CN117342483A - Supporting wheel device and transfer robot - Google Patents

Abstract

The invention discloses a supporting wheel device and a transfer robot, wherein the supporting wheel device comprises: a support having opposed upper and lower surfaces; the slewing bearing assembly is fixedly arranged on the lower surface of the support piece and can rotate relative to the support piece; the roller assembly is rotatably arranged on the slewing bearing assembly and can rotate at the bottom of the supporting piece along with the slewing bearing assembly; the driving assembly is used for driving the slewing bearing assembly to rotate at the bottom of the supporting piece. When the supporting wheel device works, the driving assembly is controlled to drive the slewing bearing assembly to rotate relative to the supporting piece according to actual needs, so that the roller assembly at the bottom of the slewing bearing assembly rotates, the effect of controlling the running angle of the supporting wheel device is achieved, equipment assembled with the supporting wheel device has the omnidirectional running movement function, the convenience of the equipment transferring process is improved, and the volume of the equipment cannot be increased.

Description

Supporting wheel device and transfer robot

Technical Field

The invention relates to the technical field of robots, in particular to a supporting wheel device and a transfer robot.

Background

The electric carrying forklift is logistics carrying equipment with the goods carrying function.

The electric carrying forklift has small volume, light body and high flexibility, and is widely applied to a plurality of factories. However, the existing transfer robots mostly travel unidirectionally, the casters of the fork teeth mostly use directional wheels, the travel angle of the directional wheels is difficult to control, and the transfer robots have great limitation in the actual use process, so if the transfer robots want to travel omnidirectionally, a supporting wheel device capable of steering needs to be designed.

Disclosure of Invention

The invention aims to provide a supporting wheel device and a transfer robot, which can control a driving assembly to drive a slewing bearing assembly to rotate relative to a supporting piece according to actual needs, so that a roller assembly at the bottom of the slewing bearing assembly rotates, the effect of controlling the running angle of the supporting wheel device is achieved, equipment assembled with the supporting wheel device has the omnidirectional running movement function, and the convenience of the equipment transfer process is improved.

The invention adopts the following technical scheme:

a support wheel apparatus comprising:

a support having opposed upper and lower surfaces;

the slewing bearing assembly is fixedly arranged on the lower surface of the supporting piece and can rotate relative to the supporting piece;

the roller assembly is rotatably mounted on the slewing bearing assembly and can rotate at the bottom of the supporting piece along with the slewing bearing assembly;

and the driving assembly is used for driving the slewing bearing assembly to rotate at the bottom of the supporting piece.

Preferably, the slewing bearing assembly comprises a first gear and a connecting boss; the first gear is rotatably supported on the connecting boss, and the connecting boss is fixedly connected with the lower surface of the supporting piece.

Preferably, the roller assembly comprises a roller body and a wheel shaft mounted on the roller body; two fixing pieces are arranged below the first gear, and two ends of the wheel shaft are fixedly connected with the fixing pieces respectively.

Preferably, the support member is of a U-shaped plate structure, a circle center opening is formed in the center of the support member, the diameter of the circle center opening is smaller than the outer diameter of the roller main body, and a part of the roller main body is located in the circle center opening.

Preferably, concave openings are formed in two sides of the supporting piece, and the concave openings are used for avoiding the periphery of the slewing bearing assembly.

Preferably, the driving assembly comprises a driving source and a speed reducer; the speed reducer is fixedly connected with the supporting piece, the driving source is fixedly connected with the speed reducer, the driving source inputs power to the input end of the speed reducer, the second gear is installed at the output end of the speed reducer and meshed with the first gear, and the first gear and the second gear are bevel gears meshed with each other respectively.

A transfer robot comprises the supporting wheel device and a main vehicle body frame; wherein, the supporting wheel device is fixedly arranged at the bottom of the main car body frame.

