Chassis structure and transfer robot

Abstract

The utility model relates to the technical field of transfer robots. The utility model provides a chassis structure and a transfer robot. The chassis structure comprises a chassis main body; the driven wheel set comprises first driven wheels and second driven wheels which are arranged at the two ends of the chassis body in the X direction respectively, and the sum of the number of the first driven wheels and the number of the second driven wheels is larger than or equal to 3; the two driving wheel sets are arranged on the two sides of the middle position of the chassis body in the Y direction correspondingly. The driving wheel set comprises a wheel set base, a mounting seat, an elastic component and a driving wheel; the wheel set base is vertically arranged; in the Y direction, the mounting seat and the wheel set base are arranged in a face-to-face mode, and a vertically-extending mounting space is formed between the mounting seat and the wheel set base; the mounting seat is connected with the wheel set base in an up-down sliding manner; the elastic component is vertically arranged and located in the installation space, and the two ends of the elastic component are connected with the wheel set base and the installation base respectively. The driving wheel is connected to the bottom of the mounting base. The driving wheel set is small in stress, not prone to damage and small in abrasion to the driving wheels.

Description

Technical Field

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

[0002] As a mobile robot that replaces handling operations, handling robots are widely used in modern factories. Handling robots can adapt to complex environments and material handling needs between special workstations; and while improving production efficiency and safety, they can greatly reduce the labor intensity of workers.

[0003] A common handling robot includes a mobile chassis and a buffer mechanism disposed on the mobile chassis. The mobile chassis includes a driving wheel set and a driven wheel set. The existing mobile chassis supports the entire handling robot through the driving wheel set and the driven wheel set. Among them, the driving wheel set also plays a role in driving the entire mobile robot to move. If the pressure applied to the driving wheel set is too large, the resistance of the driving wheel will be greatly increased, especially during the turning process. In addition, excessive pressure will greatly shorten the service life of the driving wheel set. 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 utility model provides a chassis structure, including: a chassis body;

[0006] A driven wheel group includes a first driven wheel and a second driven wheel respectively arranged at two ends of the chassis body along the X direction, and the total number of the first driven wheels and the second driven wheels is greater than or equal to 3;

[0007] And two sets of driving wheel groups are respectively arranged on both sides of the middle position of the chassis body along the Y direction; the driving wheel group includes a wheel group base, a mounting seat, an elastic component and a driving wheel; the wheel group base is arranged vertically; along the Y direction, the mounting seat and the wheel group base are arranged face to face and a vertically extending installation space is provided between the two; the mounting seat and the wheel group base are slidably connected up and down; the elastic component is arranged vertically and located in the installation space, and the two ends of the elastic component are respectively connected to the wheel group base and the mounting seat; the driving wheel is connected to the bottom of the mounting seat.

[0008] In one embodiment of the utility model, the driving wheel set also includes an adjustment base and a lifting adjustment member arranged parallel to the mounting seat; the adjustment base is connected to the inner wall of the wheel set base; along the X direction, two ends of the adjustment base protrude toward a side away from the wheel set base to form a vertical sliding portion; the lifting adjustment member is connected to the inner wall of the mounting seat; along the X direction, two ends of the lifting adjustment member protrude toward a side away from the mounting seat to form a vertical slide groove; the vertical sliding portion is located in the vertical slide groove.

[0009] In one embodiment of the utility model, a sliding sleeve is embedded in the vertical sliding groove, and the vertical sliding part is located in the sliding sleeve.

[0010] In one embodiment of the utility model, the inner wall of the sliding sleeve is provided with a plurality of grooves recessed into the inner wall thereof along the circumferential direction, and the grooves extend along the extension direction of the sliding sleeve.

[0011] In one embodiment of the utility model, the cross section of the vertical sliding part is a rectangular interface, and the cross section of the sliding sleeve is adapted to the cross section of the vertical sliding part. Specifically, the cross section of the vertical sliding part in this embodiment is a rectangle, so that the lifting and lowering adjustment member can be positioned in at least two directions to maintain the stability of the driving wheel. In addition, the sliding contact surface can be increased to reduce the wear of the sliding sleeve.

[0012] In one embodiment of the utility model, the elastic component includes a first pillar, a second pillar and a tension spring; the first pillar is connected to the bottom of the wheel set base, and the second pillar is connected to the top of the mounting seat; the tension spring connects the first pillar and the second pillar.

