Mobile chassis and pallet handling robot

Abstract

The application provides a mobile chassis and a tray carrying robot. The mobile chassis comprises a vehicle frame and two walking power assemblies arranged on the vehicle frame. The walking power assemblies are used to drive the vehicle frame to move and turn. Each walking power assembly comprises a mounting bracket, a driving assembly, a driving wheel and a pressure boosting mechanism. The mounting bracket is fixedly connected with the vehicle frame. The driving assembly is floatingly connected with the mounting bracket. The driving wheel is connected with an output shaft of the driving assembly. The pressure boosting mechanism is arranged on the mounting bracket and is used to apply pressure to the mounting bracket. The pressure can be adjusted, so that the pre-tightening force borne by the driving assembly can be dynamically adjusted. The floating connection between the driving assembly and the mounting bracket enables the driving assembly to float forward and backward relative to the mounting bracket, so as to relieve the driving wheel from leaving the ground. The floating connection also has a buffering effect. The mobile chassis further comprises the pressure boosting mechanism. The pressure applied to the mounting bracket can be adjusted, so that the pre-tightening force borne by the driving wheel can meet the requirements and the driving wheel can be prevented from slipping due to insufficient wheel pressure.

Description

Technical Field

[0001] This application relates to the field of automated guided transport technology, and in particular to a mobile chassis and pallet handling robot. Background Technology

[0002] AGVs (Automated Guided Vehicles) are used for transporting goods in aisles with very low height and length. Due to the fixed principles and frame structure of AGVs, traditional floating bridges suffer from insufficient space for layout, making a floating frame design or a bridge design with casters impractical. To address these issues, a drive-floating design can be used. With a drive-floating design, the wheel lift-off phenomenon is alleviated when the AGV encounters uneven ground or is unloaded. However, this design suffers from insufficient wheel pressure, leading to slippage. Utility Model Content

[0003] The purpose of this application is to provide a mobile chassis and pallet handling robot to solve the problem of insufficient wheel pressure and slippage of the mobile chassis drive wheels. The specific technical solution is as follows:

[0004] The first aspect of this application provides a mobile chassis for a pallet handling robot. The mobile chassis includes a frame and two walking power components mounted on the frame. The walking power components are used to drive the frame to move and turn. Each walking power component includes a mounting bracket, a drive component, a drive wheel, and a pressurizing mechanism. The mounting bracket is fixedly connected to the frame, the drive component is floatingly connected to the mounting bracket, and the drive wheel is connected to the output shaft of the drive component. The pressurizing mechanism is mounted on the mounting bracket and is used to apply pressure to the mounting bracket. The pressure is adjustable, thereby dynamically adjusting the preload force on the drive component.

[0005] In some embodiments, the boosting mechanism includes a boosting motor, a transmission unit, and a sliding assembly. The boosting motor is mounted below the mounting bracket. The transmission unit is connected to the boosting motor at one end and to the sliding assembly at the other end. The sliding assembly is connected to the drive assembly. The boosting motor drives the sliding assembly to move away from or towards the drive assembly through the transmission unit, thereby reducing or increasing the preload force on the drive assembly and the drive wheel.

[0006] In some embodiments, the transmission unit includes a reducer, a driving wheel, a transmission component, a driven wheel, a lead screw, and a bearing housing. The reducer is connected to the output shaft of the booster motor, the driving wheel is connected to the output shaft of the reducer, the transmission component is sleeved on the driving wheel and the driven wheel, the driven wheel is connected to the lead screw, the sliding component is at least partially sleeved on the lead screw and threadedly connected to the lead screw, and the driven wheel is fixed above the mounting bracket by the bearing housing.

[0007] In some embodiments, the transmission component is a chain, and both the driving wheel and the driven wheel are sprockets; or, the transmission component is a belt, and both the driving wheel and the driven wheel are pulleys; or, the transmission component is a synchronous belt, and both the driving wheel and the driven wheel are synchronous pulleys.

[0008] In some embodiments, the sliding assembly includes a slider and a first elastic element connected to the slider. The slider is sleeved on the lead screw. The booster motor drives the slider to move away from or towards the drive assembly through the transmission unit, thereby reducing or increasing the pressure on the first elastic element, which in turn reduces or increases the preload force on the drive assembly.

