AGV chassis and AGV trolley

Abstract

The present invention discloses an AGV chassis and an AGV trolley, relating to the technical field of AGV chassis. The AGV chassis includes a base plate, a first running mechanism, and an adjustment mechanism. The first running mechanism includes a first drive wheel, a first connecting rod, and a first universal wheel. The first drive wheel and the first universal wheel are respectively connected to the two ends of the first connecting rod. The middle part of the first connecting rod is rotatably connected to the base plate so that the first drive wheel and the first universal wheel can be raised and lowered relative to the base plate. The adjustment mechanism is installed on the base plate and connected to the first connecting rod. It can apply a preset force to the first connecting rod so that the first connecting rod has a tendency to rotate relative to the base plate. The AGV chassis and AGV trolley have the characteristic of being able to adjust the driving efficiency by adjusting the ratio of driving force and motion resistance.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV chassis, and in particular to an AGV chassis and an AGV trolley. Background Art

[0002] Autonomous navigation AGV (Automated Guided Vehicle) is increasingly used in the warehousing industry, etc.

[0003] With the increase of load on existing AGVs, the pressure on their universal wheels will gradually increase, causing the movement resistance of the universal wheels to gradually increase, which will cause the ratio of the driving force of the driving wheels to the movement resistance to decrease to a certain extent, and the driving efficiency of the AGV will decrease.

[0004] As AGVs are increasingly used, the requirements for them are becoming more diversified. However, the driving efficiency of existing AGVs gradually decreases as their load increases, making it difficult to adjust their driving efficiency to meet diverse needs.

[0005] In view of this, it is particularly important to develop and design an AGV chassis and AGV car that can solve the above technical problems. Summary of the Invention

[0006] The object of the present invention is to provide an AGV chassis, which has the characteristic of being able to adjust the driving efficiency by adjusting the ratio of driving force and movement resistance.

[0007] Another object of the present invention is to provide an AGV vehicle having the characteristic of being able to adjust the driving efficiency by adjusting the ratio of driving force and motion resistance.

[0008] The present invention provides a technical solution:

[0009] In the first aspect, an embodiment of the present invention provides an AGV chassis, including a base plate, a first walking mechanism and an adjustment mechanism; the first walking mechanism includes a first driving wheel, a first connecting rod and a first universal wheel, the first driving wheel and the first universal wheel are respectively connected to the two ends of the first connecting rod, and the middle part of the first connecting rod is rotatably connected to the base plate so that the first driving wheel and the first universal wheel can be raised and lowered relative to the base plate; the adjustment mechanism is installed on the base plate and connected to the first connecting rod, and can apply a preset force to the first connecting rod so that the first connecting rod has a tendency to rotate relative to the base plate.

[0010] In combination with the first aspect, in a first implementation of the first aspect, the adjustment mechanism includes an adjustment drive and a first adjustment elastic member; the adjustment drive is installed on the base plate, and the two ends of the first adjustment elastic member are respectively connected to the first connecting rod and the adjustment drive, and the adjustment drive can compress or stretch the first adjustment elastic member to adjust the preset force.

[0011] In combination with the first aspect and its above-mentioned implementation, in a second implementation of the first aspect, the first adjustment elastic member is connected to an end of the first connecting rod away from the first driving wheel, and the first universal wheel is located between the first adjustment elastic member and the first driving wheel.

[0012] In combination with the first aspect and its above-mentioned implementation, in the third implementation of the first aspect, the adjustment mechanism also includes a guide column and a guide sliding member; the guide column is fixedly connected to the base plate, the guide sliding member is slidably connected to the guide column, and is connected to the end of the first adjustment elastic member away from the first connecting rod, and the adjustment drive member is connected to the guide sliding member to connect to the first connecting rod through the guide sliding member.

[0013] In combination with the first aspect and its above-mentioned implementation, in the fourth implementation of the first aspect, the AGV chassis also includes a second walking mechanism, the second walking mechanism includes a second driving wheel, a second connecting rod and a second universal wheel, the second driving wheel is installed at one end of the second connecting rod, the second universal wheel is installed at the other end of the second connecting rod, the middle part of the second connecting rod is rotatably connected to the base plate, so that the second driving wheel and the second universal wheel can be lifted and lowered relative to the base plate, the second driving wheel and the second universal wheel are used to jointly support the base plate, and the second connecting rod and the first connecting rod are symmetrically arranged on opposite sides of the base plate; the adjustment mechanism also includes a second adjustment elastic member, the two ends of the second adjustment elastic member are respectively connected to the second connecting rod and the adjustment drive member, and the adjustment drive member can compress or stretch the second adjustment elastic member to apply the preset force to the second connecting rod.

