Multifunctional light intelligent four-wheel trolley

Abstract

This invention discloses a multifunctional lightweight intelligent four-wheeled vehicle, relating to the field of intelligent vehicle technology. It includes a cleaning mechanism comprising two movable plates connected by a connecting plate. A mounting base has upper-opening grooves on both sides that mate with the movable plates. A spring is connected to the bottom of each groove, and a force-measuring module is installed at the connecting end. The other end of the spring is connected to the bottom of the movable plate. Side plates are connected to both ends of the connecting plate, and a long rod is fixed to each side plate. A second spring is sleeved on the other end of the long rod, and a sleeve is fitted around the outer side of the second spring. One end of the second spring is connected to the long rod and has the force-measuring module installed thereon; the other end of the second spring is connected to the sleeve. Connecting rods are fixed to both sides of the sleeve, and a shaft is fixed to the end of each connecting rod. A brush is fitted around the shaft. This invention provides strong controllability and adaptability for tire cleaning operations.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, specifically to a multifunctional lightweight intelligent four-wheeled vehicle. Background Technology

[0002] In the field of parcel locker handling, the efficiency, flexibility, and intelligence level of parcel locker transfer directly affect the last-mile delivery efficiency of express logistics in scenarios such as parcel station sorting, community last-mile delivery, and warehouse parcel locker turnover. Currently, existing parcel locker transfer equipment is mainly divided into two categories. One is large-scale fixed-track conveyor devices. Although these devices can achieve batch parcel locker transfer, they have drawbacks such as high deployment costs, poor site adaptability, and inability to flexibly adjust transfer routes, making them difficult to adapt to the needs of small and medium-sized parcel stations, community corridors, and multi-point decentralized delivery. The other is traditional light-duty handling carts, which mostly adopt manual operation mode and can only complete basic parcel locker carrying and movement. They lack intelligent sensing, autonomous navigation, and path planning capabilities, which not only require a large investment of manpower but also have low transfer efficiency. Errors are prone to occur in parcel locker alignment and path avoidance, resulting in parcel locker damage or transfer delays.

[0003] The floors of express delivery stations and warehouses often have paper scraps, dust, mud, and other debris residue, which can easily cause dirt to stick to the surface of car tires and clog the treads. This not only reduces the tire's grip performance, causing slippage and deviation, but also disrupts the overall weight balance and driving posture of the vehicle, resulting in a decrease in the alignment accuracy of express boxes and deviation of the transit trajectory. This fails to meet the core requirements of modern express logistics for efficient, intelligent, stable, and low-cost transit. Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional lightweight intelligent four-wheeled vehicle to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multi-functional lightweight intelligent four-wheeled vehicle, including a mounting base, a set of running wheel mechanisms respectively arranged at the four corners of the mounting base, a cleaning mechanism arranged on the mounting base in conjunction with the running wheel mechanisms, a gripping mechanism arranged at one end of the mounting base, an auxiliary counterweight mechanism arranged on the gripping mechanism, the cleaning mechanism including two movable plates, a connecting plate connecting the movable plates, and sliding grooves with upper openings opened on both sides of the mounting base in conjunction with the movable plates. A spring is connected to the bottom of the sliding groove and a force measuring module is arranged at the connecting end. The other end of the spring is connected to the bottom of the movable plate. Side plates are connected to both ends of the connecting plate. A long rod is fixed on the side plate. A spring is sleeved on the other end of the long rod. A sleeve is sleeved on the outside of the spring. One end of the spring is connected to the long rod and a force measuring module is arranged thereon. The other end of the spring is connected to the sleeve. Connecting rods are fixed on both sides of the sleeve. A shaft is fixed at the end of the connecting rod. A brush is sleeved on the outside of the shaft.

[0006] According to the above technical solution, force measuring module one is used to detect the magnitude and direction of the force on spring one, determine the length of spring one, and thus detect the height of the connecting plate; force measuring module two is used to detect the magnitude and direction of the torque of spring two, determine the deflection state of the connecting rods on both sides of the sleeve, and thus evaluate the force that each running wheel mechanism brings to the corresponding brush cylinder.

