Damping mechanism, AGV driving wheel assembly, AGV chassis and AGV trolley

Abstract

The utility model relates to a damping mechanism, an AGV driving wheel assembly, an AGV chassis and an AGV trolley, and relates to the technical field of mobile robots. The damping mechanism comprises a guide rod, an elastic piece and a rotating arm; one end of the guide rod is connected with a frame of the AGV chassis; the guide rod is sleeved with the elastic piece, and one end of the elastic piece is fixedly arranged; the rotating arm comprises a sliding block, a connecting rod and an arm body which are hinged in sequence; the sliding block is sleeved on the guide rod and is connected with the other end of the elastic piece; the end, away from the connecting rod, of the arm body is hinged to a frame of the AGV chassis. The arm body is configured to mount a driving wheel of the AGV chassis. When the distance between the arm body and the sliding block in the horizontal direction is increased due to rotation of the arm body, the change of the required connecting length between the arm body and the sliding block can be adaptively adjusted based on movement and rotation of the connecting rod, so that the sliding block only moves along the guide rod. In this way, the fit clearance between the sliding block and the guide rod can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a shock absorbing mechanism, an AGV driving wheel assembly, an AGV chassis and an AGV trolley. Background Art

[0002] Automated Guided Vehicle (AGV) is used in industrial production to assist production. The AGV trolley includes a rotating arm hinged to the frame at one end, a driving wheel installed in the middle of the rotating arm, and a spring that elastically abuts the other end of the rotating arm against the frame so that the driving wheel remains in contact with the ground. In order to ensure the certainty of the direction of elastic deformation of the spring, the spring is usually mounted on the guide rod. Correspondingly, a yield structure for the guide rod to pass through is provided at the portion where the rotating arm abuts the spring. During the shock absorption process, when the rotating arm rotates around the hinged portion, the yield structure is driven to move in the horizontal plane relative to the guide rod. Therefore, it is necessary to set the yield structure as a through-slot structure so that the fit between the guide rod and the yield structure has a larger gap to avoid interference with the guide rod when the rotating arm rotates.

[0003] When there is a large clearance between the yield structure on the rotating arm and the guide rod, the rotating arm will continue to shake due to the movement of the AGV and collide or rub with surrounding parts. This will not only accelerate the wear of the guide rod, reduce its service life, increase the number of maintenance and maintenance costs, but also generate loud noise due to collision and friction, which will bring a bad user experience to users. Utility Model Content

[0004] The embodiments of the present application provide a shock absorbing mechanism, an AGV drive wheel assembly, an AGV chassis and an AGV cart to at least solve the above-mentioned technical problems.

[0005] In order to achieve the above-mentioned purpose, according to the first aspect of the present application, a shock-absorbing mechanism is provided, which is applied to the AGV chassis, and the shock-absorbing mechanism includes a guide rod, an elastic member and a rotating arm; one end of the guide rod is configured to be connected to the frame of the AGV chassis; the elastic member is sleeved on the guide rod, and one end of the elastic member is fixedly arranged; the rotating arm includes a slider, a connecting rod and an arm body which are hinged in sequence; the slider is sleeved on the guide rod and connected to the other end of the elastic member; the end of the arm body away from the connecting rod is configured to be hinged to the frame of the AGV chassis; wherein the arm body is also configured to install the driving wheel of the AGV chassis, and the slider is located on the side of the elastic member close to the ground.

[0006] Optionally, the shock absorption mechanism further includes a fixed frame configured to be connected to the frame of the AGV chassis. The guide rod, elastic member, and slider are all located within the fixed frame. One end of the guide rod away from the frame of the AGV chassis is connected to the frame edge of the fixed frame, and one end of the elastic member away from the slider is fixed to the frame edge of the fixed frame.

[0007] Optionally, the shock absorption mechanism further includes a first bottom plate located between the fixed frame and the frame of the AGV chassis. The first bottom plate is configured to be connected to the frame of the AGV chassis. The fixed frame is connected to the first bottom plate, and one end of the guide rod close to the frame of the AGV chassis is connected to the first bottom plate.

[0008] Optionally, a counterbore is provided on the first bottom plate, and one end of the fixed frame close to the frame of the AGV chassis is fitted with the counterbore.

[0009] Optionally, the fixed frame is a U-shaped frame, and the two ends of the U-shaped frame are connected to the first bottom plate.

