AGV unmanned vehicle stable in operation

Abstract

The AGV comprises a chassis, a traction assembly and a driving assembly, the chassis comprises a frame, a cavity for mounting a driving mounting plate is formed in the frame, the driving mounting plate is in swing connection with the frame through a connecting assembly, the traction assembly is arranged on one side of the driving mounting plate, and the driving assembly is arranged on the other side of the driving mounting plate. The driving assembly comprises a pair of driving wheels, a plurality of first limiting pieces are arranged at the bottom of the frame, and the multiple first limiting pieces are distributed in the circumferential direction of the driving mounting plate. When the AGV passes through a bumpy road section, the driving mounting plate is connected with the frame in a swinging mode, so that the driving wheels are prevented from being separated from the ground and being suspended on the ground, the driving wheels are self-adaptive to the ground, meanwhile, the first limiting piece is arranged at the bottom of the frame, the swinging angle of the driving mounting plate can be limited, and the driving wheels are prevented from being damaged. Therefore, the goods are prevented from falling off due to excessive forward inclination or backward falling, and the safety and reliability of operation of the AGV unmanned vehicle are further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material transfer equipment, and in particular to an AGV unmanned vehicle with stable operation. Background Art

[0002] With the continuous development of technology, more and more automated equipment is used for production material transfer. AGV unmanned vehicle, as a kind of equipment for automatic material transportation, has become an indispensable part of factory intelligence and automation. AGV is the abbreviation of "Automated Guided Vehicle", which is an unmanned vehicle with automatic navigation.

[0003] AGVs are mainly used for material handling and transportation tasks in industrial and commercial environments. They can travel along a predetermined path and perform specific tasks, such as picking up and placing goods. When the ground is uneven during the driving process of existing AGVs, one of the dual differential wheels is prone to not touching the ground or uneven pressure, resulting in insufficient traction, causing slipping, loss of control, etc., which in turn causes the goods to fall. The driving stability and safety of AGV unmanned vehicles are poor. Utility Model Content

[0004] In view of this, the utility model provides an AGV unmanned vehicle with stable operation.

[0005] The AGV unmanned vehicle with stable operation according to the embodiment of the utility model includes:

[0006] A chassis, the chassis comprising a frame, the frame forming a cavity for mounting a drive mounting plate, the drive mounting plate being swingably connected to the frame via a connecting assembly;

[0007] A traction assembly, the traction assembly is arranged on one side of the drive mounting plate, and the traction assembly includes a pair of rollers;

[0008] A driving assembly, the driving assembly is arranged on the other side of the driving mounting plate, and the driving assembly includes a pair of driving wheels;

[0009] A plurality of first position-limiting members are arranged at the bottom of the frame, and the plurality of first position-limiting members are distributed along the circumference of the drive mounting plate.

[0010] Further, the first limiting member is a protrusion extending into the cavity and / or the first limiting member is a rib connected to the inner wall of the chassis, and a part of the rib extends into the cavity.

[0011] Furthermore, the driving assembly further comprises:

[0012] A motor bracket, the motor bracket is arranged below the drive mounting plate, the motor bracket comprises a body and two wheel frames respectively arranged on both sides of the body, and the two wheel frames are used to install the pair of drive wheels;

[0013] A swivel bracket, the top of which is connected to the drive mounting plate via a connecting shaft, and the bottom of which is connected to the motor bracket.

[0014] Further, two legs are formed at the bottom of the swivel bracket, and the body forms two hollow grooves spaced apart from each other, the hollow grooves correspond to the legs one by one, and each leg passes through the hollow groove and extends into the inner space of the motor bracket;

[0015] A first fixing hole is formed at the end of the support leg, and the motor bracket also includes two fixing frames arranged adjacent to the wheel frame, and the fixing frames form a second fixing hole corresponding to the first fixing hole. A fastener passes through the second fixing hole and the first fixing hole in sequence to connect the support leg and the motor bracket.

[0016] Furthermore, there is an adjustment space between the supporting foot and the hollow groove.