[0009] In some embodiments, the drive assembly has a first end and a second end opposite to each other along the walking direction. The first end is rotatably connected to the mounting bracket via a telescopic shaft, and the second end is rotatably connected to the mounting bracket via a fixed shaft. The telescopic shaft is capable of extending and retracting, so that the drive assembly is floatingly connected to the mounting bracket.

[0010] In some embodiments, the mounting bracket includes a top plate and first mounting portions disposed on both sides of the top plate along the walking direction, the top ends of the telescopic shaft and the fixed shaft being rotatably connected to the first mounting portions; the mobile chassis further includes a flange plate, the flange plate being connected to the drive assembly, the flange plate including a second mounting portion opposite to the first mounting portion, the bottom ends of the telescopic shaft and the fixed shaft being rotatably connected to the second mounting portion.

[0011] In some embodiments, the retractable shaft includes a first segment, a bushing connected to the first segment, and a second segment movably connected to the bushing. The retractable shaft also includes a second elastic element disposed between the first segment and the second segment, for causing the second segment to move away from or closer to the first segment along the axial direction of the retractable shaft.

[0012] In some embodiments, both the first segment and the second segment include a shoulder, or both the second segment and the bushing include a shoulder, the second elastic member is sleeved on the outside of the bushing, and both ends of the second elastic member abut against the shoulder.

[0013] In some embodiments, the bushing includes a fixed connecting section, a first sliding section, a partition, and a second sliding section. The fixed connecting section communicates with the first sliding section, and the first sliding section and the second sliding section are separated by the partition. The partition has a through hole communicating with the first sliding section and the second sliding section. The first section is detachably connected to the fixed connecting section. The second section includes a first part and a second part. The first part includes a head and a rod. The head is located inside the first sliding section, and the rod extends through the through hole into the second sliding section. A portion of the second part is embedded in the second sliding section and has a mounting hole on the side facing the first part. The first part is detachably connected to the mounting hole. The second part slides along the second sliding section and drives the head to slide within the first sliding section. The connection end between the partition and the first section is used to limit the head.

[0014] A second aspect of this application provides a pallet handling robot, including the mobile chassis described above.

[0015] The mobile chassis and pallet handling robot provided in this application embodiment have a floating connection between the drive component of the mobile chassis and the mounting bracket. When encountering uneven ground, the drive component can float back and forth relative to the mounting bracket, which can alleviate the phenomenon of the drive wheels lifting off the ground. The floating connection also acts as a buffer, reducing vibrations generated by the mobile chassis. The mobile chassis also includes a pressurizing mechanism. By adjusting the pressure applied to the mounting bracket by the pressurizing mechanism, the drive wheels of the pallet handling robot will not lift off the ground when unloaded, and when fully loaded, the positive pressure can be provided by the cargo. The pressurizing mechanism can always maintain the required preload on the drive wheels, preventing slippage due to insufficient wheel pressure.

[0016] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This is a partial structural schematic diagram of the pallet handling robot provided in the embodiments of this application;

[0019] Figure 2 for Figure 1 A structural schematic diagram of a pallet-handling robot, showing its walking power components and partial perspective.

[0020] Figure 3 A schematic diagram of the walking power component from one perspective;

[0021] Figure 4 A schematic diagram of the walking power component from another perspective;

[0022] Figure 5 for Figure 4 A schematic diagram of the middle-movement power assembly without the second elastic element;

[0023] Figure 6 An exploded view of the walking power assembly;

[0024] Figure 7 This is a cross-sectional view of the walking power assembly;

[0025] Figure 8 A schematic diagram of the structure of the flange plate provided in one embodiment of this application;

[0026] Figure 9 A three-dimensional structural diagram of the retractable shaft provided in an embodiment of this application;

[0027] Figure 10 A cross-sectional view of the retractable shaft provided in an embodiment of this application;

[0028] Figure 11 This is a bottom view of the mobile chassis.

