AGV Chassis, AGV, and Method for Adjusting Floating Amount

Abstract

This application relates to an AGV chassis, an AGV, and a method for adjusting the floating amount, belonging to the technical field of intelligent warehousing logistics. The AGV chassis includes a first vehicle body, a second vehicle body, and a limiting mechanism; the first vehicle body and the second vehicle body are hinged, and the hinge axis is parallel to the transverse direction of the AGV chassis; the limiting mechanism includes a limiting seat and a swing arm, the limiting seat is fixedly connected to the first vehicle body, the swing arm is fixedly connected to the second vehicle body, and the swing arm can rotate relative to the first vehicle body following the second vehicle body; the limiting seat is configured to limit and adjust the rotation amplitude of the swing arm. By using the AGV chassis provided in the embodiments of this application, the rotation amplitude of the swing arm can be adjusted through the limiting seat, so as to adjust the relative rotation amplitude of the first vehicle body and the second vehicle body to adapt to roads with different undulations.

Description

[0001] This application is a divisional application of a Chinese patent application with the application number 202110113852.1 and the invention title "AGV Chassis, AGV and Method for Adjusting Floating Amount", which was filed on January 27, 2021. Technical Field

[0002] This application relates to the field of intelligent warehousing and logistics technology, and particularly relates to an AGV chassis, an AGV and a method for adjusting the floating amount. Background Art

[0003] An Automated Guided Vehicle (AGV) refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a specified guidance path, and having safety protection and various transfer functions.

[0004] The AGV chassis of an AGV is required to have high stability and good road passing performance. However, it is generally difficult to achieve compatibility between the stability and road passing performance of the AGV chassis. An AGV chassis with high stability has poor road passing performance, while an AGV chassis with good road passing performance has poor stability.

[0005] Therefore, how to improve the road passing performance of the AGV chassis on the premise of ensuring the stability of the AGV chassis is a problem worthy of research. Summary of the Invention

[0006] Embodiments of this application provide an Automated Guided Vehicle (AGV) chassis, an AGV and a method for adjusting the floating amount, which can solve the technical problems existing in the related art. The technical solutions of the AGV chassis, the AGV and the method for adjusting the floating amount are as follows:

[0007] In a first aspect, an AGV chassis is provided. The AGV chassis includes a first vehicle body, a second vehicle body and a limiting mechanism;

[0008] The first vehicle body and the second vehicle body are hinged, and the hinge axis is parallel to the transverse direction of the AGV chassis;

[0009] The limiting mechanism includes a limiting seat and a swing arm. The limiting seat is fixedly connected to the first vehicle body, and the swing arm is fixedly connected to the second vehicle body. The swing arm can rotate relative to the first vehicle body following the second vehicle body;

[0010] The limiting seat is configured to limit and adjust the rotation amplitude of the swing arm.

[0011] In a possible implementation manner, the limiting seat includes a limiting base, a driving mechanism and a fork;

[0012] The limiting base has two limiting walls which are opposite to each other. One end of the swing arm is located between the two limiting walls, and this end of the swing arm can rotate within the rotation space defined by the two limiting walls.

[0013] The driving mechanism is in transmission connection with the fork. The driving mechanism is configured to drive the fork to extend into the rotation space defined by the two limiting walls, or drive the fork to retract from the rotation space defined by the two limiting walls.

[0014] In a possible implementation manner, the driving mechanism includes a base, an electromagnet and a return spring.

[0015] The base has a channel. The return spring is located inside the channel. The electromagnet is fixed at the first end of the channel, and the fork is located at the second end of the channel. One end of the return spring abuts against the fork, and the other end abuts against the electromagnet or the base.

[0016] When the electromagnet is energized, the electromagnet attracts the fork to retract from the rotation space defined by the two limiting walls. When the electromagnet is not energized, the return spring pushes the fork to extend into the rotation space defined by the two limiting walls.

[0017] In a possible implementation manner, the driving mechanism includes a driving motor, a lead screw and a nut.

[0018] The output shaft of the driving motor is in transmission connection with the lead screw. The nut is engaged with the lead screw, and the fork is fixedly connected to the nut.

[0019] When the driving motor rotates in the first direction, the nut drives the fork to extend into the rotation space defined by the two limiting walls. When the driving motor rotates in the second direction, the nut drives the fork to retract from the rotation space defined by the two limiting walls.

[0020] In a possible implementation manner, the fork includes a connecting member, a first limiting plate and a second limiting plate.

[0021] The connecting member is in transmission connection with the driving mechanism.

[0022] Both the first limiting plate and the second limiting plate are connected to the connecting member, and the first limiting plate and the second limiting plate are opposite to each other.

[0023] When the fork extends into the rotation space defined by the two limiting walls, the first limiting plate and the second limiting plate are located between the two limiting walls, and one end of the swing arm is located between the first limiting plate and the second limiting plate.

[0024] In a possible implementation, both the first limiting plate and the second limiting plate are fixedly connected to the connecting member.

[0025] In a possible implementation, the fork is a wedge-shaped fork. Both the first limiting plate and the second limiting plate are slidably connected to the connecting member, and the fork further includes an elastic member;

[0026] The distance between the two opposite sides of the first limiting plate and the second limiting plate gradually decreases along the insertion direction of the fork;

[0027] The elastic member is located between the first limiting plate and the second limiting plate, and both ends respectively abut against the first limiting plate and the second limiting plate;

[0028] During the process of the fork inserting between the two limiting walls, the two limiting walls respectively push the first limiting plate and the second limiting plate to move relatively. During the process of the fork retracting from between the two limiting walls, the elastic member respectively pushes the first limiting plate and the second limiting plate to move away from each other.

[0029] In a second aspect, another AGV chassis is provided. The AGV chassis includes a chassis main body and at least one floating wheel assembly;

[0030] The floating wheel assembly includes a wheel, a sliding arm, and at least one first limiting seat. The wheel is rotatably connected to the sliding arm;

[0031] The sliding arm is slidably connected to the chassis main body along the height direction, and the sliding arm can drive the wheel to slide up and down relative to the chassis main body;

[0032] The first limiting seat is fixedly connected to the chassis main body, and the first limiting seat is configured to limit and adjust the sliding amplitude of the sliding arm.

[0033] In a possible implementation, the wheel is rotatably connected to the middle part of the sliding arm, and each floating wheel assembly includes two first limiting seats;

[0034] The two first limiting seats are configured to respectively limit and adjust the sliding amplitudes of both ends of the sliding arm.

[0035] In a possible implementation, the first limiting seat includes a first limiting base, a first driving mechanism, and a first fork;

[0036] The first limiting base has a first limiting wall and a second limiting wall, the first limiting wall is located above the second limiting wall, one end of the sliding arm is located between the first limiting wall and the second limiting wall, and can slide in a sliding space defined by the first limiting wall and the second limiting wall;

[0037] The first driving mechanism is transmission-connected to the first shift fork, and the first driving mechanism is configured to drive the first shift fork to extend into the sliding space defined by the first limiting wall and the second limiting wall, or to drive the first shift fork to be retracted from the sliding space defined by the first limiting wall and the second limiting wall.

