A chassis of a magazine AGV

Abstract

This invention relates to the field of AGV (Automated Guided Vehicle) technology and discloses a chassis for a tow AGV, including a front chassis. A rear chassis is movably mounted on one side of the front chassis, and drive wheels are movably mounted on both ends of one side of the rear chassis. One side of the front chassis and one side of the rear chassis are movably connected by two hinges. This invention, through the use of hinges, a front floating linkage bridge, and a rear floating linkage bridge, ensures that all casters can touch the ground, avoiding the impact of caster deflection on vehicle walking accuracy during movement. By incorporating adjusting resistor components, adjusting power supply components, conductive components, and adjusting electromagnets, the tow box is kept level and does not deviate. An emergency brake plate provides emergency braking for the drive wheels. Furthermore, by incorporating a resistance membrane, a fixed cavity, a fixed sleeve, and resistance magnets, the tow box will not slip laterally regardless of the degree of deviation, effectively ensuring the stability and safety of the tow box and the objects on it.

Description

Technical Field

[0001] This invention relates to the field of AGV (Automated Guided Vehicle) technology, specifically to a chassis for a bin AGV. Background Technology

[0002] An AGV (Automated Guided Vehicle) is a transport vehicle equipped with electromagnetic or optical automatic navigation devices. It can travel along a prescribed navigation path and has safety protection and various carrying and moving functions. The AGV is mainly controlled by components such as a computer, electrical control equipment, magnetic induction sensor, and laser reflector. It is composed of a chassis, drive wheels, front and rear floating linkage bridges, material box rack fixing mechanism, battery, motor, and casters. By controlling the motor to rotate, the drive wheels are driven to rotate. Under the drive of the drive wheels, the AGV rotates in conjunction with the orientation of the casters at the front and rear ends, so that the AGV can move the material box to rotate freely 360 degrees for transportation, realizing straight-line, turning, and steering functions.

[0003] The chassis of existing AGVs typically has four fixed casters at the bottom of the front and rear floating linkage bridges to support the chassis and assist the drive wheels in rotation and adjustment. The existing AGV chassis drive mostly uses a shock-absorbing type, but when the ground is not very flat, the casters may randomly leave or contact the ground, which will affect the navigation accuracy of the AGV. Summary of the Invention

[0004] In view of the shortcomings of existing AGVs mentioned in the background art, the present invention provides a chassis for a bin AGV, which has the advantages of adopting a front and rear segmented structure and a local three-point support to ensure that all four casters and two drive wheels can touch the ground, thus solving the technical problems mentioned in the background art.

[0005] This invention provides the following technical solution: a chassis for a bin AGV, comprising a front chassis, a rear chassis movably mounted on one side of the front chassis, drive wheels movably mounted at both ends on one side of the rear chassis, one side of the front chassis and one side of the rear chassis being movably connected by two hinges, a battery being fixedly mounted on the top surface of the rear chassis, a bin rack fixing mechanism being movably mounted above the tops of the front and rear chassis, a front floating linkage bridge being fixedly mounted inside one end of the front chassis, a rear floating linkage bridge being fixedly mounted inside one end of the rear chassis, and a bin being movably mounted above the top of the bin rack fixing mechanism.

[0006] Preferably, a fixed plate is fixedly installed inside the driving wheel, and the fixed plate is located above the top of the hinge. A lifting shaft is fixedly installed in the middle of the top of the fixed plate. A movable cross plate is movably installed at the top of the lifting shaft. Adjusting plates are fixedly installed on the inner sides of both ends of the movable cross plate. A support rod is movably connected to the middle of the adjusting plate. Adjusting resistor components are fixedly installed on the bottom surfaces of both ends of the movable cross plate. Adjusting power supply components are fixedly installed on the top of both ends of the fixed mechanism of the bin shelf, and the adjusting power supply components are located outside one side of the adjusting resistor components. A conducting component is fixedly installed outside the other side of the adjusting resistor component, and the conducting component is located at the top of the fixed mechanism of the bin shelf. Adjusting electromagnets are fixedly installed on both sides of the support rod inside the fixed mechanism of the bin shelf. A guide rod is fixedly installed at the bottom end of the support rod. An emergency braking plate is movably sleeved on the surface of the guide rod. Resistance membranes are fixedly installed on the surface of both ends of the adjusting plate. A fixed cavity box is fixedly installed at the bottom end of the resistance membrane. A fixed sleeve is fixedly installed inside the fixed cavity box. A resistance magnetic block is movably installed in the middle of the inner cavity of the fixed sleeve. A driving motor is fixedly sleeved in the middle of one side of the driving wheel.

[0007] Preferably, the movable cross plate is in a mountain shape, the adjusting plate is in a rectangular shape, and the adjusting plate has magnetism. The magnetism of the adjusting plate is in a repulsive state with the magnetism shown after the adjusting electromagnet is powered on. The adjusting plate and the support rod are movably connected through a hinge component, and the movable cross plate and the lifting shaft are also movably connected through a hinge.

