AGV chassis integrating extension, splicing and protection

Abstract

The application belongs to the field of AGV chassis design, and discloses an AGV chassis integrating expansion, splicing and protection, which comprises a main frame, wherein the main frame comprises a first moving frame, a second moving frame and a fixed frame; the first moving frame and the second moving frame are arranged on the fixed frame and can move towards or away from each other relative to the fixed frame; a driving module is arranged at the bottom of the first moving frame and the second moving frame; a first bearing table and a second bearing table are arranged at the top of the first moving frame and the second moving frame, and the first bearing table and the second bearing table can move towards or away from each other under the driving of the first moving frame and the second moving frame; an expansion bearing table is arranged on the fixed frame, and the expansion bearing table can be lifted, and when the expansion bearing table is lifted to the plane where the first bearing table and the second bearing table are located, the first bearing table, the second bearing table and the expansion bearing table are locked by a locking module; a battery module is arranged at the bottom of the fixed frame.

Description

Technical Field

[0001] This invention belongs to the field of AGV chassis design, and specifically discloses an AGV chassis that integrates expansion, splicing, and protection. Background Technology

[0002] In the field of intelligent warehousing and logistics automation, AGVs (Automated Guided Vehicles) are core equipment for flexible material handling, and the adaptability and safety of their inventory platforms directly determine the overall efficiency of the warehousing system. However, existing AGV inventory platforms have the following problems: First, existing inventory platforms mostly adopt a fixed structure design, which makes it difficult to adapt to diverse product specifications, especially in processing... When there are irregular shapes or batch size changes, the AGV cart needs to be replaced manually; Secondly, when multiple AGVs need to work together, the lack of a modular splicing mechanism makes it impossible to build a continuous bearing surface, which requires additional dedicated transport vehicles for ultra-long material transfers, significantly increasing equipment investment costs.

[0003] Third, existing protective devices in current technologies mostly use welded fences, which not only hinder the realization of platform size adjustment functions, but also affect the improvement of AGV efficiency. Summary of the Invention

[0004] To address the problems of AGVs having unadjustable sizes, low adaptability, inability to achieve automatic locking in conventional splicing, high safety hazards for large AGVs, and multiple protective devices interfering with the splicing process in spliced ​​AGVs, this invention proposes an AGV chassis that integrates expansion, splicing, and protection.

[0005] The technical solution adopted in this invention is as follows: An AGV chassis integrating expansion, splicing, and protection includes a main frame, which comprises a first movable frame, a second movable frame, and a fixed frame. The first and second movable frames are mounted on the fixed frame and can move towards or away from each other relative to the fixed frame. A drive module is provided at the bottom of the first and second movable frames. A first and second support platform are provided at the top of the first and second movable frames, and the first and second support platforms can move towards or away from each other under the drive of the first and second movable frames. An extension support platform is mounted on the fixed frame and can be raised and lowered. When the extension support platform is raised to the plane where the first and second support platforms are located, the first and second support platforms are locked to the extension support platform by a locking module. Protective mechanisms are also provided on the sides of the first and second movable frames, and AGV chassis splicing devices are provided at the ends of the first and second movable frames.

[0006] Furthermore, the locking module includes a first locking module and a second locking module that are paired together.

[0007] Furthermore, the first locking module includes a locking slide, a locking rack, a locking wedge, a locking drive motor, a locking moving plate, a first locking pin, and a locking cylinder; the locking slide and locking rack are fixed, the locking wedge is fixed on the moving plate, and the locking moving plate moves along the locking slide under the drive of the locking drive motor; a locking cylinder is also provided on one side of the locking slide, and a first locking pin is provided on the locking cylinder, the locking cylinder drives the first locking pin to move, inserting the first locking pin into the hole on the side of the locking wedge.

[0008] Furthermore, the second locking module includes a first fixed block, a movable block, a first connecting frame, a second fixed plate, a compression spring, a second fixed block, a connecting plate, a locking block, and a second connecting frame; the second fixed plate is fixed, and the first fixed block and the second fixed block are provided on the second fixed plate; the movable block moves up and down between the first fixed block and the second fixed block; the connecting plate is connected to the first fixed block and the second fixed block; the first connecting frame is fixed on the connecting plate; the second connecting frame is provided on the movable block; a compression spring is provided between the first connecting frame and the second connecting frame, and the compression spring is mounted on a shaft; the upper end of the shaft is connected to the movable block, and then passes through the first connecting frame and the second connecting frame; the bottom is provided with a locking block.

