Chassis components and transport vehicles

Abstract

The present invention provides a chassis assembly and a transport vehicle, and relates to the technical field of transport machinery. The chassis assembly includes a front suspension, a chassis, an intermediate chassis, and a small connecting rod; the front suspension is hinged to the front end of the chassis through a first hinge shaft, and the front suspension can be lifted or dropped relative to the chassis around the axis of the first hinge shaft; the intermediate chassis is arranged above the chassis and the rear end of the intermediate chassis is hinged to the chassis through a second hinge shaft, and both the intermediate chassis and the chassis can be lifted or dropped around the axis of the second hinge shaft; the small connecting rod is arranged between the front suspension and the intermediate chassis, one end of the small connecting rod is hinged to the intermediate chassis through a third hinge shaft, and the other end is hinged to the front suspension through a fourth hinge shaft; the small connecting rod, the front suspension, the chassis, and the intermediate chassis form a four-bar linkage through the first hinge shaft, the second hinge shaft, the third hinge shaft, and the fourth hinge shaft. Through the present invention, the technical problem of unstable driving of AGV mobile robots on uneven roads in the prior art is alleviated.

Description

Technical Field

[0001] The present invention relates to the technical field of transport machinery, and in particular to a chassis assembly and a transport vehicle. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guidance path and has safety protection and various transfer functions. The AGV's activity area does not require the laying of tracks, support frames and other fixed devices, and is not restricted by sites, roads and space. It has the advantages of fast action, high work efficiency, simple structure, strong controllability and good safety.

[0003] In warehousing logistics, the application of AGV is already quite common. However, the road conditions of the warehouse floor are sometimes complicated, and the AGV will have unstable transportation problems when passing through the uneven position of the warehouse floor (such as the bulge at the junction of the warehouse, etc.). Summary of the invention

[0004] The purpose of the present invention is to provide a chassis assembly and a transport vehicle to alleviate the technical problems in the prior art that AGV has low adaptability to road surfaces and unstable transportation in uneven locations.

[0005] A first aspect of the present invention provides a chassis assembly, including a front suspension, a chassis, an intermediate chassis and a small connecting rod; the front suspension is hinged to the front end of the chassis via a first hinge shaft, and the front suspension can be lifted up or lowered relative to the chassis around the axis of the first hinge shaft; the rear end of the intermediate chassis is hinged to the chassis via a second hinge shaft, and part of the intermediate chassis is arranged above the chassis, and both the intermediate chassis and the chassis can be lifted up or lowered around the axis of the second hinge shaft; the small connecting rod is arranged between the front suspension and the intermediate chassis, and one end of the small connecting rod is hinged to the intermediate chassis via a third hinge shaft.

[0006] Furthermore, the front suspension includes a first suspension and a front wheel; the first suspension includes a first top frame and a first side frame fixedly connected, and the front wheel is installed below the first top frame; the first side frame is arranged on the rear side of the front wheel along the front to rear direction, and the first side frame is hinged to the small connecting rod through the fourth hinge shaft and is hinged to the chassis through the first hinge shaft.

[0007] Furthermore, the axes of the first hinge shaft, the second hinge shaft, the fourth hinge shaft, and the wheel axle of the front wheel are parallel and are all located in the same horizontal plane.

[0008] Furthermore, the chassis assembly also includes a rear suspension, which is hinged to the rear end of the chassis via a fifth hinge shaft, the axis of the fifth hinge shaft is arranged along the direction from the front suspension to the rear suspension, and the rear suspension can swing around the axis of the fifth hinge shaft.

[0009] Furthermore, the rear suspension includes a second suspension and a plurality of rear wheels, a fifth hinge shaft is arranged on the central axis of the second suspension along the left-right direction, and the plurality of rear wheels are symmetrically arranged along the axis of the fifth hinge shaft.

[0010] Furthermore, the rear second suspension is wing-shaped.

[0011] Furthermore, the chassis assembly also includes a shock-absorbing spring, one end of which is in contact with the front suspension, and the other end of which is in contact with the chassis.

[0012] Furthermore, the middle chassis is in a Z shape, including a first plate, a second plate and a third plate fixedly connected end to end in sequence; the third plate is nested with the chassis and hinged to the chassis through a second hinge; the first plate and the small connecting rod are hinged through a third hinge.

