A robot car chassis structure and use method

Abstract

The present invention relates to the technical field of vehicle chassis equipment, specifically to a robot vehicle chassis structure and use method, including a supporting bottom shell, the top of the supporting bottom shell is detachably connected to a detachable top shell, the inner wall of the detachable top shell is provided with an obstacle avoidance radar, the inner wall of the supporting bottom shell is fixedly connected to a laser radar, the inner wall of the detachable top shell is fixedly connected to a gyroscope, and the outer wall of the supporting bottom shell is fixedly connected to a QR code camera. In the present invention, when the AGV vehicle collides with other equipment, the shock-absorbing airbag plate drives the extrusion block to move and extrude toward the extrusion box, the extrusion block extrudes the gas between the extrusion boxes, and the extruded gas enters the interior of the shock-absorbing airbag plate through the air intake pipe. The gas enters the shock-absorbing airbag plate to expand, reducing the impact force and improving stability. When the extrusion block contacts the emergency stop switch, the emergency stop switch stops the device from moving, thereby improving the reliability and operation stability of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of trolley chassis equipment, and in particular to a robot trolley chassis structure and a use method thereof. Background Art

[0002] The intelligent AGV system is an important equipment in the logistics system of modern manufacturing enterprises. It is mainly used to store and transport various types of materials, providing important guarantees for the flexible, integrated and efficient operation of the system. It mainly performs regular and repetitive grasping and handling tasks in factories. It can carry heavy objects, dangerous goods, fragile goods, etc. The AGV navigation and positioning system in the chassis structure of a robot car requires accurate positioning, which is generated by sensors. In order to ensure the accuracy and reliability of positioning, suitable sensors must be used. Different sensors have formed different positioning methods. The sensors in the AGV navigation and positioning system are composed of different devices and use different positioning methods. There are mainly positioning methods based on photosensitive devices, eddy current sensors, photoelectric sensors, and sensor combination positioning methods.

[0003] Most AGV navigation and positioning on the market use one sensor for navigation and positioning. If multiple sensors are added for sharing, a lot of algorithm work needs to be added, and it is difficult to achieve compatibility and coordination between multiple sensors. This not only greatly increases the workload of R&D and debugging personnel, but also increases the cost of AGV. During the use of AGVs, at the intersection of guide roads, and because the staff occupy the guide roads when carrying equipment, it is easy for the AGV to collide with other equipment, damaging the AGV or crashing other equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a robot car chassis structure and a use method to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides a robot car chassis structure and a use method, comprising a supporting bottom shell, a disassembly top shell detachably connected to the top of the supporting bottom shell, an obstacle avoidance radar arranged on the inner wall of the disassembly top shell, a laser radar fixedly connected to the inner wall of the supporting bottom shell, a gyroscope fixedly connected to the inner wall of the disassembly top shell, and a two-dimensional code camera fixedly connected to the outer wall of the supporting bottom shell, and further comprising: a shock absorbing mechanism, the shock absorbing mechanism comprising a fixed support plate fixedly connected to the side wall of the disassembly top shell, a fixed block fixedly connected to the side wall of the fixed support plate, a reset spring fixedly connected to the side wall of the fixed block, an extrusion block fixedly connected to the end of the reset spring away from the fixed block, an extrusion box slidably connected to the outer wall of the fixed block, and a shock absorbing airbag plate fixedly connected to the side wall of the extrusion block;

[0007] The jacking mechanism includes a hinge fixedly connected to the side wall of the fixed support plate, the side wall of the hinge is rotatably connected to a connecting rod, the end of the connecting rod away from the hinge is rotatably connected to a push rod, the side wall of the extrusion box is fixedly connected to a limiting slide, the inner wall of the limiting slide is slidably connected to a sliding block, the side wall of the sliding block is fixedly connected to an inclined groove rod, the side wall of the inclined groove rod is provided with an inclined groove, the inner wall of the inclined groove is slidably connected to a supporting leg, the outer wall of the supporting leg is slidably connected to a limiting U-shaped frame, and the side wall of the limiting U-shaped frame is fixedly connected to the side wall of the limiting slide.

