Carrying robot and driving wheel set thereof

Abstract

The embodiment of the utility model provides a transfer robot and a driving wheel set thereof, the driving wheel set of the transfer robot comprises a swing arm transverse plate, two supporting vertical plates, two frame hinge shafts, two trundles, two driving wheels and a steering wheel assembly, the two sides of the bottom of the swing arm transverse plate are respectively and vertically provided with the supporting vertical plates, the two supporting vertical plates are provided with two frame hinge shafts in a one-to-one correspondence mode, and the two frame hinge shafts are located on the first axis. The two trundles are arranged at the bottoms of the two supporting vertical plates in a one-to-one correspondence mode. The steering wheel assembly is arranged on the swing arm transverse plate, and the two trundles and the two driving wheels are located on the two sides of the first axis. The trundle and the frame hinge shaft are arranged on the supporting vertical plate, so that the cost can be saved, the supporting strength of the trundle is improved, and the integration degree is improved. When the carrying robot driving wheel set encounters a fluctuating road surface during advancing, the two trundles and the two driving wheels can swing on the two sides relative to the first axis, so that simultaneous landing of the driving wheels and the trundles is conveniently achieved, and the running stability of the carrying robot can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a transport robot and a driving wheel group thereof. Background Art

[0002] Intelligent handling robots are widely used in cargo handling in logistics. They have the functions of autonomous path planning and task execution.

[0003] Commonly used intelligent handling robots have one driving wheel and two floating casters. In some logistics warehouses, in order to maximize the utilization of warehouse floor space, the warehouse aisle area is generally small, and a narrow aisle design is adopted. The resulting problem is that it is difficult for vehicles with wide dimensions to pass through, so narrow automatic handling robots are needed to carry out logistics handling work in the warehouse.

[0004] Since the narrow automatic handling robot is longer, more driving wheels are designed to be set on both sides of the chassis. However, in the current narrow automatic handling robot, the additional driving wheels are independently installed on the chassis. When encountering uneven road conditions, some driving wheels are prone to not being able to contact the ground well and slipping, which reduces the grip of the narrow automatic handling robot during driving, resulting in low driving stability of the narrow automatic handling robot. Utility Model Content

[0005] The purpose of the embodiment of the utility model is to provide a handling robot and a driving wheel set thereof to improve the driving stability of the narrow handling robot. The specific technical solution is as follows:

[0006] A transport robot driving wheel set, comprising:

[0007] Swing arm cross plate;

[0008] Two supporting vertical plates are respectively arranged vertically on both sides of the bottom of the swing arm horizontal plate;

[0009] Two frame articulation shafts are arranged on the two support vertical plates in a one-to-one correspondence, and the two frame articulation shafts are located on the first axis;

[0010] Two casters are arranged at the bottom of the two supporting vertical boards in a one-to-one correspondence;

[0011] Two drive wheels;

[0012] The steering wheel assembly is arranged on the swing arm cross plate, and is used for driving the rotation and steering of the two driving wheels, and the two casters and the two driving wheels are located on both sides of the first axis.

[0013] In some embodiments, the steering wheel assembly includes: a slewing support bearing, a housing, and two drive motors;

[0014] The slewing support bearing comprises a first slewing portion and a second slewing portion connected to rotate relative to each other on a second axis, the first slewing portion is connected to the bottom of the swing arm horizontal plate, and the second axis is perpendicular to the swing arm horizontal plate;

[0015] Two drive motors are arranged in the box, and the output shafts of the two drive motors are respectively led out from the side walls on both sides of the box, and are differentially connected to the two drive wheels one by one;

[0016] The box body and the second rotating part are rotatably connected on a third axis, and the third axis is located between the two driving wheels so that the two driving wheels can swing back and forth relative to the third axis.

[0017] In some embodiments, a magnetic scale is disposed on the outer periphery of the second rotating portion;

[0018] A reading head is arranged at the bottom of the swing arm cross plate, and the reading head is aligned with the magnetic scale to read the rotation angle information of the second rotating part relative to the first rotating part.

[0019] In some embodiments, the steering wheel assembly includes: a slewing support bearing, a swing connection, and two hub motors;

[0020] The slewing support bearing comprises a first slewing portion and a second slewing portion connected to rotate relative to each other on a second axis, the first slewing portion is connected to the bottom of the swing arm horizontal plate, and the second axis is perpendicular to the swing arm horizontal plate;

[0021] The wheel hub motor comprises an inner rotor and an outer rotor which rotate relatively, the inner rotors of the two wheel hub motors are connected to both sides of the swing connection member, and the outer rotors of the two wheel hub motors drive the two driving wheels differentially in a one-to-one correspondence;

[0022] The swing connection member and the second rotating part are rotatably connected on a third axis, and the third axis is located between the two driving wheels so that the two driving wheels can swing back and forth relative to the third axis.

[0023] In some embodiments, the caster comprises a connecting plate, a reinforcing rib and a wheel body;

[0024] The connecting plate and the bottom of the vertical plate are vertically connected, the reinforcing ribs connect the supporting vertical plate and the connecting plate, and the wheel body is rotatably arranged at the bottom of the connecting plate.