[0013] Furthermore, the middle chassis is provided with a hinge hole for fixing and connecting the lifting mechanism.

[0014] Furthermore, the hinge holes include a plurality of front and rear hinge holes, and the plurality of hinge holes are located in the same horizontal plane.

[0015] A second aspect of the present invention provides a transport vehicle, comprising the above-mentioned chassis assembly and a lifting mechanism installed on the chassis assembly.

[0016] A first aspect of the present invention provides a chassis assembly and a transport vehicle, the chassis assembly comprising a front suspension, a chassis, an intermediate chassis and a small connecting rod; the front suspension is hinged to the front end of the chassis via a first hinge shaft, and the front suspension can be lifted up or lowered relative to the chassis around the axis of the first hinge shaft; the intermediate chassis is arranged above the chassis and the rear end of the intermediate chassis is hinged to the chassis via a second hinge shaft, and both the intermediate chassis and the chassis can be lifted up or lowered around the axis of the second hinge shaft; the small connecting rod is arranged between the front suspension and the intermediate chassis, one end of the small connecting rod is hinged to the intermediate chassis via a third hinge shaft, and the other end is hinged to the front suspension via a fourth hinge shaft; the small connecting rod, the front suspension, the chassis and the intermediate chassis form a four-bar linkage via the first hinge shaft, the second hinge shaft, the third hinge shaft and the fourth hinge shaft. In this embodiment, the four-bar linkage formed by the small connecting rod, front suspension, chassis and intermediate chassis increases the freedom and flexibility of the above-mentioned components and the connections between the components, avoids the situation where the wheels leave the ground, improves the road adaptability of the chassis assembly, and ensures that the AGV body can maintain a relatively stable posture on any road surface as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 An axonometric view of a chassis assembly provided by an embodiment of the present invention;

[0019] Figure 2 A top view of a chassis assembly provided by an embodiment of the present invention;

[0020] Figure 3 A front view of a chassis assembly provided by an embodiment of the present invention;

[0021] Figure 4 An exploded view of a chassis assembly provided by an embodiment of the present invention;

[0022] Figure 5 A cross-sectional view of a chassis assembly provided by an embodiment of the present invention during normal driving;

[0023] Figure 6 A cross-sectional view of a chassis assembly provided by an embodiment of the present invention when the front wheel is going over a slope;

[0024] Figure 7 A cross-sectional view of a chassis assembly provided by an embodiment of the present invention when the rear wheels are crossing a slope;

[0025] Figure 8 A cross-sectional view of a main drive wheel in a chassis assembly provided by an embodiment of the present invention when going over a slope.

[0026] Icons: 10-chassis; 11-chassis frame; 12-main drive wheel; 20-middle chassis; 21-first plate; 22-third plate; 30-front overhang; 31-first top frame; 32-front wheel; 33-first side frame; 40-rear overhang; 41-second suspension; 42-rear wheel; 50-small connecting rod; 51-third hole c; 52-fourth hole c; 61-fourth hinge shaft; 62-first hinge shaft; 63-third hinge shaft; 64-second hinge shaft; 65-fifth hinge shaft; 70-elastic shock absorber; 111-support plate; 211-first hole a; 212-first connecting hole; 221-second hole a; 222-second connecting hole; 331-fourth hole b; 332-first hole b. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms “first” and “second” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] AGV mobile robots are widely used in warehousing and logistics due to their advantages such as quick action, high work efficiency, simple structure and strong controllability. However, due to the uneven warehouse floor, the wheels of the AGV mobile robot will not touch the ground when passing through this location, which will cause instability in the use of the AGV mobile robot. This has become an important problem that AGV mobile robots need to face in warehousing and logistics applications. This is called the ground adaptability of AGV mobile robots, that is, the adaptability of AGV mobile robots to the uneven location of the warehouse floor and the bulges at the junction of the warehouse in warehousing and logistics.

[0031] In some technologies, in order to alleviate the problem of wheels lifting off the ground when the AGV mobile robot passes through bumpy roads, a shock-absorbing spring is installed on the chassis of the AGV mobile robot. However, due to the elastic force of the shock-absorbing spring, the shaking of the AGV mobile robot will increase, causing instability in cargo transportation, and at the same time, it also puts higher requirements on the ground conditions. In order to avoid the shaking of the AGV mobile robot, it is necessary to reduce the speed, acceleration and other indicators of the AGV mobile robot during operation, which is not conducive to the transportation efficiency of the AGV mobile robot.

