CN215552396U - Driving wheel assembly and storage robot - Google Patents

Abstract

The utility model provides a driving wheel assembly and a storage robot, which relates to the technical field of storage robots and is used for solving the technical problem that in the process of mounting the driving wheel assembly to a chassis, parts are easy to fall into the chassis to cause low mounting efficiency; the driving wheel swinging plate is used for mounting a driving wheel and is hinged with the base; the driving wheel swinging plate and the shock absorber are arranged on the base in the horizontal direction, one end of the shock absorber is hinged with the driving wheel swinging plate, and the other end of the shock absorber is hinged with the base; the driving wheel swing plate is configured to swing relative to the base, so that the driving wheel is installed between the driving wheel swing plate and the ground in a floating mode. The present disclosure provides a drive wheel assembly for mounting a drive wheel to a mobile base.

Description

Driving wheel assembly and storage robot

Technical Field

The disclosure relates to the technical field of warehousing robots, in particular to a driving wheel assembly and a warehousing robot.

Background

The warehousing robot is one of main equipment capable of realizing automatic carrying operation of the intelligent logistics terminal, heavy physical labor of human can be relieved through the warehousing robot, and carrying operation efficiency is improved; therefore, the warehousing robot becomes a research hotspot in the logistics industry.

The warehousing robot comprises a movable base capable of walking and is used for driving the warehousing robot to move to an operation position. The mobile base is provided with a driving wheel assembly comprising a driving wheel suspension component and a driving wheel, and the driving wheel suspension component comprises a plurality of parts such as suspension springs and supporting arms. When the driving wheel suspension assembly is mounted to the movable base, the above parts are mounted on the chassis of the movable base in the assembly order.

However, in the process of mounting the above-mentioned components to the chassis, the components are liable to fall into the chassis, resulting in low mounting efficiency.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, the embodiments of the present disclosure provide a driving wheel assembly and a warehousing robot, which can reduce the occurrence of the phenomenon that each component of the driving wheel assembly falls down to a chassis when the driving wheel assembly is mounted to the chassis, and improve the mounting efficiency of the driving wheel assembly.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

a first aspect of the disclosed embodiments provides a driving wheel assembly, which includes a driving wheel, a base, a driving wheel swing plate, and a shock absorber; the driving wheel swinging plate is used for mounting the driving wheel and is hinged with the base; the driving wheel swinging plate and the shock absorber are arranged on the base along the horizontal direction, one end of the shock absorber is hinged with the driving wheel swinging plate, and the other end of the shock absorber is hinged with the base; the drive wheel wobble plate is configured to be capable of swinging relative to the base such that the drive wheel is floatingly mounted between the drive wheel wobble plate and the ground.

In an alternative embodiment, the drive wheel swing plate comprises a fixed arm and a swing arm; the fixed arm is used for mounting the driving wheel and is connected with the swing arm; one end of the swing arm, which is far away from the fixed arm, is hinged to the shock absorber, and one end of the swing arm, which is close to the bottom of the base, is hinged to the base.

In an alternative embodiment, one end of the fixed arm is connected to the inner side surface of the swing arm; and one side of the swing arm, which faces the driving wheel, is provided with a avoiding curved surface.

In an optional embodiment, the shock absorber further comprises a shock absorber mounting seat; the shock absorber mounting seat is fixed on the base, and one end, far away from the driving wheel swinging plate, of the shock absorber is hinged to the shock absorber mounting seat.

In an optional embodiment, the shock absorber comprises a guide column and a spiral spring sleeved on the guide column; the guide cylinder comprises a first cylinder and a second cylinder; one end of the first cylinder is hinged with the swing arm, and the other end of the first cylinder is inserted into the second cylinder; the end part, far away from the first column body, of the second column body is hinged to the shock absorber mounting seat.

In an alternative embodiment, the shock absorber further comprises an adjustment nut mounted on the second post; one end of the spiral spring is abutted to the adjusting nut, and the other end of the spiral spring is abutted to the end part, close to the swing arm, of the first column body.