[0029] The attached figures are labeled as follows:

[0030] Frame 1; Fork Reception Slot 11; Travel Power Component 2; Mounting Bracket 21; Top Plate 211; First Mounting Part 212; Drive Component 22; First End 221; Second End 222; Flange Plate 223; Second Mounting Part 2231; Drive Wheel 23; Supercharger Mechanism 24; Supercharger Motor 241; Transmission Unit 242; Reducer 2421; Drive Wheel 2422; Transmission Component 2423; Driven Wheel 2424; Lead Screw 2425; Bearing Housing 2426; Sliding Component 243; Sliding Component 2431; First elastic element 2432; Telescopic shaft 3; First section 31-1; Second section 31-2; First part 31-21; Head 31-211; Rod 31-212; Second part 31-22; Mounting hole 31-221; Shoulder 311; Bushing 32; Fixed connection section 321; First sliding section 322; Second sliding section 323; Partition 324; Second elastic element 33; Fixed shaft 4; Pin 5; Gantry assembly 6; Lifting drive mechanism 7; Caster wheel 8. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0032] To address the slippage issue caused by insufficient wheel pressure on uneven ground or when unloaded, embodiments of this application provide a mobile chassis for pallet handling robots, such as... Figure 1 , Figure 2 As shown, Figure 1 This is a partial structural schematic diagram of the pallet handling robot provided in an embodiment of this application. Figure 2 for Figure 1 A structural schematic diagram of a pallet-handling robot, showing its walking power components and partial perspective.

[0033] refer to Figure 3 , Figure 4 , Figure 5 , Figure 3 This is a structural schematic diagram of the walking power component from one perspective. Figure 4 This is a structural schematic diagram of the walking power component from another perspective. Figure 5 for Figure 4 A schematic diagram of the middle walking power assembly without the second elastic element. The mobile chassis includes a frame 1 and two walking power assemblies 2 mounted on the frame 1. The walking power assemblies 2 are used to drive the frame 1 to move and turn. Each walking power assembly 2 includes a mounting bracket 21, a drive assembly 22, a drive wheel 23, and a pressurizing mechanism 24. The mounting bracket 21 is fixedly connected to the frame 1, the drive assembly 22 is floatingly connected to the mounting bracket 21, and the drive wheel 23 is connected to the output shaft of the drive assembly 22. The pressurizing mechanism 24 is mounted on the mounting bracket 21 and is used to apply pressure to the mounting bracket 21. The pressure can be adjusted to dynamically adjust the preload force on the drive assembly 22.

[0034] In this embodiment, the drive assembly 22 is floatingly connected to the mounting bracket 21. When encountering uneven ground, the drive assembly 22 can float back and forth relative to the mounting bracket 21, which can alleviate the phenomenon of the drive wheel 23 lifting off the ground. The floating connection also acts as a buffer, reducing vibrations generated by the mobile chassis. The mobile chassis also includes a pressure boosting mechanism 24. By adjusting the pressure boosting mechanism 24, the pressure applied to the mounting bracket 21 can be adjusted, ensuring that the drive wheel 23 does not lift off the ground when the pallet handling robot is unloaded, and that the positive pressure is provided by the cargo when fully loaded. The pressure boosting mechanism 24 can always maintain the preload force on the drive wheel 23 to meet the requirements, preventing the drive wheel 23 from slipping due to insufficient wheel pressure.

[0035] In addition, for the floating trolley, the trolley itself is generally very heavy. By adding a booster mechanism 24, the weight of the trolley can be reduced, thereby reducing the cost.

[0036] The drive assembly 22 can be a drive motor. Each drive wheel 23 is driven by a drive motor. When the drive motors control the drive wheels 23 to rotate at the same speed, the mobile chassis can move forward or backward in a straight line. When the drive motors control the drive wheels 23 to rotate at different speeds, the mobile chassis can turn.

[0037] Optionally, refer to Figure 6 , Figure 7 , Figure 6 This is an exploded view of the walking power component. Figure 7 This is a cross-sectional view of the walking power assembly. The boosting mechanism 24 includes a boosting motor 241, a transmission unit 242, and a sliding assembly 243. The boosting motor 241 is mounted below the mounting bracket 21. The transmission unit 242 is connected to the boosting motor 241 at one end and to the sliding assembly 243 at the other end. The sliding assembly 243 is connected to the drive assembly 22. The boosting motor 241 drives the sliding assembly 243 to move away from or towards the drive assembly 22 through the transmission unit 242, thereby reducing or increasing the preload force on the drive assembly 22 and the drive wheel 23.

[0038] The transmission unit 242 is used to convert the rotation of the booster motor 241 into up and down motion. By controlling the speed and number of rotations of the booster motor 241, the moving distance of the sliding component 243 can be controlled, thereby controlling the preload force on the drive component 22 and the drive wheel 23. This ensures that the wheel pressure of the wheels meets the requirements during the movement of the mobile chassis, improving the slippage phenomenon caused by insufficient pressure.

