Power assisting device and transfer robot

Abstract

The utility model relates to a power assisting device and a transfer robot. The power assisting device comprises a connecting part and a movable part. Wherein the movable part is constructed to be pre-pressed on the connecting part through an energy storage part; the movable part comprises a sliding rod and a bull eye bearing; the sliding rod is configured to be in sliding connection with the connecting part, and the bull eye bearing is configured to be arranged at the free end of the sliding rod. The power assisting device provided by the utility model can provide assisting power for various lifting mechanical devices, so that the lifting force required to be provided by equipment is saved, and the peak value of the lifting force is reduced. The bull eye bearing is installed at the free end of the sliding rod, the bottom face of the to-be-lifted object can directly abut against the bull eye bearing, when the to-be-lifted object shakes, rolling friction can happen to the abutting position, and the abutting face is prevented from being abraded.

Description

[0001] This application is a divisional application of the utility model application with the invention name "Carrying robot and power assist device". The parent application number is "202322779739.4" and the parent application date is October 17, 2023. Technical Field

[0002] The present disclosure relates to the technical field of logistics and warehousing, and in particular to a power assist device and a transport robot. Background Art

[0003] At present, in the field of logistics and warehousing, handling robots are usually used to carry out handling work. For example, when leaving the warehouse, the handling robot needs to take the target goods from the shelf and transport them to the departure location. Compared with manual handling, handling robots can make the efficiency of entering and leaving the warehouse higher, and also save a lot of human resources.

[0004] There are many structural types of handling robots, among which handling robots with scissor-type lifting mechanisms are particularly common. The scissor-type lifting mechanism occupies less space in the folded state, while also achieving a larger lifting stroke. When in the low position, the angle between the scissor arms is very small, and a large driving force is required to start lifting; after the lifting begins, the angle between the scissor arms increases, and the driving force required for subsequent lifting actions is greatly reduced. In order to meet the lowest driving force requirements, a high-power drive device needs to be configured for the lifting mechanism, but in most of the lifting stroke, such a large driving force is not required at all, which results in a certain waste of cost.

[0005] In the prior art, some lifting robots are provided with power assist devices, for example, a spring can be provided at the position where the scissor arm is slidably connected to the chassis, so as to provide power assist for the sliding of the scissor arm, thereby reducing the driving force that the driving mechanism needs to provide. However, there is a large power assist loss when a spring is provided at the sliding end of the scissor arm. Specifically, this power assist device provides power assist in the horizontal direction, and there is obviously a certain amount of energy loss in the process of converting the power assist in the vertical direction. Utility Model Content

[0006] In order to solve the problems existing in the prior art, the present disclosure provides a power assisting device and a transporting robot.

[0007] According to a first aspect of the present disclosure, there is provided a power assist device, comprising:

[0008] Connecting part;

[0009] The movable part is configured to be pre-pressed on the connecting part through an energy storage member; the movable part includes a slide rod and a bull's eye bearing; the slide rod is configured to be slidably connected to the connecting part, and the bull's eye bearing is configured to be arranged at the free end of the slide rod.

[0010] In one embodiment of the present disclosure, the connecting portion includes a fixing seat and a fixing sleeve arranged on the fixing seat; the sliding rod is constructed to be slidably connected in the fixing sleeve, and is constructed to have a tendency to move outward under the action of the energy storage member.

[0011] In one embodiment of the present disclosure, the bottom end of the sliding rod is constructed as a protrusion, and a sealing piece is provided at the upper end of the fixed sleeve. When the sliding rod moves to the highest position, the sealing piece is constructed to abut against the protrusion.

[0012] In one embodiment of the present disclosure, the fixing sleeve is connected to the fixing seat by threads.

[0013] In one embodiment of the present disclosure, the bottom end surface of the fixing seat is configured as a plane.

[0014] In one embodiment of the present disclosure, the bull's eye bearing is configured to be detachably connected to the free end of the sliding rod.

[0015] In one embodiment of the present disclosure, the bull's eye bearing comprises a bearing body, and the bearing body is detachably connected to the top end of the sliding rod via threads.

[0016] In one embodiment of the present disclosure, the bull's eye bearing further comprises a push piece, which is configured to be squeezed between the bearing body and the slide rod; the energy storage member is configured to be pre-pressed between the lower end surface of the push piece and the upper end surface of the fixed seat.

[0017] In one embodiment of the present disclosure, the top of the movable portion is configured as a curved surface.

[0018] In one embodiment of the present disclosure, the energy storage member is a spring type, a gas type or a hydraulic type energy storage member.

[0019] According to a second aspect of the present disclosure, a handling robot is further provided, comprising the power assisting device according to the first aspect of the present disclosure, wherein the power assisting device is configured to provide power assisting during the lifting process of the handling robot.

[0020] One beneficial effect of the present disclosure is that it provides a power assisting device, which can provide power assisting for various lifting mechanical devices, thereby saving the lifting force required by the equipment and reducing the peak lifting force. When the object to be lifted is pressed on the movable part, the movable part slides relative to the connecting part and compresses the energy storage part; when the lifting begins, the elastic force of the energy storage part is released, thereby providing lifting assistance. Furthermore, the present disclosure installs a bull's eye bearing on the free end of the sliding rod, and the bottom surface of the object to be lifted can directly abut against the bull's eye bearing. When the object to be lifted shakes, rolling friction will occur at the abutting position, thereby preventing the abutting surface from being worn.

[0021] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] Figure 1 is a schematic diagram of the structure of the handling robot disclosed in the present invention in a lifting position;

[0024] Figure 2 is a schematic structural diagram of the handling robot disclosed in the present invention in an initial position;

[0025] Figure 3 is a structural schematic diagram of the scissor lift assembly of the present disclosure in a lifting position;

[0026] Figure 4 is a schematic diagram of the structure of the handling robot disclosed in the present invention after the comb teeth are hidden in the initial position;

[0027] Figure 5 is a partial enlarged view of the through hole of the tray assembly of the present disclosure;

[0028] Figure 6 It is a structural schematic diagram of the first power-assisting assembly disclosed in the present invention;

[0029] Figure 7 is a cross-sectional view of the first power assist assembly disclosed herein;

[0030] Figure 8 is a structural schematic diagram of a second power assist assembly disclosed in the present invention;

[0031] Fig. 9 is a cross-sectional view of a second power assist assembly disclosed herein;

[0032] Fig.10 is a schematic diagram of the structure of the first chassis and the second chassis of the present disclosure;

[0033] Fig.11is a cross-sectional view of a third power assist assembly disclosed herein;

[0034] Fig.12 is a schematic structural diagram of a transport robot in an initial position in another embodiment of the present disclosure;

[0035] Fig.13 is a structural exploded diagram of a handling robot in another embodiment of the present disclosure;

[0036] Fig.14 It is a schematic diagram of the structure of the handling robot after some comb teeth are hidden in another embodiment of the present disclosure.

