A chassis for an automated guided vehicle

Abstract

This invention relates to the field of automated guided vehicles (AGVs), and in particular to a chassis for an AGV, comprising an AGV with laser scanners installed at the center of its front and rear ends. A fixed chassis is installed at the bottom of the AGV, and side-corner anti-collision components are arranged around the fixed chassis to provide lateral protection for the side corners of the AGV. The side-corner anti-collision components have strip-shaped teeth that resist the impact force from the outer perimeter. The side-corner anti-collision components include a U-shaped fixed frame, a movable block, and a rotating disk. The side-corner anti-collision components absorb the impact kinetic energy and drive the impact protection components to form auxiliary support. The torsion cleaning component and the flipping stabilization component work together to achieve dual functions of cleaning and reinforcement. The components work together without interfering with each other. The entire chassis realizes pure mechanical linkage and integrated integration of four major functions: collision buffering, auxiliary support, scanner cleaning, and parking reinforcement. The structure is compact and ingeniously designed.

Description

Technical Field

[0001] This invention relates to the field of automated guided vehicles (AGVs), and in particular to a chassis for an automated guided vehicle. Background Technology

[0002] Automated guided vehicles (AGVs) operate autonomously along pre-set tracks such as magnetic strips and QR codes, and are widely used in warehousing and manufacturing systems. Their chassis bears the drive and steering, which is directly related to operational safety, positioning accuracy, and stable operation of sensors.

[0003] In material transport, oil, dust, and debris easily accumulate on the track surface, leading to attenuation or even loss of tracking signals. Simultaneously, when the AGV starts, stops, and turns, the material is subject to inertial forces, causing it to shift and its center of gravity to deviate. The instantaneous impact exacerbates the risk of derailment, placing extremely high demands on the chassis's vibration resistance and correction capabilities. During material transport, the vehicle body faces lateral and oblique collisions. Existing fixed anti-collision pads can only absorb limited energy and cannot effectively convert and dissipate impact kinetic energy, resulting in rigid transmission of the impact to the vehicle body. The lack of ground-extending auxiliary support during collisions easily leads to lateral tilting and slippage, directly deviating from the track and causing transport interruptions or even overturning. Furthermore, while front and rear laser scanners handle obstacle detection and track identification, industrial dust and debris easily adhere to them, creating blind spots. Existing fixed-direction intermittent blowing airflow has narrow coverage and cleaning dead zones; a single airflow direction is insufficient to remove stubborn particles, failing to achieve highly reliable continuous cleaning. This can lead to a chain reaction of transport problems such as path loss and abnormal material handover, directly affecting the continuous and effective operation of sensors during transport.

[0004] In summary, existing automated guided vehicle (AGV) chassis suffer from limitations in areas such as lateral collision buffering and auxiliary support during transportation, laser scanner for thorough cleaning and maintenance, and structural locking and reinforcement during loading and unloading. These limitations include single functionality, low integration, and ineffective linkage and response among components, making it difficult to meet the requirements for integrated, safe, and efficient operation in high-frequency, high-reliability industrial scenarios. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a chassis for an automated guided vehicle.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a chassis for an automated guided vehicle, comprising an automated guided vehicle, laser scanners being installed at the center of the front and rear ends of the automated guided vehicle, a fixed chassis being installed at the bottom of the automated guided vehicle, and side corner anti-collision components for lateral protection of the side corners of the automated guided vehicle being installed around the fixed chassis, wherein the strip teeth in the side corner anti-collision components resist the impact force of the peripheral impact force, and the side corner anti-collision components include a U-shaped fixed frame, a movable block and a rotating disk, wherein the strip teeth drive the rotating disk to rotate and twist when subjected to impact force; The U-shaped fixed frame is equipped with an impact protection component for providing auxiliary support around the automated guided vehicle in the event of a collision. When the strip tooth is subjected to impact force, the T-shaped support seat in the impact protection component descends and supports the ground for protection. The impact protection component includes an arc-shaped push block. A ring-shaped base frame is fixedly installed at the center of the front and rear ends of the fixed chassis. Inside the ring-shaped base frame is a torsional cleaning component that performs back-and-forth air blowing cleaning of the laser scanner. The torsional cleaning component includes a torsional cylinder and a support toothed disc. The support toothed disc drives the torsional cylinder to perform reciprocating fan-shaped motion below the laser scanner. The ring-shaped base frame is also equipped with a flipping and stabilizing component for limiting and reinforcing both ends of the automatic guide car when it is parked for loading and unloading. The flipping and stabilizing component includes an arc-shaped flipping block.

[0007] As a preferred embodiment of the present invention, a lifting support platform is provided at the top center of the automated guided vehicle, and a U-shaped fixing frame is fixedly installed at the right angles around the fixed chassis. The side corner anti-collision assembly also includes a supporting top cover. A fixing rod is fixedly installed inside the U-shaped fixing frame, and a movable block is movably connected through both ends of the fixing rod. A supporting top cover is fixedly installed around the fixed chassis, and an annular groove is opened at the bottom of the supporting top cover. An annular slider is slidably connected in the annular groove, and a rotating disk is fixedly installed at the bottom of the annular slider. Several strip-shaped teeth are evenly installed on the outer periphery of the rotating disk on the side away from the automated guided vehicle. The strip-shaped teeth are made of rubber and are movable outside the supporting top cover.

[0008] The rotating disk has an arc-shaped rotating groove, and an arc-shaped rotating rod is movably installed through the middle of the arc-shaped rotating groove. The arc-shaped rotating rod is fixedly installed at the top center of the movable block. A first spring is fixedly installed at both ends inside the U-shaped fixed frame. The first spring is fixedly installed on the movable block. A second spring is fixedly installed between opposite sides of the movable block. Both the first spring and the second spring are movably sleeved on the outside of the fixed rod. A damper is provided between the movable block and the inner walls of both ends of the U-shaped fixed frame.

[0009] As a preferred embodiment of the present invention, a drive wheel is provided at the bottom center of the fixed chassis, a T-shaped groove is provided on the inner side of the U-shaped fixed frame, a T-shaped slider is slidably connected in the T-shaped groove, the T-shaped slider is fixedly installed at the center of both sides of the movable block, the impact protection component also includes a U-shaped push rod, movable holes are provided at both ends of the U-shaped fixed frame, and a T-shaped support seat is movably provided through the bottom center of each movable hole.

[0010] An arc-shaped push block is movably installed in the movable hole. The arc-shaped push block has a triangular push groove. A U-shaped push rod is fixedly installed at the center of the movable block on the side near the movable hole. The top of the U-shaped push rod moves through the triangular push groove. When the U-shaped push rod moves horizontally, it drives the arc-shaped push block to move downward through the triangular push groove. When the T-shaped support seat descends, it contacts the ground for support.

