Chassis device and transfer robot having the chassis device

Abstract

The present application discloses a chassis device and a handling robot having the chassis device. The chassis device includes a chassis body and a drive wheel swing arm suspension mechanism; the drive wheel swing arm suspension mechanism includes a first swing arm member, the first swing arm member extends along a front-to-back direction of the chassis body, and a drive wheel and a first universal wheel are mounted at both ends of the first swing arm member, respectively; where, at a position between the drive wheel and the first universal wheel, the first swing arm member is rotatably mounted on the chassis body via a first coupling shaft; and where an elastomer is also provided in a compressed state between the drive wheel and the chassis body.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of a handling robot and, in particular, to a chassis device and a handling robot having the chassis device.BACKGROUND

[0002] In the related technology, a handling robot usually includes a handling chassis, which is provided with a retractable fork. During a handling operation, a pallet carrying items to be handled can be transferred onto the handling chassis by extending, retracting and lifting the fork, so that the handling chassis can be moved to handle the items.

[0003] However, the existing handling robot can only be applied to fixed-size pallets, and a reuse rate of the handling chassis is low. Moreover, the existing handling chassis has poor roadworthiness because it is prone to slipping when carrying out handling operations on uneven surfaces.SUMMARY

[0004] According to an aspect of an embodiment of the present disclosure, there is provided a chassis device including a chassis body and a drive wheel swing arm suspension mechanism mounted on the chassis body; the drive wheel swing arm suspension mechanism (21, 920) including: a first swing arm member, extending in a first direction, the first direction being a front-to-back direction of the chassis body; a drive wheel, mounted on one end of the first swing arm member along the first direction; and a first universal wheel, mounted at the other end of the first swing arm member along the first direction; wherein a rotation axis of the drive wheel extends in a second direction, the second direction being a left-to-right direction of the chassis body; at a position between the drive wheels and the first universal wheels, the first swinging arm member is penetrated with a first coupling through-hole, the first coupling through-hole is inserted with a first coupling shaft extending along the second direction, and both ends of the first coupling shaft are fixedly mounted to the chassis body so that the first swing arm member is rotatable relative to the chassis body with the first coupling shaft as a rotation axis; and in a position close to the drive wheel, an elastomer is provided between the first swing arm member and the chassis body, the elastomer being in a compressed state.

[0005] In some embodiments, the chassis body is mounted with the drive wheel swing arm suspension mechanism on each side of left and right sides of the chassis body relative to the first direction; the drive wheel is located at middle of the chassis body along the first direction, and the first universal wheel is located at one end of the chassis body along the first direction; and the chassis body is mounted with a universal wheel swing arm suspension mechanism at the other end of the chassis body along the first direction, and the universal wheel swing arm suspension mechanism is mounted with a second universal wheel at each end of both ends of the universal wheel swing arm suspension mechanism along the second direction.

[0006] In some embodiments, the universal wheel swing arm suspension mechanism includes: a second swing arm member, extending in the second direction, the second swing arm member having the second universal wheel mounted at each end of both ends of the second swing arm member along the second direction; wherein, at a position between the second universal wheels at both ends, the second swing arm member is penetrated with a second coupling through-hole, the second coupling through-hole is inserted with a second coupling shaft extending along the first direction, and two ends of the second coupling shaft are fixedly mounted to the chassis body, so that the second swing arm member is rotatable relative to the chassis body with the second coupling shaft as a rotation axis.

[0007] In some embodiments, two ends of the second coupling shaft are fixedly mounted to the chassis body by a shaft pressing plate.

[0008] In some embodiments, the second swing arm member is provided with a second limiting block at each end of both ends of the second swing arm member along the second direction, the second limiting blocks being disposed on a lower end face of the second swing arm member so that the second limiting blocks are to abut against the chassis body.

[0009] In some embodiments, on both sides of the first coupling through-hole, the chassis body is provided with a pair of mounting lugs, the mounting lugs being for fixedly mounting the first coupling shaft.

[0010] In some embodiments, the first swing arm member is provided with a first limiting block at each end of both ends of the first swing arm member along the first direction, the first limiting blocks being disposed on an upper end face of the first swing arm member so that the first limiting blocks are to abut against the chassis body.

[0011] In some embodiments, the drive wheel swing arm suspension mechanism further includes a drive module, the drive module being mounted on one end of the first swing arm member in the first direction and being to drive the drive wheel to rotate.

[0012] In some embodiments, the chassis body includes a first chassis, a second chassis and a third chassis provided in a split setup; the second chassis and the third chassis are fixedly mounted on the left and right sides of the first chassis relative to the first direction respectively; the first chassis is for mounting the universal wheel swing arm suspension mechanism; the second chassis and the third chassis are for mounting the drive wheel swing arm suspension mechanisms; and the first chassis is connected to the second chassis and the third chassis, so as to mount a retractable fork traveling mechanism.

[0013] In some embodiments, the chassis body is mounted with the drive wheel swing arm suspension mechanism on each side of left and right sides of the chassis body relative to the first direction; the drive wheel is located at middle of the chassis body along the first direction and the first universal wheel is located at one end of the chassis body along the first direction; and the chassis body is mounted with a second universal wheel at the other end of the chassis body along the first direction.

[0014] In some embodiments, the chassis body includes a middle chassis and a pair of side chassis provided in a split setup, the pair of side chassis being disposed on both sides of the middle chassis, respectively; the drive wheel swing arm suspension mechanisms are mounted on the side chassis; and the second universal wheel is mounted on the middle chassis.

[0015] In some embodiments, at a position close to the drive wheel, the first swing arm member is provided with abutting flanges on both sides of the first swing arm member relative to the first direction; lower ends of a pair of the elastomers are each fixedly mounted to a pair of the abutting flanges, and upper ends of the pair of the elastomers are fixedly mounted to a mounting base, the mounting base being for fixedly mounted to the side chassis so as to enable a connection by the elastomers between the first swinging arm member and the side chassis at a position close to the drive wheel.

[0016] In some embodiments, the middle chassis is mounted with a fork assembly, the fork assembly comprising a retractable guide assembly extending in the first direction and a fork body; the retractable guide assembly is provided retractably along the first direction relative to the middle chassis; and the fork body is slidably mounted to the retractable guide assembly along the first direction.

[0017] According to an aspect of an embodiment of the present disclosure, there is provided a chassis device including a chassis body and a drive wheel swing arm suspension mechanism mounted on the chassis body; the chassis body comprises: a middle chassis; and a pair of side chassis disposed on both sides of the middle chassis, respectively; wherein each of the side chassis extends along a first direction, the first direction being a front-to-back direction of the chassis body; the middle chassis is detachably mounted and docked with each of the side chassis; and the drive wheel swing arm suspension mechanism is mounted on the side chassis and an elastomer is provided between the side chassis and the drive wheel swing arm suspension mechanism, the elastomer being in a compressed state.

[0018] According to one aspect of embodiments of the present disclosure, there is provided a handling robot, the handling robot including a chassis device as described in any one of the above aspects.BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate technical solutions of embodiments of the present disclosure, accompanying drawings to be used in the description of the embodiments of the present disclosure will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure, and for a person of ordinary skill in the art, other accompanying drawings may be obtained based on these accompanying drawings without creative efforts. FIG. 1 is a schematic structure diagram of a handling chassis in an embodiment of the present application. FIG. 2 is a schematic structure diagram of a middle chassis in an embodiment of the present application. FIG. 3 is a schematic structure diagram of a side chassis in an embodiment of the present application. FIG. 4 is a schematic structure diagram of a swing arm suspension mechanism in an embodiment of the present application. FIG. 5 is a top cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 6 is a bottom cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 7 is a top cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 8 is a bottom cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 9 is a schematic structure diagram of a chassis device in an embodiment of the present application. FIG. 10 is a schematic structure diagram of a drive wheel swing arm suspension mechanism in an embodiment of the present application. FIG. 11 is a side cross-sectional view of a chassis body in an embodiment of the present application. FIG. 12 is a schematic structure diagram of a universal wheel swing arm suspension mechanism in an embodiment of the present application. FIG. 13 is a side cross-sectional view of a chassis body in an embodiment of the present application. FIG. 14 is a schematic structure diagram of a chassis body in an embodiment of the present application. FIG. 15 is a schematic structure diagram of a retractable fork traveling mechanism in FIG. 9 in an extended way.

[0020] Reference signs are as follows. 10-Middle chassis, 11-Second universal wheel, 12-Fork assembly, 13-Docking lug, 14-Hinge point, 121-Retractable guide assembly, 122-Fork body, 20-Side chassis, 21- Drive wheel swing arm suspension mechanism, 22-Mounting lug, 211-Swing arm member, 212-Drive wheel, 213-First universal wheel, 214-Coupling shaft, 215-Elastomer, 216-Drive module, 217-Abutting flange, 218-Mounting base, 219-Abutting bump, 910-Chassis body, 911-First chassis, 912-Second chassis, 913-Third chassis, 914-Mounting lug, 915-Docking lug, 920-Drive wheel swing arm suspension mechanism, 921-First swing arm member, 922-Drive wheel, 923-First universal wheel, 924-First coupling shaft, 925-Elastomer, 926-First limiting block, 927-Mounting flange, 928-Elastomer mount, 929-Drive module, 930-Universal wheel swing arm suspension mechanism, 931-Second swing arm member, 932-Second universal wheel, 933-Second coupling shaft, 934- Shaft pressing plate, 935-Second limiting block, 940-Retractable fork traveling mechanism, X-First direction, Y-Second direction. DETAILED DESCRIPTION

[0021] In order to better understand the above technical solutions, examples of the present application will be described in detail below with reference to the accompanying drawings. It is clear that the described embodiments are only some embodiments of the present application and not all embodiments of the present application. It should be understood that the present application is not limited by the examples described herein.

[0022] FIG. 1 schematically exemplifies a structure of a handling chassis in a split setup, and FIG. 5 is a top cross-section view of a handling chassis after a fork assembly is retracted, and embodiments of the present application will first be described in conjunction with FIGS. 1 and 5.

[0023] A handling chassis is provided in an embodiment of the present application. The handling chassis includes a middle chassis 10 and a pair of side chassis 20 provided in a split setup, where the middle chassis 10 and the side chassis 20 extend along a first direction X, the first direction X being a front-to-back direction of the handling chassis. The middle chassis 10 is mounted with a fork assembly 12 at a first end of the middle chassis 10 along the first direction X, and the middle chassis 10 is mounted with a second universal wheel 11 at a second end of the middle chassis 10 along the first direction X; where the middle chassis 10 is detachably mounted and docked with the pair of side chassis 20 respectively.

