CN208051909U - Flexible bottom and transfer robot - Google Patents
Flexible bottom and transfer robot Download PDFInfo
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- CN208051909U CN208051909U CN201721733701.1U CN201721733701U CN208051909U CN 208051909 U CN208051909 U CN 208051909U CN 201721733701 U CN201721733701 U CN 201721733701U CN 208051909 U CN208051909 U CN 208051909U
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- loading plate
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Abstract
It provides a kind of flexible bottom and transfer robot, flexible bottom includes：Chassis, at least one first driven wheel and at least two driving wheels are set to the bottom on the chassis, and the installation position of first driven wheel and the driving wheel are misaligned；Loading plate, at least one second driven wheel is set to the bottom of the loading plate, and installation position and first driven wheel and the driving wheel are misaligned；Adjustment mechanism, for connecting the loading plate and the chassis, to which when ground injustice, the adjustment mechanism is for dynamically adjusting second driven wheel, to make first driven wheel, second driven wheel and the driving wheel fit in ground.When ground injustice, adjustment mechanism can dynamically adjust the driven wheel for being set to loading plate, so that at least two driven wheels and at least two driving wheels fit in ground.
Description
Technical field
The utility model belongs to goods sorting field, and in particular to a kind of flexible bottom and transfer robot.
Background technology
Traditional warehouse entry and outbound usually by warehouse employee fork truck or pushes trolley and operates, successively by cargo
It is put into corresponding shelf, corresponding position.This process is not only time-consuming more, but also human cost is very high, and when warehouse, kinds of goods type is various
When, operating process is complex and easy error.
Currently, just attempting automated warehouse, transported goods using storage transfer robot when outbound and storage in warehouse, machine
Device people enters memory block, finds the shelf of needs and is sent to sorting work station and completes the Kuku operation that comes in and goes out.
For transfer robot of storing in a warehouse, definition can be formed more than transfer robots more than 3 wheels, ground it is uneven or
In the case that wheel mounting height is not quite identical, has part wheel and be detached from bottom surface, earth-grasping force is lost, if losing earth-grasping force
Wheel be transfer robot driving wheel, transfer robot can be caused out of control.
Utility model content
In consideration of it, the utility model provides a kind of flexible bottom and transfer robot, by chassis and loading plate it
Between adjustment mechanism is set, wheel can be made preferably to be bonded with ground.
The one side of the utility model provides a kind of flexible bottom.The flexible bottom includes：Chassis, at least one
One driven wheel and at least two driving wheels are set to the bottom on the chassis, and the installation position of first driven wheel and the master
Driving wheel is misaligned；Loading plate, at least one second driven wheel are set to the bottom of the loading plate, and installation position and described the
One driven wheel and the driving wheel are misaligned；Adjustment mechanism, for connecting the loading plate and the chassis, to work as ground not
Usually, the adjustment mechanism is for dynamically adjusting second driven wheel, to make first driven wheel, described second from
Driving wheel and the driving wheel fit in ground.
In one embodiment, the first end of the adjustment mechanism is hingedly attached to the chassis, and second end is connected to
The loading plate.
In one embodiment, the second end of the adjustment mechanism is fixedly connected with or is hinge-connected to the loading plate.
In one embodiment, the first end of the adjustment mechanism is equipped with rotating ballhead, and the adjustment mechanism is described in
Rotating ballhead is connected to the chassis.
In one embodiment, the adjustment mechanism includes at least one extensible member, and the extensible member includes beam barrel and setting
Shaft in the beam barrel is arranged wherein the shaft is telescopic in the beam barrel.
In one embodiment, the adjustment mechanism includes multiple extensible members, and the multiple extensible member is evenly provided on
Between the loading plate and the chassis.
In one embodiment, close described chassis one end of the multiple extensible member is fixed to one another, and the other end is remote to each other
From direction stretch out and be connected respectively to the loading plate.
In one embodiment, the angle of the extensible member and the loading plate is in the range of 15-45 °.
In one embodiment, the quantity of the extensible member is 3-8.