[0014] In combination with the first aspect and its above-mentioned implementation, in the fifth implementation of the first aspect, the adjustment mechanism also includes a linkage member; the adjustment drive member is connected to the middle part of the linkage member, and the two ends of the linkage member are respectively connected to the first adjustment elastic member and the second adjustment elastic member, and the adjustment drive member can simultaneously drive the first adjustment elastic member and the second adjustment elastic member to move relative to the base plate through the linkage member.

[0015] In combination with the first aspect and its above-mentioned implementation, in the sixth implementation of the first aspect, the AGV chassis also includes a follow-up mechanism, and the follow-up mechanism includes a third connecting rod, a third universal wheel and a fourth universal wheel, the third universal wheel and the fourth universal wheel are respectively connected to the two ends of the third connecting rod, and the middle part of the third connecting rod is rotatably connected to the base plate so that the third universal wheel and the fourth universal wheel can be raised and lowered relative to the base plate; the first connecting rod, the third connecting rod and the second connecting rod together form a U shape.

[0016] In combination with the first aspect and its above-mentioned implementation, in the seventh implementation of the first aspect, the AGV chassis also includes a detection mechanism and a load-bearing plate, the detection mechanism includes a weighing sensor electrically connected to the adjustment mechanism; the load-bearing plate is connected to the base plate and is used to carry goods, the weighing sensor is arranged between the load-bearing plate and the base plate, and is used to detect the load on the load-bearing plate, and the adjustment mechanism can adjust the magnitude of the preset force according to the load.

[0017] In combination with the first aspect and its above-mentioned implementation manner, in the eighth implementation manner of the first aspect, the detection mechanism also includes a plurality of support columns, the number of the weighing sensors is multiple, the multiple support columns are distributed and connected to the base plate, the supporting plate is respectively connected to the end of the multiple support columns away from the base plate, and the multiple weighing sensors are arranged one by one between the multiple support columns and the supporting plate.

[0018] In a second aspect, an embodiment of the present invention further provides an AGV trolley, comprising the aforementioned AGV chassis. The AGV chassis comprises a base plate, a first walking mechanism, and an adjustment mechanism; the first walking mechanism comprises a first driving wheel, a first connecting rod, and a first universal wheel, the first driving wheel and the first universal wheel being respectively connected to the two ends of the first connecting rod, the middle portion of the first connecting rod being rotatably connected to the base plate, so that the first driving wheel and the first universal wheel can be raised and lowered relative to the base plate; the adjustment mechanism is mounted on the base plate and connected to the first connecting rod, and is capable of applying a preset force to the first connecting rod so that the first connecting rod has a tendency to rotate relative to the base plate.

[0019] Compared with the prior art, the AGV chassis and AGV trolley provided by the embodiments of the present invention have the following advantages over the prior art:

[0020] The first walking mechanism includes a first drive wheel, a first connecting rod, and a first universal wheel. The first drive wheel and the first universal wheel are respectively connected to the ends of the first connecting rod and the middle of the first connecting rod. The adjustment mechanism is mounted on the base plate and connected to the first connecting rod. The adjustment mechanism can apply a preset force to the first connecting rod to cause the first connecting rod to have a tendency to rotate relative to the base plate. In this way, the adjustment mechanism can rotate the first connecting rod, causing the first drive wheel on the first connecting rod to have a tendency to turn toward the ground, thereby increasing the pressure of the first drive wheel on the ground, so that the first drive wheel can provide greater driving force for the AGV chassis. At the same time, the first universal wheel on the first connecting rod has a tendency to turn away from the ground, thereby reducing the pressure of the first universal wheel on the ground, thereby reducing the movement resistance of the first universal wheel when rolling on the ground, thereby reducing the movement resistance of the AGV vehicle, and thereby increasing the ratio of the driving force of the first drive wheel to the movement resistance of the AGV vehicle, thereby improving the driving efficiency of the AGV vehicle. Conversely, the adjustment mechanism can also cause the first driving wheel on the first connecting rod to have a tendency to rotate away from the ground, thereby reducing the pressure of the first driving wheel on the ground, thereby reducing the maximum driving force that the first driving wheel can provide to the AGV chassis. At the same time, the first universal wheel on the first connecting rod can have a tendency to rotate towards the ground, thereby increasing the pressure of the first universal wheel on the ground, thereby increasing the support force and movement resistance of the first universal wheel when rolling on the ground, thereby increasing the movement resistance of the AGV, and further increasing the ratio of the driving force of the first driving wheel to the movement resistance of the AGV, thereby reducing the driving efficiency of the AGV. At the same time, by increasing the support function of the first universal wheel, the safety of the AGV is increased, thereby achieving the purpose of adjusting the driving efficiency of the AGV.

