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 the movable dolly, the mobile chassis has the front end and the rear end along the dolly moving direction, the mobile chassis includes bearing structure, lifting structure and carrier plate, the lifting structure includes first lifting mechanism and second lifting mechanism, the first lifting mechanism is arranged at the front end of the bearing structure, the second lifting mechanism is arranged at the rear end of the bearing structure, the carrier plate is connected to the first lifting mechanism and the second lifting mechanism and is spaced from the bearing structure, the first lifting mechanism and the second lifting mechanism are used for driving the carrier plate to move close to or away from the bearing structure, and the carrier plate is used for bearing a trolley. The utility model aims to improve the lifting stability and the lifting load capacity of the mobile chassis, reduce the stress and deformation of the end part, and improve the operation efficiency.

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 truck, in which the mother truck is used to drive the child truck to move, and the child truck is equipped with different end effectors or performs handling tasks. Usually, a lifting device is set on the mother truck to keep the platform carrying the child truck flush with the steps of the external working area, so that the child truck can pass stably. However, the existing lifting device is only set at the tail of the mother truck. Due to the large weight of the child truck and the long length of the mother truck's platform carrying the child truck, the mother truck is subjected to greater force and deformation at the end away from the lifting device, affecting the load capacity and working efficiency of the handling robot. Utility Model Content

[0004] The main purpose of the utility model is to provide a mobile chassis and a handling robot, aiming to improve the lifting stability and lifting load capacity of the mobile chassis, reduce end force and deformation, and improve working efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a mobile chassis for carrying a movable trolley, wherein the mobile chassis has a front end and a rear end along the moving direction of the trolley, and the mobile chassis comprises:

[0006] load-bearing structure;

[0007] A lifting structure, the lifting structure comprising a first lifting mechanism and a second lifting mechanism, the first lifting mechanism being disposed at the front end of the supporting structure, and the second lifting mechanism being disposed at the rear end of the supporting structure; and

[0008] A carrier plate is connected to the first lifting mechanism and the second lifting mechanism and is spaced apart from the supporting structure. The first lifting mechanism and the second lifting mechanism are used to drive the carrier plate to move toward or away from the supporting structure. The carrier plate is used to carry the trolley.

[0009] In one embodiment, the first lifting mechanism includes a lifting drive member and a support assembly, the lifting drive member is provided on the bearing structure, and the support assembly is connected to the output end of the lifting drive member;

[0010] The supporting assembly is movably connected to the bearing structure and the carrier plate, and is located between the bearing structure and the carrier plate.

[0011] In one embodiment, the support assembly includes a first support frame and a second support frame that are rotatably connected, and one of the first support frame and the second support frame is connected to the lifting drive member;

[0012] One end of the first support frame is rotatably connected to the carrier plate, and the other end of the first support frame is slidably connected to the bearing structure;

[0013] One end of the second support frame is rotatably connected to the bearing structure, and the other end of the second support frame is slidably connected to the carrier plate.

[0014] In one embodiment, the first support frame includes a first support rod and a first connecting shaft, the second support frame includes a second support rod and a second connecting shaft, and the first support rod and the second support rod are rotatably connected;

[0015] The first connecting shaft is connected to the end of the rod body of the first supporting rod and is slidably connected to the bearing structure. The second connecting shaft is connected to the end of the rod body of the second supporting rod and is slidably connected to the carrier plate.

[0016] In one embodiment, the bearing structure is provided with a first sliding groove, and the carrier plate is provided with a second sliding groove;

[0017] The first connecting shaft can slide along the first sliding groove, and the second connecting shaft can slide along the second sliding groove.

[0018] In one embodiment, the lifting drive member is movably connected to the first connecting shaft;

[0019] And / or, the movement direction of the output end of the lifting drive member is the same as the extension direction of the groove body of the first sliding groove and the second sliding groove.

[0020] In one embodiment, the supporting structure includes:

[0021] A load-bearing driving member, wherein the load-bearing driving member is provided with a driving wheel;

[0022] A carrying frame, the carrying driving member is arranged on the carrying frame, and the carrying frame is provided with a driven wheel; and

[0023] A crawler belt is wound around the outer walls of the driving wheel and the driven wheel.

[0024] In one embodiment, the carrying frame and the crawler belt enclose a carrying space, and the carrying plate is limited to the carrying space;

[0025] The carrier plate is provided with a clearance groove, the clearance groove is connected to the carrying space, and part of the first lifting mechanism is located in the clearance groove.

[0026] In one embodiment, the mobile chassis further comprises a lap joint, the lap joint being provided on the carrier plate and located at the front end of the mobile chassis;

[0027] The overlapping portion extends along the surface of the carrier plate toward a direction away from the carrier plate.

