CN209618093U - A kind of transfer robot and its mobile chassis - Google Patents

Abstract

The utility model relates to the field of warehousing and logistics, and discloses a handling robot and its mobile chassis. A mobile chassis includes a base and a driving wheel assembly; the driving wheel assembly includes: a hinge bracket, and the hinge bracket is hinged to the base a driving wheel, the driving wheel is mounted on the hinge bracket, the driving wheel can rotate relative to the hinge bracket, so that the mobile chassis moves; and a shock absorber assembly, one end of the shock absorber assembly Hinged to the hinge bracket, the other end of the shock absorber is hinged to the base, the shock absorber assembly includes a shock absorber, and the shock absorber is used to reduce the vibration transmitted to the base via the hinge bracket. vibration. By configuring the shock absorber assembly on the mobile chassis, the movement of the mobile chassis is relatively stable.

Description

A handling robot and its mobile chassis

【Technical field】

The utility model relates to the field of intelligent storage, in particular to a handling robot and a mobile chassis thereof.

【Background technique】

Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in each link of cargo warehouse management, ensures that enterprises can grasp the real data of inventory in a timely and accurate manner, and maintain and control enterprise inventory reasonably. Through scientific coding, it is also convenient to manage the batches and shelf life of inventory goods. Utilizing the location management function of the SNHGES system, it is possible to grasp the current location of all inventory goods in a timely manner, which is conducive to improving the efficiency of warehouse management.

The handling robot plays an important role in intelligent warehousing. The handling robot replaces the manual handling of goods. The handling robot is equipped with a mobile chassis to realize the movement of the handling robot in the warehouse.

However, the inventor found in the process of realizing the utility model that: the current mobile chassis has a large range of bumps when moving, and the goods loaded on the handling robot are easy to shake out.

【Content of invention】

In order to solve the above-mentioned technical problems, embodiments of the present utility model provide a relatively stable moving handling robot and its mobile chassis.

In order to solve the above-mentioned technical problems, the embodiment of the utility model provides the following technical solutions:

In one aspect, a mobile chassis is provided, including a base and a drive wheel assembly; the drive wheel assembly includes: a hinge bracket, the hinge bracket is hinged to the base; a drive wheel, the drive wheel is mounted on the hinge bracket, The driving wheel can rotate relative to the hinge bracket, so that the mobile chassis moves; and a shock absorber assembly, one end of the shock absorber assembly is hinged to the hinge bracket, and the other end of the shock absorber Hinged with the base, the shock absorber assembly includes a shock absorber for reducing vibration transmitted to the base via the hinge bracket.

In some embodiments, the shock absorber assembly further includes an adjustment arm; one end of the shock absorber is hinged to the hinge bracket, the other end of the shock absorber is hinged to the base, and the adjustment arm One end of the adjustment arm is hinged to the other end of the shock absorber, the other end of the adjustment arm is hinged to the base, and the adjustment arm is against the base so that the adjustment arm cannot move toward the first position relative to the base. Rotate in one direction; wherein, the shock absorber provides the adjustment arm against the base, and provides an elastic force that prevents the adjustment arm from rotating in a second direction relative to the base, and the second direction is the same as the The first directions are opposite.

In some embodiments, the adjustment arm is provided with a stopper, and the stopper is located on a side of the adjustment arm facing the first direction.

In some embodiments, the adjustment arm and the shock absorber are arranged at a first angle, and the opening of the first angle is in the same direction as the second direction. When the shock absorber is assembled, the shock absorber and the adjustment arm are arranged at a second included angle, and the opening of the second included angle faces the same direction as the first direction, and the two sides of the shock absorber The length of the end can be extended so that the spring force provided by the shock absorber becomes less.

In some embodiments, the base includes a base plate; the base plate has an upper surface and a lower surface opposite to each other; The position is located on the side facing the upper surface, the hinge of the adjusting arm and the bottom plate is located on the side facing the upper surface, and the shock absorber is located on the side facing the upper surface.

In some embodiments, a fixing rod is provided on the upper surface of the bottom plate; the other end of the adjusting arm is hinged to the fixing rod, and the adjusting arm is against the fixing rod.

In some embodiments, the bottom plate is provided with a first installation opening, and the first installation opening passes through the upper surface and the lower surface; the driving wheel protrudes from the lower surface through the first installation opening.

In some embodiments, the mobile chassis further includes a driven wheel assembly; the driven wheel assembly and the driving wheel assembly jointly support the base.

In some embodiments, there are two driving wheel assemblies; the rotational speeds of the driving wheels of the two driving wheel assemblies can be different, so that the mobile chassis can turn.

In another aspect, a handling robot is provided, including the mobile chassis as described above.

Compared with the prior art, in a handling robot and its mobile chassis according to an embodiment of the present invention, a shock absorber assembly is arranged on the mobile chassis so that the movement of the mobile chassis is relatively stable.

【Description of drawings】

One or more embodiments are exemplified by the corresponding drawings, and these exemplifications are not construed as limiting the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified Note that the drawings in the drawings are not limited to scale.