[0008] Preferably, the adjusting resistor component is composed of multiple resistor elements, and the resistance values of the resistor elements increase sequentially from top to bottom. Contact heads are installed on both sides of each resistor element of the adjusting resistor component. Contact heads are also fixedly installed on the surface of one side of the adjusting power supply component facing the adjusting resistor component. Contact heads are also fixedly installed on the surface of both sides of the conducting component. The shapes, sizes, and arrangement order and position distances of the contact heads of the adjusting resistor component, the adjusting power supply component, and the conducting component are all mutually adapted. Moreover, the arrangement order and position distances of the contact heads among the adjusting resistor component, the adjusting power supply component, and the conducting component are such that when a certain contact head on both sides of the adjusting resistor component touches a certain contact head on the surfaces of the adjusting power supply component and the conducting component, other contact heads are in a staggered state. A wire is provided outside one contact head of the conducting component, and the other end of this wire is fixedly connected to the external switch contact head of the adjusting electromagnet. When the contact heads of the adjusting resistor component, the adjusting power supply component, and the conducting component are in contact, the adjusting resistor component, the adjusting power supply component, the conducting component, and the adjusting electromagnet are in a series circuit state. The initial position of the adjusting resistor component is above the horizontal position of the top surfaces of the adjusting power supply component and the conducting component, that is, initially, the adjusting resistor component, the adjusting power supply component, and the conducting component are not in contact with each other.

[0009] Preferably, the emergency brake plate is semi-circular, and the curvature value of the emergency brake plate matches the curvature value of the outer surface of the drive wheel. The outer surface of the emergency brake plate is coated with a magnetic coating, and the magnetism of the emergency brake plate is in a repulsive state with the magnetism generated when the adjusting electromagnet is energized. The inner surface of the emergency brake plate is provided with a rough wear-resistant layer.

[0010] Preferably, the resistance membrane is rectangular and its surface is elastic; the fixing sleeve is cylindrical and its inner wall surface has a groove that matches the outer surface of the resistance magnetic block; the resistance magnetic block is composed of two parts, the upper part is hemispherical and the lower part is cylindrical; the resistance magnetic block is magnetic, and the magnetism at the bottom of the resistance magnetic block is repulsive to the magnetism displayed by the adjusting electromagnet after it is energized; the surface of the resistance membrane is not magnetically insulating, and the surfaces of the fixing cavity and the fixing sleeve are magnetically insulating.

[0011] Preferably, the movable horizontal plate, adjusting plate, adjusting resistor assembly, adjusting power supply component, conductive component, adjusting electromagnet, resistance membrane, fixed cavity box, fixed sleeve, and resistance magnetic block are all symmetrically distributed from left to right. There are eight resistance membranes in total, which are evenly distributed on the surfaces of the left and right sides of the adjusting plate.

[0012] The present invention has the following beneficial effects:

[0013] 1. This invention, by setting up a hinge, a front floating linkage bridge, and a rear floating linkage bridge, utilizes a three-point mechanism to improve the vehicle's adaptability to the ground and enhance its ability to cross obstacles and climb slopes. This gives the AGV vehicle high flexibility and adaptability, meeting various needs in warehousing operations. Compared to traditional AGV vehicles, this invention ensures that all casters are on the ground, avoiding the impact of caster deflection on the vehicle's walking accuracy during movement.

[0014] 2. This invention, by setting up an adjustable resistor assembly, an adjustable power supply component, a conductive component, and an adjustable electromagnet, utilizes the effect of weight deviation on the objects in the hopper to cause the adjustable resistor assembly on one side to move downwards. When the adjustable resistor assembly moves downwards, the contacts of the adjustable resistor assembly, the adjustable power supply component, and the conductive component come into contact with each other, thus forming a series circuit. This allows current to flow into the adjustable electromagnet, causing it to exhibit magnetism. The adjustable electromagnet provides a magnetic repulsion force to the adjusting plate, thereby pushing the adjusting plate upwards. This, in turn, resists the tendency of the movable horizontal plate to shift under the pressure of the heavy object, thus leveling the position of the movable horizontal plate and the adjusting plate. Furthermore, because the adjustable resistor... The internal resistance elements of the component are arranged in an increasing order from top to bottom. Therefore, the greater the deviation of the material box, the greater the current flowing through the adjusting electromagnet, and the greater the magnetic repulsion force exerted on the adjusting plate. This allows the device to adjust the balancing force on the adjusting plate according to the degree of object deviation, thus keeping the material box level and preventing it from shifting. This avoids the problem in existing devices where uneven weight distribution on the material box causes the material box shelf fixing mechanism to shift, which in turn causes the chassis to shift, resulting in excessive pressure on the front or rear casters on the chassis, thus accelerating wear on the wheel surface and causing serious damage to the wheels.