In an optional embodiment, the device further comprises a spring adjusting arm and a connector; one end of the connector is hinged with the swing arm, and the other end of the connector is hinged with the first column; the spring adjusting arm faces towards one side of the shock absorber and is hinged to the second column body, and the other side of the spring adjusting arm is hinged to the shock absorber mounting seat.

In an alternative embodiment, the base comprises a top plate, a bottom plate, and at least one support plate disposed between the top plate and the bottom plate; a hinged seat is arranged at the position, close to the swing arm, of the bottom plate; one end of the swing arm, which is close to the bottom of the base, is hinged with the hinged seat.

In an optional embodiment, the device further comprises a movable supporting plate; the movable supporting plate is positioned on the outer side of the swing arm and covers part of the swing arm and part of the shock absorber; one end of the movable supporting plate is connected with the top plate, and the other end of the movable supporting plate is connected with the bottom plate.

A second aspect of an embodiment of the present disclosure provides a warehousing robot including a mobile base; the mobile base comprises a chassis and at least one driving wheel assembly of the first aspect; the driving wheel assembly is installed on the chassis.

In an alternative embodiment, the chassis is provided with two drive wheel assemblies; and two driving wheel assemblies are symmetrically arranged on the chassis along the advancing direction of the movable base.

Compared with the prior art, the driving wheel assembly and the warehousing robot provided by the embodiment of the disclosure have the following advantages:

the driving wheel assembly and the warehousing robot provided by the embodiment of the disclosure comprise a driving wheel, a base, a driving wheel swinging plate and a shock absorber; the driving wheel swinging plate is used for mounting a driving wheel, is hinged with the base and can swing relative to the base; the driving wheel swinging plate and the shock absorber are arranged on the base in the horizontal direction, one end of the shock absorber is hinged with the driving wheel swinging plate, and the other end of the shock absorber is hinged with the base; and both form a linkage mechanism. When the driving wheel is subjected to impact force from the ground and is transmitted to the driving wheel swinging plate, the shock absorber can provide elastic force for the driving wheel swinging plate and offset the impact force from the ground, and the driving wheel is kept attached to the ground, so that the floating installation of the driving wheel is realized.

Compared with the prior art that all parts of the driving wheel assembly are sequentially arranged on the chassis of the movable base, all parts of the driving wheel assembly are integrated and arranged on the base in advance and are arranged on the chassis of the movable base through the base, so that the phenomenon that all parts of the driving wheel assembly fall off to the chassis can be reduced, and the installation efficiency of the driving wheel assembly is improved.

Furthermore, above-mentioned drive wheel pendulum board and bumper shock absorber are arranged on the base along the horizontal direction, and it can reduce the arrangement space of drive wheel assembly on the chassis, can reduce the overall height who removes the base to reduce the focus that removes the base, can promote the stability that removes base and storage robot removed.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, other technical problems that the driving wheel assembly and the warehousing robot provided by the embodiments of the present disclosure can solve, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure 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 disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a schematic structural diagram of a driving wheel assembly according to a first embodiment of the present disclosure;

FIG. 2 is a schematic layout view of a driving wheel wobble plate, a shock absorber, and a shock absorber mounting seat on a base according to a first embodiment of the disclosure;

fig. 3 is a schematic structural diagram of a base according to a first embodiment of the disclosure;

FIG. 4 is a schematic diagram illustrating a connection between a driving wheel swing plate, a damper and a damper mounting seat according to a first embodiment of the disclosure;

FIG. 5 is a schematic structural view of the driving wheel wobble plate of FIG. 4;

FIG. 6 is a schematic view of the structure of the damper of FIG. 4;

FIG. 7 is a schematic structural view of the shock absorber mount of FIG. 4;

FIG. 8 is a schematic view of the spring adjustment arm of FIG. 4;

fig. 9 is a schematic structural diagram of a warehousing robot provided in the second embodiment of the present disclosure.

