Automated Guided Vehicle Chassis and Automated Guided Vehicle

Abstract

The present invention relates to an automatic guided vehicle chassis and an automatic guided vehicle. The automatic guided vehicle chassis includes: a first mounting plate (100); a first wheel set mounted on the first mounting plate (100); a second mounting plate (200) rotatably connected to the first mounting plate (100); a second wheel set mounted on the second mounting plate (200); a support frame (701); a first connecting rod (702) rotatably connected to the support frame (701) and the first mounting plate (100) respectively; and a second connecting rod (703) having one end fixedly connected to the support frame (701) and the other end rotatably connected to the second mounting plate (200). The automatic guided vehicle includes the above-mentioned automatic guided vehicle chassis. By the relative rotation of the first mounting plate and the second mounting plate, when the road surface is uneven, both the first wheel set and the second wheel set can land on the ground, ensuring the stability of the vehicle body mounted on the chassis and avoiding the situation of the vehicle body nodding or raising its head.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to an automated guided vehicle chassis and an automated guided vehicle. Background Art

[0002] With the development of technology, automated guided vehicles (AGVs) are not only applied to industrial production lines, but also widely introduced in many logistics industries such as goods-to-person systems and in-line handling for warehousing automation. Different from industrial production lines, the demand for AGVs in warehousing logistics is large, the load of AGVs tends to be 100 kg - 1000 kg, and the whole AGV vehicle is required to be small in size, light in self-weight, fast in speed and low in cost.

[0003] There are mainly two forms of the chassis structure in the prior art:

[0004] (1) The driving wheels can float up and down, and the auxiliary wheels are fixed, enabling the vehicle to adapt to the ground.

[0005] For the wheel system of a fixed-type AGV, its normal pressure is determined. According to the relationship between the driving force F and the normal pressure μFn, the magnitude of the driving force not only depends on the power of the driving motor. At the same motor power, the magnitude of the normal pressure is a key factor for acceleration and efficiency. This form of chassis structure can only be overcome by increasing the vehicle's self-weight or increasing the friction coefficient μ. However, increasing the vehicle's self-weight will naturally increase power consumption, and increasing the friction coefficient μ will also increase the cost of the logistics site significantly.

[0006] (2) The driving wheels are fixed, and the auxiliary wheels can adapt to the road surface.

[0007] When the driving wheels are fixed and the auxiliary wheels float, as the vehicle load increases, the normal pressure will increase. However, when accelerating or decelerating, the vehicle will nod or tilt, and the stability of the load platform of the whole vehicle is poor, especially when handling liquid-type goods, there are greater disadvantages.

[0008] It should be noted that the information disclosed in the background art part of the present invention is only intended to enhance the overall understanding of the present invention, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0009] The object of the present invention is to provide an automated guided vehicle chassis and an automated guided vehicle to maintain the stability of the vehicle body as much as possible during vehicle driving.

[0010] To achieve the above object, the present invention provides an automated guided vehicle chassis, comprising:

[0011] The first mounting plate;

[0012] The first wheel set, mounted on the first mounting plate;

[0013] The second mounting plate, rotatably connected to the first mounting plate;

[0014] The second wheel set, mounted on the second mounting plate;

[0015] The support frame;

[0016] The first connecting rod, rotatably connected to the support frame and the first mounting plate respectively; and

[0017] The second connecting rod, one end fixedly connected to the support frame, and the other end rotatably connected to the second mounting plate.

[0018] In some embodiments, the second connecting rod includes a first rod section and a second rod section, the first rod section and the second rod section are connected and perpendicular to each other, the end of the first rod section away from the second rod section is rotatably connected to the first connecting rod, and the end of the second rod section away from the first rod section is rotatably connected to the second mounting plate.

[0019] In some embodiments, the number of the first connecting rod and the second connecting rod is two each, the support frame is rectangular, and the first connecting rod, the second connecting rod and the support frame are connected to form a cuboid-shaped support body.

[0020] In some embodiments, the automatic guided vehicle chassis further includes a connection assembly, which is connected between the first mounting plate and the second mounting plate for causing relative rotation between the first mounting plate and the second mounting plate.

[0021] In some embodiments, the connection assembly includes:

[0022] The first connection seat, mounted on the first mounting plate;

[0023] The second connection seat, mounted on the second mounting plate; and

[0024] The first connection shaft, used to connect the first connection seat and the second connection seat to cause relative rotation between the first connection seat and the second connection seat.