[0025] In some embodiments, the support vertical plate is provided with an axial hole, and a copper sleeve is arranged in the axial hole;

[0026] The frame articulated shaft is rotatably arranged in the copper shaft sleeve.

[0027] In some embodiments, the orthographic projection of the frame articulation axis on the swing arm cross plate and the orthographic projection of the caster on the swing arm cross plate at least partially fall within the connecting surface between the supporting vertical plate and the bottom of the swing arm cross plate.

[0028] A handling robot, comprising:

[0029] Two sets of the above-mentioned transport robot driving wheel sets;

[0030] A frame, wherein the bottom of the front side of the frame has a first wheel assembly installation space, and the bottom of the rear side of the frame has a second wheel assembly installation space;

[0031] Two groups of transport robot driving wheel groups are arranged in the first wheel group installation space and the second wheel group installation space in a one-to-one correspondence;

[0032] The two frame articulated shafts are rotatably connected to the frames on both sides of the frame wheel assembly installation space.

[0033] In some embodiments, at least one first positioning camera is disposed on the top surface of the loading platform; and / or

[0034] At least one second positioning camera is arranged at the bottom of the frame.

[0035] In some embodiments, there are at least two first positioning cameras, and the at least two first positioning cameras are arranged in the length direction of the loading platform; and / or

[0036] There are at least two second positioning cameras, and the at least two second positioning cameras are arranged in the length direction of the frame.

[0037] In some embodiments, the at least two first positioning cameras include a first camera and a second camera, wherein the first camera is disposed at a central position in the length direction and the width direction of the loading platform, and the second camera is disposed at any side in the length direction of the loading platform; and / or

[0038] The at least two second positioning cameras include a third camera and a fourth camera, wherein the third camera is arranged at a central position in the length direction and the width direction of the frame, and the fourth camera is arranged at any side in the length direction of the frame.

[0039] In some embodiments, it also includes:

[0040] Loading platform;

[0041] The hydraulic lifting mechanism is arranged on the top of the frame and is located between the first wheel assembly installation space and the second wheel assembly installation space. The hydraulic lifting mechanism drives the loading platform to rise and fall relative to the frame.

[0042] In some embodiments, at least two positioning pins are disposed on the top surface of the loading platform, and the at least two positioning pins are arranged in the length direction of the loading platform.

[0043] The transport robot driving wheel assembly provided by the embodiment of the utility model comprises: a swing arm horizontal plate, two supporting vertical plates, two frame articulated shafts, two casters, two driving wheels and a steering wheel assembly, wherein the supporting vertical plates are respectively arranged vertically on both sides of the bottom of the swing arm horizontal plate, and the two supporting vertical plates are arranged one by one with two frame articulated shafts, and the two frame articulated shafts are located on a first axis. The two casters are arranged one by one at the bottom of the two supporting vertical plates. The steering wheel assembly is arranged on the swing arm horizontal plate, and is used to drive the rotation and steering of the two driving wheels, and the two casters and the two driving wheels are located on both sides of the first axis. In the embodiment of this scheme, the casters and the frame articulated shaft are arranged on the supporting vertical plates, which can save costs, and can improve the caster support strength and integration compared to being arranged on the swing arm horizontal plate. The two casters and the two driving wheels are located on both sides of the first axis. When the transport robot driving wheel assembly encounters an undulating road surface during travel, the two casters and the two driving wheels can swing on both sides relative to the first axis, thereby facilitating the simultaneous landing of the driving wheels and casters, and improving the driving stability of the transport robot.

[0044] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0046] Figure 1 This is a schematic diagram of the structure of the top side of the driving wheel group of the handling robot according to one embodiment of the utility model;

[0047] Figure 2 This is a schematic structural diagram of the bottom side of a driving wheel assembly of a handling robot according to an embodiment of the utility model;

[0048] Figure 3 It is a schematic cross-sectional view of a driving wheel assembly of a handling robot according to an embodiment of the utility model;

[0049] Figure 4 It is a structural schematic diagram of a steering wheel assembly of a driving wheel group of a handling robot according to an embodiment of the utility model;

[0050] Figure 5This is a schematic diagram of the structure of the top side of a handling robot according to an embodiment of the utility model;

[0051] Figure 6 This is a schematic structural diagram of the bottom side of a handling robot according to an embodiment of the utility model;

[0052] Figure 7 The figure is a schematic diagram of the internal structure of a handling robot according to an embodiment of the utility model.

[0053] The reference numerals are as follows:

[0054] Swing arm horizontal plate 10, supporting vertical plate 20, copper bushing 21, frame articulated shaft 30, caster 40, connecting plate 41, reinforcing rib 42, wheel body 43, driving wheel 50, steering wheel assembly 60, slewing support bearing 61, first rotating part 611, second rotating part 612, box 62, magnetic scale 631, reading head 632, handling robot driving wheel assembly 100;

[0055] Frame 200, first wheel assembly installation space 201, second wheel assembly installation space 202, frame body 203, loading platform 300, positioning pin 301, first pin body 301a, second pin body 301b, first positioning camera 302, first camera 302a, second camera 302b, second positioning camera 303, third camera 303a, fourth camera 303b, hydraulic lifting mechanism 400, hydraulic power unit 500, battery 600;

[0056] The first axis X, the second axis Y, the third axis Z, and the length direction L of the frame. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model.

