Conveying robot

Abstract

The utility model provides a conveying robot which comprises a chassis module, a detection sensing module and a plurality of wheel set modules. A plurality of goods storage bins are arranged on the chassis module, the detection sensing module is installed on the chassis module, and the wheel set module is installed at the bottom of the chassis module; the wheel set module comprises a plurality of wheel set connecting plates, a lifting support, a damping module, a rudder direction rotating module and a hub module. Compared with the prior art, the conveying robot is high in movement speed, point-to-point rapid and efficient conveying of small articles is achieved, flexibility, passing ability and terrain adaptability are high, and the articles can be conveyed to more different destinations. Through the design of the damping module and the lifting support, the buffering effect of the robot when the robot runs to the terrains can be enhanced, and therefore impact on the robot and conveyed objects can be reduced, the protection effect is achieved, and the obstacle avoidance capacity of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a transport robot. Background Art

[0002] As we gradually enter the Industry 4.0 era, tremendous technological innovations are shifting human technology from a manufacturing-based to a technology-based one. Human-machine intelligence is being widely applied in production and daily life, and the robotics industry is experiencing rapid growth. Improving efficiency and reducing labor costs are crucial for businesses across all industries. This has led to a growing demand for robots to replace human labor in various production and business activities, and the replacement of manual labor by robots is becoming a growing trend. Robots can be categorized into three main categories based on their application scenarios: industrial robots, service robots, and specialty robots. The robotics industry is developing rapidly, with my country's robotics market in particular entering a period of rapid growth. Industrial robots have been the world's largest application market for five consecutive years, while demand for service robots holds enormous potential. Furthermore, both industrial and service robots are increasingly diverse and numerous, including mobile robots such as hotel food delivery robots, warehouse delivery robots, express delivery robots, and industrial park pickup and delivery robots.

[0003] Currently, most transport robots on the market have low flexibility, poor shock absorption and buffering capabilities, and short practical lifespan. Utility Model Content

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a transport robot.

[0005] One embodiment of the present utility model provides a transport robot, comprising: a chassis module, a detection and perception module, and a plurality of wheel modules;

[0006] The chassis module is provided with a plurality of cargo storage compartments, the detection and sensing module is installed on the chassis module for detecting the environment around the chassis module, and the wheel module is installed at the bottom of the chassis module;

[0007] The wheel module includes several wheel connecting plates, a lifting bracket, a shock absorbing module, a steering rotation module and a hub module. The wheel connecting plate is arranged on the chassis module, the lifting bracket is installed on the wheel connecting plate in a liftable manner, the shock absorbing module is connected to the wheel connecting plate and the lifting bracket respectively, and the steering rotation module is arranged on the lifting bracket and is drivingly connected to the wheel hub module.

[0008] In some optional embodiments, the chassis module includes a lower frame and an upper frame, the lower frame includes a chassis main board, two lower frame transverse arms, two lower frame longitudinal arms and a plurality of peripheral protection plates, the two lower frame transverse arms are connected to the chassis main board side by side, the two lower frame longitudinal arms are connected to the chassis main board side by side, the chassis main board, the two lower frame transverse arms and the two lower frame longitudinal arms form a crisscross frame, the peripheral protection plates are arranged around the crisscross frame and connected to the crisscross frame, and a plurality of guide wheels are provided at the bottom of the peripheral protection plates;

[0009] The upper frame includes two upper frame transverse arms, two upper frame longitudinal arms, multiple cargo storage bin bottom plates and multiple cargo storage bin covers. The two upper frame transverse arms are arranged side by side on the crisscross frame, the two lower frame longitudinal arms are arranged side by side on the crisscross frame, and are staggered with the upper frame transverse arms. Multiple cargo storage bin bottom plates are arranged between the two lower frame transverse arms or the two lower frame longitudinal arms. Multiple cargo storage bins are formed around the cargo storage bin bottom plate, the cargo storage bin cover and the two lower frame transverse arms, or the cargo storage bin bottom plate, the cargo storage bin cover and the two lower frame longitudinal arms.

