A chassis mechanism of a reach truck robot

Abstract

This utility model relates to a chassis mechanism for a forklift robot. The chassis mechanism has two gantry movement slots. The chassis mechanism includes a chassis mounting frame, and the gantry movement slots divide the chassis mounting frame into two side mounting cavities and a central mounting cavity. One side mounting cavity houses a power supply component and has casters fixed to its bottom. The other side mounting cavity houses a balance wheel. The central mounting cavity houses a drive wheel assembly and control components. A spring is also provided between the drive wheel assembly and the central mounting cavity to ensure that the drive wheel assembly always maintains contact with the ground. This utility model separates the power supply component and balance wheel in the two side mounting cavities, balancing the overall left and right weight distribution of the chassis and making operation more stable. At the same time, by springing the drive wheel assembly onto the chassis, it always keeps it pressed against the ground. Even if the gantry moves significantly, causing a change in the center of gravity, the drive wheel still maintains reliable grip, completely solving the problem of slippage when lifting off the ground in traditional rigid suspension systems.

Description

Technical Field

[0001] This utility model belongs to the field of stacker robot technology, and in particular relates to a chassis mechanism for a stacker robot. Background Technology

[0002] As a core piece of equipment in automated logistics handling, the chassis design of forklift robots directly affects the overall stability, space utilization, and terrain adaptability of the machine. Traditional forklift chassis generally suffer from the following technical defects:

[0003] 1. Loose layout and low space utilization: Conventional chassis adopt an integral frame structure, with components such as drive wheels, power supply, and control unit scattered, resulting in uneven center of gravity distribution and structural redundancy. Especially when the gantry lifting mechanism needs to be integrated, it often requires additional top space, limiting the overall height and stability design.

[0004] 2. Poor terrain adaptability: The drive wheels are mostly rigidly fixed, which can easily lead to slippage or suspension on uneven warehouse floors (such as seams or slopes), resulting in loss of driving force and positioning misalignment. Although this can be improved by using a complex suspension system, it significantly increases costs and maintenance difficulty.

[0005] 3. The balancing mechanism is bulky and inefficient: Most existing balance wheels are installed using independent brackets or linkage structures, which not only take up space in the drive wheel layout, but also require additional counterweights to maintain stability, increasing chassis weight and energy consumption. Utility Model Content

[0006] To address the aforementioned technical problems, the present invention aims to provide a chassis mechanism for a stacker robot. This chassis mechanism has a reasonable layout, is easy to maintain, and the drive wheel assembly has strong grip and stable operation.

[0007] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0008] A chassis mechanism for a stacker robot is provided, wherein the chassis mechanism has two gantry moving slots. The chassis mechanism includes a chassis mounting frame, and the gantry moving slots divide the chassis mounting frame into two side mounting cavities and a central mounting cavity. One side mounting cavity houses a power supply component and has casters fixed at its bottom. The other side mounting cavity houses a balance wheel. The central mounting cavity houses a drive wheel assembly and control components. A spring is also provided between the drive wheel assembly and the central mounting cavity to ensure that the drive wheel assembly always keeps in contact with the ground.

[0009] As a preferred embodiment, the drive wheel assembly includes a motor and a drive wheel fixed on the motor shaft. The drive wheel protrudes from the bottom of the central mounting cavity. Mounting blocks are also provided on both sides of the motor. A fixing post is also fixed inside the central mounting cavity. The mounting blocks are sleeved on the fixing posts. A spring is sleeved on the fixing posts. The two ends of the spring abut against the mounting blocks and the top of the central mounting cavity, respectively.

[0010] As a preferred embodiment, the drive wheel assembly includes a motor and a drive wheel fixed on the motor shaft. The drive wheel protrudes from the bottom of the central mounting cavity. Mounting blocks are provided on both sides of the motor. A fixing post is fixed inside the central mounting cavity. The mounting blocks are sleeved on the fixing posts. A spring is sleeved on the fixing posts. The upper part of the fixing posts is also threaded, and an adjusting nut is connected to the thread. The two ends of the spring abut against the mounting blocks and the adjusting nut, respectively.

[0011] As a preferred embodiment, a hinged bracket is fixed inside one of the side mounting cavities, two balance wheels are respectively connected to the two ends of the balance arm, and the balance wheels protrude from the bottom of the side mounting cavity. The middle part of the balance arm is hinged to the hinged bracket.

