Buffering chassis structure and transfer robot

Abstract

The utility model relates to the technical field of transfer robots, and provides a buffer chassis structure and a transfer robot. The buffering chassis structure comprises a chassis body, a walking wheel set and a buffering assembly. The buffer assembly is arranged on at least one of the front side and the rear side of the chassis body. The buffer assembly comprises two fixed bases, a buffer cross beam, a guide mechanism and an elastic mechanism; transverse channels are formed in the opposite side faces of the two fixed bases in the Y direction; the buffer cross beam comprises a cross beam main body and first bending parts which are formed by bending and extending from two ends of the cross beam main body to one side close to the chassis main body; the elastic mechanism is arranged on the transverse channel in the Y direction, and when the buffering cross beam moves towards the side close to the chassis body under the action of external force, the elastic mechanism deforms and applies acting force opposite to the direction of the external force to the buffering cross beam. The buffering and energy-absorbing device can buffer and absorb energy, reduce the impact force on the robot, and improve the safety of the moving time of the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a buffer chassis structure and a transport robot. Background Art

[0002] With the development of positioning navigation and artificial intelligence technologies, today's handling robots have the ability to autonomously identify operations. As a mobile robot that replaces handling operations, it can adapt to complex working environments, greatly improve production efficiency and safety, and reduce labor costs. Therefore, it is widely used in modern factories.

[0003] Today's handling robots can sense the surrounding environment and achieve safe passage through the laser or visual sensors installed on them. However, considering the intervention of abnormal factors in the on-site environment or the occurrence of inaccurate sensor detection, there may be a situation where the handling robot fails to avoid obstacles in a timely manner and causes collisions. Therefore, it is necessary to design a chassis structure with a buffer function to reduce the impact force when the robot collides and increase the safety of the robot's driving. Utility Model Content

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the existing technology.

[0005] In order to solve the above technical problems, on the one hand, the embodiment of the utility model provides a buffer chassis structure, including:

[0006] Chassis body;

[0007] The traveling wheel set includes a driving wheel set and a driven wheel set arranged at the bottom of the chassis body;

[0008] A buffer assembly is arranged on at least one of the front side and the rear side of the chassis body; the buffer assembly includes two fixed bases symmetrically arranged at the end of the chassis body along the X direction, a buffer beam arranged on the side of the fixed base away from the chassis body along the Y direction, a guide mechanism arranged on the inner side of the buffer beam, and an elastic mechanism connecting the fixed base and the buffer beam; the sides of the two fixed bases that are away from each other are provided with a transverse channel along the Y direction, and one end of the transverse channel extends to the end of the fixed base; the buffer beam includes a beam body, and a first bending portion formed by bending and extending from both ends of the beam body to a side close to the chassis body; the guide mechanism is arranged on the inner side of the first bending portion and cooperates with the transverse channel to guide the buffer beam to move along the transverse channel; the elastic mechanism is arranged in the transverse channel along the Y direction, and the two ends of the elastic mechanism are respectively connected to the buffer beam and the fixed base, when the buffer beam moves toward the side close to the chassis body under the action of an external force, the elastic mechanism deforms and applies a force opposite to the direction of the external force to the buffer beam.

[0009] In one embodiment of the utility model, the fixed base includes a top plate and a bottom plate arranged in parallel up and down, and a front side plate and an inner side plate connected between the top plate and the bottom plate; the top plate is fixedly connected to the chassis body; the front side plate is arranged on a side of the top plate away from the center of the chassis body along the Y direction, and the inner side plate is arranged on a side of the top plate close to the center of the chassis body along the X direction, and is surrounded by the top plate and the bottom plate to form a transverse channel.

[0010] In one embodiment of the utility model, the elastic mechanism is provided along the Y direction on an elastic member of a transverse channel and a first pillar and a second pillar connected at both ends of the elastic member; the first pillar is fixedly connected to a front side plate of a fixed base; the buffer beam also includes a second bending portion arranged parallel to the front side plate, the second bending portion is connected to the end of the first bending portion; the second pillar is fixedly connected to the second bending portion.

