Driving wheel load-adjustable AGV (Automatic Guided Vehicle)

Abstract

The invention relates to a driving wheel load adjustable AGV trolley, and relates to the technical field of AGVs, the AGV trolley comprises a chassis frame, a lifting mechanism, two sets of supporting wheels and a supporting device located between the two sets of supporting wheels, and the supporting device comprises a support arranged on the chassis frame through a damping assembly; the driving wheel is rotationally arranged on the bracket; the adjusting mechanism is used for adjusting the position of the bracket and adjusting the supporting force of the driving wheel on the ground. During no-load, the adjusting mechanism drives the driving wheels to move upwards to reduce the supporting force and increase the supporting force of the two sets of supporting wheels to the ground, during loading, the adjusting mechanism is started to drive the driving wheels to move downwards to increase the supporting force to the ground, and the lifting mechanism lifts the loaded object, so that the heavy object can be supported; and the supporting wheels can be supported on the ground in the no-load state, the risk that the supporting wheels are separated from the ground is reduced, and therefore the stability of the trolley in the moving process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of AGV vehicles, and in particular to an AGV vehicle with adjustable drive wheel load. Background Art

[0002] In industrial production, AGV vehicles are widely used because they can be unmanned, ensuring that the system can automatically travel along a predetermined route without the need for manual piloting, and automatically transport goods or materials from the starting point to the destination. AGVs are also widely used because of their good flexibility, high degree of automation, and high level of intelligence.

[0003] There are two sets of support wheels arranged at intervals on the AGV cart, and a driving wheel is arranged between the two sets of support wheels. In order to improve the stability of the cart's movement, an elastic shock-absorbing structure is provided on the driving wheel for support. Although the shock-absorbing structure can improve the supporting effect when transporting the load, when the cart is unloaded, the extension of the shock-absorbing structure can easily cause the support wheel to detach from the ground, thereby greatly reducing the stability of the cart when moving. Summary of the invention

[0004] In order to improve the stability of the vehicle when it moves, the present application provides an AGV vehicle with adjustable drive wheel load.

[0005] The present application provides an AGV with adjustable drive wheel load, which adopts the following technical solution: An AGV trolley with adjustable driving wheel load comprises a chassis frame, a lifting mechanism, two sets of supporting wheels, and a supporting device located between the two sets of supporting wheels, wherein the supporting device comprises: A bracket is arranged on the chassis frame through a shock absorbing assembly; A driving wheel is rotatably arranged on the bracket and pressed against the ground to drive the bracket to move; The adjusting mechanism is used to adjust the position of the bracket and realize the adjustment of the supporting force of the driving wheel on the ground.

[0006] By adopting the above technical solution, when the vehicle is unloaded, the adjusting mechanism drives the driving wheels and the bracket away from the ground, reducing the supporting force of the driving wheels on the ground and increasing the supporting force of the two groups of supporting wheels on the ground under the action of gravity. The driving wheels rotate to drive the two groups of supporting wheels, the chassis frame, the lifting mechanism and the supporting device to move to the load. The adjusting mechanism starts to drive the bracket and the driving wheels close to the ground, increasing the supporting force of the driving wheels on the ground under the action of the shock absorbing assembly. Then the lifting mechanism starts to lift the load upward. The driving wheels can support and buffer the chassis frame under the action of the shock absorbing assembly, so they can support heavy objects. When the vehicle is unloaded, the supporting wheels can be supported on the ground, reducing the risk of the supporting wheels detaching from the ground, thereby improving the stability of the vehicle when moving.

[0007] Optionally, the shock absorbing assembly includes: A shock-absorbing outer cylinder is arranged on the chassis frame; The shock-absorbing inner cylinder is slidably arranged on the shock-absorbing outer cylinder, and the bracket is connected to the shock-absorbing inner cylinder; A guide rod is arranged on the shock absorbing inner cylinder and is slidably arranged on the shock absorbing outer cylinder, and a positioning nut is threadedly connected to the guide rod; The spring is sleeved on the guide rod and its two ends are pressed against the shock absorbing outer cylinder and the shock absorbing inner cylinder. The spring is used to push the shock absorbing inner cylinder to maintain the downward movement trend and make the positioning nut press against the shock absorbing outer cylinder for positioning.