[0011] As a preferred embodiment of the present invention, the torsional cleaning assembly further includes a drive gear for driving the support gear disc to rotate. A support groove is provided at the bottom of the annular base frame, and a support slider is slidably connected in the support groove. A support gear disc is fixedly installed at the bottom of the support slider. A rotating ring is fixedly installed at the top center of the support gear disc. The rotating ring is movable at the inner center of the annular base frame. A support rotating rod is movably connected to the top of the rotating ring. A torsional cylinder is fixedly installed on the support rotating rod. A cleaning nozzle is fixedly installed on the torsional cylinder. Both the torsional cylinder and the cleaning nozzle are movable inside the rotating ring.

[0012] A base ring is fixedly installed on the inner bottom of the annular base frame, and a motor frame is fixedly installed on the outside of the annular base frame. A triangular flip groove is opened on the side of the base ring away from the motor frame. A triangular flip block is fixedly installed on the inner side of the annular base frame. The size of the triangular flip block matches the triangular flip groove, and the triangular flip block is set at the top center of the triangular flip groove.

[0013] As a preferred embodiment of the present invention, an arc-shaped flipping block is fixedly installed at the end of the supporting rotating rod away from the torsion cylinder, and arc-shaped drive rods are fixedly installed at both ends of the arc-shaped flipping block on the side away from the supporting rotating rod. The arc-shaped drive rods move in the triangular flipping groove under the triangular flipping block. The flipping stabilizing assembly also includes a stabilizing ring. A servo motor is fixedly installed at the top inside the motor frame, and a drive gear is fixedly installed at the output end of the servo motor through a rotating shaft. The drive gear meshes with the supporting gear plate for transmission.

[0014] The base ring has an arc-shaped limiting groove on the side near the automated guided vehicle. The arc-shaped limiting groove is connected to the triangular flipping groove. The size of the arc-shaped limiting groove matches the arc-shaped drive rod, which moves through the arc-shaped limiting groove. An electric telescopic rod is fixedly installed inside the torsion cylinder. A stabilizing ring is fixedly installed at the bottom of the electric telescopic rod and moves to the outside of the torsion cylinder. The arc-shaped flipping block enters the triangular flipping groove through the arc-shaped drive rod and then flips.

[0015] Compared with the prior art, the beneficial effects that this invention can achieve are: 1. In this invention, the strip teeth in the side corner anti-collision component are evenly installed on the outer periphery of the rotating disk and protrude from the outside of the supporting top cover, forming a wrap-around protection for the side corners of the vehicle body; when an external impact force is applied to the strip teeth, the rubber teeth undergo elastic deformation instantly under the force, initially absorbing the impact peak; the impact force is transmitted to the outer periphery of the rotating disk through the teeth, forcing the rotating disk to rotate and twist, converting the rigid impact in the linear direction into rotational motion, and the impact energy is greatly dissipated during the motion conversion process; the top of the rotating disk slides with the annular groove at the bottom of the supporting top cover through an annular slider, so that the rotating disk is constrained to rotate only around its own axis, ensuring the accuracy and reliability of motion conversion.

[0016] 2. In this invention, an arc-shaped rotating groove is formed on the rotating disk of the side corner anti-collision component. An arc-shaped rotating rod is movably inserted through the middle of the arc-shaped rotating groove. The bottom of the arc-shaped rotating rod is fixed to the top center of the movable block. The movable block is inserted through the fixed rod and can only slide linearly along the axial direction. No matter which direction the rotating disk rotates due to the impact, the arc-shaped rotating groove can actively move the arc-shaped rotating rod, forcibly converting the rotational motion of the rotating disk into the linear motion of the movable block. The transmission path is simple, the response is immediate, and the structure is ingenious, ensuring that subsequent protective actions can be reliably triggered under impacts in different directions. The movable block is fitted with a first spring at both ends and a second spring is connected between the movable blocks. Any linear displacement of the movable block in any direction will force the spring assembly to undergo elastic deformation, continuously absorbing the impact kinetic energy and storing it as elastic potential energy. After the impact is eliminated, the energy is automatically released to push the movable block to reset, realizing the self-resetting function.

[0017] 3. In this invention, a U-shaped push rod is fixedly installed on the side of the movable block in the impact protection assembly. This, along with a triangular push groove on the arc-shaped push block, allows the top end of the U-shaped push rod to extend through the highest point of the triangular push groove. When the movable block moves horizontally due to impact, the end of the U-shaped push rod slides along the inclined surface of the triangular push groove, generating a downward compressive force through a wedge effect. This forces the arc-shaped push block to descend along the vertical guide surface of the movable hole, thereby compressing the T-shaped support seat to extend vertically downwards until it firmly presses against the ground. This efficiently converts the linear motion of the movable block into the vertical descent motion of the T-shaped support seat. The transmission path is simple and direct, without any intermediate delays. This ensures effective impact protection. The auxiliary support action is triggered simultaneously the instant the impact occurs, with an extremely rapid response. After the T-shaped support extends, it forms a rigid abutment against the ground, providing a reliable low-position auxiliary support point for the vehicle body. This effectively counteracts the overturning moment caused by the lateral impact force, preventing the vehicle body from tilting or sliding laterally, and significantly improving the stability of the vehicle body posture under collision conditions. After the impact is eliminated, the movable block resets under the action of the spring force, driving the U-shaped push rod to retract, relieving the pressure on the arc-shaped push block. The T-shaped support automatically rises and retracts, restoring the safe gap with the ground. The entire process requires no manual intervention or additional drive source, realizing a purely mechanical follow-up protection function of impact triggering and automatic reset.

[0018] 4. In this invention, a support groove is provided at the bottom of the annular base frame in the torsion cleaning assembly. The support toothed disc slides in the support groove via a bottom support slider. A rotating ring is fixed at the top of the support toothed disc, and a support rotating rod is movably connected to the top of the rotating ring. A torsion cylinder is fixedly installed on the support rotating rod, and a cleaning nozzle is fixed on the torsion cylinder. When the servo motor meshes with the support toothed disc through the drive gear and makes a small-angle reciprocating rotation, the energy is transmitted to the torsion cylinder through the rotating ring and the support rotating rod, causing the cleaning nozzle to perform a fan-shaped reciprocating sweep below the laser scanner. The fan-shaped sweeping method makes the air outlet angle of the cleaning nozzle continuously change, significantly expanding the airflow coverage area and forming a wrapping blowing on the arc-shaped surface of the scanner, eliminating cleaning dead angles in one direction. The reciprocating airflow direction alternates periodically, applying multi-directional peeling force to the attached dust, weakening the particle adhesion effect, and achieving efficient non-contact blower cleaning.