[0010] In some optional embodiments, the chassis module also includes a battery mounting rack, a battery assembly and a control assembly, the battery mounting rack is arranged on the crisscross frame, the battery assembly is detachably mounted on the battery mounting rack, and is electrically connected to the control assembly, the steering rotation module, the wheel hub module and the detection and perception module, the control assembly is arranged on the crisscross frame, and is signal-connected to the steering rotation module, the wheel hub module and the detection and perception module.

[0011] In some optional embodiments, a plurality of vertical guide rails are provided on the wheel assembly connecting plate, and the lifting bracket is slidably engaged with the vertical guide rails via a slider.

[0012] In some optional embodiments, the top of the shock-absorbing module is connected to the wheel assembly connecting plate through an upper shock-absorbing fixing member, and the bottom of the shock-absorbing module is connected to the lifting bracket through a lower shock-absorbing fixing member, and the shock-absorbing module is rotatably matched with the upper shock-absorbing fixing member and the lower shock-absorbing fixing member respectively.

[0013] In some optional embodiments, the steering rotation module includes a steering motor, a motor fixing plate and multiple fixing columns, the steering motor is arranged at the top of the lifting bracket, the hub module is arranged at the bottom of the lifting bracket, the output shaft of the steering motor is driven and connected to the hub module, the motor fixing plate is arranged at the top of the steering motor, and is connected to the lifting bracket through multiple fixing columns, and the multiple fixing columns are evenly arranged around the steering motor.

[0014] In some optional embodiments, the lifting bracket includes an upper fixed plate, a lower fixed plate and a sandwich structure, the upper fixed plate and the lower fixed plate are both connected to the wheel assembly connecting plate for lifting, the sandwich structure is connected between the upper fixed plate and the lower fixed plate, the sandwich structure includes an outer sandwich member and an inner sandwich member, a first bearing is provided in the outer sandwich member, at least part of the rotation of the inner sandwich member is passed through the first bearing, and the rudder rotation module is driven and connected to the inner sandwich member.

[0015] In some optional embodiments, the wheel hub module includes two wheel set rocker plates, a wheel hub motor, a second bearing, a walking wheel and a transfer structure. The steering rotation module is driven and connected to the wheel set rocker plates. The wheel set rocker plates are provided with mounting holes. The wheel hub motor is passed through one of the mounting holes. The second bearing is installed in the other mounting hole. The transfer structure is rotatably matched with the second bearing. The wheel hub motor is driven and connected to the walking wheel through the transfer structure and is partially embedded in the walking wheel. The walking wheel is arranged between the two wheel set rocker plates.

[0016] In some optional embodiments, the detection and perception module includes a pan-tilt module, which includes a camera, a turntable, a first pan-tilt motor and a second pan-tilt motor. The turntable is rotatably arranged on the chassis module, and the camera is rotatably arranged on the turntable. The first pan-tilt motor is driven and connected to the turntable, and the second pan-tilt motor is driven and connected to the camera.

[0017] In some optional embodiments, the detection and perception module includes a laser radar module, the laser radar module includes a laser radar, a protective cover and a suspension bracket, the suspension bracket is arranged on the top of the chassis module, a radar mounting bracket is arranged on the suspension bracket, the radar mounting bracket is located above the chassis module, the laser radar is arranged on the radar mounting bracket, and the protective cover is arranged around the radar mounting bracket.

[0018] Compared with the existing technology, the transport robot of the present invention has a fast movement speed, which can realize the point-to-point fast and efficient delivery of small items, greatly reducing the waiting time of users, and can fill the gap in the transportation of time-sensitive and urgent items in today's parks, communities, etc.