[0028] The present invention further provides a transport robot, comprising:

[0029] Cart; and

[0030] As with the above-mentioned mobile chassis, the trolley can be detachably mounted on the carrier plate of the mobile chassis.

[0031] The mobile chassis of the utility model is used to carry a movable trolley. The mobile chassis has a front end and a rear end along the moving direction of the trolley. The mobile chassis includes a bearing structure, a lifting structure and a carrier plate. The lifting structure includes a first lifting mechanism and a second lifting mechanism. The first lifting mechanism is arranged at the front end of the bearing structure, and the second lifting mechanism is arranged at the rear end of the bearing structure. The carrier plate is connected to the first lifting mechanism and the second lifting mechanism and is spaced apart from the bearing structure. The first lifting mechanism and the second lifting mechanism are used to drive the carrier plate to move close to or away from the bearing structure. The carrier plate is used to carry the trolley. By setting the first lifting mechanism and the second lifting mechanism, the position of the carrier plate relative to the bearing structure can be accurately and smoothly adjusted to improve the load capacity and lifting stability of the carrier plate, and effectively reduce the force and deformation of the carrier plate at the front end of the mobile chassis, so that the trolley remains stable during movement and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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.

[0033] Figure 1 This is a structural diagram of a mobile chassis in one embodiment of the present utility model;

[0034] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0035] Figure 3 This is a structural diagram of the mobile chassis from another perspective in one embodiment of the present utility model;

[0036] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0037] Figure 5 This is a schematic structural diagram of a transport robot in one embodiment of the present invention;

[0038] Figure 6 FIG2 is a schematic structural diagram of a transport robot in another embodiment of the present invention.

[0039] Description of Figure Numbers:

[0040] 100. Mobile chassis; 1a. Front end; 1b. Rear end; 1. Load-bearing structure; 11. Load-bearing drive member; 111. Driving wheel; 12. Load-bearing frame; 13. Track; 14. Load-bearing space; 15. First slide; 2. Lifting structure; 21. First lifting mechanism; 211. Lifting drive member; 2111. Ring; 212. Support assembly; 213. First support frame; 2131. First support rod; 2132. First connecting shaft; 214. Second support frame; 2141. Second support rod; 2142. Second connecting shaft; 22. Second lifting mechanism; 3. Carrying plate; 31. Second slide; 32. Giving way; 4. Overlapping part; 500. Handling robot; 501. Transfer cart.

[0041] 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

[0042] 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 any creative work are within the scope of protection of the present invention.

[0043] 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.

[0044] 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 fact that ordinary technicians in this field can implement it. 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.

[0045] Please refer to Figures 1 to 6 As shown, in order to achieve the above-mentioned purpose, the utility model proposes a mobile chassis 100 for carrying a movable trolley 501. The mobile chassis 100 has a front end 1a and a rear end 1b along the moving direction of the trolley 501. The mobile chassis 100 includes a load-bearing structure 1, a lifting structure 2 and a carrier plate 3. The lifting structure 2 includes a first lifting mechanism 21 and a second lifting mechanism 22. The first lifting mechanism 21 is arranged at the front end 1a of the load-bearing structure 1, and the second lifting mechanism 22 is arranged at the rear end 1b of the load-bearing structure 1. The carrier plate 3 is connected to the first lifting mechanism 21 and the second lifting mechanism 22, and is spaced apart from the load-bearing structure 1. The first lifting mechanism 21 and the second lifting mechanism 22 are used to drive the carrier plate 3 to move close to or away from the load-bearing structure 1, and the carrier plate 3 is used to carry the trolley 501.

[0046] In this embodiment, the mobile chassis 100 is applied to the transport 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 transport robot 500 can be used for cargo transportation in a truck. The mobile chassis 100 carries the sub-trolley for travel. When the transport robot 500 travels 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 through a lifting mechanism. The sub-trolley then detaches from the mobile chassis 100 and enters the upper surface of the gooseneck to transport the cargo. 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.

[0047] In this embodiment, the bearing structure 1 is the main supporting structure of the mobile chassis 100. The bearing structure 1 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 bearing structure 1 also includes tracks 13. The tracks 13 are wrapped around the outer peripheral wall of the wheels to realize the movement of the mobile chassis 100.

[0048] At the same time, a lifting structure 2 is set up on the supporting structure 1. The lifting structure 2 is a hydraulically driven lifting structure 2 or a motor driven lifting structure 2. The output end of the lifting structure 2 is connected to the carrier plate 3. The carrier plate 3 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 3 is spaced apart from the frame of the supporting structure 1. The side surface of the carrier plate 3 facing away from the frame is used to carry the trolley 501. Under the drive of the lifting structure 2, the carrier plate 3 can be lifted to make the carrier plate 3 close to or away from the supporting structure 1, so that the carrier plate 3 can be kept flush with the external gooseneck or step, and the trolley 501 can pass smoothly.

