Self-adaptive chassis for AGV (Automatic Guided Vehicle)

Abstract

The self-adaptive chassis for the AGV comprises a vehicle body frame, a suspension frame and a driving assembly, and the suspension frame is installed in the vehicle body frame; the driving assembly comprises two driving wheel assemblies and a driven wheel assembly; a swing bridge is rotationally arranged below one end of the suspension, the two driving wheel assemblies are arranged on the swing bridge and located on the two sides of the rotating axis of the swing bridge, and the driven wheel assembly is arranged below the other end of the suspension. The middle of the suspension is rotationally arranged in an inner cavity of the vehicle body frame, and when the chassis linearly walks, the rotating axis of the suspension is parallel to the rotating axis of a driving wheel in the driving wheel assembly. According to the self-adaptive chassis for the AGV, the walking wheels in the self-adaptive chassis can be subjected to omni-directional self-adaptive height adjustment according to the road surface condition, so that the walking wheels make contact with the ground all the time, self-adaptive height adjustment of the chassis is achieved, the positive pressure of the walking wheels on the ground is guaranteed, and therefore it is guaranteed that the driving force of the AGV and the transportability of the supporting performance of the chassis are better.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV vehicles, in particular to an adaptive chassis for an AGV vehicle. Background Art

[0002] With the development of technology, the industrial application mobile robot industry involving Automated Guided Vehicles (AGVs) has developed rapidly, and higher requirements have also been put forward for the motion state of Mobile Robots (MRs) and their adaptability to the ground.

[0003] AGV carts are widely used in warehousing logistics. An AGV cart mainly includes a chassis for carrying goods and drive wheels connected to the chassis and used to provide driving power. Due to the sometimes complex road conditions of the warehousing ground, the drive wheels of the AGV cart may be lifted off the ground due to the unevenness of the ground during driving, resulting in the inability of the drive wheels to maintain the normal pressure on the ground, leading to insufficient power of the AGV cart and affecting transportation. Summary of the Utility Model

[0004] The utility model provides an adaptive chassis for an AGV vehicle. The walking wheels therein can adjust the height in all directions adaptively according to the road conditions, and at the same time, the chassis also adjusts the height adaptively, so that the walking wheels are always in contact with the ground, maintaining the normal pressure on the ground, ensuring the driving force of the AGV cart, and making the chassis have better support and transportation performance.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] An adaptive chassis for an AGV vehicle includes a vehicle body frame and a suspension assembly. The suspension assembly includes a drive assembly and a suspension, and the suspension is installed inside the vehicle body frame;

[0007] The drive assembly includes a drive wheel assembly and a driven wheel assembly, and the drive wheel assembly is provided with two;

[0008] A swing bridge is rotatably provided below one end of the suspension. Both of the drive wheel assemblies are arranged on the swing bridge and are located on both sides of the rotation axis of the swing bridge, and the driven wheel assembly is arranged below the other end of the suspension;

[0009] The middle part of the suspension is rotatably arranged in the inner cavity of the vehicle body frame, and when the chassis travels in a straight line, the rotation axis of the suspension is parallel to the rotation axis of the drive wheels in the drive wheel assembly.

[0010] Preferably, the above suspension assembly further includes a driven wheel mounting plate. The end of the suspension away from the swing bridge is rotatably connected to the driven wheel mounting plate. Two driven wheel assemblies are provided, and the two driven wheel assemblies are arranged on the driven wheel mounting plate and located on both sides of the rotation axis of the driven wheel mounting plate.

[0011] Preferably, a through hole is provided in the middle of the driven wheel mounting plate. The end of the suspension is located above the driven wheel mounting plate, and a first connecting plate is connected to the end. The first connecting plate passes through the through hole and is rotatably connected to the two side plates arranged below the driven wheel mounting plate through a rotating shaft.

[0012] Preferably, the swing bridge includes an installation box and a first rotating shaft. The first rotating shaft penetrates the installation box. Both ends of the first rotating shaft are located outside the installation box and are rotatably arranged below the suspension.

[0013] The driving wheel assembly is installed on the installation box.

[0014] Preferably, an avoidance groove is provided on the part of the first rotating shaft located inside the installation box, and the avoidance groove faces the direction where the driving wheel assembly is installed.

