Warehouse logistics transportation robot

Abstract

The invention discloses a warehouse logistics transportation robot, and relates to the field of robots, the warehouse logistics transportation robot comprises a robot main body, the top of the robot main body is rotatably provided with a rotating disc, and the top surface of the rotating disc is provided with a cargo carrying platform for placing objects; and the cargo carrying platform comprises a plurality of rollers which are arranged at equal intervals, and a liftable filling device is arranged between every two adjacent rollers so as to fill gaps between the shell and the rollers, so that the cargo carrying platform forms a complete plane, and the cargo carrying platform is switched from a roller transportation state to a flat plate transportation state. The liftable expansion filling device is additionally arranged between the rollers of the cargo carrying platform, so that the cargo carrying platform can be flexibly switched between the roller transportation state and the flat plate transportation state, compared with a traditional single platform, diversified cargo transportation modes are considered, multiple purposes are achieved, and the application scene of the warehouse logistics robot is widened.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a warehousing and logistics transportation robot. Background Technology

[0002] Warehouse logistics robots, as key equipment in modern intelligent warehousing systems, are widely used in cargo handling, turnover, and automated sorting. Currently, most commercially available warehouse logistics robots employ roller-type loading platforms, using the rotation of the rollers to automatically unload goods, making them particularly suitable for the efficient transport of large items such as standardized boxes. This design offers advantages such as convenient unloading and smooth operation when handling regular-shaped goods.

[0003] However, traditional roller-type loading platforms have significant limitations in practical applications. First, when transporting irregularly shaped objects, the discontinuous distribution of the roller surface results in uneven contact area between the goods and the platform, easily causing swaying or shifting during transport, leading to poor cargo stability and potentially causing tipping or damage. Second, for small objects, their small size makes them prone to getting stuck in the gaps between adjacent rollers, not only affecting normal transport but also potentially causing roller jamming or equipment malfunction, resulting in high maintenance costs. Furthermore, while roller platforms can assist in unloading round or cylindrical objects through roller rotation, round goods tend to roll freely on the rollers, making it difficult to control the unloading direction; if a flat platform is used for securing them, round goods lack effective barriers and are prone to rolling off the platform, posing a safety hazard.

[0004] Therefore, there is an urgent need for a robot with a flexible cargo platform mode to adapt to the transportation needs of diverse goods such as irregularly shaped parts, small parts, and round parts. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a warehousing and logistics transportation robot to solve the problems existing in the background art.

[0006] The present invention provides the following technical solution: a warehousing and logistics transportation robot, comprising a robot body, the robot body comprising drive wheels disposed on both sides of its bottom end and driven wheels disposed at the four corners of its bottom end, a turntable rotatably mounted on the top of the robot body, and a cargo platform for placing objects disposed on the top surface of the turntable; The cargo platform includes multiple rollers arranged at equal intervals, and a filling device is provided between each pair of adjacent rollers. The filling device includes a housing and two support blocks that slide at both ends of the housing. Among them, a support rod is provided at the bottom of the housing, and the bottoms of the support rods are commonly connected to the first support plate. A linkage mechanism is hinged between the two support blocks. A support rod is provided at the bottom of the linkage mechanism, and the bottom of the support rod penetrates through the housing and is commonly connected to the second support plate; The first support plate and the second support plate are stacked up and down, and a first air cylinder is provided at the bottom of the first plate. The piston end of the first air cylinder is connected with an abutting member; In the initial state, the filling device is located below the drum, making the cargo platform in a drum transportation state; When the first air cylinder顶升 (should be "lifts"), it rises the first support plate and the second support plate one by one through the abutting member. While the housing rises to be flush with the drum, the support blocks are extended outward from the inside of the housing to fill the gap between the housing and the drum, so that the cargo platform forms a complete plane, and the cargo platform is switched from the drum transportation state to the flat plate transportation state.

[0007] Preferably, the housing includes a top cover and a bottom cover. The top cover is elastically assembled on the bottom cover. Openings for the telescopic movement of the support blocks are formed on both sides of the top of the top cover and the bottom cover. Notches are opened at both sides of the bottom of the support blocks. Guide rails are detachably installed at the notch positions to be slidably assembled on the bottom cover through the guide rails.

