Four-rotation eight-drive cargo carrying robot

Abstract

The invention discloses a four-rotation eight-drive cargo carrying robot and relates to the field of AGV cargo carrying, the four-rotation eight-drive cargo carrying robot comprises a carrying platform, the carrying platform is used for receiving or placing materials needing to be carried, hubs distributed in a matrix mode are arranged at the bottom of the carrying platform, and a driving mechanism is arranged between the carrying platform and the hubs; the wheel hub is driven by the driving mechanism to rotate and adjust, the passing ability of the carrying platform is improved, the inner wall of a tire is rapidly ejected outwards by a certain force through the ejection mechanism, so that small stones clamped in anti-skid grooves in the surface of the tire are ejected out, and through the force storage mechanism, the small stones are separated from the anti-skid grooves in the surface of the tire, so that the anti-skid effect of the tire is improved. Vibration between a tire and a hub is sensed, stored force is generated during vibration every time, the ejection mechanism is linked to operate after the stored force reaches the set strength, the stability of the robot in the using process is improved, and damage to the tire due to the fact that stones are clamped on the surface of the tire for a long time is avoided.

Description

Technical Field

[0001] The present invention relates to the field of AGV cargo handling, and in particular to a four-rotation and eight-drive cargo carrying robot. Background Art

[0002] With the continuous development of new technologies such as artificial intelligence and the Internet of Things, an increasing number of wheeled material handling robots are operating in diverse work environments, including logistics, warehousing, patrol, and security monitoring. Existing logistics handling robots are mostly four-wheel drive. To improve the stability of logistics handling robots during outdoor handling, the number of running wheels can be increased. Four-wheel drive robots can use four drive units to independently control the steering and speed of each set of wheels, achieving full range of robot movement. This allows logistics handling robots to accurately receive and unload objects at designated locations.

[0003] The wheel surfaces of existing four-turn, eight-wheel drive cargo transport robots often have a large number of anti-skid grooves to improve the anti-skid performance of the wheels. Especially when working in complex outdoor terrain, the depth and number of anti-skid grooves also affect the grip and passability to a certain extent. Due to the complex outdoor road conditions (for example, the cargo transport robot needs to transfer goods from one warehouse to another, and the road surface between the two warehouses is ordinary cement road, and the cement road surface has potholes and gravel), stones are easily stuck in the anti-skid grooves of these wheels. Stones stuck on the tire surface for a long time can easily reduce the service life of the tire and affect the balance of the cargo transport robot during the transportation and movement process. It is easy for the cargo transport robot's carrying platform to tilt, causing the goods to fall. Summary of the Invention

[0004] The purpose of the present invention is to provide a four-turn eight-drive cargo transport robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a four-turn, eight-drive cargo transport robot, comprising a loading platform, the loading platform being used to receive or place materials that need to be transported, the bottom of the loading platform being provided with wheel hubs distributed in a matrix, and a driving mechanism being provided between the wheel hubs, the driving motor being used to drive the wheel hubs for rotation adjustment, the periphery of the wheel hubs being equipped with tires, the surface of the tires being provided with anti-skid grooves, the ejection mechanism being installed on the wheel hubs, for quickly ejecting the inner wall of the tires with a certain force, thereby ejecting small stones stuck in the anti-skid grooves on the tire surface, the force storage mechanism being installed on the wheel hubs, for sensing the vibration between the tires and the wheel hubs, and generating force storage during each vibration, and linking the ejection mechanism to operate after the force storage reaches the set intensity, thereby facilitating the removal of stones stuck on the tire surface and improving the stability of the robot during use.

[0006] Preferably, the force storage mechanism includes multiple groups of first springs fixedly mounted on the wheel hub, a swing block is fixedly connected to the first spring, the swing block is made of osmium alloy, a second spring is fixedly connected to the swing block, an arc-shaped top plate is fixedly connected to the second spring, the top surface of the arc-shaped top plate is made of rubber, the ejection mechanism and the force storage mechanism are both connected to the swing block, which is convenient for sensing vibration and determining the location of abnormal vibration.

