Motion chassis, transfer device and warehousing robot

Abstract

A motion chassis (100a), a transfer device (100) and a warehousing robot, which belong to the technical field of smart warehousing. The transfer device comprises a motion chassis for driving a carrier to move, wherein the motion chassis comprises a carrying body (10) and a motion mechanism (20), the carrying body extending on a plane defined by a first direction and a second direction which are perpendicular to each other and having a mounting area (101) for mounting the carrier; the mounting area is eccentrically arranged relative to a center line of the carrying body in the first direction and is relatively close to a first end of the carrying body in the first direction; and the motion mechanism comprises a driving wheel (21) and a driven wheel (22). The mounting area is relatively close to one end where the driving wheel is located, such that the center of gravity is close to the driving wheel after the carrier is mounted, the driving wheel can thus be prevented from slipping, and it is only necessary to provide the driven wheel on one side of the driving wheel. Compared with the prior art, the present application has a simpler structure.

Description

Motion chassis, handling devices and warehouse robots Technical Field

[0001] This invention relates to a motion chassis, a handling device, and a warehouse robot, belonging to the field of intelligent warehousing technology. Background Technology

[0002] With the rapid development of the logistics and warehousing industry, the construction of automated warehouses for storing goods is becoming more and more widespread. Various intelligent equipment or warehouse robots such as stacking AGVs and AMRs used in automated warehouses are becoming more and more common, especially forklift-type intelligent equipment or warehouse robots, where goods are stacked on pallets and the pallets are picked up by forks to realize the transfer of goods.

[0003] The motion chassis is a crucial component of warehouse robots, enabling the forks to move and pick up goods within the automated warehouse. However, existing motion chassis suffer from inflexible turning maneuvers.

[0004] In addition, existing robots, to adapt to the ground, have a chassis assembly comprising two hinged chassis; a drive wheel assembly mounted on one of the chassis; and omnidirectional wheel assemblies connected to each chassis via a buffer assembly; the support platform is connected to both chassis via an adjustment assembly. When using the above structure, the use of a buffer assembly to connect the omnidirectional wheel assemblies to the chassis allows the robot chassis to have a certain degree of adaptability to the ground, thereby ensuring contact between each omnidirectional wheel assembly and the ground, and enhancing the stability of the chassis.

[0005] However, it also has the following drawbacks: In order to prevent the drive wheels from slipping, the support platform is set directly above the drive wheel assembly. This setting results in universal wheel assemblies on both sides of the drive wheel assembly, which makes the chassis structure more complex. Summary of the Invention

[0006] One object of the present invention is to provide a simple moving chassis and a transport device that can prevent slippage.

[0007] Another objective of this invention is to provide a motion chassis and a warehouse robot to improve the turning flexibility of the motion chassis.

[0008] According to a first aspect of the present invention, a motion chassis is provided for driving a vehicle to move, comprising:

[0009] The supporting body extends in a plane defined by a first direction and a second direction that are perpendicular to each other, and has a mounting area for mounting the vehicle.

[0010] The installation area is offset relative to the centerline of the support body in the first direction, and is relatively close to the first end of the support body located in the first direction; and

[0011] Sports organizations, including:

[0012] A drive wheel, rotatably mounted on the support body and relatively close to a first end of the support body located in the first direction, wherein part or all of the drive wheel protrudes from the lower surface of the support body; and

[0013] A driven wheel is disposed on the bearing body and relatively close to the second end of the bearing body in the first direction, and part or all of the driven wheel protrudes from the lower surface of the bearing body.

[0014] In one embodiment,

[0015] The drive wheels include two sets spaced apart along the second direction.

[0016] When the two sets of drive wheels rotate in opposite directions and at the same speed, the moving chassis turns, and at this time the center of rotation is located between the two sets of drive wheels.

[0017] In one embodiment,

[0018] The supporting body has symmetrically arranged counterweights at both ends in the second direction, with the counterweights being relatively close to the second end of the supporting body in the first direction.

[0019] The counterweight bin is configured to carry the counterweight.

[0020] In one embodiment,

[0021] The counterweight includes multiple counterweight plates, which are stacked in the counterweight chamber along the first direction.

[0022] In one embodiment,

[0023] The counterweight chamber is also equipped with retaining bars and bolt fasteners.

[0024] The baffle is fixed to the outer side of the bottom of the counterweight and extends along the first direction. Each counterweight has a notch on the outer side of its bottom end, and the notch on each counterweight abuts against the baffle.

[0025] The bolt fasteners are configured to pass through each of the balance plates and connect to the load-bearing body along the second direction.

[0026] In one embodiment,

[0027] The supporting body is provided with receiving compartments, and the number of receiving compartments is consistent with the number of driven wheels.

[0028] The receiving compartment is located relatively close to the second end of the supporting body in the first direction, and the driven wheel is installed inside the receiving compartment.

[0029] The top of the receiving compartment has a first opening for the corresponding driven wheel to be inserted into the receiving compartment, and the bottom of the receiving compartment has a second opening for the corresponding driven wheel to protrude from the lower surface of the supporting body.

[0030] The driven wheel is fixedly connected to the top of a connecting plate that abuts against the upper surface of the bearing body, and the connecting plate is fixedly connected to the bearing body.

[0031] In one embodiment, it further includes:

[0032] Guide units are disposed at both ends of the supporting body in the second direction.

[0033] The guiding unit includes at least one guide wheel, which is rotatably mounted on the supporting body, and part or all of the guide wheel protrudes from the side of the supporting body located in the second direction.

[0034] The rotation plane of the guide wheel is parallel to the plane defined by the first direction and the second direction.

[0035] In one embodiment,

[0036] The supporting body includes:

[0037] Base plate;

[0038] At least two main side beams are fixed to the upper surface of the base plate and spaced apart along the second direction, the main side beams extending along the first direction; and

[0039] At least two auxiliary side beams are fixed to the upper surface of the base plate and spaced apart along the first direction, and the main side beam extends along the second direction.

[0040] Each of the auxiliary side beams is fixedly connected to all of the main side beams.