[0037] Figures 1 to 14 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0038] 1. chassis assembly, 11. driving wheel, 12. first chassis, 13. second chassis, 14. hinge hole, 15. waist-shaped hole;

[0039] 2. tray assembly, 21. through opening, 22. through hole, 23. rolling portion, 24. comb teeth, 25. baffle, 26. tray body;

[0040] 3. Scissor assembly, 31. first scissor arm, 32. second scissor arm, 33. third scissor arm, 34. fourth scissor arm, 35. driving mechanism;

[0041] 4. power assist assembly, 41. fixed seat, 42. guide rod, 421. limiter, 43. movable part, 44. energy storage part, 45. fixed sleeve, 451. sealing part, 46. bull's eye bearing, 461. bearing body, 462. abutment part, 47. slide rod, 471. protrusion;

[0042] 5. Activity platform. DETAILED DESCRIPTION

[0043] 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 components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0046] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0047] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0048] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0049] In this document, “equal”, “same”, etc. are not strictly limited in mathematical and / or geometric senses, but also include errors that can be understood by those skilled in the art and allowed by manufacturing or use.

[0050] The present disclosure provides a transport robot, which can be configured to transfer containers stored in a storage area by lifting. The transport robot includes a chassis assembly, a pallet assembly, a scissor assembly, and a power assist assembly, wherein the chassis assembly is configured to be supported on a work surface, and the pallet assembly is configured to carry the container. The container can be a container for loading goods and commodities in the field of logistics and warehousing, including but not limited to a material box, a cargo box, a packaging box, etc. The present disclosure does not limit the type and shape of the container.

[0051] The chassis assembly can also drive the transport robot to walk on the work surface. The chassis assembly can be provided with a driving wheel and / or a universal wheel that cooperates with the driving wheel. The driving wheel and the universal wheel cooperate together to drive the transport robot as a whole to walk and turn on the work surface, so as to facilitate the subsequent transport robot to transfer the container.

[0052] The scissor assembly is arranged between the chassis assembly and the pallet assembly, and is constructed to be controlled by a driving mechanism to drive the pallet assembly to move between an initial position and a lifting position in the height direction. The scissor assembly has a multi-stage scissor arm structure. When the scissor assembly is in the initial position, the angle between the scissor arms is very small, and a large lifting driving force is required to drive the scissor assembly to start moving to the lifting position; and after breaking through a certain lifting threshold, the driving force required for the scissor assembly is greatly reduced. When selecting a driving mechanism, it is necessary to consider the maximum driving force required by the scissor assembly throughout the movement. If the peak value of the driving force can be reduced, a lower power driving mechanism can be selected to reduce costs. To this end, the handling robot provided in the present disclosure is provided with a power assist component.

[0053] The power assist assembly is arranged between the chassis assembly and the tray assembly. The tray assembly is configured to be controlled by the driving mechanism and to overcome the elastic force of the power assist assembly to move to the initial position, and / or to be controlled by the driving mechanism and to move to the lifting position under the action of the elastic force provided by the power assist assembly. The power assist assembly has an elastic device capable of storing energy. When the tray assembly moves to the initial position, the elastic device can be compressed to store energy. The stored energy can be released when the tray assembly moves upward from the initial position next time. The power assist assembly provides the tray assembly with a vertical upward elastic force, thereby reducing the lifting force required to be provided by the driving mechanism.

[0054] The present disclosure provides a power assist assembly between the chassis assembly and the tray assembly, so that the tray assembly can obtain vertical upward elastic power assist from the power assist assembly when lifting, thereby reducing the power requirement for the driving mechanism. The power assist assembly can at least provide vertical upward elastic power assist in the initial stage when the scissor lift assembly moves from the initial position to the lifting position. Compared with the horizontal power assist device, directly providing vertical power assist can ensure that the power assist is used for lifting to the greatest extent, thereby effectively reducing power assist loss.

[0055] The specific embodiments of the present disclosure are described below in conjunction with the accompanying drawings.

[0056] refer to Figure 1 and Figure 2 The present disclosure provides a transport robot, which can be configured to transfer containers stored in a storage area by lifting. The transport robot includes a chassis assembly 1, a pallet assembly 2, a scissor assembly 3, and a power assist assembly 4, wherein the chassis assembly 1 is configured to be supported on a work surface, and the pallet assembly 2 is configured to carry a container. The container can be a container for loading goods and commodities in the field of logistics and warehousing, including but not limited to a material box, a cargo box, a packaging box, etc. The present disclosure does not limit the type and shape of the container.

[0057] The chassis assembly 1 can also drive the transport robot to walk on the working surface. The chassis assembly 1 can be provided with a driving wheel and / or a universal wheel that cooperates with the driving wheel. The driving wheel and the universal wheel cooperate together to drive the transport robot as a whole to walk and turn on the working surface, so as to facilitate the subsequent transport robot to transfer the container.

[0058] In one embodiment of the present disclosure, Figure 2As shown, the tray assembly 2 may be provided with comb teeth 24 and baffles 25. The baffles 25 are provided on opposite sides of the tray assembly 2, and both baffles 25 are provided with inwardly inclined inclined surfaces, and the container can slide along the inclined surfaces to the middle of the two baffles 25, so as to be stably supported on the tray assembly 2. A plurality of comb teeth 24 may be provided, and there is a gap between each of the comb teeth 24, so that the comb teeth 24 can penetrate into the gap of the shelf bearing part. The container can be directly supported on the comb teeth 24, and the gap of the comb teeth 24 should be smaller than the outer diameter of the smallest container, so as to ensure that the container can be stably supported on the comb teeth 24.

