CN214648667U - Chassis structure and transfer robot - Google Patents

Abstract

The application provides a chassis structure and a transfer robot, wherein the chassis structure comprises a first chassis and a second chassis, and the bottom of the first chassis is provided with at least one first driven wheel and at least two driving wheels; the second chassis comprises a bearing part and a supporting part connected with the bearing part, the bottom of the supporting part is provided with at least one second driven wheel, and the bearing part extends towards the upper part of the first chassis and is hinged with the first chassis. The application provides a chassis structure and transfer robot, when the chassis structure is removing, avoid influencing the power response speed of each follow driving wheel.

Description

Chassis structure and transfer robot

Technical Field

The application relates to the field of intelligent warehouse logistics, in particular to a chassis structure and a transfer robot.

Background

Intelligent warehousing is an important link in the logistics process. The transfer robot can replace manual goods transfer and plays an important role in intelligent warehouse logistics. The transfer robot comprises a movable chassis, and the transfer robot is moved in the warehouse through the movable chassis. An existing mobile chassis can comprise a chassis body and a driving wheel used for driving the chassis body to move, the driving wheel is connected to the chassis body in a suspension mode to form a driving wheel suspension chassis, however, when the road surface height changes, the pressure of the driving wheel on the ground changes greatly, and the driving wheel is easy to slip.

In order to make the movable chassis move stably, another existing movable chassis may include a bearing platform, a fixed-position chassis and at least one hinged-position chassis, the bearing platform is rotatably disposed on the fixed-position chassis and the hinged-position chassis, the fixed-position chassis and the hinged-position chassis are sequentially hinged, at least two hinge points are disposed between the fixed-position chassis and the hinged-position chassis adjacent to the fixed-position chassis, and at least two hinge points are disposed between the two adjacent hinged-position chassis. The bottom on fixed position chassis is connected the drive wheel, and the bottom on each articulated position chassis is connected from the driving wheel, moves through fixed position chassis of drive wheel drive, drives each articulated position chassis and moves from the driving wheel through fixed position chassis to make whole load-bearing platform steady movement.

However, the above-mentioned bearing platform has at least two hinged rotation centers of the bearing platform and the fixed-position chassis and the bearing platform and the hinged-position chassis, and the structure is complex, and the dynamic response speed of each driven wheel is easily affected.

SUMMERY OF THE UTILITY MODEL

The application provides a chassis structure and transfer robot, when the chassis structure is removing, avoids influencing the power response speed of each follow driving wheel.

The application provides a chassis structure, which comprises a first chassis and a second chassis, wherein the bottom of the first chassis is provided with at least one first driven wheel and at least two driving wheels;

the second chassis comprises a bearing part and a supporting part connected with the bearing part, the bottom of the supporting part is provided with at least one second driven wheel, and the bearing part extends towards the upper part of the first chassis and is hinged with the first chassis.

In a possible implementation manner, in the chassis structure provided by the present application, the bearing portion includes a first bearing surface and a second bearing surface, the first bearing surface and the second bearing surface are horizontally disposed, the first bearing surface and the second bearing surface are connected to the same side of the supporting portion, and the first bearing surface and the second bearing surface are both hinged to the upper surface of the first chassis.

In a possible implementation manner, in the chassis structure provided by the present application, the first bearing surface is hinged to the upper surface of the first chassis through the first rotating shaft, the second bearing surface is hinged to the upper surface of the first chassis through the second rotating shaft, and the axis of the first rotating shaft is collinear with the axis of the second rotating shaft.

In a possible implementation manner, in the chassis structure provided by the present application, one of a surface of the first carrying surface facing the first chassis and an upper surface of the first chassis has a first supporting member, the other has a first supporting seat, and the first rotating shaft is disposed on the first supporting member and the first supporting seat in a penetrating manner;

one of the surface of the second bearing surface facing the first chassis and the upper surface of the first chassis is provided with a second supporting piece, the other one is provided with a second supporting seat, and a second rotating shaft is arranged on the second supporting piece and the second supporting seat in a penetrating way.

In a possible implementation manner, in the chassis structure provided by the present application, the first supporting member is a bending edge extending toward an upper surface of the first chassis or a bending edge extending toward the bearing portion;

the second supporting piece is a bending edge extending towards the upper surface of the first chassis or a bending edge extending towards the bearing part.

In a possible implementation manner, in the chassis structure provided by the present application, at least one first limiting block is disposed on a surface of the first chassis and/or a surface of the first carrying surface facing the first chassis, and a gap is disposed between the first limiting block and the first chassis and/or between the first limiting block and the first carrying surface;

at least one second limiting block is arranged on the upper surface of the first chassis and/or one surface of the second bearing surface facing the first chassis, and a gap is formed between the second limiting block and the first chassis and/or between the second limiting block and the second bearing surface.

