Mobile chassis and transfer robot

Abstract

The utility model discloses a mobile chassis and transfer robot relates to robot technical field, the mobile chassis is used for bearing movable dolly, the mobile chassis includes bearing structure, carrier plate and support structure, bearing structure includes bearing frame and first lifting piece, the drive end of first lifting piece abuts against the bearing frame, and the support structure includes the bearing frame and the first lifting piece. The carrier plate is connected to the first lifting part, the first lifting part drives the carrier plate to move close to or away from the bearing frame, and the supporting structure is arranged on the carrier plate and used for abutting against an external platform to support the carrier plate. The utility model aims to provide support for the movable chassis by actively abutting the movable chassis against the external step, so that the moving stability of the sub-vehicle is ensured, and the working efficiency is improved.

Description

Technical Field

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

[0002] A handling robot is a type of industrial robot that can perform automated handling operations. It can be equipped with different end effectors to complete the handling of various workpieces. It is widely used in industries such as machine tool loading and unloading, automated stamping machine production lines, automatic assembly lines, palletizing and handling, and container logistics.

[0003] An existing type of large truck compartments or areas to be stacked have working areas of different heights, forming steps with a certain height and length. When a handling robot encounters such steps, one method is to use a mother-and-child cart, in which the mother cart is used to drive the child cart to move, and the child cart is equipped with different end effectors to perform different tasks. The mother cart will lift the child cart to the same height as the step so that the child cart can seamlessly enter the step working area. However, there will be certain errors in the actual lifting process, so that the moving plane of the child cart will not be completely parallel to the step surface. At the same time, due to the large weight of the child cart, it will also have a certain impact on the lifting device of the mother cart when moving, thereby changing the height of the mother cart relative to the step, affecting the movement stability of the child cart and the efficiency of actual operations. Utility Model Content

[0004] The main purpose of the utility model is to provide a mobile chassis and a handling robot, which aims to actively abut against external steps through the mobile chassis to provide support for the mobile chassis, ensure the movement stability of the sub-vehicle, and improve work efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a mobile chassis for carrying a movable vehicle, the mobile chassis comprising:

[0006] A bearing structure, comprising a bearing frame and a first lifting member, wherein a driving end of the first lifting member abuts against the bearing frame;

[0007] a carrier plate connected to the first lifting member, wherein the first lifting member drives the carrier plate to move toward or away from the carrying frame; and

[0008] A supporting structure is provided on the carrier plate, and is used for abutting against an external platform to support the carrier plate.

[0009] In one embodiment, the support structure includes a driving member and a supporting member, the driving member is provided on the carrier plate, and the supporting member is connected to an output end of the driving member;

[0010] The driving member drives the supporting member to move so as to abut against the external platform and support the carrier plate.

[0011] In one embodiment, the carrier plate includes a body and two limit blocks, the two limit blocks are arranged opposite to each other and enclosed with the body to form a slide groove, and the extension direction of the slide groove is the same as the direction in which the driving member drives the supporting member to move;

[0012] At least a portion of the support member is slidably disposed in the sliding groove.

[0013] In one embodiment, the support member includes a connecting block and a supporting plate, the connecting block is connected to the output end of the driving member, the supporting plate is connected to an end of the connecting block away from the driving member, and the connecting block is slidably arranged in the sliding groove.

[0014] In one embodiment, the support member further comprises a pulley, and the pulley is rotatably disposed in the slide groove;

[0015] And / or, the plane where the board surface of the support plate is located is parallel to the plane where the board surface of the carrier plate is located.

[0016] In one embodiment, the carrier plate further comprises a roller, and the roller is rotatably disposed on the body;

[0017] The supporting structure further includes a stand, which is arranged on the supporting frame. The stand is provided with a rolling groove, the groove body of which extends in the same direction as the direction in which the first lifting member drives the carrier plate to move, and the roller is arranged to roll in the rolling groove.

[0018] In one embodiment, the mobile chassis has a front end and a rear end, and the trolley moves from the rear end to the front end and can be detached from the mobile chassis;

[0019] The supporting structure is arranged on the carrier plate and located at the front end, and the first lifting component is arranged at the rear end and connected to the carrier plate.