[0011] In one embodiment of the utility model, the present application also includes an anti-collision rubber pad arranged on the front side of the front side plate.

[0012] In one embodiment of the utility model, the guiding mechanism includes two groups of first bearing followers correspondingly installed on the inner wall of the first bending portion in the upper and lower directions, and the first bearing followers include at least two first bearing followers arranged at intervals along the Y direction; among the two groups of first bearing followers, the first bearing follower of one is in rolling cooperation with the top plate of the fixed base, and the first bearing follower of the other is in rolling cooperation with the bottom plate of the fixed base.

[0013] In one embodiment of the utility model, a second bearing follower is provided on the top of the fixed base; a limiting hole is provided on the top of the buffer beam; and the second bearing follower is placed in the limiting hole.

[0014] In one embodiment of the utility model, the limiting hole is pear-shaped; the radial dimension of the limiting hole at one end close to the chassis body is smaller than the radial dimension at one end away from the chassis body.

[0015] In one embodiment of the utility model, the present application also includes a shell, which covers the beam body from the front side of the buffer beam; the two ends of the shell are fixedly connected to the two ends of the beam body; along the Y direction, there is a buffer space between the middle part of the shell and the beam body.

[0016] In one embodiment of the utility model, along the Y direction, the beam body protrudes toward the front side to form an anti-collision portion.

[0017] In one embodiment of the utility model, the present application also includes a plurality of travel switches arranged on the inner side of the fixed base.

[0018] On the other hand, an embodiment of the utility model provides a transport robot, comprising: a buffer chassis structure of any one of the above embodiments, arranged on a walking mechanism.

[0019] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0020] The buffer chassis structure and the transport robot described in the utility model can buffer and absorb energy when the robot collides with an obstacle, thereby reducing the impact force on the robot and increasing the safety of the robot's movement time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model and in combination with the accompanying drawings, wherein:

[0022] Figure 1 This is a schematic diagram of the structure of the handling robot in the preferred embodiment of the utility model;

[0023] Figure 2 for Figure 1 A schematic structural diagram of a buffer chassis structure is shown;

[0024] Figure 3 The structure of the buffer component in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0025] Figure 4 This is a schematic diagram of the partial structure of the buffer assembly in the preferred embodiment of the utility model;

[0026] Figure 5 The structure of the buffer component in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0027] Figure 6 This is a schematic diagram of the structure of the buffer assembly and the housing in the preferred embodiment of the utility model;

[0028] Figure 7 It is a structural schematic diagram of a fixed base, an elastic mechanism, an anti-collision rubber pad and a second bearing follower in a preferred embodiment of the utility model.

[0029] Description of the accompanying drawings in the specification: 1000, buffer chassis structure; 2000, robot body;

[0030] 100, chassis body;

[0031] 200, buffer assembly; 210, fixed base; 211, transverse channel; 213, top plate; 214, bottom plate; 215, front side plate; 216, inner side plate; 217, second bearing follower; 220, buffer beam; 221, beam body; 222, first bending portion; 223, guide mechanism; 224, second bending portion; 225, limit hole; 230, elastic mechanism; 231, elastic member; 232, first pillar; 233, second pillar;

[0032] 300, anti-collision rubber pad;

[0033] 400, housing;

[0034] 500, anti-collision unit;

[0035] 600, travel switch;

[0036] 700, the traveling wheel set; 710, the driving wheel set; 720, the driven wheel set. DETAILED DESCRIPTION

[0037] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the utility model and implement it, but the embodiments are not intended to limit the utility model.

