AGV chassis, carrying device and carrying robot

Abstract

The invention belongs to the technical field of storage, and particularly discloses an AGV chassis, a carrying device and a carrying robot. The driving wheel assembly on the chassis comprises a driving wheel; the driving wheel fixing frame comprises a first side wall; the cup sleeves are fixed to the two ends of the bottom edge of the first side wall and abut against the two sides of the driving wheel. And the damping device is used for connecting the driving wheels and the AGV chassis body and comprises a damping spring which is fixed in the cup sleeve, an adjusting nut is arranged at one end of the damping spring and used for adjusting the pre-tightening force of the damping spring, and a locking nut is further arranged at the position corresponding to the adjusting nut and used for locking the position of the adjusting nut. The damping robot has the advantages that the pair of damping springs is additionally arranged at the position close to the driving wheel and used for relieving jolt and vibration of the robot in the vertical direction. Therefore, the adaptive capacity of up-down floating of the AGV chassis is higher, and the AGV chassis can stably run in storage bins under various different road conditions.

Description

Technical Field

[0001] This application relates to the field of warehousing technology, and in particular to an AGV chassis, a handling device, and a handling robot. Background Technology

[0002] With the rapid development of the smart warehousing and logistics industry, high-density warehousing systems (such as high-bay racking, double-deep racking, or multi-deep racking) have been widely used to maximize storage capacity per unit area. Automated high-bay robots, as the core execution equipment of such warehousing systems, typically include a chassis module, a mast lifting module, and a fork module for picking up goods.

[0003] While existing automated high-level handling robots can lift and transfer goods from low to high positions, they exhibit significant structural limitations when meeting the growing demands for high-density operations.

[0004] First, during the lifting operation, as the lifting height of the gantry lifting module increases, the center of gravity of the entire vehicle will rise significantly, which places extremely high demands on the dynamic and static stability of the vehicle chassis.

[0005] Secondly, to improve the utilization rate of high-level storage space, warehousing systems often employ double-deep or multi-deep racking layouts. In this case, the robot not only needs to lift the goods to extremely high storage positions, but its fork module also needs to extend significantly outward to access goods in the inner deep compartments. Performing long-stroke extension operations of the fork arm in a high-level position generates a huge forward tipping moment, causing the vehicle's center of gravity to deviate significantly from its geometric center.

[0006] Limited by the existing chassis structure design and counterweight mode, high-level automated handling robots on the market often face a dilemma: to resist the risk of tipping over caused by the large stroke of the high-level robot, it is usually only possible to significantly increase the chassis size or increase the counterweight, but this will increase the turning radius of the vehicle and make it unable to adapt to narrow aisle operations; if the body size remains unchanged, the lifting height or forward extension distance can only be sacrificed, which will result in a serious lack of space utilization of double-deep high-level racks.

[0007] Therefore, there is an urgent need in this field for a handling device with a more reasonable vehicle body module structure layout, better anti-overturning stability, and the ability to safely meet the needs of forklift operations in high-level and multi-deep storage locations. Summary of the Invention

[0008] To address the aforementioned shortcomings, this application proposes an AGV chassis, a transport device, and a transport robot.

[0009] This application provides an AGV chassis, including a drive wheel assembly with a shock-absorbing device. The shock-absorbing device is used to reduce vibration between the AGV's drive wheel and the AGV chassis body. The drive wheel assembly includes:

[0010] The drive wheel is driven by a drive motor and a reducer connected in sequence;

[0011] Drive wheel mounting bracket, including:

[0012] The first sidewall has mounting holes in its middle section for fixing the drive wheel, the drive motor, and the reducer;

[0013] The cup sleeve is fixed to both ends of the bottom edge of the first side wall and close to both sides of the drive wheel;

[0014] A shock-absorbing device, used to connect the drive wheel and the AGV chassis body, includes:

[0015] A shock-absorbing spring is fixed in the cup sleeve. An adjusting nut is provided at one end of the shock-absorbing spring to adjust the preload of the shock-absorbing spring. A locking nut is also provided at a position corresponding to the adjusting nut to lock the position of the adjusting nut.

