CN217778816U - Unmanned transport vehicle - Google Patents

Abstract

The utility model discloses an unmanned transport vechicle relates to transport vechicle technical field. The flexible chassis device comprises a front chassis and a rear chassis; the lifting and rotating device comprises a lifting component and a rotating component; the lifting assembly comprises a jacking frame, one end of the bottom of the jacking frame is hinged with the rear chassis, the other end of the bottom of the jacking frame is hinged with the front chassis, and a first sliding assembly is connected between the other end of the bottom of the jacking frame and the front chassis; one end of the top of the jacking frame is hinged with one end of the rotating assembly, the other end of the top of the jacking frame is hinged with the other end of the rotating assembly, and a second sliding assembly is connected between the end and the rotating assembly. The unmanned transport vehicle has reasonable and compact structural design and strong adaptability to complex ground, and has smaller approach angle and departure angle and smaller chassis ground clearance when ascending and descending slopes; the distribution of the positive pressure of the driving wheel during the no-load and load of the rotating assembly can be balanced, and the service life of the transport trolley is prolonged.

Description

Unmanned transport vehicle

Technical Field

The utility model relates to a transport vechicle technical field especially relates to an unmanned transport vechicle.

Background

The unmanned transport vehicle is also called an automatic navigation vehicle and a laser navigation vehicle. The automatic guiding system has the remarkable characteristics that the automatic guiding system is arranged on the transport vehicle in an unmanned manner, so that the system can be ensured to automatically run along a preset route without manual navigation, and goods or materials are automatically conveyed to a destination from a starting point.

A common unmanned transport vehicle such as an AGV. AGV (Automated guided vehicles) is also known as an Automated guided vehicle. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on the AGV, the AGV can automatically travel along a preset route without manual navigation, goods or materials are automatically conveyed to a destination from a starting point, and heavy manual labor of human beings is reduced. Another characteristic of the AGV is that the flexibility is good, the automation degree is high and the intelligent level is high, the running path of the AGV can be flexibly changed according to the storage goods location requirement, the production process flow and the like, and the AGV is the basis of the flexible revolution of the industrial logistics.

Mainstream AGV chassis in the existing market usually makes into an holistic structure chassis, has respectively arranged two universal wheels around the chassis, has arranged two drive wheels in the middle of the chassis, simultaneously through spring mechanism, adjusts the height about the drive wheel, keeps the drive wheel as far as possible to land. However, there are several problems with this structure that cannot be solved:

1. the spring elasticity is not well controlled, the spring elasticity changes greatly when the ground is uneven, and when the ground is sunken or climbs, the positive pressure of a driving wheel is insufficient to provide enough driving force, so that the AGV cannot normally run;

2. the up-down adjustment range of the driving wheel is limited, so that the driving wheel is possibly suspended and cannot provide driving force;

3. the distribution of the positive pressure of the driving wheel during no-load and load is difficult to balance, when the AGV is loaded, the bearing proportion of the driving wheel is greatly reduced, so that the positive pressure is insufficient during full load, enough driving force cannot be provided, and the AGV cannot normally run;

4. the adaptability to complex ground is poor, when the chassis goes up and down a slope, the approach angle and the departure angle are large, and the ground clearance of the chassis is large.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problems of the existing unmanned transport vehicle, and provides a transport vehicle which has reasonable and compact structural design, stronger adaptability to complex ground, larger approach angle and departure angle when going up and down a slope, and smaller chassis ground clearance; the unmanned transport vehicle can balance distribution of positive pressure of the driving wheels when the unmanned transport vehicle is empty and loaded.

