Transport Robot

Abstract

The utility model relates to the technical field of robots, and discloses a transport robot, comprising a vehicle body, a suspension mechanism and a walking mechanism. The vehicle body is suitable for transporting materials, the suspension mechanism comprises at least four frame shock-absorbing mechanisms and at least four wheel group shock-absorbing mechanisms, the wheel group shock-absorbing mechanisms are respectively connected to the vehicle body for rotation, the wheel group shock-absorbing mechanisms are symmetrically arranged on both sides of the vehicle body in pairs, the frame shock-absorbing mechanism is arranged between the vehicle body and the wheel group shock-absorbing mechanism, and at least four walking mechanisms are correspondingly connected to the wheel group shock-absorbing mechanisms for rotation. The utility model arranges the suspension mechanism between the vehicle body and the walking mechanism, and can provide reliable shock-absorbing performance when driving on complex roads through the wheel group shock-absorbing mechanism, the frame shock-absorbing mechanism can reduce the frequency of the vehicle body swinging, so that the transport robot can drive more smoothly, and the walking mechanism and the wheel group shock-absorbing mechanism are independently connected, so that each walking mechanism can have the high degree of freedom characteristics of independent upper swing angle and lower swing angle.

Description

Technical Field

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

[0002] For a long time, the transportation of materials in complex terrains such as tourism, construction, and emergency rescue has required a large amount of manpower to complete, which is not only highly dangerous but also greatly increases the cost.

[0003] As the application areas of tracked robots continue to develop, the transportation of materials by tracked robots can greatly reduce the demand for manpower. From security monitoring, firefighting, search and rescue, transportation, etc. in the civilian field to caves, counter-terrorism, bomb disposal, building surveys, mine sweeping, obstacle removal, biological and chemical warfare agent detection, etc. in the military field, human demand for the application of tracked robots is getting higher and higher.

[0004] Most tracked robots in the prior art have double track structures without shock-absorbing structures or mostly have Christie shock-absorbing structures. Such shock-absorbing structures have a single form, limited adaptability to terrain, and poor shock-absorbing effect. Utility Model Content

[0005] In view of this, the utility model provides a transport robot to solve the problem of poor shock absorption effect of crawler robots in the prior art.

[0006] The utility model provides a transport robot, comprising a vehicle body, a suspension mechanism and a walking mechanism. The vehicle body is suitable for transporting materials. The suspension mechanism comprises at least four frame shock absorbing mechanisms and at least four wheel group shock absorbing mechanisms. The wheel group shock absorbing mechanisms are respectively rotatably connected to the vehicle body. The wheel group shock absorbing mechanisms are symmetrically arranged on both sides of the vehicle body in pairs. The frame shock absorbing mechanism is arranged between the vehicle body and the wheel group shock absorbing mechanism. At least four walking mechanisms are correspondingly rotatably connected to the wheel group shock absorbing mechanisms.

[0007] Beneficial effects: The utility model arranges a suspension mechanism between the vehicle body and the traveling mechanism, and can provide reliable shock absorption performance when driving on complex roads through the wheel shock-absorbing mechanism. The frame shock-absorbing mechanism can reduce the frequency of the vehicle body swinging, making the transport robot run more smoothly. The traveling mechanism and the wheel shock-absorbing mechanism are independently connected, so that each traveling mechanism has the characteristics of high freedom of independent upper swing angle and lower swing angle.

[0008] In an optional embodiment, the wheel assembly shock absorbing mechanism includes a first buffer assembly and a swing arm, the first buffer assembly is rotationally connected to the vehicle body, the swing arm is rotationally connected to the vehicle body, the first buffer assembly is rotationally connected to the swing arm, and the walking mechanism is rotationally connected to the swing arm.

[0009] Beneficial effect: The utility model connects the walking mechanism with the swing arm through rotation. When the walking mechanism travels on a complex road, the walking mechanism drives the swing arm to rotate. The first buffer component can absorb the impact of the buffer part on the vehicle body when the swing arm rotates, thereby reducing the vibration of the vehicle body and making the transport robot travel more smoothly.

