Chassis device and transport robot having the chassis device

Abstract

The present invention discloses a chassis device and a transport robot having the chassis device. The chassis device includes a chassis body and a drive wheel swing arm suspension mechanism, the drive wheel swing arm suspension mechanism includes a first swing arm member, the first swing arm member extending along the longitudinal direction of the chassis body, with a drive wheel and a first universal wheel attached to both ends of the first swing arm member, a drive wheel and a first universal wheel attached to each end, the first swing arm member rotatably attached to the chassis body via a first connecting shaft at a position between the drive wheel and the first universal wheel, and a further compressed elastic body provided between the first swing arm member and the chassis body at a position close to the drive wheel.

Description

Technical Field

[0001] The present invention relates to the technical field of transport robots, and particularly to a chassis device and a transport robot having the chassis device.

Background Art

[0002] In related technologies, a transport robot usually includes a transport chassis, and the transport chassis is provided with a telescopic fork. During the transport operation, by extending and retracting and lifting and lowering the fork, a pallet on which an article to be transported is placed can be moved above the transport chassis, and thereby, the article can be transported by moving the transport chassis.

[0003] However, the conventional transport robot can only be applied to pallets of a fixed size, and the reuse rate of the transport chassis is low. In addition, the conventional transport chassis is likely to slip during the transport operation on a rough road surface, that is, the running performance is low.

Summary of the Invention

[0004] According to one embodiment of the present invention, a chassis device comprising a chassis body and a drive wheel swing arm suspension mechanism attached to the chassis body, wherein the drive wheel swing arm suspension mechanism includes a first swing arm member extending along a first direction which is the front-rear direction of the chassis body, a drive wheel attached to one end of the first swing arm member along the first direction, and a first universal wheel attached to the other end of the first swing arm member along the first direction, the axis of rotation of the drive wheel extending along a second direction which is the left-right direction of the chassis body Furthermore, a chassis device is provided in which, at a position between the drive wheel and the first universal wheel, the first swing arm member has a first connecting through hole through it, a first connecting shaft extending in the second direction is inserted into the first connecting through hole, both ends of the first connecting shaft are fixedly attached to the chassis body so that the first swing arm member can rotate relative to the chassis body with the first connecting shaft as the axis of rotation, and an elastic body is provided between the first swing arm member and the chassis body at a position close to the drive wheel, the elastic body is in a compressed state.

[0005] In some embodiments, the drive wheel swing arm suspension mechanism is attached to both the left and right sides of the chassis body with respect to the first direction, the drive wheel is located at an intermediate position along the first direction of the chassis body, the first universal wheel is located at one end of the chassis body along the first direction, a universal wheel swing arm suspension mechanism is attached to the other end of the chassis body along the first direction, and second universal wheels are attached to both ends of the universal wheel swing arm suspension mechanism along the second direction.

[0006] In some embodiments, the universal wheel swingarm suspension mechanism includes a second swingarm member extending in the second direction, with the second universal wheels attached to each end of the second swingarm member in the second direction, and the second swingarm member having a second connecting through-hole between the second universal wheels at both ends, through which a second connecting shaft extending in the first direction is inserted, and both ends of the second connecting shaft are fixedly attached to the chassis body so that the second swingarm member can rotate relative to the chassis body with the second connecting shaft as the axis of rotation.

[0007] In some embodiments, both ends of the second connecting shaft are fixedly attached to the chassis body via a rotating shaft retaining plate.

[0008] In some embodiments, second position limiting blocks are provided at both ends of the second swing arm member along the second direction, and the second position limiting blocks are located on the lower end surface of the second swing arm member such that they abut against the chassis body.

[0009] In some embodiments, a pair of mounting lugs are provided on the chassis body at positions on both sides of the first connecting through hole, and the mounting lugs are used to permanently attach the first connecting shaft.

[0010] In some embodiments, first position limiting blocks are provided at both ends of the first swing arm member along the first direction, and the first position limiting blocks are located on the upper end surface of the first swing arm member such that they abut against the chassis body.

[0011] In some embodiments, the drive wheel swing arm suspension mechanism further includes a drive module, which is attached to one end of the first swing arm member along the first direction, which is ductilely connected to the drive wheel, which is used to rotate the drive wheel.

[0012] In some embodiments, the chassis body includes a separate first chassis, a second chassis, and a third chassis, the second and third chassis being fixedly attached to the left and right sides of the first chassis in the first direction, the first chassis being used to mount the universal wheel swing arm suspension mechanism, the second and third chassis being used to mount the drive wheel swing arm suspension mechanism, and the first chassis being used to mount the telescopic fork travel mechanism after being connected to the second and third chassis, respectively.

[0013] In some embodiments, the drive wheel swing arm suspension mechanism is attached to both the left and right sides of the chassis body with respect to the first direction, the drive wheel is located at an intermediate position along the first direction of the chassis body, the first universal wheel is located at one end of the chassis body along the first direction, and a second universal wheel is attached to the other end of the chassis body along the first direction.

[0014] In some embodiments, the chassis body includes a separate intermediate chassis and a pair of side chassis located on either side of the intermediate chassis, the drive wheel swing arm suspension mechanism is mounted on the side chassis, and the second universal wheel is mounted on the intermediate chassis.

[0015] In some embodiments, contact flanges are provided on both sides of the first swing arm member in the first direction at a position close to the drive wheel, the lower ends of the pair of elastic bodies are fixedly attached to the pair of contact flanges, the upper ends of the pair of elastic bodies are fixedly attached to a mounting seat, and the mounting seat is fixedly attached to the side chassis such that the first swing arm member is connected to the side chassis via the elastic bodies at a position close to the drive wheel.