[0032] The present application provides a chassis assembly, which alleviates the problem of the wheels of an AGV mobile robot leaving the ground when passing through bumpy roads by forming a four-bar linkage between the front suspension, the chassis, the middle chassis and the small connecting rod.

[0033] Please refer to Figure 1-Figure 8, the present embodiment provides a chassis assembly, including a front overhang 30, a chassis 10, an intermediate chassis 20 and a small connecting rod 50; the front overhang 30 is hinged to the front end of the chassis 10 through a first hinge shaft 62, and the front overhang 30 can be lifted up or dropped relative to the chassis 10 around the axis of the first hinge shaft 62; the rear end of the intermediate chassis 20 is hinged to the chassis 10 through a second hinge shaft 64, and a part of the intermediate chassis 20 is arranged above the chassis 10. Both the intermediate chassis 20 and the chassis 10 can be lifted up or dropped around the axis of the second hinge shaft 64; the small connecting rod 50 is arranged between the front overhang 30 and the intermediate chassis 20, one end of the small connecting rod 50 is hinged to the intermediate chassis 20 through a third hinge shaft 63, and the other end is hinged to the front overhang 30 through a fourth hinge shaft 61; the small connecting rod 50, the front overhang 30, the chassis 10 and the intermediate chassis 20 form a four-bar linkage through the first hinge shaft 62, the second hinge shaft 64, the third hinge shaft 63 and the fourth hinge shaft 61.

[0034] In this embodiment, the four-bar linkage formed by the small connecting rod 50, the front suspension 30, the chassis 10 and the intermediate chassis 20 increases the freedom and flexibility of the above-mentioned components and the connections between the components, avoids the situation where the wheels leave the ground, improves the road adaptability of the chassis assembly, and ensures that the AGV body can maintain a relatively stable posture on any road surface as much as possible.

[0035] Specifically, taking the installation of the above chassis assembly to the AGV mobile robot as an example, the front suspension 30 is installed with a front wheel (i.e., a driven wheel), and the chassis 10 is installed with a main drive wheel. When the front wheel passes through an uneven road surface, the front suspension 30 is lifted or dropped relative to the chassis 10 around the axis of the first hinge shaft 62; the small connecting rod 50 is also lifted or dropped relative to the chassis 10, and the intermediate chassis 20 is rotated relative to the chassis 10 around the axis of the second hinge shaft 64 to achieve lifting or dropping; at this time, the chassis 10 keeps the main drive wheel on the ground under the action of gravity to ensure the positive pressure between the main drive wheel and the ground. The front wheel also remains on the ground, and the front wheel and the main drive wheel do not leave the ground, which increases the stability of the AGV mobile robot when passing through uneven roads. When the main drive wheel passes over an uneven road surface, the chassis 10 is lifted up or dropped relative to the front suspension 30. Since the front suspension 30 is hinged to the chassis 10 via the first hinge shaft 62, the front wheel and the main drive wheel remain on the ground, and the front wheel and the main drive wheel do not leave the ground, thereby increasing the stability of the AGV mobile robot when passing over uneven roads.

[0036] It should be noted that since the AGV mobile robot is mostly used in warehouses or factories in warehousing logistics, the bumpiness of the road surface is relatively small. Therefore, there is no situation where the AGV mobile robot is lifted as a whole due to a large depression in the concave road surface or a large convexity in the convex road surface.

[0037] The above has introduced the overall structure of the chassis assembly through a four-bar mechanism to achieve the AGV mobile robot to maintain stability when passing through uneven roads. Next, the specific forms of each structure that realizes the above functions will be introduced respectively.

[0038] In some technologies, the front suspension adopts a horizontal cantilever structure, the front wheel is connected to the front end of the horizontal cantilever through a rotating shaft, and the chassis is connected to the rear end of the horizontal cantilever. Although this design is simple in structure, when the front suspension or chassis passes over a bumpy road, the chassis directly transfers the force to the cantilever and then to the front wheel without any buffering. The front wheel is subjected to excessive force, which may cause instability during the operation of the AGV mobile robot. In order to alleviate this problem, the inventor improved the structure of the front suspension as follows.