[0010] In an optional embodiment, the wheel shock absorbing mechanism also includes a first bracket, the first bracket is rotatably connected to the swing arm, and one end of the two first buffer components is rotatably connected to the vehicle body, and the other end is rotatably connected to both ends of the first bracket respectively.

[0011] Beneficial effect: The utility model arranges a first buffer component at each end of the first bracket. When the traveling mechanism travels on a complex road surface, the traveling mechanism drives the swing arm to tilt in the direction of travel, the first buffer component on one side is squeezed, and the first buffer component on the other side is stretched. The two first buffer components jointly play a buffering role to maintain the stability of the vehicle body and reduce the swing of the vehicle body.

[0012] In an optional embodiment, the first buffer assembly includes a piston, a piston rod and a first elastic member, one end of the piston is rotatably connected to the vehicle body, an end of the piston away from the vehicle body is provided with an opening, one end of the piston rod is rotatably connected to the first bracket, and an end of the piston rod away from the first bracket is slidably connected to the piston, the first elastic member is sleeved on the piston, one end of the first elastic member is connected to the piston, and the other end is connected to the piston rod.

[0013] Beneficial effect: The first buffer component of the utility model can absorb part of the impact generated by the running of the traveling mechanism under the elastic force of the first elastic member and the damping effect of the hydraulic oil, thereby making the vehicle body more stable during driving.

[0014] In an optional embodiment, the frame shock absorbing mechanism includes a first mounting seat, a first pull rod and a second elastic member. The first mounting seat is rotatably connected to the vehicle body, one end of the first pull rod is rotatably connected to the swing arm, and the other end is movably connected to the first mounting seat, and the second elastic member is sleeved on the first pull rod.

[0015] Beneficial effect: The utility model can reduce the frequency of the swing of the swing arm through the elastic force of the second elastic member, so that the vehicle body is more stable during driving.

[0016] In an optional embodiment, the walking mechanism includes a mounting frame, a drive, a road wheel group and a track. The mounting frame is rotatably connected to the swing arm, the drive is fixedly mounted on the mounting frame, the road wheel group is movably mounted on the mounting frame, the track is sleeved on the mounting frame, and the drive and the road wheel group are movably connected to the track.

[0017] Beneficial effects: The utility model sets an independent driver in each traveling mechanism, which can realize independent driving of each traveling mechanism, so that each traveling mechanism has the advantages of high power and high torque density.

[0018] In an optional embodiment, the wheel set shock absorbing mechanism further includes a second buffer assembly, and the second buffer assembly is arranged between the mounting frame and the load-bearing wheel set.

[0019] Beneficial effect: The utility model provides a second buffer component. When the crawler track travels on a complex road surface, the second buffer component can absorb part of the impact of the road surface on the crawler track, thereby making the traveling mechanism travel more smoothly.

[0020] In an optional embodiment, the second buffer assembly includes a second mounting seat, a second pull rod and a third elastic member. The second mounting seat is fixedly mounted on the mounting frame, one end of the second pull rod is fixedly connected to the road wheel group, and the other end is passed through the mounting hole of the second mounting seat, and the third elastic member is sleeved on the second pull rod.

[0021] In an optional embodiment, the walking mechanism further includes a tensioning assembly, the tensioning assembly is mounted on the mounting frame, and the tensioning assembly is movably connected to the crawler track.

[0022] Beneficial effect: The utility model can keep the crawler belt always taut during driving by arranging the tensioning assembly, so as to achieve the best running effect.

[0023] In an optional embodiment, the vehicle body includes a control compartment and a cargo compartment, the control compartment is electrically connected to the traveling mechanism, and the cargo compartment is arranged on top of the control compartment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a schematic diagram of the structure of a transport robot according to an embodiment of the utility model;

[0026] Figure 2 This is a schematic diagram of the structure of a suspension mechanism in a transport robot according to an embodiment of the utility model;

[0027] Figure 3 This is a schematic structural diagram of a frame shock absorbing mechanism in a transport robot according to an embodiment of the utility model;

[0028] Figure 4This is a schematic structural diagram of a second buffer component in a transport robot according to an embodiment of the utility model;

[0029] Figure 5 This is a schematic structural diagram of a first buffer component in a transport robot according to an embodiment of the utility model;

