf, the second end of the connecting seat extends in a horizontal direction away from the shelf, and the connecting seat moves up and down relative to the shelf; the first fork assembly includes a first mounting plate and two first side plates, the first mounting plate is connected to the side of the second end of the connecting seat facing the mobile VGA chassis; the two first side plates are relatively arranged on both sides of the first mounting plate along the width direction of the first fork assembly, and the two first side plates extend in the direction of the mobile VGA chassis. Thereby, the connection seat can be prevented from affecting the lowest height of the fork assembly to descend, so that the fork assembly can pick up and place goods at a lower position.

[0004] The transport robot in the above patent can effectively increase the picking range. Although the existing indoor transport robots are powerful and effective in transporting large and heavy items, when transporting a large number of small and light goods, the strong power of the transport robots will cause energy waste, and the flexibility is poor, resulting in low transport efficiency.

[0005] Therefore, a highly efficient indoor transport robot is proposed to solve the problems mentioned in the above background technology. Summary of the invention

[0006] The purpose of the present invention is to provide a high-efficiency indoor transport robot to solve the problem raised in the above background technology that when transporting a large number of small and light goods, the strong power of the transport robot will cause energy waste and the flexibility is poor, resulting in low transport efficiency.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A high-efficiency indoor transport robot comprises a first robot component, a second robot component and a third robot component are arranged inside the first robot component, a transport component is arranged on the top of the first robot component, the first robot component comprises a first VGA chassis, the top of the first VGA chassis is fixedly connected to a first shell through a bracket, a rectangular frame is arranged inside the first shell, and the front and rear outer surfaces of the rectangular frame are fixedly connected to spiral stairs, the number of the second robot components is set to four, and the four second robot components are arranged below the rectangular frame, the number of the third robot components is set to four, and the four third robot components are respectively arranged on the top of the four second robot components, the transport component comprises a suspended plate, the interior of the suspended plate is fixedly connected to a third connecting shaft and the two ends of the third connecting shaft extend to both sides, and the two ends of the third connecting shaft are installed with scissors racks, a top plate is fixedly connected between the tops of the two groups of scissors racks, and the front surface of the top plate is fixedly connected to a second shovel plate, and the second shovel plate is located on the front side of the first shell.

[0008] Preferably, the second robot component includes a second VGA chassis, which is arranged inside the first shell and below the rectangular frame. The top of the second VGA chassis is fixedly connected to the second shell, and a first electric push rod is installed inside the second shell. The top of the first electric push rod is fixedly connected to a first lifting plate, and a first visual module is embedded on the outer surface of one side of the first lifting plate. A connecting plate is fixedly connected to the bottom of the first lifting plate near one side edge, and a first shovel plate is fixedly connected to the outer surface of the connecting plate, and the first lifting plate and the rectangular frame cooperate with each other.

[0009] Preferably, the third robot component includes a third VGA chassis, the third VGA chassis is arranged on the top of the second VGA chassis and the third VGA chassis is located above the rectangular frame, a connecting seat is installed on the top of the third VGA chassis, a third outer shell is arranged on the top of the connecting seat, a third electric push rod is installed inside the third outer shell, the top of the third electric push rod is fixedly connected to a second lifting plate, and a second visual module is embedded on the outer surface of one side of the second lifting plate.

[0010] Preferably, a connecting port is provided at the top of the first shell, side openings are provided on the outer surfaces of both sides of the first shell, the inner walls on the opposite sides of the two side openings are fixedly connected with a first rotating seat, the outer surfaces of the two first rotating seats are rotatably connected with side doors, and motor starters are installed at the two corners near the bottom of the rear surface of the first shell, and the two output ends of the motor starters are respectively fixedly connected to the two side doors.

[0011] Preferably, the two groups of scissor frames are symmetrically installed on the top of the first shell, the bottom of the suspended plate is fixedly connected to a connecting frame, the bottom of the connecting frame is fixedly connected to a resistance plate, the resistance plate and the second lifting plate both correspond to the position of the connecting port, the resistance plate and the second lifting plate are in conflict with each other, and a third visual module is arranged on the top of the top plate.

[0012] Preferably, a first charging port is provided on an outer surface of the second shell on a side away from the first shovel plate, a second charging port is provided on an outer surface of the third shell on a side, and charging heads are installed on the outer surfaces of opposite sides of the two spiral staircases, and the first charging port and the second charging port are both matched with the charging heads.

