Built-in suspension AGV steering wheel and chassis structure

Abstract

The invention relates to the technical field of AGV transport vehicles, in particular to a built-in suspension AGV steering wheel and chassis structure. The AGV steering wheel with the built-in suspension comprises a pair of power wheel sets, a bracket used for installing the power wheel sets, a supporting table and a shock absorption structure. A rotary table used for being connected with the frame is arranged on the supporting table. The rotary table is installed on the supporting table. The rotary table is provided with a rotating axis. The rotary table is configured to rotate around the rotating axis along with driving of the pair of power wheel sets. The pair of power wheel sets is installed on the bracket and is symmetrically arranged along the rotating axis. A rotating shaft of the power wheel set is perpendicular to the rotating axis. The shock-proof structure is arranged between the bracket and the supporting table and comprises a plurality of shock-proof units which are arranged in parallel. The shock-absorbing unit is configured to buffer the supporting table in the axial direction of the rotary table. The shock-absorbing unit is arranged parallel to the rotation axis. According to the built-in suspension AGV steering wheel, the steering stability is guaranteed, and especially during high-speed turning, the steering function of the steering wheel is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV transport vehicles, and in particular to an AGV steering wheel and chassis structure with a built-in suspension. Background Art

[0002] AGV (Automated Guided Vehicle) transport vehicles can automatically travel along a preset path to carry out material handling and transportation tasks, effectively improving production and logistics efficiency. Among them, the steering principles of the AGV steering wheel include hinge steering and differential steering. Hinge steering is achieved by setting a hinge connection mechanism between the vehicle chassis and the steering wheel. When steering is required, the vehicle control system will drive the steering wheel to rotate a certain angle around the hinge. Differential steering achieves steering based on the speed difference between different wheels.

[0003] Most of the existing AGV steering wheels are non-shock-absorbing load-bearing structures, including wheels, tires, motors, reducers and control systems. In relatively flat and smooth indoor ground environments, such as modern warehouses and factory workshops, non-shock-absorbing AGV steering wheels can play a better role. In the above scenarios, the road conditions are good, and the AGV is less bumpy and impacted during driving. The steering wheel can stably carry the goods and complete the transportation task. For some light material handling tasks, non-shock-absorbing steering wheels can also meet the needs. For example, in scenarios such as transporting small parts in electronic manufacturing workshops and transporting light medicines in pharmaceutical production workshops, AGVs do not need to carry too heavy goods, and the load-bearing capacity and stability of non-shock-absorbing steering wheels are sufficient to cope with it.

[0004] However, in the case of heavy loads and uneven roads, the steering wheel of the non-shock-absorbing AGV will make it difficult to keep the center of gravity of the vehicle stable. Since there is no shock absorber to cushion the impact of the road, the vehicle is prone to shaking and tilting. For example, when the AGV is driving on a bumpy road and carrying heavy goods, the weight of the goods will aggravate the shaking amplitude of the vehicle caused by the bumpy road. Not only that, during the shaking process, its sensors (such as lidar, encoders, etc.) will be disturbed. For example, the encoder may generate an erroneous pulse signal due to the shaking of the vehicle, making it impossible for the AGV control system to accurately judge the position and driving status of the vehicle, thereby affecting the accuracy of the automated operation and causing the goods to not be accurately transported to the designated location. Summary of the invention

[0005] In view of the above technical problems, in a first aspect, the present invention proposes an AGV steering wheel with built-in suspension, comprising a pair of power wheel sets, a bracket for mounting the power wheel sets, a support platform and a shock-absorbing structure; The support platform is provided with a turntable for connecting the vehicle frame, the turntable is mounted on the support platform, the turntable is provided with a rotation axis, and the turntable is configured to rotate around the rotation axis with the driving of a pair of power wheel sets; A pair of power wheel sets are mounted on the bracket and arranged symmetrically along the rotation axis, and the rotation axes of the power wheel sets are arranged perpendicular to the rotation axis; The shock-absorbing structure is arranged between the bracket and the support platform, and includes a plurality of shock-absorbing units arranged in parallel. The shock-absorbing units are configured to form a buffer for the support platform in the axial direction of the turntable, and the shock-absorbing units are arranged parallel to the rotation axis.