[0039] Please refer to Figure 1-Figure 8 The front suspension 30 includes a first suspension and a front wheel 32; the first suspension includes a first top frame 31 and a first side frame 33 that are fixedly connected, and the front wheel 32 is installed below the first top frame 31; the first side frame 33 is arranged at the rear side of the front wheel and along the front-to-rear direction, the first side frame 33 is hinged to the small connecting rod 50 through the fourth hinge shaft 61 and is hinged to the chassis 10 through the first hinge shaft 62 in sequence.

[0040] Specifically, two brackets for fixing the front wheels 32 are fixed side by side at the lower part of the first top frame 31. There are two front wheels 32, and each front wheel 32 is rotatably connected to the corresponding bracket through a rotating shaft. Each bracket includes two support plates arranged side by side, and the front wheel 32 is rotatably connected between the two support plates through a rotating shaft. The top of the first top frame 31 is flat and is used to place or install other components. The first side frame 33 includes a first rod and a second rod that are arranged at an obtuse angle and are fixedly connected head to tail. The head end of the first rod is fixedly connected to the first top frame 31, and the first rod is tiltedly arranged at the rear side of the front wheel 32; the head end of the second rod is fixedly connected to the tail end of the first rod, and the second rod is arranged horizontally. The second rod is provided with a fourth hole b311 for hinged connection with the small connecting rod 50 and a first hole b332 for hinged connection with the chassis 10. From front to back, the fourth hole b311 and the first hole b332 are opened in sequence.

[0041] In this embodiment, the front suspension 30 is connected end to end by the first top frame 31, the first rod and the second rod. The first top frame 31 is located above the front wheel 32, the first rod is located at the rear side of the front wheel 32, and the second rod is arranged horizontally and is hinged to the chassis 10 through the first hinge shaft 62. When the chassis 10 is lifted over a raised road surface, the chassis 10 applies a certain force to the second rod, and the second rod first transmits the force to the inclined first rod. Since the first rod and the second rod are arranged at an obtuse angle, the force transmitted by the second rod will be decomposed and then transmitted to the first rod; since the first rod and the first top frame 31 are also arranged at an angle, the force on the second rod is decomposed and then transmitted to the first top frame 31, and the first top frame 31 drives the front wheel 32 to rotate. After multiple force transmissions, the impact of the chassis 10 on the front wheel 32 when passing over a bumpy road surface is reduced, so that the front wheel 32 runs more smoothly, which is conducive to the stability of the operation of the AGV mobile robot.

[0042] Furthermore, the first side frames 33 are divided into two groups and are symmetrically distributed along the central axis of the front suspension (the central axis is a median line extending along the front-to-back direction and between the left-to-right direction) to ensure the stability of the movement of the front wheels 32.

[0043] It should be added that when the first side frame 33 is a rod-shaped structure, the first side frame 33 can also be set as a group. One group of first side frames 33 is fixed at the central axis of the first top frame 31 to ensure that the two front wheels 32 can be evenly stressed. Alternatively, the first side frames 33 are set as multiple groups, and the multiple groups of first side frames 33 are arranged at intervals along the left and right directions of the chassis 10 and are symmetrically distributed along the central axis of the front overhang.

[0044] The chassis 10 is the core of the entire chassis assembly, and the center of gravity of the chassis assembly as a whole is also located on the chassis 10. The main drive wheel 12 is installed on the chassis 10. In order to maintain the stable operation of the AGV mobile robot using the chassis assembly, the chassis 10 is kept as stable as possible, that is, it is not disturbed by external factors as much as possible. The inventors have found that for other components connected to the chassis 10, due to the different connection positions with the chassis 10, different external interferences will be brought to the chassis 10, thereby affecting the stability of the chassis 10.