[0013] Preferably, a second rotating seat is embedded in the top of the connecting seat near one side edge, and a rotating shaft is fixedly connected to the bottom of the third shell near one side edge, and the rotating shaft is rotatably connected to the second rotating seat.

[0014] Preferably, a first connecting shaft is fixedly connected to an outer surface of one side of the connecting seat near the middle position, a second connecting shaft is fixedly connected to an outer surface of one side of the third shell, and a second electric push rod is installed between the outer surfaces of the first connecting shaft and the second connecting shaft.

[0015] Preferably, the bottom of the first lifting plate is fixedly connected to a first limit rod near the four corners, and the bottom end of the first limit rod is slidably inserted into the inside of the second shell, and the bottom of the second lifting plate is fixedly connected to a second limit rod near the four corners, and the bottom end of the second limit rod is slidably inserted into the inside of the third shell.

[0016] Preferably, two limit sleeves are fixedly connected at the top of the first shell near the connecting port, and third limit rods are installed at the bottom of the suspended plate near two corners. The outer surface of the third limit rod and the inner surface wall of the limit sleeve are slidably fitted, and the top of the limit sleeve and the bottom of the suspended plate are in conflict.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, when it is necessary to transport large and heavy goods indoors, the second shovel board is placed at the bottom of the goods with the cooperation of the third visual module and the first VGA chassis, and then the four third robot assemblies jointly provide thrust for the resistance plate and cooperate with the scissor frame to drive the second shovel board to rise and transport the goods. At the same time, the four second robot assemblies can also push the third robot assembly to rise to further increase the lifting height of the goods. During the lifting process, the four groups of second robot assemblies and the third robot assembly jointly provide thrust, so that heavier goods can be transported. At the same time, when it is not necessary to transport at a higher height, only the third robot assembly needs to be operated, thereby saving more energy.

[0018] 2. When the present invention is used, when a large number of small and light goods need to be transported indoors, the side door is opened by a motor starter to form a staircase and then combined with a spiral staircase. At this time, the second robot assembly and the third robot assembly can be moved from the inside of the first shell to the indoor floor in turn to perform cargo handling operations independently, which not only greatly improves the handling efficiency, but also the second robot assembly and the third robot assembly are small in size and highly flexible, which can further improve the handling efficiency.

[0019] 3. When the present invention is used, when faced with cargo that a single second robot assembly and a third robot assembly cannot carry, multiple second robot assemblies and third robot assemblies can also cooperate to carry medium-sized cargo, thereby improving the flexibility and effect of the device.

[0020] 4. When the present invention is in use, when the third robot assembly passes through the spiral staircase during entering and exiting the first shell, the second electric push rod on its side starts to extend. At this time, the two ends of the second electric push rod will rotate with the first connecting shaft and the second connecting shaft and push the third shell to tilt. At this time, when the third VGA chassis passes through the spiral staircase, the third shell will be in a relatively vertical state with high stability, which can effectively avoid the problem of tipping over and improve the reliability of the device when in use.

[0021] 5. When the present invention is in use, when the second robot component and the third robot component are low on power, they can be moved to the inside of the first shell and the first charging port and the second charging port on the surface of the second shell and the third shell can be docked with the charging head on the surface of the spiral staircase for charging. No manual charging operation is required, which improves the convenience of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of a highly efficient indoor transport robot according to the present invention; Figure 2 This is an expanded view of a highly efficient indoor transport robot of the present invention; Figure 3 This is an exploded view of a highly efficient indoor transport robot of the present invention; Figure 4 This is a schematic structural diagram of a first robot component of a high-efficiency indoor transport robot according to the present invention; Figure 5 This is a schematic diagram of a rectangular frame structure of a highly efficient indoor transport robot according to the present invention; Figure 6 A three-dimensional diagram of a second robot component of a high-efficiency indoor transport robot according to the present invention; Figure 7 A second robot development diagram of a highly efficient indoor transport robot according to the present invention; Figure 8A third robot stereogram of a highly efficient indoor transport robot according to the present invention; Fig. 9 A schematic diagram of the third robot structure of a high-efficiency indoor transport robot according to the present invention; Fig.10 This is a schematic diagram of the structure of a transport component of a high-efficiency indoor transport robot according to the present invention; Fig.11 The present invention is a schematic diagram of the structure of a transport component portion of a high-efficiency indoor transport robot.