[0024] The front-to-back direction of the handling chassis is set as the first direction, and a left-to-right direction of the handling chassis is set as a second direction.

[0025] In this embodiment, the handling chassis has a split structure, specifically including the middle chassis and the pair of side chassis disposed on both sides of the middle chassis respectively and the middle chassis being detachably mounted and docked with the side chassis.

[0026] The middle chassis and the pair of side chassis both extend along the first direction, that is, the middle chassis and the pair of side chassis both extend along the front-to-back direction of the handling chassis; where the middle chassis is mounted with the fork assembly at the first end of the middle chassis along the first direction, and the fork assembly is used to transfer a pallet carrying items to be handled.

[0027] With respect to the detachable mounting described above, referring to FIG. 1, one docking lug 13 may be provided at an edge of the middle chassis 10 on each of the two sides relative to the first direction X respectively, and the docking lug 13 extends along the first direction X. In this way, the docking lugs on both sides may provide mounting positions, and the pair of side chassis 20 may be mounted on the docking lugs on both sides of the middle chassis 10 respectively by fasteners, so as to realize the detachable mounting of the side chassis to the middle chassis.

[0028] It can be understood that when it is necessary to utilize pallets of different sizes for handling operations, the side chassis on both sides can be removed from the middle chassis. And then, by replacing the middle chassis adapted to the fork assemblies of different sizes, it is possible to make the handling chassis adapted to different sizes of pallets, so as to meet the requirements for handling pallets of different sizes.

[0029] Typically, a drive device (e.g., a drive wheel, etc.) of the handling chassis are mounted on the side chassis of both sides, and the pair of side chassis having the drive devices can be mounted and docked with different middle chassis, and different middle chassis can, for example, be mounted with fork assemblies with different pitches. In this way, through the replacement of the middle chassis, reuse rates of the side chassis and the drive device thereon are improved, and equipment cost is saved.

[0030] Embodiments of the present application provide the handling chassis and the handling robot having the handling chassis. The handling chassis includes the middle chassis and the pair of side chassis in a split setup, and the middle chassis and the side chassis extend along the front-to-back direction of the chassis device. The middle chassis is mounted with a fork assembly at one end of the middle chassis along the front-to-back direction of the chassis device, and the pair of side chassis are respectively detachably mounted at both sides of the middle chassis relative to the first direction. It can be understood that, in this way, when handling pallets of different sizes, by replacing the middle chassis adapted to the fork assemblies of different sizes, the handling chassis can be made to satisfy requirements for handling pallets of different sizes, thereby improving a reuse rate of the handling chassis and saving overall cost.

[0031] In order to enhance overall smoothness of the handling chassis, specifically, a second universal wheel 11 is installed at a second end of the middle chassis 10 along the first direction X. The two side chassis 20 are respectively installed with a swing arm suspension mechanism 21, and the swing arm suspension mechanism 21 is provided with a drive wheel 212 and a first universal wheel 213 at each end of the two ends along the first direction X respectively. The drive wheel 212 is located in middle of the side chassis 20 along the first direction X and the first universal wheel 213 is located at one end of the side chassis 20 away from the second universal wheel 11. Furthermore, a rotation axis of the drive wheel 212 is provided along the second direction Y, and the second direction Y is the left-to-right direction of the handling chassis.

[0032] Referring to FIGS. 2 and 6, the second universal wheel may be mounted at the second end of the middle chassis along the first direction, and then, in conjunction with FIG. 5, the swing arm suspension mechanism extending along the first direction may be mounted on the side chassis.

[0033] At two ends of the swing arm suspension mechanism are the drive wheel and the first universal wheel. Specifically, in combination with FIG. 3, the drive wheel can be set at the middle of the side chassis along the first direction, and the first universal wheel is set at the end of the side chassis away from the second universal wheel, so as to ensure the overall stability of the handling chassis while driving the handling chassis by the drive wheels on both sides.

[0034] In one possible embodiment, referring to FIGS. 3 and 4, the swing arm suspension mechanism 21 includes a swing arm member 211 extending along the first direction X, and the swing arm member 211 is mounted with the drive wheel 212 and the first universal wheel 213 at each end of the swing arm member 211 respectively. Between the drive wheel 212 and the first universal wheel 213, the swing arm member 211 has a coupling through-hole penetrating through the swing arm member 211. The coupling through-hole is inserted with a coupling shaft 214, and the coupling shaft 214 is fixedly mounted to the side chassis 20 so that the swing arm member 211 is mounted to the side chassis 20 and can be rotated relative to the side chassis 20. And the swing arm member 211 is connected to the side chassis 20 at a position close to the drive wheel 212 by an elastomer 215 which is in a compressed state. By this swing arm suspension mechanism, the drive wheel can be prevented from slipping on an uneven road surface.

[0035] When the handling chassis moves on the uneven road surface, slipping of the drive wheel may occur. In this embodiment, the swing arm suspension mechanism is rotatably mounted on the side chassis, and the elastomer is set up for the drive wheel so that the drive wheel can elastically swing up and down relative to the side chassis to accommodate the uneven road surface. It is ensured that there is always a certain pressure between the drive wheels and the uneven road surface, i.e. wheel pressure, and prevents the occurrence of slipping of the drive wheel.

[0036] The drive wheel and the first universal wheel can be mounted on the two ends of the swing arm member extending in the first direction respectively, the swing arm member is provided with the coupling through-hole between the drive wheel and the first universal wheel, the coupling through-hole is inserted with the coupling shaft extending in the second direction, and the two ends of the coupling shaft are fixedly mounted on the side chassis, so as to enable the swing arm member to be rotatably mounted on the side chassis. In other words, the drive wheel and the first universal wheel at both ends of the swing arm can swing up and down relative to the side chassis.

[0037] Moreover, in this embodiment, the swing arm member is connected to the side chassis at the position close to the drive wheel by the elastomer which is in a predetermined compression state.

[0038] Thereby, for example, when a pothole appears on the road surface where the drive wheel is located, the elastomer in the predetermined compression state may drive the drive wheel to swing down relative to the side chassis, so that the drive wheel continues to abut against the road surface of the pothole, ensuring the wheel pressure and preventing the drive wheel from slipping on the pothole.

[0039] For another example, when there is a bulge appears on the road surface where the drive wheel is located, the bulge will cause the drive wheel to swing up relative to the side chassis, at which time the elastomer in the predetermined compression state will continue to be compressed, so that the drive wheel will continue to abut against the bulge, ensuring the wheel pressure and preventing the drive wheel from slipping on the bulge.

[0040] In one embodiment, referring to FIG. 4, the swing arm suspension mechanism 21 further includes a drive module 216. The drive module 216 is located at an end of the swing arm member 211 where the drive wheel 212 is mounted. The drive module 216 is connected to the drive wheel 212 in a transmission way. The drive module 216 is used to drive the drive wheel 212 to rotate.

[0041] In other words, the swing arm suspension mechanism also includes the drive module. The drive module includes, for example, a drive motor and a speed reducer. The drive module can be installed at one end of the swing arm member provided with the drive wheel to facilitate transmission connection between the drive module and the drive wheel. And the drive module is specifically used to drive the drive wheel to rotate, so that when the pair of drive wheels on both sides rotate at the same rotational speed in a forward or reverse direction, the handling chassis can turn forwards or backwards, and when the pair of drive wheels on both sides rotate at different rotational speeds (i.e. differential rotation), the chassis can turn left or right.

[0042] In one embodiment, continuing to refer to FIG. 4, the swing arm member 211 is provided with an abutting flange 217 on each side of the swing arm member 211 with respect to the first direction X at a position close to the drive wheel 212. Lower ends of the pair of elastomers 215 are each fixedly mounted to the pair of abutting flanges 217 respectively, and upper ends of the pair of elastomers 215 are fixedly mounted to a mounting base 218 which is fixedly mounted to the side chassis 20 so that the swing arm member 211 is connected to the side chassis 20 at a position near the drive wheel 212 via the elastomers 215.

[0043] With respect to installation of the elastomers described above, the abutting flanges may be provided on each side of the swing arm member at the position near the drive wheel respectively, and each of the abutting flanges is installed with the elastomer. The upper end of the elastomer may be fixed to the mounting base, and the mounting base may be fixedly mounted to the side chassis, so that the swing arm member can be connected to the side chassis by elastomers at the position near the drive wheel. The pair of elastomers should be in the predetermined compression state.

[0044] By providing the elastomer on the left and right sides of the swing arm member respectively, it is ensured that the left and right sides of the swing arm member are in a same horizontal state, thereby preventing side tilting.

[0045] In one embodiment, continuing to refer to FIG. 4, the swing arm member 211 is provided with an abutting bump (a first limiting block) 219 at each end of the swing arm member 211 along the first direction X. The abutting bumps 219 are located on upper end face of the swing arm member 211, and the abutting bumps 219 are used to abut against the side chassis 20.

[0046] In this embodiment, in order to limit a range of upward and downward swinging of the swing arm member relative to the side chassis, the abutting bump may be provided at each end of the swing arm member respectively, i.e., the above mentioned coupling through-hole is located between the pair of abutting bumps.

[0047] The abutting bumps may be provided on the upper end face of the swing arm member, heights of the abutting bumps may be specifically set according to an actual mounting structure, and the heights of the abutting bumps at the two ends may be the same or different.

[0048] The abutting bumps may be made of materials such as rubber with a certain degree of elasticity to provide a cushioning and abutting effect.

[0049] In one embodiment, referring to FIG. 3, the side chassis 20 is provided with a pair of mounting lugs 22 at positions corresponding to both sides of the coupling through-hole. The two ends of the coupling shaft 214 along the second direction Y are fixedly mounted to the pair of mounting lugs 22, respectively. In other words, the two ends of the above-described coupling shaft may be fixed to the pair of mounting lugs of the side chassis.

[0050] In one possible embodiment, in conjunction with FIGS. 5 to 8, the fork assembly 12 includes a retractable guide assembly 121 and a fork body 122 extending in the first direction. The retractable guide assembly 121 is set to extend and retract relative to the middle chassis 10 in the first direction. The fork body 122 is slidably mounted to the retractable guide assembly 121 in the first direction. In FIGS. 5 and 6, the fork assembly 12 is in a retracted state, and in FIGS. 7 and 8, the fork assembly 12 is in an extended state.

