A robot chassis, mobile handling robot and method of adjusting a chassis

Abstract

The application provides a robot chassis, a mobile carrying robot and a method for adjusting the chassis. The robot chassis comprises a chassis body, a driving wheel assembly and an elastic adjusting assembly. The driving wheel assembly is hinged to the chassis body and can rotate relative to the chassis body. The elastic adjusting assembly comprises a damping rod assembly hinged to the driving wheel assembly, and the damping rod assembly is used to push the driving wheel assembly to rotate relative to the chassis body. The driving mechanism is further used to adjust the pressure applied by the damping rod assembly to the driving wheel assembly. As can be seen from the above description, when the driving mechanism drives the damping rod assembly to change the pressure applied to the driving wheel assembly, the driving wheel assembly hinged to the chassis body rotates correspondingly, the normal pressure of the driving wheel to the ground changes, the chassis body is applied to various scenes, and thus the stability of the carrying robot is greatly enhanced. When the robot fails, the normal pressure of the driving wheel to the ground is adjusted to be smaller, so that the robot can be pushed away for maintenance by artificial.

Description

Technical Field

[0001] This invention relates to the field of logistics handling technology, and in particular to a robot chassis, a mobile handling robot, and a method for adjusting the chassis. Background Technology

[0002] As logistics and material handling have gradually shifted from traditional manual handling to intelligent automated handling, mobile robots have become one of the most widely used handling robots in China's manufacturing industry.

[0003] However, in the current industry, the main types of robot chassis are chassis with shock absorbers and chassis with fixed drive wheels. Neither of these two types of chassis actively adjusts the positive pressure of the drive wheels on the ground to adapt to walking on the ground, and both have driving limitations: because of the unevenness of the ground, the frequent switching between empty and full load application scenarios, especially for robots with a high center of gravity, the acceleration / deceleration parameters of the robot cannot be set too high when walking, so as to avoid the vehicle body swaying and unstable walking.

[0004] Based on the two chassis mentioned above, when robots are picking up and placing goods from high places, the drive wheels have limited effect on stabilizing the machine due to the high center of gravity. In the first type of chassis with shock absorbers, the spring compression will be passively changed in this scenario, which is not conducive to the stability of the machine. The second type of chassis uses a balance beam and casters. In this case, the fixed casters will tilt as the vehicle body changes, which is also not conducive to the stability of the machine.

[0005] Furthermore, when the robot experiences a drive failure or needs maintenance, the drive wheel motor will not rotate due to its own effect, and the positive pressure of the drive wheel on the ground cannot be adjusted to decrease, so the robot cannot be pushed away directly by humans. Summary of the Invention

[0006] In view of this, the present invention provides a robot chassis that can autonomously adjust the normal pressure of the drive wheels on the ground for different usage scenarios, thereby enhancing the overall stability of the handling robot; and when the robot malfunctions, the normal pressure of the drive wheels on the ground is reduced, so that the robot can be pushed away for repair by personnel.

[0007] In a first aspect, the present invention provides a robot chassis, comprising: a chassis body, a drive wheel assembly, and an elastic adjustment assembly; wherein the drive wheel assembly is hinged to the chassis body and rotatable relative to the chassis body; the elastic adjustment assembly includes a damping rod assembly hinged to the drive wheel assembly, the damping rod assembly being used to drive the drive wheel assembly to rotate relative to the chassis body; and further includes a drive mechanism for adjusting the pressure applied to the drive wheel assembly by the damping rod assembly. As can be seen from the above description, the change in pressure applied to the drive wheel assembly by the drive mechanism via the damping rod assembly causes the drive wheel assembly hinged to the chassis body to rotate accordingly, resulting in a change in the normal pressure of the drive wheel on the ground. This allows the chassis body to be applied in various scenarios, thereby greatly enhancing the overall stability of the handling robot; and when the robot malfunctions, adjusting the normal pressure of the drive wheel on the ground reduces the force, allowing manual removal of the robot for repair.

