AGV floating chassis device and AGV transport vehicle based on chassis

Abstract

The invention relates to the technical field of logistics transportation, in particular to an AGV floating chassis device and an AGV transport vehicle based on the chassis, the AGV floating chassis device comprises a wheel set unit, the wheel set unit comprises a bearing wheel and an emergency wheel, the bearing wheel is arranged on the ground in a rolling mode, and the emergency wheel is arranged on one side of the bearing wheel in a sliding mode in the vertical direction; when the bearing wheel rolls on the ground, a gap exists between the emergency wheel located on one side of the bearing wheel and the ground, the tire pressure of the bearing wheel has the lowest tire pressure value in advance, and when the bearing wheel makes contact with the ground and does not reach the lowest tire pressure value, the emergency wheel is located above the lowest position. And when the tire pressure of the bearing wheel reaches the lowest tire pressure value, the emergency wheel descends to the lowest position and is in contact with the ground. It is guaranteed that goods on the ACG floating chassis cannot topple over due to inclination, meanwhile, abrasion of emergency wheels in use is reduced, and damage to the ground when an AGV moves linearly is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transportation, and in particular to an AGV floating chassis device and an AGV transport vehicle based on the chassis. Background Art

[0002] In the production process of roller press, AGV is an important tool for transporting materials, semi-finished products and final finished roller press. AGV can carry out automatic handling and dispatching, reduce manual operation, and improve production efficiency. It is one of the indispensable important technologies in modern industrial production. In the prior art, the chassis structure of the AGV transport vehicle is generally hinged by two frames to realize the adaptive ground deformation of AGV. When the existing chassis structure encounters an undulating road surface, the two driving wheels are connected to the frame through a swing bracket, one end rotates at a pitch angle through a rotating shaft, and the other end is pressed by a spring to keep sufficient pressure between the driving wheel and the ground. This connection method makes the positive pressure on the ground on the existing chassis driving wheel constant, and the positive pressure cannot exceed the weight of the vehicle body. Otherwise, when the chassis driving wheel carries a heavy load, especially a load that exceeds more than 2 times the weight of the body, the driving wheel is prone to slippage.

[0003] Chinese patent application CN116198629A discloses an AGV floating chassis device, including: a driving swing arm welding frame, on both sides of which correspondingly thereare rotated shafts welded, the rotated shafts are connected to the seat bearings of the AGV frame assembly to form a matching swinging structure; a steering wheel drive mechanism, which is arranged at one end of the driving swing arm welding frame and is used for mainly supporting the load and active walking and steering, the steering wheel drive mechanism includes a walking wheel for contacting the ground, a walking part for driving the walking wheel to walk, and a steering part for driving the walking wheel to turn; a universal wheel assembly, which is arranged at the other end of the driving swing arm welding frame and is used for auxiliary support of the load and passive walking and steering, the universal wheel assembly includes two groups of universal wheels symmetrically distributed relative to the walking wheel; an oil-free linear slide plate, which is arranged at both sides of the driving swing arm welding frame and is used to limit the swing range of the steering wheel drive mechanism in a direction perpendicular to the central axis of the AGV frame assembly.

[0004] Although the above scheme can adapt to overweight loads, the number of wheels of the AGV floating chassis in the prior art is limited. When carrying heavy objects, such as roller presses, the bearing pressure requirement for the wheels of the AGV floating chassis is relatively high, and the contact area between the wheels and the ground is also limited. When the AGV transport vehicle moves with heavy objects, the AGV transport vehicle is prone to damage the road surface it passes through. Therefore, the ground in the area where the AGV transport vehicle moves needs to be specially treated, which is very costly. In addition, the existing AGV floating chassis has no timely remedial measures when the wheels are damaged, and the shock absorption effect is poor. When one of the wheels is damaged, it is easy to tilt, which in turn causes the objects carried on the AGV transport vehicle to fall over. Summary of the invention

