Transport robot

Abstract

The present disclosure provides a transport robot and a power assist device, the transport robot including a chassis assembly, a tray assembly, a scissor assembly, and a support. The chassis assembly is configured to be supported on a work surface, the tray assembly is installed above the chassis assembly and configured to place a container thereon, the scissor assembly is installed between the chassis assembly and the tray assembly and configured to drive the tray assembly to raise or lower relative to the chassis assembly, and the tray assembly is configured to be supported by the support when lowered to a predetermined height. The present disclosure distributes a portion of the weight of the tray assembly and the cargo above to the support, so that all of the weight is not placed on the scissor assembly. This reduces pressure on the scissor assembly and extends its service life. Furthermore, because the support shares some of the weight, less driving force is required during the initial upward lift, reducing the power requirements for the drive mechanism.

Description

[Technical Field]

[0001] The present disclosure relates to the field of warehousing and logistics technology, and in particular to transport robots. To Regarding. [CROSS-REFERENCE TO RELATED APPLICATIONS] This application is a Chinese patent application filed with the China Patent Office on January 19, 2023, with application number 202310097556.6 and titled "Transport Robot", a Chinese patent application filed with the China Patent Office on January 19, 2023, with application number 202320181626.1 and titled "Transport Robot", and a Chinese patent application filed with the China Patent Office on March 3, 2023, with application number 202320397956.4 and titled "Transport Robot". This application claims priority from a Chinese patent application entitled "Transport robot and lifting device," filed with the China Patent Office on July 27, 2023, bearing application number 202322000066.8 and entitled "Transport robot," and a Chinese patent application filed with the China Patent Office on October 17, 2023, bearing application number 202322779739.4 and entitled "Transport robot and power-assisted device," the entire contents of which are incorporated herein by reference. [Background technology]

[0002] Currently, in the fields of logistics and warehousing, transport robots are commonly used to perform transportation tasks. For example, during shipping, a transport robot needs to remove the target cargo from the shelf and transport it to the shipping location. Compared with manual transportation, transport robots can perform storage and retrieval more efficiently and significantly reduce human resources. There are many structural types of transport robots, but transport robots with scissor-type lifting mechanisms are particularly common. Scissor-type lifting mechanisms occupy less space when folded and can achieve a larger lifting stroke. In the fields of logistics and warehousing, using scissor-type lifting robots to perform transportation tasks can effectively improve the efficiency of storage, retrieval, and picking. Summary of the Invention [Problem to be solved by the invention]

[0003] The present disclosure provides a method for solving problems existing in the prior art by using a transport robot. To provide. [Means for solving the problem]

[0004] According to a first aspect of the present disclosure, there is provided a transport robot, the transport robot comprising: a chassis assembly configured to be supported on a work surface; a tray assembly disposed above the chassis assembly and configured to receive containers; a scissor assembly disposed between the chassis assembly and the tray assembly and configured to drive the tray assembly up or down relative to the chassis assembly; a drive device configured to drive and move the scissor assembly to drive the tray assembly up or down relative to the chassis assembly; a support configured to be supported by the tray assembly when the tray assembly is lowered to a predetermined height.

[0005] of the present disclosure According to a second aspect, there is provided a transport robot, the transport robot comprising: a chassis assembly configured to be supported on a work surface; a tray assembly disposed above the chassis assembly and configured to receive containers; a scissor assembly disposed between the chassis assembly and the tray assembly and configured to drive the tray assembly up or down relative to the chassis assembly; a drive unit configured to drive and move the scissor assembly to drive the tray assembly up or down relative to the chassis assembly, the drive unit being mounted to the scissor assembly. [Effects of the Invention]

[0006] One beneficial effect of the present disclosure is as follows: By providing a support so that the tray assembly is supported by the support when it is lowered to a predetermined height, part of the weight of the tray assembly and the cargo above is shared by the support, and not all of the weight is placed on the scissor assembly. In this way, the pressure on the scissor assembly is reduced, and the service life of the scissor assembly is extended. Also, because the support shares part of the weight, less driving force is required in the initial stage of lifting upward, Drive unit The power requirements for [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a structural schematic diagram of a transport robot provided by the present disclosure according to a first embodiment. [Figure 2] 1 is a structural schematic diagram of a chassis assembly provided by the present disclosure in Example 1. FIG. [Figure 3] FIG. 10 is a structural schematic diagram of another angle of the transport robot provided by the present disclosure in Example 1. [Figure 4] 1 is a structural schematic diagram of a scissor assembly provided by the present disclosure in Example 1. FIG. [Figure 5] FIG. 10 is a structural schematic diagram of a scissor assembly provided by the present disclosure in Example 2. [Figure 6] FIG. 6 is a schematic view of another angle of FIG. 5. [Figure 7] 1 is a structural schematic diagram of a transport robot according to the present disclosure when in a lift position. [Figure 8] 1 is a structural schematic diagram of a transport robot according to the present disclosure when it is in an initial position. [Figure 9] 1 is a structural schematic diagram of the scissor assembly of the present disclosure when in a lift position. [Figure 10] 1 is a structural schematic diagram of a transport robot according to the present disclosure in an initial position with comb teeth hidden. [Figure 11] FIG. 10 is a partial enlarged view of a through hole of the tray assembly of the present disclosure. [Figure 12] FIG. 1 is a structural schematic diagram of a first type of power assist assembly of the present disclosure. [Figure 13] FIG. 1 is a cross-sectional view of a first type of power assist assembly of the present disclosure. [Figure 14] FIG. 1 is a structural schematic diagram of a second type of power assist assembly of the present disclosure. [Figure 15] FIG. 10 is a cross-sectional view of a second type of power assist assembly of the present disclosure. [Figure 16] 2 is a structural schematic diagram of a first chassis and a second chassis of the present disclosure. FIG. [Figure 17]FIG. 10 is a cross-sectional view of a third type of power assist assembly of the present disclosure. [Figure 18] FIG. 10 is a structural schematic diagram of a transport robot according to another embodiment of the present disclosure when the transport robot is in an initial position. [Figure 19] FIG. 10 is an exploded view of the structure of a transport robot according to another embodiment of the present disclosure. [Figure 20] FIG. 10 is a structural schematic diagram of a transport robot according to another embodiment of the present disclosure, with some comb teeth hidden. [Figure 21] 1 is a schematic diagram of the overall structure of a transfer robot provided by an embodiment of the present disclosure; [Figure 22] 1 is a structural schematic diagram of a scissor assembly and a drive assembly provided by one embodiment of the present disclosure. FIG. [Figure 23] FIG. 10 is a schematic diagram of the overall structure of another transfer robot provided by an embodiment of the present disclosure. [Figure 24] 1 is a schematic diagram of the overall structure of a chassis assembly provided by an embodiment of the present disclosure; FIG. [Explanation of symbols]

[0008] The correspondence between the names of the assemblies and the reference numerals in the drawings in FIGS. 1 to 24 is as follows: 1 Chassis Assembly 11 Chassis 1 113 Hinge 12 Second chassis 13 First guide groove 14 Support Assembly 15 drive wheels 16 First Bracket 161 Hinge connection hole 17 First guide block 18 Universal Wheel 19 Second guide block 191 Second guide groove 140 Second Bracket 170 Traveling drive unit 2 Tray Assembly 21 Third Bracket 22 Fourth Bracket 210 Through Hole 220 Through hole 23 Rolling part 24 Comb Teeth 25 Baffle 26 Tray body 3 Scissor Assembly 31 4th Scissor Arm 32 Third Scissor Arm 33 Second scissor arm 34 First Scissor Arm 35 Drive mechanism 310 First connecting rod assembly 311 First connecting rod 312 Second connecting rod 320 Second connecting rod assembly 321 Third connecting rod 322 4th connecting rod 330 linkage rod 331 First linkage rod 332 Second linkage rod 301 First rotation axis 302 Second rotation axis 303 Third rotation axis 304 4th rotation axis 305 5th rotation axis 306 6th rotation axis 307 7th Rotation Axis 3023 First rotating shaft 3231 3rd rotating shaft 3024 Second rotating shaft 3241 4th rotating shaft 3025 1st Roller 3251 Second Roller 3026 Elastic device 3029 5th rotating shaft 3030 6th rotating shaft 4 Power Assist Assembly 41 Fixed seat 42 Guide rod 421 Limit member 43 Moving parts 44 Energy storage components 45 Fixed sleeve 451 Sealing material 46 Bullseye Bearing 461 Bearing body 462 Stopper 47 Slide Rod 471 Protrusion 5. Moving Platform 6. Drive unit 61 Roller screw 62 Screw Nut 63 Stopper part 7 Drive Assembly DETAILED DESCRIPTION OF THE INVENTION

[0009] Various exemplary embodiments of the present disclosure will be described below with reference to the drawings. Unless otherwise specified, the relative arrangement of parts and steps, formulas, and numerical values ​​described in these embodiments do not limit the scope of the present disclosure.

[0010] The following description of at least one exemplary embodiment is intended to be illustrative and not limiting of the disclosure and its application or uses.

[0011] Detailed descriptions of techniques, methods and devices that are well known to those skilled in the art may be omitted, but where appropriate, said techniques, methods and devices should be considered part of the description.

[0012] In all examples shown and described herein, any specific values ​​should be considered as illustrative and not limiting, and thus other instances of the example embodiments may have different values.

[0013] It should be noted that like symbols and letters represent like items in the following drawings, so that once any one item is defined in one drawing, there is no need to further describe it in subsequent drawings.

[0014] As used herein, terms such as "upper," "lower," "front," "rear," "left," "right," etc., refer to relative positional relationships between related parts and do not limit the absolute positions of these related parts.

[0015] In this specification, terms such as "first" and "second" are used only to distinguish one from another, and do not represent the degree of importance, order, or prerequisites for each other.

[0016] In this specification, the terms "same," "similar," and the like are not strictly limited to mathematical and / or geometric meanings, but further include allowable errors in manufacturing or use that can be understood by a person skilled in the art.

[0017] Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints, but also any subranges subsumed therein.

[0018] The present disclosure provides a transport robot usable in the warehousing field, which can transfer target containers within a warehouse storage area, for example, between different transport devices, between different storage locations on the same transport device, or between a transport device and another location. Of course, the transport robot of the present disclosure can also be used in other application scenarios, such as shopping malls, hotels, factories, and other situations where transportation is required, and these are well known to those skilled in the art, so detailed description thereof will be omitted here.

[0019] The transport robot includes a chassis assembly, a tray assembly, a scissor assembly, and a support, and the chassis assembly is configured to be supported on a work surface. The chassis assembly can drive the transport robot to travel on the work surface, and the chassis assembly may be provided with drive wheels and / or universal wheels that cooperate with the drive wheels, and the drive wheels and universal wheels cooperate to drive the entire transport robot to travel and turn on the work surface, thereby facilitating subsequent transfer of containers by the transport robot.

[0020] The tray assembly is installed above the chassis assembly and configured to hold a container. The container may be a container for holding cargo or goods in a logistics warehouse storage field, including, but not limited to, a material box, a cargo box, a packaging box, etc. The present disclosure does not limit the type and shape of the container. The scissor assembly is installed between the chassis assembly and the tray assembly and drives the tray assembly to raise or lower relative to the chassis assembly, thereby lifting or lowering the container placed above the tray assembly.

[0021] In actual applications, the tray assembly will remain in a low position for a long time, and the weight of the tray assembly and containers will be entirely borne by the scissor assembly and chassis assembly. Because the angle between the scissor arms in the low position is small, without a lift driving force, the scissor assembly cannot be driven to the lift position, consuming a large driving force to lift it up from the low position. To prevent the scissor assembly from bearing the entire weight, it is necessary to distribute the weight of the tray assembly and containers. For this reason, the transport robot provided by the present disclosure is provided with a support. The tray assembly is configured to be supported by the support when it is lowered to a predetermined height.

[0022] The present disclosure provides a method for installing supports that support the tray assembly when it is lowered to a predetermined height, thereby allowing the supports to share some of the weight of the tray assembly and the cargo above, rather than placing all of the weight on the scissor assembly. This reduces pressure on the scissor assembly, extending its useful life. Also, because the supports share some of the weight, less drive force is needed for the initial upward lift, reducing the power requirements for the drive mechanism.

[0023] In one embodiment of the present disclosure, drive wheels are installed on opposite sides of the chassis assembly, and supports are installed adjacent to the drive wheels. The transport robot can move on the ground via at least two drive wheels installed on both sides of the chassis assembly. When transporting containers, the center of gravity of the transport robot may shift, causing unstable movement. Therefore, in this embodiment, supports are installed adjacent to the drive wheels, and the tray assembly can apply positive pressure to the positions of the chassis assembly corresponding to the drive wheels via the supports. In this way, the drive wheels are more closely attached to the ground, making the transport robot more stable.

[0024] In one embodiment of the present disclosure, the support is attached to the chassis assembly and configured to extend upward so that the tray assembly is supported by the support when it is lowered to a predetermined height, or the support is attached to the tray assembly and configured to extend downward so that the tray assembly is supported by the chassis assembly via the support when it is lowered to a predetermined height. The support may be attached to the upper surface of the chassis assembly, thereby supporting the tray assembly upward. The support can be attached to the lower surface of the tray assembly and extend downward so that it abuts against the upper surface of the chassis assembly during the lowering process.

[0025] Specifically, in most applications, the tray assembly's mounting area can be set to exceed the area of ​​the chassis assembly in order to accommodate larger containers. If the upward extension of the support does not exceed the height of the drive wheels, the tray assembly will first abut against the drive wheels during its downward movement and will not be supported by the support. To solve this problem, a stop structure extending opposite the support may be installed on the side where the support is not installed. When the support is installed on the chassis assembly, the stop structure is installed on the underside of the tray assembly, and when the support is installed on the tray assembly, the stop structure is installed on the upper surface of the chassis assembly. The stop structure may be installed at a position corresponding to the support, thereby ensuring that the tray assembly is supported by the support without coming into contact with the drive wheels. In another embodiment, the length by which the support portion extends upward may be further limited, so that when the support portion is installed on the chassis assembly, the support portion extends upward beyond the height of the drive wheels, and when the support portion is installed on the tray assembly, the length by which the support portion extends downward is configured to be greater than the length of the portion of the drive wheels above the chassis assembly, thereby ensuring that the bottom surface of the tray assembly is directly supported by the support portion when it is lowered to a predetermined height.

[0026] In one embodiment of the present disclosure, the support is a support assembly or a power assist assembly. Here, the support assembly may be a rigid support block, and the power assist assembly may be an elastic power assist device. The rigid support assembly can achieve the basic function of the support, and the elastic power assist assembly can play a power assist role in distributing weight. Specifically, the power assist assembly may be provided with an elastic device capable of storing energy. When the tray assembly moves downward and is supported by the power assist assembly, the elastic device can be compressed, thereby storing energy. The stored energy is released when the tray assembly next moves upward. The power assist assembly provides an upward elastic force for the tray assembly, thereby reducing the lifting force and driving force required to lift the scissor assembly upward and lowering the power requirements of the driving mechanism.