[0059] The scissor assembly 3 is disposed between the chassis assembly 1 and the tray assembly 2, and is configured to be controlled by the driving mechanism 35 to drive the tray assembly 2 to move between the initial position and the lifting position in the height direction. Figure 1 The transport robot shown in the figure is in the lifting position. Figure 2 The handling robot shown in the figure is in the initial position. The scissor assembly 3 has a multi-stage scissor arm structure. When the scissor assembly 3 is in the initial position, the angle between the scissor arms is very small, and a large lifting driving force is required to drive the scissor assembly to start moving to the lifting position; after breaking through a certain lifting threshold, the driving force required by the scissor assembly 3 is greatly reduced.

[0060] Specifically, refer to Figure 3 In a specific embodiment of the present disclosure, the scissor assembly 3 includes a primary scissor and a secondary scissor from bottom to top, the primary scissor includes a first scissor arm 31 and a second scissor arm 32, and the secondary scissor includes a third scissor arm 33 and a fourth scissor arm 34. It can be understood that each set of scissors is provided with two, so as to be supported on both sides of the pallet assembly 2 respectively. One end of the first scissor arm 31 is hinged to the chassis assembly 1, and the other end is hinged to one end of the third scissor arm 33, and the other end of the third scissor arm 33 is hinged to the pallet assembly 2; one end of the second scissor arm 32 is slidably connected to the chassis assembly 1, and the other end is hinged to one end of the fourth scissor arm 34, and the other end of the fourth scissor arm 34 is slidably connected to the pallet assembly 2.

[0061] The driving mechanism 35 can be installed in the middle of the scissor assembly 3. Figure 4 The pallet assembly 2 is provided with a through hole 21. When the handling robot is in the initial position, the driving mechanism 35 and part of the scissor assembly 3 can pass through the through hole 21, thereby ensuring that the pallet assembly 2 can be lowered to the lowest possible position. When the driving mechanism 35 is started, the scissor assembly 3 can be opened outward or moved inward, thereby driving one end of the second scissor arm 32 to slide relative to the chassis assembly 1, and one end of the fourth scissor arm 34 to slide relative to the pallet assembly 2, thereby driving the first scissor arm 31 and the third scissor arm 33 to rotate, thereby raising or lowering the pallet assembly 2.

[0062] It can be seen that the driving mechanism 35 actually needs to provide driving force for the first scissor arm 31 and the third scissor arm 33 to rotate. When the pallet assembly 2 is in the initial position, the angle between the scissor arms is very small, and a large driving force is required to rotate it. When selecting the driving mechanism, it is necessary to consider the maximum driving force required by the scissor assembly 3 throughout the movement. If the peak value of the driving force can be reduced, a driving mechanism with lower power can be selected, thereby reducing costs. To this end, the handling robot provided in the present disclosure is provided with a power assist assembly 4.

[0063] like Figure 1 As shown, the power assist assembly 4 is arranged between the chassis assembly 1 and the tray assembly 2, and the tray assembly 2 is configured to be controlled by the driving mechanism 35 and to overcome the elastic force of the power assist assembly 4 to move to the initial position, and / or to be controlled by the driving mechanism 35 and to move to the lifting position under the action of the elastic force provided by the power assist assembly 4. The power assist assembly 4 has an elastic device capable of storing energy, and when the tray assembly 2 moves to the initial position, the elastic device can be compressed to store energy; the stored energy can be released when the tray assembly 2 moves upward from the initial position next time, and the power assist assembly 4 provides the tray assembly 2 with a vertical upward elastic force, thereby reducing the lifting force required to be provided by the driving mechanism 35.

[0064] The present disclosure provides a power assist assembly 4 between the chassis assembly 1 and the tray assembly 2, so that the tray assembly 2 can obtain vertical upward elastic power assist from the power assist assembly 4 when lifting, thereby reducing the power requirement for the drive mechanism 35. The power assist assembly 4 can at least provide vertical upward elastic power assist in the initial stage when the scissor lift assembly 3 moves from the initial position to the lifting position. Compared with the horizontal power assist device, directly providing vertical power assist can ensure that the power assist is used for lifting to the greatest extent, thereby effectively reducing the power assist loss.

[0065] In one embodiment of the present disclosure, the power assist assembly 4 is constructed to be always pre-pressed between the pallet assembly 2 and the chassis assembly 1 during the movement of the pallet assembly 2 relative to the chassis assembly 1. In this embodiment, when the scissor assembly 3 moves to the highest lifting position, the power assist assembly 4 can still provide the pallet assembly 2 with vertical upward elastic force assistance; during the entire process of the pallet assembly 2 moving to the initial position, the elastic force of the power assist assembly 4 needs to be overcome. When the elastic force that the pallet assembly 2 needs to overcome is greater than the sum of its own gravity and the gravity of the container, the drive mechanism 35 is required to provide partial driving force during the descent process. This embodiment realizes that the power assist assembly 4 can provide upward assistance to the pallet assembly 2 throughout the lifting process, thereby reducing the driving force demand throughout the lifting process, thereby reducing the driving cost.

[0066] In another embodiment of the present disclosure, the power assist assembly 4 is constructed to be pre-pressed between the tray assembly 2 and the chassis assembly 1 after the tray assembly 2 moves a predetermined distance from the lifting position to the initial position; and is constructed to be separated from the chassis assembly 1 or the tray assembly 2 after the tray assembly 2 moves a predetermined distance from the initial position to the lifting position. In this embodiment, the power assist assembly 4 can provide power assist in the initial stage of lifting, and after the tray assembly 2 moves upward to a certain height, the power assist assembly 4 can be separated from the chassis assembly 1 or the tray assembly 2 and no longer provide power assist for the tray assembly 2. The force that the drive mechanism 35 needs to provide in the initial stage of lifting is much greater than the driving force provided subsequently. Therefore, providing power assist in the initial stage of lifting can effectively reduce the peak output of the drive mechanism 35, so that a lower-power drive mechanism 35 can be selected, saving driving costs.

[0067] Both of the above two implementations can achieve the power-assisting effect and save driving costs. Figure 1 As shown, the latter embodiment is selected, that is, the power assist component 4 is arranged in a manner that only provides power assist in the initial stage.

[0068] In one embodiment of the present disclosure, the power assist assembly 4 is configured to extend in the vertical direction, including a connecting portion and a movable portion 43 pre-pressed on the connecting portion; the connecting portion is fixed to the chassis assembly, and the movable portion 43 is configured to cooperate with the tray assembly 2; or, the connecting portion is fixed to the tray assembly 2, and the movable portion 43 is configured to cooperate with the chassis assembly 1. The connecting portion is the portion of the power assist assembly 4 that is fixedly connected to the tray assembly 2 or the chassis assembly 1, and the movable portion 43 can move relative to the fixed portion, thereby realizing the functions of storing force and assisting force.