[0019] 5. In this invention, an arc-shaped flipping block is fixedly installed at the end of the supporting rotating rod away from the torsion cylinder in the flipping and stabilizing assembly. Arc-shaped drive rods are fixed on both sides of the end of the arc-shaped flipping block. An arc-shaped limiting groove and a triangular flipping groove are opened on the base ring. A triangular flipping block is fixed inside the annular base frame. When loading and unloading, the arc-shaped limiting groove and the triangular flipping groove work together in terms of spatial height and geometric constraints to force the arc-shaped flipping block to flip from a vertical state to a horizontal state. The supporting rotating rod drives the torsion cylinder to rotate 90 degrees, the cleaning nozzle deflects and stops, and the electric telescopic rod and the stabilizing ring rotate to extend vertically downward, pressing against the limiting surface or the ground to form a mechanical lock, thus limiting and reinforcing both ends of the vehicle body. The PLC control realizes the automatic switching and reset of the small-amplitude cleaning and large-amplitude reinforcement functions. The structure is compact and the operation is reliable.

[0020] 6. In this invention, the side corner anti-collision component, impact protection component, torsion cleaning component, and tilt stabilization component are all integrated on a fixed chassis, sharing the installation interface and transmission path provided by the U-shaped fixing frame and the ring base frame. The side corner anti-collision component absorbs the impact kinetic energy and drives the impact protection component to form auxiliary support. The torsion cleaning component and the tilt stabilization component share a servo drive to achieve dual-function switching between cleaning and reinforcement. Each component works collaboratively without interfering with each other. The entire chassis achieves pure mechanical linkage and integrated integration of four major functions: collision buffering, auxiliary support, scanner cleaning, and parking reinforcement. The structure is compact, ingeniously designed, and reliably responsive, making it suitable for the safe and efficient operation of automated guided vehicles under complex working conditions. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the fixed chassis structure of the present invention; Figure 3 This is a schematic diagram of the structure supporting the top cover of the present invention; Figure 4 This is a schematic diagram of the structure of the strip-shaped tooth of the present invention; Figure 5 This is a schematic diagram of the rotating disk of the present invention; Figure 6 This is a schematic diagram of the structure of the spiral-shaped fixing frame of the present invention; Figure 7 This is a schematic diagram of the structure of the active block of the present invention; Figure 8 This is a schematic diagram of the structure of the torsion cylinder of the present invention; Figure 9 This is a schematic diagram of the structure of the annular base frame of the present invention; Figure 10 This is a schematic diagram of the rotating ring of the present invention.

[0022] The components include: 10. Automated Guided Vehicle; 11. Laser Scanner; 12. Fixed Chassis; 13. Lifting Support Platform; 14. Drive Wheel; 20. Support Top Cover; 21. Annular Slide Groove; 22. Annular Slider; 23. Rotary Disc; 24. Strip Tooth; 25. Arc-shaped Rotary Groove; 26. Arc-shaped Rotary Rod; 27. Movable Block; 28. Damper; 30. U-shaped Fixed Frame; 31. T-shaped Slide Groove; 32. T-shaped Slider; 33. Fixed Rod; 34. Second Spring; 35. First Spring; 36. Arc-shaped Push Block; 37. U-shaped Push Rod 38. Triangular push groove; 39. Movable hole; 40. T-shaped support base; 50. Annular base frame; 51. Support slide groove; 52. Support slider; 53. Support gear plate; 54. Motor frame; 55. Servo motor; 56. Drive gear; 57. Base ring; 58. Triangular flip groove; 59. Triangular flip block; 60. Rotating ring; 61. Support rotating rod; 62. Torsion cylinder; 63. Cleaning nozzle; 64. Arc-shaped flip block; 65. Arc-shaped drive rod; 66. Electric telescopic rod; 67. Stabilizing ring; 68. Arc-shaped limit groove. Detailed Implementation

[0023] To make the technical means, creative features, and achieved objectives and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0024] Example: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, a chassis for an automated guided vehicle (AGV) includes an AGV 10. Laser scanners 11 are installed at the center of both the front and rear ends of the AGV 10. A fixed chassis 12 is installed at the bottom of the AGV 10. Side corner protection components for lateral protection of the AGV 10 are installed around the fixed chassis 12. Strip-shaped teeth 24 in the side corner protection components resist external impact forces. The side corner protection components include a U-shaped fixed frame 30, a movable block 27, and a rotating disk 23. When impacted, the strip-shaped teeth 24 drive the rotating disk 23 to rotate and twist. A lifting support platform 13 is installed at the center of the top of the AGV 10. The frame 30 is fixedly installed at the right angles around the fixed chassis 12. The side corner anti-collision assembly also includes a supporting top cover 20. A fixed rod 33 is fixedly installed inside the U-shaped fixed frame 30, and a movable block 27 is movably inserted through both ends of the fixed rod 33. The supporting top cover 20 is fixedly installed around the fixed chassis 12. An annular groove 21 is opened at the bottom of the supporting top cover 20. An annular slider 22 is slidably connected in the annular groove 21. A rotating disk 23 is fixedly installed at the bottom of the annular slider 22. Several strip teeth 24 are evenly installed on the outer periphery of the rotating disk 23 on the side away from the automatic guided vehicle 10. The strip teeth 24 are made of rubber and move outside the supporting top cover 20.

[0025] The rotating disk 23 has an arc-shaped rotating groove 25, and an arc-shaped rotating rod 26 is movably installed through the middle of the arc-shaped rotating groove 25. The arc-shaped rotating rod 26 is fixedly installed at the top center of the movable block 27. The inner ends of the U-shaped fixing frame 30 are both fixedly installed with a first spring 35, which is fixedly installed on the movable block 27. A second spring 34 is fixedly installed between opposite sides of the movable block 27. The first spring 35 and the second spring 34 are both movably sleeved on the outside of the fixing rod 33. A damper 28 is provided between the movable block 27 and the inner walls of both ends of the U-shaped fixing frame 30. Through the cooperation of the damper 28 with the first spring 35 and the second spring 34, the movable block 27 can achieve buffer energy dissipation.

[0026] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7During normal driving, the strip teeth 24 protrude from the outside of the supporting top cover 20, forming a wrap-around protection for the side corners of the vehicle body. When the side corner is hit by an external obstacle, the external force acts directly on the rubber strip teeth 24. The strip teeth 24 undergoes elastic deformation instantly under the force, initially absorbing the peak impact. The impact force is transmitted to the outer periphery of the rotating disk 23 through the strip teeth 24. Its tangential component forms a torque around the center of the rotating disk 23, forcing the rotating disk 23 to rotate and twist. Since the top of the rotating disk 23 is slidably connected to the annular groove 21 at the bottom of the supporting top cover 20 through the annular slider 22, the rotating disk 23 is constrained to rotate only around its own axis. The impact in the linear direction is thus converted into rotational motion, and the impact energy is greatly dissipated during the conversion of motion form.

