Chassis device and transfer robot having the chassis device

Abstract

A chassis device and a transfer robot having the chassis device. The chassis device comprises a chassis body (910) and a driving wheel swing arm suspension mechanism (920); the driving wheel swing arm suspension mechanism (920) comprises a first swing arm member (921), the first swing arm member (921) extending in the front-back direction of the chassis body (910), and two ends of the first swing arm member (921) being respectively provided with driving wheels (922) and a first universal wheel (923). At a position between the driving wheels (922) and the first universal wheel (923), the first swing arm member (921) is rotatably mounted on the chassis body (910) by means of a first adapter shaft (924). In addition, at a position close to the driving wheels (922), elastic bodies (925) in a compressed state are further provided between the first swing arm member (921) and the chassis body.

Description

Chassis device and transport robot having the same Technical Field

[0001] The present disclosure relates to the technical field of transport robots, and in particular to a chassis device and a transport robot having the chassis device. Background Art

[0002] In related technologies, a transport robot typically includes a transport chassis equipped with retractable forks. During transport operations, the forks are extended, retracted, and raised to move the pallet carrying the items to be transported above the transport chassis. Thus, the transport chassis can be moved to transport the items.

[0003] However, existing transport robots can only be used for pallets of fixed sizes, and the transport chassis have a low reuse rate. Moreover, when performing transport operations on uneven roads, they are prone to slipping, that is, the road passability of existing transport chassis is poor.

[0004] Summary of the Invention

[0005] According to one aspect of an embodiment of the present disclosure, a chassis device is provided, which includes a chassis body and a drive wheel swing arm suspension mechanism installed on the chassis body; the drive wheel swing arm suspension mechanism includes: a first swing arm member extending in a first direction, the first direction being the front-rear direction of the chassis body; a drive wheel installed at one end of the first swing arm member along the first direction; a first universal wheel installed at the other end of the first swing arm member along the first direction; wherein the rotating shaft of the drive wheel extends in a second direction, the second direction being the left-right direction of the chassis body; a first transfer through hole is passed through the first swing arm member at a position between the drive wheel and the first universal wheel, a first transfer through hole is inserted into the first transfer through hole, a first transfer shaft extending in the second direction is inserted, and both ends of the first transfer shaft are fixedly installed on the chassis body so that the first swing arm member can rotate relative to the chassis body with the first transfer shaft as the rotating shaft; and an elastic body is provided between the first swing arm member and the chassis body at a position close to the drive wheel, and the elastic body is in a compressed state.

[0006] In some embodiments, the driving wheel swing arm suspension mechanism is respectively installed on the left and right sides of the chassis body relative to the first direction; wherein, the driving wheel is located in the middle position of the chassis body along the first direction, and the first universal wheel is located at one end of the chassis body along the first direction; the universal wheel swing arm suspension mechanism is installed at the other end of the chassis body along the first direction, and the second universal wheels are respectively installed at both ends of the universal wheel swing arm suspension mechanism along the second direction.

[0007] In some embodiments, the universal wheel swing arm suspension mechanism includes: a second swing arm member extending along the second direction, and the second universal wheels are respectively installed at both ends of the second swing arm member along the second direction; wherein, at a position between the second universal wheels at both ends, the second swing arm member is penetrated by a second adapter through hole, and the second adapter through hole is plugged with a second adapter shaft extending along the first direction, and both ends of the second adapter shaft are fixedly installed on the chassis body, so that the second swing arm member can rotate relative to the chassis body with the second adapter shaft as the rotating axis.

[0008] In some embodiments, both ends of the second transfer shaft are fixedly mounted on the chassis body via shaft pressure plates.

[0009] In some embodiments, second limit blocks are respectively provided at both ends of the second swing arm along the second direction, and the second limit blocks are located on the lower end surface of the second swing arm, so that the second limit blocks are used to abut against the chassis body.

[0010] In some embodiments, the chassis body is provided with a pair of mounting ears at both sides of the first adapter through hole, and the mounting ears are used to fix the first adapter shaft.

[0011] In some embodiments, first limit blocks are respectively provided at both ends of the first swing arm along the first direction, and the first limit blocks are located on the upper end surface of the first swing arm, so that the first limit blocks are used to abut against the chassis body.

[0012] In some embodiments, the driving wheel swing arm suspension mechanism further includes a driving module, which is installed at one end of the first swing arm member along the first direction, and is transmission-connected to the driving wheel, and is used to drive the driving wheel to rotate.

[0013] In some embodiments, the chassis body includes a first chassis, a second chassis, and a third chassis that are separately arranged; wherein, the second chassis and the third chassis are fixedly installed on the left and right sides of the first chassis relative to the first direction; the first chassis is used to install the universal wheel swing arm suspension mechanism; the second chassis and the third chassis are used to install the drive wheel swing arm suspension mechanism; the first chassis is connected to the second chassis and the third chassis respectively and is used to install the telescopic fork walking mechanism.

[0014] In some embodiments, the driving wheel swing arm suspension mechanism is respectively installed on the left and right sides of the chassis body relative to the first direction; wherein, the driving wheel is located in the middle position of the chassis body along the first direction, and the first universal wheel is located at one end of the chassis body along the first direction; and a second universal wheel is installed at the other end of the chassis body along the first direction.