[0030] Figure 6 This is a schematic diagram of the structure of a walking mechanism and a suspension mechanism in a transport robot according to an embodiment of the utility model;

[0031] Figure 7 This is a structural schematic diagram of a transport robot walking mechanism without a mounting frame in an embodiment of the utility model;

[0032] Figure 8 This is a schematic structural diagram of a road wheel assembly, a tensioning assembly, and a second buffer assembly in a transport robot according to an embodiment of the utility model;

[0033] Fig. 9 The present invention is a schematic structural diagram of a tensioning assembly in a transport robot according to an embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 1. Vehicle body; 11. Control compartment; 12. Cargo compartment;

[0036] 2. Suspension mechanism;

[0037] 21. frame shock absorbing mechanism; 211. first mounting seat; 212. first pull rod; 213. second elastic member;

[0038] 22, wheel set shock absorbing mechanism; 221, first buffer assembly; 2211, piston cylinder; 2212, piston rod; 2213, first elastic member; 222, swing arm; 223, first bracket; 224, second buffer assembly; 2241, second mounting seat; 2242, second pull rod; 2243, third elastic member;

[0039] 3. Walking mechanism; 31. Mounting frame; 32. Driver; 33. Road wheel assembly; 331. Load arm; 332. Road wheel; 34. Track; 35. Tensioning assembly; 351. Third mounting seat; 352. Third pull rod; 353. Fourth elastic member; 354. Tensioning wheel. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0041] In the related art, tracked robots usually have no shock-absorbing structure or mostly use Christie shock-absorbing structure. Christie shock-absorbing structure is an independent suspension device with large-diameter road wheels and coil springs. This suspension is composed of two cylindrical coil springs connected to each other in front and back. The front one is an adjustable horizontal coil spring, and the rear one is a vertical coil spring. This structure causes the tracked robot to vibrate more during driving because there is no shock absorber.

[0042] Combine the following Figures 1 to 9 , describing an embodiment of the utility model.

[0043] According to the embodiments of the present utility model, Figures 1 to 9 As shown, a transport robot is provided, including a vehicle body 1, a suspension mechanism 2 and a walking mechanism 3, the vehicle body 1 is suitable for transporting materials, the suspension mechanism 2 includes at least four frame shock absorbing mechanisms 21 and at least four wheel shock absorbing mechanisms 22, the wheel shock absorbing mechanisms 22 are respectively rotatably connected to the vehicle body 1, the wheel shock absorbing mechanisms 22 are symmetrically arranged on both sides of the vehicle body 1, the frame shock absorbing mechanism 21 is arranged between the vehicle body 1 and the wheel shock absorbing mechanism 22, and at least four walking mechanisms 3 are correspondingly rotatably connected to the wheel shock absorbing mechanisms 22.

[0044] Specifically, in this embodiment, the number of the walking mechanisms 3 is not specifically limited. To conform to the actual situation, in this embodiment, the number of the walking mechanisms 3 is four. Figure 1 , Figure 2 and Figure 6As shown, four walking mechanisms 3 are symmetrically arranged on both sides of the vehicle body 1 in pairs, and each walking mechanism 3 is connected to the wheel set shock absorbing mechanism 22, and the wheel set shock absorbing mechanism 22 is connected to the vehicle body 1. Each walking mechanism 3 adopts a ship-type crawler wheel structure, and each walking mechanism 3 adopts an integrated independent drive. The independent drive has the advantages of high power and high torque density, which improves the load and driving ability of the transport robot. When each walking mechanism 3 is driving, the bumps and impacts on the driving road surface can be absorbed by the wheel set shock absorbing mechanism 22, thereby improving the shock absorption performance of the transport robot. The frame shock absorbing mechanism 21 arranged between the vehicle body 1 and the wheel set shock absorbing mechanism 22 can filter out the high-frequency vibration transmitted to the vehicle body 1 by the walking mechanism 3 during driving, so as to keep the vehicle body 1 stable. In some other embodiments, the walking mechanism 3 can also be set to six or eight or other even numbers according to actual needs.