Fig. 1 is a perspective view of a handling robot provided by one embodiment of the present invention;

Fig. 2 is a perspective view of the mobile chassis of the handling robot shown in Fig. 1;

Fig. 3 is the bottom view of the mobile chassis shown in Fig. 2;

Fig. 4 is a perspective view of the drive wheel assembly of the mobile chassis shown in Fig. 2;

Fig. 5 is a perspective view of the laminate assembly of the handling robot shown in Fig. 1;

Fig. 6 is a partial enlarged view at Z shown in Fig. 5;

Fig. 7 is a perspective view of another angle of the laminate assembly shown in Fig. 5;

Fig. 8 is a cross-sectional view of the lifting assembly and the vertical beam of the handling robot shown in Fig. 1;

Fig. 9 is a perspective view of the braking device of the handling robot described in Fig. 1;

Fig. 10 is a sectional view of the braking device described in Fig. 9;

Fig. 11 is a schematic structural diagram of the handling device of the handling robot shown in Fig. 1, and part of the structure of the handling device is omitted;

Fig. 12 is an exploded schematic diagram of the handling device shown in Fig. 11;

Fig. 13 is an exploded schematic diagram of the fork of the handling device shown in Fig. 12, and part of the structure of the fork is omitted;

FIG. 14 is a schematic structural view of the telescopic arm of the fork of the transport device shown in FIG. 12 , and part of the structure of the telescopic arm is omitted.

【Detailed ways】

In order to facilitate the understanding of the utility model, the utility model will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is said to be "fixed" to another element, it may be directly on the other element, or there may be one or more intervening elements therebetween. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical", "horizontal", "left", "right", "inner", "outer" and similar expressions are used in this specification for the purpose of description only.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present utility model are only for the purpose of describing specific implementations, and are not used to limit the present utility model. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

Please refer to Fig. 1 and Fig. 8, which is a handling robot 100 provided by one embodiment of the present invention. The handling robot 100 can be applied to intelligent warehousing systems, intelligent logistics systems, intelligent sorting systems, etc. In the embodiment, the application of the handling robot 100 in an intelligent storage system is taken as an example for detailed description.

The handling robot 100 includes a mobile chassis 10 , a storage shelf 20 , a lifting assembly 30 and a handling device 40 . Wherein, the mobile chassis 10 carries the storage rack 20, the lifting assembly 30 and the handling device 40.

Please refer to FIG. 2 and FIG. 3 together. The mobile chassis 10 includes but is not limited to be applied to the handling robot 100 . For example, the mobile chassis 10 can be applied to unmanned vehicles, sweeping robots, shuttle vehicles, and the like.

The mobile chassis 10 is used to move the handling robot 100 on the ground, and the mobile chassis 10 includes a bottom plate 11 , a driven wheel assembly 12 , a driving wheel assembly 13 , and a guiding device 14 . Wherein, the driven wheel assembly 12, the driving wheel assembly 13, and the guiding device 14 are all installed on the base.

The base is assembled and welded by steel beams, steel plates and skins. The base includes a bottom plate 11, the bottom plate 11 is generally a horizontal rectangular plate with a first horizontal axis of symmetry S1, the bottom plate 11 includes a lower surface 1100 and an upper surface 1102 opposite to each other, wherein the lower Surface 1100 faces the ground.

The bottom plate 11 is provided with a recessed portion 1104 , a first installation opening 1106 and a second installation opening 1108 . The concave portion 1104 is located on the lower surface 1100 , and the concave portion 1104 is used for installing the driven wheel assembly 13 . The first installation opening 1106 runs through the lower surface 1100 and the upper surface 1102 , and the first installation opening 1106 is used for the driving wheel assembly 13 to pass through. The second installation opening 1108 runs through the lower surface 1100 and the upper surface 1102 , and the second installation opening 1108 is used to expose the guiding device 14 .

The driven wheel assembly 12 is a universal wheel, and the four driven wheel assemblies 12 are distributed in a rectangular shape, and the four driven wheel assemblies 12 jointly support the bottom plate 11 . It can be understood that, according to actual conditions, on the one hand, the driven wheel assembly 12 is not limited to universal wheels, for example, the driven wheel assembly 12 can also be a wheel set with a steering bracket (refer to the rear wheel set of an automobile) , as long as the driven wheel assembly 12 has a steering function. On the other hand, the number of the driven wheel assemblies 12 is not limited to four, for example, the number of the driven wheel assemblies 12 can also be three, five, six, etc., as long as the driven wheel assemblies The number of 12 can be more than three.

The two drive wheel assemblies 13 are distributed symmetrically with respect to the symmetry axis S1, and the speed of rotation between the two drive wheel assemblies 13 is different, so that the transfer robot 100 moves towards the two drive wheel assemblies 13. The side of the one with the lower rotational speed is deflected in order to realize the steering of the handling robot 100 .

The driven wheel assembly 12 and the driving wheel assembly 13 jointly support the bottom plate 11 .

Please also refer to FIG. 4 , each of the driving wheel assemblies 13 includes a driving wheel 130 , a hinge bracket 131 , and a shock absorber assembly. Wherein, the driving wheel 130 is installed on the hinge bracket 131 , and the shock absorber assembly is installed on the hinge bracket 131 .

The driving wheel 130 has a horizontal rotation axis O, the driving wheel 130 is mounted on the hinge bracket 131, the driving wheel 130 can rotate around the rotation axis O relative to the hinge bracket 131, the rotation axis O is perpendicular to the first axis of symmetry S1 , and part of the driving wheel 130 protrudes from the lower surface 1100 of the bottom plate 110 through the first installation opening 1106 .