[0039] Optionally, refer to Figure 6 , Figure 7 The transmission unit 242 can be a combination unit including a reducer 2421, a drive wheel 2422, a transmission component 2423, a driven wheel 2424, a lead screw 2425, and a bearing seat 2426. The reducer 2421 is connected to the output shaft of the booster motor 241, the drive wheel 2422 is connected to the output shaft of the reducer 2421, the transmission component 2423 is sleeved on the drive wheel 2422 and the driven wheel 2424, the driven wheel 2424 is connected to the lead screw 2425, the sliding component 243 is at least partially sleeved on the lead screw 2425 and threadedly connected to the lead screw 2425, and the driven wheel 2424 is fixed above the mounting bracket 21 through the bearing seat 2426.

[0040] In this context, the lead screw 2425 refers to the threaded rod portion 31-212. The lead screw 2425 is nested within the driven wheel 2424, and the top ends of both are fixed by screws. To reduce the relative rotation between the lead screw 2425 and the driven wheel 2424, a key is provided on one side of the lead screw 2425 and a keyway on the other. The key engages with the keyway, which can limit the relative rotation between the lead screw 2425 and the driven wheel 2424, so that the transmission component 2423 drives the driven wheel 2424. When the screw 24 rotates, the lead screw 2425 can rotate synchronously with the driven wheel 2424. Since the sliding component 243 is connected to the drive component 22, the sliding component 243 is connected to the drive component 22 during the rotation of the lead screw 2425. This connection can be a fixed connection or an abutment, so that the sliding component 243 will not rotate synchronously with the lead screw 2425. Therefore, the sliding component 243 can move up and down along the lead screw 2425, thereby changing the preload force on the drive component 22 and the drive wheel 23.

[0041] Of course, the transmission unit 242 can also be other combined structures that can realize the up-and-down movement of the sliding component 243. For example, a linkage structure, etc.

[0042] The transmission component 2423 can be a chain, with the driving wheel 2422 and the driven wheel 2424 both being sprockets; or, the transmission component 2423 can be a belt, with the driving wheel 2422 and the driven wheel 2424 both being pulleys; or the transmission component 2423 can be a synchronous belt, with the driving wheel 2422 and the driven wheel 2424 both being synchronous pulleys.

[0043] In some embodiments of this application, reference is made to Figure 6 , Figure 7 The sliding assembly 243 includes a sliding member 2431 and a first elastic member 2432 connected to the sliding member 2431. The sliding member 2431 is sleeved on the lead screw 2425. The booster motor 241 drives the sliding member 2431 to move away from or towards the drive assembly 22 through the transmission unit 242, so that the pressure on the first elastic member 2432 decreases or increases, thereby reducing or increasing the preload force on the drive assembly 22.

[0044] The sliding member 2431 and the first elastic member 2432 can be abutted or fixedly connected. Taking the abutting connection as an example, the force exerted by the first elastic member 2432 on the sliding member 2431 can prevent the sliding member 2431 from rotating with the lead screw 2425. Furthermore, the sliding assembly 243 includes the sliding member 2431 and the first elastic member 2432, thus ensuring a flexible contact between the drive assembly 22 and the mounting bracket 21, avoiding hard friction during pressure adjustment.

[0045] Optionally, refer to Figure 3 , Figure 4 and Figure 5 The drive assembly 22 has a first end 221 and a second end 222 opposite to each other along the walking direction. The first end 221 is rotatably connected to the mounting bracket 21 via a telescopic shaft 3, and the second end 222 is rotatably connected to the mounting bracket 21 via a fixed shaft 4. The telescopic shaft 3 can extend and shorten, so that the drive assembly 22 and the mounting bracket 21 are floatingly connected.

[0046] In this embodiment, the first end 221 of the drive assembly 22 is rotatably connected to the mounting bracket 21 via a telescopic shaft 3, and the second end 222 is rotatably connected to the mounting bracket 21 via a fixed shaft 4. The telescopic shaft 3 can extend and retract, allowing the drive assembly 22 to make slight floating around the fixed shaft 4, enabling the mobile chassis to easily overcome obstacles. In addition, the pressure boosting mechanism 24 applies pressure to the drive wheel 23 to ensure sufficient wheel pressure and prevent slippage.