In a possible implementation manner, in the chassis structure provided by the present application, the number of the first limiting blocks is two, and the first supporting seat is located between the two first limiting blocks;

the number of the second limiting blocks is two, and the second supporting seat is located between the two second limiting blocks.

In a possible implementation manner, the present application provides a chassis structure, wherein a projection of the bearing portion on the first chassis is located in the first chassis.

In one possible implementation manner, the present application provides a chassis structure, in which the first chassis has a first side surface and a second side surface opposite to each other, the first bearing surface side surface is flush with the first side surface, and the second bearing surface side surface is flush with the second side surface.

In a possible implementation manner, the present application provides a chassis structure, each driving wheel is located at or partially protrudes from a first end of the first chassis, each first driven wheel is located at or near a second end of the first chassis, each second driven wheel is located at or near a first end of the supporting portion, and a second end of the supporting portion is connected with the bearing portion.

In a possible implementation manner, the chassis structure provided by the application includes that the supporting portion includes a supporting portion body and two bending portions disposed on the supporting portion body, and the two bending portions are bent toward the upper surface of the first chassis and are respectively connected with the first bearing surface and the second bearing surface.

In a possible implementation manner, in the chassis structure provided by the present application, the driving wheel is located below the bending portion.

In a possible implementation manner, in the chassis structure provided by the present application, the bending portion is arc-shaped.

In a possible implementation manner, in the chassis structure provided by the application, the circle center of the bending part coincides with the circle of the driving wheel.

The application also provides a transfer robot, including stand support and above-mentioned chassis structure, the chassis structure has the portion of bearing, and the portion of bearing is used for supporting stand support.

The application provides a chassis structure and transfer robot, the second chassis of chassis structure is direct as load-bearing platform, support the stand support through the bearing part on the second chassis, the second chassis has the bearing part that is located on first chassis, and bearing part is articulated with first chassis, realize the flexonics on first chassis and second chassis, the structure has been simplified, and the action wheel, each first follow driving wheel and each second can be better from the laminating with the road surface, so that transfer robot can steady removal on the road surface of height unevenness. And only have the rotation center of bearing part and the articulated department of first chassis, like this, when the chassis structure was removing, each first driven wheel and each second driven wheel can be fast driven by the action wheel and rotate, avoid influencing the response speed of each first driven wheel and each second driven wheel.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a transfer robot in an embodiment of the present application;

fig. 2 is a front view of the transfer robot in the embodiment of the present application;

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a right side view of FIG. 2;

FIG. 5 is a top view of FIG. 2;

FIG. 6 is a bottom view of FIG. 2;

fig. 7 is a schematic configuration diagram of a first state diagram of the transfer robot in the embodiment of the present application;

FIG. 8 is an enlarged view of a portion of FIG. 7 at A;

fig. 9 is a schematic configuration diagram of a second state diagram of the transfer robot in the embodiment of the present application;

FIG. 10 is an exploded view of FIG. 9;

FIG. 11 is a side view of FIG. 10;

FIG. 12 is a schematic view of the structure at an angle B in FIG. 11;

FIG. 13 is a schematic view of the structure at an angle B in FIG. 11;

fig. 14 is a schematic structural view of a chassis structure in the transfer robot in the embodiment of the present application;

FIG. 15 is a schematic structural view of a chassis structure in an embodiment of the present application;

FIG. 16 is a top view of a chassis structure in an embodiment of the present application;

FIG. 17 is a side view of a chassis structure in an embodiment of the present application;

fig. 18 is a schematic structural view of a first chassis in the chassis structure in the embodiment of the present application;

fig. 19 is a schematic structural diagram of a second chassis in the chassis structure in the embodiment of the present application.

Description of reference numerals:

10-a shock pad; 20-a first support; 30-a first support; 40-a second support; 50-a second support seat; 60-a first stopper; 70-a second stopper; 80-a drive member;

100-a chassis structure; 110-avoidance slots; 111-a first escape; 112-a second avoidance portion; 113-a third escape portion; 120-a backplane; 121-a first avoidance hole; 122-a second avoidance hole; 130-side plate; 140-a first chassis; 141-a first driven wheel; 142-a driving wheel; 143-a first side; 144-a second side; 150-a second chassis; 151-a carrier; 1511-first carrying surface; 1512-a second bearing surface; 1513-Access hole; 1514-first axis of rotation; 1515-second rotating shaft; 152-a support portion; 1521-a second driven wheel; 1522-a support body; 1523-bending part; 160-a chassis camera;

200-a column assembly; 210-column support; 211-a guide slot; 212-a first upright; 2121-outer column; 2122-inner column; 2123-connecting plate; 213-a second upright; 220-storage shelves;

300-a handling device; 310-handling device body; 311-a support surface; 3111-supporting feet; 3112-avoiding the notch; 3113-a first connection; 3114-a second connecting portion; 312-a pallet fork; 320-a connector;