[0008] Furthermore, an emergency stop switch is fixedly connected to the side wall of the fixed block, an air intake pipe is fixedly connected to the side wall of the extrusion box, and one end of the air intake pipe is fixedly connected to the side wall of the shock-absorbing airbag plate.

[0009] Furthermore, the side wall of the supporting leg is provided with a pushing mechanism, which includes a connecting plate fixedly connected to the side wall of the supporting leg, a supporting block fixedly connected to the top of the supporting bottom shell, a convex slide fixedly connected to the side wall of the supporting block, a concave slide slidably connected to the side wall of the convex slide, a triangular extrusion block fixedly connected to the bottom of the concave slide, and the side wall of the triangular extrusion block is contacted with the side wall of the connecting plate.

[0010] Furthermore, a lifting mechanism is provided on the inner wall of the supporting bottom shell, and the lifting mechanism includes a servo motor fixedly connected to the inner wall of the supporting bottom shell, the output end of the servo motor is fixedly connected to a driving gear, the side wall of the driving gear is meshingly connected to a fixed gear, the side wall of the fixed gear is rotatably connected to the side wall of the supporting bottom shell, the side wall of the fixed gear is meshingly connected to a driven gear, and the side wall of the driven gear is fixedly connected to a driven wheel.

[0011] Furthermore, the lifting mechanism also includes a synchronous gear meshingly connected to the side wall of the driven wheel, the side wall of the synchronous gear is rotatably connected to the side wall of the supporting bottom shell, the side wall of the synchronous gear is meshingly connected to a toothed plate, and the side wall of the toothed plate is fixedly connected to the lifting frame.

[0012] Furthermore, a transverse driving mechanism is provided on the inner wall of the supporting bottom shell, and the transverse driving mechanism includes a driving motor fixedly connected to the inner wall of the supporting bottom shell, the output end of the driving motor is fixedly connected to a driving gear, the side wall of the driving gear is meshingly connected to a rotating gear, and a driving rod is fixedly connected to the central axis of the side wall of the rotating gear, and both ends of the driving rod pass through the inner wall of the supporting bottom shell and extend to the outside.

[0013] Furthermore, the outer wall of the driving rod is fixedly connected with sprocket one, the side wall of sprocket one is meshedly connected with a chain, the inner wall of the chain is meshedly connected with sprocket two, and the side wall of sprocket two is fixedly connected with a transverse roller.

[0014] Furthermore, a longitudinal driving mechanism is provided at the output end of the driving motor, and the longitudinal driving mechanism includes a driving sprocket fixedly connected to the output end of the driving motor, the side wall of the driving sprocket is meshingly connected with a tensioning chain, the inner wall of the tensioning chain is meshingly connected with a driven sprocket, a rotating rod is fixedly connected to the central axis of the side wall of the driven sprocket, the outer wall of the rotating rod is fixedly connected to a longitudinal roller, and the outer wall of the rotating rod is rotatably connected to the side wall of the lifting frame.

[0015] Furthermore, a robot car chassis structure and a method of using the same include the following steps:

[0016] S1: When the AGV collides with other equipment, the shock-absorbing airbag plate drives the extrusion block to move and squeeze the extrusion box. The extrusion block squeezes the gas between the extrusion boxes. The extruded gas enters the shock-absorbing airbag plate through the air intake pipe. The gas enters the shock-absorbing airbag plate and expands. When the extrusion block contacts the emergency stop switch, the emergency stop switch stops the device from moving.

[0017] S2: When the shock-absorbing airbag plate is moving, the connecting rod drives the push rod to move, and the push rod drives the sliding block to move in the limit slide frame. When the sliding block moves outward, the sliding block drives the inclined slot rod to move. When the inclined slot rod moves, the supporting leg slides in the inclined slot, so that the supporting leg descends through the inclined slot, and the supporting leg slides in the limit U-shaped frame. When descending, the supporting leg contacts the ground, so that the supporting bottom shell of the AGV car is lifted;

[0018] S3: When the side of the AGV trolley contacts other equipment, the triangular extrusion block contacts other equipment, and the triangular extrusion block moves. The triangular extrusion block slides on the convex slide through the concave slider, so that the triangular extrusion block can squeeze the connecting plate, thereby lowering the connecting plate, and the connecting plate drives the supporting legs to descend, so that the supporting legs contact the ground.