[0047] In some embodiments of this application, reference is made to Figure 6 , Figure 7 The mounting bracket 21 includes a top plate 211 and first mounting portions 212 located on both sides of the top plate 211 along the walking direction. The top ends of the telescopic shaft 3 and the fixed shaft 4 are rotatably connected to the first mounting portions 212. The mobile chassis also includes a flange plate 223, which is connected to the drive assembly 22. The flange plate 223 includes a second mounting portion 2231 opposite to the first mounting portion 212. The bottom ends of the telescopic shaft 3 and the fixed shaft 4 are rotatably connected to the second mounting portion 2231.

[0048] In this embodiment, the two ends of the fixed shaft 4 are rotatably connected to the first mounting part 212 and the second mounting part 2231, respectively. The first mounting part 212 and the second mounting part 2231 can both be U-shaped structures. The two side walls of the U-shaped structure are provided with mounting holes 31-221. The two ends of the fixed shaft 4 are provided with shaft holes. Taking the first mounting part 212 as an example, the pin 5 passes through the mounting holes 31-221 on one side wall of the first mounting part 212, the shaft hole at the top of the fixed shaft 4, and the mounting holes 31-221 on the other side wall of the first mounting part 212 in sequence to pin the top of the fixed shaft 4 to the first mounting part 212. Similarly, the bottom end of the fixed shaft 4 is also pinned to the second mounting part 2231 by the pin 5.

[0049] The telescopic shaft 3 is located on the opposite side of the fixed shaft 4 along the traveling direction of the mobile chassis. Both ends of the telescopic shaft 3 also include shaft holes. The top end of the telescopic shaft 3 is pinned to the first mounting part 212 by a pin 5, and the bottom end of the telescopic shaft 3 is pinned to the second mounting part 2231 by a pin 5.

[0050] When the mobile chassis encounters uneven ground, the pins 5 at both ends of the fixed shaft 4 will serve as the support shaft and rotation center. The extension or retraction of the telescopic shaft 3 will drive the drive wheel 23 to float slightly around the fixed shaft 4. During the floating process, due to the pressure boosting effect of the increased mechanism, the drive wheel 23 can press firmly against the ground to avoid slipping.

[0051] The specific structure of flange plate 223 is not limited; it can be used to fix the fixed shaft 4 and the telescopic shaft 3 to the drive assembly 22. As one implementation method, such as... Figure 6 As shown, flange plate 223 is sleeved on the output shaft of drive assembly 22, and a second mounting part 2231 extends from its lower end for fixing telescopic shaft 3 and fixed shaft 4. As another implementation, such as... Figure 8 As shown, Figure 8 This is a schematic diagram of the structure of a flange plate provided in one embodiment of the present application. The flange plate 223 can be fixed to the bottom of the drive assembly 22, and a second mounting part 2231 is extended from one side for fixing the telescopic shaft 3 and the fixed shaft 4.

[0052] Optionally, refer to Figure 9 , Figure 10 , Figure 9 This is a three-dimensional structural diagram of the retractable shaft provided in an embodiment of this application. Figure 10 This is a cross-sectional view of the telescopic shaft provided in an embodiment of this application. The telescopic shaft 3 includes a first segment 31-1, a bushing 32 connected to the first segment 31-1, and a second segment 31-2 movably connected to the bushing 32. The telescopic shaft 3 also includes a second elastic member 33, which is disposed between the first segment 31-1 and the second segment 31-2, and is used to move the second segment 31-2 away from or closer to the first segment 31-1 along the axial direction of the telescopic shaft 3.

[0053] The second segment 31-2 is movably connected to the bushing 32, allowing the telescopic shaft 3 to extend or retract. A second elastic element 33 is positioned between the first segment 31-1 and the second segment 31-2. Under the elastic force of the second elastic element 33, the second segment 31-2 remains away from the first segment 31-1, thus increasing the preload on the drive wheel 23 and increasing its wheel pressure, thereby ensuring that the drive wheel 23 always remains pressed against the ground. When encountering uneven ground or obstacles, the second elastic element 33 can be compressed, causing the drive wheel 23 to move upward at a certain angle, easily overcoming the obstacle. However, under the action of the second elastic element 33, the drive wheel 23 is always subjected to the elastic force of the second elastic element 33, meaning the preload on the drive wheel 23 is always present, maintaining the wheel pressure of the drive wheel 23 and preventing slippage.

[0054] The second elastic element 33 can be located inside the bushing 32 and between the first segment 31-1 and the second segment 31-2. The two ends of the second elastic element 33 abut against the first segment 31-1 and the second segment 31-2, respectively.