It is worth noting that, by providing the recessed portion 1104 for installing the driven wheel assembly 12 , and setting the driving wheel assembly 12 on the side facing the upper surface 1102 , and passing through the first installation opening 1108 Protruding from the lower surface 1100 , the ground clearance and the height of the center of mass of the mobile chassis 10 can be reduced, so that the grip force of the mobile chassis 10 is improved, and the stability of the mobile chassis 10 is improved.

The drive wheel 130 is driven by a drive wheel motor, specifically, the drive wheel motor can be a servo motor, and the drive wheel motor drives the drive wheel 130 relative to the hinge bracket 131 around the wheel rotation axis O turn. A speed reducer can also be arranged between the driving wheel motor and the driving wheel 130, the stator of the driving wheel motor is flange-connected to one end of the reducer housing, and the rotor of the driving wheel motor is connected to the speed reducer. The input shaft of the reducer transmits torque through a flat key, the other end of the reducer casing is flange-connected to the hinge bracket 131, and the output shaft of the reducer passes through the hinge bracket 131 and passes through the drive wheel 130 Flat keys transmit torque.

The hinge bracket 131 is a vertical plate as a whole, and the hinge bracket 131 may be a single piece or an assembly assembled from several parts, which is not limited in this embodiment of the present invention.

The hinge bracket 131 is hinged to the bottom plate 11 through a bearing seat, and the hinge bracket 131 can rotate relative to the bottom plate 11 around a first axis L1. It can be understood that, according to the actual situation, the bearing seat can be omitted, the hinge bracket 131 is directly hinged with the bottom plate 11, and the hinge between the hinge bracket 131 and the bottom plate 11 is located at the upper surface 1102 facing side.

In this embodiment, the first axis L1 is parallel to the rotation axis O, and the first axis L1 is not coincident with the rotation axis O, so that the hinge bracket 131 During the rotation of the axis O relative to the bottom plate 11 , the distance between the driving wheels 130 of the two driving wheel assemblies 13 remains unchanged, and the movement of the mobile chassis 10 is relatively stable.

In some other embodiments, the first axis L1 is perpendicular to the rotation axis O.

One end of the shock absorber assembly is hinged to the hinge bracket 131 , and the other end of the shock absorber 132 is hinged to the upper surface 1102 of the bottom plate.

The shock absorber assembly includes a shock absorber 132 and an adjusting arm 133 hinged to the shock absorber 132 .

The shock absorber 132 is used to reduce the vibration transmitted to the bottom plate 11 via the hinge bracket 131 . The shock absorber 132 reduces the vibration at both ends by compressing the lengths of both ends, the shock absorber 132 is located on the side facing the upper surface 1102, and one end of the shock absorber 132 is hinged to the hinge bracket 131, the shock absorber 132 can rotate relative to the hinge bracket 131 around the second axis L2, the second axis L2 is parallel to the first axis L1, and the first axis L1 is not in contact with the first axis L1 The two axes L2 coincide. The other end of the shock absorber 132 is hinged to the adjustment arm 133, the shock absorber 132 can rotate relative to the adjustment arm 133 around a third axis L3, the third axis L3 is parallel to the first Axis L1.

One end of the adjusting arm 133 is hinged to the other end of the shock absorber 132, the upper surface 1102 of the bottom plate 11 is provided with a vertical fixing rod 1110, and the other end of the adjusting arm 133 is hinged to the fixing rod 1110, the adjusting arm 133 can rotate relative to the bottom plate 11 around the fourth axis L4, the fourth axis L4 is parallel to the first axis L1, the adjusting arm 133 is opposed to the fixing rod 1110, so as to The adjustment arm 133 cannot rotate around the fourth axis L4 relative to the bottom plate 11 in the first direction F1 , the first direction F1 is in the same direction as the upper surface 1102 .

The shock absorber 132 provides the adjustment arm 133 to abut against the fixed rod 1110 , and provides an elastic force that prevents the adjustment arm 133 from rotating relative to the bottom plate 11 in the second direction F2, the second direction F2 is opposite to the first direction F1 , and the first direction F1 is in the same direction as the orientation of the lower surface 1100 .

It can be understood that, according to the actual situation, the fixed rod 1110 can be omitted, that is, the other end of the adjustment arm 133 is directly hinged to the bottom plate 11, and the hinge between the adjustment arm 133 and the bottom plate 11 is located at the On the side facing the upper surface 1102 , the adjusting arm 133 abuts against the bottom plate 11 , and the abutting position between the adjusting arm 133 and the bottom plate 11 is located on the side facing the upper surface 1102 .

The adjustment arm 133 is provided with a stop portion 1330 , and the stop portion 1330 is located on a side of the adjustment arm 133 facing the first direction F1 .

The adjusting arm 133 and the shock absorber 132 are arranged at a first angle, and the opening of the first angle is in the same direction as the second direction F2.

It is worth noting that, on the one hand, the working environment of the handling robot 100 is generally a warehouse, and the ground is relatively flat. On the other hand, the driving wheel assembly 13 only bears the weight within the limit of the handling robot 100, that is, in the process of gradually increasing the weight of the handling robot 100, the driving wheel 130 will move towards the bottom plate 11. The side of the upper surface moves until the lowest point of the driving wheel 130 is equal to the lowest point of the driven wheel assembly 12. At this time, the excess weight of the handling robot 100 will be carried by the driven wheel assembly 12 . Therefore, the rotation range of the hinge bracket 131 is limited, and thus the rotation range of the shock absorber 132 is also limited, so the first included angle is basically unchanged.