[0013] In one embodiment of the utility model, a hub mounting seat is provided at the bottom of the mounting seat, and the axle of the driving wheel is mounted on the hub mounting seat.

[0014] In one embodiment of the utility model, a retreat groove for avoiding the wheel hub mounting seat is opened at the bottom of the wheel set base.

[0015] In one embodiment of the utility model, the chassis body includes a horizontal plate; along the Y direction, the middle portion of the horizontal plate is recessed downward to form a groove-shaped mounting portion.

[0016] In one embodiment of the utility model, the chassis body further comprises at least one transverse bracket, and the transverse bracket is installed in the groove-type installation portion.

[0017] On the other hand, the utility model provides a transport robot, comprising: a chassis structure according to any one of the above embodiments, a buffer assembly arranged on the chassis structure, and a cache mechanism arranged on the chassis structure.

[0018] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0019] The chassis structure and the handling robot of the utility model have a driving wheel set that is less stressed and not easily damaged, and the driving wheel is less worn. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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:

[0021] Figure 1This is a schematic diagram of the structure of the handling robot in the preferred embodiment of the utility model;

[0022] Figure 2 It is a schematic diagram of the structure of the chassis structure and the buffer component.

[0023] Figure 3 is a schematic diagram of the chassis structure;

[0024] Figure 4 is a schematic diagram of the structure of the driving wheel set;

[0025] Figure 5 It is a schematic diagram of the structure of the driving wheel set (excluding the wheel set base);

[0026] Figure 6 is a top view of the driving wheel set;

[0027] Figure 7 for Figure 6 A magnified image of point A;

[0028] Figure 8 It is a structural schematic diagram of the wheel assembly base and the adjustment base.

[0029] Description of the reference numerals in the specification: 1000, chassis structure; 2000, buffer assembly; 3000, buffer mechanism;

[0030] 100, chassis body; 110, horizontal plate; 120, slot-type mounting portion; 130, transverse bracket;

[0031] 200, driven wheel set; 210, first driven wheel; 220, second driven wheel;

[0032] 300, driving wheel assembly; 310, wheel assembly base; 311, retreat groove; 320, mounting seat; 321, hub mounting seat; 330, elastic component; 331, first pillar; 332, second pillar; 333, tension spring; 340, driving wheel; 350, installation space; 360, adjustment base; 361, vertical sliding part; 370, lifting adjustment member; 371, vertical slide groove; 372, sliding sleeve; 373, pull groove. DETAILED DESCRIPTION

[0033] 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.

[0034] Reference Figures 1 to 8As shown, the embodiment of the utility model provides a chassis structure and a handling robot. Specifically, the handling mechanism includes: a chassis structure 1000, a buffer assembly 2000 arranged on the chassis structure 1000, and a cache mechanism 3000 arranged on the chassis structure 1000. The cache mechanism 3000 is used to place materials. The chassis structure 1000 is moved at different positions to realize the transfer of materials.

[0035] The chassis structure 1000 includes a chassis body 100 , a driven wheel set 200 and two sets of driving wheel sets 300 .

[0036] The driven wheel set 200 includes a first driven wheel 210 and a second driven wheel 220. The first driven wheel 210 and the second driven wheel 220 are respectively arranged at both ends of the chassis body 100 along the X direction (i.e., the length direction of the chassis body 100). The total number of the first driven wheel 210 and the second driven wheel 220 is greater than or equal to 3, which can reduce the impact on the driving wheel set 300. In some embodiments, there are two first driven wheels 210 and two second driven wheels 220. The two first driven wheels 210 are symmetrically arranged on the left and right sides (left and right refer to the Y direction) of the front end (front and back refer to the X direction) of the chassis body 100; the two second driven wheels 220 are symmetrically arranged on the left and right sides of the rear end of the chassis body 100.

[0037] Two sets of driving wheel groups 300 are respectively arranged on both sides of the middle position of the chassis body 100 along the Y direction (i.e., the width direction of the chassis body 100). The driving wheel group 300 includes a wheel group base 310, a mounting seat 320, an elastic component 330 and a driving wheel 340. The wheel group base 310 is vertically arranged and connected to the chassis body 100. Along the Y direction, the mounting seat 320 and the wheel group base 310 are arranged face to face and a vertically extending installation space 350 is provided between the two. The mounting seat 320 is connected to the wheel group base 310 for sliding up and down. The elastic component 330 is vertically arranged and located in the installation space 350, and the two ends of the elastic component 330 are respectively connected to the wheel group base 310 and the mounting seat 320. The driving wheel 340 is connected to the bottom of the mounting seat 320. In some embodiments, the driving wheel 340 adopts a driving wheel 340 with a hub motor. The elastic component 330 can be telescopic up and down.