[0012] As a preferred embodiment, the two drive wheel assemblies are respectively located at both ends of the central mounting cavity, and the rolling direction of the drive wheels is perpendicular to the length direction of the central mounting cavity.

[0013] As a preferred embodiment, baffles are fixed on both sides of the top of the chassis mechanism, and a main radar sensor is also fixed on the top of the chassis mechanism.

[0014] As a preferred embodiment, mounting slots are provided on both sides of the chassis mechanism, and a secondary radar sensor is fixed in the mounting slot.

[0015] As a preferred embodiment, two parallel protruding ridges are arranged at intervals on the side wall of the gantry moving groove, and a limiting groove for limiting the gantry mechanism is formed between the two protruding ridges.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] This invention separates the power supply assembly and balance wheel into two side mounting cavities, balancing the overall left-right weight distribution of the chassis and making operation more stable. Simultaneously, it concentrates the drive wheel assembly and control components in the central mounting cavity, shortening wiring and improving maintenance convenience. The drive wheel assembly of this invention is spring-loaded onto the chassis, always maintaining pressure on the ground. Even if the gantry shifts significantly, causing a change in the center of gravity, the drive wheel maintains reliable grip, completely solving the slippage problem of traditional rigid suspensions. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0019] Figure 1 and Figure 2 These are structural diagrams of the stacking robot from two different angles;

[0020] Figure 3 This is a schematic diagram of the chassis mechanism of this utility model;

[0021] Figure 4 This is a schematic diagram of the installation structure of the chassis mounting frame, balance arm, drive wheel assembly and other components of this utility model;

[0022] Figure 5 This is a structural schematic diagram of the drive wheel assembly, the fixed column, and the spring of this utility model.

[0023] The reference numerals in the accompanying drawings are as follows: 1. Mast mechanism; 11. Outer mast; 112. Roller; 12. Inner mast; 13. Forklift carriage; 15. Hydraulic push rod; 16. Chain; 2. Chassis mechanism; 20. Chassis mounting bracket; 21. Mast moving slot; 211. Clearance opening; 22. Protruding ridge; 221. Limiting slot; 23. Drive wheel assembly; 231. Motor; 232. Drive wheel; 233. Mounting block; 234. Fixed column; 235. Spring; 236. Adjusting nut; 24. Balance wheel; 25. Caster wheel; 26. Balance arm; 261. Hinge bracket; 27. Mounting slot; 28. Stop bar; 29. ​​Control components; 210. Power supply assembly; 3. Main radar sensor; 4. Secondary radar sensor; 5. Rear cover. Detailed Implementation

[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0026] Furthermore, in the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0031] like Figure 1 and Figure 2The stacker robot shown includes a mast mechanism 1 and a chassis mechanism 2. The mast mechanism 1 includes an outer mast 11, an inner mast 12, and a fork carriage 13. The inner mast 12 and the outer mast 11 are slidably arranged vertically, and the fork carriage 13 and the inner mast 12 are slidably arranged vertically. The chassis mechanism 2 has two mast movement slots 21. The fork carriage 13 is located in the mast movement slots 21. Two parallel protrusions 22 are arranged at intervals on the side wall of the mast movement slots 21. A limiting groove 221 is formed between the two protrusions 22. The limiting groove formed by the two protrusions simplifies the processing technology (avoiding the need for deep grooves) and improves the deformation resistance of the side wall, thus extending the service life.

[0032] The outer gantry 11 is equipped with guide wheels on both sides, which are embedded in the limiting groove 221. A power wheel assembly is also fixed to the lower part of the outer gantry 11, driving the gantry mechanism 1 to reciprocate within the gantry movement groove 21. The movement directions of the gantry mechanism 1 and the chassis mechanism 2 are perpendicular to each other. The gantry movement direction is perpendicular to the chassis travel direction, achieving a "T-shaped" operating path, efficiently completing loading, unloading, and turning actions within narrow spaces.

