CN220826889U - Transfer robot - Google Patents

Abstract

The present disclosure relates to a transfer robot, comprising: chassis assembly and enclosure. The chassis assembly comprises a chassis and driving wheels arranged on two opposite sides of the chassis; an auxiliary wheel is also arranged on the chassis, and the chassis is configured to be supported on a working surface through a driving wheel and the auxiliary wheel; the enclosure is arranged at least in front of the chassis and is configured to extend to opposite sides of the chassis along a front edge of the chassis, with a forward direction of the transfer robot being denoted as forward; the distance between the lower end face of the enclosure and the working face is configured to be less than 5mm. According to the invention, the surrounding baffle is arranged in front of the chassis, so that foreign matters can be effectively blocked in the advancing process of the transfer robot, the foreign matters are prevented from entering the gap between the chassis and the working surface, the foreign matters are prevented from winding the driving wheel and/or the auxiliary wheel, the service life of the driving wheel and/or the auxiliary wheel is prolonged, and the transfer robot can normally and safely run.

Description

Transfer robot

Technical Field

The disclosure relates to the technical field of logistics storage, in particular to a transfer robot.

Background

With the high-speed development of logistics storage industry, the transfer robot is widely applied, wherein a typical application scene of the latent type mobile robot in a picking scene is to transfer the multi-layer board goods shelf. When carrying the goods shelves, acceleration or deceleration of the robot can cause the goods shelves to shake, and then objects on the goods shelves are sometimes dropped. In the process of robot walking, the falling light and thin clothes, plastic bags for packaging, and other objects may be wound around the casters, so that the casters are blocked. In a storage system of man-machine mixed running, hairs dropped by people can be wound around casters, so that the running state of the robot is abnormal, accidents such as deflection and collision occur, and the running safety of the transfer robot is seriously influenced. Therefore, providing a transfer robot capable of blocking foreign matters from entering the gap between the chassis and the ground is a technical problem to be solved in the art.

Disclosure of utility model

The present disclosure provides a transfer robot for solving the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a transfer robot comprising:

The chassis assembly comprises a chassis and driving wheels arranged on two opposite sides of the chassis; an auxiliary wheel is also arranged on the chassis, and the chassis is configured to be supported on a working surface through a driving wheel and the auxiliary wheel;

A fence, which is arranged at least in front of the chassis and is configured to extend to opposite sides of the chassis along a front edge of the chassis, with a forward direction of the transfer robot being indicated as a forward direction; the distance between the lower end face of the enclosure and the working face is configured to be less than 5mm.

In one embodiment of the present disclosure, the front projection of the driving wheel and the auxiliary wheel is located within the front projection range of the enclosure.

In one embodiment of the present disclosure, the auxiliary wheel includes at least a front universal wheel disposed at a front position of the chassis, and a rear universal wheel disposed at a rear position of the chassis, the driving wheel being configured to be located between the front universal wheel and the rear universal wheel;

The enclosure comprises a front enclosure positioned in front of the chassis, and the front enclosure is configured to be arc-shaped and matched with the front edge of the chassis; the front universal wheel is configured to be located within an area enclosed by the arcuate front rail.

In one embodiment of the present disclosure, the enclosure further comprises side enclosures extending from opposite ends of the front enclosure to the side edges of the chassis; the side rail extends along a side edge of the chassis to a position adjacent to the drive wheel and is configured to push foreign matter located outside the drive wheel away during steering of the transfer robot.

In one embodiment of the present disclosure, the fence is made of a metal plate material, and a distance between a lower end surface of the fence and the working surface is configured to be 3mm to 5mm.

In one embodiment of the disclosure, the enclosure includes a shielding edge disposed perpendicular to the working surface, and a connecting edge connected to an upper end of the shielding edge and disposed parallel to the working surface, the connecting edge being configured to be connected to a lower end surface of the chassis.

In one embodiment of the present disclosure, the enclosure is configured to be made of a rubber material, and the lower end surface of the enclosure is configured to be in clearance fit with the working surface.