[0007] According to the above technical solution, the first force measuring module adopts a miniature diaphragm pressure sensor, which is embedded in the bottom of the slide groove and only bears axial vertical force; the second force measuring module adopts a miniature hollow torque sensor, which is sleeved on the outside of the long rod.

[0008] According to the above technical solution, the running wheel mechanism includes a fixed base, a steering motor built into the fixed base, a drive gear sleeved on the drive end of the steering motor, a fixed shaft on one side of the fixed base, a swing arm rotatably sleeved on the fixed shaft, a side tooth on one end of the swing arm in cooperation with the drive gear, a support base on the other end of the swing arm, a hollow rod connected to the support base, a lifting module on the other end of the hollow rod, a drive module on the outside of the lifting module, and a tire sleeved on the outside of the drive module.

[0009] According to the above technical solution, the gripping mechanism includes a lifting seat, a support arm is fixed to the driving end of the lifting seat, a rotary motor is built into the other end of the support arm, a rotary arm is connected to the driving end of the rotary motor, a gripping arm is installed at the other end of the rotary arm, and a vacuum suction cup assembly is provided at the bottom of the gripping arm.

[0010] According to the above technical solution, the auxiliary counterweight mechanism includes a movable seat, one end of which is rotatably connected to the surface of the lifting seat, and the other end of which is provided with a rotating groove. A ring groove is provided on the surface of the movable seat, and a limiting ring block is fitted in the ring groove. The outer diameter of the limiting ring block is larger than the outer diameter of the movable seat. A counterweight rod is fitted outside the limiting ring block, and a slot is provided in the middle of the counterweight rod to cooperate with the limiting ring block.

[0011] According to the above technical solution, a mounting plate is fixed on one side of the lifting seat in conjunction with the movable seat. A driver is fixed on the mounting plate. The driving end of the driver passes through the mounting plate and is fitted with a pulley. A belt is fitted on the surface of the pulley, and the other end of the belt is fitted on the surface of the movable seat.

[0012] According to the above technical solution, several adjustment grooves are opened on the circumference of the limiting ring block. A spring is connected to the bottom of the adjustment groove and a force measuring module is set at the connection end. A locking block is connected to the other end of the spring. The locking block slides with the adjustment groove. A gas channel is opened at the bottom of the adjustment groove.

[0013] According to the above technical solution, the annular groove has a gas channel 2 corresponding to each gas channel 1. The other end of the gas channel 2 is connected to the rotating groove. A valve block is rotatably installed in the rotating groove. A communication port is opened on the surface of the valve block. The other end of the valve block is connected to a central rod. The radius of the central rod is smaller than the radius of the rotating groove. The other end of the central rod is connected to a driver 2. The driver 2 is fixed on the surface of the limiting ring block. The movable seat has a gas channel 3 corresponding to the central rod. The other end of the gas channel 3 is connected to the rotating groove. An air pump is connected to the outside of the gas channel 3.

[0014] According to the above technical solution, limit sills are set on both sides of the connecting plate in conjunction with the counterweight rod. The surface of the limit sills is set as an arc structure, and both ends of the counterweight rod are set as arc structures.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention, by setting up a cleaning mechanism in conjunction with force measuring module one and force measuring module two, can detect the vertical deformation of spring one and the torsional force state of spring two in real time, accurately determine the height of the connecting plate, the deflection posture of the brush cylinder and the degree of contact and pressing with the running wheel mechanism, and the uniformity of force, and can monitor wear and contact conditions in real time, and the cleaning operation has strong controllability and adaptability.

[0016] By incorporating an auxiliary counterweight mechanism, which includes a movable seat, a limiting ring, a counterweight rod, and a pneumatic locking structure, the counterweight balance of the entire machine's working posture can be adjusted to improve the stability of the gripping operation. Furthermore, the counterweight rod can be used to press down on the connecting plate of the cleaning mechanism to adaptively increase the contact force between the brush and the running wheel mechanism, thereby enhancing the cleaning effect as needed.