[0038] In a possible implementation, the first limit seat further includes a first elastic member;

[0039] The first elastic member is located between the first limiting wall and the sliding arm, and two ends of the first elastic member respectively support the first limiting wall and the sliding arm.

[0040] In a possible implementation, the first shift fork includes a first connecting member and a limiting plate;

[0041] The first connecting member is drivingly connected to the first driving mechanism;

[0042] The limiting plate is connected to the first connecting member;

[0043] When the first shift fork extends into the sliding space defined by the first limiting wall and the second limiting wall, the limiting plate is located between the first limiting wall and the second limiting wall, and one end of the sliding arm is located between the first limiting wall and the limiting plate.

[0044] In a possible implementation manner, the limiting plate is fixedly connected to the first connecting member.

[0045] In a possible implementation, the limiting plate is slidably connected to the first connecting member along the height direction of the AGV chassis, and the first shift fork further includes a second elastic member;

[0046] The height of the lower side surface of the limiting plate gradually increases along the extending direction of the first shift fork;

[0047] One end of the elastic member presses against the first connecting member, and the other end presses against the upper side of the limiting plate;

[0048] When the first shift fork extends between the first limiting wall and the second limiting wall, the second limiting wall pushes the limiting plate to slide upwards, and when the first shift fork is retracted from between the first limiting wall and the second limiting wall, the second elastic member pushes the limiting plate to slide downwards.

[0049] In a third aspect, an AGV is provided, and the AGV includes an AGV chassis as described in any one of the first aspect or the second aspect.

[0050] In a fourth aspect, a method for adjusting the floating amount of an AGV chassis is provided. The method is applied to the AGV chassis as described in any one of the first aspect, and the method includes:

[0051] Obtain the road surface undulation information in front of the AGV chassis;

[0052] Based on the road surface undulation information in front of the AGV chassis, control the limit seat to adjust the floating amount of the AGV chassis.

[0053] In a possible implementation manner, the obtaining the road surface undulation information in front of the AGV chassis includes:

[0054] Identify the road surface markings in front of the AGV chassis, and obtain the road surface undulation information stored in the road surface markings in front.

[0055] In a possible implementation manner, the obtaining the road surface undulation information in front of the AGV chassis includes:

[0056] Collect the road surface image in front of the AGV chassis;

[0057] Based on the road surface image in front of the AGV chassis, obtain the road surface undulation information in front of the AGV chassis.

[0058] In a possible implementation manner, the controlling the limit seat to adjust the floating amount of the AGV chassis based on the road surface undulation information in front of the AGV chassis includes:

[0059] When it is determined based on the road surface undulation information in front of the AGV chassis that the undulation degree of the front road surface does not match the current floating amount of the AGV chassis, control the driving mechanism to drive the fork to extend into the rotation space defined by the two limit walls, or drive the fork to retract from the rotation space defined by the two limit walls.

[0060] In a possible implementation manner, the controlling the limit seat to adjust the floating amount of the AGV chassis based on the road surface undulation information in front of the AGV chassis includes:

[0061] When it is determined based on the road surface undulation information in front of the AGV chassis that the undulation degree of the front road surface does not match the current floating amount of the AGV chassis, determine the target floating amount of the AGV chassis based on the undulation degree of the front road surface;

[0062] Based on the target floating amount of the AGV chassis, control the driving mechanism to drive the fork to extend or retract by a target length.

[0063] In a fifth aspect, a method for adjusting the floating amount of a wheel is provided. The method is applied to the AGV chassis according to any one of the second aspects. The method includes:

[0064] Obtain the road surface undulation information in front of the AGV chassis;

[0065] Based on the road surface undulation information in front of the AGV chassis, control the first limit seat to adjust the floating amount of the wheel.

[0066] In a possible implementation manner, the controlling the first limit seat to adjust the floating amount of the wheel based on the road surface undulation information in front of the AGV chassis includes:

[0067] When it is determined based on the road surface undulation information in front of the AGV chassis that the undulation degree of the road surface ahead does not match the current floating amount of the wheel, control the first driving mechanism to drive the first fork to extend into the sliding space defined by the first limit wall and the second limit wall, or drive the first fork to retract from the sliding space defined by the first limit wall and the second limit wall.

[0068] In a possible implementation manner, the controlling the first limit seat to adjust the floating amount of the wheel based on the road surface undulation information in front of the AGV chassis includes:

[0069] When it is determined based on the road surface undulation information in front of the AGV chassis that the undulation degree of the road surface ahead does not match the current floating amount of the wheel, determine the target floating amount of the wheel based on the undulation degree of the road surface ahead;

[0070] Based on the target floating amount of the wheel, control the first driving mechanism to drive the first fork to extend or retract by a target length.

[0071] The technical solutions provided by the embodiments of the present application at least include the following beneficial effects:

[0072] The embodiments of the present application provide an AGV chassis, which includes a first vehicle body and a second vehicle body that are hinged to each other, and a limiting mechanism. The limiting mechanism includes a limit seat and a swing arm. The limit seat is fixed on the first vehicle body, and the swing arm is fixed on the second vehicle body. When the second vehicle body rotates relative to the first vehicle body, the swing arm will rotate following the second vehicle body. Since the swing arm is fixedly connected to the second vehicle body, the rotation range of the swing arm can be restricted by the limit seat to restrict the relative rotation range of the first vehicle body and the second vehicle body. Moreover, the relative rotation range of the first vehicle body and the second vehicle body can be adjusted by adjusting the rotation range of the swing arm through the limit seat.

[0073] In this way, when the undulation degree of the road surface on which the AGV chassis travels is small, the rotation amplitude of the swing arm can be adjusted to a small value through the limit seat, so that the relative rotation amplitude between the first vehicle body and the second vehicle body is small, improving the stability of the AGV chassis. When the undulation degree of the road surface on which the AGV chassis travels is large, the rotation amplitude of the swing arm can be adjusted to a large value through the limit seat, so that the relative rotation amplitude between the first vehicle body and the second vehicle body is large, improving the road passing performance of the AGV chassis.