[0010] Optionally, the arm body includes a main body, a hinge block, and a connecting arm. One side of the main body is detachably connected to one end of the connecting arm, and the other side is detachably connected to the hinge block. The hinge block is hinged to one end of the connecting rod away from the slider; wherein, the other end of the connecting arm is configured to be hinged to the frame of the AGV chassis, and the main body is configured to mount the driving wheel of the AGV chassis.

[0011] Optionally, a mating hole is provided on the slider, and the guide rod passes through the mating hole. The mating clearance between the mating hole and the guide rod is not greater than 0.01 mm.

[0012] Optionally, the shock absorption mechanism further includes a hinge component, which includes a hinge support, a rotating support, a hinge shaft, and a nut. The hinge support is configured to be connected to the frame of the AGV chassis. The rotating support is mounted on the arm body. One end of the hinge shaft passes through the rotating support and the hinge support and is threadedly connected to the nut.

[0013] Optionally, the hinge support is provided with a first through hole for the hinge shaft to pass through, and an opening is provided on the outer wall of the hinge support. The opening penetrates one side wall of the first through hole. The hinge component further includes an adjusting screw. The end of the rod portion of the adjusting screw passes through the part of the hinge support on one side of the opening and the opening and is threadedly connected to the part of the hinge support on the other side of the opening.

[0014] Optionally, there are two hinge supports, and the two hinge supports are respectively located on both sides of the arm body. One end of the hinge shaft passes through one hinge support, the rotating support, and the other hinge support in sequence and is threadedly connected to the nut.

[0015] Optionally, the articulated component further includes a second bottom plate, which is located between the articulated support and the frame of the AGV chassis. The second bottom plate is configured to be connected to the frame of the AGV chassis, and the articulated support is connected to the second bottom plate.

[0016] According to a second aspect of the present application, there is provided an AGV drive wheel assembly, which includes a drive wheel, a drive motor, and the shock absorption mechanism described above. The drive wheel is rotatably arranged on the arm body. The drive motor is installed on the arm body and is in transmission connection with the drive wheel.

[0017] According to a third aspect of the present application, there is provided an AGV chassis, which includes a frame and the AGV drive wheel assembly described above. The frame is provided with a first relief opening. One end of the guide rod is connected to the frame, the end of the arm body far from the connecting rod is hinged to the frame of the AGV chassis, and the drive wheel is located in the first relief opening.

[0018] Optionally, the AGV chassis further includes a caster wheel assembly. The frame is provided with a second relief opening. The caster wheel assembly includes a bracket, a support seat, and caster wheels. The bracket is connected to the frame, and a part of the bracket is disposed opposite to the second relief opening. The support seat is fixed on the side wall of the bracket facing the second relief opening, and the caster wheels are installed on the support seat and are located in the second relief opening.

[0019] According to a fourth aspect of the present application, there is provided an AGV cart, which includes the AGV chassis described above.

[0020] In the shock absorption mechanism of the embodiments of the present application, through the above technical solution, when the arm body rotates to increase the distance between the arm body and the slider in the horizontal direction, the change in the required connection length between the arm body and the slider can be adaptively adjusted based on the movement and rotation of the connecting rod, so that the slider only moves along the guide rod. In this way, the fitting clearance between the slider and the guide rod can be reduced.

[0021] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] In order to more completely understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, where the same reference numerals represent the same parts in the following description.

[0024] Figure 1It is a schematic diagram of the overall structure of the shock absorption mechanism provided in the exemplary embodiment of the present disclosure;

[0025] Figure 2 It is a side view of the shock absorption mechanism provided in the exemplary embodiment of the present disclosure;

[0026] Figure 3 It is Figure 2 The cross-sectional view taken along A-A in;

[0027] Figure 4 It is a schematic diagram of the structure of the shock absorption mechanism after the rotating arm rotates provided in the exemplary embodiment of the present disclosure;

[0028] Figure 5 It is Figure 3 The enlarged view at B in;

[0029] Figure 6 It is a cross-sectional view of the hinge component provided in the exemplary embodiment of the present disclosure;

[0030] Figure 7 It is Figure 1 The enlarged view at C in;

[0031] Figure 8 It is a schematic diagram of the structure of the AGV drive wheel assembly provided in the exemplary embodiment of the present disclosure;

[0032] Figure 9 It is a schematic diagram of the structure of the AGV chassis provided in the exemplary embodiment of the present disclosure;

[0033] Figure 10 It is Figure 9 The enlarged view at D in.

