Conveying robot chassis mechanism and conveying robot

Abstract

The application provides a conveying robot chassis mechanism and a conveying robot. The conveying robot chassis mechanism comprises a front chassis, a rear chassis arranged on the front chassis and capable of rotating relative to the front chassis, a front universal wheel arranged at one end of the front chassis away from the rear chassis, a rear universal wheel arranged at one end of the rear chassis away from the front chassis, a traveling wheel comprising a first traveling wheel and a second traveling wheel, the first traveling wheel and the second traveling wheel being arranged on the two sides of the front chassis / rear chassis respectively, a differential mechanism, two half shafts of the differential mechanism being connected with the first traveling wheel and the second traveling wheel respectively, and a motor, a driving end of the motor being connected with an input shaft of the differential mechanism, the motor being used for driving the differential mechanism to rotate the two half shafts at the same or different rotating speeds. The conveying robot chassis mechanism can improve the problem that the conventional conveying robot is prone to tilting or skidding when climbing or turning, thereby helping to improve the stability and safety of the conveying robot under complex road conditions.

Description

Technical Field

[0001] This application relates to the field of conveying robot technology, and more specifically, to a conveying robot chassis mechanism and a conveying robot. Background Technology

[0002] Currently, transport robots (such as AGVs) are widely used in logistics, warehousing, and other fields. However, their chassis mostly adopt a traditional integrated design, which has insufficient climbing ability and stability defects caused by a fixed center of gravity. Standard AGVs can usually only cope with a slope of about 3%, and their performance further declines under heavy load scenarios, making it difficult to adapt to steep slopes in three-dimensional tracks or complex terrain. At the same time, the integrated chassis is prone to tilting or slipping due to the fixed center of gravity distribution when climbing or turning, which may even lead to overturning accidents, especially when transporting heavy loads. Utility Model Content

[0003] This application provides at least one chassis mechanism for a conveying robot and a conveying robot. The chassis mechanism can improve the problem that traditional conveying robots are prone to tilting or slipping when climbing slopes or turning, thereby helping to improve the stability and safety of the conveying robot under complex road conditions.

[0004] In a first aspect, embodiments of this application provide a chassis mechanism for a transport robot, comprising: Front chassis; The rear chassis is mounted on the front chassis and is rotatable relative to the front chassis; The front omnidirectional wheel is located at the end of the front chassis away from the rear chassis; The rear swivel wheel is located at the end of the rear chassis away from the front chassis; The driving wheels include a first driving wheel and a second driving wheel, which are respectively disposed on both sides of the front chassis / the rear chassis; The differential has two half-shafts that are respectively connected to the first wheel and the second wheel; The motor, whose drive end is connected to the input shaft of the differential, is used to drive the differential so that its two half shafts rotate at the same or different speeds.

[0005] In one optional embodiment, the front chassis is provided with a hinge seat; The rear chassis is provided with a cantilever arm at one end near the front chassis. The cantilever arm is provided with a hinge lug, which is connected to the hinge seat by a pin, so that the rear chassis can rotate relative to the front chassis.

[0006] In one optional embodiment, the hinge seat is provided with a screw hole for inserting a limiting screw. When the limiting screw is inserted into the screw hole, it can limit the hinge lug to restrict the rotation of the rear chassis relative to the front chassis.

[0007] In one alternative embodiment, the cantilever arm is provided with a locking screw, which is used to engage with the pin in a threaded manner to restrict the pin from rotating circumferentially relative to the hinge lug.

[0008] In one alternative embodiment, the cantilever arm is provided with a recess for accommodating the hinge seat, and the recess is configured to limit the angle of rotation of the rear chassis relative to the front chassis.

[0009] In one alternative embodiment, the sinker is specifically configured to limit the rear chassis to rotate ±5° relative to the front chassis.

[0010] In one optional embodiment, a buffer is provided between the cantilever arm and the front chassis to achieve shock absorption and damping when the rear chassis rotates relative to the front chassis.

[0011] In one optional embodiment, the buffer includes a first buffer and a second buffer, both of which are disposed on the front chassis. The first buffer is located on the side of the hinge closer to the rear chassis, and the second buffer is located on the side of the hinge away from the rear chassis.