In one embodiment, the adjustment mechanism includes link mechanism.
In one embodiment, second driven wheel is connected to the loading plate by telescopic rod or link mechanism.
In one embodiment, at least two driving wheel in the chassis perpendicular to front-rear direction divide front and
The left part and right part on the chassis are symmetrically installed on first center line at rear portion.
In one embodiment, at least two driving wheel being parallel to front-rear direction and divide a left side equally relative to the chassis
Second center line of portion and right part is symmetrically installed in the left part and right part on the chassis.
In one embodiment, at least two driven wheel is symmetrical arranged relative to second center line.
In one embodiment, at least two driven wheel is relative to the chassis perpendicular to front-rear direction and before dividing equally
First center line at portion and rear portion is symmetrical arranged.
The utility model another aspect provides a kind of transfer robots including above-mentioned flexible bottom.
The flexible bottom and transfer robot of the utility model, it can be ensured that wheel is bonded with ground, improves walking
Stability.
Description of the drawings
In order to illustrate more clearly of the technical solution of the utility model embodiment, the attached drawing of embodiment will be made below simple
Ground introduction, it should be apparent that, the accompanying drawings in the following description merely relates to some embodiments of the utility model, rather than to this practicality
Novel limitation.
Fig. 1 a-1c are the flexible bottom schematic diagram that the utility model embodiment provides.
Force diagram of the flexible bottom of Fig. 2 a the utility model embodiments on flat ground.
Fig. 2 b are that the flexible bottom of the utility model embodiment does not adjust the schematic diagram of driven wheel usually on ground.
Fig. 3 a and Fig. 3 b are that there are two the planes of driving wheel and the flexible bottom of driven wheel to show for the utility model embodiment tool
It is intended to.
Fig. 4 is the partial structural diagram of the transfer robot of the utility model embodiment.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
The technical solution of the utility model embodiment is clearly and completely described in the attached drawing of type embodiment.Obviously, described
Embodiment is a part of the embodiment of the utility model, instead of all the embodiments.Based on described the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of without creative work, all belongs to
In the range of the utility model protection.
Unless otherwise defined, the technical term or scientific term used herein is should be in the utility model fields
The ordinary meaning that personage with general technical ability is understood." first ", " second " and the similar word used in the disclosure
It is not offered as any sequence, quantity or importance, and is used only to distinguish different component parts.Equally, "one", " one "
Or the similar word such as "the" does not indicate that quantity limits yet, but indicate that there are at least one.The classes such as " comprising " or "comprising"
As word mean to occur the element before the word either object cover the element for appearing in the word presented hereinafter or object and
It is equivalent, and is not excluded for other elements or object.The similar word such as " connection " or " connected " is not limited to physics
Or the connection of machinery, but may include electrical connection, either directly or indirectly."upper", "lower", " left side ",
" right side " etc. is only used for indicating relative position relation, after the absolute position for being described object changes, then the relative position relation
May correspondingly it change.
The one side of the utility model provides a kind of flexible bottom.Referring to Fig. 1 a-1c, which includes：Bottom
Disk 1, at least one first driven wheel 4-2 and at least two driving wheels 3 (3-1,3-2) are set to the bottom on the chassis 1, and institute
Installation position and the driving wheel 3 for stating the first driven wheel 4-2 are misaligned；Loading plate 2, at least one second driven wheel 4-2 are set
It is placed in the bottom of the loading plate 2, and installation position and the first driven wheel 4-1 and the driving wheel 3 are misaligned；Adjustment machine
Structure 5, for connecting the loading plate 2 and the chassis 1, to which when ground injustice, the adjustment mechanism 5 is for dynamically adjusting
The whole second driven wheel 4-2, to make the first driven wheel 4-1, the second driven wheel 4-2 and the driving wheel 3 paste
Together in ground.The flexible bottom of the utility model, by making loading plate be connect by adjusting mechanism with chassis, driven wheel and active
Wheel can be preferably bonded with ground, improve the stationarity of traveling.