[0015] Preferably, the suspension assembly further includes an angle adjustment component. The angle adjustment component includes a slewing bearing, a driven gear, an encoder, and a support plate.

[0016] The inner ring of the slewing bearing is installed on the lower end face of the suspension, and the outer ring is connected to the support plate. The support plate is located below the slewing support. Both ends of the first rotating shaft are rotatably connected to two fixed ears arranged below the support plate.

[0017] The driven gear is rotatably arranged below the suspension and meshes with the external teeth of the slewing bearing. The encoder is arranged above the suspension, and the driven gear is connected to the encoder through a connecting shaft.

[0018] Preferably, the angle adjustment component further includes an adjustment plate and a bracket. A groove is provided on the upper end face of the suspension. The adjustment plate is connected to the bottom of the groove. A first installation hole is provided at the bottom of the groove, and a pedestal bearing is arranged in the installation hole. The pedestal bearing is connected below the adjustment plate.

[0019] The driven gear is connected with a connecting shaft. The connecting shaft is rotatably arranged on the pedestal bearing and passes upward through the groove to be connected with the rotating shaft of the encoder.

[0020] A plurality of adjustment holes are provided on the adjustment plate. The lower end of the bracket is connected to the adjustment holes, and the upper end is connected to the encoder.

[0021] Preferably, a battery installation cavity is provided in the middle of the above vehicle body frame, and the above driving components are provided in two groups, respectively arranged on both sides of the above battery installation cavity.

[0022] Preferably, it further includes a load-bearing frame assembly. The above load-bearing frame assembly includes a load-bearing frame and a load-bearing plate. The above load-bearing plate is arranged on the upper end surface of the above load-bearing frame, and the above load-bearing frame is arranged on the upper end surface of the above vehicle body frame;

[0023] A limiting rod is connected to the lower side wall of the above load-bearing plate, a limiting plate is arranged on the above load-bearing frame, the above limiting rod sequentially passes downward through the above limiting plate and a second connecting plate arranged inside the above vehicle body frame, and is located below the above second connecting plate. Limiting nuts are arranged on the limiting shafts between the above limiting plate and the above load-bearing plate and on the limiting shafts below the above second connecting plate.

[0024] Preferably, a positioning pin is further arranged on the upper end surface of the above load-bearing frame, and a positioning hole for cooperating with the above positioning pin is arranged on the above load-bearing plate.

[0025] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0026] The two driving wheels can swing back and forth relative to the suspension to adjust their own heights, and the driving wheels and the driven wheels can drive the suspension to swing left and right relative to the vehicle body frame, so as to adjust the corresponding heights of the driving wheels and the driven wheels, realizing the adaptive height adjustment in all directions of the driving wheels and in the left and right directions of the driven wheels, enabling the traveling wheels (driving wheels and driven wheels) to always be in contact with the ground, maintaining the positive pressure on the ground, ensuring the driving force of the AGV cart, and making the chassis have better support and transportation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 Schematic diagram of the overall chassis of the embodiment in the present utility model Figure 1 ;

[0029] Figure 2 Schematic diagram of the overall chassis of the embodiment in the present utility model Figure 2 ;

[0030] Figure 3 Schematic diagram of the suspension assembly of the embodiment in the present utility model Figure 1 ;

[0031] Figure 4Schematic diagram of the suspension assembly in the embodiment of the present utility model Figure 2 ;

[0032] Figure 5 Schematic diagram of the suspension assembly in the embodiment of the present utility model Figure 3 ;

[0033] Figure 6 Schematic diagram of the suspension assembly in the embodiment of the present utility model Figure 4 ;

[0034] Figure 7 Schematic diagram of the connection between the suspension assembly and the second connecting plate in the embodiment of the present utility model;

[0035] Figure 8 Schematic diagram of the structure of another suspension assembly in the embodiment of the present utility model;

[0036] Figure 9 Bottom view of the vehicle body frame in the embodiment of the present utility model;

[0037] Figure 10 Top view of the load-bearing frame assembly in the embodiment of the present utility model;

[0038] Figure 11 Bottom view of the load-bearing frame assembly in the embodiment of the present utility model.