[0034] Explanation of reference numerals:

[0035] 1 - Shock absorption mechanism;

[0036] 11 - Guide rod; 12 - Elastic member; 13 - Rotating arm; 14 - Slide block; 141 - Fitting hole; 15 - Link rod; 16 - Arm body; 161 - Main body; 162 - Hinge block; 163 - Connecting arm; 17 - Fixed frame; 18 - First bottom plate; 181 - Counterbore;

[0037] 2 - Hinge component; 21 - Hinge support; 211 - First through hole; 212 - Opening; 22 - Rotating support member; 23 - Hinge shaft; 24 - Nut; 25 - Adjusting screw; 26 - Second bottom plate;

[0038] 3 - Bolt;

[0039] 4 - AGV drive wheel assembly; 41 - Drive motor; 42 - Drive wheel;

[0040] 5-AGV chassis; 51-frame; 52-first yielding opening; 53-second yielding opening;

[0041] 6-universal wheel assembly; 61-bracket; 62-support seat; 63-universal wheel. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0043] According to a first aspect of the present application, a shock absorbing mechanism 1 is provided, such as Figure 1 As shown, Figure 1 Schematic diagram of the overall structure of the shock absorbing mechanism 1 provided in an exemplary embodiment of the present disclosure.

[0044] The shock absorbing mechanism 1 is applied to the AGV chassis. The shock absorbing mechanism 1 includes a guide rod 11, an elastic member 12 and a rotating arm 13. One end of the guide rod 11 is configured to be connected to the frame of the AGV chassis. The elastic member 12 is sleeved on the guide rod 11. One end of the elastic member 12 is fixedly arranged, for example, it can be connected to the other end of the guide rod 11, or it can be abutted with other components, and the other components are fixed on the frame. The rotating arm 13 includes a slider 14, a connecting rod 15 and an arm body 16 that are hinged in sequence. The slider 14 is sleeved on the guide rod 11 and connected to the other end of the elastic member 12. One end of the arm body 16 away from the connecting rod 15 is configured to be hinged to the frame of the AGV chassis. Among them, the arm body 16 is also configured to install the driving wheel of the AGV chassis, and the slider 14 is located on the side of the elastic member 12 close to the ground.

[0045] It can be understood that the driving wheel is located between the connecting rod 15 and the position where the arm 16 is hinged to the frame of the AGV chassis.

[0046] Specifically, the guide rod 11 is detachably connected to the frame of the AGV chassis by screws; one end of the elastic member 12 elastically abuts against one end of the guide rod 11 away from the frame of the AGV chassis, and the other end elastically abuts against the slider 14 .

[0047] Specifically, the elastic member 12 is a cylindrical compression spring.

[0048] See also Figures 2 - 4 , Figure 2 is a side view of a shock absorbing mechanism 1 provided in an exemplary embodiment of the present disclosure, Figure 3 yes Figure 2 The cross-sectional view of AA in the figure, Figure 4It is a schematic structural diagram of the shock absorption mechanism 1 after the rotating arm 13 rotates in the exemplary embodiment of the present disclosure. The working principle of the shock absorption mechanism 1 provided in this embodiment is as follows:

[0049] As Figure 3 described, when the AGV cart travels on a smooth and flat road surface, the elastic member 12 exerts an elastic pressing force on the slider 14 in the direction towards the road surface, so that the driving wheels mounted on the arm body 16 have sufficient wheel pressure, thereby effectively preventing the phenomenon of wheel slip due to insufficient wheel pressure of the driving wheels, and improving the reliability of the AGV cart during driving;

[0050] When the AGV cart travels on a bumpy and uneven road surface, the elastic member 12 plays a role in shock absorption and buffering for the vibration generated by the frame of the AGV cart during driving, so that the frame moves forward smoothly; at the same time, when the driving wheels are lifted by the protrusions on the ground, the arm body 16 rotates upward along with the upward movement of the driving wheels, and drives the slider 14 to move upward along the guide rod 11 through the connecting rod 15, as Figure 4 shown.

[0051] When the driving wheels move from the protrusions to the pits or the flat surface, the deformation recovery force and gravity of the elastic member 12 drive the slider 14 to move downward, return to the original position, and drive the arm body 16 and the driving wheels to return to the original position, as Figure 3 shown.