[0025] In some embodiments, the automatic guided vehicle chassis further includes a limit assembly, which is used to limit the relative rotation angle between the first mounting plate and the second mounting plate.

[0026] In some embodiments, the automated guided vehicle further includes a limiting component for limiting the relative rotation angle between the first mounting plate and the second mounting plate. The limiting component includes a limiting plate connected to the first connecting seat. One side of the limiting plate close to the first connecting seat includes a first mating surface and a second mating surface connected to the first mating surface. The first mating surface contacts the upper surface of the first connecting seat, and the second mating surface extends away from the first connecting seat and is inclined upward relative to the first mating surface.

[0027] In some embodiments, the limiting component further includes a limiting sleeve installed on the second connecting seat. The limiting plate is provided with a first hole, the diameter of the first hole is larger than the outer diameter of the limiting sleeve, the limiting sleeve passes through the first hole and moves relative to the limiting plate, and a limiting portion is provided at one end of the limiting sleeve away from the second connecting seat for limiting the limiting sleeve to disengage from the first hole.

[0028] In some embodiments, the limiting portion includes a step extending radially outward along the limiting sleeve, and the diameter of the limiting portion is larger than the diameter of the first hole.

[0029] In some embodiments, the limiting component further includes a spacer sleeve disposed between the limiting plate and the limiting portion.

[0030] In some embodiments, the first wheel set includes a first universal wheel assembly and a drive wheel assembly, and the second wheel set includes a second universal wheel assembly.

[0031] In some embodiments, the first universal wheel assembly includes:

[0032] A first mounting bracket rotatably mounted on the first mounting plate;

[0033] A first universal wheel mounted at the first end of the first mounting bracket; and

[0034] A second universal wheel mounted at the second end of the first mounting bracket;

[0035] And / or,

[0036] The second universal wheel assembly includes:

[0037] A second mounting bracket rotatably mounted on the second mounting plate;

[0038] A third universal wheel mounted at the first end of the second mounting bracket; and

[0039] A fourth universal wheel mounted at the second end of the second mounting bracket.

[0040] In some embodiments, the line connecting the centers of rotation of the first universal wheel and the second universal wheel is parallel to the direction of the axis of rotation between the first mounting plate and the second mounting plate; and / or, the line connecting the centers of rotation of the third universal wheel and the fourth universal wheel is parallel to the direction of the axis of rotation between the first mounting plate and the second mounting plate.

[0041] In some embodiments, the automatic guided vehicle chassis includes two drive wheel assemblies, which are respectively installed on both sides of the first mounting plate. The drive wheel assembly includes:

[0042] A drive wheel frame installed on the first mounting plate;

[0043] A speed reducer installed on the drive wheel frame;

[0044] An electric motor connected to the speed reducer; and

[0045] A drive wheel drivingly connected to the output shaft of the speed reducer.

[0046] To achieve the above object, the present invention also provides an automatic guided vehicle, including the above-mentioned automatic guided vehicle chassis.

[0047] Based on the above technical solution, in the embodiment of the present invention, the chassis includes a first mounting plate and a second mounting plate that are rotatably connected. When the road surface is uneven, through the relative rotation of the first mounting plate and the second mounting plate, the first wheel set and the second wheel set can both touch the ground, ensuring the smoothness of the vehicle body mounted on the chassis; moreover, the chassis further includes a support frame, a first connecting rod, and a second connecting rod. The first connecting rod is rotatably connected to the support frame and the first mounting plate, and the second connecting rod is fixedly connected to the support frame and rotatably connected to the second mounting plate. Therefore, when the first mounting plate and the second mounting plate rotate relative to each other, the first connecting rod and the second connecting rod will also rotate relative to the first mounting plate and the second mounting plate accordingly. The first connecting rod and the second connecting rod can also provide the possibility of evenly distributing the weight borne by the support frame on the first mounting plate and the second mounting plate, avoiding the situation of the vehicle body nodding or raising its head, and further ensuring the stability of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0049] Figure 1 It is a schematic structural diagram of an embodiment of the automatic guided vehicle chassis of the present invention.

[0050] Figure 2This is a schematic structural diagram of an embodiment of the chassis of the automatic guided vehicle of the present invention when encountering a raised ground.

[0051] Figure 3 This is a schematic structural diagram of an embodiment of the chassis of the automatic guided vehicle of the present invention when encountering a sunken ground.