[0049] 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, 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 lifting mechanism of the traditional transport robot 500 of this type is arranged at the rear end 1b of the mobile chassis 100. Since the length of the carrier plate 3 is long and the weight of the trolley 501 itself is heavy, the carrier plate 3 has insufficient carrying capacity for the trolley 501, especially at the front end 1a of the carrier plate 3, which has to withstand greater force and deformation, resulting in poor alignment accuracy between the carrier plate 3 and the gooseneck, and there is still a certain height difference, which makes the movement stability of the trolley 501 poor.

[0050] Based on this, Figures 1 to 4 As shown, the lifting structure 2 in the present application includes a first lifting mechanism 21 and a second lifting mechanism 22, wherein the first lifting mechanism 21 and the second lifting mechanism 22 are respectively arranged at the front end 1a of the load-bearing structure 1 in the mobile chassis 100 and the rear end 1b of the load-bearing structure 1 in the mobile chassis 100, and the first lifting mechanism 21 and the second lifting mechanism 22 can be hydraulic lifting mechanisms or lifting mechanisms driven by motors to move screws, which are not limited here, and the first lifting mechanism 21 and the second lifting mechanism 22 can be synchronous movements or asynchronous movements to achieve synchronous lifting or asynchronous lifting (i.e., inclined lifting) of the carrier plate 3 at the front end 1a and the rear end 1b, so that the carrier plate 3 can adapt to steps on the horizontal plane or steps with a certain angle.

[0051] It can be understood that by setting a first lifting mechanism 21 at the front end 1a of the supporting structure 1 and a second lifting mechanism 22 at the rear end 1b of the supporting structure 1, the carrier plate 3 can be kept stable during lifting and lowering, and the overall carrying capacity of the carrier plate 3 can be improved, especially the carrying capacity of the carrier plate 3 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 3, ensuring the accuracy of the alignment of the carrier plate 3 with the external step, and the stability of the trolley 501 during movement.

[0052] The mobile chassis 100 of the utility model is used to carry a movable trolley 501. The mobile chassis 100 has a front end 1a and a rear end 1b along the moving direction of the trolley 501. The mobile chassis 100 includes a load-bearing structure 1, a lifting structure 2 and a carrier plate 3. The lifting structure 2 includes a first lifting mechanism 21 and a second lifting mechanism 22. The first lifting mechanism 21 is arranged at the front end 1a of the load-bearing structure 1, and the second lifting mechanism 22 is arranged at the rear end 1b of the load-bearing structure 1. The carrier plate 3 is connected to the first lifting mechanism 21 and the second lifting mechanism 22, and is arranged at a distance from the load-bearing structure 1. The first lifting mechanism 21 and the second lifting mechanism 22 are used to drive the carrier plate 3 to move closer to or away from the load-bearing structure 1. The carrier plate 3 is used to carry the trolley 501. By providing the first lifting mechanism 21 and the second lifting mechanism 22, the position of the carrier plate 3 relative to the load-bearing structure 1 can be accurately and smoothly adjusted to improve the load capacity and lifting stability of the carrier plate 3, and effectively reduce the force and deformation of the carrier plate 3 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.

[0053] In one embodiment, if Figures 1 to 4 As shown, the first lifting mechanism 21 includes a lifting drive member 211 and a support assembly 212. The lifting drive member 211 is arranged on the supporting structure 1, and the support assembly 212 is connected to the output end of the lifting drive member 211; the support assembly 212 is movably connected to the supporting structure 1 and the carrier plate 3, and is located between the supporting structure 1 and the carrier plate 3.

[0054] It can be understood that the support assembly 212 is connected to the output end of the lifting drive 211. The support assembly 212 is the main support structure of the first lifting mechanism 21. The support assembly 212 can be a support frame or a support platform, and the support assembly 212 can also be a movably arranged frame. The support assembly 212 is movably connected to the load-bearing structure 1 and the carrier 3, so that through the drive of the lifting drive 211, the structure and height of the support assembly 212 can be changed, thereby changing the distance of the carrier 3 relative to the load-bearing structure 1, wherein the support assembly 212 can be arranged between the load-bearing structure 1 and the carrier 3, or it can be arranged outside the load-bearing structure 1 and the carrier 3. Specifically, the support assembly 212 can be a lifting structure 2 with multiple rods arranged crosswise, or it can be a support platform with an inclined surface. Through the drive of the lifting drive 211, the carrier 3 can be driven to move relative to the load-bearing structure 1 through the inclined surface. This is not limited here. The lifting drive 211 can be a motor, a cylinder, a hydraulic structure, etc., which is not limited here.

