Chassis for an automated guided vehicle and automated guided vehicle

Abstract

The present invention is applicable to the field of robot technology, and discloses a chassis for an automated guided vehicle and the automated guided vehicle. The chassis for the automated guided vehicle includes a bottom plate, a driving mechanism, a first suspension mechanism, driving wheels, and at least two driven wheel sets. The driving mechanism is mounted on the bottom plate and is drivingly connected to the driving wheels. The first suspension mechanism is mounted on the bottom plate and is connected between the two driven wheel sets. The first suspension mechanism includes a first connecting rod and a first rotational connection assembly. The first connecting rod has a first end, a second end, and a first connecting portion provided between the first end and the second end. The first end and the second end are respectively connected to a driven wheel set. The first connecting portion is rotationally connected to the bottom plate through the first rotational connection assembly. The chassis for the automated guided vehicle provided by the present invention can perform self-adjustment when encountering obstacles, keep the height of the bottom plate unchanged, and make the movement of the chassis smoother and more reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a chassis for an automatic guided vehicle and an automatic guided vehicle. Background Art

[0002] With the continuous development of society, robots are widely used in various fields such as civil, military, and industrial production. In particular, service robots, as a new direction in the field of robots, have received extensive attention. Among them, wheeled mobile robots are more suitable for the needs of service robots due to their advantages in speed and stability in indoor environments. However, due to unreasonable structural designs, some robots may experience unstable chassis states in some working environments with poor conditions, such as when there are slopes or small obstacles on the ground, and thus cannot provide a safe and stable traveling state. Summary of the Invention

[0003] The first object of the present invention is to provide a chassis for an automatic guided vehicle that has a smooth movement and a more compact structure.

[0004] To achieve the above object, the solution provided by the present invention is: A chassis for an automatic guided vehicle includes a bottom plate, a driving mechanism, a first suspension mechanism, driving wheels, and at least two driven wheel sets. The driving mechanism is installed on the bottom plate and is in transmission connection with the driving wheels. The first suspension mechanism is installed on the bottom plate and is connected between the two driven wheel sets.

[0005] The first suspension mechanism includes a first connecting rod and a first rotational connection assembly. The first connecting rod has a first end, a second end, and a first connection portion provided between the first end and the second end. The first end and the second end are respectively connected to one of the driven wheel sets. The first connection portion is rotationally connected to the bottom plate through the first rotational connection assembly.

[0006] Further, the first rotational connection assembly includes a first rotating shaft and a first mounting bracket installed on the bottom plate. The first rotating shaft is installed on the first mounting bracket, and the first connection portion is rotationally connected to the first mounting bracket through the first rotating shaft.

[0007] Further, the first mounting bracket includes a first mounting plate and a second mounting plate that are relatively arranged at intervals. Two ends of the first rotating shaft are respectively fixed to the first mounting plate and the second mounting plate. The first connection portion is connected to the first rotating shaft and is located between the first mounting plate and the second mounting plate, and the first connection portion is spaced from both the first mounting plate and the second mounting plate.

[0008] Further, the first mounting bracket further includes a first limiting portion, which extends above the first connecting portion and is spaced apart from the first connecting portion from an end of the first mounting plate and / or the second mounting plate away from the bottom plate, so as to limit the rising height of the first end portion and / or the second end portion.

[0009] Further, the first limiting portion extends above the first connecting portion from an end of the first mounting plate away from the bottom plate and is connected to the second mounting plate.

[0010] Further, the first suspension mechanism further includes at least one first rolling member, the first rolling member is rotatably connected to the first mounting bracket, and an outer side wall of the first rolling member abuts against the first connecting rod.

[0011] Further, the first suspension mechanism further includes four first rolling members, wherein two of the first rolling members are respectively mounted on side portions of the first mounting plate facing the two driven wheel sets, and the other two first rolling members are respectively mounted on side portions of the second mounting plate facing the two driven wheel sets.

[0012] Further, the first rolling member is a bearing or a roller.

[0013] Further, the chassis includes two driving wheels and four driven wheel sets, wherein two of the four driven wheel sets are first driven wheel sets, and the other two are second driven wheel sets;

[0014] The two driving wheels, the two first driven wheel sets and the two second driven wheel sets are respectively symmetrically arranged on two opposite sides of the bottom plate, and a first driven wheel set and a second driven wheel set on the same side of the bottom plate are arranged on two opposite sides of a driving wheel, and the first suspension mechanism is arranged between the two first driven wheel sets.

[0015] Further, the chassis further includes a second suspension mechanism mounted on the bottom plate, and a second suspension mechanism is provided between a driving wheel and a second driven wheel set on the same side of the bottom plate.

[0016] Further, the second suspension mechanism includes a second connecting rod, a second rotating connection assembly, and an elastic connection assembly. The second connecting rod has a third end, a fourth end, a second connection portion, and a third connection portion. Both the second connection portion and the third connection portion are disposed between the third end and the fourth end. The third end is connected to a driving mechanism that drives the driving wheel, and the fourth end is connected to the second driven wheel set. The second connection portion is rotatably connected to the bottom plate through the second rotating connection assembly, and the third connection portion is elastically and liftably connected to the bottom plate through the elastic connection assembly.