[0039] Explanation of reference numerals:

[0040] 1. Vehicle body frame; 11. Second connecting plate; 12. Battery installation cavity; 2. Suspension assembly; 21. Suspension; 211. First connecting plate; 22. Driving wheel assembly; 23. Driven wheel assembly; 24. Swing bridge; 241. Installation box; 242. First rotating shaft; 25. Driven wheel mounting plate; 26. Second rotating shaft; 27. Third rotating shaft; 28. Angle adjustment assembly; 281. Slewing bearing; 282. Driven gear; 283. Encoder; 284. Support plate; 285. Adjusting plate; 286. Bracket; 3. Load-bearing frame assembly; 31. Load-bearing frame; 311. Limiting plate; 32. Load-bearing plate; 321. Positioning hole; 33. Limiting rod; 34. Limiting nut; 35. Positioning pin. Detailed implementation manners

[0041] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0042] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0043] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0044] As Figure 1-11 shown, the embodiment of the present utility model provides an AGV vehicle adaptive chassis, which includes a vehicle body frame 1 and a suspension assembly 2. The suspension assembly 2 includes a suspension 21 and a drive assembly. The vehicle body frame 1 is used to carry the suspension 21 and the drive assembly. The suspension 21 is installed in the vehicle body frame 1, and the drive assembly is installed on the suspension 21 and is used to drive the walking of the entire chassis, making the walking of the entire chassis more stable.

[0045] Specifically, the driving assembly includes a driving wheel assembly 22 and a driven wheel assembly 23. Among them, there are two driving wheel assemblies 22, that is, there are two driving wheels. Correspondingly, the suspension 21 has two ends, and a swing bridge 24 is provided below one end. The swing bridge 24 can rotate relative to the suspension 21. Both driving wheel assemblies 22 are installed on the swing bridge 24. After installation, the two driving wheels are respectively located on both sides of the rotation axis of the swing bridge 24. Thus, when the vehicle encounters uneven ground during driving, the two driving wheels can rotate relative to the rotation axis of the swing bridge 24, that is, swing relative to the suspension 21, and automatically adjust the height of the driving wheels according to the ground conditions to keep them in contact with the ground all the time. The driven wheel assembly 23 is installed below the other end of the suspension 21. Driven by the driving wheels, the driven wheels in the driven wheel group rotate together to support the chassis. Correspondingly, the middle of the suspension 21 is rotatably installed in the inner cavity of the vehicle body frame 1. When the chassis travels in a straight line, the driving wheels are in the initial state and do not rotate. At this time, the rotation axis of the suspension 21 is parallel to the rotation axis of the driving wheels in the driving wheel assembly 22. Thus, the driven wheels and the driving wheels are respectively located on both sides of the rotation axis of the suspension 21. The suspension 21 can swing around its rotation axis driven by the driven wheels and the driving wheels. Thus, when the vehicle encounters uneven ground in the front and back during driving, the driving wheels and the driven wheels located in the front and back can appropriately adjust the relative height of the driving wheels and the driven wheels according to the road conditions in the front and back of the road surface, so as to ensure that the driving wheels and the driven wheels are at appropriate heights and are in stable contact with the front and back road surfaces respectively. To sum up, in this embodiment, the two driving wheels can swing back and forth relative to the suspension 21 to adjust their own heights, and the driving wheels and the driven wheels can drive the suspension 21 to swing left and right relative to the vehicle body frame 1, so as to adjust the corresponding heights of the driving wheels and the driven wheels, realizing the adaptive height adjustment in all directions of the driving wheels and in the left and right directions of the driven wheels. Correspondingly, the height of the chassis also changes, and the running wheels (driving wheels and driven wheels) are always in contact with the ground, maintaining the positive pressure on the ground, making the chassis have better support and transportability, and the transport process is more stable.

[0046] Specifically, in order to make the vehicle have better adaptive ability of the chassis running wheels during driving, in this embodiment, the suspension assembly 2 further includes a driven wheel mounting plate 25. The other end of the suspension 21 is rotatably connected to the driven wheel mounting plate 25. Both driven wheel assemblies 23 are installed on the driven wheel mounting plate 25, and the two driven wheel assemblies 23 are respectively located on both sides of the driven wheel mounting axis, that is, the two driven wheels are respectively located on both sides of the rotation axis of the driven wheel mounting plate 25. Thus, when the vehicle encounters uneven ground during driving, the two driven wheels can drive the driven wheel mounting plate 25 to swing relative to the suspension 21, and automatically adjust the height of the driven wheels according to the ground conditions to keep them in contact with the ground all the time. Specifically, the driven wheel assembly 23 includes a universal wheel.

