Chassis and transfer robot

Abstract

The chassis comprises a bottom plate, the bottom plate is provided with at least one telescopic supporting piece, the telescopic supporting piece comprises an extending state and a retracting state, and in the extending state, the telescopic supporting piece automatically adjusts the length according to the distance between the bottom plate and the ground and is used for supporting the chassis. The working reliability of the carrier can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of storage equipment, and in particular to a chassis and a handling robot. Background Art

[0002] AGV (Automated Guided Vehicles) is also known as unmanned transport vehicles, automatic navigation vehicles, and laser navigation vehicles. Its most notable feature is that it is unmanned. AGV is equipped with an automatic guidance system, which can ensure that the system can automatically drive along the predetermined route without the need for manual guidance, and automatically transport goods or materials from the starting point to the destination.

[0003] The existing AGV cart is equipped with four universal wheels at the bottom to support the body of the cart. However, in the process of picking up goods, the front part of the car body is heavy and the car body is prone to tilting forward, causing the AGV cart to roll over, reducing the reliability of the AGV cart. Utility Model Content

[0004] In view of the above-mentioned defects, the present application provides a chassis and a handling robot, which can improve the reliability of the operation of the AGV vehicle.

[0005] In a first aspect, the present application provides a chassis, including a base plate, on which is disposed at least one telescopic support member, the telescopic support member including an extended state and a retracted state, in which the telescopic support member automatically adjusts its length according to the distance between the base plate and the ground in the extended state, so as to support the chassis.

[0006] Preferably, the telescopic support member includes a telescopic rod and a driving assembly, the driving assembly is arranged on the base plate, one end of the telescopic rod is connected to the driving assembly, and the other end passes through the base plate and contacts the ground, and the driving assembly is used to control the extension and retraction of the telescopic rod.

[0007] Preferably, the telescopic support member includes a hydraulic pump and a hydraulic push rod, the hydraulic pump is arranged on the base plate, one end of the hydraulic push rod is connected to the hydraulic pump, and the other end passes through the base plate and contacts the ground, and the hydraulic pump is used to control the extension and retraction of the hydraulic push rod.

[0008] Preferably, the telescopic support member further comprises a proximity switch, and the proximity switch is disposed on the bottom plate. In the retracted state, when the telescopic support member is retracted to the proximity switch position, the retracting action is stopped.

[0009] Preferably, it also includes an elastic reset member sleeved on the telescopic support member, one end of the elastic reset member is fixed to the bottom plate, and the other end is fixed to the end of the telescopic support member that contacts the ground, and in the retracted state, it is reset by the elastic force of the elastic reset member.

[0010] Preferably, it also includes a driving wheel and a universal wheel, wherein the driving wheel is arranged on two opposite sides of the base plate, the driving wheel is connected to a driving motor, and the universal wheel is arranged at the four corners of the base plate, and the chassis is controlled to move under the drive of the driving wheel.

[0011] Preferably, the universal wheel and the driving wheel are arranged at two ends of the same swing bridge, a hinge shaft is arranged in the middle of the swing bridge, the hinge shaft is fixed on the bottom plate, and the universal wheel and the driving wheel can swing around the hinge shaft.

[0012] Preferably, the universal wheel and the telescopic support are separately arranged, and the universal wheel on the side of the bottom plate on which the telescopic support is arranged is arranged in the middle position.

[0013] Preferably, the universal wheel is arranged at one end of the telescopic support member close to the ground, and the universal wheel is in contact with the ground in both the extended state and the retracted state.

[0014] A second aspect of the present application provides a transport robot, comprising a gantry, a fork and a chassis, wherein the gantry is arranged on the chassis, the fork is arranged on the gantry and can move up and down along the gantry, the fork can move forward and backward along the chassis, and the telescopic support is arranged on one side of the chassis of the gantry.