In one embodiment of the disclosure, a notch is provided on the enclosure at a position directly in front of the transfer robot, and a distance between a lower end surface of the notch and the working surface is configured to be 3mm to 5mm.

In one embodiment of the present disclosure, a mounting rail is provided on a bottom end surface of the chassis, and the enclosure is configured to be detachably mounted on the mounting rail.

In one embodiment of the present disclosure, the enclosure includes a shielding portion extending downward, and a connection portion connected to the shielding portion; the mounting rail is provided with a rail groove in which the connection portion is configured to be restrained.

In one embodiment of the present disclosure, the rail groove is configured to be formed with mounting openings at both free ends of the mounting rail, and one end of the connection portion is configured to penetrate into the rail groove from the mounting opening.

In one embodiment of the present disclosure, the mounting rail is provided with fixing holes at both free ends or chassis, and both ends of the fence are configured to be fixed to the mounting rail or chassis by screws when the fence is mounted on the mounting rail.

The beneficial effects of the present disclosure lie in that, enclose the fender through setting up in the place ahead of chassis to can effectively block the foreign matter at transfer robot's advancing process, avoid the foreign matter to get into the clearance between chassis and the working face, prevent foreign matter winding drive wheel and/or auxiliary wheel, improve the life-span of drive wheel and/or auxiliary wheel, thereby ensured transfer robot can normally, safely move. Further, the present disclosure sets up the fence to the structure that extends to the opposite sides of chassis along the front edge of chassis to guarantee also can guarantee the effect that blocks the foreign matter in the in-process of transfer robot turn whole journey.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a transfer robot according to a first embodiment of the present disclosure;

fig. 2 is a bottom view of a transfer robot in accordance with a first embodiment of the present disclosure;

FIG. 3 is a schematic view of a structure of a fence in accordance with an embodiment of the present disclosure;

FIG. 4 is a schematic view of a partial explosion of a transfer robot in accordance with an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a transfer robot in a second embodiment of the present disclosure;

FIG. 6 is a schematic view of a structure of a secondary enclosure of the second embodiment of the disclosure;

Fig. 7 is a schematic view of a partial explosion of a transfer robot in a second embodiment of the disclosure;

FIG. 8 is a schematic view of a structure of a rail and mounting rails in a second embodiment of the disclosure;

fig. 9 is a partial enlarged view at a in fig. 8.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 9 is as follows:

1. The device comprises a machine body, 10, a chassis, 11, driving wheels, 12, front universal wheels, 13, rear universal wheels, 14, mounting guide rails, 141, guide rail grooves, 142, mounting ports, 15, fixing holes, 2, a surrounding block, 21, a front surrounding block, 22, a side surrounding block, 23, a shielding edge, 24, a connecting edge, 25, a notch, 26, a shielding part, 27 and a connecting part.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a transfer robot, comprising: organism, chassis subassembly and enclose fender. The body may include a main body structure for realizing the access function of the handling robot such as a lifting assembly, a picking and placing assembly, etc., which is not particularly limited in this disclosure. The chassis assembly can integrally support the transfer robot on the working surface and serve as a main supporting structure of the transfer robot, and the chassis assembly can also drive the transfer robot to walk on the working surface so as to realize a transportation function.

The chassis assembly includes a chassis and drive wheels disposed on opposite sides of the chassis, and an auxiliary wheel is disposed on the chassis, the chassis being configured to be supported on a work surface by the drive wheels and the auxiliary wheel. The chassis may be used to support the machine body and be configured to provide space for mounting the driving wheels and the auxiliary wheels. The driving wheel rotates under the action of the motor, so that the carrying robot is driven to walk on the working surface. When the driving wheel rotates to walk, the auxiliary wheel can walk along with the rotation, the auxiliary wheel can play a role of auxiliary support, and the weight of the whole machine body is shared for the driving wheel. The driving wheel and the auxiliary wheel are matched together to drive the whole transfer robot to walk and turn on the working surface, so that the transfer robot can conveniently run to each target position of the warehouse system.