Preferably, the main vehicle body frame comprises a back plate, a vehicle body supporting seat, a bottom plate and fork legs, wherein the back plate is arranged on the bottom plate, the vehicle body supporting seat is fixedly arranged on the back plate, the fork legs are provided with opposite first ends and second ends, the supporting wheel device is arranged on the fork legs and is close to the first ends of the fork legs, and the second ends of the fork legs are connected with the bottom plate;

the transfer robot still includes bridge type actuating mechanism, bridge type actuating mechanism includes lamina bridge, two steering wheels, logical axle, lamina bridge below both sides are provided with the supporter, and all offer the shaft hole on the supporter, logical axle passes the shaft hole, be provided with two fixed blocks on the automobile body supporting seat, every tip of logical axle respectively with one the fixed block is connected, two steering wheels are installed lamina bridge below and be located respectively logical axle both sides.

Preferably, the number of the fork legs is two, the two fork legs are parallel to each other, and the axial direction of the through shaft is parallel to the length direction of the fork legs.

Preferably, the bridge driving mechanism further comprises a connecting plate, and the connecting plate is fixed on the bridge plate;

the bridge driving mechanism further comprises one or more of a steering control driver, a traveling driver and a contactor, wherein the steering control driver, the traveling driver and the contactor are respectively arranged on the connecting plate;

the main car body frame also comprises a connecting beam, and the bottom plate is connected with the fork legs through the connecting beam;

two through holes are formed in the vehicle body supporting seat, and each through hole is used for a steering wheel to pass through.

Preferably, the main car body frame further comprises a guide channel steel, the guide channel steel is fixedly connected with the backboard, and the bottom of the guide channel steel is fixedly connected with the bottom plate;

the transfer robot further comprises a lifting mechanism, wherein the lifting mechanism comprises an oil cylinder driver, an oil pump, a jacking oil cylinder, an oil cylinder head shaft, a driven wheel, a chain, a fork frame, a composite roller, a first sensor assembly and a second sensor assembly;

the lifting oil cylinder is connected with the oil pump through an oil pipe, an oil cylinder head shaft is connected with the top end of the lifting oil cylinder, a driven wheel is arranged on the oil cylinder head shaft, a chain is meshed to pass through the driven wheel, one end of the chain is fixedly connected with the backboard, the other end of the chain is connected with the fork frame, two sides of the fork frame are respectively in rolling connection with guide channel steel through composite rollers, a first sensor assembly is arranged on the backboard to detect the lifting height of the fork frame, and a second sensor assembly is arranged at the root of fork teeth of the fork frame to detect whether an article is inserted or not.

Preferably, the transfer robot further comprises a shell, and a laser navigation sensor, an obstacle avoidance sensor, a start button, an emergency stop button, a display screen, a camera module, a marker lamp module, a tri-color lamp band module and an antenna module which are arranged on the shell, wherein the shell is arranged on the main vehicle body frame; and/or the number of the groups of groups,

the device also comprises a battery assembly, a driver assembly, a navigation module and a communication module which are arranged in the shell.

Compared with the prior art, the invention has the beneficial effects that at least:

when the supporting wheel device works, the driving assembly is controlled to drive the slewing bearing assembly to rotate relative to the supporting piece according to actual needs, so that the roller assembly at the bottom of the slewing bearing assembly rotates, the effect of controlling the running angle of the supporting wheel device is achieved, equipment assembled with the supporting wheel device has the omnidirectional running movement function, the convenience of the equipment transferring process is improved, and the volume of the equipment cannot be increased.

The carrying robot is provided with the supporting wheel device, so that the carrying robot provided with the supporting wheel device can adjust the running angle of the wheels according to the situation, realize the omnidirectional running of the carrying robot and improve the application range of the carrying robot.

Further, the vehicle body supporting seat of the transfer robot is connected with the bridge plate and the steering wheel through the through shaft and the fixed block, and the through shaft can rotate in the shaft hole to adjust the relative states between the bridge plate, the steering wheel and the main vehicle body frame, so that the bearing forces of the two steering wheels are consistent, and the stability of the main vehicle body frame and the transferred goods is ensured.

