CN220500818U

CN220500818U - Chassis assembly and transportation equipment

Info

Publication number: CN220500818U
Application number: CN202322211126.0U
Authority: CN
Inventors: 张庭恺; 熊影辉
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-08-16
Filing date: 2023-08-16
Publication date: 2024-02-20
Anticipated expiration: 2033-08-16

Abstract

The embodiment of the application provides a chassis assembly and transportation equipment. Wherein, the chassis subassembly includes: the rear part of the first chassis is rotationally connected with the front part of the second chassis; the driving wheel is adjacently arranged at the joint of the first chassis and the second chassis; one end of the elastic piece is connected with the first chassis, and the other end of the elastic piece is connected with the second chassis; the elastic piece is configured to apply elastic force to the first chassis and the second chassis, so that the front part of the first chassis and the rear part of the second chassis generate a tilting trend towards the direction away from the ground under the action of the elastic force. According to the chassis assembly provided by the embodiment of the application, the elastic piece is connected between the first chassis and the second chassis, so that the positive pressure bearing ratio of the driving wheels is increased, the positive pressure of the driving wheels to the ground is larger, larger friction force can be generated, the slipping phenomenon of the driving wheels is avoided, and the movement performance of the transportation equipment is improved.

Description

Chassis assembly and transportation equipment

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a chassis assembly and transportation equipment.

Background

In fields such as warehouse logistics, the mobile logistics robot can be used for the purposes such as transportation and sorting of goods. Mobile logistics robots typically have a floating chassis structure to accommodate the heave of the ground over a range. The chassis structure generally includes a centrally located drive wheel and front and rear casters that share positive pressure generated by the chassis structure's own weight and the weight of the cargo to support the chassis structure.

When the driving wheel rotates, friction force is generated between the driving wheel and the ground, and the friction force can overcome resistance to enable the movable logistics robot to move. The amount of friction that can be generated between the drive wheel and the ground is related to the amount of positive pressure that the drive wheel is subjected to. When the positive pressure borne by the driving wheel is smaller, enough friction force cannot be generated between the driving wheel and the ground, so that the driving wheel is slipped, and the movement performance of the mobile logistics robot is affected.

Disclosure of Invention

The embodiment of the application provides a chassis assembly and transportation equipment, can improve the positive pressure between drive wheel and the ground, avoid the drive wheel to appear skidding the phenomenon, improve the motion performance of removal logistics robot.

In a first aspect, embodiments of the present application provide a chassis assembly comprising: the rear part of the first chassis is rotationally connected with the front part of the second chassis; the driving wheel is adjacently arranged at the joint of the first chassis and the second chassis; one end of the elastic piece is connected with the first chassis, and the other end of the elastic piece is connected with the second chassis; the elastic piece is configured to apply elastic force to the first chassis and the second chassis, so that the front part of the first chassis and the rear part of the second chassis generate a tilting trend towards the direction away from the ground under the action of the elastic force, and the positive pressure bearing ratio of the driving wheel is increased.

The chassis assembly that this application provided is connected with the elastic component between first chassis and the second chassis, and the elastic component can apply elastic force to first chassis and second chassis, makes the front portion of first chassis and the rear portion of second chassis have to keep away from the trend of ground direction perk to the positive pressure of increase drive wheel bears the ratio. Therefore, under the condition that the total positive pressure is certain, the positive pressure borne by the driving wheel is larger, larger friction force can be generated between the driving wheel and the ground, the phenomenon of skidding of the driving wheel is avoided, and the movement performance of the transportation equipment is improved.

In an alternative implementation, one end of the elastic member is connected to a first point on the first chassis; the other end of the elastic piece is connected to a second point on the second chassis; the first point is not coincident with the rotational axis of the rotational connection and the second point is not coincident with the rotational axis of the rotational connection. Therefore, a certain force arm exists between the first point and the second point and the rotating shaft line which is rotationally connected, so that moment is generated, and the front part of the first chassis and the rear part of the second chassis are tilted towards the direction far away from the ground under the action of the moment.

In an alternative implementation, the elastic element is disposed on the bearing surfaces of the first chassis and the second chassis, and is configured to apply a tensile force to the first chassis and the second chassis, so that the front portion of the first chassis and the rear portion of the second chassis generate a tendency to tilt away from the ground under the action of the tensile force, thereby increasing the positive pressure bearing ratio of the driving wheel, and the bearing surface faces away from the ground.

In an alternative implementation, the elastic member is a tension spring configured to be stretched to provide the pulling force.

In an alternative implementation, the elastic element is disposed on the bottom surfaces of the first chassis and the second chassis, and is configured to apply a pushing force to the first chassis and the second chassis, so that the front part of the first chassis and the rear part of the second chassis generate a tendency to tilt away from the ground under the action of the pushing force, thereby increasing the positive pressure bearing ratio of the driving wheel, and the bottom surface faces the ground.

In an alternative implementation, the elastic member is a compression spring configured to be compressed to provide the pushing force.

In an alternative implementation, the first chassis includes a first connecting ear, the second chassis includes a second connecting ear, and the first connecting ear and the second connecting ear are disposed on the same side as the elastic member; the first connecting lug comprises a first connecting hole, and one end of the elastic piece is hooked to the first connecting hole; the second connecting lug comprises a second connecting hole, and the other end of the elastic piece is hooked to the second connecting hole. The first connecting lug and the second connecting lug can increase the force arm of the thrust to generate larger moment, and the front part of the first chassis and the rear part of the second chassis are more beneficial to generating a tendency of tilting away from the ground.

