CN215361551U - Robot chassis and mobile transfer robot - Google Patents
Robot chassis and mobile transfer robot Download PDFInfo
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- CN215361551U CN215361551U CN202121304572.0U CN202121304572U CN215361551U CN 215361551 U CN215361551 U CN 215361551U CN 202121304572 U CN202121304572 U CN 202121304572U CN 215361551 U CN215361551 U CN 215361551U
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Abstract
The application provides a robot chassis and robot, this robot chassis can be applied to the transfer robot in the commodity circulation trade. To adapt to the ground, this logistics robot includes: chassis subassembly and supporting platform: wherein the chassis assembly comprises two chassis hinged; the driving wheel assembly is arranged on one of the chassis, and the universal wheel assembly is connected with each chassis through the buffer assembly; the supporting platform is connected with the two chassis through adjusting components respectively. When adopting above-mentioned structure, be connected between universal wheel subassembly and the chassis through adopting the buffering subassembly for the robot chassis can have certain self-adaptability to ground, thereby guarantees the contact between every universal wheel subassembly and the ground, strengthens the stability on chassis.
Description
Technical Field
The utility model relates to the technical field of logistics transportation, in particular to a robot chassis and a mobile transportation 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 chassis of the robot is mainly in a form of a chassis with a shock absorber and a chassis with a driving wheel fixedly installed, and the current chassis of the robot has poor acceleration and deceleration caused by insufficient positive pressure on the ground. In addition, the obstacle crossing capability of the robot chassis is poor, and the adaptability to angle and height difference is not strong.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a robot chassis and a robot, so as to improve the adaptability of the robot chassis during walking.
In a first aspect, a robot chassis is provided that is applicable to handling robots in the logistics industry. To adapt to the ground, this logistics robot includes: chassis subassembly and supporting platform: wherein the chassis assembly comprises two chassis hinged; the driving wheel assembly is arranged on one of the chassis, and the universal wheel assembly is connected with each chassis through the buffer assembly; the supporting platform is connected with the two chassis through adjusting components respectively. When adopting above-mentioned structure, be connected between universal wheel subassembly and the chassis through adopting the buffering subassembly for the robot chassis can have certain self-adaptability to ground, thereby guarantees the contact between every universal wheel subassembly and the ground, strengthens the stability on chassis.
In a specific embodiment, the cushioning assembly comprises a cushioning pad and an attachment assembly; the buffer pad is sleeved on the connecting assembly; the universal wheel assembly is slidably assembled on the connecting assembly and can slide along the vertical direction, and the buffer cushion is positioned between the universal wheel assembly and the corresponding chassis. When the scheme is adopted, the universal wheel assembly can slide along the vertical direction, so that the contact effect between the universal wheel assembly and the ground is ensured, and the universal wheel assembly is suitable for different grounds.
In a specific embodiment, the connecting assembly comprises a bolt and a sleeve sleeved on the bolt; two ends of the sleeve respectively press against the chassis and a nut of the bolt; the universal wheel assembly is sleeved on the sleeve and can slide along the length direction of the sleeve. The sliding effect is ensured.
In a specific embodiment, the connection assembly further comprises a washer fitted over the shank of the bolt; the washer is located between the nut and the universal wheel assembly. The buffering effect is ensured.
In a specific embodiment, the universal wheel assembly comprises a support plate and a universal wheel rotatably connected with the support plate; the buffer cushion is positioned between the supporting plate and the corresponding chassis; the support plate is sleeved on the sleeve.
In a specific possible embodiment, a plurality of hollowed-out structures are arranged on the buffer pad.
In a specific possible embodiment, the cushioning pad is a polyurethane pad. Has good buffering effect.
In a specific possible embodiment, each chassis is provided with two universal wheel assemblies; and the two universal wheel assemblies are positioned at two corners of the corresponding chassis. Good stability is ensured.
In a particular possible embodiment, each chassis is provided with a recessed area for accommodating the universal wheel assembly. The buffer assembly is convenient to arrange.
In a second aspect, a robot is provided, comprising the robot chassis of any one of the above, and a handling mechanism provided on the robot chassis. When adopting above-mentioned structure, be connected between universal wheel subassembly and the chassis through adopting the buffering subassembly for the robot chassis can have certain self-adaptability to ground, thereby guarantees the contact between every universal wheel subassembly and the ground, strengthens the stability on chassis.
Drawings
FIG. 1 is an exploded view of a robot chassis provided by an embodiment of the present invention;
FIG. 2 is a side view of a robot chassis provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of a robot chassis obstacle crossing provided in the practice of the present invention;
FIG. 4 is an exploded view of a universal wheel assembly and a damping assembly according to an embodiment of the present invention.