[0017] The counterweight rod and the limit stop adopt an arc-shaped fitting structure, which facilitates smooth insertion and disengagement of the locking mechanism. The pneumatic channel, together with the valve block, spring four and force measuring module three, can realize the locking and fixing of the counterweight rod, the sliding distance adjustment and the real-time monitoring of the limit status. The counterweight adjustment has high precision and convenient switching, which can meet the adaptive needs of different loads and different cleaning conditions. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the four-wheeled vehicle of the present invention; Figure 2 This is a cross-sectional view of the cleaning mechanism of the present invention; Figure 3 This is a partial structural schematic diagram of the cleaning mechanism of the present invention; Figure 4 This is a schematic diagram of the auxiliary counterweight mechanism of the present invention; Figure 5 This is an exploded view of the movable seat, limiting ring block, and valve block of the present invention; Figure 6 This is a partial cross-sectional view of the limiting ring block of the present invention; Figure 7 This is a partial cross-sectional view of the auxiliary counterweight mechanism of the present invention; Figure 8 This is a schematic diagram of the mounting base of the present invention; Figure 9 This is a schematic diagram of the running wheel mechanism of the present invention; Figure 10 This is a cross-sectional view of the running wheel mechanism of the present invention; Figure 11 This is a schematic diagram of the gripping mechanism of the present invention.

[0019] In the diagram: 1. Mounting base; 11. Slide groove; 12. Spring 1; 2. Running wheel mechanism; 21. Fixed base; 211. Fixed shaft; 22. Drive gear; 23. Swing arm; 231. Side tooth; 232. Support base; 24. Hollow rod; 25. Lifting module; 26. Drive module; 27. Tire; 3. Cleaning mechanism; 31. Movable plate; 32. Connecting plate; 321. Side plate; 322. Limiting stop; 33. Long rod; 34. Spring 2; 35. Sleeve; 36. Connecting rod; 37. Shaft; 38. Brush cylinder; 4. Gripping mechanism; 41. Lifting base ; 411. Mounting plate; 412. Driver 1; 413. Pulley; 414. Belt; 42. Support arm; 43. Rotating arm; 44. Gripping arm; 45. Vacuum suction cup assembly; 5. Auxiliary counterweight mechanism; 51. Movable seat; 511. Annular groove; 512. Gas channel 2; 513. Gas channel 3; 52. Limiting ring block; 521. Adjusting groove; 522. Spring 4; 523. Locking block; 524. Gas channel 1; 53. Valve block; 531. Connecting port; 54. Center rod; 55. Driver 2; 6. Counterweight rod; 61. Locking groove. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-11The present invention provides a technical solution: a multi-functional lightweight intelligent four-wheeled vehicle, including a mounting base 1, with a set of running wheel mechanisms 2 respectively arranged at the four corners of the mounting base 1, a cleaning mechanism 3 arranged on the mounting base 1 in conjunction with the running wheel mechanisms 2, a gripping mechanism 4 arranged at one end of the mounting base 1, and an auxiliary counterweight mechanism 5 arranged on the gripping mechanism 4. The cleaning mechanism 3 includes two movable plates 31, with a connecting plate 32 connecting the movable plates 31. The mounting base 1 has upper-opening grooves 11 on both sides in conjunction with the movable plates 31, and a spring 12 is connected to the bottom of the groove 11. The connecting end is equipped with a force measuring module 1. The other end of spring 12 is connected to the bottom of the movable plate 31. The two ends of the connecting plate 32 are connected to side plates 321. A long rod 33 is fixed on the side plate 321. A spring 2 34 is sleeved on the other end of the long rod 33. A sleeve 35 is sleeved on the outside of the spring 2 34. One end of the spring 2 34 is connected to the long rod 33 and is equipped with a force measuring module 2. The other end of the spring 2 34 is connected to the sleeve 35. Connecting rods 36 are fixed on both sides of the sleeve 35. A shaft 37 is fixed at the end of the connecting rod 36. A brush cylinder 38 is sleeved on the outside of the shaft 37.