In an alternative implementation, a first distance is provided between the first connection lug and the rotation axis of the rotation connection, a second distance is provided between the second connection lug and the rotation axis of the rotation connection, and the first distance is greater than the second distance; the first connecting hole and the first chassis are provided with a first height, the second connecting hole and the second chassis are provided with a second height, and the first height is smaller than the second height. Therefore, the space occupied by the second connecting lug and the tension spring on the second chassis can be reduced while the larger force arm is ensured to provide for the elastic force, and other devices can be conveniently arranged on the bearing surface of the second chassis.

In an alternative implementation manner, the elastic element is arranged on the bearing surface or the bottom surface of the first chassis and the second chassis and is configured to apply torsion to the first chassis and the second chassis, so that the front part of the first chassis and the rear part of the second chassis generate a tendency to tilt away from the ground under the action of the torsion, thereby increasing the positive pressure bearing ratio of the driving wheel, the bearing surface faces away from the ground, and the bottom surface faces towards the ground.

In an alternative implementation, the elastic member is a torsion spring configured to twist to provide the torsion force.

In an alternative implementation, the number of the elastic members is plural, and the plural elastic members are arranged in parallel along the rotation axis direction of the rotational connection. Therefore, the larger elastic force provided by the elastic pieces is utilized, the front part of the first chassis and the rear part of the second chassis can also generate a tendency of tilting towards the direction far away from the ground in a large or heavy-load scene, so that the positive pressure bearing ratio of the driving wheel is increased, the slipping phenomenon of the driving wheel is avoided, and the movement performance of the conveying equipment is improved.

In an alternative implementation, the method further includes: and the rear part of the first chassis is hinged with the front part of the second chassis through the hinge shaft.

In an alternative implementation, the method further includes: the driving motor is arranged on the first chassis and/or the second chassis, and the output end of the driving motor is connected with the driving wheel.

In an alternative implementation, the method further includes: the first caster is arranged at the front part of the first chassis; the second foot wheel is arranged at the rear part of the second chassis.

In a second aspect, embodiments of the present application provide a transport apparatus, comprising: the chassis assembly of the first aspect and any implementation thereof.

According to the transportation equipment provided by the embodiment of the application, the elastic piece is added in the chassis assembly, and the elastic piece can apply elastic force to the first chassis and the second chassis, so that the front part of the first chassis and the rear part of the second chassis have a tendency of tilting away from the ground direction, and the positive pressure bearing ratio of the driving wheels is increased. Therefore, under the condition that the total positive pressure is certain, the positive pressure borne by the driving wheel is larger, larger friction force can be generated between the driving wheel and the ground, the phenomenon of skidding of the driving wheel is avoided, and the movement performance of the transportation equipment is improved.

Drawings

FIG. 1 is a motion scene diagram of a mobile logistics robot as illustrated in an embodiment of the present application;

FIG. 2 is a schematic structural view of a chassis assembly provided in an embodiment of the present application;

FIG. 3 is a side cross-sectional view of the chassis assembly provided in FIG. 2;

FIG. 4 is a partial schematic view of the providing chassis assembly of FIG. 2;

FIG. 5 is a force analysis diagram of the chassis assembly provided in FIG. 2;

FIG. 6 is another structural schematic view of a chassis assembly provided in an embodiment of the present application;

FIG. 7 is a partial schematic view of the chassis assembly provided in FIG. 6;

FIG. 8 is a force analysis diagram of the chassis assembly provided in FIG. 6;

FIG. 9 is a further schematic structural view of a chassis assembly provided in an embodiment of the present application;

FIG. 10 is a side cross-sectional view of the chassis assembly provided in FIG. 9;

fig. 11 is a schematic view of still another construction of a chassis assembly provided in an embodiment of the present application.

Illustration of:

the device comprises a first chassis 100-first connecting lug, a first connecting hole 111-second connecting lug 200-second chassis 210-second connecting lug 211-second connecting hole 300-driving wheel 400-elastic piece 410-tension spring 420-compression spring 430-torsion spring 431-spiral main body 432-first torsion arm 433-second torsion arm 500-hinge shaft 600-driving motor 700-first caster 800-second caster.

Detailed Description

In fields such as warehouse logistics, the mobile logistics robot can be used for the purposes such as transportation and sorting of goods.

Fig. 1 is a motion scene diagram of a mobile logistics robot according to an embodiment of the present disclosure.

As shown in fig. 1, mobile logistics robots generally have a floating chassis structure that is hinged to accommodate the fluctuation of the ground over a range. The chassis structure generally includes a drive wheel 10 in the middle, a front caster 20 in front of the drive wheel 10, and a rear caster 30 behind the drive wheel, wherein the drive wheel 10, the front caster 20, and the rear caster 30 can share the positive pressure generated by the chassis structure weight and the cargo weight to support the chassis 40.

In the embodiment of the present application, the positive pressure refers to a force applied to the ground by the mobile logistics robot in a vertical direction through the driving wheel 10, the front caster 20 and/or the rear caster 30. The amount of positive pressure exerted by the drive wheel 10, front caster 20, and rear caster 30 may be varied, depending on factors such as floor heave, center position of the mobile logistics machine, chassis articulation position, etc. The ratio of the positive pressure borne by the drive wheel 10 (or the front caster 20, the rear caster 30) to the total positive pressure may be referred to as the positive pressure borne ratio of the drive wheel 10 (or the front caster 20, the rear caster 30).