[0009] Furthermore, the splicing device includes a magnetic block disposed at one end of the first moving frame and the second moving frame, and a magnetic frame and a magnetic locking pin disposed at the other end of the first moving frame and the second moving frame, thereby realizing the connection of the two AGV chassis.

[0010] Furthermore, the protective mechanism includes a first driving device, a second driving device, a first adsorption module, and a second adsorption module; the first driving device and the second driving device are arranged on the side of the first support platform or the second support platform; the first driving device drives the first adsorption module, the second driving device, and the flipping device to move horizontally; the second driving device drives the second adsorption module to move vertically; and the flipping device drives the protective railing to flip.

[0011] Furthermore, the flipping device includes a flipping motor, which is connected to the flipping plate via a flipping connecting shaft. The flipping plate includes two plates connected by a damping hinge. After the second adsorption module adsorbs one of the plates, the two plates can be flipped. Two spring rods are also connected to the flipping plate. The two spring rods are arranged in parallel and fixed by a fixing plate. The ends of the two spring rods are connected to the guardrail via a fixing connector.

[0012] Furthermore, the first adsorption module and the second adsorption module each include a fixed base, a telescopic motor, a telescopic column, and a magnetic suction plate; the fixed base is provided with a telescopic motor, the telescopic motor drives a telescopic column, and the telescopic column is provided with a magnetic suction plate.

[0013] Furthermore, a battery module is installed at the bottom of the fixed frame.

[0014] Furthermore, the battery module includes a supporting profile, a locking rod cylinder, a fixing plate, a fourth adsorption module, a supporting spring, a battery slide, a locking device, and a battery. The supporting profile is suspended at the bottom of the fixed frame, and a fixing plate is provided on the supporting profile. The supporting spring, the fourth adsorption module, and the locking device are vertically arranged on the fixing plate. The supporting spring is used to support the battery slide, the fourth adsorption module is used to adsorb the battery slide, and the locking device is used to lock the battery. The battery is set on the battery slide.

[0015] As a further technical solution, the first and second movable frames are each connected to a movable plate, and the movable plates are all mounted on their respective frame sliders. The frame sliders cooperate with the frame slide rails. The frame slide rails are mounted on a fixed base plate, and the fixed base plate is mounted on a fixed frame. The two movable plates are driven by a driving device to move towards or away from each other. The driving device includes a drive motor, a first drive rod, a second drive rod, and a rotary output rod. The drive motor is fixed on the fixed base plate, and its output end is connected to the rotary output rod. One end of the rotary output rod is hinged to the first slide plate through the first drive rod, and the other end of the rotary output rod is hinged to the second slide plate through the second drive rod. By rotating the drive motor, the first drive rod and the second drive rod are rotated, thereby realizing the movement of the first slide plate and the second slide plate towards or away from each other.

[0016] The beneficial effects of this invention are as follows: This invention enables the AGV platform to automatically adjust its size by moving the first and second support platforms and raising and lowering the extended support platform, thus adapting to the constraints of different sized goods and different operating spaces. After automatically adjusting its size, the invention is equipped with an automatic locking module to achieve automated locking and fixation, eliminating the need for manual disassembly and installation. In order to enable the splicing of multiple AGV chassis, the present invention provides a magnetic block at one end of the first moving frame and the second moving frame, and a magnetic frame and a magnetic lock pin at the other end of the first moving frame and the second moving frame. When the two vehicles are spliced, the magnetic lock pin is a retractable fixing pin, the magnetic block is inserted into the inside of the magnetic frame, and then fixed by magnetic adsorption, and the magnetic lock pin extends to achieve double locking.