[0027] [Example 1] 1 and 2, the transport robot of the present disclosure includes a chassis assembly 1, a scissor assembly 3, and a tray assembly 2.

[0028] Here, the chassis assembly 1 can support the entire transport robot on the work surface, and has a certain length and width between it and the ground to ensure stability during its movement. Drive wheels 15 may be installed on the chassis assembly 1, and the drive wheels 15 come into contact with the work surface to drive the chassis assembly 1 to move on the work surface.

[0029] Specifically, the chassis assembly 1 includes a first chassis 11 and a second chassis 12, the second chassis 12 being hingedly connected to the first chassis 11, and the first chassis 11 and the second chassis 12 being configured to be supported together on a work surface.

[0030] For example, referring to FIG. 2, the second chassis 12 may be connected to the first chassis 11 via a hinge 113, and the second chassis 12 can rotate around the hinge 113 relative to the first chassis 11. By installing the two hinges 113 in parallel with a gap between them, the relative rotational stability between the second chassis 12 and the first chassis 11 can be ensured.

[0031] When the transport robot works, it moves along a specified path or travel direction, and when it enters a sloping work surface or overcomes an obstacle, the second chassis 12 of the chassis assembly 1 adaptively deflects relative to the first chassis 11 in accordance with changes in the slope of the work surface. For example, referring to Figure 1, when the second chassis 12 travels up to a work surface with an upward slope, the second chassis 12 adapts to the upward slope by deflecting clockwise around the rotation axis relative to the first chassis 11, with the position where the first chassis 11 and the second chassis 12 are hingedly connected as the rotation axis. Similarly, when the second chassis 12 travels up to a work surface with a downward slope, the second chassis 12 adapts to the downward slope by deflecting counterclockwise around the rotation axis relative to the first chassis 11. In the above cases, the second chassis 12 can adaptively deflect according to the slope of the work surface, thereby avoiding direct entry into the sloped work surface and violent shaking, preventing containers placed on the transport robot from being dropped due to shaking, and improving the stability of the transport robot when transferring cargo.

[0032] The scissor assembly 3 is installed on the chassis assembly 1 and configured to increase or decrease the height dimension of the scissor assembly 3 by moving along the extension direction of the first chassis 11 and the second chassis 12 of the chassis assembly 1.

[0033] Specifically, the scissor assembly 3 includes at least a first scissor arm 34 and a second scissor arm 33 hinged together, and the height dimension of the scissor assembly 3 is increased or decreased by moving the top and bottom ends of the first scissor arm 34 and the second scissor arm 33 closer to or farther away from each other.

[0034] The bottom of one of the first scissor arm 34 and the second scissor arm 33 is connected to the first chassis 11, and the bottom of the other is connected to the second chassis 12. For example, the bottom of the first scissor arm 34 is connected to the first chassis 11, and the bottom of the second scissor arm 33 is connected to the second chassis 12, and the bottoms of the first scissor arm 34 and the second scissor arm 33 are close to or spaced apart from each other along the extension direction of the first chassis 11 and the second chassis 12.

[0035] The tray assembly 2 is located on top of the scissor assembly 3, i.e., the tops of the first scissor arm 34 and the second scissor arm 33 are connected to the tray assembly 2, and the tray assembly 2 is configured to rise or fall relative to the chassis assembly 1 by movement of the scissor assembly 3.

[0036] For example, the top and bottom of the first scissor arm 34 and the second scissor arm 33 are in contact with each other. to distance At this time, the height dimension of the scissor assembly 3 increases, and since the chassis assembly 1 is always in contact with the work surface, the tray assembly 2 is raised in the height direction by the drive of the first scissor arm 34 and the second scissor arm 33.

[0037] Similarly, the top and bottom of the first scissor arm 34 and the second scissor arm 33 are aligned with each other. be close When the scissor assembly 3 is moved, the height dimension of the scissor assembly 3 decreases, and the tray assembly 2 is lowered along the height direction by the driving of the first scissor arm 34 and the second scissor arm 33. The tray assembly 2 may be used to place a container or a carrier, and can move to a designated position in cooperation with the chassis assembly 1, and then complete a lifting operation in cooperation with the scissor assembly 3, thereby lifting the container or carrier into or out of a corresponding storage position. Compared with the complicated lifting structure in the prior art, the scissor assembly structure selected in the present disclosure is simple, making installation and subsequent maintenance easier and reducing costs.

[0038] Referring to FIG. 3, in one embodiment of the present disclosure, the scissor assembly 3 includes a drive unit 6 installed between a first scissor arm 34 and a second scissor arm 33, and the drive unit 6 is configured to drive the second scissor arm 33 to rotate relative to the first scissor arm 34.

[0039] For example, referring to the drawing direction, when the drive unit 6 drives the second scissor arm 33 to rotate clockwise relative to the first scissor arm 34 around the center of rotation, which is the hinge connection point between the first scissor arm 34 and the second scissor arm 33, the height dimension of the scissor assembly 3 decreases, and since the chassis assembly 1 is always in contact with the work surface, the tray assembly 2 moves in a direction closer to the chassis assembly 1 due to the drive of the scissor assembly 3, and as a result, the height of the tray assembly 2 decreases relative to the work surface.

[0040] Similarly, when the drive device 6 drives the second scissor arm 33 to move counterclockwise around the center of rotation relative to the first scissor arm 34, the height dimension of the scissor assembly 3 increases, and the tray assembly 2 moves away from the chassis assembly 1 due to the drive of the scissor assembly 3, thereby raising the height of the tray assembly 2 relative to the work surface.

[0041] By installing the drive unit 6 between the first scissor arm 34 and the second scissor arm 33, the structure can be made more compact, and there is no need to reserve space for installing the drive unit on the outside of the first scissor arm 34 and the second scissor arm 33, which improves the utilization rate of the internal space of the transport robot and allows other components to be flexibly installed in the saved space.

[0042] 1 and 4, in one embodiment of the present disclosure, two first scissor arms 34 and two second scissor arms 33 are provided.

[0043] For example, the chassis assembly 1 has two first scissor arms 34 and two second scissor arms 33 arranged in parallel with a gap between them, and the first scissor arms 34 and the second scissor arms 33 are hinged together, that is, there are a total of two sets of first scissor arms 34 and second scissor arms 33 hinged together, which is similar to the movement relationship and action of the first scissor arms 34 and the second scissor arms 33 in the previous embodiment, and detailed description thereof will be omitted here.

[0044] 1 and 3, in this embodiment, the bottoms of at least two first scissor arms 34 are connected by a first rotating shaft 3023, which allows the bottoms of the at least two first scissor arms 34 to move synchronously, and the bottoms of at least two second scissor arms 33 are connected by a second rotating shaft 3024. Similarly, the second rotating shaft 3024 allows the bottoms of the at least two second scissor arms 33 to move synchronously. The driving device 6 is installed between the first rotating shaft 3023 and the second rotating shaft 3024, and is configured to drive the first rotating shaft 3023 and the second rotating shaft 3024 to move away from or towards each other.

[0045] For example, when the output end of the drive unit 6 drives the first rotating shaft 3023 and the second rotating shaft 3024 to move away from each other, the bottoms of the two first scissor arms 34 connected to the first rotating shaft 3023 and the bottoms of the two second scissor arms 33 connected to the second rotating shaft 3024 move away from each other in synchronization, thereby reducing the height dimension of the scissor assembly 3 and moving the tray assembly downward.

[0046] When the output end of the drive unit 6 drives the first rotating shaft 3023 and the second rotating shaft 3024 to move closer to each other, the bottoms of the two first scissor arms 34 connected to the first rotating shaft 3023 and the bottoms of the two second scissor arms 33 connected to the second rotating shaft 3024 move closer to each other in synchronization, thereby increasing the height dimension of the scissor assembly 3 and moving the tray assembly in an upward direction.

[0047] The scissor assembly 3 is mainly configured with two first scissor arms 34 and two second scissor arms 33, so that the two first scissor arms 34 and the two second scissor arms 33 can share the pressure at the top and bottom, thereby improving the load capacity of the scissor assembly 3.

[0048] This embodiment has been described as an example in which two first scissor arms 34 cooperate with the first rotating shaft 3023 and two second scissor arms 33 cooperate with the second rotating shaft 3024, but in actual applications, more first scissor arms may be connected to the first rotating shaft 3023, and more second scissor arms may be connected to the second rotating shaft, with multiple first scissor arms and second scissor arms engaged in pairs to jointly share the pressure from the top and bottom of the scissor assembly 3 and increase the load capacity of the scissor assembly 3, and detailed explanations will be omitted here.

[0049] 1 and 4 , in one embodiment of the present disclosure, the first rotating shaft 3023 is configured to be hingedly connected to a first bracket 16 located on an end face of the first chassis 11, and the first bracket 16 has a through hole that allows the first rotating shaft 3023 to pass through, and the first rotating shaft 3023 can rotate within the through hole. The second rotating shaft 3024 is configured to be guided and engaged with the second chassis 12, and configured to move along the second chassis 12 by being driven by the driving device, and the second rotating shaft 3024 can be driven by the driving device 6 to move horizontally along the extension direction of the second chassis 12 in a direction toward or away from the first rotating shaft 3023.

[0050] For example, the second rotating shaft 3024 is driven by the drive unit 6 to move in a direction away from the first rotating shaft 3023 along the extension direction of the second chassis 12, and the bottoms of the two second scissor arms 33 move in synchronization with the second rotating shaft 3024, causing the first scissor arm 34 and the second scissor arm 33 to move closer to each other in the height direction, thereby reducing the height dimension of the scissor assembly 3, and the tray assembly 2 is driven by the scissor assembly 3 to move in a direction closer to the chassis assembly 1.

[0051] Driven by the drive unit 6, the second rotating shaft 3024 moves in a direction approaching the first rotating shaft 3023 along the extension direction of the second chassis 12, and the bottoms of the two second scissor arms 33 move in synchronization with the second rotating shaft 3024, causing the first scissor arm 34 and the second scissor arm 33 to move away from each other in the height direction.As a result, the height dimension of the scissor assembly 3 increases, and the tray assembly 2 moves in a direction away from the chassis assembly 1 due to the drive of the scissor assembly 3.

[0052] In another embodiment of the present disclosure, the first rotating shaft 3023 is configured to be hingedly connected to a first bracket located on an end face of the second chassis 12, and the first bracket has a through hole formed therein that allows the first rotating shaft 3023 to pass through, and the first rotating shaft 3023 can rotate within the through hole. The second rotating shaft 3024 may be configured to be guided and engaged with the first chassis 11, and configured to move along the first chassis 11 when driven by the driving device, and the second rotating shaft 3024 can be driven by the driving device 6 to move horizontally along the extension direction of the first chassis 11 in a direction toward or away from the first rotating shaft 3023.

[0053] For example, the second rotating shaft 3024 is driven by the drive unit 6 to move in a direction away from the first rotating shaft 3023 along the extension direction of the first chassis 11, and the bottoms of the two second scissor arms 33 move in synchronization with the second rotating shaft 3024, causing the first scissor arm 34 and the second scissor arm 33 to move closer to each other in the height direction, thereby reducing the height dimension of the scissor assembly 3, and the tray assembly 2 is driven by the scissor assembly 3 to move in a direction closer to the chassis assembly 1.

[0054] Driven by the drive unit 6, the second pivot shaft 3024 moves in a direction approaching the first pivot shaft 3023 along the extension direction of the first chassis 11, and the bottoms of the two second scissor arms 33 move in synchronization with the second pivot shaft 3024, causing the first scissor arm 34 and the second scissor arm 33 to move away from each other in the height direction.As a result, the height dimension of the scissor assembly 3 increases, and the tray assembly 2 moves in a direction away from the chassis assembly 1 due to the drive of the scissor assembly 3.

[0055] The difference between this embodiment and the previous embodiment is the engagement relationship between the first rotating shaft 3023 and the second rotating shaft 3024 and the first chassis and the second chassis; that is, one of the first rotating shaft 3023 and the second rotating shaft 3024 is hingedly connected to the first chassis 11, and the other is guided and engaged with the second chassis 12. Both of the above two embodiments can realize changes in the height dimension of the scissor assembly 3, and the scissor assembly 3 moves the tray assembly 2 in a direction approaching or away from the chassis assembly 1, thereby realizing the lifting and lowering function of the transport robot.

[0056] 1 and 4, in one embodiment of the present disclosure, first rollers 3025 are installed on opposite ends of the second rotating shaft 3024, and a first guide block 17 is installed on the first chassis 11 or the second chassis 12. The first guide block 17 has a first guide groove 13 for engaging with the first roller 3025. Two first guide blocks 17 may be installed, and correspondingly, two first guide grooves 13 may be installed, with the two first guide grooves 13 having exactly the same structure and with their openings facing each other.

[0057] For example, when the second rotating shaft 3024 is driven by the drive unit 6 to move towards or away from the first rotating shaft 3023, the second rotating shaft 3024 can move along the extension direction of the corresponding first guide groove 13 via the first rollers 3025 installed at both opposing ends, and the first guide grooves 13 serve to guide the movement of the first rollers 3025, and therefore the movement of the second rotating shaft 3024 and the second scissor arm 33.

[0058] In another embodiment of the present disclosure, first guide blocks are installed at opposite ends of the second rotating shaft 3024, and first guide grooves are opened in the first guide blocks. A first roller that engages with the first guide groove is installed on the first chassis 11 or the second chassis 12, and two first rollers may be installed, and the two first rollers have exactly the same structure and are located on the same rotation axis.

[0059] For example, when the second rotating shaft 3024 is driven by the driving device 6 to move toward or away from the first rotating shaft 3023, the second rotating shaft 3024 can move in the rotation direction of the corresponding first roller via the first guide grooves installed at both opposing ends, and the first rollers serve to guide the movement in the first guide grooves, and therefore the movement of the second rotating shaft 3024 and the second scissor arm 33. The first rollers and first guide grooves of this embodiment may be configured to be completely the same as the first roller 3025 and first guide groove 13 of the previous embodiment, and only the installation positions are changed, but the functions they perform are exactly the same.

[0060] 1 and 4, in one embodiment of the present disclosure, the tops of at least two first scissor arms 34 are connected by a third pivot shaft 3231, and the tops of at least two second scissor arms 33 are connected by a fourth pivot shaft 3241. The third pivot shaft 3231 and the fourth pivot shaft 3241 may have the same shape as the first pivot shaft 3023 and the second pivot shaft 3024.

