AGV suspension structure

Abstract

The invention relates to an AGV suspension structure which comprises a vehicle body, a suspension structural part and a supporting assembly, the suspension structural part comprises a steering wheel assembly, universal wheels and a seesaw structure and is arranged on the vehicle body in a central symmetry mode, the steering wheel assembly is arranged in the middle of a mounting plate, and the universal wheels and the seesaw structure are symmetrically and fixedly arranged on the two sides of the steering wheel assembly; wherein the seesaw structure is arranged between the universal wheel and the steering wheel assembly; the supporting assembly is arranged on one side of the universal wheel. The steering wheel assembly and the universal wheel are arranged in a central symmetry manner, so that the vehicle body can rotate in situ, turn around in situ, orientate, deflect directionally and the like. The seesaw structure is arranged between the steering wheel and the universal wheel, the seesaw structure makes seesaw movement through the movable plate and the hinge, the gravity brought by a load is evenly distributed on the universal wheel and the steering wheel, the force borne by the steering wheel and the force borne by the universal wheel are kept consistent, and the phenomena of suspension and slipping of the steering wheel are prevented. The supporting assembly can adjust the balance of the vehicle body in a self-adaptive mode according to the road surface condition where the vehicle body stays.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicles, and more specifically, to an AGV suspension structure. Background Art

[0002] At present, the chassis wheel system in the AGV industry is mainly composed of a steering wheel and a universal wheel. The steering wheel is driven to control the movement and steering of the platform, and the universal wheel plays a supporting role. The steering wheel of the prior art adopts a diagonal layout and is fixed by a rigid connection. When driving at an angle, the resistance of the steering wheel is inconsistent or the steering wheel is suspended. Only one side of the steering wheel is driven, resulting in uncontrollable rotation direction of the vehicle body. The steering wheel of the prior art is installed in the middle of the vehicle body, and the spring pressure is used as the positive pressure of the steering wheel on the ground. The universal wheel is installed on the vehicle body with a rigid connection. The expansion and contraction of the spring is easily affected by environmental factors, resulting in insufficient power, holding force and braking ability of the steering wheel, and it is easy for the steering wheel to slip and the vehicle body to shake. When the vehicle body passes through uneven ground, the gravity brought by the load cannot be evenly distributed, so that the steering wheel cannot be in close contact with the ground plane, resulting in the steering wheel being suspended and slipping. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the gravity caused by the load on the vehicle body cannot be evenly distributed, resulting in the steering wheel slipping and the vehicle body shaking. In view of the above defects of the prior art, an AGV suspension structure is proposed.

[0004] The technical solution adopted by the present invention to solve the technical problem is: an AGV suspension structure is proposed, including a vehicle body, two groups of suspension structural members and two groups of support components, wherein the suspension structural members are centrally symmetrically arranged on the vehicle body;

[0005] The suspension structure comprises a steering wheel assembly, a universal wheel and a seesaw structure, wherein the steering wheel assembly, the universal wheel and the seesaw structure are connected and fixed by a mounting plate;

[0006] The steering wheel assembly comprises a steering wheel and a steering wheel seat, the steering wheel and the steering wheel seat are integrally connected, and the steering wheel assembly is arranged in the middle of the mounting plate, and the universal wheels are symmetrically fixed on both sides of the steering wheel assembly;

[0007] The seesaw structure is symmetrically fixed on both sides of the steering wheel assembly, and is arranged between the universal wheel and the steering wheel assembly;

[0008] The vehicle body includes a motion state;

[0009] When the vehicle body is in the moving state, the seesaw structure moves toward a relative direction where the gravity is more distributed, so that the gravity is evenly distributed on the universal wheel and the steering wheel;

[0010] The support assembly includes a left support member and a right support member, wherein the left support member and the right support member are arranged on both sides of the steering wheel assembly and located on one side of the universal wheel;

[0011] The support assembly includes a transmission structure and a driving structure; the driving structure drives the transmission structure to move up and down;

[0012] The vehicle body includes a tilted state;

[0013] When the vehicle body is in the tilted state, the driving structure at one end tilted downward drives the transmission structure to move upward; and the driving structure at the other end tilted upward drives the transmission structure to move downward.