[0008] Preferably, springs and guide columns are connected to the two side edges of the top cover. Circular holes for assembling the springs and guide columns are opened at the two side edges of the bottom cover. The top cover is elastically connected to the bottom cover through the springs.

[0009] Preferably, arc-shaped grooves are respectively provided on both sides of the top cover. An arc-shaped surface adapted to the arc-shaped groove is provided at a corner of the support block inside the housing, so that the end angle of the support block abuts against the bottom surface of the top cover. When the support block retracts into the housing, it squeezes the top cover to move upward, so that a part of the support block moves into the housing for storage.

[0010] Preferably, the abutting member includes a plug rod and first and second steps provided on the plug rod. The first and second steps cooperate with the plug rod to form a "tu" (Chinese character for "soil") shaped structure. The first support plate and the second support plate are respectively provided with a first hole and a second hole. The diameter of the first hole is larger than the second hole and smaller than the first step. The diameter of the second hole is smaller than the second step and larger than the plug rod.

[0011] Preferably, grid baffles are provided on both sides of the bottom of the first support plate. A first conical spring is provided between the first support plate and the grid baffle, and a second conical spring is provided between the first support plate and the second support plate.

[0012] Preferably, the linkage mechanism includes a connecting shaft hinged to the support rod, and multiple connecting rods are hinged on the connecting shaft. The other end of each connecting rod is hinged to a support block. The first cylinder lifts / pulls the multiple connecting rods synchronously through the support rod and the connecting shaft, causing the two support blocks to move relative to each other, thereby filling / retracting the support blocks.

[0013] Preferably, the turntable is mounted on the top of the robot body via a slewing bearing, and a geared disc is fixedly connected to the bottom of the turntable and located inside the robot body. A reducer is also provided inside the robot body, and the output shaft of the reducer is connected to a gear meshing with the geared disc to drive the turntable to rotate freely on the top of the robot body.

[0014] Preferably, the platform is provided with a protective frame, and a baffle is provided on all four sides inside the protective frame, with a second cylinder provided at the bottom of the baffle.

[0015] Preferably, the baffle includes two first baffles and two second baffles, which are symmetrically arranged. The first baffles have a T-shaped structure, and the second baffles have an F-shaped structure. The bottom of the first baffles and the two second baffles are provided with guide plates and limiting plates.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention adds a liftable and expandable filling device between the rollers of the loading platform, enabling the loading platform to flexibly switch between roller transport and flatbed transport modes. Compared with the traditional single platform, it takes into account a variety of cargo transport modes. The roller mode is designed for efficient and automatic unloading of large items such as boxes; the flatbed mode perfectly solves the problems of irregular parts shaking, small parts getting stuck in gaps and round parts rolling off, realizing multiple uses of one machine, thereby improving the application scenarios of warehouse logistics robots. 2. In the flat state, the loading platform of the present invention forms a complete and seamless bearing surface by precisely matching the shell and the support block through the filling device, thereby effectively avoiding the risk of unstable and stuck goods. At the same time, with the outer lifting baffle, it can be flexibly configured into full enclosure, partial enclosure or three-sided enclosure mode according to the size and shape of the goods, providing protection for various goods and effectively preventing the goods from slipping and overturning. 3. This invention elastically assembles the top and bottom covers of the filling device, integrates the arc-shaped guide of the support block with the linkage mechanism, and, together with the support rod, the first support plate, the support rod, the second support plate and the stepped abutment, can simultaneously complete the composite action of lifting the shell and extending the support block laterally with only a single cylinder drive. This achieves a smooth and precise response during the state switching process, and ensures the reliability of the reset through structures such as conical springs, effectively avoiding the risk of jamming. 4. The present invention assembles the cargo platform onto the robot body via a slewing bearing, a gear plate, and a reducer, allowing the cargo platform to rotate 360° independently of the robot body. This enables the robot to accurately dock with unloading equipment in different directions without the need for time-consuming overall reversal and alignment. This not only saves unloading time but is also suitable for modern intelligent warehousing environments with narrow passages and dense layouts. 5. The present invention sets up a protective frame and a liftable baffle on the cargo platform. Through different combinations of enclosures, it not only provides comprehensive protection for irregularly shaped parts, small items and extra-long cylindrical parts in the flat state, but also creates a protected opening for the box in the roller state, which greatly improves the flexibility of the robot cargo platform. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the robot in the form of a roller, representing the cargo platform of the present invention.