Description of reference numerals:

10-a base;

11-a top plate; 12-a base plate; 13-a support plate; 14-a boss; 15-a movable support plate;

20-driving wheel swing plate;

21-a fixed arm; 22-a swing arm; 221-avoiding curved surface;

30-a hinged seat;

40-a shock absorber; 41-a guide cylinder; 411-a first column; 412-a second column; 42-a coil spring; 43-adjusting the nut;

50-a shock absorber mount;

51-a fixed plate; 52-mounting ears;

60-spring adjusting arm;

61-mounting side plates; 62-a connecting plate;

70-a connector;

80-a movable connecting block;

90-driving wheels;

100-a drive wheel assembly;

200-chassis.

Detailed Description

As described in the background art, the moving base of the warehousing robot is provided with a driving wheel suspension assembly and a driving wheel, wherein the driving wheel suspension assembly comprises a plurality of parts such as suspension springs and supporting arms; when the driving wheel assembly is installed on the movable base, the parts are installed on the chassis of the movable base according to the assembling sequence. However, in the process of mounting the above-mentioned components to the chassis, the components are liable to fall into the chassis, resulting in low mounting efficiency.

In view of the above technical problems, the embodiment of the present disclosure provides a driving wheel assembly and a warehousing robot, wherein the driving wheel assembly includes a driving wheel, a base, and a driving wheel swinging plate and a shock absorber integrally mounted on the base; the driving wheel swinging plate is used for mounting a driving wheel, is hinged on the base and can swing relative to the base; one end of the shock absorber is hinged with the driving wheel swing plate, the other end of the shock absorber is hinged with the base, and the driving wheel swing plate and the shock absorber form a link mechanism. When the driving wheel is subjected to impact force from the ground and is transmitted to the driving wheel swinging plate, the shock absorber can provide elastic force for the driving wheel swinging plate and offset the impact force from the ground, and the driving wheel is kept attached to the ground, so that the floating installation of the driving wheel is realized.

In the embodiment of the disclosure, all parts in the driving wheel assembly are integrated and mounted on the base in advance, and are mounted on the chassis of the movable base through the base, so that the phenomenon that all parts of the driving wheel assembly fall off to the chassis can be reduced, and the mounting efficiency of the driving wheel assembly is improved.

In order to make the aforementioned objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Example one

It should be noted that the disclosed embodiments provide a driving wheel assembly for mounting a driving wheel so that the driving wheel is floatingly mounted between the ground and a moving base of a warehousing robot. The driving wheel assembly can also be defined as a suspension system of the driving wheel, and is used for reducing the vibration of the driving wheel in the process of traveling so as to improve the stability of the warehousing robot in the process of traveling.

As shown in fig. 1 and 2, the drive wheel assembly 100 in the present embodiment includes: the base 10 is used for installing the driving wheel swing plate 20 and the shock absorber 40, the driving wheel 90 is installed on the driving wheel swing plate 20, the base 10 is installed on a chassis of the mobile base, and therefore the driving wheel assembly 100 is installed on the mobile base.

Specifically, the base 10 has a rectangular frame structure as a whole, and the driving wheel swing plate 20 and the damper 40 are horizontally arranged on the base 10 along the length direction thereof. The front end of the driving wheel swing plate 20 facing the base 10 is used for mounting the driving wheel 90, and the bottom end of the driving wheel swing plate 20 facing the base 10 is hinged with the base 10, so that the driving wheel swing plate 20 can swing relative to the base 10.

One end of the driving wheel swing plate 20 facing the rear end of the base 10 is hinged with a shock absorber 40, and the shock absorber 40 can swing relative to the driving wheel swing plate 20; the other end of the shock absorber 40 is hinged to the rear end of the base 10 and swings relative to the base 10, that is, a link mechanism is formed between the shock absorber 40 and the driving wheel swing plate 20, and under the action of the shock absorber 40, one end of the driving wheel swing plate 20, which is far away from the shock absorber 40, swings towards the ground, so that the driving wheel 90 is kept attached to the ground.

