AGV chassis and AGV trolley

Abstract

This application relates to an AGV chassis and an AGV trolley. The AGV chassis includes a base shell, steering wheels, fixed casters, and shock-absorbing casters. Two steering wheels are located at the bottom of the base shell, arranged at an angle relative to the AGV chassis's direction of travel, and are designated as the first steering wheel and the second steering wheel, respectively. The fixed casters are located at the bottom of the base shell, distributed along the direction of travel with the first steering wheel, and situated to one side of the second steering wheel. The shock-absorbing casters are located at the bottom of the base shell, distributed along the direction of travel with the second steering wheel, and situated to one side of the first steering wheel. The wheel bodies of the shock-absorbing casters are elastically extendable and retractable relative to the base shell. The AGV chassis reduces or eliminates the swaying of the AGV trolley caused by uneven ground during travel, thereby avoiding large or significant swaying and ensuring the stability of the AGV trolley's movement.

Description

Technical Field

[0001] This application relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to an AGV chassis and an AGV trolley. Background Technology

[0002] AGVs (Automated Guided Vehicles) belong to the field of wheeled mobile robots. Under the monitoring of a control system, they can automatically travel along a predetermined guided path according to a set algorithm to reach a designated location and complete a series of tasks. They are one of the main pieces of equipment for automating material handling in factories, and are particularly suitable for warehousing, manufacturing, pharmaceuticals, scientific research, and special hazardous locations. However, traditional steering wheel-driven AGVs are prone to varying degrees of swaying during movement, making stable travel impossible. Summary of the Invention

[0003] Therefore, it is necessary to provide an AGV chassis and AGV trolley to address the problem of significant shaking during the movement of traditional steering wheel-driven AGVs.

[0004] An AGV chassis, comprising:

[0005] Bottom shell;

[0006] Two steering wheels are located at the bottom of the base shell and are arranged at an angle relative to the traveling direction of the AGV chassis. They are respectively the first steering wheel and the second steering wheel.

[0007] A fixed omnidirectional wheel is provided at the bottom of the base shell, distributed along the direction of travel with the first steering wheel, and located on one side of the second steering wheel; and

[0008] The shock-absorbing omnidirectional wheel is located at the bottom of the base shell, distributed along the direction of travel with the second steering wheel, and located on one side of the first steering wheel. The wheel body of the shock-absorbing omnidirectional wheel is elastically telescopic relative to the base shell.

[0009] In one embodiment, the shock-absorbing caster includes a shock-absorbing wheel assembly and a shock-absorbing mechanism. The shock-absorbing mechanism includes a fixing member, multiple elastic components, and a shock-absorbing element. The elastic components are connected between the fixing member and the shock-absorbing element. The fixing member is fixed to the bottom of the base shell. The shock-absorbing element is connected to the shock-absorbing wheel assembly, so that the wheel body of the shock-absorbing wheel assembly is retractable.

[0010] In one embodiment, the elastic component includes a connecting shaft and an elastic element. The connecting shaft connects the fixing element and the shock absorber, respectively. The elastic element is sleeved on the connecting shaft and located between the fixing element and the shock absorber. The shock absorber is movable along the connecting shaft.

[0011] In one embodiment, the AGV chassis further includes a connector that connects all the connecting shafts through one end of the fixing member.

[0012] In one embodiment, the AGV chassis further includes:

[0013] A mating component, wherein the mating component is disposed on the side of the shock absorber facing the fixing component; and

[0014] A limiting structure is provided on the side of the fixing member facing the shock absorber, which is used to limit the travel of the mating member toward the fixing member.

[0015] In one embodiment, the limiting structure includes a limiting stud and a limiting nut, the limiting stud being disposed on the fixing member, the limiting nut being disposed on the limiting stud, and the mating member being movable along the limiting stud and constrained by the limiting nut.

[0016] In one embodiment, the bottom of the base shell is provided with a mounting groove, and the two steering wheels, the fixed caster wheel and the shock-absorbing caster wheel are all located at the bottom of the mounting groove and extend out of the mounting groove.

[0017] In one embodiment, the AGV chassis further includes a support mechanism, which is disposed on the bottom shell and has a support end, the support end being retractable relative to the bottom shell; wherein, the support end of one of the support mechanisms is disposed near the shock-absorbing caster wheel.

[0018] In one embodiment, the support end of another of the support mechanisms is positioned close to the first steering wheel.