[0051] In this embodiment, the above fork assembly may be provided to extend and retract relative to the middle chassis, that is, the above fork assembly may be provided to extend and retract relative to the handling chassis. It can be understood that the pallets on the ground carrying items to be handled can be transferred to a surface of the handling chassis through the extension and retraction of the fork assembly in conjunction with lifting and lowering of the fork assembly.

[0052] Specifically, the retractable fork assembly 12 may include the retractable guide assembly 121 and the fork body 122 both extending in the first direction X. The retractable guide assembly 121 is disposed to extend and retract in the first direction relative to the middle chassis 10, and then the left and right sides of the retractable guide assembly 121 may be formed, for example, by bending to form a guide rail extending in the first direction, and the guide rail is used for slidingly mounting the fork body 122, i.e., the fork body 122 is slidably mounted to the retractable guide assembly 121 in the first direction by the guide rail.

[0053] In conjunction with FIG. 6, one hinge point 14 may be specifically provided on each side of a first end of the middle chassis respectively, and one hinge point 14 may be provided on each side chassis at a side proximate to the middle chassis. In this way, for example, for one of the retractable guide assemblies, the retractable guide assembly can be set in a retractable setting by cooperation of the two hinge points 14 on the middle chassis and the side chassis.

[0054] The embodiments of the present application provide a chassis device including a chassis body, where the chassis body includes a middle chassis 10 and a pair of side chassis 20 located on each side of the middle chassis 10. The side chassis 20 extend along a first direction X, where the first direction X is a front-back direction of the chassis device. The middle chassis 10 is detachably docked and mounted with each side chassis 20.

[0055] The embodiments of the present application provide another chassis device including a chassis body and a drive wheel swing arm suspension mechanism 21 mounted on the chassis body. The chassis body includes a middle chassis 10 and a pair of side chassis 20 located on each side of the middle chassis 10. The side chassis 20 extend along a first direction, where the first direction is a front-back direction of the chassis body. The middle chassis 10 is detachably docked and installed with each side chassis 20. Additionally, the drive wheel swing arm suspension mechanism 21 is mounted on the side chassis 20 with an elastomer compressed therebetween.

[0056] The embodiments of the present application also disclose a handling robot that includes the handling chassis or chassis device described in the embodiments above.

[0057] FIG. 9 schematically exemplifies a structure of a chassis device, and FIG. 10 schematically exemplifies a structure of a drive wheel swing arm suspension mechanism, and embodiments of the present disclosure will be further described in connection with FIGS. 9 and 10.

[0058] Embodiments of the present disclosure provide a chassis device. The chassis device includes a chassis body 910 and a drive wheel swing arm suspension mechanism 920 mounted to the chassis body 910. The drive wheel swing arm suspension mechanism 920 includes a first swing arm member 921, a drive wheel 922 and a first universal wheel 923. The first swing arm member 921 extends along a first direction X, the first direction X being a front-to-back direction of the chassis body 910. The drive wheel 922 is mounted on one end of the first swing arm mechanism 921 along the first direction X. The first universal wheel 923 is mounted on the other end of the first swing arm member 921 along the first direction X. A rotation axis of the drive wheel 922 is set along a second direction Y, the second direction Y being a left-to-right direction of the chassis body 910. At a position between the drive wheel 922 and the first universal wheel 923, the first swing arm member 921 is penetrated with a first coupling through-hole. The first coupling through-hole is inserted with a first coupling shaft 924 extending in the second direction Y, and the two ends of the first coupling shaft 924 are fixedly mounted on the chassis body 910, so as to allow the first swing arm member 921 to rotate relative to the chassis body 910 with the first coupling shaft 924 as the rotation axis. Furthermore, at a position close to the drive wheel 922, an elastomer 925 is provided between the first swing arm member 921 and the chassis body 910, the elastomer 925 being in a compressed state.

[0059] The chassis device provided in this embodiment may be a chassis device for various handling robots.

[0060] The chassis device may include the chassis body and the drive wheel swing arm suspension mechanism, which may be mounted underneath the chassis body. The drive wheel swing arm suspension mechanism includes the drive wheel, which is used to drive the chassis body to travel.

[0061] Generally speaking, the drive wheel swing arm suspension mechanism can be installed on each side of left and right sides of the chassis body (in a case that the chassis body is of a split structure, the drive wheel swing arm suspension mechanism are installed on two side chassis). The two drive wheels of the two sides of the chassis body can drive the chassis body forward or backward by simultaneously forward or reverse rotation. The two drive wheels of the two sides of the chassis body can drive the chassis body to turn left or right by differential rotation.

[0062] The drive wheel swing arm suspension structure may include the first swing arm member, the drive wheel and the first universal wheel. The first swing arm member extends along the first direction (the first direction is the front-to-back direction of the chassis body). The first swing arm member is mounted with the drive wheel and the first universal wheel at each of two ends along the first direction, and the rotation axis of the drive wheel is set along the second direction (the second direction is the left-to-right direction of the chassis body).

[0063] In the position between the drive wheel and the first universal wheel, the first swing arm member has a first coupling through hole, the first coupling shaft being inserted in the first coupling through-hole and extending in the second direction. Both ends of the first coupling shaft are fixedly mounted on the chassis body. It is convenient to understand that, at this time, the first swing arm member can be rotated with respect to the chassis body with the first coupling shaft as the rotation axis.

[0064] And, at the position close to the drive wheel, the elastomer is also provided between this first swing arm mechanism and the chassis body, the elastomer being in the compressed state.

[0065] With the above construction, it is to be understood that the drive wheel can flexibly swing up and down with respect to the chassis body and always maintain sufficient wheel pressure with respect to an uneven road surface.

[0066] For example, when there is a bulge exists on the road surface where the drive wheel is located, the drive wheel of the first swing arm member swings up, at which time the elastomer may continue to be compressed from the original compression state, and elastic force of the elastomer may provide sufficient wheel pressure between the drive wheel and the road surface to prevent the drive wheel from slipping.

[0067] For example, when there is a pothole exists on the road surface where the drive wheel is located, the drive wheel of the first swing arm member swings down, at which time the elastomer can be partially released from the original compressed state, and the elastic force of the elastomer can still provide sufficient wheel pressure between the drive wheel and the road surface to prevent the drive wheel from slipping.

[0068] In other words, the drive wheel swing arm suspension mechanism can be applied to uneven road surfaces to prevent the drive wheel from slipping.

[0069] Embodiments of the present application provide the chassis device and the handling robot having the chassis device. The chassis device includes the chassis body and the drive wheel swing arm suspension mechanism mounted on the chassis body. The drive wheel swing arm suspension mechanism includes the first swing arm member, the first swing arm member extends along the front-to-back direction of the chassis body, and the drive wheel and the first universal wheel are mounted at both ends of the first swing arm member, respectively. At the position between the drive wheel and the first universal wheel, the first swing arm member is rotatably mounted to the chassis body by the first coupling shaft. At the position near the drive wheel, an elastomer in the compressed state is also provided between the first swing arm member and the chassis body. In this way, it can be understood that, when the chassis device travels on the uneven road surface, the continued compression or release of the elastomer from the original compressed state will cause the drive wheel of the drive wheel swing arm suspension mechanism to maintain sufficient wheel pressure, preventing slipping of the drive wheel.

[0070] In other words, in the chassis device disclosed in the present application, on the one hand, the drive wheel swing arm suspension mechanism is rotatably mounted on the chassis body via the first coupling shaft, and on the other hand, one end of the drive wheel swing arm suspension mechanism mounted with the drive wheel is connected to the chassis body via the elastomer. In this way, the end of the drive wheel swing arm suspension mechanism mounted with the drive wheel can elastically swing up and down with respect to the chassis body, and such up and down elastically swinging can always maintain sufficient pressure between the drive wheel and the uneven road surface, i.e., wheel pressure, preventing the drive wheel from slipping when traveling on the uneven road surface, and solving the technical problem that the existing chassis device has poor road surface passability.

[0071] In one possible embodiment, referring to FIG. 9, the chassis body 910 is mounted with the drive wheel swing arm suspension mechanism 920 on each side of the left and right sides of the chassis body 910 relative to the first direction X. The drive wheel 922 is located at the middle of the chassis body 910 along the first direction X, and the first universal wheel 923 is located at one end of the chassis body 910 along the first direction X. A universal wheel swing arm suspension mechanism 930 is mounted on the other end of the chassis body 910 along the first direction X. A second universal wheel 932 is mounted at each end of the universal wheel swing arm suspension mechanism 930 along the second direction Y respectively.

[0072] As described above, the drive wheel swing arm suspension mechanisms may generally be mounted on the left and right sides of the chassis body relative to the first direction respectively. The drive wheel of the drive wheel swing arm suspension mechanism is disposed at the middle of the chassis body along the front-to-back direction of the chassis body (i.e., the first direction), and the first universal wheel of the drive wheel swing arm suspension mechanism is disposed at one end of the chassis body along the first direction.

[0073] In addition, in order to maintain the smoothness of the chassis body, this embodiment also has the universal wheel swing arm suspension mechanism mounted at the other end of the chassis body along the first direction, and the second universal wheel is mounted at each end of the universal wheel swing arm suspension mechanism along the left-to-right direction (i.e., the second direction) of the chassis body.

[0074] It can be understood that relative to the chassis body, on the one hand, the two drive wheels at the middle of the chassis body are used to drive the chassis body to travel, and on the other hand, the first universal wheel and the second universal wheel at the front and the rear end can smoothly support the chassis body, and facilitate steering of the chassis body.

[0075] In one embodiment, referring to FIGS. 12 and 13, the universal wheel swing arm suspension mechanism 930 includes a second swing arm member 931. The second swing arm member 931 extends along the second direction Y, and the second universal wheel 932 is mounted at each end of both ends of the second swing arm member 931 along the second direction Y. At a position between the second universal wheels 932 at the two ends of the second swing arm member 931, the second swing arm member 931 is penetrated by a second coupling borehole. The second coupling through-hole is inserted with a second coupling shaft 933 extending along the first direction X. Both ends of the second coupling shaft 933 are fixedly mounted to the chassis body 910 so that the second swing arm member 931 can rotate relative to the chassis body 910 with the second coupling shaft 933 as the rotating axis.

[0076] This embodiment gives a specific structure of the universal wheel swing arm suspension mechanism. Specifically, two second universal wheels are installed at the two ends of the second swing arm member extending in the second direction. Similar to the first swing arm member, the second swing arm member is also provided with the second coupling through-hole between the two second universal wheels, and the second coupling shaft is inserted in the second coupling through-hole and fixedly installed in the chassis body, so that the second swing arm member can rotate relative to the chassis body. In other words, the second universal wheels on the left and right sides can swing up and down relative to the chassis body, which improves the smoothness of the chassis body, and prevents the chassis body from shaking when traveling on the uneven road surface.