[0019] In addition, through the design of the steering module and the wheel hub module, the delivery robot has the characteristics of high flexibility, high passability, and high terrain adaptability. Therefore, it can travel and deliver on a wider variety of roads, rather than being limited to the original specific paved roads, so that items can be delivered to more different destinations.

[0020] Each steering module and wheel module can be controlled independently. Compared with traditional four-wheeled transport robots, it has more degrees of freedom of movement. It can complete multi-directional movement forward, backward, left and right, and spin on the spot, so that it can make a U-turn on the spot on a narrow road, making transportation more flexible, convenient and efficient.

[0021] The design of the shock-absorbing module and the lifting bracket can enhance the cushioning effect of the robot when it runs on flat terrain, thereby reducing the impact on the robot itself and the transported items, thereby playing a protective role.

[0022] The gimbal module and lidar module of the detection and perception module work together to accurately perceive its surrounding environment. Based on the information detected by the detection and perception module, the transport robot can respond in a timely manner, thereby significantly improving the robot's obstacle avoidance capability.

[0023] In order to more clearly understand the present invention, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a transport robot according to an embodiment of the present invention;

[0025] Figure 2 This is a cross-sectional view of a transport robot according to an embodiment of the present invention;

[0026] Figure 3 This is a structural diagram of a wheel module according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic structural diagram of the bottom portion of a transport robot according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic structural diagram of the top portion of a transport robot according to an embodiment of the present invention;

[0029] Figure 6 This is an exploded view of the lifting bracket, rudder rotation module and hub module according to one embodiment of the present invention;

[0030] Figure 7 This is a cross-sectional view of a lifting bracket, a steering rotation module, and a hub module according to an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 10. Chassis module; 11. Cargo storage compartment; 12. Lower frame; 121. Chassis mainboard; 122. Lower frame cross arm; 123. Lower frame longitudinal arm; 124. External protection plate; 125. Guide wheel; 13. Upper frame; 131. Upper frame cross arm; 132. Upper frame longitudinal arm; 133. Cargo storage compartment bottom plate; 134. Cargo storage compartment cover; 14. Battery mounting rack; 15. Battery assembly; 16. Control assembly; 161. Control element group; 162. Mini PC; 20. Detection and perception module; 21. PTZ module; 211. Camera; 212. Turntable; 213. First PTZ motor; 214. Second PTZ motor; 22. LiDAR module; 221. LiDAR; 222. Protective cover; 223. Suspension bracket; 30. Wheel module; 31. Wheel connecting plate; 311. Vertical guide rail; 312. Slider; 32. Lifting bracket; 321. Upper fixing plate; 322. Lower fixing plate; 323. Sandwich structure; 3231. Outer sandwich member; 323 2. Inner sandwich component; 3233. First bearing; 33. Shock absorber module; 331. Shock absorber upper fixing part; 34. Steering rotation module; 341. Steering motor; 342. Motor fixing plate; 343. Fixing column; 35. Hub module; 351. Wheel set rocker plate; 3511. Mounting hole; 352. Hub motor; 353. Second bearing; 354. Travel wheel; 3541. Hub plate; 3542. Large ball bearing; 355. Adapter structure; 3551. Rotor connector; 3552. Tension sleeve. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of the present invention, unless otherwise specified, "multiple" means 2 or more, and "several" means 1 or more. In addition, unless otherwise specified, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0035] In the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0036] In the description of this utility model, reference to the terms "one embodiment," "some optional implementations," or "some optional embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0037] See also Figure 1 One embodiment of the present invention provides a transport robot, including: a chassis module 10, a detection and perception module 20 and a plurality of wheel modules 30.

[0038] See also Figure 2 The chassis module 10 is provided with several cargo storage bins 11, which are used to store items that need to be transported. The detection and sensing module 20 is installed on the chassis module 10 to detect the environmental conditions around the chassis module 10. The wheel module 30 is installed at the bottom of the chassis module 10 to drive the movement of the transport robot.