[0015] In some embodiments, the chassis body includes a split middle chassis and a pair of side chassis located on both sides of the middle chassis; the drive wheel swing arm suspension mechanism is installed on the side chassis; and the second universal wheel is installed on the middle chassis.

[0016] In some embodiments, at a position close to the driving wheel, the first swing arm member is provided with abutment flanges on both sides relative to the first direction; wherein, the lower ends of a pair of the elastic bodies are fixedly mounted on a pair of the abutment flanges, respectively, and the upper ends of a pair of the elastic bodies are fixedly mounted on a mounting seat, and the mounting seat is used to be fixedly mounted on the side chassis, so that the first swing arm member is connected to the side chassis at a position close to the driving wheel through the elastic body.

[0017] In some embodiments, a fork assembly is mounted on the intermediate chassis, and the fork assembly includes a telescopic guide assembly extending along the first direction and a fork body; wherein the telescopic guide assembly is telescopically arranged relative to the intermediate chassis along the first direction; and the fork body is slidably mounted on the telescopic guide assembly along the first direction.

[0018] According to one aspect of an embodiment of the present disclosure, a chassis device is provided, which includes a chassis body and a drive wheel swing arm suspension mechanism installed on the chassis body; the chassis body includes: an intermediate chassis; and a pair of side chassis respectively located on both sides of the intermediate chassis; wherein the side chassis extend along a first direction, which is the front-rear direction of the chassis body; the intermediate chassis is detachably docked and installed with each of the side chassis; and wherein the drive wheel swing arm suspension mechanism is installed on the side chassis, and an elastomer is provided between the side chassis, and the elastomer is in a compressed state.

[0019] According to one aspect of an embodiment of the present disclosure, there is provided a transport robot, comprising the chassis device as described in any one of the above aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] FIG1 is a schematic structural diagram of a transport chassis in an embodiment of the present application.

[0022] FIG2 is a schematic structural diagram of the intermediate chassis in an embodiment of the present application.

[0023] FIG3 is a schematic structural diagram of the side chassis in an embodiment of the present application.

[0024] FIG4 is a schematic structural diagram of the swing arm suspension mechanism in an embodiment of the present application.

[0025] FIG5 is a top cross-sectional view of the transport chassis in an embodiment of the present application.

[0026] FIG6 is a bottom cross-sectional view of the transport chassis in an embodiment of the present application.

[0027] FIG7 is a top cross-sectional view of the transport chassis in an embodiment of the present application.

[0028] FIG8 is a bottom cross-sectional view of the transport chassis in an embodiment of the present application.

[0029] FIG9 is a schematic structural diagram of a chassis device in an embodiment of the present application.

[0030] FIG10 is a schematic structural diagram of the drive wheel swing arm suspension mechanism in an embodiment of the present application.

[0031] FIG11 is a side sectional view of the chassis body in an embodiment of the present application.

[0032] FIG12 is a schematic structural diagram of the universal wheel swing arm suspension mechanism in an embodiment of the present application.

[0033] FIG13 is a side sectional view of the chassis body in an embodiment of the present application.

[0034] FIG14 is a schematic structural diagram of the chassis body in an embodiment of the present application.

[0035] FIG15 is a schematic structural diagram of the telescopic fork traveling mechanism in FIG9 with extension.

[0036] Wherein, the reference numerals are: 10 - intermediate chassis, 11 - second universal wheel, 12 - fork assembly, 13 - docking ear, 14 - hinge point, 121 - telescopic guide assembly, 122 - fork body, 20 - side chassis, 21 - drive wheel swing arm suspension mechanism, 22 - mounting ear, 211 - swing arm member, 212 - drive wheel, 213 - first universal wheel, 214 - adapter shaft, 215 - elastic body, 216 - drive module, 217 - abutment flange, 218 - mounting seat, 219 - abutment protrusion, 910 - chassis body, 911 - first chassis, 912 - second chassis, 913 - third chassis, 914 - mounting ear, 915 - docking ear, 920 - drive wheel swing arm suspension mechanism, 921 - First swing arm, 922 - Drive wheel, 923 - First universal wheel, 924 - First transfer shaft, 925 - Elastomer, 926 - First limit block, 927 - Mounting flange, 928 - Elastomer mounting seat, 929 - Drive module, 930 - Universal wheel swing arm suspension mechanism, 931 - Second swing arm, 932 - Second universal wheel, 933 - Second transfer shaft, 934 - Rotating shaft pressure plate, 935 - Second limit block, 940 - Telescopic fork travel mechanism, X - First direction, Y - Second direction. DETAILED DESCRIPTION

[0037] In order to better understand the above technical solution, the exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described here.

[0038] FIG1 schematically illustrates the structure of the split arrangement of the transport chassis, and FIG5 is a top sectional view of the transport chassis after the fork assembly is retracted. The embodiment of the present application will first be described in conjunction with FIG1 and FIG5 .

[0039] In an embodiment of the present application, a transport chassis is provided, which includes a separate intermediate chassis 10 and a pair of side chassis 20, wherein the intermediate chassis 10 and the side chassis 20 extend along a first direction X, and the first direction X is the front-to-back direction of the transport chassis; wherein a fork assembly 12 is installed at a first end of the intermediate chassis 10 along the first direction X, and a second universal wheel 11 is installed at 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.

[0040] The front-rear direction of the transport chassis is set as the first direction, and the left-right direction of the transport chassis is set as the second direction.