[0014] In some embodiments, the transmission structure includes a fixed plate, a guide sleeve, a guide rod, a connecting plate and a base, and the driving structure includes an electric cylinder and a telescopic rod;

[0015] The transmission structure is arranged on one side of the driving structure, and the transmission structure is fixedly connected to the driving structure through the connecting plate;

[0016] The transmission structure and the driving structure are fixedly connected to the vehicle body via the fixing plate; one end of the guide sleeve is fixedly connected to the fixing plate, and the other end is movably connected to the guide rod, the guide rod is arranged in the guide sleeve, and the guide rod is fixedly connected to the driving structure via the connecting plate; the telescopic rod is arranged in the electric cylinder, and the telescopic rod is fixedly connected to the base.

[0017] In some embodiments, the fixing plate is provided with a first through hole for the guide rod to pass through, and the guide rod passes through the first through hole and is connected to the connecting plate.

[0018] In some embodiments, the connecting plate is provided with a second through hole, and the base passes through the second through hole and is fixedly connected to the telescopic rod.

[0019] In some embodiments, the steering wheel assembly and the universal wheel are arranged at the lower end of the mounting plate, and the rocker structure is arranged at the upper end of the mounting plate.

[0020] In some embodiments, the seesaw structure includes an articulated seat, a movable plate, a connecting shaft and a hinge, and the movable plate is rotatably connected to the articulated seat via the connecting shaft and the hinge.

[0021] In some embodiments, when the vehicle body is in the moving state, the movable plate moves toward a relative direction where gravity is more distributed.

[0022] In some embodiments, the universal wheel is further provided with a universal wheel seat, and the universal wheel is fixedly connected to both ends of the mounting plate through the universal wheel seat.

[0023] The AGV suspension structure of the present invention has the following beneficial effects: the steering wheel assembly and the universal wheel are centrally symmetrically arranged on the vehicle body, so that the vehicle body can perform movements such as rotation in place, turning in place, orientation and orientation deflection. Among them, the seesaw structure is arranged between the steering wheel assembly and the universal wheel, and the seesaw structure performs seesaw movement through the movable plate and the hinge, so that the gravity brought by the load can be evenly distributed on the universal wheel and the steering wheel in the case of climbing, descending, flat ground, crossing a ridge, etc., so that the force exerted on the steering wheel and the universal wheel remains consistent, and the steering wheel is prevented from being suspended and slipping; when the vehicle body stays on the uneven ground, the driving structure on the support assembly drives the guide rod to move up and down through the electric cylinder to drive the telescopic rod to move, thereby adjusting the balance of the vehicle body, so that the vehicle body can be stably supported on the ground, ensuring that the objects on the vehicle body will not shake. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a stereogram of the whole of an AGV suspension structure of the present invention;

[0025] Figure 2 It is a three-dimensional diagram of a suspension structure and a support assembly of an AGV suspension structure of the present invention;

[0026] Figure 3 It is a top view of a suspension structure and a support assembly of an AGV suspension structure of the present invention;

[0027] Figure 4 It is a front view of a suspension structure and a support assembly of an AGV suspension structure of the present invention;

[0028] Figure 5 is a three-dimensional diagram of a left support member of an AGV suspension structure of the present invention;

[0029] Figure 6 is a three-dimensional diagram of a right support member of an AGV suspension structure of the present invention;

[0030] Figure 7 It is a left view of a suspension structure of an AGV suspension structure of the present invention;

[0031] Figure 8 It is a structural schematic diagram of a connecting plate and a base of an AGV suspension structure of the present invention.