[0055] Preferably, both the first segment 31-1 and the second segment 31-2 include a shoulder 311, or both the second segment 31-2 and the bushing 32 include a shoulder 311. Figure 10 As shown, the example is a shoulder 311 located on the second section 31-2 and the bushing 32. The second elastic member 33 is sleeved on the outside of the bushing 32, and both ends of the second elastic member 33 abut against the shoulder 311.

[0056] The second elastic element 33 is sleeved on the outside of the bushing 32. The bushing 32 can guide the second elastic element 33, so that the deformation of the second elastic element 33 is all along the extension direction of the bushing 32, preventing the second elastic element 33 from twisting. The shoulders 311 of the first section 31-1 and the second section 31-2 are used to contact the two ends of the second elastic element 33 to facilitate the application of pressure.

[0057] It is understandable that the first elastic element 2432 and the second elastic element 33 can be springs, silicone parts, or rubber parts.

[0058] Specifically, refer to Figure 10 The bushing 32 includes a fixed connecting section 321, a first sliding section 322, a partition 324, and a second sliding section 323. The fixed connecting section 321 is connected to the first sliding section 322. The first sliding section 322 and the second sliding section 323 are separated by the partition 324. The partition 324 has a through hole that connects the first sliding section 322 and the second sliding section 323. The first section 31-1 is detachably connected to the fixed connecting section 321.

[0059] The second segment 31-2 includes a first part 31-21 and a second part 31-22. The first part 31-21 includes a head 31-211 and a rod 31-212. The head 31-211 is located in the first sliding segment 322. The rod 31-212 extends into the second sliding segment 323 through a through hole. A portion of the second part 31-22 is embedded in the second sliding segment 323, and a mounting hole 31-221 is provided on the side facing the first part 31-21. The first part 31-21 is detachably connected to the mounting hole 31-221. The second part 31-22 slides along the second sliding segment 323 and drives the head 31-211 to slide in the first sliding segment 322. The connecting end of the partition 324 and the first segment 31-1 is used to limit the head 31-211.

[0060] In this embodiment, the first segment 31-1 is detachably connected to the fixed connecting segment 321, for example, by a threaded connection or a snap-fit ​​connection. After the first segment 31-1 and the fixed connecting segment 321 are connected, there is no relative movement between them. The second segment 31-2 includes a first part 31-21 and a second part 31-22. The first part 31-21 and the rod portion 31-212 of the second part 31-22 are detachably connected, for example, by a threaded connection or a snap-fit ​​connection. After they are connected, they slide relative to the bushing 32 as a whole, allowing the telescopic shaft 3 to extend or shorten. The head 31-211 of the first part 31-21 is located inside the first sliding segment 322. The head 31-211 is limited by the partition 324 and the connection end of the first segment 31-1, ensuring that the extension or compression of the telescopic shaft 3 is within a reasonable range.

[0061] The outer periphery of the second part 31-22 can fit against the inner wall of the second sliding section 323. When the second section 31-2 slides, the second sliding section 323 can guide the sliding direction of the second part 31-22. Alternatively, the outer periphery of the rod 31-212 can fit against the peripheral wall of the through hole. When the second section 31-2 slides, the through hole can guide the sliding of the rod 31-212. Or, the outer periphery of the head 31-211 can fit against the inner wall of the first sliding section 322. This can also guide the sliding of the head 31-211 when the second section 31-2 slides. The structures of the above-mentioned guiding parts can be selected individually, two of them, or both simultaneously.

[0062] Additionally, it should be noted that the reference... Figure 10 The fixed connecting section 321 is connected to the first sliding section 322, and the inner diameter of the fixed connecting section 321 is greater than or equal to the inner diameter of the first sliding section 322, which facilitates the installation of the first part 31-21. Specifically, the assembly process of the telescopic shaft 3 is as follows: first, the first part 31-21 is inserted into the first sliding section 322 from one end of the fixed connecting section 321, and the rod part 31-212 is inserted into the second sliding section 323. The head 31-211 remains in the first sliding section 322 due to the restriction of the partition 324. Then, the first section 31-1 is connected to the fixed connecting section 321, and finally, the second part 31-22 is connected to the rod part 31-212. Of course, it is understandable that the assembly order of the first section 31-1 and the second part 31-22 can be interchanged.