[0008] By adopting the above technical solution, the guide rod is used for guiding, the spring pushes the shock-absorbing inner cylinder, the bracket and the driving wheel to maintain the downward trend, the adjustment mechanism drives the bracket and the shock-absorbing inner cylinder to move up and down, and the positioning nut blocks the guide rod and the shock-absorbing inner cylinder from detaching from the shock-absorbing outer cylinder, so as to maintain the stability of the trolley during operation. At the same time, the position of the positioning nut can be adjusted to adjust the position of the shock-absorbing inner cylinder, the bracket and the driving wheel, thereby increasing the adaptability range of the driving wheel during operation and further improving the stability of the trolley during operation.

[0009] Optionally, the adjustment mechanism includes: An adjusting outer cylinder is arranged on the chassis frame; The adjusting inner cylinder is slidably arranged on the adjusting outer cylinder. The bracket is movably connected with the adjusting inner cylinder and the shock absorbing assembly through a giving way assembly. The adjusting inner cylinder moves to drive the bracket to rotate through the giving way assembly. When the driving wheel moves to absorb shock, it gives way through the giving way assembly. The adjusting assembly is used to drive and adjust the vertical movement of the inner cylinder.

[0010] By adopting the above technical solution, the adjusting component starts to drive the adjusting inner cylinder to move up and down. The adjusting inner cylinder moves up and down to drive the bracket and the driving wheel to rotate through the yielding component, so as to adjust the position of the driving wheel. At the same time, when the bracket rotates to the limit of the yielding component, the adjusting inner cylinder moves up and down and can also drive the shock-absorbing inner cylinder to move vertically. At the same time, the adjusting mechanism and the shock-absorbing component are respectively located on both sides of the driving wheel, thereby improving the supporting effect of the driving wheel, improving the stability of the driving wheel when supporting, and improving the stability of the trolley when moving.

[0011] When the shock absorbing assembly moves up and down for shock absorption, the yielding assembly can yield to the up and down moving position of the shock absorbing assembly, reducing the adverse effects on the shock absorbing effect of the shock absorbing assembly, making it possible to adjust the position of the shock absorbing assembly while also ensuring the shock absorbing effect of the shock absorbing assembly, further improving the stability of the trolley when moving.

[0012] Optionally, a horizontal clearance hole is provided at one end of the bracket close to the adjusting inner cylinder, and the clearance component includes: Rotating column, arranged on the shock absorption assembly, and the bracket is rotatably mounted on the rotating column; Yielding column, arranged on the adjusting inner cylinder and slidably mounted on the yielding hole.

[0013] By adopting the above technical solution, the up-and-down movement of the adjusting inner cylinder drives the yielding column to move on the yielding hole, thereby driving the bracket to rotate. The rotation of the bracket is used to adjust the position of the driving wheel. When the shock absorption assembly performs shock absorption, it drives the bracket to rotate with the rotating column and the yielding column, so as to realize the adjustment of the driving wheel position without interfering with the up-and-down movement of the shock absorption assembly, thereby further improving the stability of the trolley during movement.

[0014] Optionally, the adjusting assembly includes: Adjusting screw rod, rotatably mounted on the adjusting outer cylinder; Adjusting nut, arranged on the adjusting inner cylinder and threadedly connected with the adjusting screw rod; Driving member, arranged on the adjusting outer cylinder and used to drive the adjusting screw rod to rotate.

[0015] By adopting the above technical solution, the driving member starts to drive the adjusting screw rod to rotate. The rotation of the adjusting screw rod drives the adjusting nut and the adjusting inner cylinder to move vertically. At the same time, since the adjusting mechanism and the shock absorption assembly are respectively located on both sides of the driving wheel, the adjusting inner cylinder cannot rotate and can only move vertically, improving the stability during the adjustment process and further improving the stability of the trolley during movement.

[0016] Optionally, there are two shock absorption assemblies arranged at intervals. Both ends of the bracket are arranged on the bottoms of the two shock absorption inner cylinders. The adjusting mechanism includes: Two adjusting sleeves, respectively rotatably mounted on the tops of the two shock absorption outer cylinders and respectively sleeved on the positioning nuts of the two guide rods. The adjusting sleeve rotates to drive the positioning nut to rotate and enables the positioning nut to move vertically within the adjusting sleeve; Driving assembly, used to drive the two adjusting sleeves to rotate simultaneously.