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly describes the drawings required for use in the embodiments. It should be understood that the following drawings illustrate only certain embodiments of the present invention and should not be construed as limiting the scope of the present invention. Those skilled in the art can, without inventive effort, derive other relevant drawings from these drawings.

[0023] Figure 1 This is a structural diagram of the AGV chassis provided in an embodiment of the present invention being applied to an AGV vehicle.

[0024] Figure 2 A schematic structural diagram of the AGV chassis provided by an embodiment of the present invention from a three-dimensional perspective.

[0025] Figure 3 for Figure 2 Schematic diagram of the enlarged structure at point III.

[0026] Figure 4 This is a schematic diagram of the structure of the AGV chassis provided by an embodiment of the present invention from a top view.

[0027] Figure 5 This is a structural schematic diagram of the AGV chassis provided by an embodiment of the present invention from another three-dimensional perspective.

[0028] Icons: 100-AGV trolley; 20-housing; 30-main controller; 10-AGV chassis; 12-bottom plate; 13-first traveling mechanism; 131-first driving wheel; 132-first connecting rod; 1323-guide hole; 133-first universal wheel; 15-second traveling mechanism; 151-second driving wheel; 152-second connecting rod; 153-second universal wheel; 16-adjustment mechanism; 161-adjustment drive member; 162- First adjusting elastic member; 1621-coil spring; 1622-guide rod; 163-second adjusting elastic member; 164-linkage member; 165-connecting plate; 166-guide column; 167-guide sliding member; 168-position sensor; 17-follow-up mechanism; 171-third connecting rod; 172-third universal wheel; 173-fourth universal wheel; 18-detection mechanism; 181-weighing sensor; 182-support column; 19-bearing plate. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present invention. It should be understood that the described embodiments are only a portion of the embodiments of the present invention, not all of them. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it does not require further definition or explanation in subsequent figures. Terms such as "upper," "lower," "inner," "outer," "left," and "right" indicate positions or relationships based on the positions or relationships shown in the figures, or the positions or relationships in which the inventive product is typically placed when in use, or the positions or relationships commonly understood by those skilled in the art. These terms are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Terms such as "first," "second," and the like are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance. The terms "comprise," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. Without further constraints, an element defined by the phrase "comprises a..." does not preclude the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0031] It should also be noted that, unless otherwise expressly specified or limited, terms such as "disposed" and "connected" should be understood broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] Example:

[0034] See also Figure 1 , Figure 1 This is a structural diagram of an AGV chassis 10 provided in an embodiment of the present invention being applied to an AGV vehicle 100.

[0035] An embodiment of the present invention provides an AGV chassis 10 that can adjust the driving efficiency by adjusting the ratio of driving force to motion resistance. The AGV chassis 10 can be applied to an AGV vehicle 100 or a tractor.

[0036] The AGV trolley 100 includes an AGV chassis 10, and uses the AGV chassis 10 as a walking unit and a carrying unit. Of course, the AGV trolley 100 can also include a shell 20 and a main controller 30. The shell 20 is covered on the AGV chassis 10 to cover the AGV chassis 10. The main controller 30 is electrically connected to the AGV chassis 10 to control the movement of the AGV chassis 10.

[0037] It is understood that the main controller 30 can also be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a voice processor, and a video processor; it can also be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The main controller 30 can also be any conventional processor, such as a PLC (Programmable Logic Controller), a single-chip microcomputer, etc. Of course, the main controller 30 can also be a relay contactor control system, which uses a combination of control electrical appliances such as switches, relays, and buttons to receive signals and perform circuit switching, switching, and adjustment functions.

[0038] Since the AGV trolley 100 adopts the AGV chassis 10 provided by the embodiment of the present invention, the AGV trolley 100 also has the characteristic of being able to adjust the driving efficiency by adjusting the ratio of the driving force and the movement resistance.