When the shock absorber 132 is assembled, the shock absorber 132 and the adjustment arm 133 are arranged at a second angle, the opening of the second angle is in the same direction as the first direction F1, and the opening of the second angle is in the same direction as the first direction F1. The lengths of both ends of the shock absorber 132 can be extended, so that the elastic force provided by the shock absorber 132 can be reduced, so that the shock absorber 132 can be installed more conveniently. By first making the stop portion 1330 of the adjustment arm 133 not abut against the fixed rod 1110, the two ends of the shock absorber 132 are respectively installed on the adjustment arm 133 and the hinge bracket 131, the The shock absorber 132 can be in a natural state or slightly compressed, that is, the line connecting the two ends of the shock absorber 132 and the line connecting the two ends of the adjustment arm 133 are set at a second angle, and the opening of the second angle faces same direction as the first direction F1. Then the shock absorber 132 and the adjusting arm 133 are pulled toward the first direction F1, the shock absorber 132 is first compressed and then slightly elongated, so that the stopper 1330 of the adjusting arm 133 is in contact with the first direction F1. The fixing rod 1110 abuts against each other. By setting the adjusting arm 133, the shock absorber 132 does not need to be installed while compressing the shock absorber 132, and the installation of the shock absorber 132 is more convenient.

In addition, by setting the adjustment arm 133, after the installation of the shock absorber 132 is completed, the spring tightness of the shock absorber 132 is also easy to adjust, so as to adapt to the working environment of the mobile chassis. The shock absorber 132 and the adjusting arm 133 are arranged at a second included angle, at this time, the two ends of the shock absorber 132 are basically not under pressure, and the spring tightness of the shock absorber 132 is easy to adjust.

When the driving wheel motor stops working, the driving wheel 130 cannot rotate. Therefore, when the shock absorber 132 and the adjusting arm 133 form a first angle, the driving wheel 130 supports the Therefore, when the transfer robot 100 is pushed to the maintenance area through the driven wheel assembly 12, the driving wheel 130 will rub against the ground, hindering the transfer robot 100 from moving. After the shock absorber 132 and the adjustment arm 133 are set at a second angle, since the two ends of the shock absorber 132 are basically not pressed, the driving wheel 130 basically does not touch the ground, that is, the The driving wheels 130 do not support the base, and the transport robot 100 can be easily pushed to the maintenance area for maintenance.

It can be understood that, according to actual conditions, the adjustment arm 133 can be omitted, that is, one end of the shock absorber 132 is hinged to the hinge bracket 131, and the other end of the shock absorber 132 is connected to the base 11. Hinged, as long as the driving wheel 130, the hinge bracket 131, the shock absorber 132 and the bottom plate 11 are connected in sequence, and the two ends of the shock absorber 132 can be stretched.

Compared with the prior art, in a handling robot 100 and its mobile chassis 10 according to the embodiment of the present invention, a shock absorber assembly is arranged on the mobile chassis 10 so that the movement of the mobile chassis 10 is relatively stable.

The guide device 14 is installed on the upper surface 1102 of the bottom plate 11. In this embodiment, the guide device 14 is a camera, and the lens of the camera is aimed at the second opening 1108. The guide device 14 uses To recognize the two-dimensional code attached on the ground, so that the transfer robot 100 moves along a preset path.

It can be understood that, according to the actual situation, the guide device 14 is not limited to a camera, for example, the guide device 14 can also be a laser guide device for guiding the transfer robot 100 to travel along the laser beam, and for example , the guiding device 14 is a short-wave receiving device, which realizes the guiding function by receiving preset short-wave signals, and so on.

Please refer to FIG. 1 again, the storage shelf 20 is installed on the upper surface 1102 of the bottom plate 11 .

The storage shelf 20 includes a plurality of shelf assemblies 21 distributed at different heights, and vertical beams 22 for supporting each shelf assembly.

Each laminate assembly 21 includes a laminate 210 , a limiting structure, and a beam 214 .

The layer board 210 is used to place goods, and the layer board 210 has two ends distributed along the horizontal, one end of the layer board 210 is close to the vertical beam 22, and the other end of the layer board 210 is suspended in the air and away from the Vertical beam 22.

The position-limiting structure is used to block goods on the layer.

In this embodiment, the limiting structure is a shroud 212, the edge of the laminate 21 extends away from the mobile base 10, and the shroud 212 is used to block the goods on the layer board 210 to prevent the goods placed on the layer board 210 from sliding down from the layer board 210 .

It can be understood that the limiting structure is not limited to the surrounding board 212, and according to actual conditions, the limiting structure may also be a columnar structure disposed near the edge of the laminate.

Please refer to FIG. 5 and FIG. 6 together, each laminate assembly 21 includes a plurality of said enclosures 212, the edge of said laminate 210 has a plurality of sides, and each enclosure 212 extends from one of said laminates 210. On the side, an engaging structure 216 is provided at the gap between every two adjacent enclosure plates 212 . The engaging structures 216 are respectively engaged with two adjacent surrounding boards 212 , so that arc corners are formed at the corners of the two adjacent surrounding boards 212 .