[0039] See also Figure 3The wheel module 30 includes several wheel connection plates 31, a lifting bracket 32, a shock absorbing module 33, a steering rotation module 34, and a hub module 35. The wheel connection plates 31 are arranged on the chassis module 10, and the lifting bracket 32 ​​is mounted on the wheel connection plates 31 in a liftable manner. The shock absorbing module 33 is connected to the wheel connection plates 31 and the lifting bracket 32, respectively. The steering rotation module 34 is arranged on the lifting bracket 32 ​​and is connected to the hub module 35 in a driving manner. The hub module 35 is used to drive the transport robot to move, and the steering rotation module 34 is used to drive the wheel hub module 35 to rotate, thereby controlling the direction of movement of the transport robot. When the transport robot runs on undulating terrain, the lifting bracket 32 ​​can move up and down to adapt to the changes in the terrain, and the shock absorbing module 33 can provide a buffering effect for the lifting bracket 32, thereby reducing the impact on the transport robot itself and the transported items, thereby playing a protective role. In addition, each wheel module 30 controls the moving direction of the hub module 35 independently through the steering rotation module 34. Each wheel module 30 can be controlled independently, making the movement of the motion robot more flexible.

[0040] See also Figure 4 In some optional embodiments, the chassis module 10 includes a lower frame 12 and an upper frame 13. The lower frame 12 includes a chassis mainboard 121, two lower frame 12 transverse arms, two lower frame 12 longitudinal arms and a plurality of peripheral protection plates 124. The two lower frame 12 transverse arms are connected to the chassis mainboard 121 side by side, and the two lower frame 12 longitudinal arms are connected to the chassis mainboard 121 side by side. The chassis mainboard 121, the two lower frame 12 transverse arms and the two lower frame 12 longitudinal arms form a crisscross frame. The structure of the crisscross frame is more stable. The peripheral protection plates 124 are arranged around the crisscross frame and connected to the crisscross frame. The peripheral protection plates 124 are used to prevent the transport robot from colliding with the external environment during movement and damaging the robot, thereby effectively improving the safety of the transport robot. A plurality of guide wheels 125 are provided at the bottom of the peripheral protection plates 124. When the transport robot collides or rubs against the external environment, the guide wheels 125 can absorb the energy generated by the collision and friction, thereby providing effective protection for the transport robot.

[0041] See also Figure 5The upper frame 13 includes two upper frame 13 horizontal arms, two upper frame 13 longitudinal arms, multiple cargo storage bin 11 bottom plates and multiple cargo storage bin 11 upper covers. The two upper frame 13 horizontal arms are arranged side by side on the crisscross frame, and the two lower frame 12 longitudinal arms are arranged side by side on the crisscross frame, and are staggered with the upper frame 13 horizontal arms. The multiple cargo storage bin 11 bottom plates are arranged between the two lower frame 12 horizontal arms or the two lower frame 12 longitudinal arms. The multiple cargo storage bin 11 upper covers are movably arranged between the two lower frame 12 horizontal arms or the two lower frame 12 longitudinal arms. The cargo storage bin 11 upper cover can be selected to be rotated or slidingly designed to facilitate opening or closing the cargo storage bin 11. Multiple cargo storage bins 11 are formed between the cargo storage bin 11 bottom plate, the cargo storage bin 11 upper cover and the two lower frame 12 horizontal arms or between the cargo storage bin 11 bottom plate, the cargo storage bin 11 upper cover and the two lower frame 12 longitudinal arms. The structure of the upper frame 13 is relatively stable and can store items well without shaking.

[0042] The overall structural design of the chassis module 10 is reasonable, more streamlined and lighter than other structures, which can help improve the movement speed.

