AGV suspension structure

Abstract

The present application relates to a kind of AGV suspension structure, including vehicle body, suspension structure piece and support assembly, suspension structure piece includes rudder wheel assembly, universal wheel and warped plate structure, and is centrally symmetric and arranged on vehicle body, rudder wheel assembly is arranged in the middle of mounting plate, universal wheel and warped plate structure are symmetrically fixed and arranged in the two sides of rudder wheel assembly, wherein warped plate structure is arranged between universal wheel and rudder wheel assembly;Support assembly is arranged in the side of universal wheel.There is following beneficial effect: rudder wheel assembly and universal wheel are centrally symmetric and arranged, so that vehicle body can do in-place rotation, in-place turn around, orientation and directional angle of motion etc.Warped plate structure is arranged between rudder wheel and universal wheel, warped plate structure is made seesaw movement by movable plate and hinge, and gravity caused by load is evenly distributed on universal wheel and rudder wheel, so that the force that rudder wheel and universal wheel are subjected to remains consistent, prevent the phenomenon that rudder wheel appears to hang in the air and slip.Support assembly can adaptively adjust the balance of vehicle body according to the road surface condition where vehicle body stays.

Description

Technical Field

[0001] This invention relates to the field of automated guided vehicle (AGV) technology, and more specifically, to an AGV suspension structure. Background Technology

[0002] Currently, the chassis wheel system in the AGV industry mainly consists of steering wheels and omnidirectional wheels. The steering wheels drive and control the platform's movement and steering, while the omnidirectional wheels provide support. Existing technology uses a diagonal layout for the steering wheels, rigidly connected and fixed. When driving at an angle, the resistance experienced by the steering wheels is uneven, or the steering wheels may become suspended, resulting in only one side of the steering wheel being driven, leading to uncontrollable rotation direction. In existing technology, the steering wheels are installed in the middle of the vehicle body, using spring pressure as the normal force between the steering wheels and the ground. The omnidirectional wheels are rigidly connected to the vehicle body. The spring's extension and contraction are easily affected by environmental factors, resulting in insufficient power, holding force, and braking capacity of the steering wheels, easily leading to steering wheel slippage and vehicle swaying. When the vehicle body traverses uneven ground, the weight from the load cannot be evenly distributed, preventing the steering wheels from making close contact with the ground, causing the steering wheels to become suspended and slip. Summary of the Invention

[0003] The technical problem to be solved by this 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 swaying. In view of the above-mentioned defects of the prior art, an AGV suspension structure is proposed.

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

[0005] The suspension structure includes a steering wheel assembly, casters, and a rocker structure, wherein the steering wheel assembly, casters, and rocker structure are connected and fixed by a mounting plate.

[0006] The steering wheel assembly includes 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 located in the middle of the mounting plate. The casters are symmetrically fixed on both sides of the steering wheel assembly.

[0007] The rocker structure is symmetrically fixed on both sides of the steering wheel assembly and is located between the caster wheel and the steering wheel assembly;

[0008] The vehicle body includes a state of motion;

[0009] When the vehicle body is in the motion state, the rocker structure will move towards the relative direction where the gravity distribution is greater, so that the gravity is evenly distributed on the caster wheel and the steering wheel;

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

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

[0012] The vehicle body is in a tilted state;

[0013] When the vehicle body is in the tilted state, the drive structure at the downward tilting end drives the transmission structure to move upward; the drive structure at the upward tilting end 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 drive structure includes an electric cylinder and a telescopic rod;

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

[0016] The transmission structure and the drive structure are fixedly connected to the vehicle body through 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 located inside the guide sleeve and is fixedly connected to the drive structure through the connecting plate; the telescopic rod is located inside the electric cylinder and 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 omnidirectional wheel are located at the lower end of the mounting plate, and the rocker structure is located at the upper end of the mounting plate.

[0020] In some embodiments, the rocker structure includes a hinge base, a movable plate, a connecting shaft, and a hinge, wherein the movable plate is rotatably connected to the hinge base via the connecting shaft and the hinge.

[0021] In some embodiments, when the vehicle body is in the motion state, the movable plate will move towards the relative direction where the gravity distribution is greater.