[0069] The power assist assembly 4 can be installed on the upper side of the chassis assembly 1 or on the lower side of the tray assembly 2. Figure 1 As shown, the power assist component 4 is selected to be installed on the chassis. When installed on the chassis component 1, after the tray component 2 is lowered to the position where it contacts and cooperates with the power assist component 4, it cooperates with the upper end surface of the movable part 43, and presses the movable part 43 downward to accumulate elastic force; in the initial lifting of the tray component 2, the upper end surface of the movable part 43 pushes up the tray component 2, thereby providing power assist for the tray component 2. When the power assist component 4 is installed on the lower surface of the tray component 2, after the tray component 2 is lowered a certain distance, the lower end surface of the movable part 43 can cooperate with the chassis component 1, and continue to exert elastic force during the descent process; in the initial lifting of the tray component 2, the lower end surface of the movable part 43 presses against the chassis component 1 under the action of the elastic force, thereby providing power assist for the tray component 2.

[0070] In one embodiment of the present disclosure, reference Figure 6 and Figure 7The connecting part includes a fixed seat 41 and a guide rod 42 extending from the fixed seat 41 in the vertical direction; the movable part 43 is sleeved on the guide rod 42; an energy storage member 44 is provided between the fixed seat 41 and the movable part 43, and the energy storage member 44 is configured to make the movable part 43 have a tendency to move away from the fixed seat 41, so as to provide a vertical upward elastic force for the tray assembly 2. The guide rod 42 can be a structure integrally formed with the fixed seat 41, or can be fixedly connected in the fixed seat 41. The movable part 43 can be a sliding sleeve structure, which can be slidably sleeved on the guide rod 42 and can slide up and down along the guide rod 42. A limit member 421 is provided at the upper end of the guide rod 42, and the outer diameter of the limit member 421 is configured to be larger than the inner diameter of the movable part 43, so as to prevent the movable part 43 from slipping out of the guide rod 42 during movement.

[0071] The energy storage member 44 is a spring type, gas type or hydraulic type energy storage member 44. The present disclosure adopts a spring type energy storage member 44. The energy storage member 44 is sleeved on the guide rod 42 and pre-pressed between the fixed seat 41 and the movable portion 43. When the movable portion 43 is pressed downward by the tray assembly 2, the energy storage member 44 is compressed synchronously, thereby accumulating elastic force and providing elastic assistance in the initial stage of the tray assembly 2 moving upward.

[0072] In one embodiment of the present disclosure, reference Figure 4 and Figure 5 A through hole 22 is provided at the abutting position of the tray assembly 2 or the chassis assembly 1 ; the diameter of the through hole 22 is configured to be larger than the diameter of the guide rod 42 , and is configured to be smaller than the diameter of the movable portion 43 . Figure 5 : is a schematic diagram of the bottom structure of the through hole 22 of the tray assembly 2. The through hole 22 is configured to allow the guide rod 42 to penetrate to the top of the tray assembly 2, so that the upper end surface of the movable portion 43 remains in contact with the bottom surface of the tray assembly 2. The diameter of the through hole 22 is larger than the diameter of the guide rod 42. Since a limiter 421 is provided at the top of the guide rod 42, the diameter of the through hole 22 actually needs to be larger than the diameter of the limiter 421. The diameter of the through hole 22 is smaller than the outer diameter of the movable portion 43, thereby preventing the movable portion 43 from passing through the through hole 43.

[0073] In one embodiment of the present disclosure, the power assist assembly 4 may also have other types of structural features, see Figure 8 and Fig. 9, the connecting part includes a fixed sleeve 45, and the movable part 43 is configured to be movably connected in the fixed sleeve 45; an energy storage member 44 is arranged between the fixed sleeve 45 and the movable part 43, and the energy storage member 44 is configured to make the movable part 43 have a tendency to move outward, so as to provide a vertical upward elastic force for the tray assembly 2. The movable part 43 in this embodiment is a columnar structure slidably connected in the fixed sleeve 45, wherein the upper end of the movable part 43 is configured as an abutment structure with a larger diameter, and the lower end is configured as a sliding rod structure with a smaller diameter. The abutment structure at the upper end of the movable part 43 can be matched with the lower surface of the tray assembly 2 and abutted together, and the sliding rod at the lower end can extend into the fixed sleeve 45 for movement. The bottom end of the sliding rod can be set as a protruding structure to prevent the movable part 43 from being disengaged from the top of the fixed sleeve 45 as a whole. The energy storage member 44 is sleeved on the sliding rod of the movable part 43 and is pre-pressed between the abutment structure and the fixed sleeve 45. When the movable portion 43 is pressed downward by the tray assembly 2 , the energy storage member 44 is compressed synchronously, thereby accumulating elastic force and providing elastic assistance in the initial stage of the upward movement of the tray assembly 2 .

[0074] In one embodiment of the present disclosure, the power assist assembly 4 may also have a third structural feature, referring to Fig.11 The movable part 43 includes a slide bar 47 and a bull's eye bearing 46, wherein the slide bar 47 is constructed to be slidably connected in the fixed sleeve 45, and is constructed to have a tendency to move outward under the action of the energy storage member 44; the bull's eye bearing 46 is constructed to be detachably connected to the top of the slide bar 47, and is constructed to be used to abut against the chassis assembly 1 or the tray assembly 2. The handling robot may shake during movement, causing wear on the abutting surface. Therefore, the present embodiment adopts the bull's eye bearing 46 to abut against the chassis assembly 1 or the tray assembly 2, so as to reduce the friction force at the abutting position. The bull's eye bearing 46 in the present embodiment is detachably connected to the top of the slide bar 47, and the user can fix the bull's eye bearing 46 to the top of the slide bar 47 by screws. When the bull's eye bearing 46 is worn, the user can replace it conveniently and quickly.

[0075] The bottom end of the slide bar 47 is configured as a protrusion, and a sealing member 451 is provided at the upper end of the fixed sleeve 45. The sealing member 451 can play a role of limiting. When the slide bar 47 moves to the highest position, the sealing member 451 is configured to abut against the protrusion 471, thereby preventing the slide bar 47 from slipping out of the fixed sleeve 45 under the action of the energy storage member 44. The bull's eye bearing 46 includes a bearing body 461 and a top abutting member 462, wherein the bearing body 461 can be detachably connected to the top of the slide bar 47 through a thread, and when the bearing body 461 is installed at the top of the slide bar 47, the top abutting member 462 is configured to be squeezed between the bearing body 461 and the slide bar 47. In this way, the bearing body 461, the top abutting member 462 and the slide bar 47 together constitute a movable part 43 that can move as a whole. The lower end surface of the top abutting member 462 is configured to abut against the energy storage member 44, so that the movable part 43 is pre-pressed on the connecting part as a whole.