[0017] Furthermore, it also includes:

[0018] An angle sensor is arranged on the other side of the driving mounting plate, and the angle sensor is connected to the slewing bracket through a slewing bearing and the connecting shaft in sequence.

[0019] Furthermore, it also includes:

[0020] a second limiting member, wherein the second limiting member is disposed on the main body of the motor bracket;

[0021] A slide groove is formed on the driving mounting plate at a position corresponding to the angle sensor, and an end of the second limiting member extends out of the slide groove to form a signal sensing end;

[0022] A mounting bracket is arranged on the other side of the drive mounting plate, and a left position switch and a right position switch are respectively arranged on the left and right sides of the mounting bracket, and the left position switch and the right position switch are used to monitor the position of the signal sensing end to limit the rotation of the drive wheel.

[0023] Furthermore, the connection component comprises:

[0024] A rotating shaft mounting seat, the rotating shaft mounting seat is mounted on the side wall of the frame;

[0025] A rotating shaft, the rotating shaft is cooperatively connected with the rotating shaft mounting seat, and the rotating shaft is arranged on the driving mounting plate;

[0026] A self-lubricating sleeve is arranged between the rotating shaft mounting seat and the rotating shaft.

[0027] Furthermore, an extension frame is provided on one side of the bottom of the driving mounting plate, and the roller is mounted on the extension frame.

[0028] Furthermore, it also includes:

[0029] At least one mounting portion, at least one of the mounting portions is disposed on a top side wall of the frame;

[0030] At least one guide wheel assembly, at least one of the guide wheel assemblies is arranged on the mounting portion, the guide wheel assemblies correspond to the mounting portion one by one, and at least a portion of the guide wheel assembly extends out of the frame.

[0031] The above technical scheme of the utility model has at least one of the following beneficial effects: according to the embodiment of the utility model, the stably running AGV unmanned vehicle includes a chassis, a traction assembly and a drive assembly, the chassis includes a frame, a cavity for installing a drive mounting plate is formed on the frame, the drive mounting plate is swingably connected to the frame through a connecting assembly, the traction assembly is arranged on one side of the drive mounting plate, the traction assembly includes a pair of rollers, the drive assembly is arranged on the other side of the drive mounting plate, the drive assembly includes a pair of drive wheels, and a plurality of first limit members are arranged at the bottom of the frame, and the plurality of first limit members are distributed along the circumference of the drive mounting plate. That is to say, a traction assembly is arranged on one side of the drive mounting plate, and a drive assembly is arranged on the other side, and the drive mounting plate is swingably connected to the chassis through a connecting assembly. When the AGV unmanned vehicle passes through a bumpy road section, the drive mounting plate is swingably connected to the frame frame to prevent the drive wheel from being separated from the ground and suspended in the air, so that the drive wheel and the ground can be adaptively controlled. At the same time, a first limiter is arranged at the bottom of the frame frame to limit the swing angle of the drive mounting plate to prevent the goods from falling due to excessive forward or backward tilting, thereby further improving the safety and reliability of the operation of the AGV unmanned vehicle. The stable operation of the AGV unmanned vehicle in the embodiment of the utility model is further improved by arranging a first limiter at the bottom of the frame frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A side view schematic diagram of an AGV unmanned vehicle running stably according to an embodiment of the utility model;

[0033] Figure 2 It is a schematic diagram of the partial structure of the AGV unmanned vehicle with stable operation from the first perspective according to an embodiment of the utility model;

[0034] Figure 3It is a partial top view schematic diagram of a stable running AGV unmanned vehicle according to an embodiment of the utility model;

[0035] Figure 4 It is a schematic diagram of the structure of a stable AGV unmanned vehicle walking on a flat ground according to an embodiment of the utility model;

[0036] Figure 5 It is a schematic diagram of the structure of the AGV unmanned vehicle with stable operation when the driving wheels are off the ground according to an embodiment of the utility model;

[0037] Figure 6 It is a structural schematic diagram of a chassis of a stable AGV unmanned vehicle according to an embodiment of the utility model;

[0038] Figure 7 It is a structural schematic diagram of the connection between the driving mounting plate and the chassis of the AGV unmanned vehicle with stable operation according to an embodiment of the utility model;