[0061] One of the third rotating shaft 3231 and the fourth rotating shaft 3241 is configured to be hingedly connected to a third bracket 21 located on the end face of the tray assembly 2, and second rollers 3251 are installed at opposite ends of the other rotating shaft, and a second guide block 19 is installed on the tray assembly 2, and a second guide groove 191 is opened in the second guide block 19 for guiding and engaging with the second roller 3251; alternatively, second guide blocks 19 are installed on opposite ends of the other rotating shaft, and a second guide groove 191 is opened in the second guide block 19, and a second roller 3251 is installed on the tray assembly 2 for engaging with the second guide groove 191.

[0062] 4, in one embodiment of the present disclosure, the fourth rotating shaft 3241 is configured to be hingedly connected to the third bracket 21 located on the end face of the tray assembly 2, and the third bracket 21 has a through hole that allows the fourth rotating shaft 3241 to pass through and rotate within the through hole. Second rollers 3251 are installed on opposite ends of the third rotating shaft 3231, and a second guide block 19 is installed on the tray assembly 2, and a second guide groove 191 is opened in the second guide block 19 to engage with the second roller 3251. Two second guide grooves 191 may be installed, and the two guide grooves 191 have exactly the same structure and their openings face each other. The shapes and dimensions of the first guide block 17 and the second guide block 19 may be set according to the internal structure between the chassis assembly 1 and the tray assembly 2, respectively, and the shapes of the first guide groove 13 and the second guide groove 191 may be reasonably set according to the shapes and dimensions of the respective guide blocks, and the present disclosure is not limited thereto.

[0063] In another embodiment of the present disclosure, the third rotating shaft 3231 is configured to be hingedly connected to a third bracket 21 located on an end face of the tray assembly 2, and the third bracket 21 has a through-hole that allows the third rotating shaft 3231 to pass through and rotate within the through-hole. Second rollers are installed on opposite ends of the fourth rotating shaft 3241, and second guide blocks are installed on the tray assembly 2, and second guide grooves for engaging with the second rollers are installed in the second guide blocks. Two second guide grooves may be installed, and the two guide grooves have identical structures and opposite openings.

[0064] 1 and 4, in one embodiment of the present disclosure, the body of the driving device 6 is fitted to the first rotating shaft 3023 and configured to rotate relative to the first rotating shaft 3023, and the output end of the driving device 6 is connected to the second rotating shaft 3024. When the second rotating shaft 3024 moves relative to the first rotating shaft 3023, the first rotating shaft also rotates, so the body of the driving device 6 needs to be fitted to the first rotating shaft 3023 in order for the driving device 6 to accommodate the rotation of the first rotating shaft 3023.

[0065] 1, when the driving device 6 drives the second rotating shaft 3024 with its output end to move away from the first rotating shaft 3023, the first scissor arm 34 and the second scissor arm 33 approach each other in the height direction, and the first scissor arm 34 rotates counterclockwise relative to the second scissor arm 33. Because the bottoms of the two first scissor arms 34 are hingedly connected to the first chassis 11 by the first rotating shaft 3023, the two first scissor arms 34 together drive the first rotating shaft 3023 to rotate counterclockwise, but because the main body of the driving device 6 is rotatably connected to the first rotating shaft 3023 and the output end of the driving device 6 is not rotating, the main body of the driving device 6 maintains its original position.

[0066] In other words, as the first rotating shaft 3023 rotates counterclockwise relative to the first chassis 11, counterclockwise rotation also occurs relative to the drive unit 6, so that the drive unit 6 adapts to the rotation of the first rotating shaft 3023. When the drive unit 6 uses its output end to drive the second rotating shaft 3024 to move closer to the first rotating shaft 3023, the first scissor arm 34 and the second scissor arm 33 are spaced apart from each other in the height direction, and the first scissor arm 34 rotates clockwise relative to the second scissor arm.

[0067] Since the bottoms of the two first scissor arms 34 are hingedly connected to the first chassis 11 by the first rotating shaft 3023, the two first scissor arms 34 together drive the first rotating shaft 3023 to rotate clockwise. Since the main body of the drive unit 6 is rotatably connected to the first rotating shaft 3023 and the output end of the drive unit 6 is not rotating, the main body of the drive unit 6 maintains its original position. In other words, in the process of rotating clockwise relative to the first chassis 11, the first rotating shaft 3023 also rotates clockwise relative to the drive unit 6, thereby adapting the drive unit 6 to the rotation of the first rotating shaft 3023.

[0068] In one embodiment of the present disclosure, an elastic device 3026 such as a spring is installed between the second rotating shaft 3024 and the output end of the drive device 6, and the elastic device 3026 is configured so that the second rotating shaft 3024 has a tendency to move in the direction of the first rotating shaft 3023.

[0069] For example, when the second rotating shaft 3024 moves in a direction away from the first rotating shaft 3023, it can compress the elastic device 3026, causing the elastic device 3026 to acquire elastic potential energy, and thus the elastic device 3026 has a thrust force that moves the second rotating shaft 3024 toward the first rotating shaft 3023. When the output end of the driving device 6 drives the second rotating shaft 3024 to move toward the first rotating shaft 3023, the elastic potential energy of the elastic device 3026 is released, which assists the output end of the driving device 6 and drives the second rotating shaft 3024 to move toward the first rotating shaft 3023, thereby reducing the burden on the output end of the driving device 6.

[0070] In addition, the transport robot of the present disclosure loads a transport device or container using a pushing method, and then moves it via the chassis assembly 1, thereby realizing the operation of transferring the transport device or container. When pushing up the transport device or container, the tray assembly 2 of the transport robot comes into direct contact with the transport device or container, and drives the tray assembly 2 to lift it via the scissor assembly 3, thereby removing the transport device or container from its storage position. Therefore, the scissor assembly 3 must resist the gravity between the tray assembly 2 and the transport device or container in order to achieve the pushing up operation.

[0071] Specifically, since the output end of the driving device 6 needs to drive the second rotating shaft 3024 to move in the direction of the first rotating shaft 3023 to complete the lifting operation, the driving device 6 is subjected to the highest load when the transport robot performs the lifting operation, and the elastic device 3026 can assist the driving device 6 to drive the second rotating shaft 3024 to move in the direction of the first rotating shaft 3023, thereby sharing the load of the driving device 6 and improving the efficiency with which the transport robot takes out the transporting device or container.

[0072] In one embodiment of the present disclosure, the output end of the drive device 6 is a roller screw 61, and a screw nut 62 that engages with the roller screw 61 is installed on the second rotating shaft 3024. When the drive device 6 drives the roller screw 61 to rotate, the screw nut 62 screws into the roller screw 61 and drives the second rotating shaft 3024 to move in a direction approaching the first rotating shaft 3023 or in a direction away from the first rotating shaft 3023.

[0073] For example, the drive device 6 may be configured such that when the roller screw 61 is driven to rotate in one direction, the screw nut 62 drives the second rotating shaft 3024 to move in a direction closer to the first rotating shaft 3023, thereby moving the tray assembly 2 upward.

[0074] When the output end of the drive unit 6 drives the roller screw 61 to rotate in the other direction, the screw nut 62 drives the second rotating shaft 3024 to move in a direction away from the first rotating shaft 3023, thereby moving the tray assembly 2 downward; that is, the drive unit 6 can drive the roller screw 61 to rotate in two opposite directions. Correspondingly, the screw nut 62 drives the second rotating shaft 3024 to move in a direction toward or away from the first rotating shaft 3023 depending on the different rotation directions of the roller screw 61, thereby realizing the raising and lowering movement of the tray assembly 2. The movement direction of the screw nut 62 in different rotation directions of the roller screw 61 can be determined according to the actual assembly situation and is not limited herein.

[0075] A stopper portion 63 is provided at one end of the roller screw 61 of the present disclosure that passes through the screw nut 62, and an elastic device 3026 is provided between the stopper portion 63 and the screw nut 62. The stopper portion 63 may be configured as a circular or square baffle whose diameter is larger than that of the elastic device 3026, and the material of the baffle may be a hard material such as metal, thereby ensuring that the stopper portion 63 presses the elastic device 3026 together with the screw nut 62.

[0076] When the tray assembly 2 of the transport robot descends, the drive device 6 drives the screw nut 62 via the roller screw 61 to move in a direction away from the first rotating shaft 3023, and the second rotating shaft 3024 moves in synchronization with the screw nut 62. The screw nut 62 moves until it comes into contact with the elastic device 3026 and continues to move, pressing the elastic device 3026 against the stopper portion 63, causing the elastic device 3026 to acquire elastic potential energy.

[0077] When the tray assembly 2 of the transport robot needs to perform an upward movement or lift a transporting device or container, the drive unit 6 drives the screw nut 62 via the roller screw 61 to move in a direction approaching the first rotating shaft 3023, and the second rotating shaft 3024 moves synchronously with the screw nut 62. At this time, since the elastic device 3026 has elastic potential energy, the elastic potential energy of the elastic device 3026 is converted into a thrust that pushes the screw nut 62 in the direction of the first rotating shaft 3023. In other words, the elastic device 3026 drives the screw nut 62 together with the drive unit 6 via the roller screw 61 to move in a direction approaching the first rotating shaft 3023, thereby reducing the torque output by the drive unit 6 and alleviating the load on the drive unit 6.

[0078] In one embodiment of the present disclosure, the elastic device 3026 is configured to always apply pre-load between the stopper portion 63 and the screw nut 62 during the process of the stopper portion 63 moving relative to the screw nut 62, that is, when the screw nut 62 moves in a direction away from the first rotating shaft 3023, the elastic potential energy of the elastic device 3026 increases, ensuring that the elastic device 3026 has sufficient thrust to assist the work of the drive device 6.

[0079] In another embodiment of the present disclosure, the elastic device 3026 is configured to apply preload between the stopper portion 63 and the screw nut 62 after the stopper portion 63 and the screw nut 62 have moved relatively a predetermined distance.

[0080] For example, when the tray assembly 2 is at the highest position in the height direction, the drive device 6 drives the screw nut 62 via the roller screw 61 to move in a direction approaching the stopper portion 63, and after the screw nut 62 moves a predetermined distance, the screw nut 62 begins to contact the elastic device 3026 and begins to press the elastic device 3026 toward the stopper portion 63, thereby gradually increasing the elastic potential energy of the elastic device 3026.

[0081] In other words, when the tray assembly 2 is at the lowest position in the height direction, the drive device 6 drives the screw nut 62 via the roller screw 61 to move it a predetermined distance in a direction away from the stopper portion 63, and then the elastic device 3026 disengages from the screw nut 62, and the elastic device 3026 consumes all of its elastic potential energy.

[0082] Both of the above two structures can allow the elastic device 3026 to naturally remain in a stretched state, which ensures the elasticity of the elastic device 3026 and prevents it from losing its function due to maintaining its deformation for too long.

[0083] Referring to FIG. 1, in one embodiment of the present disclosure, a support assembly 14 protruding from an end face of the first chassis 11 is installed on the first chassis 11, and the tray assembly 2 is configured to be supported by the support assembly 14 when lowered to a predetermined height.

[0084] For example, referring to the drawings, the support assembly 14 may be configured as a rectangular parallelepiped, with its top surface supporting the tray assembly 2, and two support assemblies 14 may be installed parallel to each other at a distance from each other, with the two support assemblies 14 jointly supporting the tray assembly 2 so that force is applied evenly to the tray assembly 2, thereby ensuring the stability of the tray assembly 2.

[0085] Since the height of the chassis assembly 1 is constant and the height of the support assembly 14 is also constant, when the tray assembly 2 is lowered to a predetermined height, the top end of the support assembly 14 contacts the bottom end of the tray assembly 2 to support the tray assembly 2 and prevent the tray assembly 2 from further lowering and crushing other components in the chassis assembly 1.

[0086] Referring to FIG. 1, in one embodiment of the present disclosure, drive wheels 15 are provided on opposite sides of the first chassis 11, and the support assembly 14 is configured to extend upward beyond the drive wheels 15.

[0087] For example, the drive wheel 15 may have a certain diameter, and the support assembly 14 may be configured so that its height extending upward from the first chassis 11 exceeds the diameter of the drive wheel 15, thereby preventing the tray assembly 2 from being supported by the support assembly 14 when it is lowered, thereby preventing the bottom end of the tray assembly 2 from coming into contact with the drive wheel 15 and interfering with the rotation of the drive wheel 15.

[0088] In one embodiment of the present disclosure, the drive wheels 15 may be configured to be located at an intermediate position between opposite sides of the first chassis 11, and the support assembly 14 may be configured to extend upward from a direction close to the drive wheels 15 beyond the drive wheels 15, so that when the support assembly 14 supports the tray assembly 2, most of the pressure generated by the weight of the tray assembly 2 is transmitted to the drive wheels 15 through the support assembly 14, thereby increasing the load-bearing ratio of the drive wheels 15 and increasing the pressure that the drive wheels 15 apply to the work surface, thereby improving the frictional force between the drive wheels 15 and the work surface, improving the grip of the drive wheels 15 and allowing them to operate more stably.

[0089] 1 and 2, the support assembly 14 may be installed adjacent to the drive wheels 15 of the first chassis 11. For example, the two drive wheels 15 may be installed coaxially and symmetrically on opposite sides of the first chassis 11, and the support assembly 14 may be perpendicular to the rotation axis of the drive wheels 15 and extend upward beyond the top of the drive wheels 15 in the height direction. When the tray assembly 2 is driven by the scissor assembly 3 to move to the bottom of the tray assembly 2 and reach the top of the support assembly 14, the support assembly 14 can share all of the gravity from the tray assembly 2 instead of the scissor assembly 3 and transmit the gravity to the two drive wheels 15. Compared to installing the support assembly 14 in other positions, this position is advantageous for increasing the load-bearing ratio of the two drive wheels 15 and helps to significantly improve the operating performance of the robot.

[0090] [Example 2] The main differences between Example 1 and Example 2 are the specific structure of the scissor assembly and the connection method with the chassis assembly and tray assembly. For the sake of brevity, the differences will be described in detail below in combination with Figures 5 and 6, and detailed descriptions of the parts that are similar to Example 1 will be omitted.

[0091] 5 and 6, in this embodiment, the scissor assembly 3 includes at least a third scissor arm 32 and a fourth scissor arm 31 that are hingedly connected to each other, the third scissor arm 32 being configured to be hingedly connected to the first scissor arm 34 via a fifth pivot shaft 3029, and the fourth scissor arm 31 being configured to be hingedly connected to the second scissor arm 33 via a sixth pivot shaft 3030, and further includes a drive unit 6 installed between the fifth pivot shaft 3029 and the sixth pivot shaft 3030, and the drive unit 6 may be configured to drive the fifth pivot shaft 3029 and the sixth pivot shaft 3030 to move away from or towards each other.