[0016] In the aforementioned AGV chassis, the drive wheel mounting bracket further includes two second sidewalls, each of which is vertically fixed to both sides of the first sidewall and parallel to the shock-absorbing spring; wherein,

[0017] A slider is connected to the outer side of the second sidewall. The slider cooperates with the guide rail set on the body of the AGV and can slide along the upper line of the guide rail.

[0018] In the AGV chassis described above, at least one of the sliders on the second sidewall is connected to the drive wheel fixing frame in a floating connection manner.

[0019] In the AGV chassis described above, the slider and the second sidewall are connected by shoulder bolts so that the slider is movable relative to the second sidewall.

[0020] In the AGV chassis described above, the longitudinal axes of the shock-absorbing spring, the slider, and the drive wheel are located on the same straight line.

[0021] In the aforementioned AGV chassis, the AGV chassis is also provided with at least one pair of external universal wheel sets. The external universal wheel sets are located on both sides of the rear of the AGV, and the external universal wheel sets are all located on the outer side of the AGV chassis.

[0022] In the aforementioned AGV chassis, the bottom surface of the AGV chassis is also provided with a front guide wheel and a rear guide wheel, which are respectively located at the two ends of the AGV chassis along the AGV's traveling direction.

[0023] The AGV chassis described above also includes a scale, which is set next to each of the shock-absorbing springs to assist in adjusting the preload.

[0024] This application also discloses a handling device, including the aforementioned AGV chassis.

[0025] This application also discloses a handling robot, including the aforementioned AGV chassis and a double-deep high-position gantry assembly.

[0026] In the aforementioned robot, the double-deep high-position gantry assembly includes:

[0027] A fixed mast is fixedly mounted on the AGV chassis. The projection of the fixed mast on the AGV chassis passes through the central area of ​​the AGV chassis, and the projection of the center of gravity of the vehicle after the fixed mast and the AGV chassis are combined on the AGV chassis is within the support contour range of the AGV chassis.

[0028] A telescopic fork assembly is fixed to a first lifting device and moves up and down along the fixed mast with the first lifting device; the telescopic fork assembly includes a scissor fork structure and forks, the forks are installed at the telescopic end of the scissor fork structure, and the scissor fork structure is configured to drive the forks to telescopically move in the horizontal direction to change the extension length of the forks.

[0029] In the robot described above, the fork assembly also includes a second lifting device, which is fixed to the front end of the scissor fork structure. When the fork extends out of the AGV chassis, the fork descends to the ground under the action of the second lifting device.

[0030] Compared to existing technologies, this application adds a pair of shock-absorbing springs near the drive wheels to reduce vertical vibrations and bumps in the robot. The shock-absorbing capacity of the springs can be adjusted by regulating their preload, thereby enhancing the adaptability of the AGV chassis to vertical movement and enabling stable operation in storage compartments with various road conditions.

[0031] In addition, the shock-absorbing spring in this application has one end fixed in the cup sleeve and the other end fixed to the lower surface of the chassis, which plays a role in restricting the spring from twisting to the left and right sides. This eliminates the need for the through shaft (used for guidance and restricting the spring from twisting to the left and right) that is usually used in the prior art, which reduces manufacturing costs and improves assembly efficiency.

[0032] This application also discloses a transport robot, which is implemented by further integrating a double-deep high-position gantry assembly on the basis of the aforementioned AGV chassis. Specifically, the relative position of the AGV chassis and the double-deep high-position gantry assembly is limited by defining the position of the center of gravity projection. This allows the transport robot to maintain its center of gravity within a reasonable range under both unloaded and fully loaded high-position conditions, thus eliminating the need to increase chassis size or add counterweights. This allows the vehicle to remain in a relatively compact size, facilitating passage through narrow aisles.

