Robot

Abstract

The utility model discloses a robot. The robot includes: an action mechanism that causes the robot to have a translational degree of freedom on a horizontal plane; the action mechanism is connected to the rack through a lifting mechanism, so that the rack has the translational degree of freedom in the vertical direction; the number of the lifting mechanisms is two or more than two, and a synchronizing device is arranged between the two or more than two lifting mechanisms, so that the two or more than two lifting mechanisms synchronously move the rack in the vertical direction. Therefore, the robot is further improved in the technical level and the application level.

Description

Technical Field

[0001] The present application relates to the field of robots, and more specifically, to a robot. Background Art

[0002] At present, various self-moving devices have been launched in the industry and applied to various application scenarios, such as self-moving devices used in various industrial or home environments.

[0003] However, the various self-moving devices currently launched in the industry are relatively limited in terms of technology and application. It is necessary to propose new self-moving devices to further improve their technology and application levels. Utility Model Content

[0004] In view of this, the present application proposes a robot that can be further improved in terms of technology and application.

[0005] According to the present application, a robot is proposed, which includes: an action mechanism, which enables the robot to have translational freedom in a horizontal plane; a frame, wherein the action mechanism is connected to the frame via a lifting mechanism so that the frame has translational freedom in a vertical direction; the lifting mechanisms are two or more, and synchronization devices are provided between the two or more lifting mechanisms so that the two or more lifting mechanisms can synchronously move the frame in a vertical direction.

[0006] Optionally, the motion mechanism is a wheeled motion mechanism, a tracked motion mechanism, a crawling motion mechanism or a peristaltic motion mechanism.

[0007] Optionally, the lifting mechanism is a plurality of sets of screw rods or a plurality of air cylinders or oil cylinders, and the synchronization device is a screw rod stroke control device or a cylinder stroke control device or a hydraulic stroke control device, so that the strokes of the plurality of sets of screw rods or a plurality of air cylinders or oil cylinders are synchronized.

[0008] Optionally, the robot also includes: a lifting drive, which is installed on the frame and provides driving force; a lifting transmission device, which receives the driving force from the lifting drive and synchronously transmits it to two or more lifting mechanisms respectively, so that one lifting drive drives two or more lifting mechanisms to move.

[0009] Optionally, the lifting drive is a lifting motor powered by a secondary battery mounted on the frame, and the main shaft rotation axis of the lifting motor extends horizontally.

[0010] Optionally, the lifting transmission device includes: a driving shaft, which is driven to rotate by the lifting driver; two or more driven shafts, which are arranged parallel to the driving shaft, and transmission is achieved between the driving shaft and the two or more driven shafts via a synchronous belt or synchronous chain or synchronous gear as a synchronization device; two or more driving sliders, which are installed on their respective driven shafts through transmission threads and can be slidably installed on the frame, so as to drive their respective lifting mechanisms to move.

[0011] Optionally, the two or more driving slide blocks have the same stroke when driven by their respective driven shafts.

[0012] Optionally, the lifting mechanism comprises a connecting rod mechanism arranged between the action mechanism and the frame, and the connecting rod mechanism can adjustably lift and lower the frame under the drive of the lifting driver.

[0013] Optionally, the lifting mechanism includes: a first lifting arm, a first end of which is hinged to the action mechanism, and a second end of which is hinged to the driving slider; a second lifting arm, a first end of which is horizontally slidably arranged on the action mechanism, and a second end of which is hinged to the frame, and the middle part of the second lifting arm is hingedly connected to the middle part of the first lifting arm in an X shape.

[0014] Optionally, a first limiting structure is provided between the first lifting arm and the second lifting arm, and the first limiting structure is used to limit the relative rotational displacement between the first lifting arm and the second lifting arm; and / or a second limiting structure is provided between the second lifting arm and the action mechanism, and the second limiting structure is used to limit the relative displacement between the second lifting arm and the action mechanism.

[0015] Optionally, the first lifting arm includes an open forked portion formed at its first end, the second lifting arm is hingedly connected to the first lifting arm in the forked portion, the open end of the forked portion is hinged to the action mechanism, and the closed end of the forked portion serves as the first limiting structure.