When the driving wheel 90 receives an impact force from the ground and transmits the impact force to the driving wheel swing plate 20, the shock absorber 40 can provide an elastic force to the driving wheel swing plate 20 and counteract the impact force from the ground, and the driving wheel 90 is kept attached to the ground, so that the driving wheel 90 is floatingly mounted between the ground and the base 10, the vibration amplitude of the driving wheel 90 can be reduced, and the movement stability of the mobile base can be improved.

In the embodiment of the present disclosure, the driving wheel swing plate 20, the damper 40 and the driving wheel 90 in the driving wheel assembly 100 are integrated and mounted on the base 10 in advance, and are mounted on the chassis of the mobile base through the base 10, so that the phenomenon that each part of the driving wheel assembly 100 falls down to the chassis can be reduced, and the mounting efficiency of the driving wheel assembly 100 is improved.

Further, the driving wheel swing plate 20 and the shock absorber 40 in this embodiment are arranged along the horizontal direction of the base 10, and compared with the driving wheel assembly 100 arranged on the mobile base along the vertical direction, the driving wheel assembly 100 provided in this embodiment can reduce the arrangement space of the driving wheel assembly 100 on the chassis, thereby reducing the overall height of the mobile base, reducing the gravity center of the mobile base, and improving the stability of the mobile base and the movement of the warehousing robot.

As shown in fig. 3, the base 10 provided in the present embodiment includes a top plate 11, a bottom plate 12 and at least one supporting plate 13, wherein the top plate 11 is located at the top of the base 10, and the bottom plate 12 is located at the bottom of the base 10; the support plate 13 is disposed between the top plate 11 and the bottom plate 12.

The driving wheel assembly 100 may be disposed at one side of the supporting plate 13, i.e., the driving wheel assembly 100 is located at one side of the base 10; for example, the driving wheel assembly 100 is located outside the base 10 such that the driving wheel 90 is exposed from one side thereof when disposed on the mobile base.

The bottom plate 12 of the base 10 is provided with a hinge seat 30 at a position close to the driving wheel swing plate 20, so that one end of the driving wheel swing plate 20 facing the bottom of the base 10 is hinged to the hinge seat 30 and rotates relative to the base 10. The rear end of the base plate 12 is provided with a boss 14, and the boss 14 is used for mounting the shock absorber mounting seat 50, so that one end of the shock absorber 40 is hinged on the shock absorber mounting seat 50 and can rotate relative to the base 10.

The top plate 11, the bottom plate 12 and the supporting plate 13 are respectively provided with openings to facilitate the installation of other components on the mobile base in the base 10, so as to optimize the arrangement space of the mobile base and reduce the weight of the base 10.

As shown in fig. 4 and 5, the driving wheel swing plate 20 provided by the embodiment of the present disclosure includes a fixed arm 21 and a swing arm 22, where the fixed arm 21 is used to mount the driving wheel 90, and one end of the fixed arm 21 is fixedly connected to the swing arm 22 and can swing along with the swing arm 22. One end of the swing arm 22, which is far away from the fixed arm 21, is hinged with the shock absorber 40, and one end of the swing arm 22, which extends towards the bottom end of the base 10, is hinged with the hinge seat 30 on the base plate 12, so that a link mechanism is formed between the swing arm 22 and the shock absorber 40, and the swing arm 22 can rotate relative to the base 10; in this way, the driving wheel swing plate 20 swings towards the ground under the action of the shock absorber 40, so that the driving wheel 90 can keep close to the ground.

Illustratively, referring to fig. 4, one end of a fixed arm 21 is connected to an inner side surface of a swing arm 22, and the other end of the fixed arm 21 extends toward the front end of the base 10; the swing arm 22 can be in an L-shaped structure, and one end of the swing arm 22 is hinged with one end of the shock absorber 40; a avoiding curved surface 221 is arranged on one side of the other end of the swing arm 22 facing the driving wheel 90; with this arrangement, a space can be formed at the front end of the base 10 to avoid interference with the driving wheel 90. It will be appreciated that the fixed arm 21 and the swing arm 22 may be a unitary structure to enhance the structural strength of the drive wheel swing plate 20.