[0039] Figure 8 It is a structural schematic diagram of the connection between the drive mounting plate and the drive assembly of the AGV unmanned vehicle with stable operation according to an embodiment of the utility model;

[0040] Fig. 9 An exploded view of a driving assembly of an AGV unmanned vehicle with stable operation according to an embodiment of the utility model;

[0041] Fig.10 A cross-sectional view showing the connection between the drive mounting plate and the drive assembly of the AGV unmanned vehicle with stable operation according to an embodiment of the utility model;

[0042] Fig.11 It is a structural schematic diagram of the rear limit during the driving process of the stable AGV unmanned vehicle according to an embodiment of the utility model;

[0043] Fig.12 It is a structural schematic diagram of the front limit during the driving process of the stable AGV unmanned vehicle according to an embodiment of the utility model;

[0044] Fig.13 It is a schematic diagram of the partial structure of the driving assembly of the AGV unmanned vehicle with stable operation according to an embodiment of the utility model;

[0045] Fig.14 It is a structural schematic diagram of the left limit during the driving process of the stable AGV unmanned vehicle according to an embodiment of the utility model;

[0046] Fig.15 It is a structural schematic diagram of the right limit during the driving process of the stable AGV unmanned vehicle according to an embodiment of the utility model;

[0047] Fig.16It is a schematic diagram of the partial structure of the stably operating AGV unmanned vehicle from a second perspective according to an embodiment of the utility model.

[0048] Reference numerals:

[0049] 100. chassis; 110. frame; 111. mounting portion; 112. cavity; 113. reinforcing rib; 116. clearance hole; 117. first stopper; 117a. convex block; 117b. rib;

[0050] 200. drive mounting plate; 210. mounting slot; 220. extension frame; 230. slide slot;

[0051] 300. Traction assembly; 310. Roller;

[0052] 500. driving assembly; 510. driving wheel; 520. motor bracket; 521. body; 521a. hollow groove; 522. wheel frame; 523. fixed frame; 523a. second fixing hole; 530. slewing bracket; 531. supporting foot; 531a. first fixing hole; 540. connecting shaft; 550. fastener; 560. angle sensor; 570. second stopper; 580. mounting bracket; 581. left in-position switch; 582. right in-position switch; 590. slewing bearing;

[0053] 600. Connecting assembly; 610. Rotating shaft mounting seat; 620. Rotating shaft; 630. Self-lubricating bushing;

[0054] 900. Guide wheel assembly. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described in combination with the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the described embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the utility model.

[0056] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0057] The following is combined with Figure 1-16 The AGV unmanned vehicle with stable operation according to the embodiment of the utility model is specifically described as comprising a chassis 100, a traction assembly 300 and a driving assembly 500. The chassis 100 comprises a frame 110, a cavity 112 for mounting a driving mounting plate 200 is formed on the frame 110, the driving mounting plate 200 is swingably connected to the frame 110 through a connecting assembly 600, the traction assembly 300 is arranged on one side of the driving mounting plate 200, and the traction assembly 300 comprises a pair of rollers 310. The driving assembly 500 is arranged on the other side of the driving mounting plate 200, and the driving assembly 500 comprises a pair of driving wheels 510. A plurality of first stoppers 117 are arranged at the bottom of the frame 110, and the plurality of first stoppers 117 are distributed along the circumference of the driving mounting plate 200. That is to say, a traction assembly 300 is arranged on one side of the drive mounting plate 200, and a drive assembly 500 is arranged on the other side, and the drive mounting plate 200 is swingably connected to the chassis 100 through a connecting assembly 600. When the AGV unmanned vehicle passes through a bumpy road section, the drive mounting plate 200 is used to swingably connect with the frame 110 to prevent the drive wheel 510 from being separated from the ground and suspended in the air, so that the drive wheel 510 and the ground can be adaptively adapted. At the same time, by providing a first limit member 117 at the bottom of the frame 110, the swing angle of the drive mounting plate 200 can be limited to prevent the goods from falling due to excessive forward or backward tilting, thereby further improving the safety and reliability of the operation of the AGV unmanned vehicle.

