An AGV Chassis Structure Adaptable to Ground Deformation

Abstract

The invention provides an AGV chassis structure capable of adapting to ground deformation. The AGV chassis structure comprises a bearing vehicle frame, a first movable vehicle frame, a second movable vehicle frame, a drive device and bearing wheels. The inner end of the first movable vehicle frame and the inner end of the second movable vehicle frame are hinged through a hinging shaft. The drive device comprises drive motors, drive shafts and drive wheels, wherein the drive shafts are coaxially connected with the hinging shaft, and the drive motors drive the drive wheels through the drive shafts. A first hinging hole is formed in the first movable vehicle frame, a second hinging hole is formed in the second movable vehicle frame, the bearing vehicle frame is hinged to the first hinging hole through a first connecting pin and hinged to the second hinging hole through a second connecting pin, and the second hinging hole is a kidney-shaped hole. When the first movable vehicle frame and the second movable vehicle frame relatively rotate around the hinging shaft, the first connecting pin moves relative to the first hinging hole, and the second connecting pin moves relative to the second hinging hole. When the AGV chassis structure encounters the uneven ground, the first movable vehicle frame and the second movable vehicle frame rotate relatively, it is guaranteed that the drive wheels are landed, and the uneven ground is adjusted.

Description

technical field

[0001] The invention belongs to the technical field of AGV chassis structure, in particular to an AGV chassis structure that can adapt to ground deformation. Background technique

[0002] Backpack AGV refers to the AGV vehicle that relies on the AGV body to carry the weight of the cargo. This type of AGV vehicle is mostly used in assembly, logistics and other fields. The chassis of traditional AGV vehicles, especially small AGV vehicles, is often limited by the size of the space, and the chassis does not have a suspension system. When the AGV vehicle is used on uneven ground, the chassis shakes greatly and the driving wheels appear suspended, resulting in The AGV cannot drive normally and cannot ensure the safety of the cargo. In order to prevent the driving wheel from being suspended, the chassis of the AGV is generally equipped with elastic parts, but the chassis with elastic parts has a complicated structure and high manufacturing cost, which cannot meet ...

Examples

Embodiment 1

[0020] Embodiment one: see Figure 1 to Figure 5 , an AGV chassis structure that can adapt to ground deformation, including a frame, a driving device and a load-carrying wheel, the frame includes a movable frame 1 and a load-carrying frame 2, and the movable frame 1 includes a first movable frame 11. The second movable frame 12, the inner end of the first movable frame 11 and the inner end of the second movable frame 12 are hinged through the hinge shaft 13, and the carrying frame 2 is arranged on the first movable frame 12. On movable vehicle frame 11 and the second movable vehicle frame 12; Described driving device comprises drive motor, drive shaft 33 and drive wheel 32, and described drive motor is arranged on described movable vehicle frame 1, and described drive shaft 33 is hinged with The shaft 13 is arranged to be coaxially connected, and the drive motor drives the drive wheel 32 through the drive shaft 33; the load wheel includes a first load wheel 41 and a second loa...

Embodiment 2

[0027] Embodiment 2: (not shown in the figure of this embodiment) The difference between this embodiment and Embodiment 1 lies in the difference in the arrangement of the drive shaft and the hinge shaft. The hinge shaft includes a first hinge shaft and a second hinge shaft. The drive shaft includes a first drive shaft and a second drive shaft, the drive motor includes a first drive motor and a second drive motor, and the first hinge shaft and the second hinge shaft are respectively arranged on the left and right sides of the movable frame. side, the inner end of the first hinge shaft is connected to the outer end of the first drive shaft, the inner end of the second hinge shaft is connected to the outer end of the second drive shaft, and the inner end of the first drive shaft is connected to the The first drive motor is connected, the inner end of the second drive shaft is connected with the second drive motor, and the outer end of the first hinged shaft and the outer end of th...

Embodiment 3

[0029] Embodiment 3: (not shown in the figure of this embodiment) The difference between this embodiment and Embodiment 1 is that: the first drive shaft and the first hinge shaft of this embodiment are arranged as an integrated structure, and the second drive shaft and the second hinge shaft The shaft is arranged in an integrated structure, and this arrangement can realize the functions of the hinge shaft and the drive shaft at the same time. This setting method has a simple and compact structure, convenient installation and disassembly, and low manufacturing cost.

technical field

[0001] The invention belongs to the technical field of AGV chassis structure, in particular to an AGV chassis structure that can adapt to ground deformation. Background technique

[0002] Backpack AGV refers to the AGV vehicle that relies on the AGV body to carry the weight of the cargo. This type of AGV vehicle is mostly used in assembly, logistics and other fields. The chassis of traditional AGV vehicles, especially small AGV vehicles, is often limited by the size of the space, and the chassis does not have a suspension system. When the AGV vehicle is used on uneven ground, the chassis shakes greatly and the driving wheels appear suspended, resulting in The AGV cannot drive normally and cannot ensure the safety of the cargo. In order to prevent the driving wheel from being suspended, the chassis of the AGV is generally equipped with elastic parts, but the chassis with elastic parts has a complicated structure and high manufacturing cost, which cannot meet ...

Examples

Embodiment 1

[0020] Embodiment one: see Figure 1 to Figure 5 , an AGV chassis structure that can adapt to ground deformation, including a frame, a driving device and a load-carrying wheel, the frame includes a movable frame 1 and a load-carrying frame 2, and the movable frame 1 includes a first movable frame 11. The second movable frame 12, the inner end of the first movable frame 11 and the inner end of the second movable frame 12 are hinged through the hinge shaft 13, and the carrying frame 2 is arranged on the first movable frame 12. On movable vehicle frame 11 and the second movable vehicle frame 12; Described driving device comprises drive motor, drive shaft 33 and drive wheel 32, and described drive motor is arranged on described movable vehicle frame 1, and described drive shaft 33 is hinged with The shaft 13 is arranged to be coaxially connected, and the drive motor drives the drive wheel 32 through the drive shaft 33; the load wheel includes a first load wheel 41 and a second loa...

Embodiment 2

[0027] Embodiment 2: (not shown in the figure of this embodiment) The difference between this embodiment and Embodiment 1 lies in the difference in the arrangement of the drive shaft and the hinge shaft. The hinge shaft includes a first hinge shaft and a second hinge shaft. The drive shaft includes a first drive shaft and a second drive shaft, the drive motor includes a first drive motor and a second drive motor, and the first hinge shaft and the second hinge shaft are respectively arranged on the left and right sides of the movable frame. side, the inner end of the first hinge shaft is connected to the outer end of the first drive shaft, the inner end of the second hinge shaft is connected to the outer end of the second drive shaft, and the inner end of the first drive shaft is connected to the The first drive motor is connected, the inner end of the second drive shaft is connected with the second drive motor, and the outer end of the first hinged shaft and the outer end of th...

Embodiment 3

[0029] Embodiment 3: (not shown in the figure of this embodiment) The difference between this embodiment and Embodiment 1 is that: the first drive shaft and the first hinge shaft of this embodiment are arranged as an integrated structure, and the second drive shaft and the second hinge shaft The shaft is arranged in an integrated structure, and this arrangement can realize the functions of the hinge shaft and the drive shaft at the same time. This setting method has a simple and compact structure, convenient installation and disassembly, and low manufacturing cost.

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