[0015] 3. This invention incorporates an emergency braking plate. If the material box at the top of the movable horizontal plate and the adjusting plate deviates significantly, or if the material box deviates a large distance during travel, the magnetic repulsion force of the adjusting electromagnet on the emergency braking plate increases. This causes the emergency braking plate to move downwards a greater distance, resulting in the emergency braking plate contacting the outer surface of the drive wheel. Under the action of the magnetic repulsion force, the emergency braking plate presses against the surface of the drive wheel. Simultaneously, due to the rough wear-resistant layer on the inner surface of the emergency braking plate, the drive wheel cannot rotate, thus achieving emergency braking of the drive wheel. This avoids the danger of the material box collapsing if, during initial loading, the material box deviates too much and the adjusting electromagnet generates a magnetic repulsion force to push and adjust the adjusting plate. Furthermore, it prevents the risk of the material box collapsing if, during travel, the material box touches a corner or obstacle, causing a significant deviation, but because the drive wheel continues to move, the material box deviates excessively and tips over due to the traction of the rotating drive wheel.

[0016] 4. This invention, by setting up a resistance membrane, a fixed cavity, a fixed sleeve, and a resistance magnetic block, utilizes the magnetic repulsion generated by an adjustable electromagnet to push the resistance magnetic block upwards. As the resistance magnetic block moves upwards, the surface of the resistance membrane conforms to the top shape of the resistance magnetic block, resulting in a corresponding deformation. That is, the top of the resistance magnetic block lifts the surface of the resistance membrane, making its surface uneven. At this time, the raised resistance membrane will press against the bottom of the hopper, thus creating a certain pressure on the bottom of the hopper. Because the resistance magnetic block is magnetic, and existing hoppers are generally metal-framed, the resistance magnetic block will attract the bottom of the hopper. Under the dual action of magnetic attraction and pressure, the hopper cannot easily slide laterally on the surface of the adjusting plate. Thus, regardless of the degree of offset, the hopper will not slide laterally, effectively ensuring the stability and safety of the hopper and the objects on it. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the front and rear chassis of the present invention;

[0019] Figure 3 This is a three-dimensional schematic diagram of the material box of the present invention;

[0020] Figure 4 This is a three-dimensional schematic diagram of the material bin shelf fixing mechanism of the present invention;

[0021] Figure 5 This is a front view schematic diagram of the material bin shelf fixing mechanism of the present invention.

[0022] Figure 6 This is a top view schematic diagram of the material bin shelf fixing mechanism of the present invention;

[0023] Figure 7 This is a three-dimensional schematic diagram of the fixed cavity box of the present invention;

[0024] Figure 8 This is a three-dimensional cross-sectional view of the resistance membrane and the fixed cavity of the present invention.

[0025] In the diagram: 1. Front chassis; 2. Rear chassis; 3. Drive wheel; 4. Hinge; 5. Battery; 6. Bin rack fixing mechanism; 7. Front floating linkage bridge; 8. Rear floating linkage bridge; 9. Bin; 10. Fixing plate; 11. Lifting shaft; 12. Movable cross plate; 13. Adjusting plate; 14. Support rod; 15. Adjusting resistor assembly; 16. Adjusting power supply component; 17. Conducting component; 18. Adjusting electromagnet; 19. Guide rod; 20. Emergency brake plate; 21. Resistance membrane; 22. Fixing cavity box; 23. Fixing sleeve; 24. Resistance magnet; 25. Drive motor. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example 1

[0028] Please see Figures 1-8 A chassis for a bin-type AGV includes a front chassis 1, a rear chassis 2 movably mounted on one side of the front chassis 1, drive wheels 3 movably mounted at both ends on one side of the rear chassis 2, one side of the front chassis 1 and one side of the rear chassis 2 being movably connected by two hinges 4, a battery 5 fixedly mounted on the top surface of the rear chassis 2, a bin rack fixing mechanism 6 movably mounted above the tops of the front chassis 1 and the rear chassis 2, a front floating linkage bridge 7 fixedly mounted inside one end of the front chassis 1, a rear floating linkage bridge 8 fixedly mounted inside one end of the rear chassis 2, and a material bin rack fixing mechanism 6 movably mounted above the top of the bin rack fixing mechanism 6. The two drive wheels 3 and the two omnidirectional wheels at the bottom of the rear floating linkage bridge 8 can form a three-point mechanism, which means that the omnidirectional wheels on the rear floating linkage bridge 8 can be regarded as a single wheel. This three-point mechanism ensures that all four rear wheels can touch the ground. In addition, since the front chassis 1 and the rear chassis 2 are connected by two hinges 4, the rear chassis 2 can be regarded as two fulcrums, which, together with the front floating linkage bridge 7, can form another three-point mechanism. The two three-point mechanisms work together to ensure that all six wheels of the chassis can touch the ground at the same time, avoiding the moment when the omnidirectional wheels leave the ground and touch the ground, which would affect the movement of the vehicle.