[0017] In the collaborative splicing of multiple AGVs, the protective devices have a significant impact on the splicing process. Therefore, this invention allows for both splicing and independent operation by adjusting the protective devices. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall structure of the present invention in its unextended state; Figure 2 A schematic diagram of the structure of the three shells of the present invention in the extended state; Figure 3 A schematic diagram of the chassis portion of the present invention in its extended state; Figure 4 Schematic diagram of the protective mechanism of the present invention Figure 1 ; Figure 5 Schematic diagram of the protective mechanism of the present invention Figure 2 ; Figure 6 Schematic diagram of the protective mechanism of the present invention Figure 3 ; Figure 7 A schematic diagram of the adsorption module of the protective mechanism of the present invention; Figure 8 This is a schematic diagram of the first locking module; Figure 9 A schematic diagram of the driver module Figure 1 ; Figure 10 A schematic diagram of the driver module Figure 2 ; Figure 11 This is a schematic diagram of the second locking module; Figure 12 A schematic diagram of the battery module. Figure 1 ; Figure 13 A schematic diagram of the battery module. Figure 2 ; Figure 14 A schematic diagram of the battery module. Figure 3 ; Figure 15 This is a schematic diagram of a battery; Figure 16 A schematic diagram of the main framework Figure 1 ; Figure 17 A schematic diagram of the main framework Figure 2 ; In the diagram: 1. Third locking module, 2. Protective mechanism, 3. Second locking module, 4. Drive module, 5. Battery module, 6. Support frame, 7. Main frame, 81. First support platform, 82. Second support platform, 83. Extended support platform, 9. Fourth locking module, 10. First locking module; 11. Locking slide rail; 12. Locking rack; 13. Locking wedge; 14. Locking drive motor; 15. Locking moving plate; 16. First locking pin; 17. Locking cylinder; 18. Magnetic lock pin; 19. Magnetic frame; 110. Magnetic block. 21. Second drive motor; 22. First adsorption module; 23. Second adsorption module; 24. Guardrail; 25. Fixing connector; 26. Spring rod; 27. Connector; 28. First fixing plate; 29. ​​Folding plate; 210. Tilting motor; 211. First slide rail; 212. First rack; 213. Drive motor connecting plate; 214. Third adsorption module. 215. Second slide rail; 216. First gear; 217. First slide plate; 218. Second rack; 219. First drive motor; 220. Flip connecting shaft; 221. Flip motor fixing plate; 222. First slider; 223. Second slide plate; 224. Third slide rail; 225. Second slider; 226. Third slider; 227. Second gear; 228. Damping hinge; 229. Guardrail connecting plate; 230. Fixing base; 231. Telescopic motor; 232. Outer shell; 233. Telescopic column; 234. First magnetic suction plate; 31. First fixed block; 32. Moving block; 33. First connecting frame; 34. Second fixed plate; 35. Compression spring; 36. Second fixed block; 37. Connecting plate; 38. Locking block; 39. Second connecting frame. 41. Auxiliary wheel; 42. Auxiliary wheel connecting frame; 43. Drive wheel; 44. Drive wheel drive motor; 51. Support profile; 52. Second locking pin; 53. Locking rod cylinder; 54. Third fixing plate; 55. Fourth adsorption module; 56. Support spring; 57. Battery slide; 59. Locking rod; 510. Battery; 511. Locking pin hole; 512. Locking rod hole. 71. Drive connecting profile; 72. First moving frame; 73. First connecting profile; 74. Second connecting profile; 75. Third connecting profile; 76. Second magnetic suction plate; 77. Support cylinder; 78. Fourth connecting profile; 79. Fifth connecting profile; 710. Second moving frame; 711. First moving plate; 712. First drive rod; 713. Drive motor; 714. Second drive rod; 715. Fixed base plate; 716. Frame slide rail; 717. Frame slider; 718. Second moving plate; 719. Rotary output rod; 720. Fixed frame; Detailed Implementation It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. The AGV chassis provided in this embodiment, integrating expansion, splicing, and protection, mainly includes three functions: area expansion of a single AGV chassis, splicing of multiple AGV chassis, and protection of a single AGV chassis. The area expansion device for a single AGV chassis mainly includes: a main frame 7, which is the main support part of the AGV chassis. The main frame 7 includes a first moving frame 72, a second moving frame 710, and a fixed frame 720. The first moving frame 72 and the second moving frame 710 are mounted on the fixed frame 720 and can move towards or away from the fixed frame 720. Four drive modules 4 are arranged at the bottom of the first moving frame 72 and the second moving frame 710, and the four drive modules 4 realize the movement of the entire device. 72. A first support platform 81 and a second support platform 82 are provided on the top of the second moving frame 710. The first support platform 81 and the second support platform 82 can move towards each other or away from each other under the drive of the first moving frame 72 and the second moving frame 710. An extension support platform 83 is provided on the fixed frame 720. When it is necessary to extend the AGV chassis, the extension support platform 83 can be raised and lowered. When the extension support platform 83 is raised to the plane where the first support platform 81 and the second support platform 82 are located, it is locked with the first support platform 81 and the second support platform 82 by a locking device to fix the three of them, thereby realizing the extension of the AGV chassis. When it is not necessary to extend the AGV chassis, the first support platform 81 and the second support platform 82 are locked. Furthermore, in order to protect the individual AGV chassis, protective mechanisms 2 are also provided on the sides of the first moving frame 72 and the second moving frame 710. Furthermore, in order to enable the splicing of multiple AGV chassis, AGV chassis splicing devices are provided at the ends of the first moving frame 72 and the second moving frame 710 to enable the splicing of multiple AGV chassis.