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

[0023] The AGV suspension structure of this invention has the following beneficial effects: the steering wheel assembly and the omnidirectional wheels are centrally symmetrically arranged on the vehicle body, allowing the vehicle body to perform movements such as rotating in place, turning in place, directional movement, and directional deflection. A seesaw structure is located between the steering wheel assembly and the omnidirectional wheels. This seesaw structure, through a movable plate and hinge, moves like a seesaw, ensuring that the weight of the load is evenly distributed between the omnidirectional wheels and the steering wheel regardless of whether the vehicle body is climbing, descending, on flat ground, or crossing obstacles. This maintains consistent force on the steering wheel and omnidirectional wheels, preventing the steering wheel from becoming suspended or slipping. When the vehicle body is stationary on uneven ground, the drive structure on the support assembly uses an electric cylinder to drive a telescopic rod, causing the guide rod to move up and down, thereby adjusting the vehicle body's balance and ensuring that the vehicle body is stably supported on the ground, preventing objects on the vehicle body from swaying. Attached Figure Description

[0024] Figure 1 This is a perspective view of an overall AGV suspension structure according to the present invention;

[0025] Figure 2 This is a perspective view of the suspension structure and support components of an AGV suspension structure according to the present invention;

[0026] Figure 3 This is a top view of the suspension structure and support components of an AGV suspension structure according to the present invention;

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

[0028] Figure 5 This is a perspective view of the left support member of an AGV suspension structure according to the present invention;

[0029] Figure 6 This is a perspective view of the right support member of an AGV suspension structure according to the present invention;

[0030] Figure 7 This is a left view of the suspension structure component of an AGV suspension structure according to the present invention;

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

[0032] Explanation of reference numerals in the attached figures:

[0033] Vehicle body 1, suspension structure 2, steering wheel assembly 21, steering wheel 211, steering wheel seat 212, caster wheel 22, caster 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 41, right support 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 Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0035] like Figures 1-8 The diagram shows the AGV suspension structure of the present invention, including a vehicle body 1, two sets of suspension structural members 2, and two sets of support assemblies 4. The suspension structural members 2 are centrally symmetrically arranged on the vehicle body 1. Each suspension structural member 2 includes a steering wheel assembly 21, casters 22, and a rocker structure 23. The steering wheel assembly 21, casters 22, and rocker 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 located in the middle of the mounting plate 3. The casters 22 are symmetrically fixed on both sides of the steering wheel assembly 21. The rocker structure 23 is symmetrically fixed on both sides of the steering wheel assembly 21 and is located between the casters 22 and the steering wheel assembly 21. The vehicle body 1 The vehicle body 1 is in motion. When the vehicle body 1 is in motion, the rocker structure 23 moves towards the direction with greater gravity distribution, so that the gravity is evenly distributed on the caster wheel 22 and the steering wheel 211. The support assembly 4 includes a left support member 41 and a right support member 42, which are located on both sides of the steering wheel assembly 21 and on one side of the caster 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 is in a tilted state. When the vehicle body 1 is in a tilted state, the drive structure 44 at the downward tilting end drives the transmission structure 43 to move upward. The drive structure 44 at the upward tilting 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 caster wheel 22, and a rocker structure 23. The steering wheel assembly 21, the caster wheel 22, and the rocker structure 23 are connected and fixed by a mounting plate 3. The steering wheel assembly 21 is located in the middle of the mounting plate 3, the steering wheel assembly 21 and the caster wheel 22 are located on the same side of the mounting plate 3, and the rocker structure 23 is located on the other side of the mounting plate 3.

[0037] The steering wheel assembly 21 is located 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 both ends of the mounting plate 3 through the universal wheel seat 221. The rocker structure 23 is located between the universal wheel 22 and the steering wheel assembly 21. The steering wheel assembly 21, the universal wheel 22 and the rocker structure 23 are fixed to the vehicle body 1 through the mounting plate 3.

[0038] The rocker structure 23 is symmetrically fixed on both sides of the steering wheel assembly 21 and positioned between the caster wheel 22 and the steering wheel assembly 21. The rocker structure 23 includes a hinge seat 231, a movable plate 232, a connecting shaft 233, and a hinge 234. The hinge 234 is located in the hinge seat 231. One end of the movable plate 232 has a through hole. The connecting shaft 233 passes through one side of the hinge seat 231 and the through hole of the movable plate 232 and abuts against the other side of the hinge seat 231, forming a rocker structure. The rocker moves via the connecting shaft 233 and the hinge 234. When the vehicle body 1 is in motion, the steering wheel 211 and the caster wheel 22 pass over uneven ground. The rocker structure 23 moves towards the direction with greater gravity distribution, so that the gravity brought by the load can be evenly distributed on the caster wheel 22 and the steering wheel 211. The steering wheel 211 can make close contact with the ground plane, preventing the steering wheel 211 from being suspended or slipping.

