Robot chassis assembly and transfer robot

Abstract

The utility model discloses a robot chassis assembly which comprises a chassis, at least one main seesaw and a plurality of wheel sets, the wheel sets are arranged in the first direction, each wheel set comprises a plurality of walking wheel mechanisms, and the walking wheel mechanisms are arranged on the main seesaw. The walking wheel mechanisms of the wheel sets are arranged in the first direction, the walking wheel mechanisms of the wheel sets are arranged in the second direction, the first direction intersects with the second direction, the length direction of the main seesaw is consistent with the second direction, a pivoting support of the main seesaw is arranged on the chassis, the walking wheel mechanisms of at least one wheel set are connected with the main seesaw, and the walking wheel mechanisms of the wheel sets are connected with the main seesaw. And a plurality of walking wheel mechanisms connected with the main seesaw are respectively positioned on two sides of a pivoting support of the main seesaw. The utility model further provides a transfer robot.

Description

Technical Field

[0001] The utility model relates to the field of material transportation equipment, in particular to a robot chassis component and a transport robot comprising the robot chassis. Background Art

[0002] The handling robot generally includes a chassis and a lifting assembly, wherein the chassis can generally be an AGV (Automated Guided Vehicle) chassis that can realize omnidirectional walking. For example, the chassis may include two steering wheels and two casters, and the casters may be connected to the steering wheels through a seesaw structure and articulated with the chassis frame.

[0003] When the load of the handling robot exceeds a certain weight, the positive pressure on each steering wheel and each caster is relatively large. There are two ways to solve this problem: the first is to use large-sized steering wheels and casters; the second is to increase the number of steering wheels and casters, and set the steering wheels on the chassis in a spring floating manner to ensure that all wheels can touch the ground when the chassis is moving.

[0004] If the first method is used, the size of the vehicle will become larger, thereby increasing the cost of the handling robot; if the second method is used, a counterweight needs to be set on the chassis to prevent the steering wheel from slipping when fully loaded, which will also increase the cost of the chassis.

[0005] Therefore, how to improve the stability of material handling by a handling robot without increasing costs has become a technical problem that needs to be urgently solved in this field. Utility Model Content

[0006] The utility model aims to solve one of the technical problems in the related art to a certain extent. To this end, the utility model provides a robot chassis assembly and a handling robot including the robot chassis.

[0007] As a first aspect of the utility model, a robot chassis assembly is provided, which includes a chassis, wherein the robot chassis assembly also includes at least one total seesaw and multiple wheel groups, the multiple wheel groups are arranged along a first direction, the wheel group includes multiple running wheel mechanisms, and the multiple running wheel mechanisms of the wheel group are arranged along a second direction, and the first direction intersects with the second direction.

[0008] The length direction of the total seesaw is consistent with the second direction, the pivot support of the total seesaw is arranged on the chassis, the multiple running wheel mechanisms of at least one of the wheel sets are connected to the total seesaw, and the multiple running wheel mechanisms connected to the total seesaw are respectively located on both sides of the pivot support of the total seesaw.

[0009] Optionally, the walking wheel mechanism includes a sub-seesaw, a steering wheel arranged at one end of the sub-seesaw, and at least one caster arranged at the other end of the sub-seesaw, and the length direction of the sub-seesaw is consistent with the first direction;

[0010] With respect to the running wheel mechanism connected to the main seesaw, the pivot support of the sub-seesaw is arranged on the main seesaw;

[0011] For the running wheel mechanism not connected to the main seesaw, the pivot support of the sub-seesaw is arranged on the chassis.

[0012] Optionally, the chassis has a top surface and a bottom surface that are arranged opposite to each other, and the main seesaw and the sub-seesaw are both arranged on the top surface.

[0013] The chassis is provided with a plurality of wheel holes penetrating the chassis in the thickness direction, and the steering wheel and the casters both pass through the corresponding wheel holes, so that a part of the steering wheel and a part of the casters protrude from the bottom surface.

[0014] Optionally, the first direction is a length direction of the chassis, and the second direction is a width direction of the chassis.

[0015] Optionally, the robot chassis assembly includes two wheel groups, and the wheel group includes two walking wheel mechanisms, the two wheel groups are spaced apart along the first direction and are located at both ends of the chassis, and the two walking wheel mechanisms in the wheel group are spaced apart along the second direction and are located on both sides of the chassis.