400-drive configuration.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

Fig. 1 is a schematic structural view of a transfer robot in an embodiment of the present application; fig. 2 is a front view of the transfer robot in the embodiment of the present application; FIG. 3 is a left side view of FIG. 2; FIG. 4 is a right side view of FIG. 2; FIG. 5 is a top view of FIG. 2; FIG. 6 is a bottom view of FIG. 2; fig. 7 is a schematic configuration diagram of a first state diagram of the transfer robot in the embodiment of the present application; FIG. 8 is an enlarged view of a portion of FIG. 7 at A; fig. 9 is a schematic configuration diagram of a second state diagram of the transfer robot in the embodiment of the present application;

FIG. 10 is an exploded view of FIG. 9; FIG. 11 is a side view of FIG. 10; FIG. 12 is a schematic view of the structure at an angle B in FIG. 11; fig. 13 is a schematic structural view at an angle B in fig. 11.

Referring to fig. 1 to 13, a transfer robot in an embodiment of the present application includes a chassis structure 100, a mast assembly 200, and a transfer device 300 that ascends and descends along an extending direction of the mast assembly 200, the mast assembly 200 being connected to the chassis structure 100, the transfer device 300 including a transfer device body 310 and a connecting member 320 connected to the transfer device body 310, the connecting member 320 being connected to the mast assembly 200 and being ascendable and descendable relative to the mast assembly 200;

the chassis structure 100 has an avoiding groove 110, and a part of the carrying device body 310 and a part of the connecting member 320 can be accommodated in the avoiding groove 110.

In the present application, the chassis structure 100 is used to support the pillar assembly 200, and the pillar assembly 200 is disposed in a vertical direction, in other words, a height direction of the pillar assembly 200 is in a vertical direction. A plurality of storage shelves 220 are provided at intervals at one side of the height direction of the pillar assembly 200, and the storage shelves 220 are used for storing goods. The distance between adjacent storage shelves 220 may be the same, or the distance between adjacent storage shelves 220 is different, and the distance between the storage shelves 220 may be set according to the height of the goods, which is not limited herein.

The connecting member 320 of the handling device 300 is slidably connected to the pillar assembly 200, and the handling device body 310 of the handling device 300 can store or take goods on or from the storage shelf 220 or other goods placing shelf. The handling device 300 may be a robot arm, a clamp fork, a claw, or other devices for accessing the goods, which are well known to those skilled in the art. For example, the handling device body 310 may include a supporting surface 311 (also referred to as a fork carriage), a fork 312, and a rotation driving device (not shown). Wherein the forks 312 and the rotary drive are mounted on the support surface 311.

The transfer robot may further include a driving structure 400, wherein the driving structure 400 is connected to the transfer device 300, for example, the driving structure 400 is connected to the transfer device body 310, the driving structure 400 is lifted along the extending direction of the column assembly 200 by the transfer device body 310, and the transfer device body 310 drives the connecting member 320 to lift along the extending direction of the column assembly 200. Meanwhile, the connecting member 320 is connected with the column assembly 200, so that a guiding function is provided for the carrying device body 310 when the carrying device body 310 is lifted along the extending direction of the column assembly 200, and the carrying device body 310 is prevented from shaking in the lifting process, so that the goods are prevented from falling off from the carrying device body 310.

In particular implementations, the drive structure 400 may be a belt drive structure, a chain sprocket drive structure, or a drum drive structure. Or the driving structure 400 may include a traction assembly and a retraction assembly, the traction assembly includes a traction rope and a guide wheel set, the traction rope is connected with the carrying device body 310, the traction rope is wound on the guide wheel set and is connected with the retraction assembly, and the retraction assembly retracts the traction rope, so that the carrying device body 310 is lifted along the extending direction of the pillar assembly 200. The structure of the driving structure 400 is not limited in this embodiment.

In the conventional transfer robot, the transfer device 300 can only move to the upper surface of the chassis structure 100, and the entire height of the transfer robot is difficult to be effectively used. In view of this, in the present application, the avoiding groove 110 is disposed on the chassis structure 100, and a part of the carrying device body 310 and a part of the connecting member 320 can be accommodated in the avoiding groove 110. In this way, the lower portion of the carrying device body 310 and the lower portion of the connecting member 320 can continue to move into the escape groove 110 of the chassis structure 100, so that the carrying device 300 can be lowered to be close to the bottom in the chassis structure 100, and the moving stroke of the carrying device 300 is increased on the premise that the overall height of the carrying robot is not changed, thereby improving the effective utilization rate of the overall height of the carrying robot and reducing the minimum pick-up height of the carrying robot.

Referring to fig. 1, 7 to 10, in the transfer robot of the present disclosure, the column assembly 200 includes a column bracket 210, the column bracket 210 has a guide groove 211, the guide groove 211 extends along an extending direction of the column bracket 210, the connecting member 320 is inserted into the guide groove 211 and slidably or rollably connected to the guide groove 211, and a portion of the column bracket 210 extends into the avoiding groove 110.