[0039] The following will specifically introduce the structural composition, working principle and beneficial effects of the AGV chassis 10 provided by an embodiment of the present invention.

[0040] See also Figure 2 , Figure 2 This is a schematic structural diagram of the AGV chassis 10 provided in an embodiment of the present invention from a three-dimensional perspective.

[0041] The AGV chassis 10 includes a base plate 12, a first walking mechanism 13 and an adjustment mechanism 16, wherein the first walking mechanism 13 includes a first driving wheel 131, a first connecting rod 132 and a first universal wheel 133, the first driving wheel 131 and the first universal wheel 133 are respectively connected to the two ends of the first connecting rod 132, and the middle part of the first connecting rod 132 is rotatably connected to the base plate 12, so that the first driving wheel 131 and the first universal wheel 133 can be raised and lowered relative to the base plate 12. In other words, the first connecting rod 132 acts as a lever. When any one of the first driving wheel 131 and the first universal wheel 133 located at both ends of the first connecting rod 132 is lowered, the other is raised relative to the base plate 12, so that when the AGV chassis 10 passes through an undulating ground, the first driving wheel 131 and the first universal wheel 133 can rise and fall with the ground, so that the AGV chassis 10 can walk more smoothly on the undulating ground.

[0042] The adjustment mechanism 16 is mounted on the base plate 12 and connected to the first connecting rod 132 . The adjustment mechanism 16 can apply a predetermined force to the first connecting rod 132 so that the first connecting rod 132 has a tendency to rotate relative to the base plate 12 .

[0043] In this way, the adjustment mechanism 16 can make the first connecting rod rotate, so that the first driving wheel 131 on the first connecting rod has a tendency to turn towards the ground, so that the pressure of the first driving wheel 131 on the ground increases, so that the first driving wheel 131 provides a larger driving force for the AGV chassis 10. At the same time, the first universal wheel 133 on the first connecting rod has a tendency to turn away from the ground, so that the pressure of the first universal wheel 133 on the ground becomes smaller, so as to reduce the movement resistance of the first universal wheel 133 when rolling on the ground, so that the movement resistance of the AGV cart 100 is reduced, and then the ratio of the driving force of the first driving wheel 131 to the movement resistance of the AGV cart 100 is increased, thereby improving the driving efficiency of the AGV cart 100. Conversely, the adjustment mechanism 16 can also cause the first drive wheel 131 on the first connecting rod to have a tendency to rotate away from the ground, thereby reducing the pressure of the first drive wheel 131 on the ground, thereby reducing the maximum driving force that the first drive wheel 131 can provide to the AGV chassis 10. At the same time, the adjustment mechanism 16 can cause the first universal wheel 133 on the first connecting rod to have a tendency to rotate toward the ground, thereby increasing the pressure of the first universal wheel 133 on the ground, thereby increasing the support force and movement resistance of the first universal wheel 133 when rolling on the ground, thereby increasing the movement resistance of the AGV trolley 100, and further increasing the ratio of the driving force of the first drive wheel 131 to the movement resistance of the AGV trolley 100, thereby reducing the driving efficiency of the AGV trolley 100. At the same time, by increasing the support function of the first universal wheel 133, the safety of the AGV trolley 100 is increased. Thus, the purpose of adjusting the driving efficiency of the AGV trolley 100 is achieved.

[0044] Scenarios where the driving efficiency of the AGV car needs to be adjusted include: when driving safety requirements are high, such as when fully loaded, the driving efficiency of the AGV car 100 needs to be reduced to ensure driving safety; and when flexibility is higher than safety requirements, such as when empty, the driving efficiency of the AGV car 100 needs to be increased.

[0045] It should be noted that the aforementioned middle portion refers to the position corresponding to the middle portion of the object, divided into three equal parts along its length. The main controller 30 can be electrically connected to the adjustment drive 161 and the drive wheel in this embodiment to control the movement of the AGV chassis 10 and adjust driving efficiency. Furthermore, in this embodiment, the drive wheel is a wheel and drive motor assembly. Of course, in other embodiments, the drive wheel can also be a hub motor.

[0046] See also Figure 2 and Figure 3 , Figure 3 for Figure 2 The structure of III is enlarged in FIG. For the convenience of illustration, the connecting plate 165 is indicated by a dotted line.