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. When the robot chassis in the prior art is used, the obstacle-crossing capability is poor, and the adaptability to angles and height differences is not very strong. In view of this, the present embodiment provides a robot chassis to improve the obstacle-crossing ability of the robot chassis and the adaptability to the ground.
In order to facilitate understanding of the chassis robot provided in the embodiments of the present application, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Reference is first made to fig. 1 and fig. 2, where fig. 1 shows an exploded schematic view of a robot chassis provided in an embodiment of the present application, and fig. 2 shows a side view of the robot chassis provided in the embodiment of the present application.
Referring to fig. 1 first, a main structure of a robot chassis provided in an embodiment of the present application includes two parts: a chassis component and a supporting platform 40, wherein the chassis component is used as a walking part of the robot chassis, and when the robot chassis is used, the chassis component is used for contacting with the ground and driving the chassis robot to move. The support platform 40 serves as a carrying part of the robot chassis, and is mainly used for carrying other devices of the robot or parts of the bin, such as a carrying gantry and the like.
The chassis assembly mainly comprises two hinged chassis which are named as a first chassis 10 and a second chassis 20 respectively for convenience of description, and when the first chassis 10 and the second chassis 20 are hinged, the first chassis 10 and the second chassis 20 can enable the robot to rotate relatively between the first chassis 10 and the second chassis 20 when the robot walks, so that the adaptability of the chassis assembly is improved. In which, a driving wheel assembly is disposed on one of the first chassis 10 and the second chassis 20, and in fig. 1, the driving wheel assembly 30 is illustrated as being disposed on the first chassis 10, but it should be understood that the present embodiment does not limit the disposition of the driving wheel assembly 30, and the driving wheel assembly 30 may be disposed on the first chassis 10 shown in fig. 1, or may be disposed on the second chassis 20, as long as it is located at a hinge joint of the first chassis 10 and the second chassis 20.
In addition, a universal wheel assembly 60 is provided on each chassis, and support for each chassis is achieved by the universal wheel assembly 60 and the drive wheel assembly 30. Taking the first chassis 10 as an example, one end of the first chassis 10 is provided with the driving wheel assembly 30, and the other end is provided with the universal wheel assembly 60, so that the first chassis 10 can be supported by the driving wheel assembly 30 and the universal wheel assembly 60.
To facilitate the provision of the universal wheel assemblies 60, a recessed region 11 is provided in each chassis for receiving the universal wheel assemblies 60. As shown in fig. 2, a recessed area 11 is provided at a corner of the first chassis 10 to accommodate the universal wheel assembly 60, and the recessed area 11 is formed by bending the first chassis 10. Thereby reducing the height of the first chassis 10, further reducing the center of gravity of the first chassis 10 and improving the stability during walking.
Similarly, the second chassis 20 is supported in the same manner as the first chassis 10, and will not be described in detail herein.
The support platform 40 is a plate-like structure that is connected to the first chassis 10 and the second chassis 20 through the adjustment assembly 50. Illustratively, the adjustment assembly 50 may be a linkage assembly by which the support platform 40 is articulated with the first chassis 10 and the second chassis 20, respectively. The connecting rod assembly comprises a first connecting rod and a second connecting rod, and two ends of the first connecting rod are respectively hinged with the supporting platform 40 and the first chassis 10; one end of the second connecting rod is fixedly connected with the second chassis 20, and the other end is hinged with the supporting platform 40, or one end of the second connecting rod is hinged with the second chassis 20, and the other end is fixedly connected with the supporting platform 40. The axis of the hinge structure is parallel to the axis of the hinge of the first chassis 10 and the second chassis 20.
The number of the first connecting rods and the second connecting rods is not specifically limited in the application, the number of the first connecting rods can be two, three and the like, and the number of the second vertical rods can be one, two, three and the like. However, it should be understood that when the number of the first connecting rods or the second connecting rods is plural, the plural first connecting rods are arranged in a single row in parallel to the axis of the hinge of the first chassis 10 and the second chassis 20. Similarly, the second link is also arranged in the same manner.
Referring to fig. 3, the first chassis 10 and the second chassis 20 can rotate relative to each other through a hinge (illustrated by double arrows) as shown in fig. 3, so that the driving wheel assembly 30 and the universal wheel assembly are attached to the ground. In addition, the supporting platform 40 transfers the gravity of the loaded articles to the first chassis 10 and the second chassis 20 through the adjusting assembly 50, so that the stress of the robot chassis is changed, the chassis can better adapt to the ground, and the situation that the robot chassis is tilted or stressed too heavily is reduced. In addition, the adjusting assembly 50 adopts a multi-link design (a first link and a second link), so that the obstacle crossing capability of the robot chassis is strong, when the robot chassis crosses the obstacle, the shaking angle of the supporting platform 40 is half or approximately half of the obstacle crossing angle of the robot chassis through the adjustment of the adjusting assembly 50, and meanwhile, the adjusting assembly 50 applies the force applied by the supporting platform 40 to the first chassis 10 and the second chassis 20 respectively, so that the positive pressure of the driving wheel assembly 30 on the ground is larger, and the ground grabbing effect of the robot chassis is improved.