[0052] Figure 4 This is a schematic structural diagram of a first mounting plate and a second mounting plate in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0053] Figure 5 This is a top view of a driving wheel assembly in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0054] Figure 6 It is Figure 5 a schematic diagram of the A-A cross-section in

[0055] Figure 7 This is a front view of a partial structure of a driving wheel assembly in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0056] Figure 8 It is Figure 7 a schematic diagram of the B-B cross-section in

[0057] Figure 9 This is a front view of a first universal wheel assembly in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0058] Figure 10 This is a left view of a first universal wheel assembly in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0059] Figure 11 This is a schematic structural diagram of a connecting component in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0060] Figure 12 This is a top view of a connecting component in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0061] Figure 13 It is Figure 12 a schematic diagram of the C-C cross-section in

[0062] Figure 14 This is a schematic structural diagram of a support frame in an embodiment of the chassis of the automatic guided vehicle of the present invention.

[0063] Figure 15 It is Figure 14 the front view of

[0064] Figure 16 It is Figure 15 a schematic diagram of the D-D cross-section in

[0065] In the figure:

[0066] 100, the first mounting plate; 200, the second mounting plate; 300, the driving wheel assembly; 400, the driving wheel assembly; 500, the first universal wheel assembly; 600, the connecting assembly; 700, the support body; 800, the second universal wheel assembly;

[0067] 101, the first mounting hole; 102, the second mounting hole; 103, the third mounting hole; 104, the fourth mounting hole;

[0068] 201, the fifth mounting hole; 202, the sixth mounting hole; 203, the seventh mounting hole;

[0069] 301, the driving wheel frame; 302, the speed reducer; 303, the first screw; 304, the motor; 305, the driving wheel; 306, the dust cover; 307, the second screw; 308, the first bolt; 309, the second bolt;

[0070] 501, the first mounting frame; 502, the first universal wheel; 503, the second universal wheel; 504, the first hinge shaft; 505, the third connecting seat; 506, the third bolt; 507, the first shaft clamp;

[0071] 601, the first connecting seat; 602, the second hinge shaft; 603, the second shaft clamp; 604, the second connecting seat; 605, the limiting plate; 606, the fourth bolt; 607, the limiting sleeve; 608, the fifth bolt; 609, the spacer sleeve; 610, the gasket;

[0072] 701, the support frame; 702, the first connecting rod; 703, the second connecting rod; 704, the first mounting seat; 705, the second mounting seat; 706, the third hinge shaft; 707, the third shaft clamp; 708, the fourth hinge shaft; 709, the fifth hinge shaft; 710, the third mounting seat; 711, the fourth mounting seat; 712, the rib plate; 713, the backing plate. Detailed implementation manners

[0073] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0074] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "lateral", "longitudinal", "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the protection scope of the present invention.

[0075] Referring Figure 1 and Figure 14 As shown, in an embodiment of the chassis of the automatic guided vehicle provided by the present invention, the chassis includes a first mounting plate 100, a first wheel set, a second mounting plate 200, a second wheel set, a support frame 701, a first connecting rod 702 and a second connecting rod 703. Among them, the second mounting plate 200 is rotatably connected to the first mounting plate 100. The first wheel set is mounted on the first mounting plate 100, the second wheel set is mounted on the second mounting plate 200, the first connecting rod 702 is rotatably connected to the support frame 701 and the first mounting plate 100 respectively, one end of the second connecting rod 703 is fixedly connected to the support frame 701, and the other end of the second connecting rod 703 is rotatably connected to the second mounting plate 200.

[0076] In the above embodiment, the chassis includes a first mounting plate 100 and a second mounting plate 200 that are rotatably connected. When the road surface is uneven, through the relative rotation of the first mounting plate 100 and the second mounting plate 200, both the first wheel set and the second wheel set can be made to touch the ground, ensuring the smoothness of the vehicle body mounted on the chassis. Moreover, the chassis further includes a support frame 701, a first connecting rod 702 and a second connecting rod 703. The first connecting rod 702 is rotatably connected to the support frame 701 and the first mounting plate 100, and the second connecting rod 703 is fixedly connected to the support frame 701 and rotatably connected to the second mounting plate 200. Therefore, when the first mounting plate 100 and the second mounting plate 200 rotate relative to each other, the first connecting rod 702 and the second connecting rod 703 will also rotate relative to the first mounting plate 100 and the second mounting plate 200 accordingly. The first connecting rod 702 and the second connecting rod 703 can also provide the possibility of evenly distributing the weight borne by the support frame 701 on the first mounting plate 100 and the second mounting plate 200, avoiding the situation of the vehicle body nodding or raising its head, and further ensuring the stability of the vehicle body.