[0006] Among them, a pair of power wheel sets realizes steering through the speed difference, and uses the friction force generated by the power wheel and the ground during the rotation process. This friction force will react on the power wheel set and the bracket connected to it to form steering. For example, when turning left in situ, the right power wheel rotates forward and the left power wheel rotates backward. At this time, the speeds of the two power wheels are the same but in opposite directions, so that the turntable on the bracket rotates around the rotation axis to realize the in-situ turning action. The shock absorber unit cooperates with the differential steering mechanism to make the connection between the power wheel set and the turntable more flexible and adaptable. When the AGV performs a turning action, the shock absorber structure can automatically adjust according to different force conditions to ensure that the power wheel set maintains good contact and friction distribution with the ground. Especially when turning at high speed, the shock absorber unit can help the outer wheel better withstand greater pressure and the inner wheel maintain appropriate grip, thereby improving the accuracy and flexibility of steering and reducing the side slip or loss of control caused by improper steering.

[0007] Preferably, a plurality of shock-absorbing units are arranged in a rectangular array between the bracket and the support platform.

[0008] Preferably, the shock absorbing unit includes a guide column and a compression spring, a first mounting hole is provided on the support platform, a second mounting hole corresponding to the first mounting hole is provided on the bracket, the guide column is constructed to extend from the first mounting hole and be embedded in the second mounting hole, a limiting step matching the first mounting hole is provided at one end of the guide column, the compression spring is sleeved on the guide column, a pressure cover is provided on the outer side of the first mounting hole, and the pressure cover is installed on the support platform through fasteners to form an axial limit for the guide column.

[0009] Preferably, a guide mechanism is provided between the bracket and the support platform, the guide mechanism being configured to restrict the bracket from making an undulating motion along the axial direction of the turntable as the shock absorbing unit buffers the bracket, and the bracket is connected to the support platform via the guide mechanism.

[0010] Preferably, the guiding mechanism includes a connecting plate, a first connecting column and a second connecting column. The connecting plate is mounted on the side wall of the supporting platform through the first connecting column. A guide groove is provided on the connecting plate. The guide groove is arranged parallel to the axial direction of the turntable. The second connecting column is embedded in the guide groove and connected to the side wall of the bracket. The side wall of the guide groove forms a limit for the side wall of the second connecting column.

[0011] Preferably, a sprocket for mounting on a frame is provided on the turntable, the turntable and the sprocket are coaxially arranged, and the turntable is constructed to rotate around the axis of the sprocket as driven by a pair of power wheel groups; a steering encoder for detecting the rotation angle of the turntable is also provided on the turntable, the housing of the steering encoder is mounted on the turntable, and the detection end of the steering encoder is connected to a gear, which meshes with the sprocket.

[0012] Preferably, a pair of proximity switches are arranged on the turntable, and detection holes corresponding to the proximity switches are arranged on the end surface of the toothed disc.

[0013] Preferably, a connecting shaft is provided between the supporting platform and the turntable, the connecting shaft is arranged perpendicular to the rotation axis of the turntable, and the turntable is connected to the supporting platform via the connecting shaft.

[0014] Preferably, a bushing is provided in the second mounting hole, and the guide column is embedded in the bushing.

[0015] In a second aspect, the present invention further proposes a chassis structure, including the above-mentioned AGV steering wheel with built-in suspension.

[0016] Compared with the prior art, the AGV steering wheel and chassis structure with built-in suspension provided by the present invention has the following outstanding substantial features and significant improvements: 1. In the built-in suspended AGV steering wheel, a pair of power wheel groups are symmetrically arranged along the rotation axis, and the rotating shaft of the power wheel group is perpendicular to the rotation axis, which is conducive to maintaining good structural stability and balance during the operation of the AGV. Compared with some existing technologies with asymmetric layouts, it can distribute weight and force more evenly, reduce problems such as overloading and shaking caused by unreasonable layout, thereby improving the stability of the AGV during operation, reducing the risk of damage to goods due to shaking during transportation, and is conducive to improving the control accuracy and safety of the AGV in complex terrain or high-speed driving.