It should be noted that under normal conditions, it is set to a One On The Chassis driven wheel 4-1 and two driving wheel 3-1,
3-2 can be for example bonded with ground always, i.e., three wheels constitute a plane.Meanwhile if four wheels are set on chassis 1
In the case of son, if its ground out-of-flatness to be travelled, it is likely that can there is a situation where one of wheels to tilt, to pole
The big stationarity for affecting traveling.In consideration of it, a driven wheel is connected to chassis 1 by the utility model by loading plate 2, from
And loading plate 2 can be in driven wheel 4-2 stress, such as its distance away from chassis 1 can be dynamically adjusted, so that it is guaranteed that four
Wheel is contacted with ground.
Referring to Fig. 1 c, in one embodiment, the first end of the adjustment mechanism 5 is hingedly attached to the chassis 1, and
Two ends are connected to the loading plate.For example, one end of adjustment mechanism 5 can be connected to chassis 1 by hinge, so as to adjust mechanism
5 can rotate relative to chassis, realize the adjusting in ground difference to driven wheel.For example, as illustrated in figure 1 c, in order to make adjustment
Mechanism can be to the left and right both direction rotation towards figure, and articulated structure position leftward position in figure includes notch, so as to
So that loading plate left side rotation into figure, and can also rotate freely to the right.
Referring to Fig. 2 a, when loading plate 2 is by power from driven wheel 4-2, loading plate 2 can be adapted to relative to chassis 1
Ground adjusts posture, to make driven wheel and driving wheel are bonded always with ground.Equally, 2 side of close loading plate of adjustment mechanism 5
Second end is fixedly connected with or is hinge-connected to the loading plate 2.That is, hinge had both may be used with loading plate 2 in adjustment mechanism 5
The mode connect connects, and can also be fixedly connected to loading plate 2.For example, when the both ends of adjustment mechanism 5 respectively with chassis 1 and hold
When support plate 2 is hinged, the degree of freedom of adjustment mechanism can be improved, improves the flexibility that adjustment mechanism dynamic adjusts driven wheel.
In conjunction with Fig. 2 a and Fig. 2 b, it is known that, when ground injustice, occur for example, by hinge 5 between chassis 1 and loading plate 2
Rotation is with the uneven situation on adaptive road surface, it is ensured that all wheels are all kept in contact with ground.
In one embodiment, the first end of the adjustment mechanism 5 is equipped with rotating ballhead, and the adjustment mechanism 5 passes through institute
It states rotating ballhead and is connected to the chassis 1.Specifically, rotating ballhead may include for being fixed on the One On The Chassis shell, and
One end of the bulb being rotatably arranged in shell, bulb for example can be by covering axis connection to loading plate 2.For example, bulb
The end can with set axis one end be fixedly connected, the other end for covering axis is fixedly attached to loading plate 2.Since bulb can be outside
It is rotated freely with 360 ° of angles in shell, therefore, loading plate 2 can be rotated freely by the set axis being connect with bulb relative to chassis 1,
To realize that the dynamic to driven wheel 4-2 adjusts.
In one embodiment, the adjustment mechanism 5 includes at least one extensible member, and the extensible member includes beam barrel and setting
Shaft in the beam barrel is arranged wherein the shaft is telescopic in the beam barrel.The effect of the extensible member is to coordinate
The stress of driven wheel 4-2 and realize the flexible of its length, the distance so as to adjust driven wheel relative to chassis 1.For example, sleeve
One end is hingedly attached on chassis 1, and the shaft being arranged in sleeve connects loading plate 2.For example, shaft has in beam barrel
Preset collapsing length.That is, in ground even, the stress of four wheels has certain range, at this point, shaft is in axis
Collapsing length in cylinder is also in certain section, so that it is guaranteed that four wheels are bonded on the ground always.And work as four wheels
When in uneven ground, wheel stress changes, and shaft by loading plate 2 when experiencing stress variation, length meeting
It changes.For example, when the pressure suffered by driven wheel 4-2 set on loading plate 2 increases, the extension elongation of shaft can nature drop
It is low, to which wheel stress meeting nature reduces, to offset the negative effect that ground is not brought usually.Equally, when set on loading plate
Driven wheel suffered by pressure when reducing, that is, when the driven wheel has the tendency that hanging, shaft can nature elongation, to make this
Driven wheel is bonded on the ground.