[0077] Based on the above-mentioned chassis of the automatic guided vehicle, the present invention also proposes an automatic guided vehicle, which includes the above-mentioned chassis of the automatic guided vehicle. The positive technical effects of the embodiment of the chassis of the automatic guided vehicle are equally applicable to the automatic guided vehicle and will not be elaborated here.

[0078] The following will describe the specific structure of an embodiment of the automatic guided vehicle chassis provided by the present invention in conjunction with the attached drawings. Figures 1 to 16

[0079] Figure 1 As Figure 1 shown, the automatic guided vehicle chassis includes a first mounting plate 100, a second mounting plate 200, drive wheel assemblies 300 and 400, a first universal wheel assembly 500, a connecting assembly 600, a support body 700, and a second universal wheel assembly 800.

[0080] The two drive wheel assemblies 300, 400 and the first universal wheel assembly 500 are mounted on the first mounting plate 100, and can form a triangular support, which can contact the ground simultaneously, with good stability. The second universal wheel assembly 800 is mounted on the second mounting plate 200. The first mounting plate 100 and the second mounting plate 200 are rotatably connected by the connecting assembly 600. The support body 700 is mounted above the first mounting plate 100 and the second mounting plate 200, and spans across the first mounting plate 100 and the second mounting plate 200.

[0081] In this embodiment, the first mounting plate 100 is arranged at the front side of the automatic guided vehicle, and the second mounting plate 200 is arranged at the rear side of the automatic guided vehicle. In other embodiments, the first mounting plate 100 and the second mounting plate 200 can also be respectively arranged at the left side and the right side of the automatic guided vehicle, or arranged along an inclined direction.

[0082] As Figure 2 shown, when encountering a raised road surface H, the second mounting plate 200 rotates counterclockwise relative to the first mounting plate 100 by an angle of θ, ensuring that both the first wheel set and the second wheel set can touch the ground. The support body 700 undergoes slight deformation, ensuring the stability of the vehicle body and other components connected to the top of the support body 700, and evenly distributing the load on the support body 700.

[0083] As Figure 3 shown, when encountering a sunken road surface L, the second mounting plate 200 rotates clockwise relative to the first mounting plate 100 by an angle of θ, ensuring that both the first wheel set and the second wheel set can touch the ground. The support body 700 undergoes slight deformation, ensuring the stability of the vehicle body and other components connected to the top of the support body 700, and evenly distributing the load on the support body 700.

[0084] As Figure 4As shown in the figure, there are five groups of mounting holes on the first mounting plate 100 and three groups of mounting holes on the second mounting plate 200. The first mounting hole 101 and the fifth mounting hole 201 are both used for mounting the connecting component 600. The second mounting hole 102 is used for mounting the drive wheel assemblies 300 and 400. The third mounting hole 103 and the seventh mounting hole 203 are used for mounting the support body 700. The fourth mounting hole 104 is used for mounting the first universal wheel assembly 500. The sixth mounting hole 202 is used for mounting the second universal wheel assembly 800.

[0085] There is a recess on the first mounting plate 100 and a protrusion on the second mounting plate 200. The protrusion is inserted into the recess to facilitate the installation and positioning of the first mounting plate 100 and the second mounting plate 200.

[0086] On the left and right sides of the first mounting plate 100, there are concave holes for the drive wheels in the drive wheel assemblies 300 and 400 to expose from the bottom surface of the first mounting plate 100. On the front side, there is also a round hole for the universal wheel in the first universal wheel assembly 500 to expose from the bottom surface of the first mounting plate 100. There is also a square hole in the middle of the first mounting plate 100.

[0087] On the rear side of the second mounting plate 200, there is a round hole for the universal wheel in the second universal wheel assembly 800 to expose from the bottom surface of the second mounting plate 200.

[0088] By providing the above-mentioned concave holes and round holes, the main body parts of the drive wheel assemblies 300 and 400, the first universal wheel assembly 500 and the second universal wheel assembly 800 can be installed above the first mounting plate 100 and the second mounting plate 200, while the drive wheels and universal wheels expose from the bottom surface. This setting can effectively protect the main body parts and facilitate assembly.