[0016] In some embodiments, the intermediate chassis is fitted with a fork assembly, the fork assembly comprising a telescopic guide assembly and a fork body extending along the first direction, the telescopic guide assembly being provided to extend and retract relative to the intermediate chassis along the first direction, and the fork body being slidably attached to the telescopic guide assembly along the first direction.

[0017] According to one embodiment of the present invention, a chassis device is provided, comprising a chassis body and a drive wheel swing arm suspension mechanism attached to the chassis body, wherein the chassis body comprises an intermediate chassis and a pair of side chassis located on both sides of the intermediate chassis, the side chassis extending along a first direction which is the longitudinal direction of the chassis body, the intermediate chassis being detachably docked with each of the side chassis, and the drive wheel swing arm suspension mechanism being attached to the side chassis and having an elastic body between it and the side chassis, the elastic body being in a compressed state.

[0018] According to one embodiment of the present invention, a transport robot is provided that includes the chassis device described in any of the above embodiments.

[0019] To more clearly explain the technical solution of the embodiments of the present invention, the drawings necessary for explaining the embodiments of the present invention are briefly described below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative labor.

Brief Description of the Drawings

[0020] [Figure 1] It is a schematic structural diagram of a transport chassis in an embodiment of the present invention. [Figure 2] It is a schematic structural diagram of an intermediate chassis in an embodiment of the present invention. [Figure 3] It is a schematic structural diagram of a side chassis in an embodiment of the present invention. [Figure 4] It is a schematic structural diagram of a swing arm suspension mechanism in an embodiment of the present invention. [Figure 5] It is a cross-sectional view of a transport chassis in an embodiment of the present invention as seen from above. [Figure 6] It is a cross-sectional view of a transport chassis in an embodiment of the present invention as seen from below. [Figure 7] It is a cross-sectional view of a transport chassis in an embodiment of the present invention as seen from above. [Figure 8] It is a cross-sectional view of a transport chassis in an embodiment of the present invention as seen from below. [Figure 9] It is a schematic structural diagram of a chassis device in an embodiment of the present invention. [Figure 10] It is a schematic structural diagram of a drive wheel swing arm suspension mechanism in an embodiment of the present invention. [Figure 11] It is a cross-sectional view of a chassis body in an embodiment of the present invention as seen from the side. [Figure 12] It is a schematic structural diagram of a universal wheel swing arm suspension mechanism in an embodiment of the present invention. [Figure 13] It is a cross-sectional view of a chassis body in an embodiment of the present invention as seen from the side. [Figure 14]It is a schematic diagram of the structure of the chassis body in an embodiment of the present invention. [Figure 15] It is a schematic diagram of the structure of the telescopic fork traveling mechanism in the state of being extended in FIG. 9.

Embodiments for Carrying out the Invention

[0021] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in detail below with reference to the drawings. However, it is clear that the described embodiments are only some embodiments of the present invention, not all embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0022] FIG. 1 schematically illustrates a structure provided separately on the transport chassis, and FIG. 5 is a cross-sectional view taken from above the transport chassis in a state where the fork assembly is retracted. First, embodiments of the present invention will be described with reference to FIGS. 1 and 5.

[0023] In an embodiment of the present invention, there is provided a transport chassis including an intermediate chassis 10 provided separately and a pair of side chassis 20. The intermediate chassis 10 and the side chassis 20 extend along a first direction X which is the front-rear direction of the transport chassis. A fork assembly 12 is attached to a first end of the intermediate chassis 10 along the first direction X, and a second universal wheel 11 is attached to a second end of the intermediate chassis 10 along the first direction X. The intermediate chassis 10 is detachably docked with the pair of side chassis 20 respectively. <00神仙道0110> Here, the front-rear direction of the transport chassis is taken as the first direction, and the left-right direction of the transport chassis is taken as the second direction. [[ID=2神仙道]]<000神仙道112><000神仙道1神仙道9><神仙道神仙道神仙道神仙道111><神仙道神仙道神仙道神仙道11神仙道<神仙道神仙道神仙道神仙道112><神仙道神仙道神仙道神仙道113><神仙道神仙道神仙道神仙道114> In this embodiment, the transport chassis has a separate structure. Specifically, it includes an intermediate chassis and a pair of side chassis respectively located on both sides of the intermediate chassis. The intermediate chassis is detachably docked with the side chassis. <神仙道神仙道神仙道神仙道115> <神仙道神仙道神仙道神仙道116> The intermediate chassis and a pair of side chassis both extend in a first direction, i.e., along the front-to-rear direction of the transport chassis, and a fork assembly is attached to the first end of the intermediate chassis along the first direction, and the fork assembly is used to move pallets on which the goods to be transported are placed.

[0027] Regarding the above-mentioned detachability, as shown in Figure 1, one docking lug 13 may be provided on each of the edges of the intermediate chassis 10 with respect to a first direction X, the docking lugs 13 extending along the first direction X, and in this way the docking lugs on both sides can provide mounting positions, and a pair of side chassis 20 may be attached to the docking lugs on both sides of the intermediate chassis 10 by fasteners, that is, a detachable attachment of the side chassis to the intermediate chassis is realized.

[0028] Furthermore, if it is necessary to use pallets of different sizes for transport operations, the transport chassis can be adapted to pallets of different sizes by removing the side chassis on both sides from the intermediate chassis and replacing the intermediate chassis with one that fits a different size fork assembly, thereby meeting the requirements for transporting pallets of different sizes.

