High-stability AGV chassis mechanism and automatic navigation device

Abstract

The utility model discloses an AGV chassis mechanism with high stability and an automatic navigation device. The AGV chassis mechanism comprises a chassis assembly. The floating chassis assembly is hinged to the side edge of the chassis assembly; the two ends of the connecting assembly are movably arranged on the chassis assembly and the floating chassis assembly respectively; the chassis assembly comprises a chassis main body; the two driving wheel mechanisms are symmetrically arranged on the side edges of the chassis main body respectively; the wobble wheel mechanism is movably arranged on the chassis main body; and the wobble wheel mechanism and the two driving wheel mechanisms form a three-point supporting structure. Through cooperation of the chassis assembly, the floating chassis assembly and the connecting assembly, the problem that an existing automatic navigation device is poor in stability is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV chassis, and particularly relates to an AGV chassis mechanism and an automatic navigation device with high stability. Background Art

[0002] An automated guided vehicle (AGV) is powered by a single or multiple drive wheels to enable the AGV to move forward, backward or laterally. Currently, during the operation of existing automated guided vehicles, due to problems such as poor road conditions, too light vehicle body, insufficient structural stability, too large load size, too high center of gravity or large eccentric load, etc., it is easy to cause the problem of low stability when the automated guided vehicle transports large material racks; therefore, an AGV chassis mechanism and an automatic navigation device with high stability are provided to solve the above problems. Summary of the Invention

[0003] One of the purposes of the utility model is to provide an AGV chassis mechanism and an automatic navigation device with high stability, so as to solve the problem of poor stability of existing automated guided vehicles.

[0004] An AGV chassis mechanism and an automatic navigation device with high stability of the utility model can be realized by the following technical solutions:

[0005] An AGV chassis mechanism with high stability of the utility model includes a chassis assembly; a floating chassis assembly hinged to the side of the chassis assembly; a connecting assembly, with opposite ends movably arranged on the chassis assembly and the floating chassis assembly respectively;

[0006] Wherein, the chassis assembly includes a chassis main body; two drive wheel mechanisms symmetrically arranged on the sides of the chassis main body respectively; a swing wheel mechanism movably arranged on the chassis main body, which forms a three-point support structure with the two drive wheel mechanisms.

[0007] In one implementation, at least one guiding cavity is arranged on the chassis main body, a guide rail is fixedly arranged in the guiding cavity, and one end of the connecting assembly is slidably arranged on the guide rail.

[0008] In one implementation, the floating chassis assembly includes a floating chassis main body connected to the chassis main body through at least one second hinge shaft; at least one second universal wheel arranged below the floating chassis main body.

[0009] In one implementation, at least one hinge portion is respectively arranged on the floating chassis main body, and the second hinge shaft is arranged on the chassis main body through the corresponding hinge portion.

[0010] In one embodiment, the connection component includes a connection plate; at least one slider disposed on the connection plate through a fourth hinge shaft, which is slidably disposed on the corresponding guide rail; the connection plate is hinged to the floating chassis main body through at least one third hinge shaft.

[0011] In one embodiment, the connection plate is made of cast iron.

[0012] In one embodiment, a connection seat is further disposed on the chassis main body; the swing wheel mechanism includes a swing plate, which is movably connected to the connection seat through a first hinge shaft; two first universal wheels respectively disposed on the swing plate.

[0013] In one embodiment, the drive wheel mechanism includes a drive motor, which is fixedly disposed on the side of the chassis main body; a drive wheel main body drivingly connected to the drive motor.

[0014] In one embodiment, at least one elastic member is disposed between the chassis main body and the floating chassis main body.

[0015] An automatic navigation device with high stability of the present invention includes the AGV chassis mechanism described in any one of the above.