[0016] Optionally, the robot further comprises an action driver for driving the action mechanism, and the first end of the first lifting arm is transmission-connected to the action driver.

[0017] Optionally, the robot includes two lifting mechanisms, and a synchronization connecting rod serving as the synchronization device is arranged between the two lifting mechanisms, and the synchronization connecting rod is fixedly connected between the respective first lifting arms of the two lifting mechanisms.

[0018] Optionally, the robot further comprises a rotating mechanism which is rotatably mounted on the frame to have a rotational freedom around a vertical axis.

[0019] According to the technical solution of the present application, the robot includes two or more lifting mechanisms, and a synchronization device is provided between the two or more lifting mechanisms, so that the two or more lifting mechanisms synchronously move the frame in the vertical direction, so that the load-bearing capacity of the frame is stronger, the frame is more stable, and the movement of the frame is more stable, which further improves the robot at the technical level. In addition, the load-bearing capacity of the frame is enhanced, it is more stable, and the movement is more stable, so that the robot can be used in more scenarios, which further improves the robot at the application level.

[0020] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present application, and the schematic implementation modes and descriptions of the present application are used to explain the present application. In the accompanying drawings:

[0022] Figure 1 It is a schematic diagram of the structure of a robot according to a preferred embodiment of the present application;

[0023] Figure 2 It is a schematic diagram of the structure of a robot according to a preferred embodiment of the present application;

[0024] Figure 3 It is a schematic diagram of the structure of a robot according to a preferred embodiment of the present application;

[0025] Figure 4 It is a disassembled schematic diagram of a partial structure of a robot according to a preferred embodiment of the present application;

[0026] Figure 5 It is a disassembled schematic diagram of a partial structure of a robot according to a preferred embodiment of the present application;

[0027] Figure 6 It is a schematic diagram of the structure of a robot according to a preferred embodiment of the present application;

[0028] Figure 7 It is a disassembled schematic diagram of a partial structure of a robot according to a preferred embodiment of the present application;

[0029] Figure 8 It is a schematic diagram of the structure of a bracket according to a preferred embodiment of the present application;

[0030] Figure 9a This is a schematic diagram of the structure of a robot equipped with a ring-shaped water sprinkler according to a preferred embodiment of the present application;

[0031] Figure 9b for Figure 9a A schematic diagram of the structure of a ring-shaped fire sprinkler carried by the robot shown;

[0032] Fig.10 This is a schematic diagram of the structure of a robot equipped with a dozer according to a preferred embodiment of the present application;

[0033] Fig.11 This is a disassembly diagram of a robot equipped with a water cannon according to a preferred embodiment of the present application;

[0034] Fig.12 This is a disassembly diagram of a robot equipped with a fire detector according to a preferred embodiment of the present application;

[0035] Fig.13 This is a disassembly diagram of a robot-mounted under-vehicle fire extinguisher according to a preferred embodiment of the present application;

[0036] Fig.14 This is a schematic diagram of the structure of a flag-waving machine mounted on a robot according to a preferred embodiment of the present application;

[0037] Fig.15 This is a schematic diagram of the structure of a robot equipped with a lighting lamp according to a preferred embodiment of the present application;

[0038] Fig.16 is a schematic diagram of the structure of a robot equipped with a mechanical arm according to a preferred embodiment of the present application; and

[0039] Fig.17 This is a schematic diagram of the structure of a robot equipped with an explosion-proof carriage according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with the implementation modes.

[0041] An embodiment of the present application provides a robot.

[0042] Figure 1 , Figure 2 and Figure 3 FIG. 1 is a schematic diagram of the structure of a robot according to a preferred embodiment of the present application. Figure 1 or Figure 2 or Figure 3 As shown, the robot includes a motion mechanism 10, a lifting mechanism 20 and a frame 30. The motion mechanism 10 enables the robot to have a translational degree of freedom in the horizontal plane. The motion mechanism 10 is connected to the frame 30 through the lifting mechanism 20, so that the frame 30 has a translational degree of freedom in the vertical direction. Figure 2 As shown, the robot includes two lifting mechanisms 20. A synchronization device 40 is provided between the two lifting mechanisms 20 so that the two lifting mechanisms 20 can synchronously move the frame 30 in the vertical direction. Figure 3 As shown, the synchronization device 40 includes a synchronization connecting rod 402 connected between the two lifting mechanisms 20 .