[0020] In one embodiment, the direction from the front end to the rear end is a first direction, and the direction perpendicular to the first direction is a second direction;

[0021] The mobile chassis further includes two second lifting members, which are spaced apart from the carrier plate along the second direction. The second lifting members are used to abut against the ground to drive the carrier plate towards or away from the supporting structure together with the first lifting member.

[0022] In one embodiment, the minimum distance between two second lifting members is greater than or equal to the width of the carrier plate along the second direction;

[0023] And / or, projections of the first lifting member and the second lifting member toward the surface of the carrier plate do not overlap with the surface of the carrier plate;

[0024] And / or, the mobile chassis further includes a control device, the control device including a controller and a sensor electrically connected to each other; the controller is electrically connected to the supporting structure and the first lifting member, and the sensor is used to obtain environmental information.

[0025] The present invention further provides a transport robot, comprising:

[0026] Cart; and

[0027] As with the above-mentioned mobile chassis, the trolley can be detachably mounted on the carrier plate of the mobile chassis.

[0028] The mobile chassis of the utility model is used to carry a movable trolley. The mobile chassis includes a load-bearing structure, a load plate and a supporting structure. The load-bearing structure includes a load-bearing frame and a first lifting member. The driving end of the first lifting member abuts against the load-bearing frame, and the load plate is connected to the first lifting member. The first lifting member can abut against the load-bearing frame to drive the load plate to move closer to or away from the load-bearing frame, and keep the load plate flush with the working area of ​​the external platform. The supporting structure is provided on the load plate, and the supporting structure is used to abut against the external platform to support the load plate, so that when the trolley moves from the mobile chassis to the external working area, the load plate is supported by the supporting structure so that the load plate always remains flush with the working area of ​​the external platform, thereby ensuring the stability of the trolley during movement and improving the efficiency of the trolley operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0030] Figure 1 This is a structural diagram of a mobile chassis in one embodiment of the present utility model;

[0031] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0032] Figure 3 This is a structural diagram of the mobile chassis from another perspective in one embodiment of the present utility model;

[0033] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0034] Figure 5 This is a structural diagram of a mobile chassis from another perspective in one embodiment of the present utility model;

[0035] Figure 6 This is a schematic structural diagram of a transport robot in one embodiment of the present invention;

[0036] Figure 7 FIG2 is a schematic structural diagram of a transport robot in another embodiment of the present invention.

[0037] Description of Figure Numbers:

[0038] 100. Mobile chassis; 1a. Front end; 1b. Rear end; 1. Load-bearing structure; 11. Load-bearing frame; 12. First lifting member; 13. Track; 14. Stand; 141. Rolling groove; 2. Carrying plate; 21. Main body; 22. Limit block; 23. Slide groove; 24. Roller; 3. Support structure; 31. Driving member; 32. Support member; 321. Connecting block; 322. Support plate; 323. Pulley; 4. Second lifting member; 500. Transport robot; 501. Trolley.

[0039] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] To achieve the above purpose, please refer to Figures 1 to 5 As shown, the utility model proposes a mobile chassis 100 for carrying a movable trolley 501. The mobile chassis 100 includes a load-bearing structure 1, a carrier plate 2 and a support structure 3. The load-bearing structure 1 includes a load-bearing frame 11 and a first lifting member 12. The driving end of the first lifting member 12 abuts against the load-bearing frame 11. The carrier plate 2 is connected to the first lifting member 12. The first lifting member 12 drives the carrier plate 2 to move closer to or away from the load-bearing frame 11. The support structure 3 is provided on the carrier plate 2. The support structure 3 is used to abut against an external platform to support the carrier plate 2.