[0022] Furthermore, the force measuring module one is used to detect the magnitude and direction of the force on spring 12, determine the length of spring 12, and thus detect the height of the connecting plate 32; the force measuring module two is used to detect the magnitude and direction of the torque of spring 2 34, determine the deflection state of the connecting rods 36 on both sides of the sleeve 35, and thus evaluate the force that each running wheel mechanism 2 brings to the corresponding brush cylinder 38.

[0023] It should be further explained that: Force measuring module one uses, but is not limited to, a miniature diaphragm pressure sensor, which is embedded in the bottom of the slide groove 11 and only bears axial vertical force. It is suitable for the vertical force conditions of spring 12, has high accuracy, is resistant to lateral interference, and can output force magnitude and force direction signals. Based on the characteristics of Hooke's law of springs, combined with the preset elastic coefficient of spring 12, the compression or elongation deformation of spring 12 can be accurately calculated from the real-time detected force value, thereby accurately determining the real-time lifting height and vertical displacement stroke of movable plate 31 and connecting plate 32. Force measuring module two uses, but is not limited to, a miniature hollow torque sensor, which is sleeved on the outside of long rod 33 and is suitable for the circumferential torsion conditions of spring 2 34. It can accurately detect small torque and deflection direction, is vibration resistant, suitable for equipment walking operation conditions, and suitable for the force measurement requirements of brush cylinder 38 following deflection. By collecting torque values ​​and deflection directions, the torsional angle and offset posture of the long rod 33 relative to the sleeve 35 can be accurately calculated, thereby determining the real-time deflection state of the sleeve 35, connecting rod 36, and shaft 37. It can accurately sense the lateral extrusion force, contact clamping force, and frictional resistance generated when the running wheel mechanism 2 and brush cylinder 38 come into contact and rub against each other, and evaluate in real time the degree of contact, force uniformity, and wear condition of each set of brush cylinders 38 with the corresponding running wheel mechanism 2. Under normal conditions, spring 12 is subjected to the gravity of the movable plate 31 and its connecting structure. At this time, the brush cylinder 38 and the running wheel mechanism 2 maintain a preset distance, which does not affect the normal movement of the trolley.

[0024] In one embodiment, such as Figure 9 , Figure 10 As shown, the running wheel mechanism 2 includes a fixed base 21, which houses a steering motor. A drive gear 22 is fitted onto the drive end of the steering motor. A fixed shaft 211 is provided on one side of the fixed base 21, and a swing arm 23 is rotatably fitted onto the fixed shaft 211. One end of the swing arm 23 is equipped with a side tooth 231 that cooperates with the drive gear 22. A support base 232 is provided at the other end of the swing arm 23. A hollow rod 24 is connected to the support base 232. A lifting module 25 is provided at the other end of the hollow rod 24. A drive module 26 is provided on the outside of the lifting module 25, and a tire 27 is fitted on the outside of the drive module 26.

[0025] In actual operation, the steering motor drives the drive gear 22 to rotate, which indirectly drives the swing arm 23 to swing, thereby adjusting the angle of the tire 27 and achieving omnidirectional movement (such as lateral translation).

[0026] Optionally, the lifting module 25 preferably uses a motor-driven lead screw to rotate, adjusting the vertical height of the tire 27 relative to the mounting base 1 by converting rotational motion into linear motion. When the drive module 26 is powered on, it directly controls the rotation of the tire 27, providing forward / reverse power.

[0027] like Figure 11 As shown, the gripping mechanism 4 includes a lifting seat 41, a support arm 42 is fixed to the driving end of the lifting seat 41, a rotary motor is built into the other end of the support arm 42, a rotary arm 43 is connected to the driving end of the rotary motor, a gripping arm 44 is installed at the other end of the rotary arm 43, and a vacuum suction cup assembly 45 is provided at the bottom of the gripping arm 44.