[0019] The present invention has the following beneficial effects:

[0020] The robot car chassis structure and use method are as follows: when the AGV car collides with other equipment, the shock-absorbing airbag plate drives the extrusion block to move and extrude toward the extrusion box, the extrusion block extrudes the gas between the extrusion boxes, and the extruded gas enters the shock-absorbing airbag plate through the air intake pipe. The gas enters the shock-absorbing airbag plate to expand, thereby reducing the impact force and improving the stability. When the extrusion block contacts the emergency stop switch, the emergency stop switch stops the device from moving, thereby improving the reliability and operation stability of the equipment.

[0021] The robot trolley chassis structure and use method, when the shock-absorbing airbag plate moves, the connecting rod drives the push rod to move, the push rod drives the sliding block to move in the limit slide, when the sliding block moves outward, the sliding block drives the inclined slot rod to move, when the inclined slot rod moves, the supporting leg slides in the inclined slot, so that the supporting leg descends through the inclined slot, the supporting leg slides in the limit U-shaped frame, and the supporting leg contacts the ground when descending, so that the supporting bottom shell of the AGV trolley is lifted to prevent the device from continuing to move, reduce the impact on the device, and then avoid damage to the device, thereby increasing the service life of the device.

[0022] The chassis structure and use method of the robot trolley, when the side of the AGV trolley contacts other equipment, the triangular extrusion block contacts other equipment, and the triangular extrusion block moves. The triangular extrusion block slides on the convex slide through the concave slider, so that the triangular extrusion block can squeeze the connecting plate, so that the connecting plate drops, and the connecting plate drives the supporting legs to drop, so that the supporting legs contact the ground, preventing the device from continuing to move. In case of emergencies, it can be stopped in time to ensure the safety of personnel and products, and quickly achieve autonomous obstacle avoidance. The chassis structure and use method of the robot trolley, four types of AGV navigation and positioning, through the independently developed software system, perfectly combine the compatible sharing between sensors. The present invention uses the independently developed software to perfectly and seamlessly combine the four sensors at a low cost, not only showing the functional characteristics of each sensor without loss, but also the shortcomings of each sensor are compensated by the other three sensors, greatly reducing the labor intensity and production cost of R&D personnel.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the internal structure of the supporting bottom shell of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the pushing mechanism of the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the shock absorbing mechanism of the present invention;

[0029] Figure 5 It is a cross-sectional view of the structure of the lifting mechanism of the present invention;

[0030] Figure 6 It is a schematic diagram of the lifting mechanism structure of the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the lateral driving mechanism of the present invention;

[0032] Figure 8 This is an enlarged view of the structure of the lateral drive mechanism of the present invention;

[0033] Fig. 9 It is a schematic diagram of the structure of the longitudinal drive mechanism of the present invention;

[0034] Fig.10 Figure 2 is a diagram of the method of the present invention.