[0045] In this embodiment, from the front to the rear, the chassis 10 is hinged to the front suspension 30 (i.e., the second rod) through the first hinge shaft 62, and is hinged to the middle chassis 20 through the second hinge shaft 64. The axes of the first hinge shaft 62 and the second hinge shaft 64 are parallel and located in the same horizontal plane. Further, the chassis 10 includes a bottom plate and a side frame, the bottom plate is a horizontally arranged flat plate, and a hole for cooperating with the first hinge shaft 62 and the second hinge shaft 64 is opened on the side of the bottom plate. The second rod and the bottom plate are in the same horizontal plane, and the axes of the first hinge shaft 62, the second hinge shaft 64, the fourth hinge shaft 61, and the rotating shaft of the front wheel are parallel and located in the same horizontal plane. The advantage of this design is that the chassis 10 can always keep the center of gravity stable, and the center of gravity is pressed down on the bottom plate; the influence of the front suspension 30 and the middle chassis 20 on the chassis 10 will not be higher than the bottom plate and will not appear on the periphery of the chassis 10, causing the center of gravity to move up and down. At the same time, this design also reduces the influence of the small connecting rod 50 on the chassis 10 through the influence on the front overhang 30. The stability of the chassis 10 is further increased, and the positive pressure between the main driving wheel 12 and the ground is guaranteed.

[0046] The inventor found that if the front end of the intermediate chassis 20 is hinged to the front suspension 30 through the first hinge shaft 62, and the rear end of the intermediate chassis 20 is hinged to the chassis 10 through the second hinge shaft 64, when the front suspension 30 swings up and down relative to the chassis 10 around the axis of the first hinge shaft 62, the front suspension 30 cannot swing normally due to the limiting effect of the intermediate chassis 20. If the front wheel 32 encounters a raised road surface at this time, the front wheel 32 will be lifted up, which will give the chassis 10 and the main drive wheel 12 a movement trend of lifting up at the same time, which may cause the main drive wheel 12 to leave the ground, reduce the adaptability of the chassis assembly to the road surface, and increase the shaking amplitude of the vehicle body. In order to alleviate this problem, a small connecting rod 50 is set between the front suspension 30 and the intermediate chassis 20, and the specific structure is as follows.

[0047] The middle chassis 20 is located above the chassis 10 and is used to carry goods. One end of the small connecting rod 50 is hinged to the front end of the middle chassis 20 through the third hinge 63, and the other end is hinged to the front suspension 30 (second rod) through the fourth hinge 61. When the AGV mobile robot travels on a bumpy road, the front suspension 30 or the chassis 10 tilts and shakes, and the middle chassis 20 swings up and down around the axis of the second hinge 64 hinged to the chassis 10. At the same time, the front suspension 30 and the chassis 10 move relative to each other around the axis of the first hinge 62. A small connecting rod is arranged between the middle chassis 20 and the front suspension 30; wherein, one end of the small connecting rod is hinged to the middle chassis, and the other end is hinged to the front suspension, thereby increasing the freedom of movement between the middle chassis and the front suspension, so as to ensure that there is enough relative movement space between the middle chassis 20 and the front suspension 30, avoid locking when both rotate at the same time, ensure the flexibility between the front suspension 30 and the chassis 10, so that when one of the front wheels and the main drive wheels is lifted or dropped, the other wheel can contact the ground.

[0048] The specific connection method between the small connecting rod 50 and the front suspension 30 is as follows:

[0049] One end of the small link 50 is hinged to the front suspension 30 through the fourth hinge shaft 61, and the other end is hinged to the front end of the middle chassis 20 through the third hinge shaft 63; the rear end of the middle chassis 20 is hinged to the chassis 10 through the second hinge shaft 64. The front suspension 30 swings around the axis of the first hinge shaft 62, and can transmit force to the middle chassis 20 through the small link 50. The swing of the middle chassis 20 can also transmit force to the front suspension 30 through the small link 50, and then a four-bar linkage is formed between the small link 50, the middle chassis 20, the front suspension 30 and the chassis 10. There are two revolute pairs between the middle chassis 20 and the front suspension 30, and the small link 50 is respectively provided to provide space for the front suspension 30 to swing around the axis of the first hinge shaft 62 and the space for the middle chassis 20 to swing around the axis of the second hinge shaft 64. After the front suspension 30 rotates a first angle, the middle chassis 20 can rotate a second angle. Since the distance between the third hinge shaft 63 and the second hinge shaft 64 on the middle chassis 20 is greater than the distance between the first hinge shaft 62 and the fourth hinge shaft 61 on the front suspension 30, the second angle is smaller than the first angle, thereby alleviating the shaking of the middle chassis 20 and maintaining good stability of the goods thereon.