[0029] In addition, when the AGV vehicle is crossing a bump or going uphill, the front floating linkage bridge 7 moves onto the slope, and the linkage mechanism where the hinge 4 is located rotates, which allows the vehicle to tilt at a certain angle, thus completing the crossing of the bump and climbing of the slope.

[0030] Example 2

[0031] Please see Figures 4-8, wherein, a fixing plate 10 is fixedly installed inside the driving wheel 3, and the fixing plate 10 is located above the top end of the hinge 4. A lifting shaft 11 is fixedly installed in the middle of the top end of the fixing plate 10. A movable cross plate 12 is movably installed at the top end of the lifting shaft 11. Adjusting plates 13 are fixedly installed inside both ends of the movable cross plate 12. A support rod 14 is movably connected to the middle of the adjusting plate 13. Adjusting resistor components 15 are fixedly installed on the bottom surfaces of both ends of the movable cross plate 12. Adjusting power supply components 16 are fixedly installed on the top parts of both ends of the bin shelf fixing mechanism 6, and the adjusting power supply components 16 are located outside one side of the adjusting resistor components 15. A conducting part 17 is fixedly installed outside the other side of the adjusting resistor components 15, and the conducting part 17 is located on the top end of the bin shelf fixing mechanism 6. Adjusting electromagnets 18 located inside the bin shelf fixing mechanism 6 are fixedly installed on both sides of the support rod 14. A guiding rod 19 is fixedly installed at the bottom end of the support rod 14. An emergency braking plate 20 is movably sleeved on the surface of the guiding rod 19. Resistance films 21 are fixedly installed on the surface of both ends of the adjusting plate 13. A fixed cavity box 22 is fixedly installed at the bottom end of the resistance film 21. A fixed sleeve 23 is fixedly installed inside the fixed cavity box 22. A resistance magnetic block 24 is movably installed in the middle of the inner cavity of the fixed sleeve 23. A driving motor 25 is fixedly sleeved in the middle of one side of the driving wheel 3.

[0032] Please refer to Figures 4-6 , wherein, the movable cross plate 12 is in a shape of a mountain. The adjusting plate 13 is in a shape of a rectangle, and the adjusting plate 13 has magnetism. The magnetism of the adjusting plate 13 is in a repulsive state with the magnetism shown after the adjusting electromagnet 18 is powered on. The adjusting plate 13 and the support rod 14 are movably connected through a hinge component, and the movable cross plate 12 and the lifting shaft 11 are also movably connected through a hinge. By setting the movable cross plate​​​​The adjustable resistor assembly 15 consists of multiple resistive elements, with the resistance values ​​of the elements increasing sequentially from top to bottom. Each resistive element in the adjustable resistor assembly 15 has contacts mounted on both sides. The adjusting power supply component 16 also has contacts fixedly mounted on its surface facing the adjustable resistor assembly 15. Contacts are also fixedly mounted on both sides of the conductive component 17. The shape, size, arrangement, and distance of the contacts in the adjustable resistor assembly 15, the adjusting power supply component 16, and the conductive component 17 are all mutually compatible. Furthermore, the arrangement and distance of the contacts among the three components satisfy the condition that when one of the contacts on either side of the adjustable resistor assembly 15 contacts the surfaces of the adjusting power supply component 16 and the conductive component 17... When one of the contacts on the surface touches, the other contacts are all in a staggered state. A wire is provided outside one contact of the conductive element 17, and the other end of this wire is fixedly connected to the external switch contact of the adjusting electromagnet 18. When the contacts of the adjusting resistor assembly 15, the adjusting power supply component 16, and the conductive element 17 are in contact, they form a series circuit. The initial position of the adjusting resistor assembly 15 is above the horizontal position of the top surfaces of the adjusting power supply component 16 and the conductive element 17; that is, initially, the adjusting resistor assembly 15, the adjusting power supply component 16, and the conductive element 17 are not in contact. This is achieved by setting the adjusting resistor assembly 15, the adjusting power supply component 16, the conductive element 17, and the adjusting electromagnet 18... When there is a weight deviation in the items on the hopper, if the left side is heavier, the gravity of the items will cause the left movable horizontal plate 12 to shift downwards, which in turn will cause the left adjusting resistor assembly 15 to move downwards. As the adjusting resistor assembly 15 moves downwards, its bottom end gradually inserts between the adjusting power supply component 16 and the conductive component 17. At this time, the bottom contact of the adjusting resistor assembly 15 contacts the contacts on the surfaces of the adjusting power supply component 16 and the conductive component 17. When the three contacts are in contact, the series circuit formed by the adjusting resistor assembly 15, the adjusting power supply component 16, the conductive component 17, and the adjusting electromagnet 18 is connected, and the current inside the adjusting power supply component 16 flows outwards, passing through the adjusting resistor assembly 15 in sequence. The device includes a conductive element 17 and an adjusting electromagnet 18. When current is applied to the adjusting electromagnet 18, it generates magnetism. Since the magnetism of the adjusting electromagnet 18 repels the magnetism of the adjusting plate 13, the adjusting electromagnet 18 exerts a repulsive force on the adjusting plate 13, thereby pushing the adjusting plate 13 upwards. This prevents the movable horizontal plate 12 from shifting due to the downward pressure of the heavy object, and helps to level the horizontal state of the movable horizontal plate 12 and the adjusting plate 13. This prevents the material box placed at the top of the movable horizontal plate 12 and the adjusting plate 13 from tilting or shifting due to the weight deviation of the object. Simultaneously, because the device determines the downward movement distance of the adjusting resistor assembly 15 based on the magnitude of the weight deviation, the downward movement of the adjusting resistor assembly 15 is directly proportional to the weight deviation of the object.If the object has a larger weight distribution on one side, the downward movement distance of the adjusting resistor assembly 15, which is located in the same vertical position as the heavier side, will be larger. Since the internal resistance elements of the adjusting resistor assembly 15 are arranged in an increasing order from top to bottom, the greater the downward movement distance of the adjusting resistor assembly 15, the smaller the resistance value of the internal resistance elements of the adjusting resistor assembly 15 connected to the power supply component 16. This results in a larger current flowing through the adjusting electromagnet 18. Because the magnetic strength of the adjusting electromagnet 18 is directly proportional to the current, a larger current flowing through the adjusting electromagnet 18 results in a stronger magnetic field, which in turn generates a stronger magnetic repulsion force on the adjusting plate 13. 3. The upward movement distance also increases, effectively achieving the ability to adjust the adjusting plate 13 according to the weight of the object. This invention device can adapt to the adjustment plate 13, avoiding insufficient adjustment force and ensuring that the material box always maintains a horizontal and stable state. It also avoids the problem of the material box shelf fixing mechanism 6 shifting when the weight of the objects on the material box is uneven, causing the chassis to shift as well. This would result in excessive pressure on the front or rear casters on the chassis, accelerating wear on the wheel surface and causing serious damage to the wheels. Furthermore, it prevents the material box from tipping over during transportation, which could easily lead to the objects on the material box falling and breaking.