[0012] In one alternative embodiment, the walking wheels are disposed at one end of the front chassis near the rear chassis.

[0013] Secondly, embodiments of this application also provide a conveying robot, including the conveying robot chassis mechanism described above.

[0014] The above-mentioned technical solution of this application has the following beneficial technical effects: The chassis mechanism of the conveyor robot in this embodiment of the application, through its articulated chassis design (the front and rear chassis can rotate relative to each other) and differential drive for the left and right walking wheels, achieves mechanical self-adaptation to complex road conditions: when climbing slopes, the front and rear chassis automatically adjust their angles to maintain a stable center of gravity, avoiding slippage or overturning caused by slopes in traditional integrated chassis; when turning, the differential automatically distributes the speed difference between the left and right walking wheels to balance centrifugal force, avoiding slippage or overturning caused by turns in traditional integrated chassis. Furthermore, this chassis mechanism achieves reliable operation under complex road conditions through mechanical self-adaptation, eliminating the need for an electronic control system, simplifying maintenance procedures and reducing costs.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this application and, together with the specification, serve to explain the technical solutions of this application. It should be understood that the following drawings only show some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This paper shows a schematic diagram of the structure of a conveying robot chassis mechanism provided in an embodiment of this application; Figure 2 It shows Figure 1 An assembly diagram of the front chassis, front casters, wheels, differential, and motor. Figure 3 It shows Figure 1 A schematic diagram of the rear chassis structure; Figure 4 It shows Figure 3 A magnified view of part A in the image; Figure 5 It shows Figure 1 A schematic diagram of the hinge seat in the diagram; In the diagram: 1. Front chassis; 101. Front side plate; 102. Hinge; 103. Pin; 104. Pin shaft; 105. Limit screw; 106. First buffer; 107. Second buffer; 2. Rear chassis; 201. Rear side plate; 202. Cantilever arm; 203. Hinge lug; 204. Locking screw; 205. Sump; 3. Front caster wheel; 4. Rear caster wheel; 5. First travel wheel; 6. Second travel wheel; 7. Differential; 8. Motor. Detailed Implementation

[0018] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0019] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0021] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] Currently, transport robots (such as AGVs) are widely used in logistics, warehousing, and other fields. However, their chassis mostly adopt a traditional integrated design, which has insufficient climbing ability and stability defects caused by a fixed center of gravity. Standard AGVs can usually only cope with a slope of about 3%, and their performance further declines under heavy load scenarios, making it difficult to adapt to steep slopes in three-dimensional tracks or complex terrain. At the same time, the integrated chassis is prone to tilting or slipping due to the fixed center of gravity distribution when climbing or turning, which may even lead to overturning accidents, especially when transporting heavy loads.

[0024] Therefore, this application provides a chassis mechanism for a conveying robot, which can improve the problem of tilting or slipping that traditional conveying robots are prone to when climbing slopes or turning, thereby helping to improve the stability and safety of the conveying robot in complex road conditions.

[0025] like Figures 1 to 5 As shown in the figure, this application embodiment provides a conveyor robot chassis mechanism, including a front chassis 1, a rear chassis 2, front omnidirectional wheels 3, rear omnidirectional wheels 4, traveling wheels, a differential 7, and a motor 8. The rear chassis 2 is disposed on the front chassis 1 and is rotatable relative to the front chassis 1. There are two front omnidirectional wheels 3, which are disposed at the end of the front chassis 1 away from the rear chassis 2. There are also two rear omnidirectional wheels 4, which are disposed at the end of the rear chassis 2 away from the front chassis 1. The traveling wheels include a first traveling wheel 5 and a second traveling wheel 6, which are respectively disposed on both sides of the front chassis 1 / rear chassis 2. The two half-shafts of the differential 7 are respectively connected to the first traveling wheel 5 and the second traveling wheel 6. The drive end of the motor 8 is connected to the input shaft of the differential 7, and is used to drive the differential 7 to rotate its two half-shafts at the same or different speeds.