[0017] Further, the elastic connection assembly includes a connection block and an elastic member. The connection block is connected to the third connection portion, and one end of the elastic member is connected to the connection block and the other end is connected to the bottom plate.

[0018] Further, the elastic member is a helical spring, and the elastic connection assembly further includes a guiding and limiting rod that is disposed inside the elastic member for guiding and limiting the expansion and contraction of the elastic member.

[0019] Further, the second rotating connection assembly includes a second rotating shaft and a second mounting bracket mounted on the bottom plate. The second mounting bracket includes a third mounting plate and a fourth mounting plate that are oppositely disposed at intervals. Two ends of the second rotating shaft are respectively fixed on the third mounting plate and the fourth mounting plate. The second connection portion is connected to the second rotating shaft and is located between the third mounting plate and the fourth mounting plate, and the second connection portion is spaced from both the third mounting plate and the fourth mounting plate.

[0020] Further, the second mounting bracket further includes a second limiting portion. The second limiting portion extends above the second connection portion from an end of the third mounting plate and / or the fourth mounting plate that is away from the bottom plate and is spaced from the second connection portion to limit the rising height of the third end and / or the fourth end.

[0021] Further, the fourth mounting plate includes a fixing portion, a third limiting portion, and a fourth limiting portion. The fixing portion, the third limiting portion, and the fourth limiting portion are respectively disposed corresponding to the second connection portion, the third end, and the fourth end. The third limiting portion is disposed at an interval above the driving mechanism to limit the upward movement of the driving wheel, and the fourth limiting portion is disposed at an interval above the second driven wheel set to limit the upward movement of the second driven wheel set.

[0022] Further, the fourth mounting plate further includes a fifth limiting portion, which extends from the third limiting portion away from the fourth limiting portion above the first driven wheel set, and the fifth limiting portion is spaced above the first driven wheel set.

[0023] Further, the second suspension mechanism further includes at least one second rolling member, the second rolling member is rotatably connected to the second mounting bracket, and the outer side wall of the second rolling member abuts against the second connecting rod.

[0024] Further, the driving mechanism includes a driving motor and a speed reduction transmission assembly transmission-connected between the driving motor and the driving wheel, and the third end is fixedly connected to the speed reduction transmission assembly.

[0025] The second object of the present invention is to provide an automated guided vehicle, including a battery module, a controller, and a chassis for an automated guided vehicle as described above. The battery module and the controller are respectively mounted on the bottom plate, and the controller is electrically connected to the battery module and the driving mechanism respectively.

[0026] The chassis for an automated guided vehicle provided by the present invention is provided with a driving mechanism to provide power for the driving wheel to rotate, thereby driving the chassis to move; by providing a driven wheel set to assist the driving wheel in supporting the chassis and improve the stability of the chassis; by providing a first suspension mechanism between the two driven wheel sets, when there are obstacles on the ground, the driven wheel set is lifted, and the first suspension mechanism can always keep the height of the chassis unchanged, making the chassis safer and more reliable and the movement smoother; by providing a bottom plate, it is beneficial to install the driving mechanism, driving wheel, driven wheel set and first suspension mechanism on the bottom plate; by providing a first rotational connection component, the rotational connection between the first connection portion of the first connecting rod and the bottom plate is realized; by connecting the first end portion and the second end portion of the first connecting rod to a driven wheel set respectively, and the first connection portion of the first connecting rod is rotatably connected to the bottom plate through the first rotational connection component, when there are obstacles on the ground, if the driven wheel set connected to the second end portion is lifted, the second end portion of the first connecting rod is lifted, and through the action of the first rotational connection component, the first end portion of the first connecting rod will not be lifted with the lifting of the second end portion, so that the other driven wheel set fits the ground, and the height of the chassis remains unchanged when the driven wheel is lifted, thus ensuring the stability of the chassis. Therefore, the chassis for an automated guided vehicle provided by the present invention can perform self-adjustment when encountering obstacles, keep the height of the bottom plate unchanged, and make the movement of the chassis smoother and more reliable. Description of the Drawings

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0028] Figure 1 is a schematic structural view of an angle of the chassis for an automated guided vehicle provided by an embodiment of the present invention;

[0029] Figure 2 is Figure 1 a partial enlarged view of part A in

[0030] Figure 3 is a schematic structural view of the first connecting rod provided by an embodiment of the present invention;

[0031] Figure 4 is a schematic structural view of the first mounting bracket provided by an embodiment of the present invention;

[0032] Figure 5 is a schematic structural view of another angle of the chassis for an automated guided vehicle provided by an embodiment of the present invention;

[0033] Figure 6 is Figure 5 a partial enlarged view of part B in

[0034] Figure 7 is a schematic structural view of the second connecting rod provided by an embodiment of the present invention;

[0035] Figure 8 is a schematic structural view of yet another angle of the chassis for an automated guided vehicle provided by an embodiment of the present invention;

[0036] Figure 9 is Figure 8 a partial enlarged view of part C in

[0037] Figure 10 is a schematic structural view of the third mounting plate provided by an embodiment of the present invention.