With continued reference to fig. 1 and 2, in order to ensure that the first chassis 10 and the second chassis 20 adapt to the ground when the first chassis 10 and the second chassis 20 are articulated, when universal wheel assemblies 60 are provided, two universal wheel assemblies 60 are provided per chassis; and two universal wheel assemblies 60 are located at the two corners of the corresponding chassis.
Each chassis is now supported by four wheels (two drive wheels and two universal wheels). To ensure the stability of each chassis, the universal wheel assembly 60 is connected to each chassis via a damping assembly 70 when the universal wheel assembly 60 is provided. The damping assembly 70 may provide damping to the universal wheel assembly 60 in the vertical direction, thereby allowing the universal wheel assembly 60 to slide in the vertical direction.
Referring also to FIG. 4, an exploded view of universal wheel assembly 60 and cushioning assembly 70 is shown in FIG. 4. The cushion assembly 70 includes a cushion pad 71 and a connecting assembly 72; the cushion pad 71 is a component of the cushion assembly 70 having a cushion effect, and the connecting assembly 72 serves as a fixed connecting structure for connecting the universal wheel assembly 60 to a corresponding chassis. The first chassis 10, the corresponding cushion 71, and the universal wheel assembly 60 will be described below.
The connection assembly 72 is used to connect the universal wheel assembly 60 to the first chassis 10. When assembled, the connecting assembly 72 is fixedly connected to the first chassis 10, and the universal wheel assembly 60 is slidably assembled to the connecting assembly 72 and can slide in the vertical direction. And the cushion pad 71 is sleeved on the connecting assembly 72 and is positioned between the universal wheel assembly 60 and the corresponding chassis. When the universal wheel assembly 60 slides in the vertical direction, the cushion pad 71 can provide elasticity to ensure the contact effect with the ground.
As an alternative, the connection assembly 72 includes a bolt 723 and a sleeve 721 fitted over the bolt 723; the two ends of the sleeve 721 are respectively pressed against the chassis and the nut of the bolt 723, and the universal wheel assembly 60 is sleeved on the sleeve 721 and can slide along the length direction of the sleeve 721. During assembly, the sleeve 721 is firstly sleeved on the screw of the bolt 723, and then the screw passes through the universal wheel assembly 60 and is screwed on the first chassis 10, at this time, two ends of the sleeve 721 respectively press against the first chassis 10 and the nut of the bolt 723, and the universal wheel assembly 60 is sleeved on the sleeve 721 and can slide along the length direction (vertical direction) of the sleeve 721, so that the universal wheel assembly 60 is prevented from being influenced by the thread on the screw during sliding.
As an optional solution, in order to improve the buffering effect, when the connecting assembly 72 is disposed, the connecting assembly 72 further includes a washer 722 fitted around the screw of the bolt 723; washer 722 is positioned between the nut and the gimbal assembly 60. When the universal wheel assembly 60 is assembled, the washer 722 and the cushion pad 71 are respectively arranged on two sides of the universal wheel assembly 60, so that hard collision between the universal wheel assembly 60 and a nut is avoided, and the safety of the universal wheel assembly 60 is improved.
Illustratively, the cushion pad 71 and the washer 722 can be made of polyurethane, the cushion pad 71 is a polyurethane pad, and the washer 722 is a polyurethane washer, so as to achieve better elastic effect.
In addition, in order to improve the buffering effect of the buffering pad 71, when the buffering pad 71 is disposed, a plurality of hollow structures may be disposed on the buffering pad 71, and the plurality of hollow structures may be different structures such as hollow holes or hollow grids, so that the buffering pad 71 has better elasticity.
As an example, the above-mentioned universal wheel assembly 60 may include a support plate 61, and a universal wheel 62 rotatably coupled to the support plate 61. During assembly, the cushion pad 71 is located between the support plate 61 and the corresponding chassis, the support plate 61 is sleeved on the sleeve 721, and the cushion pad 71 and the washer 722 are respectively arranged on two opposite sides of the support plate 61, so as to improve the cushioning effect of the universal wheel assembly 60.