[0034] Please see Figures 4-6The emergency brake plate 20 is semi-circular in shape, and its curvature matches the curvature of the outer surface of the drive wheel 3. The outer surface of the emergency brake plate 20 is coated with a magnetic coating, and the magnetism of the emergency brake plate 20 is repulsive to the magnetism generated by the adjusting electromagnet 18 when energized. The inner surface of the emergency brake plate 20 has a rough, wear-resistant layer. By setting the emergency brake plate 20, when the adjusting electromagnet 18 is energized and exhibits magnetism, the adjusting electromagnet 18 will generate a magnetic repulsive force on the emergency brake plate 20, thereby pushing it forward. The emergency brake plate 20 is activated, causing it to move vertically downwards along the surface of the guide rod 19. If the material box at the top of the movable horizontal plate 12 and the adjusting plate 13 deviates significantly, or if the material box deviates a large distance during travel, the downward movement of the adjusting resistor assembly 15 is proportional to the degree of deviation. This increases the current flowing through the adjusting electromagnet 18. Consequently, when the material box deviates excessively, the magnetism of the adjusting electromagnet 18 becomes stronger, thus enhancing the emergency braking effect. The magnetic repulsion force of plate 20 is relatively large, resulting in a large downward movement of emergency braking plate 20. This causes emergency braking plate 20 to contact the outer surface of drive wheel 3, and under the action of magnetic repulsion, it presses against the surface of drive wheel 3. Through the rough, wear-resistant layer on the inner surface of emergency braking plate 20, strong friction is generated between emergency braking plate 20 and drive wheel 3, creating frictional resistance and preventing drive wheel 3 from rotating. This prevents the drive wheel 3 from continuing to rotate, thus applying emergency braking. This avoids the danger of the box collapsing if, during initial loading, the box is excessively offset, requiring adjustment time for the electromagnet 18 to push the adjustment plate 13 with magnetic repulsion. Furthermore, if the adjustment is not fully completed, workers may directly start the drive wheel 3 to begin transport, potentially causing the box to tip over. Alternatively, during transport, if the box encounters a corner or obstacle, causing significant offset, the drive wheel 3 may continue to move, leading to excessive offset and potential tipping of the box under the traction of the rotating drive wheel 3.