[0043] In some optional embodiments, the chassis module 10 further includes a battery mounting rack 14, a battery assembly 15, and a control assembly 16. The battery mounting rack 14 is disposed on a crisscross frame. The battery assembly 15 is detachably mounted on the battery mounting rack 14 and is electrically connected to the control assembly 16, the steering module 34, the wheel hub module 35, and the detection and perception module 20. The detachable battery assembly 15 facilitates replacement. When the transport robot is low on power, the battery assembly 15 can be promptly replaced to meet the transport robot's continuous operation requirements. The control assembly 16 is disposed on the crisscross frame and is signal-connected to the steering module 34, the wheel hub module 35, and the detection and perception module 20. The battery assembly 15 can be detachably assembled with the battery mounting rack 14 by means of a snap-fit ​​structure, a threaded structure, or the like.

[0044] In this embodiment, the control component 16 includes a control element group 161 and a mini PC 162 that are electrically connected to each other. The control element group 161 is installed at the bottom of the chassis mainboard 121 and is located between the two cross arms of the lower frame 12. The control element group 161 is the circuit control core of the robot and is installed between the two cross arms of the lower frame 12 so that it can be effectively protected from the influence of the external environment. The mini PC 162 is installed in one of the cargo storage warehouses 11 and serves as the core component of the transport robot to implement algorithms such as navigation and path planning. The data calculated by the mini PC 162 is communicated through the control element group 161.

[0045] In some optional embodiments, a plurality of vertical guide rails 311 are provided on the wheel assembly connecting plate 31 , and the lifting bracket 32 ​​is slidably engaged with the vertical guide rails 311 via a slider 312 , thereby enabling the lifting bracket 32 ​​to achieve stable lifting.

[0046] The specific structure of the shock absorbing module 33 can be designed according to actual needs. For example, the shock absorbing module 33 can be a hydraulic shock absorber, including a hydraulic base, a telescopic push rod, and a spring. The telescopic push rod slides with the hydraulic base, and the spring is connected between the hydraulic base and the telescopic push rod to provide damping for the vertical movement of the lifting bracket 32, the steering module 34, and the hub module 35. Of course, the shock absorbing module 33 can also adopt other types of shock absorbing modules 33, such as pneumatic shock absorbers, spring shock absorbers, etc.

[0047] The installation method of the shock-absorbing module 33 can be designed according to actual needs. For example, in some optional embodiments, the top of the shock-absorbing module 33 is connected to the wheel group connecting plate 31 through the shock-absorbing upper fixing member 331, and the bottom of the shock-absorbing module 33 is connected to the lifting bracket 32 ​​through the shock-absorbing lower fixing member. The shock-absorbing module 33 rotates with the shock-absorbing upper fixing member 331 and the shock-absorbing lower fixing member respectively.

[0048] See also Figure 6 and Figure 7 The steering rotation module 34 is used to change the direction of movement of the transport robot. Its specific structure can be designed according to actual needs. For example, in some optional embodiments, the steering rotation module 34 includes a steering motor 341, a motor fixing plate 342, and multiple fixing columns 343. The steering motor 341 is disposed at the top of the lifting bracket 32, and the hub module 35 is disposed at the bottom of the lifting bracket 32. The output shaft of the steering motor 341 is drivingly connected to the hub module 35. The motor fixing plate 342 is disposed at the top of the steering motor 341 and is connected to the lifting bracket 32 ​​via multiple fixing columns 343. The multiple fixing columns 343 are evenly arranged around the steering motor 341, thereby stably fixing the steering motor 341 to the lifting bracket 32. The motor fixing plate 342 is detachably engaged with the steering motor 341 and the fixing columns 343 via screws, thereby facilitating maintenance. In addition, in this embodiment, the slider 312 on the steering motor 341 is connected to the motor fixing plate 342 via a slip ring connecting plate.

