CN214648653U - Robot chassis and mobile transfer robot - Google Patents

Abstract

The utility model provides a robot chassis and a mobile carrying robot, wherein the robot chassis comprises a chassis body, a driving wheel component and an elastic adjusting component; the driving wheel assembly is hinged with the chassis body and can rotate relative to the chassis body; the elastic adjusting assembly comprises a vibration damping rod assembly hinged with the driving wheel assembly, and the vibration damping rod assembly is used for pushing the driving wheel assembly to rotate relative to the chassis body; a drive mechanism is included for adjusting the pressure applied by the damper rod assembly to the drive wheel assembly. As can be seen from the above description, the driving mechanism drives the damping rod assembly to apply pressure change to the driving wheel assembly, so that the driving wheel assembly hinged on the chassis body correspondingly rotates, the driving wheel generates change to the positive pressure of the ground, and the chassis body is applied to various scenes, thereby greatly enhancing the overall stability of the transfer robot; when the robot breaks down, the positive pressure of the driving wheel to the ground is adjusted to be reduced, so that the robot can be pushed away for maintenance by manpower.

Description

Robot chassis and mobile transfer robot

Technical Field

The utility model relates to commodity circulation transport technical field especially involves a robot chassis and removes transfer robot.

Background

As the physical distribution and material transportation mode has gradually changed from the traditional manual transportation mode to the intelligent automatic transportation mode, the mobile robot is one of the most widely used transportation robots in the domestic manufacturing industry at present.

However, in the current industry, the robot chassis is mainly in the form of a chassis with a shock absorber and a chassis with a driving wheel fixedly installed, the two chassis cannot actively adjust the positive pressure of the driving wheel to the ground to adapt to the ground walking, and both the chassis and the chassis have the traveling limitation: due to the fact that the application scenes of unevenness, no load or full load on the ground are frequently switched, particularly the robot with a high gravity center can set the acceleration/deceleration parameters not to be too large when the robot walks, and the phenomena of swinging of a vehicle body and unstable walking are avoided.

Based on two kinds of chassis mentioned above, get, put the application scene of goods to the robot from the eminence during, because the high reason of complete machine focus this moment, the drive wheel plays the effect of stabilizing the complete machine limitedly, because first kind shock absorber formula chassis, when this scene, can change spring compression volume passively, be unfavorable for complete machine stability, second kind chassis can use the compensating beam to add the truckle form, at this moment, truckle can be along with the automobile body changes and the slope, also do not favorable to complete machine stability.

And when the robot is in driving failure or the robot needs maintenance, the driving wheel motor cannot rotate due to self effect, meanwhile, the positive pressure of the driving wheel on the ground cannot be adjusted to be small, and the robot cannot be directly pushed away by manpower.

SUMMERY OF THE UTILITY MODEL

In view of the above, the utility model provides a robot chassis which can automatically adjust the positive pressure of the driving wheel to the ground according to different use scenes, so as to enhance the stability of the whole transfer robot; when the robot breaks down, the positive pressure of the driving wheel to the ground is adjusted to be reduced, so that the robot can be pushed away for maintenance by manpower.

In a first aspect, the present invention provides a robot chassis, which includes: the chassis comprises a chassis body, a driving wheel assembly and an elastic adjusting assembly; the driving wheel assembly is hinged with the chassis body and can rotate relative to the chassis body; the elastic adjusting assembly comprises a vibration damping rod assembly hinged with the driving wheel assembly, and the vibration damping rod assembly is used for pushing the driving wheel assembly to rotate relative to the chassis body; and a driving mechanism for adjusting the pressure applied by the vibration damping rod assembly to the driving wheel assembly. As can be seen from the above description, the driving mechanism drives the damping rod assembly to apply pressure change to the driving wheel assembly, so that the driving wheel assembly hinged on the chassis body correspondingly rotates, the driving wheel generates change to the positive pressure of the ground, and the chassis body is applied to various scenes, thereby greatly enhancing the overall stability of the transfer robot; when the robot breaks down, the positive pressure of the driving wheel to the ground is adjusted to be reduced, so that the robot can be pushed away for maintenance by manpower.