Drawings

FIG. 1 is a schematic view of the overall structure of a rotary support wheel apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of a support member according to an embodiment of the present invention;

FIG. 3 is a schematic view of the construction of a slewing bearing assembly in accordance with an embodiment of the present invention;

fig. 4 is a schematic front view of a transfer robot according to an embodiment of the present invention;

fig. 5 is a schematic view of an internal structure of the transfer robot according to the embodiment of the present invention;

fig. 6 is a schematic view of a back structure of the transfer robot according to the embodiment of the present invention;

FIG. 7 is a schematic view of the side plate of FIG. 5 after being disassembled;

FIG. 8 is a schematic view of a construction of a drive mechanism for a deck bridge according to an embodiment of the invention;

FIG. 9 is a schematic view of the structure of FIG. 7 with FIG. 8 removed, in accordance with an embodiment of the present invention;

FIG. 10 is a schematic structural view of a bridge deck according to an embodiment of the present invention;

FIG. 11 is a schematic diagram showing a side view of a connection between a main body frame and a bridge deck driving mechanism according to an embodiment of the present invention.

In the figure: 1. a support; 11. an opening at the center of the circle; 12. a concave opening; 2. a slewing bearing assembly; 21. a first gear; 22. a connecting boss; 23. a fixing member; 3. a roller body; 31. a wheel axle; 4. a driving source; 41. a speed reducer; 42. a second gear; 51. a back plate; 54. a vehicle body support base; 541. a through hole; 55. guiding channel steel; 56. a bottom plate; 57. fork legs; 58. a connecting beam; 61. a bridge plate; 62. steering wheel; 63. a through shaft; 64. a fixed block; 65. a connecting plate; 66. a steering control driver; 67. a travel driver; 68. a contactor; 69. a support body; 691. a shaft hole; 71. an oil cylinder driver; 72. an oil pump; 73. jacking the oil cylinder; 731. a hydro-cylinder head shaft; 74. driven wheel; 75. a chain; 76. a fork; 77. a composite roller; 78. a first sensor assembly; 79. a second sensor assembly; 81. a laser navigation sensor; 82. an obstacle avoidance sensor; 83. a start button; 84. an emergency stop button; 85. a display screen; 86. a camera module; 87. an outline marker lamp module; 88. a tri-color lamp band module; 89. an antenna module.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus a repetitive description thereof will be omitted.

The words expressing the positions and directions described in the present invention are described by taking the drawings as an example, but can be changed according to the needs, and all the changes are included in the protection scope of the present invention.

Referring to fig. 1 to 3, a supporting wheel device includes: support 1, slewing bearing subassembly 2, roller assembly and drive assembly.

The support 1 has opposite upper and lower surfaces; the upper surface of the support 1 can be assembled and connected with an electric carrying forklift, and then replaces the existing directional wheels.

The slewing bearing assembly 2 is fixedly mounted on the lower surface of the support 1, and a part of the structure of the slewing bearing assembly 2 can rotate relative to the support 1.

The roller assembly is rotatably mounted on the slewing bearing assembly 2 and can rotate at the bottom of the support piece 1 along with the slewing bearing assembly 2; when the roller assembly rotates below the slewing bearing assembly 2, the normal rotation function of the supporting wheel device can be realized; wherein, the roller assembly can realize the direction adjustment of the supporting wheel device when the slewing bearing assembly 2 rotates at the bottom of the supporting piece 1.

Wherein the driving assembly is used for driving the slewing bearing assembly 2 to rotate at the bottom of the supporting piece 1.

Therefore, when the supporting wheel device works, the driving assembly is controlled to drive the slewing bearing assembly 2 to rotate relative to the supporting piece 1 according to actual needs, so that the roller assembly at the bottom of the slewing bearing assembly 2 rotates, the effect of controlling the running angle of the supporting wheel device is achieved, the equipment provided with the supporting wheel device has the omnidirectional running movement function, the convenience of the equipment transferring process is improved, and the volume of the equipment cannot be increased.

In one embodiment, the slewing bearing assembly 2 comprises a first gear 21 and a connecting boss 22; the first gear 21 is rotatably supported on the connection boss 22, and the connection boss 22 is fixedly connected with the lower surface of the support member 1. It should be noted that, the connection boss 22 and the support member 1 are preferably connected and fixed by a bolt, and other connection and fixation methods such as welding and the like may be adopted. More specifically, the first gear 21, the connecting boss 22 and the support member 1 are relatively rotated and adjusted in azimuth under the action of the slewing bearing. The first gear 21 and the connection boss 22 may be integrally formed in a ring structure, and the first gear 21 may be rotatably mounted on the connection boss 22 in a known connection manner.