[0041] In this embodiment, the transport chassis has a split structure, specifically including a middle chassis and a pair of side chassis respectively located on both sides of the middle chassis. The middle chassis is detachably docked with the side chassis.

[0042] The middle chassis and a pair of side chassis extend along a first direction, that is, the front-rear direction of the transport chassis; wherein a fork assembly is installed at a first end of the middle chassis along the first direction, and the fork assembly is used to transport a pallet carrying items to be transported.

[0043] Regarding the detachable installation mentioned above, referring to FIG1 , a docking ear 13 can be provided at the edge positions on both sides of the intermediate chassis 10 relative to the first direction X, respectively. The docking ears 13 extend along the first direction X. In this way, the docking ears on both sides can provide installation positions, and a pair of side chassis 20 can be respectively mounted on the docking ears on both sides of the intermediate chassis 10 by fasteners, that is, detachable installation of the side chassis and the intermediate chassis is achieved.

[0044] It can be understood that when pallets of different sizes need to be used for transportation operations, the side chassis on both sides can be removed from the middle chassis. Then, by replacing the middle chassis that adapts to fork assemblies of different sizes, the transportation chassis can be adapted to pallets of different sizes, that is, meet the transportation requirements of pallets of different sizes.

[0045] Generally speaking, the driving device of the transport chassis (such as driving wheels, etc.) will be installed on the side chassis on both sides. A pair of side chassis with driving devices can be docked and installed with different intermediate chassis. Different intermediate chassis can, for example, be installed with fork assemblies with different spacings. In this way, by replacing the intermediate chassis, the reuse rate of the opposite side chassis and the driving device thereon is improved, saving the cost of equipment.

[0046] An embodiment of the present application provides a transport chassis and a transport robot having the transport chassis, wherein the transport chassis includes a separately arranged middle chassis and a pair of side chassis, both of which extend along the front-to-rear direction of the transport chassis; wherein the middle chassis is provided with a fork assembly at one end along the front-to-rear direction of the transport chassis, and a pair of side chassis are detachably mounted on both sides of the middle chassis relative to the first direction; it can be understood that, in this way, when transporting pallets of different sizes, by replacing the middle chassis that adapts to different fork assembly sizes, the transport chassis can meet the transport requirements of pallets of different sizes, thereby improving the reuse rate of the transport chassis and saving overall costs.

[0047] In order to improve the overall stability of the transport chassis, specifically, the middle chassis 10 is equipped with a second universal wheel 11 at the second end along the first direction X; the two side chassis 20 are respectively equipped with a driving wheel swing arm suspension mechanism 21, and the driving wheel swing arm suspension mechanism 21 is respectively provided with a driving wheel 212 and a first universal wheel 213 at both ends along the first direction X; wherein, the driving wheel 212 is located in the middle position of the side chassis 20 along the first direction X, and the first universal wheel 213 is located at the end of the side chassis 20 away from the second universal wheel 11; and the rotating shaft of the driving wheel 212 is set along the second direction Y, and the second direction Y is the left and right direction of the transport chassis.

[0048] 2 and 6 , a second universal wheel may be installed at the second end of the middle chassis along the first direction, and then, referring to FIG. 5 , a swing arm suspension mechanism extending along the first direction may be installed on the side chassis.

[0049] Among them, the two ends of the swing arm suspension mechanism are respectively a driving wheel and a first universal wheel. Specifically, in combination with Figure 3, the driving wheel can be set at the middle position of the side chassis along the first direction, and the first universal wheel can be set at the end of the side chassis away from the second universal wheel. In this way, the driving wheels on both sides drive the transport chassis while ensuring the overall stability of the transport chassis.

[0050] In one possible embodiment, referring to Figures 3 and 4 , the drive wheel swing arm suspension mechanism 21 includes a swing arm 211 extending in a first direction X. A drive wheel 212 and a first universal wheel 213 are mounted at either end of the swing arm 211. A transfer hole extends through the swing arm 211 between the drive wheel 212 and the first universal wheel 213. A transfer shaft 214 extending in a second direction Y is inserted into the transfer hole. The transfer shaft 214 is fixedly mounted to the side chassis 20, allowing the swing arm 211 to be mounted on the side chassis 20 and rotatable relative to the side chassis 20. Furthermore, the swing arm 211 is connected to the side chassis 20 near the drive wheel 212 via an elastic body 215, which is in a compressed state. This mechanism prevents the drive wheel from slipping on uneven surfaces.

[0051] When the transport chassis is moving on an uneven road surface, the drive wheels may slip. In this embodiment, the swing arm suspension mechanism is rotatably mounted on the side chassis, and an elastic body is provided for the drive wheel. This allows the drive wheel to elastically swing up and down relative to the side chassis to adapt to the uneven road surface, thereby ensuring that there is always a certain pressure, i.e., wheel pressure, between the drive wheel and the uneven road surface, thereby preventing the drive wheel from slipping.

[0052] Among them, the above-mentioned driving wheel and the first universal wheel can be respectively installed at the two ends of the swing arm member extending in the first direction, and the swing arm member is provided with a transfer through hole at a position between the driving wheel and the first universal wheel, and the transfer through hole is plugged with a transfer shaft extending in the second direction, and the two ends of the transfer shaft are fixedly installed on the side chassis, so that the swing arm member can be rotatably installed on the side chassis; that is, the driving wheel and the first universal wheel at both ends of the swing arm member can swing up and down relative to the side chassis.

