Chassis and loading and unloading robot

Abstract

The chassis comprises a frame body, a first moving assembly and a second moving assembly, the first moving assembly is arranged below the frame body, and the first moving assembly is hinged to the frame body; the second moving assembly is arranged below the frame body and hinged to the frame body, and the first moving assembly and the second moving assembly are located at the two ends of the frame body correspondingly; the first moving assembly and the second moving assembly are used for driving the frame body to move. In addition, the first moving assembly and the second moving assembly can control the height of the frame body by changing the height of the first moving assembly and the height of the second moving assembly, and therefore the goods taking and placing range of the goods taking and placing mechanism arranged on the frame body can be enlarged, and goods taking and placing of the goods taking and placing mechanism are facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics equipment, and particularly relates to a chassis and a loading and unloading robot. BACKGROUND

[0002] The loading and unloading robot is generally used for loading and unloading goods and comprises a moving mechanism and a goods taking and placing mechanism. The goods taking and placing mechanism is arranged on the moving mechanism, and the moving mechanism is used for moving the goods taking and placing mechanism to the side of the goods so that the goods taking and placing mechanism can take and place the stacked goods.

[0003] In the related art, the moving mechanism of the loading and unloading robot cannot be lifted, so that the taking and placing range of the goods taking and placing mechanism arranged on the moving mechanism is small. CONTENT OF THE UTILITY MODEL

[0004] Embodiments of the present application provide a chassis and a loading and unloading robot to solve the problem of small taking and placing range of the goods taking and placing mechanism of the loading and unloading robot in the prior art.

[0005] In a first aspect, the embodiments of the present application provide a chassis, comprising:

[0006] a frame body;

[0007] a first moving assembly arranged below the frame body and hinged to the frame body;

[0008] a second moving assembly arranged below the frame body and hinged to the frame body, and the first moving assembly and the second moving assembly are respectively located at two ends of the frame body;

[0009] The first moving assembly and the second moving assembly respectively control the height of the frame body by changing the height thereof.

[0010] In a feasible implementation manner, the first moving assembly has at least two groups, and all the first moving assemblies are coaxially arranged along the width direction of the frame body.

[0011] And / or, the second moving assembly has at least two groups, and all the second moving assemblies are coaxially arranged along the width direction of the frame body.

[0012] In a feasible implementation manner, the walking driving structure of the first moving assembly and the second moving assembly is driven by a common single motor; or a motor is respectively used for driving, or a wheel edge driving mode is used for driving.

[0013] In a feasible implementation manner, the first moving assembly comprises a first lifting assembly and a first moving wheel group.

[0014] The first lifting assembly comprises a first connecting rod, a first linear driving assembly and a second connecting rod, the first linear driving assembly is arranged on the frame body, one end of the first connecting rod is hinged to the frame body, and the other end of the first connecting rod is hinged to the first moving wheel set;

[0015] One end of the second connecting rod is hinged to the first moving wheel set, and the other end of the second connecting rod is connected to the first linear driving assembly, and the first linear driving assembly is used for changing the support angle of the first connecting rod and the second connecting rod.

[0016] In a feasible implementation, the first linear driving assembly comprises a bracket, a first transmission assembly and a third driving motor, the bracket is arranged on the frame body, the first transmission assembly is arranged on the bracket, and the third driving motor is arranged on the bracket; the third driving motor drives the end portions of all the second connecting rods to move through the first transmission assembly.

[0017] In a feasible implementation, the first moving wheel set comprises a first mounting seat and a first wheel, the first connecting rod and the second connecting rod are respectively hinged to the first mounting seat, and the first wheel is provided with one or more;

[0018] When the first wheel is provided with a plurality of first wheels, the plurality of first wheels are arranged in front of and behind each other along the moving direction or are coaxially arranged side by side, and each first wheel is connected to the driving structure.

[0019] In a feasible implementation, the first moving wheel set comprises a first mounting seat, a first driving motor and a first wheel, the first connecting rod and the second connecting rod are respectively hinged to the first mounting seat, the first driving motor is arranged on the first mounting seat, the first wheel is rotationally arranged on the first mounting seat, the first driving motor is connected to the first wheel, and the first driving motor drives the first wheel to rotate.

[0020] In a feasible implementation, the first moving assembly comprises the first lifting assembly and the first moving wheel set.

