Mobile chassis, mobile robot, and carrying system

Abstract

A mobile chassis, a mobile robot, and a carrying system, wherein the mobile chassis comprises a chassis body (1) and vertical limiting wheels (2) rotatably arranged on the chassis body (1); the vertical limiting wheels (2) are used for being in rolling fit with limiting top surfaces of ground rails (8); the chassis body (1) comprises a bottom wall (10) and a side wall (11) arranged around the bottom wall (100); recesses (110) are formed on the side wall (11) towards the ground rails (8), and the bottom wall (10) and the recesses (110) are located on the inner and outer sides of the side wall (11) respectively; and the vertical limiting wheels (2) are arranged in the recesses (110). The vertical limiting wheels are arranged in the recesses, so that debris generated by friction between the vertical limiting wheels and the ground rails does not accumulate on the bottom wall of the mobile chassis, and thus does not affect other mechanisms arranged on the mobile chassis; moreover, the inner wall surfaces of the ground rails are generally flat and unobstructed, facilitating cleaning.

Description

Mobile chassis, mobile robot and handling system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 5, 2023, with application number 202323327696.2, and invention name “A mobile chassis, mobile robot and handling system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of warehousing systems, and in particular to a mobile chassis, a mobile robot, and a handling system. Background Art

[0003] Mobile robots are often used in warehouse systems to pick up and place bins. Mobile robots typically consist of a mobile chassis, columns mounted on the chassis, and a fork mechanism mounted on the columns. During operation, the mobile robot is driven by the chassis to move to a target shelf. The fork mechanism then moves up and down along the columns to a target shelf location. The fork mechanism then actuates to pick up and place a bin at the target location.

[0004] To increase their speed and maintain stability, mobile robots in related technologies often have floor rails installed in storage, and limited wheels installed on the mobile chassis that mate with the floor rails. These limited wheels roll against the inner wall of the floor rails to prevent the mobile robot from tipping over. However, the structural design of the mobile chassis and the arrangement of the limited wheels in related technologies currently present the following problems during use: The limited wheels roll in contact with the floor rails, causing wear after extended use, resulting in the accumulation of wear debris on the top surface of the mobile chassis. This debris can easily affect other mechanisms installed on the mobile chassis, and due to the large number of mechanisms installed on the mobile chassis, it is difficult to clean the debris. Summary of the Invention

[0005] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a mobile chassis, a mobile robot and a handling system.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: a mobile chassis, including a chassis body and a vertical limiting wheel rotatably arranged on the chassis body, the vertical limiting wheel is used to roll with the limiting top surface of the ground rail, the chassis body includes a bottom wall and a side wall arranged around the bottom wall, wherein a recessed portion is formed on the side wall facing the ground rail, and the bottom wall and the recessed portion are respectively located on the inner and outer sides of the side wall, and the vertical limiting wheel is arranged in the recessed portion.

[0007] The application of this application has the following beneficial effects: by structurally designing the side wall of the chassis body facing the ground rail, a recessed portion is designed and formed on the side wall, and the vertical limiting wheel is arranged in the recessed portion, so that debris generated by the friction between the vertical limiting wheel and the ground rail will not accumulate on the bottom wall of the mobile chassis, and will not affect other mechanisms arranged on the mobile chassis, and the inner wall surface of the ground rail is generally flat and unobstructed, which is easy to clean.

[0008] Optionally, the mobile chassis further includes a first mounting seat, the first mounting seat is arranged in the recessed portion, a rotating shaft is provided on the first mounting seat, and the vertical limiting wheel is rotatably mounted on the rotating shaft.

[0009] Optionally, the mobile chassis further includes a swing arm rotatably hinged on the first mounting seat and an elastic reset mechanism arranged in the recessed portion, the rotating shaft is fixedly arranged on the swing arm, and the elastic reset mechanism is connected to the swing arm and applies an upward force to the swing arm.

[0010] Optionally, the elastic reset mechanism includes a second mounting seat and a first elastic member arranged between the second mounting seat and the swing arm, and one end of the swing arm is arranged on the second mounting seat, and the other end is hinged to the first mounting seat.