[0039] Support components 4 are located on both sides of the steering wheel assembly 21 and on one side of the caster wheel 22. Support components 4 are fixed to the vehicle body 1 by a fixing plate 431. Support components 4 include a left support member 41 and a right support member 42. The two sets of left and right support members 41 and 42 are symmetrically arranged at the four corners of the vehicle body 1, evenly distributing the weight from the load onto the steering wheel 211 and the caster wheel 22, thus making the driving force of the steering wheel 211 more stable. Support components 4 can be symmetrically arranged at the four corners of the vehicle body 1, or they can be arranged non-symmetrically; the position of support components 4 can be adjusted according to actual needs. Support components 4 include a transmission structure 43 and a drive structure 44. Support components 4 can drive the transmission structure 43 up and down through the drive structure 44 according to the road conditions the vehicle body 1 travels on and where it stops, thereby adjusting the balance of the vehicle body 1 to ensure that the vehicle body maintains a balanced state.

[0040] Please refer to Figures 2-6The transmission structure 43 includes a fixed plate 431, a guide sleeve 432, a guide rod 433, a connecting plate 434, and a base 435. The drive structure 44 includes an electric cylinder 441 and a telescopic rod 442. The transmission structure 43 is located on one side of the drive structure 44 and is fixedly connected to the drive structure 44 via the connecting plate 434. The transmission structure 43 and the drive structure 44 are fixedly connected to the vehicle body 1 via 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 located inside the guide sleeve 432 and is fixedly connected to the drive structure 44 via the connecting plate 434. The telescopic rod 442 is located inside the electric cylinder 441 and is fixedly connected to the base 435.

[0041] In specific implementation: the support assembly 4 includes a transmission structure 43 and a drive structure 44. The support assembly 4 is fixedly connected to the vehicle body 1 via a fixing plate 431. A guide sleeve 432 is disposed on one side of the drive structure 44 and below the fixing plate 431. One end of the guide sleeve 432 is fixedly connected to the fixing plate 431, and the other end is movably connected to the guide rod 433. A first through hole 4311 is provided on the fixing plate 431, and the guide rod 433 passes through the first through hole 4311 and is disposed inside the guide sleeve 432. The guide rod 433 is fixedly connected to the drive structure 44 via a connecting plate 434. A telescopic rod 442 is disposed inside an electric cylinder 441 and is fixedly connected to a base 435. The drive structure 44 electrically drives the telescopic rod to move, thereby causing the guide rod 433 to move up and down, thus adjusting the balance of the vehicle body 1 and preventing the vehicle body 1 from tilting. When the vehicle body 1 is tilted, the support component 4 can adaptively adjust the height of the guide rod 433. The drive structure 44 at the downward tilting end drives the transmission structure 43 to move upward; the drive structure 44 at the upward tilting 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 object on the vehicle body 1 will not sway.

[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 to 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 set in the guide sleeve 432 moves up and down according to the condition of the vehicle body 1. When the guide rod 433 moves upward, it can pass through the first through hole 4311, so that the guide rod 433 is higher than the plane of the fixing plate 431, thereby adjusting 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 to 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 support 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 Figures 2-3 The steering wheel assembly 21 and the universal wheel 22 are located at the lower end of the mounting plate 3, and the rocker structure 23 is located at the upper end of the mounting plate 3.

[0047] In practical implementation: the steering wheel assembly 21 and the caster wheel 22 are located on the same side of the mounting plate 3, with the steering wheel assembly 21 positioned in the middle of the mounting plate 3 and fixedly connected to it; the caster wheel 22 is fixedly connected to the mounting plate 3 via caster wheel seats 221, and the caster wheel 22 is symmetrically located at both ends of the mounting plate 3; the rocker structure 23 is located on the other side of the mounting plate 3, between the steering wheel assembly 21 and the caster wheel 22. The rocker structure 23 ensures that the gravity from the load is evenly distributed on the steering wheel 211 and the caster wheel 22, making the driving force of the steering wheel 211 more stable.

[0048] Please refer to Figure 2 and Figure 7 The rocker 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 practical implementation: the hinge seats 231 of the rocker structure 23 are symmetrically arranged on the mounting plates 3 on both sides of the steering wheel assembly 21, and are located on both sides of the midpoint of the connection line between the center of the universal wheel 22 and the center of the steering wheel 211. The hinge 234 is set in the hinge 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 hinge seat 231 and the through hole of the movable plate 232 and 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 rocker structure. The rocker movement is achieved through the connecting shaft 233 and the hinge 234. When the vehicle body 1 is climbing, descending, on flat ground, or crossing bumps, the rocker structure 23 moves in the direction where the gravity is more distributed, so that the gravity can be evenly distributed on the caster wheel 22 and the steering wheel 211, so that the force on the steering wheel 211 and the caster wheel 22 is consistent, and the steering wheel 211 is prevented from being suspended or slipping.