[0017] By adopting the above technical solution, there is only one shock absorption assembly, resulting in poor stability and shock absorption effect when the shock absorption assembly absorbs shock for the driving wheel, and the adjusting mechanism is prone to have an adverse impact on the shock absorption of the shock absorption assembly during the adjustment process, especially when the adjustment range is large, causing phenomena such as jamming, reducing the stability of the trolley during operation.

[0018] Two shock-absorbing assemblies are provided and located on both sides of the driving wheel, so that the supporting force on the driving wheel during shock absorption can be balanced, which greatly improves the shock absorption effect. At the same time, when adjustment is needed, the driving assembly starts to drive the two adjusting sleeves to rotate, and the two adjusting sleeves drive the two positioning nuts to rotate, so that the guide rod, the shock-absorbing inner cylinder, the bracket and the driving wheel move vertically at the same time, and the spring makes the positioning nut continue to press against the shock-absorbing outer cylinder, that is, the position of the positioning nut will not change, so that the length of the adjusting sleeve does not need to be too large to achieve a wide range of adjustment of the positioning nut, thereby improving the stability during shock absorption and the stability of the trolley during operation.

[0019] Optionally, the driving component includes: Two gears are respectively arranged on two adjusting sleeves; Two racks are slidably mounted on the chassis frame and mesh with the two gears respectively; The moving parts are respectively connected to the two racks and are used to drive the two racks to move closer to or farther from each other.

[0020] By adopting the above technical solution, the driving member drives the two racks to move closer to or farther from each other, and the two racks drive the two gears and the two adjusting sleeves to rotate simultaneously, thereby driving the two adjusting sleeves to rotate.

[0021] Optionally, a weight adjustment mechanism for adjusting gravity is provided on the chassis frame, and the weight adjustment mechanism includes: Two gravity blocks are slidably arranged on the chassis frame in a direction close to or away from the support wheels and are located between the two groups of support wheels; A linkage assembly is arranged on the gravity block and connected to the two racks, so that when the driving wheel moves downward and approaches the ground, the two gravity blocks are driven away from the two groups of support wheels by the linkage assembly to reduce the pressure on the support wheels; or, when the driving wheel moves upward, the two gravity blocks are driven close to the two groups of support wheels by the linkage assembly to increase the pressure on the support wheels.

[0022] By adopting the above technical solution, when the two racks move to drive the two driving wheels to move vertically, the two racks drive the two gravity blocks to move closer to or away from the two groups of support wheels through the linkage assembly. When loading is required, the driving wheels are close to the ground to increase the supporting force, and at the same time drive the two gravity blocks away from the support wheels, thereby reducing the gravity on the support wheels, so that the support wheels are pressed against the ground for positioning under the action of the gravity of the load, reducing the risk of overloading the support wheels; when unloaded, the driving wheels move upward to reduce the supporting force, and at the same time drive the two gravity blocks close to the two groups of support wheels, thereby increasing the pressure of the gravity blocks on the two groups of support wheels, so that the two groups of support wheels can be better pressed against the ground, reducing the risk of the support wheels being separated from the ground due to too low gravity, thereby further improving the stability of the trolley during operation.

[0023] At the same time, the driving wheel and the gravity block are moved simultaneously through the linkage assembly, which can save energy and improve the synchronization of the driving wheel and the gravity block when moving, further ensuring the stability of the vehicle during operation.

[0024] Optionally, the linkage component includes: A connecting rod is arranged on the rack and extends to one side of the gravity block and is provided with a connecting hole penetrating the upper and lower surfaces; The connecting block is arranged on the gravity block and is mounted on the connecting hole by clamping. The movement of the rack drives the connecting block and the gravity block to move simultaneously through the connecting rod.

[0025] By adopting the above technical solution, the movement of the rack drives the connecting rod to move, the movement of the connecting rod drives the connecting block to move, and the movement of the connecting block drives the gravity block to move, so as to realize the simultaneous movement of the gravity block and the driving wheel, and the connecting block is clamped on the connecting hole, so that when the gravity block presses the supporting wheel under the action of gravity, the force of the connecting block on the gravity block is small or even almost non-existent, thereby further reducing the adverse effect of the connecting block on the gravity block when counterweighting, and improving the stability of the trolley during operation.

[0026] Optionally, the lifting mechanism is provided with a pressure detector electrically connected to the adjusting mechanism, the pressure detector is used to detect the pressure of the load, and the adjusting mechanism adjusts the pressure of the driving wheel on the ground according to the pressure.