[0052] In this embodiment, by setting the rotating arm 13 as a structure of the arm body 16, the connecting rod 15 and the slider 14 that are sequentially hinged, when the arm body 16 rotates and the distance between the arm body 16 and the slider 14 in the horizontal direction increases, the required change in the connection length between the arm body 16 and the slider 14 can be adaptively adjusted based on the movement and rotation of the connecting rod 15, so that the slider 14 only moves along the guide rod 11. In this way, the fitting clearance between the slider 14 and the guide rod 11 can be reduced, so that the slider 14 can be sleeved on the guide rod 11, that is, the fitting between the slider 14 and the guide rod 11 is an interference fit structure.

[0053] In this way, on the one hand, the movement certainty of the end of the arm body 16 close to the elastic member 12 can be improved, so as to avoid collision or friction between the arm body 16 and surrounding components, and reduce its maintenance frequency and maintenance cost; on the other hand, noise generated due to collision and friction can be effectively avoided, improving the user experience.

[0054] Please refer to Figure 1 , in some embodiments, the shock absorption mechanism 1 further includes a fixed frame 17. The fixed frame 17 is configured to be connected to the frame of the AGV chassis. The guide rod 11, the elastic member 12 and the slider 14 are all located inside the fixed frame 17. One end of the guide rod 11 away from the frame of the AGV chassis is connected to the frame edge of the fixed frame 17. One end of the elastic member 12 away from the slider 14 is fixed to the frame edge of the fixed frame 17.

[0055] Specifically, one end of the guide rod 11 away from the frame of the AGV chassis is inserted into the frame edge of the fixed frame 17, and one end of the elastic member 12 away from the slider 14 is elastically abutted against the frame edge of the fixed frame 17.

[0056] In this embodiment, by connecting one end of the elastic member 12 away from the slider 14 to the fixed frame 17, the component force in the radial direction of the guide rod 11 when the connecting rod 15 drives the slider 14 to move can be transmitted to the fixed frame 17 via the guide rod 11 and further transmitted to the frame of the AGV chassis, thereby improving the stress state of the entire shock absorption structure. In this way, on the one hand, the wear of the guide rod 11 can be effectively reduced, its service life can be improved, and the later maintenance cost can be reduced. On the other hand, the position stability of the guide rod 11 can be enhanced, and the guide rod 11 can be prevented from colliding or rubbing against surrounding components due to radial force, thereby reducing noise and improving the user experience.

[0057] Please refer to Figure 1 , in some embodiments, the shock absorption mechanism 1 further includes a first base plate 18. The first base plate 18 is located between the fixed frame 17 and the frame of the AGV chassis. The first base plate 18 is configured to be connected to the frame of the AGV chassis. The fixed frame 17 is connected to the first base plate 18. One end of the guide rod 11 close to the frame of the AGV chassis is connected to the first base plate 18.

[0058] Specifically, bolt through-holes 3 are provided at the four corners of the first base plate 18. The head of the bolt 3 abuts against the first base plate 18, and the end of the screw rod of the bolt 3 passes through the bolt through-hole 3 and is threadedly connected to the frame of the AGV chassis, thereby detachably fixing the first base plate 18 to the frame, which is beneficial for subsequent maintenance.

[0059] In this embodiment, by providing the first base plate 18, the guide rod 11, the spring, the slider 14, the fixed frame 17 and the first base plate 18 can be assembled into an independent module, so that after the module is assembled, it can be assembled with other components to form the shock absorption mechanism 1, thereby improving the assembly efficiency and reducing the maintenance difficulty.

[0060] Please refer to Figure 5 , Figure 5 is Figure 3 The enlarged view of part B in. In some embodiments, a counterbore 181 is provided on the first base plate 18. One end of the fixed frame 17 close to the frame of the AGV chassis is matched with the counterbore 181.

[0061] It can be understood that one end of the fixed frame 17 close to the frame of the AGV chassis is inserted into the counterbore 181.

[0062] Specifically, the end of the shank of the countersunk head screw passes through the first bottom plate 18 and is threadedly connected to the fixed frame 17, thereby detachably connecting the fixed frame 17 to the first bottom plate 18.