[0026] During operation, when the conveyor robot is transporting goods in a straight line, the two half-shafts of the differential 7 rotate at the same speed, and simultaneously, the first traveling wheel 5 and the second traveling wheel 6 rotate at the same speed, enabling the conveyor robot to move in a straight line. When the conveyor robot is going uphill or downhill, the relative angle between the front chassis 1 and the rear chassis 2 can be automatically adjusted to ensure that the traveling wheels always maintain contact with the slope surface, avoiding tilting or slippage caused by a shift in the center of gravity. When the conveyor robot is turning, the two half-shafts of the differential 7 rotate at different speeds, causing the outer traveling wheel to rotate faster to counteract centrifugal force, while the inner traveling wheel decelerates to maintain traction, avoiding tilting or slippage caused by centrifugal force.

[0027] refer to Figure 1 and Figure 2 In some embodiments, the front chassis 1 is provided with a front side plate 101, which is located on both sides of the front chassis 1 in the width direction.

[0028] refer to Figure 1 and Figure 5 In some embodiments, a hinge seat 102 is provided at the top of the front side plate 101 of the front chassis 1. In this embodiment, the hinge seat 102 includes two baffles, which are disposed opposite to each other on both sides of the front side plate 101 and are connected and fixed by pins 103. The upper ends of the two baffles are provided with through holes for mounting pins 104. Of course, the mounting position and structure of the hinge seat 102 can be selected according to the actual situation, and are not limited to the methods discussed above.

[0029] refer to Figure 1 and Figure 3 In some embodiments, the rear chassis 2 is provided with a rear side plate 201, which is located on both sides of the rear chassis 2 in the width direction.

[0030] refer to Figure 3 and Figure 4 In some embodiments, a cantilever arm 202 is provided at the end of the rear chassis 2 near the front chassis 1. The cantilever arm 202 is provided with a hinge lug 203, which is connected to the hinge seat 102 via a pin 104, allowing the rear chassis 2 to rotate relative to the front chassis 1. In this embodiment, the cantilever arm 202 is formed by extending forward from the rear side plate 201. The lower end of the cantilever arm 202 is partially thinned and provided with a through hole to form the hinge lug 203. During installation, the hinge lug 203 can be inserted between two baffles and fitted onto the pin 104, thereby achieving a hinge connection and allowing the rear chassis 2 to rotate relative to the front chassis 1. This embodiment does not impose any limitations on this aspect.

[0031] refer to Figure 4 In some embodiments, the hinge 102 is provided with a screw hole for inserting a limiting screw 105. When inserted into the screw hole, the limiting screw 105 can limit the rotation of the rear chassis 2 relative to the front chassis 1 by engaging the hinge lug 203. In this embodiment, the screw hole is located on the hinge 102 near the lower end of the cantilever arm 202. When horizontal fixing constraints are needed for the front chassis 1 and rear chassis 2, the operator can screw the limiting screw 105 into the screw hole. At this time, the limiting screw 105 can limit the rotation of the hinge lug 203 by engaging the lower end of the hinge lug 203, preventing the hinge lug 203 from rotating within the hinge 102, thereby limiting the rotation of the rear chassis 2 relative to the front chassis 1. When the transport robot needs to be used on complex terrain such as slopes and turns, the operator can remove the limiting screw 105. This application does not impose any limitations on this aspect.

[0032] refer to Figure 5 In some embodiments, the cantilever arm 202 is provided with a locking screw 204, which is used to thread with the pin 104 to restrict the pin 104 from rotating circumferentially relative to the hinge lug 203. In this embodiment, the cantilever arm 202 is provided with a mounting hole that extends through its height and communicates with the through hole of the hinge lug 203, and the locking screw 204 is disposed in the mounting hole. After the pin 104 is inserted into the through hole of the hinge lug 203, the operator can tighten the locking screw 204 to insert it into the radial threaded hole of the pin 104. This can fix the pin 104 circumferentially relative to the hinge lug 203, thereby reducing wear between the pin 104 and the through hole of the hinge lug 203 and avoiding dimensional deviations caused by wear. This application does not limit the scope of this embodiment.