The present disclosure uses the forward direction of the transfer robot as the front, when the transfer robot advances forward, the foreign matters falling on the front working surface of the transfer robot may be involved between the gap of the chassis and the working surface, if the foreign matters are wound to the driving wheel and/or the auxiliary wheel, the driving wheel and/or the auxiliary wheel will be blocked, so that the movement state of the transfer robot is abnormal, and accidents such as deviation, collision and the like occur, seriously affecting the operation safety of the transfer robot. In order to solve the above-mentioned problem, the present disclosure provides a fence structure.

The enclosure is disposed at least in front of the chassis and is configured to extend along a front edge of the chassis to opposite sides of the chassis. The enclosure can be arranged not only in front of the chassis and at two sides, but also around the chassis. But in order to facilitate the installation of the enclosure, and in order to save the cost of manufacturing the enclosure, the present disclosure provides a semi-enclosed enclosure only in front of the chassis and extending to opposite sides. The semi-enclosed enclosure can achieve a good protection effect, and it can be understood that only the foreign matters on the walking path of the carrying robot can be wound on the driving wheel and/or the auxiliary wheel, so that the enclosure is only required to be arranged at the front position of the chassis assembly in order to protect the driving wheel and/or the auxiliary wheel from being blocked. When the transfer robot turns, foreign matter located in front of the sides thereof also presents a winding risk, and therefore, the present disclosure configures the fence to a structure extending to opposite sides of the chassis along the front edge of the chassis, thereby enabling the transfer robot to be protected also when turning.

The distance between the lower end face of the enclosure and the working face is configured to be less than 5mm. In warehouse system, common foreign matter is the article of volume great such as plastic bag, packing strip, frivolous clothing, and these soft frivolous article are easily rolled into the clearance between chassis and the working face, and the fender that this disclosure set up can prevent effectively that above-mentioned article from rolling into. After the enclosing is arranged, the gap between the lower end face of the enclosing and the working face is 5mm at the maximum, the common foreign matters in the warehousing system are large in size, and the gap between the lower end face of the enclosing and the working face is difficult to enter, so that protection is effectively realized.

According to the invention, the surrounding baffle is arranged in front of the chassis, so that foreign matters can be effectively blocked in the advancing process of the transfer robot, the foreign matters are prevented from entering the gap between the chassis and the working surface, the foreign matters are prevented from winding the driving wheel and/or the auxiliary wheel, the service life of the driving wheel and/or the auxiliary wheel is prolonged, and the transfer robot can normally and safely run. Further, the present disclosure sets up the fence to the structure that extends to the opposite sides of chassis along the front edge of chassis to guarantee also can guarantee the effect that blocks the foreign matter in the in-process of transfer robot turn whole journey.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

Example 1

Referring to fig. 1 and 2, the present disclosure provides a transfer robot including: body 1, chassis subassembly and enclose fender 2. The body 1 may include a main body structure for realizing an access function of a transfer robot such as a lifting assembly, a picking and placing assembly, etc., which is not particularly limited in the present disclosure. The chassis assembly can integrally support the transfer robot on the working surface and serve as a main supporting structure of the transfer robot, and the chassis assembly can also drive the transfer robot to walk on the working surface so as to realize a transportation function.

As shown in fig. 2, the chassis assembly includes a chassis 10 and driving wheels 11 provided at opposite sides of the chassis 10, and auxiliary wheels are further provided on the chassis 10, and the chassis 10 is configured to be supported on a work surface by the driving wheels 11 and the auxiliary wheels. The chassis 10 may be used to support the machine body 1 and is configured to provide a space for installing the driving wheel 11 and the auxiliary wheel. The driving wheel 11 rotates under the action of the motor, so that the carrying robot is driven to walk on the working surface. When the driving wheel 11 rotates and walks, the auxiliary wheel can follow the rotation and walk, and the auxiliary wheel can play the role of auxiliary support, so that the weight of the whole machine body is shared by the driving wheel 11. The driving wheel 11 and the auxiliary wheel are matched together to drive the whole transfer robot to walk and turn on the working surface, so that the transfer robot can conveniently run to each target position of the warehouse system.