[0007] Preferably, the ejection mechanism includes multiple groups of first brackets fixedly mounted on the wheel hub, a ejection block is slidably connected to the first bracket, and a third spring fixedly connected to the wheel hub is fixedly connected to the bottom surface of the ejection block to facilitate ejecting the stone at this position.

[0008] Preferably, the force storage mechanism also includes a second bracket fixedly mounted on the wheel hub, the second bracket is rotatably connected to a helical gear ring, a first device groove is opened on the swing block, a fourth spring is fixedly connected in the first device groove, the fourth spring is fixedly connected to a first clamping block slidably connected to the first device groove, the second bracket is slidably connected to a limiting block, the limiting block is fixedly connected to a fifth spring fixedly connected to the wheel hub, the wheel hub is provided with a force storage piece for storing force when the helical gear ring rotates, and the second bracket is provided with a linkage piece for releasing the force storage effect of the force storage piece when the helical gear ring rotates to a certain position, driving the ejection of the ejection block, so as to facilitate the storage of force through the swinging of the swing block.

[0009] Preferably, the force storage member includes a third bracket fixedly mounted on the wheel hub, the third bracket is rotatably connected to a clockwork shaft, the clockwork shaft is fixedly connected to a tilting rod, a second device groove is provided on the tilting rod, a sixth spring is fixedly connected in the second device groove, the sixth spring is fixedly connected to a second clamping block slidably connected to the second device groove, a helical tooth groove is provided on the side of the top block, a device box is fixedly connected to the wheel hub, and a fixing member for limiting and fixing the top block is provided in the device box, so as to facilitate the use of the lever principle to drive the third spring to compress and store force.

[0010] Preferably, the fixing member includes a third clamping block installed in the device box, a third device groove is opened in the device box, a seventh spring is fixedly connected in the third device groove, the third clamping block is slidably connected to the third device groove and is fixedly connected to the seventh spring, and the linkage member is connected to the third clamping block to facilitate limiting and fixing the top block.

[0011] Preferably, the linkage part includes a pull rope installed in the device box, the bevel gear ring is coaxially fixedly connected to the first rotating shaft, the first rotating shaft is fixedly connected to a toggle rod, the third device slot is fixedly connected to a tension spring, the tension spring is fixedly connected to a control block slidingly connected to the device box, one end of the pull rope is fixedly connected to the control block, and the other end is fixedly connected to the third clamping block, and a limit member is provided in the device box to ensure that the control block can only be started in a non-downward direction, so as to facilitate the release of the limit of the third clamping block on the top block when the bevel gear ring rotates to a certain position.

[0012] Preferably, the limiter comprises an arc tube fixedly mounted in the device box, wherein a ball is rollingly connected in the arc tube, and a slot is provided on the arc tube for sliding connection with the control block, so as to prevent the ejecting block from ejecting the tire downwards, at which time the effect of ejecting the stone is least obvious.

[0013] Preferably, the driving mechanism includes four groups of first motors fixedly installed in the loading platform, the output ends of the first motors are coaxially fixedly connected to the rotating frames, the four groups of rotating frames are respectively fixedly connected to second motors, and the output ends of the second motors are coaxially fixedly connected to the wheel hub, so as to facilitate driving the wheel hub for rotation adjustment.

[0014] Preferably, the force storage mechanism is provided with two groups, and is symmetrically distributed on both sides of the swing block. The symmetrical distribution makes the tire rotation more stable.