[0044] In this embodiment, the mobile chassis 100 is applied to the handling robot 500, which includes a mobile chassis 100 and a movable trolley 501 carried by the mobile chassis 100, that is, the mobile chassis 100 can be called a mother trolley, and the trolley 501 that can move relative to the mobile chassis 100 can be called a sub-trolley. The handling robot 500 can be used for cargo handling in a truck, and the mobile chassis 100 carries the sub-trolley for driving. When the handling robot 500 drives to the gooseneck of the truck, the mobile chassis 100 lifts the sub-trolley to a position flush with the upper surface of the gooseneck by driving the lifting mechanism. The sub-trolley then separates from the mobile chassis 100 and enters the upper surface of the gooseneck to perform other tasks such as cargo handling. After the sub-trolley carries the cargo, it can return to the mobile chassis 100, thereby transporting the cargo on the upper surface of the gooseneck to the lower surface of the gooseneck, thereby improving the passability and stability of the sub-trolley and the mobile chassis 100.

[0045] In this embodiment, the supporting frame 11 is the main supporting structure 3 of the mobile chassis 100. The supporting frame 11 includes a frame and wheels. The frame is a frame structure, and the wheels are rotatably mounted on the frame. The wheels can be rubber wheels, or the supporting structure 1 also includes tracks 13. The tracks 13 are wrapped around the outer peripheral wall of the wheel to realize the movement of the mobile chassis 100.

[0046] At the same time, a first lifting member 12 is mounted on the supporting frame 11. The first lifting member 12 is a hydraulically driven lifting member or a motor-driven lifting member. The first lifting member 12 is connected to the carrier plate 2, and the driving end of the first lifting member 12 abuts against the supporting frame 11. The carrier plate 2 is a structure in the mobile chassis 100 for carrying the trolley 501. It is a plate-shaped or table-shaped structure. The carrier plate 2 is spaced apart from the frame of the supporting structure 1. The side surface of the carrier plate 2 facing away from the frame is used to carry the trolley 501. Under the drive of the first lifting member 12, the output end of the first lifting member 12 abuts against the supporting frame 11 and can lift the carrier plate 2 so that the carrier plate 2 is close to or away from the supporting frame 11, so that the carrier plate 2 can be kept flush with the external gooseneck or step, and the trolley 501 can pass smoothly.

[0047] In this embodiment, the mobile chassis 100 also includes a support structure 3, which can be a support plate 322 or a support frame or a support platform and other structures. The support structure 3 is arranged on the carrier plate 2, such as being arranged on the side of the carrier plate 2 facing away from the load-bearing frame 11 or the side facing the load-bearing frame 11, and the support structure 3 can be fixedly arranged on the carrier plate 2 or movably arranged on the carrier plate 2, so that when the first lifting member 12 drives the carrier plate 2 to remain flush with the working area of ​​the external platform, the support structure 3 can abut the working area of ​​the external platform to support the carrier plate 2.

[0048] It can be understood that when the mobile chassis 100 carries the trolley 501 to an area with steps or goosenecks, the first lifting member 12 can drive the carrier plate 2 to move away from the carrying frame 11 and keep the carrier plate 2 flush with the working plane of the steps. At this time, in the process of moving from the carrier plate 2 to the external working platform, the trolley 501 will have a certain downward pressure on the carrier plate 2 and the first lifting member 12 due to its own weight, and there is a certain height difference between the plate surface of the carrier plate 2 and the external working platform itself, so that the relative position between the carrier plate 2 and the working plane of the external platform is not fixed. There is a certain probability that the trolley 501 will collide with the steps of the external working platform when moving, and the stability of the trolley 501 when moving is also poor, thereby affecting the working efficiency of the trolley 501.

[0049] Based on this, the present application sets up a support structure 3. When the mobile chassis 100 carries the trolley 501 close to the external working area and makes the carrier plate 2 roughly aligned with the platform of the external working area, the support structure 3 abuts the external platform, so that the carrier plate 2 abuts the external platform through the support structure 3. Therefore, in the process of the trolley 501 moving from the carrier plate 2 to the external platform, the support structure 3 can always abut the external platform and keep the height of the carrier plate 2 relative to the external platform fixed, thereby improving the movement stability of the trolley 501 and improving the efficiency of actual operations.