[0055] In one embodiment, if Figure 2 and Figure 4 As shown, the support assembly 212 includes a first support frame 213 and a second support frame 214 that are rotatably connected, and one of the first support frame 213 and the second support frame 214 is connected to the lifting drive member 211; one end of the first support frame 213 is rotatably connected to the carrier 3, and the other end of the first support frame 213 is slidably connected to the supporting structure 1; one end of the second support frame 214 is rotatably connected to the supporting structure 1, and the other end of the second support frame 214 is slidably connected to the carrier 3.

[0056] In this embodiment, the first support frame 213 and the second support frame 214 can be structures such as support rods or support frames. The first support frame 213 and the second support frame 214 can be arranged on the frame of the load-bearing structure 1. On the basis of connecting the load-bearing structure 1 and the carrier plate 3, the first support frame 213 and the second support frame 214 can also support the carrier plate 3 to ensure that the carrier plate 3 is arranged relative to the load-bearing structure 1, and the carrier plate 3 moves relative to the load-bearing structure 1.

[0057] Among them, one of the first support frame 213 and the second support frame 214 is slidably connected to the supporting structure 1, and the other of the first support frame 213 and the second support frame 214 is slidably connected to the carrier plate 3. Taking the process of the carrier plate 3 moving to approach the supporting structure 1 as an example, the first support frame 213 and the second support frame 214 will gradually rotate a certain angle and move toward the supporting structure 1. At this time, the first support frame 213 and the second support frame 214 are rotatably connected to each other, which can enable the first support frame 213 and the second support frame 214 to rotate at the same speed, thereby ensuring that the carrier plate 3 approaches the supporting structure 1 at a stable speed and folding the support assembly 212, effectively improving the stability of the support assembly 212 during the adjustment process.

[0058] In this embodiment, one end of the first support frame 213 is rotatably connected to the carrier plate 3, and the other end of the first support frame 213 is slidably engaged with the supporting structure 1, and the first support frame 213 can rotate relative to the carrier plate 3; one end of the second support frame 214 is rotatably connected to the supporting structure 1, and the other end of the second support frame 214 is slidably engaged with the carrier plate 3, and the second support frame 214 can rotate relative to the carrier plate 3.

[0059] Among them, the first support frame 213 can be a support rod structure, one end extending along the length direction of the support rod body is rotatably connected to the connected carrier plate 3, such as through hole-axis cooperation or mutual hinge to achieve rotational connection, and the other end extending along the length direction of the support rod body is slidably connected to the connected bearing structure 1, such as through a slide groove and a slider cooperation or a slide rod and a slider cooperation. At the same time, the second support frame 214 can also be a support rod structure, one end extending along the length direction of the support rod body is rotatably connected to the connected bearing structure 1, such as through hole-axis cooperation or mutual hinge to achieve rotational connection, and the other end extending along the length direction of the support rod body is slidably connected to the connected carrier plate 3, such as through a slide groove and a slider cooperation or a slide rod and a slider cooperation.

[0060] It can be understood that by rotatably connecting one end of the first support frame 213 to the carrier plate 3 and rotatably connecting one end of the second support frame 214 to the supporting structure 1, one end of the first support frame 213 and the second support frame 214 can be kept fixed, that is, the freedom of movement of the first support frame 213 and the second support frame 214 is limited. On the one hand, it can ensure that the other end of the first support frame 213 can slide relative to the supporting structure 1, and ensure that the other end of the second support frame 214 can slide relative to the carrier plate 3, thereby realizing the rotation of the first support frame 213 and the second support frame 214 relative to the carrier plate 3 or the supporting structure 1, so as to realize the folding or unfolding of the support assembly 212, so that the carrier plate 3 can be moved closer to or farther away from the supporting structure 1 without occupying the surrounding space, so as to realize the deployment or storage of the support assembly 212.

[0061] At the same time, the lifting drive 211 is connected to one of the first support frame 213 and the second support frame 214. The lifting drive 211 can drive the first support frame 213 or the second support frame 214 to move in a direction perpendicular to the movement of the carrier 3 relative to the supporting structure 1, thereby changing the angle between the first support frame 213 and the second support frame 214, so as to change the length of the first support frame 213 and the second support frame 214 between the carrier 3 and the supporting structure 1, thereby changing the height of the carrier 3 relative to the supporting structure 1.