[0005] In view of the above problems, an AGV floating chassis device and an AGV transport vehicle based on the chassis are provided. By arranging an emergency wheel on one side of the load-bearing wheel, the tilting phenomenon of the AGV transport vehicle caused by a tire blowout of the load-bearing wheel is avoided. When the AGV transport vehicle is traveling with goods, the load-bearing wheel rolls on the ground. When the steering wheel drives the AGV floating chassis to move in a straight line, the emergency wheels on one side of all the load-bearing wheels are at the lowest position and the emergency wheels are in contact with the ground at this time. Such an arrangement enables the emergency wheels to support the goods together with the load-bearing wheels. Since the emergency wheels and the load-bearing wheels are in contact with the ground together, the contact area between the AGV floating chassis and the ground is effectively increased. In addition, the AGV transport vehicle carrying heavy goods will cause less damage to the ground when moving in a straight line. This can reduce the cost when laying the road surface for the AGV transport vehicle to move in a straight line, and the subsequent maintenance cost is also effectively reduced. When the steering wheel drives the AGV floating chassis to turn, the emergency wheel on the side of the load-bearing wheel is in the highest position, and the emergency wheel does not contact the ground at this time. This is because if the emergency wheel on the side of the load-bearing wheel is in the lowest position at this time, then when the steering wheel controls the AGV floating chassis to turn, the AGV floating chassis can rotate around a specified circle, and the emergency wheel located outside the center of the rotation circle will wear more. Even if the emergency wheel is driven separately by the driving motor so that the rotation speed of the emergency wheel on the outer circle side is faster than that of the emergency wheel on the inner circle side, the friction of the emergency wheel in the width direction of the emergency wheel cannot be avoided, which can easily cause rapid wear of the emergency wheel, thereby increasing the cost of use. In this way, the corresponding road surface on the turning route of the AGV transport vehicle needs to be paved with materials with higher bearing strength. During transportation, especially when the AGV transport vehicle turns, since only the load-bearing wheel supports the AGV floating chassis at this time, when the load-bearing wheel accidentally breaks when turning, the emergency wheel on one side of the load-bearing wheel The wheel immediately moves from the highest position to the lowest position. At this time, the emergency wheel contacts the ground, and the emergency wheel replaces the damaged load-bearing wheel to carry the AGV, and an emergency wheel is provided on both sides of each load-bearing wheel. This can avoid the situation where only one emergency wheel is provided and the emergency wheel corresponding to the load-bearing wheel is also damaged, which in turn causes the cargo to fall over. Through the above arrangement, the AGV floating chassis will not tilt due to a tire blowout, ensuring that the cargo on the ACG floating chassis will not fall over due to tilting, while reducing the wear of the emergency wheel during use and reducing the damage to the ground caused by the AGV transport vehicle when moving in a straight line.

[0006] In order to solve the problems of the prior art, the present invention provides an AGV floating chassis device, including a wheel set unit, the wheel set unit including a load-bearing wheel and an emergency wheel, the load-bearing wheel is routable on the ground, the emergency wheel is slidably arranged on one side of the load-bearing wheel in a vertical direction, and the emergency wheel has a highest position and a lowest position in its moving stroke, when the load-bearing wheel rolls on the ground, there is a gap between the emergency wheel located on one side of the load-bearing wheel and the ground, the tire pressure of the load-bearing wheel is preset with a minimum tire pressure value, when the load-bearing wheel is in contact with the ground and has not reached the minimum tire pressure value, the emergency wheel is located above the lowest position, and when the tire pressure of the load-bearing wheel reaches the minimum tire pressure value, the emergency wheel drops to the lowest position and contacts the ground.

[0007] Preferably, the wheel unit also includes a steering wheel for controlling the steering of the AGV floating chassis, the steering wheel has a steering mode and a straight-ahead mode, when the steering wheel is in the steering mode, the emergency wheel is in the highest position, when the steering wheel is in the straight-ahead mode, the emergency wheel is in the lowest position.

[0008] Preferably, an inflatable shell is horizontally arranged on the upper part of the load-bearing wheel, and a sliding plate is slidably arranged in the inflatable shell along the extension direction of the inflatable shell. An inflatable cavity is stored in the load-bearing wheel, and the inflatable cavity and the inflatable shell are connected with each other. When the air in the inflatable cavity has not leaked, the sliding plate is located at the inflatable end of the inflatable shell, and the emergency wheel is in the highest position. When the inflatable cavity leaks, the sliding plate moves along the extension direction of the inflatable shell toward the deflated end of the inflatable shell. When the sliding plate reaches the deflated end of the inflatable shell, the emergency wheel drops to the lowest position.

[0009] Preferably, a pushing frame that moves synchronously with the sliding plate is provided at the end of the sliding plate, and a guide plate is provided on one side of the pushing frame along the moving direction of the sliding plate. A guide groove for guiding the emergency wheel is obliquely opened on the guide plate. When the sliding plate moves from the inflation end to the deflation end of the inflatable shell, the pushing frame pushes the emergency wheel to move along the extension direction of the guide groove.

[0010] Preferably, a hydraulic unit is provided at the end of the pushing frame, and the hydraulic unit can push the pushing frame through hydraulic pressure. When the sliding plate moves from the inflation end to the deflation end in the inflatable shell, the moving distance of the sliding plate is preset with a rated moving distance. When the sliding plate reaches the preset specified distance, the hydraulic unit pushes the pushing frame and stops driving after the sliding plate reaches the deflation end of the inflatable shell.