[0063] In this embodiment, by providing the counterbore 181, on the one hand, the mating surface between the fixed frame 17 and the first bottom plate 18 can be increased, thereby improving the reliability of the connection between the fixed frame 17 and the first bottom plate 18; on the other hand, the fixed frame 17 can be positioned by the counterbore 181, thereby improving the ease of connecting the fixed frame 17 to the first bottom plate 18, and further improving the installation efficiency.

[0064] Please refer to Figure 2 , in some embodiments, the fixed frame 17 is a U-shaped frame. The two ends of the U-shaped frame are connected to the first bottom plate 18. In this way, the structure of the fixed frame 17 is simple and easy to manufacture, thereby controlling the manufacturing cost.

[0065] Among them, the elastic member 12 abuts against the middle frame side of the U-shaped frame, and the guide rod 11 is inserted into the middle frame side of the U-shaped frame.

[0066] Please refer to Figure 1 , in some embodiments, the arm body 16 includes a main body 161, a hinge block 162 and a connecting arm 163. One side of the main body 161 is detachably connected to one end of the connecting arm 163, and the other side is detachably connected to the hinge block 162. The hinge block 162 is hinged to the end of the connecting rod 15 away from the slider 14. Among them, the other end of the connecting arm 163 is configured to be hinged to the frame of the AGV chassis. The main body 161 is configured to mount the drive wheel of the AGV chassis.

[0067] It can be understood that in the related art, one end of the rotating arm 13 is inserted into the guide rod 11, and the other end is hinged to the frame of the AGV chassis. The drive wheel needs to be fixed to the rotating arm 13 by a plurality of bolts 3. When maintaining the drive wheel, a plurality of bolts 3 need to be removed first. When removing the bolts 3, since there are many components on the AGV chassis, the operable space for removing the bolts 3 is small, resulting in a large difficulty in removing the drive wheel. When the entire rotating arm 13 is removed, the guide rod 11 needs to be removed first to release its limit on the rotating arm 13, and then the bonding between the rotating arm 13 and the frame of the AGV chassis needs to be released, resulting in cumbersome disassembly steps and great disassembly difficulty.

[0068] Based on this, in this embodiment, by setting the arm body 16 to the above structure, when maintaining the drive wheel, the connection structure between the main body 161, the hinge block 162 and the connecting arm 163 can be directly released, so that the main body 161 and the drive wheel can be disassembled together. In this way, the main body 161 and the drive wheel can be moved to an open place for disassembly, thereby improving the ease of operation and disassembly efficiency during drive wheel maintenance, saving man-hours, and reducing maintenance costs.

[0069] Specifically, screws are passed through the main body 161 from top to bottom and are threadedly connected to the hinge block 162 and the connecting arm 163, thereby fixing the main body 161, the hinge block 162 and the connecting arm 163 together. At the same time, the main body 161 is fixedly connected to the drive wheel through bolts 3 on the side. By removing the screws between the main body 161, the hinge block 162 and the connecting arm 163, the drive wheel and the main body 161 can be removed from the shock absorption mechanism 1 as a sub-assembly to improve the convenience during drive wheel replacement or maintenance.

[0070] Please refer to Figure 5 , in some embodiments, a mating hole 141 is provided on the slider 14, the guide rod 11 is passed through the mating hole 141, and the clearance between the mating hole 141 and the guide rod 11 is not greater than 0.01 mm.

[0071] It can be understood that in the related art, a relatively large clearance is required between the rotating arm 13 and the guide rod 11, and this clearance is about 1 mm. In this embodiment, based on the cooperation between the mating hole 141 and the guide rod 11, the clearance therebetween can be reduced to 0.01 mm. In this way, the stability of the movement of the slider 14 can be improved, collisions or frictions between the arm body 16 and surrounding components can be avoided, the maintenance frequency and maintenance cost can be reduced, the noise can be reduced, and the user experience can be improved.

[0072] Please refer to Figure 6 , Figure 6 is a cross-sectional view of the hinge component 2 provided in an exemplary embodiment of the present disclosure. In some embodiments, the shock absorption mechanism 1 further includes a hinge component 2. The hinge component 2 includes a hinge support 21, a rotating support 22, a hinge shaft 23 and a nut 24. The hinge support 21 is configured to be connected to the frame of the AGV chassis. The rotating support 22 is installed on the arm body 16. One end of the hinge shaft 23 passes through the rotating support 22 and the hinge support 21 and is threadedly connected to the nut 24.