[0074] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with this application and used together with the specification to explain the principles of this application. In the drawings:

[0076] Figure 1 is a schematic structural diagram of an AGV chassis shown in an embodiment of this application;

[0077] Figure 2 is a schematic structural diagram of an AGV chassis shown in an embodiment of this application;

[0078] Figure 3 is a schematic structural diagram of a limiting mechanism shown in an embodiment of this application;

[0079] Figure 4 is a schematic structural diagram of another limiting mechanism shown in an embodiment of this application;

[0080] Figure 5 is a schematic structural diagram of a limiting base shown in an embodiment of this application;

[0081] Figure 6 is a schematic diagram of a driving structure and a fork shown in an embodiment of this application;

[0082] Figure 7 is a schematic structural diagram of a driving structure and a fork shown in an embodiment of this application;

[0083] Figure 8 is a schematic structural diagram of another driving mechanism and a fork shown in an embodiment of this application;

[0084] Figure 9 is a schematic structural diagram of a fork shown in an embodiment of this application;

[0085] Figure 10 is a schematic structural diagram of another fork shown in an embodiment of this application;

[0086] Figure 11 It is a schematic diagram of an AGV chassis on a slightly undulating road surface shown in an embodiment of the present application;

[0087] Figure 12 It is a schematic diagram of an AGV chassis on a large undulating road surface shown in an embodiment of the present application;

[0088] Figure 13 It is a schematic structural diagram of another AGV chassis shown in an embodiment of the present application;

[0089] Figure 14 It is a schematic structural diagram of a first fork shown in an embodiment of the present application;

[0090] Figure 15 It is a method for adjusting the floating amount of an AGV chassis shown in an embodiment of the present application;

[0091] Figure 16 It is a method for adjusting the floating amount of a wheel shown in an embodiment of the present application.

[0092] Legend Explanation

[0093] 1. First vehicle body, 11. First vehicle frame, 12. Driving wheel assembly, 13. First caster, 14. Sensor component, 15. Controller;

[0094] 2. Second vehicle body, 21. Second vehicle frame, 22. Second caster, 23. Driving wheel controller, 24. Battery;

[0095] 3. Limiting mechanism, 31. Limiting seat, 311a. Limiting boss, 311b. Limiting screw, 311. Limiting base, 3111. Limiting wall, 312. Driving mechanism, 3121a. Base main body, 3121b. End baffle, 3121. Base, 31211. Channel, 3122a. Static iron core, 3122b. Electromagnetic coil, 3122. Electromagnet, 3123. Return spring, 3124. Driving motor, 3125. Lead screw, 3126. Nut, 313. Fork, 3131. Connecting piece, 31311. Connecting rod, 31312. Connecting plate, 31313. Elastic piece, 3132. First limiting plate, 3133. Second limiting plate, 32. Swing arm;

[0096] 01. Chassis main body, 011. Slide rail;

[0097] 02. Floating wheel assembly, 021. Wheel, 022. Sliding arm, 023. First limit seat, 231. First limit base, 2311. First limit wall, 2312. Second limit wall, 232. First drive mechanism, 233. First fork, 2331. First connecting member, 23311. First connecting rod, 23312. First connecting plate, 2332. Limit plate, 2333. Second elastic member.

[0098] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and more detailed descriptions will be provided hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0099] To make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0100] The embodiment of the present application provides a chassis of an Automated Guided Vehicle (AGV), as Figure 1 shown. The AGV chassis includes a first vehicle body 1, a second vehicle body 2 and a limit mechanism 3. The first vehicle body 1 and the second vehicle body 2 are hinged, and the hinge axis is parallel to the transverse direction of the AGV chassis. The limit mechanism 3 includes a limit seat 31 and a swing arm 32. The limit seat 31 is fixedly connected to the first vehicle body 1, and the swing arm 32 is fixedly connected to the second vehicle body 2. The swing arm 32 can rotate relative to the first vehicle body 1 following the second vehicle body 2. The limit seat 31 is configured to limit and adjust the rotation amplitude of the swing arm 32.

[0101] Among them, the first vehicle body 1 includes a first vehicle frame 11 and various accessories located on the first vehicle frame 11. The first vehicle body 1 can be a front vehicle body. Exemplarily, such as Figure 1 and Figure 2As shown in the figure, the first vehicle body 1 includes a first vehicle frame 11, a drive wheel assembly 12, a first caster 13, a sensor 14, and a controller 15. The drive wheel assembly 12 is located on the side of the first vehicle frame 11 close to the second vehicle body 2 (i.e., in the middle part of the entire AGV chassis), and includes a left drive wheel assembly and a right drive force assembly, which are used to drive the chassis to move. The first caster 13 is a driven wheel and is located on the bottom side of the first vehicle frame 11. The sensor 14 is located at a position on the first vehicle frame 11 far from the second vehicle body 2 and is used for navigation and obstacle avoidance. It can obtain the road surface information in front of the AGV chassis and transmit the obtained road surface information to the controller 15. The sensor 14 can be a simultaneous localization and mapping (slam) laser sensor, or a vision camera, but is not limited thereto. The controller 15 is used for the system control of the AGV chassis.

[0102] The second vehicle body 2 includes a second vehicle frame 21 and various accessories located on the second vehicle frame 12. The second vehicle body 2 can be the rear vehicle body. Exemplarily, as Figure 1 and Figure 2 shown in the figure, the second vehicle body 2 includes a second vehicle frame 21, a second caster 22, a drive wheel controller 23, and a battery 24. The second caster 22 is a driven wheel and is located on the bottom side of the second vehicle frame 21. The drive wheel controller 23 is used to control the drive wheel assembly 12, and includes a left drive wheel controller for controlling the left drive wheel assembly and a right drive wheel controller for controlling the right drive wheel assembly. The battery 24 is used to provide power for the entire AGV chassis and can be a lithium battery, but is not limited thereto. There can be two batteries 24, and their positions correspond to the left drive wheel controller and the right drive wheel controller respectively.

[0103] The first vehicle frame 11 and the second vehicle frame 21 are connected in a hinged manner, and a pin shaft is passed through each of the middle sides on both sides, so that the first vehicle frame 11 and the second vehicle frame 12 can rotate around the pin shaft. The controller 15 is electrically connected to the sensor 14 and the drive wheel controller 23 respectively to obtain the data detected by the sensor 14 and issue instructions to the drive wheel controller 23. The drive wheel controller 23 is electrically connected to the drive wheel assembly 12 to issue instructions to the drive wheel assembly 12. The battery 24 is electrically connected to the drive wheel assembly 12, the sensor 14, the controller 15, and the drive wheel controller 23 to supply power to them.

[0104] The limiting mechanism 3 includes a limiting seat 31 and a swing arm 32. The limiting seat 31 is fixedly connected to the first vehicle frame 11 of the first vehicle body 1, and the swing arm 32 is fixedly connected to the second vehicle frame 21 of the second vehicle body 2. During the relative rotation of the first vehicle body 1 and the second vehicle body 2, the swing arm 32 will rotate following the second vehicle body 2. Since the swing arm 32 is fixedly connected to the second vehicle body 12, the limiting seat 31 can limit the relative rotation amplitude of the second vehicle body 2 and the first vehicle body 1 by restricting the rotation amplitude of the swing arm 32, and can adjust the relative rotation amplitude of the second vehicle body 2 and the first vehicle body 1 by adjusting the rotation amplitude of the swing arm 32, that is, adjust the floating amount of the AGV chassis.