[0041] In one embodiment,

[0042] The supporting body also includes:

[0043] At least one first reinforcing beam is fixed to the upper surface of the base plate and located between the two outermost auxiliary side beams. The first reinforcing beam extends along the second direction, and each first reinforcing beam is fixedly connected to all of the main side beams; and

[0044] At least one second reinforcing beam is fixed to the upper surface of the base plate and located between the two outermost main side beams. The second reinforcing beam extends along the first direction, and each second reinforcing beam is fixedly connected to all of the auxiliary side beams.

[0045] Each of the first reinforcing beams is fixedly connected to all of the second reinforcing beams.

[0046] According to a second aspect of the present invention, a conveying device is provided, comprising:

[0047] The motion chassis is the motion chassis as described above; and

[0048] A gantry system is installed in the installation area, with the proximal side of the installation area relative to the first direction being the front side of the conveying device.

[0049] Therefore, the present invention has the following advantages compared with the prior art:

[0050] According to the first and second aspects of the present invention, a motion chassis and a transport device are provided. The transport device includes a motion chassis for driving a vehicle. The motion chassis includes a load-bearing body and a motion mechanism. The load-bearing body extends in a plane defined by mutually perpendicular first and second directions and has a mounting area for mounting the vehicle. The mounting area is eccentrically positioned relative to the centerline of the load-bearing body in the first direction and is relatively close to a first end of the load-bearing body in the first direction. The motion mechanism includes a drive wheel and a driven wheel. The drive wheel is rotatably mounted on the load-bearing body and is relatively close to the first end of the load-bearing body in the first direction. Part or all of the drive wheel protrudes from the lower surface of the load-bearing body. The driven wheel is mounted on the load-bearing body and is relatively close to a second end of the load-bearing body in the first direction. Part or all of the driven wheel protrudes from the lower surface of the load-bearing body. Because the mounting area is eccentrically positioned and relatively close to the first end of the load-bearing body in the first direction, i.e., the mounting area is relatively close to the end where the drive wheel is located, the center line of gravity of the vehicle after installation is close to the drive wheel. This prevents the drive wheel from slipping and allows the driven wheel to be provided only on one side of the drive wheel, resulting in a simpler structure compared to the prior art.

[0051] According to a third aspect of the present invention, a motion chassis is provided, the motion chassis comprising:

[0052] The main body of the load-bearing structure;

[0053] A drive wheel assembly is disposed on the load-bearing body. The drive wheel assembly includes two drive wheels, each drive wheel is equipped with a drive motor, and the drive motor is used to drive the corresponding drive wheel to rotate, so that the load-bearing body can switch between straight-line and turning.

[0054] At least two driven wheels, and the at least two driven wheels and the drive wheel assembly are used to support the load-bearing body.

[0055] In one embodiment, the drive wheel assembly further includes:

[0056] The two drive wheels of the drive wheel assembly are connected by a connector so that the rotation axes of the two drive wheels are on a straight line. The connector is rotatably connected to the bearing body so that the rotation axes of the two drive wheels can be adjusted to be parallel to the running surface or form an angle with the running surface.

[0057] In one embodiment, the motion chassis further includes a first gear, a second gear, and a sensor. The first gear and the second gear mesh and rotate on the load-bearing body. The connecting member is pivotally connected to the first gear. The differential rotation of the drive wheel drives the connecting member to rotate. The rotation of the connecting member drives the first gear to rotate. The second gear is connected to the sensor.

[0058] In one embodiment, the motion chassis travels along a first direction, the drive wheel assembly is disposed at a first end of the load-bearing body in the first direction, and is disposed at the middle position of the first end in a second direction, the second direction being perpendicular to the first direction.

[0059] In one embodiment, the motion chassis travels along a first direction, and two driven wheels are disposed at the second end of the load-bearing body in the first direction, and the two driven wheels are spaced apart on both sides below the load-bearing body along the second direction.

[0060] In one embodiment, the motion chassis further includes:

[0061] An auxiliary support member is disposed within the bearing body and can selectively extend beyond the lower surface of the bearing body.

[0062] In one embodiment, the auxiliary support is provided in two sets, and the two sets of auxiliary support are respectively provided on both sides of the drive wheel set in the direction perpendicular to the walking direction of the bearing body.

[0063] In one embodiment, the auxiliary support includes:

[0064] A landing component, which extends beyond the lower surface of the supporting body;

[0065] A lifting drive component, wherein the fixed end of the lifting drive component is disposed on the bearing body, and the driving end of the bearing body is connected to the landing component, so as to drive the landing component to extend out of the lower surface of the bearing body or retract into the bearing body.

[0066] In one embodiment, the auxiliary support further includes:

[0067] A pressure sensor is disposed on the landing component. The pressure sensor is configured to sense the pressure value of the landing component on the running surface of the moving chassis, so as to stop the driving action of the lifting drive component when the pressure value reaches a preset value.

[0068] In one embodiment, the landing component uses casters.

[0069] According to a fourth aspect of the present invention, a warehouse robot is provided, the warehouse robot including a gantry and attachments, the attachments being mounted on the gantry, the warehouse robot also including a motion chassis as described above, the gantry and the driven wheels being mounted on the same end of the carrying body.

[0070] In one embodiment, a contactless charging device is provided on the motion chassis, which is used to charge the warehouse robot in conjunction with a contactless charging pile.

[0071] Therefore, the present invention has the following advantages compared with the prior art:

[0072] According to the third aspect of the present invention, a motion chassis provides driving force for the movement of the load-bearing body by providing a drive wheel assembly on the load-bearing body. The drive wheel assembly includes two drive wheels, and by configuring a drive motor for each drive wheel, when the motion chassis needs to move straight, the two drive wheels rotate in the same direction and at the same speed; when the motion chassis needs to turn, the drive motors drive the two drive wheels to rotate in opposite directions respectively, thereby enabling the motion chassis to rotate in place around the center point of the rotation axis of the two drive wheels, thus improving the turning flexibility of the motion chassis.