[0029] Typically, the drive system of a transport chassis (e.g., drive wheels) is mounted on the side chassis on both sides, and a pair of side chassis with drive systems can be docked with different intermediate chassis, and different intermediate chassis can be fitted with fork assemblies, for example, with different spacings. In this way, the reuse rate of the side chassis and the drive systems on them is improved by replacing the intermediate chassis, and equipment costs are saved.

[0030] Embodiments of the present invention provide a transport chassis and a transport robot having the transport chassis, the transport chassis comprising a separate intermediate chassis and a pair of side chassis, both of which extend along the longitudinal direction of the transport chassis, a fork assembly attached to one end of the intermediate chassis along the longitudinal direction of the transport chassis, and the pair of side chassis each being detachably attached to both sides of the intermediate chassis in a first direction. Thus, when transporting pallets of different sizes, the transport chassis can meet the transport requirements for pallets of different sizes by replacing the intermediate chassis to fit the size of the different fork assemblies, thereby improving the reuse rate of the transport chassis and saving overall costs.

[0031] Here, in order to improve the overall stability of the transport chassis, a second universal wheel 11 is attached to the second end of the intermediate chassis 10 along the first direction X, a drive wheel swing arm suspension mechanism 21 is attached to each of the two side chassis 20, a drive wheel 212 and a first universal wheel 213 are provided at both ends of the drive wheel swing arm suspension mechanism 21 along the first direction X, the drive wheel 212 is located in an intermediate position along the first direction X of the side chassis 20, the first universal wheel 213 is located at one end of the side chassis 20 away from the second universal wheel 11, and the axis of rotation of the drive wheel 212 is provided along the second direction Y, which is the left-right direction of the transport chassis.

[0032] That is, as shown in Figures 2 and 6, a second universal wheel may be attached to the second end of the intermediate chassis along the first direction, and then, as shown in Figure 5, a swing arm suspension mechanism extending along the first direction may be attached to the side chassis.

[0033] Here, the ends of the swing arm suspension mechanism are the drive wheel and the first universal wheel, respectively. Specifically, as shown in Figure 3, the drive wheel may be positioned at an intermediate location along the first direction of the side chassis, and the first universal wheel may be positioned at one end of the side chassis away from the second universal wheel. In this way, the drive wheels on both sides drive the transport chassis and ensure the overall stability of the transport chassis.

[0034] In one possible embodiment, as shown in Figures 3 and 4, the drive wheel swingarm suspension mechanism 21 includes a swingarm member 211 extending along a first direction X, with a drive wheel 212 and a first universal wheel 213 mounted at both ends of the swingarm member 211, respectively. Between the drive wheel 212 and the first universal wheel 213, the swingarm member 211 has a connecting through-hole through which a connecting shaft 214 extending along a second direction Y is inserted. The connecting shaft 214 is fixedly mounted to the side chassis 20 so that the swingarm member 211 is mounted to and rotatable relative to the side chassis 20. The swingarm member 211 is connected to the side chassis 20 via an elastic body 215 near the drive wheel 212, the elastic body 215 being in a compressed state. This mechanism prevents the drive wheel from slipping on uneven surfaces.

[0035] When the transport chassis travels on an uneven road surface, there is a possibility of slippage of the drive wheels. In this embodiment, the swing arm suspension mechanism is rotatably attached to the side chassis, and an elastic body is provided on the drive wheels. This allows the drive wheels to elastically swing up and down relative to the side chassis in response to the uneven road surface, ensuring that a constant pressure, i.e., wheel pressure, is always acting between the drive wheels and the uneven road surface, thereby preventing slippage of the drive wheels.

[0036] Here, the drive wheel and the first universal wheel may each be attached to both ends of a swing arm member extending in a first direction, and a connecting through hole is provided in the swing arm member at a position between the drive wheel and the first universal wheel, and a connecting shaft extending in a second direction is inserted into the connecting through hole, and both ends of the connecting shaft are fixedly attached to the side chassis, so that the swing arm member can be rotatably attached to the side chassis, that is, the drive wheel and the first universal wheel at both ends of the swing arm member can swing up and down relative to the side chassis.

[0037] Furthermore, in this embodiment, the swing arm member is connected to the side chassis via an elastic body at a position close to the drive wheel, and the elastic body is in a predetermined compressed state.

[0038] As a result, for example, if there is a depression in the road surface where the drive wheel is located, the elastic body in a predetermined compressed state will cause the drive wheel to swing downward relative to the side chassis, keeping the drive wheel in contact with the depressed road surface, ensuring wheel pressure and preventing the drive wheel from slipping on the depressed road surface.

[0039] For example, if there is a bump on the road surface where the drive wheel is located, the bump causes the drive wheel to swing upward relative to the side chassis. At this time, the elastic body, which is in a predetermined compressed state, continues to be compressed, keeping the drive wheel in contact with the bumped road surface, ensuring wheel pressure, and preventing the drive wheel from slipping on the bumped road surface.

[0040] In one embodiment, as shown in Figure 4, the drive wheel swing arm suspension mechanism 21 further includes a drive module 216, which is located at one end of the swing arm member 211 to which the drive wheel 212 is attached, and is ductilely connected to the drive wheel 212, and is used to rotate the drive wheel 212.