[0058] On the chassis of a conventional automatic handling robot, the drive wheels and casters are fixed at different positions. If they are directly connected, the drive wheels are prone to "lifting up" when dealing with uneven road conditions, resulting in problems such as hanging in the air or insufficient grip. In order to improve the passing performance, the drive wheels or casters are usually set on the shock absorption system, which has a relatively complex structure.

[0059] In order to improve the passability of the automatic transport robot, the utility model provides a transport robot and a driving wheel set thereof.

[0060] Specifically, a transport robot driving wheel group according to an embodiment of the utility model is described below with reference to the accompanying drawings.

[0061] Figure 1 This is a schematic diagram of the structure of the top side of the driving wheel group of the handling robot according to an embodiment of the utility model. Figure 2 FIG. 1 is a schematic diagram of the structure of the bottom side of the driving wheel group of the handling robot according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, a transport robot driving wheel assembly comprises: a swing arm horizontal plate 10, two supporting vertical plates 20, two frame articulated shafts 30, two casters 40, two driving wheels 50 and a steering wheel assembly 60. The two supporting vertical plates 20 are respectively arranged vertically on both sides of the bottom of the swing arm horizontal plate 10; the two frame articulated shafts 30 are arranged on the two supporting vertical plates 20 in a one-to-one correspondence, and the two frame articulated shafts 30 are located on the first axis X; the two casters 40 are arranged on the bottom of the two supporting vertical plates 20 in a one-to-one correspondence; the steering wheel assembly 60 is arranged on the swing arm horizontal plate 10, and is used to drive the rotation and steering of the two driving wheels 50, and the two casters 40 and the two driving wheels 50 are located on both sides of the first axis X.

[0062] The driving wheel assembly of the handling robot provided in the embodiment of the utility model comprises: a swing arm horizontal plate 10, two supporting vertical plates 20, two frame articulated shafts 30, two casters 40, two driving wheels 50 and a steering wheel assembly 60. The supporting vertical plates 20 are respectively arranged vertically on both sides of the bottom of the swing arm horizontal plate 10. The two supporting vertical plates 20 are arranged one by one with two frame articulated shafts 30, and the two frame articulated shafts 30 are located on the first axis X. The two casters 40 are arranged one by one at the bottom of the two supporting vertical plates 20. The steering wheel assembly 60 is arranged on the swing arm horizontal plate 10 to drive the rotation and steering of the two driving wheels 50, and the two casters 40 and the two driving wheels 50 are located on both sides of the first axis X. On the one hand, in the embodiment of the present scheme, the casters 40 and the frame articulated shaft 30 are arranged on the supporting vertical plates 20, which can save costs. Compared with being arranged on the swing arm horizontal plate 10, the supporting strength of the casters 40 can be improved, and the integration degree can be improved. On the other hand, when the two frame articulated shafts 30 are installed on the frame 200 of the transport robot, the two casters 40 and the two driving wheels 50 are on both sides of the first axis X. When the driving wheel group of the transport robot encounters uneven roads during travel, the two casters 40 and the two driving wheels 50 can swing on both sides relative to the first axis X, thereby facilitating the driving wheels 50 and the casters 40 to touch the ground at the same time, thereby improving the driving stability of the transport robot.

[0063] The first axis X may be arranged parallel to the swing arm cross plate 10 .

[0064] The swing arm cross plate 10 is made of metal material. After being applied to the transport robot, when the vehicle travels on a horizontal road, the swing arm cross plate 10 is at an angle substantially parallel to the ground.

[0065] The support vertical plate 20 is made of metal material. After being applied to the transport robot, when the vehicle travels on a horizontal road, the support vertical plate 20 is at an angle substantially perpendicular to the ground.

[0066] When the vehicle is traveling on an undulating road surface, the driving wheel 50 and the caster 40 will exert an upward impact force on the swing arm cross plate 10. Especially for the caster 40 with a small connection area, if it is directly installed on the swing arm cross plate 10, the swing arm cross plate 10 is easily subjected to a relatively concentrated stress and bends, so it is necessary to design a thicker swing arm cross plate 10 to meet the bending resistance requirement, but this will increase the weight and production cost of the driving wheel set of the transport robot. In this solution, the upward supporting force of the caster 40 is transmitted to the swing arm cross plate 10 through the supporting vertical plate 20, and the stress applied to the swing arm cross plate 10 is relatively dispersed, so that the swing arm cross plate 10 is not easily subjected to the problem of bending due to stress concentration.

[0067] Specifically, the orthographic projection of the frame articulated axis 30 on the swing arm cross plate 10 and the orthographic projection of the caster 40 on the swing arm cross plate 10 at least partially fall within the connecting surface between the supporting vertical plate 20 and the bottom of the swing arm cross plate 10, thereby achieving a larger connecting area between the supporting vertical plate 20 and the bottom of the swing arm cross plate 10 and reducing the problem of stress concentration.

