CN220948264U - Vehicle body and transfer robot - Google Patents

Abstract

The utility model discloses a vehicle body and a transfer robot, wherein the vehicle body comprises a main body part, wheel groups and tracks, the main body part is provided with a suspension mechanism, the suspension mechanism comprises a support component and suspension wheels, and the suspension wheels are movably connected with the support component; the wheel set comprises a driving wheel set and a driven wheel set which are connected with the main body part, and the driving wheel set and the driven wheel set are respectively arranged at two sides of the suspension mechanism; the caterpillar band surrounds the wheel set and the suspension mechanism and is in butt joint with the driving wheel set, the driven wheel set and the suspension wheel set. The technical scheme of the utility model aims to improve the stability of the transport surface of the vehicle body when the vehicle body runs on a rough road surface.

Description

Vehicle body and transfer robot

Technical Field

The utility model relates to the technical field of unmanned transportation, in particular to a vehicle body and a transfer robot using the same.

Background

With the development of technology, unmanned transportation technology is mature, and a transportation truck is loaded or unloaded by a robot at present. However, the existing vehicle body is often driven by using a common tire driving mechanism, and the buffer performance of the common tire is poor, so that when the vehicle body runs to a rough road, the vehicle body can bump greatly, and transported goods can collide or even topple, and at the moment, manual intervention is needed, so that the loading or unloading efficiency of the vehicle body is not facilitated.

Disclosure of utility model

The utility model mainly aims to provide a vehicle body and a transfer robot, which aim to improve the stability of a transport surface of the vehicle body when the vehicle body runs on a rough road.

In order to achieve the above object, the present utility model provides a vehicle body comprising:

The suspension mechanism comprises a support assembly and a suspension wheel, and the suspension wheel is movably connected to the support assembly;

the wheel set comprises a driving wheel set and a driven wheel set which are connected with the main body part, and the driving wheel set and the driven wheel set are respectively arranged at two sides of the suspension mechanism; and

The crawler belt surrounds the wheel sets and the hanging mechanisms and is in butt joint with the driving wheel sets, the driven wheel sets and the hanging wheel sets.

In an embodiment, the supporting component comprises a supporting rod and a supporting frame, the supporting rod is connected to the main body portion along the extending direction of the crawler, the supporting frame is connected to two sides of the supporting rod facing the crawler, and the hanging wheel is movably connected with the supporting frame.

In an embodiment, the support frame includes a plurality of, a plurality of support frame interval connect in the bracing piece, every support frame corresponds to be equipped with one hang the wheel, the support frame is equipped with the suspension rod, it is equipped with the wheel hole to hang the wheel, hang the pole and wear to locate the wheel hole, so that hang the wheel with hang the pole rotation connection.

In one embodiment, the cross-sectional area of the support frame gradually decreases from an end closer to the support bar to an end farther from the support bar.

In an embodiment, the diameter of the wheel bore is greater than the diameter of the suspension rod;

and/or an elastic piece is arranged between the inner wall of the wheel hole and the suspension rod.

In one embodiment, the main body portion includes a plurality of cross bars, and ends of the cross bars are connected to the support assembly, so that the support assembly is disposed between the driving wheel set and the driven wheel set.

In one embodiment, the driving wheel set includes a driving member connected to the main body portion and a driving wheel connected to an output end of the driving member, and the track is disposed around the driving wheel.

In an embodiment, the main body part is further provided with an anti-collision rod, and the anti-collision rod is arranged at one side of the driven wheel set, which is away from the driving wheel set;

and/or the anti-collision rod is arranged at one side of the driving wheel set, which is back to the driven wheel set.

The present utility model also provides a transfer robot including:

the mother car comprises a lifting mechanism and the car body; and

The sub-car comprises the car body, and the sub-car is detachably connected with the lifting mechanism.

In an embodiment, the lifting mechanism includes a lifting element and a supporting element, the lifting element is connected to the parent vehicle, the supporting element is connected to the output end of the lifting element and encloses to form a cavity, and the child vehicle is detachably connected to the supporting element and is disposed in the cavity.