[0053] Furthermore, in this embodiment, the swing arm is connected to the side chassis via an elastic body at a position close to the driving wheel, and the elastic body is in a predetermined compressed state.

[0054] Thus, for example, when a pothole appears on the road surface where the driving wheel is located, the elastic body in a predetermined compression state can drive the chassis on the opposite side of the driving wheel to swing downward, so that the driving wheel continues to abut against the road surface with the pothole, ensuring the wheel pressure and preventing the driving wheel from slipping on the road surface with the pothole.

[0055] For example, when a bump appears on the road surface where the driving wheel is located, the bump will cause the chassis on the opposite side of the driving wheel to swing upward. At this time, the elastic body in a predetermined compression state will continue to be compressed, so that the driving wheel continues to abut against the bump, ensuring the wheel pressure and preventing the driving wheel from slipping on the bump.

[0056] In one embodiment, referring to FIG. 4 , the driving wheel swing arm suspension mechanism 21 further includes a driving module 216 , which is located at one end of the swing arm member 211 where the driving wheel 212 is mounted. The driving module 216 is in transmission connection with the driving wheel 212 , and is used to drive the driving wheel 212 to rotate.

[0057] That is, the swing arm suspension mechanism also includes a drive module, which includes, for example, a drive motor and a reducer. The drive module can be installed at one end of the swing arm member where a drive wheel is provided, so as to facilitate the transmission connection between the drive module and the drive wheel. The drive module is specifically used to drive the drive wheel to rotate, so that when a pair of drive wheels on both sides rotate forward or reverse at the same speed, the transport chassis can move forward or backward; when a pair of drive wheels on both sides rotate at different speeds (i.e., differential rotation), the transport chassis can turn left or right.

[0058] In one embodiment, referring to FIG. 4 , abutment flanges 217 are respectively provided on both sides of the swing arm 211 relative to the first direction X near the driving wheel 212 ; wherein, the lower ends of a pair of elastic bodies 215 are respectively fixedly mounted on the pair of abutment flanges 217 , and the upper ends of the pair of elastic bodies 215 are fixedly mounted on the mounting base 218 , and the mounting base 218 is fixedly mounted on the side chassis 20 , so that the position of the swing arm 211 near the driving wheel 212 is connected to the side chassis 20 via the elastic body 215 .

[0059] Among them, regarding the installation of the elastomer mentioned above, abutment flanges can be respectively provided on both sides of the swing arm member close to the driving wheel, and an elastomer is installed on each abutment flange. The upper end of the elastomer can be fixed to the mounting seat, and the mounting seat is fixedly installed on the side chassis, so that the swing arm member can be connected to the side plate at a position close to the driving wheel through the elastomer; of course, a pair of elastomers should be in a predetermined compression state.

[0060] By arranging elastic bodies on both sides of the swing arm, it is ensured that the left and right sides of the swing arm are in the same horizontal state, preventing side tilt.

[0061] In one embodiment, referring to FIG. 4 , abutment protrusions (first limit blocks) 219 are respectively provided at both ends of the swing arm 211 along the first direction X. The abutment protrusions 219 are located on the upper end surface of the swing arm 211 and are used to abut the side chassis 20 .

[0062] In this embodiment, in order to limit the range of the up and down swinging of the chassis on the opposite side of the swing arm, abutment protrusions can be provided at both ends of the swing arm, that is, the above-mentioned transfer through hole is located between a pair of abutment protrusions.

[0063] The abutting protrusion can be arranged on the upper end surface of the swing arm member, and the height of the abutting protrusion can be specifically set according to the actual installation structure. The heights of the abutting protrusions at both ends can be the same or different.

[0064] The abutting protrusion can be made of a rubber material with a certain elasticity to achieve a buffering abutment effect.

[0065] In one embodiment, referring to FIG. 3 , a pair of mounting ears 22 are provided on the side chassis 20 at positions corresponding to both sides of the adapter through hole; the adapter shaft 214 is fixedly mounted on the pair of mounting ears 22 at both ends along the second direction Y; that is, the two ends of the above-mentioned adapter shaft can be fixed on the pair of mounting ears of the side chassis.

[0066] In one possible embodiment, referring to Figures 5 to 8 , the fork assembly 12 includes a telescopic guide assembly 121 extending in a first direction and a fork body 122. The telescopic guide assembly 121 is telescopically arranged relative to the intermediate chassis 10 in the first direction. The fork body 122 is slidably mounted on the telescopic guide assembly 121 in the first direction. In Figures 5 and 6 , the fork assembly 12 is retracted, while in Figures 7 and 8 , the fork assembly 12 is extended.

[0067] In this embodiment, the fork assembly can be telescopically arranged relative to the middle chassis, that is, telescopically arranged relative to the transport chassis. It can be understood that the pallet carrying the items to be transported on the ground can be transferred to the surface of the transport chassis by extending and retracting the fork assembly in combination with the lifting of the fork assembly.

[0068] Specifically, the telescopic fork assembly 12 may include a telescopic guide assembly 121 and a fork body 122, both of which extend along the first direction X; wherein the telescopic guide assembly 121 is telescopically arranged relative to the intermediate chassis 10 along the first direction, and then, the left and right sides of the telescopic guide assembly 121 can, for example, be bent to form guide rails extending along the first direction, and the guide rails are used to slidably install the fork body 122, that is, the fork body 122 is slidably installed on the telescopic guide assembly 121 along the first direction through the guide rails.