[0011] Optionally, the mobile chassis further includes a transverse limiting wheel rotatably arranged on the chassis body, the transverse limiting wheel is at least partially located in the recessed portion, and the transverse limiting wheel is used to cooperate with the ground rail in the horizontal direction to limit the shaking of the mobile chassis in the horizontal direction.

[0012] Optionally, the mobile chassis further includes a driving mechanism disposed on the bottom wall, wherein the driving mechanism includes a power source, a driving wheel driven to rotate by the power source, and a first elastic pressure component for applying pressure to the driving wheel.

[0013] Optionally, the mobile chassis also includes a second elastic pressure component arranged on the chassis body, the second elastic pressure component including a third mounting seat located on the bottom wall, a pressure block slidably arranged on the third mounting seat in a vertical direction, a rotating member rotatably arranged on the pressure block, a driving arm located below the pressure block and spaced apart from the pressure block, and a second elastic member arranged between the pressure block and the driving arm; the driving arm is connected to the driving wheel, and the rotating member is used to cooperate with the ground rail in a vertical direction to apply pressure to the driving wheel through the pressure block and the driving arm.

[0014] Optionally, the side wall is provided with a through hole penetrating the recessed portion, the pressing block has a mounting portion extending out of the through hole and located in the recessed portion, and the rotating member is located in the recessed portion and rotatably mounted on the mounting portion.

[0015] In addition, the present application further provides a mobile robot comprising a mobile chassis as described in any one of the above technical solutions and a column mechanism disposed on the mobile chassis, wherein the column mechanism is provided with a storage position for placing a material box. The reasoning process for the beneficial effects of the mobile robot provided in this application is similar to that of the aforementioned mobile chassis and will not be repeated here.

[0016] In addition, the present application also provides a handling system, comprising a ground rail and a mobile robot as described in the above technical solution, wherein the mobile chassis is configured to enter and move along the ground rail, and the vertical limiting wheels are in rolling contact with the limiting top surface of the ground rail during the movement of the mobile chassis along the ground rail. The reasoning process for the beneficial effects of the warehousing system provided in this application is similar to that of the aforementioned mobile chassis and will not be repeated here.

[0017] Optionally, the floor rail includes a bottom plate, side plates and a top plate, and the bottom plate, side plates and top plate cooperate to form a concave structure with an opening toward the mobile chassis, wherein the inner surface of the top plate forms the limiting top surface.

[0018] Optionally, the top plate is formed with a guide section at the opening of the floor rail, and the guide section is tilted upward along the length direction of the floor rail.

[0019] These features and advantages of this application will be disclosed in detail in the following detailed description and accompanying drawings. The best embodiments or means of this application will be fully illustrated in conjunction with the accompanying drawings, but this does not limit the technical solutions of this application. Furthermore, although there may be multiple features, elements, and components in each of the following text and accompanying drawings, different symbols or numbers may be used for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0021] FIG1a is a schematic structural diagram of a mobile chassis capable of entering and exiting a ground rail provided in an embodiment of the present application;

[0022] FIG1b is a schematic structural diagram of another mobile chassis capable of entering and exiting a ground rail provided in an embodiment of the present application;

[0023] FIG2 is a structural schematic diagram of a mobile chassis capable of entering and exiting a ground rail provided in an embodiment of the present application from another perspective;

[0024] FIG3a is an enlarged schematic diagram of portion A in FIG1a;

[0025] FIG3b is an enlarged schematic diagram of portion A1 in FIG1b;

[0026] FIG3c is an explosion diagram of FIG3b;

[0027] FIG4 is a schematic diagram of applying the mobile chassis provided in this embodiment to a ground rail;

[0028] FIG5 is an enlarged schematic diagram of part B in FIG4 ;

[0029] FIG6a is a schematic structural diagram of the driving mechanism and the second elastic pressure component in the mobile chassis provided in this embodiment;

[0030] FIG6b is an explosion diagram of FIG6a;

[0031] FIG7 a is a side view of the process of the rotating member in the mobile chassis entering the ground rail provided by this embodiment;

[0032] FIG7b is a partial enlarged view of the embodiment shown in FIG7a;

[0033] FIG8 is an enlarged schematic diagram of portion C in FIG7a;

[0034] FIG9 is a side view of the rotating member of the mobile chassis provided in this embodiment after entering the ground rail;

[0035] FIG10 is an enlarged schematic diagram of portion D in FIG9 .