[0008] In the specific configuration of the drive mechanism, the drive mechanism includes a mounting plate and a drive device; the mounting plate is slidably mounted on the chassis body; the drive device is fixed to the chassis body and is used to drive the mounting plate to slide relative to the chassis body and can be locked at least in a first set position or a second set position; wherein, the first end of the shock absorber assembly is hinged to the drive wheel assembly; the second end is hinged to the mounting plate; when the mounting plate slides from the first set position to the second set position, the compression of the shock absorber assembly increases. By changing the compression of the shock absorber assembly during movement through the mounting plate slidably connected to the chassis body, the normal pressure change of the drive wheel assembly on the ground is adjusted, making the operation simple.

[0009] In one possible implementation, the drive device is any one of a lead screw drive, an electric actuator, or a cylinder. Any linear motion drive device can be used, offering a wide range of options.

[0010] In one possible implementation, a first hinge seat is provided on the mounting plate, and the second end of the vibration damping rod assembly is hinged to the first hinge seat via a pin. Because of the hinge between the vibration damping rod assembly and the mounting plate, the vibration damping rod assembly provides better vibration damping for the chassis body.

[0011] In the specific configuration of the vibration damping bar assembly, the vibration damping bar assembly includes: a mounting shaft, a sliding sleeve fitted onto the mounting shaft and slidable relative to the mounting shaft, and a spring fitted onto the mounting shaft; the mounting shaft is hinged to the drive wheel assembly via a hinge pin; the sliding sleeve is hinged to the mounting plate; one end of the spring abuts against the end of the mounting shaft away from the sliding sleeve, and the other end abuts against the sliding sleeve. By the mounting plate driving the spring to extend and retract during sliding, the normal pressure of the drive wheel on the ground is automatically adjusted, allowing the chassis to better adapt to different loads and uneven ground conditions, resulting in better adaptability to movement.

[0012] In one possible implementation, a second hinge seat is provided on the chassis body, and the drive wheel assembly is hinged to the second hinge seat via a pin. During the extension and retraction of the spring, the mounting shaft drives the drive wheel assembly to rotate hinged on the second hinge seat, thereby changing the normal pressure of the drive wheel on the ground and improving driving stability.

[0013] In one possible implementation, there are two drive wheel assemblies, symmetrically arranged on both sides of the chassis body; there are two damping rod assemblies, each hinged to one of the two drive wheel assemblies; and a drive mechanism is located between the two damping rod assemblies. The two damping rod assemblies synchronously adjust the drive wheel assemblies on both sides of the chassis body, and a single drive mechanism drives the two damping rod assemblies to extend and retract.

[0014] In one possible implementation, when the drive mechanism includes a mounting plate, the chassis body is provided with a guide rail, and the mounting plate is slidably mounted on the guide rail; wherein the extending direction of the guide rail is perpendicular to the arrangement direction of the two drive wheel assemblies. The mounting plate slides along the guide rail, and the sliding is stable and reliable.

[0015] Secondly, the present invention provides a handling robot, including the aforementioned robot chassis, a gantry frame mounted on the robot chassis, a lifting mechanism slidably mounted on the gantry frame, and a telescopic picking mechanism mounted on the lifting mechanism. The robot chassis enables the handling robot to perform various movements such as traveling and turning on the ground; and the lifting mechanism slidably mounted on the gantry frame and the telescopic picking mechanism connected to the lifting mechanism are used to transport boxes on high-level shelves.

[0016] In one possible implementation, the system further includes a detection device and a control device. The detection device is used to detect the center of gravity height of the handling robot. The control device is used to control the drive mechanism to drive the vibration damping rod assembly to increase the pressure applied to the drive wheel assembly when the center of gravity height of the handling robot detected by the detection device is higher than a set value. With the provided detection device, when the telescopic picking mechanism is operating at a high position, the control device can actively increase the spring compression, thereby improving the stability of the handling robot body when picking up and placing goods at a high position.

[0017] Thirdly, the present invention provides a method for adjusting the chassis of a handling robot, the method comprising the following steps:

[0018] Detect the center of gravity height and tilt angle of the handling robot;

[0019] When the center of gravity of the handling robot is higher than the set value or the tilt angle of the handling robot is greater than the set value, the pressure applied to the drive wheel assembly is increased.