[0015] A four-rotation, eight-drive robot, including a four-rotation, eight-drive cargo carrying robot.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention solves the problem that the tire surface of the existing four-turn eight-wheel drive cargo transport robot is easily stuck by small stones when in use, resulting in increased tire vibration and affecting the overall balance of the transport robot and the service life of the tire. The device drives the wheel hub to rotate and adjust through a driving mechanism, and quickly pushes the inner wall of the tire outward with a certain force through the ejection mechanism, thereby ejecting the small stones stuck in the anti-skid groove on the tire surface. The vibration between the tire and the wheel hub is sensed through the force storage mechanism, and force is generated during each vibration. After the force storage reaches the set intensity, the ejection mechanism is linked to operate. The device can improve the stability of the transport robot in the process of carrying goods and avoid damage to the tire caused by stones being stuck on the tire surface for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall appearance of the present invention; Figure 2 Schematic diagram of the driving mechanism structure of the present invention; Figure 3 This is a schematic diagram of the overall structure of the wheel of the present invention; Figure 4 Schematic diagram of the internal structure of the tire of the present invention; Figure 5 A partial cross-sectional view of the wheel structure of the present invention; Figure 6 for Figure 5 Enlarged view of area A in the middle; Figure 7 It is a schematic diagram of the local structure of the linkage member of the present invention; Figure 8 for Figure 7 Enlarged view of area B in the middle; Figure 9 This is a schematic diagram of the partial structure of the ejection mechanism of the present invention; Figure 10 for Figure 9 Enlarged view of area C in the middle; Figure 11 It is a schematic diagram of the partial structure of the power storage mechanism of the present invention; Figure 12 for Figure 11 Enlarged view of area D in the middle.

[0018] In the figure: 1-tire; 2-wheel hub; 3-carrying platform; 4-anti-skid groove; 5-first motor; 6-rotating frame; 7-first spring; 8-swing block; 9-second spring; 10-arc top plate; 11-first bracket; 12-top block; 13-third spring; 14-second bracket; 15-oblique gear ring; 16-first device groove; 17-fourth spring; 18-first clamping block; 19-limiting block; 20-fifth spring; 21-force storage member; 22-linkage member; 2 3-third bracket; 24-spring shaft; 25-tilt lever; 26-second device slot; 27-sixth spring; 28-second clamping block; 29-oblique tooth groove; 30-device box; 31-fixing piece; 32-third clamping block; 33-third device slot; 34-seventh spring; 35-pull rope; 36-first shaft; 37-toggle lever; 38-tension spring; 39-control block; 40-limiting piece; 41-arc tube; 42-ball; 43-slot; 44-second motor. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0020] Example 1: Please refer to Figures 1-12, the figure shows a four-turn eight-drive cargo carrying robot, a loading platform 3, the loading platform 3 is used to receive or place materials that need to be transported, the bottom of the loading platform 3 is provided with a matrix-distributed wheel hub 2, and a driving mechanism is provided between 3 and the wheel hub 2, the driving machine is used to drive the wheel hub 2 for rotation adjustment, the periphery of the wheel hub 2 is equipped with a tire 1, the surface of the tire 1 is provided with an anti-skid groove 4, and the ejection mechanism is installed on the wheel hub 2, which is used to quickly push the inner wall of the tire 1 outward with a certain force, thereby ejecting the small stones stuck in the anti-skid groove 4 on the surface of the tire 1, and the ejection mechanism includes multiple groups of first brackets 11 fixedly mounted on the wheel hub 2, and a top block 12 is slidably connected to the first bracket 11. The bottom surface of the top block 12 is fixedly connected to a third spring 13 fixedly connected to the wheel hub 2, and a force storage mechanism is installed on the wheel hub 2 to sense the vibration between the tire 1 and the wheel hub 2, and generate force during each vibration. After the force storage reaches the set intensity, the ejection mechanism is linked to operate.

[0021] The force storage mechanism includes multiple groups of first springs 7 fixedly mounted on the wheel hub 2, and a swing block 8 is fixedly connected to the first spring 7. The swing block 8 is made of osmium alloy. The density of osmium alloy is relatively high, so that the swing amplitude generated by the vibration received is larger, which is more convenient for driving the subsequent device operation. The swing block 8 is fixedly connected to the second spring 9, and the second spring 9 is fixedly connected to the arc-shaped top plate 10. The top surface of the arc-shaped top plate 10 is made of rubber. The ejection mechanism and the force storage mechanism are both connected to the swing block 8.