[0043] like Figure 1 or Figure 2 or Figure 3 As shown, the action mechanism 10 is a crawler frame 101 .

[0044] It should be noted that, in the embodiment of the present application, more than two lifting mechanisms 20 may be included. And a synchronization device 40 is provided between the two or more lifting mechanisms 20. The synchronization device 40 enables the two or more lifting mechanisms 20 to synchronously move the frame 30 in the vertical direction. In the embodiment of the present application, the robot includes at least two lifting mechanisms 20.

[0045] Optionally, in the embodiment of the present application, the robot further includes a rotating mechanism 80, such as Figure 1 or Figure 2 or Figure 3 The rotating mechanism 80 is rotatably mounted on the frame 30 to have a rotational freedom around a vertical axis. Optionally, in the embodiment of the present application, the rotating mechanism 80 may include a mounting plate 801 .

[0046] Optionally, in the embodiment of the present application, the motion mechanism 10 may be a wheeled motion mechanism, a tracked motion mechanism, a crawling motion mechanism or a peristaltic motion mechanism.

[0047] Optionally, in an embodiment of the present application, the lifting mechanism 20 may be a plurality of sets of screw rods or a plurality of air cylinders or oil cylinders, and the synchronization device 40 may be a screw rod stroke control device or a cylinder stroke control device or a hydraulic stroke control device, so that the strokes of the plurality of sets of screw rods or a plurality of air cylinders or oil cylinders are synchronized.

[0048] Optionally, in the embodiment of the present application, the robot further includes a lifting driver 50 and a lifting transmission device 60, such as Figure 4 shown.

[0049] The lifting driver 50 is mounted on the frame 30 and provides driving force. In this embodiment, the lifting driver 50 is a lifting motor 501. The lifting driver 50 can also be other devices that can provide driving force, and there is no limitation on this. The lifting motor 501 is powered by a secondary battery 510 mounted on the frame 30. The main shaft rotation axis of the lifting motor 501 extends horizontally. Optionally, in the embodiment of the present application, the secondary battery 510 can be a lithium battery.

[0050] The lifting transmission device 60 receives the driving force from the lifting driver 50 and synchronously transmits it to the two lifting mechanisms 20 respectively, so that one lifting driver 50 drives the two lifting mechanisms 20 to move. It should be noted that in the embodiment of the present application, the robot may include more than two lifting mechanisms 20. In the case where the robot includes more than two lifting mechanisms 20, the lifting transmission device 60 receives the driving force from the lifting driver 50 and synchronously transmits it to the two or more lifting mechanisms 20 respectively, so that one lifting driver 50 drives the two or more lifting mechanisms 20 to move.

[0051] Optionally, in the embodiment of the present application, the lifting transmission device 60 includes a driving shaft 601, two driven shafts 602 and two driving sliders 603, such as Figure 4 shown.

[0052] The driving shaft 601 is driven to rotate by the lifting drive 50 .

[0053] The two driven shafts 602 are arranged in parallel with the driving shaft 601, and the driving shaft 601 and the two driven shafts 602 are driven by a synchronous chain 401 as a synchronization device 40. In addition, in the embodiment of the present application, the driving shaft 601 and the two driven shafts 602 are driven by a synchronous belt or a synchronous gear as a synchronization device 40.

[0054] The two driving slide blocks 603 are mounted on their respective driven shafts 602 through transmission threads and are slidably mounted on the frame 30 to drive their respective lifting mechanisms 20 to move.

[0055] In addition, Figure 4 In the illustrated embodiment, the driven shaft 602 may be a ball screw 6021 , and the driving slider 603 may be a linear guide flange slider 6031 .