[0041] That is, the swing arm suspension mechanism further includes a drive module, which includes, for example, a drive motor and a reduction gear, and the drive module may be attached to one end of the swing arm member on which the drive wheel is provided, facilitating a transmittable connection between the drive module and the drive wheel, and the drive module is specifically used to rotate the drive wheel, thereby allowing the transport chassis to move forward or backward when the pair of drive wheels on both sides rotate at the same rotational speed in the forward or reverse direction, and when the pair of drive wheels on both sides rotate at different rotational speeds (i.e., differential rotation), the transport chassis can be rotated counterclockwise or clockwise.

[0042] In one embodiment, continuing with reference to Figure 4, near the drive wheel 212, contact flanges 217 are provided on both sides of the swing arm member 211 in a first direction X, the lower ends of a pair of elastic bodies 215 are fixedly attached to the pair of contact flanges 217, the upper ends of the pair of elastic bodies 215 are fixedly attached to a mounting seat 218, the mounting seat 218 is fixedly attached to the side chassis 20 such that the swing arm member 211 is connected to the side chassis 20 via the elastic bodies 215 near the drive wheel 212.

[0043] Here, regarding the attachment of the elastic body, contact flanges may be provided on both sides of the swing arm member closest to the drive wheel, and one elastic body may be attached to each contact flange, with the upper end of the elastic body fixed to a mounting seat. By permanently attaching the mounting seat to the side chassis, it is possible to realize that the swing arm member is connected to the side chassis via the elastic body at a position close to the drive wheel, and of course, the pair of elastic bodies should be in a predetermined compressed state.

[0044] By providing elastic bodies on both the left and right sides of the swingarm member, it is ensured that both sides of the swingarm member remain in the same horizontal position, preventing tilting from side to side.

[0045] In one embodiment, referring again to Figure 4, contact protrusions (first position limiting blocks) 219 are provided at both ends of the swing arm member 211 along the first direction X, the contact protrusions 219 are located on the upper end surface of the swing arm member 211 and are used to contact the side chassis 20.

[0046] In this embodiment, in order to limit the range of vertical swing of the swing arm member relative to the side chassis, contact protrusions may be provided at both ends of the swing arm member, that is, the connecting through hole is located between the pair of contact protrusions.

[0047] Here, the contact protrusion may be provided on the upper end surface of the swingarm member, the height of the contact protrusion may be specifically determined based on the actual mounting structure, and the heights of the contact protrusions at both ends may be the same or different.

[0048] The contact ridge may be made of a material such as rubber that has a certain degree of elasticity to cushion the contact.

[0049] In one embodiment, as shown in Figure 3, a pair of mounting lugs 22 are provided on the side chassis 20 at positions corresponding to both sides of the connecting through hole, and both ends of the connecting shaft 214 along the second direction Y are fixedly attached to the pair of mounting lugs 22, that is, both ends of the connecting shaft may be fixed to the pair of mounting lugs on the side chassis.

[0050] In one possible embodiment, as shown in Figures 5 to 8, the fork assembly 12 includes a telescopic guide assembly 121 and a fork body 122 extending along a first direction, the telescopic guide assembly 121 being telescopically mounted relative to the intermediate chassis 10 along the first direction, and the fork body 122 being slidably mounted to the telescopic guide assembly 121 along the first direction. In Figures 5 and 6, the fork assembly 12 is in a retracted state, and in Figures 7 and 8, the fork assembly 12 is in an extended state.

[0051] In this embodiment, the fork assembly may be provided in a retractable manner relative to the intermediate chassis, that is, in a retractable manner relative to the transport chassis, and as can be understood, by extending or retracting the fork assembly in combination with raising and lowering the fork assembly, the pallet on which the items to be transported are placed on the ground can be moved to the surface of the transport chassis.

[0052] Specifically, each extendable fork assembly 12 may include an extendable guide assembly 121 and a fork body 122 extending along a first direction X, wherein the extendable guide assembly 121 is extended and retractable relative to the intermediate chassis 10 along the first direction, and both the left and right sides of the extendable guide assembly 121 may form guide rails extending along the first direction, for example by bending, and the guide rails are used to slidably mount the fork body 122, that is, the fork body 122 is slidably mounted to the extendable guide assembly 121 along the first direction via the guide rails.

[0053] Here, as shown in Figure 6, a hinge point 14 may be provided on each side of the first end of the intermediate chassis, and a hinge point 14 may be provided on the side of each side chassis closer to the intermediate chassis. In this way, for example, one of the telescopic guide assemblies can be extended and retracted by the cooperation of the two hinge points 14 on the intermediate chassis and the side chassis.

[0054] In an embodiment of the present invention, a chassis device is provided, which includes a chassis body, the chassis body comprising an intermediate chassis 10 and a pair of side chassis 20 located on both sides of the intermediate chassis 10, the side chassis 20 extending along a first direction X which is the front-rear direction of the chassis device, and the intermediate chassis 10 is detachably docked with each side chassis 20.

[0055] In an embodiment of the present invention, a chassis device is provided which includes a chassis body and a drive wheel swing arm suspension mechanism 21 attached to the chassis body, wherein the chassis body includes an intermediate chassis 10 and a pair of side chassis 20 located on both sides of the intermediate chassis 10, the side chassis 20 extending along a first direction which is the longitudinal direction of the chassis body, the intermediate chassis 10 is detachably docked with each side chassis 20, and the drive wheel swing arm suspension mechanism 21 is attached to the side chassis 20 and has an elastic body between it and the side chassis 20, the elastic body being in a compressed state.

[0056] The embodiments of the present invention further disclose a transport robot including the transport chassis / chassis device described in each of the above embodiments.

[0057] Figure 9 schematically illustrates the structure of the chassis device, and Figure 10 schematically illustrates the structure of the drive wheel swing arm suspension mechanism. Embodiments of the present invention will be further described with reference to Figures 9 and 10.