[0047] The adjustment mechanism 16 may include an adjustment drive 161 and a first adjustment elastic member 162. The adjustment drive 161 is installed on the base plate 12. The two ends of the first adjustment elastic member 162 are respectively connected to the first connecting rod 132 and the adjustment drive 161. The adjustment drive 161 can compress or stretch the first adjustment elastic member 162 to adjust the preset force. In other words, the adjustment drive 161 can apply a preset force to the first connecting rod 132 through the first adjustment elastic member 162, so that the first connecting rod has a tendency to rotate relative to the base plate 12, and the preset force is applied to the first connecting rod 132 through the elastic first adjustment elastic member 162, or the adjustment drive 161 is flexibly connected to the first connecting rod 132 through the first adjustment elastic member 162, so that the AGV chassis 10 can walk more smoothly on uneven ground.

[0048] Furthermore, the first adjusting elastic member 162 is connected to one end of the first connecting rod 132 away from the first driving wheel 131, and the first universal wheel 133 is located between the first adjusting elastic member 162 and the first driving wheel 131, so as to increase the length of the force arm for the adjusting driving member 161 to drive the first connecting rod 132 to rotate, thereby improving the adjustment efficiency of the adjusting mechanism 16.

[0049] It should be noted that, in the present embodiment, the adjusting drive member 161 is a spiral transmission mechanism consisting of a screw rod and a nut. In other embodiments, it can also be a gear rack mechanism, a pneumatic telescopic mechanism, an oil-driven telescopic mechanism, a belt transmission mechanism or a chain transmission mechanism, etc. In addition, in the present embodiment, the first adjusting elastic member 162 includes a coil spring 1621 and a guide rod 1622. The guide rod 1622 is fixedly connected to the base plate 12, and the guide rod 1622 is movably inserted into the strip-shaped guide hole 1323 on the first connecting rod 132. The coil spring 1621 is sleeved on the guide rod 1622, and its upper and lower ends are respectively connected to or abutted against the first connecting rod 132 and the adjusting drive member 161. When the adjusting drive member 161 drives the bottom end of the coil spring 1621 to rise, the top of the coil spring 1621 pushes up the first connecting rod 132, and the guide rod 1622 moves relative to the first connecting rod 132 in the guide hole 1323. In other embodiments, the first adjusting elastic member 162 may also be other elastic components such as rubber.

[0050] Furthermore, the adjustment mechanism 16 may also include a guide column 166 and a guide sliding member 167, wherein the guide column 166 is fixedly connected to the base plate 12, the guide sliding member 167 is slidably connected to the guide column 166, and is connected to the end of the first adjustment elastic member 162 away from the first connecting rod 132, the adjustment driving member 161 is connected to the guide sliding member 167, so as to drive the first connecting rod 132 through the guide sliding member 167, the adjustment driving member 161 drives the guide sliding member 167 to move along the guide column 166, and then the guide sliding member 167 drives the first adjustment elastic member 162 to move to apply a preset force to the first connecting rod 132, and by setting the guide column 166 and the guide sliding member 167, the adjustment stability of the adjustment mechanism 16 is improved.

[0051] It should be noted that the adjustment mechanism 16 also includes a connecting plate 165, through which the guide column 166 is fixedly connected to the base plate 12, wherein the connecting plate 165 is fixedly connected to the base plate 12. In addition, the adjustment mechanism 16 may also include a position sensor 168, which can be electrically connected to the main controller 30. The position sensor 168 is mounted on the base plate 12 and is used to detect the position of the movable end of the adjustment drive member 161 to feedback position information to the main controller 30, thereby facilitating the acquisition of the position of the movable end of the detection adjustment drive member 161 when the AGV chassis 10 is unloaded, and facilitating the control of the movement of the adjustment drive member 161.

[0052] See also Figure 3 、 Figure 4 and Figure 5 , Figure 4 This is a schematic structural diagram of the AGV chassis 10 provided by an embodiment of the present invention from a top view. Figure 5This is a structural schematic diagram of the AGV chassis 10 provided by an embodiment of the present invention from another three-dimensional perspective.