[0015] Beneficial effect: The present application provides a telescopic support on the floor which can automatically adjust the length according to the distance between the bottom plate and the ground, thereby supporting the vehicle body during the process of picking up goods, preventing the vehicle body from tipping over, and improving the reliability of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a chassis provided by the present application;

[0017] Figure 2 It is a structural schematic diagram of a telescopic support member provided by the present application;

[0018] Figure 3 It is a structural schematic diagram of a swing bridge provided by the present application;

[0019] Figure 4 It is a front view structural schematic diagram of a swing bridge provided in the present application.

[0020] Illustration: 1-telescopic support, 11-driving assembly, 12-telescopic rod, 13-mounting seat, 2-universal wheel, 3-driving wheel, 4-swing bridge, 5-articulated shaft, 6-base plate. DETAILED DESCRIPTION

[0021] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0022] See also Figure 1-4 The present application discloses a chassis, including a bottom plate 6, on which at least one telescopic support member 1 is arranged, and the telescopic support member 1 includes an extended state and a retracted state. In the extended state, the telescopic support member 1 automatically adjusts its length according to the distance between the bottom plate 6 and the ground, so as to support the chassis.

[0023] The telescopic support member 1 changes from a retracted state to an extended state after the transport vehicle stops. During the extension process, if the telescopic support member 1 does not touch the ground, it will not encounter resistance and can continue to extend. When the telescopic support member 1 gradually touches the ground, the resistance it encounters gradually increases. When the resistance it encounters reaches a limit value, the extension action is stopped. At this time, the support component fits the ground just right and does not cause excessive lifting of the vehicle body, so that the vehicle body obtains support force in a stable state.

[0024] Two embodiments of telescopic supports are provided in the present application, but it can be imagined that any telescopic intelligent component that can achieve the same function as the present application belongs to the protection scope of the present application. The embodiments of the two telescopic supports are described below.

[0025] Embodiment 1

[0026] The telescopic support member 1 includes a telescopic rod 12 and a driving assembly 11. The driving assembly 11 is arranged on the base plate 6. One end of the telescopic rod 12 is connected to the driving assembly 11, and the other end passes through the base plate 6 and contacts the ground. The driving assembly 11 is used to control the extension and retraction of the telescopic rod 12.

[0027] The telescopic support 1 includes a telescopic rod 12 for supporting a vehicle body and a driving assembly 11 for controlling the extension and retraction of the telescopic rod 12. When the driving assembly 11 receives an instruction, it controls the telescopic rod 12 to extend downward. When the telescopic rod 12 contacts the ground, the driving assembly 11 stops moving, and the telescopic rod 12 remains supported until the driving assembly 11 receives a retraction signal and drives the telescopic rod 12 to retract again. The driving assembly 11 is installed on a mounting seat 13. The driving shaft of the driving assembly 11 contacts the telescopic rod 11 inside the mounting seat 13 to transmit power to the telescopic rod 12. In a possible embodiment of the present application, the driving assembly 11 can be a motor, which drives the telescopic rod 12 to extend outward with a certain torque. When the telescopic rod 12 contacts the ground, the torque of the motor rotation cannot be compared with the pressure exerted on the telescopic rod 12 by the vehicle body, and the motor cannot rotate normally. At this time, it can be considered that the telescopic rod 12 has reached the supporting position, and the motor stops working to avoid the motor forcibly driving the telescopic rod 12 and causing the motor to burn out.

[0028] Embodiment 2

[0029] The telescopic support member 1 includes a hydraulic pump and a hydraulic push rod. The hydraulic pump is arranged on the base plate 6. One end of the hydraulic push rod is connected to the hydraulic pump, and the other end passes through the base plate 6 to contact the ground. The hydraulic pump is used to control the extension and retraction of the hydraulic push rod.