Illustratively, in FIG. 1, the positive pressure experienced by the drive wheel 10 is denoted as F _{Driving wheel} The positive pressure borne by the front castor 20 is denoted as F _{Front castor} The positive pressure borne by the rear caster 30 is denoted as F _{Rear castor} . Then the total positive pressure F _{Total (S)} ＝F _{Driving wheel} +F _{Front castor} +F _{Rear castor} Positive pressure duty ratio of drive wheel = F _{Driving wheel} /F _{Total (S)} 。

The drive wheel 10 may be rotated by power supplied from a power source such as a motor. When the driving wheel 10 rotates, friction force is generated between the driving wheel 10 and the ground 50, and the friction force can overcome resistance to enable the mobile logistics robot to move. The amount of friction that can be generated between the drive wheel 10 and the floor 50 is related to the amount of positive pressure that the drive wheel 10 is subjected to. The greater the positive pressure that the drive wheel 10 assumes, the greater the friction that can be generated; the smaller the positive pressure that the drive wheel 10 assumes, the less friction can be generated. Therefore, when the positive pressure borne by the driving wheel 10 is small, the friction force generated between the driving wheel 10 and the ground 50 is small, and the friction force is insufficient to overcome the resistance, so that the driving wheel 10 is slipped, and the movement performance of the mobile logistics robot is affected.

The embodiment of the application provides a chassis assembly and transportation equipment to improve the positive pressure between drive wheel and the ground, avoid the drive wheel to appear skidding the phenomenon, improve the motion performance of removal logistics robot.

The chassis assembly provided by the embodiment of the application can be applied to various types of transportation equipment, wherein the transportation equipment comprises, but is not limited to, a mobile logistics robot or other transportation equipment. Among them, mobile logistics robots include, but are not limited to: a picking robot, a sorting robot, a delivery robot, a transfer robot, a sorting robot, etc.; other transportation devices include, but are not limited to: a following robot, a service robot, a search and rescue robot, an engineering vehicle, a mobile detection device and the like. The embodiment of the present application does not specifically limit the specific form of the transportation device.

Fig. 2 is a schematic structural view of a chassis assembly according to an embodiment of the present application.

Fig. 3 is a side cross-sectional view of the chassis assembly provided in fig. 2.

As shown in fig. 2 and 3, the chassis assembly includes:

a first chassis 100 and a second chassis 200. Wherein the first chassis 100 and the second chassis 200 may be of a flat plate-like structure, sequentially distributed along a first direction, wherein the first direction may be an advancing direction of the chassis assembly. Thus, the first chassis 100 may also be referred to as a front chassis, and the second chassis 200 may also be referred to as a rear chassis.

In the first direction, the first chassis and the second chassis may each include a front portion and a rear portion that are disposed opposite to each other, and the rear portion of the first chassis 100 is rotatably coupled to the front portion of the second chassis 200. In this way, the first chassis 100 and the second chassis 200, after being pivotally connected, may form a complete chassis for carrying loads above the chassis assembly. Also, the first chassis 100 and the second chassis 200 may also rotate about the rotational axis of the rotational connection to achieve a certain range of floating capabilities.

In some embodiments, the rear of the first chassis 100 and the front of the second chassis 200 may be hinged by one or more hinge shafts 500. Wherein, when the number of the hinge shafts 500 is plural, the axes C1 of the hinge shafts 500 are overlapped, and the hinge shafts 500 are spaced apart along the direction of the axis C1 thereof. Thus, the axis C1 of the hinge shaft 500 is a rotation axis of the first chassis 100 and the second chassis 200 rotatably connected, and the first chassis 100 and the second chassis 200 can rotate around the axis C1 of the hinge shaft 500.

The driving wheel 300, the driving wheel 300 may be disposed adjacent to the junction of the first chassis 100 and the second chassis 200.

The number of driving wheels 300 may be one or more. Illustratively, the number of driving wheels 300 is preferably two, and two driving wheels 300 may be distributed on both sides of the first chassis 100 and the second chassis 200 along the axis C1 of the hinge shaft 500, thereby improving the stability of the chassis structure.

The chassis assembly may further include a driving motor 600 in order to rotate the driving wheel 300. The driving motor 600 may be provided on the first chassis 100 and/or the second chassis 200, and an output end of the driving motor 600 may be connected to the driving wheel 300 to power the driving wheel 300.

The number of driving motors 600 may be the same as that of driving wheels 300 and be disposed in one-to-one correspondence. For example, when the number of driving wheels 300 is two, the number of driving motors 600 may be two. Wherein, both driving motors 600 may be disposed on the first chassis 100, or both driving motors 600 may be disposed on the second chassis 200, or one of the motors may be disposed on the first chassis 100 and the other motor may be disposed on the second chassis 200. The arrangement of the driving motor 600 according to the embodiment of the present application is not particularly limited.

A first caster 700 and a second caster 800. Wherein the first caster 700 is disposed at the front of the first chassis 100 and the second caster 800 is disposed at the rear of the second chassis 200. The first and second casters 700, 800 are driven wheels, and are not powered to support the first and second chassis 100, 200. The distance between the first and second casters 700 and 800 and the axis C1 of the hinge shaft 500 is further than the driving wheel 300, and the driving wheel 300 is closer to the axis C1 of the hinge shaft 500.

For example, first caster 700 and second caster 800 may be universal wheels.

In the embodiment of the present application, the driving wheel 300, the first caster 700 and the second caster 800 together support the entire chassis assembly, and at the same time, the first chassis 100 and the second chassis 200 can be rotated with each other in response to the fluctuation of the ground due to the hinge shaft 500. In this way, on uneven ground, drive wheel 300, first caster 700, and second caster 800 can still contact the ground at the same time.

The elastic member 400, the elastic member 400 may be a spring, or other means capable of generating elastic force by deformation.