According to the technical scheme, the suspension mechanism is arranged on the main body of the vehicle body, the suspension mechanism is arranged between the driving wheel set and the driven wheel set, the tracks encircle the driving wheel set, the driven wheel set and the suspension mechanism, the suspension wheels in the suspension mechanism are movably connected to the supporting component and are in abutting connection with the tracks, when the vehicle body runs to a fluctuating road surface, the tracks can correspondingly deform along the fluctuating shape of the road surface, namely, when the vehicle body runs to a convex road surface, the tracks abutting against the ground correspondingly deform upwards, at the moment, the suspension wheels are abutted against the suspension wheels to enable the suspension wheels to lift relative to the supporting component, when the vehicle body runs to a concave road surface, the tracks abutting against the ground correspondingly deform downwards, at the moment, the suspension wheels descend relative to the supporting component, so that the main body of the vehicle body can keep stable when the vehicle body runs to the fluctuating road surface, the influence on load carrying is reduced, and the adaptability of the vehicle body to running road conditions is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a neutron truck body according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a parent vehicle body according to an embodiment of the present utility model;

Fig. 3 is a schematic structural diagram of a transfer robot according to an embodiment of the utility model.

Reference numerals illustrate:

Reference numerals	Name of the name	Reference numerals	Name of the name
				100	Vehicle body	211	Driving piece
1	Main body part	212	Driving wheel
				11	Suspension mechanism	22	Driven wheel group
111	Support assembly	3	Caterpillar band
				1111	Support bar	200	Transfer robot
1112	Supporting frame	4	Mother car
				112	Hanging wheel	41	Lifting mechanism
12	Cross bar	411	Lifting piece
				13	Crash bar	412	Bearing piece
2	Wheel set	413	Containing cavity
				21	Driving wheel set	5	Sub-vehicle

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout is meant to include three side-by-side schemes, for example, "a and/or B", including a scheme, or B scheme, or a scheme that is satisfied by both a and B. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Referring to fig. 1 and 2, the present utility model proposes a vehicle body 100, wherein the vehicle body 100 comprises a main body 1, a wheel set 2 and a crawler belt 3, the main body 1 is provided with a suspension mechanism 11, the suspension mechanism 11 comprises a support assembly 111 and a suspension wheel 112, and the suspension wheel 112 is movably connected to the support assembly 111; the wheel set 2 comprises a driving wheel set 21 and a driven wheel set 22 which are connected to the main body part 1, and the driving wheel set 21 and the driven wheel set 22 are respectively arranged at two sides of the suspension mechanism 11; the crawler belt 3 surrounds the wheel set and the suspension mechanism 11 and is in abutting connection with the driving wheel set 21, the driven wheel set 22 and the suspension wheel 112.

In this embodiment, the vehicle body 100 is composed of a main body 1, a wheel set 2 and a track 3, wherein the main body 1 is used for carrying goods or other articles, the wheel set 2 comprises a driving wheel set 21 and a driven wheel set 22, the driving wheel set 21 is a power source of the vehicle body 100 and is used for driving the main body 1 to move, the main body 1 is provided with a suspension mechanism 11, the suspension mechanism 11 is arranged between the driving wheel set 21 and the driven wheel set 22, the track 3 is arranged around the driving wheel set 21, the driven wheel set 22 and the suspension mechanism 11, a suspension wheel 112 in the suspension mechanism 11 is movably connected to a supporting component 111 and is abutted to the track 3, and when the driving wheel set 21 operates, the driving wheel set 21 drives the track 3 to rotate around the driven wheel set 22 and the suspension mechanism 11 so as to enable the vehicle body 100 to run, wherein the driven wheel set 22 and the suspension wheel 112 rotate along with the track 3 and play a supporting role in order to ensure the pressing force between the track 3 and the driving wheel set 21, and further avoid slipping between the driving wheel set 21 and the track 3; the setting of suspension mechanism 11 and track 3 can play the cushioning effect, when automobile body 100 goes to the relief road surface, track 3 can be along the relief shape correspondence deformation on road surface, promptly when automobile body 100 goes to the protruding road surface, track 3 with ground butt can correspond protruding deformation upwards, track 3 supports and presses hanging wheel 112 and make hanging wheel 112 lift up for supporting component 111 this moment, when automobile body 100 goes to the recessed road surface, track 3 with ground butt can correspond sunken deformation downwards, hanging wheel 112 descends for supporting component 111 this moment, so can make the main part 1 of automobile body 100 keep steady when going to the relief road surface, thereby reduce the influence to carrying goods, improve automobile body 100 to the adaptability of road conditions of traveling. When the vehicle body 100 runs to the pit or the groove, the track 3 can avoid the wheel set from sinking into the pit or the groove, and the track 3 can cross the pit or the groove under the driving of the driving wheel set 21, so that the trafficability of the vehicle body 100 can be improved.