[0019] An AGV (Automated Guided Vehicle) includes an AGV chassis and a body as described above, wherein the body is mounted on the AGV chassis.

[0020] The aforementioned AGV chassis and AGV trolley, with the first steering wheel and fixed omnidirectional wheels distributed along the AGV chassis's direction of travel, and the fixed omnidirectional wheels located to one side of the second steering wheel, form a triangular arrangement with the two steering wheels, creating three support points for the AGV chassis and achieving stable and balanced support. Furthermore, the shock-absorbing omnidirectional wheels, also arranged in a triangular pattern with the two steering wheels, provide an elastically extendable auxiliary support point for the AGV chassis, thus forming four-point support on the entire AGV chassis. This ensures smooth movement during travel, while also providing shock absorption and cushioning, reducing or eliminating swaying caused by uneven ground during AGV movement, thereby avoiding significant or noticeable shaking and ensuring the stability of the AGV trolley's operation. Attached Figure Description

[0021] Figure 1 This is a projected view of an AGV vehicle in one embodiment of this application.

[0022] Figure 2 for Figure 1 Projected view of the AGV chassis of the AGV trolley.

[0023] Figure 3 for Figure 2 A bottom view of the AGV chassis.

[0024] Figure 4 for Figure 2 Right view of the AGV chassis.

[0025] Figure 5 for Figure 2 A schematic diagram of the structure of the AGV chassis.

[0026] Figure 6 for Figure 5 A schematic diagram of the fixed casters on the chassis of the AGV.

[0027] Figure 7 for Figure 5 A schematic diagram of the shock-absorbing casters on the chassis of the AGV.

[0028] Figure 8 for Figure 5 A schematic diagram of the support mechanism for the AGV chassis.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100. AGV trolley; 110. AGV chassis; 112. Mounting platform; 120. Body; 130. Bottom shell; 132. Mounting slot; 134. Reinforcing rib; 140. Steering wheel; 142. First steering wheel; 144. Second steering wheel; 150. Fixed caster wheel; 152. Fixing block; 154. Fixed wheel set; 160. Shock-absorbing caster wheel; 161. Shock-absorbing wheel set; 162. Shock-absorbing mechanism; 163. Fixing component; 164. Elastic component; 165. Shock-absorbing component; 16 6. Connecting shaft; 167. Elastic element; 168. Sliding sleeve; 170. Connecting part; 172. Mating part; 174. Limiting structure; 176. Limiting stud; 178. Limiting nut; 180. Supporting mechanism; 181. Supporting end; 182. Driver; 183. Transmission mechanism; 184. Telescopic structure; 185. First bevel gear; 186. Second bevel gear; 187. Ball screw; 188. Mounting frame; 189. Guide post; 190. Sensor; 192. Sensing plate. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0032] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0033] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0037] Please see Figure 1 , Figure 1 This illustration shows a projected view of an AGV (Automated Guided Vehicle) 100 according to one embodiment of this application. The AGV 100 includes an AGV chassis 110 and a body 120, with the body 120 mounted on the AGV chassis 110. The top of the AGV chassis 110 is provided with a mounting platform 112, which can be used to mount different types of body 120s, thus achieving the versatility and platformization of the AGV chassis 110, meeting the requirements of different application scenarios, and expanding its application scope. The mounting platform 112 can employ a clamp fixing structure, a magnetic fixing structure, a screw fixing structure, or a combination of the aforementioned fixing structures, allowing for the detachable mounting of the body 120. Of course, the body 120 can be a structure with lifting and lowering functions, a structure with a picking-up robotic arm, or other types of functional structures, etc.

[0038] Please see Figures 2 to 4 , Figure 2 The image shows a projected view of the AGV chassis of the AGV vehicle in this embodiment. Figure 3 It shows Figure 2 A bottom view of the AGV chassis. Figure 4 It shows Figure 2 The right view of the AGV chassis 110 shows that the chassis includes a base shell 130, steering wheels 140, fixed casters 150, and shock-absorbing casters 160. Two steering wheels 140 are located at the bottom of the base shell 130, arranged at an angle relative to the AGV chassis 110's direction of travel, and are designated as the first steering wheel 142 and the second steering wheel 144, respectively. The fixed casters 150 are located at the bottom of the base shell 130, distributed along the direction of travel with the first steering wheel 142, and situated to one side of the second steering wheel 144. The shock-absorbing casters 160 are located at the bottom of the base shell 130, distributed along the direction of travel with the second steering wheel 144, and situated to one side of the first steering wheel 142. The wheels of the shock-absorbing casters 160 are elastically extendable and retractable relative to the base shell 130.