[0038] Description of the reference numerals in the drawings: 100, chassis; 1, bottom plate; 2, drive mechanism; 21, drive motor; 22, reduction drive assembly; 3, first suspension mechanism; 31, first link; 311, first end; 312, second end; 313, first connection part; 3131, first through hole; 3132, first mounting hole; 32, first rotating connection assembly; 320, first mounting bracket; 321, first mounting plate; 3211, first limiting part; 322, second mounting plate; 323, first rotating shaft; 33, first rolling member; 4, drive wheel; 5, driven wheel set; 50, driven wheel; 51, first driven wheel set; 52, second driven wheel set; 6, second suspension mechanism; 61, second link; 611, third end; 6111, third through hole; 6112, third mounting hole; 612, fourth end; 613, second connection part; 6131, second through hole; 6132, second mounting hole; 614, third connection part; 62, second rotating connection assembly; 620, second mounting bracket; 621, third mounting plate; 6211, second limiting part; 622, fourth mounting plate; 6221, fixing part; 6222, third limiting part; 6223, fourth limiting part; 6224, fifth limiting part; 623, second rotating shaft; 63, elastic connection assembly; 631, connection block; 632, elastic member; 633, guiding and limiting rod; 6331, first rod body; 6332, second rod body; 64, second rolling member.

[0039] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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 of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0041] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0043] In addition, the descriptions involving "first", "second", etc. in the present invention are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] For example Figure 1 and Figure 3As shown, an embodiment of the present invention provides a chassis 100 for an automatic guided vehicle, comprising a base plate 1, a driving mechanism 2, a first suspension mechanism 3, a driving wheel 4 and at least two driven wheel groups 5, wherein the driving mechanism 2 is mounted on the base plate 1 and is transmission-connected to the driving wheel 4, and the first suspension mechanism 3 is mounted on the base plate 1 and is connected between the two driven wheel groups 5. The first suspension mechanism 3 comprises a first connecting rod 31 and a first rotating connection assembly 32, wherein the first connecting rod 31 has a first end 311, a second end 312 and a first connecting portion 313 disposed between the first end 311 and the second end 312, wherein the first end 311 and the second end 312 are respectively connected to one driven wheel group 5, and the first connecting portion 313 is rotationally connected to the base plate 1 through the first rotating connection assembly 32. A driving mechanism 2 is provided to provide power for the driving wheel 4 to rotate, thereby driving the chassis 100 to move; a driven wheel group 5 is provided to assist the driving wheel 4 in supporting the chassis 100 and improve the stability of the chassis 100; a first suspension mechanism 3 is provided between the two driven wheel groups 5, when there are obstacles on the ground, the driven wheel group 5 is raised, and the first suspension mechanism 3 can always keep the height of the chassis 100 unchanged, making the chassis 100 safer and more reliable, and the movement more stable; by providing a base plate 1, it is convenient to install the driving mechanism 2, the driving wheel 4, the driven wheel group 5 and the first suspension mechanism 3 on the base plate 1; by providing a first rotating connection component 32, the first connecting portion 313 of the first connecting rod 31 is connected to the base plate 1 for rotation; by connecting the first end 311 and the second end 312 of the first connecting rod 31 to a driven wheel group 5 respectively, the first connecting portion 313 of the first connecting rod 31 The first connecting rod 31 is rotatably connected to the bottom plate 1 through the first rotating connecting assembly 32. When there is an obstacle on the ground, if the driven wheel set 5 connected to the first end 311 is lifted, the first end 311 of the first connecting rod 31 is lifted. Through the action of the first rotating connecting assembly 32, the second end 312 of the first connecting rod 31 will not be lifted along with the lifting of the first end 311, so that the driven wheel set 5 connected to the second end 312 is in contact with the ground. If the driven wheel set 5 connected to the second end 312 is lifted, the second end 312 of the first connecting rod 31 is lifted. Through the action of the first rotating connecting assembly 32, the first end 311 of the first connecting rod 31 will not be lifted along with the lifting of the second end 312, so that the driven wheel set 5 connected to the first end 311 is in contact with the ground. When the driven wheel set 50 is lifted, the height of the chassis 100 remains unchanged, thereby ensuring the stability of the chassis 100. Therefore, the chassis 100 for the automatic guided vehicle provided by the present invention can perform self-adjustment when encountering an obstacle, so as to keep the height of the bottom plate 1 unchanged, and make the movement of the chassis 100 more stable and reliable.

[0045] See also Figures 1 to 4, the first rotating connection assembly 32 includes a first rotating shaft 323 and a first mounting bracket 320 mounted on the bottom plate 1. The first rotating shaft 323 is mounted on the first mounting bracket 320, and the first connecting portion 313 is rotationally connected to the first mounting bracket 320 through the first rotating shaft 323. Specifically, the first mounting bracket 320 includes a first mounting plate 321 and a second mounting plate 322 that are oppositely arranged at intervals. The two ends of the first rotating shaft 323 are respectively fixed to the first mounting plate 321 and the second mounting plate 322. The first connecting portion 313 is connected to the first rotating shaft 323 and is located between the first mounting plate 321 and the second mounting plate 322, and the first connecting portion 313 is spaced from both the first mounting plate 321 and the second mounting plate 322. By spacing the first connecting portion 313 from both the first mounting plate 321 and the second mounting plate 322, it is prevented that the first mounting plate 321 and the second mounting plate 322 generate frictional force when the first connecting portion 313 rotates, making the rotation of the first connecting portion 313 smoother and more flexible.