[0036] Among them, 1. chassis body, 10. bottom wall, 101. through hole, 11. side wall, 110. recessed portion, 1101. avoidance hole, 1102. mounting hole, 111. first connecting plate, 112. second connecting plate, 12. running wheel;

[0037] 2. Vertical limiting wheel, 3. First mounting seat, 30. Articulated shaft;

[0038] 4. Second mounting seat, 401. Guide column, 402. Limiting plate, 403. First elastic member, 40. Swing arm, 400. Rotating shaft;

[0039] 5. Lateral limiting wheel, 6. Driving mechanism, 60. Power source, 61. Driving wheel, 62. First elastic pressure assembly, 621. Third elastic member, 622. Two connecting seats, 623 Support seat, 6231. Rotating shaft matching hole, 624. Connecting member, 6241. Rotating shaft of third elastic member, 625 Transmission arm, 626. Connecting block, 7. Second elastic pressure assembly;

[0040] 70. Third mounting seat, 701. Guide shaft, 71. Pressing block, 710. Mounting portion, 72. Rotating member, 720. Rotating member fixing seat, 73. Driving arm, 730. Connecting pressure plate, 74. Second elastic member;

[0041] 8. Ground rail, 80. Bottom plate, 81. Side plate, 82. Top plate, 83. Guide section;

[0042] 91. Code reading sensor, 92. Obstacle avoidance navigation sensor. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to be used to explain the present application and are not to be construed as limiting the present application.

[0044] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0045] This embodiment provides a mobile chassis, as shown in Figures 1a, 1b, and 4. The mobile chassis includes a chassis body 1 and a vertical limiting wheel 2 rotatably mounted on the chassis body 1. The vertical limiting wheel 2 is configured to roll with the limiting top surface of the ground rail 8. The chassis body 1 includes a bottom wall 10 and a side wall 11 disposed around the bottom wall 10. The side wall 11, which faces the ground rail 8, is formed with a recessed portion 110. The bottom wall 10 and the recessed portion 110 are located on the inner and outer sides of the side wall 11, respectively. The vertical limiting wheel 2 is disposed within the recessed portion 110.

[0046] The mobile chassis provided in this embodiment is structurally designed by forming a recessed portion 110 on the side wall 11 of the chassis body 1 that faces the ground rail 8. The vertical limiting wheel 2 is disposed in the recessed portion 110. In this way, debris generated by the friction between the vertical limiting wheel 2 and the ground rail 8 will not accumulate on the bottom wall 10 of the mobile chassis, thereby not affecting other mechanisms arranged on the mobile chassis. In addition, the inner wall surface of the ground rail 8 is generally flat and unobstructed, making it easy to clean. In addition, the vertical limiting wheel 2 is disposed in the recessed portion 110, which improves the space utilization of the mobile chassis and can make the mobile chassis smaller.

[0047] It is easy to understand that the side walls 11 are provided in the front, back, left and right directions of the bottom wall 10. The front, back, left and right directions mentioned here refer to the forward direction when the mobile chassis is moving as "front", and correspondingly, the direction opposite to "front" is "rear". Among them, the side walls 11 used to face the ground rail 8 refer to the side walls 11 located on the left and right sides of the mobile chassis. In an optional embodiment, according to the structure of the matching ground rail 8, a recessed portion 110 can be provided separately on the left side wall 11, or a recessed portion 110 can be provided separately on the right side wall 11. In this embodiment, recessed portions 110 are provided on both the left and right side walls 11. Through the cooperation of the bottom wall 10 and the side walls 11, an inner cavity is formed on the mobile chassis. The recessed portion 110 is separated from the inner cavity by the obstruction of the side walls 11, so that the debris generated by the friction between the vertical limiting wheel 2 and the ground rail 8 in the recessed portion 110 will not enter the inner cavity.