[0028] In actual operation, the lifting seat 41 drives the support arm 42 to rise and fall, thereby adjusting the height of the support arm 42; the rotary motor at the end of the support arm 42 drives the rotating arm 43 to rotate around the horizontal axis, thereby adjusting the gripping posture; the vacuum suction cup assembly 45 at the end of the gripping arm 44 can adsorb target objects such as express boxes and packages through vacuum negative pressure, and in conjunction with the omnidirectional movement function of the equipment, complete the gripping, handling and stacking of target objects.

[0029] like Figure 4 , Figure 5 As shown, the auxiliary counterweight mechanism 5 includes a movable seat 51. One end of the movable seat 51 is rotatably connected to the surface of the lifting seat 41. The other end of the movable seat 51 is provided with a rotating groove. A ring groove 511 is provided on the surface of the movable seat 51. A limiting ring block 52 is fitted on the ring groove 511. The outer diameter of the limiting ring block 52 is larger than the outer diameter of the movable seat 51. A counterweight rod 6 is fitted on the outside of the limiting ring block 52. A slot 61 is provided in the middle of the counterweight rod 6 to cooperate with the limiting ring block 52.

[0030] Optional, such as Figure 4As shown, a mounting plate 411 is fixed on one side of the lifting seat 41 in conjunction with the movable seat 51. A driver 412 is fixed on the mounting plate 411. The driving end of the driver 412 passes through the mounting plate 411 and is fitted with a pulley 413. A belt 414 is fitted on the surface of the pulley 413, and the other end of the belt 414 is fitted on the surface of the movable seat 51.

[0031] In actual operation, the drive unit 412 drives the movable seat 51 to rotate through the pulley 413 and the belt 414.

[0032] Furthermore, such as Figure 6 , Figure 7 As shown, the limiting ring block 52 has several adjustment grooves 521 on its circumference. The bottom of the adjustment groove 521 is connected to a spring 4 522 and the connection end is provided with a force measuring module 3. The other end of the spring 4 522 is connected to a locking block 523. The locking block 523 slides with the adjustment groove 521. The bottom of the adjustment groove 521 has a gas channel 1 524.

[0033] Furthermore, the annular groove 511 has a gas channel 512 corresponding to each gas channel 524. The other end of the gas channel 512 is connected to the rotating groove. A valve block 53 is rotatably installed in the rotating groove. A communication port 531 is opened on the surface of the valve block 53. The other end of the valve block 53 is connected to a central rod 54. The radius of the central rod 54 is smaller than the radius of the rotating groove. The other end of the central rod 54 is connected to a driver 55. The driver 55 is fixed on the surface of the limiting ring block 52. The movable seat 51 has a gas channel 513 corresponding to the central rod 54. The other end of the gas channel 513 is connected to the rotating groove. An air pump is connected to the outside of the gas channel 513.

[0034] Preferred, such as Figure 3 As shown, limit stops 322 are provided on both sides of the connecting plate 32 in conjunction with the counterweight rod 6. The surface of the limit stops 322 is set as an arc structure, and both ends of the counterweight rod 6 are set as arc structures.