[0027] As the rotating disk 23 rotates, the arc-shaped rotating groove 25 on its surface rotates synchronously with the disk, actively actuating the arc-shaped rotating rod 26 that passes through the middle of the groove. Since the bottom of the arc-shaped rotating rod 26 is fixedly installed at the top center of the movable block 27, and the movable block 27 is movably connected to the fixed rod 33 inside the U-shaped fixed frame 30, it can only slide linearly along the axial direction due to the constraint of the fixed rod 33. Therefore, the rotational motion of the arc-shaped rotating groove 25 is forcibly converted into the linear motion of the movable block 27 along the fixed rod 33. When the movable block 27 slides, the first spring 35, which is sleeved on the outside of the fixed rod 33 at both ends, stretches and compresses the second spring 34 connected between the movable blocks 27. During this process, the first spring 35 and the second spring 34 continuously absorb the impact kinetic energy and store it as elastic potential energy, playing a core buffering and energy absorption role. After the impact is eliminated, the spring releases the elastic potential energy to push the movable block 27 to reset, and the arc-shaped rotating rod 26 actuates the rotating disk 23 to rotate in the opposite direction, and the strip tooth 24 returns to its initial position.

[0028] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The U-shaped fixed frame 30 is equipped with an impact protection component for providing auxiliary support around the automated guided vehicle 10 in the event of an impact. When the strip tooth 24 is subjected to impact force, the T-shaped support seat 40 in the impact protection component descends to support and protect the ground. The impact protection component includes an arc-shaped push block 36. A drive wheel 14 is provided at the bottom center of the fixed chassis 12. A T-shaped slide groove 31 is provided on the inner side of the U-shaped fixed frame 30. A T-shaped slider 32 is slidably connected in the T-shaped slide groove 31. The T-shaped slider 32 is fixedly installed at the center of both sides of the movable block 27. The impact protection component also includes a U-shaped push rod 37. Movable holes 39 are provided at both ends of the U-shaped fixed frame 30. A T-shaped support seat 40 is movably provided through the bottom center of each movable hole 39.

[0029] An arc-shaped push block 36 is movably installed in the movable hole 39. The arc-shaped push block 36 has a triangular push groove 38. Each movable block 27 has a U-shaped push rod 37 fixedly installed at the center of one side near the movable hole 39. The top of the U-shaped push rod 37 moves through the triangular push groove 38. When the U-shaped push rod 37 moves horizontally, it drives the arc-shaped push block 36 to move downward through the triangular push groove 38. When the T-shaped support seat 40 descends, it contacts the ground for support.

[0030] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 During normal driving, the movable block 27 remains stationary under the action of the first spring 35 and the second spring 34. The U-shaped push rod 37 fixed to the side of the movable block 27 is in its initial position, with its top end located at the highest point of the triangular push groove 38 opened on the arc-shaped push block 36, lifting the arc-shaped push block 36 to the highest position in the movable hole 39. At this time, the T-shaped support 40 retracts into the movable hole 39, and its bottom maintains a safe gap with the ground, without interfering with the normal driving of the vehicle.

[0031] When the strip tooth 24 is impacted, causing the movable block 27 to move horizontally along the fixed rod 33, the U-shaped push rod 37, fixedly installed on the side of the movable block 27, moves synchronously with the movable block 27. The top end of the U-shaped push rod 37 slides from the highest point of the triangular push groove 38 along the inclined surface of the groove, utilizing the wedge effect of the groove's inclination to generate a downward compressive force on the arc-shaped push block 36. Under the action of this downward compressive force, the arc-shaped push block 36 descends along the vertical guide surface of the movable hole 39 at the end of the U-shaped fixed frame 30, thereby pressing down... The T-shaped support 40 below it is forced to extend vertically downward along the through hole at the bottom of the movable hole 39 until its bottom is firmly pressed against the ground, forming a reliable ground auxiliary support point, effectively preventing the vehicle body from tilting or moving sideways due to a side impact; after the impact is eliminated, the movable block 27 is reset under the action of the first spring 35 and the second spring 34, driving the U-shaped push rod 37 to retract, releasing the downward pressing force on the arc-shaped push block 36, and the T-shaped support 40 then rises back into the movable hole 39, restoring the safe gap with the ground.

[0032] See Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10An annular base frame 50 is fixedly installed at the center of both ends of the fixed base 12. The annular base frame 50 is equipped with a torsional cleaning component that performs back-and-forth airflow cleaning of the laser scanner 11. The torsional cleaning component includes a torsional cylinder 62 and a support gear 53. The support gear 53 drives the torsional cylinder 62 to perform reciprocating fan-shaped motion below the laser scanner 11. The torsional cleaning component also includes a drive gear 56 that drives the support gear 53 to rotate. A support groove 51 is opened at the bottom of the annular base frame 50. A support slider 52 is slidably connected in the support groove 51. The support gear 53 is fixedly installed at the bottom of the support slider 52. A rotating ring 60 is fixedly installed at the center of the top of the support gear 53. The rotating ring 60 is movable at the center of the annular base frame 50. A support rotating rod 61 is movably connected to the top of the rotating ring 60. The torsional cylinder 62 is fixedly installed on the support rotating rod 61. A cleaning nozzle 63 is fixedly installed on the torsional cylinder 62. Both the torsional cylinder 62 and the cleaning nozzle 63 are movable inside the rotating ring 60.

[0033] A base ring 57 is fixedly installed on the inner bottom of the annular base frame 50, and a motor frame 54 is fixedly installed on the outside of the annular base frame 50. A triangular flip groove 58 is opened on the side of the base ring 57 away from the motor frame 54. A triangular flip block 59 is fixedly installed on the inner side of the annular base frame 50. The size of the triangular flip block 59 matches the triangular flip groove 58, and the triangular flip block 59 is located at the top center of the triangular flip groove 58.