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] In the figure: 101, support bottom shell; 102, disassemble top shell; 103, obstacle avoidance radar; 104, laser radar; 105, gyroscope; 106, QR code camera; 2, shock absorption mechanism; 201, fixed support plate; 202, fixed block; 203, reset spring; 204, extrusion box; 205, extrusion block; 206, shock absorption airbag plate; 3, lifting mechanism; 301, hinge; 302, connecting rod; 303, push rod; 304, limit slide; 305, slide block; 306, inclined groove rod; 307, inclined groove; 308, support leg; 309, limit U-shaped frame; 401, emergency stop switch; 402, air intake pipe; 5, push mechanism; 501, connecting plate; 502, Support block; 503, convex slide; 504, concave slide; 505, triangular extrusion block; 6, lifting mechanism; 601, servo motor; 602, driving gear; 603, fixed gear; 604, driven gear; 605, driven wheel; 606, synchronous gear; 607, tooth plate; 608, lifting frame; 7, horizontal driving mechanism; 701, driving motor; 702, driving gear; 703, rotating gear; 704, driving rod; 705, sprocket one; 706, chain; 707, sprocket two; 708, horizontal roller; 8, longitudinal driving mechanism; 801, driving sprocket; 802, tensioning chain; 803, driven sprocket; 804, rotating rod; 805, longitudinal roller. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Example 1, please refer to Figure 1 - Figure 6 As shown, the present invention is a robot car chassis structure and use method, including a supporting bottom shell 101, the top of the supporting bottom shell 101 is detachably connected to a detachable top shell 102, the inner wall of the detachable top shell 102 is provided with an obstacle avoidance radar 103, the detection range of the obstacle avoidance radar 103 covers the cross-section of the vehicle body in the forward direction, mainly through the continuous scanning of the laser beam to form a point cloud map, the size and detection distance of the warning area and the protection area can be configured through the radar setting interface, the AGV will stop suddenly in the protection area, the inner wall of the supporting bottom shell 101 is fixedly connected to a laser radar 104, the laser radar 104 is based on the navigation principle of SLAM for positioning and composition. The position of the car and the environment around the car can be accurately located. The inner wall of the disassembled top shell 102 is fixedly connected with a gyroscope 105. The gyroscope 105 is mainly composed of a rotatable rotor located at the axis. Once the gyroscope 105 starts to rotate, due to the angular momentum of the rotor, the gyroscope 105 tends to resist direction changes. The gyroscope 105 is a device for sensing and maintaining direction. The outer wall of the supporting bottom shell 101 is fixedly connected with a QR code camera 106. The QR code camera 106 is a navigation method that tracks a path paved with QR codes. The path is paved with QR codes at a certain distance. Each QR code contains different content. The code reader used to identify the QR code is installed on the AGV. Different from ordinary code readers, the code reader used for navigation can not only read the content of the QR code, but also calculate the rotation angle information of the QR code and the coordinate information of the center of the code reader's field of view. The trolley adjusts the trolley offset according to the information obtained from the QR code to achieve precise positioning and navigation. It also includes: a shock absorbing mechanism 2, the shock absorbing mechanism 2 includes a fixed support plate 201 fixedly connected to the side wall of the disassembled top shell 102, the side wall of the fixed support plate 201 is fixedly connected to a fixed block 202, the side wall of the fixed block 202 is fixedly connected to a reset spring 203, the reset spring 2 03 One end away from the fixed block 202 is fixedly connected with an extrusion block 205, the outer wall of the fixed block 202 is slidably connected with an extrusion box 204, the side wall of the extrusion block 205 is fixedly connected with a shock-absorbing airbag plate 206, the shock-absorbing airbag plate 206 drives the extrusion block 205 to move and extrude toward the extrusion box 204, the extrusion block 205 squeezes the gas between the extrusion boxes 204, the extruded gas enters the shock-absorbing airbag plate 206 through the air intake pipe 402, the gas enters the shock-absorbing airbag plate 206 to expand, reduce the impact force, and improve stability;

[0039] The lifting mechanism 3 includes a hinge 301 fixedly connected to the side wall of the fixed support plate 201, the side wall of the hinge 301 is rotatably connected to a connecting rod 302, and the end of the connecting rod 302 away from the hinge 301 is rotatably connected to a push rod 303, the side wall of the extrusion box 204 is fixedly connected to a limiting slide 304, the inner wall of the limiting slide 304 is slidably connected to a sliding block 305, the side wall of the sliding block 305 is fixedly connected to an inclined groove rod 306, and the side wall of the inclined groove rod 306 is provided with an inclined groove 307, the inner wall of the inclined groove 307 is slidably connected to a supporting leg 308, the outer wall of the supporting leg 308 is slidably connected to a limiting U-shaped frame 309, and the side wall of the limiting U-shaped frame 309 is fixedly connected to the side wall of the limiting slide 304, When the shock-absorbing airbag plate 206 moves, the connecting rod 302 drives the push rod 303 to move, and the push rod 303 drives the sliding block 305 to move in the limiting slide 304. When the sliding block 305 moves outward, the sliding block 305 drives the inclined groove rod 306 to move. When the inclined groove rod 306 moves, the supporting leg 308 slides in the inclined groove 307, so that the supporting leg 308 descends through the inclined groove 307, and the supporting leg 308 slides in the limiting U-shaped frame 309. When descending, the supporting leg 308 contacts the ground, so that the supporting bottom shell 101 of the AGV trolley is lifted to prevent the device from continuing to move, reduce the impact on the device, and thus avoid damage to the device, thereby increasing the service life of the device.