In order to facilitate the lifting of the connection member 320 relative to the shaft assembly 200, a guide groove 211 is formed in the shaft bracket 210, the extending direction of the guide groove 211 is the same as the extending direction of the shaft assembly 200, and the connection member 320 is inserted into the guide groove 211, such that the connection member 320 can be lifted along the extending direction of the guide groove 211, and a guiding function is provided for the lifting of the connection member 320 through the guide groove 211.

In some embodiments, the connection member 320 may be slidably coupled to the guide groove 211, and for example, the connection member 320 may have a slider inserted into the guide groove 211 to be slidably coupled to the guide groove 211, so that the connection member 320 can smoothly move along the guide groove 211. In other embodiments, the connecting member 320 has a roller mounting seat inserted into the guide groove 211, the roller mounting seat has a plurality of rollers, and each roller is in rolling contact with the inner wall and/or the bottom wall of the guide groove 211, so that friction between the roller mounting seat and the guide groove 211 is reduced, and abnormal noise and shaking generated during the movement of the connecting member 320 along the guide groove 211 are reduced.

In a specific implementation, the guide groove 211 is a through groove extending along the extending direction of the pillar brace 210. That is, the guide groove 211 extends as long as the pillar brace 210, so that the portion of the pillar brace 210 located in the escape groove 110 also has the guide groove 211. In this way, when the conveying device 300 is lowered to approach the inside of the chassis structure 100, the guide groove 211 of the pillar brace 210 also provides a guide for the conveying device 300, so that the conveying device 300 can be smoothly and stably lowered to approach the bottom inside the chassis structure 100.

In the present application, the chassis structure 100 may include a base plate 120, and the pillar brace 210 may have various positions with respect to the base plate 120.

In one possible implementation, the lower end surface of the pillar brace 210 abuts against the upper surface of the base plate 120, and the handling device body 310 and/or the connecting member 320 contact the upper surface of the base plate 120 when the handling device 300 moves to the lower end of the pillar assembly 200.

In another possible implementation manner, the transfer robot further includes a shock pad 10, the shock pad 10 abuts between the lower end surface of the pillar support 210 and the upper surface of the bottom plate 120, that is, the shock pad 10 is disposed on the avoiding groove 110, when the transfer device 300 moves to the lower end of the pillar assembly 200, the connecting member 320 contacts with the shock pad 10, and through the shock absorption effect of the shock pad 10, the impact of the connecting member 320 on the bottom plate 120 is reduced, and the transfer robot is prevented from shaking. The shock absorbing pad 10 may be a rubber pad or a silicone pad, which has a function of buffering and damping vibration. While the shock absorbing performance is ensured, the thickness of the shock absorbing pad 10 is not easily excessively thick, thereby preventing the shock absorbing pad 10 from occupying the depth of the avoiding groove 110, thereby affecting the descending stroke of the carrying device 300.

Fig. 14 is a schematic structural view of a chassis structure in the transfer robot in the embodiment of the present application. Referring to fig. 9 and 14, in a third possible implementation manner, the bottom plate 120 has a first avoidance hole 121 and/or a second avoidance hole 122, the first avoidance hole 121 is located in an extending direction of the guide groove 211, and the first avoidance hole 121 is opposite to the connecting member 320, and at least a portion of the connecting member 320 can be lowered into the first avoidance hole 121; the second avoiding hole 122 is located in an extending direction of a moving path of the carrying device 300, and the second avoiding hole 122 is opposite to the carrying device 300, and at least a portion of the carrying device body 310 can be lowered into the second avoiding hole 122.

That is, a part of the bottom plate 120 is provided with through holes or blind holes, and when the connecting member 320 is lowered onto the bottom plate 120, at least a part of the connecting member 320 can be continuously lowered into the first avoiding hole 121 on the bottom plate 120. When the handling device 300 is lowered onto the base plate 120, at least a portion of the handling device body 310 may continue to be lowered into the second avoiding hole 122.

It can be understood that the lowest position where the link 320 is lowered is that the lower end surface of the link 320 is flush with the lower surface of the base plate 120 and the lower surface of the carrier body 310 is flush with the lower surface of the base plate 120, thereby preventing the link 320 and the carrier body 310 from contacting the ground and affecting the normal walking of the carrier robot.

In further detail, as shown in fig. 7 to 14, the pillar brace 210 includes a first pillar 212 and a second pillar 213 disposed opposite to each other, the first pillar 212 and the second pillar 213 have a guide slot 211, and the number of the connecting members 320 is two.

The conveying apparatus main body 310 includes a support surface 311, two support legs 3111 provided to face each other on the support surface 311, each support leg 3111 extending outward of the support surface 311, and each support leg 3111 being connected to a different link 320.

Wherein, the supporting legs 3111 can be connected to the connecting member 320 by detachable connection means such as screws, clamping, etc. The two support legs 3111 are connected to the first upright 212 and the second upright 213, which are opposite to each other, so that the lifting and lowering of the carrying device 300 are more stable.