[0016] As a second aspect of the present invention, a handling robot is provided, comprising a robot chassis assembly and a lifting mechanism, wherein the robot chassis assembly is the robot chassis assembly described in the first aspect of the present invention, and the lifting mechanism is arranged on the chassis.

[0017] Optionally, the transport robot further comprises a shell, the shell is arranged on the top surface of the chassis, and a lifting hole is formed on the shell;

[0018] The main seesaw and the portion of the wheel set protruding from the top surface of the chassis are located in the accommodation space defined by the shell and the chassis;

[0019] The lifting mechanism includes a driving component and multiple actuator components. The driving component is used to drive the multiple actuator components to rise and fall. The driving component is arranged in the accommodating space. Lifting holes corresponding to the actuator components are formed on the shell. The actuator components can be lifted and lowered through the lifting holes under the driving action of the driving component.

[0020] Optionally, the actuator assembly includes a lifting plate and a lifting piston cylinder, one end of the lifting piston cylinder is fixedly connected to the chassis, and the other end of the lifting piston cylinder is connected to the lifting plate, and the driving assembly is used to provide power fluid to the lifting piston cylinder to drive the lifting piston cylinder to extend and retract, and drive the lifting plate to rise and fall.

[0021] Optionally, the actuator assembly also includes a guide plate and a guide column, the guide plate is fixed on the shell, and a first guide hole and a second guide hole are formed on the guide plate, the lifting plate is located on the side of the guide plate away from the chassis, the lifting piston cylinder passes through the first guide hole, one end of the guide column is connected to the lifting plate, and the other end of the guide column passes through the second guide hole and enters the accommodating space, and the guide column can move under the limiting guidance of the second guide hole.

[0022] Optionally, the lifting mechanism includes two actuating assemblies, which are spaced apart along the first direction and located at two ends of the chassis.

[0023] In an embodiment of the utility model, a plurality of groups of walking wheel mechanisms are provided, and each group of walking wheel mechanisms can bear weight, so that the handling robot including the robot chassis assembly can carry materials with a greater load. The middle part of the total seesaw is limited by a pivot support, and the two ends of the seesaw can move according to the force. Because the total seesaw is connected with walking wheel mechanisms located on both sides of the total seesaw, respectively, in the case of inconsistent heights on both sides of the chassis, the walking wheel mechanisms on the total seesaw and on both sides of the pivot support of the middle seesaw can also be at different heights, so as to maintain that the walking wheel mechanisms on both sides of the pivot support of the total seesaw can touch the ground and the chassis remains horizontal, thereby preventing the handling robot from slipping and ensuring the stability of the handling robot including the robot chassis assembly during walking.

[0024] The total seesaw is a rigid mechanism. Compared with spring members, the total seesaw has better stability and does not require additional counterweights, thereby reducing the overall cost of the robot chassis assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The utility model is further described below in conjunction with the accompanying drawings:

[0026] Figure 1 It is a schematic diagram of an implementation of the robot chassis assembly provided by the utility model;

[0027] Figure 2 is a schematic diagram showing the robot chassis assembly walking on the horizontal ground along the direction D2;

[0028] Figure 3is a schematic diagram showing the robot chassis assembly walking on a ground with steps along the direction D2;

[0029] Figure 4 is a schematic diagram showing the robot chassis assembly walking on the horizontal ground along the direction D1;

[0030] Figure 5 is a schematic diagram showing the robot chassis assembly walking on a ground with steps along the direction D1;

[0031] Figure 6 It is a schematic diagram of another embodiment of the robot chassis assembly provided by the utility model;

[0032] Figure 7 is a schematic diagram showing the lifting mechanism;

[0033] Figure 8 It is a schematic diagram of another implementation manner of the robot chassis assembly provided by the utility model.

[0034] Description of Reference Numerals

[0035] 100: Chassis 110: Total seesaw

[0036] 111: Pivot support of the total seesaw 120: Travel wheel mechanism

[0037] 121: Sub-seesaw 121a: Pivot support of the sub-seesaw

[0038] 122: Steering wheel 123: Caster

[0039] 210: driving component 220: execution component

[0040] 221: Lifting plate 222: Lifting piston cylinder

[0041] 223: Guide plate 224: Guide column

[0042] 300: housing 400: positioning identification module

[0043] 500: Laser sensor 600: Power module

[0044] 100a: wheel hole DETAILED DESCRIPTION

[0045] The following is a detailed description of embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments in the implementation manner are intended to be used to explain the present invention and should not be construed as limiting the present invention.