[0058] Based on the above structure, in fact, when the AGV unmanned vehicle passes through an uphill or downhill section, the cargo on the AGV unmanned vehicle will tilt forward or fall backward due to inertia. Since the drive mounting plate 200 is swingably connected to the frame 110, the drive mounting plate 200 will swing during this process to make the drive wheel 510 of the drive assembly 500 adapt to the road surface, allowing the AGV unmanned vehicle to travel more smoothly. At the same time, the first limit member 117 arranged around the drive mounting plate 200 can limit the swing angle of the drive mounting plate 200 to prevent the cargo from falling due to excessive tilting forward or falling backward, thereby further improving the safety and reliability of the operation of the AGV unmanned vehicle.

[0059] Further, the first stopper 117 is a projection 117a extending into the cavity 112 and / or the first stopper 117 is a rib 117b connected to the inner wall of the chassis 100, and a part of the rib 117b extends into the cavity 112. That is to say, the projection 117a extending into the cavity 112 is processed at the position of the inner wall around the frame 110 where the drive mounting plate 200 is arranged to limit the drive mounting plate 200, and the first stopper 117 of the projection structure has the advantage of a simple structure; or the rib 117b is processed at the position of the inner wall around the frame 110 where the drive mounting plate 200 is arranged, and a part of the rib 117b extends into the cavity 112 to limit the swing angle of the drive mounting plate 200, and the rib 117b can be extended along the height direction of the inner wall of the frame 110, and the rib 117b has a higher mechanical strength than the projection 117a. Preferably, the protrusion 117 a and the rib 117 b are integrally formed with the frame 110 . More specifically, the protrusion 117 a and the rib 117 b can be formed when the cavity 112 is processed.

[0060] Furthermore, the driving assembly 500 further includes a motor bracket 520 and a slewing bracket 530. The motor bracket 520 is disposed below the driving mounting plate 200. The motor bracket 520 includes a body 521 and two wheel frames 522 disposed on both sides of the body 521, respectively. The two wheel frames 522 are used to mount a pair of driving wheels 510. The top of the slewing bracket 530 is connected to the driving mounting plate 200 via a connecting shaft 540, and the bottom of the slewing bracket 530 is connected to the motor bracket 520. In other words, the driving wheels 510 are mounted on the two wheel frames 522 of the motor bracket 520, the motor bracket 520 is connected to the bottom of the slewing bracket 530, and the slewing bracket 530 is connected to the driving mounting plate 200 via a connecting shaft 540. When the two driving wheels 510 are in operation, the above structure can ensure the synchronization of the operation of the two driving wheels 510, thereby further improving the safety and reliability of the operation of the AGV unmanned vehicle.

[0061] Furthermore, two supporting feet 531 are formed at the bottom of the rotating bracket 530, and the main body 521 forms two hollow grooves 521a arranged at intervals, and the hollow grooves 521a correspond to the supporting feet 531 one by one. Each supporting foot 531 respectively passes through the hollow groove 521a and extends into the internal space of the motor bracket 520. The end of the supporting foot 531 forms a first fixing hole 531a. The motor bracket 520 also includes two fixed skeletons 523 arranged adjacent to the wheel skeleton 522. The fixed skeleton 523 forms a second fixing hole 523a corresponding to the first fixing hole 531a. The fastener 550 passes through the second fixing hole 523a and the first fixing hole 531a in sequence to connect the supporting foot 531 and the motor bracket 520. That is to say, a hollow groove 521a is formed on the main body 521 of the motor bracket 520, and the two legs 531 of the swivel bracket 530 pass through the hollow groove 521a and extend into the internal space of the motor bracket 520. Two fixed skeletons 523 are also formed below the main body 521 of the motor bracket 520. Based on the above structure, it can be known that the two wheel skeletons 522 are used to install a pair of driving wheels 510, which are located on the left and right sides of the AGV unmanned vehicle. The fixed skeletons 523 are arranged adjacent to the wheel skeletons 522. The two fixed skeletons 523 are located on the front and rear sides of the AGV unmanned vehicle. Correspondingly, second fixing holes 523a and first fixing holes 531a are respectively arranged on the two fixed skeletons 523 and the two legs 531. Finally, the fixed skeletons 523 and the legs 531 are connected using fasteners 550 to realize the connection between the swivel bracket 530 and the motor bracket 520.