[0011] Preferably, a solenoid valve is provided in the hydraulic unit. When the hydraulic unit pushes the pushing frame, the solenoid valve is in an open state. After the sliding plate reaches the deflated end of the inflatable shell, the solenoid valve is in a closed state.

[0012] Preferably, an inflation unit is provided on the deflated end of the inflation shell, and the inflation cavity in the load-bearing wheel is preset with a standard tire pressure threshold. When the tire pressure of the load-bearing wheel is lower than the standard tire pressure threshold, the inflation unit is started, and the inflation unit inflates the load-bearing wheel through the inflation shell, and stops inflating after the standard tire pressure threshold is reached.

[0013] Preferably, a shock absorbing unit is arranged on the upper part of the wheel unit, and the shock absorbing unit includes a horizontally arranged spring. When the wheel unit passes over a ground protrusion, the spring is compressed when the wheel unit moves upward.

[0014] Preferably, the shock absorbing unit also includes a supporting frame covering the periphery of the wheel group unit, a connecting rod hinged at the end of the supporting frame, the end of the connecting rod is hinged with a pushing plate that can move in a horizontal direction, a fixed plate is arranged parallel to one side of the pushing plate, there is a gap between the pushing plate and the fixed plate, a spring is arranged in the gap along the arrangement direction of the pushing plate and the fixed plate, and both ends of the spring are fixedly connected to the pushing plate and the fixed plate respectively.

[0015] The present invention also relates to an AGV transport vehicle with an AGV floating chassis, characterized in that it comprises an AGV floating chassis device.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention arranges an emergency wheel on one side of the load-bearing wheel to avoid the AGV transport vehicle from tilting due to a tire blowout of the load-bearing wheel. When the AGV transport vehicle is carrying goods and traveling, the load-bearing wheel rolls on the ground. When the steering wheel drives the AGV floating chassis to move in a straight line, the emergency wheels on one side of all the load-bearing wheels are at the lowest position and the emergency wheels are in contact with the ground at this time. Such an arrangement enables the emergency wheels to support the goods together with the load-bearing wheels. Since the emergency wheels and the load-bearing wheels are in contact with the ground together, the contact area between the AGV floating chassis and the ground is effectively increased. In this way, the AGV transport vehicle carrying heavy weight goods can be moved in a straight line. When the AGV floating chassis is moving in a straight line, there is less damage to the ground. This can reduce the cost when paving the road surface for the AGV transport vehicle to move in a straight line, and the subsequent maintenance cost is also effectively reduced. When the steering wheel drives the AGV floating chassis to turn, the emergency wheel on the side of the load-bearing wheel is in the highest position, and the emergency wheel does not contact the ground at this time. This is because if the emergency wheel on the side of the load-bearing wheel is in the lowest position at this time, when the steering wheel controls the AGV floating chassis to turn, the AGV floating chassis can rotate around a specified circle, and the emergency wheel located outside the center of the rotation circle will be more worn. Even if the emergency wheel is driven by the drive motor The emergency wheels on the outer side are driven separately, so that the rotation speed of the emergency wheels is faster than that of the emergency wheels on the inner side. The friction of the emergency wheels in the width direction of the emergency wheels cannot be avoided, which can easily cause rapid wear of the emergency wheels, thereby increasing the cost of use. In this way, the corresponding road surface on the turning route of the AGV transport vehicle needs to be paved with materials with higher load-bearing strength. During transportation, especially when the AGV transport vehicle turns, since only the load-bearing wheels support the AGV floating chassis at this time, when the load-bearing wheels accidentally break when turning, the emergency wheel on the side of the load-bearing wheels immediately moves from the highest position The emergency wheel is moved to the lowest position, at which time the emergency wheel contacts the ground, and the emergency wheel replaces the damaged load-bearing wheel to carry the AGV, and an emergency wheel is provided on both sides of each load-bearing wheel, so as to avoid the situation where only one emergency wheel is provided and the emergency wheel corresponding to the load-bearing wheel is also damaged, which in turn causes the dumping of the goods. Through the above arrangement, the AGV floating chassis will not tilt due to a tire blowout, which ensures that the goods on the ACG floating chassis will not dump due to tilting, and at the same time reduces the wear of the emergency wheel during use, and reduces the damage to the ground caused by the AGV transport vehicle when moving in a straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of an AGV floating chassis device.

[0019] Figure 2 It is an AGV floating chassis device. Figure 1 A local enlarged schematic diagram of point A in the middle.

[0020] Figure 3 It is an AGV floating chassis device. Figure 1 A local enlarged schematic diagram of point B in the middle.