[0038] Reference Figure 1 to Figure 7 As shown, the embodiment of the utility model provides a transport robot, including: a buffer chassis structure 1000 and a robot body 2000. The robot body 2000 is arranged on the buffer chassis structure 1000. The buffer chassis structure 1000 is used to carry the robot body 2000 to move between different positions, so that the robot body 2000 can realize the integrated functions of various components thereon. Figure 1 As shown, the robot body 2000 provided in this embodiment is used to realize material caching, and cooperates with the buffer chassis structure 1000 to realize the transfer of materials between different workstations.

[0039] The buffer chassis structure 1000 includes a chassis body 100, a buffer assembly 200 and a walking wheel group 700. The walking wheel group 700 includes a driving wheel group 710 and a driven wheel group 720 arranged at the bottom of the chassis body 100. The buffer assembly 200 is arranged on at least one of the front side and the rear side of the chassis body 100. In this embodiment, the buffer assembly 200 is arranged on the front side of the chassis body 100 for illustration. The front side here is generally understood as a side of the main moving direction of the robot. The buffer assembly 200 includes two fixed bases 210, a buffer beam 220, a guide mechanism 223 and an elastic mechanism 230. The two fixed bases 210 are symmetrically arranged at the ends of the chassis body 100 along the X direction (the width direction of the chassis body 100), and the two fixed bases 210 are mirror-symmetrical relative to the width center plane of the chassis body 100. The buffer beam 220 is arranged on the side of the fixed base 210 away from the chassis body 100 along the Y direction (the length direction of the chassis body 100), the guide mechanism 223 is arranged on the inner side of the buffer beam 220, and the elastic mechanism 230 connects the fixed base 210 and the buffer beam 220. The sides of the two fixed bases 210 that are away from each other are provided with a transverse channel 211 along the Y direction. One end of the transverse channel 211 extends to the end of the fixed base 210. The buffer beam 220 includes a beam body 221 and a first bending portion 222 formed by bending and extending from both ends of the beam body 221 to a side close to the chassis body 100. The guide mechanism 223 is arranged on the inner side of the first bending portion 222 and cooperates with the transverse channel 211. The guide mechanism 223 is used to guide the buffer beam 220 to move along the transverse channel 211. The elastic mechanism 230 is arranged in the transverse channel 211 along the Y direction, and the two ends of the elastic mechanism 230 are respectively connected to the buffer beam 220 and the fixed base 210. When the buffer beam 220 moves toward the side close to the chassis body 100 under the action of external force, the elastic mechanism 230 deforms and applies a force opposite to the direction of the external force to the buffer beam 220, so as to buffer the impact force received by the buffer beam.

[0040] When the robot is hit, the beam body 221 of this embodiment will move backwards, and the elastic member 231 will deform to absorb energy. At the same time, the guide mechanism 223 will guide the movement of the beam body 221 to improve the buffering effect.

[0041] It can be seen that this embodiment can buffer and absorb energy when the robot collides with an obstacle, reduce the impact force on the robot, and increase the safety of the robot's movement time.

[0042] Further, the fixed base 210 includes a top plate 213 and a bottom plate 214 arranged in parallel up and down, and a front side plate 215 and an inner side plate 216 connected between the top plate 213 and the bottom plate 214. Among them, the top plate 213 is fixedly connected to the chassis body 100 to achieve a fixed connection between the fixed base 210 and the chassis body 100. The front side plate 215 is arranged on the side of the top plate 213 away from the center of the chassis body 100 along the Y direction. The inner side plate 216 is arranged on the side of the top plate 213 close to the center of the chassis body 100 along the X direction, and the inner side plate 216 surrounds the top plate 213 and the bottom plate 214 to form a transverse channel 211. In actual application, the upper and lower ends of the front side plate 215 are fixedly connected to the top plate 213 and the bottom plate 214 respectively. The upper and lower ends of the inner side plate 216 are also fixedly connected to the top plate 213 and the bottom plate 214 respectively. A better implementation method is to implement the fixed base 210 by integral molding or integral processing.