[0020] In one possible implementation, the enhanced pressure applied to the drive wheel assembly specifically includes:

[0021] The mounting plate is driven to slide relative to the chassis body by a drive device;

[0022] The vibration damper assembly is compressed by pushing the mounting plate;

[0023] The pressure applied to the drive wheel assembly is increased by using a damping bar assembly.

[0024] As can be seen from the above method, when the center of gravity height or tilt angle of the handling robot is greater than the set value, the mounting plate compresses the vibration damping rod assembly during the movement, actively increases the spring compression, enhances the positive pressure of the drive wheel on the ground, and thus improves the movement stability of the handling robot and its stability when picking up and placing goods at high positions. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the robot chassis provided in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the drive wheel assembly and the elastic adjustment assembly provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the handling robot provided in an embodiment of the present invention.

[0028] Figure label:

[0029] Chassis body - 1, Gantry frame - 2, Telescopic cargo handling mechanism - 3, Lifting mechanism - 4;

[0030] Elastic adjustment component-11, mounting shaft-111, drive wheel assembly-112, hinge pin-113, second hinge seat-114, sliding sleeve-115, first hinge seat-116, mounting plate-117, wire lever-118, first fixed seat-119, guide rail-120, spring-121, second fixed seat-122, drive motor-123, fixed caster-13. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the application will now be described in further detail with reference to the accompanying drawings.

[0032] To facilitate understanding of the robot chassis and handling robot provided in this application embodiment, its application scenario is first explained. Existing robot chassis do not actively adjust the normal pressure of the drive wheels on the ground to adapt to ground movement, resulting in limitations in mobility: due to uneven ground, frequent switching between empty and full-load application scenarios, especially when the robot is retrieving or placing goods from a height, the drive wheels have limited stabilizing effect due to the high center of gravity of the entire machine. Furthermore, when the robot experiences a drive failure or requires repair, the drive wheel motors will not rotate due to their own effects, and the normal pressure of the drive wheels on the ground cannot be adjusted to decrease, making it impossible to manually push the robot away. Therefore, this embodiment provides a robot chassis with adjustable ground pressure. The invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0033] refer to Figure 1 , Figure 1 This is a schematic diagram of the robot chassis provided in this embodiment. The robot chassis in this embodiment includes: a chassis body 1, a drive wheel assembly 112, and fixed casters 13. The drive wheel assembly 112 drives the chassis body 1, while the fixed casters 13 assist the drive wheel assembly 112 in supporting the chassis body 1. For example, there are two drive wheel assemblies 112, symmetrically arranged on both sides of the middle portion of the chassis body 1; there are multiple fixed casters 13, symmetrically arranged at the front and rear ends of the chassis body 1.

[0034] As can be seen from the above structure, when the robot chassis is moving, the pressure applied to the ground by the drive wheel assembly 112 ensures the robot chassis's grip during travel. Therefore, the robot chassis provided in this embodiment further includes an elastic adjustment assembly 11, which is used to apply pressure variations to the drive wheel assembly 112, allowing the drive wheel assembly 112 to adjust the magnitude of the normal pressure exerted by the drive wheels on the ground for different application scenarios.

[0035] refer to Figure 2 , Figure 2 This is a schematic diagram of the drive wheel assembly and the elastic adjustment assembly provided in this embodiment. First, the connection method between the drive wheel assembly 112 and the chassis body 1 is explained. The drive wheel assembly 112 is hinged to the chassis body 1 and can rotate relative to the chassis body 1. Specifically, a second hinge seat 114 is provided on the chassis body 1, and the drive wheel assembly 112 is hinged to the second hinge seat 114 via a pin. The axis of the pin is parallel to the ground, so that the drive assembly 112 can change in height when rotating around the pin.

[0036] The second hinge seat 114 can be detachably and fixedly connected to the chassis body 1, so that it can be disassembled and repaired in case of a failure of the drive wheel assembly 112. For example, the second hinge seat 114 is fixedly connected to the chassis body 1 by threaded fasteners such as bolts or screws.