[0062] Furthermore, there is an adjustment space between the support leg 531 and the hollow groove 521a. That is, the width of the hollow groove 521a in the left-right direction is greater than the width of the support leg 531, that is, when the AGV unmanned vehicle is running, if the driving wheel 510 slips or tilts excessively due to uneven ground on the left and right sides, the slewing bracket 530 can correct the left-right deflection angle of the motor bracket 520 through the support leg 531, and then adjust the left-right tilt height between the left and right driving wheels 510 and the ground, so as to avoid the cargo falling due to the excessive tilt height of the left and right driving wheels 510, and further improve the safety and reliability of the operation of the AGV unmanned vehicle.

[0063] Furthermore, an angle sensor 560 is also included, and the angle sensor 560 is arranged on the other side of the driving mounting plate 200, and the angle sensor 560 is connected to the slewing bracket 530 through the slewing bearing 590 and the connecting shaft 540 in sequence. In other words, the motor bracket 520 is upwardly connected to the slewing bracket 530 and the connecting shaft 540 in sequence, and the connecting shaft 540 is rotatably connected to the slewing bearing 590, and the slewing bearing 590 is arranged on the driving mounting plate 200 and connected to the angle sensor 560. The angle sensor 560 can accurately identify the position of the driving wheel 510, so that the AGV unmanned vehicle can run more accurately.

[0064] Furthermore, it also includes a second limit member 570 and a mounting bracket 580. The second limit member 570 is arranged on the main body 521 of the motor bracket 520. A slide groove 230 is formed on the drive mounting plate 200 at the corresponding position of the angle sensor 560. The end of the second limit member 570 extends out of the slide groove 230 to form a signal sensing end. The mounting bracket 580 is arranged on the other side of the drive mounting plate 200. The left and right sides of the mounting bracket 580 are respectively provided with a left in-position switch 581 and a right in-position switch 582. The left and right in-position switch 581 and the right in-position switch 582 are used to monitor the position of the signal sensing end to limit the rotation of the drive wheel 510. That is to say, a second mounting groove 210 is provided on the driving mounting plate 200 so that the second limit member 570 passes through the bottom of the driving mounting plate 200, and the second limit member 570 is provided on the main body 521 of the motor bracket 520. When the AGV unmanned vehicle is turning, the two driving wheels 510 on the motor bracket 520 drive the motor bracket 520 to rotate, thereby driving the second limit member 570 to slide in the slide groove 230. The second limit member 570 extends out of the driving mounting plate 200 to form a signal sensing end. When the signal sensing end rotates to the extreme position, the left in-position switch 581 and the right in-position switch 582 provided on the left and right sides of the mounting bracket 580 can detect the position of the second limit member 570, and then the signal can be fed back to the control center in time, which plays a certain protective role in the safe operation of the AGV unmanned vehicle.

[0065] Further, the connecting assembly 600 includes a rotating shaft mounting seat 610, a rotating shaft 620 and a self-lubricating sleeve 630. The rotating shaft mounting seat 610 is mounted on the side wall of the chassis 100; the rotating shaft 620 is connected with the rotating shaft mounting seat 610 in cooperation, the rotating shaft 620 is arranged on the driving mounting plate 200, and the self-lubricating sleeve 630 is arranged between the rotating shaft mounting seat 610 and the rotating shaft 620. In other words, the driving mounting plate 200 is swingably connected to the chassis 100 through the connecting assembly 600, and during this process, the driving mounting plate 200 swings around the rotating shaft 620 as the central axis. The self-lubricating sleeve 630 is arranged between the rotating shaft mounting seat 610 and the rotating shaft 620, and the smoothness and fluency of the driving mounting plate 200 during the swinging process can be ensured by arranging the self-lubricating sleeve 630.