In one embodiment of the present disclosure, with continued reference to fig. 2, the auxiliary wheel includes at least a front universal wheel 12 disposed at a front position of the chassis 10, and a rear universal wheel 13 disposed at a rear position of the chassis 10, the drive wheel 11 being configured to be located between the front universal wheel 12 and the rear universal wheel 13. In the present embodiment, the driving wheels 11 are provided on the left and right sides of the chassis, and the chassis 10 cannot be stably supported on the working surface by only two driving wheels 11, and the chassis can be stably supported by the cooperation of the auxiliary wheels. The auxiliary wheels comprise two front universal wheels 12 positioned on the front side and two rear universal wheels 13 positioned on the rear side, and six wheels are distributed on the bottom surface of the chassis 10 to stably support the machine body 1 on a working surface. The auxiliary wheel is arranged as the universal wheel, so that the auxiliary wheel can be more conveniently matched with the driving wheel 11 to rotate, and even if the steering is performed at a high speed and a large angle, the front universal wheel 12 and the rear universal wheel 13 can also rotate to corresponding directions at any time, so that smooth matching with the driving wheel 11 is realized.

In the present disclosure, the forward direction of the transfer robot is taken as the front direction, when the transfer robot advances forward, a foreign object falling on the front working surface of the transfer robot may be involved between the chassis 10 and the gap of the working surface, if the foreign object is wound around the driving wheel 11 and/or the auxiliary wheel, the driving wheel 11 and/or the auxiliary wheel will be locked, so that the movement state of the transfer robot is abnormal, accidents such as deviation, collision and the like occur, and the operation safety of the transfer robot is seriously affected. In order to solve the above-mentioned problem, the present disclosure provides a structure of the enclosure 2.

The enclosure 2 is disposed at least in front of the chassis 10 and is configured to extend along the front edge of the chassis 10 to opposite sides of the chassis 10. The enclosure 2 may be provided not only in front of and on both sides of the chassis 10, but also around the chassis 10 a complete circle of the enclosure 2. However, to facilitate the installation of the enclosure 2, and to save the cost of manufacturing the enclosure 2, the present disclosure provides a semi-enclosed enclosure 2 only in front of the chassis 10 and extending to opposite sides. The semi-enclosed enclosure 2 can achieve a good protection effect, and it can be understood that only the foreign matters on the walking path of the transfer robot can be wound on the driving wheel and/or the auxiliary wheel, so that the enclosure 2 is only required to be arranged in front of the chassis assembly in order to protect the driving wheel and/or the auxiliary wheel from being blocked. When the transfer robot turns, foreign matter located in front of the sides thereof also presents a risk of entanglement, and therefore, the present disclosure configures the enclosure 2 to be extended to the opposite sides of the chassis 10 along the front edge of the chassis, so that the transfer robot can be protected also when turning.

In a specific embodiment of the present disclosure, the front projection of the driving wheel 11, the auxiliary wheel, is located within the front projection range of the enclosure 2. When the transfer robot walks, the driving wheel 11, the front universal wheel 12 and the rear universal wheel 13 can be located in the front orthographic projection range of the enclosure 2 at any time, and it can be understood that the projection range is the protection range of the enclosure 2, so that the driving wheel 11, the front universal wheel 12 and the rear universal wheel 13 can be ensured to be within the protection range of the enclosure 2, and the wheels on the chassis 10 can not contact with foreign matters.