One end of the elastic member 400 may be connected to the first chassis 100, and the other end may be connected to the second chassis 200. The elastic member 400 may generate an elastic force F using its deformation and apply the elastic force to the first chassis 100 and the second chassis 200.

In some embodiments, as shown in fig. 3, one end of the elastic member 400 is connected to a first point a on the first chassis 100, and the other end of the elastic member 400 is connected to a second point B on the second chassis 200, that is, the elastic force of the elastic member 400 acts on the first point a on the first chassis 100 and the second point B on the second chassis 200, respectively.

The first point a on the first chassis 100 is not coincident with the axis C1 of the hinge shaft 500 (i.e., the rotation axis of the rotation connection), and the second point B is not coincident with the axis C1 of the hinge shaft 500 (i.e., the rotation axis of the rotation connection), so that a certain moment arm exists between the first point a and the axis C1 of the hinge shaft 500, and a certain moment arm exists between the second point B and the axis C1 of the hinge shaft 500.

In this way, the elastic force F may generate a moment M1 on the first chassis 100, and the moment M1 may cause the first chassis 100 to rotate about the axis C1 of the hinge shaft 500 in a direction, for example, clockwise in fig. 3, so that the front portion of the first chassis 100 may tilt away from the ground. In addition, the elastic force F may generate a moment M2 on the second chassis 200, where the moment M2 may cause the second chassis 200 to rotate about the axis C1 of the hinge shaft 500, for example, in a counterclockwise direction in fig. 3, so that the rear portion of the second chassis 200 may tilt away from the ground.

In the embodiment of the present application, the elastic force F generated by the elastic member 400 may be various types of forces such as a tensile force, a pushing force, a torsion force, and the like, which is not particularly limited in the embodiment of the present application.

For example, if the elastic force F provided by the elastic member 400 is a tensile force, the elastic member 400 may be disposed on the bearing surfaces of the first chassis 100 and the second chassis 200, where the bearing surfaces refer to surfaces on the sides of the first chassis 100 and the second chassis 200 facing away from the ground. In this way, the elastic member 400 may pull the first chassis 100 from the bearing surface of the first chassis 100 and pull the second chassis 200 from the bearing surface of the second chassis 200 by using the pulling force thereof, so that the front portion of the first chassis 100 and the rear portion of the second chassis 200 have a tendency to be pulled up away from the ground.

For example, if the elastic force F provided by the elastic member 400 is a pushing force, the elastic member 400 may be disposed at the bottom surfaces of the first chassis 100 and the second chassis 200, where the bottom surfaces refer to the side surfaces of the first chassis 100 and the second chassis 200 facing the bottom surfaces. In this way, the elastic member 400 can push the first chassis 100 from the bottom surface of the first chassis 100 and push the second chassis 200 from the bottom surface of the second chassis 200 by using its pushing force, so that the front portion of the first chassis 100 and the rear portion of the second chassis 200 have a tendency to be pushed up away from the ground.

For example, if the elastic force F provided by the elastic member 400 is a torsion force, the elastic member 400 may be disposed on the bearing surfaces or the bottom surfaces of the first chassis 100 and the second chassis 200 according to the direction of the torsion force, so that the elastic member 400 may use the torsion force to generate a tendency that the front portion of the first chassis 100 and the rear portion of the second chassis 200 are twisted away from the bottom surface.

FIG. 4 is a partial schematic view of the chassis assembly provided in FIG. 2.

In some embodiments, as shown in fig. 4, the elastic member may be a tension spring 410, and the tension spring 410 may be disposed on the bearing surfaces of the first chassis 100 and the second chassis 200. The bearing surface of the first chassis 100 is provided with a first connection lug 110, and the bearing surface of the second chassis 200 is provided with a second connection lug 210. That is, the first and second connection lugs 110 and 210 are disposed on the same side as the elastic member 400.

In some embodiments, the first connection ear 110 has a height in a direction perpendicular to the bearing surface of the first chassis 100. The first connection lug 110 includes a first connection hole 111, and the first connection hole 111 may be a through hole, for example. One end of the tension spring 410 may include a coupling hook corresponding to the first coupling hole 111, so that the tension spring 410 may be hooked with the first coupling hole 111 by the coupling hook. In addition, the second connecting lug 210 has a certain height in a direction perpendicular to the bearing surface of the second chassis 200. The second connection ear 210 includes a second connection hole 211, and the second connection hole 211 may be a through hole, for example. The other end of the tension spring 410 may include a coupling hook corresponding to the second coupling hole 211, so that the tension spring 410 may be hooked with the second coupling hole 211 by the coupling hook.

The length of the tension spring 410 in the natural state may be smaller than the distance between the first and second connection holes 111 and 211, such that the tension spring 410 is in a stretched state after both ends of the tension spring 410 are connected to the first and second connection holes 111 and 211, respectively, thereby applying a tensile force to the first and second chassis 100 and 200.

In some embodiments, as shown in fig. 4, the first connection ear 110 has a first distance L1 from the axis C1 of the hinge shaft 500, the second connection ear 210 has a second distance L2 from the axis C1 of the hinge shaft 500, and the first distance L1 may be greater than the second distance L2. That is, the first connection lug 110 may be farther from the axis C1 of the hinge shaft 500 than the second connection lug 210, and the second connection lug 210 may be closer to the axis C1 of the hinge shaft 500 than the first connection lug 110. For example, the second connection lugs 210 may be disposed at the front end side of the second chassis 200, so that the space occupied by the second connection lugs 210 and the tension springs 410 on the second chassis 200 can be reduced, facilitating the arrangement of other devices on the bearing surface of the second chassis 200.