[0062] It can be understood that, on the basis of supporting the supporting structure 1 by the first support frame 213 and the second support frame 214, the distance of the supporting structure 1 relative to the carrier plate 3 can also be adjusted by the first support frame 213 and the second support frame 214. Specifically, when it is necessary to change the height of the carrier plate 3 from the supporting structure 1, the lifting drive member 211 drives one end of the first support frame 213 to slide along the supporting structure 1, or the lifting drive member 211 drives one end of the second support frame 214 to slide along the carrier plate 3, so that during the driving process, the first support frame 213 and the second support frame 214 respectively start to slide at the sliding connection with the carrier plate 3 and the supporting structure 1, and at the same time, the first support frame 213 and the second support frame 214 respectively start to rotate at the rotating connection with the carrier plate 3 and the supporting structure 1, so that the positions of the first support frame 213 and the second support frame 214 relative to the carrier plate 3 and the supporting structure 1 change, thereby changing the distance of the carrier plate 3 relative to the supporting structure 1, and realizing the adjustment of the height of the carrier plate 3.

[0063] In one embodiment, if Figure 2 and Figure 4 As shown, the first support frame 213 includes a first support rod 2131 and a first connecting shaft 2132, and the second support frame 214 includes a second support rod 2141 and a second connecting shaft 2142. The first support rod 2131 and the second support rod 2141 are rotatably connected; the first connecting shaft 2132 is connected to the end of the rod body of the first support rod 2131 and is slidably connected to the supporting structure 1, and the second connecting shaft 2142 is connected to the end of the rod body of the second support rod 2141 and is slidably connected to the carrier plate 3.

[0064] In this embodiment, the first support frame 213 and the second support frame 214 have the same structure, wherein the first support frame 213 includes a first support rod 2131 and a first connecting shaft 2132, and the second support frame 214 includes a second support rod 2141 and a second connecting shaft 2142. The first support rod 2131 and the second support rod 2141 have the same structure, and the first connecting shaft 2132 and the second connecting shaft 2142 have the same structure, wherein one end of the first support rod 2131 is rotatably connected to the carrier plate 3, and the other end of the first support rod 2131 is connected to the first connecting shaft 2132, and at the same time, the end of the first connecting shaft 2132 is slidably connected to the supporting structure 1. Similarly, one end of the second support rod 2141 is rotatably connected to the supporting structure 1, and the other end of the second support rod 2141 is connected to the second connecting shaft 2142, and the end of the second connecting shaft 2142 is slidably connected to the carrier plate 3.

[0065] It can be understood that when the carrier plate 3 is folded or lifted, the carrier plate 3 will move closer to or away from the supporting structure 1, and the first support frame 213 and the second support frame 214 will start to move at the same time, changing the relative position between the first support frame 213 and the second support frame 214, and the relative position of the first support frame 213 and the second support frame 214 to the supporting structure 1 and the carrier plate 3. Specifically, taking the folding of the supporting structure 1 so that the supporting structure 1 is close to the carrier plate 3 as an example, the first support frame 213 is connected to the supporting structure 1 through the sliding connection of the first connecting shaft 2132, and the second support frame 214 is connected to the supporting structure 1 through the second connecting shaft. When one end of the sliding connection between 2142 and the carrier plate 3 begins to slide, the position between the first support frame 213 and the second support frame 214 changes, and the height between the carrier plate 3 and the supporting structure 1 also changes. At the same time, the rotation connection between the first support rod 2131 and the carrier plate 3, and the rotation connection between the second support rod 2141 and the supporting structure 1 all start to rotate synchronously, so that the angle between the first support rod 2131 and the second support rod 2141 gradually changes and gradually moves from a vertical state to a horizontal state. At this time, the carrier plate 3 also gradually moves away from the supporting structure 1.

[0066] It can be understood that the first support rod 2131 and the second support rod 2141 can achieve the maximum angle change based on sliding and rotation, that is, starting from the position where the supporting structure 1 and the carrier plate 3 are farthest apart, to folding until the carrier plate 3 abuts against the supporting structure 1, effectively improving the maximum adjustable range of the carrier plate 3 in the mobile chassis 100, and also minimizing the volume of the mobile chassis 100 after being fully folded, effectively reducing the space occupied during storage.

[0067] In one embodiment, if Figure 2 and Figure 4 As shown, the supporting structure 1 is provided with a first sliding groove 15 , and the carrying plate 3 is provided with a second sliding groove 31 ; the first connecting shaft 2132 can slide along the first sliding groove 15 , and the second connecting shaft 2142 can slide along the second sliding groove 31 .