[0073] The warehousing robot according to the fourth aspect of the present invention, by adopting the above-described motion chassis, achieves flexible turning within an automated warehouse, greatly improving the convenience of cargo transfer. Attached Figure Description

[0074] Figure 1 is a front view of the conveying device in one embodiment of this application;

[0075] Figure 2 is a three-dimensional structural diagram of the motion chassis in one direction according to an embodiment of this application;

[0076] Figure 3 is a three-dimensional structural diagram of the motion chassis in another direction in one embodiment of this application;

[0077] Figure 4 is a schematic diagram of the motion trajectory of the motion chassis turning in place in one embodiment of this application;

[0078] Figure 5 is a schematic diagram of the motion trajectory of the arc-shaped steering of the sports chassis in one embodiment of this application;

[0079] Figure 6 is a schematic diagram of the installation structure of the counterweight in one embodiment of this application;

[0080] Figure 7 is a three-dimensional structural diagram of the supporting body in one embodiment of this application;

[0081] Figure 8 is a structural schematic diagram of a warehouse robot provided in another embodiment of this application;

[0082] Figure 9 is a bottom view of the structure of the motion chassis provided in another embodiment of this application;

[0083] Figure 10 is a schematic diagram of the drive wheel assembly provided in another embodiment of this application from one view.

[0084] Figure 11 is a schematic diagram of the drive wheel assembly provided in another embodiment of this application from another perspective;

[0085] Figure 12 is a structural schematic diagram of an auxiliary support member provided in another embodiment of this application; and

[0086] Figure 13 is a structural schematic diagram of a contactless charging device and a charging pile provided in another embodiment of this application.

[0087] Reference numerals: 100, conveying device; 100a, motion chassis; 100b, gantry system; 110b, gantry; 100c, attachment; 100d, charging pile; 110, power supply end; 10, load-bearing body; 101, installation area; 11, counterweight bin; 111, stop bar; 112, bolt fastener; 12, storage bin; 13, base plate; 14, main side beam; 15, auxiliary side beam; 16, first reinforcing beam; 17, second reinforcing beam; 20, motion mechanism; 21, drive wheel; 22, driven wheel; 211, connecting hole; 22, driven wheel; 221, connecting plate; 201, mounting plate; 212, first clearance hole; 213, second clearance hole; 220, drive wheel set; 210, drive motor; 23, connecting block; 24, first gear; 25, second gear; 30. Counterweight; 31. Balance plate; 311. Notch; 40. Auxiliary support component; 41. Grounding component; 42. Lifting drive component; 421. Lifting mounting plate; 422. Lifting motor; 423. Lifting reducer; 43. Universal wheel mounting plate; 44. Universal wheel bracket; 50. Non-contact charging device; 51. Power receiving end; 60. Guide unit; 61. Guide wheel. Detailed Implementation

[0088] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0089] One embodiment of this application provides a simple moving chassis and a transport device that can prevent slippage.

[0090] Figure 1 is a front view of the conveying device in one embodiment of the present application; Figure 2 is a three-dimensional view of the moving chassis in one direction in one embodiment of the present application; Figure 3 is a three-dimensional view of the moving chassis in another direction in one embodiment of the present application.

[0091] Referring to Figures 1 to 3, an embodiment of the present invention provides a handling device 100, which includes a motion chassis 100a for driving a carrier. The motion chassis 100a includes a support body 10 and a motion mechanism 20. The support body 10 extends in a plane defined by a first direction and a second direction that are perpendicular to each other, and has a mounting area 101 for mounting the carrier. The mounting area 101 is eccentrically disposed relative to the centerline of the support body 10 in the first direction and is relatively close to a first end of the support body 10 in the first direction. The motion mechanism 20 includes a drive wheel 21 and a driven wheel 22. The drive wheel 21 is rotatably disposed on the support body 10 and is relatively close to the first end of the support body 10 in the first direction, and part or all of the drive wheel 21 protrudes from the lower surface of the support body 10. The driven wheel 22 is disposed on the support body 10 and is relatively close to a second end of the support body 10 in the first direction, and part or all of the driven wheel 22 protrudes from the lower surface of the support body 10.

[0092] Understandably, because the installation area 101 is eccentrically positioned and relatively close to the first end of the bearing body 10 in the first direction, i.e., the end where the drive wheel 21 is located, the center line of gravity of the vehicle after installation is close to the drive wheel 21. Most of the wheel pressure is on the drive wheel 21, which improves the grip between the drive wheel 21 and the ground, making it less prone to slippage during travel. When the vehicle is traveling in a straight line, the driven wheel may be slightly deflected due to the influence of the ground conditions, which may cause the drive wheel 21 to slip slightly, affecting the straight-line accuracy of the vehicle and resulting in a serpentine movement. The greater the grip of the drive wheel 21, the less likely this situation will occur. When the vehicle is changing direction, especially when changing from front-wheel drive to rear-wheel drive, the vehicle needs to make directional corrections due to the swing of the driven wheel 22. The greater the pressure on the drive wheel, the greater the correction acceleration, and the easier the correction. At the same time, it only requires the driven wheel 22 to be set on one side of the drive wheel 21, making the structure simpler compared to the prior art.

[0093] It should be noted that the direction indicated by A in Figure 2 is the first direction, and the direction indicated by B in Figure 2 is the second direction.

[0094] In this embodiment, a plurality of connection holes 211 are provided at the installation area 101 of the support body 10, so that the support body 10 is connected to the carrier by bolts.

[0095] Figure 4 is a schematic diagram of the motion trajectory of the sports chassis turning in place in one embodiment of this application; Figure 5 is a schematic diagram of the motion trajectory of the sports chassis turning in an arc in one embodiment of this application.

[0096] As shown in Figures 2 to 5, the drive wheel 21 includes two sets of wheels spaced apart along the second direction. When the two sets of drive wheels 21 rotate in opposite directions and at the same speed, the motion chassis 100a turns in place, and at this time the center of rotation is located between the two sets of drive wheels 21.

[0097] In this embodiment, there are two drive wheels 21 and two driven wheels 22. The two drive wheels 21 and the two driven wheels 22 are respectively arranged at intervals along the second direction. Each drive wheel 21 is connected to a drive motor and a servo controller, and the driven wheel 22 is a universal wheel.