[0046] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present utility model. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0047] As a first aspect of the present invention, a robot chassis assembly is provided, such as Figure 1 As shown, the robot chassis assembly includes a chassis 100, wherein the robot chassis assembly also includes at least one total seesaw 110 and a plurality of wheel groups, the plurality of wheel groups are arranged along a first direction D1, the wheel groups include a plurality of walking wheel mechanisms 120, and the plurality of walking wheel mechanisms 120 of the wheel groups are arranged along a second direction D2, as shown in FIG. Figure 1 As shown, the first direction D1 intersects with the second direction D2.

[0048] The length direction of the total seesaw 110 is consistent with the second direction D2, and the pivot support of the total seesaw 110 is arranged on the chassis 100. The multiple running wheel mechanisms 120 of at least one of the wheel groups are connected to the total seesaw 110, and the multiple running wheel mechanisms 120 connected to the total seesaw 110 are respectively located on both sides of the pivot support of the total seesaw 110.

[0049] It should be pointed out that the so-called "seesaw" includes a plate-like member and a pivot support, and the middle portion of the plate-like member is connected to the axis of the pivot support so that the plate-like member can be pivotally moved around the pivot support as the axis.

[0050] In an embodiment of the utility model, multiple groups of walking wheel mechanisms are provided, and each group of walking wheel mechanisms can bear weight, so that the handling robot including the robot chassis assembly can carry materials with a greater load. The middle part of the total seesaw 110 is limited by the pivot support 111, and the two ends of the total seesaw 110 can move according to the force. Because the total seesaw 110 is connected with the walking wheel mechanism 120 located on both sides of the total seesaw 110, when the heights of the two sides of the chassis are inconsistent, the walking wheel mechanisms on the total seesaw 110 and on both sides of the pivot support 111 of the middle seesaw 110 can also be at different heights, so as to maintain that the walking wheel mechanisms on both sides of the pivot support 111 of the total seesaw 110 can touch the ground and the chassis 100 remains horizontal, so as to avoid the handling robot from slipping and ensure the stability of the handling robot including the robot chassis assembly during walking.

[0051] exist Figure 1 In the illustrated embodiment, the total seesaw 110 includes a total plate-shaped member 112 and a pivot support 111 . The pivot support 111 is fixedly disposed on the chassis 100 , and the total plate-shaped member 112 is hinged to the pivot support 111 via a pivot shaft.

[0052] like Figure 2 As shown in , when the chassis 100 is moving horizontally along the D2 direction, the chassis 100 remains horizontal, and the heights of the left running wheel mechanism 120 and the right running wheel mechanism 120 are also the same.

[0053] like Figure 3 As shown, when the chassis 100 moves on an uneven ground (for example, stairs), the right side is higher than the left side by d. Since the total seesaw 110 is provided, the chassis 100 is allowed to maintain a horizontal state while the running wheel mechanism 120 on the right side is higher than the running wheel mechanism 120 on the left side.

[0054] The total seesaw 110 is a rigid structure. Compared with spring members, the total seesaw 110 has better stability and does not require additional counterweights, thereby reducing the overall cost of the robot chassis assembly.

[0055] In the embodiment of the utility model, the specific structure of the walking wheel mechanism 120 is not particularly limited, as long as it can drive the chassis 100 to walk under the action of the driving force. For example, the walking wheel mechanism 120 can be a steering wheel or a caster.

[0056] As an optional implementation, Figure 1 As shown, the walking wheel mechanism 120 includes a sub-seesaw 121, a steering wheel 122 arranged at one end of the sub-seesaw 121 and at least one caster 123 arranged at the other end of the sub-seesaw 121, and the length direction of the sub-seesaw 121 is consistent with the first direction D1.

[0057] like Figure 4 As shown, in the embodiment of the utility model, the walking wheel mechanism 120 can be divided into two types, one of which is a walking wheel mechanism connected to the main seesaw 110 (see Figure 4 The other is a walking wheel mechanism not connected to the main seesaw 110 (see Figure 4 It should be noted that, in the embodiment of the present invention, the walking wheel mechanism 120 not on the seesaw 110 is directly arranged on the chassis 100 .