[0073] It can be understood that the rotating support 22 includes but is not limited to bearings, oil-free bushings, ball supports, and roller supports.

[0074] Wherein, the end of the hinge shaft 23 away from the nut 24 is a head, and the head abuts against the arm body 16, specifically, against the connecting arm 163.

[0075] In addition, in order to prevent the nut 24 from loosening, an elastic washer can be sleeved on the hinge shaft 23. The two sides of the elastic washer are elastically abutted against the nut 24 and the hinge support 21 respectively.

[0076] In this embodiment, by using the above-mentioned hinge component 2 to achieve the hinge between the arm body 16 and the frame of the AGV chassis, the hinge is reliable and the assembly and maintenance are convenient.

[0077] Please refer to Figure 7 , Figure 7 which is Figure 1 the enlarged view of the C position in

[0078] . In some embodiments, the hinge support 21 is provided with a first through hole 211 for the hinge shaft 23 to pass through. An opening 212 is provided on the outer wall of the hinge support 21. The opening 212 penetrates one side hole wall of the first through hole 211. The hinge component 2 further includes an adjusting screw 25. The end of the rod portion of the adjusting screw 25 passes through the part of the hinge support 21 on one side of the opening 212 and the opening 212 and is threadedly connected to the part of the hinge support 21 on the other side of the opening 212.

[0079] Please refer to Figure 6 . In some embodiments, there are two hinge supports 21. The two hinge supports 21 are respectively located on both sides of the arm body 16. One end of the hinge shaft 23 passes through a hinge support 21, a rotating support 22 and the other hinge support 21 in sequence and is threadedly connected to the nut 24.

[0080] In this embodiment, by providing two hinge supports 21, the stress state of the hinge shaft 23 can be improved, and the installation stability of the hinge shaft 23 can be enhanced, thereby improving the reliability of the AGV cart.

[0081] Please refer to Figure 1 or Figure 6 . In some embodiments, the hinge component 2 further includes a second bottom plate 26. The second bottom plate 26 is located between the hinge support 21 and the frame of the AGV chassis. The second bottom plate 26 is configured to be connected to the frame of the AGV chassis. The hinge support 21 is connected to the second bottom plate 26.

[0082] Specifically, bolt through-holes are provided at the four corners of the second bottom plate 26. The head of the bolt 3 abuts against the second bottom plate 26, and the end of the screw rod of the bolt 3 passes through the bolt through-hole and is threadedly connected to the frame of the AGV chassis, thereby detachably fixing the second bottom plate 26 to the frame, which is beneficial for subsequent maintenance.

[0083] In this embodiment, by providing the second bottom plate 26, the hinge component 2 can be assembled into an independent module, so that the shock absorption mechanism 1 can be formed by assembling with other components after the module is assembled with the connecting arm 163, thereby improving the assembly efficiency and reducing the maintenance difficulty.

[0084] According to the second aspect of the present application, an AGV drive wheel assembly 4 is provided, as Figure 8 shown, Figure 8 is a schematic structural diagram of the AGV drive wheel assembly 4 provided in the exemplary embodiment of the present disclosure.

[0085] The AGV drive wheel assembly 4 includes a drive wheel 42, a drive motor 41, and the aforementioned shock absorption mechanism 1. The drive wheel 42 is rotatably provided on the arm body 16. The drive motor 41 is installed on the arm body 16 and is in transmission connection with the drive wheel 42.

[0086] It can be understood that the drive motor 41 and the drive wheel 42 are the wheel body and the motor of a hub motor. Among them, a hub motor is a motor integrated in the wheel hub, which directly drives the wheel to rotate to achieve functions such as driving, braking, and steering of the vehicle.

[0087] In this embodiment, by adopting the aforementioned shock absorption mechanism 1, when the arm body 16 rotates and the distance between the arm body 16 and the slider 14 increases in the horizontal direction, the change in the required connection length between the arm body 16 and the slider 14 can be adaptively adjusted based on the movement and rotation of the connecting rod 15, so that the slider 14 only moves along the guide rod 11. In this way, the fitting clearance between the slider 14 and the guide rod 11 can be reduced, thereby improving the movement certainty of one end of the arm body 16 close to the elastic member 12, avoiding collision or friction between the arm body 16 and surrounding components, reducing the maintenance frequency and maintenance cost, and effectively avoiding noise generated by collision and friction, improving the user experience.