[0034] See Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10 When cleaning is required on the surface of the laser scanner 11, the servo motor 55 is started by the programmable logic controller inside the automatic guided vehicle 10. The programmable logic controller uses a programmable program to enable the servo motor 55 to rotate slightly for cleaning and rotate significantly for support. The servo motor 55 drives the drive gear 56 to rotate via the output shaft. The drive gear 56 meshes with the support gear 53, causing the support gear 53 to rotate. The support slider 52 at the bottom of the support gear 53 slides back and forth along the support groove 51 at the bottom of the annular base frame 50, so that the support... The toothed disc 53 reciprocates in a fan-shaped motion around its own axis; the rotating ring 60, which is fixedly installed at the top center of the toothed disc 53, reciprocates in sync with it. The supporting rotating rod 61, which is movably connected to the top of the rotating ring 60, transmits the oscillating motion to the torsion cylinder 62. The torsion cylinder 62 drives the cleaning nozzle 63 fixed on it to perform a fan-shaped reciprocating sweep below the laser scanner 11. In addition, the cleaning nozzle 63 is connected to the blower inside the automatic guide vehicle 10. The compressed air from the blower is sprayed out through the cleaning nozzle 63 to form a surrounding airflow for non-contact blower cleaning of the scanner surface.

[0035] During the reciprocating fan-shaped motion of the support gear plate 53, the support slider 52 at its bottom always slides smoothly under the constraint of the support groove 51, ensuring motion accuracy. A base ring 57 is fixedly installed on the inner bottom of the annular base frame 50. A triangular flip groove 58 is opened on the side of the base ring 57 away from the motor frame 54. A triangular flip block 59 is fixedly installed on the inner side of the annular base frame 50. The triangular flip block 59 is suspended at the top center of the triangular flip groove 58. The two are matched in size, providing geometric constraints and guiding basis for the flipping action of the arc drive rod 65 in the subsequent flipping stabilization component.

[0036] See Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10 The annular base frame 50 is also equipped with a flipping and stabilizing component for limiting and reinforcing both ends of the automatic guide car 10 when it stops for loading and unloading. The flipping and stabilizing component includes an arc-shaped flipping block 64. The arc-shaped flipping block 64 is fixedly installed at the end of the support rotating rod 61 away from the torsion cylinder 62. Arc-shaped drive rods 65 are fixedly installed at both ends of the arc-shaped flipping block 64 away from the support rotating rod 61. The arc-shaped drive rods 65 move in the triangular flipping groove 58 under the triangular flipping block 59. The flipping and stabilizing component also includes a stabilizing ring 67. A servo motor 55 is fixedly installed at the top of the motor frame 54. A drive gear 56 is fixedly installed at the output end of the servo motor 55 through a rotating shaft. The drive gear 56 meshes with the support gear plate 53 for transmission.

[0037] The base ring 57 has an arc-shaped limiting groove 68 on the side near the automatic guided vehicle 10. The arc-shaped limiting groove 68 is connected to the triangular flipping groove 58. The size of the arc-shaped limiting groove 68 matches the arc-shaped drive rod 65. The arc-shaped drive rod 65 moves through the arc-shaped limiting groove 68. An electric telescopic rod 66 is fixedly installed inside the torsion cylinder 62. A stabilizing ring 67 is fixedly installed at the bottom of the electric telescopic rod 66. The stabilizing ring 67 moves on the outside of the torsion cylinder 62. The arc-shaped flipping block 64 enters the triangular flipping groove 58 through the arc-shaped drive rod 65 and then flips.

[0038] See Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10When the automated guided vehicle 10 stops for loading and unloading operations, the two ends of the vehicle body need to be reinforced with limiting devices. The servo motor 55 receives control commands from the programmable logic controller and drives the drive gear 56 to rotate via its output shaft. The drive gear 56 meshes with the support gear plate 53, causing the support gear plate 53 to rotate in a large-angle unidirectional direction. The support gear plate 53, through the rotating ring 60 and the support rotating rod 61, drives the arc-shaped flipping block 64 at its end to move along a circular path. During this movement, an arc-shaped drive rod 65 at the end of the arc-shaped flipping block 64 first exits through the arc-shaped limiting groove 68 opened on the base ring 57. The arc-shaped rotating block 64 is disengaged from the center, providing guidance and limiting for one end; at the same time, another arc-shaped drive rod 65 is blocked and interfered with by the triangular rotating block 59 fixedly installed inside the annular base frame 50 on the movement path, and is forced to move up along the inclined surface of the triangular rotating block 59, disengaging from the triangular rotating groove 58 opened on the base ring 57; since there is a height difference between the arc-shaped limiting groove 68 and the triangular rotating groove 58 and they are connected to each other, the arc-shaped limiting groove 68 and the triangular rotating groove 58 work together in terms of spatial geometric constraints, forcing the arc-shaped rotating block 64 to rotate around its connection point with the supporting rotating rod 61; The flipping action of the arc-shaped flipping block 64 is transmitted to the torsion cylinder 62 at the other end through the support rotating rod 61, forcing the torsion cylinder 62 to rotate 90 degrees synchronously. The rotation of the torsion cylinder 62 has two direct effects: First, the cleaning nozzle 63, which was originally facing the laser scanner 11, deviates as the cylinder rotates 90 degrees, stopping the cleaning operation; Second, the electric telescopic rod 66, which was originally retracted inside the torsion cylinder 62, becomes vertically downward after the cylinder rotates 90 degrees. Then the electric telescopic rod 66 extends downward, and the stabilizing ring 67, which is fixedly installed at its bottom, is pushed out of the outside of the torsion cylinder 62, pressed against the preset limiting surface at the end of the vehicle body or directly supported on the ground, forming a reliable mechanical lock, limiting and reinforcing both ends of the vehicle body, and ensuring that the vehicle body does not move or shake during loading and unloading operations.

[0039] When the device is reset to the clean state, the servo motor 55 rotates in the opposite direction at a large angle. One of the arc-shaped drive rods 65 at the end of the arc-shaped flip block 64 enters the arc-shaped limiting groove 68 on the base ring 57 first, providing guidance and limiting for one end of the arc-shaped flip block 64. At the same time, the other arc-shaped drive rod 65 is blocked and interfered with by the triangular flip block 59 fixedly installed inside the annular base frame 50 on the movement path. It is forced to descend along the inclined surface of the triangular flip block 59 and enter the triangular flip groove 58 on the base ring 57. Since there is a height difference between the arc-shaped limiting groove 68 and the triangular flip groove 58 and they are connected to each other, one arc-shaped drive rod 65 is constrained in the arc-shaped limiting groove 68 and the other is pressed into the triangular flip groove 58. The two grooves work together in terms of spatial geometric constraints, forcing the arc-shaped flip block 64 to flip around its connection point with the supporting rotating rod 61.

[0040] Working principle: When the automated guided vehicle 10 is driving normally and smoothly, all mechanisms of the fixed chassis 12 are in the default standby position.

