AGV chassis structure

Abstract

The utility model provides an AGV chassis structure comprising a chassis assembly, and the chassis assembly comprises a front code reader seat, a front code reader body, front left spring double wheels, front right spring double wheels, a chassis mainboard and a rear code reader body. A double-wheel structure with springs for height adjustment is adopted, namely, the front left spring double wheels, the front right spring double wheels, the rear left spring double wheels and the rear right spring double wheels, the AGV driving assembly in the middle is fixedly installed, and due to the fact that the wheels on the periphery are elastic, the AGV driving wheel in the middle can make contact with the ground all the time; the driving distance of the two sides of the trolley in the driving process is basically consistent, and the precision reaches + / -0.5 mm, so that the short-distance high-precision driving is realized, the industrial scene requirement with higher precision requirement can be met, and meanwhile, by adopting the composite mode of the magnetic stripe and the two-dimensional code navigation, the navigation accuracy is improved. The front code reader and the rear code reader respectively provide support for the forward and backward navigation of the trolley on the goods shelf, so that the navigation requirements of different scenes are met.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV automatic guided vehicles, and particularly relates to an AGV chassis structure. Background Technique

[0002] An Automated Guided Vehicle (AGV) refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical devices, capable of traveling along a specified guidance path, having safety protection and various load transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source. Generally, its travel route and behavior can be controlled by a computer, or an electromagnetic track can be used to set up its travel route. The electromagnetic track is adhered to the floor, and the AGV follows the information brought by the electromagnetic track for movement and action.

[0003] Existing AGV chassis structures have some problems in practical applications. Although their main purpose is to overcome various road conditions to achieve smooth operation, the requirement for short-distance driving accuracy is relatively low, generally with a driving accuracy of plus or minus 10 millimeters, which includes various measurement errors and the operation errors of the vehicle. In some industrial scenarios with high precision requirements, the existing AGV chassis structures may not be able to meet the needs. Therefore, an AGV chassis structure is proposed. Content of the Utility Model

[0004] In view of this, the utility model hopes to provide an AGV chassis structure to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial option.

[0005] The technical solution of the embodiment of the utility model is realized as follows: an AGV chassis structure includes a chassis assembly, and the chassis assembly includes a front code reader seat, a front code reader body, a front left spring double wheel, a front right spring double wheel, a chassis main board, an AGV drive assembly, a rear right spring double wheel, a rear left spring double wheel, a rear code reader seat, and a rear code reader body;

[0006] The top and bottom centers of the chassis main board are respectively fixedly connected with a front code reader seat and a rear code reader seat. The sides of the front code reader seat and the rear code reader seat close to each other are respectively fixedly connected with a front code reader body and a rear code reader body. The front part and the rear part of the side of the chassis main board close to the front code reader seat are respectively provided with a front right spring double wheel and a front left spring double wheel. The front part and the rear part of the side of the chassis main board close to the rear code reader seat are respectively provided with a rear right spring double wheel and a rear left spring double wheel. The front part and the rear part centers of the side of the chassis main board close to the front code reader seat are both provided with an AGV drive assembly.

[0007] Further preferably, the AGV driving assembly includes a driving motor, a speed reducer, an AGV load-bearing mounting plate, a bearing, a fixed seat, a load-bearing shaft seat, an AGV driving wheel, an output shaft and screws;

[0008] On the front and rear centers of one side of the chassis main board close to the front code reader seat, AGV load-bearing mounting plates are installed. On the closer sides of the two AGV load-bearing mounting plates, speed reducers are fixedly connected. On the closer sides of the two speed reducers, driving motors are fixedly connected. The output end of the driving motor is fixedly connected to the input end of the speed reducer. On the farther sides of the two AGV load-bearing mounting plates, fixed seats are fixedly connected. The output end of the speed reducer is fixedly connected with an output shaft. The outer side wall of the output shaft close to the speed reducer is rotationally connected to the inner side wall of the fixed seat through a bearing. The outer side wall of the output shaft far from the speed reducer is fixedly connected with a load-bearing shaft seat. On the side of the load-bearing shaft seat far from the fixed seat, an AGV driving wheel is fixedly connected through a plurality of screws.

[0009] Further preferably, on the side of the two AGV load-bearing mounting plates far from the chassis main board, an AGV driving group connecting piece is fixedly connected.

[0010] Further preferably, on the side of the load-bearing shaft seat far from the fixed seat, a shaft end cover is fixedly connected through a plurality of screws.