In order to solve the technical problem, the utility model discloses a realize through following technical scheme:

an unmanned transport vehicle comprises a flexible chassis device and a lifting and rotating device connected with the upper end of the flexible chassis device, wherein,

the flexible chassis device comprises a front chassis and a rear chassis hinged to one end of the front chassis; wherein, two opposite sides of the flexible chassis device are fixedly connected with driving wheels;

the lifting rotating device comprises a lifting component and a rotating component connected to the lifting component;

the lifting assembly comprises a jacking frame, one end of the bottom of the jacking frame is hinged with the rear chassis, the other end of the bottom of the jacking frame is hinged with the front chassis, and a first sliding assembly is connected between the other end of the bottom of the jacking frame and the front chassis; one end at the top of the jacking frame is hinged to one end of the rotating assembly, the other end at the top of the jacking frame is hinged to the other end of the rotating assembly, and the other end of the jacking frame is connected with a second sliding assembly between the rotating assemblies.

Preferably, the jacking frame is a scissor fork jacking frame, and the first sliding assembly and the second sliding assembly are connected to the same side of the scissor fork jacking frame.

Preferably, the lifting assembly further comprises:

the first driving assembly is arranged on the flexible chassis device and is used for driving the rotating assembly to lift;

the buffer part is connected between the second driving part and the rotating assembly or the jacking frame, and is used for enabling the rotating assembly to move relative to the first driving assembly and keep a horizontal state when the front chassis and the rear chassis rotate relatively.

Preferably, the buffer member is a connecting rod, and two ends of the connecting rod are respectively hinged to the second driving member and the rotating assembly.

Preferably, the first driving assembly includes:

the lifting screw is arranged on the flexible chassis device along the vertical direction and is used for driving the rotating assembly to move along the vertical direction;

the driving motor is in transmission connection with the lifting screw and is used for driving the lifting screw to rotate;

the lifting block is connected to the lifting screw rod in an adaptive manner;

the end, far away from the rotating assembly, of the connecting rod is hinged to the lifting block, and the driving motor drives the lifting block to move up and down through the lifting screw rod and drives the lifting assembly to lift through the connecting rod.

Preferably, the lifting assembly further comprises:

the third sliding assembly comprises a third sliding rail arranged on the flexible chassis device in the vertical direction, the lifting block is connected with the third sliding rail in a sliding mode, and the third sliding assembly is used for limiting the rotation of the lifting block.

Preferably, the first sliding assembly comprises a first sliding rail arranged along the length direction of the flexible chassis device and a first sliding block connected to one end of the bottom of the scissor fork jacking frame, and the first sliding block is connected with the first sliding rail in a sliding manner;

the second sliding assembly comprises a second sliding rail arranged along the length direction of the rotating assembly and a second sliding block connected to one end of the top of the scissor fork jacking frame, and the second sliding block is connected with the second sliding rail in a sliding manner.

Preferably, the one end fixedly connected with connecting rod of preceding chassis, the back chassis is equipped with and is used for holding the holding tank of connecting rod, the connecting rod articulate in the holding tank, and can be located it is the rotation of predetermineeing the angle along articulated department in the holding tank.

Preferably, the rotating assembly comprises:

the supporting platform is connected to the upper end of the scissor fork jacking frame;

the rotary gear ring is connected to the supporting platform;

and the second driving assembly is connected to the supporting platform and is used for driving the rotary gear ring to rotate.

Preferably, the bottom end of the flexible chassis device is connected with a universal wheel.

Compared with the prior art, the beneficial effects of the utility model reside in that: the unmanned transport vehicle has reasonable and compact structural design, miniaturized overall structure and high space utilization rate; one end of the bottom of the jacking frame is hinged with the rear chassis, the other end of the bottom of the jacking frame is hinged with the front chassis, and a first sliding assembly is connected between the other end of the bottom of the jacking frame and the front chassis; one end of the top of the jacking frame is hinged with one end of the rotating assembly, the other end of the top of the jacking frame is hinged with the other end of the rotating assembly, and a second sliding assembly is connected between the other end of the top of the jacking frame and the rotating assembly; the lifting assembly and the rotating assembly are arranged to control the lifting of the bearing object and the rotation of the bearing object; meanwhile, when the unmanned transport vehicle passes through a complex road surface (depression or climbing), the front chassis drives the first sliding assembly and the second sliding assembly to slide in an inclined manner, so that the buffering and damping performance of the lifting assembly and the rotating assembly and the stability of the carried object of the rotating assembly in the running process are improved, and the carried object is prevented from shifting or deforming due to vibration; the whole trolley has stronger adaptability to complex ground, the approach angle and the departure angle are smaller when the trolley goes up and down a slope, and the ground clearance of the chassis is smaller; the load on the rotating assembly can be transmitted to the driving wheel in a relatively fixed proportion through the lifting assembly, the distribution of positive pressure of the driving wheel during the no-load and load of the rotating assembly can be balanced, and the service life of the transport trolley is prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a block diagram of an embodiment of the present invention;

fig. 2 is a schematic view of an unmanned transport vehicle according to an embodiment of the present invention;