[0048] As shown in reference figures 4 and 5 , the ground rail 8 may include a bottom plate 80, a side plate 81 and a top plate 82, and the bottom plate 80, the side plate 81 and the top plate 82 cooperate to form a concave structure with an opening toward the mobile chassis, wherein the inner surface of the top plate 82 forms the aforementioned limiting top surface. Accordingly, the inner surface of the side plate 81 can be used to cooperate with the transverse limiting wheel 5. Furthermore, the top plate 82 is formed with a guide section 83 at the opening of the ground rail 8, and the guide section 83 is tilted upward along the length direction of the ground rail 8. By providing the guide section 83, guidance can be provided during the process of the mobile chassis entering the ground rail 8, thereby preventing the vertical limiting wheel 2 or the rotating member 72 from being stuck at the opening of the ground rail 8.

[0049] As shown in FIG2 , the mobile chassis includes running wheels 12, which are mounted on the bottom wall 10. Specifically, there may be multiple running wheels 12. For example, as shown in FIG4 and FIG9 , there may be four running wheels 12, each of which is located at the four corners of the mobile chassis. When the mobile chassis moves, the drive wheels 61 in the drive mechanism 6 serve as power wheels, running on the ground and thereby driving the mobile chassis. Since the running wheels 12 are located on the bottom wall 10, they also follow the movement of the mobile chassis, thereby improving the stability of the mobile chassis during movement.

[0050] In conjunction with Figures 2 and 3a, the mobile chassis in this embodiment also includes a first mounting seat 3, which is arranged in the recessed portion 110. A rotating shaft 400 is provided on the first mounting seat 3, and the vertical limiting wheel 2 is rotatably mounted on the rotating shaft 400. In other words, the first mounting seat 3 is connected to the rotating shaft 400. Furthermore, the mobile chassis in this embodiment also includes a swing arm 40 rotatably hinged on the first mounting seat 3 and an elastic reset mechanism arranged in the recessed portion 110, the rotating shaft 400 is fixedly arranged on the swing arm 40, and the elastic reset mechanism is connected to the swing arm 40 and applies an upward force to the swing arm 40. Specifically, as shown in Figures 1b and 3a and 3b, the elastic reset mechanism in this embodiment includes a second mounting seat 4 and a first elastic member 403 arranged between the second mounting seat 4 and the swing arm 40, one end of the swing arm 40 is arranged on the second mounting seat 4, and the other end is hinged to the first mounting seat 3. A hinge shaft 30 is provided on the first mounting seat 3 , and the swing arm 40 is rotatably hinged to the first mounting seat 3 via the hinge shaft 30 .

[0051] With this arrangement, when the vertical limiting wheel 2 enters the floor rail 8, the limiting top surface of the floor rail 8 generates pressure on the vertical limiting wheel 2. While the vertical limiting wheel 2 rolls relative to the limiting top surface, it also transmits the pressure to the swing arm 40. The swing arm 40 applies pressure to the elastic reset mechanism, causing it to swing relative to the first mounting seat 3, thereby lowering the horizontal height of the vertical limiting wheel 2. The above structural design allows the height of the vertical limiting wheel 2 to adapt to the height of the limiting top surface of the floor rail 8, thereby eliminating the need for the entire mobile chassis to change its horizontal height, making the mobile chassis more stable as it enters the floor rail 8.

[0052] Specifically, as shown in Figures 3b and 3c, a guide post 401 is provided on the second mounting seat 4, and a limit plate 402 is provided at the top of the guide post 401. The first elastic member 403 can be a spring, which is sleeved on the guide post 401. One end of the swing arm 40 is sleeved on the guide post 401, and the spring is located between the upper surface of the second mounting seat 4 and the lower surface of the swing arm 40. The limit plate 402 is provided above the swing arm 40 to prevent the force of the spring acting on the swing arm 40 from causing the swing arm 40 to separate from the guide post 401. An avoidance hole 1101 is provided on the side wall corresponding to the recessed portion 110, and a portion of the swing arm 40 is placed in the avoidance hole 1101. The advantage of this design is that it can make full use of the free space in the inner cavity and reduce the size of the swing arm 40 protruding outward, thereby making the overall size of the mobile chassis smaller in the left-right direction.