[0046] Please refer to again Figures 1 to 4 , the first mounting bracket 320 further includes a first limiting portion 3211. The first limiting portion 3211 extends from the end of the first mounting plate 321 away from the bottom plate 1 above the first connecting portion 313 and is spaced from the first connecting portion 313 to limit the rising height of the first end portion 311 and the second end portion 312. By providing the first limiting portion 3211, the rising height of the first end portion 311 and the second end portion 312 is limited to prevent the first end portion 311 and the second end portion 312 from rising excessively and avoid the driven wheel set 5 provided on the first end portion 311 and the second end portion 312 from detaching from the ground. It can be understood that in another embodiment, it is also possible that the first limiting portion 3211 extends from the end of the second mounting plate 322 away from the bottom plate 1 above the first connecting portion 313 and is spaced from the first connecting portion 313. Of course, in other embodiments, it is also possible that the first limiting portion 3211 extends from the end of the first mounting plate 321 or the second mounting plate 322 away from the bottom plate 1 above the first connecting portion 313 and is spaced from the first connecting portion 313 to limit the rising height of the first end portion 311 or the second end portion 312.

[0047] Preferably, the first limiting portion 3211 extends from the end of the first mounting plate 321 away from the bottom plate 1 above the first connecting portion 313 and is connected to the second mounting plate 322. By connecting the first limiting portion 3211 of the first mounting plate 321 to the second mounting plate 322, it is beneficial to improve the stability of the installation of the first mounting plate 321 and the second mounting plate 322, thereby improving the stability of the mounting bracket.

[0048] Preferably, the first suspension mechanism 3 further includes at least one first rolling component 33, the first rolling component 33 is rotatably connected to the first mounting frame 320, and the outer side wall of the first rolling component 33 abuts against the first connecting rod 31. By providing the first rolling component 33 and the outer side wall of the first rolling component 33 abutting against the first connecting rod 31, the first connecting rod 31 is prevented from shaking left and right during the lifting movement, thereby improving the stability of the chassis 100.

[0049] See also Figure 1 , Figure 4 and Figure 5 The first suspension mechanism 3 further includes four first rolling components 33, two of which are respectively mounted on the sides of the first mounting plate 321 facing the two driven wheel sets 5, and the other two first rolling components 33 are respectively mounted on the sides of the second mounting plate 322 facing the two driven wheel sets 5. It can be understood that in other embodiments, it is possible to set one, two, three, or five first rolling components 33, and the number of the first rolling components 33 is not limited here. In addition, it is also possible that the first rolling components 33 are only set on the first mounting plate 321 or only set on the second mounting plate 322.

[0050] Preferably, the first rolling component 33 is a bearing. It is understood that in other embodiments, the first rolling component 33 may also be a roller.

[0051] Please refer again Figure 1 and Figure 3 The first connection part 313 is penetrated by a first through hole 3131 and at least two first mounting holes 3132 distributed on the periphery of the first through hole 3131. The first connection part 313 is sleeved on the first rotating connection component 32 through the first through hole 3131 and connected to the first rotating connection component 32 through a fastener (not shown) passing through the first mounting hole 3132. This arrangement has a simple structure, firm installation, and convenient and quick operation.

[0052] See also Figure 1 and Figure 5, the chassis 100 includes two driving wheels 4 and four driven wheel sets 5. Among them, two of the four driven wheel sets 5 are the first driven wheel sets 51, and the other two are the second driven wheel sets 52; the two driving wheels 4, the two first driven wheel sets 51 and the two second driven wheel sets 52 are symmetrically arranged on two opposite sides of the bottom plate 1 respectively, and a first driven wheel set 51 and a second driven wheel set 52 on the same side of the bottom plate 1 are arranged on two opposite sides of a driving wheel 4, and the first suspension mechanism 3 is arranged between the two first driven wheel sets 51. It can be understood that in other embodiments, the first suspension mechanism 3 can be arranged between the two second driven wheel sets 52, or it is also possible to arrange the first suspension mechanism 3 between the two first driven wheel sets 51 and between the two second driven wheel sets 52. In addition, the numbers of the driving wheels 4 and the driven wheel sets 5 are not limited by this embodiment and the attached drawings. The driving wheels 4 can also be one or three or four or five, etc., and the driven wheel sets 5 can also be two or three or five or six, etc.

[0053] Please refer to Figure 1 and Figure 5 , the chassis 100 further includes a second suspension mechanism 6 installed on the bottom plate 1. A second suspension mechanism 6 is arranged between a driving wheel 4 and a second driven wheel set 5 on the same side of the bottom plate 1. By arranging the second suspension mechanism 6, when there are obstacles on the ground, the driving wheel 4 or the driven wheel set 5 is lifted, and the suspension mechanism can always keep the height of the chassis 100 unchanged, making the chassis 100 safer and more reliable and the movement smoother. In this embodiment, there are two second suspension mechanisms 6, and each second suspension mechanism 6 is respectively arranged between a driving wheel 4 and a second driven wheel set 5 on the same side of the bottom plate 1. It can be understood that in other embodiments, when the first suspension mechanism 3 is arranged between the two second driven wheel sets 52, the second suspension mechanism 6 can also be arranged between a driving wheel 4 and a first driven wheel set 51 on the same side of the bottom plate 1.