In particular implementations, the supporting surface 311 may be lowered into the second avoiding hole 122. The area of the fork 312 in the carrying device body 310 is larger than the area of the supporting surface 311, and the second avoiding hole 122 accommodates the fork 312, which has a small influence on the strength of the chassis structure 100.

In the present application, the support leg 3111 is bent outward of the support surface 311, and the side surface of the support surface 311 facing the column bracket 210 and the two support legs 3111 together form an escape notch 3112. The escape notch 3112 can escape an obstacle on the movement path of the conveying device 300. Illustratively, the obstruction may be a storage rack 220 partially within the avoidance notch 3112.

In one embodiment, the chassis structure 100 has a chassis camera 160 thereon, and the chassis camera 160 is located below the avoidance notch 3112, thereby avoiding the chassis camera 160 through the avoidance notch 3112.

In some embodiments, the supporting foot 3111 has a first connection portion 3113 and a second connection portion 3114 connected to the first connection portion 3113, the first connection portion 3113 is connected to the connection member 320, the second connection portion 3114 is connected to the supporting surface 311, and the supporting surface 311 is located below the first connection portion 3113. That is, the support surface 311 is sunken with respect to the first connection portion 3113. Thus, the lowest descending height of the connection member 320 can be reduced, that is, the connection member 320 is partially moved into the avoiding groove 110, or the connection member 320 is spaced from the avoiding groove 110 by a certain distance, and the connection member 320 is about to move into the avoiding groove 110, and the supporting surface 311 is lowered to the lowest position.

In a specific implementation, the first connection portion 3113 is bent toward the outer side of the supporting surface 311, and the second connection portion 3114 may be vertically disposed. Thereby, the support surface 311 and the first connection portion 3113 are smoothly transitionally connected by the second connection portion 3114.

Further, in the present application, first upright 212 and/or second upright 213 include an outer upright 2121 and an inner upright 2122 inserted within outer upright 2121, guide slot 211 is located on inner upright 2122, and a portion of inner upright 2122 extends outside outer upright 2121 and into escape slot 110.

First upright 212 and/or second upright 213 further include a web 2123, web 2123 being located at a bottom end of first upright 212 and/or second upright 213, and web 2123 being connected to chassis structure 100. Thereby securing the mast carrier 210 to the undercarriage structure 100. The connecting plate 2123 and the chassis structure 100 may be connected by bolts, welding, or other connecting means conventional to those skilled in the art. In some embodiments, the avoiding groove 110 includes a first avoiding portion 111, a second avoiding portion 112 and a third avoiding portion 113, the first avoiding portion 111 and the second avoiding portion 112 are respectively configured to accommodate different inner pillars 2122, and the third avoiding portion 113 is configured to accommodate the conveying device body 310.

Specifically, the first avoiding portion 111 and the second avoiding portion 112 can be matched with the inner upright 2122 opposite to the first avoiding portion, that is, the inner side wall of the first avoiding portion 111 is matched with the outer side wall of the inner upright 2122 opposite to the first avoiding portion 111. The inner sidewall of the second avoidance portion 112 matches the outer sidewall of the inner post 2122 opposite the second avoidance portion 112. Thus, the first avoiding portion 111 and the second avoiding portion 112 support the inner post 2122. The third escape portion 113 may be matched to the support surface 311.

In a specific implementation, a plurality of sheet metal parts may be disposed on the base plate 120, and the first avoidance portion 111, the second avoidance portion 112, and the third avoidance portion 113 are formed by the same sheet metal part, or formed by different sheet metal parts respectively.

When the transfer robot travels, it may sometimes encounter an uneven road surface. Accordingly, the chassis structure 100 of some transfer robots may include a first chassis 140 and a second chassis 150, the first chassis 140 and the second chassis 150 being hinged, and a bearing platform covering the first chassis 140 and the second chassis 150, the first chassis 140 and the second chassis 150 being both hinged with the bearing platform, the bearing platform being used to support the pillar assembly 200. The hinge joint of the carrying platform and the first chassis 140 has a first rotation center, the hinge joint of the carrying platform and the second chassis 150 has a second rotation center, and the hinge joint of the first chassis 140 and the second chassis 150 has a third rotation center, which easily results in a low response speed of the driven wheels of the chassis structure 100 and a complex structure when the chassis structure 100 moves.

FIG. 15 is a schematic structural view of a chassis structure in an embodiment of the present application; FIG. 16 is a top view of a chassis structure in an embodiment of the present application; fig. 17 is a side view of a chassis structure in an embodiment of the present application. Referring to fig. 1 to 17, according to the transfer robot provided by the present application, the chassis structure 100 includes a first chassis 140 and a second chassis 150, the second chassis 150 includes a bearing portion 151 and a supporting portion 152 connected to the bearing portion 151, the bearing portion 151 extends upward of the first chassis 140 and is hinged to the first chassis 140, and the column bracket 210 is connected to the bearing portion 151.