[0056] It should be noted that, in the embodiment of the present application, the number of driven shafts 602 and driving sliders 603 corresponds to the number of lifting mechanisms 20. When the robot includes two lifting mechanisms 20, the lifting transmission device 60 includes two driven shafts 602 and two driving sliders 603; when the robot includes more than two lifting mechanisms 20, the lifting transmission device 60 includes more than two driven shafts 602 and more than two driving sliders 603. In addition, when the lifting transmission device 60 includes more than two driven shafts 602 and more than two driving sliders 603, the driving shaft 601 and the two driven shafts 602 are also driven by the synchronous chain 401, synchronous belt or synchronous gear as the synchronization device 40, and the more than two driving sliders 603 are installed on the respective driven shafts 602 through the transmission thread and can be slidably installed on the frame 30, so as to drive the respective lifting mechanisms 20 to move.

[0057] Optionally, in the embodiment of the present application, two or more driving slide blocks 603 have the same stroke when driven by their respective driven shafts 602. In this way, it can be ensured that two or more lifting mechanisms 20 have the same displacement, thereby ensuring balanced movement of the frame 30 in the vertical direction.

[0058] Optionally, in the embodiment of the present application, the lifting mechanism 20 includes a connecting rod mechanism disposed between the action mechanism 10 and the frame 30. The connecting rod mechanism is driven by the lifting driver 50 to adjustably lift the frame 30.

[0059] Optionally, in the embodiment of the present application, the lifting mechanism 20 includes a first lifting arm 201 and a second lifting arm 202. Figure 5 or Figure 6 As shown. Figure 5 or Figure 6 As shown, the first end 201a of the first lifting arm 201 is hinged to the action mechanism 10, and the second end 201b of the first lifting arm 201 is hinged to the driving slider 603; the first end 202a of the second lifting arm 202 is horizontally slidably arranged on the action mechanism 10, and the second end 202b of the second lifting arm 202 is hinged to the frame 30. The middle part of the second lifting arm 202 is hingedly connected to the middle part of the first lifting arm 201 in an X shape.

[0060] Optionally, in the embodiment of the present application, a first limiting structure is provided between the first lifting arm 201 and the second lifting arm 202. The first limiting structure is used to limit the relative rotation displacement between the first lifting arm 201 and the second lifting arm 202.

[0061] Optionally, in the embodiment of the present application, a second limiting structure is provided between the second lifting arm 202 and the action mechanism 10. The second limiting structure is used to limit the relative displacement between the second lifting arm 202 and the action mechanism 10.

[0062] Optionally, in the embodiment of the present application, the first lifting arm 201 includes an open forked portion 2011 formed at the first end 201a thereof, such as Figure 5 The second lifting arm 202 is hingedly connected to the first lifting arm 201 in the forked portion 2011 , the open end of the forked portion 2011 is hingedly connected to the action mechanism 10 , and the closed end of the forked portion 2011 is used as a first limiting structure.

[0063] Optionally, in the embodiment of the present application, the robot further comprises an action driver 70 for driving the action mechanism 10, such as Figure 5 The first end 201a of the first lifting arm 201 is in driving connection with the action driver 70 .

[0064] Optionally, in the embodiment of the present application, the robot includes two lifting mechanisms 20, and a synchronization connecting rod 402 as a synchronization device 40 is provided between the two lifting mechanisms 20, such as Figure 5 The synchronous connecting rod 402 is fixedly connected between the first lifting arms 201 of the two lifting mechanisms 20. In the embodiment of the present application, the synchronous connecting rod 402 can play a reinforcing role to prevent the two lifting mechanisms 20 from tilting or deforming.

[0065] Optionally, in the embodiment of the present application, the rotating mechanism further includes a rotating driver 802. Figure 7 As shown, the rotation driver 802 is a rotation drive motor 8021. In the embodiment of the present application, other devices capable of providing driving force can also be used as the rotation driver 802.

[0066] Optionally, in the embodiment of the present application, the robot further includes a mounting mechanism 90. The mounting mechanism 90 includes at least one plane that can be magnetically and / or negatively adsorbed and / or at least one fixed mounting position 901 disposed on the frame 30. Optionally, in the embodiment of the present application, the plane that can be magnetically and / or negatively adsorbed can be a surface of the frame 30 away from the lifting mechanism 20.