When the driving mechanism is specifically arranged, the driving mechanism comprises a mounting plate and a driving device; the mounting plate is assembled on the chassis body in a sliding manner; the driving device is fixed on the chassis body and used for driving the mounting plate to slide relative to the chassis body and can be locked at least at a first set position or a second set position; wherein the first end of the vibration damping rod assembly is hinged with the driving wheel assembly; the second end is hinged with the mounting plate; the amount of compression of the damper rod assembly increases as the mounting plate slides from the first set position to the second set position. The compression amount of the damping rod assembly is changed in the moving process through the mounting plate which is connected to the chassis body in a sliding mode, so that the positive pressure change of the driving wheel assembly to the ground is adjusted, and the operation is simple.

In one embodiment, the driving device is any one of a screw driving member, an electric push rod or a pneumatic cylinder. Any linear motion driving device can be used, and the matching range is wide.

In one embodiment, the mounting plate is provided with a first hinge seat, and the second end of the damping rod assembly is hinged to the first hinge seat through a pin shaft. Because the damping rod component is hinged with the mounting plate, the damping rod component can better avoid vibration of the chassis body.

When specifically setting up the damping rod subassembly, the damping rod subassembly includes: the spring comprises a mounting shaft, a sliding sleeve which is sleeved on the mounting shaft and can slide relative to the mounting shaft, and a spring sleeved on the mounting shaft; the mounting shaft is hinged with the driving wheel assembly through a hinge pin; the sliding sleeve is hinged with the mounting plate; one end of the spring is pressed against one end, far away from the sliding sleeve, of the mounting shaft, and the other end of the spring is pressed against the sliding sleeve. The spring is driven to stretch out and draw back in the sliding process through the mounting plate, so that the driving wheel automatically adjusts the positive pressure on the ground, the chassis body can better adapt to different loads and uneven ground conditions, and the walking adaptability is better.

In one embodiment, a second hinge seat is arranged on the chassis body, and the driving wheel assembly is hinged with the second hinge seat through a pin shaft. In the process of spring expansion, the mounting shaft drives the driving wheel assembly to rotate on the second hinge seat in a hinge mode, so that the driving wheel can generate changes to the positive pressure on the ground, and the driving stability is better.

In one embodiment, the number of the driving wheel assemblies is two, and the two driving wheel assemblies are symmetrically arranged on two sides of the chassis body; the number of the vibration damping rod assemblies is two, and the two vibration damping rod assemblies are correspondingly hinged with the two driving wheel assemblies one by one; the drive mechanism is located between the two damper rod assemblies. The two damping rod assemblies synchronously adjust the driving wheel assemblies on two sides of the chassis body, and one driving mechanism drives the two damping rod assemblies to do telescopic motion.

In one possible embodiment, when the drive mechanism comprises a mounting plate, the chassis body is provided with a guide rail on which the mounting plate is slidably fitted; wherein the extending direction of the guide rail is perpendicular to the arrangement direction of the two driving wheel assemblies. The mounting plate slides along the guide rail, and the sliding is stable and reliable.

In a second aspect, the utility model provides a transfer robot, including above-mentioned robot chassis, be provided with the portal frame on the robot chassis, it is provided with elevating system to slide on the portal frame, elevating system is last to be equipped with flexible goods mechanism of getting. The carrying robot can complete various movements such as advancing, steering and the like on the ground through the robot chassis; and the goods boxes on the high-position goods shelf are conveyed through a lifting mechanism arranged on the portal frame in a sliding way and a telescopic goods taking mechanism connected with the lifting mechanism.