[0035] Please see Figures 4-8The resistive membrane 21 is rectangular and its surface is elastic. The fixing sleeve 23 is cylindrical, and its inner wall surface has a groove that matches the outer surface of the resistive magnetic block 24. The resistive magnetic block 24 is composed of two parts: the upper part is hemispherical and the lower part is cylindrical. The resistive magnetic block 24 is magnetic, and the magnetism at the bottom of the resistive magnetic block 24 is repulsive to the magnetism displayed by the adjusting electromagnet 18 after it is energized. The surface of the resistive membrane 21 is not magnetically insulating, while the surfaces of the fixing cavity 22 and the fixing sleeve 23 are magnetically insulating. By setting the resistive membrane 21 and the fixing cavity 23... The fixed sleeve 23 and the resistance magnetic block 24 are used. The magnetic repulsion force generated by the adjusting electromagnet 18 pushes the resistance magnetic block 24, causing it to move upward. When the resistance magnetic block 24 moves upward, the surface of the resistance membrane 21 deforms. The surface of the resistance membrane 21 conforms to the top shape of the resistance magnetic block 24, creating a convex deformation. Therefore, under the magnetic repulsion force of the adjusting electromagnet 18 on the resistance magnetic block 24, the tops of the resistance magnetic block 24 push up the surface of the resistance membrane 21, making the surface of the resistance membrane 21 an uneven, bulging surface. At this time, the bulging resistance membrane 21 will squeeze the bottom of the material box. This creates pressure on the bottom of the hopper. Since the resistance magnet 24 is magnetic, and existing hoppers are generally metal-framed, the resistance magnet 24 attracts the bottom of the hopper. Under the combined effect of magnetic attraction and pressure, the hopper cannot easily slide laterally on the surface of the adjusting plate 13. Because the adjusting plate 13 is also magnetic, it also exerts a magnetic attraction on the bottom of the hopper. When the hopper's offset is small, the magnetic repulsion of the adjusting electromagnet 18 on the resistance magnet 24 is insufficient to cause the resistance magnet 24 to extend significantly outwards. Therefore, the hopper relies on the adjusting plate 13 to exert pressure on the bottom of the hopper. The magnetic attraction of the end prevents the material box from sliding laterally, thus avoiding the danger of objects falling off the material box. However, when the material box deviates significantly, the magnetic attraction of the adjusting plate 13 to the material box may not be sufficient to resist the downward trend of the material box. Therefore, adjusting the magnetic repulsion of the electromagnet 18 to the resistance magnetic block 24 can make the resistance magnetic block 24 extend outward significantly, thereby causing the resistance membrane 21 to deform. Under the resistance compensation of the dual forces of pressure and magnetic attraction, it is ensured that the material box will not slide laterally regardless of the degree of deviation, effectively ensuring the stability and safety of the material box and the objects on it.

[0036] Please see Figures 4-8 Among them, the movable horizontal plate 12, the adjusting plate 13, the adjusting resistor assembly 15, the adjusting power supply component 16, the conducting component 17, the adjusting electromagnet 18, the resistance membrane 21, the fixed cavity box 22, the fixed sleeve 23, and the resistance magnetic block 24 are all distributed symmetrically from left to right. There are eight resistance membranes 21 in total, and they are evenly distributed on the surface of the left and right sides of the adjusting plate 13.

[0037] The working principle of the method of using this invention is as follows:

[0038] When loading of the hopper is required, the drive motor 25 inside the AGV is started and rotated manually, thereby rotating the drive wheel 3. The drive wheel 3 rotates, causing movement. With the cooperation of the casters at the bottom of the front floating bridge 7 and the rear floating bridge 8, and the drive wheel 3, the AGV moves forward as a whole. The control system can be manually operated to change the direction of the drive motor 25, thus changing the rotation mode of the drive wheel 3, achieving steering, turning, and other driving operations for the AGV. When the AGV reaches the center of the bottom of the designated hopper, the rotation of the drive wheel 3 is paused, i.e., the drive motor 25 is temporarily turned off. The AGV resumes operation after it has come to a complete stop. The bottom of the lifting shaft 11 has a motor assembly, which moves the lifting shaft 11 upward, thereby driving the movable horizontal plate 12 and the adjusting plate 13 to push the bottom of the material box upward, so that the material box is lifted off the ground and then lifted by the AGV trolley. After the lifting movement is completed, the adjusting plate 13 has generated a magnetic attraction force on the bottom of the material box, thereby ensuring that the material box will not slide laterally. If there is no weight deviation on the object in the material box at this time, the weight on both sides of the material box is balanced, and the movable horizontal plate 12 and the adjusting plate 13 will not shift on both sides and will be in a horizontal horizontal state. Then, by manually operating the control system, the drive motor 25 can be restarted to drive the drive wheel 3 to start moving, thereby lifting and moving the material box for transportation.