[0053] The AGV chassis 10 may also include a second walking mechanism 15, which includes a second driving wheel 151, a second connecting rod 152 and a second universal wheel 153. The second driving wheel 151 is installed at one end of the second connecting rod 152, and the second universal wheel 153 is installed at the other end of the second connecting rod 152. The middle part of the second connecting rod 152 is rotatably connected to the base plate 12 so that the second driving wheel 151 and the second universal wheel 153 can be raised and lowered relative to the base plate 12. The second driving wheel 151 and the second universal wheel 153 are used to jointly support the base plate 12, and the second connecting rod 152 and the first connecting rod 132 are symmetrically arranged on opposite sides of the base plate 12, so as to jointly support the base plate 12 through the first driving wheel 131, the first universal wheel 133, the second driving wheel 151 and the second universal wheel 153, thereby improving the stability of the AGV chassis 10.

[0054] In addition, the adjustment mechanism 16 may also include a second adjustment elastic member 163, the two ends of which are respectively connected to the second connecting rod 152 and the adjustment drive member 161. The adjustment drive member 161 can compress or stretch the second adjustment elastic member 163 to apply a preset force to the second connecting rod 152, so that the adjustment drive member 161 can simultaneously adjust the positive pressure of the first drive wheel 131 and the second drive wheel 151 on the ground, thereby improving the balance of adjustment of the adjustment mechanism 16.

[0055] Please continue reading Figure 3 The adjustment mechanism 16 may also include a linkage member 164, the adjustment driving member 161 is connected to the middle part of the linkage member 164, and the two ends of the linkage member 164 are respectively connected to the first adjustment elastic member 162 and the second adjustment elastic member 163. The adjustment driving member 161 can simultaneously drive the first adjustment elastic member 162 and the second adjustment elastic member 163 to move relative to the base plate 12 through the linkage member 164.

[0056] It should be noted that, in this embodiment, the guide column 166 and the guide sliding member 167 are two sets, and the linkage member 164 is respectively connected to two symmetrically arranged guide sliding members 167, so that the linkage member 164 can slide along the guide column 166 under the drive of the adjustment drive member 161.

[0057] See also Figure 4 and Figure 5, the AGV chassis 10 may further include a follow-up mechanism 17. The follow-up mechanism 17 includes a third connecting rod 171, a third universal wheel 172 and a fourth universal wheel 173. The third universal wheel 172 and the fourth universal wheel 173 are respectively connected to both ends of the third connecting rod 171. The third universal wheel 172 and the fourth universal wheel 173 are also used to support the bottom plate 12. The middle of the third connecting rod 171 is rotatably connected to the bottom plate 12, so that the third universal wheel 172 and the fourth universal wheel 173 can be lifted relative to the bottom plate 12. In other words, the third connecting rod 171 plays a lever role. When any one of the third universal wheel 172 and the fourth universal wheel 173 located at both ends of the third connecting rod 171 descends, the other one will rise relative to the bottom plate 12, enabling the AGV chassis 10 to walk more smoothly on the undulating ground.

[0058] Moreover, the first connecting rod 132, the third connecting rod 171 and the second connecting rod together form a U shape. In other words, the first connecting rod 132 and the second connecting rod 152 are symmetrically arranged on both sides of the bottom plate 12. Both ends of the third connecting rod 171 are arranged close to one end of the first connecting rod 132 and the second connecting rod 152 respectively to jointly form a U shape. Among them, the third connecting rod 171 is not connected to the adjusting mechanism 16 to improve the anti-overturning ability of the AGV chassis 10.

[0059] Please continue to refer to Figure 2 , the AGV chassis 10 may further include a detection mechanism 18 and a carrier plate 19. The detection mechanism 18 includes a weighing sensor 181 electrically connected to the adjusting mechanism 16. It can be understood that the adjusting mechanism 16 and the weighing sensor 181 can also be electrically connected through the main controller 30.

[0060] The carrier plate 19 is connected to the bottom plate 12 and is used to carry goods. The weighing sensor 181 is arranged between the carrier plate 19 and the bottom plate 12 and is used to detect the load on the carrier plate 19. The adjusting mechanism 16 can adjust the magnitude of the preset force according to the load, so that the AGV chassis 10 can adjust the driving efficiency according to the load. For example, when the load increases, by controlling the adjusting driving member 161, the first driving wheel 131 and the second driving wheel 151 on the first connecting rod can be made to have a tendency to turn towards the ground, so that the first driving wheel 131 can provide a greater driving force for the AGV chassis 10, reduce the movement resistance when the first universal wheel 133 rolls on the ground, reduce the movement resistance of the AGV cart 100, and further increase the ratio of the driving force of the first driving wheel 131 to the movement resistance of the AGV cart 100, improve the driving efficiency of the AGV cart 100, and enable the AGV cart 100 to have a high driving efficiency even when carrying a large load.