[0021] The first lifting assembly comprises two four-connecting-rod assemblies and a first linear driving assembly, one end of one four-connecting-rod assembly is connected to the frame body, and the other end is connected to the first moving wheel set;

[0022] One end of the other four-connecting-rod assembly is connected to the first linear driving assembly, and the other end is connected to the first moving wheel set, and the first linear driving assembly is used for changing the support angle of the two four-connecting-rod assemblies.

[0023] In a feasible implementation, the second moving assembly comprises a second lifting assembly and a second moving wheel set.

[0024] The second lifting assembly comprises a hinged rod and a second linear driving assembly, one end of the hinged rod is hinged to the frame body, the other end of the hinged rod is hinged to the second moving wheel set, one end of the second linear driving assembly is hinged to the frame body, the other end of the second linear driving assembly is hinged to the hinged rod, and the second linear driving assembly adjusts the height of the frame body by changing the support angle of the hinged rod.

[0025] In a feasible implementation, the second moving wheel set comprises a second mounting seat and a second wheel, the second mounting seat is hinged to the hinged rod, and the second wheel is connected to the second mounting seat in a matching mode.

[0026] When a plurality of second wheels are provided, the plurality of second wheels are arranged in front of and behind each other along the moving direction or are arranged side by side.

[0027] In a feasible implementation, the second moving wheel set comprises a second mounting seat, at least two second wheels, a second driving motor and a second transmission assembly, the second mounting seat is hinged to the hinged rod, the at least two second wheels are respectively connected to the second mounting seat in a matching mode, and the at least two second wheels are respectively arranged at two ends of the second mounting seat, the second driving motor is arranged on the second mounting seat, the second transmission assembly is arranged on the second mounting seat, and the second driving motor drives all the second wheels to rotate through the second transmission assembly.

[0028] In a feasible implementation, the second linear driving assembly is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0029] In a second aspect, the embodiments of the present application provide a loading and unloading robot, which comprises a cargo conveying mechanism, a cargo grabbing mechanism and the chassis of the first aspect.

[0030] In a first aspect, the embodiments of the present application provide a chassis, which comprises a frame body, a first moving assembly and a second moving assembly, wherein the first moving assembly is arranged below the frame body and is hinged to the frame body, the second moving assembly is arranged below the frame body and is hinged to the frame body, the first moving assembly and the second moving assembly are respectively arranged at two ends of the frame body, and the first moving assembly and the second moving assembly are used to drive the frame body to move. In addition, the first moving assembly and the second moving assembly can respectively control the height of the frame body by changing the height of the first moving assembly and the second moving assembly, so as to expand the range of taking and placing cargos of a cargo taking and placing mechanism arranged on the frame body, and facilitate the cargo taking and placing mechanism to take and place cargos.

[0031] In a second aspect, the embodiments of the present application provide a loading and unloading robot, which comprises a cargo conveying mechanism, a cargo grabbing mechanism and the chassis of the first aspect. Since the loading and unloading robot comprises the chassis in any of the above technical solutions, the loading and unloading robot has all the beneficial effects of the chassis in any of the above technical solutions, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. The detailed description of the application refers to the accompanying drawings.

[0033] In the drawings:

[0034] Figure 1 is a schematic diagram of the overall structure of the chassis provided by an embodiment of the application;

[0035] Figure 2 is a schematic diagram of the first moving assembly in Figure 1

[0036] Figure 3 is a schematic diagram of the second moving assembly in Figure 1

[0037] Figure 4 is a schematic diagram of the second moving assembly provided by another embodiment of the application;

[0038] Figure 5 is a schematic diagram of the structure of the loading and unloading robot provided by an embodiment of the application.