[0068] In order to further improve the overall structural stability of the transport robot drive wheel set, please refer to Figure 1 As shown, the caster 40 includes a connecting plate 41, a reinforcing rib 42 and a wheel body 43, the connecting plate 41 is vertically connected to the bottom of the vertical plate, the reinforcing rib 42 connects the supporting vertical plate 20 and the connecting plate 41, and the wheel body 43 is rotatably arranged at the bottom of the connecting plate 41. Specifically, the reinforcing rib 42 can also be connected to the swing arm cross plate 10, so as to further increase the overall structural stability of the driving wheel group of the transport robot, so that the swing arm cross plate 10 is not easily bent by the impact of the caster 40.

[0069] The wheel body 43 may be a universal wheel.

[0070] In some embodiments, the first end of the frame articulation shaft 30 may be fixedly disposed on the support vertical plate 20 , and the second end of the frame articulation shaft 30 is used to rotatably connect to the frame body 203 of the frame 200 .

[0071] In some embodiments, a first end of the frame articulation shaft 30 is rotatably disposed on the support vertical plate 20 , and a second end of the frame articulation shaft 30 is used to connect to the frame body 203 of the frame 200 . Figure 3This is a cross-sectional structural diagram of a driving wheel assembly of a handling robot according to an embodiment of the utility model. Figure 2 and Figure 3 As shown, the support vertical plate 20 is provided with an axial hole, a copper sleeve 21 is arranged in the axial hole, and the frame articulation shaft 30 is rotatably arranged in the copper sleeve 21. The copper sleeve 21 can withstand a large impact force and is not easily damaged, so that the caster 40 and the driving wheel 50 can swing flexibly on both sides of the first axis X for a long time.

[0072] On the one hand, the steering wheel assembly 60 acts as a bridge between the driving wheel 50 and the swing arm cross plate 10, transmitting the support force of the ground to the driving wheel 50 to the swing arm cross plate 10. On the other hand, the steering wheel assembly 60 applies the driving wheel 50 forward, backward and steering force.

[0073] In a specific implementation, the steering wheel assembly 60 drives the two driving wheels 50 to achieve differential motion, so the functions of moving forward, backward and turning can be realized.

[0074] When the steering wheel assembly 60 is applied to a transport robot, two groups can be used, which are respectively arranged on the front and rear sides of the steering wheel assembly 60 frame to adapt to the overall spatial layout requirements of the narrow transport robot. During driving, the steering and speed of a total of four driving wheels 50 on the front and rear sides of the steering wheel assembly 60 frame can be controlled separately to realize the forward, backward and steering of the narrow transport robot, and the driving wheels 50 are not easy to slip during driving.

[0075] In specific practice, the first embodiment of the steering wheel assembly 60 of the present application is a highly integrated one-piece structure with a compact structure and high safety. Two independent drive motors are used to drive the two drive wheels 50 to rotate. Figure 4 FIG. 1 is a schematic diagram of the structure of the steering wheel assembly 60 of the driving wheel assembly of the handling robot according to an embodiment of the present invention. Figure 4 As shown, the steering wheel assembly 60 includes: a slewing support bearing 61, a housing 62, and two drive motors; the slewing support bearing 61 includes a first slewing portion 611 and a second slewing portion 612 which are connected to rotate relative to each other on a second axis Y, the first slewing portion 611 is connected to the bottom of the swing arm cross plate 10, and the second axis Y is perpendicular to the swing arm cross plate 10; the two drive motors are arranged in the housing 62, and the output shafts of the two drive motors are respectively led out from the side walls on both sides of the housing 62, and are differentially connected to the two drive wheels 50 in a one-to-one manner; the housing 62 and the second slewing portion 612 are rotatably connected on a third axis Z, and the third axis Z is located between the two drive wheels 50, so that the two drive wheels 50 can swing back and forth relative to the third axis Z.

[0076] The third axis Z may be perpendicular to the second axis Y.

[0077] The box 62 can be a rectangular box 62, a circular box 62, an elliptical box 62, or an irregular polygonal box 62, which not only bears the load of the two drive motors, but also protects the drive motors to cope with the damage caused to the drive motors by complex and harsh environments. For example, it can prevent direct physical impact of ground obstacles on the drive motors, and also prevent ground sewage from directly splashing and flowing into the drive motors, thereby improving the safety of the steering wheel assembly 60.

[0078] A reducer may be provided between the output shaft of the driving motor and the driving wheel 50 , wherein the output shaft of the driving motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the driving wheel 50 . The reducer may be provided outside the rectangular box 62 .

[0079] When the two driving wheels 50 travel on an undulating road surface, due to the rotatable connection between the box body 62 and the second rotating portion 612 of the slewing support bearing 61, the two driving wheels 50 can swing left and right, that is, the two driving wheels 50 can swing back and forth relative to the third axis Z to adapt to the undulating road surface, making it easier for the two driving wheels 50 to touch the ground at the same time, thereby improving the grip of the two driving wheels 50 and improving the passability of the transport robot.

[0080] Each driving motor independently controls the rotation speed and direction of a driving wheel 50 , thereby achieving differential movement of the two driving wheels 50 .