[0054] Please refer to Figure 1 , Figure 5 and Figure 7, the second suspension mechanism 6 includes a second connecting rod 61, a second rotational connection assembly 62, and an elastic connection assembly 63. The second connecting rod 61 has a third end 611, a fourth end 612, a second connection portion 613, and a third connection portion 614. Both the second connection portion 613 and the third connection portion 614 are provided between the third end 611 and the fourth end 612. The third end 611 is connected to the drive mechanism 2 that drives the drive wheel 4, and the fourth end 612 is connected to the second driven wheel set 52. The second connection portion 613 is rotationally connected to the bottom plate 1 through the second rotational connection assembly 62, and the third connection portion 614 is elastically and vertically connected to the bottom plate 1 through the elastic connection assembly 63. By providing the second rotational connection assembly 62, the rotational connection between the second connection portion 613 of the second connecting rod 61 and the bottom plate 1 is achieved; by connecting the third end 611 of the second connecting rod 61 to the drive wheel 4, the fourth end 612 of the second connecting rod 61 to the second driven wheel set 52, and the second connection portion 613 of the second connecting rod 61 to the bottom plate 1 through the second rotational connection assembly 62, when there are obstacles on the ground, if the second driven wheel set 52 is lifted, the fourth end 612 of the second connecting rod 61 is lifted. Due to the action of the second rotational connection assembly 62, the third end 611 of the second connecting rod 61 will not be lifted along with the fourth end 612, so that the drive wheel 4 fits the ground. If the drive wheel 4 is lifted, the third end 611 of the second connecting rod 61 is lifted. Due to the action of the second rotational connection assembly 62, the fourth end 612 of the second connecting rod 61 will not be lifted along with the third end 611, so that the second driven wheel set 52 fits the ground. And the height of the chassis 100 remains unchanged when the drive wheel 4 or the second driven wheel set 52 is lifted, thus ensuring the stability of the chassis 100; by providing the elastic connection assembly 63, the third connection portion 614 of the second connecting rod 61 is elastically and vertically connected to the bottom plate 1. After the drive wheel 4 or the second driven wheel set 52 crosses the obstacle, a restoring force can be provided for the drive wheel 4 or the second driven wheel set 52. At the same time, the elastic action of the elastic connection assembly 63 also plays a certain buffering role for the chassis 100, improving the stability of the chassis 100.

[0055] Preferably, the third connection portion 614 is provided between the second connection portion 613 and the fourth end 612. It can be understood that in another embodiment, it is also possible to provide the third connection portion 614 between the second connection portion 613 and the third end 611.

[0056] Please refer to Figure 1 , Figure 6 and Figure 7, the elastic connection component 63 includes a connection block 631 and an elastic member 632. The connection block 631 is connected to the third connection portion 614, and one end of the elastic member 632 is connected to the connection block 631 while the other end is connected to the bottom plate 1. By providing the elastic member 632, the elastic member 632 is connected to the third connection portion 614 through the connection block 631. Under the elastic force of the elastic member 632, the third connection portion 614 can be driven to move up and down relative to the bottom plate 1. In addition, the elastic member 632 has a certain buffering effect on the bottom plate 1, which is beneficial to improving the stability of the bottom plate 1.

[0057] Preferably, the elastic member 632 is a helical spring, and the elastic connection component 63 further includes a guiding and limiting rod 633 disposed inside the elastic member 632 for guiding and limiting the expansion and contraction of the elastic member 632. By providing the guiding and limiting rod 633, deformation of the elastic member 632 during long-term elongation and compression can be prevented, thereby extending the service life of the elastic member 632. In addition, in other embodiments, the elastic member 632 can also be other elastic components such as elastic sheets.

[0058] Please refer to again Figure 6 , the guiding and limiting rod 633 includes a first rod body 6331 and a second rod body 6332. One end of the first rod body 6331 is connected to the connection block 631, and one end of the second rod body 6332 is connected to the bottom plate 1. The end of the first rod body 6331 away from the connection block 631 extends towards the bottom plate 1 and is disposed at an upper and lower interval and opposite to the end of the second rod body 6332 away from the bottom plate 1. Two ends of the elastic member 632 are respectively sleeved on the first rod body 6331 and the second rod body 6332. Two ends of the elastic member 632 are respectively sleeved on the first rod body 6331 and the second rod body 6332, and no guiding and limiting rod 633 is provided inside the middle of the elastic member 632, thereby ensuring that the elastic member 632 has enough space for compression. It can be understood that in another implementation, the guiding and limiting rod 633 only includes the first rod body 6331 connected to the connection block 631 and spaced from the bottom plate 1 or only includes the second rod body 6332 installed on the bottom plate 1 and spaced from the connection block 631, which is also acceptable. When the guiding and limiting rod 633 only includes the first rod body 6331, a part of the elastic member 632 is sleeved on the first rod body 6331, and no guiding and limiting rod 633 is provided inside the other part of the elastic member 632, thereby ensuring that the elastic member 632 has enough space for compression; when the guiding and limiting rod 633 only includes the second rod body 6332, a part of the elastic member 632 is sleeved on the second rod body 6332, and no guiding and limiting rod 633 is provided inside the other part of the elastic member 632, thereby ensuring that the elastic member 632 has enough space for compression.