[0033] refer to Figure 4 In some embodiments, the cantilever arm 202 is provided with a recess 205 for accommodating the hinge seat 102. The recess 205 is configured to limit the rotation angle of the rear chassis 2 relative to the front chassis 1. In this embodiment, the lower end of the cantilever arm 202 is thinned to form a hinge lug 203 and recesses 205 located on both sides of the hinge lug 203. The recesses 205 are U-shaped grooves, specifically configured to limit the rotation of the rear chassis 2 relative to the front chassis 1 to ±5°. When the hinge lug 203 is inserted into the two baffles, the two baffles are simultaneously accommodated in the two recesses 205. When the hinge lug 203 rotates relative to the hinge seat 102, the side walls of the recesses 205 form a limit with the hinge seat 102, causing the hinge lug 203 (rear chassis 2) to rotate only within a range of ±5° relative to the front chassis 1. This embodiment does not impose any limitations on this aspect.

[0034] In some embodiments, a buffer is provided between the cantilever arm 202 and the front chassis 1 to achieve shock absorption and damping when the rear chassis 2 rotates relative to the front chassis 1. Figure 1 As shown, in this embodiment, the buffer includes a first buffer 106 and a second buffer 107. Both the first buffer 106 and the second buffer 107 are disposed at the top of the front side plate 101 of the front chassis 1. The first buffer 106 is located on the side of the hinge 102 closer to the rear chassis 2, and the second buffer 107 is located on the side of the hinge 102 away from the rear chassis 2. During use, when the rear end of the rear chassis 2 falls downwards, the cantilever arm 202 and the front side plate 101 compress the first buffer 106, achieving shock absorption and damping. When the rear end of the rear chassis 2 tilts upwards, the cantilever arm 202 and the front side plate 101 compress the second buffer 107, achieving shock absorption and damping. Of course, in other embodiments, the first buffer 106 and the second buffer 107 can also be disposed on the cantilever arm 202, and the first buffer 106 and the second buffer 107 are respectively located at the front and rear ends of the hinge lug 203. This application embodiment does not impose any limitations on this.

[0035] refer to Figure 2In some embodiments, the first wheel 5 and the second wheel 6 are respectively disposed on both sides of the front chassis 1, and the differential 7 and the motor 8 are also disposed on the front chassis 1. In this embodiment, the bushing of the differential 7 is fixed to the front chassis 1, and the two flanges of the differential 7 (the two flanges are connected to the bushing and are respectively fitted onto the two half-shafts, allowing the half-shafts to rotate circumferentially within the corresponding flanges) are respectively connected to the two front side plates 101, and the two half-shafts of the differential 7 pass through the two front side plates 101 respectively to connect the first wheel 5 and the second wheel 6. It should be understood that when the first wheel 5 and the second wheel 6 are respectively disposed on both sides of the rear chassis 2, the differential 7 and the motor 8 are also disposed on the rear chassis 2.

[0036] In some embodiments, the first travel wheel 5 and the second travel wheel 6 are respectively mounted on the two half-shafts of the differential 7 via expansion sleeves. During installation, the expansion sleeves are first installed on the inner rings of the first travel wheel 5 and the second travel wheel 6. After the first travel wheel 5 and the second travel wheel 6 are positioned, the expansion sleeves are tightened, and the first travel wheel 5 and the second travel wheel 6 are respectively mounted on the two half-shafts of the differential 7.

[0037] In some embodiments, the walking wheels are disposed at one end of the front chassis 1 near the rear chassis 2. This arrangement ensures that the walking wheels are within the projection range of the robot's center of gravity, balancing the front and rear loads and preventing the front wheels from slipping or the rear wheels from lifting off when climbing slopes due to the center of gravity being too far forward or backward.