In other embodiments, the driving wheel swing plate 20 has a T-shaped structure, and the driving wheel swing plate 20 includes a first connecting arm and a second connecting arm, wherein one end of the first connecting arm is connected to the driving wheel 90, and the other end of the first connecting arm is hinged to one end of the shock absorber 40; one end of the second link arm is connected to a middle position of the first link arm, and the other end of the second link arm may extend toward the bottom of the base 10 and be hinged with the hinge base 30 so that the driving wheel swing plate 20 may swing with respect to the base 10.

As shown in fig. 6 in combination with fig. 4, a damper 40 provided in the embodiment of the present disclosure includes a guide cylinder 41 and a coil spring 42; wherein, the coil spring 42 is sleeved on the guiding column 41 and is respectively abutted with two ends of the guiding column 41. The guide post 41 has both ends hinged to the damper mount 50 and the swing arm 22, respectively, and allows the damper 40 to swing with respect to the driving wheel swing plate 20 and the damper mount 50.

Specifically, the guiding column 41 includes a first column 411, one end of the first column 411 is hinged to the swing arm 22 through a ball, the first column 411 includes a first tray, a first ball and a first rod fixed on two sides of the first tray, and the first column 411 is hinged to the swing arm 22 through the first ball and can swing relative to the swing arm 22.

The second column 412 includes a second tray, and a second ball head and a second rod body fixed on two sides of the second tray, the second ball head is located on one side of the second tray close to the shock absorber mounting seat 50, and the second column 412 is hinged to the shock absorber mounting seat 50 through the second ball head, so that the second column 412 can swing relative to the shock absorber mounting seat 50.

In this embodiment, the first column 411 is inserted into the second column 412, that is, the first rod of the first column 411 is inserted into the second rod of the second column 412, and the first rod can slide in the second rod. Coil spring 42 cup joints on guide cylinder 41, and coil spring 42's one end and first tray butt, and coil spring 42's the other end and second tray butt to under coil spring 42's the effect of action, first body of rod can slide relatively in the second body of rod, thereby changes coil spring 42's flexible length, with the adjustment its effort to drive wheel balance plate 20.

Further, in order to adjust the acting force of the damper 40 on the driving wheel swing plate 20, the damper 40 further includes an adjusting nut 43, the adjusting nut 43 is mounted on the second column 412, and the second column 412 is provided with a threaded connection section, so that the mounting position of the adjusting nut 43 on the second column 412 is adjustable.

The adjusting nut 43 is located on one side of the second tray facing the driving wheel swing plate 20, one end of the spiral spring 42 is abutted to the adjusting nut 43, the other end of the spiral spring is abutted to the first tray of the first column 411, and the installation position of the nut on the second column 412 is adjusted to change the telescopic length of the spiral spring 42, so that the acting force of the damper 40 on the driving wheel swing plate 20 is adjusted.

As shown in fig. 7 in combination with fig. 4, in some possible embodiments, in order to facilitate the hinge connection of the end of the damper 40 away from the driving wheel swing plate 20 and the damper mounting seat 50, the damper mounting seat 50 includes a fixing plate 51 and two symmetrically arranged mounting lugs 52, the fixing plate 51 is fixedly connected to the boss 14 of the base plate 12, the two mounting lugs 52 form an insertion space for the second ball of the damper 40, the second ball and the mounting lugs 52 are connected together by a shaft pin, the damper 40 can be hinged to the damper mounting seat 50, and the damper 40 can swing relative to the damper mounting seat 50.