[0077] In one embodiment, the two ends of the second coupling shaft 933 are fixedly mounted to the chassis body 910 by a shaft pressing plate 934. Referring to FIGS. 12 and 13, the shaft pressing plate 934 may be, for example, fixedly mounted to the chassis body 910 by screws, thereby pressing the second coupling shaft against the chassis body.

[0078] In one embodiment, the second swing arm member 931 is provided with a second limiting block 935 at each of the two ends of the second swing arm member 931 along the second direction Y. The second limiting blocks 935 are disposed on a lower end face of the second swing arm mechanism 931 so that the second limiting blocks 935 are used to abut against the chassis body 910.

[0079] In this way, the second limit blocks can limit the range of upward and downward swinging of the second universal wheel at its end by the second limit block abutting against the chassis body.

[0080] In one possible embodiment, referring to FIG. 11, the chassis body 910 is provided with a pair of mounting lugs 914 on two sides of the first coupling through-hole respectively, the mounting lugs 914 being used to fixedly mount the first coupling shaft 924.

[0081] In other words, the pair of mounting lugs may be provided on the chassis body at positions corresponding to the left and right sides of the first coupling through-hole, and then, the two ends of the first coupling shaft may be fixedly mounted on the pair of mounting lugs.

[0082] In one possible embodiment, similar to the second limiting block 935 of the second swing arm member 931, the first swing arm member 921 is provided with a first limiting block 926 at each end of the first swing arm member 921 along the first direction X respectively. The first limiting block 926 may be disposed on an upper end face of the first swing arm member 921 so that the first limiting blocks 926 are used to abut against the chassis body 910.

[0083] In this embodiment, the first limiting block may be provided at the front and rear (i.e., along the first direction) ends of the first swing arm member, and the first limiting block may be specifically provided at the upper end face of the first swing arm member to abut against the chassis body so as to realize the limitation of upward and downward swinging of the drive wheel and the first universal wheel, respectively.

[0084] In one possible embodiment, the drive wheel swing arm suspension mechanism 920 further includes a drive module 929, the drive module 929 including, for example, a drive motor and a motor speed reducer. The drive module 929 may be specifically mounted at one end of the first swing arm member 921 along the first direction X, i.e., mounted close to the drive wheel 922. The drive module 929 is connected to the drive wheel 922 in a transmission way, for driving the drive wheel 922 to rotate.

[0085] In conjunction with FIGS. 9 and 10, for the drive wheels and the drive module, the drive wheels may be specifically located on an outer side of the drive module and the drive module is located on an inner side of the drive wheels.

[0086] Regarding the installation of the elastomer, in one possible implementation, mounting flanges 927 may be provided on the left and right sides of the first swing arm member 921 near the position of the drive wheel 922 respectively. Two elastomers 925 are fixed to the mounting flanges 927 on the left and right sides respectively, the other ends of the two elastomers 925 are fixed to an elastomer mounting base 928, and the elastomer mounting base 928 is fixedly mounted on the chassis body 910. In this way, the installation of the elastomer 925 can be realized.

[0087] In one possible embodiment, the chassis body 910 includes a first chassis 911, a second chassis 12, and a third chassis 913 in a split setup. The second chassis 912 and the third chassis 913 are fixedly mounted on the left and right sides of the first chassis 911 relative to the first direction X respectively. The first chassis 911 is used for mounting the universal wheel swing arm suspension mechanism 930. The second chassis 912 and the third chassis 913 are used to install the drive wheel swing arm suspension mechanism 920. The first chassis 911 is connected to the second chassis 912 and the third chassis 913 respectively for installing a retractable fork traveling mechanism 940.

[0088] In other words, the chassis body may be in the split setup, specifically including the first chassis in the middle, and the second chassis and the third chassis are fixedly mounted on the left and right sides of the first chassis, respectively. It can be understood that the shape of the second chassis and the third chassis is for example in a mirrored symmetry.

[0089] The universal wheel swing arm suspension mechanism can be installed in the middle of the first chassis, the drive wheel swing arm suspension mechanism can be installed on the second chassis and the third chassis, respectively, and after the first chassis is connected to the second chassis and the third chassis respectively, the retractable fork walking mechanism can be installed. The retractable fork walking mechanism can be installed in specifically on notches of two sides of the first chassis. Therefore, through the split setup, the first chassis in the middle can be replaced according to actual needs, so that different sizes of pallets can be applied by different sizes of retractable forks, which improves the reuse rate of the traveling chassis device.

[0090] The first chassis is detachably mounted to the second chassis and the third chassis on both sides. Specifically, a docking lug 915 may be provided at edge of both sides of the first chassis 911 with respect to the first direction X respectively, and the docking lug 915 extends along the first direction X. In this way, the docking lugs on both sides may provide mounting positions, and the second chassis 912 and the third chassis 913 may be mounted to the first chassis 911 on the docking lugs of both sides by fasteners, respectively, thereby realizing removable mounting of the first chassis to the second chassis and the third chassis.

[0091] The present application also discloses a handling robot, the handling robot including the chassis device described in the above embodiments.

[0092] The above describes basic principles of the present application in conjunction with specific embodiments, but it should be noted that advantages, strength, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strength, effects, etc. are necessary for each embodiment of the present application. Furthermore, the specific details disclosed above are only for the purpose of examples and for the purpose of facilitating understanding, and are not a limitation, and the above details do not limit the present application as having to be realized by adopting the above specific details.

[0093] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are intended as illustrative examples only and do not intend to require or imply that they must be connected, arranged, or configured in the manner illustrated in the block diagrams. As those skilled in the art will recognize, the devices, apparatuses, equipment, and systems may be connected, arranged, and configured in any manners. Words such as "including," "comprising," "having," and the like are open-ended terms that refer to "including but not limited to" and may be used interchangeably therewith unless the context clearly indicates otherwise. The term "such as" as used herein refers to the phrase "such as, but not limited to" and may be used interchangeably therewith.

[0094] It is also to be noted that in the devices, apparatuses and methods of the present application, the components or steps are decomposable and / or recombinable. These decompositions and / or recombinations should be regarded as equivalent embodiments of the present application.

[0095] The foregoing description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this application. Accordingly, the present application is not intended to be limited to the aspects illustrated herein, but rather to follow the broadest scope consistent with the principles and novel features disclosed herein.

[0096] The above description has been given for purposes of illustration and description. Moreover, the description is not intended to limit the embodiments of the present application to the form disclosed herein. Although a plurality of exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and subcombinations thereof shall be included within the scope of protection of this disclosure.

Examples

Embodiment Construction

[0021]In order to better understand the above technical solutions, examples of the present application will be described in detail below with reference to the accompanying drawings. It is clear that the described embodiments are only some embodiments of the present application and not all embodiments of the present application. It should be understood that the present application is not limited by the examples described herein.

[0022]FIG. 1 schematically exemplifies a structure of a handling chassis in a split setup, and FIG. 5 is a top cross-section view of a handling chassis after a fork assembly is retracted, and embodiments of the present application will first be described in conjunction with FIGS. 1 and 5.

[0023]A handling chassis is provided in an embodiment of the present application. The handling chassis includes a middle chassis 10 and a pair of side chassis 20 provided in a split setup, where the middle chassis 10 and the side chassis 20 extend along a first direction X, th...

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of a handling robot and, in particular, to a chassis device and a handling robot having the chassis device.BACKGROUND

[0002] In the related technology, a handling robot usually includes a handling chassis, which is provided with a retractable fork. During a handling operation, a pallet carrying items to be handled can be transferred onto the handling chassis by extending, retracting and lifting the fork, so that the handling chassis can be moved to handle the items.

[0003] However, the existing handling robot can only be applied to fixed-size pallets, and a reuse rate of the handling chassis is low. Moreover, the existing handling chassis has poor roadworthiness because it is prone to slipping when carrying out handling operations on uneven surfaces.SUMMARY

[0004] According to an aspect of an embodiment of the present disclosure, there is provided a chassis device including a chassis body and a drive wheel swing arm suspension mechanism mounted on the chassis body; the drive wheel swing arm suspension mechanism (21, 920) including: a first swing arm member, extending in a first direction, the first direction being a front-to-back direction of the chassis body; a drive wheel, mounted on one end of the first swing arm member along the first direction; and a first universal wheel, mounted at the other end of the first swing arm member along the first direction; wherein a rotation axis of the drive wheel extends in a second direction, the second direction being a left-to-right direction of the chassis body; at a position between the drive wheels and the first universal wheels, the first swinging arm member is penetrated with a first coupling through-hole, the first coupling through-hole is inserted with a first coupling shaft extending along the second direction, and both ends of the first coupling shaft are fixedly mounted to the chassis body so that the first swing arm member is rotatable relative to the chassis body with the first coupling shaft as a rotation axis; and in a position close to the drive wheel, an elastomer is provided between the first swing arm member and the chassis body, the elastomer being in a compressed state.

[0005] In some embodiments, the chassis body is mounted with the drive wheel swing arm suspension mechanism on each side of left and right sides of the chassis body relative to the first direction; the drive wheel is located at middle of the chassis body along the first direction, and the first universal wheel is located at one end of the chassis body along the first direction; and the chassis body is mounted with a universal wheel swing arm suspension mechanism at the other end of the chassis body along the first direction, and the universal wheel swing arm suspension mechanism is mounted with a second universal wheel at each end of both ends of the universal wheel swing arm suspension mechanism along the second direction.

[0006] In some embodiments, the universal wheel swing arm suspension mechanism includes: a second swing arm member, extending in the second direction, the second swing arm member having the second universal wheel mounted at each end of both ends of the second swing arm member along the second direction; wherein, at a position between the second universal wheels at both ends, the second swing arm member is penetrated with a second coupling through-hole, the second coupling through-hole is inserted with a second coupling shaft extending along the first direction, and two ends of the second coupling shaft are fixedly mounted to the chassis body, so that the second swing arm member is rotatable relative to the chassis body with the second coupling shaft as a rotation axis.

[0007] In some embodiments, two ends of the second coupling shaft are fixedly mounted to the chassis body by a shaft pressing plate.

[0008] In some embodiments, the second swing arm member is provided with a second limiting block at each end of both ends of the second swing arm member along the second direction, the second limiting blocks being disposed on a lower end face of the second swing arm member so that the second limiting blocks are to abut against the chassis body.