[0088] According to the third aspect of the present application, an AGV chassis 5 is provided, as Figure 9 shown, Figure 9 is a schematic structural diagram of the AGV chassis 5 provided in the exemplary embodiment of the present disclosure.

[0089] The AGV chassis 5 includes a frame 51 and the aforementioned AGV drive wheel assembly 4; a first relief opening 52 is provided on the frame 51; one end of the guide rod 11 is connected to the frame 51, the end of the arm body 16 away from the connecting rod 15 is hinged to the frame 51 of the AGV chassis 5, and the drive wheel 42 is located in the first relief opening 52.

[0090] Among them, the AGV chassis 5 includes two AGV drive wheel assemblies 4, and the two AGV drive wheel assemblies 4 are respectively located on both sides of the forward direction of the AGV vehicle and are symmetrically arranged.

[0091] In this embodiment, by adopting the aforementioned AGV drive wheel assembly 4, when the arm body 16 rotates to increase the horizontal distance between the arm body 16 and the slider 14, the required connection length change between the arm body 16 and the slider 14 can be adaptively adjusted based on the movement and rotation of the connecting rod 15, so that the slider 14 only moves along the guide rod 11. In this way, the fitting clearance between the slider 14 and the guide rod 11 can be reduced, thereby improving the movement certainty of the end of the arm body 16 close to the elastic member 12, avoiding collision or friction between the arm body 16 and surrounding components, reducing its maintenance frequency and maintenance cost, and effectively avoiding noise generated by collision and friction, improving the user experience.

[0092] Please refer to Figure 10 , Figure 10 is Figure 9 the enlarged view of the D position in. In some embodiments, the AGV chassis 5 further includes a caster assembly 6. A second relief opening 53 is provided on the frame 51. The caster assembly 6 includes a bracket 61, a support seat 62, and a caster 63. The bracket 61 is connected to the frame 51, and a part of the bracket 61 is disposed opposite to the second relief opening 53. The support seat 62 is fixed on the side wall of the bracket 61 facing the second relief opening 53. The caster 63 is installed on the support seat 62 and is located in the second relief opening 53.

[0093] It can be understood that the bracket 61 is located on the side of the frame 51 away from the ground.

[0094] Among them, there are four caster assemblies 6, and two are in a group. The two groups are respectively located on both sides of the forward direction of the AGV vehicle and are symmetrically arranged. On the same side of the AGV vehicle, the two caster assemblies 6 are respectively located on both sides of the AGV drive wheel assembly 4.

[0095] In this embodiment, by providing the caster 63, the AGV vehicle can be freely rotated 360 degrees on the horizontal plane, thereby improving the flexibility of the moving direction of the AGV vehicle.

[0096] According to the fourth aspect of the present application, an AGV vehicle is provided, and the AGV vehicle includes the aforementioned AGV chassis 5.

[0097] In this embodiment, by adopting the aforementioned AGV chassis 5, when the arm body 16 rotates to increase the horizontal distance between the arm body 16 and the slider 14, the change in the required connection length between the arm body 16 and the slider 14 can be adaptively adjusted based on the movement and rotation of the connecting rod 15, so that the slider 14 only moves along the guide rod 11. In this way, the fitting clearance between the slider 14 and the guide rod 11 can be reduced, thereby improving the motion certainty of the end of the arm body 16 close to the elastic member 12, avoiding collision or friction between the arm body 16 and surrounding components, reducing the maintenance frequency and cost of the AGV vehicle, effectively avoiding noise generated by collision and friction, and improving the user experience.

[0098] In the description of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0099] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0100] The embodiments, implementation manners and related technical features of the present application can be combined and replaced with each other without conflict.

[0101] The above are only the preferred embodiments of the present application and do not impose any form of limitation on the present application. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A shock absorbing mechanism, applied to an AGV chassis, characterized in that: The shock absorbing mechanism comprises: A guide rod, one end of which is configured to be connected to the frame of the AGV chassis; An elastic member is sleeved on the guide rod, and one end of the elastic member is fixedly arranged; The rotating arm comprises a slider, a connecting rod and an arm body which are hinged in sequence, wherein the slider is sleeved on the guide rod and connected to the other end of the elastic member; an end of the arm body away from the connecting rod is configured to be hinged to the frame of the AGV chassis; and the arm body is configured to install the driving wheel of the AGV chassis; Wherein, the sliding block is located on a side of the elastic member close to the ground.