The connecting structure 216 has two card slots 2160 , and the sides of two adjacent surrounding plates 212 are respectively inserted into the two card slots 2160 . The engaging structure 216 is fixed to the laminate 210 by screws.

Each shroud 212 includes a shroud main body 2120 and a flange body 2122, the flange body 2122 extends from the edge of the shroud body 2120 away from the laminate 210, and the flange body 2122 fits the shroud The panel main body 2120 is formed so that the connection between the flange body 2122 and the panel main body 2120 is shaped as an arc transition.

The flange body 2122 and the laminate 210 are located on the same side of the enclosure main body 2120 .

Please also refer to FIG. 7 , the side of the deck 210 facing away from the mobile base 10 is used for placing goods, the beam 214 is located on the side of the deck 210 facing the mobile base 10 , and the beam 214 near one end of the laminate 210 . The crossbeam 214 is connected to the side of the laminate 210 facing the mobile base 10 through a board bracket 218.

The two vertical beams 22 are distributed symmetrically with respect to the axis of symmetry S1.

Please refer to FIG. 8 , the vertical beam 22 is detachably connected to the upper surface 1102 of the bottom plate 11 , specifically connected by bolts.

The vertical beam 22 is provided with a mounting slot 220 and a vertical guide slot 222 .

The installation slot 220 is used for installing the lifting assembly 30 , and the installation slot 220 is located in the vertical beam 22 .

The vertical guide slot 222 is used for installing the handling device 40 , and the vertical guide slot 222 is disposed on the surface of the vertical beam 22 . The vertical guide slot 222 communicates with the installation slot 220 , and the vertical guide slot 222 and the installation slot 220 form a closed loop.

The vertical beam 22 is provided with a buffer pad 224 at the end of the vertical guide groove 222, the buffer pad 224 can be made of materials such as sponge or rubber, and the buffer pad 226 can prevent the handling device 40 from rising to At the highest point or when falling to the highest point, it directly collides with the vertical beam 22 .

The buffer pad 224 extends into the vertical guide slot 222 and abuts against the lifting assembly 30 .

The lift assembly 30 is used to drive the transport device 40 to lift relative to the storage shelf 20 .

The lifting assembly 30 includes a synchronous pulley mechanism 31 and a lifting driving motor, and the lifting driving motor is used to drive the transport device 40 to lift relative to the storage shelf 20 through the synchronous pulley mechanism 31 .

The synchronous pulley mechanism is installed in the installation groove 220, the synchronous belt 310 of the synchronous pulley mechanism 31 is located in the closed circuit, the synchronous belt 310 of the synchronous pulley mechanism 31 is connected with the handling device 40 connected.

The lifting drive motor drives the driving pulley 311 of the synchronous pulley mechanism 31 to rotate through the lifting drive reducer, the gear set and the transmission shaft in turn. According to the actual situation, the lifting drive reducer, the gear set and the One or more of the drive shafts may be omitted.

The synchronous belt 310 of the synchronous pulley mechanism 31 is in contact with the buffer pad 224, which can make it difficult for dust to enter the installation groove 220 from the vertical guide groove 222, thereby avoiding that the synchronous pulley mechanism 31 Accumulation of dust results in reduced power.

Please refer to FIG. 9 and FIG. 10 together, the lift assembly 30 further includes a brake device 32 for stopping the synchronous pulley mechanism 31 from working.

The brake device 32 includes a brake disc 320 , a guide base 322 , a pin 324 , an elastic member 326 , and a cam 328 . The brake disc 320 is coaxially arranged with the driving pulley 311 of the synchronous pulley mechanism 31 , and when the synchronous pulley mechanism 31 works, the brake disc 320 follows the driving force of the synchronous pulley mechanism 31 . The wheels 311 rotate synchronously, and the brake disc 320 is provided with one or more pin holes 3200 , and when the brake disc 320 rotates, the pin holes 3200 rotate synchronously with the brake disc 320 .

The guide base 322 is installed on the beam 22 , and the guide base 322 is provided with a slot 3220 .

The pin 324 is inserted into the slot 3220, and when the brake disc 320 rotates, one end of the pin 324 can be aligned and inserted into the pin hole 3200, so that the brake disc 320 and the The synchronous pulley mechanism 31 coaxially arranged with the brake disc 320 stops working.

The cam 328 is located on the side of the guide base 322 away from the brake disc 320, and the cam 328 is rotatably connected with the other end of the pin 324, and the cam 328 can rotate around its wheel center relative to the pin. 324 rotates, and the wheel surface of the cam 328 abuts against the side of the guide base 322 away from the brake disc 320 , so that the latch 324 moves along the slot 3220 relative to the guide base 322 .

The elastic member 326 is used to make the cam 328 abut against the guide base 322 and provide a pressing force to keep the pin 324 stationary. Specifically, the elastic member 326 is a compression spring. A first retaining ring 3240 protrudes from the middle between the two ends of the latch 324, and a second retaining ring 3222 protrudes from the groove wall of the slot 3220, and the second retaining ring 3222 is located between the first retaining ring 3240 and Between the cams 328 , the elastic member 326 is sleeved on the pin 324 , and the elastic member 324 abuts between the first retaining ring 3240 and the second retaining ring 3222 .

The cam 328 is provided with a wrench 329 , and the operator pulls the wrench 329 to drive the cam 328 to rotate, so that the synchronous pulley mechanism 31 stops working. It can be understood that, according to actual conditions, a cam driving motor can also be set to drive the cam 328 to rotate, so as to realize the braking of the synchronous pulley mechanism 31 .