[0069] 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 a side of each side chassis close to the intermediate chassis. Thus, for example, one of the telescopic guide assemblies may be telescopically arranged through the cooperation of the two hinge points 14 on the intermediate chassis and the side chassis.

[0070] In an embodiment of the present application, a chassis device is provided, which includes a chassis body, wherein the chassis body includes a middle chassis 10 and a pair of side chassis 20 located on both sides of the middle chassis 10; wherein the side chassis 20 extends along a first direction X, and the first direction X is the front-to-back direction of the chassis device; the middle chassis 10 is detachably connected to each side chassis 20.

[0071] In an embodiment of the present application, another chassis device is provided, which includes a chassis body and a driving wheel swing arm suspension mechanism 21 installed on the chassis body; the chassis body includes an intermediate chassis 10, and a pair of side chassis 20 respectively located on both sides of the intermediate chassis 10; wherein, the side chassis 20 extends along a first direction, which is the front-rear direction of the chassis body; the intermediate chassis 10 is detachably docked and installed with each side chassis 20; and wherein, the driving wheel swing arm suspension mechanism 21 is installed on the side chassis 20, and an elastomer is provided between the side chassis 20, and the elastomer is in a compressed state.

[0072] The embodiments of the present application further disclose a transport robot, which includes the transport chassis / chassis device described in the above embodiments.

[0073] FIG9 schematically illustrates the structure of a chassis device, and FIG10 schematically illustrates the structure of a drive wheel swing arm suspension mechanism. The embodiment of the present disclosure will be further described in conjunction with FIG9 and FIG10 .

[0074] The present disclosure provides a chassis device, which includes a chassis body 910 and a driving wheel swing arm suspension mechanism 920 installed on the chassis body 910; the driving wheel swing arm suspension mechanism 920 includes a first swing arm member 921, a driving wheel 922 and a first universal wheel 923; the first swing arm member 921 extends along a first direction X, and the first direction X is the front-back direction of the chassis body 910; the driving wheel 922 is installed at one end of the first swing arm member 921 along the first direction X; the first universal wheel 923 is installed at the other end of the first swing arm member 921 along the first direction X; wherein the rotation axis of the driving wheel 922 is along a second direction Y The second direction Y is set as the left and right direction of the chassis body 910; at a position between the driving wheel 922 and the first universal wheel 923, the first swing arm member 921 is penetrated by a first adapter through hole, and the first adapter shaft 924 extending along the second direction Y is inserted into the first adapter through hole, and both ends of the first adapter shaft 924 are fixedly installed on the chassis body 910 so that the first swing arm member 921 can rotate relative to the chassis body 910 with the first adapter shaft 924 as the rotating axis; and, at a position close to the driving wheel 922, an elastic body 925 is provided between the first swing arm member 921 and the chassis body 910, and the elastic body 925 is in a compressed state.

[0075] The chassis device provided in this embodiment can be a chassis device of various transport robots.

[0076] The chassis device may include a chassis body and a driving wheel swing arm suspension mechanism, the driving wheel swing arm suspension mechanism may be installed below the chassis body, the driving wheel swing arm suspension mechanism includes a driving wheel, and the driving wheel is used to drive the chassis body to move.

[0077] Generally speaking, the drive wheel swing arm suspension mechanism can be installed respectively on the left and right sides of the chassis body (two side chassis when the chassis body is a split structure). The two drive wheels on both sides can drive the chassis body forward or backward by rotating forward or reverse at the same time; the two drive wheels on both sides can drive the chassis body to turn left or right through differential rotation.

[0078] The driving wheel swing arm suspension structure may include a first swing arm component, a driving wheel and a first universal wheel; the first swing arm component extends along a first direction (the first direction is the front and rear direction of the chassis body), and the driving wheel and the first universal wheel are respectively installed at both ends of the first swing arm component along the first direction, and the rotating shaft of the driving wheel is arranged along a second direction (the second direction is the left and right direction of the chassis body).

[0079] Among them, at the position between the driving wheel and the first universal wheel, the first swing arm member passes through a first transfer through hole, the first transfer shaft is inserted into the first transfer through hole and extends along the second direction, and both ends of the first transfer shaft are fixedly mounted on the chassis body; for easy understanding, at this time, the first swing arm member can rotate relative to the chassis body with the first transfer shaft as the rotating axis.

[0080] Furthermore, an elastic body is provided between the first swing arm mechanism and the chassis body at a position close to the driving wheel, and the elastic body is in a compressed state.

[0081] Through the above structure, it can be understood that the driving wheel can elastically swing up and down relative to the chassis body and always maintain sufficient wheel pressure between the driving wheel and the uneven road surface.

[0082] For example, when there is a bump on the road surface where the driving wheel is located, the driving wheel of the first swing arm swings upward. At this time, the elastomer can continue to be compressed in the original compressed state. The elastic force of the elastomer can ensure sufficient wheel pressure between the driving wheel and the road surface to prevent the driving wheel from slipping.

[0083] For example, when there is a pothole on the road where the driving wheel is located, the driving wheel of the first swing arm swings downward. At this time, the elastomer can be partially released from its original compressed state. The elastic force of the elastomer can still ensure sufficient wheel pressure between the driving wheel and the road surface to prevent the driving wheel from slipping.