In order to ensure the stability of the connection between the universal wheel assembly 60 and the first chassis 10, four connecting assemblies 72 may be used to connect the universal wheel assembly 60 and the first chassis 10, and of course, three, five, six, etc. connecting assemblies 72 with different numbers may also be used, which is not specifically limited in the embodiment of the present application.
As can be seen from the above description, in the embodiment of the present application, two universal wheel assemblies 60 are respectively disposed on the first chassis 10 and the second chassis 20, and the four wheels (two driving wheels and two universal wheels 62) on each chassis are ensured to support the same plane (chassis) by the disposed buffer assembly 70, so that the stability of the robot chassis is improved.
The embodiment of the application also provides a robot, which comprises the robot chassis and a carrying mechanism arranged on the robot chassis. When adopting above-mentioned structure, be connected between universal wheel subassembly and the chassis through adopting the buffering subassembly for the robot chassis can have certain self-adaptability to ground, thereby guarantees the contact between every universal wheel subassembly and the ground, strengthens the stability on chassis.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot chassis, comprising: chassis subassembly and supporting platform: wherein the content of the first and second substances,
the chassis assembly comprises two hinged chassis; the driving wheel assembly is arranged on one of the chassis, and the universal wheel assembly is connected with each chassis through the buffer assembly;
the supporting platform is connected with the two chassis through adjusting components respectively.
2. The robotic chassis of claim 1, wherein the bumper assembly includes a bumper pad and a connection assembly; the buffer pad is sleeved on the connecting assembly;
the universal wheel assembly is slidably assembled on the connecting assembly and can slide along the vertical direction, and the buffer cushion is positioned between the universal wheel assembly and the corresponding chassis.
3. The robot chassis of claim 2, wherein the connection assembly includes a bolt and a sleeve that fits over the bolt;
two ends of the sleeve respectively press against the chassis and a nut of the bolt;
the universal wheel assembly is sleeved on the sleeve and can slide along the length direction of the sleeve.
4. The robot chassis of claim 3, wherein the connection assembly further comprises a washer that fits over a threaded rod of the bolt; the washer is located between the nut and the universal wheel assembly.
5. The robot chassis of claim 4, wherein the universal wheel assembly includes a support plate, and a universal wheel rotatably coupled to the support plate;
the buffer cushion is positioned between the supporting plate and the corresponding chassis;
the support plate is sleeved on the sleeve.
6. The robot chassis of claim 2, wherein a plurality of hollowed-out structures are disposed on the bumper pad.
7. The robot chassis of claim 2, wherein the bumper pad is a polyurethane pad.
8. A robot chassis according to any of claims 1 to 7, wherein each chassis is provided with two universal wheel assemblies;
and the two universal wheel assemblies are positioned at two corners of the corresponding chassis.
9. A robot chassis according to claim 8, wherein each chassis is provided with a recessed region for receiving the gimbal assembly.
10. A robot comprising the robot chassis according to any one of claims 1 to 9, and a carrying mechanism provided on the robot chassis.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121304572.0U CN215361551U (en) | 2021-06-10 | 2021-06-10 | Robot chassis and mobile transfer robot |
| DE202022002856.3U DE202022002856U1 (en) | 2021-01-21 | 2022-01-21 | Cargo box handling system |
| DE202022002857.1U DE202022002857U1 (en) | 2021-01-21 | 2022-01-21 | Cargo box handling system |
| TW111102628A TWI807606B (en) | 2021-01-21 | 2022-01-21 | A container handing system and a robot |
| PCT/CN2022/073277 WO2022156780A1 (en) | 2021-01-21 | 2022-01-21 | Container conveying system and robot |
| US18/273,521 US20240092579A1 (en) | 2021-01-21 | 2022-01-21 | Container conveying system and robot |
| GB2311726.0A GB2618012A (en) | 2021-01-21 | 2022-01-21 | Container conveying system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121304572.0U CN215361551U (en) | 2021-06-10 | 2021-06-10 | Robot chassis and mobile transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215361551U true CN215361551U (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121304572.0U Active CN215361551U (en) | 2021-01-21 | 2021-06-10 | Robot chassis and mobile transfer robot |
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| Country | Link |
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| CN (1) | CN215361551U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022156780A1 (en) * | 2021-01-21 | 2022-07-28 | 北京极智嘉科技股份有限公司 | Container conveying system and robot |
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2021
- 2021-06-10 CN CN202121304572.0U patent/CN215361551U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022156780A1 (en) * | 2021-01-21 | 2022-07-28 | 北京极智嘉科技股份有限公司 | Container conveying system and robot |
| GB2618012A (en) * | 2021-01-21 | 2023-10-25 | Beijing Geekplus Tech Co Ltd | Container conveying system and robot |
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