[0020] The following is a detailed explanation of each part: This embodiment first describes the structure of the area expansion device for a single AGV chassis: like Figure 16 , Figure 17As shown, the main frame 7 in this embodiment mainly includes a drive connecting profile 71, a first movable frame 72, a first connecting profile 73, a second connecting profile 74, a third connecting profile 75, a second magnetic suction plate 76, a support cylinder 77, a fourth connecting profile 78, a fifth connecting profile 79, a second movable frame 710, a first movable plate 711, a first drive rod 712, a drive motor 713, a second drive rod 714, a fixed base plate 715, a frame slide rail 716, a frame slider 717, a second movable plate 718, and a rotating output rod 719.

[0021] The first movable frame 72 and the second movable frame 710 are arranged opposite to each other and are symmetrical. The first movable frame 72 is connected to the first movable plate 711 through the first connecting profile 73 and the third connecting profile 75. The second movable frame 710 is connected to the second movable plate 718 through the fourth connecting profile 78 and the fifth connecting profile 79. The first movable plate 711 and the second movable plate 718 are both mounted on their respective frame sliders 717. The frame sliders 717 cooperate with the frame slide rails 716 and can slide along the frame slide rails 716. The frame slide rails 716 are mounted on the fixed base plate 715. The first movable plate 711 and the second movable plate 718 are arranged opposite to each other and are driven by a driving device to move towards or away from each other. Two sets of support cylinders 77 are also mounted on the fixed base plate 715, located on both sides of the frame slide rails 716. The top of the support cylinders 77 is provided with a second magnetic suction plate 76. The second magnetic suction plate 76 is connected to the extended support platform 83. Furthermore, the driving device includes a drive motor 713, a first drive rod 712, a second drive rod 714, and a rotary output rod 719. The drive motor 713 is fixed on the fixed base plate 715, and its output end is connected to the rotary output rod 719. One end of the rotary output rod 719 is hinged to the first moving plate 711 through the first drive rod 712, and the other end of the rotary output rod 719 is hinged to the second moving plate 718 through the second drive rod 714. By rotating the drive motor 713, the first drive rod 712 and the second drive rod 714 are rotated, thereby realizing the opposite or opposite movement of the first moving plate 711 and the second moving plate 718. Furthermore, the ends of the first moving frame 72 and the second moving frame 710 are also connected to the drive module 4 via the drive connecting profile 71, and the entire device includes four drive modules 4.