[0076] The power assist component 4 may also have other types of structures. The above three implementations are only preferred embodiments, and the present disclosure does not limit the specific structural features of the power assist component 4.

[0077] In one embodiment of the present disclosure, reference Figure 1 , at least two power assist assemblies are provided, at least two power assist assemblies 4 are provided on opposite sides of the chassis assembly 1, and are configured to cooperate with the corresponding two sides of the tray assembly 2; or, two of the power assist assemblies 4 are provided on opposite sides of the tray assembly 2, and are configured to cooperate with the corresponding two sides of the chassis assembly 1. Symmetrically arranging the power assist assemblies 4 on both sides of the tray assembly 2 or the chassis assembly 1 can make the assist more uniform, which can prevent the scissor assembly 3 from tilting or mechanical jamming due to unbalanced force on both sides during the lifting process, and can also provide twice the assist, further reducing the peak output of the drive mechanism 35.

[0078] In one embodiment of the present disclosure, reference Figure 5, a rolling portion 23 is provided between the chassis assembly 1 and the movable portion 43, and the chassis assembly 1 is configured to roll with the movable portion 43 through the rolling portion 23; when the tray assembly 2 shakes relative to the chassis assembly 1, the rolling portion 23 is configured to roll between the chassis assembly 1 and the movable portion 43; or, a rolling portion 23 is provided between the tray assembly 2 and the movable portion 43, and the tray assembly 2 is configured to roll with the movable portion 43 through the rolling portion 23; when the tray assembly 2 shakes relative to the chassis assembly 1, the rolling portion 23 is configured to roll between the tray assembly 2 and the movable portion 43. When the power assist assembly 4 is fixed to the tray assembly 2, the rolling portion 23 can be provided on the chassis assembly 1; when the power assist assembly 4 is fixed to the chassis assembly 1, the rolling portion 23 can be provided on the tray assembly 2; in addition, the rolling portion 23 can also be directly provided on the movable portion 43. The rolling portion 23 should be disposed at a position where the movable portion 43 abuts against the chassis assembly 1 or the tray assembly 2 so that rolling occurs between the movable portion 43 and the chassis assembly 1 or the tray assembly 2 .

[0079] Specifically, in a specific embodiment of the present disclosure, the rolling portion 23 is a rolling shaft, and the rotation axis of the rolling shaft is perpendicular or parallel to the walking direction of the transport robot. During the walking process of the transport robot, the tray assembly 2 is prone to slight shaking relative to the chassis assembly 1. At this time, if the movable portion 43 of the power-assisting assembly 4 is in the abutment position, friction will occur at the top, thereby causing wear on the abutment surface. In order to reduce the friction at the abutment position, the present disclosure provides a rolling portion 23, and the rolling portion 23 can be a universal ball or a rolling shaft. Since the rotation direction of the rolling shaft is fixed, it is necessary to make its rotation axis perpendicular or parallel to the walking direction of the transport robot, so as to reduce the friction at the abutment position when the tray assembly 2 shakes.

[0080] In another specific embodiment of the present disclosure, reference Figure 8 The rolling part 23 is a bull's eye bearing 46, which is installed at the position where the movable part 43 abuts against the tray assembly 2. Specifically, the bull's eye bearing 46 can be installed on the top of the movable part 43, and when the tray assembly 2 shakes relative to the chassis assembly 1, the bottom surface of the tray assembly 2 directly abuts against the bull's eye bearing 46, thereby reducing the friction at the abutting position and preventing the abutting surface from being worn.

[0081] The present disclosure also provides another way to reduce friction. In one embodiment of the present disclosure, a curved surface is provided on the movable portion 43 of the power assisting assembly 4, and the curved surface of the movable portion 43 is configured to abut against the chassis assembly 1 or the tray assembly 2. Setting the top of the movable portion 43 as a curved surface can effectively reduce the friction at the abutting position. When the tray assembly 2 shakes relative to the chassis assembly 1, the curved surface can ensure that the abutting position is only in point contact, and will not cause excessive friction.

[0082] In one embodiment of the present disclosure, reference Fig.10 The chassis assembly 1 includes a driving wheel 11, and one driving wheel 11 can be provided on each side of the chassis assembly 1, so as to drive the handling robot to walk and turn on the working surface. The power-assisting assembly 4 is provided at a position corresponding to the driving wheel 11, and the tray assembly 2 is constructed to apply a positive pressure to the position corresponding to the driving wheel 11 on the chassis assembly 1 through the power-assisting assembly 4. The tray assembly 2 will apply a downward pressure to the power-assisting assembly 4, and the power-assisting assembly 4 fixed at the position corresponding to the driving wheel 11 of the chassis assembly 1 will continue to transmit the downward pressure, thereby applying a downward positive pressure to the position of the chassis assembly 1 at the driving wheel 11. Applying a positive pressure at the position of the driving wheel 11 can make the driving wheel 11 closer to the working surface, thereby making the handling robot run more smoothly.

[0083] In one embodiment of the present disclosure, continue to refer to Fig.10 The chassis assembly 1 includes a first chassis 12 and a second chassis 13 hinged on the first chassis 12. The first chassis 12 and the second chassis 13 are configured to be supported together on a work surface. The second chassis 13 can be connected to the first chassis 12 by a hinge, and the second chassis 13 can rotate around the hinge relative to the first chassis 12. Two hinges can be provided at intervals and in parallel to ensure the stability of the relative rotation of the second chassis 13 and the first chassis 12.

[0084] When the transport robot is working, it moves along a prescribed path or direction of travel. When the transport robot enters a work surface with a slope or crosses an obstacle, the second chassis 13 of the chassis assembly 1 will adaptively deflect relative to the first chassis 12 due to the change in the slope of the work surface. For example, when the second chassis 13 moves to a work surface with an ascending slope, with the hinge position of the first chassis 12 and the second chassis 13 as the rotation axis, the second chassis 13 will deflect clockwise relative to the first chassis 12 around the rotation axis to adapt to the ascending slope; similarly, when the second chassis 13 moves to a work surface with a descending slope, the second chassis 13 will deflect counterclockwise relative to the first chassis 12 around the rotation axis to adapt to the descending slope. In the above case, the second chassis 13 will adaptively deflect according to the slope of the work surface to prevent the severe bumps caused by directly entering the sloped work surface, which can prevent the container carried by the transport robot from falling due to bumps, thereby improving the stability of the transport robot in transporting goods.