Please refer to FIG. 11 , the conveying device 40 includes a fork bracket 41 , a fork 42 , and a rotary driving device 43 . Wherein, the pallet fork 42 is installed on the pallet fork bracket 41, and the rotary drive device 43 is mounted between the pallet fork 42 and the pallet fork bracket 41.

The fork bracket 41 is welded by steel beams and steel plates. The fork bracket 41 is provided with sliding parts 410, and the two sliding parts 410 are symmetrically distributed with respect to the first axis of symmetry S1. The two sliding parts 410 are respectively mounted on a corresponding vertical guide groove 322, and the sliding parts 410 can move along the vertical guiding groove 322, so that the handling device 40 can be raised and lowered relative to the storage shelf 20. .

The fork bracket 41 is connected with the fork 42 through a cross roller bearing, so that the fork 42 can rotate around the vertical direction relative to the fork bracket 41 . According to actual conditions, the connection between the fork bracket 41 and the fork 42 is not limited to cross roller bearings, for example, the fork bracket 41 and the fork 42 can also be connected through a slewing bearing .

The rotary driving device 43 includes a rotary driving motor, a light wheel 430 , a fork timing pulley 432 and a fork timing belt 434 . The light wheel 430 is fixedly installed on the side of the fork bracket 41 facing the fork 42, the light wheel 430 is coaxially arranged with the cross ball bearing, and the fork synchronous pulley 432 can be rotated vertically. Rotately installed on the fork 42 in a vertical direction, the fork synchronous belt 434 connects the fork synchronous pulley 432 and the light wheel 430, and the rotary drive motor is used to drive the fork synchronous pulley 432 rotates relative to the fork 42 , so that the fork 42 rotates in a vertical direction relative to the fork bracket 41 .

The light wheel 430 is provided with a timing belt pressing plate 4300 protrudingly on its outer wheel surface, and the timing belt pressing block 4300 abuts against the timing belt 434 of the pallet fork, so that the timing belt 434 of the pallet fork is tensioned.

The fork 42 is provided with a first lock hole 4200, and the fork bracket 41 is provided with a second lock hole 4100, and the lock pin 44 can be inserted into the first lock hole 4200 and the second lock hole simultaneously. 4100, so that the fork 42 cannot rotate around the vertical direction relative to the fork bracket 41.

A first limit block 450 is installed on the side of the fork bracket 41 facing the fork 42 , and a second limit block 451 is installed on the side of the fork 42 facing the fork bracket 41 . The first limiting block 450 is used to abut against the second limiting block 452 to make the fork 42 rotate within a preset angle range.

The transport device 40 also includes a first angle sensor 460, a second angle sensor 461, and a controller. Both the first angle sensor 460 and the second angle sensor 461 are connected to the controller.

The first angle sensor 460 is used to detect whether the fork 42 is rotated relative to the fork bracket 41 to within the first preset angle range, and the second angle sensor 461 is used to detect whether the fork Whether the fork 42 rotates relative to the fork bracket 41 to within the second preset angle range. It should be noted that both the first preset angle range and the second preset angle range are included in the preset angle range, and the first preset angle range and the second preset angle range Assuming that there is an intersection of angles, the intersection of the first preset angle range and the second preset angle range is a reference angle, and the reference angle can be a specific value or a continuous range of values.

Both the first angle sensor 460 and the second angle sensor 461 are proximity switches, and the handling device 40 further includes a detection board 462, and the first angle sensor 461 and the second angle sensor 462 are installed on the The side of the fork bracket 41 facing the fork 42 , the detection plate 462 is installed on the side of the fork 42 facing the fork bracket 41 . When the first angle sensor rotates with the fork 42 to face the detection plate 462, the first angle sensor 460 detects that the fork 42 rotates to the first preset angle range Inside; when the first angle sensor 460 rotates with the fork 42 to not be directly opposite to the detection plate 462, the first angle sensor 460 detects that the fork 42 does not rotate to the first predetermined position. within the set angle range. Similarly, when the second angle sensor 461 rotates with the fork 42 to face the detection plate 462, the second angle sensor 461 detects that the fork 41 rotates to the second Within the preset angle range; when the second angle sensor 461 rotates with the fork 42 to not directly facing the detection plate 462, the second angle sensor 461 detects that the fork does not rotate to the within the second preset range. When both the first angle sensor 460 and the second angle sensor 461 are facing the detection plate 462, the fork 42 rotates to the first preset angle range and the second preset angle range. Within the intersection of the angle ranges, that is, the fork 42 rotates to the reference angle.

The controller is connected to the rotation drive motor. When the first angle sensor 460 detects that the fork 42 rotates to the first preset range, and the second angle sensor 461 detects that the fork 42 does not rotate to the second preset When within the range, the controller controls the rotation driving motor to work, so that the fork 42 rotates to the second preset range. When the first angle sensor 460 detects that the fork 42 does not rotate to the first preset range, and the second angle sensor 461 detects that the fork 42 rotates to the second preset When within the range, the controller controls the rotation driving motor to work, so that the fork 42 rotates to the first preset range. When the first angle sensor 460 detects that the fork 42 rotates within the first preset range, and the second angle sensor 461 detects that the fork 42 rotates within the second preset range , the controller controls the rotation drive motor to stop working, and at this time, the fork 42 is located at the reference angle.