[0098] It should be noted that when the motion chassis 100a moves, the control system sends commands to the servo controller, which in turn controls the two drive motors to operate, thereby driving the two drive wheels 21. When the two drive wheels 21 rotate in the same direction and at the same speed, the vehicle moves forward or backward; when the two drive wheels 21 rotate in opposite directions and at the same speed, the vehicle turns in place; when the two drive wheels 21 rotate in the same direction but at different speeds, the vehicle turns in an arc; and when the two drive wheels 21 rotate in opposite directions and at different speeds, the vehicle turns in a near-circular arc. The motion chassis 100a can execute different operating modes according to working conditions and scenario requirements to improve efficiency.

[0099] Figure 6 is a schematic diagram of the installation structure of the counterweight in one embodiment of this application.

[0100] As shown in Figure 6, the load-bearing body 10 has symmetrically arranged counterweight chambers 11 at both ends in the second direction. The counterweight chambers 11 are relatively close to the second end of the load-bearing body 10 in the first direction, and the counterweight chambers 11 are configured to bear the counterweight 30.

[0101] Understandably, since the center of gravity of the vehicle after installation is close to the drive wheel 21, that is, close to the first end of the bearing body 10 in the first direction, the counterweight 11 is relatively close to the second end of the bearing body 10 in the first direction. The counterweight 30 in the counterweight 11 can balance the gravity exerted by the vehicle on the bearing body 10, thereby effectively preventing the bearing body 10 from tipping over and ensuring the stability of the bearing body 10 in supporting the vehicle.

[0102] As shown in Figure 6, the counterweight 30 includes multiple counterweight plates 31, which are stacked in the counterweight chamber 11 along the first direction.

[0103] Understandably, since the installation area 101 and the counterweight chamber 11 are spaced apart relative to the first direction, the multiple counterweight plates 31 stacked in the counterweight chamber 11 along the first direction can better balance the gravity exerted by the vehicle on the load-bearing body 10, further ensuring the stability of the load-bearing body 10 supporting the vehicle.

[0104] In this embodiment, the balance plate 31 is designed with chamfers around its perimeter to avoid weld protrusions at the corners of various installation areas 101.

[0105] As shown in Figure 6, the counterweight chamber 11 is also equipped with a retaining strip 111 and bolt fasteners 112. The retaining strip 111 is fixed to the outer side of the bottom of the counterweight chamber 11 and extends along a first direction. Each counterweight plate 31 has a notch 311 on its outer bottom end, and the notch 311 on each counterweight plate 31 abuts against the retaining strip 111. The bolt fasteners 112 are configured to pass through each counterweight plate 31 along a second direction and connect to the load-bearing body 10.

[0106] Understandably, by abutting against the notch 311 of each balance plate 31, each balance plate 31 can be positioned in the balance chamber 11, and each balance plate 31 can be fixed to the bearing body 10 by bolt fasteners 112. This enables the fixed installation of each balance plate 31 in the balance chamber 11, and the installation and disassembly are convenient, so that the number of balance plates 31 can be increased or decreased according to the vehicle model expansion needs.

[0107] As shown in Figure 3, the supporting body 10 is provided with receiving chambers 12, the number of which matches the number of driven wheels 22. The receiving chambers 12 are located relatively close to the second end of the supporting body 10 in the first direction, and the driven wheels 22 are installed inside the receiving chambers 12. The top of the receiving chamber 12 has a first opening for the corresponding driven wheel 22 to be inserted into the receiving chamber 12, and the bottom of the receiving chamber 12 has a second opening for the corresponding driven wheel 22 to protrude from the lower surface of the supporting body 10. A connecting plate 221 is fixedly attached to the top of the driven wheel 22, abutting against the upper surface of the supporting body 10, and the connecting plate 221 is fixedly connected to the supporting body 10.

[0108] Understandably, this allows the driven wheel 22 to be inserted into the receiving chamber 12 through the first opening. During insertion, the abutting fit between the connecting plate 221 and the supporting body 10 restricts the insertion depth and ensures accurate insertion to the specified depth. After insertion, the driven wheel 22 is installed in the receiving chamber 12 through the fixed connection between the connecting plate 221 and the supporting body 10. This allows the driven wheel 22 to be installed into the receiving chamber 12 from top to bottom, resulting in good assembly processability and avoiding problems such as crane frame and hole alignment difficulties that occur when using the bottom-up installation method. The installation efficiency is effectively improved.

[0109] In this embodiment, the connecting plate 221 is mounted on the upper surface of the bearing body 10 and is connected to the bearing body 10 by bolts.

[0110] As shown in Figure 2, the motion chassis 100a also includes guide units 60, which are disposed at both ends of the support body 10 in the second direction. Each guide unit 60 includes at least one guide wheel 61, which is rotatably mounted on the support body 10, and part or all of the guide wheel 61 protrudes from the side of the support body 10 in the second direction. The plane of rotation of the guide wheel 61 is parallel to the plane defined by the first and second directions.

[0111] Understandably, when the tunnel is too narrow, the guide wheel 61 cooperates with the tunnel guide rail, and the guide wheel 61 moves within the guide rail, so that the moving chassis 100a can be used in working environments where it moves within narrow tunnels.

[0112] In this embodiment, there are four guide wheels 61, which are arranged in pairs at both ends of the support body 10 in the second direction.

[0113] Figure 7 is a three-dimensional structural diagram of the supporting body in one embodiment of this application.

[0114] As shown in Figure 7, the supporting structure 10 includes a base plate 13, at least two main side beams 14, and at least two auxiliary side beams 15. The at least two main side beams 14 are fixed to the upper surface of the base plate 13 and spaced apart along a second direction, while the main side beams 14 extend along a first direction. The at least two auxiliary side beams 15 are fixed to the upper surface of the base plate 13 and spaced apart along the first direction, while the main side beams 14 extend along a second direction. Each auxiliary side beam 15 is fixedly connected to all the main side beams 14.

[0115] Understandably, the main side beam 14, the auxiliary side beam 15, and the bottom plate 13 form a box-shaped structure. The box-shaped structure has a significant strengthening effect on the load-bearing capacity of the main body 10, thereby enabling the main body 10 to have a large load-bearing capacity.

[0116] In this embodiment, the main side beam 14 and the bottom plate 13 form two "I"-shaped structures on both sides of the load-bearing body 10 in the second direction, which play a strong longitudinal load-bearing role. The front of the "I"-shaped structure is connected to the drive wheel 21 and the rear is connected to the driven wheel 22.