[0037] The drive wheel assembly 112 includes an assembly plate (not shown in the figure) rotatably connected to the second hinge seat 114 and a drive wheel fixedly mounted on the assembly plate. The drive wheel rotates with the assembly plate, thereby changing the magnitude of the normal pressure of the drive wheel on the ground during rotation to adapt to different loads and uneven ground conditions, thus improving the adaptability of walking.

[0038] The elastic adjustment component 11 includes a damping rod assembly and a drive mechanism. The damping rod assembly is hinged to the drive wheel assembly 112 and provides damping for the drive wheel assembly 112. When there are two drive wheel assemblies 112, there are two corresponding damping rod assemblies, each hinged to one drive wheel assembly 112. The drive mechanism is used to adjust the stroke of the damping rod assembly to adjust the magnitude of the normal force applied to the ground by the drive wheel assembly 112.

[0039] The drive mechanism includes a mounting plate 117, which is slidably mounted on the chassis body 1. The chassis body 1 is provided with a guide rail 120, the extension direction of which is perpendicular to the arrangement direction of the two drive wheel assemblies 112. The mounting plate 117 is slidably mounted on the guide rail 120 and can slide back and forth in directions toward and away from the drive wheel assemblies 112.

[0040] The guide rail 120 may have two or more symmetrically arranged to ensure that the mounting plate 117 moves stably along the guide rail 120.

[0041] The vibration damping rod assembly is a rod-shaped structure. The first end of the vibration damping rod assembly is hinged to the drive wheel assembly 112; the second end of the vibration damping rod assembly is hinged to the mounting plate 117. To facilitate the description of the cooperation between the vibration damping rod assembly and the drive wheel assembly 112 and the mounting plate 117, the structure of the vibration damping rod assembly will be described first below.

[0042] The vibration damper assembly includes a mounting shaft 111, a spring 121, and a sliding sleeve 115. The sliding sleeve 115 is fitted onto the mounting shaft 111 and can slide relative to the mounting shaft 111 to achieve the extension and retraction of the vibration damper assembly. The spring 121 is fitted onto the mounting shaft 111, with one end of the spring 121 pressing against the end of the mounting shaft 111 away from the sliding sleeve 115, and the other end pressing against the sliding sleeve 115.

[0043] When the first end of the damping rod assembly is hinged to the drive wheel assembly 112, the mounting shaft 111 is hinged to the drive wheel assembly 112 via the hinge pin 113. This means the mounting shaft 111 is hinged to the upper part of one end of the mounting plate of the drive wheel assembly 112, thus making the hinge point between the mounting shaft 111 and the drive wheel assembly 112 higher than the hinge point between the drive wheel assembly 112 and the second hinge seat 114. This allows the drive wheel of the drive wheel assembly 112 and the damping rod assembly to be positioned on either side of the hinge point between the drive wheel assembly 112 and the second hinge seat 114. When the extension and retraction of the damping rod assembly changes, it can push the drive wheel assembly 112 to rotate relative to the hinge point between the drive wheel assembly 112 and the second hinge seat 114. For example, when the sliding sleeve 115 slides against the spring 121, during the process of the spring 121 increasing in compression force, because the hinge point between the mounting shaft 111 and the drive wheel assembly 112 is higher than the hinge point between the drive wheel assembly 112 and the second hinge seat 114, the compression force of the spring 121 causes the drive wheel assembly 112 to rotate downward around the second hinge seat 114, thereby increasing the normal pressure of the drive wheel on the ground.