[0067] Optionally, in the embodiment of the present application, when the robot includes a rotating mechanism 80, the mounting mechanism further includes at least one movable mounting position 902 disposed on the rotating mechanism 80. Optionally, in the embodiment of the present application, the plane capable of magnetic and / or negative pressure adsorption may also be a surface of the rotating mechanism 80 away from the lifting mechanism 20.

[0068] Optionally, in the embodiment of the present application, the rotating mechanism 80 includes a mounting plate 801. A through hole leading to the frame 30 is provided at the rotation center of the mounting plate 801. Optionally, in the embodiment of the present application, the mounting plate 801 includes a first panel 8013 and / or a second panel 8014, a through hole is provided at the center of the first panel 8013, and a through hole is provided at the center of the second panel 8014. The first panel 8013 may be a honeycomb panel 80131, and the second panel 8014 may be a silicone panel 80141. The mounting plate 801 is mounted with a honeycomb panel 80131 and a silicone panel 80141, and a through hole is provided at the center of the honeycomb panel 80131 and the center of the silicone panel 80141. Fig.11 As shown, a through hole 8015 is provided at the center of the silicone panel 80141, and the honeycomb panel 80131 is below the silicone panel 80141. Fig.11 The through hole arranged at the center of the honeycomb panel 80131 is not shown.

[0069] Optionally, in an embodiment of the present application, a mark can be made on the silicone panel 80141.

[0070] The frame 30 is provided with a mounting hole 9011 (such as Figure 1 ) or a mounting post 9012 passing through a through hole (as shown Figure 6 ), used as a fixed mounting position 901. In addition, Figure 1 As shown, one mounting hole 9011 is provided on the frame 30. In the embodiment of the present application, a plurality of mounting holes 9011 may also be provided.

[0071] like Figure 1 As shown, one mounting hole 9011 is provided on the frame 30. In the embodiment of the present application, a plurality of mounting holes 9011 may also be provided.

[0072] like Figure 6 As shown, a mounting post 9012 is provided on the rack 30. In the embodiment of the present application, a plurality of mounting posts 9012 may also be provided.

[0073] Optionally, in the embodiment of the present application, the robot may further include a first panel 8013. The first panel 8013 is mounted on the rotating mechanism 80. Optionally, in the embodiment of the present application, the first panel 8013 may be a honeycomb panel 80131. Figure 7 As shown, the honeycomb panel 80131 is installed on the mounting plate 801.

[0074] Optionally, in the embodiment of the present application, the robot may further include a second panel 8014. The second panel 8014 is mounted on the rotating mechanism 80. Optionally, in the embodiment of the present application, the second panel 8014 may be a silicone panel 80141. Figure 7 As shown, the silicone panel 80141 is installed on the mounting plate 801.

[0075] Optionally, in the embodiment of the present application, the mounting plate 801 includes a gear ring 8011, such as Figure 1 or Figure 7 The ring gear 8011 is rotatably mounted on the frame 30 and driven to rotate by at least one internal gear 8012. The outer circumferential surface of the ring gear 8011 is provided with four rotation mounting positions 9021, which are used as movable mounting positions 902. It should be noted that in the embodiment of the present application, there is no limitation on the number of rotation mounting positions 9021, which may include one rotation mounting position 9021 or multiple rotation mounting positions 9021.

[0076] Optionally, in an embodiment of the present application, the number of rotating mounting positions 9021 arranged on the outer peripheral surface of the ring gear 8011 is 2, 3, 4, 5, 6, 7 or 8 or more, the heights of each rotating mounting position 9021 in the vertical direction are the same or different, and the multiple rotating mounting positions 9021 are circumferentially uniformly distributed or unevenly distributed around the rotation axis of the ring gear 8011.