[0085] The scissor assembly 3 is configured to be arranged on the chassis assembly 1, and to move along the extension direction of the first chassis 12 and the second chassis 13 of the chassis assembly 1 to increase or decrease the size of the scissor assembly 3 in the height direction. The scissor assembly 3 at least includes a first scissor arm 31 and a second scissor arm 32 that are hinged together, and the top and bottom of the first scissor arm 31 and the second scissor arm 32 are moved closer to or farther from each other to increase or decrease the size of the scissor assembly 3 in the height direction, thereby driving the pallet assembly 2 to rise or fall. The bottom of one of the first scissor arm 31 and the second scissor arm 32 is connected to a position on the first chassis 12 away from the second chassis 13; the bottom of the other is connected to a position on the second chassis 13 away from the first chassis 12. For example, the bottom of the first scissor arm 31 is connected to a position on the first chassis 12 away from the second chassis 13, and the bottom of the second scissor arm 32 is connected to a position on the second chassis 13 away from the first chassis 12. The bottoms of the first scissor arm 31 and the second scissor arm 32 approach or move away from each other along the extension direction of the first chassis 12 and the second chassis 13.

[0086] In actual application scenarios, since the second chassis 13 with movable space is provided in this embodiment, the overall support of the chassis assembly 1 may not be stable enough. The two ends of the chassis assembly 1 will be subjected to the pressure of the scissor assembly 3 respectively, which will cause the connection position between the first chassis 12 and the second chassis 13 to be arched upwards, such as Fig.10 As shown, the driving wheel 11 installed in the middle of the chassis assembly 1 will be subjected to an upward force, so that it has a tendency to float upward, thereby affecting the stability of the goods being transported. In order to solve the above problem, the power assist assembly 4 is arranged at a position adjacent to the driving wheel 11 in this embodiment to provide a downward positive pressure to the driving wheel 11, thereby ensuring that the driving wheel 11 can be close to the ground and can provide stable support.

[0087] The driving wheel 11 is disposed on the first chassis 12, and the power assist assembly 4 is disposed on the first chassis 12, the second chassis 13, or a position adjacent to the driving wheel 11 on the tray assembly 2. Fig.10 As shown, the power assist assembly 4 can be arranged at a position adjacent to the driving wheel 11 on the first chassis 12, or at other positions adjacent to the driving wheel 11, such as being arranged at a position adjacent to the driving wheel on the second chassis 13, or being arranged on the tray assembly 2, and the power assist assembly 4 is made to abut against the position of the chassis assembly 1 adjacent to the driving wheel 11. In this way, it is achieved to provide a downward positive pressure for the driving wheel 11, thereby overcoming the problems caused by the arrangement of the second chassis 13 and improving the stability of the chassis assembly 1 support.

[0088] In one embodiment of the present disclosure, in order to further improve the stability of the handling robot, refer to Fig.12 A movable platform 5 is also provided between the chassis assembly 1 and the tray assembly 2. Specifically, Fig.12As shown, the chassis assembly 1 in this embodiment still includes a first chassis 12 and a second chassis 13 hinged on the first chassis 12, and the first chassis 12 and the second chassis 13 are constructed to be supported together on the work surface. The handling robot also includes a movable platform 5, one side of the movable platform 5 is constructed to be hinged on the second chassis 13, and the other side is constructed to be movably connected to the first chassis 12. It should be noted that the structures of the first chassis 12 and the second chassis 13 can be completely consistent, and the difference in names is only for the convenience of explanation. One side of the movable platform 5 can also be hinged on the first chassis 12, and the other side can also be movably connected to the second chassis 13. The scissor assembly 3 is arranged between the movable platform 5 and the pallet assembly 2, and is constructed to be controlled by the driving mechanism 35 to drive the pallet assembly 2 to move between the initial position and the lifting position in the height direction.

[0089] In the scheme where only the second chassis 13 is provided without the movable platform 5, the bottom of the scissor assembly 3 is directly connected to the two chassis, which causes the main pressure on the chassis assembly 1 to be applied to the second chassis 13 and the first chassis 12 respectively. The forces on both sides may cause the chassis assembly 1 to be subjected to less force at the hinged position in the middle, and even if the power-assisting assembly 4 is provided at the position of the driving wheel 11, the chassis assembly 1 may still be unstable. In this embodiment, the movable platform 5 is provided between the chassis assembly 1 and the pallet assembly 2, and the scissor assembly 3 is directly provided between the movable platform 5 and the pallet assembly 2, so that the scissor assembly 3 can directly apply pressure on the movable platform 5, while the pressure on the chassis assembly 1 comes directly from the movable platform 5.

[0090] like Fig.12 As shown, the position where the movable platform 5 is connected to the chassis assembly 1 is adjacent to the driving wheel 11. Compared with the solution of directly installing the scissor assembly 3 on the chassis assembly, the provision of the movable platform 5 can effectively concentrate the positive pressure, so that the forces of the scissor assembly 3, the pallet assembly 2 and the transport container are all concentrated on the movable platform 5. No matter how the scissor assembly 3 moves, and no matter where the transport container is placed on the pallet assembly 2, the movable platform 5 can transmit the pressure from above to the position adjacent to the driving wheel 11, thereby increasing the positive pressure at the position of the driving wheel 11 and improving the walking stability of the transport robot.

[0091] like Fig.13As shown, four groups of protruding connectors can be provided on the chassis assembly 1, and the movable platform 5 is connected to the chassis assembly 1 through the above connectors. Specifically, two connectors located on one side of the second chassis 13 are respectively provided with hinge holes 14, and one side of the movable platform 5 is hinged to the second chassis 13 through the two hinge holes 14. Two connectors located on one side of the first chassis 12 are respectively provided with waist-shaped holes 15, and the other side of the movable platform 5 is slidably connected to the first chassis 12 through the two waist-shaped holes 15. When the working surface on which the transport robot walks is uneven, the second chassis 13 can float relative to the first chassis 12. At this time, the movable platform 5 can also float relative to the chassis assembly 1 at the same time to ensure that the transport robot can walk smoothly. In addition to the above-mentioned slot connection method, the movable platform 5 can also be movably connected to the chassis assembly 1 in other ways, for example, a four-link form can also be adopted, and the present disclosure does not make specific restrictions on this.