In this application, the second chassis 150 directly serves as a bearing platform, the upright support 210 is supported by the bearing portion 151 on the second chassis 150, the second chassis 150 has the bearing portion 151 located on the first chassis 140, and the bearing portion 151 is hinged to the first chassis 140, so that the flexible connection between the first chassis 140 and the second chassis 150 is realized, the structure is simplified, and the driving wheel 142, each first driven wheel 141 and each second driven wheel 1521 can be better attached to the road surface, so that the transfer robot can stably move on the road surface with uneven height. And only has the rotation center of the hinge joint of the bearing part 151 and the first chassis 140, so that when the chassis structure 100 moves, each first driven wheel 141 and each second driven wheel 1521 can be rapidly driven by the driving wheel 142 to rotate, and the response speed of each first driven wheel 141 and each second driven wheel 1521 is prevented from being influenced.

In a specific implementation, the supporting portion 151 includes a first supporting surface 1511 and a second supporting surface 1512, the first supporting surface 1511 and the second supporting surface 1512 are connected to the same side of the supporting portion 152, and the first supporting surface 1511 and the second supporting surface 1512 are hinged to the upper surface of the first chassis 140.

The bottom of the first chassis 140 has at least one first driven wheel 141 and at least two driving wheels 142, the bottom of the supporting portion 152 has at least one second driven wheel 1521, and the driving wheels 142 are located below the first bearing surface 1511 or the second bearing surface 1512. Each driving wheel 142 may be correspondingly connected to one driving member 80, and the driving wheel 142 is driven to rotate by the driving member 80, so as to drive each first driven wheel 141 and each second driven wheel 1521 to rotate, thereby moving the chassis structure 100, and thus moving the transfer robot.

The first shaft 212 is connected to the first bearing surface 1511, and the second shaft 213 is connected to the second bearing surface 1512. That is, the carrying portion 151 occupies a part of the space above the first chassis 140, so that other components of the transfer robot, such as a battery, can be disposed on the first chassis 140, and the utilization rate of the first chassis 140 is improved. In this way, the center of gravity of the transfer robot is concentrated on the first chassis 140, one side of the second chassis 150 of the transfer robot is the front side of the transfer robot, one side of the first chassis 140 is the rear side of the transfer robot, the first upright 212 is connected to the first receiving surface 1511, and the second upright 213 is connected to the second receiving surface 1512, that is, the upright unit 200 is also located at the rear side of the transfer robot, and the hinge point between the receiving part 151 and the first chassis 140 is also located at the rear side of the transfer robot, whereby the transfer robot can be prevented from tilting toward the front side of the transfer robot when moving.

In an embodiment, the first supporting surface 1511 and the second supporting surface 1512 have an access hole 1513 in communication with the avoiding groove 110, and the access hole 1513 is used for allowing the connecting member 320 to access the avoiding groove 110, so that the connecting member 320 can smoothly enter the avoiding groove 110 or move out of the avoiding groove 110. Bolt holes may be formed in the remaining surfaces of the first bearing surface 1511 and the second bearing surface 1512, the first pillar 212 may be bolted to the first bearing surface 1511, and the second pillar 213 may be bolted to the second bearing surface 1512.

Fig. 18 is a schematic structural view of a first chassis in the chassis structure in the embodiment of the present application; fig. 19 is a schematic structural diagram of a second chassis in the chassis structure in the embodiment of the present application. Referring to fig. 14 to 19, the first bearing surface 1511 is hinged to the upper surface of the first chassis 140 by a first rotating shaft 1514, the second bearing surface 1512 is hinged to the upper surface of the first chassis 140 by a second rotating shaft 1515, and the axis of the first rotating shaft 1514 is collinear with the axis of the second rotating shaft 1515.

In a specific implementation, one of a surface of the first bearing surface 1511 facing the first chassis 140 and an upper surface of the first chassis 140 has a first support 20, the other has a first support seat 30, and the first rotating shaft 1514 is disposed through the first support 20 and the first support seat 30.

One of the surface of the second carrying surface 1512 facing the first chassis 140 and the upper surface of the first chassis 140 has a second supporting member 40, the other has a second supporting seat 50, and the second rotating shaft 1515 is disposed on the second supporting member 40 and the second supporting seat 50.

The drawings of the present embodiment illustrate that the first supporting member 20 is disposed on a surface of the first supporting surface 1511 facing the first base plate 140, the second supporting member 40 is disposed on a surface of the second supporting surface 1512 facing the first base plate 140, and the first supporting seat 30 and the second supporting seat 50 are disposed on an upper surface of the first base plate 140. It is understood that the upper surface of the first base plate 140 may have the first support member 20 and the second support member 40, and the first support seat 30 and the second support seat 50 may be respectively located on a side of the first bearing surface 1511 facing the first base plate 140 and a side of the second bearing surface 1512 facing the first base plate 140.