[0050] The mobile chassis 100 is used to carry a movable trolley 501. The mobile chassis 100 includes a load-bearing structure 1, a carrier plate 2 and a support structure 3. The load-bearing structure 1 includes a load-bearing frame 11 and a first lifting member 12. The first lifting member 12 is provided on the load-bearing frame 11. The carrier plate 2 is connected to the first lifting member 12. The first lifting member 12 can drive the carrier plate 2 to move closer to or away from the load-bearing frame 11 by abutting the load-bearing frame 11, and keep the carrier plate 2 flush with the working area of ​​the external platform. The support structure 3 is provided on the carrier plate 2. The support structure 3 is used to abut the external platform to support the carrier plate 2, so that when the trolley 501 moves from the mobile chassis 100 to the external working area, the carrier plate 2 is supported by the support structure 3, so that the carrier plate 2 always remains flush with the working area of ​​the external platform, thereby ensuring the stability of the trolley 501 during movement and improving the efficiency of the operation of the trolley 501.

[0051] In one embodiment, if Figures 1 to 3 As shown, the support structure 3 includes a driving member 31 and a supporting member 32. The driving member 31 is provided on the carrier 2, and the supporting member 32 is connected to the output end of the driving member 31; the driving member 31 drives the supporting member 32 to move so as to abut against the external platform and support the carrier 2.

[0052] It can be understood that the driving member 31 is arranged on the carrier 2. The driving member 31 can be a servo motor, a cylinder or a hydraulic drive structure. The support member 32 is connected to the output end of the driving member 31. The support member 32 can be a support plate 322, a support table or a support frame and other structures. The driving member 31 can drive the support member 32 to move, and the driving member 31 can drive the support member 32 to extend out of the edge of the carrier 2 so that the support member 32 can abut the external platform and support the carrier 2. Therefore, it is preferred that the driving member 31 and the support member 32 in the support structure 3 are arranged at the edge of the carrier 2. After the driving member 31 drives the support member 32 to move a certain distance, the support member 32 can be extended out of the edge of the carrier 2.

[0053] It can be understood that by setting up the driving member 31, when the mobile chassis 100 reaches the vicinity of the step and the carrier plate 2 is lifted to be roughly flush with the step working area, the support member 32 can be driven to move to abut the external working platform to ensure the stable and rapid passage of the trolley 501. At the same time, after the mobile chassis 100 retracts the trolley 501 and completes the operation, the support member 32 can also be retracted by the driving member 31, and the carrier plate 2 can be driven to move toward the direction close to the supporting frame 11 by the first lifting member 12, thereby realizing the overall storage of the mobile chassis 100.

[0054] In one embodiment, if Figures 1 to 5As shown, the carrier plate 2 includes a main body 21 and two limit blocks 22. The two limit blocks 22 are arranged opposite to each other and enclosed with the main body 21 to form a slide groove 23. The extension direction of the slide groove 23 is the same as the movement direction of the driving member 31 driving the support member 32; at least part of the support member 32 is slidably arranged in the slide groove 23.

[0055] In this embodiment, the main body 21 of the carrier plate 2 is a complete plate structure, and the main body 21 is arranged roughly parallel to the ground. The first lifting member 12 is connected to the main body 21 to be able to drive the main body 21 to move in the direction closer to or away from the supporting frame 11. The above-mentioned driving member 31 and support member 32 are also arranged on the main body 21. At the same time, the carrier plate 2 also includes two limit blocks 22, and the two limit blocks 22 are arranged on the plate surface of the main body 21. The two limit blocks 22 are arranged opposite to each other. Half grooves are provided on the opposite sides of the two limit blocks 22, and the notches of the two half grooves are arranged opposite to each other, and the two half grooves and the plate surface of the main body 21 are jointly enclosed to form a slide groove 23, and at least part of the support member 32 is slidably arranged in the slide groove 23.

[0056] It can be understood that the groove extension direction of the slide 23 is the same as the direction in which the driving member 31 drives the support member 32 to move, and both move in the direction close to or away from the edge of the carrier 2. By setting two limit blocks 22 and forming a slide 23 between the two limit blocks 22, when the driving member 31 drives the support member 32 to move, it can ensure that the support member 32 always moves in the direction of the slide 23, and can ensure that the support member 32 moves in the direction close to or away from the edge of the carrier 2, so as to ensure that the support member 32 can stably abut against the external work platform, thereby improving the docking accuracy between the carrier 2 and the external work platform.