[0009] In some embodiments, on both sides of the first coupling through-hole, the chassis body is provided with a pair of mounting lugs, the mounting lugs being for fixedly mounting the first coupling shaft.

[0010] In some embodiments, the first swing arm member is provided with a first limiting block at each end of both ends of the first swing arm member along the first direction, the first limiting blocks being disposed on an upper end face of the first swing arm member so that the first limiting blocks are to abut against the chassis body.

[0011] In some embodiments, the drive wheel swing arm suspension mechanism further includes a drive module, the drive module being mounted on one end of the first swing arm member in the first direction and being to drive the drive wheel to rotate.

[0012] In some embodiments, the chassis body includes a first chassis, a second chassis and a third chassis provided in a split setup; the second chassis and the third chassis are fixedly mounted on the left and right sides of the first chassis relative to the first direction respectively; the first chassis is for mounting the universal wheel swing arm suspension mechanism; the second chassis and the third chassis are for mounting the drive wheel swing arm suspension mechanisms; and the first chassis is connected to the second chassis and the third chassis, so as to mount a retractable fork traveling mechanism.

[0013] In some embodiments, the chassis body is mounted with the drive wheel swing arm suspension mechanism on each side of left and right sides of the chassis body relative to the first direction; the drive wheel is located at middle of the chassis body along the first direction and the first universal wheel is located at one end of the chassis body along the first direction; and the chassis body is mounted with a second universal wheel at the other end of the chassis body along the first direction.

[0014] In some embodiments, the chassis body includes a middle chassis and a pair of side chassis provided in a split setup, the pair of side chassis being disposed on both sides of the middle chassis, respectively; the drive wheel swing arm suspension mechanisms are mounted on the side chassis; and the second universal wheel is mounted on the middle chassis.

[0015] In some embodiments, at a position close to the drive wheel, the first swing arm member is provided with abutting flanges on both sides of the first swing arm member relative to the first direction; lower ends of a pair of the elastomers are each fixedly mounted to a pair of the abutting flanges, and upper ends of the pair of the elastomers are fixedly mounted to a mounting base, the mounting base being for fixedly mounted to the side chassis so as to enable a connection by the elastomers between the first swinging arm member and the side chassis at a position close to the drive wheel.

[0016] In some embodiments, the middle chassis is mounted with a fork assembly, the fork assembly comprising a retractable guide assembly extending in the first direction and a fork body; the retractable guide assembly is provided retractably along the first direction relative to the middle chassis; and the fork body is slidably mounted to the retractable guide assembly along the first direction.

[0017] According to an aspect of an embodiment of the present disclosure, there is provided a chassis device including a chassis body and a drive wheel swing arm suspension mechanism mounted on the chassis body; the chassis body comprises: a middle chassis; and a pair of side chassis disposed on both sides of the middle chassis, respectively; wherein each of the side chassis extends along a first direction, the first direction being a front-to-back direction of the chassis body; the middle chassis is detachably mounted and docked with each of the side chassis; and the drive wheel swing arm suspension mechanism is mounted on the side chassis and an elastomer is provided between the side chassis and the drive wheel swing arm suspension mechanism, the elastomer being in a compressed state.

[0018] According to one aspect of embodiments of the present disclosure, there is provided a handling robot, the handling robot including a chassis device as described in any one of the above aspects.BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate technical solutions of embodiments of the present disclosure, accompanying drawings to be used in the description of the embodiments of the present disclosure will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure, and for a person of ordinary skill in the art, other accompanying drawings may be obtained based on these accompanying drawings without creative efforts. FIG. 1 is a schematic structure diagram of a handling chassis in an embodiment of the present application. FIG. 2 is a schematic structure diagram of a middle chassis in an embodiment of the present application. FIG. 3 is a schematic structure diagram of a side chassis in an embodiment of the present application. FIG. 4 is a schematic structure diagram of a swing arm suspension mechanism in an embodiment of the present application. FIG. 5 is a top cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 6 is a bottom cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 7 is a top cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 8 is a bottom cross-sectional view of a handling chassis in an embodiment of the present application. FIG. 9 is a schematic structure diagram of a chassis device in an embodiment of the present application. FIG. 10 is a schematic structure diagram of a drive wheel swing arm suspension mechanism in an embodiment of the present application. FIG. 11 is a side cross-sectional view of a chassis body in an embodiment of the present application. FIG. 12 is a schematic structure diagram of a universal wheel swing arm suspension mechanism in an embodiment of the present application. FIG. 13 is a side cross-sectional view of a chassis body in an embodiment of the present application. FIG. 14 is a schematic structure diagram of a chassis body in an embodiment of the present application. FIG. 15 is a schematic structure diagram of a retractable fork traveling mechanism in FIG. 9 in an extended way.

[0020] Reference signs are as follows. 10-Middle chassis, 11-Second universal wheel, 12-Fork assembly, 13-Docking lug, 14-Hinge point, 121-Retractable guide assembly, 122-Fork body, 20-Side chassis, 21- Drive wheel swing arm suspension mechanism, 22-Mounting lug, 211-Swing arm member, 212-Drive wheel, 213-First universal wheel, 214-Coupling shaft, 215-Elastomer, 216-Drive module, 217-Abutting flange, 218-Mounting base, 219-Abutting bump, 910-Chassis body, 911-First chassis, 912-Second chassis, 913-Third chassis, 914-Mounting lug, 915-Docking lug, 920-Drive wheel swing arm suspension mechanism, 921-First swing arm member, 922-Drive wheel, 923-First universal wheel, 924-First coupling shaft, 925-Elastomer, 926-First limiting block, 927-Mounting flange, 928-Elastomer mount, 929-Drive module, 930-Universal wheel swing arm suspension mechanism, 931-Second swing arm member, 932-Second universal wheel, 933-Second coupling shaft, 934- Shaft pressing plate, 935-Second limiting block, 940-Retractable fork traveling mechanism, X-First direction, Y-Second direction. DETAILED DESCRIPTION

[0021] In order to better understand the above technical solutions, examples of the present application will be described in detail below with reference to the accompanying drawings. It is clear that the described embodiments are only some embodiments of the present application and not all embodiments of the present application. It should be understood that the present application is not limited by the examples described herein.

[0022] FIG. 1 schematically exemplifies a structure of a handling chassis in a split setup, and FIG. 5 is a top cross-section view of a handling chassis after a fork assembly is retracted, and embodiments of the present application will first be described in conjunction with FIGS. 1 and 5.

[0023] A handling chassis is provided in an embodiment of the present application. The handling chassis includes a middle chassis 10 and a pair of side chassis 20 provided in a split setup, where the middle chassis 10 and the side chassis 20 extend along a first direction X, the first direction X being a front-to-back direction of the handling chassis. The middle chassis 10 is mounted with a fork assembly 12 at a first end of the middle chassis 10 along the first direction X, and the middle chassis 10 is mounted with a second universal wheel 11 at a second end of the middle chassis 10 along the first direction X; where the middle chassis 10 is detachably mounted and docked with the pair of side chassis 20 respectively.

[0024] The front-to-back direction of the handling chassis is set as the first direction, and a left-to-right direction of the handling chassis is set as a second direction.

[0025] In this embodiment, the handling chassis has a split structure, specifically including the middle chassis and the pair of side chassis disposed on both sides of the middle chassis respectively and the middle chassis being detachably mounted and docked with the side chassis.

[0026] The middle chassis and the pair of side chassis both extend along the first direction, that is, the middle chassis and the pair of side chassis both extend along the front-to-back direction of the handling chassis; where the middle chassis is mounted with the fork assembly at the first end of the middle chassis along the first direction, and the fork assembly is used to transfer a pallet carrying items to be handled.

[0027] With respect to the detachable mounting described above, referring to FIG. 1, one docking lug 13 may be provided at an edge of the middle chassis 10 on each of the two sides relative to the first direction X respectively, and the docking lug 13 extends along the first direction X. In this way, the docking lugs on both sides may provide mounting positions, and the pair of side chassis 20 may be mounted on the docking lugs on both sides of the middle chassis 10 respectively by fasteners, so as to realize the detachable mounting of the side chassis to the middle chassis.

[0028] It can be understood that when it is necessary to utilize pallets of different sizes for handling operations, the side chassis on both sides can be removed from the middle chassis. And then, by replacing the middle chassis adapted to the fork assemblies of different sizes, it is possible to make the handling chassis adapted to different sizes of pallets, so as to meet the requirements for handling pallets of different sizes.

[0029] Typically, a drive device (e.g., a drive wheel, etc.) of the handling chassis are mounted on the side chassis of both sides, and the pair of side chassis having the drive devices can be mounted and docked with different middle chassis, and different middle chassis can, for example, be mounted with fork assemblies with different pitches. In this way, through the replacement of the middle chassis, reuse rates of the side chassis and the drive device thereon are improved, and equipment cost is saved.

[0030] Embodiments of the present application provide the handling chassis and the handling robot having the handling chassis. The handling chassis includes the middle chassis and the pair of side chassis in a split setup, and the middle chassis and the side chassis extend along the front-to-back direction of the chassis device. The middle chassis is mounted with a fork assembly at one end of the middle chassis along the front-to-back direction of the chassis device, and the pair of side chassis are respectively detachably mounted at both sides of the middle chassis relative to the first direction. It can be understood that, in this way, when handling pallets of different sizes, by replacing the middle chassis adapted to the fork assemblies of different sizes, the handling chassis can be made to satisfy requirements for handling pallets of different sizes, thereby improving a reuse rate of the handling chassis and saving overall cost.

[0031] In order to enhance overall smoothness of the handling chassis, specifically, a second universal wheel 11 is installed at a second end of the middle chassis 10 along the first direction X. The two side chassis 20 are respectively installed with a swing arm suspension mechanism 21, and the swing arm suspension mechanism 21 is provided with a drive wheel 212 and a first universal wheel 213 at each end of the two ends along the first direction X respectively. The drive wheel 212 is located in middle of the side chassis 20 along the first direction X and the first universal wheel 213 is located at one end of the side chassis 20 away from the second universal wheel 11. Furthermore, a rotation axis of the drive wheel 212 is provided along the second direction Y, and the second direction Y is the left-to-right direction of the handling chassis.

[0032] Referring to FIGS. 2 and 6, the second universal wheel may be mounted at the second end of the middle chassis along the first direction, and then, in conjunction with FIG. 5, the swing arm suspension mechanism extending along the first direction may be mounted on the side chassis.