In practical implementation, the vehicle body 100 may be provided with two or more sets of wheel sets, each set of wheel sets may be provided with a suspension mechanism 11 correspondingly, when the vehicle body 100 is provided with two sets of wheel sets 2, the two sets of wheel sets 2 are arranged at two sides of the main body 1, and the driving wheel set 21 and the driven wheel set 22 in the wheel sets 2 can improve the stability of supporting the main body 1 by the wheel sets, so as to reduce the possibility of overturning the vehicle body 100 caused by uneven distribution of loaded goods or articles on the main body 1; when the vehicle body 100 runs, the driving wheel sets 21 drive the caterpillar tracks 3 to forward or backward by forward or backward rotation so as to enable the vehicle body 100 to forward or backward move, and meanwhile, the driving wheel sets 21 positioned at two sides of the main body part 1 can control the vehicle body 100 to steer by forming a rotating speed difference.

In an embodiment, as shown in fig. 1 and 2, the supporting component 111 includes a supporting rod 1111 and a supporting frame 1112, the supporting rod 1111 is connected to the main body 1 along the extending direction of the track 3, the supporting frame 1112 is connected to two sides of the supporting rod 1111 facing the track 3, and the hanging wheel 112 is movably connected with the supporting frame 1112.

In this embodiment, the supporting component 111 is composed of a supporting rod 1111 and supporting frames 1112, the supporting rod 1111 is disposed between the driving wheel set 21 and the driven wheel set 22 along the extending direction of the track 3, meanwhile, the supporting rod 1111 is located between the tracks 3 and has a distance with the track 3, so the supporting frames 1112 can be disposed between the track 3 and the supporting rod 1111 along the extending direction of the track 3, and the supporting frames 1112 are disposed on two sides of the supporting rod 1111, so the hanging wheels 112 movably connected to the supporting frames 1112 can double support and buffer the track 3, the possibility of slipping of the track 3 is further reduced, and the stability of the main body 1 during running is improved.

In practical implementation, the supporting rod 1111 and the main body 1 may be welded or detachably connected by a bolt or a fastening structure, and the supporting frame 1112 and the supporting rod 1111 may be welded or detachably connected by a bolt or a fastening structure, which is not particularly limited herein.

In an embodiment, as shown in fig. 1 and 2, the supporting frame 1112 includes a plurality of supporting frames 1112, and the plurality of supporting frames 1112 are connected to the supporting rod 1111 at intervals, each supporting frame 1112 is correspondingly provided with a suspension wheel 112, the supporting frame 1112 is provided with a suspension rod, the suspension wheel 112 is provided with a wheel hole, and the suspension rod is inserted into the wheel hole, so that the suspension wheel 112 is rotatably connected with the suspension rod.

In this embodiment, a plurality of support frames 1112 are uniformly connected to the support rod 1111 at intervals, and each support frame 1112 is correspondingly provided with a hanging wheel 112, so that the hanging mechanism 11 can uniformly support the track 3, the hanging wheel 112 is rotatably connected to the hanging rod through the cooperation of the wheel hole and the hanging rod, so that the track 3 can drive the hanging wheel 112 to rotate, so that the hanging wheel 112 can support the track 3, simultaneously reduce the friction resistance to the track 3, and ensure the stable running of the track 3.