[0033] Thanks to the optimized design of the center of gravity position described above, the high-level automated handling robot of this application can effectively counteract the huge overturning moment generated during double-deep forward extension operations. In an optional embodiment, the maximum lifting height of the gantry assembly can be configured to be 8 to 12 meters (e.g., specifically 8.5 meters, 9.5 meters, or 11.5 meters, etc.). Attached Figure Description

[0034] Figure 1 This is a side view of a partial structure of a handling robot according to some embodiments of this application;

[0035] Figure 2 yes Figure 1 The diagram shows a dual-deep handling robot extending its forks and lowering them to the ground.

[0036] Figure 3 yes Figure 1 The top view of the dual-depth handling robot shown (the gantry section is omitted).

[0037] Figure 4 This is a schematic diagram showing the location of the shock absorption device in the AGV chassis of this application;

[0038] Figure 5 This is a schematic diagram of the drive wheel fixing frame according to some embodiments of this application;

[0039] Figure 6 This is a front view of a drive wheel assembly with a shock-absorbing device according to some embodiments of this application;

[0040] Figure 7 This is a top view of a drive wheel assembly with a shock-absorbing device according to some embodiments of this application;

[0041] Figure 8 This is a side view of a drive wheel assembly with a shock-absorbing device according to some embodiments of this application;

[0042] Figure 9 This is a schematic diagram illustrating the installation relationship of the shock-absorbing spring, slider, and drive wheel according to some embodiments of this application.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100. AGV chassis;

[0045] 10. Drive wheel assembly;

[0046] 11. Drive motor;

[0047] 12. Drive wheels;

[0048] 13. First sidewall;

[0049] 14. Second sidewall;

[0050] 15. Mounting holes;

[0051] 16a. Cup sleeve;

[0052] 16b. Shock-absorbing spring;

[0053] 17. Adjusting nut;

[0054] 18. Tighten the nut;

[0055] 19. Flange seat;

[0056] 91. Slider;

[0057] 92. Guide rail;

[0058] 93. Ruler;

[0059] 94. Screw hole;

[0060] 20. Third auxiliary wheel assembly;

[0061] 30. Fourth auxiliary wheel assembly;

[0062] 40. First auxiliary wheel assembly;

[0063] 50. Second auxiliary wheel assembly;

[0064] 200. Gantry assembly;

[0065] 60. Telescopic fork assembly;

[0066] 70. Forks;

[0067] 80. Fixed gantry. Detailed Implementation

[0068] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Although the description of this application is presented in conjunction with preferred embodiments, this does not mean that the features of this application are limited to this embodiment. On the contrary, the purpose of describing the embodiments is to cover other options or modifications that may be derived based on the claims of this application. To provide a thorough understanding of this application, many specific details will be included in the following description. This application may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this application, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0069] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures, and is assumed to be the same definition.

[0070] It should also be stated that the methods and processes in this application are numbered for ease of reference, not to restrict the order of steps. If there is a sequence between the steps, the textual description shall prevail.

[0071] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0072] Figure 1 This is a side view of a partial structure of a dual-depth transport robot according to some embodiments of this application. As shown in the figure, the dual-depth transport robot proposed in this application mainly includes an AGV chassis 100 and a gantry assembly 200. The gantry assembly 200 is fixed to the AGV chassis 100. When the dual-depth transport robot is moving unloaded, it can... Figure 1 The system moves in the indicated state. The mast assembly 200 further includes a fixed mast 80, a telescopic fork assembly 60, and forks 70. The fixed mast 80 is fixed to the AGV chassis 100 and is horizontally constrained relative to the AGV chassis 100 (i.e., it cannot move horizontally), but allows relative movement in the vertical direction. That is, the mast in this application is not used to drive / operate the forks 70 for horizontal displacement. Fixing the fixed mast 80 in one position ensures that the center of gravity of the handling robot does not shift significantly, which is beneficial for maintaining overall balance when handling heavy goods. For example, even when fully loaded or even heavily loaded at a high position, the projection of the center of gravity of the entire vehicle (including the goods) on the horizontal plane remains within the contour range of the AGV chassis 100, thus maintaining the stability of the entire vehicle and preventing it from tipping over.