[0017] 2. The shock-absorbing structure of the AGV steering wheel with built-in suspension is arranged between the bracket and the support platform, and includes multiple shock-absorbing units arranged in parallel and parallel to the rotation axis, so that the shock-absorbing units can form a buffer for the support platform in the axial direction of the turntable. The multi-unit parallel shock-absorbing design can more accurately adapt to vibrations and impacts of different directions and intensities, and reduce the transmission of vibrations to the frame and cargo. It can not only protect the precision electronic components and mechanical structures inside the AGV and extend its service life, but also further improve the integrity and stability of the transported goods, and improve the overall reliability and adaptability of the AGV.

[0018] 3. A pair of power wheels in the built-in suspended AGV steering wheel achieves steering through speed difference, and utilizes the friction between the power wheels and the ground during rotation. This friction will react on the power wheels and the bracket connected to it to form steering. The shock absorber unit cooperates with the differential steering mechanism to make the connection between the power wheels and the turntable more flexible and adaptable. When the AGV makes a turning movement, the shock absorber structure can automatically adjust according to different force conditions to ensure that the power wheels maintain good contact and friction distribution with the ground. Especially when turning at high speed, the shock absorber unit can help the outer wheels better withstand greater pressure, and the inner wheels maintain appropriate grip, thereby improving the steering accuracy and flexibility, and reducing the side slip or loss of control caused by improper steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of an AGV steering wheel with built-in suspension in an embodiment of the present invention.

[0020] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of an AGV steering wheel with built-in suspension from another perspective.

[0021] Figure 3 yes Figure 1 main view.

[0022] Figure 4 yes Figure 3 Top view of the .

[0023] Figure 5 yes Figure 3 Schematic diagram of the cross-sectional structure at AA in the middle.

[0024] Figure 6 yes Figure 4 Schematic diagram of the cross-sectional structure at BB in the middle.

[0025] Figure numerals: 1. power wheel group; 2. bracket; 3. support platform; 4. shock absorbing unit; 5. turntable; 6. guide mechanism; 7. gear plate; 8. steering encoder; 9. gear; 10. proximity switch; 11. connecting shaft; 21. second mounting hole; 31. first mounting hole; 41. guide column; 42. compression spring; 43. limit step; 44. pressure cover; 45. bushing; 61. connecting plate; 62. first connecting column; 63. second connecting column; 64. guide groove. DETAILED DESCRIPTION

[0026] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0027] like Figure 1-Figure 6 As shown, an AGV steering wheel with a built-in suspension is proposed in an embodiment of the present invention, which aims to ensure the steering stability during the driving of the AGV vehicle, especially to ensure the steering function of the steering wheel during high-speed turning.

[0028] An AGV steering wheel with built-in suspension proposed in an embodiment of the present invention utilizes a shock-absorbing unit in conjunction with a differential steering mechanism to make the connection between the power wheel set and the turntable more flexible and adaptable. When the AGV performs a steering action, the shock-absorbing structure can automatically adjust according to different force conditions to ensure that the power wheel set maintains good contact and friction distribution with the ground. Especially when turning at high speeds, the shock-absorbing unit can help the outer wheels better withstand greater pressure, and the inner wheels maintain appropriate grip, thereby improving the accuracy and flexibility of steering and reducing skidding or loss of control caused by improper steering.

[0029] like Figure 1 Combination Figure 2 As shown, an AGV steering wheel with built-in suspension includes a pair of power wheel groups 1, a bracket 2 for mounting the power wheel groups 1, a support platform 3 and a shock-absorbing structure.

[0030] like Figure 2 As shown, a turntable 5 for connecting the frame is provided on the support platform 3. The turntable 5 is installed on the support platform 3. The turntable 5 is provided with a rotation axis. The turntable 5 is configured to rotate around the rotation axis with the drive of a pair of power wheel sets 1. The pair of power wheel sets 1 realizes steering through the speed difference, and utilizes the friction force generated by the power wheel and the ground during the rotation process, and this friction force will react to the power wheel set 1 and the bracket 2 connected thereto to form steering.

[0031] For example, when turning left in situ, the right power wheel rotates forward and the left power wheel rotates backward. At this time, the rotation speeds of the two power wheels are the same but in opposite directions, so that the turntable 5 on the bracket 2 rotates around the rotation axis to achieve in situ turning.

[0032] like Figure 3As shown, a pair of power wheel sets 1 are mounted on a bracket 2 and arranged symmetrically along the rotation axis. The rotation axis of the power wheel sets 1 is arranged perpendicular to the rotation axis.