[0041] In the side corner anti-collision assembly, rubber strip teeth 24 are evenly fixedly installed on the outer periphery of the rotating disk 23 and protrude from the outer contour of the supporting top cover 20. The strip teeth 24 then wrap around and protect the automatic guided vehicle 10. The top of the rotating disk 23 is slidably connected to the annular groove 21 at the bottom of the supporting top cover 20 via annular slider 22, and can rotate freely around its own axis. The arc-shaped rotating groove 25 opened on the rotating disk 23 has an arc-shaped trajectory, and the arc-shaped rotating rod 26 moves through the middle position of the arc-shaped rotating groove 25. The bottom of the arc-shaped rotating rod 26 is fixedly installed at the top center of the movable block 27. The movable block 27 moves through the fixed rod 33 inside the U-shaped fixed frame 30 and can only slide axially in a straight line under the constraint of the fixed rod 33. At this time, the first spring 35 and the second spring 34 are both at their normal free length and are not compressed or stretched, providing a stable centering holding force for the movable block 27, and the rotating disk 23 remains at the initial angle.

[0042] In the impact protection assembly, since the movable block 27 does not move, the U-shaped push rod 37 fixed to its side is stationary; the top end of the U-shaped push rod 37 is located at the highest point of the triangular push groove 38 opened on the arc-shaped push block 36, so that the arc-shaped push block 36 is lifted to the highest position in the movable hole 39; the T-shaped support 40 then retracts into the movable hole 39, and the anti-slip pad at its bottom maintains a safe gap with the ground, without interfering with the normal driving of the vehicle; at the same time, in the torsion cleaning assembly and the flip stabilizing assembly, the servo motor 55 does not output rotational driving force; the support toothed disc 53, the rotating ring 60, the support rotating rod 61, and the torsion cylinder 62 are all at the initial angle; the cleaning nozzle 63 on the torsion cylinder 62 faces the laser scanner 11, ready for cleaning operation; the arc-shaped flip block 64 and the arc-shaped drive rods 65 at both ends are in a vertical state, the stabilizing ring 67 is retracted inside the torsion cylinder 62, and the electric telescopic rod 66 is in a retracted state.

[0043] When the automated guided vehicle 10 is in motion and its side corner is struck by an external obstacle, the side corner anti-collision component and the impact protection component immediately respond in unison. The external impact force acts directly on the protruding strip teeth 24. Since the strip teeth 24 are made of rubber, they undergo elastic deformation instantly upon impact, generating the first level of softening and unloading force against the peak impact. The strip teeth 24 are fixedly installed on the outer periphery of the rotating disk 23. After the impact force is transmitted through the teeth, its tangential component forms a torque around the center of the rotating disk 23, forcing the rotating disk 23 to rotate and twist. In this process, the strong impact in the straight direction is converted into the rotational motion of the rotating disk 23. The impact energy is greatly dissipated in the motion transformation, achieving the second level of motion conversion and unloading. At the same time, the rotation of the rotating disk 23 causes... The arc-shaped rotating groove 25 on its disc actively actuates the arc-shaped rotating rod 26 that passes through the groove. The actuating force exerted by the groove wall of the arc-shaped rotating groove 25 on the arc-shaped rotating rod 26 is the driving force on the rotating disc 23 formed after the impact force is transformed in two stages. On the one hand, the driving force further consumes the residual impact energy through the sliding friction between the rotating disc 23 and the rotating rod and the elastic resistance of the first spring 35 and the second spring 34, realizing the deep unloading of the impact force. On the other hand, the driving force, as the initial triggering force, is transmitted to the movable block 27 through the arc-shaped rotating rod 26, forcing the movable block 27 to move linearly along the fixed rod 33, thereby providing a power source for the descent action of the T-shaped support seat 40 in the impact protection assembly, completing the complete force flow closed loop from side corner impact to auxiliary support response.

[0044] When the rotating disk 23 rotates, the arc-shaped rotating groove 25 on the surface of the rotating disk 23 rotates together with the surface of the rotating disk 23. At this time, the arc-shaped rotating rod 26, which is movable through the middle position of the arc-shaped rotating groove 25, is actively actuated by the groove wall. Since the bottom of the arc-shaped rotating rod 26 is fixed to the top of the movable block 27, and the movable block 27 is constrained by the fixed rod 33 and can only slide linearly along the axis, the rotational motion of the arc-shaped rotating groove 25 is forcibly converted into the linear motion of the movable block 27 through the arc-shaped rotating rod 26. Specifically, regardless of the direction of rotation of the rotating disk 23 due to the impact, the arc-shaped rotating groove 25 will rotate synchronously with the surface of the rotating disk 23 and actively actuate the arc-shaped rotating rod 26, forcing the arc-shaped rotating rod 26 to move along the groove trajectory. Since the bottom of the arc-shaped rotating rod 26 is fixed to the top of the movable block 27, and the movable block 27 is constrained by the fixed rod 33 and can only slide linearly along the axis, the rotational motion of the arc-shaped rotating groove 25 is forcibly converted into the linear motion of the movable block 27 through the arc-shaped rotating rod 26. Constrained by the fixed rod 33, the rotating disk 23 can only slide linearly along the axial direction. Therefore, the rotational motion of the rotating disk 23 is forcibly converted into the linear motion of the movable block 27. When the movable block 27 retracts into the inner side of the U-shaped fixed frame 30, its two ends stretch the first spring 35 and compress the second spring 34 connected between the movable blocks 27. When the movable block 27 extends outward from the U-shaped fixed frame 30, the force states of the first spring 35 and the second spring 34 change in opposite directions. Regardless of the specific direction of movement of the movable block 27, its linear displacement will force the first spring 35 and the second spring 34 to undergo elastic deformation. During this process, the first spring 35 and the second spring 34 continuously absorb the impact kinetic energy and store it as elastic potential energy, playing a core role in buffering and absorbing energy. The damper 28 ensures that the springs do not vibrate during the energy absorption and conversion process, thus improving the structural stability.

[0045] As the movable block 27 moves linearly, the U-shaped push rod 37 fixed to its side moves synchronously with it. In the initial state, the top end of the U-shaped push rod 37 is at the highest position of the triangular push groove 38 in the arc-shaped push block 36. Once the movable block 27 moves horizontally in any direction, the end of the U-shaped push rod 37 will slide along the inclined surface of the triangular push groove 38, using the wedge effect of the groove surface to generate a downward pressure component force on the arc-shaped push block 36. Under the action of this downward component force, the arc-shaped push block 36 descends along the vertical guide surface of the movable hole 39 at the end of the U-shaped fixing frame 30, thereby pressing the T-shaped support 40 below it. The T-shaped support 40 overcomes its own reset resistance and extends vertically downward along the through hole at the bottom of the movable hole 39 until the anti-slip pad at the bottom of the T-shaped support 40 firmly presses against the ground, forming a reliable ground auxiliary support point, effectively preventing the vehicle body from tilting or shifting due to side impact.