[0066] As an embodiment of the present invention, the side wall of the frame 110 extends into the cavity 112 to form a reinforcing rib 113, and the shaft mounting seat 610 is fixedly connected to the reinforcing rib 113. The reinforcing rib 113 is provided on the frame 110 to facilitate the installation of the shaft mounting seat 610, and the strength of the frame 110 can be improved by providing the reinforcing rib 113. Preferably, two shaft mounting seats 610 can be provided correspondingly, for example, to further ensure the stability of the drive mounting plate 200 when it swings.

[0067] As an embodiment of the present invention, a pair of clearance holes 116 are formed on the side wall of the frame 110, and the driving wheel 510 is arranged at the corresponding position of the clearance holes 116. That is to say, the pair of clearance holes 116 are arranged on the frame 110, which can reduce the weight of the device and the lightweight of the AGV unmanned vehicle. Further, the driving wheel 510 is arranged at the corresponding position of the clearance holes 116, which is convenient for the staff to observe the working state of the driving wheel 510, and then the locking situation of the driving wheel 510 can be observed in time, thereby further improving the working efficiency of the production system.

[0068] Further, an extension frame 220 is provided at one side of the bottom of the drive mounting plate 200, and the roller 310 is installed on the extension frame 220. By providing the extension frame 220, a smaller roller 310 can be provided, so that at least a portion of the roller 310 is exposed outside the side wall of the chassis 100 and supports the chassis 100.

[0069] Furthermore, it also includes at least one mounting portion 111 and at least one guide wheel assembly 900, at least one mounting portion 111 is arranged on the top side wall of the frame 110, at least one guide wheel assembly 900 is arranged on the mounting portion 111, the guide wheel assembly 900 corresponds to the mounting portion 111 one by one, and at least a portion of the guide wheel assembly 900 extends out of the frame 110. That is to say, a traction assembly 300, a drive assembly 500 and a directional wheel assembly 800 are arranged on the frame 110 of the chassis 100 to drive and guide the AGV logistics vehicle to move smoothly on a predetermined track, and a mounting portion 111 is arranged on the frame 110 to mount the guide wheel assembly 900 on the mounting portion 111, and at least a portion of the guide wheel assembly 900 extends out of the frame 110, so that when the AGV logistics vehicle slips and loses control of the direction when walking on uneven ground, the guide wheel assembly 900 can correct and guide the travel direction of the AGV logistics vehicle in real time, thereby ensuring that the AGV logistics vehicle walks on the predetermined track and ensuring the smooth operation of the AGV logistics vehicle.

[0070] The mounting portion 111 may be, for example, a notch formed around the side wall of the frame 110, and part of the guide wheel assembly 900 is disposed in the notch; the mounting portion 111 may also be, for example, a support plate, one side of the support plate is disposed in the notch, and the other side extends toward the inside of the frame 110. The installation strength of the guide wheel assembly 900 may be improved by providing the support plate. The number of guide wheel assemblies 900 and mounting portions 111 may be, for example, four, and they are disposed around the frame 110 to further ensure the smooth operation of the AGV logistics vehicle.

[0071] Furthermore, each guide wheel assembly 900 includes a guide wheel and a fixing member disposed at the center of the guide wheel, one end of the fixing member is connected to the guide wheel, and the other end is disposed in the mounting hole of the mounting portion 111. That is, by providing the guide wheel, when the AGV logistics vehicle enters the track, the traveling direction of the AGV logistics vehicle can be guided, and the structure is simple, the installation is convenient, and the guiding effect is good.

[0072] The above is a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An AGV unmanned vehicle with stable operation, characterized in that: include: A chassis (100), the chassis (100) comprising a frame (110), a cavity (112) for mounting a drive mounting plate (200) formed on the frame (110), the drive mounting plate (200) being swingably connected to the frame (110) via a connecting assembly (600); A traction assembly (300), the traction assembly (300) being arranged on one side of the driving mounting plate (200), the traction assembly (300) comprising a pair of rollers (310); A driving assembly (500), the driving assembly (500) being arranged on the other side of the driving mounting plate (200), the driving assembly (500) comprising a pair of driving wheels (510); A plurality of first position-limiting members (117) are arranged at the bottom of the frame (110), and the plurality of first position-limiting members (117) are distributed along the circumference of the drive mounting plate (200).