In this embodiment, the roller assembly includes a roller body 3 and a wheel shaft 31 mounted on the roller body 3; two fixing pieces 23 are arranged below the first gear 21, two ends of the wheel shaft 31 are fixedly connected with the fixing pieces 23 respectively, so that the roller body 3 and the fixing pieces 23 can rotate below the supporting piece 1 along with the first gear 21, and meanwhile, the roller body 3 can rotate under the cooperation of the wheel shaft 31. The roller assembly is compact in structure, reliable and stable in connection mode, capable of bearing large pressure and particularly suitable for carrying equipment.

Preferably, the support member 1 is in a U-shaped plate structure, the center of the support member 1 is provided with a center opening 11, the diameter of the center opening 11 is smaller than the outer diameter of the roller body 3, and a part of the roller body 3 is located in the center opening 11. More specifically, the circle center opening 11 capable of accommodating the roller body 3 can reduce the volume of the whole supporting wheel device to a certain extent, thereby achieving the purpose of saving space.

In one embodiment, the support 1 is provided with a concave opening 12 on both sides, the concave opening 12 being used to clear the periphery of the slewing bearing assembly 2. More specifically, the periphery of the pivoting support assembly 2 can be disposed in the concave opening 12, so that the relative distance between the two side edges of the support member 1 can be reduced within a certain range, the volume of the whole support wheel device can be further reduced, and the space can be further saved.

In one embodiment, the drive assembly includes a drive source 4 and a speed reducer 41; the speed reducer 41 is fixedly connected with the support piece 1, the driving source 4 is fixedly connected with the speed reducer 41, the driving source 4 inputs power to the input end of the speed reducer 41, the second gear 42 is installed at the output end of the speed reducer 41, the second gear 42 is meshed with the first gear 21, and the first gear 21 and the second gear 42 are respectively conical gears meshed with each other. The speed reducer 41 is fixedly connected with the support member 1, the driving source 4 is fixedly connected with the speed reducer 41, so that the driving source 4, the speed reducer 41, the first gear 21 and the support member 1 form a whole, the whole and the roller assembly can be relatively rotated and adjusted under the action of the slewing bearing assembly 2, the first gear 21 and the second gear 42 are connected through conical gears, the power transmission direction can be adjusted, the power of the driving source 4 is input to the first gear 21, and the steering of the structures such as the second gear 42 below can be adjusted. The speed reducer 41 may reduce the rotation speed of the driving source 4 to some extent, so that the first gear 21 at the output end of the speed reducer 41 may be operated at an appropriate rotation speed.

Preferably, the support member 1 may be provided with a mounting seat for mounting the speed reducer 41, and a through hole through which the output end of the speed reducer 41 passes is reserved on the mounting seat, so that the output end of the speed reducer 41 can pass through a side position structure of the mounting seat, and further, a shaft sleeve adapted to the output shaft of the speed reducer 41 can be arranged in the through hole, so that the output shaft of the speed reducer 41 can be positioned in an auxiliary manner, and meanwhile, the stability of the rotation process of the output shaft is improved. The supporting piece 1 and the mounting seat are fixedly connected, and can be manufactured in an integrated forming mode, and can also be fixedly connected in other modes such as welding in the prior art.

Preferably, the driving source 4 may be a servo motor, and after the supporting wheel device is mounted on a device such as a transfer robot, a motor driver may be mounted on the transfer robot or the device to control the operation of the servo motor. Specifically, the motor driver controls the servo motor to rotate, so as to drive the second gear 42 to rotate, the first gear 21 matched with the second gear 42 rotates along the second gear 42, and the roller body 3 connected with the second gear 42 also rotates along with the rotation of the first gear 21, wherein the servo motor can calculate the rotation angle of the roller body 3, so that the rotation angle of the roller body 3 can be controlled, and the purpose of adjusting the angle of the supporting wheel device is achieved.

Referring to fig. 4 to 11, the present invention further provides a transfer robot, including the support wheel device and the main body frame; wherein, the supporting wheel device is fixedly arranged at the bottom of the main car body frame. Because the transfer robot is provided with the supporting wheel device, the transfer robot provided with the supporting wheel device can adjust the running angle of the wheels according to the situation, realize the omnidirectional running of the transfer robot and improve the application range of the transfer robot.