[0018] Figure 2 This is a schematic diagram of the robot in a flatbed state, representing the cargo platform of the present invention.

[0019] Figure 3 This is a schematic diagram of the robot explosion structure of the present invention.

[0020] Figure 4 This is a schematic diagram of the exploded shell structure of the present invention.

[0021] Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A in the middle.

[0022] Figure 6 This is a schematic diagram of the exploded structure of the support plate of the present invention.

[0023] Figure 7 This is a schematic diagram of the abutment structure of the present invention.

[0024] Figure 8 This is a schematic diagram of the protective frame and baffle structure of the present invention.

[0025] Figure 9 This is a schematic diagram of the turntable mounting structure of the present invention.

[0026] Figure 10 This is a schematic cross-sectional view of the cargo platform of the present invention in a drum configuration.

[0027] Figure 11 This is a cross-sectional structural diagram of the cargo platform of the present invention in a flat state.

[0028] Figure 12 For the present invention Figure 10 Enlarged structural diagram at point B.

[0029] Figure 13 For the present invention Figure 11 Enlarged structural diagram at point C.

[0030] The attached figures are labeled as follows: 1. Robot body; 2. Drive wheel; 3. Driven wheel; 4. Turntable; 41. Gear; 42. Reducer; 43. Gear; 5. Cargo platform; 6. Roller; 7. Filling device; 71. Shell; 711. Top cover; 7111. Spring; 7112. Guide post; 7113. Arc-shaped groove; 712. Bottom cover; 713. Support rod; 714. First support plate; 7141. First hole; 72. Support block; 721. Linkage mechanism; 7211. Connecting... Shaft; 7212, Connecting rod; 722, Support rod; 723, Second support plate; 7231, Second hole; 724, Arc surface; 73, First cylinder; 74, Abutting part; 741, Insert rod; 742, First step; 743, Second step; 75, Baffle plate; 76, First conical spring; 77, Second conical spring; 78, Guide rail; 8, Protective frame; 9, Baffle; 91, First baffle; 92, Second baffle; 93, Guide plate; 94, Limiting plate; 10, Second cylinder. Detailed Implementation

[0031] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0032] This invention provides a warehouse logistics transportation robot, such as Figure 1-13 As shown, the robot includes a main body 1, which includes drive wheels 2 on both sides of its bottom end and driven wheels 3 at the four corners of its bottom end. The drive wheels 2 are active wheels, which are equipped with wheel motors to drive them to rotate and walk, providing the robot with walking power. The driven wheels 3 play an auxiliary support and steering role.

[0033] Furthermore, a turntable 4 is rotatably mounted on the top of the robot body 1, and a loading platform 5 for placing objects is provided on the top surface of the turntable 4. Specifically, the turntable 4 is mounted on the top of the robot body 1 via a slewing bearing, and a geared disc 41 is fixedly connected to the bottom of the turntable 4, with the geared disc 41 located inside the robot body 1. A reducer 42 is also provided inside the robot body 1, and the output shaft of the reducer 42 is connected to a gear 43 that meshes with the geared disc 41. When the reducer 42 is running, it drives the gear 43 to rotate at low speed. Under the rotational support of the slewing bearing, the turntable 4 is driven to rotate freely on the top of the robot body 1. This allows for adaptive angle adjustment of the loading platform 5 according to the unloading direction, enabling the robot to adapt to unloading equipment with various angles. This eliminates the need for the robot to rely on the drive wheel 2 or driven wheel 3 for overall rotational adjustment, effectively saving unloading time and improving work efficiency.

[0034] Furthermore, the cargo platform 5 includes multiple equidistant rollers 6, which are used to carry large items such as boxes. They can not only effectively support and place large items, but also achieve unloading through the rotation of the rollers 6.