In addition, a first height H1 is provided between the first connection hole 111 and the first chassis 100, a second height H2 is provided between the second connection hole 211 and the second chassis 200, and the first height H1 may be smaller than the second height H2. In this way, in the case that the distance between the second connection lug 210 and the axis C1 of the hinge shaft 500 (i.e., the first distance L1) is small, the larger second height H2 can be utilized to enable the tensile force to form a longer moment arm to increase the moment generated by the tensile force.

Fig. 5 is a force analysis diagram of the chassis assembly provided in fig. 2.

As shown in fig. 5, the tension spring 410 applies a tension force F to the first chassis 100 _AB The tensile force applied to the second chassis 200 is F _BA ，F _AB And F is equal to _BA Equal in size and opposite in direction, and F _AB And F is equal to _BA Are parallel to the direction of extension of the tension spring 410. Arm of force L _F The length of (2) is the vertical distance from the fulcrum, i.e. the projection of the axis C1 of the hinge shaft 500 on the shaft cross-section, to the force lineShadow points.

Then the tension F _AB Moment m1=f generated on the first chassis 100 _AB ×L _F Tension F _BA Moment m2=f generated on the second chassis 200 _BA ×L _F M1 and M2 are the same in size and opposite in direction.

In this way, the first chassis 100 may generate a clockwise rotation tendency about the axis C1 of the hinge shaft 500 under the action of the moment M1, and the second chassis 200 may generate a counterclockwise rotation tendency about the axis C1 of the hinge shaft 500 under the action of the moment M2, thereby generating a tilting tendency of the front portion of the first chassis 100 and the rear portion of the second chassis 200 in a direction away from the ground.

Taking the ground as an example, when the chassis assembly or the transport apparatus including the chassis assembly provided in the embodiment of the present application is placed on the ground, the contact points of the first caster 700, the second caster 800, and the driving wheel 300 with the ground are all located in the same plane. Due to the tension springs 410, the front portion of the first chassis 100 and the rear portion of the second chassis 200 may tend to tilt away from the ground by a moment. Also, since the first chassis 100 and the second chassis 200 themselves have a certain weight, the moment generated by the tension spring 410 is insufficient to truly tilt the front portion of the first chassis 100 and the rear portion of the second chassis 200, and thus the first and second casters 700 and 800 may still contact the ground, that is, the first and second casters 700 and 800 and the driving wheel 300 may still be in contact with the ground in the same plane.

Compared with the conventional chassis assembly, the chassis assembly provided in the embodiment of the present application has the tendency that the front part of the first chassis 100 and the rear part of the second chassis 200 tilt away from the ground, so that the positive pressure duty ratio of the first and second casters 700 and 800 is smaller, the positive pressure duty ratio of the driving wheel 300 is larger, and the positive pressure F duty of the first and second casters 700 and 800 is larger under the condition that the total positive pressure is constant _{First castor} And F _{Second foot wheel} Smaller, positive pressure F borne by drive wheel 300 _{Driving wheel} Larger.

It should be noted that, in addition to the tension spring 410, the elastic member 400 may be other devices capable of generating a tensile force in a stretched state, for example: rubber bands, elastic cords, etc., to which embodiments of the present application are not particularly limited.

As can be seen from the above technical solution, in the chassis assembly provided in the embodiment of the present application, by connecting the elastic member 400, such as the tension spring 410, between the first chassis 100 and the second chassis 200, there is a tendency that the front portion of the first chassis 100 and the rear portion of the second chassis 200 tilt away from the ground, so as to increase the positive pressure bearing ratio of the driving wheel 300. Thus, under the condition that the total positive pressure is constant, the positive pressure borne by the driving wheel 300 is larger, and larger friction force can be generated between the driving wheel 300 and the ground, so that the travelling resistance is overcome, the slipping phenomenon of the driving wheel 300 is avoided, and the movement performance of the transportation equipment is improved.

Fig. 6 is another schematic structural view of a chassis assembly provided in an embodiment of the present application.

FIG. 7 is a partial schematic view of the chassis assembly provided in FIG. 6.

As shown in fig. 6 and 7, in some embodiments, the elastic member may also be a compression spring 420.

The compression spring 420 may be disposed on the bottom surfaces of the first chassis 100 and the second chassis 200, and the length of the compression spring 420 in a natural state may be greater than the distance between the first connection hole 111 and the second connection hole 211, so that after two ends of the compression spring 420 are respectively connected to the first connection hole 111 and the second connection hole 211, the compression spring 420 is in a compressed state, thereby applying a thrust to the first chassis 100 and the second chassis 200. In this way, the front portion of the first chassis 100 and the rear portion of the second chassis 200 may be tilted away from the ground by the pushing force of the compression spring 420.

In some embodiments, as shown in fig. 7, the bottom surface of the first chassis 100 is provided with a first connection ear 110, and the bottom surface of the second chassis 200 is provided with a second connection ear 210. That is, the first and second connection lugs 110 and 210 are disposed on the same side as the elastic member 400.

In some embodiments, the first connection ear 110 has a certain height in a direction perpendicular to the bottom surface of the first chassis 100. The first connection lug 110 includes a first connection hole 111, and the first connection hole 111 may be a through hole, for example. One end of the compression spring 420 may include a coupling hook corresponding to the first coupling hole 111, so that the compression spring 420 may be hooked with the first coupling hole 111 by the coupling hook. In addition, the second connection lugs 210 have a certain height in a direction perpendicular to the bottom surface of the second chassis 200. The second connection ear 210 includes a second connection hole 211, and the second connection hole 211 may be a through hole, for example. The other end of the compression spring 420 may include a coupling hook corresponding to the second coupling hole 211, so that the tension spring 410 may be hooked with the second coupling hole 211 by the coupling hook.