[0016] Compared with the prior art, the beneficial effects of an AGV chassis mechanism and an automatic navigation device with high stability of the present invention are as follows:

[0017] The AGV chassis mechanism and the automatic navigation device with high stability of the present invention movably connect the chassis component and the floating chassis component through the connection component, so that the chassis component and the floating chassis component are independent of each other and support each other, which is convenient to distribute the load of the AGV main body proportionally to the chassis component and the floating chassis component, and buffer the acting force of the ground through the cooperation of the slider and the guide rail, thereby improving the running stability of the AGV chassis mechanism under harsh working conditions and effectively solving the problem of poor stability of the existing automatic navigation device;

[0018] The chassis component in the AGV chassis mechanism and the automatic navigation device with high stability of the present invention forms a three-point support drive structure through two drive wheel mechanisms and a swing wheel mechanism, which enhances the adaptability of the AGV chassis mechanism to the ground and ensures that the AGV chassis mechanism can always provide sufficient power; at the same time, the floating chassis component is hinged to the chassis component through two hinges respectively, and two second universal wheels support the floating chassis main body, ensuring that the AGV chassis mechanism has a sufficiently large supporting surface and can carry objects with larger size, higher center of gravity and larger off-load range. Description of the Drawings

[0019] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0020] Figure 1 is a schematic structural diagram of an AGV chassis mechanism with high stability of the present utility model;

[0021] Figure 2 is Figure 1 a schematic structural diagram of another perspective of an AGV chassis mechanism with high stability of the present utility model shown;

[0022] Figure 3 is Figure 1 an exploded structural diagram of an AGV chassis mechanism with high stability of the present utility model, including a chassis main body, a swing wheel mechanism, a floating chassis assembly, and a connection assembly;

[0023] Figure 4 is Figure 3 a schematic structural diagram of the chassis main body shown;

[0024] Figure 5 is Figure 3 an exploded structural diagram of the swing wheel mechanism shown;

[0025] Figure 6 is Figure 3 an exploded structural diagram of the floating chassis assembly shown;

[0026] Figure 7 is Figure 3 an exploded structural diagram of the connection assembly shown.

[0027] Reference numerals in the figure: 10, AGV chassis mechanism; 11, chassis assembly; 111, chassis main body; 1111, connection hole; 1112, guide cavity; 1113, guide rail; 1114, connection seat; 1115, through hole; 1116, elastic member; 112, drive wheel mechanism; 1121, drive motor; 1122, drive wheel main body; 113, swing wheel mechanism; 1131, swing plate; 1132, first universal wheel; 1133, first hinge shaft; 12, floating chassis assembly; 121, floating chassis main body; 1211, hinge portion; 122, second universal wheel; 123, second hinge shaft; 13, connection assembly; 131, connecting plate; 132, slider; 1321, fourth hinge shaft; 133, third hinge shaft. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0030] Please refer to Figures 1 - 3 As shown, a high-stability AGV chassis mechanism 10 of the present utility model mainly includes a chassis assembly 11, a floating chassis assembly 12, and a connection assembly 13; the chassis assembly 11 is the driving main body; the floating chassis assembly 12 is hinged to the side of the chassis assembly 11; opposite ends of the connection assembly 13 are respectively hinged to the chassis assembly 11 and the floating chassis assembly 12, and the AGV main body is fixedly arranged on the connection assembly 13.

[0031] Please refer to Figures 1 - 3 As shown, in this embodiment, the chassis assembly 11 includes a chassis main body 111, two drive wheel mechanisms 112, and a swing wheel mechanism 113; the chassis main body 111 is the supporting main body, and the floating chassis assembly 12 is hinged to the side of the chassis main body 111; the two drive wheel mechanisms 112 are symmetrically arranged on the side of the chassis main body 111 respectively, and the chassis main body 111 is driven by the two drive wheel mechanisms 112; the swing wheel mechanism 113 is movably arranged on the chassis main body 111 and can swing relative to the chassis main body 111. The swing wheel mechanism 113 and the two drive wheel mechanisms 112 form a three-point support structure, enhancing the adaptability of the chassis assembly 11 to the ground and ensuring that the chassis assembly 11 can always provide sufficient power.