[0032] Description of reference numerals:

[0033] Vehicle body 1, suspension structure 2, steering wheel assembly 21, steering wheel 211, steering wheel seat 212, universal wheel 22, universal wheel seat 221, rocker structure 23, hinge seat 231, movable plate 232, connecting shaft 233, hinge 234, mounting plate 3, support assembly 4, left support member 41, right support member 42, transmission structure 43, fixed plate 431, first through hole 4311, guide sleeve 432, guide rod 433, connecting plate 434, second through hole 4341, base 435, drive structure 44, electric cylinder 441, telescopic rod 442. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0035] like Figure 1-Figure 8 The AGV suspension structure of the present invention is shown, which includes a vehicle body 1, two groups of suspension structural members 2 and two groups of support assemblies 4. The suspension structural member 2 is centrally symmetrically arranged on the vehicle body 1; the suspension structural member 2 includes a steering wheel assembly 21, a universal wheel 22 and a seesaw structure 23, and the steering wheel assembly 21, the universal wheel 22 and the seesaw structure 23 are connected and fixed by a mounting plate 3; the steering wheel assembly 21 includes a steering wheel 211 and a steering wheel seat 212, the steering wheel 211 and the steering wheel seat 212 are integrally connected, and the steering wheel assembly 21 is arranged in the middle of the mounting plate 3, and the universal wheel 22 is symmetrically fixed on both sides of the steering wheel assembly 21; the seesaw structure 23 is symmetrically fixed on both sides of the steering wheel assembly 21, and is arranged between the universal wheel 22 and the steering wheel assembly 21; the vehicle body 1 It includes a motion state; when the vehicle body 1 is in the motion state, the seesaw structure 23 will move in the relative direction where the gravity is more distributed, so that the gravity is evenly distributed on the universal wheel 22 and the steering wheel 211; the support assembly 4 includes a left support member 41 and a right support member 42, and the left support member 41 and the right support member 42 are arranged on both sides of the steering wheel assembly 21 and are located on one side of the universal wheel 22; the support assembly 4 includes a transmission structure 43 and a drive structure 44; the drive structure 44 drives the transmission structure 43 to move up and down; the vehicle body 1 includes an inclined state; when the vehicle body 1 is in the inclined state, the drive structure 44 at the downwardly inclined end drives the transmission structure 43 to move upward; the drive structure 44 at the other upwardly inclined end drives the transmission structure 43 to move downward.

[0036] In this embodiment, the suspension structure 2 is centrally symmetrically arranged on the vehicle body 1. The suspension structure 2 includes a steering wheel assembly 21, a universal wheel 22, and a seesaw structure 23. The steering wheel assembly 21, the universal wheel 22, and the seesaw structure 23 are connected and fixed by a mounting plate 3. The steering wheel assembly 21 is arranged in the middle of the mounting plate 3, the steering wheel assembly 21 and the universal wheel 22 are arranged on the same side of the mounting plate 3, and the seesaw structure 23 is arranged on the other side of the mounting plate 3.

[0037] The steering wheel assembly 21 is arranged in the middle of the mounting plate 3, the universal wheel 22 is also provided with a universal wheel seat 221, the universal wheel 22 is fixedly connected to the two ends of the mounting plate 3 through the universal wheel seat 221, and the seesaw structure 23 is arranged between the universal wheel 22 and the steering wheel assembly 21; the steering wheel assembly 21, the universal wheel 22 and the seesaw structure 23 are fixed to the vehicle body 1 through the mounting plate 3.

[0038] The seesaw structure 23 is symmetrically fixed on both sides of the steering wheel assembly 21 and is arranged between the universal wheel 22 and the steering wheel assembly 21; the seesaw structure 23 includes an articulated seat 231, a movable plate 232, a connecting shaft 233 and a hinge 234. The hinge 234 is arranged in the articulated seat 231. One end of the movable plate 232 is provided with a through hole. The connecting shaft 233 passes through one side of the articulated seat 231 and the through hole of the movable plate 232 and then abuts against the other side of the articulated seat 231, forming a seesaw structure, which performs a seesaw motion through the connecting shaft 233 and the hinge 234. When the vehicle body 1 is in motion, the steering wheel 211 and the universal wheel 22 pass through an uneven ground, and the seesaw structure 23 moves in a relative direction where the gravity is more distributed, so that the gravity brought by the load can be evenly distributed on the universal wheel 22 and the steering wheel 211, and the steering wheel 211 can be in close contact with the ground plane to prevent the steering wheel 211 from being suspended and slipping.