[0033] A hydraulic device is also fixed to the outer mast 11. The hydraulic device is connected to a hydraulic push rod. One end of the hydraulic push rod is fixed to the outer mast 11, and the other end is fixed to the inner mast 12. The hydraulic push rod drives the lifting and lowering of the inner mast. A rear cover 5 is also fixed to the outer mast 11 to protect the hydraulic device. The inner mast 12 is provided with a lifting groove, and the fork carriage 13 is provided with lifting guide wheels. The lifting guide wheels are set in the lifting groove. A pulley is also provided at the upper end of the inner mast 12. A chain 16 is also connected to the fork carriage 13. The other end of the chain 16 passes around the pulley and is fixed to the outer mast 11.

[0034] One end of the gantry moving slot 21 is also provided with a clearance opening 211. The clearance opening 211 is provided with inclined panels on both sides. The front end of the fork leg 111 is also provided with a roller 112. The roller 112 enters and exits the gantry moving slot 21 through the inclined panels, so that the gantry mechanism enters the gantry moving slot 21 more smoothly. The opening at one end of the gantry moving slot 21 is chamfered on both sides to keep the gantry mechanism 1 centered when entering the gantry moving slot 21.

[0035] like Figures 3 to 5 As shown, the chassis mechanism 2 includes a chassis mounting frame 20. The gantry moving groove 21 divides the chassis mounting frame 20 into two side mounting cavities and a central mounting cavity. One side mounting cavity is equipped with a power supply assembly 210 and a caster wheel 25 is fixed at the bottom. The other side mounting cavity is equipped with a balance wheel 24. The central mounting cavity is equipped with a drive wheel assembly 23 and a control component 29.

[0036] The above structure places the power supply components and balance wheels in two side mounting cavities, balancing the overall left and right weight distribution of the chassis and making operation more stable; at the same time, it concentrates the drive wheel components and control components in the central mounting cavity, shortening the wiring layout and improving maintenance convenience.

[0037] The drive wheel assembly 23 includes a motor 231 and a drive wheel 232 fixed on the shaft of the motor 231. The drive wheel 232 protrudes from the bottom of the central mounting cavity. Mounting blocks 233 are provided on both sides of the motor 231. A fixing post 234 is fixed inside the central mounting cavity. The mounting blocks 233 are sleeved on the fixing posts 234. A spring 235 is sleeved on the fixing posts 234. The two ends of the spring 235 abut against the mounting blocks 233 and the top of the central mounting cavity, respectively. This structure uses springs to keep the drive wheel in contact with the ground, adapting to uneven ground and enhancing the chassis driving force and anti-slip capability.

[0038] As a preferred embodiment, the upper part of the fixed column 234 is also provided with a thread, and an adjusting nut 236 is connected to it through the thread. The upper end of the spring 235 no longer abuts against the top of the middle mounting cavity, but abuts against the adjusting nut 236. The pressure of the spring 235 can be adjusted by rotating the adjusting nut 236, so that the force of the drive wheel acting on the ground can be easily adjusted.

[0039] A hinge bracket 261 is fixed inside one of the side mounting cavities. Two balance wheels 24 are respectively connected to the two ends of the balance arm 26, and the balance wheels 24 protrude from the bottom of the side mounting cavity. The middle part of the balance arm 26 is hinged to the hinge bracket 261. The balance arm is hinged to the hinge bracket, allowing the two balance wheels to swing up and down independently, adapting to uneven ground and reducing chassis tilt.

[0040] Two drive wheel assemblies 23 are respectively disposed at both ends of the central mounting cavity, and the rolling direction of the drive wheel 232 is perpendicular to the length direction of the central mounting cavity.

[0041] The dual drive wheels are positioned at both ends of the central mounting cavity to maximize the wheelbase and improve steering stability; and the wheel direction is perpendicular to the length direction of the central mounting cavity, so the chassis can be turned on the spot by controlling the rotation direction of the two drive wheels, thus improving agility.

[0042] The chassis mechanism 2 has baffles 28 fixed to its top two sides, and a main radar sensor 3 is also fixed to its top. Mounting slots 27 are provided on both sides of the chassis mechanism 2, and a secondary radar sensor 4 is fixed within each slot. The main radar sensor provides a wide-range environmental scan, supporting path planning and obstacle avoidance; while the secondary radar sensor, embedded in the side mounting slots, covers the blind spots around the chassis, detects lateral obstacles, and enhances safety when passing through narrow passages.