[0045] The utility model arranges a suspension mechanism 2 between the vehicle body 1 and the traveling mechanism 3, and can provide reliable shock absorption performance when driving on complex roads through the wheel group shock absorbing mechanism 22. The frame shock absorbing mechanism 21 can reduce the frequency of the vehicle body 1 swinging, so that the transport robot can drive more smoothly. The traveling mechanism 3 and the wheel group shock absorbing mechanism 22 are independently connected, so that each traveling mechanism 3 has the characteristics of high degree of freedom of independent upper swing angle and lower swing angle.

[0046] In one embodiment, Figure 2 As shown, the wheel shock absorbing mechanism 22 includes a first buffer component 221 and a swing arm 222, the first buffer component 221 is rotationally connected to the vehicle body 1, the swing arm 222 is rotationally connected to the vehicle body 1, the first buffer component 221 is rotationally connected to the swing arm 222, and the walking mechanism 3 is rotationally connected to the swing arm 222.

[0047] Specifically, in this embodiment, a pin hole is provided in the middle of the swing arm 222, and the swing arm 222 is hinged to the vehicle body 1 through a pin shaft. The first buffer component 221 and the frame shock absorbing mechanism 21 are arranged on both sides of the pin hole, and the walking mechanism 3 is located below the first buffer component 221. The walking mechanism 3 is rotatably connected to the vehicle body 1. When the walking mechanism 3 travels on a complex road surface, the bumpy road surface has an impact on the walking mechanism 3. At this time, the walking mechanism 3 drives the swing arm 222 to rotate around the pin shaft. The first buffer component 221 provides a reverse rotation force to the swing arm 222 to restore the swing arm 222 to its original position, thereby absorbing part of the impact and playing a role in buffering and shock absorbing to stabilize the vehicle body 1. Under the impact of the road surface and the force of the first buffer component 221, the swing arm 222 will produce a relatively high frequency reciprocating swing. The frame shock absorbing mechanism 21 arranged on the other side of the pin shaft can apply a force to the other end of the swing arm 222 to keep the swing arm 222 balanced and reduce the frequency of swinging.

[0048] The utility model connects the walking mechanism 3 with the swing arm 222 through rotation. When the walking mechanism 3 travels on a complex road surface, the walking mechanism 3 drives the swing arm 222 to rotate. The first buffer component 221 can absorb the impact of the buffer part on the vehicle body 1 when the swing arm 222 rotates, thereby reducing the vibration of the vehicle body 1 and making the transport robot travel more smoothly.

[0049] In one embodiment, Figure 2 As shown, the wheel shock absorbing mechanism 22 further includes a first bracket 223, which is rotatably connected to the swing arm 222, and two first buffer components 221 are rotatably connected to the vehicle body 1 at one end and rotatably connected to both ends of the first bracket 223 at the other end.

[0050] Specifically, in this embodiment, the first bracket 223 is rotatably connected to the swing arm 222, one end of the two first buffer components 221 is rotatably connected to the two ends of the top of the first bracket 223 respectively, and the other end of the first buffer component 221 is rotatably connected to the vehicle body 1.

[0051] The utility model respectively arranges a first buffer component 221 at both ends of the first bracket 223. When the walking mechanism 3 travels on a complex road surface, the walking mechanism 3 drives the swing arm 222 to tilt in the direction of travel, and the first buffer component 221 on one side is squeezed, and the first buffer component 221 on the other side is stretched. Correspondingly, when the walking mechanism 3 drives the swing arm 222 to fall in the direction of travel, the first buffer component 221 on one side is stretched, and the first buffer component 221 on the other side is squeezed. The two first buffer components 221 jointly play a buffering role to maintain the stability of the vehicle body 1 and reduce the swinging of the vehicle body 1.

[0052] In one embodiment, Figure 5 As shown, the first buffer assembly 221 includes a piston cylinder 2211, a piston rod 2212 and a first elastic member 2213, one end of the piston cylinder 2211 is rotatably connected to the vehicle body 1, and an opening is provided at the end of the piston cylinder 2211 away from the vehicle body 1, one end of the piston rod 2212 is rotatably connected to the first bracket 223, and the end of the piston rod 2212 away from the first bracket 223 is slidably connected to the piston cylinder 2211, and the first elastic member 2213 is sleeved on the piston cylinder 2211, one end of the first elastic member 2213 is connected to the piston cylinder 2211, and the other end is connected to the piston rod 2212.