[0044] When the second end of the damping rod assembly is hinged to the mounting plate 117, the mounting plate 117 is symmetrically provided with first hinge seats 116. When there are two damping rod assemblies, there are two corresponding first hinge seats 116, and the two first hinge seats 116 are hinged to the two damping rod assemblies one-to-one. The sliding sleeve 115 of each damping rod assembly is hinged to the corresponding first hinge seat 116 by a pin. During the sliding process of the mounting plate 117 along the guide rail 120, the sliding sleeve 115 can be pushed to slide relative to the mounting shaft 111 by the mounting plate 117. For example, when the mounting plate 117 slides toward the drive wheel assembly 112, the spring 121 is compressed, and the force applied by the spring 121 to the drive wheel assembly 112 increases; when the mounting plate 117 slides away from the drive wheel assembly 112, the spring 121 recovers part of its elastic deformation, and the pressure applied to the drive wheel assembly 112 decreases.

[0045] The drive mechanism also includes a drive unit for driving the mounting plate 117 to slide. For example, the drive unit is located between two damping rod assemblies to ensure that the two damping rod assemblies are subjected to balanced forces when the drive unit drives the mounting plate 117 to slide.

[0046] When the drive device drives the mounting plate 117 to slide relative to the chassis body 1, the drive device can lock the mounting plate 117 at least in a first predetermined position or a second predetermined position. When the mounting plate 117 slides from the first predetermined position to the second predetermined position, the compression of the two springs 121 increases. The first predetermined position is away from the drive wheel assembly 112, and the second predetermined position is close to the drive wheel assembly 112. As can be seen from the above description, when the mounting plate 117 is close to the drive wheel assembly 112, the springs 121 are compressed, thus increasing the force applied to the drive wheel assembly 112.

[0047] As an optional solution, the driving device is a lead screw drive, which includes a first fixed seat 119 and a second fixed seat 122 fixedly mounted on the chassis body 1. A mounting plate 117 is slidably positioned between the first fixed seat 119 and the second fixed seat 122, thereby limiting the sliding distance of the mounting plate 117. For example, when the mounting plate 117 slides to a first predetermined position, it presses against the first fixed seat 119; when the mounting plate 117 slides to a second predetermined position, it presses against the second fixed seat 122.

[0048] The lead screw drive also includes a lead lever 118 passing through the first fixed seat 119 and the second fixed seat 122. The lead lever 118 is rotatable relative to the first fixed seat 119 and the second fixed seat 122. The lead lever 118 passes through the mounting plate 117 and is threadedly connected to the mounting plate 117. During the rotation of the lead lever 118, the mounting plate 117 can be driven to slide along the length direction of the lead lever 118 through the threaded engagement.

[0049] The lead screw drive also includes a drive motor 123, which is fixedly mounted on the chassis body 1. The end of the lead lever 118 away from the first fixed seat 119 is connected to the output shaft of the drive motor 123. When the drive motor 123 is working, it can drive the lead lever 118 to rotate. The mounting plate 117 slides along the length of the lead lever 118 and drives the sliding sleeves 115 on both sides to slide relative to the mounting shaft 111 during the sliding process.

[0050] It should be understood that, in addition to the lead screw drive shown in the example above, the drive device can also be any kind of drive device, such as an electric push rod or a cylinder, which is fixedly mounted on the chassis body 1. The drive ends of the electric push rod and the cylinder are both fixedly connected to the mounting plate 117. Alternatively, the drive device can also be any kind of linear motion drive device.

[0051] As can be seen from the above description, the change in pressure applied to the drive wheel assembly 112 by the drive mechanism driving the vibration damping rod assembly causes the drive wheel assembly 112, which is hinged to the chassis body 1, to rotate accordingly. This changes the normal pressure of the drive wheel on the ground, allowing the robot chassis 1 to be applied to various scenarios, thereby greatly enhancing the overall stability of the machine. In the event of a malfunction, the normal pressure of the drive wheel on the ground is reduced, allowing the robot to be pushed away for maintenance by personnel.

[0052] like Figure 3 As shown in the illustration, this application also provides a handling robot. The handling robot is equipped with the aforementioned robot chassis. A gantry frame 2 is mounted on the chassis body 1, and a lifting mechanism 4 is slidably mounted on the gantry frame 2. A telescopic picking mechanism 3 is mounted on the lifting mechanism 4. It should be specifically noted that the lifting mechanism 4 mounted on the gantry frame 2 of the handling robot, and the telescopic picking mechanism 3 mounted on the lifting mechanism 4, are common technical means in the prior art for operations such as moving high-level boxes on shelves, and will not be elaborated upon here.