[0035] A filling device 7 is provided between each of two adjacent rollers 6. The filling device 7 includes a housing 71 and two support blocks 72 that slide at both ends of the housing 71. In the initial state, the filling device 7 is located below the rollers 6, so that the cargo platform 5 is in a roller transport state.

[0036] It can be explained here that when the cargo platform 5 is in the roller transport state, the filling device 7 is in the retracted state. At this time, it is only necessary for the top surface of the filling device 7 to be lower than the top surface of the roller 6, so that the top surfaces of multiple rollers 6 form line support contact with the items, without having to completely retract the filling device 7 to the bottom of the roller 6.

[0037] A support rod 713 is provided at the bottom of the housing 71, and the bottom of the support rod 713 is connected to the first support plate 714. A linkage mechanism 721 is hinged between the two support blocks 72. A support rod 722 is provided at the bottom of the linkage mechanism 721, and the bottom of the support rod 722 passes through the housing 71 and is connected to the second support plate 723.

[0038] The first support plate 714 and the second support plate 723 are stacked vertically. A first cylinder 73 is provided at the bottom of the first support plate 714, and the piston end of the first cylinder 73 is connected with an abutting member 74. The abutting member 74 includes a plug rod 741 and a first step 742 and a second step 743 provided on the plug rod 741. The first step 742 and the second step 743 cooperate with the plug rod 741 to form a "soil" - shaped structure. First holes 7141 and second holes 7231 are respectively formed in the first support plate 714 and the second support plate 723. The diameter of the first hole 7141 is larger than that of the second hole 7231 and smaller than the first step 742. The diameter of the second hole 7231 is smaller than the second step 743 and larger than the plug rod 741. When the first cylinder 73 jacks up the abutting member 74, the top of the abutting member 74 passes through the first support plate 714 until the first step 742 and the second step 743 gradually abut against and jack up the first support plate 714 and the second support plate 723, so as to realize that while the first support plate 714 pushes the housing 71 to rise and be flush with the drum 6, the support block 72 extends outward from the inside of the housing 71 to fill the gap between the housing 71 and the drum 6, so that the cargo platform 5 forms a complete plane, and the cargo platform 5 is switched from the drum transportation state to the flat - plate transportation state.

[0039] Conversion process: When the cargo platform 5 is converted from the drum state to the flat - plate state, the first cylinder 73 drives the abutting member 74 to jack up. First, the plug rod 741 and the second step 743 of the abutting member 74 pass through the hole of the first support plate 714, and the first step 742 abuts against the first support plate 714 to rise, so that multiple support rods 713 abut against the bottom cover 712 to make the top cover 711 flush with the top surface of the drum 6. At the same time, during the process of the abutting member 74 gradually rising, the second step 743 abuts against the second support plate 723, so that multiple support rods 722 jack up the linkage mechanism 721, and the linkage mechanism 721 converts the upward movement into a lateral movement, and then the two support blocks 72 expand from the housing 71 to fill the gap between the outer shell and the drum 6.

[0040] By additionally providing a lift - up and expand - fill device 7 between the drums 6 of the cargo platform 5, the cargo platform 5 can be flexibly converted between the drum transportation and the flat - plate transportation. Compared with the traditional single platform, it takes into account diverse cargo transportation modes. The drum mode is designed for efficient automatic unloading of large - sized goods such as boxes; the flat - plate mode perfectly solves problems such as the shaking of special - shaped parts, small parts getting stuck in the gap, and circular parts rolling down, realizing multi - function of one machine, so as to improve the application scenarios of warehousing and logistics robots.

[0041] In this embodiment, the housing 71 includes a top cover 711 and a bottom cover 712. The top cover 711 is elastically fitted onto the bottom cover 712. Openings with extendable support blocks 72 are formed on both sides of the top of the top cover 711 and the bottom cover 712. The support blocks 72 can extend and retract from the openings to achieve the purpose of extending the support blocks 72 to fill gaps and form a flat state for the cargo platform 5 or retracting to form a roller state for the cargo platform 5.