[0040] An emergency stop switch 401 is fixedly connected to the side wall of the fixed block 202, an air intake pipe 402 is fixedly connected to the side wall of the extrusion box 204, one end of the air intake pipe 402 is fixedly connected to the side wall of the shock-absorbing airbag plate 206, and when the extrusion block 205 contacts the emergency stop switch 401, the emergency stop switch 401 stops the movement of the device, thereby improving the reliability and operation stability of the equipment.

[0041] The side wall of the support leg 308 is provided with a pushing mechanism 5, which includes a connecting plate 501 fixedly connected to the side wall of the support leg 308, a supporting block 502 fixedly connected to the top of the supporting bottom shell 101, a convex slide 503 fixedly connected to the side wall of the supporting block 502, a concave slide 504 slidably connected to the side wall of the convex slide 503, a triangular extrusion block 505 fixedly connected to the bottom of the concave slide 504, and a side wall of the triangular extrusion block 505 in contact with the side wall of the connecting plate 501. When the side of the AGV trolley is in contact with other devices When the equipment is in contact, the triangular extrusion block 505 contacts other equipment, and the triangular extrusion block 505 moves. The triangular extrusion block 505 slides on the convex slide 503 through the concave sliding block 504, so that the triangular extrusion block 505 can squeeze the connecting plate 501, so that the connecting plate 501 descends, and the connecting plate 501 drives the supporting leg 308 to descend, so that the supporting leg 308 contacts the ground to prevent the device from continuing to move. In case of emergencies, it can be stopped in time to ensure the safety of personnel and products and quickly achieve autonomous obstacle avoidance.

[0042] Embodiment 2 is different from Embodiment 1 in that, please refer to Figure 5 - Fig. 9 The inner wall of the supporting bottom shell 101 is provided with a lifting mechanism 6, and the lifting mechanism 6 includes a servo motor 601 fixedly connected to the inner wall of the supporting bottom shell 101, and the output end of the servo motor 601 is fixedly connected to a driving gear 602, and the side wall of the driving gear 602 is meshedly connected to a fixed gear 603, and the side wall of the fixed gear 603 is rotatably connected to the side wall of the supporting bottom shell 101, and the side wall of the fixed gear 603 is meshedly connected to a driven gear 604, and the side wall of the driven gear 604 is fixedly connected to a driven wheel 605, and the lifting mechanism 6 also includes a synchronous gear 606 meshedly connected to the side wall of the driven wheel 605, and the synchronous gear The side wall of 606 is rotatably connected to the side wall of the supporting bottom shell 101, the side wall of the synchronous gear 606 is meshed with a tooth plate 607, and the side wall of the tooth plate 607 is fixedly connected with a lifting frame 608. When the device needs to move longitudinally, the servo motor 601 drives the active gear 602 to rotate, and the active gear 602 drives the driven gear 604 to rotate through the fixed gear 603, and the driven gear 604 drives the driven wheel 605 to rotate, and the driven wheel 605 moves the tooth plate 607 through the synchronous gear 606, so that the tooth plate 607 performs a lifting movement, which can make the tooth plate 607 drive the lifting frame 608 to move.