[0027] By adopting the above technical solution, the timeliness and accuracy of the adjustment mechanism during adjustment can be greatly improved through the pressure detector, and the stability of the trolley during operation is further improved.

[0028] In summary, the present application includes at least one of the following beneficial technical effects: 1. When the vehicle is unloaded, the adjusting mechanism drives the driving wheels upward to reduce the supporting force and increase the supporting force of the two sets of supporting wheels on the ground. When the vehicle is loaded, the adjusting mechanism starts to drive the driving wheels downward to increase the supporting force on the ground. The lifting mechanism lifts the load, so it can support the heavy objects. When the vehicle is unloaded, the supporting wheels can also be supported on the ground, reducing the risk of the supporting wheels detaching from the ground, thereby improving the stability of the vehicle when moving.

[0029] 2. When the shock absorbing component moves up and down to absorb shock, the giving way component can give way to the up and down movement position of the shock absorbing component, reducing the adverse effects on the shock absorbing effect of the shock absorbing component, so that the position of the shock absorbing component can be adjusted while ensuring the shock absorbing effect of the shock absorbing component, further improving the stability of the trolley when moving.

[0030] 3. When the driving assembly starts to drive the two shock-absorbing inner cylinders and the driving wheels to move vertically at the same time, and the spring makes the positioning nut continue to press against the shock-absorbing outer cylinder, that is, the position of the positioning nut does not change, so that a large range of adjustment of the positioning nut can be achieved with a relatively small length of the adjusting sleeve, improving the stability of the trolley during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic perspective view of the first embodiment of the AGV trolley; Figure 2 is a schematic structural view of the support device in the first embodiment of the AGV trolley; Figure 3 is Figure 2 the cross-sectional view taken along line A-A in Figure 4 is a schematic perspective view of the second embodiment of the AGV trolley; Figure 5 is a cross-sectional view of the support device in the second embodiment of the AGV trolley; Figure 6 is Figure 5 the enlarged view of part C in Figure 7 is Figure 4 the enlarged view of part B in

[0032] Reference numerals: 1, chassis frame; 11, lifting mechanism; 12, support wheel; 2, support device; 21, bracket; 22, driving wheel; 23, relief hole; 3, shock-absorbing assembly; 31, shock-absorbing outer cylinder; 32, shock-absorbing inner cylinder; 33, guide rod; 34, spring; 35, positioning nut; 36, mounting plate; 37, mounting board; 38, mounting hole; 4, adjusting mechanism; 41, adjusting outer cylinder; 42, adjusting inner cylinder; 43, adjusting assembly; 44, adjusting screw rod; 45, adjusting nut; 46, driving member; 5, relief assembly; 51, rotating column; 52, relief column; 61, adjusting sleeve; 62, bearing; 7, driving assembly; 71, gear; 72, rack; 73, moving member; 8, weight adjusting mechanism; 81, gravity block; 82, linkage assembly; 83, connecting rod; 84, connecting block; 85, connecting hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The following further details the present application.

[0034] The embodiment of the present application discloses an AGV trolley with adjustable driving wheel load.

[0035] Embodiment 1 Refer to Figure 1, a driving wheel load adjustable AGV cart, including a chassis frame 1, a lifting mechanism 11, two groups of support wheels 12, and a support device 2 located between the two groups of support wheels 12. When carrying a load, the support device 2 moves downward to support on the ground, so as to realize the support and buffering of the carried object; when unloaded, the support device 2 moves upward to reduce the support force on the ground, thereby increasing the support force of the support wheels 12 on the ground under the action of gravity, reducing the probability of the support wheels 12 separating from the ground during the movement of the cart, and improving the stability of the cart during operation.

[0036] Refer to Figure 1 and Figure 2 , two support devices 2 are arranged at intervals along the width direction of the chassis frame 1. The support device 2 includes a bracket 21, a driving wheel 22, and an adjusting mechanism 4. The bracket 21 is arranged on the chassis frame 1 through a shock absorption assembly 3. The bracket 21 is arranged along the length direction of the chassis frame 1. The driving wheel 22 is rotatably installed at the middle position of the bracket 21 and extends below the bracket 21.