[0092] In this embodiment, the connection and movement relationship between the first scissor arm 34 and the second scissor arm 33 is exactly the same as that described above, with the difference being that the bottom of the first scissor arm 34 is hinged to the top of the third scissor arm 32 via the fifth rotating shaft 3029, and the bottom of the second scissor arm 33 is hinged to the top of the fourth scissor arm 31.

[0093] The cooperative relationship between the fifth rotating shaft 3029 and the sixth rotating shaft 3030 is exactly the same as the cooperative relationship between the first rotating shaft 3023 and the second rotating shaft 3024 described above, and the drive unit 6 is likewise exactly the same as the drive unit 6 described above.

[0094] In this embodiment, the drive device 6 is configured to drive the sixth rotating shaft 3030 via the output end so as to move in a direction approaching the fifth rotating shaft 3029 or in a direction away from the fifth rotating shaft 3029.

[0095] For example, when the drive unit 6 drives the sixth rotating shaft 3030 to move in a direction away from the fifth rotating shaft 3029, the sixth rotating shaft 3030 drives the bottom of the second scissor arm 33 and the top of the third scissor arm 32, which are hingedly connected to it, to move in a direction away from the fifth rotating shaft 3029, thereby causing the first scissor arm 34, the second scissor arm 33, the third scissor arm 32 and the fourth scissor arm 31 to move closer to each other in the height direction, and driving the scissor assembly 3 to lower the tray assembly 2.

[0096] When the drive unit 6 drives the sixth rotating shaft 3030 to move in a direction closer to the fifth rotating shaft 3029, the sixth rotating shaft 3030 drives the bottom of the second scissor arm 33 and the top of the third scissor arm 32, which are hingedly connected to it, to move in a direction closer to the fifth rotating shaft 3029, thereby causing the first scissor arm 34, the second scissor arm 33, the third scissor arm 32 and the fourth scissor arm 31 to move away from each other in the height direction, and driving the scissor assembly 3 to lift the tray assembly 2.

[0097] Also, referring to Figures 1 and 5, the difference from the above embodiments is that in this embodiment, the bottoms of the two third scissor arms 32 are connected by a second rotating shaft 3024, rollers 25 are installed on both ends of the second rotating shaft 3024, and a guide groove 13 that engages with the rollers is installed on the second chassis 12. In other words, in this embodiment, the engagement between the rollers 25 and the guide groove 13 guides the third scissor arm 32, thereby guiding the movement direction of the entire scissor assembly 3.

[0098] 6, in this embodiment, the driving device 6 is installed between the first scissor arm 34 and the third scissor arm 32, i.e., it operates at the middle position of the scissor assembly 3. Therefore, force is evenly applied to the upper and lower parts of the driving device 6, improving the stability of the driving device 6 driving the movement of the entire scissor assembly 3. If the present disclosure provides a scissor assembly composed of the first, second, third and fourth scissor arms, those skilled in the art can derive more combinations of scissor arms in the height direction based on the scissor assembly of the present disclosure to increase the maximum lift height of the scissor assembly, which will not be listed here one by one.

[0099] [Example 3] 7 and 8, the present disclosure provides a transport robot, which may be configured to transfer a container stored in a warehouse storage area by lifting. The transport robot includes a chassis assembly 1, a tray assembly 2, a scissor assembly 3, and a power assist assembly 4, where the chassis assembly 1 is configured to be supported on a work surface, and the tray assembly 2 is configured to place a container. In the field of logistics warehousing, the container is a container for storing cargo and goods, and includes, but is not limited to, a material box, a cargo box, a packing box, etc., and the present disclosure does not limit the type and shape of the container.

[0100] The chassis assembly 1 can drive the transport robot to run on the work surface, and the chassis assembly 1 may be equipped with drive wheels and / or universal wheels that engage with the drive wheels, and the drive wheels and universal wheels work together to drive the entire transport robot to run and turn on the work surface, thereby facilitating the subsequent transfer of containers by the transport robot.

[0101] In one embodiment of the present disclosure, as shown in FIG. 8 , the tray assembly 2 may be provided with tines 24 and baffles 25. The baffles 25 are provided on opposite sides of the tray assembly 2, and each of the two baffles 25 has an inwardly sloping surface. A container can slide between the two baffles 25 along the sloping surface, and is therefore stably supported by the tray assembly 2. A plurality of tines 24 may be provided, and gaps are provided between the tines 24 so that the tines 24 can fit into gaps in the shelf support. The container may be placed directly on the tines 24, and the gap between the tines 24 must be smaller than the outer diameter of the smallest container, ensuring that the container is stably supported by the tines 24.

[0102] The scissor assembly 3 is installed between the chassis assembly 1 and the tray assembly 2, and is a drive mechanism (also called drive unit) 7 is located at the lift position, and the transport robot shown in FIG. 8 is located at the initial position. The scissor assembly 3 has a multi-stage scissor arm structure, and when the scissor assembly 3 is in the initial position, the included angle between the scissor arms is small, requiring a large lift driving force to drive the scissor assembly to move to the lift position. When a certain lift threshold is exceeded, the driving force required for the scissor assembly 3 decreases significantly.

[0103] 9 , in one specific embodiment of the present disclosure, the scissor assembly 3 includes, from bottom to top, a first stage scissor and a second stage scissor. The first stage scissor includes a fourth scissor arm 31 and a third scissor arm 32, and the second stage scissor includes a second scissor arm 33 and a first scissor arm 34. Two scissors are installed in each set, and each pair is supported on either side of the tray assembly 2. One end of the fourth scissor arm 31 is hingedly connected to the chassis assembly 1, the other end is hingedly connected to one end of the second scissor arm 33, the other end of the second scissor arm 33 is hingedly connected to the tray assembly 2, one end of the third scissor arm 32 is slidably connected to the chassis assembly 1, and the other end is hingedly connected to one end of the first scissor arm 34, the other end of the first scissor arm 34 is slidably connected to the tray assembly 2.

[0104] 10, a through hole 210 is provided in the tray assembly 2, and when the transfer robot is in its initial position, the drive mechanism 35 and a part of the scissor assembly 3 can pass through the through hole 210, thereby lowering the tray assembly 2 to the lowest possible position. When the drive mechanism 35 is activated, the scissor assembly 3 expands outward or moves closer inward, driving one end of the third scissor arm 32 to slide relative to the chassis assembly 1, driving one end of the first scissor arm 34 to slide relative to the tray assembly 2, and driving the fourth scissor arm 31 and the second scissor arm 33 to rotate, thereby raising or lowering the tray assembly 2.

[0105] As can be seen from the above, the drive mechanism 35 actually needs to provide a drive force for rotating the fourth scissor arm 31 and the second scissor arm 33. When the tray assembly 2 is in its initial position, the included angle between the scissor arms is very small, and a very large drive force is required to rotate it. When selecting the model number of the drive mechanism, it is necessary to consider the maximum drive force required throughout the entire operation of the scissor assembly 3. If the peak value of the drive force can be reduced, a drive mechanism with lower output can be selected, thereby reducing costs. For this reason, the transfer robot provided by the present disclosure is equipped with a power assist assembly 4.

[0106] 7, the power assist assembly 4 is installed between the chassis assembly 1 and the tray assembly 2, and the tray assembly 2 is configured to be controlled by the drive mechanism 35 and to move to the initial position against the elastic force of the power assist assembly 4, and / or to be controlled by the drive mechanism 35 and to move to the lift position by the action of the elastic force provided by the power assist assembly 4. The power assist assembly 4 includes an elastic device capable of storing energy, and when the tray assembly 2 moves to the initial position, it can store energy by compressing the elastic device, and the stored energy is released when the tray assembly 2 next tries to move upward from the initial position, and the power assist assembly 4 provides a vertically upward elastic force for the tray assembly 2, thereby reducing the lift force that the drive mechanism 35 needs to provide.

[0107] In the present disclosure, by installing the power assist assembly 4 between the chassis assembly 1 and the tray assembly 2, vertically upward elastic power assist can be obtained from the power assist assembly 4 when the tray assembly 2 is lifted, thereby reducing the power requirement for the drive mechanism 35. The power assist assembly 4 can provide vertically upward elastic power assist at least in the initial stage of the scissor assembly 3 moving from the initial position to the lift position, and compared to a horizontal power assist device, providing vertical power assist directly can ensure that the power assist is maximally utilized for lifting, thereby effectively reducing power assist loss.

[0108] In one embodiment of the present disclosure, the power-assist assembly 4 is configured to constantly apply preload between the tray assembly 2 and the chassis assembly 1 during the process of the tray assembly 2 moving relative to the chassis assembly 1. In this embodiment, when the scissor assembly 3 moves to the uppermost lift position, the power-assist assembly 4 can still provide vertically upward elastic power assist for the tray assembly 2, and the tray assembly 2 must constantly resist the elastic force of the power-assist assembly 4 throughout the entire process of moving to the initial position. If the elastic force that the tray assembly 2 must resist is greater than the sum of its own gravity and the gravity of the container, the drive mechanism 35 must provide part of the driving force during the descending process. In this embodiment, the power-assist assembly 4 constantly provides upward power assist for the tray assembly 2 throughout the entire lifting process, thereby reducing the need for driving force during the entire lifting process and thereby reducing driving costs.

[0109] In another embodiment of the present disclosure, the power assist assembly 4 is configured to be preloaded between the tray assembly 2 and the chassis assembly 1 after the tray assembly 2 has moved a predetermined distance from the lift position to the initial position, and is configured to detach from the chassis assembly 1 or the tray assembly 2 after the tray assembly 2 has moved a predetermined distance from the initial position to the lift position. In this embodiment, the power assist assembly 4 can provide power assist in the initial stage of lifting, and after the tray assembly 2 has moved upward to a certain height, the power assist assembly 4 detaches from the chassis assembly 1 or the tray assembly 2 and no longer provides power assist for the tray assembly 2. Because the force that the drive mechanism 35 needs to provide in the initial stage of lifting far exceeds the driving force it will provide thereafter, providing power assist in the initial stage of lifting can effectively reduce the power peak value of the drive mechanism 35, allowing a drive mechanism 35 with lower output to be selected, thereby reducing driving costs.

[0110] Both of the above two embodiments can achieve the power assist effect and reduce the driving cost. In this embodiment, the latter embodiment is selected, that is, the power assist assembly 4 is installed in a way that provides power assist only in the initial stage, as shown in Figure 7.

[0111] In one embodiment of the present disclosure, the power assist assembly 4 is configured to extend in the vertical direction and includes a connection part and a movable part 43 that is preloaded to the connection part, the connection part being connected to the chassis assembly and the movable part 43 being configured to engage with the tray assembly 2, or the connection part being fixed to the tray assembly 2 and the movable part 43 being configured to engage with the chassis assembly 1. The connection part is a part of the power assist assembly 4 that is fixedly connected to the tray assembly 2 or the chassis assembly 1, and the movable part 43 can move relative to the fixed part, thereby realizing the force accumulation and power assist functions.

[0112] The power assist assembly 4 may be attached to the upper side of the chassis assembly 1 or the lower side of the tray assembly 2. In this embodiment, the power assist assembly 4 is attached to the chassis as shown in FIG. 7. When attached to the chassis assembly 1, the tray assembly 2 descends to a position where it contacts and engages with the power assist assembly 4, engaging with the upper end surface of the movable part 43 and pushing the movable part 43 downward, thereby building up elasticity. At the initial stage of lifting of the tray assembly 2, the upper end surface of the movable part 43 pushes the tray assembly 2 upward, thereby providing power assistance for the tray assembly 2. When the power assist assembly 4 is attached to the lower side of the tray assembly 2, the tray assembly 2 descends a certain distance, after which the lower end surface of the movable part 43 can engage with the chassis assembly 1, building up elasticity during the downward process. At the initial stage of lifting of the tray assembly 2, the lower end surface of the movable part 43 pushes the chassis assembly 1 upward due to its elasticity, thereby providing power assistance for the tray assembly 2.

[0113] 12 and 13 , in one embodiment of the present disclosure, the connection portion includes a fixed seat 41 and a guide rod 42 extending vertically from the fixed seat 41. The movable portion 43 is fitted onto the guide rod 42. An energy storage member 44 is installed between the fixed seat 41 and the movable portion 43. The energy storage member 44 is configured to have a tendency to move the movable portion 43 away from the fixed seat 41, thereby providing a vertically upward elastic force for the tray assembly 2. The guide rod 42 may be integrally formed with the fixed seat 41 or may be fixedly connected within the fixed seat 41. The movable portion 43 may have a sliding bush structure, which can be slidably fitted onto the guide rod 42 and can slide up and down along the guide rod 42. A limit member 421 is installed at the upper end of the guide rod 42. The outer diameter of the limit member 421 is configured to be larger than the inner diameter of the movable portion 43, thereby preventing the movable portion 43 from coming off the guide rod 42 during movement.

[0114] The energy storage member 44 may be a spring-type, gas-type, or hydraulic-type energy storage member 44, and the one used in the present disclosure is a spring-type energy storage member 44. The energy storage member 44 is fitted onto the guide rod 42 and is preloaded between the fixed seat 41 and the movable part 43. When the movable part 43 is pressed downward by the tray assembly 2, the energy storage member 44 is compressed synchronously, thereby storing elastic force and providing elastic power assistance in the initial stage of the upward movement of the tray assembly 2.

[0115] 10 and 11 , in one embodiment of the present disclosure, a through-hole 220 is provided at the abutment position of the tray assembly 2 or the chassis assembly 1, and the diameter of the through-hole 220 is configured to be larger than the diameter of the guide rod 42 and smaller than the diameter of the movable part 43. FIG. 11 is a structural schematic diagram of the bottom of the tray assembly 2 at the position of the through-hole 220. The through-hole 220 is configured to allow the guide rod 42 to pass through to the top of the tray assembly 2, so that the upper end surface of the movable part 43 remains in abutment with the bottom surface of the tray assembly 2. The diameter of the through-hole 220 is larger than the diameter of the guide rod 42, and since a limit member 421 is provided at the top end of the guide rod 42, the diameter of the through-hole 220 is actually larger than the diameter of the limit member 421. The diameter of the through-hole 220 is smaller than the outer diameter of the movable part 43, thereby preventing the movable part 43 from passing through the through-hole 43.