[0043] This utility model divides the chassis mounting frame into a double-sided mounting cavity and a central mounting cavity by opening two longitudinal gantry moving slots, offering the following technical advantages: 1. Space reuse: The gantry slots simultaneously serve as a guide and structural partition, avoiding the need for additional guide rails to occupy space; 2. Load optimization: The power supply component and omnidirectional wheels are integrated into one side cavity, the balance wheel occupies the other side cavity, and the drive component is centrally located, forming a stable three-point support layout; the power supply component's own weight enhances the omnidirectional wheel's grip, while the balance wheel independently bears lateral stability without additional counterweight; compared to the traditional symmetrical layout, the anti-tipping capability is improved; 3. Convenient maintenance: Each cavity is independently encapsulated, allowing for quick disassembly and assembly of faulty modules.

[0044] In addition, the drive wheel assembly of this utility model has an adaptive ground-contact structure, which uses a spring to keep the drive wheel dynamically in contact with the ground, completely solving the problem of driving force loss caused by uneven ground; it abandons the traditional suspension system and only requires a single spring structure to achieve self-adaptation, significantly reducing complexity and cost.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A chassis mechanism for a forklift robot, characterized in that: The chassis mechanism (2) has two gantry moving slots (21). The chassis mechanism (2) includes a chassis mounting frame (20). The gantry moving slots (21) divide the chassis mounting frame (20) into two side mounting cavities and a middle mounting cavity. One side mounting cavity is equipped with a power supply assembly (210) and a universal wheel (25) is fixed at the bottom. The other side mounting cavity is equipped with a balance wheel (24). The middle mounting cavity is equipped with a drive wheel assembly (23) and a control component (29). A spring (235) is also provided between the drive wheel assembly (23) and the middle mounting cavity to keep the drive wheel assembly (23) in contact with the ground.

2. The chassis mechanism of a forklift robot according to claim 1, characterized in that, The drive wheel assembly (23) includes a motor (231) and a drive wheel (232) fixed on the shaft of the motor (231). The drive wheel (232) protrudes from the bottom of the central mounting cavity. Mounting blocks (233) are provided on both sides of the motor (231). A fixing post (234) is fixed in the central mounting cavity. The mounting block (233) is sleeved on the fixing post (234). A spring (235) is sleeved on the fixing post (234). The two ends of the spring (235) abut against the mounting block (233) and the top of the central mounting cavity, respectively.

3. The chassis mechanism of a forklift robot according to claim 1, characterized in that, The drive wheel assembly (23) includes a motor (231) and a drive wheel (232) fixed on the shaft of the motor (231). The drive wheel (232) protrudes from the bottom of the central mounting cavity. Mounting blocks (233) are provided on both sides of the motor (231). A fixing post (234) is fixed in the central mounting cavity. The mounting block (233) is sleeved on the fixing post (234). A spring (235) is sleeved on the fixing post (234). The upper part of the fixing post (234) is also provided with threads, and an adjusting nut (236) is connected by the threads. The two ends of the spring (235) abut against the mounting block (233) and the adjusting nut (236) respectively.

4. The chassis mechanism of a forklift robot according to claim 1, characterized in that, A hinge bracket (261) is fixed in one of the side mounting cavities. Two balance wheels (24) are respectively connected to the two ends of the balance arm (26), and the balance wheels (24) protrude from the bottom of the side mounting cavity. The middle part of the balance arm (26) is hinged to the hinge bracket (261).

5. The chassis mechanism of a stacker robot according to claim 1, characterized in that, Two drive wheel assemblies (23) are respectively located at both ends of the central mounting cavity, and the rolling direction of the drive wheel (232) is perpendicular to the length direction of the central mounting cavity.

6. The chassis mechanism of a forklift robot according to claim 1, characterized in that, The top two sides of the chassis mechanism (2) are respectively fixed with baffles (28), and the top of the chassis mechanism (2) is also fixed with a main radar sensor (3).

7. The chassis mechanism of a forklift robot according to claim 1, characterized in that, The chassis mechanism (2) has mounting slots (27) on both sides, and a secondary radar sensor (4) is fixed in the mounting slots (27).

8. The chassis mechanism of a forklift robot according to claim 1, characterized in that, Two parallel protrusions (22) are arranged at intervals on the side wall of the gantry moving groove (21), and a limiting groove (221) for limiting the gantry mechanism is formed between the two protrusions (22).

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