In this embodiment, for example, the predeterminated position of shaft and telescopic variation can be realized by built-in spring.
In one embodiment, the adjustment mechanism 5 includes multiple extensible members, and the multiple extensible member is evenly provided on
Between the loading plate 2 and the chassis 1.For example, each extensible member can be above-mentioned set axle construction.One end example of these set axis
It is connected on chassis 1 Ru hinged, the other end is fixedly connected or is hingedly connected on loading plate 2.For example, multiple extensible members can be with
Annular arrangement is formed in chassis 1 and loading plate 2 face relative to each other.For example, these extensible members connect in loading plate 2 including the first kind
Contact, and this extensible member includes the second class tie point on chassis 1.Round knot can be obtained by connecting the first kind tie point
Structure, quadrangle, octagon or other symmetrical geometric figures.Equally, connection the second class tie point can also obtain circular configuration,
Quadrangle, octagon or other symmetrical geometric figures.For example, these geometric figures can also be multiple circular ring structure, multiple
The structures such as quadrangle, multiple octagon.By the way that telescopic rod is arranged in loading plate 2 and the One On The Chassis connection type, tune can be improved
The adjusting stability of complete machine structure 5, improves its regulating effect to driven wheel.
In one embodiment, close 1 one end of the chassis of the multiple extensible member is fixed to one another, and the other end is remote to each other
From direction stretch out and be connected respectively to the loading plate 2.For example, can be fixed one end of extensible member by annular cuffs,
Later, which is hinged or chassis 1 is connected to by aforementioned rotating ballhead.The other end of each extensible member dissipates outward
Stretching, and connect at an angle with the face on the close chassis of loading plate 2.For example, in order to make adjustment mechanism 5,1 and of chassis
The structure that loading plate 2 forms more is stablized, which can be in the range of 15-45 °.By the connection that multiple telescopic rods are arranged
Mode and angle can preferably adjust the posture of driven wheel.
Example is applied above-mentioned, for example, the quantity of extensible member is 3-8.As described above, these telescopic rods can it is uniform or
Person one end is assembled and the setting of other end diverging is between loading plate 2 and chassis 1, realizes the adjustment to the posture of driven wheel.
In one embodiment, the adjustment mechanism 5 includes link mechanism.In Uneven road, driven wheel and driving wheel
Stress changes, to which link mechanism combines the mode that is for example articulated and connected that can coordinate wheel stressing conditions and adaptability tune
It is whole, it is ensured that each wheel fits in ground.
In one embodiment, second adjustment mechanism is provided between loading plate and the second driven wheel.For example, the second adjustment
Mechanism is telescopic rod or link mechanism.For example, as described above, the one or both ends of second adjustment mechanism can be with loading plate or
Two driven wheels are flexibly connected, and the mode of the hinged or rotating ballhead connection of the foregoing description specifically can be used.By driven second
Setting telescopic rod or link mechanism between wheel and loading plate, the flexibility that can further adjust, to ground not usually, more
The stress variation of fast induction and adjustment driven wheel, makes driving wheel and driven wheel preferably fit in ground.
By the example arrangement of above several flexible bottoms it is found that by include can relative to chassis, driven wheel and
The adjustment structure of loading plate movement, ground not usually, which can be with automatic adjusument.Further, the adjustment knot
Structure, which can also include the relative motion corresponding to adjustment structure relative to chassis, driven wheel and loading plate, can occur opposite transport
Dynamic other components so that flexible bottom have it is preferably flexible so that all wheels can automatic adjusument with more
Good adaptation ground.