[0039] The support assembly 4 is arranged on both sides of the steering wheel assembly 21 and is located on one side of the universal wheel 22. The support assembly 4 is fixed to the vehicle body 1 through a fixing plate 431. The support assembly 4 includes a left support member 41 and a right support member 42. The two groups of left support members 41 and right support members 42 are symmetrically arranged at the four corners of the vehicle body 1, and the gravity brought by the load is evenly distributed on the steering wheel 211 and the universal wheel 22, so that the driving force of the steering wheel 211 is more stable. The support assembly 4 can be symmetrically arranged at the four corners of the vehicle body 1, or it can be arranged symmetrically. The position of the support assembly 4 can be adjusted according to actual needs. The support assembly 4 includes a transmission structure 43 and a drive structure 44. The support assembly 4 can drive the transmission structure 43 to move up and down through the drive structure 44 according to the road conditions that the vehicle body 1 passes through and the road conditions where it stops, and then adjust the balance of the vehicle body 1 to ensure that the vehicle body can maintain a balanced state.

[0040] Please refer to Figure 2-Figure 6The transmission structure 43 includes a fixed plate 431, a guide sleeve 432, a guide rod 433, a connecting plate 434 and a base 435, and the driving structure 44 includes an electric cylinder 441 and a telescopic rod 442; the transmission structure 43 is arranged on one side of the driving structure 44, and the transmission structure 43 is fixedly connected to the driving structure 44 through the connecting plate 434; the transmission structure 43 and the driving structure 44 are fixedly connected to the vehicle body 1 through the fixed plate 431; one end of the guide sleeve 432 is fixedly connected to the fixed plate 431, and the other end is movably connected to the guide rod 433, the guide rod 433 is arranged in the guide sleeve 432, and the guide rod 433 is fixedly connected to the driving structure 44 through the connecting plate 434, the telescopic rod 442 is arranged in the electric cylinder 441, and the telescopic rod 442 is fixedly connected to the base 435.

[0041] In specific implementation, the support assembly 4 includes a transmission structure 43 and a driving structure 44. The support assembly 4 is fixedly connected to the vehicle body 1 through a fixed plate 431. The guide sleeve 432 is arranged on one side of the driving structure 44 and under the fixed plate 431. One end of the guide sleeve 432 is fixedly connected to the fixed plate 431, and the other end is movably connected to the guide rod 433. The fixed plate 431 is provided with a first through hole 4311. The guide rod 433 passes through the first through hole 4311 and is arranged in the guide sleeve 432. The guide rod 433 is fixedly connected to the driving structure 44 through a connecting plate 434. The telescopic rod 442 is arranged in the electric cylinder 441, and the telescopic rod 442 is fixedly connected to the base 435. The driving structure 44 drives the telescopic rod to move by the electric cylinder to drive the guide rod 433 to move up and down, thereby adjusting the balance of the vehicle body 1 and preventing the vehicle body 1 from tilting. When the vehicle body 1 is in a tilted state, the support assembly 4 can adaptively adjust the height of the guide rod 433, and the driving structure 44 at the downwardly tilted end drives the transmission structure 43 to move upward; the driving structure 44 at the other upwardly tilted end drives the transmission structure 43 to move downward, so that the vehicle body 1 can be stably supported on the ground, ensuring that the objects on the vehicle body 1 will not shake.

[0042] Please refer to Figure 2 The fixing plate 431 is provided with a first through hole 4311 for the guide rod 433 to pass through, and the guide rod 433 passes through the first through hole 4311 and is connected to the connecting plate 434 .

[0043] In specific implementation: the fixing plate 431 is used to fix the support assembly 4 on the vehicle body 1, and the fixing plate 431 is provided with a first through hole 4311 for the guide rod 433 to pass through. When the support assembly 4 is working, the guide rod 433 arranged in the guide sleeve 432 moves up and down according to the situation of the vehicle body 1. The guide rod 433 moves upward and can pass through the first through hole 4311, so that the guide rod 433 is higher than the plane of the fixing plate 431 and thus adjusts the balance of the vehicle body 1.