[0116] In one embodiment of the present disclosure, the power assist assembly 4 may have other types of structural features. Referring to FIGS. 14 and 15 , the connecting portion includes a fixed sleeve 45, the movable portion 43 is configured to be fixedly connected within the fixed sleeve 45, and an energy storage member 44 is installed between the fixed sleeve 45 and the movable portion 43. The energy storage member 44 is configured to cause the movable portion 43 to move outward, thereby providing a vertically upward elastic force for the tray assembly 2. In this embodiment, the movable portion 43 has a columnar structure slidably connected within the fixed sleeve 45, and the upper end of the movable portion 43 is configured as an abutting structure with a large diameter, and the lower end is configured as a sliding rod structure with a small diameter. The abutting structure at the upper end of the movable portion 43 can engage and abut against the underside of the tray assembly 2, and the sliding rod at the lower end can enter and move within the fixed sleeve 45. The bottom end of the sliding rod may be configured as a protruding structure, which prevents the entire movable portion 43 from detaching from the top of the fixed sleeve 45. The energy storage member 44 is fitted onto the slide rod of the movable part 43, and is preloaded between the abutment structure and the fixed sleeve 45. When the movable part 43 is pressed downward by the tray assembly 2, the energy storage member 44 is compressed synchronously, thereby storing elastic force and providing elastic power assistance in the initial stage of the tray assembly 2 moving upward.

[0117] In one embodiment of the present disclosure, the power assist assembly 4 may have a third structural feature. Referring to FIG. 17 , the movable part 43 includes a slide rod 47 and a bullseye bearing 46. The slide rod 47 is configured to be slidably connected within the fixed sleeve 45 and has a tendency to move outward under the action of the energy storage member 44. The bullseye bearing 46 is configured to be detachably connected to the top end of the slide rod 47 and to abut against the chassis assembly 1 or the tray assembly 2. The transfer robot is swung during movement, which may cause wear on the abutting surface. Therefore, in this embodiment, the bullseye bearing 46 is used to abut against the chassis assembly 1 or the tray assembly 2 to reduce the frictional force at the abutting position. In this embodiment, the bullseye bearing 46 is detachably connected to the top end of the slide rod 47. Therefore, a user can fix the bullseye bearing 46 to the top end of the slide rod 47 by themselves using a screw. When the bullseye bearing 46 wears out, the user can conveniently and quickly replace it.

[0118] The bottom end of the slide rod 47 is configured as a protrusion, and a seal member 451 is installed at the position of the upper opening of the fixed sleeve 45. The seal member 451 can provide a position restriction function. When the slide rod 47 moves to the uppermost position, the seal member 451 is configured to abut and engage with the protrusion 471, thereby preventing the slide rod 47 from being separated from the fixed sleeve 45 by the action of the energy storage member 44. The bullseye bearing 46 includes a bearing body 461 and an abutting member 462. The bearing body 461 is detachably connected to the top end of the slide rod 47 via a screw. When the bearing body 461 is attached to the top end of the slide rod 47, the abutting member 462 is configured to be pressed between the bearing body 461 and the slide rod 47. As a result, the bearing body 461, the abutting member 462, and the slide rod 47 as a whole constitute a movable part 43. The lower end surface of the abutting member 462 is configured to abut against the energy storage member 44, whereby the entire movable portion 43 is preloaded against the connection portion.

[0119] The power assist assembly 4 may have other types of structures, and the above three embodiments are merely preferred examples, and the present disclosure does not limit the specific structural features of the power assist assembly 4.

[0120] 7 , in one embodiment of the present disclosure, at least two power assist assemblies 4 are installed, and the at least two power assist assemblies 4 are installed on opposite sides of the chassis assembly 1 and configured to engage with the corresponding sides of the tray assembly 2, or the two power assist assemblies 4 are installed on opposite sides of the tray assembly 2 and configured to engage with the corresponding sides of the chassis assembly 1. By symmetrically installing the power assist assemblies 4 on both sides of the tray assembly 2 or the chassis assembly 1, it is possible to make the power assist more uniform, which on the one hand prevents the scissor assembly 3 from tilting or mechanically jamming due to different stresses on both sides during lifting and lowering, and on the other hand provides double the power assist, further reducing the output peak value of the drive mechanism 35.

[0121] 11 , in one embodiment of the present disclosure, a rolling part 23 is provided between the chassis assembly 1 and the movable part 43, the chassis assembly 1 is configured to be in rolling engagement with the movable part 43 via the rolling part 23, and when the tray assembly 2 swings relative to the chassis assembly 1, the rolling part 23 is configured to roll between the chassis assembly 1 and the movable part 43; alternatively, the rolling part 23 is provided between the tray assembly 2 and the movable part 43, the tray assembly 2 is configured to be in rolling engagement with the movable part 43 via the rolling part 23, and when the tray assembly 2 swings relative to the chassis assembly 1, the rolling part 23 is configured to roll between the tray assembly 2 and the movable part 43. When the power assist assembly 4 is fixed to the tray assembly 2, the rolling part 23 may be provided on the chassis assembly 1, when the power assist assembly 4 is fixed to the chassis assembly 1, the rolling part 23 may be provided on the tray assembly 2, or the rolling part 23 may be provided directly on the movable part 43. The rolling portion 23 is preferably installed at a position where the movable portion 43 abuts against the chassis assembly 1 or the tray assembly 2, thereby allowing the rolling portion 23 to roll between the movable portion 43 and the chassis assembly 1 or the tray assembly 2.

[0122] Specifically, in one specific embodiment of the present disclosure, the rolling part 23 is a rolling shaft, and the rotation axis of the rolling shaft is perpendicular or parallel to the traveling direction of the transport robot. While the transport robot is traveling, the tray assembly 2 tends to oscillate slightly relative to the chassis assembly 1. At this time, when the movable part 43 of the power assist assembly 4 is at the exact contact position, friction occurs with the top edge, resulting in wear of the contact surface. To reduce wear at the contact position, the present disclosure provides the rolling part 23, which may be a universal ball or a rolling shaft. Because the rotation direction of the rolling shaft is constant, the rotation axis needs to be perpendicular or parallel to the traveling direction of the transport robot in order to reduce the friction force at the contact position when the tray assembly 2 oscillates.

[0123] 14 , in another specific embodiment of the present disclosure, the rolling part 23 is a bullseye bearing 46, and the bullseye bearing 46 is attached to a position where the movable part 43 abuts against the tray assembly 2. Specifically, the bullseye bearing 46 may be attached to the top of the movable part 43, and when the tray assembly 2 swings relative to the chassis assembly 1, the bottom surface of the tray assembly 2 abuts directly against the bullseye bearing 46, thereby reducing friction at the abutting position and preventing wear on the abutting surface.

[0124] The present disclosure provides another form for reducing frictional force, and in one embodiment of the present disclosure, an arcuate surface is provided on the movable part 43 of the power assist assembly 4, and the arcuate surface of the movable part 43 is configured to abut against the chassis assembly 1 or the tray assembly 2. By providing the top of the movable part 43 on the arcuate surface, the frictional force at the abutment position can be effectively reduced, and when the tray assembly 2 swings relative to the chassis assembly 1, the arcuate surface can ensure that the abutment position is only in point contact, preventing excessive friction.

[0125] 16 , in one embodiment of the present disclosure, the chassis assembly 1 includes drive wheels 15, which may be provided on both sides of the chassis assembly 1, to drive the transport robot to travel and turn on the work surface. The power assist assembly 4 is installed at a position corresponding to the drive wheels 15, and the tray assembly 2 is configured to apply positive pressure to the position of the chassis assembly 1 corresponding to the drive wheels 15 via the power assist assembly 4. The tray assembly 2 applies downward pressure to the power assist assembly 4, and the power assist assembly 4, which is fixed at a position corresponding to the drive wheels 15 of the chassis assembly 1, continues to transmit the downward pressure downward, thereby applying downward positive pressure to the chassis assembly 1 at the position of the drive wheels 15. Applying positive pressure to the position of the drive wheels 15 allows the drive wheels 15 to be more closely attached to the work surface, making the transport robot more stable.

[0126] 16 , in one embodiment of the present disclosure, the chassis assembly 1 includes a first chassis 11 and a second chassis 12 hingedly connected to the first chassis 11, and the first chassis 11 and the second chassis 12 are configured to be supported together on a work surface. The second chassis 12 may be connected to the first chassis 11 via a hinge, and the second chassis 12 can rotate about the hinge relative to the first chassis 11. The two hinges are arranged parallel and spaced apart to ensure stability of the relative rotation between the second chassis 12 and the first chassis 11.

[0127] When the transport robot works, it moves along a specified path or travel direction, and when the transport robot enters a sloping work surface or overcomes an obstacle, the second chassis 12 of the chassis assembly 1 adaptively deflects relative to the first chassis 11 due to changes in the slope of the work surface. For example, when the second chassis 12 travels up to a work surface with an upward slope, the second chassis 12 adapts to the upward slope by deflecting clockwise relative to the first chassis 11 about the rotation axis, with the position where the first chassis 11 and the second chassis 12 are hingedly connected as the rotation axis; similarly, when the second chassis 12 travels up to a work surface with a downward slope, the second chassis 12 adapts to the downward slope by deflecting counterclockwise relative to the first chassis 11 about the rotation axis. In the above cases, the second chassis 12 can adaptively deflect according to the slope of the work surface, thereby avoiding direct entry into the sloped work surface and violent shaking, preventing containers placed on the transport robot from being dropped due to shaking, and improving the stability of the transport robot when transferring cargo.

[0128] The scissor assembly 3 is installed on the chassis assembly 1 and configured to increase or decrease the height dimension of the scissor assembly 3 by moving along the extension direction of the first chassis 11 and the second chassis 12 of the chassis assembly 1. The scissor assembly 3 includes at least a fourth scissor arm 31 and a third scissor arm 32 connected by a hinge, and by moving the top and bottom ends of the fourth scissor arm 31 and the third scissor arm 32 toward or away from each other, the height dimension of the scissor assembly 3 is increased or decreased, thereby driving the tray assembly 2 to rise or fall. The bottom end of either the fourth scissor arm 31 or the third scissor arm 32 is connected to the first chassis 11 at a position spaced apart from the second chassis 12, and the other bottom end is connected to the second chassis 12 at a position spaced apart from the first chassis 11. For example, the bottom of the fourth scissor arm 31 is connected to the first chassis 11 at a position spaced apart from the second chassis 12, and the bottom of the third scissor arm 32 is connected to the second chassis 12 at a position spaced apart from the first chassis 11, and the bottoms of the fourth scissor arm 31 and the third scissor arm 32 are close to or spaced apart from each other along the extension direction of the first chassis 11 and the second chassis 12.

[0129] In actual application, this embodiment may not provide stable support for the entire chassis assembly 1 due to the presence of the second chassis 12, which has a movable space. Both ends of the chassis assembly 1 receive pressure from the scissor assemblies 3, causing the connection between the first chassis 11 and the second chassis 12 to bend upward. As shown in FIG. 16 , an upward force is applied to the drive wheel 15, which is attached to the middle of the chassis assembly 1, causing it to tend to move upward, thereby affecting the stability of cargo transportation. To solve this problem, this embodiment installs the power assist assembly 4 adjacent to the drive wheel 15, providing a downward positive pressure for the drive wheel 15 and ensuring that the drive wheel 15 is in close contact with the ground for stable support.

[0130] The drive wheel 15 is installed on the first chassis 11, and the power assist assembly 4 is installed in a position adjacent to the drive wheel 15 of the first chassis 11, the second chassis 12, or the tray assembly 2. As shown in FIG. 16 , the power assist assembly 4 may be installed in a position adjacent to the drive wheel 15 of the first chassis 11, or the power assist assembly 4 may be installed in another position adjacent to the drive wheel 15, for example, in a position adjacent to the drive wheel of the second chassis 12, or in the tray assembly 2 so that the position where the power assist assembly 4 pushes up the chassis assembly 1 is close to the drive wheel 15. In this way, a downward positive pressure is provided for the drive wheel 15, thereby solving the problem caused by the installation of the second chassis 12 and improving the stability of supporting the chassis assembly 1.

[0131] In one embodiment of the present disclosure, to further improve the stability of the transfer robot, referring to FIG. 18 , a movable platform 5 is installed between the chassis assembly 1 and the tray assembly 2. Specifically, as shown in FIG. 18 , the chassis assembly 1 in this embodiment still includes a first chassis 11 and a second chassis 12 hingedly connected to the first chassis 11, and the first chassis 11 and the second chassis 12 are configured to be supported together on a work surface. The transfer robot further includes a movable platform 5, one side of which is configured to be hingedly connected to the second chassis 12, and the other side of which is configured to be movably connected to the first chassis 11. Note that the first chassis 11 and the second chassis 12 may have completely identical structures, and the difference in names is merely for convenience of explanation. One side of the movable platform 5 may be hingedly connected to the first chassis 11, and the other side may be movably connected to the second chassis 12. The scissor assembly 3 is installed between the movable platform 5 and the tray assembly 2 and is configured to be controlled by a drive mechanism 35 to drive the tray assembly 2 to move in the vertical direction between an initial position and a lift position.

[0132] In a solution where only the second chassis 12 is installed and the movable platform 5 is not installed, the bottom of the scissor assembly 3 is directly connected to the two chassis, so that the pressure that the chassis assembly 1 mainly experiences is applied to the second chassis 12 and the first chassis 11, respectively. Due to the force applied from both sides, the force applied at the hinge connection position in the middle of the chassis assembly 1 may be reduced, and even if the power assist assembly 4 is installed at the position of the drive wheel 15, the support of the chassis assembly 1 may still be unstable. In contrast, in this embodiment, the movable platform 5 is installed between the chassis assembly 1 and the tray assembly 2, and the scissor assembly 3 is installed directly between the movable platform 5 and the tray assembly 2, so that the scissor assembly 3 can directly apply pressure to the movable platform 5, and the pressure that the chassis assembly 1 experiences is generated directly from the movable platform 5.

[0133] As shown in Figure 18, the position where the movable platform 5 is connected to the chassis assembly 1 is close to the drive wheel 15. Compared to the solution of directly attaching the scissor assembly 3 to the chassis assembly, installing the movable platform 5 can effectively concentrate the positive pressure, concentrating all the forces of the scissor assembly 3, tray assembly 2 and transport container on the movable platform 5. No matter how the scissor assembly 3 moves or where the transport container is placed on the tray assembly 2, the movable platform 5 can transmit upward pressure to a position adjacent to the drive wheel 15, thereby increasing the positive pressure at the position of the drive wheel 15 and improving the stability of the transport robot's movement.

[0134] As shown in FIG. 19 , chassis assembly 1 may be provided with four sets of protruding connectors, and movable platform 5 is connected to chassis assembly 1 via these connectors. Specifically, two connectors on one side of second chassis 12 each have hinge connection holes 14, and one side of movable platform 5 is hinge-connected to second chassis 12 via the two hinge connection holes 14. Two connectors on one side of first chassis 11 each have waist holes 141, and the other side of movable platform 5 is slidably connected to first chassis 11 via the two waist holes 141. If the work surface on which the transfer robot travels is not flat, second chassis 12 can float relative to first chassis 11, and at this time, movable platform 5 can also float relative to chassis assembly 1, thereby ensuring stable travel of the transfer robot. In addition to the slot connection method, movable platform 5 may be movably connected to chassis assembly 1 via other methods, such as a four-link rod method, and this disclosure is not specifically limited thereto.