[0053] Specifically, in the present embodiment, one end of the piston cylinder 2211 is hinged to the vehicle body 1, and the other end of the piston cylinder 2211 is provided with an opening, one end of the piston rod 2212 is hinged to the first bracket 223, and the other end of the piston rod 2212 is slidably installed in the piston cylinder 2211, and hydraulic oil is provided between the piston cylinder 2211 and the piston rod 2212. When the traveling mechanism 3 travels on a complex road surface, the swing arm 222 swings when the traveling mechanism 3 is impacted, driving the piston rod 2212 to slide in the piston cylinder 2211, and when the piston rod 2212 moves into the piston cylinder 2211, the inner volume of the piston cylinder 2211 is reduced, and the damping effect of the hydraulic oil in the piston cylinder 2211 can slow down the moving speed of the piston rod 2212. At the same time, the first elastic member 2213 outside the piston cylinder 2211 is squeezed, and the first elastic member 2213 can also absorb the force when the swing arm 222 rotates.

[0054] In this embodiment, the first elastic member 2213 is a coil spring.

[0055] The first buffer assembly 221 of the utility model can absorb part of the impact generated by the running of the traveling mechanism 3 under the elastic force of the first elastic member 2213 and the damping effect of the hydraulic oil, so that the vehicle body 1 can be more stable during running.

[0056] In one embodiment, Figure 3 As shown, the frame shock absorbing mechanism 21 includes a first mounting seat 211, a first pull rod 212 and a second elastic member 213. The first mounting seat 211 is rotatably connected to the vehicle body 1. A swing arm 222 at one end of the first pull rod 212 is rotatably connected, and the other end is movably connected to the first mounting seat 211. The second elastic member 213 is sleeved on the first pull rod 212.

[0057] Specifically, in this embodiment, the first mounting seat 211 is hinged to the vehicle body 1, one end of the first pull rod 212 is hinged to the swing arm 222, the first pull rod 212 is provided with an external thread, a nut is installed on the end of the first pull rod 212 close to the swing arm 222, and a baffle is provided on the end of the first pull rod 212 away from the swing arm 222. The second elastic member 213 is sleeved on the pull rod and is located between the baffle and the nut. By adjusting the nut, the elastic force of the second elastic member 213 on the pull rod can be adjusted. A protective cover is provided on the first mounting seat 211, and one end of the first pull rod 212 is located in the protective cover.

[0058] The utility model can reduce the swing frequency of the swing arm 222 through the elastic force of the second elastic member 213, so that the vehicle body 1 is more stable during driving.

[0059] In one embodiment, Figure 1 , Figure 6 and Figure 7As shown, the walking mechanism 3 includes a mounting frame 31, a driver 32, a road wheel group 33 and a track 34. The mounting frame 31 is rotatably connected to the swing arm 222, the driver 32 is fixedly mounted on the mounting frame 31, the road wheel group 33 is movably mounted on the mounting frame 31, the track 34 is sleeved on the mounting frame 31, and the driver 32 and the road wheel group 33 are movably connected to the track 34.

[0060] Specifically, in this embodiment, the mounting frame 31 is hinged to the swing arm 222, and a driver 32 is provided on the mounting frame 31. A driving wheel is installed on the driving end of the driver 32, and the driving wheel is movably connected to the inner wall of the track 34. When the driver 32 drives the driving wheel to rotate, the driving wheel drives the track 34 to rotate. The road wheel group 33 is movably installed on the mounting frame 31, and a road wheel 332 is provided on the road wheel group 33. The road wheel 332 is rotatably connected to the inner wall of the track 34. When the track 34 rotates, the road wheel 332 rotates along with the track 34.

[0061] In this embodiment, Figure 8 As shown, the road wheel group 33 includes a load arm 331 and a road wheel 332. One end of the load arm 331 is movably connected to the mounting frame 31, and two road wheels 332 are provided on the other end of the load arm 331. The road wheel 332 is rotatably installed on the mounting frame 31 below the driving wheel.