[0058] Embodiments of the present invention are chassis devices including a chassis body 910 and a drive wheel swing arm suspension mechanism 920 attached to the chassis body 910, wherein the drive wheel swing arm suspension mechanism 920 includes a first swing arm member 921, a drive wheel 922, and a first universal wheel 923, wherein the first swing arm member 921 extends along a first direction X which is the longitudinal direction of the chassis body 910, the drive wheel 922 is attached to one end of the first swing arm member 921 along the first direction X, the first universal wheel 923 is attached to the other end of the first swing arm member 921 along the first direction X, and the axis of rotation of the drive wheel 922 is the chassis body 910 A chassis device is provided, wherein the first swing arm member 921 is provided along a second direction Y, which is the left-right direction, and is located between the drive wheel 922 and the first universal wheel 923, and has a first connecting through-hole through which a first connecting shaft 924 extending along the second direction Y is inserted, and both ends of the first connecting shaft 924 are fixedly attached to the chassis body 910 so that the first swing arm member 921 can rotate relative to the chassis body 910 with the first connecting shaft 924 as the axis of rotation, and an elastic body 925 is provided between the first swing arm member 921 and the chassis body 910 in a position close to the drive wheel 922, and the elastic body 925 is in a compressed state.

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

[0060] The chassis device may include a chassis body and a drive wheel swing arm suspension mechanism, the drive wheel swing arm suspension mechanism may be mounted below the chassis body, the drive wheel swing arm suspension mechanism includes drive wheels, and the drive wheels are used for the chassis body to move.

[0061] Typically, the drive wheel swing arm suspension mechanism may be attached to both the left and right sides of the chassis body (or two side chassis if the chassis body is a separate structure), allowing the chassis body to move forward or backward by rotating the two drive wheels on both sides simultaneously in the forward or reverse direction, and allowing the chassis body to rotate left or right by differential rotation of the two drive wheels on both sides.

[0062] The drive wheel swing arm suspension structure includes a first swing arm member, a drive wheel, and a first universal wheel, the first swing arm member extending in a first direction (the first direction being the longitudinal direction of the chassis body), the drive wheel and the first universal wheel being attached to both ends of the first swing arm member along the first direction, and the axis of rotation of the drive wheel being provided along a second direction (the second direction being the lateral direction of the chassis body).

[0063] Here, at a position between the drive wheel and the first universal wheel, the first swing arm member has a first connecting through-hole through which it passes, and the first connecting shaft is inserted into the first connecting through-hole and extends along the second direction, and both ends of the first connecting shaft are fixedly attached to the chassis body, so as can be understood, at this time the first swing arm member can rotate relative to the chassis body with the first connecting shaft as the axis of rotation.

[0064] Furthermore, an elastic body is provided between the first swing arm member and the chassis body at a position close to the drive wheel, and this elastic body is in a compressed state.

[0065] As can be understood from the above structure, the drive wheel can elastically oscillate up and down relative to the chassis body and maintain sufficient wheel pressure with respect to an uneven road surface at all times.

[0066] For example, if there is a bulge in the road surface where the drive wheel is located, the drive wheel of the first swing arm member swings upward. At this time, the elastic body may be further compressed in its original compressed state, and the elastic force of the elastic body provides sufficient wheel pressure between the drive wheel and the road surface, preventing the drive wheel from slipping.

[0067] For example, if there is a depression in the road surface where the drive wheel is located, the drive wheel of the first swing arm member will swing downward. At this time, the elastic body may be partially released in its original compressed state, and the elastic force of the elastic body will provide sufficient wheel pressure between the drive wheel and the road surface, preventing the drive wheel from slipping.

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

[0069] Embodiments of the present invention provide a chassis device and a transport robot having the chassis device. The chassis device includes a chassis body and a drive wheel swing arm suspension mechanism attached to the chassis body, the drive wheel swing arm suspension mechanism includes a first swing arm member, the first swing arm member extending along the longitudinal direction of the chassis body, a drive wheel and a first universal wheel attached to both ends of the first swing arm member, a first swing arm member rotatably attached to the chassis body via a first connecting shaft at a position between the drive wheel and the first universal wheel, and a compressed elastic body further provided between the first swing arm member and the chassis body at a position close to the drive wheel, so that when the chassis device travels on an uneven road surface, the elastic body remains compressed in its original compressed state or is released, thereby providing sufficient wheel pressure to the drive wheel of the drive wheel swing arm suspension mechanism and preventing the drive wheel from slipping.

[0070] In other words, in the chassis device disclosed in the present invention, on the one hand, the drive wheel swing arm suspension mechanism is rotatably attached to the chassis body via a first connecting shaft, and on the other hand, one end of the drive wheel swing arm suspension mechanism to which the drive wheel is attached is connected to the chassis body via an elastic body, thereby allowing the end of the drive wheel swing arm suspension mechanism to which the drive wheel is attached to be elastically oscillated up and down relative to the chassis body. By oscillating elastically up and down in this way, sufficient pressure, i.e., wheel pressure, can always be maintained between the drive wheel and the uneven road surface, preventing the drive wheel from slipping when traveling on an uneven road surface, and solving the technical problem of the low running performance of conventional chassis devices.