[0044] Please refer to Figure 8The connecting plate 434 is provided with a second through hole 4341 , and the base 435 passes through the second through hole 4341 and is fixedly connected with the telescopic rod 442 .

[0045] In specific implementation: one end of the connecting plate 434 is fixedly connected to the base 435 and the telescopic rod 442, and the other end is fixedly connected to the guide rod 433. When the supporting assembly 4 is working, the electric cylinder 441 electrically drives the telescopic rod 442 to perform telescopic movement, thereby driving the guide rod 433 to move up and down.

[0046] Please refer to Figure 2-Figure 3 The steering wheel assembly 21 and the universal wheel 22 are arranged at the lower end of the mounting plate 3, and the rocker structure 23 is arranged at the upper end of the mounting plate 3.

[0047] In specific implementation: the steering wheel assembly 21 and the universal wheel 22 are arranged on the same side of the mounting plate 3, and the steering wheel assembly 21 is arranged in the middle of the mounting plate 3 and fixedly connected to the mounting plate 3; the universal wheel 22 is fixedly connected to the mounting plate 3 through the universal wheel seat 221, and the universal wheel 22 is symmetrically arranged at both ends of the mounting plate 3; the seesaw structure 23 is arranged on the other side of the mounting plate 3 and is located between the steering wheel assembly 21 and the universal wheel 22. The seesaw structure 23 allows the gravity brought by the load to be evenly distributed on the steering wheel 211 and the universal wheel 22, so that the driving force of the steering wheel 211 is more stable.

[0048] Please refer to Figure 2 and Figure 7 The seesaw structure 23 includes a hinge seat 231, a movable plate 232, a connecting shaft 233 and a hinge 234. The movable plate 232 is rotatably connected to the hinge seat 231 through the connecting shaft 233 and the hinge 234.

[0049] In specific implementation: the hinge seat 231 of the seesaw structure 23 is symmetrically arranged on the mounting plates 3 on both sides of the steering wheel assembly 21, and is located on both sides of the center point of the connection line between the center of the universal wheel 22 and the center of the steering wheel 211. The hinge 234 is arranged in the hinge seat 231, and a through hole is arranged at one end of the movable plate 232. The connecting shaft 233 passes through one side of the hinge seat 231 and the through hole of the movable plate 232, and then abuts against the other side of the hinge seat 231. The hinge seat 231 and the movable plate 232 are rotatably connected through the connecting shaft 233 and the hinge 234, forming a seesaw structure, and the seesaw motion is performed through the connecting shaft 233 and the hinge 234. When the vehicle body 1 is in a state of climbing, descending, on flat ground, crossing a bump, etc., the seesaw structure 23 moves in a relative direction where gravity is more distributed, so that gravity can be evenly distributed on the universal wheel 22 and the steering wheel 211, so that the forces exerted on the steering wheel 211 and the universal wheel 22 remain consistent, preventing the steering wheel 211 from being suspended and slipping.

[0050] Please refer to Figure 2When the vehicle body 1 is in motion, the movable plate 232 will move toward a relative direction where the gravity distribution is greater.

[0051] In specific implementation, when the vehicle body 1 is in motion, the gravity brought by the load on the vehicle body 1 cannot be evenly distributed to the universal wheel 22 and the steering wheel 211 due to climbing, descending, or crossing a bump, causing the steering wheel 211 on the vehicle body 1 to be suspended and slip. A seesaw structure 23 is provided on the vehicle body 1. When the vehicle body 1 is in motion, the movable plate 232 on the seesaw structure 23 moves in a relative direction where the gravity is more distributed, and evenly distributes the gravity brought by the load on the vehicle body 1 to the universal wheel 22 and the steering wheel 211, so that the universal wheel 22 and the steering wheel 211 on the vehicle body 1 can be subjected to the same force regardless of climbing, descending, or crossing a bump.

[0052] Please refer to Figure 2-Figure 3 The universal wheel 22 is also provided with a universal wheel seat 221 , and the universal wheel 22 is fixedly connected to the two ends of the mounting plate 3 through the universal wheel seat 221 .