In a specific embodiment of the present disclosure, referring to fig. 2 and 3, the enclosure 2 includes a front enclosure 21 located in front of the chassis 10, the front enclosure 21 being configured to have an arc shape adapted to the front edge of the chassis 10; the front universal wheel 12 is configured to be located within an area enclosed by the arcuate front wall. The present embodiment provides a specific structure for the enclosure of the semi-enclosed arrangement. Since the chassis 10 of the transfer robot of the present disclosure is entirely in the shape of a rounded rectangle, and both ends of the arc configuration are respectively a front side and a rear side according to the actual traveling direction thereof, when the specific structure of the enclosure 2 is provided, the front enclosure 21 is to be configured to be in an arc shape adapted to the front edge of the chassis 10.

Further, in one particular embodiment of the present disclosure, with continued reference to fig. 2 and 3, the enclosure 2 further includes side barriers 22 extending from opposite ends of the front enclosure 21 to the sides of the chassis 10. The side fence 22 extends along the side edge of the chassis 10 to a position adjacent to the drive wheel 11 and is configured to push away foreign matter located outside the drive wheel 11 during steering of the transfer robot. The transfer robot of the present disclosure can make a turn by controlling the rotational speed difference between the two driving wheels 11, and in the case of the maximum rotational angle, the transfer robot can make a turn in situ with the center thereof as the center of the circle. At this time, foreign matter on the side of the driving wheel 11 is also involved in the clearance between the chassis and the working surface, and therefore, the present embodiment provides the side fence 22 extending along the side of the chassis 10 to a position adjacent to the driving wheel 11, and the side fence 22 can block foreign matter at the maximum rotation angle. It will be appreciated that, on the basis of the provision of the front wall 21, the person skilled in the art only needs to consider the case of the maximum rotation angle when designing, and as long as the side wall 22 can achieve protection in this case, the protection can be achieved by the wall 2 even in the case of smaller rotation angles.

The distance between the lower end face of the apron 2 and the working face is constructed to be less than 5mm. In a warehouse system, common foreign matters are large-volume articles such as plastic bags, packing strips, light and thin clothes, and the like, and the soft and light articles are easily rolled into a gap between the chassis 10 and a working surface, and the enclosure 2 provided by the present disclosure can effectively prevent the articles from being rolled. After the fence 2 is arranged, the gap between the lower end face of the fence 2 and the working face is 5mm at the maximum, and common foreign matters in the warehouse system are large in size and difficult to enter the gap between the lower end face of the fence 2 and the working face, so that protection is effectively realized.

According to the invention, the surrounding baffle 2 is arranged in front of the chassis 10, so that foreign matters can be effectively blocked in the advancing process of the transfer robot, the foreign matters are prevented from entering the gap between the chassis 10 and the working surface, the foreign matters are prevented from winding the driving wheels 11 and/or the auxiliary wheels, the service lives of the driving wheels 11 and/or the auxiliary wheels are prolonged, and the transfer robot can normally and safely run. Further, the present disclosure sets the enclosure 2 to a structure extending to opposite sides of the chassis along the front edge of the chassis 10, thereby ensuring that the effect of blocking foreign matters can be ensured in the whole course in the course of turning of the transfer robot.

In one embodiment of the present disclosure, the fence 2 is made of a metal plate material, and the distance between the lower end surface of the fence 2 and the working surface is configured to be 3mm to 5mm. Specifically, the enclosure 2 is made of a metal plate with higher hardness, for example, the enclosure 2 can be made of steel, and the enclosure 2 can also be made of aluminum alloy, so that the material of the enclosure 2 is not particularly limited in the disclosure. The high-hardness metal fence 2 has remarkable advantages compared with a flexible fence, the metal fence 2 cannot deform when blocking foreign matters, the plastic bag or clothes and other flexible foreign matters cannot damage the metal fence 2, and compared with the fence 2 made of flexible materials such as brushes, the metal fence 2 is stronger and durable, and the protection effect is better.

The hardness of the metal fence 2 is higher, if the distance between the lower end surface of the fence 2 and the working surface is too short, the working surface can be scratched, and the metal fence 2 is scratched to the working surface to cause unsmooth operation of the transfer robot, so that the height of the lower end surface of the fence 2 from the working surface needs to be limited. The distance between the lower end face of the enclosure 2 and the working face is limited to 3mm to 5mm, so that the enclosure 2 can be prevented from rubbing the working face, and the effect of blocking foreign matters can be achieved.