[0063] As a specific embodiment, refer to Figure 3 , Figure 4 There is one fixed shaft 4 and two telescopic shafts 3. By setting two telescopic shafts 3, the preload applied by the telescopic shafts 3 can be increased, thereby better improving the slippage phenomenon that occurs when the mobile chassis is moving.

[0064] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The mobile chassis includes a fork housing 11, and the driving direction of the drive wheel 23 is perpendicular to the extension direction of the fork housing 11.

[0065] In this embodiment, the driving direction of the drive wheel 23 is perpendicular to the extension direction of the fork receiving slot 11. The pallet handling robot does not need to rotate in the aisle during operation, and can pick up and place pallets on one side of the intended pick-up and place position in the aisle. When planning the logistics scheme, there is no need to consider the rotation space of the robot in the aisle, which adapts to the pallet handling needs of narrow aisles, thereby improving the storage density and saving pallet storage space.

[0066] Optionally, the mobile chassis includes two fork receiving slots 11, which are spaced apart. Two travel power components 2 are disposed in the space between the two fork receiving slots 11 and are located at both ends of the frame 1 along the extension direction of the fork receiving slots 11.

[0067] Furthermore, such as Figure 11 As shown, Figure 11 This is a bottom view of the mobile chassis. The bottom of the mobile chassis is also equipped with casters 8, which are located at the four corners of the chassis. The casters 8 support the mobile chassis, improving the load-bearing capacity of the pallet handling robot. Furthermore, because the casters are swivel casters 8, they can turn in any direction as the drive wheels 23 turn, enhancing the mobile chassis's maneuverability.

[0068] A second aspect of this application provides a pallet handling robot, which includes the mobile chassis described above. For example, as... Figure 1 , Figure 2 The pallet handling robot shown has a mobile chassis equipped with a mast assembly 6 and a lifting drive mechanism 7. The lifting drive mechanism 7 is used to drive the vertical lifting movement of the inner mast of the fork assembly and mast assembly 6. The drive assembly 22 of the mobile chassis of the pallet handling robot is floatingly connected to the mounting bracket 21. When encountering uneven ground, the drive assembly 22 can float back and forth relative to the mounting bracket 21, which can alleviate the phenomenon of the drive wheels 23 leaving the ground. The floating connection also acts as a buffer, reducing the vibration generated during the operation of the pallet handling robot. The mobile chassis also includes a pressure boosting mechanism 24. By adjusting the pressure applied to the mounting bracket 21 by the pressure boosting mechanism 24, the drive wheels 23 will not leave the ground when the pallet handling robot is unloaded, and the positive pressure can be provided by the cargo when fully loaded. The pressure boosting mechanism 24 can always maintain the preload force on the drive wheels 23 to meet the requirements, preventing the drive wheels 23 from slipping due to insufficient wheel pressure.

[0069] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A mobile chassis, characterized in that, The mobile chassis is used for pallet handling robots. The mobile chassis includes a frame (1) and two walking power components (2) mounted on the frame (1). The walking power components (2) are used to drive the frame (1) to move and turn. Each of the aforementioned walking power components (2) includes a mounting bracket (21), a drive component (22), a drive wheel (23), and a booster mechanism (24). The mounting bracket (21) is fixedly connected to the vehicle frame (1), the drive component (22) is floatingly connected to the mounting bracket (21), and the drive wheel (23) is connected to the output shaft of the drive component (22). The pressurizing mechanism (24) is mounted on the mounting bracket (21) and is used to apply pressure to the mounting bracket (21). The pressure can be adjusted so as to dynamically adjust the preload force on the drive assembly (22).

2. The mobile chassis according to claim 1, characterized in that, The boosting mechanism (24) includes a boosting motor (241), a transmission unit (242), and a sliding assembly (243). The boosting motor (241) is mounted below the mounting bracket (21). The transmission unit (242) is connected to the boosting motor (241) at one end and to the sliding assembly (243) at the other end. The sliding assembly (243) is connected to the drive assembly (22). The boosting motor (241) drives the sliding assembly (243) to move away from or closer to the drive assembly (22) through the transmission unit (242), thereby reducing or increasing the preload force on the drive assembly (22) and the drive wheel (23).