[0039] Legend of reference signs:

[0040] a - cargo conveying mechanism; b - cargo grabbing mechanism;

[0041] 100 - frame body; 200 - first moving assembly; 300 - second moving assembly;

[0042] 210 - first lifting assembly; 220 - first moving wheel set; 310 - second lifting assembly; 320 - second moving wheel set;

[0043] 211 - four-bar linkage assembly; 212 - first linear drive assembly; 221 - first mounting seat; 222 - first drive motor; 223 - first wheel; 311 - hinged rod; 312 - second linear drive assembly; 321 - second mounting seat; 322 - second wheel; 323 - second drive motor; 324 - second transmission assembly;

[0044] 2121 - bracket; 2122 - first transmission assembly; 2123 - third drive motor. DETAILED DESCRIPTION

[0045] ​​In order to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0046] In the description of the embodiments of the present application, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0047] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0049] The loading and unloading robot is usually used for loading and unloading goods, including a moving mechanism and a goods taking and placing mechanism. The goods taking and placing mechanism is arranged on the moving mechanism, and the moving mechanism is used to move the goods taking and placing mechanism to the side of the goods, so that the goods taking and placing mechanism can take and place the stacked goods.

[0050] In the related art, the moving mechanism of the loading and unloading robot cannot be lifted, resulting in a small range of taking and placing goods of the goods taking and placing mechanism arranged on the moving mechanism.

[0051] To solve the above problems, the embodiment of the present application provides a chassis and a loading and unloading robot, and the scheme provided by the embodiment of the present application will be described in detail below in combination with the drawings of the specification.

[0052] Figure 1 is a schematic diagram of the overall structure of the chassis provided by an embodiment of the present application; Figure 2 is a schematic diagram of the structure of the first moving assembly in Figure 1 . Figure 3 is a schematic diagram of the structure of the second moving assembly in Figure 1 .

[0053] In the first aspect, referring to Figures 1 to 3 , the embodiment of the present application provides a chassis, which comprises a frame body 100, a first moving assembly 200 and a second moving assembly 300, wherein the first moving assembly 200 is arranged below the frame body 100, and the first moving assembly 200 is hinged to the frame body 100; the second moving assembly 300 is arranged below the frame body 100, and the second moving assembly 300 is hinged to the frame body 100, and the first moving assembly 200 and the second moving assembly 300 are respectively located at two ends of the frame body 100; the first moving assembly 200 and the second moving assembly 300 are used to drive the frame body 100 to move. In addition, the first moving assembly 200 and the second moving assembly 300 can respectively control the height of the frame body 100 by changing their own heights, so as to expand the range of taking and placing goods of the goods taking and placing mechanism arranged on the frame body 100, and facilitate the goods taking and placing mechanism to take and place goods.

[0054] In some examples, the first moving assembly 200 and the second moving assembly 300 are completely the same in structure, can be individually lifted, and are simultaneously used to drive the frame body 100 to move. For the convenience of description, the moving direction of the frame body 100 is taken as the front, and the corresponding direction is taken as the back, and the moving direction of the frame body 100 can be shown by referring to the x direction in Figure 1 . For example, the second moving assembly 300 is arranged at the front end of the frame body 100, and the first moving assembly 200 is arranged at the rear end of the frame body 100. The number of the first moving assembly 200 and the second moving assembly 300 can be set according to actual needs.

[0055] For example, the frame body 100 can be a truss structure welded by sectional materials, or can be a plane structure welded by sectional materials, which is prior art and will not be described here.

[0056] Continuing to refer to Figure 1As shown, the first moving assembly 200 is exemplarily provided with at least two groups, and all the first moving assemblies 200 are coaxially arranged along the width direction of the frame 100; and / or, the second moving assembly 300 is provided with at least two groups, and all the second moving assemblies 300 are coaxially arranged along the width direction of the frame 100. It should be noted that the width direction of the frame 100 refers to the direction perpendicular to the moving direction of the frame 100.

[0057] In order to keep the frame 100 stable, two groups of second moving assemblies 300 can be arranged in front of the frame 100, and two groups of first moving assemblies 200 can be arranged in the rear of the frame 100 to support the frame 100; or one second moving assembly 300 can be arranged in front of the frame 100, and two groups of first moving assemblies 200 can be arranged in the rear of the frame 100; or one second moving assembly 300 can be arranged in front of the frame 100, and two groups of first moving assemblies 200 can be arranged in the rear of the frame 100.

[0058] In some examples, the walking driving structures of the first moving assembly and the second moving assembly are respectively driven by a single motor; or respectively driven by one motor, or driven by a wheel-side driving mode. Specifically, the first moving assembly and the second moving assembly are connected together through a transmission component, the single motor is connected with the transmission component, and all the first moving assemblies and the second moving assemblies are driven to move by the single motor.