FIG. 3 is an internal structure diagram of the unmanned transportation vehicle according to the embodiment of the present invention;

FIG. 4 is an exploded view of FIG. 3;

FIG. 5 is an exploded view of FIG. 1;

fig. 6 is an exploded view of a flexible chassis assembly of an unmanned transport vehicle in an embodiment of the invention;

fig. 7 is a structural diagram of a lifting assembly of the unmanned transport vehicle in an embodiment of the invention;

fig. 8 is a block diagram of a rotating assembly of an unmanned transport vehicle in an embodiment of the invention;

fig. 9 is a schematic view of the unmanned transport vehicle traveling on a flat road in the embodiment of the present invention;

fig. 10 is a schematic view of the unmanned transport vehicle traveling on a road with poor flatness according to the embodiment of the present invention;

FIG. 11 is an enlarged view of a portion of FIG. 10;

in the figure: 10 is a front chassis, 101 is a bumper strip, 11 is a rear chassis, 13 is a first mounting plate, 14 is a first slide rail, 15 is a connecting rod, 16 is a second mounting plate, 161 is a first hinge frame, 17 is a receiving groove, 18 is a third driving motor, 181 is a roller, 182 is a universal wheel, 20 is a scissor fork jacking frame, 201 is a first hinge point, 202 is a third hinge point, 21 is a first slider, 22 is a second slider, 221 is a second slide rail, 23 is a lifting screw, 24 is a third slide rail, 25 is a lifting block, 251 is a third slider, 26 is a connecting rod, 27 is a first driving motor, 271 is a driving belt, 30 is a supporting platform, 31 is a second driving motor, 32 is a transmission gear, 33 is a rotary gear ring, and 34 is a bearing platform 34.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.

In the description of the present application, it is to be understood that the terms "intermediate," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and thus should not be construed as limiting the present application. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In addition, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are intended to be inclusive and mean, for example, that there may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example (b): referring to fig. 1-11, the utility model mainly aims at the problems that the existing transportation trolley is not stable in running on a complex road surface and has poor adaptability; the unmanned transport vehicle comprises a flexible chassis device and a lifting and rotating device connected to the upper end of the flexible chassis device, wherein the upper end of the lifting and rotating device is connected with a bearing platform, and bearing objects are borne and transported through the bearing platform.

The flexible chassis device comprises a front chassis 10 and a rear chassis 11 hinged to one end of the front chassis 10; wherein, a relative both sides limit fixedly connected with drive wheel of flexible chassis device, drive flexible chassis device motion through the drive wheel. When a complex road surface (a depression or a climbing slope) is encountered, the front chassis 10 and the rear chassis 11 relatively rotate within a preset angle and form an approach angle and a departure angle.

The lifting rotating device comprises a lifting component and a rotating component connected to the lifting component, and the lifting component is connected to the upper end of the flexible chassis device and used for driving the rotating component to lift; specifically, the lifting assembly comprises a jacking frame, one end of the bottom of the jacking frame is hinged with the rear chassis 11 to form a first hinge point 201, the other end of the bottom of the jacking frame is hinged with the front chassis 10 to form a second hinge point, and a first sliding assembly is connected between the jacking frame and the front chassis 10 at the second hinge point; one end of the top of the jacking frame is hinged with one end of the rotating component and forms a third hinged point 202, the other end of the top of the jacking frame is hinged with the other end of the rotating component and forms a fourth hinged point, and a second sliding component is connected between the jacking frame and the rotating component at the fourth hinged point. When the transport vehicle encounters a complex road surface (depression or climbing), the front chassis 10 and the rear chassis 11 rotate relatively within a preset angle, and the first sliding assembly and the second sliding assembly can ensure that the bearing platform always tends to be in a horizontal state; the rotating assembly is used for driving the bearing platform and bearing objects positioned on the bearing platform to rotate, so that the bearing objects can be picked and placed more intelligently and conveniently.