[0058] With respect to the running wheel mechanism 120 connected to the main seesaw 110 , the pivot support 121 a of the sub-seesaw 121 is arranged on the main seesaw 110 .

[0059] For the running wheel mechanism 120 that is not connected to the main seesaw 110 , the pivot support 121 a of the sub-seesaw 121 is disposed on the chassis 100 .

[0060] It should be noted that when the running wheel mechanism 120 is arranged on the chassis 100, the structure of the chassis 100 itself and other components of the robot chassis assembly should not interfere with the sub-seesaw 121 of the running wheel mechanism 120. In other words, when arranged on the chassis 100, the sub-seesaw 121 can pivot around its pivot support 121a according to the force conditions during the walking of the robot chassis assembly.

[0061] Since the length direction of the sub-seesaw 121 is consistent with the first direction D1, if the heights of the two ends of the chassis 100 in the first direction are inconsistent, the heights of the two ends of the sub-seesaw 121 are also inconsistent, thereby ensuring that the steering wheel 122 and the caster 123 of each walking wheel mechanism 120 can touch the ground.

[0062] Specifically, Figure 4 As shown, when the robot chassis assembly walks on the horizontal ground along the first direction D1, the walking wheel mechanism at the left end and the walking wheel mechanism at the right end are both on the horizontal plane.

[0063] like Figure 5 As shown, when the robot chassis assembly walks on an uneven road surface (for example, the right side is higher than the left side by D), the sub-seesaw 121 at the right end can pivot around its pivot support 121a, and the sub-seesaw 121 at the left end can also pivot around its pivot support 121a to ensure that all steering wheels and casters are on the ground.

[0064] The main seesaw 110 can be provided so that the walking wheel mechanism 120 can touch the ground even when the height of the chassis 100 is inconsistent in the second direction D2; the walking wheel mechanism 120 includes a sub-seesaw 121, which can also make the walking wheel mechanism 120 touch the ground even when the height of the chassis 100 is inconsistent in the first direction. In other words, when the robot chassis provided by the embodiment of the utility model is used in a transport robot, each steering wheel can be subjected to sufficient positive pressure to prevent the steering wheel from slipping when the transport robot is fully loaded, and there is no need to add counterweight to the chassis, thereby reducing the overall cost of the transport robot.

[0065] As described above, in the embodiment of the present invention, the main seesaw 110 and the sub-seesaw 121 should be able to work normally. For example, the chassis 100 has a top surface and a bottom surface that are arranged opposite to each other, and the main seesaw 110 and the sub-seesaw 121 can be arranged on the bottom surface of the chassis 100.

[0066] In order to make the structure of the robot chassis assembly more compact, optionally, the main seesaw 110 and the sub-seesaw 121 can be arranged on the top surface of the chassis 100. Accordingly, the chassis 100 is provided with a plurality of wheel holes 100a penetrating the chassis 100 in the thickness direction, and the steering wheel 122 and the caster 123 pass through the corresponding wheel holes 100a, so that a part of the steering wheel 122 and a part of the caster 123 protrude from the bottom surface of the chassis 100.

[0067] In the embodiment of the utility model, there is no special limitation on the number of wheel sets included in the robot chassis assembly and the number of running wheel mechanisms included in each wheel set. The more wheel sets there are and the more running wheel mechanisms there are in each wheel set, the smaller the positive pressure shared by each running wheel mechanism, so that a steering wheel and casters with smaller specifications can be used, thereby reducing the overall size of the robot chassis assembly. Of course, it is also necessary to determine the number of wheel sets and the number of running wheel mechanisms included in each wheel set according to the size and structural strength of the chassis 100.

[0068] In the embodiment of the utility model, there is no special limitation on the first direction D1 and the second direction D2. As an optional implementation, the first direction D1 may be the length direction of the chassis 100, and the second direction D2 may be the width direction of the chassis 100. Multiple wheel sets are arranged along the length direction of the chassis 100, and multiple running wheel mechanisms 120 in the same wheel set are arranged along the width direction of the chassis 100, so that the force of each running wheel mechanism 120 is more uniform.

[0069] In the embodiment of the utility model, there is no special limitation on the number of wheel sets and the specific number of running wheel mechanisms. Figure 1 As shown, the robot chassis assembly may include two wheel groups, and the wheel group includes two walking wheel mechanisms 120, the two wheel groups are arranged at intervals along a first direction D1 and are located at both ends of the chassis 100, and the two walking wheel mechanisms 120 in the wheel group are arranged at intervals D2 along a second direction and are located on both sides of the chassis 100.