[0037] A driving motor for driving the driving wheel 22 to rotate is arranged on the bracket 21. The driving wheel 22 always presses against the ground to drive the bracket 21 and the entire cart to move. The lifting mechanism 11 is a scissor lift table. The above structures are all prior arts and will not be elaborated here; the two groups of support wheels 12 are arranged at intervals along the length direction of the chassis frame 1, and each group of support wheels 12 is arranged with two at intervals along the width direction of the chassis frame 1.

[0038] Refer to Figures 1-3 , the shock absorption assembly 3 and the adjusting mechanism 4 are respectively located at both ends of the bracket 21. The shock absorption assembly 3 includes a shock absorption outer cylinder 31, a shock absorption inner cylinder 32, a guide rod 33, and a spring 34. The shock absorption outer cylinder 31 is fixedly installed on the chassis frame 1 and is arranged vertically downward. The inner side wall of the shock absorption outer cylinder 31 and near the top side of the shock absorption outer cylinder 31 is fixedly installed with a mounting plate 36; the shock absorption inner cylinder 32 is vertically slidably installed on the inner side wall of the shock absorption outer cylinder 31 and is located below the mounting plate 36. The guide rod 33 is fixedly installed on the inner side wall of the shock absorption inner cylinder 32, and the guide rod 33 vertically slides through the mounting plate 36. A positioning nut 35 is threadedly connected to the guide rod 33, and the positioning nut 35 is located above the mounting plate 36; the spring 34 is sleeved on the guide rod 33 and both ends press against the mounting plate 36 and the shock absorption inner cylinder 32, and the spring 34 drives the positioning nut 35 to press against the upper surface of the mounting plate 36 for positioning.

[0039] The adjusting mechanism 4 comprises an adjusting outer cylinder 41, an adjusting inner cylinder 42 and an adjusting assembly 43. The adjusting outer cylinder 41 is fixedly mounted on the chassis frame 1 and arranged vertically downward. The inner wall of the adjusting outer cylinder 41 and one side close to the top of the adjusting outer cylinder 41 are fixedly mounted on the mounting plate 37. The adjusting inner cylinder 42 is vertically slidably mounted on the inner wall of the adjusting outer cylinder 41 and is located below the mounting plate 37. The bracket 21 is movably connected with the adjusting inner cylinder 42 and the shock-absorbing inner cylinder 32 through the giving way assembly 5. The adjusting inner cylinder 42 moves through the giving way assembly 5 to drive the bracket 21 to rotate. When the shock-absorbing inner cylinder 32 moves for shock absorption, it gives way through the giving way assembly 5.

[0040] Reference Figures 2-3 The yielding assembly 5 includes a rotating column 51 and a yielding column 52. The rotating column 51 is fixedly mounted on the bottom of the shock-absorbing inner cylinder 32 and is in a horizontal state. One end of the bracket 21 is rotatably mounted on the rotating column 51 and the other end is provided with a horizontal yielding hole 23. The yielding column 52 is fixedly mounted on the bottom of the adjusting inner cylinder 42 and extends into the yielding hole 23. The diameter of the yielding column 52 is the same as the width of the yielding hole 23 and can slide on the yielding hole 23.

[0041] The adjusting inner cylinder 42 moves vertically to drive the giving way column 52 to move, the giving way column 52 moves vertically to drive the bracket 21 to rotate, and the rotation of the bracket 21 drives the driving wheel 22 to rotate, thereby realizing the adjustment of the position of the driving wheel 22; when the driving wheel 22 moves vertically to drive the bracket 21 and the adjusting inner cylinder 42 moves vertically, the bracket 21 rotates and the giving way column 52 moves on the giving way hole 23, so as to make way during shock absorption.

[0042] The adjusting assembly 43 is used to drive the adjusting inner cylinder 42 to move vertically. The adjusting assembly 43 includes an adjusting screw 44, an adjusting nut 45, and a driving member 46. The adjusting screw 44 is rotatably mounted on the lower surface of the mounting plate 37 and extends vertically downward into the adjusting inner cylinder 42. The adjusting nut 45 is fixedly mounted on the top of the adjusting inner cylinder 42 and is threadedly connected to the adjusting screw 44. The driving member 46 is an electric motor or the like. The driving member 46 is fixedly mounted on the upper surface of the mounting plate 37 and is located in the adjusting inner cylinder 42. The output shaft of the driving member 46 is connected to the adjusting screw 44. The driving member 46 starts to drive the adjusting screw 44 to rotate, and the adjusting screw 44 rotates to drive the adjusting nut 45 and the adjusting inner cylinder 42 to move vertically.