It should be noted that foregoing merely illustrate the example arrangement of several flexible bottom automatic adjusuments, this field
Technical staff it is conceivable that the simple deformation of foregoing exemplary structure can also realize the above effect, and corresponding technical solution
Also in the protection domain of the utility model embodiment, for sake of simplicity, will no longer repeat here.
Illustratively, for the flexible bottom according to the utility model embodiment, the quantity of driving wheel can be at least two
A, the quantity of driven wheel can be at least two, or the convenience of description, below by taking two driving wheels and two driven wheels as an example
It illustrates.
In one embodiment, for example, two driving wheels divide front with after in the chassis perpendicular to front-rear direction
The left part and right part on the chassis are symmetrically installed on first center line in portion.By making two driving wheels be symmetrical arranged, Ke Yiti
The stationarity of high traveling.
In addition, at least two driving wheel being parallel to front-rear direction and divide left part and right part equally relative to the chassis
The second center line be symmetrically installed in the left part and right part on the chassis.By making two driving wheels be symmetrical arranged along center line both sides,
Chassis can be prevented in turning, unbalance stress occurs and turns on one's side.For example, at least two driven wheel is also relative to described
Two center lines are symmetrical arranged.To which two driving wheels and two driven wheels are symmetrical arranged both with respect to the second center line, coordinate this practicality
Novel adjustment mechanism can preferably alleviate the wheel caused by the injustice of ground and lift phenomenon.
Fig. 3 a show the plan view of flexible bottom, are mainly used for illustrating the setting of wheel, to put it more simply, only indicating master
The position of driving wheel.As shown in Figure 3a, direction shown in AA ' arrow lines is front-rear direction, and the direction of BB ' arrow line meanings is a left side
Right direction, AA ' lines are the second center line and are parallel to the front-rear direction on chassis, divide the left part and right part of flexible bottom, BB ' lines
For the first center line and perpendicular to the front-rear direction on chassis, the front and rear of flexible bottom is divided, at least two driving wheels 3 can
To be symmetrically installed in the left part and right part on chassis 1 about the second center line.
Certainly, at least two driving wheels 3 can also be about the asymmetrical left part and right part for being installed in chassis of the second center line.
For example, a driving wheel 3-1 can be close to the second center line, and another driving wheel 3-2 can be relatively far from the second center line,
Alternatively, a driving wheel 3-1 can be relatively forward, another driving wheel 3-2 can relatively closer to the rear portion of flexible bottom,
The embodiments of the present invention are limited not to this, if including the flexible bottom device can realize it is predetermined
Function, it may for example comprise the transfer robot of the flexible bottom normal walking and can transport goods.
Further, at least two driving wheels 3 can symmetrically be installed in left part and the right side on chassis 1 on the first center line BB '
Portion, Fig. 3 b show such structure.Alternatively, at least two driving wheels 3 asymmetric on the first center line BB ' can be installed in
The left part and right part on chassis 1.
Here, it should be noted that wheel described above refers to wheel shaft in the first center line the first center line is first-class
On, and symmetrically or non-symmetrically install also referred to as that wheel shaft is symmetrically or non-symmetrically.
Illustratively, for the flexible bottom according to the utility model embodiment, two driven wheels 4-1 and 4-2 can be closed
It is symmetricly set on the left part and right part on chassis 1 in the second center line AA '.Alternatively, being installed at least with the second center line AA ' is asymmetric
The left part and right part on chassis, for example, a driven wheel 4-1 can be close to the second center line, and another driven wheel 4-2 can be remote
From the second center line, alternatively, a driven wheel 4-1 can be relatively forward, another driven wheel 4-2 can be relatively closer to flexibility
The rear portion of pedestal, the embodiments of the present invention are defined not to this.
Moreover, for the position relationship of driving wheel and driven wheel, as long as the setting of driving wheel and driven wheel makes flexible bottom
Seat can work normally, and the embodiments of the present invention are defined not to this, for example, as shown in Figure 3b, driving wheel
The left part and right part of flexible bottom are symmetrically installed in about the second center line, driven wheel is also symmetrically installed in flexibility about the second center line
The left part and right part of pedestal, but driven wheel is located at rear portion, and driving wheel is located at front.