The fork 42 is used to move the goods to a shelf 210 at the same height as the fork 42, or to move the goods from a shelf 210 at the same height as the fork 42, When the handling device 40 is raised or lowered relative to the storage rack, the fork 42 may be at the same height as a shelf 210 .

The pallet fork 42 has a second horizontal axis of symmetry S2 , and the pallet fork 42 includes a temporary pallet 420 , a telescopic arm 421 , a fixed push rod 422 , and a movable push rod 423 . Wherein, one end of the telescopic arm 421 is installed on the temporary storage board 420, and both the fixed push rod 422 and the movable push rod 423 are installed on the other end of the telescopic arm 421, wherein the fixed push rod 422 is installed on one end of the temporary storage board 420 closer to the telescopic arm 421 than the movable push rod 423 . The other end of the telescopic arm 421 can be extended or retracted relative to the temporary storage pallet 420 along the second axis of symmetry S2, and drives the fixed push rod 422 and the movable push rod 423 to extend or retract. back. The movable push rod 423 can be unfolded or folded relative to the telescopic arm 421 .

The two telescopic arms 421 are symmetrically arranged on two opposite sides of the second symmetry axis S1, and each of the two telescopic arms 421 is equipped with a movable push rod 423, and the fixed push rod 422 is connected to the two Between the telescopic arms 421. According to the actual situation, the number of the telescopic arm 421 is not limited to two, and the number of the telescopic arm 421 may also be one.

Please also refer to FIG. 12 , each telescopic arm 421 includes an outer arm 424 , a middle arm 425 mounted on the outer arm 424 , and an inner arm 426 mounted on the middle arm 425 . The outer section arm 424, the middle section arm 425 and the inner section arm 426 are sequentially arranged close to the second symmetry axis S2, the outer section arm 424 is fixedly installed on the temporary storage pallet 420, and the fixed Both the push rod 422 and the movable push rod 423 are mounted on the inner section arm 426 .

Please also refer to FIG. 13 , there is a sprocket mechanism 427 between the middle section arm 425 and the outer section arm 424 , and the middle section arm 425 can be driven along the second symmetry through the sprocket mechanism 427 . The axis S2 extends or retracts relative to the outer section arm 424 .

Please also refer to FIG. 14 , a movable pulley mechanism is arranged among the outer joint arm 424 , the middle joint arm 425 and the inner joint arm 426 , and the movable pulley mechanism includes a pulley 428 and a noose 429. The pulley 428 is installed on the middle section arm 425, and the middle part between the two ends of the noose 429 is bent and sleeved on the pulley 428, so that the two ends of the noose 429 are opposite, and the noose 429 One end is fixedly connected to the outer section arm 424 , and the other end of the noose 429 is fixedly connected to the inner section arm 426 . When the middle section arm 425 extends or retracts relative to the outer section arm 424 at a first speed, the inner section arm 426 extends or retracts relative to the outer section arm 424 at a second speed, Wherein the second speed is twice the first speed, by setting the movable pulley mechanism, the extension or retraction speed of the inner section arm 426 can be made faster, and the efficiency of picking and placing goods of the fork 100 can be improved. .

When the movable push rod 423 is deployed relative to the telescopic arm 421, the movable push rod 423 protrudes from the telescopic arm 421 in a direction close to the second axis of symmetry S2, and the movable push rod 423 is opposite to the telescopic arm 421. When the telescopic arm 421 is folded, the movable push rod 423 substantially coincides with the telescopic arm 421 . The movable push rod 423 is directly driven by a push rod motor, and the push rod motor is used to drive the movable push rod 423 to rotate relative to the telescopic arm 421, so that the movable push rod 423 rotates relative to the telescopic arm 421 421 unfolds or collapses. It can be understood that, according to the actual situation, the movement mode of the movable push rod 423 is not limited to rotation, for example, the movable push rod 423 moves in a manner of extending the telescopic arm 421 or retracting the telescopic arm 421 .

When the handling robot 100 is carrying out the loading operation, the working process is as follows:

The handling robot 100 moves to the vicinity of the fixed shelf where the goods to be loaded are placed, the handling robot 100 moves to be side by side with the goods to be loaded, the goods to be unloaded are located on a floor 210, and the lifting assembly 30 drives the The handling device 40 is lifted to be at the same height as the shelf 210 on which the goods to be loaded is placed, and at the same time, the fork 42 rotates around the vertical direction so that the shelf 210 on which the goods to be loaded is placed is located at the first On the two symmetry axes S2, the movable push rod 423 is folded, and the telescopic arm 421 is stretched out, so that the movable push rod 423 crosses the goods to be loaded, the movable push rod 423 is unfolded, and the telescopic arm 421 is retracted. Back, the movable push rod 423 pulls the goods to be unloaded onto the temporary storage pallet 420 for temporary storage. The fork 42 rotates around the vertical direction, so that the storage rack 20 is located on the second axis of symmetry S2, and the fork 42 is at a reference angle at this time.

If the temporary storage pallet 420 is not at the same height as any empty shelf 210 at this time, it is also necessary to drive the handling device 40 up and down through the lifting assembly 30, so that the temporary storage pallet 420 and one The empty shelves 210 are at the same height.