In some embodiments, as shown in fig. 7, a first distance L1 is provided between the first connection ear 110 and the axis C1 of the hinge shaft 500, a second distance L2 is provided between the second connection ear 210 and the axis C1 of the hinge shaft 500, and the first distance L1 may be greater than the second distance L2. That is, the first connection lug 110 may be farther from the axis C1 of the hinge shaft 500 than the second connection lug 210, and the second connection lug 210 may be closer to the axis C1 of the hinge shaft 500 than the first connection lug 110. For example, the second connection lugs 210 may be provided at the front end side of the second chassis 200.

In addition, a first height H1 is provided between the first connection hole 111 and the first chassis 100, a second height H2 is provided between the second connection hole 211 and the second chassis 200, and the first height H1 may be smaller than the second height H2. In this way, in the case that the distance between the second connection lug 210 and the axis C1 of the hinge shaft 500 (i.e., the first distance L1) is small, a longer moment arm can be formed between the thrust force and the axis C1 of the hinge shaft 500 by using the larger second height H2, so as to increase the moment generated by the thrust force.

FIG. 8 is a force analysis diagram of the chassis assembly provided in FIG. 6.

As shown in fig. 8, the compression spring 420 applies a thrust force F 'to the first chassis 100' _AB The thrust applied to the second chassis 200 is F' _BA ，F’ _AB With F' _BA Equal in size and opposite in direction, and F' _AB With F' _BA Parallel to the compression direction of the compression spring 420. Due to the arm L _F Is defined as the perpendicular distance of the fulcrum to the line of force action, wherein the fulcrum is hingedThe projected point of the axis C1 of the shaft 500 on the shaft section.

Then thrust F' _AB Moment M1' =f ' generated on the first chassis 100 ' _AB ×L _F Thrust F' _BA Moment M2' =f ' generated on the second chassis 200 ' _BA ×L _F M1 'is the same as M2' in size and opposite in direction.

In this way, the first chassis 100 may generate a clockwise rotation tendency about the axis C1 of the hinge shaft 500 under the action of the moment M1', and the second chassis 200 may generate a counterclockwise rotation tendency about the axis C1 of the hinge shaft 500 under the action of the moment M2', thereby generating a tilting tendency of the front portion of the first chassis 100 and the rear portion of the second chassis 200 in a direction away from the ground.

It should be noted here that, in addition to the compression spring 420, the elastic member may be other devices capable of generating a pushing force in a compressed state, for example: gas springs, liquid springs, etc., to which embodiments of the present application are not particularly limited.

It should be further noted that, in the second embodiment of the present application, the compression springs are disposed on the bottom surfaces of the first chassis 100 and the second chassis 200, which requires that the bottom surfaces of the first chassis 100 and the second chassis 200 have sufficient space to accommodate the compression springs 420 and other devices. Therefore, the scheme of using the compression spring 420 as an elastic member may be preferably applied to a chassis assembly having a large chassis ground clearance to provide sufficient space on the bottom surfaces of the first chassis 100 and the second chassis 200 to accommodate the compression spring 420 and the like.

As can be seen from the above technical solutions, in the chassis assembly provided in the embodiments of the present application, the compression spring 420 is connected between the first chassis 100 and the second chassis 200, so that the front portion of the first chassis 100 and the rear portion of the second chassis 200 have a tendency to tilt away from the ground, thereby increasing the positive pressure bearing ratio of the driving wheel 300. Thus, under the condition that the total positive pressure is constant, the positive pressure borne by the driving wheel 300 is larger, and larger friction force can be generated between the driving wheel 300 and the ground, so that the travelling resistance is overcome, the slipping phenomenon of the driving wheel 300 is avoided, and the movement performance of the transportation equipment is improved.

Fig. 9 is a schematic view of still another construction of the chassis assembly provided in an embodiment of the present application.

As shown in fig. 9, in some embodiments, the resilient member may also be a torsion spring 430.

In some embodiments, torsion spring 430 may include, for example, a helical body 431, a first torsion arm 432 at one end of helical body 431, and a second torsion arm 433 at the other end of helical body 431. The first torsion arm 432 and the second torsion arm 433 may extend radially to the spiral body 431 and form a certain angle, which is also called an arm angle α in a natural state. The first torsion arm 432 may be connected with the rear of the first chassis 100, the second torsion arm 433 may be connected with the front of the second chassis 200, and the arm angle α of the torsion spring 430 faces away from the ground. Thus, when the chassis assembly is placed on the ground, the torsion spring 430 may be in a torsion state by the gravity of the first chassis 100 and the second chassis 200, such that the arm angle α between the first torsion arm 432 and the second torsion arm 433 increases. In this state, the first torsion arm 432 may apply a torsion force opposite to the torsion direction to the first chassis 100, and the second torsion arm 433 may apply a torsion force opposite to the torsion direction to the second chassis 200, thereby causing the front portion of the first chassis 100 and the rear portion of the second chassis 200 to tilt away from the ground in a tendency of being twisted by the torsion force.

In the embodiment of the present application, in a natural state, the arm angle α of the torsion spring 430 may preferably be close to and smaller than 180 °, for example: the arm angle α may be selected within a range of 165 ° to 180 °, so that when the torsion spring 430 twists, the torsion spring 430 not only can provide torsion force for the first chassis 100 and the second chassis 200, but also can twist the first torsion arm 432 and the second torsion arm 433 to a parallel or nearly parallel state, so that the driving wheel 300, the first caster 700 and the second caster 800 can contact with the ground at the same time, and play a supporting role together.