Specifically, as shown in fig. 3 and 4, the lifting frame is a scissors fork lifting frame 20, and the first sliding assembly and the second sliding assembly are connected to the same side of the scissors fork lifting frame 20. In this embodiment, the scissor fork jacking frame 20 comprises a first transmission rod and a second transmission rod which are arranged in a crossed manner and are hinged in the middle; one end of the first transmission rod is hinged with the rear chassis 11 along a first hinge point 201, and the other end of the first transmission rod is hinged with the lifting assembly along a third hinge point 202 through a second sliding assembly; one end of the second transmission rod is hinged with the front chassis 10 through a first sliding assembly along a fourth hinge point; the other end of the second transmission rod is hinged with the lifting assembly along a second hinge point. The load on the rotating assembly is transferred to the flexible chassis device and further to the driving wheels in a relatively fixed proportion through the scissor fork jacking frame 20, the distribution of the positive pressure of the driving wheels during the no-load and load of the rotating assembly can be balanced, and the service life of the transport trolley is prolonged.

In this embodiment, the first sliding assembly includes a first sliding rail 14 disposed along the length direction of the front chassis 10 and a first sliding block 21 connected to one end of the bottom of the scissors fork jacking frame 20, the first sliding block 21 is provided with a first sliding slot adapted to the first sliding rail 14, and the first sliding block 21 is slidably connected to the first sliding rail 14; the second sliding assembly comprises a second sliding rail 221 arranged along the length direction of the rotating assembly and a second sliding block 22 connected to one end of the top of the scissors fork jacking frame 20, a second sliding groove matched with the second sliding rail 221 is formed in the second sliding block 22, and the second sliding block 22 is connected with the second sliding rail 221 in a sliding mode.

In this embodiment, one end of the first transmission rod is hinged to the rear chassis 11 along a first hinge point 201, and the rear chassis 11 is provided with a first hinge frame 161 corresponding to the first hinge point 201; one end of the second transmission rod is hinged to the rotating assembly along the third hinge point 202, and a second hinge frame corresponding to the third hinge point 202 is arranged on the bottom surface of the rotating assembly.

Specifically, the lifting assembly further comprises:

the first driving assembly is arranged on the flexible chassis device and is used for driving the rotating assembly to lift;

and the buffer part is connected between the second driving part and the rotating component or the scissor fork jacking frame 20 and is used for enabling the rotating component to move relative to the first driving component and keep a horizontal state when the front chassis 10 and the rear chassis 11 rotate relatively.

In this embodiment, as shown in fig. 4 and 7, the first driving assembly is connected to the upper end of the flexible chassis device, and is used for driving the lifting frame and the rotating device to lift; the buffering parts are connected between the first driving assembly and the rotating assembly or the scissor fork jacking frame 20, when the transport vehicle runs into a complex road surface (sunken or climbing), the front chassis 10 and the rear chassis 11 rotate relatively within a preset angle, buffering can be performed through the buffering parts, and the situation that the lifting frame moves on one side close to the first sliding assembly and the second sliding assembly to cause the rotating assembly to incline to enable a bearing object to be unstable is avoided.