[0050] Take the case where the front wheel 32 travels on a raised road as an example: the front wheel 32 is lifted relative to the horizontal road surface, and the front suspension 30 swings upward around the axis of the first hinge shaft 62, driving the small connecting rod 50 to also have an upward movement trend, and the small connecting rod 50 generates an upward force on the middle chassis 20. Because there are goods placed on the middle chassis 20, the middle chassis 20 has a downward force, and this downward force drives the middle chassis 20 to have a downward swinging trend around the axis of the second hinge shaft 64. One end (upper end) of the small connecting rod 50 is hinged to the front suspension 30, and the other end (lower end) is hinged to the middle chassis 20. When the front suspension 30 swings around the axis of the first hinge shaft 62, the middle chassis 20 also swings around the axis of the second hinge shaft 64. When the front suspension 30 passes over the raised road surface, the upward force applied to the middle chassis 20 is alleviated by the overall swing of the small connecting rod 50, thereby improving the stability of the middle chassis 20.

[0051] As a variation of the above connection method, the small connecting rod 50 is slidably connected to the front suspension 30, and the front end of the middle chassis 20 is hinged to the small connecting rod 50 through the third hinge shaft 63. At this time, when the AGV mobile robot travels on a bumpy road, the front suspension 30 rotates relative to the chassis 10, and the middle chassis 20 also rotates relative to the chassis 10 due to the bumpy road. At this time, the middle chassis 20 and the small connecting rod 50 rotate, and the small connecting rod 50 slides in the front-back direction to form a rocker slider mechanism.

[0052] Please continue to refer to Figure 4-Figure 8The chassis 10 is provided with a front hole for articulating with the front suspension 30 through the first hinge shaft 62 and a rear hole for articulating with the middle chassis 20 through the second hinge shaft 64, and the front hole, the main drive wheel 12 and the rear hole are sequentially arranged from front to rear. The main drive wheel 12 is located between the first hinge shaft 62 and the second hinge shaft 64, so that the core gravity of the whole is pressed on the main drive wheel 12, the positive pressure given to the ground by the main drive wheel 12 is increased, and the gripping ability of the main drive wheel 12 is increased.

[0053] The second rod of the front suspension 30 is provided with a fourth hole b331 and a first hole b332 from front to back. The small connecting rod 50 is provided with a fourth hole c52 for being hinged to the front suspension 30 and a third hole c51 for being hinged to the middle chassis 20. The small connecting rod 50 adopts a straight rod structure, and the third hole c51 and the fourth hole c52 thereon are arranged at intervals along the length direction of the small connecting rod 50. This embodiment does not specifically limit the structure of the small connecting rod 50, and it only needs to ensure that the small connecting rod 50 is an integral body and has two third holes c51 and fourth holes c52 arranged at intervals, and can be hinged to the front suspension 30 and the middle chassis 20 respectively.

[0054] Please take the exam Figure 4 The middle chassis 20 is provided with a first hole a211 for hinged connection with the small connecting rod 50 and a second hole a221 for hinged connection with the chassis 10 in sequence from front to rear. Since the middle chassis 20 is used to carry heavy objects, the middle chassis 20 is also provided with hinge holes for fixed connection with the lifting mechanism, specifically the first connection hole 212 and the second connection hole 222.

[0055] Furthermore, the shape of the middle chassis is Z-shaped, including a first plate 21, a second plate and a third plate 22 which are fixedly connected end to end in sequence; the third plate 22 overlaps with the chassis 10 and is hinged to the chassis 10 through a second hinge 64; the first plate 21 and the small connecting rod 50 are hinged through a third hinge to form a shaking space between the middle chassis 20 and the chassis 10.

[0056] In order to make the hinge between the middle chassis 20 and the chassis 10 located on the bottom plate of the chassis 10, the cross-section of the middle chassis 20 is Z-shaped, including an integrally formed first plate 21, a second plate and a third plate 22, the first plate 21 is located above the third plate 22, the first hole a211 is arranged at the front end of the first plate 21, and the second hole a221 is arranged in the middle of the third plate 22.

[0057] At the same time, a first extension portion extends from the front end of the first plate 21, the first extension portion is gradually pressed downward from the root to the end, and a first connection hole 212 is provided in the first extension portion; a second extension portion extends from the end of the third plate 22, the second extension portion is gradually raised from the root to the end, and a second connection hole 222 is provided in the second extension portion. Both the first connection hole 212 and the second connection hole 222 can be used to connect external equipment, such as a lifting mechanism installed on an AGV.