[0105] The embodiment of the present application provides an AGV chassis, which includes a first vehicle body 1 and a second vehicle body 2 that are hinged to each other, and a limiting mechanism 3. The limiting mechanism includes a limiting seat 31 and a swing arm 32. The limiting seat 31 is fixed on the first vehicle body 1, and the swing arm 32 is fixed on the second vehicle body 2. When the second vehicle body 2 rotates relative to the first vehicle body 1, the swing arm 32 will rotate following the second vehicle body. Since the swing arm 32 is fixedly connected to the second vehicle body 2, the relative rotation amplitude of the first vehicle body 1 and the second vehicle body 2 can be restricted by restricting the rotation amplitude of the swing arm 32 through the limiting seat 31. And the rotation amplitude of the swing arm 32 can be adjusted through the limiting seat 31.

[0106] In this way, when the undulation degree of the road surface where the AGV chassis travels is small, the rotation amplitude of the swing arm 32 can be adjusted to a small value through the limiting seat 31, so that the relative rotation amplitude of the first vehicle body 1 and the second vehicle body 2 is small, and the stability of the AGV chassis is improved. When the undulation degree of the road surface where the AGV chassis travels is large, the rotation amplitude of the swing arm 32 can be adjusted to a large value through the limiting seat 31, so that the relative rotation amplitude of the first vehicle body 1 and the second vehicle body 2 is large, and the road passing performance of the AGV chassis is improved. It can be seen that the road passing performance and stability of the AGV chassis provided by the embodiment of the present application are not fixed, but can be dynamically adjusted, so that the AGV chassis can choose to give priority to ensuring the stability or road passing performance of the AGV chassis according to the actual situation.

[0107] The embodiment of the present application does not limit the implementation manner of the limiting seat 31 to adjust the rotation amplitude of the swing arm 32. The following provides a possible implementation manner of the limiting seat 31:

[0108] As Figure 3 and Figure 4 shown, the limiting seat 31 includes a limiting base 311, a driving mechanism 312 and a fork 313.

[0109] The limit base 31 has two limit walls 3111 which face each other. One end of the swing arm 32 is located between the two limit walls 3111, and this end of the swing arm 32 can rotate within the rotation space defined by the two limit walls 3111. The distance between the two limit walls 3111 of the limit base 311 is fixed, and the rotation amplitude of the swing arm 32 defined by the limit base 311 is the maximum rotation amplitude of the swing arm 32, corresponding to the maximum floating amount of the AGV chassis.

[0110] The embodiments of the present application do not limit the specific implementation form of the limit base 311. Exemplarily, as Figure 5 shown, the limit base 311 may include a limit boss 311a and a limit screw 311b. The limit boss 311a is fixed on the first vehicle frame 11, the limit screw 311b is threadedly connected to the limit boss 311a, and the limit screw 311b is perpendicular to the first vehicle frame 11. One limit wall 3111 is the side wall of the limit screw 311b facing the limit boss 311a, and the other limit wall 3111 is the side wall of the limit boss 311a facing the limit screw 311b.

[0111] The swing arm 32 is restricted between the limit screw 311b and the limit boss 311a. And, to avoid interference with the limit screw 311b, the side of the swing arm 32 facing the limit screw 311b has a notch, and the limit screw 311b passes through this notch.

[0112] As Figure 6 shown, the drive mechanism 312 is in transmission connection with the fork 313. The drive mechanism 312 is configured to drive the fork 313 to extend into the rotation space defined by the two limit walls 3111, or drive the fork 313 to retract from the rotation space defined by the two limit walls 3111.

[0113] When the fork 313 extends into the rotation space defined by the two limit walls 3111, the fork 313 further limits the swing arm 32, and the rotation amplitude of the swing arm 32 decreases, so that the floating amount of the AGV chassis is reduced and the stability of the AGV chassis is relatively high. When the fork 313 does not extend into the rotation space defined by the two limit walls 3111, the swing arm 32 can move arbitrarily between the two limit walls 3111, and the floating amount of the AGV chassis is the largest, and the road surface passing performance is better.

[0114] It can be understood that under normal circumstances, in order to ensure the stability of the AGV chassis, the drive mechanism 312 should control the fork 313 to remain in the extended state, so as to further limit the rotation amplitude of the swing arm 32 and reduce the floating amount of the AGV chassis. When the AGV chassis needs to pass through a road surface with a large degree of undulation, the drive mechanism 312 can control the fork 313 to retract to increase the floating amount of the AGV chassis.

[0115] Next, a more detailed exemplary description will be given to the driving mechanism 312 and the fork 313 respectively:

[0116] As Figure 7 shown, the driving mechanism 312 includes a base 3121, an electromagnet 3122 and a return spring 3123. The base 3121 has a channel 31211. The return spring 3123 is located inside the channel 31211. The electromagnet 3122 is fixed at the first end of the channel 31211. The fork 313 is located at the second end of the channel 31211. One end of the return spring 3123 abuts against the fork 313, and the other end abuts against the electromagnet 3122 or the base 3121.

[0117] When the electromagnet 3122 is energized, the electromagnet 3122 attracts the fork 313 to retract from the rotation space defined by the two limiting walls 3111. When the electromagnet 3122 is de-energized, the return spring 3123 pushes the fork 313 into the rotation space defined by the two limiting walls 3111.

[0118] Among them, the driving mechanism 312 of the above type can also be called an electromagnetic switch, and the fork 313 is equivalent to the moving iron core in the electromagnetic switch.

[0119] Exemplarily, as Figure 7 shown, the base 3121 may include a base main body 3121a and an end baffle 3121b. The end baffle 3121b is fixed at the second end of the channel 31211 to prevent the fork 313 from detaching from the channel 31211. The electromagnet 3122 may include a static iron core 3122a and an electromagnetic coil 3122b. The electromagnetic coil 3122b is wound around the static iron core 3122a. The return spring 3123 is sleeved on the fork 313. The fork 313 has a ring-shaped protrusion. One end of the return spring 3123 abuts against the ring-shaped protrusion, and the other end abuts against the electromagnet 3122.

[0120] When the road surface undulation is small, the electromagnet 3122 is de-energized. Under the elastic force of the return spring 3123, the fork 313 extends into the rotation space defined by the two limiting walls 3111. The rotation amplitude of the swing arm 32 is small, and the stability of the AGV chassis is good. When the road surface undulation is large, the electromagnet 3122 is energized. The electromagnet 3122 attracts the fork 313 to overcome the elastic force of the return spring 3123 and retracts from the rotation space defined by the two limiting walls 3111. The rotation amplitude of the swing arm 32 is large, and the road surface passing performance of the AGV chassis is good.

[0121] In addition, the driving mechanism 312 can also adopt other forms, such as Figure 8As shown, the drive mechanism 312 may include a drive motor 3124, a lead screw 3125, and a nut 3126. The output shaft of the drive motor 3124 is in transmission connection with the lead screw 3125. The nut 3126 cooperates with the lead screw 3125, and the fork 313 is fixedly connected to the nut 3126.