After the temporary storage board 420 is at the same height as an empty shelf 210, the telescopic arm 421 is stretched out, and the goods on the temporary storage board 420 are pushed through the fixed push rod 422 to a position corresponding to the carrying The device 40 is on the vacant shelf 210, then the movable push rod 423 is folded, and the telescopic arm 421 is retracted. At this time, the handling robot 100 completes the operation of loading the goods.

The process of unloading goods by the handling robot 100 is similar to the process of loading goods. When the handling robot 100 unloads goods, the working process is as follows:

The handling robot 100 moves to the vicinity of the fixed shelf to be unloaded, the handling robot 100 moves to be side by side with the designated space on the fixed shelf, and the lifting assembly 30 drives the handling device 40 to lift to the same position as the goods to be unloaded. At the same height, since the pallet fork 42 is at a reference angle, and the storage rack 20 is located on the second axis of symmetry S2, the movable push rod 423 is folded, and the telescopic arm 421 is stretched out, so that the movable push rod 423 over the goods to be unloaded, the movable push rod 423 is deployed, and the telescopic arm 421 is retracted, and the movable push rod 423 pulls the goods to be unloaded onto the temporary storage pallet 420 for temporary storage.

If the conveying device 40 is not at the same height as the designated space at this time, the lifting assembly 30 needs to be used to drive the conveying device 40 up and down, so that the temporary storage pallet 420 is at the same height as the designated space.

After the temporary storage board 420 is at the same height as an empty shelf 210, the telescopic arm 421 is stretched out, and the goods to be unloaded on the temporary storage board 420 are pushed to the fixed shelf through the fixed push rod 422 Then, the movable push rod 423 is folded, and the telescopic arm 421 is retracted.

The fork rotates around the vertical direction, so that the storage rack 20 is located on the second axis of symmetry S2, and the fork 42 is at a reference angle at this time. At this point, the handling robot 100 completes the work of unloading the goods.

Compared with the prior art, in the handling robot 100 provided by the embodiment of the present invention, by configuring the storage shelf 20, the handling robot 100 can be loaded with a larger quantity of goods.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit them; Combinations, steps can be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in detail for the sake of brevity; although the utility model has been described in detail with reference to the foregoing embodiments, Those skilled in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions The scope of the technical solutions of each embodiment of the utility model.

Claims (10)

1. A mobile chassis, characterized in that it comprises a base and a drive wheel assembly; The drive wheel assembly includes: a hinge bracket, the hinge bracket is hinged to the base; a driving wheel, the driving wheel is mounted on the hinge bracket, the driving wheel can rotate relative to the hinge bracket, so that the mobile chassis moves; and A shock absorber assembly, one end of the shock absorber assembly is hinged to the hinge bracket, the other end of the shock absorber is hinged to the base, the shock absorber assembly includes a shock absorber, and the shock absorber The device is used to reduce the vibration transmitted to the base via the hinge bracket. 2. The mobile chassis according to claim 1, wherein the shock absorber assembly further comprises an adjustment arm; One end of the shock absorber is hinged to the hinge bracket, the other end of the shock absorber is hinged to the base, one end of the adjustment arm is hinged to the other end of the shock absorber, and the adjustment arm The other end of the other end is hinged to the base, and the adjusting arm is against the base so that the adjusting arm cannot rotate in the first direction relative to the base; Wherein, the shock absorber provides for abutting the adjustment arm against the base, and provides an elastic force that prevents the adjustment arm from rotating in a second direction relative to the base, and the second direction is the same as the first direction. in the opposite direction. 3 . The mobile chassis according to claim 2 , wherein the adjustment arm is provided with a stopper, and the stopper is located on a side of the adjustment arm facing the first direction. 4 . 4. The mobile chassis according to claim 2, wherein the adjusting arm and the shock absorber are arranged at a first included angle, and the opening of the first included angle faces the same direction as the second direction ; When the shock absorber is assembled, the shock absorber and the adjusting arm are arranged at a second angle, and the opening of the second angle is in the same direction as the first direction, and the two sides of the shock absorber The length of the end can be extended so that the spring force provided by the shock absorber becomes less. 5. The mobile chassis according to claim 2, wherein the base comprises a base plate; the base plate has opposite upper and lower surfaces; The orientation of the upper surface is in the same direction as the first direction, the hinge between the hinge bracket and the bottom plate is located on the side facing the upper surface, and the hinge between the adjustment arm and the bottom plate is located on the The side facing the upper surface, the shock absorber is located on the side facing the upper surface. 6. The mobile chassis according to claim 5, characterized in that, the upper surface of the base plate is provided with a fixed rod; The other end of the adjusting arm is hinged to the fixing rod, and the adjusting arm is against the fixing rod. 7. The mobile chassis according to claim 5, wherein the bottom plate is provided with a first installation opening, and the first installation opening runs through the upper surface and the lower surface; The driving wheel protrudes from the lower surface through the first installation opening. 8. The mobile chassis according to any one of claims 1 to 7, characterized in that, the mobile chassis further comprises a driven wheel assembly; The driven wheel assembly and the drive wheel assembly jointly support the base. 9. The mobile chassis according to claim 8, wherein there are two driving wheel assemblies; The speed of rotation between the drive wheels of the two drive wheel assemblies may be different in order to steer the mobile chassis. 10. A handling robot, characterized by comprising the mobile chassis according to any one of claims 1-9.