In one embodiment of the present disclosure, referring to fig. 3 to 4, the enclosure 2 includes a shielding edge 23 disposed perpendicular to the working surface, and a connecting edge 24 connected to an upper end of the shielding edge 23 and disposed parallel to the working surface, the connecting edge 24 being configured to be connected to a lower end surface of the chassis 10. In the present embodiment, the shielding edge 23 is a portion of the enclosure 2 for blocking foreign matter, and the connecting edge 24 is a portion of the enclosure 2 for connecting with the chassis 10. Because the metal enclosure 2 is very strong and durable, the user does not change the metal enclosure 2 frequently in the practical application process. In designing the manner of installation, it is mainly necessary to ensure that the installation is sufficiently secure without giving priority to the quick release structure.

The present disclosure adopts a screw connection mode to fix the metal enclosure 2. The connecting edge 24 may have a plurality of through holes, and the lower end surface of the chassis 10 may have screw holes corresponding to the through holes one by one. When installing the fence 2, the user only needs to sequentially fix the screws to the corresponding screw holes through the through holes, and the metal fence 2 can be firmly fixed below the chassis 10 by the screws. When the enclosure 2 needs to be disassembled, a user only needs to unscrew the screws in sequence, and the disassembly can be completed. In addition to the screw connection, the enclosure 2 may be fixed by other detachable connection methods, such as clamping, and the installation method of the enclosure 2 is not particularly limited in the present disclosure.

Example two

The main difference between this embodiment and the first embodiment is that the material, structure and mounting manner of the enclosure 2 are different. The operation mode of the transfer robot, the structures of the driving wheel 11, the auxiliary wheel and the like on the chassis assembly and the overall shape of the enclosure 2 are the same as those of the first embodiment. The present embodiment only describes the distinguishing features, and features identical to those of the first embodiment are not described in detail in the present embodiment.

In one embodiment of the present disclosure, referring to fig. 5, the enclosure 2 is configured to be made of a rubber material. The intensity of rubber is higher than the flexible material of brush for example, and rubber encloses fender 2 can not take place deformation when stopping the foreign matter, and such flexible foreign matter of plastic bag or clothes can not enclose fender 2 to the rubber and destroy, and it is seen that the flexible material that compares the brush for example encloses fender 2, and rubber encloses fender 2 is more firm, durable, and the protection effect is better. However, the hardness of the rubber fence 2 is obviously lower than that of the metal fence 2 and is also usually lower than that of the working surface, and therefore, the rubber fence 2 cannot damage the working surface when contacting with the working surface. Based on this, the lower end face of the enclosure 2 can be configured to be in clearance fit with the working face. The rubber fence 2 can be contacted with the working surface, and very fine objects such as hair can be blocked outside by the rubber fence 2, so that a better protection effect is realized.

In one embodiment of the present disclosure, referring to fig. 6, a notch 25 is provided on the rail 2 at a position directly in front of the transfer robot, and a distance between a lower end surface of the notch 25 and the working surface is configured to be 3mm to 5mm. In the warehouse system, a two-dimensional code can be attached to a walking working surface of the carrying robot, and the carrying robot can scan the passing two-dimensional code in real time in the walking process, so that a control server can confirm the position of the carrying robot and timely send out a control instruction of the next step. The rubber fence 2 in clearance fit with the ground possibly damages the two-dimensional code attached to the ground, and the transfer robot can possibly be caused to be incapable of timely scanning and positioning. Therefore, in this embodiment, the notch 25 is provided in the enclosure 2, and the width of the notch can be set according to the actual size of the two-dimensional code and the accuracy of the robot traveling. The height of the lower end surface of the notch 25 from the working surface is configured to be 3mm to 5mm, and the height is enough for the notch 25 to expose the two-dimension code, and meanwhile, the fence 2 at the position of the notch 25 can still realize the protection function.