[0122] When the drive motor 3124 rotates in the first direction, the nut 3126 drives the fork 313 to extend into the rotation space defined by the two limit walls 3111. When the drive motor 3124 rotates in the second direction, the nut 3126 drives the fork 313 to retract from the rotation space defined by the two limit walls 3111.

[0123] Figure 8 The drive mechanism 312 shown may also be referred to as a lead screw and nut drive mechanism. Using the lead screw and nut principle, it can achieve any length for the fork 313 to extend between the two limit walls (3111).

[0124] As Figure 9 and Figure 10 shown, the fork 313 includes a connecting member 3131, a first limit plate 3132, and a second limit plate 3133. The connecting member 3131 is in transmission connection with the drive mechanism 312. Both the first limit plate 3132 and the second limit plate 3133 are connected to the connecting member 3131, and the first limit plate 3132 and the second limit plate 3133 are opposite to each other. When the fork 313 extends into the rotation space defined by the two limit walls 3111, the first limit plate 3132 and the second limit plate 3133 are located between the two limit walls 3111, and one end of the swing arm 32 is located between the first limit plate 3132 and the second limit plate 3133.

[0125] When the fork 313 extends into the rotation space defined by the two limit walls 3111, the first limit plate 3132 and the second limit plate 3133 can respectively contact the two limit walls 3111 of the limit base 311, thereby making the first limit plate 3132 and the second limit plate 3133 more stable. When the swing arm 32 collides with the first limit plate 3132 and the second limit plate 3133, the collision force can be transmitted to the limit base 311.

[0126] In addition, the thicknesses of the first limit plate 3132 and the second limit plate 3133 may be equal, so that the rotation amplitudes of the first vehicle body 1 and the second vehicle body 2 in two directions are equal.

[0127] As Figure 9 shown, both the first limit plate 3132 and the second limit plate 3133 may be fixedly connected to the connecting member 3131.

[0128] Exemplarily, the connecting member 3131 may include a connecting rod 31311 and a connecting plate 31312. The connecting rod 31311 is in transmission connection with the driving mechanism 312. The connecting rod 31311 is connected to the connecting plate 31312, and the connecting rod 31311 is perpendicular to the connecting plate 31312. The first limiting plate 3132 and the second limiting plate 3133 are fixed on opposite sides of the connecting plate 31312, and both are perpendicular to the connecting plate 31312.

[0129] In addition, the fork 313 may also adopt other forms, such as Figure 10 As shown, the fork 313 is a wedge-shaped fork. The first limiting plate 3132 and the second limiting plate 3133 are both slidably connected to the connecting member 3131. The fork 313 further includes an elastic member 3134. The distance between the opposite sides of the first limiting plate 3132 and the second limiting plate 3133 gradually decreases along the extending direction of the fork 313. The elastic member 3134 is located between the first limiting plate 3132 and the second limiting plate 3133, and both ends respectively abut against the first limiting plate 3132 and the second limiting plate 3133. During the process of the fork 313 extending between the two limiting walls 3111, the two limiting walls 3111 respectively push the first limiting plate 3132 and the second limiting plate 3133 to move relatively. During the process of the fork 313 retracting from between the two limiting walls 3111, the elastic member 3134 respectively pushes the first limiting plate 3132 and the second limiting plate 3133 to move away from each other.

[0130] Exemplarily, the connecting member 3131 includes a connecting rod 31311 and a connecting plate 31312. The connecting rod 31311 is in transmission connection with the driving mechanism 312. The connecting rod 31311 is connected to the connecting plate 31312, and the connecting rod 31311 is perpendicular to the connecting plate 31312. The connecting plate 31312 has two receiving grooves. The end portions of the first limiting plate 3132 and the second limiting plate 3133 are respectively located in the two receiving grooves. Each receiving groove has a pin shaft. The first limiting plate 3132 and the second limiting plate 3133 are slidably connected to the connecting plate 31312 through the pin shafts. There are two elastic members 3134, which are two springs respectively. The two springs are respectively sleeved on the two pin shafts, and one end of the spring abuts against the first limiting plate 3132 or the second limiting plate 3133, and the other end abuts against the side wall of the receiving groove.

[0131] Figure 10 The distance between the first limiting plate 3132 and the second limiting plate 3133 of the shown fork 313 is adjustable. Refer to Figure 3 As shown, the lengths of the fork 313 extending between the two limiting walls 3111 are different, and the distances between the first limiting plate 3132 and the second limiting plate 3133 are also different. That is, Figure 10The shift fork 313 shown can achieve linear adjustment of the rotation amplitude of the swing arm 32, and can linearly adjust the relative rotation amplitude of the first vehicle body 1 and the second vehicle body 2 (or the floating amount of the AGV chassis) within a certain range.

[0132] As Figure 11 shown, it is a schematic diagram of an AGV chassis passing through a small undulating road surface shown in an embodiment of the present application; as Figure 12 shown, it is a schematic diagram of an AGV chassis passing through a large undulating road surface shown in an embodiment of the present application.

[0133] The embodiment of the present application also provides another AGV chassis. As Figure 13 shown, the AGV chassis includes a chassis main body 01 and at least one floating wheel assembly 02. The floating wheel assembly 02 includes a wheel 021, a sliding arm 022, and at least one first limit seat 023. The wheel 021 is rotatably connected to the sliding arm 022. The sliding arm 022 is slidably connected to the chassis main body 01 along the height direction, and the sliding arm 022 can drive the wheel 021 to slide up and down relative to the chassis main body 01. The first limit seat 023 is fixedly connected to the chassis main body 01, and the first limit seat 023 is configured to limit and adjust the sliding amplitude of the sliding arm 022.

[0134] Among them, the AGV chassis main body 01 is the part of the AGV chassis except the floating wheel assembly 02, and may include a frame and various accessories arranged on the frame. The AGV chassis main body 01 is provided with two slide rails 011 along the height direction, and realizes the sliding connection with the sliding arm 022 through the slide rails 011.

[0135] The floating wheel assembly 02 includes a wheel 021, a sliding arm 022, and a first limit seat 023. The first limit seat 023 is fixedly connected to the chassis main body 01, the sliding arm 022 is slidably connected to the chassis main body 01, and the wheel 021 is rotatably connected to the sliding arm 022. During the sliding process of the sliding arm 022, the wheel 021 will slide up and down following the sliding arm 022. The first limit seat 023 can limit the floating amount of the wheel 021 by limiting the sliding amplitude of the sliding arm 022, and can adjust the floating amount of the wheel 021 by adjusting the sliding amplitude of the sliding arm 022. The wheel 021 can be a driving wheel of the AGV chassis. The embodiment of the present application does not limit the number of floating wheel assemblies 02 included in the AGV chassis. Exemplarily, the floating wheel assembly 02 is two, and is respectively located on both sides of the AGV chassis main body 01.