Illustratively, two driven wheels 4-1 and 4-2 can also be symmetricly set on chassis about the first center line of flexible bottom
1 front and rear.
Illustratively, as shown in Figure 3a, two driven wheels 4-1 and 4-2 can be upper symmetrical in the second center line AA ' on chassis 1
Front and rear on chassis is set.
It is that specific setting to wheel by taking two driving wheels and two driven wheels as an example illustrates above, but this practicality
New embodiment is not limited only to two driving wheels and two driven wheels, for example, flexible bottom may include five, six or more
Wheel may include two driving wheels and three driven wheels or three driving wheels and two for example, for the scheme of five wheels
A driven wheel；May include two driving wheels and four driven wheels or four driving wheels and two for the scheme of six wheels
A driven wheel etc.；The embodiments of the present invention are defined not to this, more than the plans of establishment of various wheels can refer to
Example arrangement, as long as the goal of the invention of the utility model can be realized.
Alternatively, for the flexible bottom according to the utility model embodiment, one of two of which driven wheel may include
Two first time driven wheels, two first time driven wheels are attached to the both ends of first axle, and the midpoint of first axle can be located at the
On two center line AA ', for example, first axle can also be hinged to chassis or adjustment mechanism.
Illustratively, two driven wheels are each included in two driven wheels, for example, one of two driven wheels can wrap
Two first time driven wheels are included, another in two driven wheels further includes two second of driven wheels, and two first times are driven
Wheel is attached to the both ends of first axle, which is attached to the both ends of the second axis, the first axle and second axis
Midpoint be respectively positioned on the second center line AA '.For example, first axle may be hingedly attached to chassis or adjustment mechanism, accordingly, the second axis can
To be hinged to adjustment mechanism or chassis.
Illustratively, for including two or more driven wheels the case where, at least one at least two driven wheels
A may include two driven wheels, this two times driven wheel can be attached to an axis.The axis may be hingedly attached to chassis or tune
Zheng Jie mechanisms.
For the flexible bottom according to the utility model embodiment, the adjustment structure which includes is hingedly connected to
Loading plate and chassis, when ground injustice, loading plate, driven wheel and chassis move relative to adjustment mechanism and adjust structure energy
It is enough to be adjusted into Mobile state so that flexible bottom can adapt to ground automatically so that at least two driven wheels and at least two are actively
Wheel fits in ground always.
The utility model another aspect provides a kind of transfer robots including above-mentioned flexible bottom.
Referring to Fig. 4, the transfer robot of the utility model embodiment may include：Foregoing flexible bottom；At least
Two driving motors 7-1,7-2 are arranged above flexible bottom and are connected respectively at least two driving wheel 3- of flexible bottom
1,3-2, to the driven wheel for driving it to be connected；And lifting mechanism, it is arranged above flexible bottom.Wherein, respectively with drive
Dynamic motor 7-1,7-2 connection is speed reducer 6-1,6-2.
Illustratively, for the transfer robot according to the utility model embodiment, lifting mechanism centre has opening,
It is provided with the camera that can be imaged up and down in the opening, is scanned for the Quick Response Code to cargo and ground.
According to the transfer robot of the utility model embodiment comprising flexible bottom, when ground is uneven or wheel peace
In the case that dress height is not quite identical, the adjustment structure being set between loading plate and chassis can be relative to loading plate and chassis
Relative motion occurs so that the height for the wheel installed on pedestal can adapt to ground automatically so that all wheels can paste
It together in ground, avoids the occurrence of wheel and leaves the danger that ground causes cargo to be toppled over, and avoid the occurrence of driving wheel and leave ground and cause
Robot problem out of control, and can realize that Load Balanced is distributed.
Above description is only a specific implementation of the present invention, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replace, it should be covered within the scope of the utility model.