[0049] The specific structure of the lifting bracket 32 ​​can be designed according to actual needs. For example, in some optional embodiments, the lifting bracket 32 ​​includes an upper fixing plate 321, a lower fixing plate 322 and a sandwich structure 323. The upper fixing plate 321 and the lower fixing plate 322 are both connected to the wheel assembly connecting plate 31 for lifting. The sandwich structure 323 is connected between the upper fixing plate 321 and the lower fixing plate 322. The sandwich structure 323 includes an outer sandwich member 3231 and an inner sandwich member 3232. A first bearing 3233 is provided in the outer sandwich member 3231. The first bearing 3233 can be a thin-walled ball bearing or other suitable bearing. At least part of the rotation of the inner sandwich member 3232 is passed through the first bearing 3233 and rotates with the first bearing 3233. The steering rotation module 34 is drivingly connected to the inner sandwich member 3232, wherein the steering motor 341 of the steering rotation module 34 is fixedly connected to the inner sandwich member 3232 by multiple screws. In this embodiment, the upper fixing plate 321 and the lower fixing plate 322 are detachably connected to the slider 312 by screws, which facilitates the disassembly of the lifting bracket 32. In this embodiment, the outer sandwich member 3231 includes an upper sandwich member and a lower sandwich member that are detachably connected to each other.

[0050] The specific structure of the wheel hub module 35 can be designed according to actual needs. For example, in some optional embodiments, the wheel hub module 35 includes two wheel group rocker plates 351, a wheel hub motor 352, a second bearing 353, a walking wheel 354 and a transfer structure 355. The wheel group rocker plate 351 is detachably connected to the inner sandwich member 3232 through a right-angle connector, which facilitates the disassembly and replacement of the wheel hub module 35, thereby realizing the driving connection between the steering motor 341 of the steering rotation module 34 and the wheel hub module 35, driving the wheel group rocker plate 351 to rotate in the horizontal direction, thereby changing the rotation of the transport robot The wheel assembly rocker plate 351 is provided with mounting holes 3511. The wheel hub motor 352 is inserted into one of the mounting holes 3511. The second bearing 353 is installed in the other mounting hole 3511. The adapter structure 355 is rotatably engaged with the second bearing 353. The second bearing 353 can be a thin-walled ball bearing or other suitable bearing. The wheel hub motor 352 is connected to the running wheel 354 through the adapter structure 355 to drive the running wheel 354 to rotate. The wheel hub motor 352 is partially embedded in the running wheel 354, which is arranged between the two wheel assembly rocker plates 351. The wheel hub motor 352 of the wheel hub module 35 adopts an embedded structure, which reduces the overall rotational inertia of the wheel assembly module 30 and enables more precise motion control. When the steering rotation module 34 drives the wheel hub assembly to rotate, the interference range of the wheel hub motor 352 is significantly reduced, thereby preventing the wheel hub motor 352 from colliding with the surrounding terrain during the movement of the transport robot.

[0051] The wheel module 30 adopts a three-layer detachable structure. The hub module 35, the steering module 34 and the lifting bracket 32 ​​are all detachable. When part of them is damaged, it is not necessary to replace the entire wheel module 30 but only part of it, which is conducive to cost saving.

[0052] The specific structure of the adapter structure 355 can be designed according to actual needs. For example, the adapter structure 355 includes a rotor connector 3551 and a tension sleeve 3552. The rotor connector 3551 rotates with the second bearing 353. The tension sleeve 3552 is sleeved on the outside of the rotor of the hub motor 352, and the rotor connector 3551 is inserted into the second bearing 353, and the tension sleeve 3552 is inserted into the rotor connector 3551. The rotor of the hub motor 352 is fastened to the rotor connector 3551, and the rotor connector 3551 is connected to the wheel hub motor 352. The walking wheel 354 is fixedly connected. In this embodiment, a large ball bearing 3542 is provided on the inner side of the walking wheel 354. The large ball bearing 3542 is sleeved on the outer side of the motor, so that when the walking wheel 354 rotates, the friction between the walking wheel 354 and the hub motor 352 is reduced. Hub plates 3541 are respectively provided on both sides of the walking wheel 354. The large ball bearing 3542 is provided on one of the hub plates 3541, and the rotor connector 3551 is provided on the other hub plate 3541. The hub plates 3541 provide support for the walking wheel 354.