[0061] Furthermore, the detection mechanism 18 may also include a plurality of support columns 182, a plurality of weighing sensors 181, and a plurality of support columns 182 are distributed and connected to the base plate 12. The supporting plate 19 is respectively connected to one end of the plurality of support columns 182 away from the base plate 12. The plurality of weighing sensors 181 are arranged one by one between the plurality of support columns 182 and the supporting plate 19. The supporting plate 19 is supported by the support columns 182 to provide a larger movement space for the first connecting rod 132, the second connecting rod 152 and the third connecting rod 171.

[0062] It should be noted that, in this embodiment, the number of support columns 182 and weighing sensors 181 is four, and the four support columns 182 are respectively arranged near the four corners of the supporting plate 19, and the two support members on one side are respectively arranged near the first universal wheel 133 and the second universal wheel 153. In this way, the main control can control the preset force applied to the first connecting rod 132 and the second connecting rod 152 by the adjustment mechanism 16 according to the weight detected by the four weighing sensors 181 to adjust the load distribution on the first driving wheel 131 and the first universal wheel 133, as well as the second driving wheel 151 and the second universal wheel 153, so as to improve the stability of the AGV chassis 10.

[0063] The working principle of the AGV chassis 10 provided in the embodiment of the present invention is:

[0064] The first walking mechanism 13 includes a first driving wheel 131, a first connecting rod 132 and a first universal wheel 133. The first driving wheel 131 and the first universal wheel 133 are respectively connected to the two ends of the first connecting rod 132. The middle part of the first connecting rod 132 is rotatably connected to the base plate 12 so that the first driving wheel 131 and the first universal wheel 133 can be raised and lowered relative to the base plate 12. In other words, the first connecting rod 132 acts as a lever. When any one of the first driving wheel 131 and the first universal wheel 133 provided at both ends of the first connecting rod 132 is lowered, the other is raised relative to the base plate 12. When the AGV chassis 10 passes over an undulating ground, the first driving wheel 131 and the first universal wheel 133 can rise and fall with the ground, so that the AGV chassis 10 can walk more smoothly on the undulating ground. The adjustment mechanism 16 is mounted on the base plate 12 and connected to the first connecting rod 132. The adjustment mechanism 16 can apply a predetermined force to the first connecting rod 132, causing the first connecting rod 132 to have a tendency to rotate relative to the base plate 12. In this way, the adjustment mechanism 16 can rotate the first connecting rod, causing the first drive wheel 131 on the first connecting rod to have a tendency to turn toward the ground, thereby increasing the pressure of the first drive wheel 131 on the ground, so that the first drive wheel 131 can provide greater driving force for the AGV chassis 10. At the same time, the adjustment mechanism 16 can cause the first universal wheel 133 on the first connecting rod to have a tendency to turn away from the ground, thereby reducing the pressure of the first universal wheel 133 on the ground, thereby reducing the movement resistance of the first universal wheel 133 when rolling on the ground, thereby reducing the movement resistance of the AGV 100, and further increasing the ratio of the driving force of the first drive wheel 131 to the movement resistance of the AGV 100, thereby improving the driving efficiency of the AGV 100. Conversely, the adjustment mechanism 16 can also cause the first drive wheel 131 on the first connecting rod to have a tendency to rotate away from the ground, thereby reducing the pressure of the first drive wheel 131 on the ground, thereby reducing the maximum driving force that the first drive wheel 131 can provide to the AGV chassis 10. At the same time, the adjustment mechanism 16 can cause the first universal wheel 133 on the first connecting rod to have a tendency to rotate toward the ground, thereby increasing the pressure of the first universal wheel 133 on the ground, thereby increasing the support force and movement resistance of the first universal wheel 133 when rolling on the ground, thereby increasing the movement resistance of the AGV trolley 100, and further increasing the ratio of the driving force of the first drive wheel 131 to the movement resistance of the AGV trolley 100, thereby reducing the driving efficiency of the AGV trolley 100. At the same time, by increasing the support function of the first universal wheel 133, the safety of the AGV trolley 100 is increased. Thus, the purpose of adjusting the driving efficiency of the AGV trolley 100 is achieved.