Claims (16)
1. a kind of flexible bottom, which is characterized in that including：
Chassis, at least one first driven wheel and at least two driving wheels are set to the bottom on the chassis, and described first driven
The installation position of wheel and the driving wheel are misaligned；
Loading plate, at least one second driven wheel are set to the bottom of the loading plate, and installation position and described first driven
Wheel and the driving wheel are misaligned；
Adjustment mechanism, for connecting the loading plate and the chassis, to which when ground injustice, the adjustment mechanism is for moving
Second driven wheel is adjusted to state, to make first driven wheel, second driven wheel and the driving wheel fit in
Ground.
2. flexible bottom according to claim 1, which is characterized in that the first end of the adjustment mechanism is hingedly attached to
The chassis, and second end is connected to the loading plate.
3. flexible bottom according to claim 2, which is characterized in that the second end of the adjustment mechanism is fixedly connected
Or it is hinge-connected to the loading plate.
4. flexible bottom according to claim 1, which is characterized in that the first end of the adjustment mechanism is equipped with screw
Head, and the adjustment mechanism is connected to the chassis by the rotating ballhead.
5. according to claim 1-4 any one of them flexible bottoms, which is characterized in that the adjustment mechanism includes at least one
Extensible member, the extensible member include beam barrel and the shaft that is set in the beam barrel, wherein the telescopic setting of the shaft exists
In the beam barrel.
6. flexible bottom according to claim 5, which is characterized in that the adjustment mechanism includes multiple extensible members, and institute
Multiple extensible members are stated to be evenly provided between the loading plate and the chassis.
7. flexible bottom according to claim 6, which is characterized in that close described chassis one end of the multiple extensible member
It is fixed to one another, the other end to each other stretch out and be connected respectively to the loading plate by separate direction.
8. flexible bottom according to claim 7, which is characterized in that the angle of the extensible member and the loading plate exists
In the range of 15-45 °.
9. flexible bottom according to claim 7, which is characterized in that the quantity of the extensible member is 3-8.
10. according to claim 1-4 any one of them flexible bottoms, which is characterized in that the adjustment mechanism includes connecting rod machine
Structure.
11. flexible bottom according to claim 1, which is characterized in that second driven wheel passes through telescopic rod or connecting rod
Mechanism is connected to the loading plate.
12. flexible bottom according to claim 1, which is characterized in that at least two driving wheel is in the chassis
The left part and right part that the chassis is symmetrically installed on the first center line of front and rear are divided perpendicular to front-rear direction.
13. flexible bottom according to claim 1, which is characterized in that at least two driving wheel is relative to the bottom
The second center line for being parallel to front-rear direction and dividing left part and right part equally of disk is symmetrically installed in the left part and right part on the chassis.
14. flexible bottom according to claim 13, which is characterized in that at least two driven wheel is relative to described
Two center lines are symmetrical arranged.
15. flexible bottom according to claim 13, which is characterized in that at least two driven wheel is relative to the bottom
Disk perpendicular to front-rear direction and divide equally front and rear the first center line be symmetrical arranged.
16. a kind of includes the transfer robot of the flexible bottom as described in claim any one of 1-15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721733701.1U CN208051909U (en) | 2017-12-13 | 2017-12-13 | Flexible bottom and transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721733701.1U CN208051909U (en) | 2017-12-13 | 2017-12-13 | Flexible bottom and transfer robot |
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| Publication Number | Publication Date |
|---|---|
| CN208051909U true CN208051909U (en) | 2018-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721733701.1U Active CN208051909U (en) | 2017-12-13 | 2017-12-13 | Flexible bottom and transfer robot |
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| CN (1) | CN208051909U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000478A (en) * | 2017-12-13 | 2018-05-08 | 北京极智嘉科技有限公司 | Flexible bottom and transfer robot |
-
2017
- 2017-12-13 CN CN201721733701.1U patent/CN208051909U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000478A (en) * | 2017-12-13 | 2018-05-08 | 北京极智嘉科技有限公司 | Flexible bottom and transfer robot |
| CN108000478B (en) * | 2017-12-13 | 2023-08-08 | 北京极智嘉科技股份有限公司 | Flexible base and transfer robot |
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