[0043] The inner wall of the supporting bottom shell 101 is provided with a transverse driving mechanism 7, which includes a driving motor 701 fixedly connected to the inner wall of the supporting bottom shell 101, the output end of the driving motor 701 is fixedly connected to a driving gear 702, the side wall of the driving gear 702 is meshedly connected to a rotating gear 703, and the middle axis of the side wall of the rotating gear 703 is fixedly connected to a driving rod 704, both ends of the driving rod 704 penetrate the inner wall of the supporting bottom shell 101 and extend to the outside, and the outer wall of the driving rod 704 is fixedly connected to a sprocket 705, and the side wall of the sprocket 705 is fixedly connected to the outer wall of the driving rod 704. The wall is meshed with a chain 706, the inner wall of the chain 706 is meshed with a sprocket 2 707, and the side wall of the sprocket 2 707 is fixedly connected with a transverse roller 708. When the device needs to move laterally, the driving motor 701 drives the driving gear 702 to rotate, the driving gear 702 drives the rotating gear 703 and the driving rod 704 to rotate, the driving rod 704 drives the sprocket 1 705 to move, the sprocket 1 705 drives the chain 706 to move, and the chain 706 drives the sprocket 2 707 to rotate, thereby moving the transverse roller 708.

[0044] A longitudinal driving mechanism 8 is provided at the output end of the driving motor 701, and the longitudinal driving mechanism 8 includes a driving sprocket 801 fixedly connected to the output end of the driving motor 701, the side wall of the driving sprocket 801 is meshedly connected with a tensioning chain 802, the inner wall of the tensioning chain 802 is meshedly connected with a driven sprocket 803, a rotating rod 804 is fixedly connected to the central axis of the side wall of the driven sprocket 803, the outer wall of the rotating rod 804 is fixedly connected with a longitudinal roller 805, the outer wall of the rotating rod 804 is rotatably connected to the side wall of the lifting frame 608, the longitudinal roller 805 of the lifting frame 608 rises, so that the longitudinal roller 805 contacts the ground, the driving motor 701 drives the driving sprocket 801 to rotate, the driving sprocket 801 drives the tensioning chain 802 to move, the tensioning chain 802 drives the driven sprocket 803 to rotate, and the driven sprocket 803 drives the rotating rod 804 and the longitudinal roller 805 to rotate.

[0045] During use, when the AGV collides with other equipment, the shock-absorbing airbag plate 206 drives the extrusion block 205 to move and extrude toward the extrusion box 204, and the extrusion block 205 squeezes the gas between the extrusion boxes 204. The extruded gas enters the shock-absorbing airbag plate 206 through the air intake pipe 402. The gas enters the shock-absorbing airbag plate 206 and expands, reducing the impact force and improving stability. When the extrusion block 205 contacts the emergency stop switch 401, the emergency stop switch 401 stops the movement of the device, thereby improving the reliability and operation stability of the equipment. During the movement of the shock-absorbing airbag plate 206, the connecting rod 302 drives the push rod 303 to move, and the push rod 303 drives the sliding block 305 to move in the limit slide 304. When the sliding block 305 moves outward, the sliding block 305 drives the inclined groove rod 306 to move. When the inclined groove rod 306 moves, the supporting leg 308 is in the inclined groove 307. When the AGV trolley is in contact with other equipment, the triangular extrusion block 505 contacts with other equipment, and the triangular extrusion block 505 moves. The triangular extrusion block 505 slides on the convex slide 503 through the concave slide block 504, so that the triangular extrusion block 505 can squeeze the connecting plate 501, so that the connecting plate 501 descends, and the connecting plate 501 drives the supporting leg 308 to descend, so that the supporting leg 308 contacts the ground, and prevents the device from continuing to move. In case of emergencies, the device can be stopped in time to ensure the safety of personnel and products, and quickly achieve autonomous obstacle avoidance.