[0022] The first movable frame 72 and the second movable frame 710 realize the splicing process of the three shells as follows: First, the drive motor 713 drives the rotation of the output, which in turn drives the second drive rod 714 and the first drive rod 712 to rotate. This allows the first moving plate 711 and the second moving plate 718 to move on the main frame slide rail 716 via the main frame slider 717, thus separating the first support platform 81 and the second support platform 82. Then, the support cylinder 77 drives the second magnetic suction plate 76 to lift the extended support platform 83 to the same horizontal plane as the first support platform 81 and the second support platform 82. At this moment, the drive motor 713 reverses, causing the first support platform 81 and the second support platform 82 to move against the extended support platform 83. Then, multiple locking devices lock the three together, thus expanding the size of the AGV.

[0023] As shown in the figure, the locking method between the first support platform 81, the second support platform 82 and the extended support platform 83 in this embodiment is described as follows; A first locking module 10 is provided on the first support platform 81, and a fourth locking module 9 is provided on the second support platform 82; a second locking module 3 is provided on one side of the extended support platform 83, and a third locking module 1 is provided on the other side. The second locking module 3 cooperates with the first locking module 10 to achieve locking; the fourth locking module 9 cooperates with the third locking module 1 to achieve locking; the first locking module 10 and the third locking module 1 have the same structure, and the second locking module 3 and the fourth locking module 9 have the same structure. The following is a detailed explanation of the cooperation relationship of one pair: like Figure 8 As shown, the first locking module 10 includes a locking slide 11, a locking rack 12, a locking wedge 13, a locking drive motor 14, a locking moving plate 15, a first locking pin 16, and a locking cylinder 17. The locking slide 11 and the locking rack 12 are fixed on the first support platform 81, and the locking wedge 13 is fixed on the locking moving plate 15. The locking moving plate 15 can move along the locking slide 11 under the drive of the locking drive motor 14. Specifically, the locking drive motor 14 drives a gear to rotate, and the gear meshes with the locking rack 12, thereby realizing the movement of the locking wedge 13 along the locking module slide. Furthermore, a locking cylinder 17 is also provided on one side of the locking slide 11, and a first locking pin 16 is provided on the locking cylinder 17. The locking cylinder 17 can drive the first locking pin 16 to move and insert the first locking pin 16 into the hole on the side of the locking wedge 13.

[0024] like Figure 11As shown, the second locking module 3 includes a first fixing block 31, a moving block 32, a first connecting frame 33, a second fixing plate 34, a compression spring 35, a second fixing block 36, a connecting plate 37, a locking block 38, and a second connecting frame 39. The second fixing plate 34 is fixed on the extended support platform 83. The first fixing block 31 and the second fixing block 36 are provided on the second fixing plate 34. The moving block 32 can move up and down between the first fixing block 31 and the second fixing block 36. The connecting plate 37 is connected to the first fixing block 31 and the second fixing block 36. The first connecting frame 33 is fixed on the connecting plate 37. The second connecting frame 39 is provided on the moving block 32. The compression spring 35 is provided between the first connecting frame 33 and the second connecting frame 39. The compression spring 35 is mounted on a shaft. The upper end of the shaft is connected to the moving block 32 and then passes through the first connecting frame 33 and the second connecting frame 39. The locking block 38 is provided at the bottom. As the locking wedge 13 of the first locking module 10 moves toward the locking block 38 of the second locking module 3, the locking block 38 and the locking wedge 13 come into contact and begin to squeeze each other. During the squeezing process, the compression spring 35 is continuously squeezed, generating a rebound force, which causes the locking block 38 to move into the locking hole on the upper side of the locking wedge 13. Due to the rebound force, the locking block goes deeper into the locking hole. At the same time, the locking cylinder 17 drives the first locking pin 16 to go deeper into the locking hole on the side of the locking wedge 13, thus achieving double locking.

[0025] The unlocking process is the reverse. First, the locking cylinder 17 retracts the first locking pin 16 to achieve the first unlocking. Then, the locking drive motor 14 drives the locking moving plate 15 to slide downward on the locking slide 11, separating the locking wedge block 13 from the locking block to achieve the second unlocking. At this time, both the first locking module 10 and the second locking module 3 are in the unlocked state.

[0026] Furthermore, to enable the splicing of multiple AGV chassis, a magnetic block 110 is provided at one end of the first moving frame 72 and the second moving frame 710, and a magnetic frame 19 and a magnetic lock pin 18 are provided at the other end. When two AGV chassis are spliced, the magnetic lock pin 18 is a retractable fixing pin. The magnetic block 110 is inserted into the inside of the magnetic frame 19 and then fixed by magnetic adsorption. The magnetic lock pin 18 extends out and inserts into the magnetic block 110 to achieve double locking.