[0084] That is, the drive wheel swing arm suspension mechanism can be applied to uneven roads to prevent the drive wheel from slipping.

[0085] The embodiment of the present application provides a chassis device and a handling robot having the chassis device. The chassis device includes a chassis body and a drive wheel swing arm suspension mechanism installed on the chassis body; the drive wheel swing arm suspension mechanism includes a first swing arm member, the first swing arm member extends along the front-to-back direction of the chassis body, and the two ends of the first swing arm member are respectively installed with a drive wheel and a first universal wheel; wherein, the first swing arm member is rotatably installed on the chassis body through a first adapter shaft at a position between the drive wheel and the first universal wheel; and, near the drive wheel, an elastic body in a compressed state is further provided between the first swing arm member and the chassis body; thus, it can be understood that when the chassis device travels on an uneven road surface, the elastic body continues to compress or release in its original compressed state, which enables the drive wheel of the drive wheel swing arm suspension mechanism to maintain sufficient wheel pressure, thereby preventing the drive wheel from slipping.

[0086] That is to say, in the chassis device disclosed in the present application, on the one hand, the driving wheel swing arm suspension mechanism is rotatably mounted on the chassis body via a first adapter shaft, and on the other hand, one end of the driving wheel swing arm suspension mechanism on which the driving wheel is mounted is connected to the chassis body via an elastic body; thereby, the end of the driving wheel swing arm suspension mechanism on which the driving wheel is mounted can be elastically swung up and down relative to the chassis body, and this elastic up and down swinging can always maintain sufficient pressure, i.e., wheel pressure, between the driving wheel and the uneven road surface, thereby preventing the driving wheel from slipping when traveling on an uneven road surface, thereby solving the technical problem of poor road passability of the existing chassis device.

[0087] In one possible embodiment, referring to Figure 9, a drive wheel swing arm suspension mechanism 920 is respectively installed on the left and right sides of the chassis body 910 relative to the first direction X; wherein, the drive wheel 922 is located in the middle position of the chassis body 910 along the first direction X, and the first universal wheel 923 is located at one end of the chassis body 910 along the first direction X; a universal wheel swing arm suspension mechanism 930 is installed at the other end of the chassis body 910 along the first direction X, and second universal wheels 932 are respectively installed at both ends of the universal wheel swing arm suspension 930 along the second direction Y.

[0088] As described above, the above-mentioned driving wheel swing arm suspension mechanism can usually be installed on the left and right sides of the chassis body relative to the first direction respectively; and the driving wheel in the driving wheel swing arm suspension mechanism is located in the middle position of the front and rear direction of the chassis body (i.e., the first direction), and the first universal wheel of the driving wheel swing arm suspension mechanism is located at one end of the chassis body along the first direction.

[0089] In addition, in order to maintain the stability of the chassis body, this embodiment also installs a universal wheel swing arm suspension mechanism at the other end of the chassis body along the first direction, and the universal wheel swing arm suspension mechanism is respectively installed with a second universal wheel at both ends along the left and right directions (i.e., the second direction) of the chassis body.

[0090] It can be understood that, relative to the chassis body, on the one hand, the two driving wheels in the middle position are used to drive the chassis body to move, and on the other hand, the first universal wheel and the second universal wheel at the front and rear ends can provide stable support for the chassis body and facilitate the steering of the chassis body.

[0091] In one embodiment, referring to Figures 12 and 13, the universal wheel swing arm suspension mechanism 930 includes a second swing arm member 931, which extends along the second direction Y, and second universal wheels 932 are respectively installed at both ends of the second swing arm member 931 along the second direction Y; wherein, at a position between the second universal wheels 932 at both ends, the second swing arm member 931 is penetrated by a second adapter through hole, and the second adapter through hole is plugged with a second adapter shaft 933 extending along the first direction X, and both ends of the second adapter shaft 933 are fixedly installed on the chassis body 910, so that the second swing arm member 931 can rotate relative to the chassis body 910 with the second adapter shaft 933 as the rotating axis.

[0092] This embodiment provides a specific structure of a universal wheel swing arm suspension mechanism, that is, the two second universal wheels are respectively mounted at both ends of the second swing arm member extending along the second direction; and, similar to the first swing arm member, the second swing arm member is further provided with a second transfer through hole at a position between the two second universal wheels, and the second transfer shaft is inserted into the second transfer through hole and fixedly mounted on the chassis body. In this way, the second swing arm member can rotate relative to the chassis body with the second transfer shaft as the rotation axis; that is, relative to the chassis body, the second universal wheels on the left and right sides can swing up and down relative to the chassis body, thereby improving the stability of the chassis body and preventing the chassis body from shaking when walking on uneven roads.

[0093] In one embodiment, both ends of the second adapter shaft 933 are fixedly mounted on the chassis body 910 via a shaft pressure plate 934; referring to Figures 12 and 13, the shaft pressure plate 934 can be fixedly mounted on the chassis body 910, for example, by screws, thereby pressing the second adapter shaft against the chassis body.

[0094] In one embodiment, the second swing arm 931 is provided with second limit blocks 935 at both ends along the second direction Y. The second limit blocks 935 are located at the lower end surface of the second swing arm mechanism 931 so that the second limit blocks 935 are used to abut the chassis body 910.

[0095] In this way, through the contact between the second limiting block and the chassis body, the second limiting block can limit the up and down swinging range of the second universal wheel at the end where the second limiting block is located.