[0057] In one embodiment, if Figure 2 and Figure 4 As shown, the support member 32 includes a connecting block 321 and a supporting plate 322 . The connecting block 321 is connected to the output end of the driving member 31 . The supporting plate 322 is connected to the end of the connecting block 321 away from the driving member 31 . The connecting block 321 is slidably arranged in the sliding groove 23 .

[0058] The cam 322 is fixed to the work platform 321, and the cam 323 is fixed to the work platform 321, so that the cam 323 can be fixed to the work platform 321, thereby the cam 323 is fixed to the work platform 321.

[0059] In one embodiment, if Figure 4 As shown, the support member 32 also includes a pulley 323, which is rotatably mounted in the slide groove 23. It is understood that pulleys 323 are provided on both side walls of the connecting block 321 facing the two limit blocks 22, and the pulleys 323 are capable of being rotatably mounted in the half-groove formed by each limit block 22. The pulleys 323 roll in contact with the groove walls of the half-groove, and allow the connecting block 321 to slide between the two limit blocks 22. The provision of the pulleys 323 can reduce the frictional force when the connecting block 321 slides relative to the limit blocks 22, thereby ensuring the rapid response capability of the driving member 31 when driving the support member 32 to move. Optionally, the plane on which the surface of the support plate 322 lies is parallel to the plane on which the surface of the carrier plate 2 lies.

[0060] In one embodiment, if Figure 5 As shown, the carrier plate 2 also includes a roller, which is rotatably arranged on the main body 21; the supporting structure 1 also includes a stand 14, which is arranged on the supporting frame 11, and the stand 14 is provided with a rolling groove 141, and the groove body extension direction of the rolling groove 141 is the same as the direction in which the first lifting member 12 drives the carrier plate 2 to move, and the roller is arranged to roll in the rolling groove 141.

[0061] It can be understood that a rotatable roller is also provided on the main body 21 of the carrier plate 2, and the roller is provided at the edge of the main body 21. The supporting structure is provided with a stand 14 corresponding to the roller, and a rolling groove 141 is opened on the stand 14 so that the roller can roll in the rolling groove 141. At the same time, the groove extension direction of the rolling groove 141 is consistent with the direction in which the first lifting member 12 drives the carrier plate 2 to move relative to the supporting frame 11, so that in the process of driving the carrier plate 2 to move, the first lifting member 12 guides and limits the roller through the rolling groove 141 to avoid the carrier plate 2 from tilting forward and backward or left and right during the movement, thereby ensuring the accuracy of the position change of the carrier plate 2 and the stability during the movement.

[0062] In one embodiment, if Figure 1and Figure 3 As shown, the mobile chassis 100 has a front end 1a and a rear end 1b, and the trolley 501 moves from the rear end 1b to the front end 1a and can be detached from the mobile chassis 100; the supporting structure 3 is arranged on the carrier 2 and is located at the front end 1a, and the first lifting member 12 is arranged at the rear end 1b and connected to the carrier 2.

[0063] In this embodiment, the mobile chassis 100 has a front end 1a and a rear end 1b roughly along the moving direction, that is, when the mobile chassis 100 moves to the step or gooseneck, the front end 1a of the mobile chassis 100 can abut against or be spaced apart from the side wall of the step or gooseneck, and the trolley 501 located on the mobile chassis 100 can also move from the rear end 1b to the front end 1a, and enter the external working area such as the step from the front end 1a, wherein the support structure 3 is provided on the carrier 2 and located at the front end 1a of the mobile chassis 100, and the first lifting member 12 is provided at the rear end 1b of the mobile chassis 100 and is connected to the carrier 2, and the first lifting member 12 can drive the carrier 2 to move and move in the direction close to or away from the existing frame.