In one possible embodiment, the robot further comprises a detection device for detecting the height of the center of gravity of the transfer robot; the control device is used for controlling the driving mechanism to drive the vibration damping rod assembly to increase the pressure applied to the driving wheel assembly when the gravity center height of the transfer robot detected by the detection device is higher than a set value. Through the detection device who is equipped with, make flexible goods mechanism of getting at high-order during operation, controlling means can initiatively improve the spring compression volume, and then improve the stability when the transfer robot body is got, is put goods in high-order department.

Drawings

Fig. 1 is a schematic structural diagram of a robot chassis provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a driving wheel assembly and an elastic adjustment assembly provided by an embodiment of the present invention;

fig. 3 is a schematic structural view of a transfer robot according to an embodiment of the present invention.

Reference numerals:

the device comprises a chassis body-1, a portal frame-2, a telescopic goods taking mechanism-3 and a lifting mechanism-4;

the device comprises an elastic adjusting component-11, a mounting shaft-111, a driving wheel component-112, a hinge pin-113, a second hinge seat-114, a sliding sleeve-115, a first hinge seat-116, a mounting plate-117, a screw rod-118, a first fixing seat-119, a guide rail-120, a spring-121, a second fixing seat-122, a driving motor-123 and a fixed caster-13.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings.

For the convenience of understanding the robot chassis and the transfer robot provided in the embodiments of the present application, first, an application scenario thereof will be described. The existing robot chassis can not actively adjust the positive pressure of a driving wheel on the ground to adapt to ground walking, and has the traveling limitation: because the application scenes of unevenness, no load or full load on the ground are frequently switched, especially when the robot takes and puts goods from a high place, the driving wheel plays a limited role in stabilizing the whole machine because of the high gravity center of the whole machine. When the robot has a driving fault or needs to be maintained, the driving wheel motor cannot rotate due to the self effect of the driving wheel motor, meanwhile, the positive pressure of the driving wheel on the ground cannot be adjusted to be small, and the robot cannot be directly pushed away by manpower. In view of this, the present embodiments provide a robot chassis that can adjust the pressure that the robot chassis applies to the ground. The present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot chassis provided in this embodiment; the robot chassis in the embodiment of this application includes: chassis body 1, drive wheel assembly 112 and rigid castor 13. Wherein the driving wheel assembly 112 is used for driving the chassis body 1 to move, and the fixed caster 13 is used for assisting the driving wheel assembly 112 to support the chassis body 1. Illustratively, the number of the driving wheel assemblies 112 is two, and the two driving wheel assemblies 112 are symmetrically arranged on two sides of the middle part of the chassis body 1; the fixed caster 13 has a plurality of, and a plurality of fixed casters 13 symmetry sets up both ends around chassis body 1.

With the above structure, when the robot chassis moves, the pressure applied to the ground by the driving wheel assembly 112 ensures the gripping force of the robot chassis during driving. For this purpose, the robot chassis provided in the embodiment of the present application further includes an elastic adjustment assembly 11, where the elastic adjustment assembly 11 is configured to apply pressure variation to the driving wheel assembly 112, so that the driving wheel assembly 112 adjusts the positive pressure of the driving wheel on the ground according to different application scenarios.

Referring to fig. 2, fig. 2 is a schematic structural view of the driving wheel assembly and the elastic adjustment assembly provided in the present embodiment. First, the connection between the driving wheel assembly 112 and the chassis body 1 is described, and the driving wheel assembly 112 is hinged to the chassis body 1 and can rotate relative to the chassis body 1. When the chassis body 1 is connected specifically, a second hinge seat 114 is arranged on the chassis body 1, and the driving wheel assembly 112 is hinged to the second hinge seat 114 through a pin shaft. Wherein the axis of the pin is parallel to the ground, so that the driving assembly 112 can be changed in height while rotating around the pin.

The second hinge seat 114 and the chassis body 1 can be fixedly connected in a detachable manner, so that the driving wheel assembly 112 can be detached for maintenance in case of failure. Illustratively, the second hinge seat 114 is fixedly connected to the chassis body 1 by a screw connector such as a bolt or a screw.