[0077] Optionally, in the embodiment of the present application, the robot further includes a functional component 100. The functional component 100 is detachably mounted on at least one fixed mounting position 901 and / or at least one movable mounting position 902 and / or at least one plane that can be magnetically and / or negatively adsorbed. Optionally, a panel can be mounted on a plane that can be magnetically and / or negatively adsorbed, and the functional component 100 is mounted on the panel. For example, the plane that can be magnetically and / or negatively adsorbed is the surface of the rotating mechanism 80 away from the lifting mechanism 20, the rotating mechanism 80 is a mounting plate 801, a honeycomb panel 80131 and a silicone panel 80141 are arranged on the surface of the mounting plate 801, and the functional component 100 is mounted on the side of the silicone panel 80141 away from the lifting mechanism 20.

[0078] Optionally, in an embodiment of the present application, the functional component 100 is only detachably mounted on the movable mounting position 902. Alternatively, the functional component 100 is only detachably mounted on the fixed mounting position 901. Alternatively, the functional component 100 is only detachably mounted on a plane that can be magnetically and / or negatively adsorbed. Alternatively, the functional component 100 is detachably mounted on the fixed mounting position 901 and the movable mounting position 902. Alternatively, the functional component 100 is detachably mounted on the fixed mounting position 901 and the plane that can be magnetically and / or negatively adsorbed. Alternatively, the functional component 100 is detachably mounted on the movable mounting position 902 and the plane that can be magnetically and / or negatively adsorbed. Alternatively, the functional component 100 is detachably mounted on the fixed mounting position 901, the plane that can be magnetically and / or negatively adsorbed, and the movable mounting position 902.

[0079] Optionally, in the embodiment of the present application, the functional component 100 is at least one bracket 1001. The bracket 1001 is detachably mounted on at least one movable mounting position 902. Figure 6 As shown, the functional components are two brackets 1001 , and each bracket 1001 is detachably mounted on two movable mounting positions 902 .

[0080] Optionally, in the embodiment of the present application, the support 1001 has at least one tray 10011 arranged upward. Figure 8 As shown, the bracket 1001 includes two trays 10011.

[0081] Optionally, in the embodiment of the present application, the bracket 1001 is retractable. Figure 8 As shown, the bracket 1001 includes a telescopic rod 10014. In addition, as shown Figure 8 As shown, the bracket 1001 also includes a pin 10012 and a main pipe 10013. The pin 10012 is connected to the movable mounting position 902. Figure 6 As shown, the pin 10012 is linked to the rotation mounting position 9021.

[0082] Optionally, in the embodiment of the present application, the functional component 100 is an annular sprinkler 1002. The annular sprinkler 1002 is detachably mounted on at least one movable mounting position 902 and has at least one fire hose connector 10021. Figure 9a or Figure 9b The annular sprinkler 1002 is detachably mounted on four rotating mounting positions 9021 and has a fire hose connector 10021. In addition, the annular sprinkler 1002 also has a stainless steel ring 10022.

[0083] Optionally, in the embodiment of the present application, a water sprinkler can be provided inside the robot. For example, the water sprinkler is provided below the silicone panel 80141 and fixedly mounted on the frame 30. The water sprinkler has a fire hose connector.

[0084] Optionally, in the embodiment of the present application, the functional component 100 is a dozer 1003. The dozer 1003 is detachably mounted on at least one movable mounting position 902. Fig.10 As shown, the dozer blade 1003 can be detachably mounted on the two rotating mounting positions 902 .

[0085] Optionally, in the embodiment of the present application, the functional component 100 is a water cannon 1004. The water cannon 1004 is detachably fixedly mounted on at least one movable mounting position 902, and / or detachably fixedly mounted on at least one fixed mounting position 901. Alternatively, the water cannon 1004 is detachably fixedly mounted on at least one movable mounting position 902, and / or detachably restricted to at least one fixed mounting position 901, so as to be able to rotate relative to the rack 30. Alternatively, the water cannon 1004 is detachably fixedly mounted on at least one fixed mounting position 901, and / or detachably restricted to at least one movable mounting position 902, so as to be able to rotate relative to the rack 30. Optionally, in the embodiment of the present application, the water cannon 1004 may be a remote-controlled water cannon.

[0086] like Fig.11 As shown, the water monitor 1004 is detachably fixedly mounted on a rotating mounting position 9021 and detachably fixedly mounted on a mounting hole 9011 .