[0135] In one embodiment of the present disclosure, the power assist assembly 4 is mounted on the movable platform 5 or at a position adjacent to the drive wheel 15 of the tray assembly 2, and the tray assembly 2 is configured to apply positive pressure to a position corresponding to the drive wheel 15 of the chassis assembly 1 via the power assist assembly 4 and then the movable platform 5. In this embodiment, the power assist assembly 4 may be directly mounted on the movable platform 5, or may be mounted at a position adjacent to the drive wheel 15 of the tray assembly 2 and directly abut against the movable platform 5. The pressure of the tray assembly 2 may be applied to the power assist assembly 4, and when the power assist assembly 4 receives pressure, it can transmit the pressure downward to the movable platform 5. Because the movable platform 5 is mounted at a position adjacent to the drive wheel 15 of the chassis assembly 1, the positive pressure at the position of the drive wheel 15 increases, improving the stability of the transport robot.

[0136] In another embodiment of the present disclosure, referring to FIG. 20 , the power assist assembly 4 is installed adjacent to the drive wheel 15 of the first chassis 11, the second chassis 12, or the tray assembly 2, and is configured to penetrate the movable platform 5. In this embodiment, the power assist assembly 4 is installed adjacent to the drive wheel 15 of the chassis assembly 1 or the tray assembly 2. For example, a mounting area may be provided inside the drive wheel 15 of the first chassis 11, and the power assist assembly 4 may be mounted thereon to provide power assistance for the tray assembly 2. The power assist assembly 4 must penetrate the movable platform 5 to be supported by the tray assembly 2. Therefore, a notch must be provided on the movable platform 5 at a position corresponding to the power assist assembly 4 to allow the power assist assembly 4 to pass through. This embodiment also transmits the pressure received by the power assist assembly 4 to a position near the drive wheel 15, thereby increasing the positive pressure at the drive wheel 15 and improving the stability of the transport robot.

[0137] 19 and 20 , in one embodiment of the present disclosure, a tray assembly 2 includes a tray body 26 and at least two comb tines 24 spaced apart from each other and mounted on the tray body 26. The power assist assembly 4 directly abuts against or is directly attached to the bottom surface of the tray body 26, and the comb tines 24 are plate-like structures supported upward and perpendicular to the tray body 26. A space for accommodating a scissor assembly 3 is provided at the bottom of the tray body 26 and the comb tines 24. A through-hole 210 is provided in the center of the tray body 26 to allow the widest position of the scissor assembly 3 to pass through, and a corresponding notch may be provided at the bottom of the comb tines 24. As shown in FIG. 20 , the top of the scissor assembly 3 is configured to penetrate the tray body 26 and to be connected to the sidewall of the comb tines 24. In this manner, the height of the transport robot can be reduced, thereby saving the space occupied by the transport robot. When the scissor assembly 3 is in its initial position, it can be stored in the tray assembly 2, which allows the height of the tray assembly 2 to be lowered when it is in its initial position, making it easier for users to take containers in and out, and at the same time, lowering the center of gravity of the transport robot further improves the stability of the transport robot.

[0138] In one embodiment of the present disclosure, the scissor assembly 3 includes at least a fourth scissor arm 31 and a third scissor arm 32 that are hingedly connected, and a bottom portion of either the fourth scissor arm 31 or the third scissor arm 32 is hingedly connected to one side of the movable platform 5, and a bottom portion of the other scissor arm is slidably connected to the other side of the movable platform 5. For example, the bottom portion of the fourth scissor arm 31 may be hingedly connected to a position on the second chassis 12 side of the movable platform 5, and the bottom portion of the third scissor arm 32 may be slidably connected to a position on the first chassis 11 side of the movable platform 5, and the bottom portions of the fourth scissor arm 31 and the third scissor arm 32 are close to or spaced apart from each other along the extension direction of the movable platform 5.

[0139] Furthermore, the scissor assembly 3 may further include a second scissor arm 33 and a first scissor arm 34 that are hingedly connected, with the bottom of the second scissor arm 33 hingedly connected to the top of the fourth scissor arm 31 and the bottom of the first scissor arm 34 hingedly connected to the top of the third scissor arm 32. As shown in FIG. 20 , the top of the second scissor arm 33 is hingedly connected to the side wall of the comb teeth 24, and the top of the first scissor arm 34 is slidably connected to the side wall of the comb teeth 24, and the tops of the second scissor arm 33 and the first scissor arm 34 move close to or away from each other along the extension direction of the movable platform 5.

[0140] In one embodiment of the present disclosure, the force exerted by the tray assembly 2 when empty due to its own gravity is denoted as G1, the maximum weight of containers that the tray assembly 2 can carry is denoted as G2, the maximum elastic force of the power assist assembly 4 when the tray assembly 2 is in its initial position is denoted as F, and the peak driving force provided by the drive mechanism 35 is denoted as Fp. The energy storage member 44 in the power assist assembly 4 may have different elastic coefficients, thereby providing different elastic forces. If the maximum elastic force F is different, the maximum driving force Fp provided by the drive mechanism 35 will also change, which will require different models of the drive mechanism 35 to be selected. When selecting the drive mechanism 35, the peak driving force Fp must exceed the peak value required to output, thereby ensuring normal operation of the transport robot. Below, the magnitude of F needs to be classified and considered to determine a criterion for selecting the model of the drive mechanism 35.

[0141] When F≦G1, regardless of whether the tray assembly 2 is empty or fully loaded, the driving mechanism 35 can be directly shut off when the tray assembly 2 moves to the initial position, and the tray assembly 2 can move to the initial position and press the movable part 43 to the lowest position under the action of gravity. At this time, the driving force that the driving mechanism 35 needs to provide is G1+G2-F, and selecting a driving mechanism 35 whose driving force peak value is Fp≧G1+G2-F can meet the operating requirements of the transport robot.

[0142] When F > G1, the drive mechanism 35 may need to output during the process of the tray assembly 2 descending. At the lowest position under no load, the drive mechanism 35 needs to resist the elastic force of the power assist assembly 4, and the output at this time is F - G1. When at full load, the lift output of the drive mechanism 35 is G1 + G2 - F. When selecting the model of the drive mechanism 35, the above two extreme conditions need to be comprehensively considered, and it is necessary to ensure that Fp is not less than the larger value among them.

[0143] The most special case is that the output of the drive mechanism 35 in the above two scenarios is equal. At this time, F - G1 = G1 + G2 - F, and F = G1 + G2 / 2. Substituting F into the above formula, the driving force that the drive mechanism 35 needs to provide is G2 / 2. Therefore, selecting a drive mechanism 35 with a driving force peak value Fp ≧ G2 / 2 can meet the operating requirements of the transfer robot.

[0144] When G1 < F < G1 + G2 / 2, G1 + G2 - F > F - G1, that is, the maximum driving force that the drive mechanism 35 needs to provide is G1 + G2 - F. Therefore, selecting a drive mechanism 35 with a driving force peak value Fp ≧ G1 + G2 - F can meet the operating requirements of the transfer robot.

[0145] When F > G1 + G2 / 2, F - G1 > G1 + G2 - F, that is, the maximum driving force that the drive mechanism 35 needs to provide is F - G1. Therefore, selecting a drive mechanism 35 with a driving force peak value Fp ≧ F - G1 can meet the operating requirements of the transfer robot.

[0146] The present disclosure further provides a power assist device, which includes a connecting portion and a movable portion 43, where the movable portion 43 is configured to be preloaded to the connecting portion via an energy storage member 44. The energy storage member 44 may be a spring-type, gas-type, or hydraulic-type energy storage member 44, and the present disclosure employs a spring-type energy storage member 44. Referring to FIG. 17 , the movable portion 43 includes a slide rod 47 and a bullseye bearing 46, where the slide rod 47 is configured to be slidably connected to the connecting portion, and the bullseye bearing 46 is configured to be removably connected to the free end of the slide rod 47. By configuring the bullseye bearing 46 to be removably connected to the top end of the slide rod 47, a user can easily and quickly replace it. The power assist device can provide power assistance for various lifting machinery, thereby saving the lifting force required by the device and reducing the peak value of the lifting force.

[0147] In one embodiment of the present disclosure, as shown in FIG. 17 , the connection portion includes a fixed seat 41 and a fixed sleeve 45, and the fixed sleeve 45 is connected to the fixed seat 41 by a screw. The bottom end surface of the fixed seat 41 is configured as a flat surface, allowing a user to easily attach the fixed seat 41 to any flat surface of another device, thereby providing lift power assistance for the device. For example, the fixed seat 41 may be fixed to the chassis assembly 1 of the transport robot. The sliding rod 47 is configured to be slidably connected within the fixed sleeve 45 and to have a tendency to move outward due to the action of the energy storage member 44. Specifically, the bottom end of the sliding rod 47 is configured as a protrusion 471, and a seal member 451 is installed at the position of the upper opening of the fixed sleeve 45. The seal member 451 is configured to abut and engage with the protrusion 471 when the sliding rod 47 moves to the uppermost position. The seal member 451 can provide a position restriction function and prevent the sliding rod 47 from being detached from the fixed sleeve 45 due to the action of the energy storage member 44.

[0148] The bullseye bearing 46 includes a bearing body 461 and a butt member 462, and the bearing body 461 is removably connected to the top end of the sliding rod 47 by a screw. For example, the sliding rod 47 may be provided with a threaded hole, and the bearing body 461 may be provided with a corresponding thread slot. By engaging the thread slot with the threaded hole, the bearing body 461 can be removably connected to the top end of the sliding rod 47, which makes it easy to quickly remove the bearing body 461.

[0149] When the bearing body 461 is attached to the top end of the slide rod 47, the abutment member 462 is configured to be pressed between the bearing body 461 and the slide rod 47. As a result, the bearing body 461, the abutment member 462, and the slide rod 47 can collectively form the movable movable part 43 as a whole. The energy storage member 44 is configured to be preloaded between the lower end surface of the abutment member 462 and the upper end surface of the fixed seat 41, so that the entire movable part 43 can be preloaded to the connection part.

[0150] [Example 4] The present disclosure provides a transport robot, which includes a chassis assembly 1, a tray assembly 2, and a scissor assembly 3. The chassis assembly 1 is configured to be supported on a work surface, the tray assembly 2 is installed above the chassis assembly 1, and the tray assembly 2 is used to load cargo that needs to be lifted and lowered. The scissor assembly 3 is installed between the chassis assembly 1 and the tray assembly 2. The scissor assembly 3 includes a first connecting rod assembly 310 and a second connecting rod assembly 320 that are hingedly connected to at least the chassis assembly 1 and the tray assembly 2 and are installed alternately, and at least two linkage rods 330 that are hingedly connected to the first connecting rod assembly 310 and the second connecting rod assembly 320 and form a quadrilateral structure. The tray assembly 2 moves in a height direction relative to the chassis assembly 1 due to the constraints of the quadrilateral structure, thereby stably lifting and lowering the cargo loaded thereon. Here, the movement method may include translation, i.e., linear movement in the height direction, or other types of movement.

[0151] The first connecting rod assembly 310 and the second connecting rod assembly 320 are connected by at least two linkage rods 330 and can cooperate based on the principle of a quadrilateral structure, and the first connecting rod assembly 310 and the second connecting rod assembly 320 can rotate under the action of external force, and the quadrilateral structure deforms in the vertical and horizontal directions when rotated, thereby realizing the raising and lowering of the tray assembly 2, and the tray assembly 2 is pushed simultaneously by the first connecting rod assembly 310 and the second connecting rod assembly 320, thereby realizing linear movement in the vertical direction.

[0152] In the solution of the present disclosure, the first connecting rod assembly 310 and the second connecting rod assembly 320 of the scissor assembly 3 are both hingedly connected to the chassis assembly 1 and are hingedly connected to the tray assembly 2. Compared to current scissor-type lifting mechanisms, the scissor assembly 3 of the present disclosure does not have a slide pair, and the first connecting rod assembly 310 and the second connecting rod assembly 320 rotate only relative to the chassis assembly 1 and the tray assembly 2, which provides more stable support for the tray assembly 2, avoids the problem of uneven stress being applied during lifting and lowering of the tray assembly 2, and reduces the impact on the power device that provides the driving force.

[0153] 21 , one ends of the first connecting rod assembly 310 and the second connecting rod assembly 320 connected to the chassis assembly 1 are spaced apart, and one ends of the first connecting rod assembly 310 and the second connecting rod assembly 320 connected to the tray assembly 2 are also spaced apart. The portions between the two ends of the first connecting rod assembly 310 and the portions between the two ends of the second connecting rod assembly 320 alternate with each other. Furthermore, one ends of the first connecting rod assembly 310 and the second connecting rod assembly 320 connected to the chassis assembly 1 can be close to opposite ends of the chassis assembly 1, respectively, and one ends connected to the tray assembly 2 can be close to opposite ends of the tray assembly 2, respectively, so that the forces acting on the tray assembly 2 are balanced, making it more stable during lifting and lowering.

[0154] 21 , the first connecting rod assembly 310 includes a first connecting rod 311 and a second connecting rod 312, which are connected by a first rotation shaft 301 and can rotate relative to each other. Here, the first connecting rod 311 is hingedly connected to the tray assembly 2, and the second connecting rod 312 is hingedly connected to the chassis assembly 1. Specifically, one end of the first connecting rod 311 is hingedly connected to the tray assembly 2, the other end is hingedly connected to one end of the second connecting rod 312 via the first rotation shaft 301, and the end of the second connecting rod 312 remote from the first connecting rod 311 is hingedly connected to the chassis assembly 1.

[0155] The second connecting rod assembly 320 includes a third connecting rod 321 and a fourth connecting rod 322, and the third connecting rod 321 is connected by a second rotation shaft 302 and can rotate relative to one another. Here, the third connecting rod 321 is hingedly connected to the tray assembly 2, and the fourth connecting rod 322 is hingedly connected to the chassis assembly 1. Specifically, one end of the third connecting rod 321 is hingedly connected to the tray assembly 2, the other end is hingedly connected to one end of the fourth connecting rod 322 by the second rotation shaft 302, and the end of the fourth connecting rod 322 remote from the third connecting rod 321 is hingedly connected to the chassis assembly 1.

[0156] Here, the first connecting rods 311 and the third connecting rods 321 are alternately installed, and the second connecting rods 312 and the fourth connecting rods 322 are alternately installed. In one specific embodiment of the present disclosure, the first connecting rod 311, the fourth connecting rod 322, and the at least two linkage rods 330 form a quadrilateral structure, as shown in Fig. 21. It will be apparent to those skilled in the art that in another specific embodiment of the present disclosure, the quadrilateral structure of the scissor assembly 3 may be formed by the second connecting rod 312, the third connecting rod 321, and the at least two linkage rods 330.