[0038] Specifically, the driven wheel set 200 in this embodiment plays a major supporting role, the driving wheel set 300 plays a driving role, and the mounting seat 320 is slidably connected to the wheel set base 310 up and down, so that the driving wheel set 300 has the freedom to move up and down, and can adapt to the driving needs of complex road conditions. The elastic force of the elastic component 330 keeps the driving wheel 340 pressed against the ground to provide continuous driving force. It can be seen that the driving wheel set 300 of this embodiment is less compressed, not easy to be damaged, and has less wear on the driving wheel 340.

[0039] In addition, the driving wheel set 300 in this embodiment is independently arranged, which is convenient for maintenance, disassembly and repair.

[0040] Further, the driving wheel assembly 300 further includes an adjustment base 360 ​​and a lifting adjustment member 370, and both the adjustment base 360 ​​and the lifting adjustment member 370 are arranged parallel to the mounting seat 320. The adjustment base 360 ​​is connected to the inner wall of the wheel assembly base 310. The inner wall of the wheel assembly base 310 mentioned here refers to a side of the wheel assembly base 310 relative to the mounting seat 320. Along the X direction, the two ends of the adjustment base 360 ​​protrude toward a side away from the wheel assembly base 310 to form a vertical sliding portion 361. The lifting adjustment member 370 is connected to the inner wall of the mounting seat 320. The inner wall of the mounting seat 320 mentioned here refers to a side of the mounting seat 320 relative to the wheel assembly base 310. Along the X direction, the two ends of the lifting adjustment member 370 protrude toward a side away from the mounting seat 320 to form a vertical sliding groove 371. The vertical sliding portion 361 is located in the vertical sliding groove 371. Thereby, the mounting seat 320 is slidably connected to the wheel assembly base 310. Specifically, the vertical sliding portion 361 of this embodiment is located in the vertical sliding groove 371, so that the lifting adjustment member 370 can move up and down along the vertical sliding portion 361 of the adjustment base 360, thereby guiding the adjustment base 360 ​​to move up and down.

[0041] Furthermore, a sliding sleeve 372 is embedded in the vertical slide groove 371, and the vertical sliding portion 361 is located in the sliding sleeve 372. Specifically, due to the flatness of the ground, the frequent up and down movement of the driving wheel 340 will cause the vertical slide groove 371 to frequently move relative to the vertical sliding portion 361. The sliding sleeve 372 provided in this embodiment can avoid contact wear between the two, thereby reducing replacement costs.

[0042] Furthermore, the inner wall of the sliding sleeve 372 is provided with a plurality of grooves 373 recessed into the inner wall thereof along the circumferential direction. The grooves 373 extend along the extension direction of the sliding sleeve 372. Specifically, the grooves 373 provided in this embodiment can adapt to the influence of thermal expansion and contraction of the sliding sleeve 372 and the influence of wear debris, so that the vertical sliding portion 361 and the sliding sleeve 372 maintain a relatively smooth sliding fit, thereby maintaining a relatively stable driving force for the driving wheel 340.

[0043] Furthermore, the cross section of the vertical sliding portion 361 is a rectangular interface, and the cross section of the sliding sleeve 372 is adapted to the cross section of the vertical sliding portion 361. Specifically, in this embodiment, the cross section of the vertical sliding portion 361 is a rectangle, so that the lifting adjustment member 370 can be positioned in at least two directions to maintain the stability of the driving wheel 340. In addition, the sliding contact surface can be increased, and the wear of the sliding sleeve 372 can be reduced.

[0044] Furthermore, the elastic component 330 includes a first pillar 331, a second pillar 332 and a tension spring 333; the first pillar 331 is connected to the bottom of the wheel assembly base 310, and the second pillar 332 is connected to the top of the mounting seat 320; the tension spring 333 connects the first pillar 331 and the second pillar 332. In some embodiments, the first pillar 331 and the second pillar 332 are used as pillars for tension springs. In some comparative embodiments, the elastic component 330 mostly adopts a compression spring or a hydraulic method, which requires a guide member, has a complex structure, and has a high maintenance cost. However, in this embodiment, there is no need to set a guide member, the structure is simpler, and the maintenance cost is lower.

