Horizontal supporting base and automatic carrying and transporting vehicle

Abstract

The utility model discloses a horizontal supporting base and an automatic carrying and transporting vehicle, and the horizontal supporting base part comprises a moving main body which is provided with a driving device; and each supporting structure is provided with a telescopic supporting rod, and the extending ends of the supporting rods can abut against the ground and form supporting after extending out, so that the moving main body is in a horizontal state. According to the horizontal supporting base and the automatic carrying and transporting vehicle, the horizontal supporting base is rigidly supported through the multiple supporting rods in the static state to achieve self-leveling, and therefore the horizontal supporting base and the automatic carrying and transporting vehicle adapt to the more complex ground environment.

Description

Technical Field

[0001] The present application relates to the technical field of AGV chassis, and in particular to a horizontal support base and an automatic transport vehicle. Background Art

[0002] AGV is an Automated Guided Vehicle, and its chassis is a platform that supports the AGV body and carries goods or devices. It consists of mechanical structure, drive system, electrical system, control system and safety system. In one application scenario, a manipulator is installed on the AGV body, and the AGV body with the AGV chassis is guided to move between various workstations through laser navigation and other methods. The movement of the manipulator completes the movement in three-dimensional space, and the intelligent gripper is used to pick and place materials, realizing the precise movement of materials in multiple workstations.

[0003] In the prior art, it is difficult to ensure that the ground environment is completely flat. Slopes, bumps, etc. may occur, which may cause the AGV chassis itself to tilt. In addition, the driving wheels and universal wheels configured on the AGV chassis are not rigid enough, and the load-bearing range and stability have relatively large limitations, which makes it difficult for the AGV chassis to maintain a horizontal state. When the AGV chassis is tilted, the robot's pick-and-place accuracy cannot be guaranteed. Utility Model Content

[0004] The present application provides a horizontal support base and an automatic handling transport vehicle, which are intended to solve the technical problem in the prior art that the AGV chassis is difficult to maintain a horizontal state.

[0005] The present application provides a horizontal support base, comprising:

[0006] A mobile body and at least three supporting structures, wherein the supporting structures are all mounted on the mobile body;

[0007] The supporting structures are all provided with retractable supporting rods, and the extending ends of the supporting rods can abut against the ground and form support after being extended, so that the mobile body is in a horizontal state.

[0008] Optionally, the support structure includes a fixing frame fixed on the mobile body, on which a driving motor and a driving member driven to move by the driving motor are installed; the driving member forms the support rod for supporting the mobile body.

[0009] Optionally, a universal foot cup is installed at the extended end of the support rod.

[0010] Optionally, the mobile body includes a chassis and a shell installed above the chassis, the support rod is arranged on the chassis, and the support rod can be partially extended or fully retracted into the shell.

[0011] Optionally, the support structure is installed in a direction perpendicular to the chassis, and the support rod is retracted in a direction perpendicular to the chassis.

[0012] Optionally, each of the supporting structures is arranged on an outer edge of the mobile body.

[0013] Optionally, the number of the supporting structures is three, and the three supporting structures are distributed inside the mobile body in the form of an isosceles triangle.

[0014] Optionally, it also includes a plurality of universal wheels arranged on the outer edge of the mobile body, one universal wheel is respectively arranged on both sides of the support structure at the vertex of the isosceles triangle, and one or more universal wheels are arranged between the two support structures on the base of the isosceles triangle.

[0015] Optionally, the driving device includes two driving differential wheels.

[0016] The automatic transport vehicle in the present application includes the aforementioned horizontal support base and a manipulator mounted on the horizontal support base, wherein the horizontal support base is used to drive the manipulator to move to a target position to pick up and place a PCB board.

[0017] The present application discloses a horizontal support base and an automatic transport vehicle. The horizontal support base rigidly supports the moving body of the horizontal support base through a plurality of support rods in a stationary state. After the support rods of each support structure are extended, the extended ends can abut against the ground and form support, so that the moving body is in a horizontal state. The automatic transport vehicle using the horizontal support base can maintain a horizontal state in any ground environment and adapt to more complex ground environments.