[0070] As an optional embodiment, the two wheel sets are symmetrical about the center line L1 in the length direction, and the walking wheel mechanism 120 in the wheel set is symmetrical about the center line L2 in the width direction, so that the robot chassis assembly walks more smoothly when loaded.

[0071] As described above, the walking wheel mechanism 120 includes a steering wheel 122 and a caster 123. Therefore, in the embodiment of the utility model, the robot chassis assembly includes 4 steering wheels and 4 casters. Compared with the related art including two steering wheels, the number of steering wheels and casters in the robot chassis assembly provided by the embodiment of the utility model is increased, so the positive pressure received by each steering wheel and each caster is significantly reduced, so that smaller steering wheels and casters can be selected, and the size of the whole vehicle will not be increased, so that the robot chassis assembly is more suitable for occasions with limited channel width and high requirements on the size of the handling robot.

[0072] Figure 1 The robot chassis assembly shown in the figure includes a total of one seesaw 110 and four sub-seesaws 121, so the robot chassis assembly includes a total of five pivot hinge points. Through this hinge method, it can be ensured that all steering wheels and casters of the robot chassis assembly are always on the ground, and the positive pressure of the load can be basically evenly distributed, so the steering wheel can also provide sufficient driving force. Accordingly, there is no need to add additional counterweights to the chassis 100, and the goal of lightweight design can be achieved.

[0073] Due to the increase in the number of steering wheels and casters, under the same load condition, the robot chassis assembly provided by the embodiment of the utility model can use smaller steering wheels and casters to reduce the vehicle cost of the handling robot; at the same time, the use of smaller steering wheels and casters can reduce the vehicle width of the handling robot, which is particularly suitable for factories with high requirements for channels; in addition, while the handling robot chassis assembly has a low weight and price, it has a larger number of steering wheels and casters, is more friendly to the ground, and has a longer service life.

[0074] As a second aspect of the present invention, a handling robot is provided, which includes a robot chassis assembly and a lifting mechanism, wherein the robot chassis assembly is the robot chassis assembly provided in the first aspect of the present invention, and the lifting mechanism is arranged on the chassis 100.

[0075] The lifting mechanism is used to load and unload materials. Specifically, when loading materials to the handling robot, the lifting mechanism is in a raised state. After receiving the materials, the lifting mechanism descends and places the materials on the chassis 100 for subsequent transportation. When unloading, the lifting mechanism rises and lifts the materials to a certain height for the transfer mechanism (e.g., forklift, handling robot, etc.) to receive the materials.

[0076] As described above, the robot chassis assembly is provided with multiple sets of walking wheel mechanisms, and each set of walking wheel mechanisms can bear weight, so that the handling robot including the robot chassis assembly can carry materials with a larger load. The middle part of the total seesaw 110 is limited by the pivot support 111, and the two ends of the total seesaw 110 can move according to the force. Because the total seesaw 110 is connected with the walking wheel mechanisms 120 respectively located on both sides of the total seesaw 110, when the heights of the two sides of the chassis are inconsistent, the walking wheel mechanisms on the total seesaw 110 and on both sides of the pivot support 111 of the total seesaw 110 can also be at different heights, so as to maintain that the walking wheel mechanisms on both sides of the pivot support 111 of the total seesaw 110 can touch the ground, thereby avoiding the handling robot from slipping and ensuring the stability of the handling robot including the robot chassis assembly during walking.

[0077] As an optional implementation, the transport robot further includes a shell 300 , which is disposed on the top surface of the chassis 100 , and a lifting hole is formed on the shell 300 .

[0078] The main seesaw and the portion of the wheel set protruding from the top surface of the chassis are located in the accommodation space defined by the housing 300 and the chassis 100. In other words, from the appearance, only the housing and the chassis can be seen, but the wheel sets and the main seesaw 110 cannot be seen, thereby improving the aesthetics of the handling robot.

[0079] In the embodiment of the utility model, the specific type of the lifting mechanism is not particularly limited, as long as it can achieve lifting. For example, the lifting mechanism may include components such as a screw assembly, a piston cylinder, etc. that can be lifted and lowered.