[0053] In existing technologies, handling robots often use chassis with shock absorbers or fixed drive wheels. Neither of these chassis actively adjusts the normal pressure of the drive wheels on the ground to adapt to ground conditions. Therefore, due to uneven ground surfaces and frequent switching between empty and fully loaded application scenarios, especially for robots with a high center of gravity, the acceleration / deceleration parameters cannot be set too high during movement to avoid vehicle swaying and instability. Furthermore, because of the high center of gravity, shock absorber chassis passively change the spring compression in this scenario, which is detrimental to overall stability. The second type of chassis uses a balance beam and casters; in this case, the fixed casters tilt with changes in the vehicle body, which is also detrimental to overall stability.

[0054] In view of the above deficiencies, the handling robot provided in this application uses a robot chassis that is hinged to the chassis body 1 by means of a drive wheel assembly, and the pressure applied to the ground by the drive wheel assembly 112 is adjusted by the elastic adjustment assembly 11 to adapt to different scenarios, which can greatly change the stability of the handling robot when walking.

[0055] To achieve automatic adjustment, the handling robot also includes a detection device and a control device. The detection device is used to detect the robot's center of gravity height and the varying road surface elevations during its movement. For example, the detection device can use a position sensor to detect the robot's center of gravity height, such as installing a position sensor on the gantry 2 to detect the position of the telescopic picking mechanism 3, thereby determining the robot's center of gravity height. Additionally, a gyroscope sensor can be installed on the chassis body 1 to monitor the stability of its movement. With the cooperation of the position sensor and the gyroscope sensor, the control device can adjust the normal pressure of the drive wheels on the ground in a timely manner. Of course, weight sensors, level sensors, or infrared acquisition devices can also be used to detect the robot's center of gravity height and movement stability; these are all commonly used devices in the prior art, and no further limitations are made here.

[0056] As can be seen from the above description, the cooperative control adjustment between the detection device and the control device in this embodiment enables the handling robot to better adapt to different loads and uneven ground conditions, resulting in better adaptability and stability. When the handling robot is working at a high position, the compression of the spring 121 can be actively increased, and in conjunction with the fixed casters 13, the stability of the handling robot when picking up and placing goods at a high position can be improved. Specifically, the control device uses a microcontroller or PLC controller, and after receiving detection information from the position sensor and gyroscope sensor, the controller controls the drive motor 123, electric push rod, or cylinder to work accordingly, thereby causing the mounting plate 117 to slide relative to the chassis body 1 between a first set position and a second set position. The above control methods are all commonly used techniques in the prior art and will not be elaborated further here.

[0057] Continue reading Figure 2 and Figure 3 When the handling robot stops in the aisle between shelves due to drive failure or the need for maintenance, the motor in the drive wheel assembly 112 will not rotate due to its own effect. To facilitate the movement of the handling robot, the pressure exerted on the ground by the drive wheel assembly 112 can be reduced by the elastic adjustment component, so that the normal pressure of the drive wheel on the ground is minimized. At this time, without the need for tooling equipment, the handling robot can be directly pushed out of the aisle for maintenance, thus facilitating maintenance.

[0058] This application also provides a method for adjusting the chassis of a handling robot, including the following steps:

[0059] Step 001: Detect the center of gravity height of the handling robot and the large tilt angle of the handling robot caused by uneven road surface;

[0060] Step 002: When the center of gravity height of the handling robot is higher than the set value or the tilt angle of the handling robot is greater than the set value, increase the pressure applied to the drive wheel assembly 112.

[0061] Specifically, the mounting plate 117 is driven to slide relative to the chassis body 1 by the drive device; the mounting plate 117 pushes the damping rod assembly to compress; and the damping rod assembly increases the pressure applied to the drive wheel assembly 112. For detailed steps, please refer to the corresponding structural description above.