[0089] As Figures 5 to 8 shown in the figure, it is a schematic structural diagram of the drive wheel assembly 300. The drive wheel assembly 400 can adopt the same structure as the drive wheel assembly 300 or a different structure.

[0090] The drive wheel assembly 300 includes a drive wheel frame 301, a speed reducer 302, a motor 304 and a drive wheel 305. The drive wheel frame 301 is fixedly installed on the first mounting plate 100 by screws. The speed reducer 302 is installed on the drive wheel frame 301. The motor 304 is connected to the speed reducer 302. The drive wheel 305 is drivingly connected to the output shaft of the speed reducer 302.

[0091] The speed reducer 302 can adopt a hypoid flange output speed reducer. The speed reducer 302 is fixedly installed on the driving wheel frame 301 through the first screw 303. The motor 304 is fixedly connected to the speed reducer 302 through the second bolt 309. The driving wheel 305 can adopt a polyurethane rubber-coated wheel. The driving wheel 305 is fixedly connected to the output flange end of the speed reducer 302 through the first bolt 308. The dust cover 306 functions to seal the entire gear train. The dust cover 306 is connected to the driving wheel frame 301 through the second screw 307.

[0092] The power transmission mode is: the motor 304 drives the speed reducer 302 to rotate, and then drives the driving wheel 305 to rotate.

[0093] As Figure 9 and 10 shown, it is a schematic structural diagram of the first universal wheel assembly 500. The second universal wheel assembly 800 can adopt the same structure as the first universal wheel assembly 500 or a different structure.

[0094] The first universal wheel assembly 500 includes a first mounting bracket 501, a first universal wheel 502, and a second universal wheel 503. The first mounting bracket 501 is rotatably installed on the first mounting plate 100. The first universal wheel 502 is installed at the first end of the first mounting bracket 501. The second universal wheel 503 is installed at the second end of the first mounting bracket 501.

[0095] The second universal wheel assembly 800 includes a second mounting bracket, a third universal wheel, and a fourth universal wheel. The second mounting bracket is rotatably installed on the second mounting plate 200. The third universal wheel is installed at the first end of the second mounting bracket. The fourth universal wheel is installed at the second end of the second mounting bracket.

[0096] The first universal wheel assembly 500 and the second universal wheel assembly 800 adopt a double-wheel setting, which can increase the contact area with the ground and reduce the pressure on the ground.

[0097] The first universal wheel 502 and the second universal wheel 503 are respectively connected to the first mounting bracket 501 through the third bolt 506. The first mounting bracket 501 is rotatably connected to the third connecting seat 505 through the first hinge shaft 504. The first mounting bracket 501 can rotate around the first hinge shaft 504, so that at least one of the first universal wheel 502 and the second universal wheel 503 can contact the ground when the road surface is uneven. The first shaft clamp 507 is used to prevent the first hinge shaft 504 from falling off. The first hinge shaft 504 is a stepped shaft. The bottom surface of the third connecting seat 505 is fixedly connected to the first mounting plate 100 through bolts.

[0098] Optionally, the line connecting the rotation centers of the first universal wheel 502 and the second universal wheel 503 is parallel to the direction of the rotation axis between the first mounting plate 100 and the second mounting plate 200; and / or, the line connecting the rotation centers of the third universal wheel and the fourth universal wheel is parallel to the direction of the rotation axis between the first mounting plate 100 and the second mounting plate 200.

[0099] In this embodiment, the first mounting plate 100 is disposed on the front side of the automatic guided vehicle, the second mounting plate 200 is disposed on the rear side of the automatic guided vehicle, the rotation axis between the first mounting plate 100 and the second mounting plate 200 is horizontal and perpendicular to the traveling direction of the automatic guided vehicle. The first universal wheel 502 and the second universal wheel 503 are arranged left and right, the first mounting bracket 501 is parallel to the rotation axis, and the line connecting the rotation center of the first universal wheel 502 and the rotation center of the second universal wheel 503 is also parallel to the rotation axis, both perpendicular to the traveling direction of the automatic guided vehicle. The advantage of such a setting is that the vehicle body can resist uneven roads in the front and rear through the first mounting plate 100 and the second mounting plate 200, and the vehicle body can resist uneven roads on the left and right through the first universal wheel 502 and the second universal wheel 503, comprehensively ensuring the stability of the vehicle body.