[0062] In the present invention, an independent driver 32 is arranged in each traveling mechanism 3, so that each traveling mechanism 3 can be driven independently, so that each traveling mechanism 3 has the advantages of high power and high torque density.

[0063] In one embodiment, Figure 4 , Figure 7 and Figure 8 As shown, the wheel set shock absorbing mechanism 22 also includes a second buffer assembly 224, and the second buffer assembly 224 is arranged between the mounting frame 31 and the load-bearing wheel set 33.

[0064] Specifically, in this embodiment, the second buffer assembly 224 includes a second mounting seat 2241, a second pull rod 2242, and a third elastic member 2243. The second mounting seat 2241 is fixedly mounted on the mounting frame 31, one end of the second pull rod 2242 is fixedly connected to the road wheel group 33, and the other end is inserted into the mounting hole of the second mounting seat 2241. The third elastic member 2243 is sleeved on the second pull rod 2242. A nut is provided on the side of the second pull rod 2242 close to the second mounting seat 2241. The nut is threadedly connected to the second pull rod 2242. By adjusting the nut, the elastic force of the third elastic member 2243 between the road wheel group 33 and the second mounting seat 2241 can be adjusted.

[0065] In this embodiment, the road wheel group 33 is arranged in the direction of travel toward the transport robot. When the walking mechanism 3 travels on a complex road surface, the road wheel group 33 is impacted by the road surface. At this time, the elastic force of the third elastic member 2243 can absorb part of the impact force in the road wheel group 33, making the operation of the walking mechanism 3 more stable.

[0066] In this embodiment, the third elastic member 2243 is a coil spring.

[0067] The utility model provides the second buffer assembly 224 , so that when the crawler 34 travels on a complex road surface, the second buffer assembly 224 can absorb part of the impact of the road surface on the crawler 34 , thereby making the traveling mechanism 3 travel more smoothly.

[0068] In one embodiment, Figures 6 to 9 As shown, the walking mechanism 3 further includes a tensioning assembly 35 , which is mounted on the mounting frame 31 , and the tensioning assembly 35 is movably connected to the crawler track 34 .

[0069] Specifically, in this embodiment, the tensioning assembly 35 is arranged in the direction of travel toward the transport robot, and the tensioning assembly 35 includes a third mounting seat 351, a third pull rod 352, a fourth elastic member 353 and a tensioning wheel 354. The third mounting seat 351 is fixedly mounted on the load-bearing arm 331, one end of the third pull rod 352 is fixedly connected to the tensioning wheel 354, and the other end is passed through the mounting hole of the third mounting seat 351, and the fourth elastic member 353 is sleeved on the third pull rod 352. A nut is provided on the side of the third pull rod 352 close to the third mounting seat 351, and the nut is threadedly connected to the third pull rod 352. By adjusting the nut, the elastic force of the fourth elastic member 353 between the tensioning wheel 354 and the load-bearing arm 331 can be adjusted.

[0070] In this embodiment, the fourth elastic member 353 is a disc spring.

[0071] The utility model can keep the crawler belt 34 always tensioned during driving by arranging the tensioning assembly 35, so as to achieve the best running effect.

[0072] In one embodiment, Figure 1 As shown, the vehicle body 1 includes a control compartment 11 and a cargo compartment 12 . The control compartment 11 is electrically connected to the traveling mechanism 3 , and the cargo compartment 12 is arranged on the top of the control compartment 11 .

[0073] Specifically, in this embodiment, a cargo hold 12 is provided on the top of the vehicle body 1, and the cargo hold 12 is used to hold materials. In this embodiment, the cargo hold 12 adopts a plate frame structure. In some other embodiments, the cargo hold 12 may also adopt a hopper structure.

[0074] In this embodiment, the control compartment 11 is located at the bottom of the cargo compartment 12. The control compartment 11 is equipped with a power supply, a controller, a driving computer and other equipment for electrically connecting with the driver 32. The control compartment 11 adopts a closed sealed cabin structure, and is provided with a charging plug, an aviation plug connector and the like.