The driving wheel assembly 112 includes a mounting plate (not shown) rotatably connected to the second hinge base 114 and a driving wheel fixedly mounted on the mounting plate, the driving wheel rotating with the mounting plate, so as to change the positive pressure of the driving wheel on the ground during rotation, thereby adapting to different loads and uneven ground conditions and providing better walking adaptability.

The resilient adjustment assembly 11 includes a damper rod assembly and a drive mechanism. A vibration damping rod assembly is hinged to the drive wheel assembly 112 and is used to provide vibration damping of the drive wheel assembly 112; when the number of the driving wheel assemblies 112 is two, the number of the corresponding damping rod assemblies is two, and the two damping rod assemblies are correspondingly hinged with the two driving wheel assemblies 112 one by one. The drive mechanism is used to adjust the stroke of the shock rod assembly to adjust the amount of positive pressure that the drive wheel assembly 112 applies to the ground.

The drive mechanism comprises a mounting plate 117, the mounting plate 117 being slidably mounted on the chassis body 1. Wherein, the chassis body 1 is provided with a guide rail 120, and the extending direction of the guide rail 120 is perpendicular to the arrangement direction of the two driving wheel assemblies 112. The mounting plate 117 is slidably mounted on the rail 120 and is slidable back and forth in a direction toward the drive wheel assembly 112 and away from the drive wheel assembly 112.

Two or more than two guide rails 120 can be symmetrically arranged, so that the mounting plate 117 can stably move along the guide rails 120.

The vibration damping rod assembly is of a rod-shaped structure, and the first end of the vibration damping assembly is hinged with the driving wheel assembly 112; the second end of the damper rod assembly is hingedly connected to the mounting plate 117. To describe the engagement of the vibration damping assemblies with the drive wheel assembly 112 and the mounting plate 117, respectively, the structure of the vibration damping rod assemblies will be described.

The damping rod assembly includes a mounting shaft 111, a spring 121, and a sliding sleeve 115. The sliding sleeve 115 is fitted over the mounting shaft 111 and can slide relative to the mounting shaft 111 to extend and retract the damping rod assembly. The spring 121 is sleeved on the mounting shaft 111, and one end of the spring 121 presses against one end of the mounting shaft 111 far away from the sliding sleeve 115, and the other end presses against the sliding sleeve 115.

When the first end of the damping rod assembly is hinged to the driving wheel assembly 112, the mounting shaft 111 is hinged to the driving wheel assembly 112 through the hinge pin 113, that is, the mounting shaft 111 is hinged to the upper portion of one end of the mounting plate of the driving wheel assembly 112, so that the hinge point of the mounting shaft 111 and the driving wheel assembly 112 is higher than the hinge point of the driving wheel assembly 112 and the second hinge seat 114, and the driving wheel of the driving wheel assembly 112 and the damping rod assembly are respectively arranged at two sides of the hinge point of the driving wheel assembly 112 and the second hinge seat 114. When the expansion amount of the vibration damping rod assembly is changed, the driving wheel assembly 112 can be pushed to rotate relative to the hinge point of the driving wheel assembly 112 and the second hinge seat 114. For example, when the sliding sleeve 115 slides against the spring 121, during the increase of the compression force of the spring 121, the hinge point between the mounting shaft 111 and the driving wheel assembly 112 is higher than the hinge point between the driving wheel assembly 112 and the second hinge seat 114, so that the compression force of the spring 121 drives the driving wheel assembly 112 to rotate downward around the second hinge seat 114, thereby increasing the increase of the positive pressure on the ground by the driving wheel.