[0092] In one embodiment of the present disclosure, the power-assisting component 4 is disposed on the movable platform 5 or at a position adjacent to the driving wheel 11 on the tray assembly 2, and the tray assembly 2 is constructed to apply positive pressure to the position corresponding to the driving wheel 11 on the chassis assembly 1 through the power-assisting component 4 and the movable platform 5 in sequence. In this embodiment, the power-assisting component 4 can be directly mounted on the movable platform 5, or the power-assisting component 4 can also be mounted at a position adjacent to the driving wheel 11 on the tray assembly 2 and directly abut against the movable platform 5. The pressure of the tray assembly 2 can fall on the power-assisting component 4, and after being subjected to the pressure, the power-assisting component 4 can transmit the pressure downward to the movable platform 5. Since the movable platform 5 is mounted at a position adjacent to the driving wheel 11 on the chassis assembly 1, the positive pressure at the position of the driving wheel 11 increases, and the stability of the handling robot is enhanced.

[0093] In another embodiment of the present disclosure, referring to Fig.14 , the power-assisting component 4 is arranged on the first chassis 12, the second chassis 13 or the tray assembly 2 at a position adjacent to the driving wheel 11, and is constructed to pass through the movable platform 5. In this embodiment, the power-assisting component 4 is arranged at a position adjacent to the driving wheel 11 of the chassis assembly 1 or the tray assembly 2. For example, an installation area can be arranged at an inner position of the driving wheel 11 of the first chassis 12, and the power-assisting component 4 is installed thereon, thereby providing power assistance to the tray assembly 2. The power-assisting component 4 needs to pass through the movable platform 5 in order to be supported on the tray assembly 2. Therefore, a notch needs to be provided at the position of the power-assisting component 4 on the movable platform 5 for the power-assisting component 4 to pass through. This embodiment can also transmit the pressure exerted on the power-assisting component 4 to a position near the driving wheel 11, thereby increasing the positive pressure at the position of the driving wheel 11 and enhancing the stability of the transport robot.

[0094] In one embodiment of the present disclosure, reference Fig.13 and Fig.14The pallet assembly 2 includes a pallet body 26 and at least two comb teeth 24 spaced apart on the pallet body 26. The power assist assembly 4 is directly abutted against or directly mounted on the bottom surface of the pallet body 26, and the comb teeth 24 are plate-like structures vertically supported upward from the pallet body 26. A space for accommodating the scissor assembly 3 is provided at the bottom of the pallet body 26 and the comb teeth 24, wherein a through opening 21 is provided in the middle of the pallet body 26 for the widest position of the scissor assembly 3 to pass through, and a corresponding notch may be provided at the bottom of the comb teeth 24. Fig.14 As shown, the top of the scissor assembly 3 is constructed to penetrate the pallet body 26 and is constructed to be connected to the side wall of the comb teeth 24. In this way, the height of the handling robot can be reduced, saving the space occupied by the handling robot. When the scissor assembly 3 is in the initial position, it can be accommodated in the pallet assembly 2, thereby reducing the height of the pallet assembly 2 in the initial position, making it easier for users to store and access containers; at the same time, the center of gravity of the handling robot is lowered, thereby further enhancing the stability of the handling robot.

[0095] In one embodiment of the present disclosure, the scissor assembly 3 includes at least a first scissor arm 31 and a second scissor arm 32 that are hinged together, the bottom of one of the first scissor arm 31 and the second scissor arm 32 is hinged to one side of the movable platform 5, and the bottom of the other is slidably connected to the other side of the movable platform 5. For example, the bottom of the first scissor arm 31 can be hinged to a position on one side of the second chassis 13 on the movable platform 5, and the bottom of the second scissor arm 32 can be slidably connected to a position on one side of the first chassis 12 on the movable platform 5, and the bottoms of the first scissor arm 31 and the second scissor arm 32 are close to or away from each other along the extension direction of the movable platform 5.

[0096] Furthermore, the scissor assembly 3 may also include a third scissor arm 33 and a fourth scissor arm 34 hinged together, wherein the bottom of the third scissor arm 33 is hinged to the top of the first scissor arm 31, and the bottom of the fourth scissor arm 34 is hinged to the top of the second scissor arm 32. Fig.14 As shown, the top of the third scissor arm 33 is hinged on the side wall of the comb teeth 24, and the top of the fourth scissor arm 34 is slidably connected to the side wall of the comb teeth 24. The tops of the third scissor arm 33 and the fourth scissor arm 34 approach or move away from each other along the extension direction of the movable platform 5.

[0097] In one embodiment of the present disclosure, the force of the tray assembly 2 moving downward under its own gravity when it is unloaded is recorded as G1, and the maximum weight of the container that the tray assembly 2 can bear is recorded as G2; the maximum elastic force of the power-assisting assembly 4 when the tray assembly 2 is in the initial position is recorded as F, and the peak driving force provided by the driving mechanism 35 is recorded as Fp. The energy storage member 44 in the power-assisting assembly 4 can have different elastic coefficients, thereby providing elastic forces of different sizes. When the maximum elastic force F is different, the maximum driving force Fp provided by the driving mechanism 35 will also change accordingly, thereby causing the selection of the driving mechanism 35 to change. When selecting the driving mechanism 35, it is necessary to select a driving force peak value Fp that is greater than or equal to the peak value of the required output force, so as to ensure the normal operation of the handling robot. The size of F needs to be classified and discussed below, so as to derive the corresponding standard for the selection of the driving mechanism 35.

[0098] When F≤G1, whether empty or fully loaded, the driving mechanism 35 can be directly disconnected when the tray assembly 2 moves to the initial position, and under the action of gravity, the tray assembly 2 can move to the initial position and press the movable part 43 to the lowest position. At this time, the driving force that the driving mechanism 35 needs to provide is G1+G2-F, and the driving mechanism 35 with a driving force peak value Fp≥G1+G2-F can meet the operation requirements of the transport robot.