[0027] Furthermore, such as Figures 4-7As shown, the four protective mechanisms 2 in this embodiment have identical structures. Each protective structure includes a second drive motor 21, a first adsorption module 22, a second adsorption module 23, a protective railing 24, a fixed connector 25, a spring rod 26, a connector 27, a first fixing plate 28, a folding plate 29, a flip motor 210, a first slide rail 211, a first rack 212, a drive motor connecting plate 213, a third adsorption module 214, a second slide rail 215, a first gear 216, a second rack 218, a first drive motor 219, a flip connecting shaft 220, a flip motor fixing plate 221, a first slider 222, a third slide rail 224, a second slider 225, a third slider 226, a second gear 227, a damping hinge 228, a protective railing connecting plate 229, a first sliding plate 217, and a second sliding plate 223. A first slide rail 211 and a second slide rail 215 are horizontally arranged and parallel to each other on the side of the first support platform 81 or the second support platform 82. A first rack 212 is arranged between the first slide rail 211 and the second slide rail 215. A third slide rail 224 and a second rack 218 are vertically arranged at one end of the first slide rail 211 and the second slide rail 215. A first slide plate 217 is arranged on the first slide rail 211 and the second slide rail 215. The first slide plate 217 is connected to the first slide rail 211 and the second slide rail 215 through a first slider 222. The first slide plate 217 is also connected to a second drive motor 21 through a drive motor connecting plate 213. The second drive motor 21 slides on the second slide rail 215 and the first slide rail 211 through the meshing of the first gear 216 and the first rack 212. A first adsorption module 22 is also horizontally arranged on the first slide plate 217. The second drive motor 21 is mounted on the second slide plate 223, which moves up and down along the third slide rail 224. The second drive motor 21 is connected to the second gear 227, which meshes with the second rack 218. A second adsorption module 23 is horizontally arranged on the second slide plate 223, and the second drive motor 21 enables the second adsorption module 23 to move up and down.

[0028] A flip motor 210 is also provided on the first sliding plate 217. The flip motor 210 is connected to the flip plate via a flip connecting shaft 220. The flip plate includes two plates connected by a damping hinge 228. After the second adsorption module 23 adsorbs one of the plates, the two plates can be flipped. Two spring rods 26 are also connected to the flip plate. The two spring rods 26 are arranged in parallel and fixed by a fixing plate. The ends of the two spring rods 26 are connected to the guardrail 24 via a fixing connector 25.

[0029] The first adsorption module 22, the second adsorption module 23, and the third adsorption module 214 described above have the same structure, specifically including a fixed base 230, a telescopic motor 231, a housing 232, a telescopic column 233, and a first magnetic suction plate 234. The fixed base 230 is equipped with a telescopic motor 231, which drives a telescopic column 233. The telescopic column 233 is equipped with a first magnetic suction plate 234. The telescopic column 233 is protected by the housing 232. The specific working principle is that the fixed base 230 is a fixed base, the telescopic motor drives the telescopic column of the adsorption module to extend and retract, and the magnetic suction plate of the adsorption module is a magnetic suction surface, which can realize the magnetic adsorption of objects.

[0030] The specific work process is as follows: Normal operating state is as follows: The first drive motor 219 slides on the first slide rail 211 and the second slide rail 215 through the meshing of the first gear 216, thereby driving the first slide plate 217 to move and realize the movement of the entire module; then the second drive motor 21 drives the second gear 227 to realize the movement of the second adsorption module 23 on the third slide rail 224 and the third slider 226. When it moves to the position of the folding plate 29, the second adsorption module 23 extends and retracts to the folding plate 29, the electromagnet opens, and the folding plate 29 is folded along the damping hinge 228. At this time, the third adsorption module 214 extends and retracts to adsorb the folding plate 29 which is folded to nearly 90 degrees. Thus, the normal operation of the protective mechanism 2 is realized. When multiple AGVs need to be spliced ​​together, in order to save space, the flipping motor 210 drives the flipping connecting shaft 220 to fold, so that the guardrail 24 is folded to the top. Then, the guardrail 24 is fixed to the top by the telescopic adsorption of the first adsorption module 22, thus saving space.