[0023] In the figure: 1. First robot component; 101. First VGA chassis; 102. First shell; 103. Connecting port; 104. Limiting sleeve; 105. Side opening; 106. First rotating seat; 107. Side door; 108. Motor starter; 109. Rectangular frame; 110. Spiral staircase; 111. Charging head; 2. Second robot component; 201. Second VGA chassis; 202. Second shell; 203. First charging port; 204. First electric push rod; 205. First lifting plate; 206. First limiting rod; 207. Connecting plate; 208. First shoveling plate; 209. First visual module; 3. Third robot Components; 301, third VGA chassis; 302, connecting seat; 303, first connecting axis; 304, second rotating seat; 305, rotating shaft; 306, third housing; 307, second connecting axis; 308, second electric push rod; 309, second charging port; 310, third electric push rod; 311, second lifting plate; 312, second limiting rod; 313, second visual module; 4, carrying component; 401, suspended plate; 402, third connecting axis; 403, scissors frame; 404, third limiting rod; 405, connecting frame; 406, contact plate; 407, top plate; 408, second shovel plate; 409, third visual module. DETAILED DESCRIPTION

[0024] 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 implementation regulations described 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.

[0025] Example 1: Please refer to Figure 1-Figure 11As shown, the present invention provides a technical solution: an efficient indoor transport robot, comprising a first robot component 1, a second robot component 2 and a third robot component 3 are arranged inside the first robot component 1, a transport component 4 is arranged on the top of the first robot component 1, the first robot component 1 comprises a first VGA chassis 101, a first shell 102 is fixedly connected to the top of the first VGA chassis 101 through a bracket, a rectangular frame 109 is arranged inside the first shell 102, and a spiral staircase 110 is fixedly connected to the front and rear outer surfaces of the rectangular frame 109, and the number of the second robot components 2 is set to four, and the four The second robot components 2 are arranged below the rectangular frame 109, the number of the third robot components 3 is set to four, and the four third robot components 3 are respectively arranged on the top of the four second robot components 2, and the handling component 4 includes a suspended plate 401, and the interior of the suspended plate 401 is fixedly connected with a third connecting shaft 402 and the two ends of the third connecting shaft 402 extend to both sides, and scissor frames 403 are installed at both ends of the third connecting shaft 402, and a top plate 407 is fixedly connected between the tops of the two groups of scissor frames 403, and the front surface of the top plate 407 is fixedly connected with a second shovel plate 408, and the second shovel plate 408 is located on the front side of the first shell 102.

[0026] The second robot component 2 includes a second VGA chassis 201, which is arranged inside the first shell 102 at a position below the rectangular frame 109, the second VGA chassis 201 is fixedly connected to the second shell 202 on the top, the first electric push rod 204 is installed inside the second shell 202, the top of the first electric push rod 204 is fixedly connected to the first lifting plate 205, the first visual module 209 is embedded on the outer surface of one side of the first lifting plate 205, the bottom of the first lifting plate 205 is fixedly connected to a connecting plate 207 near one side edge, the outer surface of the connecting plate 207 is fixedly connected to the first shovel plate 208, the first lifting plate 205 and the rectangular frame 109 cooperate, and the second robot component 2 is located in the initial position When in use, the second VGA chassis 201 can drive the first shell 102 to move. During the movement, the first visual module 209 detects the external environment and guides the movement of the second VGA chassis 201. When the first shell 102 moves to the position of small and light cargo and places the outer end of the first shovel plate 208 at the bottom of the cargo, the first electric push rod 204 is started to push the first lifting plate 205 to rise. When the first lifting plate 205 rises, it will drive the first shovel plate 208 to rise through the connecting plate 207 and carry the cargo.

[0027] The third robot component 3 includes a third VGA chassis 301, which is arranged on the top of the second VGA chassis 201 and the third VGA chassis 301 is located above the rectangular frame 109, a connecting seat 302 is installed on the top of the third VGA chassis 301, a third shell 306 is arranged on the top of the connecting seat 302, a third electric push rod 310 is installed inside the third shell 306, the top of the third electric push rod 310 is fixedly connected to the second lifting plate 311, and a second visual module 313 is embedded on the outer surface of one side of the second lifting plate 311. When in use, when there is a gap at the bottom of the cargo that can accommodate the height of the third robot component 3, under the guidance of the second visual module 313, the third VGA chassis 301 drives the third shell 306 to move to the bottom of the cargo, and then starts the third electric push rod 310 to push the second lifting plate 311 up to lift the cargo and transport it to the designated position.