In practical implementation, the support 1112 includes two opposite parts, the suspension bar is connected to the two parts at the same time and located between the two parts, and the suspension wheel 112 is sleeved on the suspension bar through a wheel hole, and the suspension wheel 112 may be a roller or a roller, which is not limited herein specifically.

In one embodiment, as shown in FIG. 1, the cross-sectional area of the support bracket 1112 decreases from an end closer to the support lever 1111 to an end farther from the support lever 1111.

In the present embodiment, the cross-sectional area of the supporting frame 1112 near the supporting rod 1111 is large and the cross-sectional area near the hanging wheel 112 is small, and preferably, the shape of the supporting frame 1112 may be triangular, so as to provide stable support for the hanging wheel 112.

In one embodiment, as shown in FIG. 1, the diameter of the wheel bore is greater than the diameter of the suspension rod; and/or an elastic piece is arranged between the inner wall of the wheel hole and the suspension rod.

In this embodiment, the diameter of the wheel hole of the suspension wheel 112 is larger than the diameter of the suspension rod, so that the suspension wheel 112 can rotate around the suspension rod and can be lifted or lowered relative to the suspension rod, so that the suspension wheel 112 can move along with the deformation of the track 3 to buffer the vehicle body 100, and/or the suspension wheel 112 and the suspension rod are connected through an elastic piece, the elastic piece can provide a rebound force for the suspension wheel 112, so that when the vehicle body 100 returns to a gentle road surface from a rough road surface, the suspension wheel 112 can return to an initial position and drive the track 3 to return to an original state, so that the adaptation speed of the vehicle body 100 to the road surface change can be improved, and the stability of the main body 1 during transportation of the vehicle body 100 is further ensured.

In actual practice, the elastic member is disposed around the wheel hole of the suspension wheel 112, so that the suspension wheel 112 is in a centered state in the initial position, and can be lifted up with upward deformation of the crawler belt 3 or lowered down with downward deformation of the crawler belt 3.

In one embodiment, as shown in fig. 1 and 2, the main body 1 includes a plurality of cross bars 12, and ends of the plurality of cross bars 12 are connected to the support assembly 111 such that the support assembly 111 is disposed between the driving wheel set 21 and the driven wheel set 22.

In this embodiment, two ends of the plurality of cross bars 12 are respectively connected to the supporting components 111 at two sides of the main body 1, the cross bars 12 form a bearing surface for bearing goods or other objects, and meanwhile, the supporting components 111 at two sides of the main body 1 are connected through the cross bars 12, so that the pressure applied by the cross bars 12 is dispersed to the supporting components 111 at two sides, and the bearing capacity and the bearing stability of the bearing surface are improved.

In practical implementation, the supporting components 111 are disposed perpendicular to the cross bars 12, and each cross bar 12 can be disposed between two adjacent supporting frames 1112, so that the pressure applied to the cross bars 12 can be reduced and dispersed to the supporting frames 1112 and the hanging wheels 112, thereby improving the stability of the formed bearing surface.

In one embodiment, as shown in fig. 1 and 2, the driving wheel set 21 includes a driving member 211 and a driving wheel 212, the driving member 211 is connected to the main body portion 1, the driving wheel 212 is connected to an output end of the driving member 211, and the track 3 is disposed around the driving wheel 212.

In this embodiment, the driving wheel set 21 is composed of a driving member 211 and a driving wheel set 21, the driving wheel 212 is connected to the output end of the driving member 211 and is connected to the main body 1 through the driving member 211, and the driving member 211 drives the driving wheel 212 to rotate forward or backward so as to drive the crawler belt 3 to rotate forward or backward, thereby driving the vehicle body 100 to advance or retreat.