[0096] In one possible implementation, referring to FIG. 11 , a pair of mounting ears 914 are provided on the chassis body 910 at both sides of the first adapter through hole. The mounting ears 914 are used to securely mount the first adapter shaft 924 .

[0097] That is, a pair of mounting ears can be provided on the chassis body at positions corresponding to the left and right sides of the first adapter through hole, and then, both ends of the first adapter shaft can be fixedly mounted on the pair of mounting ears.

[0098] In one possible embodiment, similar to the second limit block 935 of the second swing arm member 931, the first swing arm member 921 is provided with a first limit block 926 at both ends along the first direction X. The first limit block 926 can be located on the upper end surface of the first swing arm member 921 so that the first limit block 926 is used to abut the chassis body 910.

[0099] In this embodiment, a first limit block can be set at the front and rear ends (i.e., along the first direction) of the first swing arm member respectively. The first limit block can be specifically set on the upper end surface of the first swing arm member to abut against the chassis body, thereby respectively limiting the up and down swinging of the driving wheel and the first universal wheel.

[0100] In one possible embodiment, the driving wheel swing arm suspension mechanism 920 also includes a driving module 929. The driving module 929 includes, for example, a driving motor and a motor reducer. The driving module 929 can be specifically installed at one end of the first swing arm member 921 along the first direction X, that is, installed at one end close to the driving wheel 922. The driving module 929 is connected to the driving wheel 922 in a transmission manner, and the driving module 929 is used to drive the driving wheel 922 to rotate.

[0101] 9 and 10 , for the driving wheel and the driving module, the driving wheel may be located relatively outside the driving module, and the driving module may be located relatively inside the driving wheel.

[0102] Among them, regarding the installation of the above-mentioned elastomer, in one possible implementation manner, mounting flanges 927 can be respectively provided on the left and right sides of the first swing arm member 921 near the driving wheel 922, and the two elastomers 925 are respectively fixed to the mounting flanges 927 on the left and right sides, and the other ends of the two elastomers 925 are fixed to the elastomer mounting seat 928. The elastomer mounting seat 928 is fixedly installed on the chassis body 910 to realize the installation of the elastomer 925.

[0103] In one possible embodiment, the chassis body 910 includes a first chassis 911, a second chassis 912, and a third chassis 913 that are separately arranged; wherein the second chassis 912 and the third chassis 913 are fixedly installed on the left and right sides of the first chassis 911 relative to the first direction X; the first chassis 911 is used to install a universal wheel swing arm suspension mechanism 930; the second chassis 912 and the third chassis 913 are used to install a drive wheel swing arm suspension mechanism 920; the first chassis 911 is connected to the second chassis 912 and the third chassis 913 respectively for installing a telescopic fork walking mechanism 940.

[0104] That is, the chassis body can be set up in a split manner, specifically including a first chassis in the middle, with a second chassis and a third chassis fixedly installed on the left and right sides of the first chassis respectively. It can be understood that the shapes of the second chassis and the third chassis are, for example, mirror-symmetrical.

[0105] The above-mentioned universal wheel swing arm suspension mechanism can be installed on the first chassis in the middle, the above-mentioned driving wheel swing arm suspension mechanism can be installed on the second chassis and the third chassis respectively, and the telescopic fork walking mechanism can be installed after the first chassis is connected to the second chassis and the third chassis respectively; wherein the telescopic fork walking mechanism can be specifically installed in the gaps on both sides of the first chassis; in this way, through the split setting, the first chassis in the middle can be replaced according to actual needs, so that different sizes of telescopic forks can be used to adapt to different pallet sizes, thereby improving the reuse rate of the walking chassis device.

[0106] Among them, the above-mentioned first chassis can be detachably mounted to the second chassis and the third chassis on both sides. Specifically, a docking ear 915 can be respectively provided at the edge positions on both sides of the first chassis 911 relative to the first direction X, and the docking ear 915 extends along the first direction X. In this way, the docking ears on both sides can provide installation positions, and the second chassis 912 and the third chassis 913 can be respectively mounted on the docking ears on both sides of the first chassis 911 through fasteners, that is, the first chassis can be detachably mounted to the second chassis and the third chassis.

[0107] The present application also discloses a transport robot, which includes the chassis device described in the above embodiment.

[0108] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0109] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0110] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0111] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0112] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be within the scope of protection of this disclosure.

Claims

1. A chassis device, characterized in that: The chassis device comprises a chassis body (910) and a driving wheel swing arm suspension mechanism (21, 920) installed on the chassis body (910); The driving wheel swing arm suspension mechanism (21, 920) comprises: A first swing arm (211, 921) extending along a first direction, wherein the first direction is a front-rear direction of the chassis body (910); A driving wheel (212, 922) mounted on one end of the first swing arm (211, 921) along the first direction; A first universal wheel (213, 923) is mounted on the other end of the first swing arm (211, 921) along the first direction; Wherein, the rotating shaft of the driving wheel (212, 922) extends along a second direction, and the second direction is the left-right direction of the chassis body (910); At a position between the driving wheel (212, 922) and the first universal wheel (213, 923), the first swing arm member (211, 921) is penetrated by a first transfer through hole, a first transfer shaft (924) extending along the second direction is inserted into the first transfer through hole, and both ends of the first transfer shaft (924) are fixedly mounted on the chassis body (910), so that the first swing arm member (211, 921) can rotate relative to the chassis body (910) with the first transfer shaft (924) as a rotation axis; Furthermore, at a position close to the driving wheel (212, 922), an elastic body (215, 925) is provided between the first swing arm member (211, 921) and the chassis body (910), and the elastic body (215, 925) is in a compressed state.