[0087] Optionally, in the embodiment of the present application, the functional component 100 is a vehicle bottom detector 1005 or a vehicle bottom fire extinguisher 1006. The vehicle bottom detector 1005 or the vehicle bottom fire extinguisher 1006 is arranged on the robot along the horizontal direction. Wherein: the vehicle bottom detector 1005 or the vehicle bottom fire extinguisher 1006 is detachably fixedly installed on at least one movable installation position 902, and is detachably fixedly installed on at least one fixed installation position 901; or, the vehicle bottom detector 1005 or the vehicle bottom fire extinguisher 1006 is detachably fixedly installed on at least one movable installation position 902, and is detachably restricted to at least one fixed installation position 901 so as to be able to rotate relative to the frame 10.

[0088] Optionally, in the embodiment of the present application, the undercarriage detector 1005 may be an environmental detection device such as an explosion-proof camera or a gas detector. Fig.12 As shown, the vehicle bottom detector 1005 is a fire detector 10051. The fire detector 10051 is detachably mounted on a mounting column 9012 and detachably mounted on a rotating mounting position 9021.

[0089] like Fig.13 As shown, the underbody fire extinguisher 1006 is detachably mounted on a mounting hole 9011, and is detachably mounted on a rotating mounting position 9021. Optionally, in the embodiment of the present application, the underbody fire extinguisher 1006 may be a new energy underbody fire extinguisher.

[0090] Optionally, in the embodiment of the present application, the functional component 100 is a traffic sign display 1007 or a traffic signal display or a lamp 1008 or a camera or a smoke exhaust machine or a water pump or a mechanical arm 1009 or a carriage 1010. The traffic sign display 1007 is arranged on the robot in a vertical direction. Among them, the traffic sign display 1007 or the traffic signal display or the lamp 1008 or the camera or the smoke exhaust machine or the water pump or the mechanical arm 1009 or the carriage 1010 is detachably fixedly installed in at least one fixed installation position 901; or, the traffic sign display 1007 or the traffic signal display or the lamp 1008 or the camera or the smoke exhaust machine or the water pump or the mechanical arm 1009 or the carriage 1010 is detachably restricted to at least one fixed installation position 901 so as to be able to rotate relative to the frame 30. Optionally, in the embodiment of the present application, the water pump can be a water pump or a drainer.

[0091] Optionally, in the embodiment of the present application, the traffic sign display device 1007 may be a flag waver 10071, such as Fig.14 As shown, the flag-waving machine 10071 is detachably fixedly mounted on a mounting hole 9011.

[0092] Optionally, in the embodiment of the present application, the lamp 1008 may be a lighting lamp 10081, and the lighting lamp 10081 may be detachably fixedly mounted on a mounting column 9012, such as Fig.15 shown.

[0093] Optionally, in the embodiment of the present application, the lamp 1008 may also be a warning light or the like.

[0094] like Fig.16 As shown, the robot arm 1009 is detachably fixedly mounted on a mounting column 9012 .

[0095] Optionally, in the embodiment of the present application, the carriage 1010 may be an explosion-proof carriage 10101. Fig.17 As shown, the explosion-proof carriage 10101 is detachably fixed on a mounting column 9012 .

[0096] According to the technical solution of the present application, one machine can be used for multiple purposes, greatly improving the combat capability of a single machine. The same mobile chassis can be equipped with a variety of functional components to achieve a variety of functions. Similarly, a functional component can be transferred to different mobile chassis as needed to adapt to different scene requirements and improve utilization efficiency. According to the technical solution of the present application, configuration costs can be saved. Multiple functional components can use one mobile chassis, which can greatly save equipment costs. According to the technical solution of the present application, the storage space can be greatly reduced and the portability of the robot can be improved. When only one chassis is used, multiple functional components represent multiple robots, which can reduce the storage space of multiple chassis. At the same time, the use of a split design can maximize the use of the fragmented space of the device for storing the robot, making storage and carrying more convenient.

[0097] The preferred embodiments of the present application are described in detail above; however, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, a variety of simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the protection scope of the present application.