[0039] Since the first steering wheel 142 and the fixed omnidirectional wheel 150 are distributed along the traveling direction of the AGV chassis 110, and the fixed omnidirectional wheel 150 is located on one side of the second steering wheel 144, the fixed omnidirectional wheel 150 and the two steering wheels 140 are arranged in a triangular shape, forming three support points for the AGV chassis 110, thus achieving stable and balanced support. Moreover, the shock-absorbing omnidirectional wheel 160 and the two steering wheels 140 also adopt a triangular layout, providing an elastically extendable auxiliary support point for the AGV chassis 110, thereby forming four-point support on the entire AGV chassis 110. This enables smooth movement during travel, while also providing shock absorption and cushioning, reducing or eliminating the shaking of the AGV trolley 100 caused by uneven ground during travel, thus avoiding large or obvious shaking and ensuring the stability of the AGV trolley 100 during travel.

[0040] It should be noted that the number of steering wheels 140 is not limited to two and can be set according to actual needs. The steering wheel 140 is a mechanical structure integrating a drive motor, steering motor, and reducer, combining walking, traction, and steering functions into one unit. It can carry and haul heavy goods; it allows for rapid deployment of AGVs and mobile robots, perfectly meeting the application requirements of AGVs. Therefore, steering wheel drive is the development direction for AGV applications. Compared to the traditional differential control method for AGV vehicles, the steering wheel 140 has high integration, strong adaptability, and achieves higher precision and faster response when used with a servo system, making it widely used in automated logistics, intelligent manufacturing, and other fields. Furthermore, the number of fixed casters 150 and shock-absorbing casters 160 can also be adjusted according to the implementation situation; neither is limited to one.

[0041] Please see Figure 5 , Figure 5The diagram shows the structural schematic of the AGV chassis of the AGV trolley in this embodiment. The bottom of the base shell 130 is provided with a mounting groove 132. Two steering wheels 140, fixed casters 150, and shock-absorbing casters 160 are all located at the bottom of the mounting groove 132 and extend beyond it. The mounting groove 132 provides space for the installation and operation of the steering wheels 140, fixed casters 150, and shock-absorbing casters 160, while also reducing the overall height of the chassis, allowing it to pass through lower spaces. During installation, simply invert the base shell 130 and sequentially fix the steering wheels 140, fixed casters 150, and shock-absorbing casters 160 into the mounting groove 132. Installation is convenient and assembly efficiency is high. For disassembly and replacement, simply flip the base shell 130 and remove them one by one without disassembling the base shell 130, facilitating quick disassembly and assembly. It is understood that in other embodiments, the steering wheel 140, the fixed caster 150, and the shock-absorbing caster 160 can be built into the interior of the bottom shell 130, that is, the bottom of the bottom shell 130 is provided with a through hole, and the wheel bodies of the steering wheel 140, the fixed caster 150, and the shock-absorbing caster 160 extend out of the bottom of the bottom shell 130 through the through hole, and are exposed and supported on the ground.

[0042] In this embodiment, the base shell 130 is generally cuboid, with a square bottom. Two steering wheels 140 are diagonally positioned at the bottom of the base shell 130, as are the fixed caster 150 and the shock-absorbing caster 160. Each of the four corners of the bottom of the base shell 130 is supported by a wheel to maintain overall balance. It is understood that in other embodiments, the base shell 130 may adopt other three-dimensional shapes, such as a circle, ellipse, racetrack shape, or other shapes. In these embodiments, the fixed caster 150 and the two steering wheels 140 are arranged in a right-angled triangle, as are the shock-absorbing caster 160 and the two steering wheels 140. It should be noted that "right-angled triangle" should be understood as the right-angled sides being generally or substantially perpendicular, not limited to the case where the right-angled sides are completely perpendicular.

[0043] To improve the structural strength of the bottom of the base shell 130, a plurality of reinforcing ribs 134 are provided at the bottom of the base shell 130, that is, the plurality of reinforcing ribs 134 are provided at the bottom of the mounting groove 132. Among them, some reinforcing ribs 134 are located between the first steering wheel 142 and the shock-absorbing caster 160, and some reinforcing ribs 134 are located between the second steering wheel 144 and the fixed caster 150.