2. The shock absorbing mechanism according to claim 1, characterized in that: The shock absorbing mechanism also includes a fixed frame, which is configured to be connected to the frame of the AGV chassis. The guide rod, the elastic member and the slider are all located in the fixed frame. One end of the guide rod away from the frame of the AGV chassis is connected to the frame edge of the fixed frame, and one end of the elastic member away from the slider is fixed to the frame edge of the fixed frame.

3. The shock absorbing mechanism according to claim 2, characterized in that: The shock absorbing mechanism also includes a first base plate, which is located between the fixed frame and the frame of the AGV chassis. The first base plate is configured to be connected to the frame of the AGV chassis, the fixed frame is connected to the first base plate, and one end of the guide rod close to the frame of the AGV chassis is connected to the first base plate.

4. The shock absorbing mechanism according to claim 3, characterized in that: A sinking platform is arranged on the first bottom plate, and one end of the fixed frame close to the frame of the AGV chassis cooperates with the sinking platform.

5. The shock absorbing mechanism according to claim 3, characterized in that: The fixed frame is a U-shaped frame, and two ends of the U-shaped frame are connected to the first bottom plate.

6. The shock absorbing mechanism according to claim 1, characterized in that: The arm body comprises a main body, an articulated block and a connecting arm, one side of the main body is detachably connected to one end of the connecting arm, and the other side is detachably connected to the articulated block, and the articulated block is articulated to an end of the connecting rod away from the slider; Wherein, the other end of the connecting arm is configured to be hinged to the frame of the AGV chassis, and the main body is configured to install the driving wheel of the AGV chassis.

7. The shock absorbing mechanism according to any one of claims 1 to 6, characterized in that: The sliding block is provided with a matching hole, the guide rod is passed through the matching hole, and the matching clearance between the matching hole and the guide rod is not greater than 0.01 mm.

8. The shock absorbing mechanism according to any one of claims 1 to 6, characterized in that: The shock absorbing mechanism also includes an articulated component, which includes an articulated support, a rotating support, an articulated shaft and a nut. The articulated support is configured to be connected to the frame of the AGV chassis, and the rotating support is installed on the arm body. One end of the articulated shaft passes through the rotating support and the articulated support and is threadedly connected to the nut.

9. The shock absorbing mechanism according to claim 8, characterized in that: The hinge support is provided with a first through hole for the hinge shaft to pass through, and an opening is provided on the outer wall of the hinge support, and the opening passes through a hole wall on one side of the first through hole. The hinge component also includes an adjusting screw, and the end of the rod of the adjusting screw passes through the part of the hinge support located on one side of the opening and is threadedly connected with the part of the hinge support located on the other side of the opening after the opening.

10. The shock absorbing mechanism according to claim 8, characterized in that: There are two articulated supports, which are respectively located on both sides of the arm body. One end of the articulated shaft passes through one articulated support, the rotating support and the other articulated support in sequence and is then threadedly connected to the nut.

11. The shock absorbing mechanism according to claim 8, characterized in that: The articulated component further includes a second bottom plate, the second bottom plate is located between the articulated support and the frame of the AGV chassis, the second bottom plate is configured to be connected to the frame of the AGV chassis, and the articulated support is connected to the second bottom plate.

12. An AGV drive wheel assembly, characterized in that: include: The shock absorbing mechanism according to any one of claims 1 to 11; A driving wheel, rotatably disposed on the arm body; The driving motor is installed on the arm body and is drivingly connected to the driving wheel.

13. An AGV chassis, characterized in that: include: The frame is provided with a first yielding opening; And the AGV driving wheel assembly as described in claim 12, one end of the guide rod is connected to the frame, the end of the arm body away from the connecting rod is hinged to the frame of the AGV chassis, and the driving wheel is located in the first clearance opening.

14. The AGV chassis according to claim 13, characterized in that: The AGV chassis also includes a universal wheel assembly, a second yield opening is provided on the frame, the universal wheel assembly includes a bracket, a support seat and a universal wheel, the bracket is connected to the frame, and the bracket part is arranged opposite to the second yield opening, the support seat is fixed on the side wall of the bracket facing the second yield opening, the universal wheel is installed on the support seat and is located in the second yield opening.

15. An AGV vehicle, characterized in that: Comprising the AGV chassis as described in claim 13 or 14.

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