With reference to fig. 4, in order to increase the freedom of the oscillation of the shock absorber 40 and the driving wheel swing plate 20, the driving wheel assembly 100 in this embodiment further includes a connector 70 and a spring adjusting arm 60, wherein the connector 70 is disposed between the shock absorber 40 and the driving wheel swing plate 20, the connector 70 can be regarded as a connecting arm or a connecting rod, and one end of the connector 70 is hinged to the first ball of the shock absorber 40, and the other end of the connector 70 is hinged to the swing arm 22 of the driving wheel swing plate 20.

Spring adjustment arm 60 is disposed between shock absorber 40 and shock absorber mount 50, and spring adjustment arm 60 is hinged to shock absorber 40 and shock absorber mount 50, respectively. Illustratively, the spring adjusting arm 60 provided in this embodiment is fastened to the shock absorber mounting seat 50, and one side of the spring adjusting arm 60 facing the shock absorber 40 is hinged to the second column 412 of the shock absorber 40, and the other side of the spring adjusting arm 60 is hinged to the shock absorber 40, i.e. the spring adjusting arm 60 can swing relative to the shock absorber 40 and the shock absorber mounting seat 50.

As shown in fig. 8, the spring adjusting arm 60 provided in the present embodiment includes two symmetrically disposed mounting side plates 61, and a connecting plate 62 connecting the two mounting side plates 61; when the spring adjusting arm 60 is fastened to the damper mounting seat 50, the two mounting side plates 61 are respectively located at the outer sides of the two mounting lugs 52, and each mounting side plate 61 is respectively hinged to each mounting lug 52 through a pin or a bolt, so that one side of the spring adjusting arm 60 is hinged to the damper mounting seat 50. One side of the two mounting side plates 61 facing the shock absorber 40 is hinged to a second ball of the shock absorber 40 by a locking screw, so that the other side of the spring adjusting arm 60 is hinged to the shock absorber 40.

In this embodiment, the swing arm 22, the connector 70, the damper 40 and the damper mounting seat 50 of the driving wheel swing plate 20 are sequentially hinged, so that the swing amplitude and angle of the driving wheel swing plate 20 can be conveniently adjusted, and the damping effect of the driving wheel assembly 100 is improved.

Referring to fig. 1, in the present embodiment, a movable support plate 15 is further disposed on the outermost side of the base 10, the movable support plate 15 is disposed on the outer side of the driving wheel swing plate 20 and can cover part of the swing arm 22 and part of the shock absorber 40, the top end of the movable support plate 15 is connected to the top plate 11 of the base 10 through a movable connection block 80, and the bottom end of the movable support plate 15 is connected to the bottom plate 12 of the base 10 through a movable connection block 80.

For example, the movable connection block 80 provided on the top plate 11 is located on the inner surface of the top plate 11, the movable connection block 80 provided on the bottom plate 12 is located on the upper surface of the bottom plate 12, and both ends of the movable support plate 15 are respectively connected to the sides of the respective movable connection blocks 80, thereby movably mounting the movable support plate 15 between the top plate 11 and the bottom plate 12 of the base 10. With the arrangement, after the driving wheel swinging plate 20, the shock absorber 40 and other parts are mounted on the base 10, the movable supporting plate 15 is mounted on the base 10, so that not only can the structural strength of the base 10 be improved, but also the assembly efficiency of the driving wheel assembly is improved.

Example two

As shown in fig. 9, the warehouse robot provided by the embodiment of the present disclosure includes a mobile base, which includes a chassis 200 and at least one driving wheel assembly mounted on the chassis 200, and each driving wheel assembly includes one driving wheel 90.

Specifically, the mobile base provided by the embodiment of the present disclosure is provided with two driving wheels 90, that is, two driving wheel assemblies 100 are provided on the chassis 200 of the mobile base, and along the traveling direction of the mobile base, the two driving wheel assemblies 100 are symmetrically arranged on the chassis 200; so set up, can promote the stability of the removal of moving the base.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

In general, terms should be understood at least in part by their use in context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular or may be used to describe a combination of features, structures, or characteristics in the plural, depending, at least in part, on the context. Similarly, terms such as "a" or "the" may also be understood to convey a singular use or to convey a plural use, depending at least in part on the context.