In one embodiment of the present disclosure, referring to fig. 7, a mounting rail 14 is provided on a bottom end surface of the chassis 10, and the enclosure 2 is configured to be detachably mounted on the mounting rail 14. As shown in fig. 7, the mounting rail 14 may be fixedly coupled to the lower end surface of the chassis 10 by screws. In this embodiment, since the rubber fence 2 is configured to be in clearance fit with the ground, the lower end face of the rubber fence 2 is liable to wear, and the user needs to replace the fence 2 periodically. Based on this, when designing its installation mode, it is necessary to give priority to the quick-release structure so as to facilitate the replacement of the enclosure 2 by the user.

Specifically, referring to fig. 8 to 9, the enclosure 2 includes a shielding portion 26 extending downward, and a connecting portion 27 connected to the shielding portion 26; the mounting rail 14 is provided with a rail groove 141, and the connection portion 27 is configured to be restricted in the rail groove 141. In the present embodiment, the shielding portion 26 is a portion of the enclosure 2 for blocking foreign matter, and the connecting portion 27 is a portion of the enclosure 2 for connecting with the mounting rail 14. The grooving width of the rail groove 141 is adapted to the thickness of the shielding portion 26, and the space in the groove is adapted to the thickness of the connecting portion 27. As shown in fig. 9, the cross-sectional shape of the rubber dam 2 may be T-shaped as a whole, the shielding portion 26 is a vertical portion in the middle of the T, and the connecting portion 27 is a horizontal portion above the T. The connection portion 27 is integrally formed with the shielding portion 26, and the T-shaped cross-sectional structure enables the connection portion to be stably caught after being mounted in the rail groove 141.

The mounting rail 14 has a curved shape in conformity with the enclosure 2 described in the first embodiment, and since the rubber enclosure 2 has flexibility, it can be entirely in a strip-like structure without bending when it is not mounted, and after the connecting portion 27 thereof penetrates the rail groove 141, the rubber enclosure 2 can be bent into a shape limited by the mounting rail 14, i.e., the shape of the enclosure 2 described in the first embodiment.

In one embodiment of the present disclosure, as shown in fig. 7, the rail groove 141 is configured to be formed with mounting openings 142 at both free ends of the mounting rail, and one end of the connection part 27 is configured to penetrate into the rail groove 141 from the mounting opening 142. The user can penetrate the connecting part 27 of the rubber fence 2 from the mounting opening 142 at any end of the mounting guide rail 14, and the mounting can be completed after the whole fence 2 is completely penetrated. Similarly, when the rubber fence 2 needs to be detached, the rubber fence 2 may be pulled out from the mounting opening 142 on any side. Therefore, the quick-dismantling structure of the rubber fence 2 is provided, a user can manually replace the fence 2 without using an additional tool, and the rubber fence is very convenient and quick.

In one embodiment of the present disclosure, referring to fig. 9, the mounting rail 14 is provided with fixing holes 15 at both free ends or the chassis 10, and both ends of the rail 2 are configured to be fixed to the mounting rail 14 or the chassis 10 by screws when the rail 2 is mounted on the mounting rail 14. Since the mounting rail 14 is used to mount the enclosure 2 in the quick-release manner in this embodiment, after the mounting is completed, the rubber enclosure 2 needs to be further fixed, so as to ensure that the enclosure 2 cannot be penetrated out of the mounting opening 142 during the working process of the transfer robot. As shown in fig. 9, fixing holes 15 may be provided on the side walls of both ends of the mounting rail 14, respectively, and after the rail 2 is mounted in the rail groove 141, screws may be screwed into the fixing holes 15. One end of the mounting rail 14 is screwed into the fixing holes 15 on both side walls thereof, so that the connecting portion 27 is pressed and fixed in the rail groove 141 by the two screws, thereby achieving fixation and preventing the connecting portion 27 from coming out of the mounting hole 142. The fixing holes 15 may also be formed in the chassis 10, and both ends of the enclosure 2 may be longer than the mounting rails 41, and may be respectively penetrated from the mounting openings 142 on both sides, and the penetrated sections may be fixedly connected to the chassis 10 by screws, so as to prevent the connection portion 27 from being removed from the mounting openings 142.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (12)