[0021] Figure 4 It is a three-dimensional schematic diagram of an AGV floating chassis device with the table used to receive goods removed.

[0022] Figure 5 It is an AGV floating chassis device. Figure 4 A partial enlarged schematic diagram of point C in the middle.

[0023] Figure 6 It is a three-dimensional schematic diagram of an AGV floating chassis device with the receiving frame removed.

[0024] Figure 7 It is a three-dimensional schematic diagram of a wheel unit of an AGV floating chassis device.

[0025] Figure 8 It is a side view of the wheel unit of an AGV floating chassis device.

[0026] Fig. 9 It is an AGV floating chassis device. Figure 8 Schematic cross-sectional view at DD in the middle.

[0027] Fig.10 It is an AGV floating chassis device. Fig. 9 A partial enlarged schematic diagram of point E in the middle.

[0028] Fig.11 The present invention is a cutaway perspective schematic diagram of a wheel unit of an AGV floating chassis device.

[0029] Fig.12 It is an AGV floating chassis device. Fig.11 A partial enlarged schematic diagram of point F in the middle.

[0030] Fig.13 It is a three-dimensional schematic diagram of an AGV floating chassis device when the emergency wheel is in the highest position.

[0031] The numbers in the figure are:

[0032] 1. Wheel unit; 11. Load-bearing wheel; 12. Emergency wheel; 121. Mounting frame; 13. Steering wheel; 14. Inflatable shell; 141. First connecting pipe; 142. Ventilation shell; 143. Second connecting pipe; 15. Sliding plate; 16. Pushing frame; 161. Inflating end; 162. Deflating end; 163. Guide rod; 17. Guide plate; 171. Guide groove; 18. Hydraulic unit; 181. Hydraulic rod; 182. Hydraulic sleeve; 183. Pump body; 184. Solenoid valve; 19. Inflatable unit; 191. Air pump; 2. Shock-absorbing unit; 21. Spring; 22. Receiver frame; 23. Connecting rod; 24. Pushing plate; 25. Fixed plate; 26. Limiting rod. DETAILED DESCRIPTION

[0033] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0034] Reference Figure 1 , Figure 3 and Fig.13 : An AGV floating chassis device includes a wheel unit 1, which includes a load-bearing wheel 11 and an emergency wheel 12. The load-bearing wheel 11 is rolled on the ground, and the emergency wheel 12 is slidably arranged on one side of the load-bearing wheel 11 in the vertical direction, and the emergency wheel 12 has a highest position and a lowest position in its moving stroke. When the load-bearing wheel 11 rolls on the ground, there is a gap between the emergency wheel 12 on one side of the load-bearing wheel 11 and the ground. The tire pressure of the load-bearing wheel 11 is preset with a minimum tire pressure value. When the load-bearing wheel 11 is in contact with the ground and has not reached the minimum tire pressure value, the emergency wheel 12 is located above the lowest position. When the tire pressure of the load-bearing wheel 11 reaches the minimum tire pressure value, the emergency wheel 12 drops to the lowest position and contacts the ground.