[0043] A control box for controlling the start and stop of the driving member 46 is fixedly installed on the chassis frame 1, and a pressure detector is also fixedly installed on the lifting mechanism 11. The pressure detector is electrically connected to the control box. The pressure detector is used to detect the weight of the load and transmit the detection data to the control box. The control box controls the start and stop of the driving member 46 according to the weight data, thereby adjusting the position of the driving wheel 22, so that the position of the driving wheel 22 can adapt better and faster, thereby improving the stability of the trolley during operation.

[0044] The working principle of the embodiment of the present application is as follows: When carrying an object, the driving member 46 is activated to drive the adjusting inner cylinder 42 to move downward, and the driving bracket 21 and the driving wheel 22 rotate, causing the driving wheel 22 to move downward and increasing the supporting force on the ground, thereby realizing the support of the load. The spring 34 and the driving wheel 22 cooperate to support and buffer the load. When the vehicle is unloaded, the driving member 46 is activated to drive the adjusting inner cylinder 42 to move upward, causing the driving wheel 22 to move upward and reducing the supporting force on the ground, enabling the supporting wheel 12 to increase the supporting force on the ground under the action of gravity, reducing the probability of the supporting wheel 12 separating from the ground, and improving the stability of the trolley during operation.

[0045] Embodiment 2 Refer to Figures 4-6 , the difference between this embodiment and Embodiment 1 is that two shock absorption components 3 are provided and located at both ends of the bracket 21. Both ends of the bracket 21 are connected to two shock absorption inner cylinders 32. The adjusting mechanism 4 is arranged on the chassis frame 1 and is used to drive the positioning nuts 35 located on the two guide rods 33 to rotate. At the same time, the positioning nuts 35 are pressed against the mounting plate 36 under the action of the spring 34, thereby realizing the simultaneous vertical movement of the two shock absorption inner cylinders 32, the bracket 21, and the driving wheel 22.

[0046] The adjusting mechanism 4 includes two adjusting sleeves 61 and a driving component 7. A bearing 62 is clamped and installed above the mounting plate 36 inside the shock absorption inner cylinder 32. The outer side wall of the adjusting sleeve 61 is rotatably installed on the bearing 62. A vertical adjusting groove is opened in the adjusting sleeve 61, and the adjusting groove is in clamping fit with the positioning nut 35. At the same time, the positioning nut 35 can vertically slide on the adjusting groove. The rotation of the adjusting sleeve 61 drives the positioning nut 35 to rotate, and at the same time, it can also apply an upward force to remove the adjusting sleeve 61 and the bearing 62 for replacement.

[0047] The driving component 7 is used to drive the two adjusting sleeves 61 to rotate. The driving component 7 includes two gears 71, two racks 72, and a moving member 73. The two gears 71 are respectively key-connected to the outer side walls of the two adjusting sleeves 61, and the gears 71 are located inside the shock absorption outer cylinder 31. Mounting holes 38 are opened on the shock absorption outer cylinder 31 at the positions of the gears 71. The two racks 72 are horizontally slidably installed on the chassis frame 1, and the two racks 72 pass through the mounting holes 38 and are meshed with the gears 71. The sliding directions of the two racks 72 are parallel. The driving member 46 is a double-headed electric push rod or a double-headed air cylinder. The driving member 46 is fixedly installed on the chassis frame 1, and the two piston rods of the driving member 46 are respectively connected to the two racks 72, driving the two racks 72 to approach or move away from each other, thereby realizing the simultaneous rotation of the two adjusting sleeves 61 and the simultaneous upward or downward movement of the two shock absorption inner cylinders 32.

[0048] Refer to Figure 1 、 Figure 4 、 Figure 7A weight adjustment mechanism 8 for adjusting gravity is provided on the chassis frame 1. The weight adjustment mechanism 8 includes two gravity blocks 81 and a linkage assembly 82. The two gravity blocks 81 are horizontally slidably installed on the chassis frame 1. The sliding direction of the gravity blocks 81 is along the direction close to or away from the support wheel 12. The two gravity blocks 81 are correspondingly arranged with the two groups of support wheels 12 and are located between the two groups of support wheels 12. The two gravity blocks 81 are located between the two support devices 2, that is, the two gravity blocks 81 are located between the two driving wheels 22. At the same time, the gravity blocks 81 are located below the top plate of the scissor lift platform, and the gravity blocks 81 are located outside the scissor lift platform.