[0028] A connecting port 103 is provided at the top of the first shell 102, and side openings 105 are provided on the outer surfaces of both sides of the first shell 102. The inner walls of the opposite sides of the two side openings 105 are fixedly connected with first rotating seats 106, and the outer surfaces of the two first rotating seats 106 are rotatably connected with side doors 107. Motor starters 108 are installed at the two corners near the bottom of the rear surface of the first shell 102, and the output ends of the two motor starters 108 are fixedly connected to the two side doors 107 respectively. The connecting port 103 is used to avoid the second lifting plate 311 in the third robot component 3 from rising, and the first rotating seat 106 is used to connect the side doors 107 and rotate at the position of the side opening 105. When in use, the two motor starters 108 on the rear side of the first shell 102 are started at the same time and the two side doors 107 are driven to unfold under the action of the first rotating seat 106. When the two side doors 107 are unfolded, they fall to the ground to form stairs and expose the side openings 105.

[0029] Two sets of scissor frames 403 are symmetrically installed on the top of the first shell 102, and a connecting frame 405 is fixedly connected to the bottom of the suspended plate 401. A contact plate 406 is fixedly connected to the bottom of the connecting frame 405. The contact plate 406 and the second lifting plate 311 correspond to the position of the connecting port 103. The contact plate 406 conflicts with the second lifting plate 311. A third visual module 409 is arranged on the top of the top plate 407. When in use, when the device is used for indoor handling operations, the third visual module 409 collects indoor information and controls the first VGA chassis 101 to drive the device to move to the position of the goods to be handled. After the front end of the second shovel plate 408 is inserted under the cargo, the four third robot components 3 inside the first shell 102 start to operate. When the third robot component 3 is in operation, the third electric push rod 310 will be activated to extend and push the second lifting plate 311 to rise and then squeeze the contact plate 406. After being squeezed, the contact plate 406 will push the suspended plate 401 to move upward through the connecting frame 405. After the suspended plate 401 moves upward, it will push the active nodes of the scissors frames 403 on both sides to move upward and unfold through the third connecting shaft 402, thereby pushing the top plate 407 to move upward and cooperate with the second shovel plate 408 to lift larger cargo.

[0030] A first charging port 203 is provided on an outer surface of one side of the second shell 202 away from the first shovel plate 208, a second charging port 309 is provided on an outer surface of one side of the third shell 306, and a charging head 111 is installed on the outer surfaces of the opposite sides of the two spiral staircases 110. The first charging port 203 and the second charging port 309 are both matched with the charging head 111, and power supply batteries are integrated inside the first shell 102, the second shell 202 and the third shell 306. The power supply battery inside the first shell 102 can be connected to an external power source for charging, and can also be discharged through the charging head 111, and the power supply batteries inside the second shell 202 and the third shell 306 are electrically connected to the first charging port 203 and the second charging port 309 respectively. The first charging port 203 and the second charging port 309 can be charged after being magnetically connected to the charging head 111.

[0031] A second rotating seat 304 is embedded in the top of the connecting seat 302 near one side edge, and a rotating shaft 305 is fixedly connected to the bottom of the third shell 306 near one side edge. The rotating shaft 305 is rotatably connected to the second rotating seat 304, and the second rotating seat 304 and the rotating shaft 305 cooperate to rotatably connect the third shell 306 to the top of the connecting seat 302.

[0032] A first connecting shaft 303 is fixedly connected to the outer surface of one side of the connecting seat 302 near the middle position, and a second connecting shaft 307 is fixedly connected to the outer surface of one side of the third shell 306. A second electric push rod 308 is installed between the outer surfaces of the first connecting shaft 303 and the second connecting shaft 307. When in use, the second electric push rod 308 starts to extend. At this time, the two ends of the second electric push rod 308 will rotate with the first connecting shaft 303 and the second connecting shaft 307 and push the third shell 306 to tilt.