[0045] Furthermore, a hub mounting seat 321 is provided at the bottom of the mounting seat 320, and the axle of the driving wheel 340 is mounted on the hub mounting seat 321. A retreat groove 311 is provided at the bottom of the wheel assembly base 310 for avoiding the hub mounting seat 321. Specifically, the retreat groove 311 is provided in this embodiment, so that the space occupied by the driving wheel assembly 300 is compressed in the height direction, and good stability is maintained.

[0046] Further, the chassis body 100 includes a horizontal plate 110. Along the Y direction, the middle portion of the horizontal plate 110 is recessed downward to form a groove-shaped mounting portion 120. Specifically, the present embodiment provides the groove-shaped mounting portion 120, so that hardware such as batteries can be easily installed in the groove-shaped mounting portion 120, thereby increasing the space utilization of the chassis body 100 without increasing the overall height of the chassis structure 1000.

[0047] Furthermore, the chassis body 100 also includes at least one transverse bracket 130, and the transverse bracket 130 is installed in the groove-shaped mounting portion 120. For example, the transverse bracket 130 extends along the Y direction. For example, a transverse bracket 130 is provided at each of the front and rear ends of the chassis body 100. Specifically, the transverse bracket 130 in this embodiment can improve the structural strength of the chassis body 100 on the one hand, and can also be used to install the buffer assembly 2000 on the other hand. When the chassis structure encounters an obstacle and collides, it can be buffered by the buffer assembly 2000 to reduce the risk of damage to the chassis structure.

[0048] 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 chassis structure, characterized in that: include: Chassis body; A driven wheel group includes a first driven wheel and a second driven wheel respectively arranged at two ends of the chassis body along the X direction, and the total number of the first driven wheels and the second driven wheels is greater than or equal to 3; and two sets of driving wheel groups, which are respectively arranged on both sides of the middle position of the chassis body along the Y direction; the driving wheel group includes a wheel group base, a mounting seat, an elastic component and a driving wheel; the wheel group base is vertically arranged and connected to the chassis body; along the Y direction, the mounting seat and the wheel group base are arranged face to face and a vertically extending mounting space is provided between the two; the mounting seat and the wheel group base are slidably connected up and down; the elastic component is vertically arranged and located in the mounting space, and the two ends of the elastic component are respectively connected to the wheel group base and the mounting seat; The driving wheel is connected to the bottom of the mounting seat.

2. The chassis structure according to claim 1, characterized in that: The driving wheel group also includes an adjustment base and a lifting adjustment member arranged in parallel with the mounting seat; the adjustment base is connected to the inner wall of the wheel group base; along the X direction, two ends of the adjustment base are respectively protruded to a side away from the wheel group base to form a vertical sliding portion; the lifting adjustment member is connected to the inner wall of the mounting seat; along the X direction, two ends of the lifting adjustment member are respectively protruded to a side away from the mounting seat to form a vertical sliding groove; the vertical sliding portion is located in the vertical sliding groove.

3. The chassis structure according to claim 2, characterized in that: A sliding sleeve is embedded in the vertical sliding groove, and the vertical sliding part is located in the sliding sleeve.

4. The chassis structure according to claim 3, characterized in that: The inner wall of the sliding sleeve is provided with a plurality of grooves recessed toward the inside thereof along the circumferential direction, and the grooves extend along the extending direction of the sliding sleeve.

5. The chassis structure according to claim 3, characterized in that: The cross section of the vertical sliding portion is a rectangular interface, and the cross section of the sliding sleeve is adapted to the cross section of the vertical sliding portion.

6. The chassis structure according to claim 1, characterized in that: The elastic component includes a first pillar, a second pillar and a tension spring; the first pillar is connected to the bottom of the wheel set base, and the second pillar is connected to the top of the mounting seat; the tension spring connects the first pillar and the second pillar.

7. The chassis structure according to claim 1, characterized in that: A hub mounting seat is provided at the bottom of the mounting seat, and the axle of the driving wheel is mounted on the hub mounting seat.

8. The chassis structure according to claim 7, characterized in that: The bottom of the wheel set base is provided with a retreat groove for avoiding the wheel hub mounting seat.

9. The chassis structure according to claim 1, characterized in that: The chassis body comprises a horizontal plate; along the Y direction, the middle portion of the horizontal plate is recessed downward to form a groove-shaped mounting portion.

10. A transport robot, characterized in that: include: A chassis structure as claimed in any one of claims 1 to 9 and a cache mechanism provided on the chassis structure.

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