[0136] In the solution shown in the embodiments of the present application, when the undulation degree of the road surface on which the AGV chassis travels is small, the sliding amplitude of the sliding arm 022 can be adjusted to a small value through the first limit seat 023, so that the floating amount of the wheel 021 is small, and the stability of the AGV chassis is improved. When the undulation degree of the road surface on which the AGV chassis travels is large, the rotation amplitude of the sliding arm 022 can be adjusted to a large value through the first limit seat 023, so that the floating amount of the wheel 021 is large, and the road passing performance of the AGV chassis is improved.

[0137] It can be seen that the road passing performance and stability of the AGV chassis provided by the embodiments of the present application are not fixed, but can be dynamically adjusted, so that the AGV chassis can select to give priority to ensuring the stability or road passing performance of the AGV chassis according to the actual situation.

[0138] As Figure 13 shown, the wheel 021 is rotatably connected to the middle part of the sliding arm 022, and each floating wheel assembly 2 includes two first limit seats 023. The two first limit seats 023 are configured to respectively limit and adjust the sliding amplitude of both ends of the sliding arm 022. Thus, the sliding of the sliding arm 022 is smoother and more stable.

[0139] The embodiments of the present application do not limit the implementation manner of the first limit seat 023 for adjusting the sliding amplitude of the sliding arm 022. The following provides a possible implementation manner of the first limit seat 023.

[0140] As Figure 13 shown, the first limit seat 023 includes a first limit base 231, a first driving mechanism 232 and a first fork 233. The first limit base 231 has a first limit wall 2311 and a second limit wall 2312. The first limit wall 2311 is located above the second limit wall 2312. One end of the sliding arm 022 is located between the first limit wall 2311 and the second limit wall 2312 and can slide within the sliding space defined by the first limit wall 2311 and the second limit wall 2312. The distance between the first limit wall 2311 and the second limit wall 2312 of the first limit base 231 is fixed, and the sliding amplitude of the sliding arm 022 defined by the first limit base 231 is the maximum sliding amplitude of the sliding arm 022, corresponding to the maximum floating amount of the wheel 021.

[0141] The first driving mechanism 232 is in transmission connection with the first fork 233. The first driving mechanism 232 is configured to drive the first fork 233 to extend into the sliding space defined by the first limit wall 2311 and the second limit wall 2312, or drive the first fork 233 to retract from the sliding space defined by the first limit wall 2311 and the second limit wall 2312.

[0142] When the first fork 233 extends into the sliding space defined by the first limiting wall 2311 and the second limiting wall 2312, the first fork 233 further limits the sliding arm 022, reducing the sliding amplitude of the sliding arm 022, thereby reducing the floating amount of the wheel 021 and increasing the stability of the AGV chassis. When the first fork 233 does not extend into the sliding space defined by the first limiting wall 2311 and the second limiting wall 2312, the sliding arm 022 can slide freely between the first limiting wall 2311 and the second limiting wall 2312, and the floating amount of the wheel 021 is the largest, with better road passing performance.

[0143] It can be understood that under normal circumstances, to ensure the stability of the AGV chassis, the first driving mechanism 232 should control the first fork 233 to remain in the extended state, thereby further limiting the sliding amplitude of the sliding arm 022 and improving the stability of the AGV chassis. When the AGV chassis needs to pass through a road surface with a large degree of undulation, the first driving mechanism 232 can control the first fork 233 to retract, improving the road passing performance of the AGV chassis.

[0144] In addition, to avoid rigid collision between the sliding arm 022 and the first limiting wall 2311, as Figure 13 shown, the first limiting seat 023 further includes a first elastic member 234. The first elastic member 234 is located between the first limiting wall 2311 and the sliding arm 022, and its two ends respectively abut against the first limiting wall 2311 and the sliding arm 022.

[0145] Next, the first driving mechanism 232 and the first fork 233 will be described by way of example respectively:

[0146] The driving principle of the first driving mechanism 232 can be the same as that of the above-mentioned driving mechanism 312, and the specific structure of the first driving mechanism 232 can refer to the specific structure of the above-mentioned driving mechanism 312, which will not be elaborated here.

[0147] The limiting principle of the first fork 233 can be the same as that of the above-mentioned fork 313, and the specific structure of the first fork 233 can refer to the specific structure of the above-mentioned fork 313. The difference between the first fork 233 and the fork 313 is that the first fork 233 may only include one limiting plate.

[0148] As Figure 14As shown, the first fork 233 includes a first connecting member 2331 and a limiting plate 2332. The first connecting member 2331 is in transmission connection with the first driving mechanism 232. The limiting plate 2332 is connected to the first connecting member 2331. When the first fork 233 extends into the sliding space defined by the first limiting wall 2311 and the second limiting wall 2312, the limiting plate 2332 is located between the first limiting wall 2311 and the second limiting wall 2312, and one end of the sliding arm 022 is located between the first limiting wall 2311 and the limiting plate 2332.

[0149] When the first fork 233 extends into the sliding space defined by the first limiting wall 2311 and the second limiting wall 2312, the limiting plate 2332 can contact the second limiting wall 2312, so that the limiting plate 2332 is more stable. When the sliding arm 022 collides with the limiting plate 2332, the collision force can be transmitted to the first limiting base 231.

[0150] In a possible implementation manner, the limiting plate 2332 can be fixedly connected to the first connecting member 2331.

[0151] In another possible implementation manner, as Figure 14 shown, the limiting plate 2332 is slidably connected to the first connecting member 2331 along the height direction of the AGV chassis. The first fork 233 further includes a second elastic member 2333. The height of the lower side surface of the limiting plate 2332 gradually increases along the extending direction of the first fork 233. One end of the elastic member 2333 abuts against the first connecting member 2331, and the other end abuts against the upper side surface of the limiting plate 2332. During the process of the first fork 233 extending between the first limiting wall 2311 and the second limiting wall 2312, the second limiting wall 2312 pushes the limiting plate 2332 to slide upward. During the process of the first fork 233 retracting from between the first limiting wall 2311 and the second limiting wall 2312, the second elastic member 2333 pushes the limiting plate 2332 to slide downward.

[0152] Exemplarily, the first connecting member 2331 includes a first connecting rod 23311 and a first connecting plate 23312. The first connecting rod 23311 is in transmission connection with the first driving mechanism 232. The first connecting rod 23311 is connected to the first connecting plate 23312, and the first connecting rod 23311 is perpendicular to the first connecting plate 23312. The first connecting plate 23312 has a receiving groove, and the end portion of the limiting plate 2332 is located in the receiving groove. The receiving groove has a pin shaft, and the limiting plate 2332 is slidably connected to the first connecting plate 23312 through the pin shaft. The elastic member 2333 is a spring, and the spring is sleeved on the pin shaft, and one end of the spring abuts tightly against the limiting plate 2332, and the other end abuts tightly against the side wall of the receiving groove.