[0059] Alternatively, each first moving assembly and second moving assembly is connected with one motor respectively, and each motor drives the corresponding first moving assembly or second moving assembly to move. Alternatively, each first moving assembly or second moving assembly is driven by a wheel-side driving mode. It should be noted that the wheel-side driving mode is a prior art, which will not be described here. In some other examples, the first moving assembly 200 includes a first lifting assembly 210 and a first moving wheel group 220. The first lifting assembly 210 includes a first connecting rod, a first linear driving assembly 212 and a second connecting rod, the first linear driving assembly 212 is arranged on the frame 100, one end of the first connecting rod is hingedly connected with the frame 100, and the other end of the first connecting rod is hingedly connected with the first moving wheel group 220. One end of the second connecting rod is hingedly connected with the first moving wheel group 220, and the other end of the second connecting rod is connected with the first linear driving assembly 212, and the first linear driving assembly 212 is used to change the support angle of the first connecting rod and the second connecting rod.

[0060] Exemplarily, the first lifting assembly 210 comprises a first connecting rod, a first linear driving assembly 212 and a second connecting rod. The first linear driving assembly 212 is arranged on the lower surface of the frame body 100 in the front-rear direction. One end of the first connecting rod is hingedly connected to the frame body 100 through a pin shaft, and the other end is hingedly connected to the first moving wheel set 220 through a pin shaft. One end of the second connecting rod is hingedly connected to the first moving wheel set 220, and the other end is hingedly connected to a movable element on the first linear driving assembly 212 through a pin shaft. The first linear driving assembly 212 drives the movable element to move, thereby driving the end of the second connecting rod to move, changing the support angle of the first connecting rod and the second connecting rod, and further changing the height of the rear end of the frame body 100.

[0061] Referring to Figure 1 and Figure 2 In some other examples, the first lifting assembly 210 comprises two four-link assemblies 211 and a first linear driving assembly 212. One end of one four-link assembly 211 is connected to the frame body 100, and the other end is connected to the first moving wheel set 220. One end of the other four-link assembly 211 is connected to the first linear driving assembly 212, and the other end is connected to the first moving wheel set 220. The first linear driving assembly 212 is used to change the support angle of the two four-link assemblies 211. It can be understood that the four-link assembly 211 has greater strength, which can more stably connect the first moving wheel set 220 and the frame body 100, so that the frame body 100 can bear greater weight.

[0062] As shown in Figure 1 , the first linear driving assembly 212 comprises a bracket 2121, a first transmission assembly 2122 and a third driving motor 2123. The bracket 2121 is arranged on the frame body 100, the first transmission assembly 2122 is arranged on the bracket 2121, and the third driving motor 2123 is arranged on the bracket 2121. The third driving motor 2123 is connected to the first transmission assembly 2122, and drives the end of all the second connecting rods to move through the first transmission assembly 2122. Exemplarily, the first transmission assembly 2122 is configured as a screw nut transmission assembly, comprising a transmission screw and a matching nut. The transmission screw is arranged on the bracket 2121 and connected to the first driving motor 222, and the matching nut is arranged on the transmission screw and fixedly connected to the end of the second connecting rod. That is to say, the third driving motor 2123 drives the end of the second connecting rod to move through the transmission screw and the matching nut.

[0063] In addition, it can be understood that the first linear driving assembly 212 can also be an electric cylinder, a pneumatic cylinder, a hydraulic cylinder or other linear driving assembly, as long as it can drive the end of the four-link assembly 211 to move, which will not be listed here.

[0064] Continuing to refer to Figure 1 andFigure 2 As shown in FIG. 2, the first moving wheel set 220 includes a first mounting base 221, a first driving motor 222, and a first wheel 223. The first mounting base 221 is hingedly connected to the first linkage and the second linkage. The first driving motor 222 is disposed on the first mounting base 221. The first wheel 223 is rotatably disposed on the first mounting base 221. The first driving motor 222 is connected to the first wheel 223. The first driving motor 222 drives the first wheel 223 to rotate. In some examples, the first moving wheel set 220 is configured to drive an integrated wheel. The first linkage and the second linkage are hingedly connected to the integrated wheel. In addition, the first wheel 223 can be provided with one or more. When the first wheel 223 is provided with a plurality of first wheels 223, the plurality of first wheels 223 are arranged in front of and behind each other along the moving direction or are coaxially arranged side by side. All the first wheels 223 are respectively connected to the first driving motor 222.