[0053] More specifically, as shown in Figures 3b and 3c, the recessed portion 110 includes a first connecting plate 111 and a second connecting plate 112. The first mounting seat 3 is disposed on the first connecting plate 111, and the second mounting seat 4 is disposed on the second connecting plate 112. The second mounting seat 4 can be connected to the second connecting plate 112 by bonding, snapping, or threading. The first mounting seat 3 can be connected to the first connecting plate 111 by bonding or threading.

[0054] It is easy to understand that in an optional embodiment, the swing arm 40 can also be fixedly installed on the first mounting seat 3, that is, the horizontal height of the vertical limiting wheel 2 relative to the mobile chassis will not change. In this way, in the process of the mobile chassis entering the ground rail 8, the vertical limiting wheel 2 will transmit the pressure exerted on it by the limiting top surface of the ground rail 8 to the entire mobile chassis, so that the overall horizontal height of the mobile chassis changes, which is manifested as the mobile chassis vibrating in the height direction in the process of entering the ground rail 8.

[0055] As shown in Figures 1a, 1b, and 3a-3b, the mobile chassis in this embodiment also includes transverse limiting wheels 5 rotatably mounted on the chassis body 1. The transverse limiting wheels 5 are at least partially located within the recess 110 and are configured to cooperate with the ground rails 8 in the horizontal direction to limit the horizontal movement of the mobile chassis. In this embodiment, the sidewall 11 is provided with mounting holes 1102 that connect the recess 110 to the inner cavity, and the transverse limiting wheels 5 are installed through the mounting holes 1102. The advantage of this design is that it fully utilizes the free space within the inner cavity, reducing the outward protrusion of the transverse limiting wheels 5, thereby making the overall horizontal dimension of the mobile chassis smaller. This also has the advantage of correspondingly reducing the design spacing between adjacent shelves, thereby increasing the number of shelves arranged within a given warehouse area and improving the storage capacity of the bins. As shown in Figure 2, the number of transverse limiting wheels 5 can be multiple, with three transverse limiting wheels 5 arranged in parallel forming a group, with four groups of transverse limiting wheels 5 located at the four corners of the mobile chassis.

[0056] The vertical limiting wheels 2 and the horizontal limiting wheels 5 in this embodiment can both use rollers, or bearings. When bearings are used, the friction effect is smaller, so that the friction resistance of the ground rail 8 to the mobile chassis is smaller, thereby achieving better results.

[0057] The mobile chassis provided in this embodiment also includes a driving mechanism 6 arranged on the bottom wall 10. As shown in Figures 6a and 6b, the driving mechanism 6 includes a power source 60, a driving wheel 61 driven to rotate by the power source 60, and a first elastic pressure component 62 for applying pressure to the driving wheel 61. Specifically, the power source 60 is a driving motor, and the output end of the driving motor is connected to the driving wheel 61. When the driving motor is working, it can drive the driving wheel 61 to rotate, and then drive the mobile chassis to roll and walk in the ground rail 8. By setting the first elastic pressure component 62, the compressed elastic force of the spring can be applied to the driving wheel 61 through the conduction of the hinged connecting arm, increasing the acting pressure between the driving wheel 61 and the ground, thereby increasing the friction between the two, so that the mobile chassis can move faster. The first elastic pressure component 62 can adopt the existing technology in the relevant technology, which will not be repeated here.