[0064] It can be understood that by setting the first lifting member 12, the carrier plate 2 can be driven to move and the carrier plate 2 can be kept roughly flush with the plane of the external working platform, so that the trolley 501 can pass through the carrier plate 2 and smoothly enter the external working area. The support structure 3 is set at the front end 1a of the carrier plate 2 on the mobile chassis 100. When the mobile chassis 100 drives the trolley 501 to arrive at the external working platform, it can first abut against the external working platform to support the carrier plate 2, thereby ensuring the stable and rapid passage of the trolley 501.

[0065] In one embodiment, if Figure 1 and Figure 3 As shown, the direction from the front end 1a to the rear end 1b is the first direction, and the direction perpendicular to the first direction is the second direction; the mobile chassis 100 also includes two second lifting members 4, and the two second lifting members 4 are arranged on the carrier plate 2 at intervals along the second direction. The second lifting members 4 are used to abut the ground to drive the carrier plate 2 towards or away from the supporting structure 1 together with the first lifting member 12.

[0066] In this embodiment, the mobile chassis 100 has a front end 1a and a rear end 1b along the moving direction of the trolley 501. The direction from the front end 1a to the rear end 1b is defined as a first direction, and the direction perpendicular to the first direction is defined as a second direction. That is, the trolley 501 of the mobile chassis 100 can move from the rear end 1b of the mobile chassis 100 to the front end 1a of the mobile chassis 100, and drive out of the mobile chassis 100 from the front end 1a. The first lifting member 12 and the second lifting member 4 are respectively arranged at the rear end 1b of the load-bearing frame 11 in the mobile chassis 100 and the front end 1a of the load-bearing frame 11 in the mobile chassis 100. The first lifting member 12 and the second lifting member 4 can be hydraulic lifting members or lifting members driven by a motor to move a screw, which is not limited here. The first lifting member 12 and the second lifting member 4 can be synchronous or asynchronous to achieve synchronous lifting or asynchronous lifting (that is, inclined lifting) of the carrier plate 2 at the front end 1a and the rear end 1b, so that the carrier plate 2 can adapt to the steps on the horizontal plane or the steps with a certain angle.

[0067] It can be understood that by arranging the second lifting member 4 at the front end 1a of the supporting frame 11 and the first lifting member 12 at the rear end 1b of the supporting frame 11, the carrier plate 2 can be kept stable during lifting and lowering, and the overall load-bearing capacity of the carrier plate 2 can be improved, especially the load-bearing capacity of the carrier plate 2 at the front end 1a, thereby effectively reducing the force and deformation of the trolley 501 when it moves to the front end 1a of the carrier plate 2, ensuring the accuracy of the alignment of the carrier plate 2 with the external step, and ensuring the synchronization and stability of the carrier plate 2 during lifting and lowering, as well as the stability of the trolley 501 during movement.

[0068] The carrier plate 2 is connected to the first lifting member 12 and the second lifting member 4, and is spaced apart from the supporting frame 11. The first lifting member 12 and the second lifting member 4 are used to drive the carrier plate 2 to move closer to or away from the supporting frame 11. The carrier plate 2 is used to carry the trolley 501. By setting the first lifting member 12 and the second lifting member 4, the position of the carrier plate 2 relative to the supporting frame 11 can be accurately and smoothly adjusted to improve the load capacity and lifting stability of the carrier plate 2, and effectively reduce the force and deformation of the carrier plate 2 at the front end 1a of the mobile chassis 100, so that the trolley 501 remains stable during the movement, thereby improving the working efficiency.

[0069] At the same time, two second lifters 4 are disposed at the front end 1a of the mobile chassis 100. The two second lifters 4 can be spaced apart along the second direction around the periphery of the carrier plate 2. The provision of the two second lifters 4 can enhance the synchronization and support stability of the second lifting. Furthermore, when lifting the carrier plate 2 together with the first lifter 12, unlike the first lifter 12, the second lifters 4 contact the ground to lift the carrier plate 2 toward or away from the support frame 11, allowing the carrier plate 2 to be lowered to a lower height (e.g., 5-10 cm) from the driving surface. Compared to the first lifter 12 disposed directly on the support frame 11, the second lifters 4 can significantly increase the movable lifting range of the carrier plate 2, breaking through the inherent height limitation.