1. A transfer robot, comprising:

The chassis assembly comprises a chassis (10) and driving wheels (11) arranged on two opposite sides of the chassis (10); an auxiliary wheel is also arranged on the chassis (10), and the chassis (10) is configured to be supported on a working surface through a driving wheel (11) and the auxiliary wheel;

A fence (2) forward of the direction of advance of the transfer robot, the fence (2) being disposed at least in front of the chassis (10) and configured to extend to opposite sides of the chassis (10) along a forward edge of the chassis (10); the distance between the lower end face of the enclosure (2) and the working face is configured to be less than 5mm.

2. Transfer robot according to claim 1, characterized in that the forward projection of the driving wheel (11), auxiliary wheel is located in the forward projection range of the enclosure (2).

3. The transfer robot according to claim 1, characterized in that the auxiliary wheels comprise at least a front castor (12) arranged in a position in front of the chassis (10), and a rear castor (13) arranged in a position behind the chassis (10), the drive wheel (11) being configured to be located between the front castor (12) and the rear castor (13);

The enclosure (2) comprises a front enclosure (21) positioned in front of the chassis (10), and the front enclosure (21) is configured to be arc-shaped and matched with the front edge of the chassis (10); the front universal wheel (12) is configured to be located within an area enclosed by the arcuate front wall.

4. The transfer robot according to claim 1, characterized in that the apron (2) further comprises side guards (22) extending from opposite ends of the front apron (21) to the sides of the chassis (10); the side rail (22) extends along a side edge of the chassis (10) to a position adjacent to the driving wheel (11) and is configured to push foreign matter located outside the driving wheel (11) away during steering of the transfer robot.

5. The transfer robot according to claim 1, characterized in that the apron (2) is made of sheet metal, the distance between the lower end face of the apron (2) and the working face being constructed to be 3mm to 5mm.

6. The transfer robot according to claim 5, characterized in that the enclosure (2) comprises a shielding edge (23) arranged perpendicularly to the working surface, and a connecting edge (24) connected to the upper end of the shielding edge (23) and arranged parallel to the working surface, the connecting edge (24) being configured to be connected to the lower end surface of the chassis (10).

7. The transfer robot according to claim 1, characterized in that the enclosure (2) is configured to be made of a rubber material, the lower end face of the enclosure (2) being configured to be in clearance fit with a working surface.

8. The transfer robot according to claim 7, characterized in that the apron (2) is provided with a gap (25) at a position directly in front of the transfer robot, the distance between the lower end surface of the gap (25) and the working surface being constructed to be 3mm to 5mm.

9. The transfer robot according to claim 7, characterized in that a mounting rail (14) is provided on a bottom end surface of the chassis (10), the enclosure (2) being configured to be detachably mounted on the mounting rail (14).

10. The transfer robot according to claim 9, characterized in that the enclosure (2) comprises a downwardly extending shielding portion (26), and a connection portion (27) connected to the shielding portion (26); the mounting rail (14) is provided with a rail groove (141), and the connecting portion (27) is configured to be restricted in the rail groove (141).

11. The transfer robot according to claim 10, characterized in that the rail groove (141) is configured to form mounting openings (142) at both free ends of a mounting rail, and that one end of the connecting portion (27) is configured to penetrate into the rail groove (141) from the mounting opening (142).

12. Transfer robot according to claim 11, characterized in that the mounting rail (14) is provided with fixing holes (15) at both free ends or chassis (10), the two ends of the rail (2) being configured to be fastened to the mounting rail (14) or chassis (10) by means of screws when the rail (2) is mounted on the mounting rail (14).