[0018] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 A schematic diagram of the overall structure of a horizontal support base in certain embodiments of the present application;

[0021] Figure 2 A schematic diagram of a chassis structure of a horizontal support base in certain embodiments of the present application;

[0022] Figure 3 A schematic diagram of a support structure in certain embodiments of the present application;

[0023] Reference numerals:

[0024] 10-mobile body, 11-chassis, 111-housing, 12-support structure, 121-support rod, 1211-universal foot cup, 122-driving member, 123-driving motor, 124-fixed frame, 13-driving device, 14-level detection device, 15-universal wheel, 20-manipulator. DETAILED DESCRIPTION

[0025] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0026] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0028] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0029] The disclosure of this article provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described herein. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed in itself. In addition, the various specific processes and examples of materials provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0030] like Figures 1 to 3 As shown, in certain embodiments of the present application, a horizontal support base is provided, which includes a mobile body 10 and a plurality of support structures 12. Among them. A driving device 13 is provided on the mobile body 10, which can drive the entire horizontal support base to move or stop according to a preset trajectory. For example, the horizontal support base is driven to move from the first station along a preset path or a path of real-time intelligent navigation to the second station and stop, and then move to the third station along a preset path or a path of real-time intelligent navigation and stop, and so on. In some specific embodiments, the driving device 13 includes at least two drive differential wheels, which can independently control the rotation speed to achieve forward, backward, turning and other actions to achieve a more flexible movement process. Among them, the horizontal support base will be supported by the driving device 13 during the movement, and the distance between it and the ground is called the chassis height in the moving state. The movement process of the horizontal support base is not the focus of this application, and will not be repeated later.

[0031] In some embodiments, the horizontal support base in the stopped state is supported by a plurality of support structures 12 and a driving device 13 .

[0032] Each support structure 12 has a retractable support rod 121. After the support rod 121 is extended, its extended end can abut against the ground and support the mobile body 10. As a rod-shaped part, the support rod 121 has at least two ends. The extended end referred to in this application is the end of the support rod 121 closest to the ground.

[0033] The horizontal support base is supported by the driving device 13 during the movement. When stopped at the working position, the support rods 121 of each support structure 12 extend to support the mobile body 10. The distance between the horizontal support base and the ground in this state is called the chassis height in the stopped state. The support referred to in this article means at least bearing part of the weight of the mobile body 10. Since the horizontal support base is supported by the driving device 13 in the moving state, the extended stroke of the support rod 121 in the static state needs to at least exceed the chassis height in the moving state, so that the extended end of the support rod 121 can abut against the ground and bear the force to achieve support. It is easy to understand that after the support rod 121 abuts against the ground, a static friction force is formed between the two, which can also play a role in preventing the displacement of the horizontal support base, and can increase the stability of the horizontal support base in the static state.

[0034] In some embodiments, the horizontal support base is supported by at least three support structures 12. According to the knowledge of plane geometry, a plane can be determined by three points, so at least three support points are required to keep the horizontal support base stably supported. Figure 2 As shown, three support structures 12 constitute three support points, which can fully and stably support the horizontal support base. When the multiple support rods 121 are extended, the extended length exceeds the height of the driving device 13 supporting the mobile body 10, and the mobile body 10 is lifted, that is, the chassis height in the stopped state is higher than the chassis height in the moving state. Since the support rods 121 are rigid supports with a large load-bearing capacity, the horizontal support base has a higher support stability in the static state and can provide a higher load-bearing capacity.

[0035] In some specific embodiments, the horizontal support base has a horizontal detection device 14 for detecting the tilt degree of the mobile body 10. In some embodiments, the detection device 14 can be a gyroscope, a multi-axis acceleration sensor, etc. arranged on the mobile body 10. In other embodiments, the detection device 14 is a visual sensor, which determines the tilt degree of the mobile body 10 by image recognition and outputs relevant detection data. Here, a variety of implementation methods of the horizontal detection device are provided, which can achieve the accuracy and effectiveness of the tilt degree of the mobile body 10. For example, Figure 2For example, the horizontal detection device 14 is a gyroscope, which is arranged in the middle of the chassis 11 of the mobile body 10. A related control circuit board is arranged in the horizontal support base, and the extension range of the plurality of support rods 121 is controlled in coordination with the detection data of the horizontal detection device 14, so that the mobile body 10 is adjusted to a horizontal state, and the self-leveling of the horizontal support base is realized when it stops.

[0036] In some embodiments, the above-mentioned leveling process can be a dynamic, real-time process: each time the extension range of any number of support rods 121 is adjusted and driven, the level detection device 14 detects the inclination of the mobile body 10, and then adjusts the extension range of any number of support rods 121 again until the mobile body 10 is adjusted to a horizontal state. In addition, the level detection device 14 continuously detects the inclination of the mobile body 10, and once inclination occurs, the above-mentioned leveling process is performed.

[0037] According to the above content, it can be seen that the horizontal support base in the present application can be supported in different ways in the moving state and the static state. In particular, in the static state, the self-leveling of the horizontal support base can be achieved through the level detection device 14 and the multiple support rods 121, so as to ensure that the horizontal support base can maintain a horizontal state in any ground environment, enhance the stability of the horizontal support base, optimize the load area, adapt to more complex ground environments, and solve the problem that the traditional chassis solution is difficult to maintain level.