[0058] In some embodiments, as shown in Figures 6a and 6b, the first elastic pressure assembly 62 includes a third elastic member 621, two connecting seats 622, a support seat 623, a connecting member 624, a transmission arm 625, and a connecting block 626. The two connecting seats 622 are respectively provided at both ends of the third elastic member 621, one of the connecting seats 622 is hingedly connected to the support seat 623 via the connecting member 624, and the other connecting seat 622 is hingedly connected to the transmission arm 625 via the connecting member 624. The connecting block 626 is provided between the two transmission arms 625, and the two ends of the connecting block 626 are respectively hingedly connected to the two transmission arms 625. The third elastic member 621 is initially in a compressed state, exerting a downward force on the drive wheel 61, thereby increasing the friction between the drive wheel 61 and the ground, thereby improving the stability of the chassis.

[0059] Specifically, the connection block 626 is fixedly connected to the bottom wall 10 by screws or bonding.

[0060] More specifically, as shown in Figures 4 and 6b, a third elastic member shaft 6241 is provided on the connecting member 624, and a shaft matching hole 6231 is provided on the support seat 623. The third elastic member shaft 6241 is rotatably connected to the shaft matching hole 6231, and the support seat 623 is fixedly connected to the bottom wall 10 of the mobile chassis by bolt connection or bonding.

[0061] It should be noted that a through hole 101 is provided on the bottom wall 10, and a portion of the driving wheel 61 passes through the through hole 101 and contacts the ground. The third elastic member 621 can be a spring or an elastic column.

[0062] Furthermore, as shown in Figures 1a, 1b, 6a and 6b, the mobile chassis provided in this embodiment also includes a second elastic pressure component 7 arranged on the chassis body 1, and the second elastic pressure component 7 includes a third mounting seat 70 located on the bottom wall 10, a pressure block 71 slidingly arranged on the third mounting seat 70 in a vertical direction, a rotating member 72 rotatably arranged on the pressure block 71, a driving arm 73 located below the pressure block 71 and spaced apart from the pressure block 71, and a second elastic member 74 arranged between the pressure block 71 and the driving arm 73; the driving arm 73 is connected to the driving wheel 61, and the rotating member 72 is used to cooperate with the ground rail 8 in the vertical direction to apply pressure to the driving wheel 61 through the pressure block 71 and the driving arm 73.

[0063] The working principle and function of the second elastic pressure component 7 are described in detail with reference to Figures 4, 5, 7a and 7b, 8, 9 and 10: When the mobile chassis enters the ground rail 8, the rotating member 72 will come into rolling contact with the limiting top surface of the ground rail 8, and the limiting top surface of the ground rail 8 will apply pressure to the rotating member 72. The rotating member 72 will transmit the above pressure to the driving arm 73 through the pressure block 71 and the second elastic member 74, and the driving arm 73 will transmit the above pressure to the driving wheel 61, which will increase the force between the driving wheel 61 and the ground, thereby increasing the friction between the two, allowing the mobile chassis to move faster. Therefore, after entering the ground rail 8, the mobile chassis can move at a faster speed, which can significantly improve the work efficiency of the mobile robot using the mobile chassis. 10 , during the entire process of the mobile chassis being on the ground rail 8 , the ground rail 8 will apply pressure to the rotating member 72 , that is, a greater friction will be maintained between the driving wheel 61 and the ground during the entire process, thereby maintaining a higher speed for the mobile chassis.

[0064] Specifically, as shown in FIG6b , the second elastic pressure assembly 7 further includes a connecting pressure plate 730 and a rotating member fixing seat 720 , the third mounting seat 70 includes a guide shaft 701 , the connecting pressure plate 730 is sleeved on the guide shaft 701 , one end of the driving arm 73 is connected to the connecting pressure plate 730 , the rotating member 72 is rotatably connected to the rotating member fixing seat 720 , the rotating member fixing seat 720 is fixedly connected to the pressure block 71 , and the second elastic member 74 is disposed between the connecting pressure plate 730 and the pressure block 71 . Specifically, the rotating member 72 can be a rotating wheel, the rotating member fixing seat 720 is provided with a rotating shaft, and the rotating wheel is sleeved on the rotating shaft on the rotating member fixing seat 720 . When the mobile chassis moves on the ground rail 8 , the upper surface of the rotating wheel contacts the limit top surface of the ground rail 8 .