[0099] When F>G1, the drive mechanism 35 may need to exert force during the descent of the tray assembly 2. When the tray is in the lowest position without load, the drive mechanism 35 needs to overcome the elastic force of the assist assembly 4, and the force at this time is F-G1; when the tray is fully loaded, the lifting force of the drive mechanism 35 is G1+G2-F; when selecting the drive mechanism 35, the above two extreme conditions need to be comprehensively considered, and Fp should not be lower than the larger value.

[0100] The most special case is that the output of the drive mechanism 35 in the above two scenarios is equal. In this case, F-G1=G1+G2-F, F=G1+G2 / 2. Substituting F into the above formula, it can be known that the driving force that the drive mechanism 35 needs to provide is G2 / 2. Therefore, selecting a drive mechanism 35 with a driving force peak value Fp≥G2 / 2 can meet the operation requirements of the transport robot.

[0101] When G1<F<G1+G2 / 2, G1+G2-F>F-G1, that is, the maximum driving force that the driving mechanism 35 needs to provide is G1+G2-F. Therefore, selecting a driving mechanism 35 with a driving force peak value Fp≥G1+G2-F can meet the operating requirements of the transport robot.

[0102] When F>G1+G2 / 2, F-G1>G1+G2-F, that is, the maximum driving force that the driving mechanism 35 needs to provide is F-G1. Therefore, selecting a driving mechanism 35 with a driving force peak value Fp≥F-G1 can meet the operating requirements of the transport robot.

[0103] The present disclosure also provides a power assist device, which includes a connecting portion and a movable portion 43, wherein the movable portion 43 is configured to be pre-pressed on the connecting portion through an energy storage member 44. The energy storage member 44 is a spring type, gas type or hydraulic type energy storage member 44, and the present disclosure adopts a spring type energy storage member 44. Fig.11 The movable part 43 includes a slide bar 47 and a bull's eye bearing 46. The slide bar 47 is configured to be slidably connected to the connecting part, and the bull's eye bearing 46 is configured to be detachably connected to the free end of the slide bar 47. The bull's eye bearing 46 is configured to be detachably connected to the top of the slide bar 47, so that the user can replace it conveniently and quickly. The power assist device can provide power assist for various lifting mechanical devices, thereby saving the lifting force required by the equipment and reducing the peak value of the lifting force.

[0104] In one embodiment of the present disclosure, Fig.11 As shown, the connection portion includes a fixed seat 41 and a fixed sleeve 45, and the fixed sleeve 45 is connected to the fixed seat 41 by threads. The bottom end surface of the fixed seat 41 is configured as a plane, so that it is convenient for the user to install the fixed seat 41 on a plane of other equipment to provide lifting assistance for the equipment, for example, it can be fixed on the chassis assembly 1 of the above-mentioned handling robot. The slide bar 47 is configured to be slidably connected in the fixed sleeve 45, and is configured to have a tendency to move outward under the action of the energy storage member 44. Specifically, the bottom end of the slide bar 47 is configured as a protrusion 471, and the upper position of the fixed sleeve 45 is provided with a sealing member 451. When the slide bar 47 moves to the highest position, the sealing member 451 is configured to be abutted against the protrusion 471. The sealing member 451 can play a role of limiting, preventing the slide bar 47 from slipping out of the fixed sleeve 45 under the action of the energy storage member 44.

[0105] The bull's eye bearing 46 includes a bearing body 461 and a push piece 462, and the bearing body 461 is detachably connected to the top of the slide rod 47 through a thread. For example, a threaded hole can be provided on the slide rod 47, and a corresponding threaded rod can be provided on the bearing body 461. The bearing body 461 can be detachably connected to the top of the slide rod 47 through the cooperation of the threaded rod and the threaded hole, so as to facilitate quick disassembly of the bearing body 461.

[0106] When the bearing body 461 is installed at the top end of the slide bar 47, the push piece 462 is configured to be squeezed between the bearing body 461 and the slide bar 47. In this way, the bearing body 461, the push piece 462 and the slide bar 47 together constitute the movable part 43 that can move as a whole. The energy storage member 44 is configured to be pre-pressed between the lower end surface of the push piece 462 and the upper end surface of the fixed seat 41, so that the movable part 43 is pre-pressed on the connecting part as a whole.

[0107] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons 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

1. A power assist device, characterized in that: include: Connecting part; A movable part (43), wherein the movable part (43) is configured to be pre-pressed on the connecting part through an energy storage member (44); the movable part (43) comprises a sliding rod (47) and a bull's eye bearing (46); the sliding rod (47) is configured to be slidably connected to the connecting part, and the bull's eye bearing (46) is configured to be arranged at the free end of the sliding rod (47).

2. The power assist device according to claim 1, characterized in that: The connecting portion comprises a fixing seat (41) and a fixing sleeve (45) arranged on the fixing seat (41); the sliding rod (47) is configured to be slidably connected in the fixing sleeve (45), and is configured to have a tendency to move outward under the action of the energy storage member (44).

3. The power assist device according to claim 2, characterized in that: The bottom end of the slide bar (47) is constructed as a protrusion (471), and a sealing member (451) is provided at the upper end of the fixed sleeve (45). When the slide bar (47) moves to the highest position, the sealing member (451) is constructed to abut against the protrusion (471).

4. The power assist device according to claim 2, characterized in that: The fixing sleeve (45) is connected to the fixing seat (41) via threads.

5. The power assist device according to claim 3, characterized in that: The bottom end surface of the fixing seat (41) is configured as a plane.

6. The power assist device according to claim 2, characterized in that: The bull's eye bearing (46) is configured to be detachably connected to the free end of the slide rod (47).

7. The power assist device according to claim 6, characterized in that: The bull's eye bearing (46) comprises a bearing body (461), and the bearing body (461) is detachably connected to the top end of the sliding rod (47) via threads.

8. The power assist device according to claim 7, characterized in that: The bull's eye bearing (46) further comprises a push piece (462), wherein the push piece (462) is configured to be squeezed between the bearing body (461) and the slide rod (47); and the energy storage member (44) is configured to be pre-pressed between the lower end surface of the push piece (462) and the upper end surface of the fixing seat (41).

9. The power assist device according to claim 1, characterized in that: The top of the movable part (43) is arranged as a curved surface.

10. The power assist device according to any one of claims 1 to 9, characterized in that: The energy storage member (44) is a spring type, gas type or hydraulic type energy storage member (44).

11. A transport robot, characterized in that: The utility model comprises the power assisting device according to any one of claims 1 to 10, wherein the power assisting device is configured to provide power assisting during the lifting process of the transport robot.

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