[0022] The force storage mechanism also includes a second bracket 14 fixedly mounted on the wheel hub 2, a bevel gear ring 15 is rotatably connected to the second bracket 14, a first device groove 16 is provided on the swing block 8, a fourth spring 17 is fixedly connected in the first device groove 16, the fourth spring 17 is fixedly connected to a first clamping block 18 which is slidably connected to the first device groove 16, the second bracket 14 is slidably connected to a limit block 19, the limit block 19 is fixedly connected to a fifth spring 20 which is fixedly connected to the wheel hub 2, a force storage piece 21 for storing force when the bevel gear ring 15 rotates is provided on the wheel hub 2, and a linkage piece 22 is provided on the second bracket 14 for releasing the force storage effect of the force storage piece 21 when the bevel gear ring 15 rotates to a certain position, thereby driving the ejection block 12 to be ejected.

[0023] In order to facilitate more symmetrical stable rotation of the tire 1, two groups of power storage mechanisms are provided and symmetrically distributed on both sides of the swing block 8.

[0024] Example 2: Please refer to Figure 7-12, this embodiment further illustrates embodiment 1. The force storage member 21 shown in the figure includes a third bracket 23 fixedly mounted on the wheel hub 2, the third bracket 23 is rotatably connected to a clockwork shaft 24, the clockwork shaft 24 is fixedly connected to a tilting rod 25, the tilting rod 25 is provided with a second device groove 26, the second device groove 26 is fixedly connected to a sixth spring 27, the sixth spring 27 is fixedly connected to a second clamping block 28 slidably connected to the second device groove 26, the side of the top block 12 is provided with an oblique tooth groove 29, the wheel hub 2 is fixedly connected to a device box 30, and the device box 30 is provided with a fixing member 31 for limiting and fixing the top block 12.

[0025] The fixing member 31 includes a third clamping block 32 installed in the device box 30. A third device groove 33 is opened in the device box 30. A seventh spring 34 is fixedly connected to the third device groove 33. The third clamping block 32 is slidably connected to the third device groove 33 and is fixedly connected to the seventh spring 34. The linkage member 22 is connected to the third clamping block 32.

[0026] The linkage part 22 includes a pull rope 35 installed in the device box 30, the bevel gear ring 15 is coaxially fixedly connected to the first rotating shaft 36, the first rotating shaft 36 is fixedly connected to the toggle rod 37, the third device groove 33 is fixedly connected to the tension spring 38, the tension spring 38 is fixedly connected to the control block 39 that is slidably connected to the device box 30, one end of the pull rope 35 is fixedly connected to the control block 39, and the other end is fixedly connected to the third clamping block 32. A limit member 40 is provided in the device box 30 to ensure that the control block 39 can only be started in a non-downward direction. The limit member 40 includes an arc tube 41 fixedly installed in the device box 30, a ball 42 is rollingly connected in the arc tube 41, and a slot 43 that is slidably connected to the control block 39 is provided on the arc tube 41.

[0027] Example 3: Please refer to Figures 9-12 This embodiment further illustrates the first embodiment. The driving mechanism shown in the figure includes four groups of first motors 5 fixedly installed in the loading platform 3. The output end of the first motor is coaxially fixedly connected to the rotating frame 6. The four groups of rotating frames 6 are respectively fixedly connected to the second motor 44. The output end of the second motor 44 is coaxially fixedly connected to the wheel hub 2. The first motor 5 and the second motor 44 are preferably LD60 micro motors.

[0028] Working principle: When the tire 1 is subjected to vibration during rolling, it will continuously push the arc-shaped top plate 10 to compress the first spring 7 and the second spring 9, thereby reducing the vibration transmitted from the tire 1 to the wheel hub 2 under the buffering action of the first spring 7 and the second spring 9, and achieving a better shock absorption effect. At the same time, when a small stone is stuck in the anti-skid groove 4, this position will generate greater vibration when it hits the ground, thereby driving the first spring 7 and the second spring 9 at this position to generate greater vibration, and the shaking amplitude of the swing block 8 here will also be greater.