[0073] Figure 1The gantry assembly 200 shown is in a non-working state (standby or without load). At this time, the telescopic fork assembly 60 is in a retracted state, the forks 70 are lowered to a low position, and the entire gantry assembly 200 is almost entirely located on the AGV chassis 100, with no parts protruding from the AGV chassis 100. In this state, the orthographic projection of the center of gravity of the gantry assembly 200 onto the AGV chassis 100 falls near the center of gravity of the AGV chassis 100. Consequently, the projections of the center of gravity of the entire dual-depth handling robot, the center of gravity of the gantry assembly 200, and the center of gravity of the AGV chassis 100 onto the horizontal plane essentially overlap. Since the fixed gantry 80 in this application is fixed, the center of gravity of the dual-depth handling robot body (AGV chassis 100 and gantry assembly 200) does not change when picking up or lifting heavy objects, and its position is known in advance. Therefore, the weight of heavy objects that the dual-depth handling robot of this application can safely handle and lift can be accurately calculated. Therefore, when managing and assigning handling tasks, the warehouse control system can accurately allocate tasks, ensuring that the appropriate dual-depth handling robot carries goods of the appropriate weight, thus preventing tipping accidents caused by robot imbalance from the source. Conversely, when designing handling robots, the robot's center of gravity can be designed according to the expected handling weight, making it adaptable to different handling needs.

[0074] The telescopic fork assembly 60 is fixed to the fixed mast 80 via a first lifting device. The first lifting device is used to lift the telescopic fork assembly 60 and the forks 70. When goods placed at a high position need to be stored or retrieved, the dual-deep handling robot can activate the first lifting device to raise the forks 70 to a suitable height to store or retrieve the corresponding goods. Specifically, the first lifting device can be a hydraulic lifting system or an electric lifting system, etc.

[0075] The fixed mast 80 can be two-sectioned, consisting of an inner mast and an outer mast. The inner mast is fitted inside the outer mast, and under the drive of the corresponding drive device, the inner mast rises upward, thereby bringing the telescopic fork assembly 60 to a higher height for operation.

[0076] Similarly, to access goods at higher locations, the fixed gantry 80 can also be three-section or four-section. Further details will not be provided here.

[0077] The forks 70 of the dual-deep handling robot proposed in this application can translate horizontally, with the degree of freedom provided solely by the telescopic fork assembly 60, eliminating the need for the entire mast to shift along the longitudinal axis of the vehicle body. Constraining the fixed mast 80 on the horizontal plane plays a crucial role in maintaining the overall vehicle balance during high-level and dual-deep operations. Specifically, when the forks 70 extend significantly outward to pick up heavy objects, the front-end load generates a large forward tilting moment. At this time, since the physical position of the fixed mast 80 does not move forward with the forks 70, its mass distribution is anchored in the reference area (i.e., the central area) of the vehicle chassis, thus forming a lever balance system with the front-end goods in the mechanical model. The static downforce provided by the fixed mast 80 is converted into a stabilizing moment to resist forward tilting, effectively offsetting the risk of forward shift of the center of gravity during deep operations and ensuring the operational safety of the handling robot.

[0078] like Figure 2 As shown, the telescopic fork assembly 60 proposed in this application can be a scissor fork structure, with one end fixed to the fixed mast 80 and the other end fixed to the fork 70. When the scissor fork structure performs telescopic movement, the fork 70 can extend completely beyond the AGV chassis 100, and can pick up goods located in the inner layer of the double-deep rack.