When the second end of damping rod subassembly is articulated with mounting panel 117, mounting panel 117 symmetry is provided with first articulated seat 116, and when the damping rod subassembly is two, the number of the first articulated seat 116 that corresponds is two, and two first articulated seats 116 are articulated with two damping rod subassemblies one-to-one. The sliding sleeve 115 of each vibration damping rod assembly is hinged to the corresponding first hinge base 116 by a pin. During the sliding of the mounting plate 117 along the guide rail 120, the sliding sleeve 115 is pushed by the mounting plate 117 to slide relative to the mounting shaft 111. Illustratively, as mounting plate 117 slides toward drive wheel assembly 112, spring 121 is compressed and the force exerted by spring 121 on drive wheel assembly 112 increases; as mounting plate 117 slides away from drive wheel assembly 112, spring 121 resumes a partial elastic deformation and the pressure applied to drive wheel assembly 112 decreases.

The driving mechanism further comprises a driving device for driving the mounting plate 117 to slide. Illustratively, the drive device is located between the two shock rod assemblies to ensure that the two shock rod assemblies are equally stressed as the drive device slides the mounting plate 117.

When the driving device drives the mounting plate 117 to slide relative to the chassis body 1, the driving device can lock the driving mounting plate 117 at least at a first setting position or a second setting position, and when the mounting plate 117 slides from the first setting position to the second setting position, the compression amount of the two springs 121 increases. Wherein the first setting position is away from the driving wheel assembly 112 and the second setting position is close to the driving wheel assembly 112. As can be seen from the above description, as the mounting plate 117 approaches the drive wheel assembly 112, the spring 121 is compressed and thus the force applied to the drive wheel assembly 112 increases.

As an alternative, the drive device is a screw drive, which comprises: the first fixing seat 119 and the second fixing seat 122 fixedly arranged on the chassis body 1, and the mounting plate 117 is slidably arranged between the first fixing seat 119 and the second fixing seat 122, so that the sliding distance of the mounting plate 117 is limited by the first fixing seat 119 and the second fixing seat 122. Illustratively, when the mounting plate 117 slides to the first setting position, the mounting plate 117 presses against the first fixing seat 119; when the mounting plate 117 slides to the second setting position, the mounting plate 117 presses against the second fixing seat 122.

The screw driving member further includes a screw lever 118 disposed through the first fixing seat 119 and the second fixing seat 122, and the screw lever 118 can rotate relative to the first fixing seat 119 and the second fixing seat 122. The screw rod 118 penetrates through the mounting plate 117 and is in threaded connection with the mounting plate 117, and the mounting plate 117 can be driven to slide along the length direction of the screw rod 118 through threaded matching during rotation of the screw rod 118.

The screw driving member further includes a driving motor 123, the driving motor 123 is fixedly assembled on the chassis body 1, one end of the screw rod 118, which is far away from the first fixing seat 119, is connected to an output shaft of the driving motor 123, the driving motor 123 can drive the screw rod 118 to rotate when in operation, the mounting plate 117 slides along the length direction of the screw rod 118, and drives the sliding sleeves 115 on two sides to slide relative to the mounting shaft 111 in the sliding process.

It should be understood that, in addition to the screw driving member of the above example, the driving device may be any one of an electric push rod or an air cylinder fixedly arranged on the chassis body 1, and the driving ends of the electric push rod and the air cylinder are fixedly connected with the mounting plate 117. Alternatively, the driving device may be any linear driving device.

It can be seen from the above description that the driving mechanism drives the damping rod assembly to apply pressure change to the driving wheel assembly 112, so that the driving wheel assembly 112 hinged on the chassis body 1 correspondingly rotates, the positive pressure of the driving wheel to the ground changes, and the robot chassis 1 can be applied to various scenes, thereby greatly enhancing the stability of the whole machine, and when a fault occurs, the positive pressure of the driving wheel to the ground is adjusted to be smaller, so that the robot can be manually pushed away for maintenance.

As shown in fig. 3, the embodiment of the present application further provides a transfer robot, the transfer robot is equipped with the robot chassis, a gantry 2 is arranged on a chassis body 1 of the robot chassis, a lifting mechanism 4 is arranged on the gantry 2 in a sliding manner, and a telescopic goods taking mechanism 3 is equipped on the lifting mechanism 4. It should be specifically described that, the lifting mechanism 4 is assembled on the portal frame 2 of the transfer robot, the telescopic goods taking mechanism 3 is assembled on the lifting mechanism 4, and operations such as transferring a higher container on the goods shelf are common technical means in the prior art, and are not described herein in any more detail.