[0053] In some optional embodiments, the detection and perception module 20 includes a pan / tilt module 21, which includes a camera 211, a rotating platform 212, a first pan / tilt motor 213, and a second pan / tilt motor 214. The camera 211 acts as a visual sensor to perceive the environment surrounding the transport robot. The environmental information acquired by the camera 211 is transmitted to the mini PC 162 of the control component 16, which processes the environmental information. The rotating platform 212 is rotatably mounted on the chassis module 10 and connected to the upper frame 13 of the chassis module 10 via a cross roller bearing to achieve full horizontal rotation. The camera 211 is rotatably mounted on the rotating platform 212 to achieve full vertical rotation. The first pan / tilt motor 213 is drive-connected to the rotating platform 212, and the second pan / tilt motor 214 is drive-connected to the camera 211, thereby cooperating to achieve full rotation of the camera 211, achieving full-scale detection and reducing detection blind spots. A camera bearing is provided on the rotating platform 212, and the pitch axis of the camera rotates in conjunction with the camera bearing.

[0054] In some optional embodiments, the detection and perception module 20 includes a laser radar 221 module 22, and the laser radar 221 module 22 includes a laser radar 221, a protective cover 222 and a suspension bracket 223. The laser radar 221 is used to detect surrounding environmental information and transmit the acquired environmental information to the mini PC 162 of the control component 16. The mini PC 162 processes the environmental information. The suspension bracket 223 is set on the top of the chassis module 10. A radar mounting bracket is set on the suspension bracket 223. The radar mounting bracket is located above the chassis module 10. The laser radar 221 is set on the radar mounting bracket, and the protective cover 222 is arranged around the radar mounting bracket.

[0055] The specific structure of the suspension bracket 223 can be designed according to actual needs, so that the laser radar 221 can be in a suitable position to stably detect the surrounding environment of the transport robot without being easily blocked by the structure of the transport robot itself.

[0056] Although the embodiments of the present invention have been shown and described, it will be understood 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 present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transport robot, characterized in that: include: Chassis module, detection and perception module and multiple wheel modules; The chassis module is provided with a plurality of cargo storage bins, the detection and sensing module is installed on the chassis module and is used to detect the environment around the chassis module, and the wheel module is installed at the bottom of the chassis module; The wheel module includes a plurality of wheel connecting plates, a lifting bracket, a shock absorbing module, a steering rotation module and a hub module. The wheel connecting plate is arranged on the chassis module. The lifting bracket is installed on the wheel connecting plate in a liftable manner. The shock absorbing module is respectively connected to the wheel connecting plate and the lifting bracket. The steering rotation module is arranged on the lifting bracket and is drivingly connected to the hub module.

2. A transport robot according to claim 1, characterized in that: The chassis module comprises a lower frame and an upper frame, the lower frame comprises a chassis main board, two lower frame transverse arms, two lower frame longitudinal arms and a plurality of peripheral protection plates, the two lower frame transverse arms are connected to the chassis main board side by side, the two lower frame longitudinal arms are connected to the chassis main board side by side, the chassis main board, the two lower frame transverse arms and the two lower frame longitudinal arms constitute a tic-tac-toe frame, the peripheral protection plates are arranged around the tic-tac-toe frame and connected to the tic-tac-toe frame, and a plurality of guide wheels are arranged at the bottom of the peripheral protection plates; The upper frame includes two upper frame transverse arms, two upper frame longitudinal arms, multiple cargo storage bin bottom plates and multiple cargo storage bin upper covers, the two upper frame transverse arms are arranged side by side on the criss-cross frame, the two lower frame longitudinal arms are arranged side by side on the criss-cross frame, and are staggered with the upper frame transverse arms, multiple cargo storage bin bottom plates are arranged between two lower frame transverse arms or two lower frame longitudinal arms, multiple cargo storage bins are formed around the cargo storage bin bottom plate, the cargo storage bin upper cover and the two lower frame transverse arms, or the cargo storage bin bottom plate, the cargo storage bin upper cover and the two lower frame longitudinal arms.