[0033] At two ends of the swing arm suspension mechanism are the drive wheel and the first universal wheel. Specifically, in combination with FIG. 3, the drive wheel can be set at the middle of the side chassis along the first direction, and the first universal wheel is set at the end of the side chassis away from the second universal wheel, so as to ensure the overall stability of the handling chassis while driving the handling chassis by the drive wheels on both sides.

[0034] In one possible embodiment, referring to FIGS. 3 and 4, the swing arm suspension mechanism 21 includes a swing arm member 211 extending along the first direction X, and the swing arm member 211 is mounted with the drive wheel 212 and the first universal wheel 213 at each end of the swing arm member 211 respectively. Between the drive wheel 212 and the first universal wheel 213, the swing arm member 211 has a coupling through-hole penetrating through the swing arm member 211. The coupling through-hole is inserted with a coupling shaft 214, and the coupling shaft 214 is fixedly mounted to the side chassis 20 so that the swing arm member 211 is mounted to the side chassis 20 and can be rotated relative to the side chassis 20. And the swing arm member 211 is connected to the side chassis 20 at a position close to the drive wheel 212 by an elastomer 215 which is in a compressed state. By this swing arm suspension mechanism, the drive wheel can be prevented from slipping on an uneven road surface.

[0035] When the handling chassis moves on the uneven road surface, slipping of the drive wheel may occur. In this embodiment, the swing arm suspension mechanism is rotatably mounted on the side chassis, and the elastomer is set up for the drive wheel so that the drive wheel can elastically swing up and down relative to the side chassis to accommodate the uneven road surface. It is ensured that there is always a certain pressure between the drive wheels and the uneven road surface, i.e. wheel pressure, and prevents the occurrence of slipping of the drive wheel.

[0036] The drive wheel and the first universal wheel can be mounted on the two ends of the swing arm member extending in the first direction respectively, the swing arm member is provided with the coupling through-hole between the drive wheel and the first universal wheel, the coupling through-hole is inserted with the coupling shaft extending in the second direction, and the two ends of the coupling shaft are fixedly mounted on the side chassis, so as to enable the swing arm member to be rotatably mounted on the side chassis. In other words, the drive wheel and the first universal wheel at both ends of the swing arm can swing up and down relative to the side chassis.

[0037] Moreover, in this embodiment, the swing arm member is connected to the side chassis at the position close to the drive wheel by the elastomer which is in a predetermined compression state.

[0038] Thereby, for example, when a pothole appears on the road surface where the drive wheel is located, the elastomer in the predetermined compression state may drive the drive wheel to swing down relative to the side chassis, so that the drive wheel continues to abut against the road surface of the pothole, ensuring the wheel pressure and preventing the drive wheel from slipping on the pothole.

[0039] For another example, when there is a bulge appears on the road surface where the drive wheel is located, the bulge will cause the drive wheel to swing up relative to the side chassis, at which time the elastomer in the predetermined compression state will continue to be compressed, so that the drive wheel will continue to abut against the bulge, ensuring the wheel pressure and preventing the drive wheel from slipping on the bulge.

[0040] In one embodiment, referring to FIG. 4, the swing arm suspension mechanism 21 further includes a drive module 216. The drive module 216 is located at an end of the swing arm member 211 where the drive wheel 212 is mounted. The drive module 216 is connected to the drive wheel 212 in a transmission way. The drive module 216 is used to drive the drive wheel 212 to rotate.

[0041] In other words, the swing arm suspension mechanism also includes the drive module. The drive module includes, for example, a drive motor and a speed reducer. The drive module can be installed at one end of the swing arm member provided with the drive wheel to facilitate transmission connection between the drive module and the drive wheel. And the drive module is specifically used to drive the drive wheel to rotate, so that when the pair of drive wheels on both sides rotate at the same rotational speed in a forward or reverse direction, the handling chassis can turn forwards or backwards, and when the pair of drive wheels on both sides rotate at different rotational speeds (i.e. differential rotation), the chassis can turn left or right.

[0042] In one embodiment, continuing to refer to FIG. 4, the swing arm member 211 is provided with an abutting flange 217 on each side of the swing arm member 211 with respect to the first direction X at a position close to the drive wheel 212. Lower ends of the pair of elastomers 215 are each fixedly mounted to the pair of abutting flanges 217 respectively, and upper ends of the pair of elastomers 215 are fixedly mounted to a mounting base 218 which is fixedly mounted to the side chassis 20 so that the swing arm member 211 is connected to the side chassis 20 at a position near the drive wheel 212 via the elastomers 215.

[0043] With respect to installation of the elastomers described above, the abutting flanges may be provided on each side of the swing arm member at the position near the drive wheel respectively, and each of the abutting flanges is installed with the elastomer. The upper end of the elastomer may be fixed to the mounting base, and the mounting base may be fixedly mounted to the side chassis, so that the swing arm member can be connected to the side chassis by elastomers at the position near the drive wheel. The pair of elastomers should be in the predetermined compression state.

[0044] By providing the elastomer on the left and right sides of the swing arm member respectively, it is ensured that the left and right sides of the swing arm member are in a same horizontal state, thereby preventing side tilting.

[0045] In one embodiment, continuing to refer to FIG. 4, the swing arm member 211 is provided with an abutting bump (a first limiting block) 219 at each end of the swing arm member 211 along the first direction X. The abutting bumps 219 are located on upper end face of the swing arm member 211, and the abutting bumps 219 are used to abut against the side chassis 20.

[0046] In this embodiment, in order to limit a range of upward and downward swinging of the swing arm member relative to the side chassis, the abutting bump may be provided at each end of the swing arm member respectively, i.e., the above mentioned coupling through-hole is located between the pair of abutting bumps.

[0047] The abutting bumps may be provided on the upper end face of the swing arm member, heights of the abutting bumps may be specifically set according to an actual mounting structure, and the heights of the abutting bumps at the two ends may be the same or different.

[0048] The abutting bumps may be made of materials such as rubber with a certain degree of elasticity to provide a cushioning and abutting effect.

[0049] In one embodiment, referring to FIG. 3, the side chassis 20 is provided with a pair of mounting lugs 22 at positions corresponding to both sides of the coupling through-hole. The two ends of the coupling shaft 214 along the second direction Y are fixedly mounted to the pair of mounting lugs 22, respectively. In other words, the two ends of the above-described coupling shaft may be fixed to the pair of mounting lugs of the side chassis.

[0050] In one possible embodiment, in conjunction with FIGS. 5 to 8, the fork assembly 12 includes a retractable guide assembly 121 and a fork body 122 extending in the first direction. The retractable guide assembly 121 is set to extend and retract relative to the middle chassis 10 in the first direction. The fork body 122 is slidably mounted to the retractable guide assembly 121 in the first direction. In FIGS. 5 and 6, the fork assembly 12 is in a retracted state, and in FIGS. 7 and 8, the fork assembly 12 is in an extended state.

[0051] In this embodiment, the above fork assembly may be provided to extend and retract relative to the middle chassis, that is, the above fork assembly may be provided to extend and retract relative to the handling chassis. It can be understood that the pallets on the ground carrying items to be handled can be transferred to a surface of the handling chassis through the extension and retraction of the fork assembly in conjunction with lifting and lowering of the fork assembly.

[0052] Specifically, the retractable fork assembly 12 may include the retractable guide assembly 121 and the fork body 122 both extending in the first direction X. The retractable guide assembly 121 is disposed to extend and retract in the first direction relative to the middle chassis 10, and then the left and right sides of the retractable guide assembly 121 may be formed, for example, by bending to form a guide rail extending in the first direction, and the guide rail is used for slidingly mounting the fork body 122, i.e., the fork body 122 is slidably mounted to the retractable guide assembly 121 in the first direction by the guide rail.

[0053] In conjunction with FIG. 6, one hinge point 14 may be specifically provided on each side of a first end of the middle chassis respectively, and one hinge point 14 may be provided on each side chassis at a side proximate to the middle chassis. In this way, for example, for one of the retractable guide assemblies, the retractable guide assembly can be set in a retractable setting by cooperation of the two hinge points 14 on the middle chassis and the side chassis.

[0054] The embodiments of the present application provide a chassis device including a chassis body, where the chassis body includes a middle chassis 10 and a pair of side chassis 20 located on each side of the middle chassis 10. The side chassis 20 extend along a first direction X, where the first direction X is a front-back direction of the chassis device. The middle chassis 10 is detachably docked and mounted with each side chassis 20.

[0055] The embodiments of the present application provide another chassis device including a chassis body and a drive wheel swing arm suspension mechanism 21 mounted on the chassis body. The chassis body includes a middle chassis 10 and a pair of side chassis 20 located on each side of the middle chassis 10. The side chassis 20 extend along a first direction, where the first direction is a front-back direction of the chassis body. The middle chassis 10 is detachably docked and installed with each side chassis 20. Additionally, the drive wheel swing arm suspension mechanism 21 is mounted on the side chassis 20 with an elastomer compressed therebetween.

[0056] The embodiments of the present application also disclose a handling robot that includes the handling chassis or chassis device described in the embodiments above.

[0057] FIG. 9 schematically exemplifies a structure of a chassis device, and FIG. 10 schematically exemplifies a structure of a drive wheel swing arm suspension mechanism, and embodiments of the present disclosure will be further described in connection with FIGS. 9 and 10.

[0058] Embodiments of the present disclosure provide a chassis device. The chassis device includes a chassis body 910 and a drive wheel swing arm suspension mechanism 920 mounted to the chassis body 910. The drive wheel swing arm suspension mechanism 920 includes a first swing arm member 921, a drive wheel 922 and a first universal wheel 923. The first swing arm member 921 extends along a first direction X, the first direction X being a front-to-back direction of the chassis body 910. The drive wheel 922 is mounted on one end of the first swing arm mechanism 921 along the first direction X. The first universal wheel 923 is mounted on the other end of the first swing arm member 921 along the first direction X. A rotation axis of the drive wheel 922 is set along a second direction Y, the second direction Y being a left-to-right direction of the chassis body 910. At a position between the drive wheel 922 and the first universal wheel 923, the first swing arm member 921 is penetrated with a first coupling through-hole. The first coupling through-hole is inserted with a first coupling shaft 924 extending in the second direction Y, and the two ends of the first coupling shaft 924 are fixedly mounted on the chassis body 910, so as to allow the first swing arm member 921 to rotate relative to the chassis body 910 with the first coupling shaft 924 as the rotation axis. Furthermore, at a position close to the drive wheel 922, an elastomer 925 is provided between the first swing arm member 921 and the chassis body 910, the elastomer 925 being in a compressed state.