[0042] In this embodiment, notches are provided on both sides of the bottom of the support block 72, and guide rails 78 can be detachably installed at the notches to slide onto the bottom cover 712. It should be noted that the notches are used to install the guide rails 78, ensuring that the top of the support block 72 remains intact and slides smoothly onto the housing 71, thus eliminating any gaps when switching to the flatbed mode of the cargo platform 5. Specifically, the guide rails 78 can be referenced to pull-out linear guide rails, and their usage can be referenced to pull-out drawers.

[0043] Furthermore, the top cover 711 has springs 7111 and guide posts 7112 connected to its two ends, and the bottom cover 712 has round holes for assembling springs 7111 and guide posts 7112 on its two ends. The top cover 711 is elastically connected to the bottom cover 712 through springs 7111.

[0044] Furthermore, the top cover 711 has arc-shaped grooves 7113 on both sides, and the support block 72 has an arc-shaped surface 724 that matches the arc-shaped grooves 7113 at one corner inside the housing 71, so that the end corner of the support block 72 abuts against the bottom surface of the top cover 711. When the support block 72 retracts into the housing 71, it presses the top cover 711 to move upward, so that a part of the support block 72 moves into the housing for storage.

[0045] When the support block 72 is fully extended, under the tension of the spring 7111 and the positioning action of the guide post 7112, the top cover 711 moves downward, causing the arc-shaped groove 7113 of the top cover 711 to fit against the arc-shaped surface 724 of one corner of the support block 72, making the support block 72 and the top cover 711 flush and forming a horizontal plane. When the support block 72 is retracted, the cooperation between the arc-shaped surface 724 and the arc-shaped groove 7113 causes the support block 72 to move upward against the top cover 711. Under the action of the spring 7111 and the guide post 7112, the top cover 711 moves upward stably and presses against the two support blocks 72. This achieves the extension and retraction of the support block 72, ensuring that the support block 72 is flush with the shell 71 when it is extended and flattened, and also ensuring that the support block 72 is stably retracted and stored inside the shell 71.

[0046] When the loading platform 5 is in a flat state, the shell 71 and the support block 72 are precisely matched by the filling device 7 to form a complete and seamless bearing surface, thereby effectively avoiding the risk of cargo instability and jamming.

[0047] Meanwhile, the top cover 711 and bottom cover 712 of the filling device 7 are elastically assembled, and the arc-shaped guide of the support block 72 and the linkage mechanism 721 are integrated into one. In addition, with the support rod 713, the first support plate 714, the support rod 722, the second support plate 723 and the stepped abutment 74, the composite action of lifting the shell 71 and extending the support block 72 can be completed simultaneously by a single first cylinder 73, realizing a smooth and precise response during the state switching process.

[0048] In this embodiment, the linkage mechanism 721 includes a connecting shaft 7211 hinged to the support rod 722. Multiple connecting rods 7212 are hinged on the connecting shaft 7211. The other end of the connecting rod 7212 is hinged to the support block 72. The first cylinder 73 lifts / pulls the multiple connecting rods 7212 synchronously through the support rod 722 and the connecting shaft 7211, so that the two support blocks 72 are relatively displaced to form the filling / retraction of the support block 72.

[0049] Multiple connecting rods 7212 are respectively hinged to the support blocks 72 on both sides, and the other end is hinged to the connecting shaft 7211, thereby converting the lifting motion into the lateral motion to drive the two support blocks 72 to move relative to each other inside the housing 71.

[0050] It can be noted that when the cargo platform 5 is in roller mode, the connecting rod and the shaft 7211 have a "Y" shaped structure when viewed from the side, and when the cargo platform 5 is in flat mode, the connecting rod and the shaft 7211 have a "T" shaped structure when viewed from the side.

[0051] In this embodiment, baffle plates 75 are provided on both sides of the bottom of the first support plate 714, a first conical spring 76 is provided between the first support plate 714 and the baffle plates 75, and a second conical spring 77 is provided between the first support plate 714 and the second support plate 723. When the loading platform 5 is in the roller state, the filling device 7 is in the retracted state, the first cylinder 73 drives the abutment member 74 to retract, and under the tension of the first conical spring 76, the first support plate 714 is stably lowered, preventing the support block 72 from getting stuck due to friction or resistance. Under the action of the baffle plates 75, the first support plate 714 loses the supporting force of the first cylinder 73 and the abutment member 74, and maintains a set height in the protective frame 8. Similarly, a second conical spring 77 is provided below the second support plate 723.