[0071] In one possible embodiment, as shown in Figure 9, drive wheel swing arm suspension mechanisms 920 are mounted on both the left and right sides of the chassis body 910 with respect to a first direction X, the drive wheels 922 are located in an intermediate position along the first direction X of the chassis body 910, the first universal wheel 923 is located at one end along the first direction X of the chassis body 910, a universal wheel swing arm suspension mechanism 930 is mounted on the other end along the first direction X of the chassis body 910, and second universal wheels 932 are mounted on both ends of the universal wheel swing arm suspension mechanism 930 along the second direction Y.

[0072] As described above, the drive wheel swing arm suspension mechanism may normally be attached to both the left and right sides of the chassis body with respect to the first direction. In the drive wheel swing arm suspension mechanism, the drive wheel is located at an intermediate position in the longitudinal direction (i.e., the first direction) of the chassis body, and the first universal wheel of the drive wheel swing arm suspension mechanism is located at one end of the chassis body along the first direction.

[0073] Furthermore, in order to maintain the stability of the chassis body, in this embodiment, a universal wheel swing arm suspension mechanism is attached to the other end of the chassis body along the first direction, and second universal wheels are attached to both ends of the universal wheel swing arm suspension mechanism along the left-right direction (i.e., the second direction) of the chassis body.

[0074] To make it easier to understand, regarding the chassis body, on the one hand, the two drive wheels in the intermediate position are used for the movement of the chassis body, and on the other hand, the first and second universal wheels at the front and rear ends stably support the chassis body and facilitate turning the chassis body.

[0075] In one embodiment, as shown in Figures 12 and 13, the universal wheel swing arm suspension mechanism 930 includes a second swing arm member 931 extending along a second direction Y, with second universal wheels 932 attached to both ends of the second swing arm member 931 along the second direction Y, and the second swing arm member 931 having a second connecting through hole between the second universal wheels 932 at both ends, into which a second connecting shaft 933 extending along a first direction X is inserted, and both ends of the second connecting shaft 933 are fixedly attached to the chassis body 910 so that the second swing arm member 931 can rotate relative to the chassis body 910 with the second connecting shaft 933 as the axis of rotation.

[0076] This embodiment provides a specific structure for a universal wheel swingarm suspension mechanism, namely, two second universal wheels are attached to both ends of a second swingarm member extending along a second direction, and, similar to the first swingarm member, a second connecting through-hole is further provided between the two second universal wheels of the second swingarm member, and a second connecting shaft is inserted into the second connecting through-hole and fixedly attached to the chassis body, so that the second swingarm member can rotate relative to the chassis body with the second connecting shaft as the axis of rotation, namely, the second universal wheels on both the left and right sides of the chassis body can swing up and down relative to the chassis body, improving the stability of the chassis body and preventing the chassis body from shaking when driving on uneven road surfaces.

[0077] In one embodiment, both ends of the second connecting shaft 933 are fixedly attached to the chassis body 910 via a rotating shaft retaining plate 934. As shown in Figures 12 and 13, the rotating shaft retaining plate 934 may be fixedly attached to the chassis body 910, for example, by screws, thereby pressing the second connecting shaft against the chassis body.

[0078] In one embodiment, second position limiting blocks 935 are provided at both ends of the second swing arm member 931 along the second direction Y, and the second position limiting blocks 935 are located on the lower end surface of the second swing arm member 931 so as to abut against the chassis body 910.

[0079] In this way, the contact between the second position limiting block and the chassis body allows the second position limiting block to restrict the range of vertical oscillation of the second universal wheel at the end in which it is located.

[0080] In one possible embodiment, as shown in Figure 11, the chassis body 910 is provided with a pair of mounting lugs 914 on either side of the first connecting through hole, and the mounting lugs 914 are used to permanently attach the first connecting shaft 924.

[0081] That is, a pair of mounting lugs may be provided on the chassis body at positions corresponding to the left and right sides of the first connecting through hole, and both ends of the first connecting shaft may be fixedly attached to the pair of mounting lugs.

[0082] In one possible embodiment, similar to the second position limiting block 935 of the second swing arm member 931, first position limiting blocks 926 may be provided at both ends of the first swing arm member 921 along the first direction X, and the first position limiting blocks 926 may be located on the upper end surface of the first swing arm member 921 such that the first position limiting blocks 926 abut against the chassis body 910.

[0083] In this embodiment, first position limiting blocks may be provided at both the front and rear (i.e., along the first direction) ends of the first swing arm member, and the first position limiting blocks may be specifically provided on the upper end surface of the first swing arm member and used to abut against the chassis body, thereby achieving positional limiting of the vertical oscillation of the drive wheel and the first universal wheel, respectively.

[0084] In one possible embodiment, the drive wheel swing arm suspension mechanism 920 further includes a drive module 929, which includes, for example, a drive motor and a motor reducer, and which may be specifically attached to one end of the first swing arm member 921 along a first direction X, i.e., the end closer to the drive wheel 922, and which is ductilely connected to the drive wheel 922, and which is used to rotate the drive wheel 922.

[0085] Here, as shown in Figures 9 and 10, specifically, the drive wheels may be located relatively outside the drive module, and the drive module may be located relatively inside the drive wheels.

[0086] In one possible embodiment, regarding the mounting of the elastic bodies, mounting flanges 927 may be provided on both the left and right sides of the first swing arm member 921 near the drive wheel 922. The two elastic bodies 925 are fixed to the mounting flanges 927 on both the left and right sides, and the other ends of the two elastic bodies 925 are fixed to the elastic body mounting seats 928. The elastic bodies 925 can be mounted by fixing the elastic body mounting seats 928 to the chassis body 910.