It should be noted that, in the third embodiment of the present application, the torsion spring 430 is used as the elastic member 400, and the first connection ear 110 and the second connection ear 210 may not be required to be provided, so, compared to the first embodiment and the second embodiment of the present application, the third embodiment of the present application may reduce the space occupation of the bearing surfaces of the first chassis 100 and the second chassis 200.

In this embodiment, the torsion spring 430 may be disposed on the bearing surfaces of the first chassis 100 and the second chassis 200, or may be disposed on the bottom surfaces of the first chassis 100 and the second chassis 200, so long as the first torsion arm 432 and the second torsion arm 433 can twist under the action of gravity of the first chassis 100 and the second chassis 200 to provide reverse torsion force. Therefore, the arrangement of the torsion spring 430 is not particularly limited in the embodiment of the present application.

In some embodiments, the torsion spring 430 may also be integrated on the hinge shaft 500, for example, integrated with the hinge shaft 500 as one device, thereby improving the integration of the device and saving space.

Fig. 10 is a side cross-sectional view of the chassis assembly provided in fig. 9.

As shown in fig. 10, the torsion force exerted by the torsion spring 430 on the first chassis 100 is F ₁ The torsion force applied to the second chassis 200 is F ₂ ，F ₁ And F is equal to ₂ All facing away from the ground. Since the moment arm is defined as the perpendicular distance of the fulcrum to the line of force application. Thus, for the first chassis 100, the moment arm L _F1 Is equal to the distance between the axis C1 of the hinge shaft 500 and the point of application of the torsion spring 430 to the first chassis 100; for the second chassis 200, the moment arm L _F1 Is equal to the distance between the axis C1 of the hinge shaft 500 and the point of application of the torsion spring 430 to the second chassis 200.

Then torsion force F ₁ Moment M1 "=f generated on the first chassis 100 ₁ ×L _F1 Torque force F ₁ Moment M2 "=f generated on the second chassis 200 ₂ ×L _F2 As can be seen from the general knowledge of mechanics, M1 'and M2' are the same in size and opposite in direction.

In this way, the first chassis 100 may generate a clockwise rotation tendency about the axis C1 of the hinge shaft 500 under the action of the moment M1", and the second chassis 200 may generate a counterclockwise rotation tendency about the axis C1 of the hinge shaft 500 under the action of the moment M2", thereby generating a tilting tendency of the front portion of the first chassis 100 and the rear portion of the second chassis 200 in a direction away from the ground.

It should be noted that, in addition to the torsion spring 430, the elastic member 400 may be other devices capable of generating torsion in a torsion state, which is not particularly limited in the embodiment of the present application.

As can be seen from the above technical solutions, in the chassis assembly provided in the embodiments of the present application, by connecting the torsion spring 430 between the first chassis 100 and the second chassis 200, there is a tendency that the front portion of the first chassis 100 and the rear portion of the second chassis 200 tilt away from the ground, so that the positive pressure bearing ratio of the driving wheel 300 is increased. Thus, under the condition that the total positive pressure is constant, the positive pressure borne by the driving wheel 300 is larger, and larger friction force can be generated between the driving wheel 300 and the ground, so that the travelling resistance is overcome, the slipping phenomenon of the driving wheel 300 is avoided, and the movement performance of the transportation equipment is improved.

As shown in fig. 11, in some embodiments, the number of resilient members 400 in the chassis assembly may be at least one. For example, the number of the elastic members 400 may be plural, and the plural elastic members 400 may be arranged in parallel along the axis C1 direction of the hinge shaft 500, and any adjacent two elastic members 400 may have a certain interval therebetween.

For example, the chassis assembly may include one or more tension springs, and/or one or more compression springs, and/or a first one or more torsion springs. Wherein, the chassis assembly may include a plurality of pairs of first and second coupling lugs 110 and 210 corresponding to the number of tension springs or compression springs, and each pair of first and second coupling lugs 110 and 210 is adapted to be coupled with one tension spring or compression spring.

According to the chassis assembly provided by the embodiment of the application, through the arrangement of the plurality of elastic pieces 400, larger elastic force can be provided for the first chassis 100 and the second chassis 200, so that the chassis assembly can be applied to a large or heavy-duty scene, the front part of the first chassis 100 and the rear part of the second chassis 200 can also generate a tendency to tilt away from the ground direction under the large or heavy-duty scene by using the larger elastic force provided by the plurality of elastic pieces 400, the positive pressure bearing ratio of the driving wheel 300 is increased, the slipping phenomenon of the driving wheel 300 is avoided, and the movement performance of the transportation equipment is improved.

It should be noted that, in each embodiment of the present application, the connection positions of the elastic member 400 and the first chassis 100 and the second chassis 200 may be reasonably determined according to the available space on the first chassis 100 and the second chassis 200, the load distribution, the elastic force of the elastic member 400, the requirement on the magnitude of the moment arm, and other factors, so long as the elastic member 400 can apply a moment on the first chassis 100 and the second chassis 200, the front portion of the first chassis 100 and the rear portion of the second chassis 200 generate a tendency to tilt away from the ground, and the design requirement can be met.

Embodiments of the present application also provide a transport apparatus including, but not limited to, a mobile logistics robot or other transport apparatus. Among them, mobile logistics robots include, but are not limited to: a picking robot, a sorting robot, a delivery robot, a transfer robot, a sorting robot, etc.; other transportation devices include, but are not limited to: a following robot, a service robot, a search and rescue robot, an engineering vehicle, a mobile detection device and the like. The embodiment of the present application does not specifically limit the specific form of the transportation device.