[0098] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0099] In addition, the various implementation modes of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed by the present utility model.

Claims

1. A robot, comprising: An action mechanism, which enables the robot to have translational freedom on a horizontal plane; A frame, wherein the action mechanism is connected to the frame through a lifting mechanism so that the frame has a vertical translational degree of freedom; It is characterized in that there are two or more lifting mechanisms, and a synchronization device is provided between the two or more lifting mechanisms so that the two or more lifting mechanisms can synchronously move the frame in the vertical direction.

2. The robot according to claim 1, wherein: The motion mechanism is a wheeled motion mechanism, a tracked motion mechanism, a crawling motion mechanism or a peristaltic motion mechanism.

3. The robot according to claim 1, wherein: The lifting mechanism is a plurality of sets of screw rods or a plurality of air cylinders or oil cylinders, and the synchronization device is a screw rod stroke control device or a cylinder stroke control device or a hydraulic stroke control device, so that the strokes of the plurality of sets of screw rods or a plurality of air cylinders or oil cylinders are synchronized.

4. The robot according to claim 1, wherein: The robot also includes: A lifting drive, which is mounted on the frame and provides driving force; A lifting transmission device receives the driving force from the lifting driver and synchronously transmits it to two or more lifting mechanisms respectively, so that one lifting driver drives the two or more lifting mechanisms to move.

5. The robot according to claim 4, wherein: The lifting drive is a lifting motor powered by a secondary battery mounted on the frame, and the main shaft rotation axis of the lifting motor extends horizontally.

6. The robot according to claim 4, wherein: The lifting transmission device comprises: a drive shaft, the drive shaft being driven to rotate by the lifting drive; Two or more driven shafts, which are arranged in parallel with the driving shaft, and the driving shaft and the two or more driven shafts are driven by a synchronous belt, a synchronous chain or a synchronous gear as a synchronous device; Two or more driving slide blocks are installed on respective driven shafts through transmission threads and are slidably installed on the frame, and are used to drive respective lifting mechanisms to move.

7. The robot according to claim 6, wherein: The two or more driving slide blocks have the same stroke when driven by their respective driven shafts.

8. The robot according to any one of claims 4 to 7, wherein: The lifting mechanism comprises a connecting rod mechanism arranged between the action mechanism and the frame, and the connecting rod mechanism can adjustably lift and lower the frame under the drive of the lifting driver.

9. The robot according to claim 6, wherein: The lifting mechanism comprises: A first lifting arm, wherein a first end of the first lifting arm is hinged to the action mechanism, and a second end of the first lifting arm is hinged to the driving slider; A second lifting arm, wherein the first end of the second lifting arm can be horizontally slidably arranged on the action mechanism, the second end is hinged to the frame, and the middle part of the second lifting arm is hingedly connected to the middle part of the first lifting arm in an X shape.

10. The robot according to claim 9, wherein: A first limiting structure is provided between the first lifting arm and the second lifting arm, and the first limiting structure is used to limit the relative rotation displacement between the first lifting arm and the second lifting arm; and / or A second limiting structure is provided between the second lifting arm and the action mechanism, and the second limiting structure is used to limit the relative displacement between the second lifting arm and the action mechanism.

11. The robot according to claim 10, wherein: The first lifting arm includes an open forked portion formed at a first end thereof, the second lifting arm is hingedly connected to the first lifting arm in the forked portion, the open end of the forked portion is hingedly connected to the action mechanism, and the closed end of the forked portion serves as the first limiting structure.

12. The robot according to claim 9, wherein: The robot also includes an action driver for driving an action mechanism, and the first end of the first lifting arm is transmission-connected to the action driver.

13. The robot according to claim 9, wherein: The robot comprises two lifting mechanisms, a synchronization connecting rod as the synchronization device is arranged between the two lifting mechanisms, and the synchronization connecting rod is fixedly connected between the respective first lifting arms of the two lifting mechanisms.

14. The robot according to claim 1, wherein: The robot further comprises a rotating mechanism which is rotatably mounted to the frame to have a rotational degree of freedom around a vertical axis.

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