[0070] In one embodiment, the minimum distance between the two second lifting members 4 is greater than or equal to the width of the carrier plate 2 along the second direction; it can be understood that the two second lifting members 4 are arranged on the two side peripheries of the carrier plate 2 along the second direction, and the minimum distance between the two second lifting members 4 is greater than or equal to the width of the carrier plate 2 along the second direction, so that the second lifting members 4 will not interfere with the board surface of the carrier plate 2 during the process of driving the carrier plate 2 to rise and fall, so that the board surface of the carrier plate 2 can accommodate a larger area and space for the trolley 501, and will not affect the normal movement and entry and exit of the trolley 501 located on the carrier plate 2.

[0071] Optionally, the projections of the first lifting member 12 and the second lifting member 4 toward the surface of the carrier plate 2 do not overlap with the surface of the carrier plate 2. Similarly, the first lifting member 12 and the second lifting member 4 do not occupy the area of ​​the carrier plate 2's support plane when driving the carrier plate 2 to move upward or downward, thereby ensuring that the support plane of the carrier plate 2 has a large support area and space, ensuring the normal movement and entry and exit of the trolley 501, and improving the accommodating capacity of the trolley 501.

[0072] In one embodiment, the mobile chassis 100 further includes a control device, which includes a controller and a sensor electrically connected to each other; the controller is electrically connected to the support structure 3 and the first lifting member 12, and the sensor is used to obtain environmental information.

[0073] It can be understood that the sensor can be a visual camera or a distance sensor, which is used to obtain the position of the external platform, especially the position of the working plane of the external platform for the movement of the trolley 501. The sensor is electrically connected to the controller, and the controller is electrically connected to the support structure 3 and the first lifting member 12. When the mobile chassis 100 arrives at the external working platform, the controller can control the movement of the first lifting member 12 and / or the second lifting member 4 to drive the carrier 2 to move toward or away from the load-bearing frame 11, and when the carrier 2 is away from the load-bearing frame 11 and remains roughly flush with the external working plane, the driving member 31 in the support structure 3 is controlled to move to drive the support member 32 to abut the external working platform, thereby ensuring the stability of the carrier 2, so that the carrier 2 always remains flush with the working area of ​​the external platform, and the stability of the trolley 501 during movement, thereby improving the efficiency of the operation of the trolley 501.

[0074] The present invention also provides a transport robot 500, such as Figure 5 and Figure 6 As shown, the transport robot 500 includes a trolley 501 and the aforementioned mobile chassis 100. The trolley 501 can be detachably mounted on the carrier plate 2 of the mobile chassis 100. The specific structure of the mobile chassis 100 is similar to that of the aforementioned embodiments. Since this electronic system utilizes all the technical solutions of all the aforementioned embodiments, it at least has all the beneficial effects brought about by the technical solutions of the aforementioned embodiments, which will not be detailed here.

[0075] It can be understood that the transport robot 500 is a parent-child vehicle structure, wherein the parent-child transport vehicle includes a mother vehicle and a child vehicle part. The mother vehicle is the above-mentioned mobile chassis 100, and the child vehicle is a trolley 501 that can be movably arranged on the mobile chassis 100. The mother vehicle can carry one or more child vehicles to shuttle and move in the working area. When it arrives at the designated working area, the child vehicle can be released and work independently. The mother vehicle can continue to move to other areas to release the child vehicle, or it can stand by on the spot and wait for the child vehicle to complete the work and return to its position. It has a wide range of applications in warehousing logistics, high-rise warehouses, container logistics and various production lines.

[0076] Among them, the handling robot 500 can be used for handling goods in a truck. The mother truck carries the child truck for travel. When the handling robot 500 travels to the gooseneck of the truck, the mother truck lifts the child truck to a position flush with the upper surface of the gooseneck through the lifting mechanism. The child truck then separates from the mother truck and enters the upper surface of the gooseneck to handle the goods. After the child truck carries the goods, it can return to the mother truck, and thus the goods on the upper surface of the gooseneck can be transported to the lower surface of the gooseneck. Both the mother truck and the child truck are provided with the above-mentioned vehicle body, that is, provided with a suspension mechanism, a wheel set and a track 13, so as to improve the passability and stability of the child truck and the mother truck in handling.