2. The chassis device according to claim 1, characterized in that: The driving wheel swing arm suspension mechanisms (21, 920) are respectively installed on the left and right sides of the chassis body (910) relative to the first direction; The driving wheel (212, 922) is located at a middle position of the chassis body (910) along the first direction, and the first universal wheel (213, 923) is located at one end of the chassis body (910) along the first direction; A universal wheel swing arm suspension mechanism (930) is installed at the other end of the chassis body (910) along the first direction, and second universal wheels (932) are respectively installed at both ends of the universal wheel swing arm suspension mechanism (930) along the second direction.

3. The chassis device according to claim 2, characterized in that: The universal wheel swing arm suspension mechanism (930) comprises: A second swing arm member (931) extends along the second direction, and the second universal wheels (932) are respectively installed at two ends of the second swing arm member (931) along the second direction; Among them, at the position between the second universal wheels (932) at both ends, the second swing arm member (931) is penetrated by a second transfer through hole, and the second transfer through hole is plugged with a second transfer shaft (933) extending along the first direction, and both ends of the second transfer shaft (933) are fixedly installed on the chassis body (910), so that the second swing arm member (931) can rotate relative to the chassis body (910) with the second transfer shaft (933) as the rotation axis.

4. The chassis device according to claim 3, characterized in that: Both ends of the second transfer shaft (933) are fixedly mounted on the chassis body (910) via a shaft pressing plate (934).

5. The chassis device according to claim 3, characterized in that: The second swing arm member (931) is provided with second limit blocks (935) at both ends along the second direction, and the second limit blocks (935) are located on the lower end surface of the second swing arm member (931), so that the second limit blocks (935) are used to abut against the chassis body (910).

6. The chassis device according to claim 1, characterized in that: The chassis body (910) is provided with a pair of mounting ears (22, 914) at positions on both sides of the first transfer through hole, and the mounting ears (22, 914) are used to fix and install the first transfer shaft (214, 924).

7. The chassis device according to claim 1, characterized in that: The first swing arm member (211, 921) is provided with first limit blocks (219, 926) at both ends along the first direction, and the first limit blocks (926) are located on the upper end surface of the first swing arm member (211, 921), so that the first limit blocks (219, 926) are used to abut against the chassis body (910).

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

9. The chassis device according to claim 2, characterized in that: The chassis body (910) comprises a first chassis (911), a second chassis (912) and a third chassis (913) which are separately arranged; Wherein, the second chassis (912) and the third chassis (913) are fixedly mounted on the left and right sides of the first chassis (911) relative to the first direction; The first chassis (911) is used to install the universal wheel swing arm suspension mechanism (930); The second chassis (912) and the third chassis (913) are used to install the drive wheel swing arm suspension mechanism (920); The first chassis (911) is respectively connected to the second chassis (912) and the third chassis (913) for installing a telescopic fork travel mechanism (940).

10. The chassis device according to claim 1, characterized in that: The driving wheel swing arm suspension mechanism is respectively installed on the left and right sides of the chassis body relative to the first direction; Wherein, the driving wheel is located at the middle position of the chassis body along the first direction, and the first universal wheel is located at one end of the chassis body along the first direction; A second universal wheel (11) is installed at the other end of the chassis body along the first direction.

11. The chassis device according to claim 10, characterized in that: The chassis body comprises a split middle chassis (10) and a pair of side chassis (20) respectively located on both sides of the middle chassis (10); The driving wheel swing arm suspension mechanism is installed on the side chassis; The second universal wheel is installed on the middle chassis.

12. The chassis device according to claim 11, characterized in that: At a position close to the driving wheel, the first swing arm is provided with abutment flanges (217) on both sides relative to the first direction; The lower ends of a pair of the elastic bodies are respectively fixedly mounted on a pair of the abutting flanges, and the upper ends of a pair of the elastic bodies are fixedly mounted on a mounting seat (218), and the mounting seat is used to be fixedly mounted on the side chassis so that the first swing arm member is connected to the side chassis through the elastic body at a position close to the driving wheel.

13. The chassis device according to claim 11, characterized in that: A fork assembly (12) is mounted on the intermediate chassis, and the fork assembly comprises a telescopic guide assembly (121) extending along the first direction and a fork body (122); Wherein, the telescopic guide assembly is telescopically arranged along the first direction relative to the intermediate chassis; The fork body is slidably mounted on the telescopic guide assembly along the first direction.

14. A chassis device, characterized in that: The chassis device comprises a chassis body and a driving wheel swing arm suspension mechanism (21) installed on the chassis body; The chassis body comprises: a middle chassis (10); and a pair of side chassis (20) respectively located on both sides of the middle chassis; Wherein, the side chassis extends along a first direction, and the first direction is a front-rear direction of the chassis body; The intermediate chassis is detachably connected to each of the side chassis; and Wherein, the driving wheel swing arm suspension mechanism is installed on the side chassis, and an elastic body is provided between the driving wheel swing arm suspension mechanism and the side chassis, and the elastic body is in a compressed state.

15. A transport robot, characterized in that: The transport robot includes the chassis device according to any one of claims 1 to 14.

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