[0043] Furthermore, the elastic mechanism 230 includes an elastic member 231 arranged in the transverse channel 211 along the Y direction and a first pillar 232 and a second pillar 233 connected to both ends of the elastic member 231. The first pillar 232 is fixedly connected to the front side plate 215 of the fixed base 210. The buffer beam 220 also includes a second bending portion 224 arranged parallel to the front side plate 215. The second bending portion 224 is connected to the end of the first bending portion 222. The second bending portion 224 is formed by bending and extending inward from the end of the first bending portion 222. The second pillar 233 is fixedly connected to the second bending portion 224. The elastic member 231 in this embodiment is a tension spring. This has the advantage of avoiding the situation where a compression-type elastic member needs to be additionally provided with a guide member for the compression-type elastic member due to the use of the compression-type elastic member.

[0044] Furthermore, the present application also includes an anti-collision rubber pad 300 disposed on the front side of the front side plate 215. Specifically, the present embodiment is provided with an anti-collision rubber pad 300. In this way, the anti-collision rubber pad 300 is located between the fixed base 210 and the buffer beam 220. In this way, the anti-collision rubber pad 300 can block the buffer beam 220 to prevent the buffer beam 220 from being damaged by a hard collision with the fixed base 210 during the collision process.

[0045] Furthermore, the guide mechanism 223 includes two groups of first bearing followers correspondingly installed on the inner wall of the first bending portion 222. The first bearing followers include at least two first bearing followers spaced apart along the Y direction. Among the two groups of first bearing followers, the first bearing followers of the upper layer are in rolling cooperation with the top plate 213 of the fixed base 210. The first bearing followers of the lower layer are in rolling cooperation with the bottom plate 214 of the fixed base 210. Specifically, the first bearing followers are provided in this embodiment, so that the buffer beam 220 can be supported and the buffer beam 220 can be guided to move backward when it is hit.

[0046] Furthermore, a second bearing follower 217 is provided on the top of the fixed base 210 (i.e., the top plate 213); a limiting hole 225 is provided on the top of the buffer beam 220, and the limiting hole 225 is a long hole extending along the Y direction; the second bearing follower 217 is placed in the limiting hole 225. The limiting hole 225 is pear-shaped. Specifically, the radial dimension of the limiting hole 225 close to the chassis body 100 is smaller than the radial dimension of the end away from the chassis body 100. Specifically, the limiting hole 225 is provided in this embodiment, so that the moving distance of the second bearing follower 217 along the Y direction can be limited, so as to avoid the tension spring from being relaxed or the buffer beam 220 from being hit and causing the structure of the chassis body 100 to be damaged due to excessive buffering stroke. In addition, the limiting hole 225 is pear-shaped, so that the buffer beam has the freedom of lateral displacement, and can provide oblique lateral buffering space and buffering capacity when it is hit by non-frontal impact. It can be seen that the present application can adapt to frontal collisions and oblique lateral collisions, further increasing the safety of the robot and reducing the damage to the robot.

[0047] Furthermore, the present application further includes a shell 400. The shell 400 covers the beam body 221 from the front side of the buffer beam 220. The two ends of the shell 400 are fixedly connected to the two ends of the beam body 221. Along the Y direction, there is a buffer space between the middle of the shell 400 and the beam body 221. Specifically, the shell 400 is provided in this embodiment, so that when the buffer beam 220 does not have a buffering capacity, the shell 400 can play a role of secondary buffering.

[0048] Furthermore, along the Y direction, the beam body 221 protrudes forward to form an anti-collision portion 500. Specifically, the anti-collision portion 500 provided in this embodiment can enhance the ability of the buffer beam 220 to resist a large impact force, thereby preventing the structure of the chassis body 100 from being damaged due to a large impact force.