[0081] See also Figure 2 As shown, in order to facilitate the steering wheel assembly 60 to accurately control the walking direction of the driving wheel 50, a magnetic scale 631 is arranged on the outer periphery of the second rotating part 612, and a reading head 632 is arranged at the bottom of the swing arm cross plate 10. The reading head 632 is aligned with the magnetic scale 631 to read the rotation angle information of the second rotating part 612 relative to the first rotating part 611. The driving motor can judge the relative angle between the box 62 and the transport robot frame 200 according to the rotation angle information read by the reading head 632, so as to facilitate the control of the rotation speed and direction of the driving motor, and correct the relative angle between the box 62 and the transport robot frame 200. Therefore, the error of the gear meshing of the first rotating part 611 and the second rotating part 612 can be reduced, and the cost can be reduced at the same time.

[0082] In specific practice, the second embodiment of the steering wheel assembly 60 of the present application (not shown) can be implemented by a hub motor. The difference from the steering wheel assembly 60 of the first embodiment is that in this embodiment, an independent drive motor is not used to drive the drive wheel 50, but a hub motor is used to drive the drive wheel 50, which can further simplify the structure. The steering wheel assembly 60 includes: a slewing support bearing 61, a swing connection, and two hub motors; the slewing support bearing 61 includes a first rotating portion 611 and a second rotating portion 61 connected to rotate relative to each other on the second axis Y. 2, the first rotating part 611 is connected to the bottom of the swing arm horizontal plate 10, and the second axis Y is perpendicular to the swing arm horizontal plate 10; the wheel hub motor includes an inner rotor and an outer rotor that rotate relative to each other, the inner rotors of the two wheel hub motors are connected to both sides of the swing connection member, and the outer rotors of the two wheel hub motors drive the two driving wheels 50 in a one-to-one differential manner; the swing connection member and the second rotating part 612 are rotatably connected on a third axis Z, and the third axis Z is located between the two driving wheels 50, so that the two driving wheels 50 can swing back and forth relative to the third axis Z. The wheel hub motor realizes the differential motion of the two driving wheels 50 by controlling the direction and speed of relative rotation of the inner rotor and the outer rotor, thereby controlling the forward, backward and steering of the driving wheels 50.

[0083] Figure 5 This is a schematic diagram of the structure of the top side of a handling robot according to an embodiment of the utility model. Figure 6 FIG. 1 is a schematic diagram of the structure of the bottom side of a handling robot according to an embodiment of the present utility model. Figure 5 and Figure 6 As shown, a transport robot comprises: two groups of transport robot driving wheel groups 100 and a frame 200 as described in the above embodiments, the bottom of the front side of the frame 200 has a first wheel group installation space 201, and the bottom of the rear side of the frame 200 has a second wheel group installation space 202; two groups of transport robot driving wheel groups 100 are arranged in the first wheel group installation space 201 and the second wheel group installation space 202 in a one-to-one correspondence; the two frame hinge shafts 30 and the frame body 203 on both sides of the wheel group installation space of the frame 200 are rotatably connected.

[0084] The transport robot provided in the embodiment of the present application has a group of transport robot driving wheel groups 100 respectively arranged on the front and rear sides of the frame 200, which can be adapted to the size requirements of a narrow transport robot. In addition, the casters 40 have high supporting strength and the driving wheels 50 have strong gripping ability, which facilitates the driving wheels 50 and the casters 40 to touch the ground at the same time, thereby improving the driving stability of the transport robot.

[0085] The frame 200 is generally rectangular in structure, with the front side of the frame 200 and the rear side of the frame 200 in the length direction L of the frame. It can be understood that the front side of the frame 200 and the rear side of the frame 200 are opposite sides.

[0086] The frame bodies 203 on both sides of the first wheel assembly installation space 201 of the frame 200 and the frame bodies 203 on both sides of the second wheel assembly installation space 202 can be provided with connection holes, and when the first end of the frame articulation shaft 30 is fixedly provided on the support vertical plate 20, the second end of the frame articulation shaft 30 is rotationally connected to the connection hole of the frame body 203. When the first end of the frame articulation shaft 30 is rotationally provided on the support vertical plate 20, the second end of the frame articulation shaft 30 can be fixedly connected to the connection hole of the frame body 203.

[0087] The two casters 40 and the two driving wheels 50 are swung relative to both sides of the first axis X and are located below the frame 200 to achieve ground grip.

[0088] Figure 7 This is a schematic diagram of the internal structure of a handling robot according to an embodiment of the present invention. Figure 5 and Figure 7 As shown, the transport robot can also have the function of lifting the transported materials. The transport robot also includes: a loading platform 300 and a hydraulic lifting mechanism 400. The hydraulic lifting mechanism 400 is arranged on the top of the frame 200 and is located between the first wheel group installation space 201 and the second wheel group installation space 202. The hydraulic lifting mechanism 400 drives the loading platform 300 to rise and fall relative to the frame 200.

[0089] The hydraulic lifting mechanism 400 is driven to rise and fall by the hydraulic power unit 500, and the hydraulic power unit 500 can be located on one side of the hydraulic lifting mechanism 400 and arranged on the top of the vehicle frame 200. In the technical solution of this embodiment, the hydraulic lifting mechanism 400 has low cost and high reliability.

[0090] Of course, in the implementation, in realizing the technical solution for lifting, it is not limited to using the hydraulic lifting mechanism 400, and a screw lifting mechanism or a connecting rod lifting mechanism, etc. can also be used, which can be driven by a motor. In the implementation, the structure of the specific lifting mechanism used is not limited.