3. The mobile chassis according to claim 2, characterized in that, The transmission unit (242) includes a reducer (2421), a drive wheel (2422), a transmission component (2423), a driven wheel (2424), a lead screw (2425), and a bearing seat (2426). The reducer (2421) is connected to the output shaft of the booster motor (241). The drive wheel (2422) is connected to the output shaft of the reducer (2421). The transmission component (2423) is sleeved on the drive wheel (2422) and the driven wheel (2424). The driven wheel (2424) is connected to the lead screw (2425). The sliding component (243) is at least partially sleeved on the lead screw (2425) and threadedly connected to the lead screw (2425). The driven wheel (2424) is fixed above the mounting bracket (21) by the bearing seat (2426).

4. The mobile chassis according to claim 3, characterized in that, The transmission component (2423) is a chain, and the driving wheel (2422) and the driven wheel (2424) are both sprockets; or, the transmission component (2423) is a belt, and the driving wheel (2422) and the driven wheel (2424) are both pulleys; or, the transmission component (2423) is a synchronous belt, and the driving wheel (2422) and the driven wheel (2424) are both synchronous pulleys.

5. The mobile chassis according to claim 3, characterized in that, The sliding assembly (243) includes a slider (2431) and a first elastic element (2432) connected to the slider (2431). The slider (2431) is sleeved on the lead screw (2425). The booster motor (241) drives the slider (2431) to move away from or towards the drive assembly (22) through the transmission unit (242), thereby reducing or increasing the pressure on the first elastic element (2432), and thus reducing or increasing the preload force on the drive assembly (22).

6. The mobile chassis according to any one of claims 1-5, characterized in that, The drive assembly (22) has a first end (221) and a second end (222) opposite to each other along the walking direction. The first end (221) is rotatably connected to the mounting bracket (21) via a telescopic shaft (3), and the second end (222) is rotatably connected to the mounting bracket (21) via a fixed shaft (4). The telescopic shaft (3) can extend and retract, allowing the drive assembly (22) to float with the mounting bracket (21).

7. The mobile chassis according to claim 6, characterized in that, The mounting bracket (21) includes a top plate (211) and a first mounting part (212) located on both sides of the top plate (211) along the walking direction. The top ends of the telescopic shaft (3) and the fixed shaft (4) are rotatably connected to the first mounting part (212). The mobile chassis also includes a flange plate (223), which is connected to the drive assembly (22). The flange plate (223) includes a second mounting part (2231) opposite to the first mounting part (212). The bottom ends of the telescopic shaft (3) and the fixed shaft (4) are rotatably connected to the second mounting part (2231).

8. The mobile chassis according to claim 6, characterized in that, The telescopic shaft (3) includes a first segment (31-1), a bushing (32) connected to the first segment (31-1), and a second segment (31-2) movably connected to the bushing (32). The telescopic shaft (3) also includes a second elastic element (33), which is disposed between the first segment (31-1) and the second segment (31-2) to move the second segment (31-2) away from or closer to the first segment (31-1) along the axial direction of the telescopic shaft (3).

9. The mobile chassis according to claim 8, characterized in that, The first segment (31-1) and the second segment (31-2) both include a shoulder (311), or the second segment (31-2) and the bushing (32) both include a shoulder (311). The second elastic member (33) is sleeved on the outside of the bushing (32), and the two ends of the second elastic member (33) abut against the shoulder (311) respectively.

10. The mobile chassis according to claim 8, characterized in that, The bushing (32) includes a fixed connecting section (321), a first sliding section (322), a partition (324), and a second sliding section (323). The fixed connecting section (321) is connected to the first sliding section (322). The first sliding section (322) and the second sliding section (323) are separated by the partition (324). The partition (324) has a through hole connecting the first sliding section (322) and the second sliding section (323). The first segment (31-1) is detachably connected to the fixed connection segment (321); The second segment (31-2) includes a first part (31-21) and a second part (31-22). The first part (31-21) includes a head (31-211) and a rod (31-212). The head (31-211) is located inside the first sliding segment (322). The rod (31-212) extends through the through hole into the second sliding segment (323). A portion of the second part (31-22) is embedded in the second sliding segment (323), and a mounting hole (31-221) is provided on the side facing the first part (31-21). The first part (31-21) is detachably connected to the mounting hole (31-221). The second part (31-22) slides along the second sliding section (323) and drives the head (31-211) to slide within the first sliding section (322). The connecting end of the partition (324) and the first section (31-1) is used to limit the head (31-211).

11. A pallet handling robot, characterized in that, Includes the mobile chassis according to any one of claims 1-10.

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