[0157] 21 , the linkage rod 330 includes a first linkage rod 3301 and a second linkage rod 3302, wherein one end of the first linkage rod 3301 is hingedly connected to the first connecting rod 311 and the other end is hingedly connected to the fourth connecting rod 322, and one end of the second linkage rod 3302 is hingedly connected to the first connecting rod 311 and the other end is hingedly connected to the fourth connecting rod 322.

[0158] Specifically, the first linkage rod 3301 may be hingedly connected to the fourth connecting rod 322 by the second rotation axis 302, and the second linkage rod 3302 may be hingedly connected to the first connecting rod 311 by the first rotation axis 301. Also, one end of the first linkage rod 3301 is hingedly connected to a position between both ends of the first connecting rod 311, and one end of the second linkage rod 3302 is hingedly connected to a position between both ends of the fourth connecting rod 322.

[0159] The quadrilateral structure of the scissor assembly 3 may be a regular or irregular quadrilateral structure, such as a rhombus or a trapezoid, either of which can link the first connecting rod assembly 310 and the second connecting rod assembly 320. In a preferred embodiment of the present disclosure, as shown in FIG. 21 , the quadrilateral structure of the scissor assembly 3 is configured as a parallelogram, in which the first connecting rod 311 and the fourth connecting rod 322 are parallel to each other, and the first linkage rod 3301 and the second linkage rod 3302 are parallel to each other. During lifting and lowering, the first connecting rod 311 and the fourth connecting rod 322 rotate synchronously at the same rotation angle, ensuring that the tray assembly 2 can translate, i.e., move linearly in the vertical direction, thereby maintaining balance of the loaded cargo and preventing it from slipping off the tray assembly 2.

[0160] In some embodiments of the present disclosure, the first connecting rod assembly 310, the second connecting rod assembly 320, and the at least two linkage rods 330, which form the same quadrilateral structure, are considered to be one connecting rod unit. To further improve the stability of the scissor assembly 3, at least two connecting rod units may be installed between the chassis assembly 1 and the tray assembly 2, where the at least two connecting rod units are installed in parallel at a distance from each other, connected by a connecting shaft, and capable of moving synchronously. To increase the lifting height of the scissor assembly 3, at least two connecting rod units may be installed between the chassis assembly 1 and the tray assembly 2, where the at least two connecting rod units are distributed in the height direction and connected end to end.

[0161] 21 , a first bracket 16 and a second bracket 140 are installed on the chassis assembly 1, and a first connecting rod assembly 310 is connected to the first bracket 16 by a third rotation shaft 303. Specifically, a lower end of a second connecting rod 312 is connected to the first bracket 16 by the third rotation shaft 303. A second connecting rod assembly 320 is connected to the second bracket by a fourth rotation shaft 304, and specifically, a lower end of a fourth connecting rod 322 is connected to the second bracket 140 by the fourth rotation shaft 304.

[0162] The third bracket 21 and the fourth bracket 22 are installed on the tray assembly 2, and the first connecting rod assembly 310 is connected to the third bracket 21 by a fifth rotation shaft 305, specifically, the upper end of the first connecting rod 311 is connected to the third bracket 21 by the fifth rotation shaft 305. The second connecting rod assembly 320 is connected to the fourth bracket 22 by a sixth rotation shaft 306, specifically, the upper end of the third connecting rod 321 is connected to the fourth bracket 22 by the sixth rotation shaft 306.

[0163] In the specific embodiment shown in Figure 21, the scissor assembly 3 includes two connecting rod units installed in parallel, and any one of the first rotating shaft 301, the second rotating shaft 302, the third rotating shaft 303, the fourth rotating shaft 304, the fifth rotating shaft 305 and the sixth rotating shaft 306 can extend horizontally and be connected to the two connecting rod units as a connecting shaft, that is, the corresponding hinge connection points at the positions of the two connecting rod units can share the same rotating shaft, which is advantageous for improving the stability of the entire structure of the scissor assembly 3.

[0164] In some embodiments of the present disclosure, the device further includes a drive assembly 7 installed on the chassis assembly 1 or the tray assembly 2, and the drive assembly 7 is configured to drive the first connecting rod assembly 310 to rotate relative to the chassis assembly 1 or the tray assembly 2, or drive the second connecting rod assembly 320 to rotate relative to the chassis assembly 1 or the tray assembly 2, and the first connecting rod assembly 310 and the second connecting rod assembly 320 move synchronously due to the restriction of the quadrilateral structure, thereby causing the tray assembly 2 to move vertically relative to the chassis assembly 1 and lift or lower cargo loaded thereon.

[0165] In a preferred embodiment, the drive assembly (also called drive unit) By installing the drive assembly 7 on the chassis assembly 1, an increase in the load on the tray assembly 2 is avoided, and the drive assembly 7 is connected to the second connecting rod 312 and can drive the second connecting rod 312 to rotate, or is connected to the fourth connecting rod 322 and can drive the fourth connecting rod 322 to rotate.

[0166] The drive assembly 7 may employ a power unit that is directly connected to the first connecting rod assembly 310 or the second connecting rod assembly 320 to provide power, or may include a transmission mechanism that is connected between the power unit and the first connecting rod assembly 310 or the second connecting rod assembly 320 to transmit power. Those skilled in the art can select a power unit such as a conventional rotary motor, an electric push rod, a hydraulic push rod, or a transmission mechanism such as a connecting rod mechanism, a gear rack mechanism, or the like.

[0167] 22 , the drive assembly 7 includes a first drive rod 71 and a second drive rod 72 that are hingedly connected, and a rotation motor 73 that is fixed to the chassis assembly 1 or the tray assembly 2. Here, the second drive rod 72 is hingedly connected to the first connecting rod assembly 310 or the second connecting rod assembly 320, and the rotation motor 73 is configured to drive the first drive rod 71 to rotate, and to drive the first connecting rod assembly 310 or the second connecting rod assembly 320 to rotate via the second drive rod 72.

[0168] 22 , the rotation motor 73 is installed on the chassis assembly 1, and the second drive rod 72 is hingedly connected to the second connecting rod 312 of the first connecting rod assembly 310 to drive and rotate the second connecting rod 312. The second connecting rod 312 and the fourth connecting rod 322 are installed at a distance from each other, and the rotation motor 73 may be installed at a position close to the fourth connecting rod 322, and the second drive rod 72 may be connected to a position between both ends of the second connecting rod 312.

[0169] 23 , the drive assembly 7 includes a linear driver 74, the body of which is hingedly connected to the chassis assembly 1 or the tray assembly 2, and the output end of which is hingedly connected to the first connecting rod assembly 310 or the second connecting rod assembly 320, so as to directly drive and rotate the first connecting rod assembly 310 or the second connecting rod assembly 320. The linear driver 74 may be an electric push rod, a hydraulic cylinder, an air cylinder, or the like, and the present disclosure is not limited thereto.

[0170] In one embodiment of the present disclosure, two connecting rod units are installed, and the drive assembly 7 may be installed between the two connecting rod units and connected to the connecting shaft between the two connecting rod units to drive the two connecting rod units to move synchronously.

[0171] 22 , the connecting axis between the two connecting rod units includes a seventh rotation axis 307, which is connected between the second connecting rods 312 of the two connecting rod units and located between both ends of the second connecting rods 312, and the drive assembly 7 is connected to the seventh rotation axis 307 and drives the two second connecting rods 312 to rotate synchronously via the seventh rotation axis 307. Similarly, it would be obvious to one skilled in the art that the seventh rotation axis 307 may be connected between the fourth connecting rods 322 of the two connecting rod units and the drive assembly 7 drives the two fourth connecting rods 322 to rotate synchronously via the seventh rotation axis 307.

[0172] In some embodiments of the present disclosure, the chassis assembly 1 is equipped with a traveling mechanism that travels on a work surface, and the traveling mechanism may include traveling wheels, and can transport cargo to a specified location and lift the cargo to a required height via the scissor assembly 3.

[0173] Specifically, the running wheels may include drive wheels 15 installed on opposite sides of the chassis assembly 1, and a travel drive device 17 such as a drive motor that provides power to the drive wheels 15. The running wheels may further include a universal wheel 18 used for steering. The two drive wheels 15 are driven by different travel drive devices 17, and the two travel drive devices 17 can control the two drive wheels 15 to rotate at different rotational speeds, thereby allowing the transport robot to change its running direction.

[0174] 23 and 24 , the chassis assembly 1 includes a first chassis 11 and a second chassis 12, which are connected by a hinge 113 extending laterally and can rotate relatively around the hinge 113. A first connecting rod assembly 310 is hingedly connected to the first chassis 11, and a second connecting rod assembly 320 is hingedly connected to the second chassis 12. The first chassis 11 and the second chassis 12 are distributed front to back in the traveling direction of the chassis assembly 1, and when a raised or recessed obstacle is encountered during traveling, the first connecting rod assembly 310 or the second connecting rod assembly 320 can float up and down, which is advantageous for overcoming the obstacle and adapting to uneven road surfaces.

[0175] In some embodiments of the present disclosure, the drive assembly 7 may be mounted on the first chassis 11 or the second chassis 12. In the specific embodiment shown in FIG. 23 , the drive assembly 7 is mounted on the first chassis 11 and drives the second connecting rod assembly 320 to rotate relative to the second chassis 12, and upon rotation, the second connecting rod assembly 320 drives the first connecting rod assembly 310 to rotate synchronously via the linkage rod 330, thereby raising and lowering the tray assembly 2 in the vertical direction. In another specific embodiment of the present disclosure, the drive assembly 7 is mounted on the second chassis 12 and drives the first connecting rod assembly 310 to rotate relative to the first chassis 11, and upon rotation, the first connecting rod assembly 310 drives the second connecting rod assembly 320 to rotate synchronously via the linkage rod 330, thereby raising and lowering the tray assembly 2 in the vertical direction.

[0176] The present disclosure further provides a lifting apparatus, the lifting apparatus comprising: a base configured to be supported on a work surface; a tray assembly 2 installed above the base; The scissor assembly 3 includes at least a first connecting rod assembly 310 and a second connecting rod assembly 320 that are hingedly connected and alternately installed between the base and the tray assembly 2, and at least two linkage rods 330 that are hingedly connected to the first connecting rod assembly 310 and the second connecting rod assembly 320 and form a quadrilateral structure, and the tray assembly 2 is configured to move in the height direction relative to the base by being restricted by the quadrilateral structure.

[0177] When the lifting device is applied to a movable transport robot, the base is the chassis assembly 1 described above, and when the lifting device is applied to a fixed device, the function of the base is simply to support the lifting device on the work surface.

[0178] Although the above describes various embodiments of the present disclosure, the above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Various modifications and alterations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used in this specification is used to preferably explain the principles, practical applications, or technical improvements in the market of each embodiment, or to help those skilled in the art understand each embodiment disclosed in this specification. The scope of the present disclosure is limited by the appended claims.

Claims

1. A transport robot, a chassis assembly configured to be supported on a work surface; a tray assembly disposed above the chassis assembly and configured to receive containers; a scissor assembly disposed between the chassis assembly and the tray assembly and configured to drive the tray assembly up or down relative to the chassis assembly; a support portion configured to be supported by the support portion when the tray assembly is lowered to a predetermined height; A transport robot characterized by:

2. Drive wheels are installed on opposite sides of the chassis assembly, and the support portion is installed at a position adjacent to the drive wheels.

2. The transport robot according to claim 1.

3. the support portion is configured to be mounted on a chassis assembly and extend upward so as to be supported by the support portion when the tray assembly is lowered to a predetermined height, or the support portion is configured to be mounted on a tray assembly and extend downward so as to be supported by the chassis assembly via the support portion when the tray assembly is lowered to a predetermined height.

2. The transport robot according to claim 1.

4. The support is a support assembly or a power assist assembly.

4. The transport robot according to claim 1, wherein the transport robot is a robot that is capable of transporting a large amount of liquid.

5. the support part is a power assist assembly installed between the chassis assembly and the tray assembly, and the tray assembly is configured to be controlled by a drive mechanism to move to an initial position against the elastic force of the power assist assembly, and / or is configured to be controlled by a drive mechanism to move to a lift position by the action of the elastic force provided by the power assist assembly; 2. The transport robot according to claim 1.

6. the power assist assembly is configured to always apply a preload between the tray assembly and the chassis assembly during the process of the tray assembly moving relative to the chassis assembly; 6. The transport robot according to claim 5.

7. the power assist assembly is configured to be preloaded between the tray assembly and the chassis assembly after the tray assembly has moved a predetermined distance from the lift position to the initial position, and is configured to be disengaged from the chassis assembly or the tray assembly after the tray assembly has moved a predetermined distance from the initial position to the lift position; 6. The transport robot according to claim 5.

8. The power assist assembly is configured to extend in a vertical direction and includes a connection portion and a movable portion preloaded to the connection portion, the connecting portion is fixed to the chassis assembly and the movable portion is configured to engage with a tray assembly, or the connecting portion is fixed to the tray assembly and the movable portion is configured to engage with a chassis assembly; 6. The transport robot according to claim 5.

9. a rolling part is installed between the chassis assembly and the movable part, the chassis assembly is configured to be in rolling engagement with the movable part via the rolling part, and when the tray assembly swings relative to the chassis assembly, the rolling part is configured to roll between the chassis assembly and the movable part; Alternatively, a rolling part is provided between the tray assembly and the movable part, the tray assembly is configured to be in rolling engagement with the movable part via the rolling part, and when the tray assembly swings relative to the chassis assembly, the rolling part is configured to roll between the tray assembly and the movable part.

9. The transport robot according to claim 8.

10. the rolling portion is a rolling shaft, and the rotation axis of the rolling shaft is perpendicular to or parallel to the traveling direction of the transport robot; 10. The transport robot according to claim 9.

11. an arc surface is provided on the movable part of the power assist assembly, and the arc surface of the movable part is configured to abut against the chassis assembly or the tray assembly; 9. The transport robot according to claim 8.

12. the connecting portion includes a fixed seat and a guide rod extending vertically from the fixed seat, the movable portion is fitted onto the guide rod, and an energy storage member is installed between the fixed seat and the movable portion, the energy storage member having a tendency to move the movable portion away from the fixed seat and providing a vertically upward elastic force for the tray assembly.

9. The transport robot according to claim 8.

13. a through hole is provided at the abutment position of the tray assembly or the chassis assembly, and the diameter of the through hole is configured to be larger than the diameter of the guide rod and smaller than the diameter of the movable part; 13. The transport robot according to claim 12.

14. the connecting portion includes a fixed sleeve, the movable portion is configured to be movably connected within the fixed sleeve, an energy storage member is installed between the fixed sleeve and the movable portion, and the energy storage member is configured to cause the movable portion to tend to move outward and provide a vertically upward elastic force for the tray assembly.