In this embodiment, the first rotating shaft 1514 penetrates through the first support 20 and the first support seat 30 to hinge the first bearing surface 1511 and the first chassis 140, and the second rotating shaft 1515 penetrates through the second support 40 and the second support seat 50 to hinge the second bearing surface 1512 and the first chassis 140, so that the strength of the hinge joint of the first bearing surface 1511 and the first chassis 140 and the strength of the hinge joint of the second bearing surface 1512 and the first chassis 140 are increased.

It is understood that the second carrying surface 1512 and the first chassis 140, and the first carrying surface 1511 and the first chassis 140 may be hinged by hinges, and the like, and the embodiment is not limited herein.

In some embodiments, the first support 20 is a bent edge extending toward the upper surface of the first chassis 140 or a bent edge extending toward the bearing portion 151; the second supporting member 40 is a bent edge extending toward the upper surface of the first chassis 140 or a bent edge extending toward the bearing part 151. Thus, the first and second supports 20 and 40 may be directly formed in a punched form, thereby facilitating the processing of the first and second supports 20 and 40.

In this embodiment, at least one first stopper 60 is disposed on the upper surface of the first chassis 140 and/or a surface of the first supporting surface 1511 facing the first chassis 140, and a gap is disposed between the first stopper 60 and the first chassis 140 and/or between the first stopper 60 and the first supporting surface 1511;

the upper surface of the first chassis 140 and/or the surface of the second supporting surface 1512 facing the first chassis 140 are provided with at least one second stopper 70, and a gap is provided between the second stopper 70 and the first chassis 140 and/or between the second stopper 70 and the second supporting surface 1512.

Specifically, at least one first limiting block 60 may be disposed on the upper surface of the first chassis 140, each first limiting block 60 is opposite to one surface of the first bearing surface 1511 facing the first chassis 140, and a gap is formed between each first limiting block 60 and one surface of the first bearing surface 1511 facing the first chassis 140, and/or at least one first limiting block 60 may be disposed on one surface of the first bearing surface 1511 facing the first chassis 140, each first limiting block 60 is opposite to the upper surface of the first chassis 140, and a gap is formed between each first limiting block 60 and the upper surface of the first chassis 140.

Similarly, at least one second limiting block 70 may be disposed on the upper surface of the first chassis 140, each second limiting block 70 is opposite to one surface of the second carrying surface 1512 facing the first chassis 140, and a gap is formed between each second limiting block 70 and one surface of the second carrying surface 1512 facing the first chassis 140; and/or at least one second limiting block 70 is arranged on a surface of the second bearing surface 1512 facing the first chassis 140, each second limiting block 70 is opposite to the upper surface of the first chassis 140, and a gap is formed between each second limiting block 70 and the upper surface of the first chassis 140. Through the arrangement of the gap, a buffer is provided for the transfer robot to move on the road surface with different heights, and the first limit blocks 60 and the second limit blocks 70 limit the rotation angles of the hinged part of the first bearing surface 1511 and the first chassis 140 and the hinged part of the second bearing surface 1512 and the first chassis 140, so that the transfer robot is prevented from inclining forwards or backwards.

The first limiting block 60 and the second limiting block 70 may be rubber members, silicone members, or other elastic limiting blocks, so that buffering is added at the hinge joint of the first bearing surface 1511 and the first chassis 140 and the hinge joint of the second bearing surface 1512 and the first chassis 140, so that the transfer robot can move smoothly on uneven road surfaces.

In a specific implementation, the number of the first limiting blocks 60 is two, and the first supporting seat 30 is located between the two first limiting blocks 60; the number of the second stoppers 70 is two, and the second support seat 50 is located between the two second stoppers 70. Thereby, the carrier robot is prevented from tilting forward and backward, respectively.

In the present application, a projection of the bearing 151 on the first chassis 140 is located within the first chassis 140. Accordingly, the center of gravity of the transfer robot is concentrated toward the inside of the first chassis 140, and the transfer robot has a compact and stable transfer structure.

Specifically, the first bottom plate 140 has a first side surface 143 and a second side surface 144 opposite to each other, the first bearing surface 1511 side surface is flush with the first side surface 143, and the second bearing surface 1512 side surface is flush with the second side surface 144. Therefore, the appearance is beautiful.

In some embodiments, each driving wheel 142 is located at or partially protruding from a first end of the first chassis 140, each first driven wheel 141 is located at or near a second end of the first chassis 140, each second driven wheel 1521 is located at or near a first end of the supporting portion 152, and a second end of the supporting portion 152 is connected to the bearing portion 151.