[0117] As shown in Figure 7, the supporting body 10 also includes at least one first reinforcing beam 16 and at least one second reinforcing beam 17. At least one first reinforcing beam 16 is fixed to the upper surface of the base plate 13 and located between the two outermost auxiliary side beams 15. The first reinforcing beam 16 extends along a second direction, and each first reinforcing beam 16 is fixedly connected to all the main side beams 14. At least one second reinforcing beam 17 is fixed to the upper surface of the base plate 13 and located between the two outermost main side beams 14. The second reinforcing beam 17 extends along a first direction, and each second reinforcing beam 17 is fixedly connected to all the auxiliary side beams 15. Each first reinforcing beam 16 is fixedly connected to all the second reinforcing beams 17.

[0118] Understandably, the first reinforcing beam 16, the second reinforcing beam 17, the main side beam 14, and the auxiliary side beam 15 divide the load-bearing body 10 into multiple areas, further forming a box-shaped structure, thereby further enhancing the load-bearing capacity of the load-bearing body 10.

[0119] In this embodiment, the first reinforcing beam 16 is connected to two I-shaped structures, serving as a lateral load-bearing component.

[0120] As shown in Figures 1 and 2, the transport device 100 also includes a gantry system 100b, which is installed in the installation area 101. The proximal side of the installation area 101 relative to the first direction is the front side of the transport device 100.

[0121] Please refer to Figure 8, which shows a structural schematic diagram of a warehousing robot provided in another embodiment of this application. This embodiment of the application provides a motion chassis 100a and a warehousing robot using the motion chassis 100a. The warehousing robot also includes a gantry 110b and an attachment 100c. The attachment 100c is mounted on the gantry 110b, and the gantry 110b is mounted on the motion chassis 100a. Specifically, the motion chassis 100a travels along a first direction, defined as the front-rear direction shown in Figure 8. The first end of the motion chassis 100a faces forward, and the second end of the motion chassis 100a faces backward. The gantry 110b is located on the upper side of the second end of the motion chassis 100a, and the attachment 100c is located on the front side of the gantry 110b. After the attachment 100c carries goods, its center of gravity falls above the motion chassis 100a, which helps to maintain the stability of the warehousing robot's center of gravity.

[0122] It should be noted that the embodiments of this application mainly involve improvements to the motion chassis 100a, and do not limit the specific structure of the gantry 110b and attachment 100c or their arrangement on the motion chassis 100a. The above is one arrangement of the gantry 110b and attachment 100c on the motion chassis 100a. In other embodiments, the attachment 100c may be disposed on the rear side of the gantry 110b, or the gantry 110b may be disposed at the first end of the motion chassis 100a.

[0123] Please refer to Figures 9 and 10. Figure 9 shows a bottom view of the structure of the motion chassis 100a provided in another embodiment of this application; Figure 10 shows a structural schematic diagram of the drive wheel assembly 220 provided in another embodiment of this application from one perspective.

[0124] The motion chassis 100a includes a load-bearing body 10, a drive wheel set 220, and at least two driven wheels 22. The drive wheel set 220 is disposed on the load-bearing body 10 and includes two drive wheels 21. Each drive wheel 21 is equipped with a drive motor 210, which drives the corresponding drive wheel 21 to rotate, enabling the load-bearing body 10 to switch between straight-line and turning motions. The at least two driven wheels 22 and the drive wheel set 220 support the load-bearing body 10.

[0125] According to the embodiments of the present invention, the motion chassis provides driving force for the movement of the support body 10 by providing a drive wheel set 220 on the support body 10. The drive wheel set 220 includes two drive wheels 21. By configuring a drive motor 210 for each drive wheel 21, the two drive wheels 21 can be driven to rotate at different speeds or directions. When the motion chassis 100a needs to move straight, the two drive wheels 21 rotate in the same direction and at the same speed; when the motion chassis 100a needs to turn, the drive motors 210 drive the two drive wheels 21 to rotate in opposite directions respectively, so that the motion chassis 100a rotates in place around the center point of the rotation axis of the two drive wheels 21, thereby improving the turning flexibility of the motion chassis 100a.

[0126] In one embodiment, as shown in FIG9, the motion chassis 100a moves along a first direction, and the drive wheel set 220 is disposed at the first end of the bearing body 10 in the first direction and at the middle position of the first end in the second direction. The second direction is perpendicular to the first direction, and the second direction is specifically the left and right direction shown in FIG9.

[0127] By placing the drive wheel assembly 220 at the middle position of the first end, compared to the prior art where the two drive wheels 21 are placed at the top corner of the supporting body 10, the axle spacing of the two drive wheels 21 is reduced, which helps to reduce the turning radius of the motion chassis 100a, thereby further improving turning flexibility.

[0128] In one embodiment, two driven wheels 22 are provided. The two driven wheels 22 are located at the second end of the support body 10 in the first direction, and the two driven wheels 22 are spaced apart on both sides below the support body 10 along the second direction.

[0129] The two driven wheels 22 and the drive wheel set 220 form three contact points on the running surface of the moving chassis 100a. The three-point support structure can keep the three contact points in contact with the running surface at all times, which is beneficial to maintaining the running stability of the moving chassis 100a. Especially on uneven running surfaces, the drive wheel 21 and driven wheel 22 of the drive wheel set 220 can float with the undulation of the running surface, but will not detach from the running surface, thereby preventing the moving chassis 100a from losing balance due to the sudden loss of support at a certain support point.

[0130] As shown in Figure 8, the gantry 110b and the driven wheel 22 are installed at the same end of the supporting body 10, both located at the second end of the supporting body 10. The drive wheel 21 is located at the first end of the supporting body 10. The front is the forward direction of the moving chassis 100a, and the rear is the backward direction of the moving chassis 100a. Therefore, the moving chassis 100a is a front-driven force, which is more flexible in turning and has a smaller turning radius compared to the rear-driven force.

[0131] The attachment 100c is located on the front side of the mast 110b. When the warehouse robot moves forward, the attachment 100c faces forward and can move directly to the front of the shelf. Compared with the solution where the attachment 100c is located on the rear side of the mast 110b, it can get closer to the front shelf.