[0153] Figure 14The height of the limit plate 2332 of the first fork 233 shown is adjustable, and the lengths of the first fork 233 extending between the first limit wall 2311 and the second limit wall 2312 are different, and the heights of the limit plate 2332 are also different. Therefore, the first fork 233 can linearly adjust the sliding amplitude of the sliding arm 022 and can linearly adjust the floating amount of the wheel 021 within a range.

[0154] The embodiment of the present application also provides an AGV, and the AGV includes the AGV chassis provided by the embodiment of the present application.

[0155] The embodiment of the present application also provides a method for adjusting the floating amount of the AGV chassis, and this method is applied to the AGV chassis as shown in Figure 1 Specifically, it can be applied to the controller 15 of the AGV chassis.

[0156] As shown in Figure 15 shown below, the processing flow of this method will be described in detail in combination with specific implementation manners, and the content can be as follows:

[0157] Step 1501, obtain the road surface undulation information in front of the AGV chassis.

[0158] Among them, the road surface undulation information can be a quantization value of the road surface undulation degree, but is not limited thereto.

[0159] In the solution shown in the embodiment of the present application, when obtaining the road surface undulation information in front of the AGV chassis, according to the type of sensors equipped on the AGV chassis and the different application environments of the AGV chassis, the specific obtaining process of the road surface undulation information is also different.

[0160] Exemplarily, when there are road surface markings arranged on the driving path of the AGV chassis and the road surface markings store road surface undulation information, the AGV chassis can obtain the road surface undulation information stored in the front road surface markings by identifying the front road surface markings.

[0161] The embodiment of the present application does not limit the form of the road surface undulation information stored in the road surface markings. Exemplarily, the road surface undulation information stored in the road surface markings can be a certain value representing the road surface undulation degree, or an instruction to extend the fork 313 or retract the fork 313, or an instruction to control the fork 313 to maintain a certain extended length, etc.

[0162] In addition, the sensor for identifying the road surface markings in the embodiment of the present application can be any sensor capable of identifying trigger information. For example, it can be a slam laser sensor, but is not limited thereto.

[0163] Exemplarily, when the AGV chassis is equipped with a vision camera, the AGV chassis can also collect the road surface image in front through the vision camera, and then obtain the road surface undulation information in front of the AGV chassis based on the road surface image in front of the AGV chassis.

[0164] The embodiments of the present application do not limit the specific implementation manner of obtaining the road surface undulation information based on the road surface image. For example, the vision camera can be a depth camera, and each pixel point in the road surface image captured by the depth camera corresponds to a distance value. Then, the road surface undulation information in front of the AGV chassis can be determined according to the distance values of each pixel point in the road surface image.

[0165] Step 1502: Based on the road surface undulation information in front of the AGV chassis, control the limit seat 31 to adjust the floating amount of the AGV chassis.

[0166] Wherein, the floating amount of the AGV chassis is used to represent the relative rotation amplitude of the first vehicle body 1 and the second vehicle body 2. The larger the relative rotation amplitude of the first vehicle body 1 and the second vehicle body 2, the larger the floating amount of the AGV chassis, and the better the road surface passing performance of the AGV chassis; the smaller the relative rotation amplitude of the first vehicle body 1 and the second vehicle body 2, the smaller the floating amount of the AGV chassis, and the better the stability of the AGV chassis.

[0167] In the solution shown in the embodiments of the present application, the limit seat 31 may include a limit base 311, a driving mechanism 312, and a fork 313.

[0168] When it is determined based on the road surface undulation information in front of the AGV chassis that the road surface undulation degree in front matches the current floating amount of the AGV chassis, the driving mechanism 312 can be controlled to maintain the current state.

[0169] When it is determined based on the road surface undulation information in front of the AGV chassis that the road surface undulation degree in front does not match the current floating amount of the AGV chassis, it is necessary to control the driving mechanism 312 to drive the fork 313 to perform an extending or retracting action to adjust the floating amount of the AGV chassis to match the road surface undulation degree in front.

[0170] Exemplarily, the fork 313 may only have an extended state and a retracted state. For example, the driving mechanism 312 is an electromagnetic switch type driving mechanism. In this case, when it is detected that the current floating amount of the AGV chassis is not sufficient to pass the road surface in front and the fork 313 is in the extended state, the driving mechanism 312 is controlled to drive the fork 313 to retract from the rotation space defined by the two limit walls 3111, so as to increase the floating amount of the AGV chassis. And when it is detected that the current floating amount of the AGV chassis is large and the fork 313 is in the retracted state, the driving mechanism 312 is controlled to drive the fork 313 to extend into the rotation space defined by the two limit walls 3111, so as to improve the stability of the AGV chassis.

[0171] Exemplarily, the fork 313 can extend to any length within a range. For example, the driving mechanism 312 is a lead screw nut type driving mechanism, and the fork 312 is a wedge-shaped fork. In this case, first, based on the undulation degree of the road surface ahead, the target floating amount of the AGV chassis is determined. Then, based on the target floating amount of the AGV chassis, the driving mechanism 312 is controlled to drive the fork 313 to extend or retract to the target length.

[0172] During the process of the driving mechanism 312 driving the fork 313 to extend to the target length, the two limiting walls 3111 respectively push the first limiting plate 3132 and the second limiting plate 3133 to compress the elastic member 3134 and move inward. The distance between the first limiting plate 3132 and the second limiting plate 3133 gradually decreases, the rotation amplitude of the swing arm 32 gradually becomes smaller, the floating amount of the AGV chassis gradually decreases, and the stability gradually improves.

[0173] During the process of the driving mechanism 312 driving the fork 313 to retract to the target length, the elastic member 3134 pushes the first limiting plate 3132 and the second limiting plate 3133 to move away from each other. The distance between the first limiting plate 3132 and the second limiting plate 3132 gradually becomes larger, the rotation amplitude of the swing arm 32 gradually becomes larger, the floating amount of the AGV chassis gradually increases, and the road surface passing performance also gradually improves.

[0174] It should be noted that when the fork 312 is a wedge-shaped fork, the floating amount of the AGV chassis can be linearly adjusted within a range.

[0175] The embodiment of the present application also provides a method for adjusting the floating amount of the wheels. This method is applied to an AGV chassis as shown in Figure 13 and specifically can be applied to the controller of the AGV chassis.

[0176] As shown in Figure 16 , the processing flow of this method will be described in detail below in combination with specific embodiments, and the content can be as follows:

[0177] Step 1601, obtain the road surface undulation information in front of the AGV chassis.

[0178] For the process of obtaining the road surface undulation information in front of the AGV chassis, reference can be made to the content in step 1501 above, which will not be elaborated here.

[0179] Step 1602, based on the road surface undulation information in front of the AGV chassis, control the first limiting seat 023 to adjust the floating amount of the wheel 021.

[0180] Among them, the floating range of the wheel 021 refers to the range within which the wheel 021 can float up and down relative to the chassis main body 01. The larger the floating range of the wheel 021, the better the road passing performance of the AGV chassis; the smaller the floating range of the wheel 021, the better the stability of the AGV chassis.