[0079] A second lifting device is also provided between the telescopic fork assembly 60 and the forks 70. This second lifting device is generally an electric lifting device, which can drive the forks 70 to make a small range of up and down movements. (Comparison) Figure 1 and Figure 2 It can be seen that the AGV chassis 100 has a certain height, in Figure 1 In the indicated state, the forks 70 are a certain distance off the ground (the height of the chassis). When fully extended forward under the drive of the telescopic fork assembly 60, the forks 70 maintain this distance from the ground. Typically, in warehousing, pallet racks of a certain height are commonly used to place pallets. The forks 70, positioned a certain distance off the ground, can easily insert into the pallet for normal goods handling. Considering that sometimes there are insufficient pallet racks, and pallets may be placed directly on the ground, this application adds a second lifting device between the forks 70 and the telescopic fork assembly 60. After the forks 70 are fully extended beyond the chassis, activating the second lifting device can further lower the forks 70 to the ground, allowing it to pick up pallets not placed on pallets but directly on the ground. With the addition of the second lifting device, the dual-depth handling robot of this application has greater flexibility and can operate without hindrance in scenarios where pallets are placed directly, without waiting for manual intervention.

[0080] Figures 1-2The illustrated embodiment provides a double-deep robot capable of accessing goods from a high position. By rationally designing the relative positions between the mast assembly 200 and the AGV chassis 100, the robot's overall center of gravity is optimized, helping it maintain stability during heavy-load operations. When the double-deep robot picks up inner-layer goods on a shelf, the forks 70 need to extend outwards a certain distance to ensure stable picking. When the forks 70 are loaded with heavy objects, the robot's overall center of gravity shifts significantly forward (in the fork extension direction). When the projection of this center of gravity onto the horizontal plane moves beyond the bearing surface (i.e., the area of ​​the AGV chassis 100), the robot becomes unstable and prone to tipping forward. Compared to the movable masts in existing technologies, the fixed mast 80 in this embodiment adopts a non-moving design. When the forks 70 extend forward to pick up goods, the fixed mast 80 remains stationary, meaning the robot's center of gravity does not shift. Therefore, for the robot carrying goods as a whole, the degree of forward shift of its center of gravity is much smaller than that of the robot with the gantry forward. In other words, the stability and anti-tipping performance of this embodiment are greatly improved.

[0081] Continue to refer to Figure 1 and Figure 3 , Figure 3 yes Figure 1 The diagram shows a top view of the dual-depth transport robot (the gantry portion is omitted). The AGV chassis 100 includes a drive wheel assembly 10, a first auxiliary wheel assembly 40, a second auxiliary wheel assembly 50, a third auxiliary wheel assembly 20, and a fourth auxiliary wheel assembly 30. Both the first auxiliary wheel assembly 40 and the second auxiliary wheel assembly 50 include guide wheels, allowing them to rotate in any direction. The first auxiliary wheel assembly 40 and the second auxiliary wheel assembly 50 are respectively mounted at the front and rear ends of the AGV chassis 100, enabling flexible movement as the robot moves forward, backward, and turns, thus stabilizing the chassis. Especially during turns, the front and rear guide wheels can perform circular motions around the rotation axis on the chassis, providing stable rotational support for the robot.

[0082] The third auxiliary wheel assembly 20 and the fourth auxiliary wheel assembly 30 each include a pair of omnidirectional wheels, configured to provide lateral (i.e., perpendicular to the longitudinal axis of travel) stability during the operation of the handling robot. Specifically, the two wheels in the third auxiliary wheel assembly 20 are respectively mounted at the front of the AGV chassis 100 (with the direction of the forks extended as the front of the robot), and are located inside the vertical projection contour of the AGV chassis 100, that is, the third auxiliary wheel assembly 20 is located directly below the AGV chassis 100, near the two sides of the chassis. The two wheels in the fourth auxiliary wheel assembly 30 are respectively mounted at the rear of the AGV chassis 100, and protrude outward from the vertical projection contour of the AGV chassis 100 (see reference). Figure 3As shown in the diagram, the fourth auxiliary wheel assembly 30 is located outside the AGV chassis 100, near both sides of the chassis. The third auxiliary wheel assembly 20 and the fourth auxiliary wheel assembly 30 form a four-point support array at the four end regions of the AGV chassis 100. When the robot's overall center of gravity shifts laterally, this support array can effectively counteract the tilting moment caused by the center of gravity shift, thereby significantly improving the lateral or lateral anti-tipping performance of the entire robot system under high-load conditions. In particular, the four auxiliary wheel assemblies 30 have a larger lateral wheelbase, which better adapts to ground undulations and further enhances anti-tipping stability.