[0100] In other embodiments, it can also be set that the first universal wheel 502 and the second universal wheel 503 are arranged front and rear, and the first mounting plate 100 and the second mounting plate 200 are arranged left and right.

[0101] In other embodiments, the first universal wheel assembly and the second universal wheel assembly may include one universal wheel.

[0102] As Figures 11 to 13 shown, it is a schematic structural diagram of the connection component 600.

[0103] The connection component 600 is connected between the first mounting plate 100 and the second mounting plate 200 and is used to make the first mounting plate 100 and the second mounting plate 200 rotate relative to each other.

[0104] The connection component 600 includes a first connection seat 601, a second connection seat 604, and a first connection shaft. The first connection seat 601 is mounted on the first mounting plate 100, the second connection seat 604 is mounted on the second mounting plate 200, and the first connection shaft is used to connect the first connection seat 601 and the second connection seat 604 to make the first connection seat 601 and the second connection seat 604 rotate relative to each other.

[0105] The connecting component 600 further includes a limiting component, which is used to limit the relative rotation angle between the first mounting plate 100 and the second mounting plate 200. By setting the limiting component, the maximum relative rotation angle between the first mounting plate 100 and the second mounting plate 200 can be limited, avoiding excessive shaking of the vehicle body.

[0106] The limiting component includes a limiting plate 605, which is connected to the first connecting seat 601. One surface of the limiting plate 605 close to the first connecting seat 601 includes a first mating surface and a second mating surface connected to the first mating surface. The first mating surface is in contact with the upper surface of the first connecting seat 601, and the second mating surface extends away from the first connecting seat 601 and is inclined upward relative to the first mating surface. The included angle between the first mating surface and the second mating surface is less than 180°. The upper surfaces of the first connecting seat 601 and the second connecting seat 604 are parallel to each other.

[0107] The advantage of such a setting is that there can be a certain distance between the second mating surface and the plane where the upper surface of the first connecting seat 601 is located, and this distance gradually increases along the direction close to the second connecting seat 604, so that the second mounting plate 200 connected to the second connecting seat 604 can rotate counterclockwise upward relative to the first mounting plate 100 and stop when the upper surface of the second connecting seat 604 contacts the second mating surface.

[0108] The limiting component further includes a limiting sleeve 607, which is installed on the second connecting seat 604. There is a first hole on the limiting plate 605, and the diameter of the first hole is larger than the outer diameter of the limiting sleeve 607. The limiting sleeve 607 passes through the first hole and moves relative to the limiting plate 605. A limiting portion is provided at one end of the limiting sleeve 607 away from the second connecting seat 604, and the limiting portion is used to limit the limiting sleeve 607 from disengaging from the first hole. There is an activity space between the limiting portion and the upper surface of the limiting plate 605, so that the limiting sleeve 607 and the second connecting seat 604 can rotate clockwise downward and stop when the limiting portion contacts the upper surface of the limiting plate 605.

[0109] The limiting portion includes a step extending radially outward along the limiting sleeve 607, and the diameter of the limiting portion is larger than the diameter of the first hole.

[0110] The connecting component 600 further includes a spacer sleeve 609, which is arranged between the limiting plate 605 and the limiting portion. The spacer sleeve 609 can be a rubber sleeve, so that the limiting portion can squeeze the rubber sleeve to move downward; or a certain height of gap can be preset between the spacer sleeve 609 and the limiting portion.

[0111] To facilitate the installation of the limit sleeve 607, a groove is provided on the second connecting seat 604. The bottom of the limit sleeve 607 is inserted into the groove. A through hole is provided at the center of the limit sleeve 607. The fifth bolt 608 passes through the limit sleeve 607 and is threadedly connected to the second connecting seat 604 to fix the limit sleeve 607 on the second connecting seat 604.

[0112] The first connecting seat 601 and the second connecting seat 604 are hingedly connected by the second hinge shaft 602. The second shaft clamp 603 is used to prevent the second hinge shaft 602 from falling off. The first connecting seat 601 is fixed to the first mounting plate 100 through the first mounting hole 101 and bolts. The second connecting seat 604 is fixed to the second mounting plate 200 through the fifth mounting hole 201 and bolts. The connecting component 600 includes two groups to achieve the hinge connection between the first mounting plate 100 and the second mounting plate 200.