[0035] The following supplementary explanations are based on the above results: In the initial state, the movable seat 51 is located in the middle position of the counterweight rod 6. At this time, the actuator 2 55 controls the valve block 53 to rotate until the connecting port 531 aligns with the corresponding locking block 523. When the air pump inputs airflow into the gas channel 3 513, the airflow enters the rotating groove area where the central rod 54 is located, and then enters the corresponding gas channel 2 512 and gas channel 1 524 through the connecting port 531, and is input into the adjusting groove 521. Under the action of internal pressure, the locking block 523 is pushed outward, so that the locking block 523 can lock the surface of the slot 61, realizing the fixed connection between the movable seat 51 and the counterweight rod 6. The force measuring module 3 is used to monitor the limit status of the corresponding locking block 523. Furthermore, when the counterweight needs to be adjusted, the actuator 1 412 controls the movable seat 51 to drive the counterweight rod 6 to deflect, realizing basic counterweight adjustment. The counterweight rod 6 can also be used in conjunction with the cleaning mechanism 3. When the counterweight rod 6 rotates to the connecting plate 32, the end of the counterweight rod 6 will abut against the surface of the connecting plate 32, restricting its upward position and improving the contact effect between the surface of the tire 27 and the brush cylinder 38, thereby increasing the cleaning force. At this time, the contact between the surface of the tire 27 and the brush cylinder 38 mainly relies on the lifting module 25. If the cleaning effect is not ideal, the counterweight rod 6 can be actively rotated downward. After the end of the counterweight rod 6 is inserted between the limiting sills 322, it will further press down the entire connecting plate 32, thereby increasing the contact force. The arc structure of the limiting sills 322 and the counterweight rod 6 is used to help the counterweight rod 6 enter / exit between the two limiting sills 322. Furthermore, if further adjustment of the counterweight is required, after inserting one end of the counterweight rod 6 between the two limit stops 322, the limiting state of the locking block 523 is released. At this time, the counterweight rod 6 slides relative to the movable seat 51 under its own weight, causing a difference in the length of the counterweight rod 6 on both sides of the movable seat 51. Then, the corresponding locking block 523 is controlled to reconnect the counterweight rod 6 to limit its rotation position, thereby enhancing the effect of counterweight adjustment.

[0036] The specific cleaning method is as follows: The three types of detection units, namely Force Measurement Module 1, Force Measurement Module 2, and Force Measurement Module 3, respectively collect data on vertical elastic force, circumferential torque, and locking limit force. Based on the real-time detection values, they link the cleaning mechanism 3, the running wheel mechanism 2, and the auxiliary counterweight mechanism 5 to achieve adaptive intelligent cleaning and precise dynamic counterweight adjustment.

[0037] Normal cleaning mode: When the equipment is moving normally, the force measuring module 1 detects that the spring 12 only bears the weight of the upper structure and the deformation is within the preset standard range. The brush cylinder 38 and the running wheel mechanism 2 maintain a preset safe distance and do not interfere with the normal movement of the trolley. Only light dust removal is performed.

[0038] Adaptive pressure cleaning mode: When the force measuring module 2 detects that the frictional resistance and lateral extrusion pressure are too small, it is determined that the brush cylinder 38 is not in good contact with the running wheel and the cleaning effect is weak.

[0039] After system feedback, pressure can be applied in two ways: Method 1: Control the lifting module 25 of the running wheel mechanism 2 to lower the height of the tire 27, increasing the basic clamping force between the running wheel and the brush cylinder 38; Method 2: Link the auxiliary counterweight mechanism 5, rotate the counterweight rod 6 to press against the connecting plate 32, compress the spring 12, lower the overall height of the connecting plate 32, and force the brush cylinder 38 to adhere upward to the running wheel mechanism 2, increasing the contact pressure and cleaning power.

[0040] Meanwhile, relying on the force measuring module 1 to monitor the compression of spring 12 in real time and the force measuring module 2 to monitor the torque and friction in real time, a closed-loop control is formed to maintain the contact pressure in the optimal cleaning range and avoid excessive pressure causing abnormal wear of brush cylinder 38 and tire 27.

[0041] Wear and fault determination: When the force measuring module 2 detects that the difference between the torque and friction on one side exceeds the threshold, or the force measuring module 1 detects that the deformation deviation of the left and right springs 12 is too large, it can be determined that the brush cylinder 38 on one side is worn, stuck, or the running wheel is tilted, so as to realize fault warning and working condition self-check.