[0033] like Figure 3 Combination Figure 4 As shown, the shock absorbing structure is arranged between the bracket 2 and the support platform 3. The shock absorbing structure includes a plurality of parallel arranged shock absorbing units 4. The shock absorbing units 4 are configured to form a buffer for the support platform 3 in the axial direction of the turntable 5, and the shock absorbing units 4 are arranged parallel to the rotation axis.

[0034] The shock absorber unit 4 cooperates with the differential steering mechanism to make the connection between the power wheel set 1 and the turntable 5 more flexible and adaptable. The shock absorber structure can automatically adjust according to different stress conditions to ensure that the power wheel set 1 maintains good contact and friction distribution with the ground. Especially when turning at high speed, the shock absorber unit 4 can help the outer wheel better withstand greater pressure, and the inner wheel maintains appropriate grip, thereby improving the steering accuracy and flexibility.

[0035] like Figure 4 As shown, multiple shock absorbing units 4 are arranged in a rectangular array between the bracket 2 and the support platform 3. In this way, multiple shock absorbing units 4 are arranged in a rectangular array between the bracket 2 and the support platform 3, which can ensure uniform force in all directions. Regardless of the impact force coming from the front, back, left or right side of the AGV, it can be evenly distributed to each shock absorbing unit 4. When the wheels on one side of the AGV encounter a large bump, the shock absorbing units 4 arranged in a rectangular array can evenly transfer the impact force on that side to the entire bracket 2 and support platform 3 structure, avoiding structural deformation or damage caused by excessive local force, and effectively maintaining the integrity and stability of the overall structure of the AGV.

[0036] Arranging multiple shock-absorbing units 4 in a rectangular array can also improve the buffering efficiency. Each shock-absorbing unit 4 has a relatively fixed action area and force path in the array, and can quickly and orderly perform elastic deformation and energy absorption when vibration is transmitted. For example, on a continuously bumpy road, each shock-absorbing unit 4 responds in sequence according to the layout of the rectangular array, forming a coherent and efficient buffering system, minimizing the transmission of vibration to the AGV frame.

[0037] For example, Figure 4 As shown, four shock-absorbing units 4 are arranged in a rectangular array between the bracket 2 and the support platform 3. During the operation of the AGV, they can work together better to suppress the sway and tilt of the vehicle body. When driving at high speed or carrying heavy goods, the shock-absorbing units 4 in the rectangular array can effectively reduce the shaking caused by the center of gravity shift or uneven road surface, so that the AGV maintains a stable posture and improves the safety and reliability of the transportation process.

[0038] like Figure 3Combination Figure 5 As shown, the shock absorbing unit 4 includes a guide column 41 and a compression spring 42. The guide column 41 is used to guide the shock absorbing unit 4. When the shock absorbing unit 4 is subjected to vibration impact, the compression spring 42 will deform to absorb energy. The guide column 41 can ensure that the spring moves in a direction parallel to the axis of rotation during compression and rebound, avoiding unstable conditions such as bending, twisting or lateral deviation of the spring. For example, when the AGV frequently turns or travels on a bumpy road, the guide column 41 can keep the motion trajectory of the shock absorbing unit 4 linear, thereby ensuring the stability and reliability of the entire shock absorbing unit 4, so that the wheels of the AGV can always maintain good contact with the ground, maintaining the smoothness and controllability of the ride.

[0039] According to some preferred embodiments of the present invention, Figure 5 As shown, the support platform 3 is provided with a first mounting hole 31. The bracket 2 is provided with a second mounting hole 21 corresponding to the first mounting hole 31. The guide column 41 is configured to extend from the first mounting hole 31 into and be embedded in the second mounting hole 21. One end of the guide column 41 is provided with a limiting step 43 matching the first mounting hole 31. The compression spring 42 is sleeved on the guide column 41. A pressure cover 44 is provided on the outer side of the first mounting hole 31. The pressure cover 44 is installed on the support platform 3 by fasteners to form an axial limit for the guide column 41.

[0040] In this way, the guide column 41 passes through the first mounting hole 31 and the second mounting hole 21 and is fixed by the limiting step 43 and the pressure cover 44, which effectively enhances the connection rigidity between the support platform 3 and the bracket 2. When the AGV carries heavy objects or performs high-intensity operations, this rigid connection can better resist distortion and deformation forces. For example, when transporting large and heavy goods, even if the AGV is subjected to a large lateral force or a complex force condition is generated due to uneven road conditions, the shock-absorbing unit 4 structure can still remain stable, ensuring the driving safety of the AGV and the smooth transportation of goods.