[0035] The wheel unit 1 also includes a steering wheel 13, which is rotatably arranged on one side of the load-bearing wheel 11. The steering wheel 13 is used to control the moving direction of the entire AGV floating chassis. Since the AGV floating chassis is used on the AGV transport vehicle, the AGV floating chassis needs to have a certain load-bearing capacity. A plurality of load-bearing wheels 11 are arranged in the AGV floating chassis. During transportation, it is inevitable that the load-bearing wheels 11 will be damaged due to wear or accident. If one of the load-bearing wheels 11 in the AGV floating chassis is damaged, the load force on the AGV floating chassis will need to be borne by other load-bearing wheels 11. Moreover, if the load-bearing wheels 11 located on the periphery of the AGV floating chassis are damaged and leak, it will also cause the AGV to be transported. The vehicle tilts, which in turn causes the cargo on the AGV transport vehicle to tilt. Since the cargo carried by the AGV is heavy, if the cargo tilts and falls due to the tilt of the AGV floating chassis, it will cause a large loss. In order to avoid the above situation, an emergency wheel 12 is set on one side of the load-bearing wheel 11. The specific working principle is as follows: when the AGV transport vehicle is carrying cargo and traveling, the load-bearing wheel 11 rolls on the ground, and when the steering wheel 13 drives the AGV floating chassis to move in a straight line, the emergency wheels 12 on one side of all the load-bearing wheels 11 are at the lowest position and the emergency wheels 12 are in contact with the ground at this time. Such a setting enables the emergency wheels 12 to support the cargo together with the load-bearing wheels 11. Since the emergency wheels 12 and the load-bearing wheels 11 are in contact with the ground together The contact area between the AGV floating chassis and the ground is effectively increased, so that the AGV transport vehicle carrying heavy weight will cause less damage to the ground when moving in a straight line. In this way, the cost of laying the road surface for the AGV transport vehicle to move in a straight line can be reduced, and the subsequent maintenance cost is also effectively reduced. When the steering wheel 13 drives the AGV floating chassis to turn, the emergency wheel 12 located on the side of the load-bearing wheel 11 is in the highest position, and the emergency wheel 12 does not contact the ground at this time. This is because if the emergency wheel 12 located on the side of the load-bearing wheel 11 is in the lowest position at this time, then when the steering wheel 13 controls the AGV floating chassis to turn, the AGV floating chassis can rotate around a specified circle, and the emergency wheel 12 located outside the center of the rotation circle will be more worn. Even if the emergency wheel 12 is driven separately by the driving motor so that the rotation speed of the emergency wheel 12 on the outer circle side is faster than that of the emergency wheel 12 on the inner circle side, the friction of the emergency wheel 12 in the width direction of the emergency wheel 12 cannot be avoided, which can easily cause rapid wear of the emergency wheel 12, thereby increasing the cost of use. In this way, the corresponding road surface on the turning route of the AGV transport vehicle needs to be paved with materials with higher bearing strength. During transportation, especially when the AGV transport vehicle turns, since only the load-bearing wheel 11 supports the AGV floating chassis at this time, when the load-bearing wheel 11 accidentally breaks when turning, the emergency wheel 12 on the side of the load-bearing wheel 11 immediately moves from the highest position to the lowest position,At this time, the emergency wheel 12 is in contact with the ground, and the emergency wheel 12 replaces the damaged load-bearing wheel 11 to carry the AGV, and an emergency wheel 12 is provided on both sides of each load-bearing wheel 11, so that only one emergency wheel 12 is provided, and the emergency wheel 12 corresponding to the load-bearing wheel 11 is also damaged, which leads to the dumping of goods. Through the above arrangement, the AGV floating chassis will not tilt due to a tire blowout, ensuring that the goods on the ACG floating chassis will not dump due to tilting.

[0036] Reference Figure 1 and Figure 2 The wheel unit 1 also includes a steering wheel 13 for controlling the steering of the AGV floating chassis. The steering wheel 13 has a steering mode and a straight-ahead mode. When the steering wheel is in the steering mode, the emergency wheel 12 is in the highest position. When the steering wheel is in the straight-ahead mode, the emergency wheel 12 is in the lowest position.

[0037] When the steering wheel 13 is in the rotation mode, the rotating wheel can control the steering of the AGV floating chassis, and when the rotating wheel is in the straight-moving mode, the rotating wheel controls the AGV floating chassis to move straight. When the steering wheel 13 is in the steering mode, the emergency wheel 12 does not contact the ground, reducing the wear of the emergency wheel 12 due to the steering of the AGV floating chassis. When the steering wheel 13 is in the straight-moving mode, the emergency wheel 12 contacts the ground, increasing the contact area between the AGV floating chassis and the ground, thereby reducing the damage to the ground caused by the AGV transport vehicle when carrying heavy weight goods.

[0038] Reference Fig.12 and Fig.13 An inflatable shell 14 is horizontally arranged on the upper part of the load-bearing wheel 11, and a sliding plate 15 is slidably arranged in the inflatable shell 14 along the extension direction of the inflatable shell 14. An inflatable cavity is stored in the load-bearing wheel 11, and the inflatable cavity and the inflatable shell 14 are connected with each other. When the air in the inflatable cavity does not leak, the sliding plate 15 is located at the inflating end 161 of the inflatable shell 14, and the emergency wheel 12 is in the highest position. When the inflatable cavity leaks, the sliding plate 15 moves along the extension direction of the inflatable shell 14 toward the deflation end 162 of the inflatable shell 14. When the sliding plate 15 reaches the deflation end 162 of the inflatable shell 14, the emergency wheel 12 drops to the lowest position.

[0039] A vent shell 142 is provided at the end of the load-bearing wheel 11, a first connecting pipe 141 is provided between the vent shell 142 and the inflation chamber, and a second connecting pipe 143 is provided between the vent shell 142 and the deflation end 162 of the inflation shell 14, so that the air pressure in the inflation chamber in the load-bearing wheel 11 can be kept synchronized with the air pressure in the inflation shell 14, and when the load-bearing wheel 11 leaks, the sliding plate 15 located in the inflation shell 14 can slide in the inflation shell 14, and the inflation end 161 of the inflation shell 14 refers to an end of the sliding plate 15 located in the inflation shell 14 when the load-bearing wheel 11 is not deflated, and the end refers to the inflation end 161, and after the load-bearing wheel 11 leaks, the sliding plate 15 located in the inflation shell 14 moves from the inflation end 161 toward the other end, and when the gas in the load-bearing wheel 11 is completely leaked, the end of the inflation shell 14 where the sliding shell is located is called the deflation end 162.