[0053] In specific implementation, the universal wheel 22 and the steering wheel assembly 21 are fixedly connected to the vehicle body 1 through the mounting plate 3, and the universal wheel 22 is connected and fixed to both ends of the mounting plate 3 through the universal wheel seat 221, and the steering wheel assembly 21 is arranged in the middle of the mounting plate 3. The steering wheel assembly 21 and the universal wheel 22 are centrally symmetrically arranged on the vehicle body 1, so that the vehicle body 1 can perform movements such as rotation in place, turning in place, orientation, and orientation deflection.

[0054] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot limit the scope of protection of the present invention. All equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

[0055] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An AGV suspension structure, characterized in that: It comprises a vehicle body, two groups of suspension structures and two groups of support components, wherein the suspension structures are centrally symmetrically arranged on the vehicle body; The suspension structure comprises a steering wheel assembly, a universal wheel and a seesaw structure, wherein the steering wheel assembly, the universal wheel and the seesaw structure are connected and fixed by a mounting plate; The steering wheel assembly comprises a steering wheel and a steering wheel seat, the steering wheel and the steering wheel seat are integrally connected, and the steering wheel assembly is arranged in the middle of the mounting plate, and the universal wheels are symmetrically fixed on both sides of the steering wheel assembly; The seesaw structure is symmetrically fixed on both sides of the steering wheel assembly, and is arranged between the universal wheel and the steering wheel assembly; The vehicle body includes a motion state; When the vehicle body is in the moving state, the seesaw structure moves toward a relative direction where the gravity is more distributed, so that the gravity is evenly distributed on the universal wheel and the steering wheel; The support assembly includes a left support member and a right support member, wherein the left support member and the right support member are arranged on both sides of the steering wheel assembly and located on one side of the universal wheel; The support assembly includes a transmission structure and a driving structure; the driving structure drives the transmission structure to move up and down; The vehicle body includes a tilted state; When the vehicle body is in the tilted state, the driving structure at one end tilted downward drives the transmission structure to move upward; and the driving structure at the other end tilted upward drives the transmission structure to move downward.

2. The AGV suspension structure according to claim 1, characterized in that: The transmission structure includes a fixed plate, a guide sleeve, a guide rod, a connecting plate and a base, and the driving structure includes an electric cylinder and a telescopic rod; The transmission structure is arranged on one side of the driving structure, and the transmission structure is fixedly connected to the driving structure through the connecting plate; The transmission structure and the driving structure are fixedly connected to the vehicle body via the fixing plate; one end of the guide sleeve is fixedly connected to the fixing plate, and the other end is movably connected to the guide rod, the guide rod is arranged in the guide sleeve, and the guide rod is fixedly connected to the driving structure via the connecting plate; the telescopic rod is arranged in the electric cylinder, and the telescopic rod is fixedly connected to the base.

3. The AGV suspension structure according to claim 2, characterized in that: The fixing plate is provided with a first through hole for the guide rod to pass through, and the guide rod passes through the first through hole and is connected to the connecting plate.

4. The AGV suspension structure according to claim 3, characterized in that: The connecting plate is provided with a second through hole, and the base passes through the second through hole and is fixedly connected to the telescopic rod.

5. The AGV suspension structure according to claim 1, characterized in that: The steering wheel assembly and the universal wheel are arranged at the lower end of the mounting plate, and the seesaw structure is arranged at the upper end of the mounting plate.

6. The AGV suspension structure according to claim 5, characterized in that: The seesaw structure comprises an articulated seat, a movable plate, a connecting shaft and a hinge, and the movable plate is rotatably connected to the articulated seat via the connecting shaft and the hinge.

7. The AGV suspension structure according to claim 6, characterized in that: When the vehicle body is in the moving state, the movable plate moves toward a relative direction where the gravity distribution is greater.

8. The AGV suspension structure according to claim 6, characterized in that: The universal wheel is also provided with a universal wheel seat, and the universal wheel is fixed to the two ends of the mounting plate through the universal wheel seat.

Images