[0041] like Figure 5 As shown, a bushing 45 is provided in the second mounting hole 21, and the guide column 41 is embedded in the bushing 45. The provision of the bushing 45 effectively reduces the direct friction between the guide column 41 and the second mounting hole 21. During the frequent operation of the shock absorber unit 4, the guide column 41 continuously telescopes in the mounting hole. Without the bushing 45, the friction between metal and metal is likely to cause wear on the guide column 41 and the mounting hole surface, affecting the accuracy and service life of the shock absorber unit 4.

[0042] The bushing 45 is usually made of wear-resistant materials, such as nylon, polyurethane, etc. Its lower friction coefficient can greatly reduce the degree of wear, ensuring that the guide column 41 can still move smoothly in the mounting hole during long-term use, thereby maintaining the stability and reliability of the shock absorption system.

[0043] like Figure 2 Combination Figure 3 As shown, a guide mechanism 6 is provided between the bracket 2 and the support platform 3. The guide mechanism 6 is configured to limit the bracket 2 from making an undulating motion along the axial direction of the turntable 5 with the buffering of the shock absorbing unit 4. The bracket 2 is connected to the support platform 3 via the guide mechanism 6.

[0044] The guide mechanism 6 can accurately limit the movement direction of the bracket 2 so that it can only move up and down with the shock-absorbing unit 4 within a predetermined range. When the AGV is running, no matter how complex the road conditions are, it can ensure that the bracket 2 will not shake or move away from the axial direction. By closely connecting the bracket 2 to the support platform 3 and limiting its movement, the guide mechanism 6 enhances the integrity of the entire AGV chassis structure. This integrity helps to better transmit and disperse the impact force and vibration from the road surface. When carrying heavy objects or facing large external forces, the various components can work together to reduce local stress concentration.

[0045] For example, Figure 3 Combination Figure 5 As shown, the guide mechanism 6 includes a connecting plate 61, a first connecting column 62 and a second connecting column 63. The connecting plate 61 is mounted on the side wall of the support platform 3 through the first connecting column 62. A guide groove 64 is provided on the connecting plate 61. The guide groove 64 is arranged parallel to the axial direction of the turntable 5. The second connecting column 63 is embedded in the guide groove 64 and connected to the side wall of the bracket 2. The side wall of the guide groove 64 forms a limit for the side wall of the second connecting column 63.

[0046] Among them, by adjusting the length, width or depth of the guide groove 64, the requirements for the range of motion and accuracy of the bracket 2 under different types of AGVs or different working conditions can be met. For example, for a small AGV that needs to flexibly turn in a narrow space and has high requirements for shock absorption accuracy, a shorter and more accurate guide groove 64 can be designed; while for a large AGV that carries heavier goods and travels at a faster speed, a longer, wider and more solid guide groove 64 can be used to meet its requirements for stability and reliability.

[0047] like Figure 4 Combination Figure 6 As shown, a sprocket 7 for mounting on a vehicle frame is provided on the turntable 5. The turntable 5 is coaxially arranged with the sprocket 7. The turntable 5 is configured to rotate around the axis of the sprocket 7 as driven by a pair of power wheel groups 1. A steering encoder 8 for detecting the rotation angle of the turntable 5 is also provided on the turntable 5. The housing of the steering encoder 8 is mounted on the turntable 5. A gear 9 is connected to the detection end of the steering encoder 8. The gear 9 is meshed with the sprocket 7.

[0048] In this way, when the power wheel group 1 drives the turntable 5 to rotate, the existence of the gear plate 7 makes the rotation process more stable, reducing the steering error caused by the shaking or deviation of the turntable 5. For example, when performing high-precision material handling tasks or driving in narrow passages, precise steering control can ensure that the AGV reaches the specified position accurately, improving work efficiency and safety.