[0038] In some embodiments of the present application, an automatic transport vehicle is also provided, comprising the above-mentioned horizontal support base and a manipulator 20 mounted on the horizontal support base. The horizontal support base is used to drive the manipulator 20 to move to a target position to pick up and place a PCB board. The horizontal support base can achieve self-leveling through a plurality of support rods 121, thereby ensuring that the horizontal support base can maintain a horizontal state in any ground environment. In this way, the stability of the automatic transport vehicle can be enhanced, the load area can be optimized, and it can adapt to more complex ground environments. The conversion of coordinate data of the manipulator 20 carried is simplified, the motion trajectory is simplified, and the control complexity is reduced, and finally the accuracy of picking up and placing PCBs is improved.

[0039] like Figure 2 and Figure 3As shown, in some embodiments, the support structure 12 includes a fixed frame 124, and a driving motor 123 and a driving member 122 are provided on the fixed frame 124. The fixed frame 124 is fixed on the mobile body 10. The driving motor 123 is coupled to the driving member 122 through gears, and its forward and reverse rotations correspond to the two moving directions of the driving member 122, respectively, and the number of rotations corresponds to the moving stroke of the driving member 122. In some embodiments, a part of the driving member 122 constitutes the support rod 121. In other embodiments, the support rod 121 can be an independent structure connected to the extended end of the driving member 122. The control circuit board controls the number of turns and the rotation direction of the driving motor 123 through the relevant driver, so as to control the extension, retraction, and corresponding stroke of the support rod 121, and realize the aforementioned leveling process. In other embodiments, the extension and retraction process of the support rod 121 can also be realized by means of a cylinder, a linear motor, etc., which is not limited here.

[0040] In some specific embodiments, a universal foot cup 1211 is installed at the extended end of the support rod 121. The universal foot cup 1211 is a foot cup that can be flexibly adjusted in all directions, and its top generally has a ball head or a cone structure, so that it can rotate freely in all directions when subjected to force, so that it can better adapt to uneven or inclined ground environments and increase the support stability of the horizontal support base. In other embodiments, a rubber cap is provided on the extended end of the support rod 121 to increase the friction between the support rod 121 and the ground to ensure stability.

[0041] like Figure 1 and Figure 2 As shown, in some embodiments, the mobile body 10 includes a chassis 11 and a housing 111 mounted above the chassis 11. The housing 111 constitutes the outer wall of the entire horizontal support base, and all related structures can be hidden inside. In addition, the upper end of the housing 111 constitutes the working plane of the horizontal support base, and the manipulator 20 or other equipment can be installed on the working plane of the horizontal support base, which is suitable for various application scenarios. Figure 1 In the figure, the installation of the robot 20 is taken as an example for illustration, and no specific limitation is made.

[0042] The support rod 121 is arranged on the chassis 11, and can be partially extended out of the housing to support the horizontal support base, or fully retracted into the housing 111 and hidden in the housing 111 to prevent external structures from touching the support structure 12 and affecting its operation. In addition, the user will not observe the existence of multiple support structures 12 from the outside, maintaining the appearance consistency of the horizontal support base.

[0043] In some specific embodiments, the support structures 12 are installed in a direction perpendicular to the chassis 11 , and the longitudinal height of the horizontal support base is used to accommodate each support structure 12 .

[0044] In some specific embodiments, the support rod 121 is extended and retracted in a direction perpendicular to the chassis 11. When the support rod 121 is extended, it moves toward the ground in a substantially vertical direction (the ground may be non-horizontal) and forms support with the ground, and gravity is transmitted in a direction substantially perpendicular to the ground, thereby ensuring the support stability of the horizontal support base. When the support rod 121 is retracted, it is directly retracted into the interior of the housing 111 along the longitudinal direction.

[0045] In other embodiments, the support structure 12 may also be mounted on the chassis 11 through other motion mechanisms. For example, the support structure 12 is mounted on the chassis 11 in a rotating manner. In the motion state of the horizontal support base, the support structure 12 is rotated and retracted into the housing 111. In the stopped state of the horizontal support base, the support structure 12 is rotated and extended out of the housing 111, and then the support rod 121 is extended to the ground to form a support.

[0046] In some embodiments, each support structure 12 is disposed on the outer edge of the mobile body 10 to maximize the distance between each support structure 12 as much as possible and improve the stability of the support of the horizontal support base.

[0047] like Figure 2 In the illustrated embodiment, there are three support structures 12, which are distributed in the shape of isosceles triangles inside the mobile body 10 to form three-point support. In other embodiments not shown, two support structures 12 and a drive device 13 may form three support points; or fixed legs may be provided under the horizontal support base, and the legs and two support structures 12 may form three support points. In each of the above schemes, the horizontal support base can be leveled by controlling the extension range of the support rods 121 in each support structure 12, and the specific process will not be repeated.