[0132] Please refer to Figure 9. In order to allow the drive wheel 21 to extend out of the lower surface of the support body 10, a first clearance hole 212 is provided on the bottom plate of the support body 10. The drive wheel 21 extends out from the first clearance hole 212 so that it can contact the walking surface.

[0133] In one embodiment, as shown in FIG9, two driven wheels 22 are respectively disposed at the top corner of the second end of the motion chassis 100a, and the drive wheel set 220 is close to the front edge of the first end of the motion chassis 100a, so that the two driven wheels 22 and the drive wheel set 220 maintain the largest possible distance, which is beneficial to improving the stability of the motion chassis 100a.

[0134] Please refer to Figure 11, which is a schematic diagram of the drive wheel assembly 220 provided in another embodiment of this application from another perspective. To facilitate the installation of the drive wheels 21 and the drive motor 210, the drive wheel assembly 220 also includes a connector. The two drive wheels 21 of the drive wheel assembly 220 are connected by the connector so that the rotation axes of the two drive wheels 21 are in a straight line. The connector is rotatably connected to the supporting body 10, allowing adjustment so that the rotation axes of the two drive wheels 21 are parallel to or form an angle with the running surface.

[0135] When the running surface is relatively flat, the contact points between the two drive wheels 21 and the running surface are on the same plane, and the rotation axes of the two drive wheels 21 are parallel to the running surface. When the running surface is uneven, if the rotation axes of the drive wheels 21 cannot be adjusted, one drive wheel 21 may be suspended in the air due to potholes in the running surface below the two drive wheels 21, resulting in unstable support. However, by using the aforementioned connector pivotally connected to the supporting body 10, the connector can drive the two drive wheels 21 to rotate relative to the supporting body 10. When potholes appear in the running surface below the two drive wheels 21, the connector can rotate relative to the supporting body 10 at a certain angle, thereby causing the two drive wheels 21 to tilt according to the pothole state of the running surface to adapt to the pothole state, thus keeping the two drive wheels 21 in contact with the running surface at all times, so that the two drive wheels 21 maintain a stable supporting force on the supporting body 10.

[0136] Specifically, please refer to Figures 10 and 11. A mounting plate 201 is provided on the supporting body 10. The moving chassis 100a also includes a first gear 24, a second gear 25, and a sensor. The first gear 24 and the second gear 25 are meshed and rotatably mounted on the supporting body 10, specifically on the mounting plate 201. A connecting member is pivotally connected to the first gear 24. The differential rotation of the two drive wheels 21 drives the connecting member to rotate, which in turn drives the first gear 24 to rotate. The second gear 25 is connected to the sensor to sense the rotation angle of the second gear 25, thus confirming whether the drive wheels 21 are in a straight or turning state. The sensor can be a wire encoder.

[0137] Specifically, the connector includes a connecting block 23 and a pivot shaft (not shown in the figure). One end of the pivot shaft is pivotally connected to the connecting block 23, and the other end is pivotally connected to the first gear 24, thereby achieving a pivot connection between the drive wheel 21 and the supporting body 10. The pivot shaft can be configured as a flat shaft, capable of rotating in a vertical plane relative to the connecting block 23 and the first gear 24 but unable to rotate in a horizontal plane. This allows the connecting block 23 to sway as the two drive wheels 21 tilt, and to rotate as the connecting block 23 rotates in a horizontal plane.

[0138] In one embodiment, two drive wheels 21 are respectively disposed on the left and right sides of the connecting block 23, and two drive motors 210 are respectively disposed on the front and rear sides of the connecting block 23. The distribution of the two drive wheels 21 and the two drive motors 210 on the connecting block 23 is relatively balanced.

[0139] In one embodiment, please refer back to Figure 9. In order to ensure steering flexibility, the wheelbase L between the two drive wheels 21 is designed to be no greater than 1 / 2 of the width of the load-bearing body 10 in the second direction. This ratio is generally set in the range of 1 / 3 to 1 / 2.

[0140] During the process of picking up and placing goods by the warehouse robot, the attachment 100c may need to be raised to a higher position. Moreover, placing goods on or unloading goods from the attachment 100c will change the center of gravity of the warehouse robot, which may easily cause the warehouse robot to tilt or even tip over.

[0141] To address the above issues, please refer to Figure 9. The motion chassis 100a also includes an auxiliary support member 40. The auxiliary support member 40 is disposed within the support body 10 and can selectively extend beyond the lower surface of the support body 10. When the warehouse robot moves, the auxiliary support member 40 is adjusted to retract upwards, so that the lower end surface of the auxiliary support member 40 is higher than the lowest point of the drive wheel 21 and the driven wheel 22. In other words, the auxiliary support member 40 is kept away from the walking surface to ensure that only the drive wheel 21 and the driven wheel 22 are in contact with the walking surface during the movement of the motion chassis 100a, thus maintaining stable movement. To prevent the auxiliary support member 40 from scraping against the protruding walking surface when moving on uneven walking surfaces, it can be configured to retract the auxiliary support member 40 into the support body 10.

[0142] In one embodiment, as shown in FIG9, two sets of auxiliary support members 40 are provided, which are respectively disposed on both sides of the drive wheel assembly 220 in the second direction, that is, the two sets of auxiliary support members 40 are respectively disposed on the left and right sides of the drive wheel assembly 220. By providing two sets of auxiliary support members 40, support points are formed on both sides of the drive wheel assembly 220, providing more uniform support for the load-bearing body 10, which is beneficial to further improve the stability of the warehouse robot when picking up and placing goods.

[0143] Optionally, as shown in Figure 9, auxiliary support members 40 are disposed at the two apex corners of the first end of the bearing body 10 to further improve the uniformity of support for the bearing body 10.

[0144] Specifically, as shown in Figure 9, a second clearance hole 213 is provided on the bottom plate of the supporting body 10, and the auxiliary support 40 is movably inserted through the second clearance hole 213 so as to extend out of the lower surface of the supporting body 10.