[0052] In this embodiment, a protective frame 8 is provided around the cargo platform 5, and a baffle 9 is provided on all four sides inside the protective frame 8. A second cylinder 10 is provided at the bottom of the baffle 9.

[0053] Specifically, the four second cylinders 10 can operate independently or synchronously. When the four second cylinders 10 operate synchronously, they all lift the connected baffles 9 to surround the cargo platform 5, so as to cooperate with the flat cargo platform 5 to transport and transfer small items or short cylindrical items.

[0054] When the second cylinder located radially on the roller 6 lifts the baffle 9, while the second cylinder 10 in the axial direction is not running, the baffle 9 blocks the front and rear ends of the loading platform 5, allowing cylindrical items that exceed the width of the loading platform 5 to be transported.

[0055] When the cargo platform 5 is in roller mode, only one of the second cylinders 10 located in the radial direction can be closed, causing the other three second cylinders 10 to operate and lift the baffle 9 to form an open enclosure, preventing large items such as boxes from falling during handling and transfer, while also fulfilling the self-unloading function.

[0056] The baffle 9 includes two first baffles 91 and two second baffles 92. The two first baffles 91 and the two second baffles 92 are arranged symmetrically. The first baffles 91 have a T-shaped structure and the second baffles 92 have an F-shaped structure. The bottom of the first baffles 91 and the two second baffles 92 are provided with guide plates 93 and limiting plates 94.

[0057] The first baffle 91 is arranged side by side, and the second baffle 92 is located on both sides of the end of the roller 6. Both the first baffle 91 and the two second baffles 92 are slidably inserted into the bottom of the protective frame 8 to ensure stable lifting and lowering of the baffle 9. The limiting plate 94 of the first baffle 91 is located at the inner center of the first baffle 91. During lifting, the limiting plate 94 can abut against the bottom of the roller 6 to prevent excessive lifting. The limiting plate 94 of the second baffle 92 is located at the outer bottom of the second baffle 92. During lifting, the limiting plate 94 can abut against the bottom of the protective frame 8 to prevent excessive lifting.

[0058] The cargo platform 5 is equipped with a protective frame 8 and a liftable baffle 9. Through different combinations of enclosures, it not only provides comprehensive protection for irregularly shaped parts, small items and extra-long cylindrical parts in the flat state, but also creates a protected opening for the box in the roller state, greatly improving the flexibility of the robot cargo platform.

[0059] The working principle of this invention is as follows: When the warehousing and logistics transportation robot is working, the control system automatically selects the working state of the loading platform according to the type of goods to be transported. For large goods such as boxes, the loading platform is kept in roller mode, and the rollers 6 are used to realize automatic unloading of goods. For irregularly shaped, small, or round parts, the first cylinder 73 is controlled to switch the loading platform to flat mode, forming a complete plane. At the same time, the corresponding second cylinder 10 is controlled according to the characteristics of the goods to raise the corresponding baffle 9 to form a suitable enclosure. Through the rotation function of the turntable 4, the loading platform 5 can be adjusted to the optimal unloading angle to achieve efficient and stable goods transfer and unloading operations.

[0060] Several points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change.