[0048] In other embodiments, the number of the support structures 12 may be four, five, seven, eight, etc. In order to keep the horizontal support base stably supported, when the number of the support structures 12 exceeds three, the support rods 121 of some of the support structures 12 need to maintain the same extension amplitude to avoid forming multiple support planes that cause the horizontal support base to shake.

[0049] like Figure 2 As shown, in some embodiments, the shape of the chassis 11 can be circular, elliptical or polygonal.

[0050] The circle and ellipse referred to in this application do not refer to mathematical figures in the strict sense, but refer to figures formed by substantially no corners on the outer edges, and all edges are connected in a circular arc transition manner. In this way, the multiple support structures 12 are all located on the outermost edge of the chassis 11. In some more specific embodiments, the distribution of the multiple support structures 12 is evenly distributed along the edge of the circle or ellipse.

[0051] The polygon referred to in this application is a figure with at least one corner. In this way, the multiple support structures 12 can all be located on the outermost edge of the chassis 11, or all be located on the outermost corners of the chassis 11 (when the number of corners is greater than or equal to 3). Alternatively, one or more support structures 12 are located on the outermost edge of the chassis 11, and one or more support structures 12 are located on the outermost corners of the chassis 11. In some more specific embodiments, the chassis 11 is a polygon, and the multiple support structures 12 are distributed at least near its two endpoints and / or near the midpoint of at least one side.

[0052] More specifically, in Figure 2 As shown, the chassis 11 is in the shape of a rectangle. The distribution of the plurality of support structures 12 is as follows: two support structures 12 are located near two end points of a short side of the rectangle, and another structure is located near the midpoint of another short side of the rectangle. In other embodiments, three support structures 12 may be respectively disposed at the three end points of the rectangle.

[0053] In one embodiment, the chassis 11 also includes a plurality of universal wheels 15, and more flexible steering control can be achieved by setting the universal wheels 15. The three support structures 12 are distributed inside the mobile body 10 in the shape of an isosceles triangle, and one universal wheel 15 is respectively provided on both sides of the support structure 12 at the vertex of the isosceles triangle, and one or more universal wheels 15 are provided between the two support structures 12 on the base of the isosceles triangle. The universal wheels 15 and the support structures 12 essentially play the role of supporting the mobile body 10. Dispersing them and distributing them along the outer edge of the mobile body 10 can maximize the distance between the support positions formed by them, thereby improving the stability of the support. In such a case, Figure 2 In the specific embodiment shown, four universal wheels are provided, wherein two universal wheels 15 of the support structure 12 close to the vertices of the isosceles triangle are provided at the end positions of the chassis 11 , and the other two universal wheels 15 of the support structure 12 close to the base of the isosceles triangle are provided between the two support structures 12 .

[0054] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, orientations, positions, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, orientations, positions, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0055] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A horizontal support base, characterized in that: include: A mobile body and at least three supporting structures, wherein the supporting structures are all mounted on the mobile body; The supporting structures are all provided with retractable supporting rods, and the extending ends of the supporting rods can abut against the ground and form support after being extended, so that the mobile body is in a horizontal state.

2. The horizontal support base according to claim 1, characterized in that: The support structure comprises a fixed frame fixed on the mobile body, and a driving motor and a driving member driven to move by the driving motor are installed on the fixed frame; The driving member forms the support rod for supporting the moving body.

3. The horizontal support base according to claim 1, characterized in that: A universal foot cup is installed at the extended end of the support rod.

4. The horizontal support base according to claim 1, characterized in that: The mobile body comprises a chassis and a shell which is mounted above the chassis. The support rod is arranged on the chassis, and the support rod can be partially extended or fully retracted into the shell.

5. The horizontal support base according to claim 4, characterized in that: The supporting structure is installed in a direction perpendicular to the chassis, and the supporting rod is extended and retracted in a direction perpendicular to the chassis.

6. The horizontal support base according to claim 1, characterized in that: Each of the supporting structures is arranged on the outer edge of the moving body.

7. The horizontal support base according to claim 1, characterized in that: The number of the supporting structures is three, and the three supporting structures are distributed inside the mobile body in the form of an isosceles triangle.

8. The horizontal support base according to claim 7, characterized in that: It also includes a plurality of universal wheels arranged on the outer edge of the mobile body, one universal wheel is respectively arranged on both sides of the support structure at the vertex of the isosceles triangle, and one or more universal wheels are arranged between the two support structures on the base of the isosceles triangle.

9. The horizontal support base according to any one of claims 1 to 8, characterized in that: Also included are two drive differential wheels.

10. An automatic transport vehicle, characterized in that: It comprises a horizontal support base as described in any one of claims 1 to 9, and a manipulator loaded on the horizontal support base, wherein the horizontal support base is used to drive the manipulator to move to a target position to pick up and place a PCB board.

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