[0181] In the solution shown in the embodiment of the present application, the first limit seat 023 may include a first limit base 231, a first driving mechanism 232, and a first fork 233.

[0182] When it is determined based on the road surface undulation information in front of the AGV chassis that the degree of road surface undulation in front matches the floating range of the wheel 021, the first driving mechanism 232 can be controlled to maintain the current state.

[0183] When it is determined based on the road surface undulation information in front of the AGV chassis that the degree of road surface undulation in front does not match the current floating range of the wheel 021, it is necessary to control the first driving mechanism 232 to drive the first fork 233 to perform an extending or retracting action to adjust the floating range of the wheel 021 to match the degree of road surface undulation in front.

[0184] Exemplarily, the first fork 233 may only have an extended state and a retracted state. For example, the first driving mechanism 232 is an electromagnetic switch type driving mechanism. In this case, when it is detected that the current floating range of the wheel 021 is not sufficient to pass the road surface in front and the first fork 233 is in the extended state, the first driving mechanism 232 is controlled to drive the first fork 233 to retract from the sliding space defined by the first limit wall 2311 and the second limit wall 2312, thereby increasing the floating range of the wheel 021. And when it is detected that the current floating range of the wheel 02 is large and the first fork 233 is in the retracted state, the first driving mechanism 232 is controlled to drive the first fork 233 to extend into the sliding space defined by the first limit wall 2311 and the second limit wall 2312, thereby improving the stability of the AGV chassis.

[0185] Another exemplarily, the first fork 233 can extend any length within a range. For example, the first driving mechanism 232 is a lead screw nut type driving mechanism, and the limit plate 2332 of the first fork 233 can slide up and down. In this case, first, based on the degree of road surface undulation in front, the target floating range of the wheel 021 is determined. Then, based on the target floating range of the wheel 021, the first driving mechanism 232 is controlled to drive the first fork 233 to extend or retract the target length.

[0186] During the process of the first driving mechanism 232 driving the first fork 233 to extend the target length, the second limit wall 2312 pushes the limit plate 2332 to compress the second elastic member 2333 and move upward. The distance between the limit plate 2332 and the first limit wall 2311 gradually decreases, the sliding amplitude of the sliding arm 022 gradually becomes smaller, the floating range of the wheel 021 gradually decreases, and the stability gradually improves.

[0187] During the process that the first driving mechanism 232 drives the first fork 233 to retract to the target length, the second elastic member 2333 pushes the limiting plate 2332 to move downward, the distance between the limiting plate 2332 and the first limiting wall 2311 gradually increases, the sliding amplitude of the sliding arm 022 gradually increases, the floating amount of the wheel 021 gradually increases, and the road surface passing performance of the AGV chassis also gradually increases.

[0188] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0189] The above are only alternative embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An automatic guided vehicle (AGV) chassis, characterized in that, The AGV chassis comprises a chassis body (01) and at least one floating wheel assembly (02); The floating wheel assembly (02) comprises a wheel (021), a sliding arm (022) and at least one first limiting seat (023); the wheel (021) is rotatably connected to the sliding arm (022); The sliding arm (022) is slidably connected to the chassis body (01) along the height direction, and the sliding arm (022) can drive the wheel (021) to slide up and down relative to the chassis body (01); The first limiting seat (023) comprises a first limiting base (231), a first driving mechanism (232) and a first shift fork (233); the first limiting base (231) is fixedly connected to the chassis body (01); the first limiting base (231) has a first limiting wall (2311) and a second limiting wall (2312); the first limiting wall (2311) is located above the second limiting wall (2312); one end of the sliding arm (022) is located between the first limiting wall (2311) and the second limiting wall (2312); and The first driving mechanism (232) is capable of sliding in a sliding space defined by the first limiting wall (2311) and the second limiting wall (2312); the first driving mechanism (232) is transmission-connected to the first shift fork (233); the first driving mechanism (232) is configured to drive the first shift fork (233) to extend into the sliding space defined by the first limiting wall (2311) and the second limiting wall (2312), or to drive the first shift fork (233) to be retracted from the sliding space defined by the first limiting wall (2311) and the second limiting wall (2312).

2. The AGV chassis according to claim 1, wherein, The wheel (021) is rotatably connected to the middle part of the sliding arm (022), and each of the floating wheel assemblies (02) includes two first limiting seats (023); The two first limit seats (023) are configured to respectively limit and adjust the sliding amplitudes of the two ends of the sliding arm (022).

3. The AGV chassis according to claim 1, characterized in that, The first limiting seat (023) further includes a first elastic member (234); The first elastic member (234) is located between the first limiting wall (2311) and the sliding arm (022), and two ends thereof respectively support the first limiting wall (2311) and the sliding arm (022).

4. The AGV chassis according to claim 1, characterized in that, The first shift fork (233) comprises a first connecting member (2331) and a limiting plate (2332); The first connecting member (2331) is transmission-connected to the first driving mechanism (232); The limiting plate (2332) is connected to the first connecting member (2331); When the first shift fork (233) extends into the sliding space defined by the first limiting wall (2311) and the second limiting wall (2312), the limiting plate (2332) is located between the first limiting wall (2311) and the second limiting wall (2312), and one end of the sliding arm (022) is located between the first limiting wall (2311) and the limiting plate (2332).

5. The AGV chassis according to claim 4, wherein The first connecting member (2331) includes a first connecting rod (23311) and a first connecting plate (23312); The first connecting rod (23311) is in transmission connection with the first driving mechanism (232); The first connecting plate (23312) is connected to the first connecting rod (23311) and is perpendicular to the first connecting rod (23311). The first connecting plate (23312) has a receiving groove, and a pin shaft is provided in the receiving groove; The limiting plate (2332) is located in the receiving groove and is slidably connected to the pin shaft.

6. An automatic guided vehicle (AGV), characterized in that, The AGV includes the AGV chassis according to any one of claims 1-5.

7. A method for adjusting the floating amount of a wheel, characterized in that, The method is applied to the automatic guided vehicle AGV chassis according to any one of claims 1-5, and the method includes: Obtaining road surface undulation information in front of the AGV chassis; Based on the road surface undulation information in front of the AGV chassis, controlling the first limiting seat (023) to adjust the floating amount of the wheel (021).

8. The method according to claim 7, wherein The obtaining of the road surface undulation information in front of the AGV chassis includes: Collecting a road surface image in front of the AGV chassis based on a vision camera equipped on the AGV chassis; Based on the road surface image in front of the AGV chassis, obtaining the road surface undulation information in front of the AGV chassis.

9. The method according to claim 8, characterized in that, The obtaining of the road surface undulation information in front of the AGV chassis based on the road surface image in front of the AGV chassis includes: Determining the road surface undulation information in front of the AGV chassis based on the distance value corresponding to each pixel point in the road surface image in front of the AGV chassis.

Images