[0049] Reference Figure 4 , Figure 5 , Figure 7 The linkage assembly 82 is arranged on the gravity block 81 and is connected to the two racks 72, so that when the driving wheel 22 moves down and approaches the ground, the two gravity blocks 81 are driven away from the two groups of support wheels 12 through the linkage assembly 82, thereby reducing the pressure on the two groups of support wheels 12, or, when the driving wheel 22 moves up, the two gravity blocks 81 are driven close to the two groups of support wheels 12 through the linkage assembly 82, thereby increasing the pressure on the two groups of support wheels 12.

[0050] The linkage assembly 82 includes a connecting rod 83 and a connecting block 84. The connecting rod 83 is fixedly mounted on the side wall of the rack 72 near the gravity block 81, and the connecting rod 83 extends to one side of the gravity block 81. A connecting hole 85 that passes through the upper and lower surfaces of the connecting rod 83 is opened at one end of the connecting rod 83 near the gravity block 81, and the racks 72 on both sides of the gravity block 81 are provided with connecting rods 83; the connecting blocks 84 are arranged on two and fixedly mounted on the opposite side walls of the gravity block 81, and the two connecting blocks 84 are respectively snap-fitted and mounted on the two connecting holes 85; the rack 72 moves to drive the connecting rod 83, the connecting block 84 and the gravity block 81 to move simultaneously, and when the two gravity blocks 81 apply pressure to the two sets of support wheels 12 under the action of gravity, the connecting rod 83 will not interfere with the vertical pressure of the gravity block 81. At the same time, after the gravity block 81 is disassembled, it can be disengaged from the connecting rod 83 by vertical movement, thereby improving the convenience during disassembly.

[0051] The working principle of the embodiment of the present application is as follows: When loading, the moving part 73 drives the two racks 72 to move, and the two racks 72 and the two gears 71 cooperate to drive the two adjusting sleeves 61 to rotate, thereby driving the two shock-absorbing inner cylinders 32, the bracket 21 and the driving wheel 22 to move vertically, so that the driving wheel 22 moves downward to increase the supporting force on the ground, and at the same time, the two racks 72 move to drive the two gravity blocks 81 away from the supporting wheels 12, thereby reducing the pressure on the two groups of supporting wheels 12; when unloaded, the moving part 73 moves back, so that the two driving wheels 22 move upward to reduce the supporting force on the ground, and drives the two gravity blocks 81 close to the two groups of supporting wheels 12, increasing the pressure of the two groups of supporting wheels 12 on the ground, thereby improving the stability of the trolley during operation.

[0052] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application. Therefore, all equivalent changes made according to the structure, shape and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An AGV with adjustable drive wheel load, characterized in that: The invention comprises a chassis frame (1), a lifting mechanism (11), two sets of support wheels (12), and a support device (2) located between the two sets of support wheels (12), wherein the support device (2) comprises: A bracket (21) is arranged on the chassis frame (1) via a shock absorbing assembly (3); A driving wheel (22) is rotatably disposed on the bracket (21) and pressed against the ground to drive the bracket (21) to move; The adjustment mechanism (4) is used to adjust the position of the bracket (21) and to adjust the supporting force of the driving wheel (22) on the ground.

2. The AGV with adjustable drive wheel load according to claim 1, characterized in that: The shock absorbing assembly (3) comprises: A shock-absorbing outer cylinder (31) is arranged on the chassis frame (1); A shock-absorbing inner cylinder (32) is slidably disposed on the shock-absorbing outer cylinder (31), and the bracket (21) is connected to the shock-absorbing inner cylinder (32); A guide rod (33) is arranged on the shock absorbing inner cylinder (32) and is slidably arranged on the shock absorbing outer cylinder (31), and a positioning nut (35) is threadedly connected to the guide rod (33); A spring (34) is sleeved on the guide rod (33) and has two ends pressed against the shock absorbing outer cylinder (31) and the shock absorbing inner cylinder (32). The spring (34) is used to push the shock absorbing inner cylinder (32) to maintain a downward movement trend and to make the positioning nut (35) press against the shock absorbing outer cylinder (31) for positioning.