[0042] The specific weighting method is as follows: Basic posture counterweight adjustment: When the gripping mechanism 4 performs lifting, rotation, and suction handling operations, the center of gravity of the whole machine shifts; the drive 412 drives the movable seat 51 to rotate through the pulley 413 and belt 414, and the locking force is detected by the force measuring module 3 and kept stable within the standard range, so as to keep the counterweight rod 6 and the movable seat 51 reliably locked. The center of gravity of the whole machine is compensated by adjusting the rotation angle of the counterweight rod 6, which suppresses the shaking during operation and improves the stability of gripping and handling.

[0043] Sliding precision counterweight adjustment: When a significant adjustment of the center of gravity is required or to adapt to heavy-load conditions, the air pump depressurizes through gas channel three 513, rotating groove, gas channel two 512, and gas channel one 524. Spring four 522 retracts, and force measuring module three detects that the limiting force has dropped to the unlocking threshold, releasing the locking block 523 from the counterweight rod 6. The counterweight rod 6 slides freely relative to the movable seat 51 by its own weight, changing the difference in the extension length of the counterweight rod 6 on both sides of the movable seat 51. After sliding into place, the air pump re-supplyes air to push the locking block 523. Force measuring module three detects that the tightening force has reached the set value, determines that the locking is in place, and completes the length-based precision counterweight adjustment.

[0044] Cleaning operation linkage counterweight limit: When the cleaning force is insufficient, rotate the counterweight rod 6 so that its end is locked between the limit sill 322 of the connecting plate 32; use the weight of the counterweight rod 6 to press down the connecting plate 32, and the force measuring module 1 simultaneously collects the compression deformation of the spring 12 and feeds back the pressing amplitude; the arc structure of the limit sill 322 and the counterweight rod 6 achieves smooth locking and disengagement, and with the height data of the force measuring module 1, the pressing amount is precisely controlled, taking into account both the counterweight balance and the cleaning pressure requirements.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0046] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multifunctional light-weight intelligent four-wheeled trolley comprising a mounting seat (1), characterized in that, The mounting base (1) is provided with a set of running wheel mechanisms (2) at each of its four corners. A cleaning mechanism (3) is provided on the mounting base (1) in conjunction with the running wheel mechanisms (2). A gripping mechanism (4) is provided at one end of the mounting base (1). An auxiliary counterweight mechanism (5) is provided on the gripping mechanism (4). The cleaning mechanism (3) includes two movable plates (31). A connecting plate (32) is connected between the movable plates (31). The mounting base (1) has grooves (11) with open tops on both sides in conjunction with the movable plates (31). A spring (12) is connected to the bottom of the groove (11) and a force measuring module is provided at the connecting end. The spring (12) The other end is connected to the bottom of the movable plate (31). The two ends of the connecting plate (32) are connected to the side plates (321). A long rod (33) is fixed on the side plate (321). A spring (34) is sleeved on the other end of the long rod (33). A sleeve (35) is sleeved on the outside of the spring (34). One end of the spring (34) is connected to the long rod (33) and is provided with a force measuring module (2). The other end of the spring (34) is connected to the sleeve (35). A connecting rod (36) is fixed on both sides of the sleeve (35). A shaft (37) is fixed at the end of the connecting rod (36). A brush (38) is sleeved on the outside of the shaft (37).

2. The multifunctional lightweight intelligent four-wheeled vehicle according to claim 1, characterized in that, The first force measuring module adopts a miniature diaphragm pressure sensor, which is embedded in the bottom of the slide groove (11) and only bears axial vertical force; the second force measuring module adopts a miniature hollow torque sensor, which is sleeved on the outside of the long rod (33).

3. The multifunctional lightweight intelligent four-wheeled vehicle according to claim 2, characterized in that, The first force measuring module is used to detect the magnitude and direction of the force on the first spring (12), determine the length of the first spring (12), and thus detect the height of the connecting plate (32); the second force measuring module is used to detect the magnitude and direction of the torque of the second spring (34), determine the deflection state of the connecting rods (36) on both sides of the sleeve (35), and thus evaluate the force that each running wheel mechanism (2) brings to the corresponding brush cylinder (38).

