A warehouse robot stable chassis structure

Abstract

The utility model discloses a warehouse robot stable type chassis structure, include: chassis body, a pair of the inclined strip slide of setting and assembling on the ground in symmetrical state, a pair of the stable support unit of setting and respectively same length direction sliding assembly on a pair of strip slide in symmetrical state and the bidirectional movement mechanism of assembly on chassis body for drive a pair of stable support unit in symmetrical state on the strip slide of corresponding sliding, a pair of strip slide end portion is inclined upward to each other, and stable support unit includes universal wheel, and the edge of chassis body is provided with the storage space of universal wheel accommodation, and universal wheel will go out the storage space to the outside, and a pair of universal wheel is located left and right sides of chassis body respectively, and universal wheel is contacted with ground, and a pair of stable support unit can share the weight of chassis body and load, when turning, help maintain robot balance, prevent overturning, effectively reduce the shaking frequency of robot when turning.

Description

Technical Field

[0001] This utility model relates to the technical field of warehouse robots, specifically to a stable chassis structure for a warehouse robot. Background Technology

[0002] Warehouse robots are a core technology in modern logistics and supply chain systems, playing a wide-ranging and crucial role in fundamentally changing warehouse operations. Their core function is to significantly improve warehouse operational efficiency, accuracy, and processing capacity through automation, intelligence, and flexibility, while reducing reliance on manpower and operating costs. Robots (such as AGVs / AMRs) can move automatically and tirelessly within the warehouse, transporting goods from the receiving area to the storage area, from the storage area to the picking area, and then from the picking area to the shipping area. This achieves end-to-end automation of material flow within the warehouse, shortening turnaround time and reducing delays and errors caused by manual handling.

[0003] Chinese patent application CN202411391150.X, entitled "An AGV Robot," discloses an AGV robot that incorporates a steering-adjustable electric walking module and a hydraulic shock absorption structure. Compared to Mecanum wheels, this steering-adjustable electric walking module can more directly adjust and control the vehicle's direction without relying on complex wheel coordination. Furthermore, each steering module can independently adjust its direction and speed, making it suitable for applications requiring high-precision positioning and path planning.

[0004] However, the above-mentioned patent still has the following shortcomings: During long-term use, different wheels of the robot will have different wear differences. However, this has no impact when transporting small items. But when the robot is responsible for heavy objects, the excessive load force will cause the small wear differences between different wheels to affect the center of gravity of the items. Furthermore, when turning, the centrifugal force will increase the impact of the differences, posing a risk of items falling off. Therefore, it is necessary to design a stable chassis structure for warehouse robots. Utility Model Content

[0005] In view of the above-mentioned technical problems, the purpose of this utility model is to overcome the problem of the risk of heavy objects falling when transporting them in the prior art.

[0006] To achieve the above objectives, this utility model provides a stable chassis structure for a warehouse robot, comprising: a chassis body, a pair of symmetrically arranged inclined strip slides both mounted on the ground, a pair of symmetrically arranged stable support units slidably mounted on the pair of strip slides in the same length direction, and a bidirectional moving mechanism mounted on the chassis body for driving the pair of stable support units to slide symmetrically on the corresponding strip slides. The ends of a pair of strip-shaped tracks that are close to each other are inclined upwards. The stabilizing support unit includes casters that can slide in contact with the ground. The edge of the chassis body is provided with storage space for the casters.

[0007] Preferably, the stabilizing support unit further includes a pulley group slidably connected to the strip track and a connecting arm fixedly connected to the pulley group and to the caster wheel.

[0008] Preferably, the bidirectional moving mechanism includes a pair of mounting seats spaced horizontally and mounted on the upper surface of the chassis body, a horizontal double-threaded rod with its two ends respectively axially connected to the corresponding mounting seats, at least one guide rod arranged parallel to the double-threaded rod and fixedly connected to the corresponding mounting seats at both ends, a pair of symmetrically threaded sliders threaded on both ends of the double-threaded rod and slidably mounted on the guide rods, and a motor mounted on the upper surface of the chassis body with its output shaft drivingly connected to one end of the double-threaded rod. Each slider is connected to a pulley block through a connecting component.

[0009] Preferably, the connecting member includes a vertical connecting seat fixedly connected to the corresponding slider and a pulley fixedly connected to the corresponding pulley group. The connecting seat is recessed with a vertical strip groove, and the pulley is slidably assembled in the strip groove.

[0010] Preferably, a synchronous pulley is fitted on one end of the output shaft of the motor and the double-threaded rod, and the pair of synchronous pulleys are connected by a synchronous belt drive.

[0011] Preferably, the top of the open sidewall of the storage space is hinged to a cover plate via a hinge shaft, and a torsion spring is mounted on the hinge shaft to drive the cover plate to close onto the storage space.