[0049] Furthermore, the present application also includes a plurality of travel switches 600, and the travel switches 600 are arranged on the inner side of the fixed base 210. Specifically, the present embodiment is provided with the travel switch 600, so that the traveling state of the robot can be controlled. When the buffer beam 220 moves backward and triggers the travel switch 600, the robot will stop driving and brake, realizing the stop-on-collision and avoiding the risk of secondary collision. It can be seen that the present application can realize the stop-on-collision and further improve safety.

[0050] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the utility model creation.

Claims

1. A buffer chassis structure, characterized in that: include: Chassis body; The traveling wheel set includes a driving wheel set and a driven wheel set arranged at the bottom of the chassis body; A buffer assembly is arranged on at least one of the front side and the rear side of the chassis body; the buffer assembly includes two fixed bases symmetrically arranged at the end of the chassis body along the X direction, a buffer beam arranged on the side of the fixed base away from the chassis body along the Y direction, a guide mechanism arranged on the inner side of the buffer beam, and an elastic mechanism connecting the fixed base and the buffer beam; the sides of the two fixed bases that are away from each other are provided with a transverse channel along the Y direction, and one end of the transverse channel extends to the end of the fixed base; the buffer beam includes a beam body, and a first bending portion formed by bending and extending from both ends of the beam body to a side close to the chassis body; the guide mechanism is arranged on the inner side of the first bending portion and cooperates with the transverse channel to guide the buffer beam to move along the transverse channel; the elastic mechanism is arranged in the transverse channel along the Y direction, and the two ends of the elastic mechanism are respectively connected to the buffer beam and the fixed base, when the buffer beam moves to the side close to the chassis body under the action of an external force, the elastic mechanism deforms and applies a force opposite to the direction of the external force to the buffer beam.

2. The buffer chassis structure according to claim 1, characterized in that: The fixed base includes a top plate and a bottom plate arranged in parallel up and down, and a front side plate and an inner side plate connected between the top plate and the bottom plate; the top plate is fixedly connected to the chassis body; the front side plate is arranged on a side of the top plate away from the center of the chassis body along the Y direction; the inner side plate is arranged on a side of the top plate close to the center of the chassis body along the X direction, and surrounds the top plate and the bottom plate to form a transverse channel.

3. The buffer chassis structure according to claim 2, characterized in that: The elastic mechanism includes an elastic member arranged in the transverse channel along the Y direction, and a first pillar and a second pillar connected at both ends of the elastic member; the first pillar is fixedly connected to the front side plate of the fixed base; the buffer beam also includes a second bending portion arranged parallel to the front side plate, and the second bending portion is connected to the end of the first bending portion; the second pillar is fixedly connected to the second bending portion.

4. The buffer chassis structure according to claim 2, characterized in that: It also includes an anti-collision rubber pad arranged on the front side of the front side plate.

5. The buffer chassis structure according to claim 1, characterized in that: The guiding mechanism includes two groups of first bearing followers correspondingly installed on the inner wall of the first bending portion in the upper and lower directions, and the first bearing followers include at least two first bearing followers arranged at intervals along the Y direction; among the two groups of first bearing followers, the first bearing follower of one is in rolling cooperation with the top plate of the fixed base, and the first bearing follower of the other is in rolling cooperation with the bottom plate of the fixed base.

6. The buffer chassis structure according to claim 1, characterized in that: A second bearing follower is disposed on the top of the fixed base; a limiting hole is provided on the top of the buffer beam; and the second bearing follower is placed in the limiting hole.

7. The buffer chassis structure according to claim 6, characterized in that: The shape of the limiting hole is pear-shaped; the radial dimension of the limiting hole at one end close to the chassis body is smaller than the radial dimension of the end away from the chassis body.

8. The buffer chassis structure according to claim 1, characterized in that: Along the Y direction, the beam body protrudes toward the front side to form an anti-collision portion.

9. The buffer chassis structure according to claim 1, characterized in that: It also includes a plurality of travel switches arranged on the inner side of the fixed base.

10. A transport robot, characterized in that: The invention comprises the buffer chassis structure according to any one of claims 1 to 9.

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