[0059] The chassis device provided in this embodiment may be a chassis device for various handling robots.

[0060] The chassis device may include the chassis body and the drive wheel swing arm suspension mechanism, which may be mounted underneath the chassis body. The drive wheel swing arm suspension mechanism includes the drive wheel, which is used to drive the chassis body to travel.

[0061] Generally speaking, the drive wheel swing arm suspension mechanism can be installed on each side of left and right sides of the chassis body (in a case that the chassis body is of a split structure, the drive wheel swing arm suspension mechanism are installed on two side chassis). The two drive wheels of the two sides of the chassis body can drive the chassis body forward or backward by simultaneously forward or reverse rotation. The two drive wheels of the two sides of the chassis body can drive the chassis body to turn left or right by differential rotation.

[0062] The drive wheel swing arm suspension structure may include the first swing arm member, the drive wheel and the first universal wheel. The first swing arm member extends along the first direction (the first direction is the front-to-back direction of the chassis body). The first swing arm member is mounted with the drive wheel and the first universal wheel at each of two ends along the first direction, and the rotation axis of the drive wheel is set along the second direction (the second direction is the left-to-right direction of the chassis body).

[0063] In the position between the drive wheel and the first universal wheel, the first swing arm member has a first coupling through hole, the first coupling shaft being inserted in the first coupling through-hole and extending in the second direction. Both ends of the first coupling shaft are fixedly mounted on the chassis body. It is convenient to understand that, at this time, the first swing arm member can be rotated with respect to the chassis body with the first coupling shaft as the rotation axis.

[0064] And, at the position close to the drive wheel, the elastomer is also provided between this first swing arm mechanism and the chassis body, the elastomer being in the compressed state.

[0065] With the above construction, it is to be understood that the drive wheel can flexibly swing up and down with respect to the chassis body and always maintain sufficient wheel pressure with respect to an uneven road surface.

[0066] For example, when there is a bulge exists on the road surface where the drive wheel is located, the drive wheel of the first swing arm member swings up, at which time the elastomer may continue to be compressed from the original compression state, and elastic force of the elastomer may provide sufficient wheel pressure between the drive wheel and the road surface to prevent the drive wheel from slipping.

[0067] For example, when there is a pothole exists on the road surface where the drive wheel is located, the drive wheel of the first swing arm member swings down, at which time the elastomer can be partially released from the original compressed state, and the elastic force of the elastomer can still provide sufficient wheel pressure between the drive wheel and the road surface to prevent the drive wheel from slipping.

[0068] In other words, the drive wheel swing arm suspension mechanism can be applied to uneven road surfaces to prevent the drive wheel from slipping.

[0069] Embodiments of the present application provide the chassis device and the handling robot having the chassis device. The chassis device includes the chassis body and the drive wheel swing arm suspension mechanism mounted on the chassis body. The drive wheel swing arm suspension mechanism includes the first swing arm member, the first swing arm member extends along the front-to-back direction of the chassis body, and the drive wheel and the first universal wheel are mounted at both ends of the first swing arm member, respectively. At the position between the drive wheel and the first universal wheel, the first swing arm member is rotatably mounted to the chassis body by the first coupling shaft. At the position near the drive wheel, an elastomer in the compressed state is also provided between the first swing arm member and the chassis body. In this way, it can be understood that, when the chassis device travels on the uneven road surface, the continued compression or release of the elastomer from the original compressed state will cause the drive wheel of the drive wheel swing arm suspension mechanism to maintain sufficient wheel pressure, preventing slipping of the drive wheel.

[0070] In other words, in the chassis device disclosed in the present application, on the one hand, the drive wheel swing arm suspension mechanism is rotatably mounted on the chassis body via the first coupling shaft, and on the other hand, one end of the drive wheel swing arm suspension mechanism mounted with the drive wheel is connected to the chassis body via the elastomer. In this way, the end of the drive wheel swing arm suspension mechanism mounted with the drive wheel can elastically swing up and down with respect to the chassis body, and such up and down elastically swinging can always maintain sufficient pressure between the drive wheel and the uneven road surface, i.e., wheel pressure, preventing the drive wheel from slipping when traveling on the uneven road surface, and solving the technical problem that the existing chassis device has poor road surface passability.

[0071] In one possible embodiment, referring to FIG. 9, the chassis body 910 is mounted with the drive wheel swing arm suspension mechanism 920 on each side of the left and right sides of the chassis body 910 relative to the first direction X. The drive wheel 922 is located at the middle of the chassis body 910 along the first direction X, and the first universal wheel 923 is located at one end of the chassis body 910 along the first direction X. A universal wheel swing arm suspension mechanism 930 is mounted on the other end of the chassis body 910 along the first direction X. A second universal wheel 932 is mounted at each end of the universal wheel swing arm suspension mechanism 930 along the second direction Y respectively.

[0072] As described above, the drive wheel swing arm suspension mechanisms may generally be mounted on the left and right sides of the chassis body relative to the first direction respectively. The drive wheel of the drive wheel swing arm suspension mechanism is disposed at the middle of the chassis body along the front-to-back direction of the chassis body (i.e., the first direction), and the first universal wheel of the drive wheel swing arm suspension mechanism is disposed at one end of the chassis body along the first direction.

[0073] In addition, in order to maintain the smoothness of the chassis body, this embodiment also has the universal wheel swing arm suspension mechanism mounted at the other end of the chassis body along the first direction, and the second universal wheel is mounted at each end of the universal wheel swing arm suspension mechanism along the left-to-right direction (i.e., the second direction) of the chassis body.

[0074] It can be understood that relative to the chassis body, on the one hand, the two drive wheels at the middle of the chassis body are used to drive the chassis body to travel, and on the other hand, the first universal wheel and the second universal wheel at the front and the rear end can smoothly support the chassis body, and facilitate steering of the chassis body.

[0075] In one embodiment, referring to FIGS. 12 and 13, the universal wheel swing arm suspension mechanism 930 includes a second swing arm member 931. The second swing arm member 931 extends along the second direction Y, and the second universal wheel 932 is mounted at each end of both ends of the second swing arm member 931 along the second direction Y. At a position between the second universal wheels 932 at the two ends of the second swing arm member 931, the second swing arm member 931 is penetrated by a second coupling borehole. The second coupling through-hole is inserted with a second coupling shaft 933 extending along the first direction X. Both ends of the second coupling shaft 933 are fixedly mounted to the chassis body 910 so that the second swing arm member 931 can rotate relative to the chassis body 910 with the second coupling shaft 933 as the rotating axis.

[0076] This embodiment gives a specific structure of the universal wheel swing arm suspension mechanism. Specifically, two second universal wheels are installed at the two ends of the second swing arm member extending in the second direction. Similar to the first swing arm member, the second swing arm member is also provided with the second coupling through-hole between the two second universal wheels, and the second coupling shaft is inserted in the second coupling through-hole and fixedly installed in the chassis body, so that the second swing arm member can rotate relative to the chassis body. In other words, the second universal wheels on the left and right sides can swing up and down relative to the chassis body, which improves the smoothness of the chassis body, and prevents the chassis body from shaking when traveling on the uneven road surface.

[0077] In one embodiment, the two ends of the second coupling shaft 933 are fixedly mounted to the chassis body 910 by a shaft pressing plate 934. Referring to FIGS. 12 and 13, the shaft pressing plate 934 may be, for example, fixedly mounted to the chassis body 910 by screws, thereby pressing the second coupling shaft against the chassis body.

[0078] In one embodiment, the second swing arm member 931 is provided with a second limiting block 935 at each of the two ends of the second swing arm member 931 along the second direction Y. The second limiting blocks 935 are disposed on a lower end face of the second swing arm mechanism 931 so that the second limiting blocks 935 are used to abut against the chassis body 910.

[0079] In this way, the second limit blocks can limit the range of upward and downward swinging of the second universal wheel at its end by the second limit block abutting against the chassis body.

[0080] In one possible embodiment, referring to FIG. 11, the chassis body 910 is provided with a pair of mounting lugs 914 on two sides of the first coupling through-hole respectively, the mounting lugs 914 being used to fixedly mount the first coupling shaft 924.

[0081] In other words, the pair of mounting lugs may be provided on the chassis body at positions corresponding to the left and right sides of the first coupling through-hole, and then, the two ends of the first coupling shaft may be fixedly mounted on the pair of mounting lugs.

[0082] In one possible embodiment, similar to the second limiting block 935 of the second swing arm member 931, the first swing arm member 921 is provided with a first limiting block 926 at each end of the first swing arm member 921 along the first direction X respectively. The first limiting block 926 may be disposed on an upper end face of the first swing arm member 921 so that the first limiting blocks 926 are used to abut against the chassis body 910.

[0083] In this embodiment, the first limiting block may be provided at the front and rear (i.e., along the first direction) ends of the first swing arm member, and the first limiting block may be specifically provided at the upper end face of the first swing arm member to abut against the chassis body so as to realize the limitation of upward and downward swinging of the drive wheel and the first universal wheel, respectively.

[0084] In one possible embodiment, the drive wheel swing arm suspension mechanism 920 further includes a drive module 929, the drive module 929 including, for example, a drive motor and a motor speed reducer. The drive module 929 may be specifically mounted at one end of the first swing arm member 921 along the first direction X, i.e., mounted close to the drive wheel 922. The drive module 929 is connected to the drive wheel 922 in a transmission way, for driving the drive wheel 922 to rotate.

[0085] In conjunction with FIGS. 9 and 10, for the drive wheels and the drive module, the drive wheels may be specifically located on an outer side of the drive module and the drive module is located on an inner side of the drive wheels.

[0086] Regarding the installation of the elastomer, in one possible implementation, mounting flanges 927 may be provided on the left and right sides of the first swing arm member 921 near the position of the drive wheel 922 respectively. Two elastomers 925 are fixed to the mounting flanges 927 on the left and right sides respectively, the other ends of the two elastomers 925 are fixed to an elastomer mounting base 928, and the elastomer mounting base 928 is fixedly mounted on the chassis body 910. In this way, the installation of the elastomer 925 can be realized.

[0087] In one possible embodiment, the chassis body 910 includes a first chassis 911, a second chassis 12, and a third chassis 913 in a split setup. The second chassis 912 and the third chassis 913 are fixedly mounted on the left and right sides of the first chassis 911 relative to the first direction X respectively. The first chassis 911 is used for mounting the universal wheel swing arm suspension mechanism 930. The second chassis 912 and the third chassis 913 are used to install the drive wheel swing arm suspension mechanism 920. The first chassis 911 is connected to the second chassis 912 and the third chassis 913 respectively for installing a retractable fork traveling mechanism 940.