[0030] In another embodiment of the present application, the telescopic support member 1 includes a hydraulic pump and a hydraulic push rod. The hydraulic pump is arranged on the base plate 6. When a control signal is received, the hydraulic pump injects hydraulic oil into the hydraulic push rod to extend the hydraulic push rod. When the hydraulic push rod contacts the ground, the hydraulic pump can no longer inject hydraulic oil into the hydraulic push rod. At this time, the hydraulic pump stops working to prevent the hydraulic push rod from extending excessively and causing the vehicle body to roll over.

[0031] In the above two embodiments, the telescopic support member 1 determines whether to extend to the position in contact with the ground by sensing the pressure between the ground and the vehicle body, and the extension length can be automatically adjusted according to the actual situation. After the support state ends, the telescopic support member 1 needs to be retracted. In order to ensure the reliability of the retraction, the telescopic support member 1 also includes a proximity switch, which is arranged on the bottom plate 6. In the retracted state, when the telescopic support member 1 is retracted to the proximity switch position, the retraction action stops.

[0032] In other embodiments, it may be an elastic reset member sleeved on the telescopic support member 1, one end of the elastic reset member is fixed on the bottom plate 6, and the other end is fixed to the end of the telescopic support member 1 that contacts the ground. In the retracted state, it is reset by the elastic force of the elastic reset member.

[0033] In order to move, the transporter needs to be powered by the driving wheel 3, but the current driving wheel can only move in one direction and cannot turn. Therefore, a universal wheel 2 is provided at the bottom. The universal wheel 2 moves driven by the driving wheel, and the direction of travel can be changed if a small slope is encountered.

[0034] In the embodiment of the present application, the driving wheels 3 are arranged on two opposite sides of the base plate 6, the driving wheels 3 are connected to the driving motor, and the universal wheels 2 are arranged at the four corners of the base plate 6. The movement of the chassis is controlled under the drive of the driving wheels 3.

[0035] Since the transport vehicle may have uneven surfaces during its movement, if the universal wheel is fixed on the bottom plate 6, it cannot directly contact the concave ground, and the vehicle will tilt at this time. Therefore, the universal wheel 2 and the driving wheel 3 in the embodiment of the present application are arranged at both ends of the same swing bridge 4, and a hinge shaft 5 is arranged in the middle of the swing bridge 4, and the hinge shaft 5 is fixed on the bottom plate 6, and the universal wheel 2 and the driving wheel 3 can swing around the hinge shaft 5. When the transport vehicle passes through the concave ground, the universal wheel 2 tilts downward and contacts the ground under the action of the swing bridge and gravity, but the hinge shaft 5 is fixed on the bottom plate 6, and the driving wheel 3 is driven to tilt up during the tilting process and is close to the upper top plate of the chassis, so that it will not be separated, and the pressure acting on the driving wheel 3 can also be reduced, so as to ensure that the transport vehicle can move smoothly.

[0036] In one embodiment of the present application, in order not to change the structure of the existing transport vehicle, the universal wheel 2 is separately arranged with the telescopic support 1, and the universal wheel 2 is arranged at the middle position on the side of the bottom plate 6 on which the telescopic support 1 is arranged. In terms of improvement, only one more space needs to be added to meet the need for the telescopic support 1 to extend out of the chassis, and the technical improvement is easy to implement. However, due to the arrangement of the telescopic support 1, the layout of the chassis structure needs to be changed accordingly. At this time, the universal wheels 3 on the side of the bottom plate 6 away from the telescopic support 1 need to be arranged at the two corners. On the side of the bottom plate 6 on which the telescopic support 1 is arranged, the two universal wheels 3 need to be arranged at the middle position of the edge of the bottom plate on this side, so that the four universal wheels are distributed in a triangle to increase its stability.

[0037] In another embodiment of the present application, the universal wheel 2 is disposed at one end of the telescopic support member 1 close to the ground, and the universal wheel 2 is in contact with the ground in both the extended state and the retracted state.

[0038] This embodiment can ensure that the universal wheel can be adjusted to contact the ground at any time during the operation of the transport vehicle, and the existing bottom plate structure can continue to be used without the need for additional holes, thereby reducing the cost of technical improvement.