In one embodiment, the main body frame includes a back plate 51, a body support base 54, a bottom plate 56 and a fork leg 57, the back plate 51 being disposed on the bottom plate 56, the body support base 54 being fixedly disposed on the back plate 51, the fork leg 57 having opposite first and second ends, the support wheel assembly being disposed on the fork leg 57 proximate the first end of the fork leg 57, the second end of the fork leg 57 being connected to the bottom plate 56; the main structure of the main body frame of the transfer robot is formed by the mutual connection of the structures, and other functional components of the transfer robot can be installed on the main body frame based on the main body frame, so that the transfer robot can realize corresponding functions.

The transfer robot further comprises a bridge driving mechanism, the bridge driving mechanism comprises a bridge plate 61, two steering wheels 62 and a through shaft 63, supporting bodies 69 are arranged on two sides below the bridge plate 61, shaft holes 691 are formed in the supporting bodies 69, the through shaft 63 penetrates through the shaft holes 691, two fixing blocks 64 are arranged on the vehicle body supporting seat 54, each end portion of the through shaft 63 is connected with one fixing block 64, and the two steering wheels 62 are arranged below the bridge plate 61 and located on two sides of the through shaft 63.

Accordingly, the body support 54 is connected to the bridge plate 61 and the steering wheel 62 via the through shaft 63 and the fixed block 64, and the through shaft 63 can rotate in the shaft hole 691 to adjust the relative state between the bridge plate 61 and the steering wheel 62 and the main body frame, so that the forces received by the steering wheels 62 can be ensured to be uniform, and the stability of the main body frame and the transported goods can be ensured.

Preferably, the number of the fork legs 57 is two, the two fork legs 57 are parallel to each other, the axial direction of the through shaft 63 is parallel to the longitudinal direction of the fork legs 57, and when the bridge plate 61 and the main body frame are swung about the through shaft 63, the swinging direction of the bridge plate 61 and the fork legs 57 are coordinated with each other, so that the whole transfer robot can be ensured to run in a relatively stable state.

In this embodiment, the bridge driving mechanism further includes a connecting plate 65, and the connecting plate 65 is fixed on the bridge plate 61; the connection plate 65 is preferably mounted on top of the bridge plate 61 and is preferably bolted therebetween for subsequent maintenance and replacement operations.

The bridge driving mechanism further comprises one or more of a steering control driver 66, a traveling driver 67 and a contactor 68, wherein the steering control driver 66, the traveling driver 67 and the contactor 68 are respectively arranged on the connecting plate 65; the functions of steering, starting and stopping of the bridge driving mechanism can be controlled by the cooperation of the steering control driver 66, the walking driver 67, the contactor 68 and the like.

The main body frame also comprises a connecting beam 58, and the bottom plate 56 is connected with the fork legs 57 through the connecting beam 58; the connecting beam 58 and the vehicle body support base 54 are located on both sides of the bottom plate 56, respectively, so that the steering wheel 62 and the roller body 3 can be disposed on the peripheral side of the entire transfer robot to support and transfer the equipment.

The vehicle body support seat 54 is provided with two through holes 541, and each through hole 541 is used for allowing the steering wheel 62 to pass through, where the through hole 541 is larger than the outer edge of the steering wheel 62, so as to ensure that the steering wheel 62 can normally operate.

Referring to fig. 4, 5, 6, 7 and 8, in one embodiment, the main body frame further includes a guide channel 55, the guide channel 55 is fixedly connected to the back plate 51, and the bottom of the guide channel 55 is fixedly connected to the bottom plate 56;

the transfer robot further includes a lifting mechanism including a cylinder drive 71, an oil pump 72, a lift cylinder 73, a cylinder head shaft 731, a driven wheel 74, a chain 75, a fork 76, a compound roller 77, a first sensor assembly 78, and a second sensor assembly 79.