[0077] In actual implementation, the handling robot 500 can pull the conveyor line to the inside of the truck compartment. The conveyor line can transport the goods from outside the compartment to the handling robot 500 or transport the goods from the handling robot 500 to outside the compartment. The sub-trailer can be equipped with handling equipment such as manipulators to transport the goods from the conveyor line to the compartment or from the compartment to the conveyor line, thereby realizing automated loading or unloading of goods and saving production costs.

[0078] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A mobile chassis for carrying a movable trolley, characterized in that: The mobile chassis comprises: A bearing structure, the bearing structure comprising a bearing frame and a first lifting member, wherein a driving end of the first lifting member abuts against the bearing frame; a carrier plate connected to the first lifting member, wherein the first lifting member drives the carrier plate to move toward or away from the carrying frame; and A supporting structure is provided on the carrier plate, and is used for abutting against an external platform to support the carrier plate.

2. The mobile chassis according to claim 1, characterized in that The support structure includes a driving member and a supporting member, wherein the driving member is provided on the carrier plate, and the supporting member is connected to the output end of the driving member; The driving member drives the supporting member to move so as to abut against the external platform and support the carrier plate.

3. The mobile chassis according to claim 2, characterized in that: The carrier plate includes a main body and two limit blocks, the two limit blocks are arranged opposite to each other and enclosed with the main body to form a slide groove, and the extension direction of the slide groove is the same as the direction in which the driving member drives the supporting member to move; At least a portion of the support member is slidably disposed in the sliding groove.

4. The mobile chassis according to claim 3, characterized in that: The support member includes a connecting block and a supporting plate. The connecting block is connected to the output end of the driving member. The supporting plate is connected to an end of the connecting block away from the driving member. The connecting block is slidably arranged in the sliding groove.

5. The mobile chassis according to claim 4, characterized in that: The support member further includes a pulley, and the pulley is rotatably arranged in the slide groove; And / or, the plane where the board surface of the support plate is located is parallel to the plane where the board surface of the carrier plate is located.

6. The mobile chassis according to claim 3, characterized in that: The carrier plate further includes a roller, which is rotatably mounted on the body; The supporting structure further includes a stand, which is arranged on the supporting frame. The stand is provided with a rolling groove, the groove body of which extends in the same direction as the direction in which the first lifting member drives the carrier plate to move, and the roller is arranged to roll in the rolling groove.

7. The mobile chassis according to any one of claims 1 to 6, characterized in that The mobile chassis has a front end and a rear end, and the trolley moves from the rear end to the front end and can be separated from the mobile chassis; The supporting structure is arranged on the carrier plate and located at the front end, and the first lifting component is arranged at the rear end and connected to the carrier plate.

8. The mobile chassis according to claim 7, characterized in that: The direction from the front end to the rear end is a first direction, and the direction perpendicular to the first direction is a second direction; The mobile chassis further includes two second lifting members, which are spaced apart from the carrier plate along the second direction. The second lifting members are used to abut against the ground to drive the carrier plate towards or away from the supporting structure together with the first lifting member.

9. The mobile chassis according to claim 8, characterized in that: The minimum distance between the two second lifting members is greater than or equal to the width of the carrier plate along the second direction; And / or, projections of the first lifting member and the second lifting member toward the surface of the carrier plate do not overlap with the surface of the carrier plate; And / or, the mobile chassis further includes a control device, the control device including a controller and a sensor electrically connected to each other; the controller is electrically connected to the supporting structure and the first lifting member, and the sensor is used to obtain environmental information.

10. A transport robot, characterized in that: The handling robot comprises: Cart; and The mobile chassis according to any one of claims 1 to 9, wherein the trolley is detachably mounted on a carrier plate of the mobile chassis.

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