[0087] In one possible embodiment, the chassis body 910 includes a separate first chassis 911, a second chassis 912, and a third chassis 913, the second chassis 912 and the third chassis 913 being fixedly attached to the left and right sides of the first chassis 911 with respect to a first direction X, the first chassis 911 being used to mount a universal wheel swing arm suspension mechanism 930, the second chassis 912 and the third chassis 913 being used to mount a drive wheel swing arm suspension mechanism 920, and the first chassis 911 being used to mount a telescopic fork travel mechanism 940 after being connected to the second chassis 912 and the third chassis 913, respectively.

[0088] That is, the chassis body may be provided separately, and specifically includes an intermediate first chassis and a second chassis and a third chassis fixedly attached to the left and right sides of the first chassis, respectively, and as can be understood, the shapes of the second chassis and the third chassis are, for example, mirror-symmetric.

[0089] The universal wheel swing arm suspension mechanism may be attached to the intermediate first chassis, or the drive wheel swing arm suspension mechanism may be attached to the second and third chassis, respectively, or the telescopic fork travel mechanism may be attached after the first chassis is connected to the second and third chassis, respectively, where the telescopic fork travel mechanism may be specifically attached to notches on both sides of the first chassis. By providing them separately in this way, the intermediate first chassis can be replaced according to actual needs, and the reuse rate of the travel chassis device is improved by applying telescopic forks of different sizes to different pallet sizes.

[0090] Here, the first chassis is detachably attached to the second and third chassis on both sides. Specifically, one docking lug 915 may be provided at each of the edges of the first chassis 911 with respect to the first direction X, the docking lugs 915 extending along the first direction X, and in this way the docking lugs on both sides can provide mounting positions. The second chassis 912 and the third chassis 913 may be attached to the docking lugs on both sides of the first chassis 911 by fasteners, that is, the first chassis is detachably attached to the second and third chassis.

[0091] The present invention further discloses a transport robot including the chassis device described in the above embodiment.

[0092] The basic principles of the present invention have been explained above with reference to specific examples. However, the advantages, benefits, and effects mentioned in the present invention are merely illustrative and not limiting, and these advantages, benefits, and effects cannot be considered necessary for each example of the present invention. Furthermore, the specific details disclosed above are merely illustrative and for the purpose of facilitating understanding, and are not limiting, and the above details do not imply that the present invention must be realized using the above specific details.

[0093] The block diagrams of the devices, apparatus, equipment, and systems according to the present invention are illustrative only and are not intended to require or suggest that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will understand, these devices, apparatus, equipment, and systems may be connected, arranged, and configured in any manner. For example, terms such as “include,” “contain,” and “have” are open terms and can be used interchangeably with “include, but not limited to.” The terms “or” and “and” as used herein can be used interchangeably with the terms “and / or” unless the context clearly indicates otherwise. The term “for example” as used herein can be used interchangeably with the terms “for example…not limited to.”

[0094] Furthermore, in the apparatus, equipment, and method of the present invention, each component or step is disassembled and / or reassembled. These disassembly and / or reassembly should be considered equivalent embodiments of the present invention.

[0095] The above description of the disclosed embodiments is provided so that those skilled in the art can practice or use the invention. Various modifications to these embodiments are quite obvious to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the scope of the invention. Accordingly, the invention is not intended to be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0096] The above is for illustrative and explanatory purposes only. It should be noted that the above description is not intended to limit the embodiments of the present invention to those disclosed herein. While several exemplary embodiments and examples have been described above, several variations, modifications, changes, additions, and subcombinations thereof are all within the scope of protection of the present invention, as will be understood by those skilled in the art. [Explanation of Symbols]

[0097] 10 Intermediate Chassis 11. Second Universal Wheel 12 Fork Assembly 13 Docking rug 14 hinge points 121 Telescopic Guide Assembly 122 Fork body 20 Side Chassis 21 Drive wheel swing arm suspension mechanism 22 Mounting lugs 211 Swing arm component 212 Drive wheels 213 The First Universal Wheel 214 Connecting shaft 215 Elastic body 216 Drive Module 217 Contact flange 218 Mounting base 219 Contact ridge 910 Chassis Body 911 First Chassis 912 Second Chassis 913 Third Chassis 914 Mounting lug 915 Docking Rug 920 Drive Wheel Swing Arm Suspension Mechanism 921 First swing arm member 922 Drive wheels 923 First Universal Wheel 924 First connecting shaft 925 Elastic body 926 First position restriction block 927 Mounting flange 928 Elastic mounting base 929 Drive Module 930 Universal Wheel Swing Arm Suspension Mechanism 931 Second swing arm member 932 Second Universal Wheel 933 Second connecting shaft 934 Rotating shaft retaining plate 935 Second position restriction block 940 Telescopic Fork Driving Mechanism X First direction Y Second direction

Claims

1. A chassis device comprising a chassis body (910) and a drive wheel swing arm suspension mechanism (21, 920) attached to the chassis body (910), wherein the drive wheel swing arm suspension mechanism (21, 920) is A first swing arm member (211, 921) extends along a first direction which is the front-rear direction of the chassis body (910), A drive wheel (212, 922) is attached to one end of the first swing arm member (211, 921) along the first direction, Includes a first universal wheel (213, 923) attached to the other end of the first swing arm member (211, 921) along the first direction, The rotation axis of the drive wheels (212, 922) extends along a second direction which is the left-right direction of the chassis body (910), At a position between the drive wheels (212, 922) and the first universal wheels (213, 923), the first swing arm member (211, 921) has a first connecting through-hole through which it passes, and a first connecting shaft (924) extending in the second direction is inserted into the first connecting through-hole, and both ends of the first connecting shaft (924) are fixedly attached to the chassis body (910) so that the first swing arm member (211, 921) can rotate relative to the chassis body (910) with the first connecting shaft (924) as the axis of rotation. At a position close to the drive wheels (212, 922), elastic bodies (215, 925) are provided between the first swing arm members (211, 921) and the chassis body (910), and the elastic bodies (215, 925) are in a compressed state. A chassis device characterized by the following features.