[0040] Reference Figure 10-13 : A pushing frame 16 that moves synchronously with the sliding plate 15 is provided at the end of the sliding plate 15, and a guide plate 17 is provided on one side of the pushing frame 16 along the moving direction of the sliding plate 15. A guide groove 171 is obliquely opened on the guide plate 17 to guide the emergency wheel 12. When the sliding plate 15 moves from the inflation end 161 to the deflation end 162 of the inflation shell 14, the pushing frame 16 pushes the emergency wheel 12 to move along the extension direction of the guide groove 171.

[0041] The guide rod 163 is vertically fixed on the pushing frame 16, and the outer periphery of the emergency wheel 12 is provided with a mounting frame 121, and the emergency wheel 12 is rotatably arranged on the mounting frame 121. The guide rod 163 vertically penetrates the mounting frame 121 and slidably cooperates with the mounting frame 121. Since the guide groove 171 arranged on the guide plate 17 is an inclined structure, the guide groove 171 has a high end and a low end. When the sliding plate 15 is located at the inflation end 161 of the inflatable shell 14, the emergency wheel 12 is located at the high end of the guide groove 171. After the load-bearing wheel 11 is damaged and leaks, when the sliding plate 15 located in the inflatable shell 14 moves along the extension direction of the inflatable shell 14 toward the deflated end 162 of the inflatable shell 14, the pushing frame 16 moves synchronously with the sliding plate 15, and the pushing frame 16 pushes the emergency wheel 12 to move along the guide groove 171, so that the emergency wheel 12 moves from the high end of the guide groove 171 to the low end of the guide groove 171 under the guidance of the guide groove 171.

[0042] Reference Figure 6 , Figure 7 and Fig. 9: A hydraulic unit 18 is provided at the end of the pushing frame 16, and the hydraulic unit 18 can push the pushing frame 16 through hydraulic pressure. When the sliding plate 15 moves from the inflation end 161 to the deflation end 162 in the inflation shell 14, the moving distance of the sliding plate 15 is preset with a rated moving distance. When the sliding plate 15 reaches the preset specified distance, the hydraulic unit 18 pushes the pushing frame 16 and stops driving after the sliding plate 15 reaches the deflation end 162 of the inflation shell 14.

[0043] The hydraulic unit 18 includes a hydraulic rod 181, a hydraulic sleeve 182 and a pump body 183. The hydraulic rod 181 is fixedly arranged on the pushing frame 16 along the moving direction of the pushing frame 16. The hydraulic sleeve 182 is sleeved on the hydraulic rod 181 and the hydraulic sleeve 182 and the hydraulic rod 181 are slidably matched. The pump body 183 is arranged at the end of the hydraulic sleeve 182. When the pump body 183 injects hydraulic oil into the hydraulic sleeve 182, the hydraulic rod 181 slides out of the hydraulic sleeve 182. When the pump body 183 extracts the hydraulic oil in the hydraulic sleeve 182, the hydraulic rod 181 retracts into the hydraulic sleeve 182.

[0044] Reference Figure 7 : A solenoid valve 184 is provided in the hydraulic unit 18. When the hydraulic unit 18 pushes the pushing frame 16, the solenoid valve 184 is in an open state. After the sliding plate 15 reaches the deflation end 162 of the inflatable shell 14, the solenoid valve 184 is in a closed state.

[0045] The electromagnetic valve 184 is arranged at the end of the pump body 183. By closing the electromagnetic valve 184, it can be ensured that the emergency wheel 12 is in a pressure-maintaining state, that is, the emergency wheel 12 can support the AGV floating chassis after reaching the lowest position.

[0046] Reference Figure 7 , Figure 8 and Fig.13 : An inflation unit 19 is provided on the deflated end 162 of the inflation shell 14, and a standard tire pressure threshold is preset in the inflation chamber in the load-bearing wheel 11. When the tire pressure of the load-bearing wheel 11 is lower than the standard tire pressure threshold, the inflation unit 19 is started, and the inflation unit 19 inflates the load-bearing wheel 11 through the inflation shell 14, and stops inflating after the standard tire pressure threshold is reached.