[0032] Please refer to Figure 3 and Figure 4As shown, specifically, a plurality of connection holes 1111 are provided on the chassis main body 111, and two drive wheel mechanisms 112 and a floating chassis assembly 12 are respectively arranged on the chassis main body 111 through corresponding connection holes 1111; at least one guiding cavity 1112 is provided on the chassis main body 111, a guide rail 1113 is fixedly arranged in the guiding cavity 1112, and one end of a connection component 13 is slidably arranged on the guide rail 1113; a connection seat 1114 is further provided on the chassis main body 111, a swing wheel mechanism 113 is movably arranged on the connection seat 1114 and penetrates through the chassis main body 111 through a corresponding through hole 1115, so that the swing wheel mechanism 113 can swing relative to the chassis main body 111 according to different ground conditions, thereby enhancing the adaptability of the chassis assembly 11 to different ground conditions; at least one elastic member 1116 is arranged between the chassis main body 111 and the floating chassis assembly 12, and the buffering capacity between the chassis main body 111 and the floating chassis assembly 12 is enhanced through the elastic member 1116; preferably, the elastic member 1116 is a spring.

[0033] Please refer to Figure 3 and Figure 4 As shown, specifically, the drive wheel mechanism 112 includes a drive motor 1121 and a drive wheel main body 1122; the drive motor 1121 is fixedly arranged on the side of the chassis main body 111 through a corresponding connection hole 1111; the drive wheel main body 1122 is in transmission connection with the drive motor 1121, and the drive motor 1121 drives the drive wheel main body 1122 to rotate so as to realize the forward, backward or turning operation of the AGV chassis mechanism 10; preferably, the drive motor 1121 is a servo motor.

[0034] Please refer to Figure 3 and Figure 5 As shown, specifically, the swing wheel mechanism 113 includes a swing plate 1131, two first universal wheels 1122 and a first hinge shaft 1133; the swing plate 1131 is movably connected to the connection seat 1114 through the first hinge shaft 1133; the two first universal wheels 1122 are respectively arranged on the swing plate 1131 and are in contact with the ground through corresponding through holes 1115 penetrating through the chassis main body 111, so as to form a three-point support structure with the two drive wheel mechanisms 112, enhancing the adaptability of the chassis assembly 11 to the ground and ensuring that the chassis assembly 11 can always provide sufficient power.

[0035] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 6As shown, the floating chassis assembly 12 includes a floating chassis body 121, at least one second universal wheel 122, and at least one second hinge shaft 123; the floating chassis body 121 is connected to the corresponding connection hole 1111 through at least one second hinge shaft 123, thereby realizing the connection between the floating chassis body 121 and the chassis body 111; at least one second universal wheel 122 is arranged below the floating chassis body 121, and it cooperates with the two drive wheel mechanisms 112 to drive the floating chassis assembly 12 to move; in this embodiment, two hinge parts 1211 are respectively arranged on the floating chassis body 121, and the two second hinge shafts 123 are respectively arranged in the corresponding connection holes 1111 through the hinge parts 1211, and the two second universal wheels 122 are respectively arranged below the floating chassis body 121. The floating connection between the chassis body 111 and the floating chassis body 121 ensures that the AGV chassis mechanism 10 has a sufficiently large bearing surface and can carry an AGV body with a larger size, a higher center of gravity, and a larger off-load range.

[0036] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 7 As shown, the connection assembly 13 includes a connecting plate 131, at least one slider 132, and at least one third hinge shaft 133; the connecting plate 131 is the supporting body, and the AGV body is fixedly arranged on the connecting plate 131; at least one slider 132 is arranged on the connecting plate 131 through a fourth hinge shaft 1321, and it is slidably arranged on the corresponding guide rail 1113; at least one third hinge shaft 133 hinges the connecting plate 131 to the floating chassis body 121; through the action of at least one slider 132 and at least one third hinge shaft 133, both ends of the connecting plate 131 are respectively arranged on the chassis body 111 and the floating chassis body 121, so that the chassis body 111 and the floating chassis body 121 are independent of each other and support each other. Specifically, the connecting plate 131 is made of cast iron to ensure the connection strength of the connecting plate 131; the two sliders 132 are respectively arranged on the connecting plate 131 through the fourth hinge shafts 1321, and they are respectively slidably arranged on the corresponding guide rails 1113; the two third hinge shafts 133 hinge the connecting plate 131 to the floating chassis body 121.