[0068] It can be understood that the supporting structure 1 is provided with a first slide groove 15 so that the end of the first connecting shaft 2132 can be slidably arranged in the first slide groove 15, and the second slide groove 31 is provided on the carrier plate 3 so that the end of the second connecting shaft 2142 can be slidably arranged in the second slide groove 31, and the groove body extension direction of the second slide groove 31 is the same as the groove body extension direction of the first slide groove 15. Specifically, the supporting structure 1 and the carrier plate 3 can be provided with a slide rail, and the first slide groove 15 and the second slide groove 31 can be provided inside the slide rail, or the first slide groove 15 and the second slide groove 31 can be directly provided on the main structure of the supporting structure 1 and the carrier plate 3, and the support rods of the first support frame 213 and the second support frame 214 can slide in the same direction through the slider to achieve stable folding or lifting of the supporting structure 1, and ensure that the supporting structure 1 always approaches or moves away from the carrier plate 3 in the vertical direction.

[0069] In one embodiment, if Figures 1 to 4 As shown, the lifting drive member 211 is movably connected to the first connecting shaft 2132; it can be understood that the lifting drive member 211 is arranged on the supporting structure 1, and at the same time, the lifting drive member 211 is movably connected to the first connecting shaft 2132, so as to drive the first connecting shaft 2132 to push the first connecting shaft 2132 to slide relative to the supporting structure 1, and make the other end of the first support rod 2131 rotate relative to the carrier plate 3, and synchronously drive the second support rod 2141 to rotate relative to the first support rod 2131, so as to realize the change of the height of the carrier plate 3 relative to the supporting structure 1.

[0070] The output end of the lifting drive 211 is provided with a collar 2111, which is sleeved on the shaft of the first connecting shaft 2132. The lifting drive 211 drives the first connecting shaft 2132 to slide relative to the supporting structure 1 along the extension direction of the first chute 15. At the same time, the first connecting shaft 2132 also rotates within the hollow hole of the collar 2111 to realize the rotation of the first support rod 2131. Optionally, the movement direction of the output end of the lifting drive 211 is the same as the extension direction of the first chute 15 and the second chute 31.

[0071] In one embodiment, if Figure 1 and Figure 3 As shown, the supporting structure 1 includes a supporting driving member 11 and a supporting frame 12. The supporting driving member 11 is provided with a driving wheel 111 and a crawler track 13. The supporting driving member 11 is arranged on the supporting frame 12, and the supporting frame 12 is provided with a driven wheel; the crawler track 13 is wound around the outer wall of the driving wheel 111 and the driven wheel.

[0072] In this embodiment, the bearing structure 1 includes a bearing frame 12, a bearing drive member 11 and a crawler track 13. The bearing frame 12 is provided with a suspension mechanism, and the suspension mechanism includes a cantilever assembly and a suspension wheel, and the suspension wheel is movably connected to the cantilever assembly; the bearing drive member 11 includes a driving structure and a driven wheel connected to the bearing frame 12, and the driving structure and the driven wheel are respectively arranged on both sides of the suspension mechanism; the crawler track 13 surrounds the bearing drive member 11 and the suspension mechanism, and is arranged in contact with the driving structure, the driven wheel and the suspended bearing drive member 11.

[0073] In this embodiment, the load-bearing structure 1 is composed of a load-bearing frame 12, a load-bearing driving member 11 and a crawler 13. The load-bearing frame 12 is used to carry goods or other items. The load-bearing driving member 11 includes a driving structure and a driven wheel. The driving structure is a power wheel directly driven by a motor, that is, the power source of the load-bearing structure 1, which is used to drive the load-bearing frame 12 to move. The load-bearing frame 12 is provided with a suspension mechanism, which is arranged between the driving structure and the driven wheel. The crawler 13 is arranged around the driving structure, the driven wheel and the suspension mechanism. The suspension wheel in the suspension mechanism is movably connected to the cantilever assembly and is arranged in contact with the crawler 13. When the driving structure is running, the driving structure drives the crawler 13 to rotate around the driven wheel and the suspension mechanism to make the load-bearing structure 1 travel, wherein the driven wheel and the suspension wheel rotate with the crawler 13 and support the crawler 13. , to ensure the contact pressure between the crawler 13 and the driving structure, thereby avoiding slipping between the driving structure and the crawler 13; the setting of the suspension mechanism and the crawler 13 can play a buffering role. When the load-bearing structure 1 travels on an undulating road surface, the crawler 13 will deform accordingly along the undulating shape of the road surface, that is, when the load-bearing structure 1 travels on a convex road surface, the crawler 13 in contact with the ground will deform upward corresponding to the convexity. At this time, the crawler 13 presses the suspension wheel so that the suspension wheel is lifted relative to the cantilever assembly. When the load-bearing structure 1 travels on a concave road surface, the crawler 13 in contact with the ground will deform downward corresponding to the concaveness. At this time, the suspension wheel drops relative to the cantilever assembly. In this way, the load-bearing frame 12 of the load-bearing structure 1 can remain stable when traveling on an undulating road surface, thereby reducing the impact on the carried goods and improving the adaptability of the load-bearing structure 1 to driving conditions. When the supporting structure 1 runs into a pit or groove, the track 13 can prevent the supporting driving member 11 from falling into the pit or groove. Driven by the driving structure, the track 13 can cross the pit or groove, thereby improving the passability of the supporting structure 1.