[0033] The first lifting plate 205 is fixedly connected to the first limiting rod 206 at the bottom near the four corners, and the bottom end of the first limiting rod 206 is slidably inserted into the second shell 202. The second lifting plate 311 is fixedly connected to the second limiting rod 312 at the bottom near the four corners, and the bottom end of the second limiting rod 312 is slidably inserted into the third shell 306. When the first lifting plate 205 is raised or lowered, the first limiting rod 206 will slide inside the second shell 202 to limit the first lifting plate 205, thereby improving the stability of the first lifting plate 205 during the lifting process. When the second lifting plate 311 is raised or lowered, the second limiting rod 312 will slide inside the third shell 306 to limit the second lifting plate 311, thereby improving the stability of the second lifting plate 311 during the lifting process.

[0034] Two limit sleeves 104 are fixedly connected at the top of the first shell 102 near the connecting port 103, and third limit rods 404 are installed at the bottom of the suspended board 401 near two corners. The outer surface of the third limit rod 404 and the inner surface wall of the limit sleeve 104 are slidably fitted, and the top of the limit sleeve 104 and the bottom of the suspended board 401 are in conflict. When the suspended board 401 is lifted or lowered, the third limit rod 404 is driven to move. At this time, the third limit rod 404 will slide inside the limit sleeve 104, thereby limiting the position of the suspended board 401, thereby improving the stability of the suspended board 401 during the lifting and lowering process. When the suspended board 401 drops to the lowest point, the limit sleeve 104 will resist the suspended board 401, thereby limiting its lowest height.

[0035] The use method and working principle of the device: The first visual module 209, the second visual module 313 and the third visual module 409 in the device are composed of visual sensors, distance sensors, auditory sensors and signal transceivers, forming an intelligent robot perception system, and other electrical components are controlled by a microcontroller to cooperate with each other. The first shell 102, the second shell 202 and the third shell 306 are all integrated with power supply batteries. The power supply battery inside the first shell 102 can be connected to an external power source for charging, and can also be discharged through the charging head 111, while the second shell 202 and the third shell 306 are all integrated with power supply batteries. The power supply battery is electrically connected to the first charging port 203 and the second charging port 309 respectively. The first charging port 203 and the second charging port 309 can be charged after being magnetically connected to the charging head 111. Both are existing mature technologies and will not be described in detail here. When the device is used for indoor handling operations, the third visual module 409 collects indoor information and controls the first VGA chassis 101 to drive the device to move to the position of the goods to be handled. When the front end of the second shovel board 408 is inserted under the goods, the four third robot components 3 inside the first shell 102 are in operation. When the third robot component 3 is in operation, After the third electric push rod 310 is started to extend and push the second lifting plate 311 to rise, it squeezes the contact plate 406. After being squeezed, the contact plate 406 pushes the suspended plate 401 to move upward through the connecting frame 405. After the suspended plate 401 moves upward, it pushes the active nodes of the scissor frames 403 on both sides to move upward and unfold through the third connecting shaft 402, thereby pushing the top plate 407 to move upward and cooperate with the second shovel plate 408 to lift larger goods. In addition, the scissor frames 403 have the function of increasing the moving stroke. The rising height of the second shovel plate 408 is greater than the rising height of the second lifting plate 311. When further lifting is required, When the height of the second shovel plate 408 is further increased, the four second robot assemblies 2 are in operation. When the second robot assemblies 2 are in operation, the first electric push rod 204 is activated to push the first lifting plate 205 upward. At this time, the overall height of the third robot assembly 3 on the top of the first lifting plate 205 is further increased, thereby further increasing the handling height of large goods. In addition, during the lifting process, the four groups of second robot assemblies 2 and the third robot assembly 3 jointly provide thrust, so that heavier goods can be handled. At the same time, when it is not necessary to handle at a higher height, only the third robot assembly 3 needs to be operated, thereby saving more energy. When a large number of small and lightweight goods need to be transported, the two motor starters 108 on the rear side of the first shell 102 are started at the same time and drive the two side doors 107 to unfold under the action of the first rotating seat 106. When the two side doors 107 are unfolded, they fall to the ground to form stairs and expose the side opening 105. At this time, the third robot component 3 is driven by the third VGA chassis 301 to move to the bottom of the first shell 102 through the spiral staircase 110 and then moves to the floor of the room through the side door 107. Then, the second robot component 2 is driven by the second VGA chassis 201 to move to the floor of the room. When there is a gap at the bottom of the cargo that can accommodate the height of the third robot component 3, under the guidance of the second visual module 313, the third VGA chassis 301 drives the third shell 306 to move to the bottom of the cargo, and then starts the third electric push rod 310 to push the second lifting plate 311 up to lift the cargo and transport it to the designated position. When the underground space of the cargo is low, the third Under the guidance of the first visual module 209, the second VGA chassis 201 of the second robot component 2 drives the second shell 202 to move to the cargo position and places the front end of the first shovel plate 208 at the bottom of the cargo. Then, the first electric push rod 204 is started and pushes the first lifting plate 205 to rise. At this time, the first lifting plate 205 drives the first shovel plate 208 to rise and lift the cargo through the connecting plate 207, so as to carry it. In the face of a large number of small and light cargoes, the four second robot components 2 and the third robot component 3 can be used separately for carrying operations, which not only greatly improves the carrying efficiency, but also the second robot component 2 and the third robot component 3 are small in size and highly flexible, which can further improve the carrying efficiency. At the same time, in the face of cargo that a single second robot component 2 and the third robot component 3 cannot carry, multiple second robot components 2 and the third robot component 3 can also cooperate to carry medium-sized cargo, which improves the flexibility and effect of the device. When the second robot component 2 and the third robot component 3 need to return to the first shell 102, the second robot component 2 first returns to the bottom of the rectangular frame 109 inside the first shell 102, and then the first electric push rod 204 extends a short distance to make the top of the first lifting plate 205 and the top of the rectangular frame 109 form a flat layer, and then the third robot component 3 is driven to pass through the side door 107 and the spiral staircase 110 and return to the top of the first lifting plate 205, and finally the side door 107 is folded. In addition, when the third robot component 3 passes through the spiral staircase 110 during the process of entering and exiting the first shell 102, the second electric push rod 308 on its side starts to extend. At this time, the two ends of the second electric push rod 308 will rotate with the first connecting shaft 303 and the second connecting shaft 307 and push the third shell 306 to tilt. At this time, when the third VGA chassis 301 passes through the spiral staircase 110, the third shell 306 will be in a relatively vertical state, with high stability, which can effectively avoid the problem of tipping, thereby improving the reliability of the device when in use; When the second robot component 2 and the third robot component 3 are low on power, they can be moved to the inside of the first shell 102 and the first charging port 203 and the second charging port 309 on the surface of the second shell 202 and the third shell 306 can be docked with the charging head 111 on the surface of the spiral staircase 110 for charging. No manual charging operation is required, which improves convenience of use.