[0046] After the impact force is removed, the compressed or stretched first spring 35 and second spring 34 release their elastic potential energy, pushing the movable block 27 back to its initial position along the fixed rod 33. The resetting motion of the movable block 27 reverses the rotation of the rotating disk 23 via the arc-shaped rotating rod 26, causing the rotating disk 23 to rotate in the opposite direction of the impact, driving the strip tooth 24 back to its initial extended position. At the same time, the resetting of the movable block 27 causes the end of the U-shaped push rod 37 to move in the opposite direction along the inclined surface of the triangular push groove 38, releasing the downward pressing force on the arc-shaped push block 36. The arc-shaped push block 36 and the T-shaped support 40 rise back to their original positions under the action of their own resetting components and the ground reaction force, and the T-shaped support 40 retracts back into the movable hole 39, disengaging from the ground. The entire chassis is completely restored to its initial standby state.

[0047] When the surface of the laser scanner 11 needs to be cleaned, the servo motor 55 is connected to a programmable logic controller located inside the automated guided vehicle 10. The servo motor 55 starts, causing the torsion cylinder 62 to reciprocate in a small angle range on the side near the automated guided vehicle 10. The output shaft of the servo motor 55 drives the support gear 53 through the drive gear 56. The support slider 52 at the bottom of the support gear 53 slides in a reciprocating fan shape along the support groove 51 at the bottom of the annular base frame 50. The rotating ring 60 fixed at the top of the support gear 53 swings back and forth in sync. The support rotating rod 61 movably connected to the top of the rotating ring 60 swings along with it. At this time, the support rotating rod 61 only moves slightly in the horizontal plane. The arc-shaped flipping block 64 and the arc-shaped drive rod 65 at its end do not touch the arc-shaped limit groove 68 or the triangular flipping block 59.

[0048] The swing motion is transmitted to the torsion cylinder 62 via the support rod 61. The torsion cylinder 62 drives the cleaning nozzle 63 on it to perform a fan-shaped reciprocating sweep below the laser scanner 11. The cleaning nozzle 63 is connected to the blower equipment inside the automatic guide vehicle 10 through a telescopic duct. Compressed air is ejected from the cleaning nozzle 63 to form a surrounding airflow for non-contact blow-dry cleaning. Compared with fixed single-point blowing, this fan-shaped reciprocating sweeping method allows the air outlet angle of the cleaning nozzle 63 to change continuously during the movement, significantly expanding the airflow coverage area. It can form a wrapping blowing on the entire arc surface of the laser scanner 11, effectively eliminating dead corners that are easily left by cleaning in a single direction. At the same time, the airflow direction generated by the reciprocating motion changes periodically, applying multi-directional peeling force to the fine dust and debris attached to the mirror surface, significantly weakening the adhesion effect of particles, making it easier to remove stubborn attachments that are not easy to blow off. Thus, without any physical contact or damage to the scanner mirror surface, the laser scanner 11 is maintained in an ideal clean working state for a long time.

[0049] When the automated guided vehicle 10 stops for loading and unloading operations, the servo motor 55 rotates continuously in one direction at a large angle via the programmable logic controller; the drive gear 56 drives the support gear 53 to rotate, and the support gear 53 drives the arc-shaped flipping block 64 to move along the annular path via the rotating ring 60 and the support rotating rod 61; during the movement, one arc-shaped drive rod 65 at the end of the arc-shaped flipping block 64 first disengages from the arc-shaped limiting groove 68 on the base ring 57, providing guidance and limitation for one end of the arc-shaped flipping block 64; at the same time, the other arc-shaped drive rod 65 is blocked and interfered with by the triangular flipping block 59 fixed inside the annular base frame 50, and is forced to flip up along the inclined surface of the triangular flipping block 59, disengaging from the triangular flipping groove 58 on the base ring 57; at this time, the triangular flipping groove 58 and the arc-shaped limiting groove 68 are intersected. 8. The combined effect of spatial height and geometric constraints forces the arc-shaped flipping block 64 to flip around its connection point with the supporting rotating rod 61, changing from a vertical state to a horizontal state. The flipping action of the arc-shaped flipping block 64 is transmitted to the torsion cylinder 62 at the other end through the supporting rotating rod 61, forcing the torsion cylinder 62 to rotate 90 degrees synchronously. The rotation of the torsion cylinder 62 has two direct effects: First, the cleaning nozzle 63 rotates 90 degrees with the cylinder and stops cleaning. Second, the electric telescopic rod 66 and the stabilizing ring 67, which were originally retracted inside the torsion cylinder 62, rotate 90 degrees and become vertically downward. Then the electric telescopic rod 66 extends downward, pushing the stabilizing ring 67 out of the torsion cylinder 62 and pressing it against the preset limiting surface at the end of the vehicle body or supporting it on the ground, forming a mechanical lock and limiting and reinforcing both ends of the vehicle body.

[0050] After the automatic guided vehicle 10 completes its loading and unloading operations, the electric telescopic rod 66 retracts first, taking the stabilizing ring 67 into the torsion cylinder 62. The servo motor 55 reverses at a large angle through the programmable logic controller, driving the support gear 53 to rotate in the opposite direction through the drive gear 56. The arc-shaped drive rod 65 enters the triangular flipping groove 58 and the arc-shaped limiting groove 68 in sequence, and the arc-shaped flipping block 64 flips back from the horizontal state to the vertical state. The torsion cylinder 62 at the other end of the support rotating rod 61 rotates 90 degrees in the opposite direction to reset, and the cleaning nozzle 63 is re-aligned with the laser scanner 11. The programmable logic controller controls the servo motor 55 to perform small-range back-and-forth motion control, and the entire mechanism returns to the initial standby state.

[0051] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Those skilled in the art can make various changes within their knowledge without departing from the spirit of the present invention.