[0088] In other words, the chassis body may be in the split setup, specifically including the first chassis in the middle, and the second chassis and the third chassis are fixedly mounted on the left and right sides of the first chassis, respectively. It can be understood that the shape of the second chassis and the third chassis is for example in a mirrored symmetry.

[0089] The universal wheel swing arm suspension mechanism can be installed in the middle of the first chassis, the drive wheel swing arm suspension mechanism can be installed on the second chassis and the third chassis, respectively, and after the first chassis is connected to the second chassis and the third chassis respectively, the retractable fork walking mechanism can be installed. The retractable fork walking mechanism can be installed in specifically on notches of two sides of the first chassis. Therefore, through the split setup, the first chassis in the middle can be replaced according to actual needs, so that different sizes of pallets can be applied by different sizes of retractable forks, which improves the reuse rate of the traveling chassis device.

[0090] The first chassis is detachably mounted to the second chassis and the third chassis on both sides. Specifically, a docking lug 915 may be provided at edge of both sides of the first chassis 911 with respect to the first direction X respectively, and the docking lug 915 extends along the first direction X. In this way, the docking lugs on both sides may provide mounting positions, and the second chassis 912 and the third chassis 913 may be mounted to the first chassis 911 on the docking lugs of both sides by fasteners, respectively, thereby realizing removable mounting of the first chassis to the second chassis and the third chassis.

[0091] The present application also discloses a handling robot, the handling robot including the chassis device described in the above embodiments.

[0092] The above describes basic principles of the present application in conjunction with specific embodiments, but it should be noted that advantages, strength, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strength, effects, etc. are necessary for each embodiment of the present application. Furthermore, the specific details disclosed above are only for the purpose of examples and for the purpose of facilitating understanding, and are not a limitation, and the above details do not limit the present application as having to be realized by adopting the above specific details.

[0093] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are intended as illustrative examples only and do not intend to require or imply that they must be connected, arranged, or configured in the manner illustrated in the block diagrams. As those skilled in the art will recognize, the devices, apparatuses, equipment, and systems may be connected, arranged, and configured in any manners. Words such as "including," "comprising," "having," and the like are open-ended terms that refer to "including but not limited to" and may be used interchangeably therewith unless the context clearly indicates otherwise. The term "such as" as used herein refers to the phrase "such as, but not limited to" and may be used interchangeably therewith.

[0094] It is also to be noted that in the devices, apparatuses and methods of the present application, the components or steps are decomposable and / or recombinable. These decompositions and / or recombinations should be regarded as equivalent embodiments of the present application.

[0095] The foregoing description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this application. Accordingly, the present application is not intended to be limited to the aspects illustrated herein, but rather to follow the broadest scope consistent with the principles and novel features disclosed herein.

[0096] The above description has been given for purposes of illustration and description. Moreover, the description is not intended to limit the embodiments of the present application to the form disclosed herein. Although a plurality of exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and subcombinations thereof shall be included within the scope of protection of this disclosure.

Examples

Embodiment Construction

[0021]In order to better understand the above technical solutions, examples of the present application will be described in detail below with reference to the accompanying drawings. It is clear that the described embodiments are only some embodiments of the present application and not all embodiments of the present application. It should be understood that the present application is not limited by the examples described herein.

[0022]FIG. 1 schematically exemplifies a structure of a handling chassis in a split setup, and FIG. 5 is a top cross-section view of a handling chassis after a fork assembly is retracted, and embodiments of the present application will first be described in conjunction with FIGS. 1 and 5.

[0023]A handling chassis is provided in an embodiment of the present application. The handling chassis includes a middle chassis 10 and a pair of side chassis 20 provided in a split setup, where the middle chassis 10 and the side chassis 20 extend along a first direction X, th...

Claims

1. A chassis device, characterized by comprising a chassis body (910) and a drive wheel swing arm suspension mechanism (21, 920) mounted on the chassis body (910); the drive wheel swing arm suspension mechanism (21, 920) comprising: a first swing arm member (211, 921), extending in a first direction, the first direction being a front-to-back direction of the chassis body (910); a drive wheel (212, 922), mounted on one end of the first swing arm member (211, 921) along the first direction; and a first universal wheel (213, 923), mounted at the other end of the first swing arm member (211, 921) along the first direction; wherein a rotation axis of the drive wheel (212, 922) extends in a second direction, the second direction being a left-to-right direction of the chassis body (910); at a position between the drive wheel (212, 922) and the first universal wheel (213, 923), the first swinging arm member (211, 921) is penetrated with a first coupling through-hole, the first coupling through-hole is inserted with a first coupling shaft (924) extending along the second direction, and both ends of the first coupling shaft (924) are fixedly mounted to the chassis body (910) so that the first swing arm member (211, 921) is rotatable relative to the chassis body (910) with the first coupling shaft (924) as a rotation axis; and at a position close to the drive wheel (212, 922), an elastomer (215, 925) is provided between the first swing arm member (211, 921) and the chassis body (910), the elastomer (215, 925) being in a compressed state.

2. The chassis device according to claim 1, wherein the chassis body (910) is mounted with the drive wheel swing arm suspension mechanism (21, 920) on each side of left and right sides of the chassis body (910) relative to the first direction; the drive wheel (212, 922) is located at middle of the chassis body (910) along the first direction, and the first universal wheel (213, 923) is located at one end of the chassis body (910) along the first direction; and the chassis body (910) is mounted with a universal wheel swing arm suspension mechanism (930) at the other end of the chassis body (910) along the first direction, and the universal wheel swing arm suspension mechanism (930) is mounted with a second universal wheel (932) at each end of both ends of the universal wheel swing arm suspension mechanism (930) along the second direction.

3. The chassis device according to claim 2, wherein the universal wheel swing arm suspension mechanism (930) comprises: a second swing arm member (931), extending in the second direction, the second swing arm member (931) having the second universal wheel (932) mounted at each end of both ends of the second swing arm member (931) along the second direction; wherein, at a position between the second universal wheels (932) at both ends, the second swing arm member (931) is penetrated with a second coupling through-hole, the second coupling through-hole is inserted with a second coupling shaft (933) extending along the first direction, and two ends of the second coupling shaft (933) are fixedly mounted to the chassis body (910), so that the second swing arm member (931) is rotatable relative to the chassis body (910) with the second coupling shaft (933) as a rotation axis.

4. The chassis device according to claim 3, wherein the two ends of the second coupling shaft (933) are fixedly mounted to the chassis body (910) by a shaft pressing plate (934).

5. The chassis device according to claim 3, wherein the second swing arm member (931) is provided with a second limiting block (935) at each end of both ends of the second swing arm member (931) along the second direction, the second limiting blocks (935) being disposed on a lower end face of the second swing arm member (931) so that the second limiting blocks (935) are to abut against the chassis body (910).

6. The chassis device according to claim 1, wherein on both sides of the first coupling through-hole, the chassis body (910) is provided with a pair of mounting lugs (22, 914), the mounting lugs (22, 914) being for fixedly mounting the first coupling shaft (214, 924).

7. The chassis device according to claim 1, wherein the first swing arm member (211, 921) is provided with a first limiting block (219, 926) at each end of both ends of the first swing arm member (211, 921) along the first direction, the first limiting blocks (926) being disposed on an upper end face of the first swing arm member (211, 921) so that the first limiting blocks (219, 926) are to abut against the chassis body (910).

8. The chassis device according to claim 1, wherein the drive wheel swing arm suspension mechanism (21, 920) further comprises a drive module (216, 929), the drive module (216, 929) being mounted on one end of the first swing arm member (211, 921) in the first direction and being to drive the drive wheel (212, 922) to rotate.

9. The chassis device according to claim 2, wherein the chassis body (910) comprises a first chassis (911), a second chassis (912) and a third chassis (913) provided in a split setup; wherein the second chassis (912) and the third chassis (913) are fixedly mounted on the left and right sides of the first chassis (911) relative to the first direction, respectively; the first chassis (911) is for mounting the universal wheel swing arm suspension mechanism (930); the second chassis (912) and the third chassis (913) are for mounting the drive wheel swing arm suspension mechanisms (920); and the first chassis (911) is connected to the second chassis (912) and the third chassis (913), so as to mount a retractable fork traveling mechanism (940).

10. The chassis device according to claim 1, wherein the chassis body is mounted with the drive wheel swing arm suspension mechanism on each side of left and right sides of the chassis body relative to the first direction; wherein the drive wheel is located at middle of the chassis body along the first direction and the first universal wheel is located at one end of the chassis body along the first direction; and the chassis body is mounted with a second universal wheel (11) at the other end of the chassis body along the first direction.

11. The chassis device according to claim 10, wherein the chassis body comprises a middle chassis (10) and a pair of side chassis (20) provided in a split setup, the pair of side chassis (20) being disposed on both sides of the middle chassis (10), respectively; the drive wheel swing arm suspension mechanisms are mounted on the side chassis; and the second universal wheel is mounted on the middle chassis.

12. The chassis device according to claim 11, wherein, at a position close to the drive wheel, the first swing arm member is provided with abutting flanges (217) on both sides of the first swing arm member relative to the first direction; wherein lower ends of a pair of the elastomers are each fixedly mounted to a pair of the abutting flanges, and upper ends of the pair of the elastomers are fixedly mounted to a mounting base (218), the mounting base being for fixedly mounted to the side chassis so as to enable a connection by the elastomers between the first swinging arm member and the side chassis at a position close to the drive wheel.

13. The chassis device according to claim 11, wherein the middle chassis is mounted with a fork assembly (12), the fork assembly comprising a retractable guide assembly (121) extending in the first direction and a fork body (122); wherein the retractable guide assembly is provided retractably along the first direction relative to the middle chassis; and the fork body is slidably mounted to the retractable guide assembly along the first direction.

14. A chassis device, characterized by comprising a chassis body and a drive wheel swing arm suspension mechanism (21) mounted on the chassis body; the chassis body comprises: a middle chassis (10); and a pair of side chassis (20) disposed on both sides of the middle chassis, respectively; wherein each of the side chassis extends along a first direction, the first direction being a front-to-back direction of the chassis body; the middle chassis is detachably mounted and docked with each of the side chassis; and the drive wheel swing arm suspension mechanism is mounted on the side chassis and an elastomer is provided between the side chassis and the drive wheel swing arm suspension mechanism, the elastomer being in a compressed state.

15. A handling robot, wherein the handling robot comprises the chassis device of any one of claims 1 to 14.

Images