In the prior art, a carrying robot usually adopts a chassis with a shock absorber or a chassis with a driving wheel fixedly installed, and the two chassis can not actively adjust the driving wheel to adapt to ground walking under the positive pressure of the ground, so that the robot can set an acceleration/deceleration parameter not too large when walking because the application scenes of unevenness, no load or full load on the ground are frequently switched, especially the robot with a very high gravity center, so as to avoid the swinging phenomenon and unstable walking phenomenon of a traveling vehicle body. And because the higher reason of focus, shock absorber formula chassis when this scene, can change the spring compression volume passively, is unfavorable for complete machine stability, and second kind chassis can use compensating beam and truckle form, and at this moment, the truckle can change and slope along with the automobile body, also does not favorable to complete machine stability yet.

In view of the above defects, the robot chassis adopted by the transfer robot provided by the embodiment of the present application is hinged to the chassis body 1 by adopting the driving wheel assembly, and adjusts the pressure applied to the ground by the driving wheel assembly 112 through the elastic adjusting assembly 11, so as to adapt to different scenes, and the stability of the transfer robot during walking can be greatly changed.

In order to realize automatic adjustment, the transfer robot further comprises a detection device and a control device, wherein the detection device is used for detecting the gravity height of the transfer robot and different conditions of the height of the road surface when the transfer robot walks. For example, the detecting device may detect the height of the center of gravity of the transfer robot by using a position sensor, such as a position sensor provided on the gantry 2 to detect the position of the telescopic pickup mechanism 3, thereby determining the height of the center of gravity of the transfer robot. In addition, a gyroscope sensor for monitoring the moving stability of the chassis body 1 can be arranged on the chassis body 1, so that the positive pressure of the driving wheel on the ground can be adjusted in time through a control device under the mutual matching of the position sensor and the gyroscope sensor. Of course, the gravity center height and the moving stability of the transfer robot can be detected by adopting a weight sensor, a horizontal sensor or an infrared acquisition device, and the weight sensor, the horizontal sensor or the infrared acquisition device are common equipment in the prior art, and are not limited in many pairs.

It can be seen from the above description that, through the cooperation control adjustment between detection device and the controlling means in this application embodiment, make the different load of better adaptation of transfer robot and the uneven condition of ground, the adaptability of walking is better, transfer robot's stability of traveling is also better. When the transfer robot works at a high position, the compression amount of the spring 121 can be actively improved, and meanwhile, the stability of the transfer robot in taking and placing goods at the high position can be improved by matching with the fixed caster 13. Specifically, the control device adopts a single chip microcomputer or a PLC controller, and the controller controls the driving motor 123, the electric push rod or the air cylinder to operate correspondingly after receiving the detection information of the position sensor and the gyroscope sensor, so that the mounting plate 117 slides between the first setting position and the second setting position relative to the chassis body 1. The above control methods are commonly used in the prior art, and are not described herein in detail.

With continued reference to fig. 2 and 3, when the transfer robot stays in the roadway between the racks due to a driving failure or when the robot needs maintenance, since the motor in the driving wheel assembly 112 does not rotate due to its own effect, in order to move the transfer robot conveniently, the pressure applied to the ground by the driving wheel assembly 112 can be reduced by the elastic adjustment assembly, so that the positive pressure of the driving wheel on the ground is in a minimum state. At this moment, the manual work can be directly released the carrying robot out maintenance outside the roadway without the aid of tooling equipment, so that the maintenance is convenient.

The embodiment of the application also provides a method for adjusting the chassis of the transfer robot, which comprises the following steps:

step 001: detecting the gravity center height of the transfer robot and the larger inclination of the transfer robot caused by the uneven road surface;

step 002: the pressure applied to the drive wheel assembly 112 is increased when the height of the center of gravity of the transfer robot is higher than a set value or when the inclination angle of the transfer robot is larger than a set value.