[0044] In this embodiment, the steering wheel 140 is a horizontal steering wheel, and its drive motor can be horizontally fixed to the bottom of the mounting slot 132, making its overall height very low, so as to be suitable for scenarios where it moves in low-ceilinged spaces, such as moving the bottom of goods. Obviously, in other embodiments, the steering wheel 140 can also be a vertical steering wheel.

[0045] Please see Figure 6 , Figure 6 This diagram illustrates the structure of the fixed omnidirectional wheels on the AGV chassis of the AGV trolley in this embodiment. The fixed omnidirectional wheels 150 include a fixing block 152 and a fixed wheel assembly 154. The fixing block 152 is connected to the fixed wheel assembly 154 at the bottom of the base shell 130. Obviously, the fixing block 152 only serves a connecting function, while the fixed wheel assembly 154 enables omnidirectional movement. Specifically, the fixing block 152 is generally H-shaped, with its top fixedly connected to the bottom of the mounting groove 132 by screws, and its bottom fixedly connected to the fixed wheel assembly 154 by screws. The fixed wheel assembly 154 has two wheels arranged side by side. The two wheels can increase the support area and improve the support effect, making the AGV trolley 100 more stable during travel, with less or no shaking.

[0046] Please see Figure 7 , Figure 7 This diagram illustrates the structure of the shock-absorbing omnidirectional wheel of the AGV chassis in this embodiment. The shock-absorbing omnidirectional wheel 160 includes a shock-absorbing wheel assembly 161 and a shock-absorbing mechanism 162. The shock-absorbing mechanism 162 includes a fixing member 163, multiple elastic components 164, and shock-absorbing elements 165. The elastic components 164 are connected between the fixing member 163 and the shock-absorbing elements 165. The fixing member 163 is fixed to the bottom of the base shell 130. The shock-absorbing elements 165 are connected to the shock-absorbing wheel assembly 161, allowing the wheel body of the shock-absorbing wheel assembly 161 to extend and retract. The shock-absorbing mechanism 162 is connected between the shock-absorbing wheel assembly 161 and the bottom of the mounting groove 132, thus providing shock absorption for the shock-absorbing wheel assembly 161 during travel, reducing the impact of uneven ground on travel, and slowing down or eliminating swaying. Moreover, the shock-absorbing mechanism 162 has a simple structure and good shock absorption effect.

[0047] In this embodiment, the shock-absorbing wheel assembly 161 can achieve omnidirectional movement and has two side-by-side wheels. These two wheels increase the support area and improve the support effect, making the AGV trolley 100 more stable during travel, with less or no swaying. It should be noted that in other embodiments, a shock-absorbing structure can be provided inside the shock-absorbing wheel assembly 161 to replace the shock-absorbing mechanism 162, allowing the two wheels to buffer and absorb shocks.

[0048] In this embodiment, the elastic component 164 includes a connecting shaft 166 and an elastic element 167. The connecting shaft 166 connects the fixing element 163 and the shock absorber 165 respectively. The elastic element 167 is sleeved on the connecting shaft 166 and located between the fixing element 163 and the shock absorber 165. The shock absorber 165 can move along the connecting shaft 166. During shock absorption, under the action of the elastic element 167, the shock absorber 165 moves back and forth along the connecting shaft 166. The movement of the guide shock absorber 165 allows the shock absorber wheel assembly 161 to extend and retract in the axial direction as much as possible, avoiding its own swaying and causing vehicle body swaying. It should be noted that the arrangement of the elastic component 164 is not limited to the connecting shaft 166 and the elastic element 167.

[0049] Furthermore, the damping component 165 is movably connected to the connecting shaft 166 via a sliding sleeve 168. The sliding sleeve 168 is fixed within the damping component 165, and one end of the connecting shaft 166 passes through the sliding sleeve 168 and is fitted with a nut to limit the movement of the damping component 165. The sliding sleeve 168 can reduce friction and improve guiding accuracy.

[0050] The AGV chassis 110 also includes a connector 170, which connects all the connecting shafts 166 through one end of the fixing member 163, thereby preventing the ends of the connecting shafts 166 from swaying and thus preventing the shock absorber 165 from moving in other directions, so as to prevent the entire shock absorber caster 160 from swaying and further improve the stability of the AGV trolley 100 during driving.