[0029] The shaking of the swing block 8 will drive the first clamping block 18 to move up and down. The movement of the first clamping block 18 will continuously toggle the bevel gear ring 15. Under the clamping action of the limit block 19, the bevel gear ring 15 will only rotate in one direction. The rotation of the bevel gear ring 15 will continuously toggle the force storage member 21 to store force, thereby continuously pressing the top block 12 downward and compressing the third spring 13. The linkage member 22 releases the force storage member 21 when the bevel gear ring 15 rotates to a certain position, driving the top block 12 to be ejected, and the top block 12 hits the arc top plate 10, so that the arc top plate 10 hits the inner wall of the tire 1, which can make the tire 1 at this location be quickly hit outward, thereby facilitating the falling off of the small stones clamped at this location, and further reducing the vibration of the tire 1 during rotation. In this way, the position where the shaking is strong (that is, the position where small stones may be clamped) can be continuously hit, thereby accelerating the falling off of small stones.

[0030] It is worth noting that: when the tire 1 does not squeeze the arc-shaped top plate 10, the first spring 7 and the second spring 9 will automatically rebound and reset, keeping the arc-shaped top plate 10 in contact with the inner wall of the tire 1. Since the elastic force of the first spring 7 and the second spring 9 is the same, it can ensure that the swing block 8 is just on the side of the bevel gear ring 15 when resetting. When the tire 1 is traveling on a rugged road, the bottom of the tire 1 will be lifted up by stones. At this time, the arc-shaped top plate 10 at the bottom will increase the degree of squeezing of the second spring 9. The increased vibration will also increase the swing of the swing block 8 and accumulate force, and finally collide with the inner wall of the tire 1 where the force is accumulated. Because the road surface on which the tire 1 travels here is more rugged, the probability of stones getting stuck in the anti-skid groove 4 is greater. This collision can prevent stones on the rugged road from getting stuck in the anti-skid groove 4.

[0031] When the bevel gear ring 15 rotates, it will continuously move one end of the tilting rod 25, and the position of the clockwork shaft 24 will be closer to one end of the second device groove 26, so that the lever principle can be used to save more effort, that is, the smaller force generated when the bevel gear ring 15 rotates can pry the second clamping block 28 downward, and the second clamping block 28 will intermittently press the bevel gear groove 29 downward. After the pressure is pressed down, the clockwork spring provided in the clockwork shaft 24 will continuously drive the tilting rod 25 to restore the horizontal position. At this time, the second clamping block 28 will compress the sixth spring 27 to restore the position of the tilting rod 25. At the same time, the bevel gear groove 29 will be clamped by the third clamping block 32. The design of the third clamping block 32 and the seventh spring 34 can effectively prevent the bevel gear groove 29 and the top block 12 from moving upward, thereby playing a better limiting role.

[0032] When the helical gear ring 15 rotates to a certain position, the linkage member 22 drives the third clamping block 32 to release the clamping of the helical tooth groove 29, so that the third spring 13 rebounds quickly to push out the top block 12, so that the top block 12 hits the arc-shaped top plate 10, and the arc-shaped top plate 10 hits the inner wall of the tire 1, so that the tire 1 at this location is quickly knocked outward, thereby facilitating the falling off of small stones clamped at this location, further reducing the vibration of the tire 1 during rotation, and accelerating the falling off of stones.