[0059] Please refer to Figure 1 , Figure 5 , Figures 7 to 10, the second rotation connection assembly 62 includes a second rotating shaft 623 and a second mounting bracket 620 mounted on the bottom plate 1. The second mounting bracket 620 includes a third mounting plate 621 and a fourth mounting plate 622 arranged opposite to each other at intervals. Both ends of the second rotating shaft 623 are fixed to the third mounting plate 621 and the fourth mounting plate 622 respectively. The second connecting portion 613 is connected to the second rotating shaft 623 and is located between the third mounting plate 621 and the fourth mounting plate 622, and the second connecting portion 613 is spaced from both the third mounting plate 621 and the fourth mounting plate 622. By spacing the second connecting portion 613 from both the third mounting plate 621 and the fourth mounting plate 622, it is possible to prevent frictional forces from being generated between the third mounting plate 621 and the fourth mounting plate 622 when the second connecting portion 613 rotates, making the rotation of the second connecting portion 613 smoother and more flexible.

[0060] Please refer to Figure 5 , Figure 7 , Figure 9 and Figure 10 , the second mounting bracket 620 further includes a second limiting portion 6211. The second limiting portion 6211 extends from the end of the third mounting plate 621 away from the bottom plate 1 above the second connecting portion 613 and is spaced from the second connecting portion 613 to limit the rising height of the third end portion 611 and the fourth end portion 612. By providing the second limiting portion 6211, the rising height of the third end portion 611 and the fourth end portion 612 is restricted to prevent the third end portion 611 and the fourth end portion 612 from rising excessively, avoiding the driving wheel 4 and the second driven wheel set 5 (especially the driving wheel 4) from separating from the ground. It can be understood that in another embodiment, it is also possible that the second limiting portion 6211 extends from the end of the fourth mounting plate 622 away from the bottom plate 1 above the second connecting portion 613 and is spaced from the second connecting portion 613. Of course, in other embodiments, it is also possible that the second limiting portion 6211 extends from the end of the third mounting plate 621 or the fourth mounting plate 622 away from the bottom plate 1 above the second connecting portion 613 and is spaced from the second connecting portion 613 to limit the rising height of the third end portion 611 or the fourth end portion 612.

[0061] Preferably, the second limiting portion 6211 extends from the end of the third mounting plate 621 away from the bottom plate 1 above the second connecting portion 613 and is connected to the fourth mounting plate 622. By connecting the second limiting portion 6211 of the third mounting plate 621 to the fourth mounting plate 622, it is beneficial to improve the stability of the installation of the third mounting plate 621 and the fourth mounting plate 622, thereby improving the stability of the second mounting bracket 620.

[0062] Please refer to Figure 5 , Figure 7 and Figure 8The fourth mounting plate 622 includes a fixing portion 6221, a third limiting portion 6222 and a fourth limiting portion 6223, which are respectively arranged corresponding to the second connecting portion 613, the third end portion 611 and the fourth end portion 612. The third limiting portion 6222 is arranged above the driving mechanism 2 to limit the driving wheel 4 when it moves upward. The fourth limiting portion 6223 is arranged above the second driven wheel group 52 to limit the second driven wheel group 52 when it moves upward. The driving mechanism 2 is connected to the driving wheel 4 in transmission. When the third limiting portion 6222 is arranged above the driving mechanism 2, the third limiting portion 6222 limits the rising height of the driving mechanism 2, thereby limiting the rising height of the driving wheel 4. The third limiting portion 6222 and the fourth limiting portion 6223 are provided to prevent the driving wheel 4 and the second driven wheel set 52 from excessively rising, thereby preventing the driving wheel 4 and the second driven wheel set 52 (especially the driving wheel 4) from being separated from the ground.

[0063] Please refer again Figure 5 , Figure 7 and Figure 8 The fourth mounting plate 622 further includes a fifth limiting portion 6224, which extends from the third limiting portion 6222 in a direction away from the fourth limiting portion 6223 above the first driven wheel set 51, and the fifth limiting portion 6224 is disposed above the first driven wheel set 51. By disposing the fifth limiting portion 6224 above the first driven wheel set 51, the fifth limiting portion 6224 can prevent the first driven wheel set 51 from excessively rising, thereby preventing the first driven wheel set 51 from being separated from the ground.

[0064] See also Figure 1 and Figure 5 The second suspension mechanism 6 further includes at least one second rolling component 64, which is rotatably connected to the second mounting frame 620, and the outer side wall of the second rolling component 64 abuts against the second connecting rod 61. By providing the second rolling component 64 and the outer side wall of the second rolling component 64 abutting against the second connecting rod 61, the second connecting rod 61 is prevented from shaking left and right during the lifting movement, thereby improving the stability of the chassis 100.