[0051] The AGV chassis 110 also includes a mating component 172 and a limiting structure 174. The mating component 172 is located on the side of the shock absorber 165 facing the fixing component 163. The limiting structure 174 is located on the side of the fixing component 163 facing the shock absorber 165 and is used to limit the travel of the mating component 172 toward the fixing component 163. Through the cooperation of the limiting structure 174 and the mating component 172, the travel of the shock absorber 165 is limited, thereby controlling the extension and retraction range of the shock absorber wheel assembly 161 and preventing vehicle instability due to excessive extension and retraction.

[0052] The limiting structure 174 specifically includes a limiting stud 176 and a limiting nut 178. The limiting stud 176 is mounted on the fixing member 163, and the limiting nut 178 is mounted on the limiting stud 176. The mating member 172 can move along the limiting stud 176 and is constrained by the limiting nut 178. By rotating the limiting nut 178, the position of the limiting nut 178 on the limiting stud 176 can be adjusted, thereby adjusting the travel of the mating member 172 according to different needs, and thus flexibly adjusting the travel of the shock absorber 165. Therefore, the limiting structure 174 not only serves a limiting function but also controls the travel of the shock absorber 165. Its structure is simple and easy to set up and operate.

[0053] In this embodiment, the fixing member 163 and the shock absorber 165 are both plate-shaped, the elastic member 167 is a spring, the mating member 172 is a block structure and is in the shape of an "I", and the limiting stud 176 is inserted into the side groove of the mating member 172.

[0054] Please see Figure 8 Combined Figure 5 , Figure 8 This diagram illustrates the structural design of the support mechanism of the AGV chassis in this embodiment. The AGV chassis 110 also includes a support mechanism 180, which is located on the base shell 130 and has a support end 181. The support end 181 is retractable relative to the base shell 130. One support end 181 of the support mechanism 180 is positioned near the shock-absorbing caster wheel 160. The retractable support end 181 extends and supports the ground, allowing the AGV chassis 120 to remain stationary when the AGV 100 stops. This facilitates high-precision positioning of the AGV chassis 110, and, in conjunction with the secondary positioning mechanism mounted on the AGV, achieves high-precision positioning, thereby increasing the application range of the AGV and solving the technical problem that traditional AGVs cannot perform high-precision positioning.

[0055] In this embodiment, the support end 181 of another support mechanism 180 is located close to the first steering wheel 142, and can also extend and support the ground, further improving the AGV chassis 110's ability to achieve high-precision positioning. Furthermore, one support mechanism 180 is located between the shock-absorbing caster 160 and the second steering wheel 144, and the other support mechanism 180 is located between the first steering wheel 142 and the fixed caster 150. When any one of the steering wheel 140, the fixed caster 150, or the shock-absorbing caster 160 is suspended, the support ends 181 of both support mechanisms 180 can extend, raising the other two auxiliary support points to maintain balance and achieve high-precision positioning. Moreover, the support ends 181 of the two support mechanisms 180 can continue to extend, suspending the first steering wheel 142 and the shock-absorbing caster 160 on the same side, thus forming a four-point support with the fixed caster 150 and the second steering wheel 144 on the other side, improving the AGV trolley 100's support stability and positioning accuracy when stopped.

[0056] Furthermore, the support mechanism 180 includes a driver 182, a transmission mechanism 183, and a telescopic structure 184. The driver 182 is connected to the input end of the transmission mechanism 183, the output end of the transmission mechanism 183 is connected to one end of the telescopic structure 184, and the support end 181 is located at the other end of the telescopic structure 184. The transmission mechanism 183 is used to convert the torque output by the driver 182 into linear motion, thereby driving the telescopic structure 184 to perform linear motion.

[0057] In this embodiment, the driver 182 is specifically a servo motor, which has high driving precision. It is understood that in other embodiments, the driver 182 can be replaced by a cylinder or an electric actuator, directly driving the telescopic structure 184 to perform linear motion.

[0058] In this embodiment, the transmission mechanism 183 specifically includes a first bevel gear 185, a second bevel gear 186, and a ball screw 187. The first bevel gear 185 is sleeved on the drive shaft of the driver 182 and meshes with the second bevel gear 186. The second bevel gear 186 is sleeved on one end of the lead screw of the ball screw 187. The telescopic structure 184 is connected to the ball sleeve of the ball screw 187. The first bevel gear 185 and the second bevel gear 186 cooperate to change the direction of the torque output by the driver 182, thereby allowing the driver 182 to be placed horizontally on the bottom shell 130, further reducing the height of the bottom shell 130. The ball screw 187 can accurately convert torque into linear motion, thereby controlling the precise extension and retraction of the support end 181. It should be noted that in other embodiments, the first bevel gear 185 and the second bevel gear 186 can be replaced by a worm gear to achieve the change in the direction of torque.