[0074] In actual implementation, the supporting structure 1 can be provided with two or more groups of supporting driving members 11, and each supporting driving member 11 can be provided with a corresponding suspension mechanism. When the supporting structure 1 is provided with two groups of supporting driving members 11, the two groups of supporting driving members 11 are arranged on both sides of the supporting frame 12, and the driving structure and driven wheels in the supporting driving members 11 can improve the stability of the supporting frame 12 supported by the supporting driving members 11, and reduce the possibility of the supporting structure 1 overturning due to the uneven distribution of the carried goods or articles on the supporting frame 12; when the supporting structure 1 is running, the driving structure drives the crawler 13 to rotate forward or reverse to make the supporting structure 1 move forward or backward, and at the same time, the driving structures located on both sides of the supporting frame 12 can control the steering of the supporting structure 1 by forming a speed difference.

[0075] In one embodiment, the cantilever assembly includes a support rod and a support frame. The support rod is connected to the supporting frame 12 along the extension direction of the track 13. The support frame is connected to both sides of the support rod facing the track 13. The suspension wheel is movably connected to the support frame.

[0076] In this embodiment, the cantilever assembly consists of a support rod and a support frame. The support rod is arranged between the driving structure and the driven wheel along the extension direction of the track 13. At the same time, the support rod is located between the track 13 and there is a distance between the support rod and the track 13. In this way, the support frame can be arranged between the track 13 and the support rod along the extension direction of the track 13, and the support frame is simultaneously arranged on both sides of the support rod. The suspension wheel movably connected to the support frame can doubly support and buffer the track 13, further reducing the possibility of slipping of the track 13 and improving the stability of the supporting frame 12 during driving.

[0077] In actual implementation, the support rod and the supporting frame 12 can be welded, or detachably connected by bolts or a snap-fit ​​structure, and the support frame and the support rod can be welded, or detachably connected by bolts or a snap-fit ​​structure, which is not specifically limited here.

[0078] In one embodiment, the driving structure includes a driving member and a driving wheel 111 . The driving member is connected to the supporting frame 12 . The driving wheel 111 is connected to an output end of the driving member. The crawler track 13 is disposed around the driving wheel 111 .

[0079] In this embodiment, the driving structure consists of a driving member and a driving wheel 111. The driving wheel 111 is connected to the output end of the driving member and is connected to the supporting frame 12 through the driving member. The driving member drives the driving wheel 111 to rotate forward or reverse to drive the crawler 13 to rotate forward or flip, thereby driving the supporting structure 1 forward or backward.

[0080] In actual implementation, the driving member can be a motor, a gear can be set on the driving wheel 111, and the track 13 can be provided with corresponding tooth holes. The gears and the tooth holes are engaged to prevent the track 13 from falling off when the supporting structure 1 turns or tilts. At the same time, it can also prevent slipping between the driving wheel 111 and the track 13. Anti-skid ribs can be set on the side of the track 13 facing the ground to improve the adhesion of the track 13 to the ground, thereby improving the stability of the supporting structure 1 when traveling.

[0081] In one embodiment, if Figure 1 As shown, the carrying frame 12 and the crawler 13 enclose a carrying space 14 , and the carrying plate 3 is limited in the carrying space 14 ; the carrying plate 3 is provided with a clearance groove 32 , which is connected to the carrying space 14 , and part of the first lifting mechanism 21 is located in the clearance groove 32 .

[0082] In this embodiment, the carrying frame 12 and the two crawlers 13 located on both sides of the carrying frame 12 jointly enclose a carrying space 14, so that the carrier 3 is limited in the carrying space 14. At the same time, the first lifting mechanism 21 and the second lifting mechanism 22 are arranged in the carrying space 14 and connected to the carrier 3, and the first lifting mechanism 21 and the second lifting mechanism 22 can drive the carrier 3 to move in the carrying space 14.

[0083] At the same time, a clearance groove 32 is opened on the carrier plate 3, which passes through the body of the carrier plate 3 and is connected to the carrying space 14, so that part of the first lifting mechanism 21 is in the clearance groove 32. Specifically, one end of the first support rod 2131 rotatably connected to the carrier plate 3, and one end of the second support rod 2141 slidably connected to the carrier plate 3 can pass through the clearance groove 32 and be connected to the carrier plate 3, so that the clearance groove 32 avoids the first support rod 2131 and the second support rod 2141, and effectively increases the lifting height of the support assembly 212.