[0065] Continuing to refer to FIG. 2, Figure 1 and Figure 3 As shown in FIG. 2, the second moving assembly 300 includes a second lifting assembly 310 and a second moving wheel set 320. The second lifting assembly 310 includes a hinged rod 311 and a second linear driving assembly 312. One end of the hinged rod 311 is hingedly connected to the frame 100. The other end of the hinged rod 311 is hingedly connected to the second moving wheel set 320. One end of the second linear driving assembly 312 is hingedly connected to the frame 100. The other end of the second linear driving assembly 312 is hingedly connected to the hinged rod 311. The second linear driving assembly 312 changes the support angle of the hinged rod 311 by elongation or shortening, thereby adjusting the height of the frame 100. In some examples, the second linear driving assembly 312 is configured as one of an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0066] As shown in FIG. 2, Figure 1 and Figure 3 The second moving wheel set 320 includes a second mounting base 321 and a second wheel 322. The second mounting base 321 is hingedly connected to the hinged rod 311. The second wheel 322 is connected to the second mounting base 321. When the second wheel 322 is provided with a plurality of second wheels 322, the plurality of second wheels 322 are arranged in front of and behind each other along the moving direction of the frame 100 or are arranged side by side. The plurality of second wheels 322 are respectively disposed at both ends of the second mounting base 321. Each second wheel 322 is connected to the walking driving structure. Referring to FIG. 2, Figure 3 In this embodiment, the second moving wheel set 320 includes two second wheels 322. The two second wheels 322 are respectively disposed at the front and rear ends of the second mounting base 321.

[0067] In addition, the second moving wheel set 320 is exemplarily provided with a second driving motor 323 and a second transmission assembly 324. The second driving motor 323 is arranged on the second mounting seat 321, and the second transmission assembly 324 is arranged on the second mounting seat 321. The second driving motor 323 drives all the second wheels 322 to rotate through the second transmission assembly 324. Since the front and rear ends of the second mounting seat 321 are both provided with the second wheels 322, when passing through the obstacle, one of the two second wheels 322 is always in contact with the ground, so as to ensure that the frame body 100 always maintains a horizontal state, and ensure that the device moves stably as a whole.

[0068] Figure 4 The second moving assembly 300 is provided according to another embodiment of the present application.

[0069] Referring to Figure 4 In some other examples, the second moving wheel set 320 includes a second mounting seat 321, a second driving motor 323 and a second wheel 322. The second mounting seat 321 is fixedly connected with one end of the articulated rod 311. The second driving motor 323 is fixed on the second mounting seat 321. The second wheel 322 is installed on the second mounting seat 321 and is fixedly connected with the output end of the second driving motor 323. The second moving wheel set 320 is a single-motor and single-wheel driving type. The second mounting seat 321 in the second moving wheel set 320 is smaller in size than the second mounting seat 321 in the second moving wheel set 320 of the multi-wheel driving type.

[0070] Figure 5 The figure is a structural schematic diagram of a loading and unloading robot according to an embodiment of the present application.

[0071] Referring to Figure 5 In a second aspect, the present application provides a loading and unloading robot, which includes a cargo conveying mechanism a, a cargo grabbing mechanism b and the chassis of the first aspect. The cargo conveying mechanism a is designed on the chassis, and the cargo grabbing mechanism b is arranged on the chassis and connected with the cargo conveying mechanism a. When unloading, the chassis is moved to a designated position, the cargo grabbing mechanism b moves the grabbed cargo to the cargo conveying mechanism a, and the cargo conveying mechanism a conveys the cargo to the designated position. Since the loading and unloading robot includes the chassis in any of the above technical solutions, it has all the beneficial effects of the chassis in any of the above technical solutions, which will not be described here.

[0072] It is easy to understand that, based on the several embodiments provided by the present application, a person skilled in the art can combine, split, recombine and obtain other embodiments of the present application, and these embodiments do not exceed the protection scope of the present application.