Further, the buffer member is a connecting rod 26, and two ends of the connecting rod 26 are respectively hinged with the second driving member and the rotating assembly. The connecting rod 26 is connected between the rotating assembly and the first driving assembly and is arranged along the vertical direction, as shown in fig. 9, when the transportation vehicle runs on a flat road, the connecting rod 26 always keeps the vertical direction, and when the first driving assembly drives the rotating assembly and the scissor lifting frame 20 to lift, the connecting rod 26 still keeps the vertical direction. As shown in fig. 10 and 11, when the transportation vehicle climbs a slope, the front chassis 10 rotates and inclines relative to the rear chassis 11, so that an approach angle with an angle alpha is formed; at this time, the front chassis 10 guides the first slider 21 to slide on the first slide rail 14, and pushes the connecting rod 26 to tilt left to form an angle β through the second transmission rod, and the second slider 22 slides on the second slide rail 221, so that the rotating assembly is always horizontal and remains in a stable state; the first driving assembly is prevented from being directly and fixedly connected with the scissor fork jacking frame 20 or the rotating assembly, so that when the transport vehicle climbs a slope, the first driving assembly limits the buffering of the scissor fork jacking frame 20 or the rotating assembly, and the bearing platform is inclined; of course, in other embodiments, such as when the transport vehicle is traversing a depressed road section, the same principles are used and will not be repeated here.

Further, stopping pieces are disposed at two ends of the first slide rail 14 and the second slide rail 221, so as to prevent the first slide block 21 and the second slide block 22 from sliding away from the first slide rail 14 and the second slide rail 221.

Specifically, the first drive assembly includes:

the lifting screw 23 is arranged on the flexible chassis device along the vertical direction and used for driving the rotating assembly to move along the vertical direction;

the first driving motor 27 is in transmission connection with the lifting screw 23 and is used for driving the lifting screw 23 to rotate;

the lifting block 25, the lifting block 25 is connected to the lifting screw 23 adaptively;

wherein, the one end of connecting rod 26 far away from rotating assembly is articulated mutually with lift block 25, and first driving motor 27 passes through lifting screw 23 drive lift block 25 and reciprocates, and drives lift assembly lift through connecting rod 26.

In this embodiment, as shown in fig. 7, the lifting assembly includes a first driving motor 27 disposed on the rear chassis 11 along the vertical direction, and in a specific embodiment, the first driving motor 27 may be a servo motor. The rear chassis 11 is further provided with a lifting screw 23 in transmission connection with the first driving motor 27 along the vertical direction, and in a specific embodiment, the first driving motor 27 and the lifting screw 23 are in transmission connection through a transmission belt 271; the lifting block 25 is driven to move up and down by the lifting screw 23, so that the rotating assembly is driven to move up and down. Furthermore, the lifting screw 23 is connected with the transmission rod through a lifting block 25, and the lifting screw 23 is used for driving the lifting block 25 to lift.

Since the lifting screw 23 is rotated, in order to ensure that the lifting block 25 is rotated linearly and avoid the rotation thereof, in this embodiment, the lifting block 25 is further connected to a third sliding assembly. Further, the third sliding assembly comprises a third sliding rail 24 arranged on the flexible chassis device in the vertical direction, a third sliding block 251 is arranged on the lifting block 25, a third sliding groove matched with the third sliding rail 24 is formed in the third sliding block 251, the lifting block 25 is connected with the third sliding rail 24 in a sliding mode, and the third sliding assembly is used for limiting the rotation of the lifting block 25.

Specifically, as shown in fig. 6, one end of the front chassis 10 is fixedly connected with a connecting rod 15, the rear chassis 11 is provided with an accommodating groove 17 for accommodating the connecting rod 15, and the connecting rod 15 is hinged in the accommodating groove 17 and can be positioned in the accommodating groove 17 to rotate along the hinged position at a preset angle; in this embodiment, the upper end of the front chassis 10 is fixedly connected with a first mounting plate 13, and the upper end of the rear chassis 11 is fixedly connected with a second mounting plate 16; of course, the first mounting plate 13 may be integrally connected to one end of the upper surface of the front chassis 10, and the second mounting plate 16 may be integrally connected to the upper end of the rear chassis 11. In the present embodiment, the two ends of the bottom of the scissor fork jacking frame 20 are respectively connected to the first mounting plate 13 and the second mounting plate 16; connecting rod 15 an organic whole is located first mounting panel 13 and is close to the one end on back chassis 11, and holding tank 17 is located second mounting panel 16 and is close to the one end on preceding chassis 10, and the one end of connecting rod 15 is worn into and articulates in holding tank 17. In a further embodiment, the upper end and the lower end of the connecting rod 15 form a gap with the inner wall of the upper end and the inner wall of the lower end of the accommodating groove 17, respectively, and the connecting rod 15 can be ensured to rotate along the accommodating groove 17 within a preset angle by setting the gap, and in this embodiment, the rotation angle of the connecting rod 15 relative to the horizontal direction is 0 ° to 30 °, preferably 0 ° to 15 °, and more preferably 0 ° to 5 °.