[0083] The drive wheel assembly 10 is located in the middle of the AGV chassis 100, such as... Figure 4 As shown. Figure 4 This is a schematic diagram showing the location of the shock absorption device of this application within the AGV chassis. The drive wheel assembly 10 can drive the handling robot to move forward, backward, and rotate, meeting the robot's need for free movement within the aisles between shelves. To reduce the robot's rotation radius, the drive wheel assembly 10 can be positioned in the middle of the chassis.

[0084] The drive wheel assembly 10 specifically includes a drive wheel, a drive wheel mounting bracket, and a shock absorption device.

[0085] Figure 5 This is a schematic diagram of a drive wheel mounting bracket according to some embodiments of this application. As shown, the first sidewall 13 is used to mount the drive wheel, and a mounting hole 15 is provided in its middle position. The drive wheel, the drive motor driving the drive wheel, and the reducer are connected in sequence and then fixed through the mounting hole 15. A diagram showing the drive wheel after installation can be found in the figure. Figures 6-7 Three views of the shock absorption device. Two second sidewalls 14 are fixedly connected to both ends of the first sidewall 13 and are perpendicular to the first sidewall 13. The second sidewalls 14 have screw holes for fixing the drive wheel mounting bracket to the chassis. Two cup sleeves 16a are also present, fixedly connected to both ends of the first sidewall 13 and perpendicular to both the first sidewall 13 and the second sidewall 14. The cup sleeves 16a have a cylindrical portion for accommodating shock-absorbing components (e.g., springs) and constraining them to prevent radial displacement. A scale 93 is fixed vertically to the inside of the second sidewall 14, close to the cup sleeves 16a. The scale 93 works in conjunction with the shock-absorbing spring. When adjusting the spring preload, the scale on the scale 93 is used to confirm the degree of preload adjustment, providing a simple, convenient, and efficient auxiliary measure that simplifies the adjustment process.

[0086] Figure 5The drive wheel mounting bracket shown can simultaneously support the drive wheel and the shock absorption device, and the position of the shock absorption component is as close as possible to the drive wheel, which can provide the maximum shock absorption effect for the drive wheel, protect the drive wheel (including the drive motor and reducer) from bumps, and help extend the service life of the drive wheel assembly.

[0087] Figures 6-8 These are three-view drawings of a shock-absorbing device proposed according to some embodiments of this application. The assembled drive wheel assembly with the shock-absorbing device includes a drive motor 11, a reducer drive (not shown), a drive wheel 12, a shock-absorbing spring 16b, an adjusting nut 17, a locking nut 18, and a flange seat 19. One end of the shock-absorbing spring 16b is fixed in a cup sleeve 16a, and the other end is ultimately fixed to the lower side of the AGV chassis 100 via the flange seat 19. In the heavy-duty application scenario of this embodiment, the shock-absorbing spring 16b is in a compressed state for a long time, making it less prone to spring torsion. The cup sleeve 16a and the flange seat 19 restrict the possibility of the spring moving horizontally or flying out, thus the shock-absorbing spring 16b can only perform elastic movement in the vertical direction. Compared with the prior art method of setting a through shaft at the center of the spring to restrict spring bending, this embodiment saves parts, simplifies the installation steps, and reduces production costs.

[0088] To further prevent lateral instability or dislocation of the damping spring 16b, an initial preload is applied to the damping spring 16b in this embodiment. For example... Figure 6 As shown, a pressure plate is fitted below the adjusting nut 17. Adjusting the adjusting nut 17 causes the pressure plate to shift axially, thereby adjusting the preload of the damping spring 16b. This preload effectively eliminates axial play (i.e., "play") in the spring's longitudinal direction, resulting in a higher dynamic response rate when encountering road bumps and impacts, thus providing immediate and stable support to the vehicle body. After adjusting the preload to the target value, the locking nut 18 is tightened to abut and lock the adjusting nut 17, thereby maintaining the preload state long-term using a double-nut anti-loosening mechanism to prevent the spring from loosening.