[0058] It should be noted that the present embodiment does not limit the shape of the intermediate chassis 20 , as long as it can ensure that the goods can be stably placed and can be hinged with the small connecting rod 50 and the chassis 10 .

[0059] In order to achieve stable transportation of goods, the chassis assembly generally includes a rear suspension, which is fixedly connected to the chassis and has two sets of rear wheels installed on it. The inventor found that when one set of rear wheels passes over an uneven road surface, it is very easy for the other set of rear wheels to separate from the ground, causing instability of the chassis assembly.

[0060] In order to alleviate this problem, the inventor changed the connection method between the rear suspension and the chassis, as follows: Figure 4-Figure 8 The chassis assembly also includes a rear suspension 40 , which is hinged to the chassis 10 via a fifth hinge shaft 65 , the axis of the fifth hinge shaft 65 being arranged along the front-rear direction, and the rear suspension 40 can swing around the axis of the fifth hinge shaft 65 .

[0061] A second mounting frame is provided at the bottom of the second suspension 41, and both ends of the axle of the rear wheel 42 are fixed to the second mounting frame, and the rear wheel 42 can rotate around the axis of the rear wheel axle. A fifth hinge shaft 65 is hinged on the side of the second suspension 41 facing the chassis 10. When one set of rear wheels 42 is lifted due to a bumpy road surface, the second suspension 41 can shake around the axial direction of the fifth hinge shaft 65, and the other set of rear wheels 42 will not only not leave the ground, but also always keep in contact with the ground due to gravity. Since both sets of rear wheels keep in contact with the ground, the operation of the AGV mobile robot is stable.

[0062] Optionally, further, the rear suspension 40 includes a second suspension 41 and multiple sets of rear wheels 42 , the fifth hinge shaft 65 is arranged on the central axis of the second suspension 41 along the left-right direction, and the multiple sets of rear wheels are symmetrically arranged along the axis of the fifth hinge shaft 65 .

[0063] When the rear wheel on one side of the center axis passes through a raised road surface, the second suspension 41 rotates around the fifth hinge shaft 65, the rear wheel passing through the raised road surface is at a high position, and the rear wheel not passing through the raised road surface is at a low position, and both sets of rear wheels touch the ground. If both sets of rear wheels 42 are at a high position, the center of gravity of the rear suspension is raised by a set height, and because one set of rear wheels is at a high position and the other set of rear wheels is at a low position, the center of gravity of the rear suspension is raised, but it is only equivalent to raising it by half. When a bumpy road surface appears, it is equivalent to reducing the impact of the road surface on the vehicle body by half.

[0064] Please continue to refer to Figure 5-Figure 8, the second suspension of the rear suspension is wing-shaped. The second suspension includes a left wing and a right wing located on both sides of the central axis and a middle part located in the middle, and rear wheels are installed under the left wing and the right wing respectively. The height of the upper surface of the left wing and the right wing is higher than the upper surface of the middle part, that is, the middle part is located between the left wing and the right wing and is sunken, so that the fifth hinge shaft is located at the center of the rear suspension as a whole (that is, not only the center in the left-right direction, but also the center in the up-down direction). The advantage of this design is that the axis of the fifth hinge shaft 65 is located at the center of the rear suspension as a whole, overlapping with the center of gravity, which increases the stability of the rear suspension over uneven roads.

[0065] In actual use, the rear end of the chassis 10 is provided with an insertion hole extending in the rearward direction, and the fifth hinge shaft 65 can be inserted into the insertion hole and fixed to the chassis 10 by a fastener.

[0066] Please continue to refer to Figure 5 In some embodiments, the chassis assembly further includes an elastic shock-absorbing member, one end of which is fixedly connected to the chassis 10 , and the other end of which is fixedly connected to the front suspension 30 .

[0067] The chassis 10 further includes a chassis frame 11 for mounting the main drive wheel 12, and a support plate 111 higher than the first top frame 31 is provided at the front end of the chassis frame 11, one end of the elastic shock absorbing member 70 is fixed to the lower surface of the support plate 111, and the other end is fixed to the upper surface of the first top frame 31. When the chassis 10 and the front suspension 30 shake, the elastic shock absorbing member 70 can buffer the vibration between the two through its own elasticity to reduce the vibration.