It should be readily understood that "on … …", "above … …" and "above … …" in this disclosure should be interpreted in its broadest sense such that "on … …" means not only "directly on something", but also includes the meaning of "on something" with intervening features or layers therebetween, and "above … …" or "above … …" includes not only the meaning of "above something" or "above" but also includes the meaning of "above something" or "above" with no intervening features or layers therebetween (i.e., directly on something).

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand 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 such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (11)

1. A driving wheel assembly is characterized by comprising a driving wheel, a base, a driving wheel swing plate and a shock absorber;

the driving wheel swinging plate is used for mounting the driving wheel and is hinged with the base;

the driving wheel swinging plate and the shock absorber are arranged on the base along the horizontal direction, one end of the shock absorber is hinged with the driving wheel swinging plate, and the other end of the shock absorber is hinged with the base;

the drive wheel wobble plate is configured to be capable of swinging relative to the base such that the drive wheel is floatingly mounted between the drive wheel wobble plate and the ground.

2. The drive wheel assembly as in claim 1, wherein the drive wheel swing plate comprises a fixed arm and a swing arm;

the fixed arm is used for mounting the driving wheel and is connected with the swing arm;

one end of the swing arm, which is far away from the fixed arm, is hinged to the shock absorber, and one end of the swing arm, which is close to the bottom of the base, is hinged to the base.

3. The drive wheel assembly as set forth in claim 2 wherein said fixed arm is connected at one end to an inner side surface of said swing arm;

and one side of the swing arm, which faces the driving wheel, is provided with a avoiding curved surface.

4. The drive wheel assembly as set forth in claim 2, further comprising a shock absorber mount;

the shock absorber mounting seat is fixed on the base, and one end, far away from the driving wheel swinging plate, of the shock absorber is hinged to the shock absorber mounting seat.

5. The drive wheel assembly as set forth in claim 4, wherein the damper includes a guide cylinder and a coil spring fitted over the guide cylinder;

the guide cylinder comprises a first cylinder and a second cylinder; one end of the first cylinder is hinged with the swing arm, and the other end of the first cylinder is inserted into the second cylinder;

the end part, far away from the first column body, of the second column body is hinged to the shock absorber mounting seat.

6. The drive wheel assembly as set forth in claim 5, wherein said shock absorber further includes an adjustment nut mounted on said second post;

one end of the spiral spring is abutted to the adjusting nut, and the other end of the spiral spring is abutted to the end part, close to the swing arm, of the first column body.

7. The drive wheel assembly as in claim 5, further comprising a spring adjustment arm and a connector;

one end of the connector is hinged with the swing arm, and the other end of the connector is hinged with the first column;

the spring adjusting arm faces towards one side of the shock absorber and is hinged to the second column body, and the other side of the spring adjusting arm is hinged to the shock absorber mounting seat.

8. The drive wheel assembly as claimed in any one of claims 2 to 7, wherein the base comprises a top plate, a bottom plate and at least one support plate disposed between the top plate and the bottom plate;

the bottom plate is close to the position of swing arm is provided with articulated seat, the swing arm be close to the one end of the bottom of base with articulated seat is articulated.

9. The drive wheel assembly as set forth in claim 8, further comprising a movable support plate;

the movable supporting plate is positioned on the outer side of the swing arm and covers part of the swing arm and part of the shock absorber;

one end of the movable supporting plate is connected with the top plate, and the other end of the movable supporting plate is connected with the bottom plate.

10. A warehousing robot is characterized by comprising a movable base;

the mobile base comprising a chassis, at least one drive wheel assembly of any one of claims 1 to 9;

the driving wheel assembly is installed on the chassis.

11. The warehousing robot of claim 10 wherein said chassis is provided with two of said drive wheel assemblies;

and two driving wheel assemblies are symmetrically arranged on the chassis along the advancing direction of the movable base.

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