[0073] The above detailed description of the embodiments of the present application is merely intended to provide a further detailed description of the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific implementation of the embodiments of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A chassis, characterized in that The utility model relates to a kind of movable shelf, including: Frame (100); First mobile assembly (200) is arranged below the frame (100), and the first mobile assembly (200) is hinged with the frame (100); Second mobile assembly (300) is arranged below the frame (100), and the second mobile assembly (300) is hinged with the frame (100), and the first mobile assembly (200) and the second mobile assembly (300) are respectively located at both ends of the frame (100); The first mobile assembly (200) and the second mobile assembly (300) control the height of the frame (100) by changing the height of itself respectively.

2. The base pan of claim 1, wherein, The first mobile assembly (200) has at least two groups, and all the first mobile assemblies (200) are coaxially arranged along the width direction of the frame (100); And / or, the second mobile assembly (300) has at least two groups, and all the second mobile assemblies (300) are coaxially arranged along the width direction of the frame (100).

3. The base pan of claim 2, wherein, The walking drive structure of the first mobile assembly and the second mobile assembly (300) is driven by a common single motor, or driven by a motor respectively, or driven by a wheel edge drive mode.

4. The base pan of claim 3, wherein, The first mobile assembly (200) includes a first lifting assembly (210) and a first mobile wheel group (220); The first lifting assembly (210) includes a first connecting rod, a first linear drive assembly (212) and a second connecting rod, the first linear drive assembly (212) is arranged on the frame (100), one end of the first connecting rod is hinged with the frame (100), the other end of the first connecting rod is hinged with the first mobile wheel group (220); One end of the second connecting rod is hinged with the first mobile wheel group (220), the other end of the second connecting rod is connected with the first linear drive assembly (212), and the first linear drive assembly (212) is used to change the support angle of the first connecting rod and the second connecting rod.

5. The base pan of claim 4, wherein, The first linear drive assembly (212) includes a bracket (2121), a first transmission assembly (2122) and a third drive motor (2123), the bracket (2121) is arranged on the frame (100), the first transmission assembly (2122) is arranged on the bracket (2121), the third drive motor (2123) is arranged on the bracket (2121), and the third drive motor (2123) drives the end of all the second connecting rods to move through the first transmission assembly (2122).

6. The base pan of claim 5, wherein, The first mobile wheel group (220) includes a first mounting seat (221) and a first wheel (223), the first connecting rod and the second connecting rod are hinged with the first mounting seat (221) respectively, and the first wheel (223) is provided with one or more; When the first wheel (223) is provided with multiple, multiple first wheels (223) are arranged front and back along the moving direction or coaxially arranged side by side, and each first wheel (223) is connected with driving structure.

7. The base pan of claim 2, wherein, The first moving assembly (200) comprises a first lifting assembly (210) and a first moving wheel set (220); The first lifting assembly (210) comprises two four-link assemblies (211) and a first linear driving assembly (212), one end of each four-link assembly (211) is connected with the frame body (100), and the other end is connected with the first moving wheel set (220); The other end of the other four-link assembly (211) is connected with the first moving wheel set (220), and the first linear driving assembly (212) is used to change the support angle of the two four-link assemblies (211).

8. The base pan of claim 3, wherein, The second moving assembly (300) comprises a second lifting assembly (310) and a second moving wheel set (320); The second lifting assembly (310) comprises a hinged rod (311) and a second linear driving assembly (312), one end of the hinged rod (311) is hinged with the frame body (100), the other end of the hinged rod (311) is hinged with the second moving wheel set (320), one end of the second linear driving assembly (312) is hinged with the frame body (100), the other end of the second linear driving assembly (312) is hinged with the hinged rod (311), and the second linear driving assembly (312) adjusts the height of the frame body (100) by changing the support angle of the hinged rod (311).

9. The base pan of claim 8, wherein, The second moving wheel set (320) comprises a second mounting seat (321) and a second wheel (322), the second mounting seat (321) is hinged with the hinged rod (311), and the second wheel (322) is connected with the second mounting seat (321) in cooperation; When the second wheel (322) is provided with a plurality of second wheels (322), the plurality of second wheels (322) are arranged in front of and behind the moving direction or arranged side by side, and all the second wheels (322) are connected with the walking driving structure.

10. The base pan of claim 8, wherein, The second linear driving assembly (312) is configured as one of an electric cylinder, a gas cylinder or a hydraulic cylinder.

11. A straddle loader robot characterized by, The goods conveying mechanism (a), the goods grabbing mechanism (b) and the chassis according to any one of claims 1-10 are included.

Images