[0059] In this embodiment, the support mechanism 180 includes a mounting frame 188, the top of which is fixed to the bottom of the base shell 130. The support end 181 extends out of the bottom of the mounting frame 188 and is telescopically oriented relative to the bottom of the mounting frame 188. The connection between the telescopic structure 184 and the ball screw 187 is located within the mounting frame 188. A guide post 189 is provided between the bottom and top of the mounting frame 188, penetrating the top of the telescopic structure 184 and guiding its telescopic movement, further improving the telescopic accuracy of the support end 181. It is understood that in other embodiments, under the guidance of the guide post 189 and other guiding structures, a stud can be used instead of the ball screw 187. The stud is threadedly connected to the telescopic structure 184. When the stud rotates, the telescopic structure 184 cannot rotate due to the constraint of the guiding structure; it can only telescopically move along the guiding structure. This structure is simpler and beneficial for cost control.

[0060] To detect the position of the support end 181, a sensor 190 is also provided on the mounting frame 188, and a sensing element 192 is provided on the ball sleeve of the ball screw 187. The sensor 190 is used to detect the sensing element 192. In this embodiment, the sensor 190 can be an infrared sensor. The sensing element 192 is detected by moving between the transmitting end and the receiving end. When the support end 181 retracts to a preset position, the sensing element 192 moves upward to the corresponding position of the sensor 190 and is detected. At this time, the support end 181 retracts into place, and the driver 182 stops working.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An AGV chassis, characterized in that, include: Bottom shell; Two steering wheels are located at the bottom of the base shell and are arranged at an angle relative to the traveling direction of the AGV chassis. They are respectively the first steering wheel and the second steering wheel. A fixed omnidirectional wheel is provided at the bottom of the base shell, distributed along the direction of travel with the first steering wheel, and located on one side of the second steering wheel; as well as The shock-absorbing omnidirectional wheel is located at the bottom of the bottom shell, distributed along the direction of travel with the second steering wheel, and located on one side of the first steering wheel. The wheel body of the shock-absorbing omnidirectional wheel is elastically telescopic relative to the bottom shell. A support mechanism is provided on the bottom shell and has a support end, which is retractable relative to the bottom shell; One of the support mechanisms has its support end located near the shock-absorbing omnidirectional wheel, while the other support mechanism has its support end located near the first steering wheel.

2. The AGV chassis according to claim 1, characterized in that, The shock-absorbing omnidirectional wheel includes a shock-absorbing wheel assembly and a shock-absorbing mechanism. The shock-absorbing mechanism includes a fixing member, multiple elastic components, and a shock-absorbing element. The elastic components are connected between the fixing member and the shock-absorbing element. The fixing member is fixed to the bottom of the base shell. The shock-absorbing element is connected to the shock-absorbing wheel assembly, so that the wheel body of the shock-absorbing wheel assembly is retractable.

3. The AGV chassis according to claim 2, characterized in that, The elastic component includes a connecting shaft and an elastic element. The connecting shaft connects the fixing element and the shock absorber respectively. The elastic element is sleeved on the connecting shaft and located between the fixing element and the shock absorber. The shock absorber can move along the connecting shaft.

4. The AGV chassis according to claim 3, characterized in that, Also includes: A connector that connects all the connecting shafts through one end of the fixing member.

5. The AGV chassis according to claim 2, characterized in that, Also includes: A mating component, wherein the mating component is disposed on the side of the shock absorber facing the fixing component; and A limiting structure is provided on the side of the fixing member facing the shock absorber, which is used to limit the travel of the mating member toward the fixing member.

6. The AGV chassis according to claim 5, characterized in that, The limiting structure includes a limiting stud and a limiting nut. The limiting stud is disposed on the fixing member, and the limiting nut is disposed on the limiting stud. The mating member can move along the limiting stud and is restricted by the limiting nut.

7. The AGV chassis according to any one of claims 1 to 6, characterized in that, The bottom of the base shell is provided with a mounting groove, and the two steering wheels, the fixed caster wheel and the shock-absorbing caster wheel are all located at the bottom of the mounting groove and extend out of the mounting groove.

8. An AGV (Automated Guided Vehicle) trolley, characterized in that, include: AGV chassis, wherein the AGV chassis is the AGV chassis according to any one of claims 1 to 7; and The vehicle body is mounted on the AGV chassis.

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