[0012] According to the above technical solution, the present invention provides a stable chassis structure for a warehouse robot, which has the following advantages in use: Firstly, when in use, the casters on the stabilizing support unit will extend outwards into the storage space. A pair of casters are located on the left and right sides of the chassis body, respectively. The casters are in contact with the ground. A pair of stabilizing support units can share the weight of the chassis body and the load, ensuring stable support. When turning, they help maintain the robot's balance, prevent tipping, and effectively reduce the robot's swaying frequency when turning. Secondly, when the stable support unit is in the retracted state, it can improve the aesthetics and facilitate passage through narrow passages. At the same time, the separation of the casters from the ground can reduce unnecessary wear on the casters and also improve the control of the drive wheels on the chassis.

[0013] Other features and advantages of this utility model will be described in detail in the following detailed description section; and all parts not covered in this utility model are the same as or can be implemented using existing technology. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the following detailed description to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of a stable chassis structure for a warehouse robot provided in this utility model; Figure 2 This is a partial three-dimensional structural diagram of a stable chassis structure for a warehouse robot provided in this utility model. Figure 1 ; Figure 3 This is a partial three-dimensional structural diagram of a stable chassis structure for a warehouse robot provided in this utility model. Figure 2 ; Figure 4 This is a partially exploded view of a stable chassis structure for a warehouse robot provided in this utility model. Figure 1 ; Figure 5 This is a partially exploded view of a stable chassis structure for a warehouse robot provided in this utility model. Figure 2 .

[0015] Explanation of reference numerals in the attached figures 1. Chassis body; 2. Strip slide; 3. Casters; 4. Storage space; 5. Pulley block; 6. Connecting arm; 7. Mounting base; 8. Double-ended threaded rod; 9. Guide rod; 10. Slider; 11. Motor; 12. Connecting base; 13. Pulley; 14. Strip slide; 15. Synchronous belt; 16. Cover plate. Detailed Implementation

[0016] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0017] In this utility model, unless otherwise stated, directional words such as "upper," "lower," "inner," and "outer" included in the terminology only represent the orientation of the term in its conventional use or are common terms understood by those skilled in the art, and should not be regarded as limitations on the term.

[0018] like Figure 1-5As shown, a stable chassis structure for a warehouse robot includes: a chassis body 1, a pair of symmetrically arranged inclined strip slides 2 both mounted on the ground, a pair of symmetrically arranged stable support units slidably mounted on the pair of strip slides 2 along the same length direction, and a bidirectional moving mechanism mounted on the chassis body 1 for driving the pair of stable support units to slide symmetrically on the corresponding strip slides 2. The ends of a pair of strip-shaped slides 2 that are close to each other are inclined upwards. The stable support unit includes casters 3 that can slide in contact with the ground. The edge of the chassis body 1 is provided with a storage space 4 for the casters 3 to be accommodated.

[0019] In the above technical solution, when it is needed, the bidirectional moving mechanism drives a pair of stable support units to slide away from each other on the corresponding strip slide 2. The omnidirectional wheels 3 on the stable support units will extend outward through the storage space 4. Because the ends of the strip slide 2 that are close to each other are inclined upward, the height of the omnidirectional wheels 3 from the ground gradually decreases as the omnidirectional wheels 3 move away from the chassis body 1. When the stable support unit slides to the lower inclined end of the strip slide 2, the omnidirectional wheels 3 come into contact with the ground, thereby playing an auxiliary role and improving the stability of the robot during transportation. A pair of stabilizing support units can share the weight of the chassis body 1 and the load, ensuring stable support; when turning, they help maintain the robot's balance, prevent tipping, and effectively reduce the robot's swaying frequency when turning.

[0020] When the stable support unit is in the retracted state, it can improve the aesthetics and facilitate passage through narrow passages. At the same time, the omnidirectional wheels 3 are separated from the ground, which can reduce unnecessary wear on the omnidirectional wheels 3 and also improve the control of the drive wheels on the chassis body 1.

[0021] In a preferred embodiment of the present invention, the stabilizing support unit further includes a pulley group 5 slidably connected to the strip slide 2 and a connecting arm 6 fixedly connected to the pulley group 5 and the caster wheel 3.

[0022] In the above technical solution, the bidirectional moving mechanism drives the pulley block 5 to slide on the strip slide 2, and drives the universal wheel 3 to move through the connecting arm 6.

[0023] In a preferred embodiment of this utility model, the bidirectional moving mechanism includes a pair of mounting seats 7 spaced horizontally and mounted on the upper surface of the chassis body 1, a horizontal double-ended threaded rod 8 with its two ends respectively axially connected to the corresponding mounting seats 7, at least one guide rod 9 arranged parallel to the double-ended threaded rod 8 and fixedly connected to the corresponding mounting seats 7 at both ends, a pair of sliders 10 symmetrically threaded on both ends of the double-ended threaded rod 8 and slidably mounted on the guide rods 9, and a motor 11 mounted on the upper surface of the chassis body 1 with its output shaft drivenly connected to one end of the double-ended threaded rod 8. Each slider 10 is connected to the pulley block 5 through a connecting member.