[0031] Furthermore, such as Figure 12 , such as 13, Figure 14 , Figure 15 As shown, the battery module 5 in this embodiment includes a support profile 51, a locking rod cylinder 53, a third fixing plate 54, a fourth adsorption module 55, a support spring 56, a battery slide 57, a locking rod 59, a second stop pin 52, and a battery 510; the battery 510 is provided with a locking pin hole 511 and a locking rod hole 512. The supporting profile 51 is suspended at the bottom of the fixed frame 720. A third fixing plate 54 is set on the supporting profile 51. The fixing plate and the supporting profile together form the installation space of the battery module 5. A supporting spring 56, a fourth adsorption module 55, a locking rod cylinder 53, and a second stop pin 52 are vertically arranged on the third fixing plate 54. The supporting spring 56 is used to support the battery slide 57. The fourth adsorption module 55 is used to adsorb the battery slide 57. The locking rod cylinder 53 drives the locking rod 59. The locking rod 59 and the second stop pin 52 are used to lock the battery 510. The battery 510 is set on the battery slide 57. The specific usage process is as follows: When changing the battery, slide the battery 510 on the battery slide. Then, the locking rod cylinder 53 drives the locking rod 59 to retract. Under the action of its own weight, the battery 510 reaches the designated position. Then, the locking rod cylinder 53 extends and locks into the locking rod hole 512 of the battery to achieve locking. When the AGV is running, the adsorption modules of the battery modules 5 on both sides extend to adsorb to the bottom surface of the battery slide, and then stabilize the battery module 5 mechanism to prevent shaking.

[0032] Furthermore, in this embodiment, the support frame 6 is a variable-size support frame 6. In order to prevent wear on the wheels, the AGV is supported by the fixed support frame 6, and then the size is changed. After the size change is completed, the AGV can leave the support frame 6 again.

[0033] like Figure 9 , Figure 10 As shown, the drive module 4 of the present invention includes an auxiliary wheel 41, an auxiliary wheel connecting frame 42, a drive wheel 43, and a drive wheel drive motor 44. The drive wheel drive motor 44 drives the drive wheel 43, and the auxiliary wheel 41 is connected to the main frame 7 through the auxiliary wheel connecting frame 42 to realize the movement of the entire chassis.

[0034] This invention enables the automatic adjustment of the AGV platform's dimensions to adapt to constraints of goods and operating spaces of varying sizes. After automatic size adjustment, the invention incorporates an automatic locking mechanism for automated fixation. In multi-AGV collaborative splicing, multiple protective devices can significantly impact the splicing process; therefore, this invention allows for both splicing and independent operation by adjusting these protective devices.

Claims

1. An AGV chassis integrating expansion, splicing, and protection, characterized in that, The system includes a main frame, comprising a first movable frame, a second movable frame, and a fixed frame. The first and second movable frames are mounted on the fixed frame and can move relative to or away from the fixed frame. A drive module is located at the bottom of the first and second movable frames. A first and second support platform are located at the top of the first and second movable frames, and these platforms can move relative to or away from each other under the drive of the first and second movable frames. An extension support platform is mounted on the fixed frame and can be raised and lowered. When the extension support platform rises to the plane where the first and second support platforms are located, the first and second support platforms are locked to the extension support platform by a locking module. Protective mechanisms are also provided on the sides of the first and second movable frames, and AGV chassis splicing devices are provided at the ends of the first and second movable frames.

2. The AGV chassis integrating expansion, splicing, and protection as described in claim 1, characterized in that, The locking module includes a first locking module and a second locking module that are paired together.

3. The AGV chassis integrating expansion, splicing, and protection as described in claim 2, characterized in that, The first locking module includes a locking slide, a locking rack, a locking wedge, a locking drive motor, a locking moving plate, a first locking pin, and a locking cylinder. The locking slide and locking rack are fixed, and the locking wedge is fixed on the moving plate. The locking moving plate moves along the locking slide under the drive of the locking drive motor. A locking cylinder is also provided on one side of the locking slide, and a first locking pin is provided on the locking cylinder. The locking cylinder drives the first locking pin to move and insert the first locking pin into the hole on the side of the locking wedge.