[0039] The present application also provides a transport robot, including a gantry, a fork and a chassis, wherein the gantry is arranged on the chassis, the fork is arranged on the gantry and can move up and down along the gantry, the fork can move forward and backward along the chassis, and the telescopic support 1 is arranged on one side of the chassis of the gantry.

[0040] The present application provides a telescopic support member on the floor that can automatically adjust the length according to the distance between the bottom plate and the ground, so as to support the vehicle body during the process of picking up goods, prevent the vehicle body from tipping over, and improve the reliability of the transport vehicle.

[0041] Of course, the present application may have many other embodiments. Without departing from the spirit and essence of the present application, technicians familiar with the field can make various corresponding changes and modifications based on the present application, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present application.

Claims

1. A chassis, characterized in that: The invention comprises a base plate (6), on which at least one telescopic support member (1), a driving wheel (3) and a universal wheel (2) are arranged, wherein the driving wheel (3) is arranged on two opposite sides of the base plate (6), the driving wheel (3) is connected to a driving motor, and the movement of the chassis is controlled under the drive of the driving wheel (3), the telescopic support member (1) comprises an extended state and a retracted state, and in the extended state the telescopic support member (1) automatically adjusts the extended length according to the resistance encountered during the extension process, and the telescopic support member (1) and the universal wheel (2) jointly support the chassis.

2. The chassis according to claim 1, characterized in that The telescopic support member (1) comprises a telescopic rod (12) and a driving assembly (11); the driving assembly (11) is arranged on the base plate (6); one end of the telescopic rod (12) is connected to the driving assembly (11), and the other end passes through the base plate (6) to contact the ground; the driving assembly (11) is used to control the extension and retraction of the telescopic rod (12).

3. The chassis according to claim 1, characterized in that The telescopic support member (1) comprises a hydraulic pump and a hydraulic push rod. The hydraulic pump is arranged on the base plate (6). One end of the hydraulic push rod is connected to the hydraulic pump, and the other end passes through the base plate (6) to contact the ground. The hydraulic pump is used to control the extension and retraction of the hydraulic push rod.

4. The chassis according to claim 2 or 3, characterized in that: The telescopic support member (1) further comprises a proximity switch, which is arranged on the bottom plate (6). In the retracted state, when the telescopic support member (1) is retracted to the position of the proximity switch, the retracting action is stopped.

5. The chassis according to claim 2 or 3, characterized in that: It also comprises an elastic reset member sleeved on the telescopic support member (1), one end of the elastic reset member being fixed on the bottom plate (6), and the other end being fixed on the end of the telescopic support member (1) in contact with the ground, and in the retracted state, the elastic reset member is reset by the elastic force of the elastic reset member.

6. The chassis according to claim 1, characterized in that The universal wheel (2) and the driving wheel (3) are arranged at the two ends of the same swing bridge (4); a hinge shaft (5) is arranged in the middle of the swing bridge (4); the hinge shaft (5) is fixed on the bottom plate (6); and the universal wheel (2) and the driving wheel (3) can swing around the hinge shaft (5).

7. The chassis according to claim 1, characterized in that The universal wheel (2) and the telescopic support member (1) are arranged separately, and the universal wheel (2) is arranged at the middle position on the side of the bottom plate (6) on which the telescopic support member (1) is arranged.

8. The chassis according to claim 1, characterized in that The universal wheel (2) is arranged at one end of the telescopic support (1) close to the ground, and the universal wheel (2) is in contact with the ground in both the extended state and the retracted state.

9. A transport robot, characterized in that: It comprises a gantry, a fork and a chassis as described in any one of claims 1 to 8, wherein the gantry is arranged on the chassis, the fork is arranged on the gantry and can move up and down along the gantry, the fork can move forward and backward along the chassis, and the telescopic support (1) is arranged on one side of the chassis of the gantry.

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