[0065] See also Figure 1 , Figure 5 , Figure 8 and Figure 9The second suspension mechanism 6 further includes two second rolling components 64, one of which is mounted on the side of the third mounting plate 621 facing the driving wheel 4, and the other second rolling component 64 is mounted on the side of the third mounting plate 621 facing the second driven wheel set 52. It can be understood that in other embodiments, one, three, four, or five second rolling components 64 can be provided, and the number of second rolling components 64 is not limited. In addition, the second rolling component 64 can also be provided on the fourth mounting plate 622.

[0066] Preferably, the second rolling component 64 is a bearing. It is understood that in other embodiments, the second rolling component 64 may be a roller.

[0067] See also Figure 1 and Figure 7 The second connecting portion 613 is provided with a second through hole 6131 and at least two second mounting holes 6132 distributed on the outer periphery of the second through hole 6131 in a direction parallel to the axial direction of the driving wheel 4. The second connecting portion 613 is sleeved on the second rotating connecting component 62 through the second through hole 6131 and connected to the second rotating connecting component 62 through a fastener (not shown) passing through the second mounting hole 6132. This arrangement has a simple structure, firm installation, and convenient and quick operation.

[0068] Please refer again Figure 1 and Figure 7 The third end portion 611 is penetrated by a third through hole 6111 and at least two third mounting holes 6112 distributed on the periphery of the third through hole 6111 in a direction parallel to the axial direction of the driving wheel 4. The third end portion 611 is sleeved on the driving mechanism 2 through the third through hole 6111 and connected to the driving mechanism 2 through a fastener (not shown) passing through the third mounting hole 6112. This arrangement has a simple structure, firm installation, and convenient and quick operation.

[0069] Preferably, the driving mechanism 2 includes a driving motor 21 and a reduction transmission assembly 22 that is transmission-connected between the driving motor 21 and the driving wheel 4, and the third end portion 611 is fixedly connected to the reduction transmission assembly 22. In this embodiment, the third end portion 611 is sleeved on the reduction transmission assembly 22 through the third through hole 6111, and is fixedly connected to the reduction transmission assembly 22 through a fastener that penetrates the third mounting hole 6112. The setting of the reduction transmission assembly 22, on the one hand, can adjust the speed output by the driving motor 21 to a suitable speed and transmit it to the driving wheel 4, so that the movement speed of the driving wheel 4 is neither too fast nor too slow; on the other hand, it can change the direction of power transmission, so that the output shaft of the driving motor 21 does not have to be coaxial with the driving shaft of the driving wheel 4.

[0070] Preferably, the number of drive mechanisms 2 is the same as the number of drive wheels 4, and one drive mechanism 2 is connected to one drive wheel 4. In this embodiment, there are two drive mechanisms 2. By connecting one drive mechanism 2 to one drive wheel 4, flexible control of each drive wheel 4 is achieved. For example, while controlling one drive wheel 4 to move forward, the other drive wheel 4 can be controlled to move backward, thereby achieving steering. Of course, in other embodiments, two drive wheels 4 can correspond to one drive mechanism 2.

[0071] Preferably, the driven wheel set 5 includes two driven wheels 50 arranged side by side. Of course, in other embodiments, the driven wheel set 5 may include one, three or four driven wheels 50, and the number of driven wheels 50 is not limited by this embodiment. In this embodiment, the driven wheel 50 is a universal wheel, and the driven wheel 50 is set as a universal wheel, which is conducive to the chassis 100 to turn.

[0072] The embodiment of the present invention also includes an automatic guided vehicle (not shown), including a battery module (not shown), a controller (not shown) and the above-mentioned chassis 100 for the automatic guided vehicle, the battery module and the controller are respectively mounted on the bottom plate 1, and the controller is respectively electrically connected to the battery module and the driving mechanism 2. The above-mentioned chassis 100 can make the automatic guided vehicle move more smoothly and enhance the ability to pass obstacles.

[0073] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A chassis for an automated guided vehicle, characterized in that, It includes a bottom plate, a driving mechanism, a first suspension mechanism, a driving wheel and at least two driven wheel sets. The driving mechanism is installed on the bottom plate and is in transmission connection with the driving wheel. The first suspension mechanism is installed on the bottom plate and is connected between the two driven wheel sets; The first suspension mechanism includes a first connecting rod and a first rotation connection assembly. The first connecting rod has a first end, a second end and a first connection part provided between the first end and the second end. The first end and the second end are respectively connected to one of the driven wheel sets. The first connection part is rotationally connected to the bottom plate through the first rotation connection assembly; Wherein, the first rotation connection assembly includes a first rotating shaft and a first mounting bracket installed on the bottom plate. The first rotating shaft is installed on the first mounting bracket, and the first connection part is rotationally connected to the first mounting bracket through the first rotating shaft; Wherein, the first mounting bracket includes a first mounting plate and a second mounting plate which are arranged opposite to each other at intervals. Two ends of the first rotating shaft are respectively fixed on the first mounting plate and the second mounting plate. The first connection part is connected to the first rotating shaft and is located between the first mounting plate and the second mounting plate, and the first connection part is spaced from both the first mounting plate and the second mounting plate; Wherein, the first mounting bracket further includes a first limiting part. The first limiting part extends above the first connection part from an end of the first mounting plate and / or the second mounting plate away from the bottom plate and is spaced from the first connection part to be used for limiting the rising height of the first end and / or the second end; Wherein, the first suspension mechanism further includes at least one first rolling component. The first rolling component is rotationally connected to the first mounting bracket, and an outer side wall of the first rolling component abuts against the first connecting rod.