In practical implementation, the driving member 211 may be a motor, the driving wheel 212 may be provided with a gear, the track 3 may be correspondingly provided with a tooth hole, and the gear is meshed with the tooth hole, so as to avoid the falling off of the track 3 when the vehicle body 100 turns or inclines, and simultaneously, the slip between the driving wheel 212 and the track 3 can be avoided, and the surface of the track 3 facing the ground may be provided with an anti-slip rib, so that the adhesion between the track 3 and the ground is improved, and the running stability of the vehicle body 100 is improved.

In an embodiment, as shown in fig. 1 and 2, the main body 1 is further provided with an anti-collision rod 13, and the anti-collision rod 13 is arranged at one side of the driven wheel set 22, which is away from the driving wheel set 21; and/or the bumper bar 13 is arranged on one side of the driving wheel set 21, which is away from the driven wheel set 22.

In this embodiment, the main body 1 is further provided with an anti-collision rod 13, the anti-collision rod 13 is disposed at one end of the main body 1 near the driving wheel set 21, and meanwhile, the anti-collision rod 13 is disposed at one side of the driving wheel set 21 opposite to the driven wheel set 22, so as to protect the driving wheel set 21, when the vehicle body 100 collides, the anti-collision rod 13 can avoid damage to the driving wheel set 21, and/or, the anti-collision rod 13 is disposed at one end of the main body 1 near the driven wheel set 22, and meanwhile, the anti-collision rod 13 is disposed at one side of the driven wheel set 22 opposite to the driving wheel set 21, so as to protect the driven wheel set 22, and when the vehicle body 100 collides, the anti-collision rod 13 can avoid damage to the driven wheel set 22.

In practical implementation, the bumper 13 includes a first rod body and a second rod body connected at an included angle, where the first rod body is connected to the main body 1, and the second rod body spans across the driving wheel set 21 or the driven wheel set 22 located at two sides of the main body 1 at the same time, so as to protect the driving wheel set 21 or the driven wheel set 22 at two sides at the same time.

The present utility model further proposes a transfer robot 200, as shown in fig. 1 to 3, where the transfer robot 200 includes a mother car 4 and a child car 5, the mother car 4 includes a lifting mechanism 41 and the car body 100 described above, the child car 5 includes the car body 100 described above, and the child car 5 is detachably connected to the lifting mechanism 41, and the specific structure of the car body 100 refers to the above embodiment.

Wherein, transfer robot 200 can be used to the goods transport in the freight train, the parent car 4 bears the child car 5 and goes, when transfer robot 200 goes to the gooseneck department of freight train, the parent car 4 lifts child car 5 to the position that flushes with the gooseneck upper surface through lifting mechanism 41 after, child car 5 breaks away from parent car 4 and gets into the gooseneck upper surface and carry out the goods transport, after child car 5 bears the goods, can return to parent car 4, so carry the goods of gooseneck upper surface to the gooseneck lower surface, wherein parent car 4 and child car 5 all are equipped with foretell automobile body 100, be equipped with suspension mechanism 11 promptly, wheelset 2 and track 3, improve trafficability and stability that child car 5 and parent car 4 carried.

In practical implementation, the transfer robot 200 may pull the transfer line to the interior of the truck carriage, and the transfer line may transfer the cargo from the exterior of the carriage to the transfer robot 200 or transfer the cargo from the transfer robot 200 to the exterior of the carriage, and the sub-carriage 5 may be equipped with a transfer device such as a manipulator to transfer the cargo from the transfer line to the interior of the carriage or from the interior of the carriage to the transfer line, thereby realizing automatic loading or unloading and saving production cost.

In one embodiment, as shown in fig. 2 and 3, the lifting mechanism 41 includes a lifting member 411 and a supporting member 412, the lifting member 411 is connected to the parent vehicle 4, the supporting member 412 is connected to an output end of the lifting member 411 and encloses a cavity 413, and the child vehicle 5 is detachably connected to the supporting member 412 and is disposed in the cavity 413.