9. The transport robot according to claim 8.

15. the movable part includes a slide rod and a bull's-eye bearing, the slide rod being slidably connected within the fixed sleeve and configured to have a tendency to move outward by the action of the energy storage member, and the bull's-eye bearing being detachably connected to a top end of the slide rod and configured to abut against the chassis assembly or the tray assembly.

15. The transport robot according to claim 14.

16. The energy storage member is a spring-type, gas-type, or hydraulic-type energy storage member. The transport robot according to any one of claims 12 to 15.

17. At least two of the power assist assemblies are provided, and the at least two power assist assemblies are provided on opposite sides of the chassis assembly and configured to engage with corresponding sides of the tray assembly, or the at least two power assist assemblies are provided on opposite sides of the tray assembly and configured to engage with corresponding sides of the chassis assembly.

6. The transport robot according to claim 5.

18. The force with which the tray assembly moves downward due to its own gravity when empty is denoted as G1, the maximum weight of containers that can be loaded on the tray assembly is denoted as G2, the maximum elastic force of the power assist assembly when the tray assembly is in its initial position is denoted as F, and the peak value of the driving force provided by the driving mechanism is denoted as Fp, If F≦G1, then Fp≧G1+G2−F; 6. The transport robot according to claim 5.

19. If G1<F<G1+G2 / 2, then Fp≧G1+G2−F; if F=G1+G2 / 2, then Fp≧G2 / 2; if F>G1+G2 / 2, then Fp≧F−G1; 19. The transport robot according to claim 18.

20. the chassis assembly includes a first chassis and a second chassis hingedly connected to the first chassis, the first chassis and the second chassis configured to be supported together on a work surface; The scissor assembly includes at least a first scissor arm and a second scissor arm hinged together, and a bottom portion of one of the first scissor arm and the second scissor arm is connected to the first chassis at a position away from the second chassis, and a bottom portion of the other scissor arm is connected to the second chassis at a position away from the first chassis.

2. The transport robot according to claim 1.

21. the support portion is a support assembly, the support assembly is configured to be installed on the first chassis and to protrude from an end surface of the first chassis, and the tray assembly is configured to be supported by the support assembly when lowered to a predetermined height.

21. The transport robot according to claim 20.

22. Drive wheels are provided on opposite sides of the chassis assembly, and the support assembly is configured to extend upward beyond the drive wheels.

22. The transport robot according to claim 21.

23. the support assembly is configured to be mounted on a first chassis adjacent to the drive wheel; 23. The transport robot according to claim 22.

24. the support is a power assist assembly, the tray assembly is configured to apply positive pressure to a position of a corresponding drive wheel on a chassis assembly via the power assist assembly, the drive wheel is installed on the first chassis, and the power assist assembly is installed on the first chassis, the second chassis, or the tray assembly at a position adjacent to the drive wheel; 21. The transport robot according to claim 20.

25. the scissor assembly includes a drive device disposed between the first scissor arm and the second scissor arm, the drive device configured to drive the second scissor arm to rotate relative to the first scissor arm; 21. The transport robot according to claim 20.

26. At least two of the first scissor arms and at least two of the second scissor arms are provided, bottoms of at least two of the first scissor arms are connected by a first rotating shaft, and bottoms of at least two of the second scissor arms are connected by a second rotating shaft, and the driving device is provided between the first rotating shaft and the second rotating shaft and configured to drive the first rotating shaft and the second rotating shaft to move away from or approach each other.

26. The transport robot according to claim 25.

27. the first rotating shaft is configured to be hingedly connected to a first bracket located on an end surface of the first chassis, and the second rotating shaft is configured to be guide-engaged with the second chassis and move along the second chassis by being driven by the driving device, or the first rotating shaft is configured to be hingedly connected to a first bracket located on an end surface of the second chassis, and the second rotating shaft is guide-engaged with the first chassis and move along the first chassis by being driven by the driving device.

27. The transport robot according to claim 26.

28. First rollers are installed on both opposing ends of the second rotating shaft, a first guide block is installed on the first chassis or the second chassis, and a first guide groove is formed in the first guide block for guiding and engaging with the first roller, or First guide blocks are installed on opposite ends of the second rotating shaft, a first guide groove is formed in the first guide blocks, and a first roller is installed on the first chassis or the second chassis to engage with the first guide groove.

28. The transport robot according to claim 27.

29. At least two of the tops of the first scissor arms are connected by a third rotation shaft, and at least two of the tops of the second scissor arms are connected by a fourth rotation shaft; One of the third and fourth rotation shafts is configured to be hingedly connected to a third bracket located on an end face of the tray assembly, and second rollers are installed at opposite ends of the other rotation shaft, and second guide blocks are installed on the tray assembly, and second guide grooves are formed in the second guide blocks to guide and engage with the second rollers; or second guide blocks are installed on opposite ends of the other rotation shaft, and second guide grooves are formed in the second guide blocks, and second rollers are installed on the tray assembly to engage with the second guide grooves.

29. The transport robot according to claim 28.

30. The body of the driving device is fitted onto a first rotating shaft and configured to rotate relative to the first rotating shaft, and the output end of the driving device is connected to the second rotating shaft.

27. The transport robot according to claim 26.

31. an elastic device is installed between the second rotation shaft and the output end of the driving device, and the elastic device is configured to have a tendency for the second rotation shaft to move in the first rotation shaft direction; 31. The transport robot according to claim 30.

32. an output end of the driving device is a roller screw, a screw nut engaged with the roller screw is installed on the second rotating shaft, a stopper is installed on one end of the roller screw passing through the screw nut, and the elastic device is installed between the stopper and the screw nut; 32. The transport robot according to claim 31 .

33. The elastic device is configured to constantly apply pre-load between the stopper portion and the screw nut during the process of the screw nut moving relative to the stopper portion.

33. The transport robot according to claim 32.

34. The elastic device is configured to be preloaded between the stopper portion and the screw nut after the stopper portion and the screw nut have moved a predetermined distance facing each other, or to be released from the stopper portion and / or the screw nut after the stopper portion and the screw nut have moved a predetermined distance facing each other.

33. The transport robot according to claim 32.

35. the scissor assembly includes at least a third scissor arm and a fourth scissor arm hinged together, the third scissor arm configured to be hinged to the first scissor arm via a fifth rotation axis, and the fourth scissor arm configured to be hinged to the second scissor arm via a sixth rotation axis; The present invention further includes a drive device installed between the fifth rotation shaft and the sixth rotation shaft, the drive device being configured to drive the fifth rotation shaft and the sixth rotation shaft to move away from or toward each other.

21. The transport robot according to claim 20.

36. the chassis assembly includes a first chassis and a second chassis hingedly connected to the first chassis, the first chassis and the second chassis configured to be supported together on a work surface; the transport robot further includes a movable platform, one side of the movable platform configured to be hingedly connected to the second chassis and the other side configured to be movably connected to the first chassis, the scissor assembly being installed between the movable platform and the tray assembly and configured to drive the tray assembly to rise or fall relative to the chassis assembly; 2. The transport robot according to claim 1.

37. the scissor assembly includes at least a first scissor arm and a second scissor arm hinged together, a bottom of one of the first scissor arm and the second scissor arm hingedly connected to one side of the movable platform, and a bottom of the other of the first scissor arm and the second scissor arm slidably connected to the other side of the movable platform; 37. The transport robot according to claim 36.

38. The tray assembly includes a tray body and at least two comb teeth installed at intervals on the tray body, a space for accommodating the scissor assembly is provided at the bottom of the tray body and the comb teeth, and a top of the scissor assembly is configured to penetrate the tray body and be connected to a side wall of the comb teeth.

37. The transport robot according to claim 36.

39. the support is installed on a movable platform or on a tray assembly at a position adjacent to the drive wheel, and the tray assembly is configured to apply positive pressure to a position on the chassis assembly corresponding to the drive wheel via the support and the movable platform in turn.

37. The transport robot according to claim 36.

40. the support is located on the first chassis, the second chassis, or the tray assembly adjacent to the drive wheel and is configured to pass through the movable platform; 37. The transport robot according to claim 36.

41. A transport robot, a chassis assembly supported on a work surface, the chassis assembly including a first chassis and a second chassis hingedly connected to the first chassis, the first chassis and the second chassis configured to be supported together on the work surface; a tray assembly disposed above the chassis assembly and configured to receive containers; a scissor assembly controlled by a drive mechanism and configured to drive the tray assembly to move along a height direction between an initial position and a lift position; a movable platform configured to be hingedly connected to the second chassis on one side and movably connected to the first chassis on the other side; the scissor assembly is disposed between the movable platform and the tray assembly and is configured to drive the tray assembly up or down relative to the chassis assembly; A transport robot characterized by:

42. a support portion that is mounted on the chassis assembly and configured to extend upward so that the tray assembly is supported by the support portion when the tray assembly is lowered to a predetermined height; Alternatively, the support portion is installed on the tray assembly and configured to extend downward so as to be supported by the chassis assembly via the support portion when the tray assembly is lowered to a predetermined height.

42. The transport robot according to claim 41 .

43. A power assist device, A connection part; a movable part configured to be preloaded to the connection part via an energy storage member, the movable part including a slide rod and a bull's-eye bearing, the slide rod configured to be slidably connected to the connection part, and the bull's-eye bearing configured to be detachably connected to a free end of the slide rod; A power assist device characterized by:

44. the connecting portion includes a fixed seat and a fixed sleeve, the fixed sleeve being connected to the fixed seat by a screw, the slide rod being slidably connected within the fixed sleeve and configured to have a tendency to move outward due to the action of the energy storage member; a lower end of the slide rod is configured as a protrusion, and a seal member is installed at the position of an upper opening of the fixed sleeve, and when the slide rod moves to the uppermost position, the seal member is configured to abut and engage with the protrusion; 44. A power assist device according to claim 43.

45. The bullseye bearing includes a bearing body and an abutment member, the bearing body being detachably connected to the top end of the slide rod by a screw, the abutment member being configured to be pressed between the bearing body and the slide rod, and the energy storage member being configured to be preloaded between a lower end surface of the abutment member and an upper end surface of the fixed seat.

45. A power assist device according to claim 44.

46. A transport robot, a chassis assembly supported on a work surface; a tray assembly disposed above the chassis assembly; A scissor assembly, the scissor assembly including at least a first connecting rod assembly and a second connecting rod assembly that are hingedly connected between the chassis assembly and the tray assembly and that are alternately arranged, and at least two linkage rods that are hingedly connected to the first connecting rod assembly and the second connecting rod assembly to form a quadrilateral structure, the scissor assembly being configured so that the tray assembly moves in a height direction relative to the chassis assembly by being restricted by the quadrilateral structure. A transport robot characterized by:

47. the first connecting rod assembly includes a first connecting rod and a second connecting rod connected by a first rotation axis, the first connecting rod being hingedly connected to the tray assembly, and the second connecting rod being hingedly connected to the chassis assembly; the second connecting rod assembly includes a third connecting rod and a fourth connecting rod connected by a second rotation axis, the third connecting rod being hingedly connected to the tray assembly, and the fourth connecting rod being hingedly connected to the chassis assembly; The first connecting rods and the third connecting rods are alternately installed, and the second connecting rods and the fourth connecting rods are alternately installed.

47. The transport robot according to claim 46.

48. the first connecting rod, the fourth connecting rod, and at least two linkage rods form the quadrilateral structure; or the second connecting rod, the third connecting rod, and at least two linkage rods form the quadrilateral structure; 48. A transport robot according to claim 47.

49. a connection point between the first connecting rod assembly and the tray assembly is spaced apart from a connection point between the second connecting rod assembly and the tray assembly, and a connection point between the first connecting rod assembly and the chassis assembly is spaced apart from a connection point between the second connecting rod assembly and the chassis assembly; 48. A transport robot according to claim 47.

50. The linkage rods include a first linkage rod and a second linkage rod, one end of the first linkage rod is hingedly connected to the first connecting rod and the other end is hingedly connected to the second rotation shaft, one end of the second linkage rod is hingedly connected to the fourth connecting rod and the other end is hingedly connected to the first rotation shaft; 48. A transport robot according to claim 47.

51. one end of the first linkage rod is hingedly connected to a position between both ends of the first connecting rod, and the second linkage rod is hingedly connected to a position between both ends of the fourth connecting rod; 51. The transport robot according to claim 50.

52. The quadrilateral structure is a parallelogram.

47. The transport robot according to claim 46.

53. The first connecting rod assembly, the second connecting rod assembly, and the at least two linkage rods that constitute the same quadrilateral structure are defined as one connecting rod unit, and the at least two connecting rod units are installed between the chassis assembly and the tray assembly, and the at least two connecting rod units are connected by a connecting shaft and move synchronously.

47. The transport robot according to claim 46.

54. a first bracket and a second bracket are installed on the chassis assembly, the first connecting rod assembly is connected to the first bracket by a third rotation shaft, and the second connecting rod assembly is connected to the second bracket by a fourth rotation shaft; a third bracket and a fourth bracket are installed on the tray assembly, the first connecting rod assembly is connected to the third bracket by a fifth rotation shaft, and the second connecting rod assembly is connected to the fourth bracket by a sixth rotation shaft; 47. The transport robot according to claim 46.

55. further including a drive assembly mounted on the chassis assembly or the tray assembly, the drive assembly configured to drive the first connecting rod assembly to rotate relative to the chassis assembly or the tray assembly, or to drive the second connecting rod assembly to rotate relative to the chassis assembly or the tray assembly. The transport robot according to any one of claims 46 to 54.

56. the drive assembly includes a first drive rod, a second drive rod hingedly connected, and a rotation motor fixed to the chassis assembly or the tray assembly, the second drive rod hingedly connected to the first connecting rod assembly or the second connecting rod assembly, and the rotation motor configured to drive the first drive rod to rotate and drive the first connecting rod assembly or the second connecting rod assembly to rotate via the second drive rod; The transport robot according to any one of claims 46 to 54.

57. the drive assembly includes a linear driver, the linear driver having a body hingedly connected to the chassis assembly or the tray assembly and an output end hingedly connected to the first connecting rod assembly or the second connecting rod assembly; 56. A transport robot according to claim 55.

58. the chassis assembly includes a first chassis and a second chassis hingedly connected to the first chassis, the first connecting rod assembly hingedly connected to the first chassis, and the second connecting rod assembly hingedly connected to the second chassis; 57. A transport robot according to claim 56.

59. the drive assembly is mounted to the first chassis and configured to drive the second connecting rod assembly in rotation relative to the second chassis; and / or the drive assembly is mounted to the second chassis and configured to drive the first connecting rod assembly in rotation relative to the first chassis.

59. A transport robot according to claim 58.

Images