[0091] A battery 600 for supplying power to the electrical equipment of the transport robot is also disposed on the vehicle frame 200 . The battery 600 may be located on one side of the hydraulic lifting mechanism 400 .

[0092] like Figure 5As shown, the loading platform 300 is located above the top of the vehicle frame 200 and is used to carry the material box to be transported. At least two positioning pins 301 are provided on the top surface of the loading platform 300, and the material box to be transported can be provided with at least two positioning holes corresponding to the at least two positioning pins 301. When the material box to be transported is set on the loading platform 300, the positioning pins 301 and the positioning holes are engaged with each other to limit the sliding of the material box to be transported on the loading platform 300.

[0093] The loading platform 300 may be a rectangular structure, and at least two positioning pins 301 are arranged in the length direction of the loading platform 300 .

[0094] At least two positioning pins 301 may be arranged in the middle of the length direction of the loading platform 300, or may be arranged near the end. For example, the length of the loading platform 300 is L1, and the at least two positioning pins 301 include a first pin body 301a and a second pin body 301b, the first pin body 301a and the second pin body 301b are distributed on both sides of the middle of the length direction of the loading platform 300, the spacing between the first pin body 301a and the second pin body 301b is L2, and the ratio of the spacing L2 between the first pin body 301a and the second pin body 301b to the length L1 of the loading platform 300 is in the range of L2 / L1=0.2 to 1, specifically, for example, L2 / L1=0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1 or a range consisting of any two values ​​therebetween. In practice, for a loading platform 300 with a larger length-to-width ratio, the ratio L2 / L1 can be larger to improve the stability of the mutual engagement between the positioning pin 301 and the positioning hole, and to improve the effect of limiting the rotation of the material box to be transported on the loading platform 300.

[0095] The length direction of the loading platform 300 can be in the same direction as the length direction L of the frame. The loading platform 300 can be a rectangular structure, and at least two positioning pins 301 are arranged in the length direction of the loading platform 300, and are not limited to being arranged on the central axis in the length direction of the loading platform 300, and can also be distributed on one side or both sides of the central axis in the length direction of the loading platform 300. That is, the connection line of any two positioning pins 301 can coincide with the central axis in the length direction of the loading platform 300, or can intersect at one point, or can be parallel to each other, as long as the relative position relationship of the two positioning pins 301 is satisfied, and they are located in the front and rear positions in the length direction of the loading platform 300.

[0096] In addition, when the loading platform 300 is rising to lift the material box to be transported, since the overall length of the transport robot is relatively long, the corresponding length of the loading platform 300 is also relatively long. If the inclination angle between the loading platform 300 and the material box to be transported is too large, the material box will easily tilt and fall on the loading platform 300.

[0097] like Figure 5 As shown, in the embodiment of the present scheme, at least one first positioning camera 302 is provided on the top surface of the loading platform 300. When there are at least two first positioning cameras 302, at least two first positioning cameras 302 are arranged in the length direction of the loading platform 300. At least two first positioning cameras 302 can collect images of the material box at at least two positions in the length direction of the loading platform 300. Therefore, it is convenient to send the images of the material box at at least two positions above the length direction of the loading platform 300 to the image analysis system. The image analysis system can analyze the images of the material box at at least two positions received, so as to obtain the deflection angle between the loading platform 300 and the material box. The handling robot controls the handling robot driving wheel group 100 according to the tilt angle, so as to correct the deflection angle between the loading platform 300 and the material box.

[0098] The at least two first positioning cameras 302 are arranged in the length direction of the loading platform 300, and are not limited to being arranged on the central axis in the length direction of the loading platform 300, but can also be distributed on one side or both sides of the central axis in the length direction of the loading platform 300. That is, the connection line of any two first positioning cameras 302 can coincide with the central axis in the length direction of the loading platform 300, can intersect at one point, or can be parallel to each other, as long as the relative position relationship of the two first positioning cameras 302 is satisfied, and they are located in the front and rear positions in the length direction of the loading platform 300.

[0099] See also Figure 5 As shown, at least two first positioning cameras 302 include a first camera 302a and a second camera 302b, wherein the first camera 302a is arranged at the center of the length and width of the loading platform 300, and the second camera 302b is arranged at the rear side of the loading platform 300, that is, a position closer to the rear end of the loading platform 300 than the center of the loading platform 300. The image captured by the first camera 302a at the center of the loading platform 300 facilitates the center alignment of the material box to be transported and the loading platform 300. The image captured by the second camera 302b at the rear side of the loading platform 300 facilitates the correction of the tilt angle of the material box to be transported and the loading platform 300.

[0100] Of course, in other embodiments, the second camera 302b may also be disposed on the front side of the object carrying platform 300. That is, in a specific implementation, the second camera 302b may be disposed on any side of the object carrying platform 300 in the length direction.

[0101] A camera receiving slot may be provided on the loading platform 300 , and the first positioning camera 302 is disposed in the camera receiving slot to prevent the material box and the first positioning camera 302 from colliding due to position conflicts.