[0080] As an optional embodiment, in order to facilitate control and improve the stability of materials during the lifting process, the lifting mechanism may optionally include a driving component 210 and multiple actuator components 220. The driving component 210 is used to drive the actuator components 220 to lift and lower. The driving component 210 is arranged in the accommodating space, and a lifting hole corresponding to the actuator component 220 is formed on the shell 300. The actuator component 220 can be lifted and lowered through the lifting hole under the driving action of the driving component 210.

[0081] By controlling the actions of multiple actuators 220 through the same driving component 210, it can be ensured that the multiple actuators 220 are lifted and lowered synchronously, and that different parts of the material are at the same height during the lifting process, thereby preventing the material from slipping or the handling robot from tipping over.

[0082] In the embodiment of the utility model, there is no special limitation on the specific structure of the actuator 220. Optionally, the actuator includes a lifting plate 221 and a lifting piston cylinder 222, one end of the lifting piston cylinder 222 is fixedly connected to the chassis 100, and the other end of the lifting piston cylinder 222 is connected to the lifting plate 221, and the driving assembly 210 is used to provide power fluid to the lifting piston cylinder 222 to drive the lifting piston cylinder 222 to extend and retract, and drive the lifting plate 221 to rise and fall.

[0083] In the embodiment of the present utility model, the specific type of the power fluid is not particularly limited, for example, the power fluid can be air or hydraulic oil. In other words, the lifting piston cylinder 222 can be an air cylinder or a hydraulic cylinder.

[0084] The lifting plate 221 has a large bearing area, which can improve the stability of the material during lifting. As an optional embodiment, the length direction of the lifting plate 221 is consistent with the width direction of the chassis 100, so as to increase the contact area with the material.

[0085] In order to further improve the stability of the lifting and lowering of the actuator component 220, optionally, the actuator component 220 can also include a guide plate 223 and a guide column 224, the guide plate 223 is fixed on the chassis 100, and a first guide hole and a second guide hole are formed on the guide plate 223, the lifting plate 221 is located on the side of the guide plate 223 away from the chassis 100, the lifting piston cylinder 222 passes through the first guide hole, one end of the guide column 224 is connected to the lifting plate 221, and the other end of the guide column 224 passes through the second guide hole and enters the accommodating space, and the guide column 224 can move under the limiting guidance of the second guide hole.

[0086] Through the cooperation between the guide column 224 and the second guide hole, the shaking of the actuator 220 during the lifting process can be avoided, thereby improving the stability of the material during the lifting process.

[0087] As an optional implementation, in addition, the guide column 224 cooperates with the guide plate 223 to absorb the lateral force transmitted to the transport robot by the material when the transport robot is accelerating or decelerating, thereby protecting the lifting piston cylinder 222 .

[0088] In the embodiment of the present invention, the guide plate 223 may be made of copper to enhance the ability to absorb lateral forces.

[0089] In the embodiment of the utility model, there is no special limitation on the specific number of the actuators 220. As an optional implementation, the grid lifting mechanism includes two actuators 220, which are spaced apart along the first direction D1 and located at two ends of the chassis 100.

[0090] exist Figure 1 In the embodiment shown in , the actuator 220 is located outside the traveling wheel mechanism, that is, the actuator 220 is closer to the end of the chassis 100 .

[0091] In the embodiment of the present utility model, there is no special limitation on the number of the lifting piston cylinder 222 and the guide column 224 included in each set of the actuator assembly 220. Figure 6 and Figure 7 In the illustrated embodiment, the actuator assembly includes two lifting piston cylinders 222 and two guide posts 224 corresponding to the two lifting piston cylinders 222 .

[0092] like Figure 8 As shown, in the embodiment of the utility model, the handling robot may further include a positioning recognition module 400, which is used to recognize features (e.g., QR code, barcode, etc.) at the bottom of a shelf or material. As an optional implementation, the positioning recognition module 400 may be a positioning camera.

[0093] By identifying the features of the bottom of the material, the relative position deviation between the handling robot and the material it carries can be determined, so that the position of the handling robot can be adjusted to achieve docking and handling.

[0094] In addition, a navigation and obstacle avoidance module may be provided on the chassis 100 to realize navigation of the transport robot and obstacle avoidance during the walking process of the transport robot.

[0095] As an optional implementation, the navigation and obstacle avoidance module may include laser sensors 500 disposed at at least two corners of the chassis 100 .

[0096] As an optional implementation, two laser sensors 500 are disposed on the chassis 100 , and the two laser sensors 500 are located on a diagonal line of the chassis 100 .