Specifically, the cylinder driver 71 and the oil pump 72 are mounted on the back plate 51, the lifting cylinder 73 is connected with the oil pump 72 through an oil pipe, the cylinder head shaft 731 is connected with the top end of the lifting cylinder 73, the driven wheel 74 is mounted on the cylinder head shaft 731, the chain 75 is meshed with the driven wheel 74, one end of the chain 75 is fixedly connected with the back plate 51, the other end of the chain 75 is connected with the fork frame 76, wherein two sides of the fork frame 76 are respectively connected with the guide channel steel 55 in a rolling manner through the composite roller 77, further, the fork frame 76 of the transfer robot can transfer, lift and other operations on goods along the guide channel steel 55 under the action of the composite roller 77, the first sensor assembly 78 is mounted on the back plate 51 to detect the lifting height of the fork frame 76, and the second sensor assembly 79 is mounted on the root of the fork teeth of the fork frame 76 to detect whether the goods are inserted in place or not.

Referring to fig. 4, in one embodiment, the transfer robot further includes a housing and a laser navigation sensor 81, an obstacle avoidance sensor 82, a start button 83, an emergency stop button 84, a display screen 85, a camera module 86, a marker light module 87, a tri-color light band module 88, and an antenna module 89 provided on the housing, the housing being provided on the main body frame; and/or the number of the groups of groups,

the robot further comprises a battery assembly, a driver assembly, a navigation module and a communication module which are at least arranged in the shell, so that the robot can automatically walk and carry.

Preferably, the laser navigation sensor 81 is mounted on the top of the vehicle body frame for drawing, positioning and the like, the obstacle avoidance sensor 82 may be provided with N groups and may be mounted on the bottom of the vehicle body frame for drawing, positioning, obstacle avoidance and the like, the start button 83 is mounted outside the vehicle body frame for starting the vehicle body, and the emergency stop button 84 is mounted outside the vehicle body frame for emergency stop of the transfer robot in emergency; the display screen 85 is installed outside the car body frame for human-computer interaction, and camera module 86 is installed in the top of car body frame for three-dimensional obstacle avoidance, marker lamp module 87 is installed in the top of car body frame, plays the effect of warning, and three-color lamp area module 88 is installed outside the car body frame for the running condition of demonstration automobile body, and antenna module 89 is installed at the automobile body top, is used for the transmission of information. Further, the housing may include side plates located at both sides of the back plate 51, a panel connected to the side plates and facing the back plate 51, and a shroud covering the body support base 54, and the housing may be a part of the main body frame, and the above-mentioned components may be flexibly mounted at other positions of the housing according to actual situations.

While embodiments of the present invention have been shown and described, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that changes, modifications, substitutions and alterations may be made therein by those of ordinary skill in the art without departing from the spirit and scope of the invention, all such changes being within the scope of the appended claims.

Claims (12)

1. A support wheel apparatus, comprising:

-a support (1), the support (1) having opposite upper and lower surfaces;

the slewing bearing assembly (2) is fixedly arranged on the lower surface of the support piece (1), and the slewing bearing assembly (2) can rotate relative to the support piece (1);

the roller assembly is rotatably mounted on the slewing bearing assembly (2), and can rotate at the bottom of the supporting piece (1) along with the slewing bearing assembly (2);

the driving assembly is used for driving the slewing bearing assembly (2) to rotate at the bottom of the supporting piece (1).

2. Supporting wheel arrangement according to claim 1, characterized in that the slewing bearing assembly (2) comprises a first gear wheel (21) and a connecting boss (22); the first gear (21) is rotatably supported on the connecting boss (22), and the connecting boss (22) is fixedly connected with the lower surface of the supporting piece (1).

3. The support wheel arrangement according to claim 2, characterized in that the roller assembly comprises a roller body (3) and an axle (31) mounted on the roller body (3); two fixing pieces (23) are arranged below the first gear (21), and two ends of the wheel shaft (31) are fixedly connected with the fixing pieces (23) respectively.

4. A supporting wheel device according to claim 3, characterized in that the supporting member (1) is of a U-shaped plate structure, a center opening (11) is formed in the center of the supporting member (1), the diameter of the center opening (11) is smaller than the outer diameter of the roller body (3), and a part of the roller body (3) is located in the center opening (11).

5. The supporting wheel device according to claim 1, characterized in that the supporting member (1) is provided with concave openings (12) on both sides, and the concave openings (12) are used for avoiding the periphery of the slewing bearing assembly (2).