The transport apparatus may include a chassis assembly provided by any of the embodiments described above or a combination thereof to increase the positive pressure duty ratio of the drive wheel. Therefore, the positive pressure borne by the driving wheel is larger, and larger friction force can be generated between the driving wheel and the ground, so that the travelling resistance is overcome, the phenomenon of skidding of the driving wheel is avoided, and the movement performance of the conveying equipment is improved.

In some embodiments, the transport apparatus may further include a carrier assembly, which may be disposed on the chassis assembly to carry the item. The articles carried by the carrying assembly may also be different depending on the form of the transport apparatus. For example, when the transport device is a mobile logistics robot, the items it carries may include items, containers, shelves, and the like.

It is to be understood that, based on the several embodiments provided in the present application, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, where none of the embodiments exceed the protection scope of the present application.

The foregoing detailed description of the embodiments has further described the objects, technical solutions and advantageous effects of the present application, and it should be understood that the foregoing is only a detailed description of the present application and is not intended to limit the scope of the present application, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the present application should be included in the scope of protection of the present application.

Claims

1. A chassis assembly, comprising:

a first chassis (100) and a second chassis (200), the rear part of the first chassis (100) being rotatably connected with the front part of the second chassis (200);

-a driving wheel (300), said driving wheel (300) being arranged adjacent to a junction of said first chassis (100) and said second chassis (200);

an elastic member (400), wherein one end of the elastic member (400) is connected with the first chassis (100), and the other end is connected with the second chassis (200); the elastic member (400) is configured to apply an elastic force to the first chassis (100) and the second chassis (200) such that a front portion of the first chassis (100) and a rear portion of the second chassis (200) tend to tilt away from the ground due to the elastic force to increase a positive pressure bearing ratio of the driving wheel (300).

2. The chassis assembly according to claim 1, wherein,

one end of the elastic piece (400) is connected to a first point on the first chassis (100);

the other end of the elastic piece (400) is connected to a second point on the second chassis (200);

the first point is not coincident with the rotational axis of the rotational connection and the second point is not coincident with the rotational axis of the rotational connection.

3. The chassis assembly according to claim 2, wherein,

the elastic piece (400) is arranged on bearing surfaces of the first chassis (100) and the second chassis (200) and is configured to apply a tensile force to the first chassis (100) and the second chassis (200), so that the front part of the first chassis (100) and the rear part of the second chassis (200) generate a tendency of warping towards a direction far away from the ground under the action of the tensile force, and the bearing surfaces face away from the ground.

4. The chassis assembly according to claim 3, wherein,

the elastic member (400) is a tension spring (410), and the tension spring (410) is configured in a stretched state to provide the tension force.

5. The chassis assembly according to claim 2, wherein,

the elastic piece (400) is arranged on the bottom surfaces of the first chassis (100) and the second chassis (200) and is configured to apply thrust to the first chassis (100) and the second chassis (200), so that the front part of the first chassis (100) and the rear part of the second chassis (200) generate a tendency of warping towards the direction away from the ground under the action of the thrust, and the bottom surface faces the ground.

6. The chassis assembly according to claim 5, wherein,

the elastic member (400) is a compression spring (420), and the compression spring (420) is configured in a compressed state to provide the thrust force.

7. The chassis assembly according to claim 3 or 5, wherein,

the first chassis (100) comprises a first connecting lug (110), the second chassis (200) comprises a second connecting lug (210), and the first connecting lug (110) and the second connecting lug (210) are arranged on the same side of the elastic piece (400);

the first connecting lug (110) comprises a first connecting hole (111), and one end of the elastic piece (400) is hooked on the first connecting hole (111);

the second connecting lug (210) comprises a second connecting hole (211), and the other end of the elastic piece (400) is hooked to the second connecting hole (211).

8. The chassis assembly of claim 7, wherein the chassis assembly comprises,

a first distance is arranged between the first connecting lug (110) and the rotating shaft line of the rotating connection, a second distance is arranged between the second connecting lug (210) and the rotating shaft line of the rotating connection, and the first distance is larger than the second distance;

a first height is arranged between the first connecting hole (111) and the first chassis (100), a second height is arranged between the second connecting hole (211) and the second chassis (200), and the first height is smaller than the second height.

9. The chassis assembly according to claim 2, wherein,

the elastic piece (400) is arranged on the bearing surface or the bottom surface of the first chassis (100) and the second chassis (200) and is configured to apply torsion to the first chassis (100) and the second chassis (200), so that the front part of the first chassis (100) and the rear part of the second chassis (200) generate a tendency of warping towards the direction away from the ground under the action of the torsion, the bearing surface faces away from the ground, and the bottom surface faces towards the ground.

10. The chassis assembly of claim 9, wherein the chassis assembly comprises,

the elastic member (400) is a torsion spring (430), the torsion spring (430) being configured in a torsion state to provide the torsion force.

11. The chassis assembly according to claim 1, wherein,

the number of the elastic pieces (400) is multiple, and the elastic pieces (400) are distributed in parallel along the rotating axis direction of the rotating connection.

12. The chassis assembly of claim 1, further comprising:

and a hinge shaft (500), wherein the rear part of the first chassis (100) is hinged with the front part of the second chassis (200) through the hinge shaft (500).

13. A transportation device, comprising:

the chassis assembly of any one of claims 1-12;

a carrier assembly disposed on the chassis assembly and configured to carry an item.