[0065] In summary:

[0066] An embodiment of the present invention provides an AGV chassis 10 , which has the characteristic of being able to adjust the driving efficiency by adjusting the ratio of driving force and motion resistance.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the features in the above embodiments can be combined with each other without conflict, and the present invention can also have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention. In addition, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. An AGV chassis, characterized in that: It includes a base plate, a first walking mechanism and an adjusting mechanism; The first walking mechanism includes a first driving wheel, a first connecting rod and a first universal wheel, wherein the first driving wheel and the first universal wheel are respectively connected to both ends of the first connecting rod, and the middle portion of the first connecting rod is rotatably connected to the base plate, so that the first driving wheel and the first universal wheel can be raised and lowered relative to the base plate; The adjustment mechanism is mounted on the base plate and connected to the first connecting rod, and is capable of applying a preset force to the first connecting rod so that the first connecting rod has a tendency to rotate relative to the base plate; The adjustment mechanism includes an adjustment drive and a first adjustment elastic member; the adjustment drive is mounted on the base plate, and both ends of the first adjustment elastic member are connected to the first connecting rod and the adjustment drive, respectively. The adjustment drive can compress or stretch the first adjustment elastic member to adjust the preset force; The AGV chassis also includes a detection mechanism and a load-bearing plate. The detection mechanism includes a weighing sensor electrically connected to the adjustment mechanism. The load-bearing plate is connected to the base plate and is used to carry goods. The weighing sensor is arranged between the load-bearing plate and the base plate and is used to detect the load on the load-bearing plate. The adjustment mechanism can adjust the magnitude of the preset force according to the load.

2. The AGV chassis according to claim 1, characterized in that: The first adjusting elastic member is connected to an end of the first connecting rod away from the first driving wheel, and the first universal wheel is located between the first adjusting elastic member and the first driving wheel.

3. The AGV chassis according to claim 1, characterized in that: The adjustment mechanism further includes a guide column and a guide sliding member; The guide column is fixedly connected to the base plate, the guide sliding member is slidably connected to the guide column and is connected to the end of the first adjusting elastic member away from the first connecting rod, and the adjusting drive member is connected to the guide sliding member to connect to the first connecting rod through the guide sliding member.

4. The AGV chassis according to claim 1, characterized in that: The AGV chassis also includes a second walking mechanism, which includes a second driving wheel, a second connecting rod and a second universal wheel, the second driving wheel is mounted on one end of the second connecting rod, the second universal wheel is mounted on the other end of the second connecting rod, and the middle portion of the second connecting rod is rotatably connected to the base plate so that the second driving wheel and the second universal wheel can be raised and lowered relative to the base plate, the second driving wheel and the second universal wheel are used to jointly support the base plate, and the second connecting rod and the first connecting rod are symmetrically arranged on opposite sides of the base plate; The adjustment mechanism also includes a second adjustment elastic member, the two ends of which are respectively connected to the second connecting rod and the adjustment drive member, and the adjustment drive member can compress or stretch the second adjustment elastic member to apply the preset force to the second connecting rod.

5. The AGV chassis according to claim 4, characterized in that: The adjustment mechanism further includes a linkage member; The adjusting drive member is connected to the middle part of the linkage member, and the two ends of the linkage member are respectively connected to the first adjusting elastic member and the second adjusting elastic member. The adjusting drive member can simultaneously drive the first adjusting elastic member and the second adjusting elastic member to move relative to the base plate through the linkage member.

6. The AGV chassis according to claim 4, characterized in that: The AGV chassis further includes a follower mechanism, which includes a third connecting rod, a third universal wheel, and a fourth universal wheel. The third universal wheel and the fourth universal wheel are respectively connected to both ends of the third connecting rod, and the middle portion of the third connecting rod is rotatably connected to the base plate, so that the third universal wheel and the fourth universal wheel can be raised and lowered relative to the base plate. The first connecting rod, the third connecting rod and the second connecting rod together form a U shape.

7. The AGV chassis according to claim 1, characterized in that: The detection mechanism further includes a plurality of support columns, and the number of the weighing sensors is multiple; The plurality of support columns are distributed and connected to the base plate, the bearing plates are respectively connected to one end of the plurality of support columns away from the base plate, and the plurality of weighing sensors are arranged one by one between the plurality of support columns and the bearing plates.

8. An AGV car, characterized in that: Comprising the AGV chassis according to any one of claims 1 to 7.

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