6. Supporting wheel arrangement according to claim 2, characterized in that the drive assembly comprises a drive source (4) and a speed reducer (41); the speed reducer (41) with support piece (1) fixed connection, drive source (4) with speed reducer (41) fixed connection, and drive source (4) with power input extremely the input of speed reducer (41), second gear (42) are installed to speed reducer (41) output, and second gear (42) with first gear (21) meshes, first gear (21) and second gear (42) are intermeshing's conical gear respectively.

7. A transfer robot comprising the support wheel device according to any one of claims 1 to 6, a main body frame; wherein, the supporting wheel device is fixedly arranged at the bottom of the main car body frame.

8. The transfer robot of claim 7, wherein the main body frame includes a back plate (51), a body support (54), a bottom plate (56), and fork legs (57), the back plate (51) being disposed on the bottom plate (56), the body support (54) being fixedly disposed on the back plate (51), the fork legs (57) having opposite first and second ends, the support wheel assembly being disposed on the fork legs (57) proximate the first ends of the fork legs (57), the second ends of the fork legs (57) being connected to the bottom plate (56);

the transfer robot further comprises a bridge type driving mechanism, the bridge type driving mechanism comprises a bridge plate (61), two steering wheels (62) and a through shaft (63), supporting bodies (69) are arranged on two sides below the bridge plate (61), shaft holes (691) are formed in the supporting bodies (69), the through shaft (63) penetrates through the shaft holes (691), two fixing blocks (64) are arranged on a vehicle body supporting seat (54), each end portion of the through shaft (63) is connected with one fixing block (64), and the two steering wheels (62) are arranged below the bridge plate (61) and located on two sides of the through shaft (63) respectively.

9. The transfer robot according to claim 8, wherein the number of the fork legs (57) is two, and the two fork legs (57) are parallel to each other, and the axial direction of the through shaft (63) is parallel to the longitudinal direction of the fork legs (57).

10. The transfer robot according to claim 8, characterized in that the bridge drive further comprises a connection plate (65), the connection plate (65) being fixed to the bridge plate (61);

the bridge driving mechanism further comprises one or more of a steering control driver (66), a traveling driver (67) and a contactor (68), wherein the steering control driver (66), the traveling driver (67) and the contactor (68) are respectively installed on the connecting plate (65);

the main body frame further comprises a connecting beam (58), and the bottom plate (56) is connected with the fork legs (57) through the connecting beam (58);

two through holes (541) are formed in the vehicle body supporting seat (54), and each through hole (541) is used for allowing a steering wheel (62) to pass through.

11. The transfer robot according to claim 8, wherein,

the main car body frame further comprises guide channel steel (55), the guide channel steel (55) is fixedly connected with the back plate (51), and the bottom of the guide channel steel (55) is fixedly connected with the bottom plate (56);

the transfer robot further comprises a lifting mechanism, wherein the lifting mechanism comprises an oil cylinder driver (71), an oil pump (72), a jacking oil cylinder (73), an oil cylinder head shaft (731), a driven wheel (74), a chain (75), a fork frame (76), a compound roller (77), a first sensor assembly (78) and a second sensor assembly (79);

the lifting oil cylinder is characterized in that the oil cylinder driver (71) and the oil pump (72) are installed on the back plate (51), the lifting oil cylinder (73) is connected with the oil pump (72) through an oil pipe, an oil cylinder head shaft (731) is connected with the top end of the lifting oil cylinder (73), a driven wheel (74) is installed on the oil cylinder head shaft (731), a chain (75) is meshed to pass through the driven wheel (74), one end of the chain (75) is fixedly connected with the back plate (51), the other end of the chain (75) is connected with the fork frame (76), two sides of the fork frame (76) are respectively connected with the guide channel steel (55) in a rolling mode through composite rollers (77), a first sensor assembly (78) is installed on the back plate (51) to detect the lifting height of the fork frame (76), and a second sensor assembly (79) is installed on the root of a fork tooth of the fork frame (76) to detect whether an article is inserted in place or not.

12. The transfer robot according to claim 7, further comprising a housing and a laser navigation sensor (81), an obstacle avoidance sensor (82), a start button (83), an scram button (84), a display screen (85), a camera module (86), a marker light module (87), a tri-band light module (88), and an antenna module (89) provided on the housing, the housing being provided on the main body frame; and/or the number of the groups of groups,

the device also comprises a battery assembly, a driver assembly, a navigation module and a communication module which are arranged in the shell.