[0113] The limit plate 605 is fixed to the upper end face of the first connecting seat 601 through two fourth bolts 606. When the second connecting seat 604 rotates around the second hinge shaft 602 to the lower bottom surface of the limit plate 605, it stops.

[0114] The limit sleeve 607 is a hollow stepped shaft, passing through the first hole on the limit plate 605 and inserted into the groove of the second connecting seat 604, and is fixedly connected to the second connecting seat 604 through the fifth bolt 608. A gasket 610 is provided between the fifth bolt 608 and the limit sleeve 607. In this way, it can be realized that when the second connecting seat 604 rotates around the second hinge shaft 602 to the stepped lower end face of the limit sleeve 607 against the upper end face of the limit plate 605, it stops.

[0115] As Figures 14 to 16 shown, it is a schematic structural diagram of the support body 700.

[0116] The support body 700 includes a support frame 701, two first connecting rods 702 and two second connecting rods 703. The support body 700 is in the shape of a cuboid. The support frame 701 is a rectangular planar frame. The top of the support frame 701 is connected to the vehicle body or other components for carrying loads.

[0117] When the ground is horizontal, the first connecting rod 702 is perpendicular to the plane where the support frame 701 is located and perpendicular to the first mounting plate 100. The plane where the support frame 701 is located is parallel to the first mounting plate 100 and the second mounting plate 200. The second connecting rod 703 is perpendicular to the second mounting plate 200 and also perpendicular to the plane where the support frame 701 is located.

[0118] A rib plate 712 is provided between the second connecting rod 703 and the support frame 701.

[0119] The support body 700 further includes two first mounting seats 704 and two second mounting seats 705. The two first mounting seats 704 are respectively mounted on the first mounting plate 100 through the third mounting holes 103, and the two second mounting seats 705 are respectively mounted on the second mounting plate 200 through the seventh mounting holes 203. The two first mounting seats 704 are rotatably connected to the first connecting rod 702 through the third hinge shaft 706, and the third shaft clamp 707 prevents the third hinge shaft 706 from falling off. The two second mounting seats 705 are rotatably connected to the fourth mounting seat 711 provided at the end of the second connecting rod 703 through the fifth hinge shaft 709. The first connecting rod 702 is also rotatably connected to the third mounting seat 710 provided on the support frame 701 through the fourth hinge shaft 708.

[0120] A backing plate 713 is provided at the top of the support frame 701 for connecting to the vehicle body or other components and bearing the load.

[0121] In this embodiment, the first mounting plate 100, the second mounting plate 200, the first connecting rod 702, and the connecting body of the support frame 701 and the second connecting rod 703 are hinged to form a four-bar linkage. When the ground is uneven, through the deformation of the four-bar linkage, it can be ensured that both the first wheel set and the second wheel set can be in contact with the ground, thereby ensuring the stability of the vehicle body.

[0122] Through the description of multiple embodiments of the automatic guided vehicle chassis and the automatic guided vehicle of the present invention, it can be seen that the embodiments of the automatic guided vehicle chassis and the automatic guided vehicle of the present invention have at least one or more of the following advantages:

[0123] 1. By rotatably connecting the first mounting plate and the second mounting plate, the positive pressure of the whole vehicle on the ground can increase with the increase of the cargo load, reducing the self-weight of the trolley. Mechanical shock absorption can be achieved, and the trolley chassis can adjust itself according to the uneven ground without adding additional shock absorption and positive pressure measures, saving costs;

[0124] 2. The first wheel set includes a first universal wheel assembly and two drive wheel assemblies, forming a triangular support structure, which can ensure that both the drive wheels and the universal wheels are in contact with the ground and each bear a certain load;

[0125] 3. The connection component includes a limit component, which can effectively limit the rotation angle between the first mounting plate and the second mounting plate and limit the position of the chassis;