2. The drive wheel swing arm suspension mechanisms (21, 920) are attached to both the left and right sides of the chassis body (910) in the first direction, respectively. The drive wheels (212, 922) are located at an intermediate position along the first direction of the chassis body (910), and the first universal wheels (213, 923) are located at one end along the first direction of the chassis body (910). A universal wheel swing arm suspension mechanism (930) is attached to the other end of the chassis body (910) along the first direction, and second universal wheels (932) are attached to both ends of the universal wheel swing arm suspension mechanism (930) along the second direction. The chassis device according to claim 1.

3. The aforementioned universal wheel swing arm suspension mechanism (930) is It includes a second swing arm member (931) extending along the second direction, with the second universal wheels (932) attached to both ends of the second swing arm member (931) along the second direction. Between the second universal wheels (932) at both ends, the second swing arm member (931) has a second connecting through-hole through which a second connecting shaft (933) extending in the first direction is inserted, and both ends of the second connecting shaft (933) are fixedly attached to the chassis body (910) so that the second swing arm member (931) can rotate relative to the chassis body (910) with the second connecting shaft (933) as the axis of rotation. The chassis device according to claim 2.

4. Both ends of the second connecting shaft (933) are fixedly attached to the chassis body (910) via a rotating shaft retaining plate (934). The chassis device according to claim 3.

5. A second position limiting block (935) is provided at both ends of the second swing arm member (931) along the second direction, and the second position limiting block (935) is positioned on the lower end surface of the second swing arm member (931) such that the second position limiting block (935) abuts against the chassis body (910). The chassis device according to claim 3.

6. A pair of mounting lugs (22, 914) are provided on the chassis body (910) at positions on both sides of the first connecting through hole, and the mounting lugs (22, 914) are used to permanently attach the first connecting shaft (214, 924). The chassis device according to claim 1.

7. First position limiting blocks (219, 926) are provided at both ends of the first swing arm member (211, 921) along the first direction, and the first position limiting block (926) is positioned on the upper end surface of the first swing arm member (211, 921) such that the first position limiting block (219, 926) abuts against the chassis body (910). The chassis device according to claim 1.

8. The drive wheel swing arm suspension mechanism (21, 920) further includes a drive module (216, 929), which is attached to one end of the first swing arm member (211, 921) along the first direction, and is ductilely connected to the drive wheel (212, 922), and is used to rotate the drive wheel (212, 922). The chassis device according to claim 1.

9. The chassis body (910) includes a first chassis (911), a second chassis (912), and a third chassis (913), which are provided separately. The second chassis (912) and the third chassis (913) are fixedly attached to the left and right sides of the first chassis (911) in the first direction. The first chassis (911) is used to mount the universal wheel swing arm suspension mechanism (930), The second chassis (912) and the third chassis (913) are used to mount the drive wheel swing arm suspension mechanism (920). The first chassis (911) is connected to the second chassis (912) and the third chassis (913), respectively, and is then used to attach the telescopic fork travel mechanism (940). The chassis device according to claim 2.

10. The drive wheel swing arm suspension mechanisms are attached to both the left and right sides of the chassis body in the first direction, The drive wheel is located at an intermediate position along the first direction of the chassis body, and the first universal wheel is located at one end along the first direction of the chassis body. A second universal wheel (11) is attached to the other end of the chassis body along the first direction. The chassis device according to claim 1.

11. The chassis body includes an intermediate chassis (10) provided separately, and a pair of side chassis (20) located on both sides of the intermediate chassis (10). The drive wheel swing arm suspension mechanism is attached to the side chassis. The second universal wheel is attached to the intermediate chassis. The chassis device according to claim 10.

12. At a position close to the drive wheel, contact flanges (217) are provided on both sides of the first swing arm member in the first direction. The lower ends of the pair of elastic bodies are fixedly attached to the pair of contact flanges, and the upper ends of the pair of elastic bodies are fixedly attached to a mounting seat (218), the mounting seat is fixedly attached to the side chassis such that the first swing arm member is connected to the side chassis via the elastic bodies at a position close to the drive wheel. The chassis device according to claim 11, characterized by the features described above.

13. A fork assembly (12) is attached to the intermediate chassis, and the fork assembly includes an extendable guide assembly (121) and a fork body (122) extending along the first direction. The telescopic guide assembly is provided so as to be extendable and retractable relative to the intermediate chassis along the first direction, The fork body is slidably mounted to the telescopic guide assembly along the first direction. The chassis device according to claim 11, characterized by the features described above.

14. A chassis device comprising a chassis body and a drive wheel swing arm suspension mechanism (21) attached to the chassis body, The chassis body includes an intermediate chassis (10) and a pair of side chassis (20) located on both sides of the intermediate chassis, The side chassis extends along a first direction which is the front-rear direction of the chassis body, The intermediate chassis is detachably docked to each of the side chassis. The drive wheel swing arm suspension mechanism is attached to the side chassis, and an elastic body is provided between it and the side chassis, and the elastic body is in a compressed state. A chassis device characterized by the following features.

15. A chassis device including the one described in any one of claims 1 to 14, A transport robot characterized by the following features.

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