[0075] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A transport robot, characterized in that: include: A vehicle body (1), wherein the vehicle body (1) is suitable for transporting materials; A suspension mechanism (2), the suspension mechanism (2) comprising at least four frame shock absorbing mechanisms (21) and at least four wheel shock absorbing mechanisms (22), the wheel shock absorbing mechanisms (22) being rotatably connected to the vehicle body (1), the wheel shock absorbing mechanisms (22) being symmetrically arranged on both sides of the vehicle body (1), the frame shock absorbing mechanism (21) being arranged between the vehicle body (1) and the wheel shock absorbing mechanism (22), the wheel shock absorbing mechanism (22) comprising a first buffer component (221) and a swing arm (222), the first buffer component (221) being rotatably connected to the vehicle body (1), the swing arm (222) The first buffer assembly (221) is rotatably connected to the swing arm (222), the walking mechanism (3) is rotatably connected to the swing arm (222), the frame shock absorbing mechanism (21) comprises a first mounting seat (211), a first pull rod (212) and a second elastic member (213), the first mounting seat (211) is rotatably connected to the vehicle body (1), one end of the first pull rod (212) is rotatably connected to the swing arm (222), and the other end is movably connected to the first mounting seat (211), and the second elastic member (213) is sleeved on the first pull rod (212); At least four walking mechanisms (3), wherein the walking mechanisms (3) are rotationally connected to the wheel set shock absorbing mechanisms (22) respectively.

2. The transport robot according to claim 1, characterized in that: The wheel set shock absorbing mechanism (22) further comprises: A first bracket (223), wherein the first bracket (223) is rotatably connected to the swing arm (222), and one end of the two first buffer components (221) is rotatably connected to the vehicle body (1), and the other end is rotatably connected to two ends of the first bracket (223) respectively.

3. The transport robot according to claim 2, characterized in that: The first buffer component (221) comprises: A piston cylinder (2211), one end of the piston cylinder (2211) being rotatably connected to the vehicle body (1), and an end of the piston cylinder (2211) away from the vehicle body (1) being provided with an opening; A piston rod (2212), one end of the piston rod (2212) is rotatably connected to the first bracket (223), and one end of the piston rod (2212) away from the first bracket (223) is slidably connected to the piston cylinder (2211); A first elastic member (2213), wherein the first elastic member (2213) is sleeved on the piston cylinder (2211), one end of the first elastic member (2213) is connected to the piston cylinder (2211), and the other end is connected to the piston rod (2212).

4. The transport robot according to claim 1, characterized in that: The walking mechanism (3) comprises: A mounting frame (31), the mounting frame (31) being rotatably connected to the swing arm (222); A driver (32), wherein the driver (32) is fixedly mounted on the mounting frame (31); A road wheel assembly (33), wherein the road wheel assembly (33) is movably mounted on the mounting frame (31); A crawler belt (34), wherein the crawler belt (34) is sleeved on the mounting frame (31), and the driver (32) and the road wheel set (33) are movably connected to the crawler belt (34).

5. The transport robot according to claim 4, characterized in that: The wheel set shock absorbing mechanism (22) further comprises: A second buffer assembly (224), wherein the second buffer assembly (224) is arranged between the mounting frame (31) and the road wheel assembly (33).

6. The transport robot according to claim 5, characterized in that: The second buffer component (224) comprises: A second mounting seat (2241), the second mounting seat (2241) being fixedly mounted on the mounting frame (31); A second pull rod (2242), one end of the second pull rod (2242) is fixedly connected to the road wheel assembly (33), and the other end is inserted into the mounting hole of the second mounting seat (2241); A third elastic member (2243), wherein the third elastic member (2243) is sleeved on the second pull rod (2242).

7. The transport robot according to any one of claims 4 to 6, characterized in that: The walking mechanism (3) further comprises: A tensioning assembly (35), wherein the tensioning assembly (35) is mounted on the mounting frame (31), and the tensioning assembly (35) is movably connected to the crawler track (34).

8. The transport robot according to claim 1, characterized in that: The vehicle body (1) comprises: A control compartment (11), wherein the control compartment (11) is electrically connected to the walking mechanism (3); A cargo warehouse (12), wherein the cargo warehouse (12) is arranged on the top of the control warehouse (11).

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