3. The AGV with adjustable drive wheel load according to claim 1, characterized in that: The regulating mechanism (4) comprises: An adjusting outer cylinder (41) is arranged on the chassis frame (1); The adjusting inner cylinder (42) is slidably arranged on the adjusting outer cylinder (41); the bracket (21) is movably connected to the adjusting inner cylinder (42) and the shock absorbing assembly (3) via a clearance assembly (5); the adjusting inner cylinder (42) moves to drive the bracket (21) to rotate via the clearance assembly (5); and the driving wheel (22) moves to perform shock absorption by making way via the clearance assembly (5); The adjusting assembly (43) is used to drive the adjusting inner cylinder (42) to move vertically.

4. The AGV with adjustable driving wheel load according to claim 3, characterized in that: The bracket (21) is provided with a horizontal clearance hole (23) at one end close to the adjustment inner cylinder (42), and the clearance component (5) comprises: A rotating column (51) is arranged on the shock absorbing assembly (3), and the bracket (21) is rotatably mounted on the rotating column (51); The clearance column (52) is arranged on the adjusting inner cylinder (42) and is slidably mounted on the clearance hole (23).

5. The AGV with adjustable driving wheel load according to claim 3, characterized in that: The regulating component (43) comprises: An adjusting screw rod (44) is rotatably mounted on the adjusting outer cylinder (41); An adjusting nut (45) is disposed on the adjusting inner cylinder (42) and is threadedly connected to the adjusting screw rod (44); A driving member (46) is disposed on the adjusting outer cylinder (41) and is used to drive the adjusting screw rod (44) to rotate.

6. The AGV with adjustable driving wheel load according to claim 2, characterized in that: Two of the shock absorbing assemblies (3) are arranged at intervals, and both ends of the bracket (21) are arranged on the bottoms of two shock absorbing inner cylinders (32). The adjustment mechanism (4) comprises: Two adjustment sleeves (61) are respectively rotatably mounted on the top ends of the two shock-absorbing outer cylinders (31) and are respectively sleeved on the positioning nuts (35) located on the two guide rods (33); the adjustment sleeves (61) rotate to drive the positioning nuts (35) to rotate and enable the positioning nuts (35) to move vertically in the adjustment sleeves (61); The driving assembly (7) is used to drive the two adjusting sleeves (61) to rotate simultaneously.

7. The AGV with adjustable driving wheel load according to claim 6, characterized in that: The driving assembly (7) comprises: Two gears (71) are respectively arranged on the two adjustment sleeves (61); Two racks (72) are slidably mounted on the chassis frame (1) and are respectively meshed with the two gears (71); The moving parts (73) are respectively connected to the two racks (72) and are used to drive the two racks (72) to move closer to or farther from each other.

8. The AGV with adjustable driving wheel load according to claim 7, characterized in that: The chassis frame (1) is provided with a weight adjustment mechanism (8) for adjusting gravity, and the weight adjustment mechanism (8) comprises: Two gravity blocks (81) are slidably arranged on the chassis frame (1) in a direction approaching or moving away from the support wheels (12) and are located between the two groups of support wheels (12); A linkage assembly (82) is arranged on the gravity block (81) and connected to the two racks (72), so that when the driving wheel (22) moves downward and approaches the ground, the linkage assembly (82) drives the two gravity blocks (81) away from the two groups of support wheels (12) to reduce the pressure on the two groups of support wheels (12); or, when the driving wheel (22) moves upward, the linkage assembly (82) drives the two gravity blocks (81) close to the support wheels (12) to increase the pressure on the two groups of support wheels (12).

9. The AGV with adjustable driving wheel load according to claim 8, characterized in that: The linkage component (82) comprises: A connecting rod (83) is disposed on the rack (72) and extends to one side of the gravity block (81) and is provided with a connecting hole (85) penetrating the upper and lower surfaces; The connecting block (84) is arranged on the gravity block (81) and is mounted on the connecting hole (85) by snapping. The rack (72) moves through the connecting rod (83) to drive the connecting block (84) and the gravity block (81) to move simultaneously.

10. The AGV with adjustable driving wheel load according to claim 1, characterized in that: The lifting mechanism (11) is provided with a pressure detector electrically connected to the regulating mechanism (4), the pressure detector being used to detect the pressure of the load, and the regulating mechanism (4) adjusting the pressure of the driving wheel (22) on the ground according to the pressure.

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