[0047] In summary, in this embodiment, both the two driving wheels and the two driven wheels can swing back and forth relative to the suspension 21. The driving wheels and the driven wheels arranged front and rear can drive the suspension 21 to swing left and right, so that the driving wheels and the driven wheels can adaptively adjust their own heights in the left-right direction and the front-rear direction according to the road surface they are traveling on, so that all four traveling wheels can stably contact the ground, always stably maintain the positive pressure on the ground, ensure the driving force of the AGV cart, and the adjustment effect and support of the entire chassis are better, and the transportation process is more stable.

[0048] Specifically, the swing bridge 24 includes an installation box 241 and a first rotating shaft 242. The driving wheel assembly 22 is installed on the installation box 241, and the driving wheels in the driving wheel assembly 22 are located outside the installation box 241. Correspondingly, the first rotating shaft 242 penetrates through the opposite left and right side walls of the installation box 241, and both ends of the first rotating shaft 242 are located outside the installation box 241 and are both rotatably arranged below the suspension 21. Thus, when the two driving wheels encounter an uneven road surface during walking, they can drive the installation box 241 to swing back and forth relative to the suspension 21, thereby achieving self-adaptation.

[0049] Preferably, a driving motor in the driving wheel assembly 22 is installed in the installation box 241. In order to reduce the height of the entire installation box 241, an avoidance groove is provided in the part of the first rotating shaft 242 located in the installation box 241, and the avoidance groove faces the direction where the driving motor is installed, so as to save a step of height space and make the inside of the installation box 241 compact and smaller in volume. Correspondingly, the driving motors in the two driving wheel assemblies 22 are controlled by a motor driver installed on the suspension 21, so as to be configured as a double differential wheel set.

[0050] Correspondingly, in order to adjust the rotation angle of the drive wheel within the drive wheel assembly 22, the suspension assembly 2 further includes an angle adjustment assembly 28. The angle adjustment assembly 28 includes a slewing bearing 281, a driven gear 282, an encoder 283, and a support plate 284. The slewing bearing 281 is an existing component. The inner ring of the slewing bearing 281 is installed on the lower end face of the suspension 21, and the outer ring is connected to the support plate 284. The support plate 284 is located below the slewing support. Two fixed ears are installed at the lower end of the support plate 284. Both ends of the first rotating shaft 242 are rotatably connected to the two fixed ears through bearings. Correspondingly, an adjustment plate 285 and a bracket 286 are further included. A groove is provided on the upper end face of the suspension 21. The adjustment plate 285 is connected to the bottom of the groove. A first mounting hole is provided at the bottom of the groove. A pedestal bearing is provided in the mounting hole. The pedestal bearing is connected below the adjustment plate 285. The connecting shaft on the driven gear 282 is rotatably arranged on the pedestal bearing and passes upward through the groove and is connected to the rotating shaft of the encoder 283 above the suspension 21 through a coupling. The driven gear 282 meshes with the external teeth of the slewing bearing 281. The bracket 286 is located between the encoder 283 and the adjustment plate 285, with the lower end connected to the adjustment hole and the upper end connected to the encoder 283 for supporting the encoder 283. Correspondingly, the control of the rotation angle of the drive wheel is achieved through the cooperation of the slewing bearing 281, the driven gear 282, the encoder 283, and the motor driver. Specifically, a plurality of adjustment holes are provided on the adjustment plate 285. The lower end of the bracket 286 is connected to the adjustment hole. Different sizes of the bracket 286 can be configured through the adjustment holes to ensure the stability of the support of the encoder 283.