[0097] like Figure 6 As shown, a power module 600 may also be provided on the chassis 100 , through which the transport robot may be powered.

[0098] As an optional implementation, the shell may also be provided with peripheral settings such as an emergency stop button, a switch, and a light strip, which will not be described in detail here.

[0099] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention shall be included in the scope of the claims.

Claims

1. A robot chassis assembly, comprising a chassis, characterized in that: The robot chassis assembly further includes at least one seesaw and a plurality of wheel groups, wherein the plurality of wheel groups are arranged along a first direction, the wheel groups include a plurality of running wheel mechanisms, and the plurality of running wheel mechanisms of the wheel groups are arranged along a second direction, and the first direction intersects with the second direction. The length direction of the total seesaw is consistent with the second direction, the pivot support of the total seesaw is arranged on the chassis, the multiple running wheel mechanisms of at least one of the wheel sets are connected to the total seesaw, and the multiple running wheel mechanisms connected to the total seesaw are respectively located on both sides of the pivot support of the total seesaw.

2. The robot chassis assembly according to claim 1, characterized in that: The walking wheel mechanism includes a sub-seesaw, a steering wheel arranged at one end of the sub-seesaw, and at least one caster arranged at the other end of the sub-seesaw, and the length direction of the sub-seesaw is consistent with the first direction; With respect to the running wheel mechanism connected to the main seesaw, the pivot support of the sub-seesaw is arranged on the main seesaw; For the running wheel mechanism not connected to the main seesaw, the pivot support of the sub-seesaw is arranged on the chassis.

3. The robot chassis assembly according to claim 2, characterized in that: The chassis has a top surface and a bottom surface that are arranged opposite to each other, and the main seesaw and the sub-seesaw are both arranged on the top surface. The chassis is provided with a plurality of wheel holes penetrating the chassis in the thickness direction, and the steering wheel and the casters both pass through the corresponding wheel holes, so that a part of the steering wheel and a part of the casters protrude from the bottom surface.

4. The robot chassis assembly according to any one of claims 1 to 3, characterized in that: The first direction is a length direction of the chassis, and the second direction is a width direction of the chassis.

5. The robot chassis assembly according to claim 4, characterized in that: The robot chassis assembly includes two wheel groups, and the wheel group includes two walking wheel mechanisms. The two wheel groups are spaced apart along the first direction and are located at both ends of the chassis. The two walking wheel mechanisms in the wheel group are spaced apart along the second direction and are located on both sides of the chassis.

6. A transport robot, comprising a robot chassis assembly and a lifting mechanism, characterized in that: The robot chassis assembly is the robot chassis assembly according to any one of claims 1 to 5, and the lifting mechanism is arranged on the chassis.

7. The handling robot according to claim 6, characterized in that: The transport robot further comprises a shell, which is arranged on the top surface of the chassis and has a lifting hole formed on the shell; The main seesaw and the portion of the wheel set protruding from the top surface of the chassis are located in the accommodation space defined by the shell and the chassis; The lifting mechanism includes a driving component and multiple actuator components. The driving component is used to drive the multiple actuator components to rise and fall. The driving component is arranged in the accommodating space. Lifting holes corresponding to the actuator components are formed on the shell. The actuator components can be lifted and lowered through the lifting holes under the driving action of the driving component.

8. The handling robot according to claim 7, characterized in that: The actuator assembly includes a lifting plate and a lifting piston cylinder, one end of the lifting piston cylinder is fixedly connected to the chassis, and the other end of the lifting piston cylinder is connected to the lifting plate. The driving assembly is used to provide power fluid to the lifting piston cylinder to drive the lifting piston cylinder to extend and retract, and drive the lifting plate to rise and fall.

9. The handling robot according to claim 8, characterized in that: The actuator assembly also includes a guide plate and a guide column. The guide plate is fixed on the chassis and is formed with a first guide hole and a second guide hole. The lifting plate is located on the side of the guide plate away from the chassis. The lifting piston cylinder passes through the first guide hole. One end of the guide column is connected to the lifting plate, and the other end of the guide column passes through the second guide hole and enters the accommodating space. The guide column can move under the limiting guidance of the second guide hole.

10. The handling robot according to any one of claims 7 to 9, characterized in that: The lifting mechanism includes two actuating assemblies, which are spaced apart along the first direction and located at two ends of the chassis.

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