[0046] When the device needs to move longitudinally, the servo motor 601 drives the driving gear 602 to rotate, the driving gear 602 drives the driven gear 604 to rotate through the fixed gear 603, the driven gear 604 drives the driven wheel 605 to rotate, the driven wheel 605 moves the tooth plate 607 through the synchronous gear 606, and the tooth plate 607 performs a lifting movement, which can make the tooth plate 607 drive the lifting frame 608 to move, and the lifting frame 608 The longitudinal roller 805 rises, so that the longitudinal roller 805 contacts the ground, and the driving motor 701 drives the driving sprocket 801 to rotate, the main The driven sprocket 801 drives the tensioning chain 802 to move, the tensioning chain 802 drives the driven sprocket 803 to rotate, the driven sprocket 803 drives the rotating rod 804 and the longitudinal roller 805 to rotate, when the device needs to move horizontally, the driving motor 701 drives the driving gear 702 to rotate, the driving gear 702 drives the rotating gear 703 and the driving rod 704 to rotate, the driving rod 704 drives the sprocket 1 705 to move, the sprocket 1 705 drives the chain 706 to move, the chain 706 drives the sprocket 2 707 to rotate, so that the horizontal roller 708 moves. The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that technicians in the relevant technical field can well understand and use the present invention. The present invention is limited only by the claims appended hereto along with their full scope and equivalents.

Claims

1. A robot car chassis structure, comprising a supporting bottom shell (101), the top of the supporting bottom shell (101) is detachably connected to a detachable top shell (102), the inner wall of the detachable top shell (102) is provided with an obstacle avoidance radar (103), the inner wall of the supporting bottom shell (101) is fixedly connected to a laser radar (104), the inner wall of the detachable top shell (102) is fixedly connected to a gyroscope (105), and the outer wall of the supporting bottom shell (101) is fixedly connected to a two-dimensional code camera (106), characterized in that: Also includes: A shock absorbing mechanism (2), the shock absorbing mechanism (2) comprising a fixed support plate (201) fixedly connected to the side wall of the disassembly top shell (102), the side wall of the fixed support plate (201) being fixedly connected to a fixed block (202), the side wall of the fixed block (202) being fixedly connected to a return spring (203), one end of the return spring (203) away from the fixed block (202) being fixedly connected to an extrusion block (205), the outer wall of the fixed block (202) being slidably connected to an extrusion box (204), and the side wall of the extrusion block (205) being fixedly connected to a shock absorbing airbag plate (206); The lifting mechanism (3) comprises a hinge (301) fixedly connected to the side wall of the fixed support plate (201), the side wall of the hinge (301) is rotatably connected to a connecting rod (302), one end of the connecting rod (302) away from the hinge (301) is rotatably connected to a push rod (303), the side wall of the extrusion box (204) is fixedly connected to a limit slide (304), the inner wall of the limit slide (304) is rotatably connected to the push rod (303), A sliding block (305) is movably connected, a side wall of the sliding block (305) is fixedly connected to an inclined slot rod (306), a side wall of the inclined slot rod (306) is provided with an inclined slot (307), an inner wall of the inclined slot (307) is slidably connected to a supporting leg (308), an outer wall of the supporting leg (308) is slidably connected to a limiting U-shaped frame (309), and a side wall of the limiting U-shaped frame (309) is fixedly connected to a side wall of the limiting sliding frame (304); An emergency stop switch (401) is fixedly connected to the side wall of the fixed block (202), an air intake pipe (402) is fixedly connected to the side wall of the extrusion box (204), and one end of the air intake pipe (402) is fixedly connected to the side wall of the shock-absorbing airbag plate (206); The side wall of the support leg (308) is provided with a pushing mechanism (5), and the pushing mechanism (5) comprises a connecting plate (501) fixedly connected to the side wall of the support leg (308); the top of the support bottom shell (101) is fixedly connected to a supporting block (502); the side wall of the supporting block (502) is fixedly connected to a convex sliding frame (503); the side wall of the convex sliding frame (503) is slidably connected to a concave sliding block (504); the bottom of the concave sliding block (504) is fixedly connected to a triangular extrusion block (505); the side wall of the triangular extrusion block (505) is arranged in contact with the side wall of the connecting plate (501); The inner wall of the supporting bottom shell (101) is provided with a lifting mechanism (6), and the lifting mechanism (6) comprises a servo motor (601) fixedly connected to the inner wall of the supporting bottom shell (101), the output end of the servo motor (601) is fixedly connected to a driving gear (602), the side wall of the driving gear (602) is meshedly connected to a fixed gear (603), the side wall of the fixed gear (603) is rotatably connected to the side wall of the supporting bottom shell (101), the side wall of the fixed gear (603) is meshedly connected to a driven gear (604), and the side wall of the driven gear (604) is fixedly connected to a driven wheel (605).