[0049] The setting of the steering encoder 8 further improves the accuracy of the steering control. Through the meshing of the gear 9 and the toothed disc 7, it can monitor the rotation angle of the turntable 5 in real time. Based on the data fed back by the encoder, the control system of the AGV can accurately adjust the speed difference of the power wheel group 1 to achieve more accurate steering action. For example, during the automatic navigation process, when a small angle steering correction is required, the control system accurately controls the power wheel group 1 based on the signal of the encoder, so that the AGV can travel along the predetermined navigation path to avoid deviation from the route due to over- or under-steering.

[0050] like Figure 6 As shown, a pair of proximity switches 10 are provided on the turntable 5, and detection holes corresponding to the proximity switches 10 are provided on the end surface of the toothed disc 7. The pair of proximity switches 10 cooperate with the detection holes on the end surface of the toothed disc 7 to accurately detect the specific position of the turntable 5. When the turntable 5 rotates, the proximity switch 10 can keenly sense the approach and distance of the detection hole, thereby determining whether the turntable 5 has reached a preset key position. For example, when the AGV performs certain specific actions (such as docking with a material rack or entering a specific workstation), the angle of the turntable 5 needs to be precisely controlled. The precise position detection function of the proximity switch 10 can ensure that the turntable 5 stops or starts at the correct position, thereby improving the accuracy and success rate of the operation.

[0051] Compared with some other position detection methods, the proximity switch 10 has a higher resolution and response speed, and can quickly feed back the position information of the turntable 5 to the control system, so that the control system can make corresponding adjustments in time. For example, during high-speed steering, the proximity switch 10 can monitor the position change of the turntable 5 in real time. Once it is found that it deviates from the preset trajectory, the control system can immediately correct the speed difference of the power wheel group 1 to ensure the steering accuracy and stability of the AGV.

[0052] like Figure 3 Combination Figure 6As shown, a connecting shaft 11 is provided between the support platform 3 and the turntable 5. The connecting shaft 11 is arranged perpendicular to the rotation axis of the turntable 5. The turntable 5 is connected to the support platform 3 through the connecting shaft 11. The connecting shaft 11 is arranged perpendicular to the rotation axis of the turntable 5, providing a stable supporting force for the turntable 5. During the operation of the AGV, whether it is stationary or subjected to various external forces during driving, the connecting shaft 11 can effectively transfer the weight and external force borne by the turntable 5 to the support platform 3.

[0053] In addition, when the AGV carries goods or equipment, the load is transferred to the bottom bracket 2 through the turntable 5. The connection of the connecting shaft 11 can distribute the load relatively evenly to the bottom bracket 2 in all directions, avoiding the problem of excessive local stress caused by load concentration, and improving the load-bearing capacity and stability of the entire AGV structure.

[0054] The embodiment of the present invention also provides a chassis structure, including the above-mentioned built-in suspended AGV steering wheel. Among them, the turntable 5 is connected to the gear disc 7 through a slewing bearing, and the gear disc 7 is installed on the chassis structure. The turntable 5 can rotate around the axis of the gear disc 7 driven by a pair of power wheel groups 1. A steering encoder 8 is installed on the turntable 5, and its housing is fixed on the turntable 5. The gear 9 connected to the detection end is meshed with the gear disc 7 for accurately detecting the rotation angle of the turntable 5.

[0055] The shock-absorbing structure is arranged between the bracket 2 and the support platform 3, and includes a plurality of shock-absorbing units 4 arranged in parallel and parallel to the rotation axis. Each shock-absorbing unit 4 includes a guide column 41 and a compression spring 42. The guide column 41 extends from the first mounting hole 31 on the support platform 3 and is embedded in the second mounting hole 21 on the bracket 2, and a limiting step 43 matching the first mounting hole 31 is provided at one end. The compression spring 42 is sleeved on the guide column 41. A bushing 45 is provided in the second mounting hole 21, and the guide column 41 is embedded therein to reduce wear and friction. A pressure cover 44 is provided on the outer side of the first mounting hole 31, which is installed on the support platform 3 through fasteners to form an axial limit for the guide column 41.

[0056] In addition, a guide mechanism 6 is provided between the bracket 2 and the support platform 3, and the guide mechanism 6 is composed of a connecting plate 61, a first connecting column 62, and a second connecting column 63. The connecting plate 61 is installed on the side wall of the support platform 3 through the first connecting column 62, and a guide groove 64 is provided thereon, and the guide groove 64 is arranged parallel to the axial direction of the turntable 5. The second connecting column 63 is embedded in the guide groove 64 and connected to the side wall of the bracket 2. The side wall of the guide groove 64 forms a limit for the side wall of the second connecting column 63, thereby limiting the bracket 2 from moving up and down along the axial direction of the turntable 5 with the buffering of the shock absorber unit 4, so that the bracket 2 is connected to the support platform 3 through the guide mechanism 6, ensuring that the shock absorber unit 4 works efficiently and stably, and improving the chassis's adaptability to complex road conditions and driving comfort.