[0065] In addition, for reasons similar to the arrangement of the vertical limiting wheels 2 and the horizontal limiting wheels 5, in order to prevent debris generated by friction between the rotating member 72 and the ground rail 8 from entering the inner cavity, in this embodiment, a through hole is provided in the side wall 11 that extends through the recessed portion 110. The pressure block 71 has a mounting portion 710 that extends out of the through hole and is located within the recessed portion 110. The rotating member 72 is located within the recessed portion 110 and is rotatably mounted on the mounting portion 710. That is, in this embodiment, the rotating member 72 is also arranged within the recessed portion 110. In addition, the rotating member 72 in this embodiment can be a roller or a bearing.

[0066] It should be noted that, in this embodiment, the first elastic member and the second elastic member 74 are both springs. In an optional embodiment, metal springs or other elastic bodies may also be used as the first elastic member and the second elastic member 74.

[0067] As shown in Figure 2, the chassis body 1 of the mobile chassis is also equipped with a code reading sensor 91 and an obstacle avoidance navigation sensor 92. The obstacle avoidance navigation sensor 92 automatically identifies obstacles and navigates according to the preset route of the bin handling robot. The code reading sensor 91 is located on the top surface of the bottom wall 10 and can recognize the identification code of the cargo on the fork mechanism 3.

[0068] The mobile chassis provided in this embodiment can be applied to a mobile robot. For example, the mobile robot includes the mobile chassis provided in this embodiment and a column mechanism arranged on the mobile chassis, and the column mechanism is provided with a storage position for placing a material box.

[0069] In addition, the above-mentioned mobile robot can be applied to a transport system, for example, a transport system including a ground rail 8 and a mobile robot as in the above-mentioned technical solution, wherein the mobile chassis is configured to enter the ground rail 8 and move along the ground rail 8, and the vertical limiting wheels 2 are in rolling contact with the limiting top surface of the ground rail 8 during the movement of the mobile chassis along the ground rail 8. Since the mobile robot is applied to the transport system, the mobile robot can move on the ground without the ground rail 8, and can also enter the ground rail 8 to move at a higher speed. During the higher-speed movement, the vertical limiting wheels 2 can cooperate with the ground rail 8 to ensure stability.

[0070] In actual application, when a mobile robot using the mobile chassis provided by this embodiment is operating on the ground without ground rails, its movement speed is affected by the height of the mobile robot's center of gravity and generally does not exceed 2.0 m / s. However, after the mobile robot enters the ground rails, it can achieve a high-speed operation of not less than 3.0 m / s.

[0071] As shown in reference figures 4 and 5 , the ground rail 8 may include a bottom plate 80, a side plate 81 and a top plate 82, and the bottom plate 80, the side plate 81 and the top plate 82 cooperate to form a concave structure with an opening toward the mobile chassis, wherein the inner surface of the top plate 82 forms the aforementioned limiting top surface. Accordingly, the inner surface of the side plate 81 can be used to cooperate with the transverse limiting wheel 5. Furthermore, the top plate 82 is formed with a guide section 83 at the opening of the ground rail 8, and the guide section 83 is tilted upward along the length direction of the ground rail 8. By providing the guide section 83, guidance can be provided during the process of the mobile chassis entering the ground rail 8, thereby preventing the vertical limiting wheel 2 or the rotating member 72 from being stuck at the opening of the ground rail 8.

[0072] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present application are included within the scope of the claims.

Claims

1. A mobile chassis, comprising a chassis body (1) and a vertical limiting wheel (2) rotatably arranged on the chassis body (1), wherein the vertical limiting wheel (2) is used for rolling cooperation with the limiting top surface of the ground rail, characterized in that: The chassis body (1) comprises a bottom wall (10) and a side wall (11) arranged around the bottom wall (10), wherein the side wall (11) facing the ground rail is formed with a recessed portion (110), and the bottom wall (10) and the recessed portion (110) are respectively located on the inner and outer sides of the side wall (11), and the vertical limiting wheel (2) is arranged in the recessed portion (110).