[0037] The automatic navigation device with high stability of the present invention includes the AGV chassis mechanism 10 of any one of the above.

[0038] It should be noted that the specific working process of an AGV chassis mechanism 10 with high stability of the present utility model is as follows: The chassis component 11 and the floating chassis component 12 are connected through the connection function of the connection component 13, so that the chassis component 11 and the floating chassis component 12 are independent of each other and support each other, which is convenient for distributing the load of the AGV body proportionally to the chassis component 11 and the floating chassis component 12. The acting force of the ground is buffered through the cooperation of the slider 132 and the guide rail 1113, thereby improving the running stability of the AGV chassis mechanism 10 under harsh working conditions; the chassis component 11 forms a three-point support driving structure through two driving wheel mechanisms 112 and a swing wheel mechanism 113, which enhances the adaptability of the AGV chassis mechanism 10 to the ground and ensures that the AGV chassis mechanism 10 can always provide sufficient power; the floating chassis component 12 is hinged to the chassis component 11 through two hinge parts 1211, and at the same time, two second universal wheels 122 support the floating chassis body 121, ensuring that the AGV chassis mechanism 10 has a large enough supporting surface to carry objects with larger size, higher center of gravity and larger off-load range.

[0039] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0040] The above-described embodiments only represent several implementation manners of the present utility model, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the utility model patent shall be subject to the appended claims.

Claims

1. An AGV chassis mechanism with high stability, characterized in that: include: Chassis components; a floating chassis assembly hinged to the side of the chassis assembly; A connecting component, two opposite ends of which are movably arranged on the chassis component and the floating chassis component respectively; Wherein, the chassis assembly comprises a chassis body; two driving wheel mechanisms symmetrically arranged on the sides of the chassis body; The swing wheel mechanism movably arranged on the chassis body forms a three-point support structure with the two driving wheel mechanisms.

2. The AGV chassis mechanism with high stability according to claim 1, characterized in that: At least one guide cavity is arranged on the chassis body, a guide rail is fixedly arranged in the guide cavity, and one end of the connecting component is slidably arranged on the guide rail.

3. The AGV chassis mechanism with high stability according to claim 2, characterized in that: The floating chassis assembly comprises a floating chassis body connected to the chassis body via at least one second hinge shaft; and at least one second universal wheel arranged below the floating chassis body.

4. The AGV chassis mechanism with high stability according to claim 3, characterized in that: At least one hinged portion is respectively provided on the floating chassis body, and the second hinged shaft is provided on the chassis body through the corresponding hinged portion.

5. The AGV chassis mechanism with high stability according to claim 3, characterized in that: The connection assembly comprises a connection plate; at least one sliding block is arranged on the connection plate through a fourth hinge axis and is slidably arranged on the corresponding guide rail; the connection plate is hinged to the floating chassis body through at least one third hinge axis.

6. The AGV chassis mechanism with high stability according to claim 5, characterized in that: The material adopted by the connecting plate is cast iron.

7. The AGV chassis mechanism with high stability according to claim 1, characterized in that: The chassis body is also provided with a connecting seat; the swing wheel mechanism comprises a swing plate, which is movably connected to the connecting seat via a first hinge shaft; and two first universal wheels respectively provided on the swing plate.

8. The AGV chassis mechanism with high stability according to claim 1, characterized in that: The driving wheel mechanism comprises a driving motor which is fixedly arranged on the side of the chassis body; and a driving wheel body which is drivingly connected to the driving motor.

9. The AGV chassis mechanism with high stability according to claim 3, characterized in that: At least one elastic member is arranged between the chassis body and the floating chassis body.

10. An automatic navigation device with high stability, characterized in that: Comprising the AGV chassis mechanism described in any one of claims 1-9.

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