[0047] Since the load-bearing wheel 11 will inevitably leak after long-term use, that is, the air pressure in the inflation chamber of the load-bearing wheel 11 gradually decreases, if the load-bearing wheel 11 is operated in a low-pressure state for a long time, it is easy to cause the service life of the load-bearing wheel 11 to be reduced. In this way, the air pump 191 is used to continuously inflate the inflation chamber so that the tire pressure in the inflation chamber is always within the standard tire pressure threshold. When the steering wheel 13 is in the steering mode, the emergency wheel 12 is in the highest position, and when the steering wheel 13 is in the straight mode, the emergency wheel 12 needs to reach the lowest position, but at this time the pressure-bearing wheel has not leaked, so it is necessary to control the movement of the pressure-bearing wheel through the inflation unit 19 and the hydraulic unit 18, that is, when the steering wheel 13 is in the straight mode, the air pump 191 extracts the gas in the inflation shell 14, so that the sliding plate 15 located in the inflation shell 14 moves from the inflation end 161 of the inflation shell 14 to the deflation end 162 in the inflation shell 14, and the hydraulic unit 18 also runs synchronously, and the pump body 183 injects hydraulic oil into the hydraulic sleeve 182, so that the hydraulic rod 181 in the hydraulic sleeve 182 extends, and the extended hydraulic rod 181 pushes the pushing frame 16, so that with the movement of the pushing frame 16, the emergency wheel 12 gradually descends in the vertical direction and stops moving after reaching the lowest position, and when the steering wheel 13 needs to be turned, the above steps can be reversed.

[0048] Reference Figure 1 and Figure 5 A shock absorbing unit 2 is arranged on the upper part of the wheel unit 1, and the shock absorbing unit 2 includes a horizontally arranged spring 21. When the wheel unit 1 passes through a ground protrusion, the spring 21 is compressed when the wheel unit 1 moves upward.

[0049] The spring 21 is set horizontally, which can prevent the weight of the goods carried on the AGV transport vehicle from directly acting on the spring 21. That is, traditional springs 21 are mostly set vertically. In this way, after the AGV transport vehicle carries the goods, the weight of the goods is directly pressed on the spring 21, which causes the spring 21 to be subjected to a large extrusion force, which can easily cause damage to the spring 21. The vertically set spring 21 will also cause the height of the AGV transport vehicle to increase, thereby causing the center of gravity of the AGV transport vehicle to be higher. When transporting goods, the goods on the AGV transport vehicle are prone to tilting, thereby causing the goods to tip over and be damaged. Setting the spring 21 horizontally can reduce the direct effect of the goods carried on the AGV transport vehicle on the spring 21, thereby extending the life of the spring 21. At the same time, since the spring 21 is set horizontally, the height of the AGV transport vehicle in the vertical direction can be reduced, thereby lowering the center of gravity of the AGV transport vehicle, ensuring that the AGV transport vehicle is more stable when transporting goods.

[0050] Reference Figure 1 and Figure 4-Figure 6The shock absorbing unit 2 also includes a receiving frame 22 which is covered on the periphery of the wheel group unit 1, a connecting rod 23 which is hinged at the end of the receiving frame 22, a pushing plate 24 which can move in the horizontal direction is hinged at the end of the connecting rod 23, a fixing plate 25 is arranged in parallel on one side of the pushing plate 24, a gap exists between the pushing plate 24 and the fixing plate 25, a spring 21 is arranged in the gap along the arrangement direction of the pushing plate 24 and the fixing plate 25, and the two ends of the spring 21 are fixedly connected to the pushing plate 24 and the fixing plate 25 respectively.

[0051] A limiting rod 26 vertically penetrates the receiving frame 22 , and the limiting rod 26 and the receiving frame 22 are slidably matched in the vertical direction. Under the limitation of the limiting rod 26 , the receiving frame 22 can only move in the vertical direction.

[0052] Reference Figure 1-Figure 13 : The present invention also relates to an AGV transport vehicle with an AGV floating chassis, characterized in that it includes an AGV floating chassis device.

[0053] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An AGV floating chassis device, characterized in that: The invention comprises a wheel assembly unit (1), wherein the wheel assembly unit (1) comprises a load-bearing wheel (11) and an emergency wheel (12), wherein the load-bearing wheel (11) is arranged to roll on the ground, and the emergency wheel (12) is arranged to slide on one side of the load-bearing wheel (11) in a vertical direction, and the emergency wheel (12) has a highest position and a lowest position in its moving stroke, and when the load-bearing wheel (11) rolls on the ground, there is a gap between the emergency wheel (12) located on one side of the load-bearing wheel (11) and the ground, and the tire pressure of the load-bearing wheel (11) is preset with a lowest tire pressure value, and when the load-bearing wheel (11) contacts the ground and does not reach the lowest tire pressure value, the emergency wheel (12) is located above the lowest position, and when the tire pressure of the load-bearing wheel (11) reaches the lowest tire pressure value, the emergency wheel (12) drops to the lowest position and contacts the ground.