In the drawings of the present application, the number of the first driven wheels 141, the driving wheel 142, and the second driven wheels 1521 is two. The bottom plate 120 is provided with a side plate 130, the side plate 130 and the bottom plate 120 can jointly enclose a containing cavity, the first driven wheel 141 and the second driven wheel 1521 can be caster wheels, and the driving wheel 142 can be a roller wheel, wherein the first driven wheel 141, the driving wheel 142 and the second driven wheel 1521 can extend into the containing cavity enclosed by the bottom plate 120 and the side plate 130 and are fixed in the containing cavity enclosed by the bottom plate 120 and the side plate 130. Part of the wheel surfaces of the first driven wheel 141, the driving wheel 142 and the second driven wheel 1521 extend out of the bottom plate 120, so that the overall height of the transfer robot is reduced and the transfer robot moves more stably.

In this application, the supporting portion 152 includes a supporting portion body 1522 and two bending portions 1523 disposed on the supporting portion body 1522, and the two bending portions 1523 are bent toward the upper surface of the first chassis 140 and connected to the first supporting surface 1511 and the second supporting surface 1512 respectively.

The driving wheel 142 is located below the bending portion 1523, and an accommodating space is provided for the driving wheel 142 through the bending portion 1523.

In one embodiment, the bending portion 1523 is arc-shaped. Thereby, a smooth transition between the support body 1522 and the first bearing surface 1511, and between the support body 1522 and the second bearing surface 1512 is achieved.

In another embodiment, the center of the bending portion 1523 coincides with the circle of the driving wheel 142, so that the appearance is more attractive.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (15)

1. A chassis structure is characterized by comprising a first chassis and a second chassis, wherein the bottom of the first chassis is provided with at least one first driven wheel and at least two driving wheels;

the second chassis comprises a bearing part and a supporting part connected with the bearing part, at least one second driven wheel is arranged at the bottom of the supporting part, and the bearing part extends towards the upper part of the first chassis and is hinged with the first chassis.

2. The chassis structure of claim 1, wherein the bearing part comprises a first bearing surface and a second bearing surface, the first bearing surface and the second bearing surface are horizontally arranged, the first bearing surface and the second bearing surface are connected to the same side of the supporting part, and the first bearing surface and the second bearing surface are hinged to the upper surface of the first chassis.

3. The chassis structure of claim 2, wherein the first bearing surface is hinged to the upper surface of the first chassis through a first rotating shaft, the second bearing surface is hinged to the upper surface of the first chassis through a second rotating shaft, and the axis of the first rotating shaft is collinear with the axis of the second rotating shaft.

4. The chassis structure according to claim 3, wherein one of a surface of the first carrying surface facing the first chassis and an upper surface of the first chassis has a first supporting member, and the other has a first supporting seat, and the first rotating shaft is inserted through the first supporting member and the first supporting seat;

one of one surface of the second bearing surface facing the first chassis and the upper surface of the first chassis is provided with a second supporting piece, the other one is provided with a second supporting seat, and the second rotating shaft is arranged on the second supporting piece and the second supporting seat in a penetrating mode.

5. The chassis structure according to claim 4, wherein the first support is a bent edge extending toward an upper surface of the first chassis or a bent edge extending toward the bearing portion;

the second supporting piece is a bending edge extending towards the upper surface of the first chassis or a bending edge extending towards the bearing part.

6. The chassis structure of claim 4, wherein the upper surface of the first chassis and/or the first bearing surface has at least one first stopper facing the first chassis, and a gap is formed between the first stopper and the first chassis and/or between the first stopper and the first bearing surface;

at least one second limiting block is arranged on the upper surface of the first chassis and/or one surface of the second bearing surface facing the first chassis, and a gap is formed between the second limiting block and the first chassis and/or between the second limiting block and the second bearing surface.

7. The chassis structure according to claim 6, wherein the number of the first limiting blocks is two, and the first supporting seat is located between the two first limiting blocks;

the number of the second limiting blocks is two, and the second supporting seat is located between the two second limiting blocks.

8. The chassis structure according to any one of claims 2 to 7, wherein a projection of the bearing portion on the first chassis is located within the first chassis.

9. The tray structure of claim 8, wherein the first tray has opposing first and second sides, the first load-bearing surface side being flush with the first side and the second load-bearing surface side being flush with the second side.

10. An undercarriage structure according to any one of claims 2 to 7 wherein each said drive wheel is located at or partially beyond a first end of said first undercarriage, each said first driven wheel is located at or near a second end of said first undercarriage, each said second driven wheel is located at or near a first end of said support portion, and a second end of said support portion is connected to said load bearing portion.

11. The chassis structure according to claim 10, wherein the supporting portion includes a supporting portion body and two bending portions disposed on the supporting portion body, the two bending portions being bent toward the upper surface of the first chassis and connected to the first bearing surface and the second bearing surface, respectively.

12. The chassis structure of claim 11, wherein the drive wheel is located below the bend.

13. The tray structure of claim 12 wherein the bend is arcuate.

14. The chassis structure of claim 13, wherein the center of the bend coincides with the circle of the driving wheel.

15. A transfer robot comprising a mast stand and the chassis structure of any one of claims 1 to 14, the chassis structure having a carrier portion for supporting the mast stand.

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