[0126] 4. The first universal wheel assembly and the second universal wheel assembly adopt double-wheel hinges, effectively increasing the contact area with the ground and reducing the pressure on the ground. The rotatable connection between the first mounting bracket and the first mounting plate and the rotatable connection between the second mounting bracket and the second mounting plate can also ensure that at least one universal wheel touches the ground.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements on some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. An automatic guided vehicle chassis, characterized in that, Comprising: A first mounting plate (100); A first wheel set mounted on the first mounting plate (100); A second mounting plate (200) rotatably connected to the first mounting plate (100); A second wheel set mounted on the second mounting plate (200); A support frame (701); A first connecting rod (702) rotatably connected to the support frame (701) and the first mounting plate (100) respectively; And A second connecting rod (703) fixedly connected to one end of the support frame (701) and rotatably connected to the other end of the second mounting plate (200); The chassis of the automatic guided vehicle further includes a connecting component (600) connected between the first mounting plate (100) and the second mounting plate (200) for relatively rotating the first mounting plate (100) and the second mounting plate (200), and the connecting component (600) includes a first connecting seat (601) mounted on the first mounting plate (100), a second connecting seat (604) mounted on the second mounting plate (200), and a first connecting shaft for connecting the first connecting seat (601) and the second connecting seat (604); The chassis of the automatic guided vehicle further includes a limiting component for limiting the relative rotation angle between the first mounting plate (100) and the second mounting plate (200). The limiting component includes a limiting plate (605) connected to the first connecting seat (601). One surface of the limiting plate (605) close to the first connecting seat (601) includes a first mating surface and a second mating surface connected to the first mating surface. The first mating surface contacts the upper surface of the first connecting seat (601), and the second mating surface extends away from the first connecting seat (601) and is inclined upward relative to the first mating surface so that there is a certain distance between the second mating surface and the plane where the upper surface of the first connecting seat is located.

2. The automatic guided vehicle chassis according to claim 1, wherein The number of the first connecting rod (702) and the second connecting rod (703) is two. The support frame (701) is rectangular, and the first connecting rod (702), the second connecting rod (703) and the support frame (701) are connected to form a cuboid-shaped support body (700).

3. The automatic guided vehicle chassis according to claim 1, characterized in that, The limiting component further includes a limiting sleeve (607) mounted on the second connecting seat (604). A first hole is provided on the limiting plate (605). The diameter of the first hole is larger than the outer diameter of the limiting sleeve (607). The limiting sleeve (607) passes through the first hole and moves relative to the limiting plate (605). A limiting portion is provided at one end of the limiting sleeve (607) away from the second connecting seat (604) for limiting the limiting sleeve (607) from disengaging from the first hole.

4. The automatic guided vehicle chassis according to claim 3, characterized in that, The limiting part includes a step extending radially outward along the limiting sleeve (607), and the diameter of the limiting part is greater than the diameter of the first hole.

5. The automatic guided vehicle chassis according to claim 3, characterized in that, The limiting assembly further includes a spacer sleeve (609), and the spacer sleeve (609) is arranged between the limiting plate (605) and the limiting part.

6. The automatic guided vehicle chassis according to claim 1, characterized in that The first wheel set includes a first universal wheel assembly (500) and a drive wheel assembly (300; 400), and the second wheel set includes a second universal wheel assembly (800).

7. The automatic guided vehicle chassis according to claim 6, characterized in that, The first universal wheel assembly (500) includes: A first mounting bracket (501) rotatably mounted on the first mounting plate (100); A first universal wheel (502) mounted on the first end of the first mounting bracket (501); and A second universal wheel (503) mounted on the second end of the first mounting bracket (501); and / or, The second universal wheel assembly (800) includes: A second mounting bracket rotatably mounted on the second mounting plate (200); A third universal wheel mounted on the first end of the second mounting bracket; and A fourth universal wheel mounted on the second end of the second mounting bracket.

8. The automatic guided vehicle chassis according to claim 7, characterized in that, The connection line between the rotation centers of the first universal wheel (502) and the second universal wheel (503) is parallel to the direction of the rotation axis between the first mounting plate (100) and the second mounting plate (200); and / or, the connection line between the rotation centers of the third universal wheel and the fourth universal wheel is parallel to the direction of the rotation axis between the first mounting plate (100) and the second mounting plate (200).

9. The automatic guided vehicle chassis according to claim 6, characterized in that, There are two drive wheel assemblies (300; 400), and the two drive wheel assemblies (300; 400) are respectively mounted on both sides of the first mounting plate (100). The drive wheel assembly (300; 400) includes: A drive wheel bracket (301) mounted on the first mounting plate (100); A speed reducer (302) mounted on the drive wheel bracket (301); A motor (304) connected to the speed reducer (302); and A drive wheel (305) drivingly connected to the output shaft of the speed reducer (302).

10. An automatic guided vehicle, characterized in that, It includes an automatic guided vehicle chassis according to any one of claims 1 to 9.

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