[0061] The above description is only a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or changes made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. A warehouse logistics transportation robot, comprising a robot body, the robot body including drive wheels disposed on both sides of its bottom end and driven wheels disposed at the four corners of its bottom end, characterized in that: A turntable is rotatably assembled on the top of the robot body, and a loading platform for placing objects is arranged on the top surface of the turntable; The loading platform includes a plurality of rollers arranged at equal intervals, and a filling device is arranged between every two adjacent rollers. The filling device includes a housing and two support blocks slidably arranged at both ends of the housing; Wherein, a support rod is arranged at the bottom of the housing, and the bottoms of the support rods are commonly connected to a first support plate. A linkage mechanism is hinged between the two support blocks, and a support rod is arranged at the bottom of the linkage mechanism. The bottom of the support rod penetrates through the housing and is commonly connected to a second support plate; The first support plate and the second support plate are stacked up and down, and a first air cylinder is arranged at the bottom of the first plate. The piston end of the first air cylinder is connected with an abutting member; In the initial state, the filling device is located below the roller, so that the loading platform is in a roller transportation state; When the first air cylinder顶升时通过抵接件逐一抵接第一支板与第二支板上升,使壳体上升与滚筒齐平的同时,将支撑块从壳体内部向外伸展,以补缺壳体与滚筒之间的缝隙,使载货平台形成一个完整的平面,以将载货平台从滚筒运输状态切换为平板运输状态。 2. The warehousing and logistics transportation robot according to claim 1, characterized in that: The housing includes a top cover and a bottom cover. The top cover is elastically assembled on the bottom cover. Openings for the expansion and contraction of the support block are formed on both sides of the top of the top cover and the bottom cover. Notches are formed at both sides of the bottom of the support block, and guide rails are detachably installed at the notch positions, so as to be slidably assembled on the bottom cover through the guide rails.

3. A warehousing and logistics transportation robot according to claim 2, characterized in that: Spring and guide posts are connected to the two side edges at the ends of the top cover, and circular holes for assembling the spring and the guide posts are formed at the two side edges at the ends of the bottom cover. The top cover is elastically connected to the bottom cover through the spring.

4. A warehousing and logistics transportation robot according to claim 3, characterized in that: Arc-shaped grooves are respectively arranged on both sides of the top cover. An arc-shaped surface adapted to the arc-shaped groove is formed at a corner of the support block located inside the housing, so that the end corner of the support block abuts against the bottom surface of the top cover. When the support block retracts into the housing, the top cover is extruded to move upward, so that a part of the support block moves into the housing for storage.

5. A warehousing and logistics transportation robot according to claim 1, characterized in that: The abutting member includes a plug rod and a first step and a second step arranged on the plug rod. The first step and the second step cooperate with the plug rod to form a "soil"-shaped structure. The first support plate and the second support plate are respectively provided with a first hole and a second hole. The diameter of the first hole is larger than that of the second hole and smaller than that of the first step. The diameter of the second hole is smaller than that of the second step and larger than that of the plug rod.

6. A warehousing and logistics transportation robot according to claim 5, characterized in that: Grid baffles are arranged on both sides of the bottom of the first support plate. A first conical spring is arranged between the first support plate and the grid baffle, and a second conical spring is arranged between the first support plate and the second support plate.

7. A warehousing and logistics transportation robot according to claim 1, characterized in that: The linkage mechanism includes a connecting shaft hinged to the support rod. A plurality of connecting rods are hinged on the connecting shaft. The other ends of the connecting rods are hinged to the support blocks. The first air cylinder顶升 / 下拉多个连杆同步运动,使两个支撑块相对位移,以形成支撑块的填充 / 回缩。 It should be noted that there is an unclear expression "顶升时通过抵接件逐一抵接第一支板与第二支板上升" in ID=5 and "顶升 / 下拉多个连杆同步运动" in ID=11 in the original text, which may need to be further clarified for a more accurate translation.

8. A warehousing and logistics transportation robot according to claim 1, characterized in that: The turntable is mounted on the top of the robot body via a slewing bearing. A geared disc is fixedly connected to the bottom of the turntable and is located inside the robot body. A reducer is also installed inside the robot body. The output shaft of the reducer is connected to a gear that meshes with the geared disc to drive the turntable to rotate freely on the top of the robot body.

9. A warehousing and logistics transportation robot according to claim 1, characterized in that: The platform is surrounded by a protective frame, and a baffle is installed around the inside of the protective frame. A second cylinder is installed at the bottom of the baffle.

10. A warehousing and logistics transportation robot according to claim 9, characterized in that: The baffle includes two first baffles and two second baffles, which are symmetrically arranged. The first baffles have a T-shaped structure, and the second baffles have an F-shaped structure. Guide plates and limiting plates are provided at the bottom of the first baffles and the two second baffles.

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