[0039] However, when there is a weight deviation in the items on the bin, assuming the left side is heavier, the weight of the items will cause the movable horizontal plate 12 on the left side to shift downwards due to the gravity of the deviation. This will cause the left-side adjusting resistor assembly 15 to move downwards. When the adjusting resistor assembly 15 moves downwards, its bottom end will insert between the adjusting power supply component 16 and the conductive component 17. The bottommost contact of the adjusting resistor assembly 15 will then contact the contacts on the surfaces of the adjusting power supply component 16 and the conductive component 17. When the three contacts are in contact, the series circuit formed by the adjusting resistor assembly 15, the adjusting power supply component 16, the conductive component 17, and the adjusting electromagnet 18 is connected. The adjusting power supply component 16 then provides power, and the outflowing current flows through the adjusting resistor assembly in sequence. 15. The conductive component 17 and the adjusting electromagnet 18: When current is applied to the adjusting electromagnet 18, the adjusting electromagnet 18 begins to generate magnetism. The adjusting electromagnet 18 generates a magnetic repulsion force on the adjusting plate 13, thereby pushing the left adjusting plate 13 to move upward, thus achieving the leveling effect on the offset side. This allows the material box to be in a balanced state on both sides, avoiding the imbalance of weight of the items on the existing material box. When there is an imbalance, it causes the material box shelf fixing mechanism 6 to shift, which in turn causes the chassis to shift as well. This results in excessive pressure on the front or rear casters on the chassis, which aggravates the wear on the wheel surface and causes serious damage to the wheel body. Furthermore, during the transportation process, the material box is unstable when tilted, which can easily cause the material box to fall and the items on the material box to be broken.

[0040] If the material box at the top of the movable horizontal plate 12 and the adjusting plate 13 is offset by a large degree, or if the material box is offset by a large distance during travel, the adjusting resistor assembly 15 will offset downward by a large distance, resulting in a smaller resistance value of the resistor element contacted by the contact, and thus a larger current flowing into the adjusting electromagnet 18, resulting in a larger magnetism of the adjusting electromagnet 18. At this time, the adjusting electromagnet 18 has a larger magnetic repulsion force on the emergency brake plate 20, resulting in the emergency brake plate 20 moving downward by a larger distance. The emergency brake plate 20 moves downward along the guide rod 19 to contact the outer surface of the drive wheel 3. Under the action of magnetic repulsion, the emergency brake plate 20 squeezes the surface of the drive wheel 3. Due to the rough wear-resistant layer on the inner surface of the emergency brake plate 20, the drive wheel 3 is subjected to greater frictional resistance, thus making it difficult to rotate or continue to rotate, thereby achieving the emergency braking effect on the drive wheel 3.

[0041] At the same time, the magnetic repulsion generated by the electromagnet 18 will also push the resistance magnetic block 24 to move upward, which will cause the surface of the resistance membrane 21 to deform, causing the resistance membrane 21 to press the bottom of the box and exert a certain pressure on the bottom of the box. Since the resistance magnetic block 24 is magnetic, and the existing box is generally made of metal frame, the resistance magnetic block 24 will also have an adsorption effect on the bottom of the box. Under the dual action of magnetic attraction and pressure, the box cannot easily slide laterally on the surface of the adjustment plate 13, thus effectively ensuring the stability and safety of the box and the objects on it.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A chassis for a bin-type AGV, comprising a front chassis (1), characterized in that: A rear chassis (2) is movably installed on the outside of one side of the front chassis (1). Driving wheels (3) are movably installed at both ends of the outside of one side of the rear chassis (2). One side of the front chassis (1) and one side of the rear chassis (2) are movably connected by two hinges (4). A battery (5) is fixedly installed on the top surface of the rear chassis (2). A bin shelf fixing mechanism (6) is movably installed above the tops of the front chassis (1) and the rear chassis (2). A front floating link bridge (7) is fixedly installed inside one end of the front chassis (1). A rear floating link bridge (8) is fixedly installed inside one end of the rear chassis (2). A bin (9) is movably installed above the top of the bin shelf fixing mechanism (6). A fixing plate (10) is fixedly installed inside the driving wheel (3), and the fixing plate (10) is located above the hinge (4). A lifting shaft (11) is fixedly installed in the middle of the top of the fixing plate (10). A movable cross plate (12) is movably installed at the top of the lifting shaft (11). Adjusting plates (13) are fixedly installed inside both ends of the movable cross plate (12). A support rod (14) is movably connected to the middle of the adjusting plate (13). Adjusting resistance components (15) are fixedly installed on the bottom surfaces of both ends of the movable cross plate (12). Adjusting power supply components (16) are fixedly installed at the tops of both ends of the bin shelf fixing mechanism (6), and the adjusting power supply components (16) are located outside one side of the adjusting resistance components (15). A conducting component (17) is fixedly installed outside the other side of the adjusting resistance component (15), and the conducting component (17) is located at the top of the bin shelf fixing mechanism (6). Adjusting electromagnets (18) located inside the bin shelf fixing mechanism (6) are fixedly installed on both sides of the support rod (14). A guiding rod (19) is fixedly installed at the bottom end of the support rod (14). An emergency braking plate (20) is movably sleeved on the surface of the guiding rod (19). Resistance membranes (21) are fixedly installed on the surface of both ends of the adjusting plate (13). A fixed cavity box (22) is fixedly installed at the bottom end of the resistance membrane (21). A fixed sleeve (23) is fixedly installed inside the fixed cavity box (22). A resistance magnetic block (24) is movably installed in the middle of the inner cavity of the fixed sleeve (23). A driving motor (25) is fixedly sleeved in the middle of one side of the driving wheel (3); The adjusting plate (13) has magnetism, and the magnetism of the adjusting plate (13) is in a repulsive state with the magnetism shown after the adjusting electromagnet (18) is powered on. The adjusting plate (13) and the support rod (14) are movably connected by a hinge component, and the movable cross plate (12) and the lifting shaft (11) are also movably connected by a hinge.