[0057] The present invention is not limited to the specific technical solutions described in the above embodiments. In addition to the above embodiments, the present invention may also have other implementation modes. For those skilled in the art, any technical solutions formed by any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV steering wheel with built-in suspension, characterized in that: It includes a pair of power wheel sets, a bracket for installing the power wheel sets, a support platform and a shock-absorbing structure; The support platform is provided with a turntable for connecting the vehicle frame, the turntable is mounted on the support platform, the turntable is provided with a rotation axis, and the turntable is configured to rotate around the rotation axis with the driving of a pair of power wheel sets; A pair of power wheel sets are mounted on the bracket and arranged symmetrically along the rotation axis, and the rotation axes of the power wheel sets are arranged perpendicular to the rotation axis; The shock-absorbing structure is arranged between the bracket and the support platform, and includes a plurality of shock-absorbing units arranged in parallel. The shock-absorbing units are configured to form a buffer for the support platform in the axial direction of the turntable, and the shock-absorbing units are arranged parallel to the rotation axis.

2. The AGV steering wheel with built-in suspension according to claim 1, characterized in that: A plurality of shock-absorbing units are arranged in a rectangular array between the bracket and the support platform.

3. The AGV steering wheel with built-in suspension according to claim 2, characterized in that: The shock absorbing unit includes a guide column and a compression spring. A first mounting hole is provided on the support platform, and a second mounting hole corresponding to the first mounting hole is provided on the bracket. The guide column is constructed to extend from the first mounting hole and be embedded in the second mounting hole. A limiting step matching the first mounting hole is provided at one end of the guide column. The compression spring is sleeved on the guide column, and a pressure cover is provided on the outer side of the first mounting hole. The pressure cover is installed on the support platform through fasteners to form an axial limit for the guide column.

4. The AGV steering wheel with built-in suspension according to claim 1, characterized in that: A guide mechanism is arranged between the bracket and the support platform, and the guide mechanism is configured to limit the bracket from making an undulating motion along the axial direction of the turntable along with the buffering of the shock-absorbing unit, and the bracket is connected to the support platform through the guide mechanism.

5. The AGV steering wheel with built-in suspension according to claim 4, characterized in that: The guiding mechanism includes a connecting plate, a first connecting column and a second connecting column. The connecting plate is installed on the side wall of the supporting platform through the first connecting column. A guiding groove is provided on the connecting plate. The guiding groove is arranged parallel to the axial direction of the turntable. The second connecting column is embedded in the guiding groove and connected to the side wall of the bracket. The side wall of the guiding groove forms a limit for the side wall of the second connecting column.

6. The AGV steering wheel with built-in suspension according to claim 1, characterized in that: The turntable is provided with a gear plate for mounting on the frame, the turntable and the gear plate are arranged coaxially, and the turntable is configured to rotate around the axis of the gear plate with the drive of a pair of power wheel sets; The turntable is also provided with a steering encoder for detecting the rotation angle of the turntable. The housing of the steering encoder is installed on the turntable. The detection end of the steering encoder is connected to a gear, and the gear is meshed with a gear disc.

7. The AGV steering wheel with built-in suspension according to claim 6, characterized in that: A pair of proximity switches are arranged on the turntable, and detection holes corresponding to the proximity switches are arranged on the end surface of the toothed disc.

8. The AGV steering wheel with built-in suspension according to claim 1, characterized in that: A connecting shaft is arranged between the supporting platform and the turntable. The connecting shaft is arranged perpendicular to the rotation axis of the turntable. The turntable is connected to the supporting platform through the connecting shaft.

9. The AGV steering wheel with built-in suspension according to claim 3, characterized in that: A bushing is arranged in the second mounting hole, and the guide column is embedded in the bushing.

10. A chassis structure, characterized in that: An AGV steering wheel with built-in suspension comprising the one described in any one of claims 1-9.

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