[0051] Specifically, a through hole is provided in the middle of the driven wheel mounting plate 25. The end of the suspension 21 is located above the driven wheel mounting plate 25, and the end is hollowed out and connected with two first connecting plates 211. Both first connecting plates 211 pass through the through hole. Two side plates extend from the two side walls of the lower end face of the driven wheel mounting plate 25. The two side plates and the two first connecting plates 211 between the two side plates are rotatably connected through a second rotating shaft 26. Thus, the driven wheels on both sides can drive the driven wheel support plate 284 to swing relative to the suspension 21 in the front-rear direction. Moreover, by providing the through hole, the end of the suspension 21 is located above the driven wheel with partial overlap, which can reduce the length of the suspension 21. Moreover, the solid parts of the suspension 21 are respectively located on both sides of the through hole, that is, above the solid part of the driven wheel mounting plate 25. When the driven wheel drives the driven wheel support plate 284 to swing and swings to a certain angle, it can abut against the suspension 21, thereby making the bottom support better.

[0052] Specifically, two second connecting plates 11 are installed inside the vehicle body frame 1. A fixed ear is installed on the lower end face of each connecting plate. A third rotating shaft 27 is rotatably arranged on the suspension 21. Both ends of the third rotating shaft 27 are rotatably connected to the two fixed ears through bearings, realizing the rotational connection of the suspension 21.

[0053] Specifically, a battery installation cavity 12 is provided in the middle of the vehicle body frame 1. The battery installation cavity 12 is composed of a partition and the side wall of the vehicle body frame 1. A through hole communicating with the battery installation cavity 12 is provided on the side wall of the vehicle body frame 1. A cover plate is connected to the through hole by bolts, and the battery can be installed through the through hole. Specifically, the battery installation cavity 12 divides the vehicle body frame 1 into two left and right cavities. Correspondingly, each cavity is provided with a suspension assembly 2. In this embodiment, as Figure 4 and 8 shown, the structures of two of the suspension assemblies 2 are mostly the same. The only difference is that in one of the suspension assemblies 2, the suspension 21 is rotatably connected to the driven wheel mounting plate 25, and in the other suspension assembly 2, the two are fixedly connected. Of course, in other embodiments, the structures of the two suspension assemblies 2 are the same, and both include a swing bridge 24, the suspension 21 is rotatably connected to the driven wheel mounting plate 25, and the suspension 21 is rotatably connected within the vehicle body frame 1.

[0054] Specifically, it further includes a load-bearing frame assembly 3 for carrying the transported items. Specifically, the load-bearing frame assembly 3 includes a load-bearing frame 31 and a load-bearing plate 32. The load-bearing plate 32 is arranged on the upper end surface of the load-bearing frame 31 for placing the transported goods. The load-bearing frame 31 is installed on the upper end surface of the vehicle body frame 1 to achieve support. A limiting rod 33 is connected to the lower side wall of the load-bearing plate 32. A limiting plate 311 is correspondingly installed on the inner side wall of the load-bearing frame 31. The upper end of the limiting rod 33 is fixed to the lower side wall of the load-bearing plate 32, and sequentially passes through the limiting plate 311 and the second connecting plate 11 downward and is located below the second connecting plate 11. Limiting nuts 34 are threadedly connected to the limiting shafts between the limiting plate 311 and the load-bearing plate 32 and the limiting shafts below the second connecting plate 11. By rotating the two limiting nuts 34, the height of the up and down amplitude of the entire load-bearing frame assembly 3 can be adjusted, and it can also be used as a positioning part to position and install the entire load-bearing frame assembly 3.

[0055] Specifically, a positioning pin 35 is further provided on the upper end surface of the load-bearing frame 31, and a positioning hole 321 matching the positioning pin 35 is provided on the load-bearing plate 32. When the load-bearing plate 32 is installed, the preliminary position of the load-bearing plate 32 can be determined and installed through the cooperation of the positioning pin 35 and the positioning hole 321, which is convenient for installing the load-bearing plate 32 on the load-bearing frame 31.

[0056] The above embodiments are only the preferred embodiments of the present invention and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention belong to the protection scope required by the present invention.

Claims

1. An adaptive chassis for AGV, characterized in that: It includes a vehicle body frame and a suspension assembly, wherein the suspension assembly includes a drive assembly and a suspension, and the suspension is installed in the vehicle body frame; The driving assembly comprises a driving wheel assembly and a driven wheel assembly, and the driving wheel assembly is provided with two; A swing bridge is rotatably provided below one end of the suspension, the two driving wheel assemblies are both provided on the swing bridge and are located on both sides of the rotation axis of the swing bridge, and the driven wheel assembly is provided below the other end of the suspension; The middle part of the suspension is rotatably arranged in the inner cavity of the vehicle body frame, and when the chassis moves in a straight line, the rotation axis of the suspension is parallel to the rotation axis of the driving wheel in the driving wheel assembly.