2. A robot vehicle chassis structure according to claim 1, characterized in that: The lifting mechanism (6) further comprises a synchronous gear (606) meshingly connected to the side wall of the driven wheel (605); the side wall of the synchronous gear (606) is rotatably connected to the side wall of the supporting bottom shell (101); the side wall of the synchronous gear (606) is meshingly connected to a toothed plate (607); and the side wall of the toothed plate (607) is fixedly connected to a lifting frame (608).

3. A robot vehicle chassis structure according to claim 2, characterized in that: The inner wall of the supporting bottom shell (101) is provided with a transverse driving mechanism (7), and the transverse driving mechanism (7) comprises a driving motor (701) fixedly connected to the inner wall of the supporting bottom shell (101), the output end of the driving motor (701) is fixedly connected to a driving gear (702), the side wall of the driving gear (702) is meshingly connected to a rotating gear (703), the middle axis of the side wall of the rotating gear (703) is fixedly connected to a driving rod (704), and both ends of the driving rod (704) penetrate the inner wall of the supporting bottom shell (101) and extend to the outside.

4. The chassis structure of a robot vehicle according to claim 3, characterized in that: The outer wall of the driving rod (704) is fixedly connected to sprocket one (705), the side wall of the sprocket one (705) is meshedly connected to a chain (706), the inner wall of the chain (706) is meshedly connected to sprocket two (707), and the side wall of the sprocket two (707) is fixedly connected to a transverse roller (708).

5. The chassis structure of a robot vehicle according to claim 4, characterized in that: The output end of the driving motor (701) is provided with a longitudinal driving mechanism (8), and the longitudinal driving mechanism (8) comprises a driving sprocket (801) fixedly connected to the output end of the driving motor (701), the side wall of the driving sprocket (801) is meshingly connected with a tensioning chain (802), the inner wall of the tensioning chain (802) is meshingly connected with a driven sprocket (803), a rotating rod (804) is fixedly connected at the center axis of the side wall of the driven sprocket (803), the outer wall of the rotating rod (804) is fixedly connected with a longitudinal roller (805), and the outer wall of the rotating rod (804) is rotatably connected to the side wall of the lifting frame (608).

6. A method for using a robot car chassis structure, wherein the method for using a robot car chassis structure is the robot car chassis structure according to any one of claims 1 to 5, characterized in that: The steps include: S1: When the AGV collides with other equipment, the shock-absorbing airbag plate (206) drives the extrusion block (205) to move and extrude toward the extrusion box (204), and the extrusion block (205) extrudes the gas between the extrusion boxes (204). The extruded gas enters the shock-absorbing airbag plate (206) through the air intake pipe (402). The gas enters the shock-absorbing airbag plate (206) and expands. When the extrusion block (205) contacts the emergency stop switch (401), the emergency stop switch (401) stops the device from moving. S2: When the shock-absorbing airbag plate (206) moves, the connecting rod (302) drives the push rod (303) to move, and the push rod (303) drives the sliding block (305) to move in the limiting slide frame (304). When the sliding block (305) moves outward, the sliding block (305) drives the inclined groove rod (306) to move. When the inclined groove rod (306) moves, the supporting leg (308) slides in the inclined groove (307), so that the supporting leg (308) descends through the inclined groove (307), and the supporting leg (308) slides in the limiting U-shaped frame (309). When descending, the supporting leg (308) contacts the ground, so that the supporting bottom shell (101) of the AGV trolley is lifted; S3: When the side of the AGV trolley contacts other equipment, the triangular extrusion block (505) contacts other equipment, and the triangular extrusion block (505) moves. The triangular extrusion block (505) slides on the convex slide (503) through the concave slider (504), so that the triangular extrusion block (505) can squeeze the connecting plate (501), thereby causing the connecting plate (501) to descend, and the connecting plate (501) drives the supporting leg (308) to descend, so that the supporting leg (308) contacts the ground.

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