[0033] When the first rotating shaft 36 rotates to a certain position, the toggle rod 37 rotates to the bottom of the control block 39. When the bevel gear ring 15 continues to rotate, it drives the toggle rod 37 to rotate and lift the control block 39. The tension spring 38 is stretched, and the pull rope 35 is pulled, so that the third clamping block 32 compresses the seventh spring 34. The third clamping block 32 slides into the third device groove 33 to release the clamping effect on the bevel gear groove 29. When the top block 12 is in the position where the tire 1 contacts the ground, the ball 42 slides to one end of the arc tube 41, The position of the slot 43 is blocked, so that the control block 39 can be prevented from being pushed into the slot 43. At this time, the top block 12 will not be ejected because the small stone stuck at this time is in contact with the tire 1 and the ground, and the top block 12 cannot be ejected during operation. Once the tire 1 rotates to a certain position, the ball 42 will quickly slide away from this end of the arc tube 41 due to gravity. At this time, the control block 39 can be ejected, thereby driving the third block 32 to release the limiting effect on the top block 12, and the top block 12 can be ejected for operation.

[0034] By controlling the rotating frame 6 to rotate respectively through four groups of first motors 5, the second motor 44 and the wheel hub 2 can be swung and turned together, and at the same time, the corresponding wheel hub 2 is driven to rotate by the second motor 44, so that the purpose of driving the four groups of wheel hubs 2 separately can be achieved. The driving of the four-turn eight-wheel drive robot is more flexible and stable. The load-bearing capacity of the wheel structure is relatively limited and can only meet the needs of some small robots. However, it can assist in removing stones on the surface of the tire 1 without the need for electric drive, and the disassembly and assembly are more convenient. The whole structure is wrapped in the tire 1, the curved top plate 10 and the wheel hub 2, and the probability of damage by impact and other factors is relatively small, which improves the stability of the robot loading platform 3 on a flat road.

[0035] The tire 1 in this wheel structure adopts a puncture-proof tire with a built-in support structure and does not require an inner liner. The loading platform 3 can be supported by inflating the area between the tire 1 and the wheel hub 2. The multiple sets of curved top plates 10 inside can support the inner wall of the tire 1 and improve the support of the tire 1. At the same time, the impact of the top block 12 on the curved top plate 10 can disperse the impact force and avoid damage to the inner wall of the tire 1. At the same time, the force is transmitted from the inside to the anti-skid groove 4 to improve the efficiency of the stone being ejected, so that the stone becomes loose inside the anti-skid groove 4, which is more conducive to the stone falling off. The impact force will not directly eject the stone, but when the stone position continues to be unable to be ejected, the force storage mechanism here will continue to work, so that the curved top plate 10 at this position will pop out intermittently, prompting the stone at this position to fall off.

[0036] When the tire 1 rotates to fit the ground, it will deform to a certain extent, thereby pushing the arc-shaped top plate 10 to move. At this time, the top of the top block 12 will slide under the push of the arc-shaped top plate 10, but this sliding will increase its power storage state and will not affect the normal operation of the device. The deformation of the tire 1 is limited. Each time it comes into contact with the ground, the top block 12 has moved a certain distance, and the arc-shaped top plate 10 will not continue to push the top block 12 to move until the top block 12 is popped out.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0038] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A four-turn, eight-drive cargo transport robot, characterized in that: include: A loading platform (3), the loading platform (3) is used to receive or place materials to be transported, the bottom of the loading platform (3) is provided with wheel hubs (2) distributed in a matrix, and a driving mechanism is provided between the loading platform (3) and the wheel hubs (2), the driving mechanism is used to drive the wheel hubs (2) for rotation adjustment, the periphery of the wheel hub (2) is equipped with a tire (1), and the surface of the tire (1) is provided with an anti-skid groove (4); Also includes: An ejection mechanism, the ejection mechanism being mounted on the wheel hub (2) and being used to quickly eject the inner wall of the tire (1) outward with a certain force, thereby ejecting small stones stuck in the anti-skid groove (4) on the surface of the tire (1); A force storage mechanism is installed on the wheel hub (2) and is used to sense the vibration between the tire (1) and the wheel hub (2), and generate force storage during each vibration. After the force storage reaches a set intensity, the ejection mechanism is linked to operate. The force storage mechanism includes multiple groups of first springs (7) fixedly installed on the wheel hub (2), a swing block (8) is fixedly connected to the first spring (7), and the swing block (8) is made of osmium alloy. A second spring (9) is fixedly connected to the swing block (8), and an arc-shaped top plate (10) is fixedly connected to the second spring (9), and the top surface of the arc-shaped top plate (10) is made of rubber.