4. The AGV chassis integrating expansion, splicing, and protection as described in claim 2, characterized in that, The second locking module includes a first fixed block, a movable block, a first connecting frame, a second fixed plate, a compression spring, a second fixed block, a connecting plate, a locking block, and a second connecting frame. The second fixed plate is fixed, and the first fixed block and the second fixed block are arranged on the second fixed plate. The movable block moves up and down between the first fixed block and the second fixed block. The connecting plate is connected to the first fixed block and the second fixed block. The first connecting frame is fixed on the connecting plate. The second connecting frame is arranged on the movable block. A compression spring is arranged between the first connecting frame and the second connecting frame. The compression spring is mounted on a shaft. The upper end of the shaft is connected to the movable block and then passes through the first connecting frame and the second connecting frame. The locking block is arranged at the bottom.

5. The AGV chassis integrating expansion, splicing, and protection as described in claim 1, characterized in that, The splicing device includes a magnetic block disposed at one end of the first moving frame and the second moving frame, and a magnetic frame and a magnetic locking pin disposed at the other end of the first moving frame and the second moving frame.

6. The AGV chassis integrating expansion, splicing, and protection as described in claim 1, characterized in that, The protective mechanism includes a first driving device, a second driving device, a first adsorption module, and a second adsorption module; the first driving device and the second driving device are arranged on the side of the first support platform or the second support platform, the first driving device drives the first adsorption module, the second driving device, and the flipping device to move horizontally; the second driving device drives the second adsorption module to move vertically. The flipping device drives the guardrail to flip.

7. The AGV chassis integrating expansion, splicing, and protection as described in claim 6, characterized in that, The flipping device includes a flipping motor, which is connected to a flipping plate via a flipping connecting shaft. The flipping plate consists of two plates connected by a damping hinge. After the second adsorption module adsorbs onto one of the plates, the two plates can be flipped. Two spring rods are also connected to the flipping plate. The two spring rods are arranged in parallel and fixed by a fixing plate. The ends of the two spring rods are connected to the guardrail via a fixing connector.

8. The AGV chassis integrating expansion, splicing, and protection as described in claim 6, characterized in that, The first adsorption module and the second adsorption module each include a fixed base, a telescopic motor, a telescopic column, and a magnetic suction plate; the fixed base is equipped with a telescopic motor, the telescopic motor drives a telescopic column, and the telescopic column is equipped with a magnetic suction plate.

9. The AGV chassis integrating expansion, splicing, and protection as described in claim 1, characterized in that, A battery module is installed at the bottom of a fixed frame. The battery module includes a support profile, a locking rod cylinder, a fixing plate, a fourth adsorption module, a support spring, a battery slide, a locking device, and a battery. The support profile is suspended at the bottom of the fixed frame, and a fixing plate is installed on the support profile. The support spring, the fourth adsorption module, and the locking device are vertically installed on the fixing plate. The support spring supports the battery slide, the fourth adsorption module adsorbs the battery slide, and the locking device locks the battery. The battery is installed on the battery slide.

10. The AGV chassis integrating expansion, splicing, and protection as described in claim 1, characterized in that, The first and second movable frames are each connected to a movable plate, and the movable plates are each mounted on their corresponding frame sliders. The frame sliders cooperate with the frame slide rails. The frame slide rails are mounted on a fixed base plate, which is mounted on a fixed frame. The two movable plates are driven by a driving device to move towards or away from each other. The driving device includes a drive motor, a first drive rod, a second drive rod, and a rotary output rod. The drive motor is fixed on the fixed base plate, and its output end is connected to the rotary output rod. One end of the rotary output rod is hinged to the first slide plate via the first drive rod, and the other end of the rotary output rod is hinged to the second slide plate via the second drive rod. The rotation of the drive motor causes the first and second drive rods to rotate, thereby enabling the first and second slide plates to move towards or away from each other.

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