2. The mobile chassis according to claim 1, characterized in that: The mobile chassis further comprises a first mounting seat (3), the first mounting seat (3) being arranged in the recessed portion (110), a rotating shaft (400) being arranged on the first mounting seat (3), and the vertical limiting wheel (2) being rotatably mounted on the rotating shaft (400).

3. The mobile chassis according to claim 2, characterized in that: The mobile chassis further comprises a swing arm (40) rotatably hinged on the first mounting seat (3) and an elastic reset mechanism arranged in the recessed portion (110); the rotating shaft (400) is fixedly arranged on the swing arm (40); and the elastic reset mechanism is connected to the swing arm (40) and applies an upward force to the swing arm (40).

4. The mobile chassis according to claim 3, characterized in that: The elastic reset mechanism comprises a second mounting seat (4) and a first elastic member arranged between the second mounting seat (4) and a swing arm (40); one end of the swing arm (40) is arranged on the second mounting seat (4) and the other end is hinged to the first mounting seat (3).

5. The mobile chassis according to any one of claims 1 to 4, characterized in that: The mobile chassis further comprises a transverse limiting wheel (5) rotatably arranged on the chassis body (1), wherein the transverse limiting wheel (5) is at least partially located in the recessed portion (110), and the transverse limiting wheel (5) is used to cooperate with the ground rail (8) in the horizontal direction to limit the shaking of the mobile chassis in the horizontal direction.

6. The mobile chassis according to any one of claims 1 to 4, characterized in that: The mobile chassis further comprises a driving mechanism (6) arranged on the bottom wall (10), the driving mechanism (6) comprising a power source (60), a driving wheel (61) driven to rotate by the power source (60), and a first elastic pressure component (62) for applying pressure to the driving wheel (61).

7. The mobile chassis according to claim 6, characterized in that: The mobile chassis further comprises a second elastic pressure component (7) arranged on the chassis body (1), the second elastic pressure component (7) comprising a third mounting seat (70) located on the bottom wall (10), a pressure block (71) slidably arranged on the third mounting seat (70) along a vertical direction, a rotating member (72) rotatably arranged on the pressure block (71), a driving arm (73) located below the pressure block (71) and spaced apart from the pressure block (71), and a second elastic member (74) arranged between the pressure block (71) and the driving arm (73); The driving arm (73) is connected to the driving wheel (61), and the rotating member (72) is used to cooperate with the ground rail (8) in the vertical direction to apply pressure to the driving wheel (61) through the pressing block (71) and the driving arm (73).

8. The mobile chassis according to claim 7, characterized in that: The side wall (11) is provided with a through hole penetrating the recessed portion (110); the pressing block (71) has a mounting portion (710) extending out of the through hole and located in the recessed portion (110); and the rotating member (72) is located in the recessed portion (110) and is rotatably mounted on the mounting portion (710).

9. A mobile robot, characterized in that: It comprises a mobile chassis as claimed in any one of claims 1 to 8 and a column mechanism arranged on the mobile chassis, wherein the column mechanism is provided with a storage position for placing a material box.

10. A transport system, characterized in that: The invention comprises a ground rail (8) and a mobile robot as claimed in claim 9, wherein the mobile chassis is configured to be able to enter the ground rail (8) and move along the ground rail (8), and the vertical limiting wheel (2) is in rolling contact with the limiting top surface of the ground rail (8) during the movement of the mobile chassis along the ground rail (8).

11. The transport system according to claim 10, characterized in that: The ground rail (8) comprises a bottom plate (80), a side plate (81) and a top plate (82), and the bottom plate (80), the side plate (81) and the top plate (82) cooperate to form a concave structure with an opening toward the movable chassis, wherein the inner surface of the top plate (82) forms the limiting top surface.

12. The transport system according to claim 11, characterized in that: The top plate (82) is formed with a guide section (83) at the opening of the ground rail (8), and the guide section (83) is tilted upward along the length direction of the ground rail (8).

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