[0068] When there is one elastic damping member 70 , it is arranged at the central axis of the first top frame 31 . If there are multiple elastic damping members 70 , they can be arranged on the first top frame 31 at intervals along the width direction of the chassis 10 .

[0069] The elastic shock absorbing member 70 can be a compression spring, or a rubber pad with good elasticity, etc., as long as it can reduce the vibration between the front suspension 30 and the chassis 10.

[0070] A transport vehicle provided in this embodiment includes the above-mentioned chassis assembly and a lifting mechanism installed on the chassis assembly. The lifting structure can be connected to the first connecting hole 212 and the second connecting hole 222 to achieve installation relative to the chassis assembly.

[0071] It should be added that the structure of the lifting device and the beneficial effects produced have been explained in detail above, so they will not be repeated here.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A chassis assembly, characterized in that: Including front suspension, chassis, middle chassis and small connecting rod; The front overhang is hinged to the front end of the chassis via a first hinge shaft, and the front overhang can be lifted up or lowered relative to the chassis around the axis of the first hinge shaft; The rear end of the intermediate chassis is hinged to the chassis via a second hinge shaft, and part of the intermediate chassis is arranged above the chassis, and both the intermediate chassis and the chassis can be lifted up or lowered around the axis of the second hinge shaft; The small connecting rod is arranged between the front suspension and the middle chassis, one end of the small connecting rod is hinged to the middle chassis through a third hinge shaft, and the other end of the small connecting rod is hinged to the front suspension through a fourth hinge shaft.

2. The chassis assembly according to claim 1, characterized in that: The front suspension includes a first suspension and a front wheel; The first suspension includes a first top frame and a first side frame that are fixedly connected, the front wheel is installed below the first top frame; the first side frame is arranged on the rear side of the front wheel along the front to rear direction, and the first side frame is hinged to the small connecting rod through a fourth hinge shaft and hinged to the chassis through the first hinge shaft.

3. The chassis assembly according to claim 2, characterized in that: The first side frame includes a first rod and a second rod which are arranged at an obtuse angle and are fixedly connected head to tail, wherein the head end of the first rod is fixedly connected to the first top frame; the head end of the second rod is fixedly connected to the tail end of the first rod, the second rod is arranged horizontally and the tail end of the second rod is hinged to the front end of the chassis through the first hinge shaft.

4. The chassis assembly according to claim 2, characterized in that: The axes of the first hinge shaft, the second hinge shaft, the fourth hinge shaft, and the wheel axle of the front wheel are parallel and located in the same horizontal plane.

5. The chassis assembly according to claim 1, characterized in that: The chassis assembly also includes a rear suspension, which is hinged to the rear end of the chassis via a fifth hinge shaft. The axis of the fifth hinge shaft is arranged along the direction from the front suspension to the rear suspension, and the rear suspension can swing around the axis of the fifth hinge shaft.

6. The chassis assembly according to claim 5, characterized in that: The rear suspension includes a second suspension and a plurality of rear wheels, the fifth hinge shaft is arranged on the central axis of the second suspension along the left-right direction, and the plurality of rear wheels are symmetrically arranged along the axis of the fifth hinge shaft.

7. The chassis assembly according to claim 6, characterized in that: The second suspension of the rear suspension is an airfoil.

8. The chassis assembly according to claim 1, characterized in that: The chassis assembly also includes a shock absorbing spring, one end of which is in contact with the front suspension, and the other end of which is in contact with the chassis.

9. The chassis assembly according to claim 1, characterized in that: The middle chassis is in a Z shape, and includes a first plate, a second plate, and a third plate which are fixedly connected end to end in sequence; the third plate is nested with the chassis and is hinged to the chassis through the second hinge shaft; the first plate is hinged to the small connecting rod through the third hinge shaft.

10. The chassis assembly according to claim 1, characterized in that The middle chassis is provided with a hinge hole for fixedly connecting the lifting mechanism.

11. The chassis assembly according to claim 10, characterized in that The hinge holes include a plurality of front and rear hinge holes, and the plurality of hinge holes are located in the same horizontal plane.

12. A transport vehicle, characterized in that: It comprises the chassis assembly according to any one of claims 1 to 11 and a lifting mechanism installed on the chassis assembly.

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