[0036] Among them, the first VGA chassis 101, the motor starter 108, the second VGA chassis 201, the first electric push rod 204, the first visual module 209, the third VGA chassis 301, the second electric push rod 308, the second visual module 313 and the third visual module 409 are all prior arts, and their components and usage principles are all public arts, which will not be explained in detail here.

[0037] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-efficiency indoor transport robot, comprising a first robot component (1), characterized in that: A second robot component (2) and a third robot component (3) are arranged inside the first robot component (1), and a handling component (4) is arranged on the top of the first robot component (1); The first robot component (1) comprises a first VGA chassis (101), the top of the first VGA chassis (101) being fixedly connected to a first shell (102) via a bracket, a rectangular frame (109) being provided inside the first shell (102), and spiral staircases (110) being fixedly connected to the front and rear outer surfaces of the rectangular frame (109); The number of the second robot components (2) is set to four, and the four second robot components (2) are arranged in an arranged manner below the rectangular frame (109); The number of the third robot components (3) is set to four, and the four third robot components (3) are respectively arranged on top of the four second robot components (2); The transport assembly (4) comprises a suspended plate (401), a third connecting shaft (402) is fixedly connected inside the suspended plate (401), and both ends of the third connecting shaft (402) extend to both sides, scissor frames (403) are installed at both ends of the third connecting shaft (402), a top plate (407) is fixedly connected between the tops of the two groups of scissor frames (403), a second shovel plate (408) is fixedly connected to the front surface of the top plate (407), and the second shovel plate (408) is located on the front side of the first shell (102).