[0089] The flange seat 19 is located above the locking nut 18. When installing the drive wheel assembly, the drive wheel assembly is fixed to the AGV chassis through the mounting holes on the flange seat 19, thereby fixing the drive wheel assembly in the vertical direction.

[0090] To restrict the drive wheel assembly's degrees of freedom in the horizontal plane while allowing it to float vertically, this embodiment incorporates a linear guide mechanism between the drive wheel assembly and the AGV chassis. The following... Figure 8 and Figure 9To illustrate, sliders 91 are respectively installed on the outer sides of the two second sidewalls 14 through screw holes 94, and guide rails 92 are provided on the AGV chassis at positions corresponding to the sliders 91. When the vehicle travels on a bumpy road surface, causing the shock-absorbing spring 16b to deform, the drive wheel assembly generates linear motion in the vertical direction relative to the AGV chassis. During this process, the sliders 91 slide up and down along the guide rails 92, thereby decoupling the vertical displacement of the drive wheels from the motion of the vehicle chassis. This mechanism, together with the shock-absorbing spring 16b, effectively attenuates and isolates the impact load transmitted from road bumps to the vehicle body, significantly reducing the vertical vibration of the robot body.

[0091] Furthermore, road surface bumps not only cause vertical vibrations but also induce a displacement tendency of the drive wheel assembly relative to the AGV chassis in the longitudinal direction of vehicle travel. If the slider 91 is rigidly fixed entirely with conventional bolts, the bolts will bear the tensile force in the robot's travel direction to counteract the tendency of the drive wheel assembly to move in the front-to-back direction relative to the AGV chassis. This rigid tensile structural design is prone to bolt fatigue or even breakage, leading to safety accidents.

[0092] To eliminate this structural hazard, this embodiment replaces at least one conventional bolt on the second sidewall 14 with a shoulder bolt. Those skilled in the art will know that a shoulder bolt has a smooth, threadless journal between the thread and the head. When the shoulder bolt passes through the inside of the second sidewall 14 and screws into the slider 91, due to the structural features of the journal, the slider 91 does not completely lock into contact with the second sidewall 14, but rather forms a floating, suspended fit, allowing the slider 91 to produce a slight relative movement in the normal direction relative to the second sidewall 14. Alternatively, in combination with… Figure 9 As shown in the travel direction, this shoulder bolt connection provides a certain amount of play for the slider 91 in the travel direction. This play effectively releases the stress in the longitudinal travel direction caused by bumps and avoids damage to the fasteners caused by rigid interference.

[0093] In summary, when the AGV travels on uneven roads, the drive wheel assembly mitigates and absorbs the impact of the robot's bumps by allowing limited freedom of movement in the vertical direction and the robot's travel direction. Combined with the elastic deformation of the shock-absorbing spring 16b, which absorbs part of the impact of the bumps, the drive wheel assembly in this embodiment can achieve a good shock absorption effect and provide stable working conditions for the dual-depth handling robot.

[0094] Figure 9A schematic diagram of the mounting relationship between the damping spring 16b, the slider 91, and the drive wheel is also shown. To optimize the geometric arrangement of the force transmission path in the elastic drive system, the central axis of the damping spring 16b, the sliding center line of the slider 91, and the radial center plane of the drive wheel are collinear, as shown by the dashed line in the figure. This collinear configuration ensures that the normal elastic restoring force released by the damping spring 16b under pressure always acts precisely along the central radial plane of the drive wheel.

[0095] The core purpose of this positional constraint is to eliminate parasitic off-center load moments derived from the offset of normal forces at the structural source, thus completely avoiding asymmetric loads on the drive wheels. The presence of such off-center load moments induces unexpected lateral deformation (camber angle change) in the wheels, leading to uneven contact stress between the wheel surface and the travel contact surface. This embodiment effectively suppresses localized wear (i.e., uneven wear) of the drive wheels through an absolute centering force transmission mechanism, thereby significantly improving the stability and structural durability of the running system under long-term high-load operation.