In this embodiment, the lifting mechanism 41 is composed of a lifting element 411 and a supporting element 412, the supporting element 412 is connected to the output end of the lifting element 411, the cart 5 is detachably disposed in a cavity 413 formed by enclosing the supporting element 412, and when the handling robot 200 travels to the gooseneck, the lifting mechanism 41 drives the supporting element 412 to rise to be flush with the upper surface of the gooseneck, and the cart 5 is separated from the supporting element 412 and travels from the cavity 413 to the upper surface of the gooseneck.

In practical implementation, the lifting element 411 may be an electric cylinder or an air cylinder, an inductance sensor is arranged on a running track of the lifting element 411 and used for detecting the position of the supporting element 412, a lock hole may be arranged on the supporting element, and a locking mechanism may be arranged on the sub-vehicle 5, when the sub-vehicle 5 is carried by the main vehicle 4 and runs, the locking mechanism locks the lock hole, so that the sub-vehicle 5 is fixed in the containing cavity 413, and the sub-vehicle 5 is prevented from sliding in the containing cavity 413 when the main vehicle 4 runs; when the sub-vehicle 5 is separated from the support 412, the locking mechanism is unlocked so that the sub-vehicle 5 can be driven out of the container 413; this allows a detachable connection of the carriage 5 to the support 412.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the specification and drawings of the present utility model or direct/indirect application in other related technical fields are included in the scope of the present utility model.

Claims (10)

1. A vehicle body, characterized in that the vehicle body comprises:

The suspension mechanism comprises a support assembly and a suspension wheel, and the suspension wheel is movably connected to the support assembly;

the wheel set comprises a driving wheel set and a driven wheel set which are connected with the main body part, and the driving wheel set and the driven wheel set are respectively arranged at two sides of the suspension mechanism; and

The crawler belt surrounds the wheel sets and the hanging mechanisms and is in butt joint with the driving wheel sets, the driven wheel sets and the hanging wheel sets.

2. The vehicle body of claim 1, wherein the support assembly comprises a support bar connected to the main body portion in the extending direction of the crawler belt, and a support frame connected to both sides of the support bar facing the crawler belt, and the suspension wheel is movably connected to the support frame.

3. The vehicle body of claim 2, wherein the support frame comprises a plurality of support frames, the plurality of support frames are connected to the support rods at intervals, each support frame is provided with a corresponding suspension wheel, the support frames are provided with suspension rods, the suspension wheels are provided with wheel holes, and the suspension rods penetrate through the wheel holes so as to enable the suspension wheels to be connected with the suspension rods in a rotating mode.

4. A vehicle body according to claim 3, wherein the cross-sectional area of the support frame gradually decreases from an end closer to the support bar to an end farther from the support bar.

5. A vehicle body according to claim 3, wherein the diameter of the wheel aperture is greater than the diameter of the suspension rod;

and/or an elastic piece is arranged between the inner wall of the wheel hole and the suspension rod.

6. A vehicle body according to claim 3, wherein the body portion includes a plurality of cross bars, ends of the plurality of cross bars being connected to the support assembly such that the support assembly is disposed between the drive wheel set and the driven wheel set.

7. The vehicle body of claim 1, wherein the drive wheel set includes a drive member coupled to the body portion and a drive wheel coupled to an output end of the drive member, the track being disposed about the drive wheel.

8. The vehicle body according to any one of claims 1 to 7, characterized in that the main body portion is further provided with an impact bar provided on a side of the driven wheel group facing away from the driving wheel group;

and/or the anti-collision rod is arranged at one side of the driving wheel set, which is back to the driven wheel set.

9. A transfer robot, the transfer robot comprising:

A parent vehicle comprising a lifting mechanism and a vehicle body as claimed in any one of claims 1 to 8; and

A sub-vehicle comprising a vehicle body as claimed in any one of claims 1 to 8, the sub-vehicle being detachably connected to the lifting mechanism.

10. The transfer robot of claim 9, wherein the lifting mechanism comprises a lifting member and a support member, the lifting member is connected to the parent vehicle, the support member is connected to the output end of the lifting member and encloses a cavity, and the child vehicle is detachably connected to the support member and is disposed in the cavity.