In a further embodiment, the first slide rail 14 is fixedly connected to the upper end of the connecting rod 15 far away from the receiving slot 17 along the length direction.

Specifically, the rotating assembly includes:

the supporting platform 30, the supporting platform 30 is connected to the upper end of the scissor fork jacking frame 20;

a swing ring gear 33 connected to the support platform 30;

and the second driving assembly is connected to the supporting platform 30 and is used for driving the rotary gear ring 33 to rotate.

In this embodiment, as shown in fig. 8, the rotating assembly may be used to drive the bearing platform to rotate, the rotating assembly includes the supporting platform 30, one end of the top of the jacking frame is hinged to one end of the bottom surface of the supporting platform 30 through a second hinge frame, the other end of the top of the jacking frame is slidably connected to the other end of the bottom surface of the supporting platform 30 through a second slider 22, and the second slide rail 221 is disposed on the bottom surface of the supporting platform 30 and is parallel to the first slide rail 14. The rotary gear ring 33 is fixedly arranged on the upper surface of the supporting platform 30, the second driving component is fixed on the supporting platform 30 and used for driving the rotary gear ring 33 to rotate, the second driving component comprises a second driving motor 31 and a transmission gear 32 connected with one end of the second driving motor 31, the transmission gear 32 and the rotary gear ring 33 are engaged to drive the rotary gear ring 33 to rotate, and in this embodiment, the second driving motor 31 may be a servo motor.

Specifically, as shown in fig. 5, the number of the driving wheels is two and the driving wheels are located on two opposite sides of the rear chassis 11. In this embodiment, the driving wheel includes a third driving motor 18 fixedly connected to the rear chassis 11 and a roller 181 connected to an end of the third driving motor 18, the third driving motor 18 is used for driving the roller 181 to rotate, and the third driving motor 18 may be a servo motor.

Further, in order to keep the balance of the flexible chassis device, the bottom end of the flexible chassis device is connected with universal wheels 182, in this embodiment, two universal wheels 182 are provided at the bottom of the front chassis 10, and one universal wheel 182 is provided at the bottom of the rear chassis 11, although in this embodiment, the number of the universal wheels 182 is not limited herein.

Further, the periphery of the flexible chassis device is provided with a bumper strip 101, and in this embodiment, the bumper strip 101 is made of rubber.

The unmanned transport vehicle has reasonable and compact structural design, miniaturized overall structure and high space utilization rate; one end of the bottom of the jacking frame is hinged with the rear chassis 11, the other end of the bottom of the jacking frame is hinged with the front chassis 10, and a first sliding assembly is connected between the other end of the bottom of the jacking frame and the front chassis 10; one end of the top of the jacking frame is hinged with one end of the rotating assembly, the other end of the top of the jacking frame is hinged with the other end of the rotating assembly, and a second sliding assembly is connected between the end and the rotating assembly; the lifting assembly and the rotating assembly are arranged, so that the lifting of the bearing object can be controlled, and the bearing object can also be controlled to rotate; meanwhile, when the unmanned transport vehicle passes through a complex road surface (depression or climbing), the front chassis 10 obliquely drives the first sliding assembly and the second sliding assembly to slide, so that the buffering and damping performance of the lifting assembly and the rotating assembly and the stability of a loaded object of the rotating assembly in the running process are improved, and the loaded object is prevented from shifting or deforming due to vibration; the whole trolley has stronger adaptability to complex ground, the approach angle and the departure angle are smaller when the trolley goes up and down slopes, and the ground clearance of the chassis is smaller; the load on the rotating assembly can be transmitted to the driving wheel in a relatively fixed proportion through the lifting assembly, the distribution of positive pressure of the driving wheel during the no-load and load of the rotating assembly can be balanced, and the service life of the transport trolley is prolonged.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An unmanned transport vehicle is characterized by comprising a flexible chassis device and a lifting and rotating device connected with the upper end of the flexible chassis device, wherein,