The method specifically comprises the following steps: the mounting plate 117 is driven by the driving device to slide relative to the chassis body 1; the damping rod set is pushed to compress through the mounting plate 117; the pressure applied to the drive wheel assembly 112 is enhanced by the shock rod sets. Specific steps may be referred to above in relation to the corresponding description of the structures.

Through the steps, when the transfer robot works at a high position or passes through a road with larger inclination, the control device can actively improve the compression amount of the spring 121, and further improve the stability of the transfer robot body in the process of taking and putting goods at the high position.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A robot chassis, comprising: the chassis comprises a chassis body, a driving wheel assembly and an elastic adjusting assembly; wherein the content of the first and second substances,

the driving wheel assembly is hinged with the chassis body and can rotate relative to the chassis body;

the elastic adjusting assembly comprises a vibration damping rod assembly hinged with the driving wheel assembly, and the vibration damping rod assembly is used for pushing the driving wheel assembly to rotate relative to the chassis body; and a driving mechanism for adjusting the pressure applied by the vibration damping rod assembly to the driving wheel assembly.

2. The robot chassis of claim 1, wherein the drive mechanism includes a mounting plate and a drive device; the mounting plate is assembled on the chassis body in a sliding manner; the driving device is fixed on the chassis body and used for driving the mounting plate to slide relative to the chassis body and can be locked at least at a first set position or a second set position; wherein the content of the first and second substances,

the first end of the vibration damping rod assembly is hinged with the driving wheel assembly; the second end is hinged with the mounting plate; the amount of compression of the damper rod assembly increases as the mounting plate slides from the first set position to the second set position.

3. The robot chassis of claim 2, wherein the drive device is any one of a lead screw drive, an electric push rod, or an air cylinder.

4. The robot chassis of claim 2, wherein the mounting plate is provided with a first hinge mount, and the second end of the damping rod assembly is hinged to the first hinge mount by a pin.

5. The robot chassis of claim 2, wherein the vibration dampening bar assembly comprises: the spring comprises a mounting shaft, a sliding sleeve which is sleeved on the mounting shaft and can slide relative to the mounting shaft, and a spring sleeved on the mounting shaft;

the mounting shaft is hinged with the driving wheel assembly through a hinge pin; the sliding sleeve is hinged with the mounting plate; one end of the spring is pressed against one end, far away from the sliding sleeve, of the mounting shaft, and the other end of the spring is pressed against the sliding sleeve.

6. The robot chassis of claim 1, wherein a second hinged seat is provided on the chassis body, and the driving wheel assembly is hinged with the second hinged seat through a pin shaft.

7. The robot chassis according to any one of claims 1 to 6, wherein the number of the driving wheel assemblies is two, and the two driving wheel assemblies are symmetrically arranged on two sides of the chassis body;

the number of the vibration damping rod assemblies is two, and the two vibration damping rod assemblies are correspondingly hinged with the two driving wheel assemblies one by one;

the drive mechanism is located between the two damper rod assemblies.

8. The robotic chassis of claim 7, wherein when the drive mechanism includes a mounting plate,

the chassis body is provided with a guide rail, and the mounting plate is assembled on the guide rail in a sliding manner; wherein the extending direction of the guide rail is perpendicular to the arrangement direction of the two driving wheel assemblies.

9. A transfer robot, comprising the robot chassis according to any one of claims 1 to 8, wherein a portal frame is arranged on the robot chassis, a lifting mechanism is slidably arranged on the portal frame, and a telescopic goods taking mechanism is assembled on the lifting mechanism.

10. The transfer robot according to claim 9, further comprising detection means for detecting a height of a center of gravity of the transfer robot;

the control device is used for controlling the driving mechanism to drive the vibration damping rod assembly to increase the pressure applied to the driving wheel assembly when the gravity center height of the transfer robot detected by the detection device is higher than a set value.

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