3. A transport robot according to claim 2, characterized in that: The chassis module also includes a battery mounting rack, a battery assembly and a control assembly. The battery mounting rack is arranged on the criss-cross frame. The battery assembly is detachably mounted on the battery mounting rack and is electrically connected to the control assembly, the steering rotation module, the wheel hub module and the detection and sensing module. The control assembly is arranged on the criss-cross frame and is signal-connected to the steering rotation module, the wheel hub module and the detection and sensing module.

4. A transport robot according to claim 1, characterized in that: A plurality of vertical guide rails are arranged on the wheel group connecting plate, and the lifting bracket is slidably matched with the vertical guide rails via a sliding block.

5. A transport robot according to any one of claims 1 to 4, characterized in that: The top of the shock absorbing module is connected to the wheel group connecting plate through a shock absorbing upper fixing piece, and the bottom of the shock absorbing module is connected to the lifting bracket through a shock absorbing lower fixing piece. The shock absorbing module is rotatably matched with the shock absorbing upper fixing piece and the shock absorbing lower fixing piece respectively.

6. A transport robot according to any one of claims 1 to 4, characterized in that: The rudder rotation module includes a rudder motor, a motor fixing plate and a plurality of fixing columns. The rudder motor is arranged at the top of the lifting bracket, and the hub module is arranged at the bottom of the lifting bracket. The output shaft of the rudder motor is drivingly connected to the hub module. The motor fixing plate is arranged at the top of the rudder motor and is connected to the lifting bracket through a plurality of the fixing columns. The plurality of fixing columns are evenly arranged around the rudder motor.

7. A transport robot according to any one of claims 1 to 4, characterized in that: The lifting bracket includes an upper fixing plate, a lower fixing plate and a sandwich structure, the upper fixing plate and the lower fixing plate are both connected to the wheel assembly connecting plate for lifting, the sandwich structure is connected between the upper fixing plate and the lower fixing plate, the sandwich structure includes an outer sandwich component and an inner sandwich component, a first bearing is arranged in the outer sandwich component, at least part of the rotation of the inner sandwich component is passed through the first bearing, and the rudder direction rotation module is drivingly connected to the inner sandwich component.

8. A transport robot according to any one of claims 1 to 4, characterized in that: The wheel hub module includes two wheel assembly rocker plates, a wheel hub motor, a second bearing, a running wheel and a transfer structure. The steering rotation module is drivingly connected to the wheel assembly rocker plates. The wheel assembly rocker plates are provided with mounting holes. The wheel hub motor is passed through one of the mounting holes. The second bearing is mounted in another mounting hole. The transfer structure is rotationally matched with the second bearing. The wheel hub motor is drivingly connected to the running wheel through the transfer structure and is partially embedded in the running wheel. The running wheel is arranged between the two wheel assembly rocker plates.

9. A transport robot according to any one of claims 1 to 4, characterized in that: The detection and perception module includes a pan-tilt module, which includes a camera, a rotating table, a first pan-tilt motor and a second pan-tilt motor. The rotating table is rotatably arranged on the chassis module, and the camera is rotatably arranged on the rotating table. The first pan-tilt motor is drive-connected to the rotating table, and the second pan-tilt motor is drive-connected to the camera.

10. A transport robot according to any one of claims 1 to 4, characterized in that: The detection and perception module includes a laser radar module, and the laser radar module includes a laser radar, a protective cover and a suspension bracket. The suspension bracket is arranged on the top of the chassis module, and a radar mounting frame is arranged on the suspension bracket. The radar mounting frame is located above the chassis module, the laser radar is arranged on the radar mounting frame, and the protective cover is arranged around the radar mounting frame.

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