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

[0051] In practical implementation: When the vehicle body 1 is in motion, due to movements such as climbing, descending, or crossing obstacles, the weight of the load on the vehicle body 1 cannot be evenly distributed to the casters 22 and the steering wheel 211, causing the steering wheel 211 on the vehicle body 1 to become suspended and slippery. The vehicle body 1 is equipped with a rocker structure 23. When the vehicle body 1 is in motion, the movable plate 232 on the rocker structure 23 will move in the direction with greater weight distribution, so that the weight of the load on the vehicle body 1 is evenly distributed to the casters 22 and the steering wheel 211, so that the casters 22 and the steering wheel 211 on the vehicle body 1 can be subjected to the same force regardless of whether the vehicle body 1 is climbing, descending, or crossing obstacles.

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

[0053] In practical implementation: the casters 22 and the steering wheel assembly 21 are fixedly connected to the vehicle body 1 via the mounting plate 3, and the casters 22 are fixed to both ends of the mounting plate 3 via caster seats 221, while the steering wheel assembly 21 is located in the middle of the mounting plate 3. The steering wheel assembly 21 and the casters 22 are centrally symmetrically arranged on the vehicle body 1, enabling the vehicle body 1 to perform movements such as rotating in place, turning in place, orienting, and tilting.

[0054] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They do not limit the scope of protection of the present invention. All equivalent changes and modifications made within 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 modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. An AGV suspension structure, characterized in that, It includes a vehicle body, two sets of suspension structural components, and two sets of support assemblies, wherein the suspension structural components are centrally symmetrically arranged on the vehicle body; The suspension structure includes a steering wheel assembly, casters, and a rocker structure, wherein the steering wheel assembly, casters, and rocker structure are connected and fixed by a mounting plate. The steering wheel assembly includes 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 located in the middle of the mounting plate. The casters are symmetrically fixed on both sides of the steering wheel assembly. The rocker structure is symmetrically fixed on both sides of the steering wheel assembly and is located between the caster wheel and the steering wheel assembly; The vehicle body includes a state of motion; When the vehicle body is in the motion state, the rocker structure will move towards the relative direction where the gravity distribution is greater, so that the gravity is evenly distributed on the caster wheel and the steering wheel; The support assembly includes a left support member and a right support member, which are disposed on both sides of the steering wheel assembly and located on one side of the omnidirectional wheel; The support assembly includes a transmission structure and a drive structure; the drive structure drives the transmission structure to move up and down. The vehicle body is in a tilted state; When the vehicle body is in the tilted state, the drive structure at the downward tilting end drives the transmission structure to move upward; the drive structure at the upward tilting end drives the transmission structure to move downward. The transmission structure includes a fixed plate, a guide sleeve, a guide rod, a connecting plate, and a base; the drive structure includes an electric cylinder and a telescopic rod. The transmission structure is located on one side of the drive structure, and the transmission structure is fixedly connected to the drive structure through the connecting plate; The transmission structure and the drive structure are fixedly connected to the vehicle body through 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 located inside the guide sleeve and is fixedly connected to the drive structure through the connecting plate; the telescopic rod is located inside the electric cylinder and is fixedly connected to the base.

2. The AGV suspension structure according to claim 1, 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.

3. The AGV suspension structure according to claim 2, 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.

4. The AGV suspension structure according to claim 1, characterized in that, The steering wheel assembly and the omnidirectional wheel are located at the lower end of the mounting plate, and the rocker structure is located at the upper end of the mounting plate.

5. The AGV suspension structure according to claim 4, characterized in that, The rocker structure includes a hinge base, a movable plate, a connecting shaft, and a hinge. The movable plate is rotatably connected to the hinge base via the connecting shaft and the hinge.

6. The AGV suspension structure according to claim 5, characterized in that, When the vehicle body is in the motion state, the movable plate will move towards the relative direction where the gravity distribution is greater.

7. The AGV suspension structure according to claim 5, characterized in that, The caster wheel is also provided with a caster wheel seat, and the caster wheel is fixed to both ends of the mounting plate by the caster wheel seat.

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