4. The multifunctional lightweight intelligent four-wheeled vehicle according to claim 1, characterized in that, The running wheel mechanism (2) includes a fixed seat (21), which has a built-in steering motor. The drive end of the steering motor is fitted with a drive gear (22). A fixed shaft (211) is provided on one side of the fixed seat (211). A swing arm (23) is rotatably fitted on the fixed shaft (211). One end of the swing arm (23) is fitted with a side tooth (231) in cooperation with the drive gear (22). The other end of the swing arm (23) is fitted with a support seat (232). A hollow rod (24) is connected to the support seat (232). A lifting module (25) is provided at the other end of the hollow rod (24). A drive module (26) is provided on the outside of the lifting module (25). A tire (27) is fitted on the outside of the drive module (26).

5. A multi-functional lightweight intelligent four-wheeled vehicle according to claim 4, characterized in that, The gripping mechanism (4) includes a lifting seat (41), a support arm (42) is fixed to the driving end of the lifting seat (41), a rotary motor is built into the other end of the support arm (42), a rotary arm (43) is connected to the driving end of the rotary motor, a gripping arm (44) is installed at the other end of the rotary arm (43), and a vacuum suction cup assembly (45) is provided at the bottom of the gripping arm (44).

6. A multi-functional lightweight intelligent four-wheeled vehicle according to claim 5, characterized in that, The auxiliary counterweight mechanism (5) includes a movable seat (51), one end of which is rotatably connected to the surface of the lifting seat (41), and the other end of which is provided with a rotating groove. A ring groove (511) is provided on the surface of the movable seat (51), and a limiting ring block (52) is fitted on the ring groove (511). The outer diameter of the limiting ring block (52) is larger than the outer diameter of the movable seat (51). A counterweight rod (6) is fitted on the outside of the limiting ring block (52), and a slot (61) is provided in the middle of the counterweight rod (6) in conjunction with the limiting ring block (52).

7. A multi-functional lightweight intelligent four-wheeled vehicle according to claim 6, characterized in that, The lifting seat (41) is fixed with a mounting plate (411) on one side in conjunction with the movable seat (51). A driver (412) is fixed on the mounting plate (411). The driving end of the driver (412) passes through the mounting plate (411) and is fitted with a pulley (413). A belt (414) is fitted on the surface of the pulley (413). The other end of the belt (414) is fitted on the surface of the movable seat (51).

8. A multi-functional lightweight intelligent four-wheeled vehicle according to claim 7, characterized in that, The limiting ring block (52) has several adjustment grooves (521) on its circumference. The bottom of the adjustment groove (521) is connected to a spring four (522) and a force measuring module three is provided at the connection end. The other end of the spring four (522) is connected to a locking block (523). The locking block (523) slides with the adjustment groove (521). The bottom of the adjustment groove (521) has a gas channel one (524).

9. A multi-functional lightweight intelligent four-wheeled vehicle according to claim 8, characterized in that, The annular groove (511) has a gas channel two (512) corresponding to each of the gas channels one (524). The other end of the gas channel two (512) is connected to the rotating groove. A valve block (53) is rotatably arranged in the rotating groove. A communication port (531) is opened on the surface of the valve block (53). A center rod (54) is connected to the other end of the valve block (53). The radius of the center rod (54) is smaller than the radius of the rotating groove. A driver two (55) is connected to the other end of the center rod (54). The driver two (55) is fixed on the surface of the limiting ring block (52). A gas channel three (513) is opened corresponding to the center rod (54). The other end of the gas channel three (513) is connected to the rotating groove. An air pump is connected to the outside of the gas channel three (513).

10. A multifunctional lightweight intelligent four-wheeled vehicle according to claim 9, characterized in that, The connecting plate (32) is provided with limit stops (322) on both sides in conjunction with the counterweight rod (6). The surface of the limit stops (322) is set as an arc structure, and both ends of the counterweight rod (6) are set as arc structures.

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