Claims

1. A chassis for an automated guided vehicle (AGV), comprising an AGV (10), laser scanners (11) disposed at the center of both the front and rear ends of the AGV (10), and a fixed chassis (12) disposed at the bottom of the AGV (10), characterized in that, The fixed chassis (12) is provided with a side corner anti-collision assembly for lateral protection of the side corners of the automated guided vehicle (10). The strip teeth (24) provided in the side corner anti-collision assembly resists the impact force of the outer perimeter. The side corner anti-collision assembly includes a U-shaped fixed frame (30), a movable block (27) and a rotating disk (23). When the strip teeth (24) are subjected to impact force, they drive the rotating disk (23) to rotate and twist. The U-shaped fixing frame (30) is provided with an impact protection component for auxiliary support around the automatic guide vehicle (10) when an impact occurs. When the strip tooth (24) is subjected to impact force, the T-shaped support seat (40) provided in the impact protection component drops and supports the ground for protection. The impact protection component includes an arc-shaped push block (36). A ring-shaped base frame (50) is fixedly installed at the center of the front and rear ends of the fixed chassis (12). The ring-shaped base frame (50) is equipped with a torsional cleaning component that performs back-and-forth air blowing cleaning of the laser scanner (11). The torsional cleaning component includes a torsional cylinder (62) and a support toothed disc (53). The support toothed disc (53) drives the torsional cylinder (62) to perform reciprocating fan-shaped motion below the laser scanner (11). The annular base frame (50) is also equipped with a flipping and stabilizing component for limiting and reinforcing both ends of the automatic guide vehicle (10) when it stops to load and unload. The flipping and stabilizing component includes an arc-shaped flipping block (64).

2. The chassis for an automated guided vehicle according to claim 1, characterized in that, The automatic guided vehicle (10) has a lifting support platform (13) at the top center. The U-shaped fixing frame (30) is fixedly installed at the right angles of the fixed chassis (12). The side corner anti-collision assembly also includes a supporting top cover (20). The U-shaped fixing frame (30) has a fixing rod (33) fixedly installed inside. The movable block (27) moves through both ends of the fixing rod (33). A support cover (20) is fixedly installed around the fixed chassis (12). An annular groove (21) is opened at the bottom of the support cover (20). An annular slider (22) is slidably connected in the annular groove (21). A rotating disk (23) is fixedly installed at the bottom of the annular slider (22). Several strip teeth (24) are evenly installed on the outer periphery of the rotating disk (23) on the side away from the automatic guide vehicle (10). The strip teeth (24) are made of rubber and move outside the support cover (20).

3. A chassis for an automated guided vehicle according to claim 2, characterized in that, The rotating disk (23) has an arc-shaped rotating groove (25), and an arc-shaped rotating rod (26) is movably inserted through the middle of the arc-shaped rotating groove (25). The arc-shaped rotating rod (26) is fixedly installed at the top center of the movable block (27). The inner ends of the U-shaped fixing frame (30) are fixedly installed with a first spring (35). The first spring (35) is fixedly installed on the movable block (27). A second spring (34) is fixedly installed between the opposite sides of the movable block (27). The first spring (35) and the second spring (34) are both movably sleeved on the outside of the fixing rod (33). A damper (28) is provided between the movable block (27) and the inner walls of both ends of the U-shaped fixing frame (30).

4. A chassis for an automated guided vehicle according to claim 1, characterized in that, A drive wheel (14) is provided at the bottom center of the fixed chassis (12). A T-shaped groove (31) is provided on the inner side of the U-shaped fixed frame (30). A T-shaped slider (32) is slidably connected in the T-shaped groove (31). The T-shaped slider (32) is fixedly installed at the center of both sides of the movable block (27). The impact protection component also includes a U-shaped push rod (37). Movable holes (39) are provided at both ends of the U-shaped fixed frame (30). A T-shaped support seat (40) is provided through the bottom center of each movable hole (39).

5. A chassis for an automated guided vehicle according to claim 4, characterized in that, An arc-shaped push block (36) is movably installed in the movable hole (39). A triangular push groove (38) is provided on the arc-shaped push block (36). A U-shaped push rod (37) is fixedly installed on the center of the movable block (27) on one side near the movable hole (39). The top of the U-shaped push rod (37) moves through the triangular push groove (38). When the U-shaped push rod (37) moves horizontally, it drives the arc-shaped push block (36) to move downward through the triangular push groove (38). When the T-shaped support seat (40) descends, it contacts the ground for support.

6. A chassis for an automated guided vehicle according to claim 1, characterized in that, The torsional cleaning assembly also includes a drive gear (56) that drives the support toothed disc (53) to rotate. The inner bottom of the annular base frame (50) is provided with a support groove (51), and a support slider (52) is slidably connected in the support groove (51). The support toothed disc (53) is fixedly installed at the bottom of the support slider (52). A rotating ring (60) is fixedly installed at the top center of the support gear plate (53). The rotating ring (60) is movable at the inner center of the annular base frame (50). A support rotating rod (61) is movably connected to the top of the rotating ring (60). A torsion cylinder (62) is fixedly installed on the support rotating rod (61). A cleaning nozzle (63) is fixedly installed on the torsion cylinder (62). Both the torsion cylinder (62) and the cleaning nozzle (63) are movable inside the rotating ring (60).

7. A chassis for an automated guided vehicle according to claim 6, characterized in that, A base ring (57) is fixedly installed on the inner bottom of the annular base frame (50), and a motor frame (54) is fixedly installed on the outside of the annular base frame (50). A triangular flip groove (58) is opened on the side of the base ring (57) away from the motor frame (54). A triangular flip block (59) is fixedly installed on the inner side of the annular base frame (50). The size of the triangular flip block (59) matches the triangular flip groove (58), and the triangular flip block (59) is set at the top center of the triangular flip groove (58).

8. A chassis for an automated guided vehicle according to claim 7, characterized in that, The support rotating rod (61) has an arc-shaped flipping block (64) fixedly installed at one end away from the torsion cylinder (62). The arc-shaped flipping block (64) has arc-shaped drive rods (65) fixedly installed at both ends on the side away from the support rotating rod (61). The arc-shaped drive rods (65) move in the triangular flipping groove (58) under the triangular flipping block (59). The flipping stabilizing assembly also includes a stabilizing ring (67). A servo motor (55) is fixedly installed at the top inside the motor frame (54). The output end of the servo motor (55) is fixedly installed with a drive gear (56) through a rotating shaft. The drive gear (56) meshes with the support gear plate (53) for transmission.

9. A chassis for an automated guided vehicle according to claim 8, characterized in that, The base ring (57) has an arc-shaped limiting groove (68) on the side near the automatic guide vehicle (10). The arc-shaped limiting groove (68) is connected to the triangular flip groove (58). The size of the arc-shaped limiting groove (68) matches the arc-shaped drive rod (65). The arc-shaped drive rod (65) moves through the arc-shaped limiting groove (68). An electric telescopic rod (66) is fixedly installed inside the torsion cylinder (62). A stabilizing ring (67) is fixedly installed at the bottom of the electric telescopic rod (66). The stabilizing ring (67) moves to the outside of the torsion cylinder (62). The arc-shaped flipping block (64) enters the triangular flipping groove (58) through the arc-shaped drive rod (65) and then undergoes a flipping motion.

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