2. The chassis of a bin AGV according to claim 1, characterized in that: The movable cross plate (12) is in a shape of a mountain, and the adjusting plate (13) is in a shape of a rectangle.

3. The chassis of a bin AGV according to claim 1, characterized in that: The regulating resistor assembly (15) is composed of multiple resistive elements, and the resistance values ​​of the resistive elements increase sequentially from top to bottom. Each resistive element in the regulating resistor assembly (15) has contacts mounted on both sides. The regulating power supply component (16) also has contacts fixedly mounted on its surface facing the regulating resistor assembly (15). The conductive component (17) also has contacts fixedly mounted on both sides. The shape, size, arrangement, and distance of the contacts of the regulating resistor assembly (15), regulating power supply component (16), and conductive component (17) are all compatible with each other. Furthermore, the arrangement and distance of the contacts among the regulating resistor assembly (15), regulating power supply component (16), and conductive component (17) satisfy the condition that when one of the contacts on both sides of the regulating resistor assembly (15) contacts the regulating power supply component (17), the contact can be positioned such that when one of the contacts on both sides of the regulating resistor assembly (15) contacts the regulating power supply component (16), the contact can be positioned such that when one of the contacts on both sides of the regulating resistor assembly (15) contacts the regulating power supply component (17), the contact can be positioned such that when one of the contacts on both sides of the regulating resistor assembly (15) contacts the regulating power supply component (17), the contact can be positioned such that when one of the contacts on both sides of the regulating power supply component ... When one of the contacts on the surface of the source component (16) and the conductor (17) touches each other, the other contacts are in a staggered state. One side of the conductor (17) has a wire outside the contact, and the other end of the wire is fixedly connected to the external switch contact of the regulating electromagnet (18). When the contacts of the regulating resistor assembly (15), the regulating power supply component (16) and the conductor (17) are in contact, the regulating resistor assembly (15), the regulating power supply component (16), the conductor (17) and the regulating electromagnet (18) are in a series circuit state. The initial position of the regulating resistor assembly (15) is above the horizontal position of the top surface of the regulating power supply component (16) and the conductor (17), that is, the initial regulating resistor assembly (15), the regulating power supply component (16) and the conductor (17) are not in contact.

4. The chassis of a bin AGV according to claim 1, characterized in that: The emergency brake plate (20) is semi-circular, and the curvature value of the emergency brake plate (20) is matched with the curvature value of the outer surface of the drive wheel (3). The outer surface of the emergency brake plate (20) is coated with magnetic paint, and the magnetism of the emergency brake plate (20) is in a repulsive state with the magnetism generated by the adjusting electromagnet (18) after it is energized. The inner surface of the emergency brake plate (20) is provided with a rough wear-resistant layer.

5. The chassis of a bin AGV according to claim 1, characterized in that: The resistance membrane (21) is rectangular and its surface is elastic. The fixing sleeve (23) is cylindrical and its inner wall surface is provided with a groove that matches the outer surface of the resistance magnetic block (24). The resistance magnetic block (24) is composed of two parts: the upper part is hemispherical and the lower part is cylindrical. The resistance magnetic block (24) is magnetic, and the magnetic properties of the bottom end of the resistance magnetic block (24) are repulsive to the magnetic properties displayed by the adjusting electromagnet (18) after it is energized. The surface of the resistance membrane (21) is not magnetically shielded, while the surfaces of the fixing cavity box (22) and the fixing sleeve (23) are magnetically shielded.

6. The chassis of a bin AGV according to claim 1, characterized in that: The movable horizontal plate (12), adjusting plate (13), adjusting resistor assembly (15), adjusting power supply component (16), conductive component (17), adjusting electromagnet (18), resistance membrane (21), fixed cavity box (22), fixed sleeve (23) and resistance magnetic block (24) are all symmetrically distributed from left to right. There are eight resistance membranes (21) in total, and they are evenly distributed on the left and right sides of the adjusting plate (13).

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