2. The stable AGV unmanned vehicle according to claim 1 is characterized in that: The first limiting member (117) is a protrusion (117a) extending into the cavity (112) and / or the first limiting member (117) is a rib (117b) connected to the inner wall of the chassis (100), and a portion of the rib (117b) extends into the cavity (112).

3. The stable AGV unmanned vehicle according to claim 1 is characterized in that: The drive assembly (500) further comprises: a motor bracket (520), the motor bracket (520) being arranged below the drive mounting plate (200), the motor bracket (520) comprising a body (521) and two wheel frames (522) respectively arranged on both sides of the body (521), the two wheel frames (522) being used to mount the pair of drive wheels (510); A swivel bracket (530), wherein the top of the swivel bracket (530) is connected to the driving mounting plate (200) via a connecting shaft (540), and the bottom of the swivel bracket (530) is connected to the motor bracket (520).

4. The stable AGV unmanned vehicle according to claim 3 is characterized in that: The bottom of the slewing bracket (530) forms two supporting legs (531), and the body (521) forms two hollow grooves (521a) spaced apart from each other, the hollow grooves (521a) correspond to the supporting legs (531) one by one, and each supporting leg (531) passes through the hollow groove (521a) and extends into the internal space of the motor bracket (520); A first fixing hole (531a) is formed at the end of the support leg (531), and the motor bracket (520) further includes two fixing frames (523) arranged adjacent to the wheel frame (522), and the fixing frames (523) form a second fixing hole (523a) corresponding to the first fixing hole (531a), and a fastener (550) passes through the second fixing hole (523a) and the first fixing hole (531a) in sequence to connect the support leg (531) and the motor bracket (520).

5. The stable AGV unmanned vehicle according to claim 4 is characterized in that: There is an adjustment space between the supporting foot (531) and the hollow groove (521a).

6. The stable AGV unmanned vehicle according to claim 3 is characterized in that: Also includes: An angle sensor (560), the angle sensor (560) is arranged on the other side of the driving mounting plate (200), and the angle sensor (560) is connected to the rotating bracket (530) through the rotating shaft (620), the bearing (590), and the connecting shaft (540) in sequence.

7. The stable AGV unmanned vehicle according to claim 6 is characterized in that: Also includes: A second limiting member (570), wherein the second limiting member (570) is disposed on the body (521) of the motor bracket (520); A slide groove (230) is formed on the driving mounting plate (200) at a position corresponding to the angle sensor (560), and an end portion of the second limiting member (570) extends out of the slide groove (230) to form a signal sensing end; A mounting bracket (580) is provided on the other side of the drive mounting plate (200), and a left position switch (581) and a right position switch (582) are provided on the left and right sides of the mounting bracket (580), respectively. The left position switch (581) and the right position switch (582) are used to monitor the position of the signal sensing end to limit the rotation of the drive wheel (510).

8. The stable AGV unmanned vehicle according to claim 1, characterized in that: The connection assembly (600) comprises: A rotating shaft mounting seat (610), wherein the rotating shaft mounting seat (610) is mounted on a side wall of the frame (110); A rotating shaft (620), the rotating shaft (620) is connected in cooperation with the rotating shaft mounting seat (610), and the rotating shaft (620) is arranged on the driving mounting plate (200); A self-lubricating sleeve (630) is arranged between the rotating shaft mounting seat (610) and the rotating shaft (620).

9. The stable AGV unmanned vehicle according to claim 1, characterized in that: An extension frame (220) is provided on one side of the bottom of the driving installation plate (200), and the roller (310) is installed on the extension frame (220).

10. The stable AGV unmanned vehicle according to claim 1, characterized in that: Also includes: At least one mounting portion (111), at least one mounting portion (111) being disposed on a top side wall of the frame (110); At least one guide wheel assembly (900), at least one of the guide wheel assemblies (900) is arranged on the mounting portion (111), the guide wheel assembly (900) corresponds to the mounting portion (111) one by one, and at least a portion of the guide wheel assembly (900) extends out of the frame (110).

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