2. The four-rotation, eight-drive cargo transport robot according to claim 1, characterized in that: The ejection mechanism comprises a plurality of first brackets (11) fixedly mounted on the wheel hub (2), a top block (12) being slidably connected to the first bracket (11), and a third spring (13) fixedly connected to the wheel hub (2) being fixedly connected to the bottom surface of the top block (12).

3. The four-rotation, eight-drive cargo transport robot according to claim 2, characterized in that: The force storage mechanism further comprises a second bracket (14) fixedly mounted on the wheel hub (2), a bevel gear ring (15) being rotatably connected to the second bracket (14), a first device groove (16) being provided on the swing block (8), a fourth spring (17) being fixedly connected in the first device groove (16), the fourth spring (17) being fixedly connected to a first clamping block (18) being slidably connected to the first device groove (16), the second bracket (14) being slidably connected to a limit block (19), the limit block (19) being fixedly connected to a fifth spring (20) being fixedly connected to the wheel hub (2), a force storage member (21) for storing force when the bevel gear ring (15) rotates being provided on the wheel hub (2), and a linkage member (22) being provided on the second bracket (14) for releasing the force storage function of the force storage member (21) when the bevel gear ring (15) rotates to a certain position, thereby driving the ejection block (12) to be ejected.

4. The four-rotation, eight-drive cargo transport robot according to claim 3, characterized in that: The force storage member (21) includes a third bracket (23) fixedly mounted on the wheel hub (2), a spring shaft (24) being rotatably connected to the third bracket (23), a tilting rod (25) being fixedly connected to the spring shaft (24), a second device groove (26) being provided on the tilting rod (25), a sixth spring (27) being fixedly connected in the second device groove (26), a second clamping block (28) being slidably connected to the second device groove (26), a side surface of the top block (12) being provided with an oblique tooth groove (29), a device box (30) being fixedly connected to the wheel hub (2), a fixing member (31) for limiting and fixing the top block (12) being provided in the device box (30).

5. The four-rotation, eight-drive cargo transport robot according to claim 4, characterized in that: The fixing member (31) includes a third clamping block (32) installed in the device box (30), a third device groove (33) is provided in the device box (30), a seventh spring (34) is fixedly connected in the third device groove (33), the third clamping block (32) is slidably connected to the third device groove (33) and is fixedly connected to the seventh spring (34), and the linkage member (22) is connected to the third clamping block (32).

6. The four-rotation, eight-drive cargo transport robot according to claim 5, characterized in that: The linkage member (22) includes a pull rope (35) installed in the device box (30), the bevel gear ring (15) is coaxially fixedly connected to a first rotating shaft (36), the first rotating shaft (36) is fixedly connected to a toggle rod (37), a tension spring (38) is fixedly connected in the third device slot (33), the tension spring (38) is fixedly connected to a control block (39) slidably connected to the device box (30), one end of the pull rope (35) is fixedly connected to the control block (39), and the other end is fixedly connected to the third clamping block (32), and a limit member (40) is provided in the device box (30) for ensuring that the control block (39) can only be started in a non-downward direction.

7. The four-rotation, eight-drive cargo transport robot according to claim 6, characterized in that: The limiting member (40) comprises an arc tube (41) fixedly mounted in the device box (30), a ball (42) rollingly connected in the arc tube (41), and a slot (43) slidingly connected to the control block (39) is formed on the arc tube (41).

8. The four-rotation, eight-drive cargo transport robot according to claim 1, characterized in that: The driving mechanism comprises four groups of first motors (5) fixedly installed in the loading platform (3), the output ends of the first motors being coaxially fixedly connected to a rotating frame (6), the four groups of rotating frames (6) being respectively fixedly connected to a second motor (44), and the output ends of the second motors (44) being coaxially fixedly connected to the wheel hub (2).

Images