2. The AGV vehicle adaptive chassis according to claim 1, characterized in that: The suspension assembly also includes a driven wheel mounting plate, and the end of the suspension away from the swing bridge is rotatably connected to the driven wheel mounting plate. The driven wheel assembly is provided in two, and the two driven wheel assemblies are arranged on the driven wheel mounting plate and located on both sides of the rotation axis of the driven wheel mounting plate.

3. The AGV vehicle adaptive chassis according to claim 2, characterized in that: A through hole is provided in the middle of the driven wheel mounting plate, the end of the suspension is located above the driven wheel mounting plate, and the end is connected to a first connecting plate, which passes through the through hole and is rotatably connected to two side plates arranged below the driven wheel mounting plate through a rotating shaft.

4. The AGV vehicle adaptive chassis according to claim 2, characterized in that: The swing bridge comprises a mounting box and a first rotating shaft, wherein the first rotating shaft passes through the mounting box, and both ends of the first rotating shaft are located outside the mounting box and are rotatably arranged below the suspension; The driving wheel assembly is installed on the installation box.

5. The AGV vehicle adaptive chassis according to claim 4, characterized in that: The portion of the first rotating shaft located in the installation box is provided with an avoidance groove, and the avoidance groove faces the direction in which the driving wheel assembly is installed.

6. The AGV vehicle adaptive chassis according to claim 4, characterized in that: The suspension assembly further comprises an angle adjustment assembly, which comprises a slewing bearing, a driven gear, an encoder and a support plate; The inner ring of the slewing bearing is mounted on the lower end surface of the suspension, and the outer ring is connected to the support plate. The support plate is located below the slewing bearing, and both ends of the first rotating shaft are rotatably connected to two fixing ears arranged below the support plate. The driven gear is rotatably arranged below the suspension and meshes with the outer teeth of the slewing bearing. The encoder is arranged above the suspension, and the driven gear is connected to the encoder via a connecting shaft.

7. The AGV vehicle adaptive chassis according to claim 6, characterized in that: The angle adjustment assembly further comprises an adjustment plate and a bracket, the upper end surface of the suspension is provided with a groove, the adjustment plate is connected to the bottom of the groove, the bottom of the groove is provided with a first mounting hole, a seat bearing is provided in the mounting hole, and the seat bearing is connected below the adjustment plate; The driven gear is connected with a connecting shaft, the connecting shaft is rotatably arranged on the seat bearing, and passes upward through the groove to be connected with the rotating shaft of the encoder; The adjustment plate is provided with a plurality of adjustment holes, the lower end of the bracket is connected to the adjustment holes, and the upper end of the bracket is connected to the encoder.

8. The AGV vehicle adaptive chassis according to any one of claims 1 to 7, characterized in that: A battery installation cavity is arranged in the middle of the vehicle body frame, and the suspension components are arranged in two groups, which are respectively arranged on both sides of the battery installation cavity.

9. The AGV vehicle adaptive chassis according to claim 8, characterized in that: It also includes a load-bearing frame assembly, the load-bearing frame assembly includes a load-bearing frame and a load-bearing plate, the load-bearing plate is arranged on the upper end surface of the load-bearing frame, and the load-bearing frame is arranged on the upper end surface of the vehicle body frame; The lower side wall of the load-bearing plate is connected to a limiting rod, and the load-bearing frame is provided with a limiting plate. The limiting rod passes downward through the limiting plate and a second connecting plate provided in the vehicle body frame in sequence, and is located below the second connecting plate. Limiting nuts are provided on the limiting shaft between the limiting plate and the load-bearing plate and the limiting shaft below the second connecting plate.

10. The AGV vehicle adaptive chassis according to claim 9, characterized in that: The upper end surface of the load-bearing frame is also provided with a positioning pin, and the load-bearing plate is provided with a positioning hole that matches the positioning pin.

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