[0062] Through the above steps, when the handling robot is working at a high position or traversing a road with a large incline, the control device can actively increase the compression of spring 121, thereby improving the stability of the handling robot body when picking up and placing goods at a high position.

[0063] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot chassis, characterized in that, include: The chassis body, drive wheel assembly, fixed casters, and adjustable components; among which... The drive wheel assembly is hinged to the chassis body and can rotate relative to the chassis body; The elastic adjustment assembly includes a damping rod assembly hinged to the drive wheel assembly, the damping rod assembly being used to push the drive wheel assembly to rotate relative to the chassis body; it also includes a drive mechanism for adjusting the pressure change applied by the damping rod assembly to the drive wheel assembly, so as to adjust the normal force of the drive wheel assembly on the ground; The drive mechanism includes a mounting plate and a drive device; the mounting plate is slidably mounted on the chassis body; the drive device is fixed to the chassis body and is used to drive the mounting plate to slide relative to the chassis body, and can be locked at least in a first predetermined position or a second predetermined position; wherein... The first end of the damping rod assembly is hinged to the drive wheel assembly; the second end is hinged to the mounting plate; when the mounting plate slides from the first set position to the second set position, the compression of the damping rod assembly increases.

2. The robot chassis as described in claim 1, characterized in that, The driving device is any one of the following: a lead screw drive, an electric push rod, or a cylinder.

3. The robot chassis as described in claim 1, characterized in that, The mounting plate is provided with a first hinge seat, and the second end of the vibration damping rod assembly is hinged to the first hinge seat by a pin.

4. The robot chassis as described in claim 1, characterized in that, The vibration damping bar assembly includes: a mounting shaft, a sliding sleeve fitted on the mounting shaft and slidable relative to the mounting shaft, and a spring fitted on the mounting shaft; The mounting shaft is hinged to the drive wheel assembly via a hinge pin; the sliding sleeve is hinged to the mounting plate; one end of the spring presses against the end of the mounting shaft away from the sliding sleeve, and the other end presses against the sliding sleeve.

5. The robot chassis as described in claim 1, characterized in that, The chassis body is provided with a second hinge seat, and the drive wheel assembly is hinged to the second hinge seat by a pin.

6. The robot chassis as described in any one of claims 1 to 5, characterized in that, The number of drive wheel assemblies is two, and the two drive wheel assemblies are symmetrically arranged on both sides of the chassis body; There are two vibration damping rod assemblies, and the two vibration damping rod assemblies are hinged to the two drive wheel assemblies one-to-one; The drive mechanism is located between the two damping bar assemblies.

7. The robot chassis as described in claim 6, characterized in that, When the drive mechanism includes a mounting plate, The chassis body is provided with a guide rail, and the mounting plate is slidably mounted on the guide rail; wherein, the extension direction of the guide rail is perpendicular to the arrangement direction of the two drive wheel assemblies.

8. A transport robot, characterized in that, The robot chassis as described in any one of claims 1-7 is provided on the robot chassis, a lifting mechanism is slidably provided on the gantry, and a telescopic picking mechanism is mounted on the lifting mechanism.

9. The handling robot as described in claim 8, characterized in that, It also includes a detection device and a control device, wherein the detection device is used to detect the center of gravity height of the handling robot; The control device is used to control the drive mechanism to drive the vibration damping rod assembly to increase the pressure applied to the drive wheel assembly when the center of gravity height of the handling robot detected by the detection device is higher than a set value.

10. A method for adjusting and transporting a robot chassis as described in any one of claims 1-7, characterized in that, Includes the following steps: Detect the center of gravity height and tilt angle of the handling robot; When the center of gravity of the handling robot is higher than the set value or the tilt angle of the handling robot is greater than the set value, the pressure applied to the drive wheel assembly is increased.

11. The method for adjusting the chassis of a transport robot as described in claim 10, characterized in that, The enhanced pressure applied to the drive wheel assembly specifically refers to: The mounting plate is driven to slide relative to the chassis body by a drive device; The vibration damper assembly is compressed by pushing the mounting plate; The pressure applied to the drive wheel assembly is increased by using a damping bar assembly.

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