[0145] To enable the extension and retraction of the auxiliary support member 40, a structural design is implemented for the auxiliary support member 40. Please refer to Figures 9 and 12. Figure 12 shows a schematic diagram of the auxiliary support member provided in one embodiment of this application. Specifically, the auxiliary support member 40 includes a landing member 41 and a lifting drive member 42. The landing member 41 extends beyond the lower surface of the supporting body 10. The fixed end of the lifting drive member 42 is disposed on the supporting body 10, and the driving end of the supporting body 10 is connected to the landing member 41 to drive the landing member 41 to extend beyond the lower surface of the supporting body 10 or retract into the supporting body 10.

[0146] It is understandable that the distance by which the landing component 41 extends out of the supporting body 10 determines the supporting force of the landing component 41 on the supporting body 10. The supporting force provided by the landing component 41 should be consistent with the supporting force provided by the drive wheel 21 and the driven wheel 22. Too large or too small a force is not conducive to the stability of the moving chassis 100a.

[0147] To this end, the auxiliary support 40 also includes a pressure sensor (not shown in the figure). The pressure sensor is disposed on the landing component 41 and is configured to sense the pressure value of the landing component 41 on the walking surface of the moving chassis 100a. When the pressure value reaches a preset value, the driving action of the lifting drive component 42 is stopped, thereby controlling the distance of the landing component 41 extending out of the bearing body 10, and thus ensuring that the landing component 41 provides a suitable support force to the bearing body 10.

[0148] In one embodiment, as shown in FIG12, the lifting drive component 42 includes a lifting mounting plate 421, a lifting motor 422, and a lifting reducer 423. The lifting mounting plate 421 is connected to the inner wall of the supporting body 10. The fixed end of the lifting reducer 423 is connected to the lifting mounting plate 421. The fixed end of the lifting motor 422 is connected to the fixed end of the lifting reducer 423. The landing component 41 is connected to the output end of the lifting reducer 423. The lifting motor 422 drives the landing component 41 to lift and lower after being reduced by the lifting reducer 423.

[0149] Specifically, the lifting reducer 423 and the floor component 41 are connected by a motor screw module, which converts the rotational motion of the lifting reducer 423 into the linear motion of the floor component 41. This is a conventional structure in the prior art, and its specific structure and working principle will not be described in detail.

[0150] After the warehouse robot moves to the location for picking up or placing goods, the landing component 41 is driven down and supported on the walking surface. If the position of the warehouse robot is found to be inaccurate, minor adjustments are required. Since the landing component 41 is already on the ground, it will interfere with the movement of the warehouse robot. It is necessary to raise the landing component 41, adjust the position of the warehouse robot, and then lower it again. The operation is relatively cumbersome and affects the working efficiency of the warehouse robot.

[0151] Therefore, in one embodiment, as shown in FIG12, the landing component 41 is set as a caster wheel, which can rotate 360° on the walking surface. Thus, the motion chassis 100a can move when the caster wheel is in contact with the walking surface, without having to raise the caster wheel, thereby simplifying the position adjustment steps of the warehouse robot and saving the position adjustment operation time of the warehouse robot.

[0152] To facilitate the installation of the casters, the auxiliary support 40 also includes a caster mounting plate 43 and a caster bracket 44. The caster mounting plate 43 is connected to the output end of the lifting reducer 423, and the caster bracket 44 is rotatably connected to the caster mounting plate 43. The casters are rotatably mounted on the caster bracket 44.

[0153] In one embodiment, two casters are provided, and the two casters are connected side by side to the caster bracket 44.

[0154] In one embodiment, as shown in FIG13, for charging convenience, a non-contact charging device 50 is provided on the motion chassis. The non-contact charging device 50 is used to charge the warehouse robot in conjunction with the non-contact charging pile 100d.

[0155] Specifically, a charging pile 100d is provided in the workshop environment. The charging pile 100d includes a power supply end 110 and a non-contact charging device 50 includes a power receiving end 51. When the warehouse robot needs to be charged, the warehouse robot is moved to the charging pile 100d and the power receiving end 51 is aligned with the power supply end 110 to start charging, which is quite convenient.

[0156] In one embodiment, the motion chassis is also equipped with a charging plug, which can be plugged into a power source for charging. In actual working conditions, the appropriate charging method can be selected based on the actual site conditions.

[0157] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0158] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A motion chassis for driving a vehicle, characterized in that, include: The supporting body (10) extends in a plane defined by a first direction and a second direction that are perpendicular to each other, and has a mounting area (101) for mounting the vehicle. The installation area (101) is eccentrically positioned relative to the centerline of the support body (10) in the first direction and is relatively close to the first end of the support body (10) located in the first direction. as well as The motion mechanism (20) includes: A drive wheel (21) is rotatably mounted on the support body (10) and relatively close to a first end of the support body (10) located in the first direction; part or all of the drive wheel (21) protrudes from the lower surface of the support body (10); and A driven wheel (22) is disposed on the support body (10) and relatively close to the second end of the support body (10) in the first direction, and part or all of the driven wheel (22) protrudes from the lower surface of the support body (10).

2. The motion chassis according to claim 1, characterized in that, The drive wheels (21) include two sets spaced apart along the second direction. When the two sets of drive wheels (21) rotate in opposite directions and at the same speed, the motion chassis turns, and at this time the center of rotation is located between the two sets of drive wheels (21).

3. The motion chassis according to claim 1, characterized in that, The supporting body (10) has symmetrically arranged counterweights (11) at both ends in the second direction, and the counterweights (11) are relatively close to the second end of the supporting body (10) in the first direction. The counterweight bin (11) is configured to carry the counterweight (30).

4. The motion chassis according to claim 3, characterized in that, The counterweight (30) includes a plurality of counterweight plates (31), which are stacked in the counterweight chamber (11) along the first direction.

5. The motion chassis according to claim 4, characterized in that, The counterweight chamber (11) is also equipped with baffles (111) and bolt fasteners (112). The baffle (111) is fixed to the outer side of the bottom of the counterweight bin (11) and extends along the first direction. Each counterweight plate (31) has a notch (311) on the outer side of its bottom end. The notch (311) on each counterweight plate (31) abuts against the baffle (111). The bolt fastener (112) is configured to pass through each of the balance plates (31) along the second direction and connect to the bearing body (10).