2. The high-efficiency indoor transport robot according to claim 1, characterized in that: The second robot component (2) comprises a second VGA chassis (201), the second VGA chassis (201) being arranged inside the first shell (102) and below the rectangular frame (109), the top of the second VGA chassis (201) being fixedly connected to the second shell (202), the inside of the second shell (202) being provided with a first electric push rod (204), the top of the first electric push rod (204) being fixedly connected to a first lifting plate (205), a first visual module (209) being embedded on an outer surface of one side of the first lifting plate (205), a connecting plate (207) being fixedly connected to the bottom of the first lifting plate (205) near one side edge, a first shovel plate (208) being fixedly connected to the outer surface of the connecting plate (207), and the first lifting plate (205) and the rectangular frame (109) being matched.

3. The high-efficiency indoor transport robot according to claim 2, characterized in that: The third robot component (3) comprises a third VGA chassis (301), the third VGA chassis (301) being arranged on the top of the second VGA chassis (201) and the third VGA chassis (301) being located above the rectangular frame (109), a connecting seat (302) being installed on the top of the third VGA chassis (301), a third outer shell (306) being arranged on the top of the connecting seat (302), a third electric push rod (310) being installed inside the third outer shell (306), a second lifting plate (311) being fixedly connected to the top of the third electric push rod (310), and a second visual module (313) being embedded on the outer surface of one side of the second lifting plate (311).

4. The high-efficiency indoor transport robot according to claim 1, characterized in that: A connecting opening (103) is provided at the top of the first shell (102), and side openings (105) are provided on both outer surfaces of the first shell (102). The inner surfaces of the two side openings (105) on the opposite sides are fixedly connected to first rotating seats (106), and the outer surfaces of the two first rotating seats (106) are rotatably connected to side doors (107). Motor starters (108) are installed at two corners near the bottom of the rear surface of the first shell (102), and the output ends of the two motor starters (108) are fixedly connected to the two side doors (107) respectively.

5. The high-efficiency indoor transport robot according to claim 1, characterized in that: The two groups of scissor frames (403) are symmetrically installed on the top of the first shell (102); the bottom of the suspended plate (401) is fixedly connected to a connecting frame (405); the bottom of the connecting frame (405) is fixedly connected to a contact plate (406); the contact plate (406) and the second lifting plate (311) both correspond to the position of the connecting port (103); the contact plate (406) and the second lifting plate (311) are in conflict with each other; and a third visual module (409) is provided on the top of the top plate (407).

6. The high-efficiency indoor transport robot according to claim 3, characterized in that: A first charging port (203) is provided on an outer surface of a side of the second housing (202) away from the first shovel plate (208), a second charging port (309) is provided on an outer surface of a side of the third housing (306), and charging heads (111) are installed on the outer surfaces of opposite sides of the two spiral staircases (110), and the first charging port (203) and the second charging port (309) both cooperate with the charging head (111).

7. The high-efficiency indoor transport robot according to claim 3, characterized in that: A second rotating seat (304) is embedded in the top of the connecting seat (302) near one side edge, and a rotating shaft (305) is fixedly connected to the bottom of the third shell (306) near one side edge, and the rotating shaft (305) is rotatably connected to the second rotating seat (304).

8. The high-efficiency indoor transport robot according to claim 3, characterized in that: A first connecting shaft (303) is fixedly connected to an outer surface of one side of the connecting seat (302) near the middle position, a second connecting shaft (307) is fixedly connected to an outer surface of one side of the third housing (306), and a second electric push rod (308) is installed between the outer surfaces of the first connecting shaft (303) and the second connecting shaft (307).

9. The high-efficiency indoor transport robot according to claim 3, characterized in that: The bottom of the first lifting plate (205) is fixedly connected to a first limiting rod (206) near the four corners, and the bottom end of the first limiting rod (206) is slidably inserted into the interior of the second shell (202). The bottom of the second lifting plate (311) is fixedly connected to a second limiting rod (312) near the four corners, and the bottom end of the second limiting rod (312) is slidably inserted into the interior of the third shell (306).

10. The high-efficiency indoor transport robot according to claim 1, characterized in that: Two limiting sleeves (104) are fixedly connected at the top of the first shell (102) near the connecting opening (103), and third limiting rods (404) are installed at the bottom of the suspended plate (401) near two corners. The outer surface of the third limiting rod (404) is slidably fitted with the inner surface wall of the limiting sleeve (104), and the top of the limiting sleeve (104) is in contact with the bottom of the suspended plate (401).

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