the flexible chassis device comprises a front chassis and a rear chassis hinged to one end of the front chassis; wherein, two opposite sides of the flexible chassis device are fixedly connected with driving wheels;

the lifting and rotating device comprises a lifting component and a rotating component connected to the lifting component;

the lifting assembly comprises a jacking frame, one end of the bottom of the jacking frame is hinged with the rear chassis, the other end of the bottom of the jacking frame is hinged with the front chassis, and a first sliding assembly is connected between the other end of the bottom of the jacking frame and the front chassis; one end of the top of the jacking frame is hinged with one end of the rotating assembly, the other end of the top of the jacking frame is hinged with the other end of the rotating assembly, and a second sliding assembly is connected between the other end of the top of the jacking frame and the rotating assembly.

2. The unmanned transport vehicle of claim 1, wherein the jacking frame is a scissor jacking frame, and the first and second sliding assemblies are attached to the same side of the scissor jacking frame.

3. The unmanned transport vehicle of claim 2, the lift assembly further comprising:

the first driving assembly is arranged on the flexible chassis device and is used for driving the rotating assembly to lift;

the buffer part is connected between the first driving assembly and the rotating assembly or the jacking frame, and is used for enabling the rotating assembly to move relative to the first driving assembly and keep a horizontal state when the front chassis and the rear chassis rotate relatively.

4. The unmanned transport vehicle of claim 3, wherein the buffer member is a connecting rod, and two ends of the connecting rod are respectively hinged to the first driving component and the rotating component.

5. The unmanned transport vehicle of claim 4, wherein the first drive assembly comprises:

the lifting screw rod is arranged on the flexible chassis device along the vertical direction and is used for driving the rotating assembly to move along the vertical direction;

the driving motor is in transmission connection with the lifting screw and is used for driving the lifting screw to rotate;

the lifting block is connected to the lifting screw in an adaptive manner;

the end, far away from the rotating assembly, of the connecting rod is hinged to the lifting block, and the driving motor drives the lifting block to move up and down through the lifting screw rod and drives the lifting assembly to lift through the connecting rod.

6. The unmanned transport vehicle of claim 5, wherein the lift assembly further comprises:

the third sliding assembly comprises a third sliding rail arranged on the flexible chassis device in the vertical direction, the lifting block is connected with the third sliding rail in a sliding mode, and the third sliding assembly is used for limiting the rotation of the lifting block.

7. The unmanned transport vehicle of claim 2, wherein the first sliding assembly comprises a first sliding rail arranged along the length direction of the flexible chassis device and a first sliding block connected to one end of the bottom of the scissor fork jacking frame, and the first sliding block is connected with the first sliding rail in a sliding manner;

the second sliding assembly comprises a second sliding rail arranged along the length direction of the rotating assembly and a second sliding block connected to one end of the top of the scissor fork jacking frame, and the second sliding block is connected with the second sliding rail in a sliding manner.

8. The unmanned transport vehicle of claim 2, wherein a connecting rod is fixedly connected to one end of the front chassis, the rear chassis is provided with a receiving groove for receiving the connecting rod, and the connecting rod is hinged in the receiving groove and can be positioned in the receiving groove to rotate along the hinged position by a preset angle.

9. The unmanned transport vehicle of claim 2, wherein the rotation assembly comprises:

the supporting platform is connected to the upper end of the scissor fork jacking frame;

the rotary gear ring is connected to the supporting platform;

and the second driving assembly is connected to the supporting platform and is used for driving the rotary gear ring to rotate.

10. An unmanned transport vehicle according to claim 2, wherein the bottom end of the flexible chassis means is connected to a universal wheel.

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