[0096] This embodiment not only significantly improves the load balance of the wheel body during elastic drive, but also effectively extends the service life of the wheel body and its mating components, and enhances the motion accuracy and reliability of the entire transmission system.

[0097] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0098] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of this application, various features of this application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0099] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose.

[0100] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

Claims

1. An AGV chassis, characterized in that, The drive wheel assembly includes a shock-absorbing device for reducing vibration between the drive wheel and the chassis body of the AGV. The drive wheel is driven by a drive motor and a reducer connected in sequence; Drive wheel mounting bracket, including: The first sidewall has mounting holes in its middle section for fixing the drive wheel, the drive motor, and the reducer; The cup sleeve is fixed to both ends of the bottom edge of the first side wall and close to both sides of the drive wheel; A shock-absorbing device, used to connect the drive wheel and the AGV chassis body, includes: A shock-absorbing spring is fixed in the cup sleeve. An adjusting nut is provided at one end of the shock-absorbing spring to adjust the preload of the shock-absorbing spring. A locking nut is also provided at a position corresponding to the adjusting nut to lock the position of the adjusting nut.

2. The AGV chassis as described in claim 1, characterized in that, The drive wheel mounting bracket further includes two second sidewalls, each of which is vertically fixed to both sides of the first sidewall and parallel to the shock-absorbing spring; wherein, A slider is connected to the outer side of the second sidewall. The slider cooperates with the guide rail set on the body of the AGV and can slide along the upper line of the guide rail.

3. The AGV chassis as described in claim 2, characterized in that, At least one of the sliders on the second sidewall is connected to the drive wheel fixing frame in a floating connection manner.

4. The AGV chassis as described in claim 3, characterized in that, The slider and the second sidewall are connected by a shoulder bolt so that the slider is movable relative to the second sidewall.

5. The AGV chassis as described in any one of claims 2-4, characterized in that, The shock-absorbing spring, the slider, and the longitudinal axis of the drive wheel are located on the same straight line.

6. The AGV chassis as described in claim 1, characterized in that, The AGV chassis is also equipped with at least one pair of external universal wheel sets, which are located on both sides of the rear of the AGV and are all located on the outer side of the AGV chassis.

7. The AGV chassis as described in claim 1, characterized in that, The bottom surface of the AGV chassis is also provided with a front guide wheel and a rear guide wheel, which are respectively located at the two ends of the AGV chassis along the AGV's traveling direction.

8. The AGV chassis as described in claim 1, characterized in that, It also includes a scale, which is set on the side of each of the shock-absorbing springs to assist in adjusting the preload.

9. A conveying device, characterized in that, Including the AGV chassis as described in any one of claims 1-8.

10. A transport robot, characterized in that, Includes the AGV chassis and double-deep high-position gantry assembly as described in any one of claims 1-8.

11. The robot as claimed in claim 10, characterized in that, The double-deep high-position gantry assembly includes: A fixed mast is fixedly mounted on the AGV chassis. The projection of the fixed mast on the AGV chassis passes through the central area of ​​the AGV chassis, and the projection of the center of gravity of the vehicle after the fixed mast and the AGV chassis are combined on the AGV chassis is within the support contour range of the AGV chassis. A telescopic fork assembly is fixed to a first lifting device and moves up and down along the fixed mast with the first lifting device; the telescopic fork assembly includes a scissor fork structure and forks, the forks are installed at the telescopic end of the scissor fork structure, and the scissor fork structure is configured to drive the forks to telescopically move in the horizontal direction to change the extension length of the forks.

12. The robot as claimed in claim 11, characterized in that, The fork assembly also includes a second lifting device, which is fixed to the front end of the scissor fork structure. When the fork extends out of the AGV chassis, the fork descends to the ground under the action of the second lifting device.

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