[0102] Specifically, Figure 6 As shown, the two casters 40 on the front side of the frame 200 can be closer to the front end of the frame 200 than the two driving wheels 50 on the front side of the frame 200. The two casters 40 on the rear side of the frame 200 can be closer to the rear end of the frame 200 than the two driving wheels 50 on the rear side of the frame 200. The driving wheels 50 are closer to the middle of the transport robot, so after the material box is placed in the middle of the transport robot loading platform 300, the driving wheels 50 can bear greater pressure, thereby further improving the grip of the driving wheels 50.

[0103] Due to the long overall length of the handling robot, it is difficult to control the accuracy of its rotation angle positioning and position positioning when the whole vehicle is aligned with the material box to be handled. In some other embodiments, in order to facilitate the high-precision position control of the handling robot, please refer to Figure 6 As shown, at least one second positioning camera 303 is disposed at the bottom of the vehicle frame 200, and the at least one second positioning camera 303 can collect images of the ground.

[0104] In the application, a feature map to be identified, such as a QR code or ground texture, can be pre-arranged on the ground. The image collected from the ground contains the feature map. The image collected from the ground can be sent to an image analysis system, which can analyze the at least two images collected from the ground to obtain the relative deflection angle and relative position between the transport robot and the ground. The transport robot controls the transport robot driving wheel group 100 according to the relative deflection angle and relative position, and can accurately control the driving position and rotation angle of the transport robot.

[0105] See also Figure 6 As shown, when there are at least two second positioning cameras 303, at least two second positioning cameras 303 are arranged in the length direction L of the frame. For example, at least two second positioning cameras 303 include a third camera 303a and a fourth camera 303b, and the third camera 303a is arranged at the center position of the length direction and the width direction of the frame 200. The fourth camera 303b is arranged at the rear side of the frame 200, that is, compared with the center position of the frame 200, it is closer to the rear end of the frame 200. The image captured by the third camera 303a at the center position of the frame 200 facilitates the center alignment of the ground coordinate position and the center coordinate position of the frame 200. The image captured by the fourth camera 303b at the rear end position of the frame 200 facilitates the correction of the tilt angle of the ground and the frame 200.

[0106] Of course, in other embodiments, the fourth camera 303b may also be disposed on the front side of the frame 200. That is, in a specific implementation, the fourth camera 303b may be disposed on any side of the frame 200 in the length direction.

[0107] The vehicle frame 200 may be a rectangular structure, and at least two second positioning cameras 303 are arranged in the length direction L of the vehicle frame 200, and are not limited to being arranged on the central axis in the length direction L of the vehicle frame 200, but may also be distributed on one side or both sides of the central axis in the length direction L of the vehicle frame 200. That is, the connecting line of any two second positioning cameras 303 may coincide with the central axis in the length direction of the vehicle frame 200, may intersect at one point, or may be parallel to each other, as long as the relative position relationship of the two second positioning cameras 303 is satisfied, and they are located at the front and rear positions in the length direction of the vehicle frame 200.

[0108] That is, as described above, in this example, at least two positioning pins 301 and at least two first positioning cameras 302 are arranged in the length direction of the loading platform 300, and at least two second positioning cameras 303 are arranged in the length direction L of the frame 200. The length direction of the loading platform 300 can be the same direction as the length direction L of the frame 200.

[0109] The frame 200 can be a rectangular structure, and the length direction L of the frame can be parallel to the central axis of the frame 200. The first connecting line of any two positioning pins 301, the second connecting line of any two first positioning cameras 302, and the third connecting line of any two second positioning cameras 303 can be parallel to the length direction L of the frame 200, and can also intersect with the length direction L of the frame 200. It only requires that the relative position relationship between the two be arranged in the front and rear positions along the length direction L of the frame 200.

[0110] In some other embodiments, a positioning camera may also be disposed on the side wall of the frame.

[0111] The image analysis system may be a remote image processing system using existing technology, or may be a local image processing system built into a handling robot using existing technology.

[0112] It is understandable that in this example, the front side of the frame 200 and the rear side of the frame 200 are only for illustration purposes to facilitate understanding of the embodiments of the present application. In practice, the transport robot can be symmetrically arranged front and back, and the front side of the frame 200 and the rear side of the frame 200 are not distinguished between front and rear.

[0113] The handling robot may be an AGV (Automated Guided Vehicle).

[0114] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A transport robot driving wheel set, characterized in that: include: Swing arm cross plate (10); Two supporting vertical plates (20) are respectively vertically arranged on two sides of the bottom of the swing arm horizontal plate (10); Two frame articulated shafts (30) are arranged on the two supporting vertical plates (20) in a one-to-one correspondence, and the two frame articulated shafts (30) are located on a first axis (X); Two casters (40) are arranged at the bottom of the two supporting vertical plates (20) in a one-to-one correspondence; two drive wheels (50); The steering wheel assembly (60) is arranged on the swing arm cross plate (10) and is used to drive the rotation and steering of the two driving wheels (50), and the two casters (40) and the two driving wheels (50) are located on both sides of the first axis (X).