6. The motion chassis according to any one of claims 1-5, characterized in that, The supporting body (10) is provided with a receiving compartment (12), and the number of the receiving compartments (12) is consistent with the number of the driven wheels (22). The receiving compartment (12) is located relatively close to the second end of the supporting body (10) in the first direction, and the driven wheel (22) is installed inside the receiving compartment (12). The top of the receiving compartment (12) has a first opening for the corresponding driven wheel (22) to be inserted into the receiving compartment (12), and the bottom of the receiving compartment (12) has a second opening for the corresponding driven wheel (22) to protrude from the lower surface of the supporting body (10). The driven wheel (22) has a connecting plate (221) fixed to its top, which abuts against the upper surface of the bearing body (10), and the connecting plate (221) is fixedly connected to the bearing body (10).

7. The motion chassis according to any one of claims 1-5, characterized in that, Also includes: Guide units (60) are disposed at both ends of the support body (10) in the second direction. The guide unit (60) includes at least one guide wheel (61), which is rotatably mounted on the support body (10), and part or all of the guide wheel (61) protrudes from the side of the support body (10) in the second direction. The rotation plane of the guide wheel (61) is parallel to the plane defined by the first direction and the second direction.

8. The motion chassis according to any one of claims 1-5, characterized in that, The supporting body (10) includes: Base plate (13); At least two main side beams (14) are fixed to the upper surface of the base plate (13) and spaced apart along the second direction, the main side beams (14) extending along the first direction; and At least two auxiliary side beams (15) are fixed to the upper surface of the base plate (13) and spaced apart along the first direction, and the main side beam (14) extends along the second direction. Each of the auxiliary side beams (15) is fixedly connected to all of the main side beams (14).

9. The motion chassis according to claim 8, characterized in that, The supporting body (10) also includes: At least one first reinforcing beam (16) is fixed to the upper surface of the base plate (13) and located between the two outermost auxiliary side beams (15). The first reinforcing beam (16) extends along the second direction, and each first reinforcing beam (16) is fixedly connected to all of the main side beams (14); and At least one second reinforcing beam (17) is fixed to the upper surface of the base plate (13) and located between the two outermost main side beams (14). The second reinforcing beam (17) extends along the first direction, and each second reinforcing beam (17) is fixedly connected to all of the auxiliary side beams (15). Each of the first reinforcing beams (16) is fixedly connected to all of the second reinforcing beams (17).

10. A conveying device, characterized in that, include: The motion chassis (100a) is the motion chassis as described in any one of claims 1-9; as well as A gantry system (100b) is installed in the mounting area (101), with the proximal side of the mounting area (101) relative to the first direction being the front side of the conveying device.

11. A motion chassis, characterized in that, The motion chassis includes: Supporting body (10); A drive wheel assembly (220) is disposed on the bearing body (10). The drive wheel assembly (220) includes two drive wheels (21). Each drive wheel (21) is equipped with a drive motor (210). The drive motor (210) is used to drive the corresponding drive wheel (21) to rotate so that the bearing body (10) can switch between straight and turning. At least two driven wheels (22), and the at least two driven wheels (22) and the drive wheel assembly (220) are used to support the load-bearing body (10).

12. The motion chassis according to claim 11, characterized in that, The two drive wheels (21) of the drive wheel assembly (220) are connected by a connector so that the rotation axes of the two drive wheels (21) are on a straight line. The connector is pivotally connected to the bearing body (10) so that the rotation axes of the two drive wheels (21) can be adjusted to be parallel to the running surface or form an angle with the running surface.

13. The motion chassis according to claim 12, characterized in that, The motion chassis also includes a first gear (24), a second gear (25) and a sensor. The first gear (24) and the second gear (25) mesh and rotate on the bearing body (10). The connecting member is pivotally connected to the first gear (24). The differential rotation of the drive wheel (21) drives the connecting member to rotate. The rotation of the connecting member drives the first gear (24) to rotate. The second gear (25) is connected to the sensor.

14. The motion chassis according to claim 11, characterized in that, The motion chassis travels along a first direction, and the drive wheel set (220) is located at the first end of the bearing body (10) in the first direction and at the middle position of the first end in a second direction, the second direction being perpendicular to the first direction.

15. The motion chassis according to claim 14, characterized in that, The moving chassis travels along a first direction, and two driven wheels (22) are disposed at the second end of the bearing body (10) in the first direction, and the two driven wheels (22) are disposed at intervals on both sides below the bearing body (10) along the second direction.

16. The motion chassis according to any one of claims 11-15, characterized in that, The motion chassis also includes: An auxiliary support (40) is disposed within the bearing body (10) and can selectively extend out of the lower surface of the bearing body (10).

17. The motion chassis according to claim 16, characterized in that, The auxiliary support member (40) is provided in two sets, and the two sets of auxiliary support members (40) are respectively provided on both sides of the drive wheel group (220) in the direction perpendicular to the walking direction of the bearing body (10).

18. The motion chassis according to claim 16, characterized in that, The auxiliary support (40) includes: A landing component (41) is used to extend out of the lower surface of the supporting body (10); A lifting drive component (42) is provided with its fixed end on the supporting body (10), and the driving end of the supporting body (10) is connected to the landing component (41) to drive the landing component (41) to extend out of the lower surface of the supporting body (10) or retract into the supporting body (10).

19. The motion chassis according to claim 18, characterized in that, The auxiliary support (40) also includes: A pressure sensor is disposed on the landing component (41). The pressure sensor is configured to sense the pressure value of the landing component (41) on the walking surface of the moving chassis, so as to stop the driving action of the lifting drive component (42) when the pressure value reaches a preset value.

20. The motion chassis according to claim 18, characterized in that, The landing component (41) uses casters.

21. A warehouse robot, characterized in that, The storage robot includes a gantry (110b) and attachments (100c), the attachments (100c) being mounted on the gantry (110b). The storage robot also includes a motion chassis as described in any one of claims 11-20, the gantry (110b) and the driven wheels (22) being mounted on the same end of the load-bearing body (10).

22. The warehouse robot according to claim 21, characterized in that, The motion chassis is equipped with a non-contact charging device (50), which is used to charge the warehouse robot in conjunction with a non-contact charging pile (100d).

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