[0038] The conveyor robot chassis mechanism of this application embodiment, through an articulated chassis design (the front chassis 1 and the rear chassis 2 can rotate relative to each other) and a differential 7 driving the left and right walking wheels, achieves the function of mechanically adapting to complex road conditions: when climbing, the front and rear chassis 2 automatically adjust their angles to maintain a stable center of gravity, avoiding slippage or overturning caused by slope in traditional integrated chassis; when turning, the differential 7 automatically distributes the wheel speed difference between the left and right walking wheels to balance centrifugal force, avoiding slippage or overturning caused by turning in traditional integrated chassis. In addition, this chassis mechanism achieves reliable operation under complex road conditions through mechanical adaptation, without relying on an electronic control system, simplifying the maintenance process and reducing costs.

[0039] This application also provides a conveying robot, including a conveying robot chassis mechanism. The conveying robot chassis mechanism is the same as described above. The specific structure of the conveying robot chassis mechanism has been described in detail above and will not be repeated here.

[0040] The conveying robot of this application embodiment includes a conveying robot chassis mechanism. Through an articulated chassis design (the front chassis 1 and rear chassis 2 can rotate relative to each other) and a differential 7 driving the left and right wheels, it achieves mechanical self-adaptation to complex road conditions: when climbing slopes, the front and rear chassis 2 automatically adjust their angles to maintain a stable center of gravity, avoiding slippage or overturning caused by slopes in traditional integrated chassis; when turning, the differential 7 automatically distributes the speed difference between the left and right wheels to balance centrifugal force, avoiding slippage or overturning caused by turns in traditional integrated chassis. Furthermore, this chassis mechanism achieves reliable operation under complex road conditions through mechanical self-adaptation, eliminating the need for an electronic control system, simplifying maintenance procedures and reducing costs.

[0041] One or more embodiments in this specification are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this specification should be included within the protection scope of this application.

[0042] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A chassis mechanism for a conveying robot, characterized in that, include: Front chassis; The rear chassis is mounted on the front chassis and is rotatable relative to the front chassis; The front omnidirectional wheel is located at the end of the front chassis away from the rear chassis; The rear swivel wheel is located at the end of the rear chassis away from the front chassis; The driving wheels include a first driving wheel and a second driving wheel, which are respectively disposed on both sides of the front chassis / the rear chassis; The differential has two half-shafts that are respectively connected to the first wheel and the second wheel; The motor, whose drive end is connected to the input shaft of the differential, is used to drive the differential so that its two half shafts rotate at the same or different speeds.

2. The conveying robot chassis mechanism according to claim 1, characterized in that, The front chassis is equipped with a hinge seat; The rear chassis is provided with a cantilever arm at one end near the front chassis. The cantilever arm is provided with a hinge lug, which is connected to the hinge seat by a pin, so that the rear chassis can rotate relative to the front chassis.

3. The conveying robot chassis mechanism according to claim 2, characterized in that, The hinge seat is provided with a screw hole for inserting a limiting screw. When the limiting screw is inserted into the screw hole, it can limit the hinge lug to restrict the rotation of the rear chassis relative to the front chassis.

4. The conveying robot chassis mechanism according to claim 2, characterized in that, The cantilever arm is equipped with a locking screw, which is used to engage with the pin in a threaded manner to restrict the pin from rotating circumferentially relative to the hinge lug.

5. The conveying robot chassis mechanism according to claim 2, characterized in that, The cantilever arm is provided with a recess for accommodating the hinge seat, and the recess is configured to limit the angle of rotation of the rear chassis relative to the front chassis.

6. The conveying robot chassis mechanism according to claim 5, characterized in that, The sinker is specifically configured to limit the rear chassis to rotate ±5° relative to the front chassis.

7. The conveying robot chassis mechanism according to claim 2, characterized in that, A buffer is provided between the cantilever arm and the front chassis to achieve shock absorption and damping when the rear chassis rotates relative to the front chassis.

8. The conveying robot chassis mechanism according to claim 7, characterized in that, The buffer includes a first buffer and a second buffer, both of which are disposed on the front chassis. The first buffer is located on the side of the hinge closer to the rear chassis, and the second buffer is located on the side of the hinge away from the rear chassis.

9. The chassis mechanism of the conveying robot according to claim 1, characterized in that, The wheels are located at one end of the front chassis near the rear chassis.

10. A conveying robot, characterized in that, Includes the chassis mechanism of the conveying robot as described in any one of claims 1-9.

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