2. The chassis for an automated guided vehicle according to claim 1, characterized in that, The first limiting part extends above the first connection part from an end of the first mounting plate away from the bottom plate and is connected to the second mounting plate.

3. The chassis for an automated guided vehicle according to claim 1, characterized in that, The first suspension mechanism further includes four first rolling components. Two of the first rolling components are respectively installed on side parts of the first mounting plate facing the two driven wheel sets, and the other two first rolling components are respectively installed on side parts of the second mounting plate facing the two driven wheel sets.

4. The chassis for an automated guided vehicle according to claim 1, characterized in that, The first rolling component is a bearing or a roller.

5. The chassis for an automated guided vehicle according to any one of claims 1 to 4, characterized in that, The chassis includes two driving wheels and four driven wheel sets. Among them, two of the four driven wheel sets are first driven wheel sets, and the other two are second driven wheel sets; The two driving wheels, the two first driven wheel sets and the two second driven wheel sets are symmetrically arranged on two opposite sides of the bottom plate respectively. And a first driven wheel set and a second driven wheel set on the same side of the bottom plate are arranged on two opposite sides of a driving wheel. The first suspension mechanism is arranged between the two first driven wheel sets.

6. The chassis for an automated guided vehicle according to claim 5, characterized in that, The chassis further includes a second suspension mechanism mounted on the bottom plate, and a second suspension mechanism is provided between one of the driving wheels and one of the second driven wheel sets on the same side of the bottom plate.

7. The chassis for an automated guided vehicle according to claim 6, characterized in that, The second suspension mechanism includes a second connecting rod, a second rotating connection assembly, and an elastic connection assembly. The second connecting rod has a third end, a fourth end, a second connecting portion, and a third connecting portion. The second connecting portion and the third connecting portion are both provided between the third end and the fourth end. The third end is connected to a driving mechanism that drives the driving wheel, the fourth end is connected to the second driven wheel set, the second connecting portion is rotatably connected to the bottom plate through the second rotating connection assembly, and the third connecting portion is elastically connected to the bottom plate through the elastic connection assembly in a liftable manner.

8. The chassis for an automated guided vehicle according to claim 7, characterized in that, The elastic connection assembly includes a connection block and an elastic member. The connection block is connected to the third connecting portion, and one end of the elastic member is connected to the connection block and the other end is connected to the bottom plate.

9. The chassis for an automated guided vehicle according to claim 8, wherein, The elastic member is a helical spring. The elastic connection assembly further includes a guiding and limiting rod inserted into the elastic member for guiding and limiting the expansion and contraction of the elastic member.

10. The chassis for an automated guided vehicle according to claim 7, characterized in that, The second rotating connection assembly includes a second rotating shaft and a second mounting bracket mounted on the bottom plate. The second mounting bracket includes a third mounting plate and a fourth mounting plate arranged oppositely at intervals. Two ends of the second rotating shaft are respectively fixed on the third mounting plate and the fourth mounting plate. The second connecting portion is connected to the second rotating shaft and is located between the third mounting plate and the fourth mounting plate, and the second connecting portion is spaced from both the third mounting plate and the fourth mounting plate.

11. The chassis for an automated guided vehicle according to claim 10, wherein, The second mounting bracket further includes a second limiting portion. The second limiting portion extends from an end of the third mounting plate and / or the fourth mounting plate away from the bottom plate above the second connecting portion and is spaced from the second connecting portion for limiting the rising height of the third end and / or the fourth end.

12. The chassis for an automated guided vehicle according to claim 10, characterized in that, The fourth mounting plate includes a fixing portion, a third limiting portion, and a fourth limiting portion. The fixing portion, the third limiting portion, and the fourth limiting portion are respectively arranged corresponding to the second connecting portion, the third end, and the fourth end. The third limiting portion is spaced above the driving mechanism for limiting the upward movement of the driving wheel, and the fourth limiting portion is spaced above the second driven wheel set for limiting the upward movement of the second driven wheel set.

13. The chassis for an automated guided vehicle according to claim 12, wherein, The fourth mounting plate further includes a fifth limiting portion. The fifth limiting portion extends from the third limiting portion in a direction away from the fourth limiting portion above the first driven wheel set, and the fifth limiting portion is spaced above the first driven wheel set.

14. The chassis for an automated guided vehicle according to claim 10, characterized in that, The second suspension mechanism further includes at least one second rolling member. The second rolling member is rotatably connected to the second mounting bracket, and the outer side wall of the second rolling member abuts against the second connecting rod.

15. The chassis for an automated guided vehicle according to claim 7, characterized in that, The driving mechanism includes a driving motor and a speed reduction transmission assembly that is drivingly connected between the driving motor and the driving wheel, and the third end is fixedly connected to the speed reduction transmission assembly.

16. An automated guided vehicle, characterized in that, It includes a battery module, a controller, and a chassis for an automated guided vehicle according to any one of claims 1 to 15. The battery module and the controller are respectively installed on the bottom plate, and the controller is electrically connected to the battery module and the driving mechanism respectively.

Images