Unmanned transporting robots and the chassis thereof

• US 10,611,405 B2
• Filed: 10/08/2016
• Issued: 04/07/2020
• Est. Priority Date: 10/08/2016
• Status: Active Grant

• Current Assignee: Zhejiang Guozi Robot Technology Co., Ltd.
• Original Assignee: Zhejiang Guozi Robot Technology Co., Ltd.
• Inventors: Wu, Weifeng, Wu, Wangdong, Rao, Chengkang, Shen, Zhenhua, Tao, Yikun, Zheng, Hongbo, Zhu, Lingfen, Wang, Xia, Du, Xinfeng
• Primary Examiner(s): Knutson, Jacob D
• Application Number:
  US15/305,501
• Publication Number:
  US 20180201311A1
• Time in Patent Office: 1,277 Days
• Field of Search: 180 65
• CPC Class Codes: B62D 61/10 with more than four wheels tractors of the low ground pressure type B62D49/002
• CPC Class Codes: B62D 9/002 combined with means for differentially distributing power on the deflectable wheels during cornering
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

The present invention discloses an unmanned transporting robot and the chassis thereof, the chassis includes a floor, a drive unit and a follow unit; the follow unit is used to bear the loads of the chassis and the payload, and includes a plurality of follow components which are arranged on the floor to enable the floor to move smoothly (i. e. without the occurrence of tilting or vibration); the drive unit includes a first drive component and a second drive component which are located symmetrically on both ends of the floor. The present invention also discloses an unmanned transporting robot including the above-described chassis. The chassis of the unmanned transporting robot according to the present invention has the advantages of a compress structure, a small size and a high loading-bearing capacity.

Claims

1. A chassis of an unmanned transporting robot, comprising a floor, a drive unit and a follow unit;

the follow unit comprises a plurality of follow components which are arranged on the floor to enable the floor to move smoothly;

the drive unit comprises a first drive component and a second drive component which are located symmetrically on both ends of the floor;

wherein the plurality of follow components include a first follow component, a second follow component, a third follow component and a fourth follow component which are respectively disposed in sequence at four corners of the floor along the circumference of the floor;

wherein the first follow component, the second follow component, the third follow component and the fourth follow component each include a swivel caster wheel which is used to bear or prevent the chassis from tipping over;

wherein the first drive component and the second drive component each include a drive wheel, a compressing module, a guiding module and a gear motor module;

the gear motor module is connected to the drive wheel;

the drive wheel and the gear motor module are connected through the guiding module to the floor, and may slide perpendicularly to the ground along the guiding module;

the compressing module is disposed on the guiding module for providing a positive pressure for the drive wheel;

wherein the gear motor module is a right-angle gear motor module, the axis of the output end of which is collinear with the axis of rotation of the drive wheel, major part of the back end of the right-angle gear motor module is perpendicular to the axis of the output end and is mounted at an angle to the floor;

wherein the drive wheel compresses the ground through the compressing module, a positive pressure to the ground of the drive wheel is provided by the compressing module, a magnitude of the positive pressure does not change with a load of the chassis, the load of the chassis is borne by the swivel caster wheel;

wherein a forward or a reverse of the chassis is accomplished by co-rotating of the drive wheels at the same speed on both ends of the floor, a left-turning or a right-turning is accomplished by co-rotating of the drive wheels at different speeds on both ends of the floor, and the clockwise or anticlockwise pivot spinning is accomplished by counter-rotating of the drive wheels at the same speed on both ends of the floor.

2. The chassis of an unmanned transporting robot according to claim 1, wherein the first drive component is disposed between the first follow component and the second follow component, and the second drive component is disposed between the third follow component and the fourth follow component.

3. The chassis of an unmanned transporting robot according to claim 1, wherein the guiding module is a combination of a linear bearing and a guide rod.

4. The chassis of an unmanned transporting robot according to claim 1, wherein the guiding module is a linear guide rail.

5. The chassis of an unmanned transporting robot according to claim 1, wherein the drive wheel has a contact point with the ground, and the contact point is coplanar with the sliding direction of the guiding module.

6. The chassis of an unmanned transporting robot according to claim 1, wherein the compressing module is a spring.

7. The chassis of an unmanned transporting robot according to claim 1, wherein the drive wheel is a plastic wheel.

8. An unmanned transporting robot, comprising the chassis according to claim 1;

wherein the plurality of follow components include a first follow component, a second follow component, a third follow component and a fourth follow component which are respectively disposed in sequence at four corners of the floor along the circumference of the floor;

wherein the first follow component, the second follow component, the third follow component and the fourth follow component each include a swivel caster wheel which is used to bear or prevent or both bear and prevent the chassis from tipping over;

wherein the first drive component and the second drive component each include a drive wheel, a compressing module, a guiding module and a gear motor module;

the gear motor module is connected to the drive wheel;

the drive wheel and the gear motor module are connected through the guiding module to the floor, and may slide perpendicularly to the ground along the guiding module;

the compressing module is disposed on the guiding module for providing a positive pressure for the drive wheel;

wherein the gear motor module is a right-angle gear motor module, the axis of the output end of which is collinear with the axis of rotation of the drive wheel, major part of the back end of the right-angle gear motor module is perpendicular to the axis of the output end and is mounted at an angle to the floor;

wherein the drive wheel compresses the ground through the compressing module, a positive pressure to the ground of the drive wheel is provided by the compressing module, a magnitude of the positive pressure does not change with a load of the chassis, the load of the chassis is borne by the swivel caster wheel;

wherein a forward or a reverse of the chassis is accomplished by co-rotating of the drive wheels at the same speed on both ends of the floor, a left-turning or a right-turning is accomplished by co-rotating of the drive wheels at different speeds on both ends of the floor, and the clockwise or anticlockwise pivot spinning is accomplished by counter-rotating of the drive wheels at the same speed on both ends of the floor.

9. The unmanned transporting robot according to claim 8, wherein the first drive component is disposed between the first follow component and the second follow component, and the second drive component is disposed between the third follow component and the fourth follow component.

10. The unmanned transporting robot according to claim 8, wherein the guiding module is a combination of a linear bearing and a guide rod.

11. The unmanned transporting robot according to claim 8, wherein the guiding module is a linear guide rail.

12. The unmanned transporting robot according to claim 8, wherein the drive wheel has a contact point with the ground, and the contact point is coplanar with the sliding direction of the guiding module.

13. The unmanned transporting robot according to claim 8, wherein the compressing module is a spring.

14. The unmanned transporting robot according to claim 8, wherein the drive wheel is a plastic wheel.