[0084] In one embodiment, if Figures 1 to 4 As shown, the mobile chassis 100 further includes a lap portion 4 , which is provided on the carrier plate 3 and located at the front end 1 a of the mobile chassis 100 ; the lap portion 4 extends along the surface of the carrier plate 3 in a direction away from the carrier plate 3 .

[0085] It can be understood that the overlapping portion 4 can be a overlapping plate or a overlapping platform. The overlapping portion 4 is provided on the carrier 3 and is located at the front end 1a of the mobile chassis 100. The overlapping portion 4 extends along the plate surface direction of the carrier 3 in the direction away from the carrier 3 and exceeds the edge of the carrier 3. When the support assembly 212 lifts the carrier 3 to keep it flush with the external working area, the plane at the edge of the external working area is overlapped by the overlapping portion 4 to fix and support the carrier 3, so that the carrier 3 is kept flush with the external working area to ensure the stability and bearing capacity of the carrier 3, reduce the force and deformation of the carrier 3 at the front end 1a, and ensure the stability of the trolley 501 when moving.

[0086] 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 is detachably mounted on the carrier plate 3 of the mobile chassis 100. The specific structure of the mobile chassis 100 is similar to that of the aforementioned embodiments. Since the present 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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 has a front end and a rear end along the moving direction of the trolley, and the mobile chassis includes: load-bearing structure; A lifting structure, the lifting structure comprising a first lifting mechanism and a second lifting mechanism, the first lifting mechanism being disposed at the front end of the supporting structure, and the second lifting mechanism being disposed at the rear end of the supporting structure; and A carrier plate is connected to the first lifting mechanism and the second lifting mechanism and is spaced apart from the supporting structure. The first lifting mechanism and the second lifting mechanism are used to drive the carrier plate to move toward or away from the supporting structure. The carrier plate is used to carry the trolley.

2. The mobile chassis according to claim 1, characterized in that The first lifting mechanism includes a lifting drive member and a support assembly, the lifting drive member is provided on the bearing structure, and the support assembly is connected to the output end of the lifting drive member; The supporting assembly is movably connected to the bearing structure and the carrier plate, and is located between the bearing structure and the carrier plate.

3. The mobile chassis according to claim 2, characterized in that: The support assembly includes a first support frame and a second support frame that are rotatably connected, and one of the first support frame and the second support frame is connected to the lifting drive member; One end of the first support frame is rotatably connected to the carrier plate, and the other end of the first support frame is slidably connected to the bearing structure; One end of the second support frame is rotatably connected to the bearing structure, and the other end of the second support frame is slidably connected to the carrier plate.

4. The mobile chassis according to claim 3, characterized in that: The first support frame includes a first support rod and a first connecting shaft, the second support frame includes a second support rod and a second connecting shaft, and the first support rod and the second support rod are rotatably connected; The first connecting shaft is connected to the end of the rod body of the first supporting rod and is slidably connected to the bearing structure. The second connecting shaft is connected to the end of the rod body of the second supporting rod and is slidably connected to the carrier plate.

5. The mobile chassis according to claim 4, characterized in that: The bearing structure is provided with a first sliding groove, and the carrying plate is provided with a second sliding groove; The first connecting shaft can slide along the first sliding groove, and the second connecting shaft can slide along the second sliding groove.

6. The mobile chassis according to claim 5, characterized in that: The lifting drive member is movably connected to the first connecting shaft; And / or, the movement direction of the output end of the lifting drive member is the same as the extension direction of the groove body of the first sliding groove and the second sliding groove.

7. The mobile chassis according to any one of claims 1 to 6, characterized in that The bearing structure comprises: A load-bearing driving member, wherein the load-bearing driving member is provided with a driving wheel; A carrying frame, the carrying driving member is arranged on the carrying frame, and the carrying frame is provided with a driven wheel; and A crawler belt is wound around the outer walls of the driving wheel and the driven wheel.

8. The mobile chassis according to claim 7, characterized in that: The load-bearing frame and the crawler belt enclose a load-bearing space, and the load plate is limited to the load-bearing space; The carrier plate is provided with a clearance groove, the clearance groove is connected to the carrying space, and part of the first lifting mechanism is located in the clearance groove.

9. The mobile chassis according to claim 8, characterized in that: The mobile chassis further includes a lap joint portion, which is provided on the carrier plate and located at the front end of the mobile chassis; The overlapping portion extends along the surface of the carrier plate toward a direction away from the carrier plate.

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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