[0024] In the above technical solution, the motor 11 drives the double-headed threaded rod 8 to rotate, thereby causing a pair of sliders 10 to slide towards or away from each other on the guide rod 9. When the pair of sliders 10 slide away from each other, the corresponding connecting component drives a pair of pulley groups 5 to slide away from each other on the corresponding strip slide 2, so that the caster wheel 3 contacts the ground. When the pair of sliders 10 slide towards each other, the corresponding connecting component drives a pair of pulley groups 5 to slide closer to each other on the corresponding strip slide 2, causing the caster wheel 3 to move away from the ground and towards the storage space 4.

[0025] In a preferred embodiment of the present invention, the connecting member includes a vertical connecting seat 12 fixedly connected to the corresponding slider 10 and a pulley 13 fixedly connected to the corresponding pulley group 5. The connecting seat 12 is recessed with a vertical strip groove 14, and the pulley 13 is slidably assembled in the strip groove 14.

[0026] In the above technical solution, when the pulley 13 moves, it drives the connecting seat 12 to move along the length direction of the guide rod 9. The connecting seat 12 will drive the pulley group 5 to slide on the strip slide 2. Since the strip slide 2 is in an inclined state, the pulley 13 will also slide vertically in the strip slide groove 14.

[0027] In a preferred embodiment of this utility model, a synchronous pulley is fitted on one end of the output shaft of the motor 11 and the double-threaded rod 8, and a pair of synchronous pulleys are connected by a synchronous belt 15.

[0028] In a preferred embodiment of the present invention, a cover plate 16 is hinged to the top of the open sidewall of the storage space 4 via a hinge shaft, and a torsion spring is mounted on the hinge shaft for driving the cover plate 16 to close onto the storage space 4.

[0029] In the above technical solution, when the caster wheel 3 moves out of the storage space 4, the connecting arm 6 will push the cover plate 16 to rotate upward; after the caster wheel 3 enters the storage space 4, the torsion spring will push the cover plate 16 to close on the storage space 4.

[0030] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0031] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, this utility model will not describe the various possible combinations separately.

[0032] Furthermore, various different embodiments of this utility model can be combined in any way, as long as they do not violate the spirit of this utility model, they should also be regarded as the content disclosed by this utility model.

Claims

1. A stable chassis structure for a warehouse robot, characterized in that, include: The chassis body (1), a pair of symmetrically arranged inclined strip slides (2) mounted on the ground, a pair of symmetrically arranged and slidably mounted on the pair of strip slides (2) in the same length direction, and a bidirectional moving mechanism mounted on the chassis body (1) for driving the pair of symmetrically arranged stabilizing support units to slide symmetrically on the corresponding strip slides (2). The ends of a pair of strip tracks (2) are inclined upwards. The stable support unit includes casters (3) that can slide in contact with the ground. The chassis body (1) has a storage space (4) on its edge for the casters (3) to be accommodated.

2. The stable chassis structure for a warehouse robot according to claim 1, characterized in that, The stabilizing support unit also includes a pulley group (5) slidably connected to the strip slide (2) and a connecting arm (6) fixedly connected to the pulley group (5) and fixedly connected to the caster wheel (3).

3. The stable chassis structure for a warehouse robot according to claim 2, characterized in that, The bidirectional moving mechanism includes a pair of mounting seats (7) spaced horizontally and mounted on the upper surface of the chassis body (1), a horizontal double-ended threaded rod (8) with its two ends respectively axially connected to the corresponding mounting seats (7), at least one guide rod (9) arranged parallel to the double-ended threaded rod (8) and fixedly connected to the corresponding mounting seats (7) at both ends, a pair of sliders (10) symmetrically threaded on both ends of the double-ended threaded rod (8) and slidably mounted on the guide rods (9), and a motor (11) mounted on the upper surface of the chassis body (1) with its output shaft connected to one end of the double-ended threaded rod (8). Each slider (10) is connected to the pulley block (5) through a connecting member.

4. The stable chassis structure for a warehouse robot according to claim 3, characterized in that, The connecting component includes a vertical connecting seat (12) fixedly connected to the corresponding slider (10) and a pulley (13) fixedly connected to the corresponding pulley group (5). The connecting seat (12) is recessed with a vertical strip groove (14), and the pulley (13) is slidably assembled in the strip groove (14).

5. The stable chassis structure for a warehouse robot according to claim 3, characterized in that, Synchronous pulleys are fitted on one end of the output shaft of the motor (11) and the double-threaded rod (8), and a pair of synchronous pulleys are connected by a synchronous belt (15).

6. The stable chassis structure for a warehouse robot according to claim 1, characterized in that, The top of the open sidewall of the storage space (4) is hinged to a cover plate (16) via a hinge shaft, and a torsion spring is mounted on the hinge shaft to drive the cover plate (16) to close onto the storage space (4).

Images