2. The AGV floating chassis device according to claim 1, characterized in that: The wheel set unit (1) also includes a steering wheel (13) for controlling the steering of the AGV floating chassis. The steering wheel (13) has a steering mode and a straight-moving mode. When the steering wheel is in the steering mode, the emergency wheel (12) is in the highest position. When the steering wheel is in the straight-moving mode, the emergency wheel (12) is in the lowest position.

3. The AGV floating chassis device according to claim 1, characterized in that: An inflatable shell (14) is horizontally arranged on the upper part of the load-bearing wheel (11), and a sliding plate (15) is slidably arranged in the inflatable shell (14) along the extension direction of the inflatable shell (14). An inflatable cavity is stored in the load-bearing wheel (11), and the inflatable cavity and the inflatable shell (14) are communicated with each other. When the air in the inflatable cavity does not leak, the sliding plate (15) is located at the inflatable end (161) of the inflatable shell (14), and the emergency wheel (12) is at the highest position. When the inflatable cavity leaks, the sliding plate (15) moves along the extension direction of the inflatable shell (14) toward the deflated end (162) of the inflatable shell (14). When the sliding plate (15) reaches the deflated end (162) of the inflatable shell (14), the emergency wheel (12) drops to the lowest position.

4. The AGV floating chassis device according to claim 3, characterized in that: A pushing frame (16) is arranged at the end of the sliding plate (15) and moves synchronously with the sliding plate (15); a guide plate (17) is arranged on one side of the pushing frame (16) along the moving direction of the sliding plate (15); a guide groove (171) is obliquely opened on the guide plate (17) for guiding the emergency wheel (12); when the sliding plate (15) moves from the inflation end (161) to the deflation end (162) of the inflation shell (14), the pushing frame (16) pushes the emergency wheel (12) to move along the extension direction of the guide groove (171).

5. The AGV floating chassis device according to claim 4, characterized in that: A hydraulic unit (18) is provided at the end of the pushing frame (16). The hydraulic unit (18) can push the pushing frame (16) by hydraulic pressure. When the sliding plate (15) moves from the inflation end (161) to the deflation end (162) in the inflation shell (14), the movement distance of the sliding plate (15) is preset with a rated movement distance. When the sliding plate (15) reaches the preset specified distance, the hydraulic unit (18) pushes the pushing frame (16) and stops driving after the sliding plate (15) reaches the deflation end (162) of the inflation shell (14).

6. The AGV floating chassis device according to claim 5, characterized in that: The hydraulic unit (18) is provided with a solenoid valve (184). When the hydraulic unit (18) pushes the pushing frame (16), the solenoid valve (184) is in an open state. After the sliding plate (15) reaches the deflation end (162) of the inflatable shell (14), the solenoid valve (184) is in a closed state.

7. The AGV floating chassis device according to claim 3, characterized in that: An inflation unit (19) is arranged on the deflated end (162) of the inflation shell (14); a standard tire pressure threshold is preset in the inflation chamber in the load-bearing wheel (11); when the tire pressure of the load-bearing wheel (11) is lower than the standard tire pressure threshold, the inflation unit (19) is activated, and the inflation unit (19) inflates the load-bearing wheel (11) through the inflation shell (14), and stops inflating when the standard tire pressure threshold is reached.

8. The AGV floating chassis device according to claim 1, characterized in that: A shock absorbing unit (2) is arranged on the upper part of the wheel unit (1), and the shock absorbing unit (2) includes a horizontally arranged spring (21). When the wheel unit (1) passes over a ground protrusion, the spring (21) is compressed when the wheel unit (1) moves upward.

9. The AGV floating chassis device according to claim 8, characterized in that: The shock absorbing unit (2) further comprises a receiving frame (22) which is arranged on the periphery of the wheel assembly unit (1), a connecting rod (23) which is hinged to the end of the receiving frame (22), a pushing plate (24) which can move in a horizontal direction is hinged to the end of the connecting rod (23), a fixing plate (25) is arranged in parallel on one side of the pushing plate (24), a gap exists between the pushing plate (24) and the fixing plate (25), a spring (21) is arranged in the gap along the arrangement direction of the pushing plate (24) and the fixing plate (25), and two ends of the spring (21) are respectively fixedly connected to the pushing plate (24) and the fixing plate (25).

10. An AGV transport vehicle with an AGV floating chassis, characterized in that: An AGV floating chassis device comprising any one of claims 1-9.

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