2. The driving wheel assembly of the handling robot according to claim 1, characterized in that: The steering wheel assembly (60) comprises: a slewing support bearing (61), a box (62), and two driving motors; The slewing support bearing (61) comprises a first slewing portion (611) and a second slewing portion (612) connected to rotate relative to each other on a second axis (Y), the first slewing portion (611) is connected to the bottom of the swing arm cross plate (10), and the second axis (Y) is perpendicular to the swing arm cross plate (10); Two drive motors are arranged in the box (62), and the output shafts of the two drive motors are respectively led out from the side walls on both sides of the box (62) and are differentially connected to the two drive wheels (50) in a one-to-one correspondence; The box body (62) and the second rotating part (612) are rotatably connected on a third axis (Z), and the third axis (Z) is located between the two driving wheels (50) so that the two driving wheels (50) can swing back and forth relative to the third axis (Z).

3. The driving wheel assembly of the transport robot according to claim 2, characterized in that: A magnetic scale (631) is arranged on the outer periphery of the second rotating part (612); A reading head (632) is provided at the bottom of the swing arm horizontal plate (10), and the reading head (632) is aligned with the magnetic scale (631) to read the rotation angle information of the second rotating part (612) relative to the first rotating part (611).

4. The driving wheel assembly of the handling robot according to claim 1, characterized in that: The steering wheel assembly (60) comprises: a slewing support bearing (61), a swing connection piece, and two hub motors; The slewing support bearing (61) comprises a first slewing portion (611) and a second slewing portion (612) connected to rotate relative to each other on a second axis (Y), the first slewing portion (611) is connected to the bottom of the swing arm cross plate (10), and the second axis (Y) is perpendicular to the swing arm cross plate (10); The wheel hub motor comprises an inner rotor and an outer rotor which rotate relative to each other, the inner rotors of the two wheel hub motors are connected to both sides of the swing connection member, and the outer rotors of the two wheel hub motors drive two driving wheels (50) in a one-to-one differential manner; The swing connection member and the second rotating part (612) are rotatably connected on a third axis (Z), and the third axis (Z) is located between the two driving wheels (50) so that the two driving wheels (50) can swing back and forth relative to the third axis (Z).

5. The driving wheel assembly of the handling robot according to any one of claims 1 to 4, characterized in that: The caster (40) comprises a connecting plate (41), a reinforcing rib (42) and a wheel body (43); The connecting plate (41) is vertically connected to the bottom of the vertical plate, the reinforcing rib (42) connects the supporting vertical plate (20) and the connecting plate (41), and the wheel body (43) is rotatably arranged at the bottom of the connecting plate (41).

6. The driving wheel assembly of the handling robot according to any one of claims 1 to 4, characterized in that: The supporting vertical plate (20) is provided with an axial hole, and a copper shaft sleeve (21) is arranged in the axial hole; The frame hinge shaft (30) is rotatably arranged in the copper shaft sleeve (21).

7. The driving wheel assembly of the handling robot according to any one of claims 1 to 4, characterized in that: The orthographic projection of the frame articulated axis (30) on the swing arm cross plate (10) and the orthographic projection of the caster (40) on the swing arm cross plate (10) at least partially fall within the connection surface between the supporting vertical plate (20) and the bottom of the swing arm cross plate (10).

8. A transport robot, characterized in that: include: Two sets of driving wheel sets (100) of the handling robot according to any one of claims 1 to 7; A vehicle frame (200), wherein the bottom of the front side of the vehicle frame (200) has a first wheel assembly installation space (201), and the bottom of the rear side of the vehicle frame (200) has a second wheel assembly installation space (202); Two groups of transport robot driving wheel groups (100) are arranged in the first wheel group installation space (201) and the second wheel group installation space (202) in a one-to-one correspondence; The two frame articulated shafts (30) are rotatably connected to the frame bodies on both sides of the wheel assembly installation space of the frame (200).

9. The handling robot according to claim 8, characterized in that: Also includes: A loading platform (300), wherein the top surface of the loading platform (300) is provided with at least one first positioning camera (302); and / or, At least one second positioning camera (303) is arranged at the bottom of the vehicle frame (200).

10. The handling robot according to claim 9, characterized in that: There are at least two first positioning cameras (302), and the at least two first positioning cameras (302) are arranged in the length direction of the object carrying platform (300); and / or There are at least two second positioning cameras (303), and the at least two second positioning cameras (303) are arranged in the length direction (L) of the frame.

11. The handling robot according to claim 10, characterized in that: The at least two first positioning cameras (302) include a first camera (302a) and a second camera (302b), wherein the first camera (302a) is arranged at a central position in the length direction and the width direction of the object carrying platform (300), and the second camera (302b) is arranged at any side in the length direction of the object carrying platform (300); and / or The at least two second positioning cameras (303) include a third camera (303a) and a fourth camera (303b), wherein the third camera (303a) is arranged at a central position in the length direction and the width direction of the frame (200), and the fourth camera (303b) is arranged on any side in the length direction of the frame (200).

12. The handling robot according to claim 8, characterized in that: Also includes: A loading platform (300); A hydraulic lifting mechanism (400) is arranged on the top of the vehicle frame (200) and is located between the first wheel assembly installation space (201) and the second wheel assembly installation space (202); the hydraulic lifting mechanism (400) drives the loading platform (300) to rise and fall relative to the vehicle frame (200).

13. The handling robot according to claim 12, characterized in that: At least two positioning pins (301) are arranged on the top surface of the object carrying platform (300), and the at least two positioning pins (301) are arranged in the length direction of the object carrying platform (300).

Images