[0011] Further preferably, on the inner side wall of the fixed seat far from the AGV load-bearing mounting plate, an annular limiting groove is opened. On the inner side of the side of the load-bearing shaft seat close to the fixed seat, an annular limiting ring is fixedly connected. The outer side wall of the annular limiting ring is rotationally connected to the inner side wall of the annular limiting groove.

[0012] Further preferably, the side of the load-bearing shaft seat close to the fixed seat is rotationally connected.

[0013] Further preferably, on the upper part of one side of the chassis main board close to the rear code reader seat, a mounting hole is opened.

[0014] Further preferably, on the front and rear surfaces of the chassis main board, a plurality of mounting grooves are opened. On the inner side wall of the mounting groove, a sensor is fixedly connected.

[0015] Due to the adoption of the above technical solutions in the embodiments of the present invention, it has the following advantages:

[0016] The utility model adopts a double-wheel structure with spring height adjustment, namely, a front left spring double-wheel, a front right spring double-wheel, a rear left spring double-wheel, and a rear right spring double-wheel. The AGV drive assembly in the middle is fixedly installed. Since the wheels around have elasticity, the AGV drive wheels in the middle can always contact the ground, ensuring that the driving distances on both sides of the trolley are basically the same during driving, with an accuracy of plus or minus 0.5 millimeters, thus realizing short-distance and high-precision driving. Compared with the driving accuracy of plus or minus 10 millimeters of general existing AGV trolleys, there is a significant improvement, which can meet the requirements of industrial scenarios with high precision requirements. At the same time, by adopting a composite method of magnetic strip and two-dimensional code navigation, the front code reader and the rear code reader respectively provide support for the trolley to move forward and backward for shelf navigation. The magnetic strip navigation can make the upper computer program immediately correct when the trolley has a certain deviation angle, with a fast response and adaptation to narrow shelf environments. In places with a relatively large space, the lidar navigation method can be adopted to meet the navigation requirements of different scenarios.

[0017] The above summary is only for the purpose of the specification and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present utility model will be readily apparent by reference to the drawings and the following detailed description. Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is the overall structure diagram of the present utility model;

[0020] Figure 2 It is the structure diagram of the AGV drive assembly of the present utility model;

[0021] Figure 3 It is the structure diagram of the drive motor and the AGV drive wheel of the present utility model.

[0022] Reference numerals: 1, chassis assembly; 101, front code reader seat; 102, front code reader body; 103, front left spring double wheel; 104, front right spring double wheel; 105, chassis main board; 106, AGV drive assembly; 108, AGV drive group connecting piece; 109, rear right spring double wheel; 110, rear left spring double wheel; 111, rear code reader seat; 112, rear code reader body; 113, mounting hole; 114, mounting groove; 115, sensor; 201, drive motor; 202, reducer; 203, AGV load-bearing mounting plate; 204, bearing; 205, fixing seat; 206, load-bearing shaft seat; 207, shaft end cover; 208, AGV drive wheel; 209, output shaft; 210, screw; 211, annular limit groove; 212, annular limit ring; 213, screw. Detailed implementation manners

[0023] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0024] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0025] As Figures 1-3 shown, the embodiment of the present invention provides an AGV chassis structure, including a chassis assembly 1. The chassis assembly 1 includes a front code reader seat 101, a front code reader body 102, a front left spring double wheel 103, a front right spring double wheel 104, a chassis main board 105, an AGV drive assembly 106, a rear right spring double wheel 109, a rear left spring double wheel 110, a rear code reader seat 111, and a rear code reader body 112;

[0026] At the top and bottom centers of the chassis main board 105, a front reader seat 101 and a rear reader seat 111 are respectively fixedly connected. On the closer sides of the front reader seat 101 and the rear reader seat 111, a front reader body 102 and a rear reader body 112 are respectively fixedly connected. At the front and rear parts of the side of the chassis main board 105 close to the front reader seat 101, a front right spring double wheel 104 and a front left spring double wheel 103 are respectively installed. At the front and rear parts of the side of the chassis main board 105 close to the rear reader seat 111, a rear right spring double wheel 109 and a rear left spring double wheel 110 are respectively installed. At the front and rear center parts of the side of the chassis main board 105 close to the front reader seat 101, an AGV drive assembly 106 is installed. Among them, the front reader 102 on the front reader seat 101 is used to supply the AGV cart to move forward for shelf navigation, and the rear reader 112 on the rear reader seat 111 is used to supply the AGV cart to move backward for shelf navigation. The left spring double wheel 103, the front right spring double wheel 104, the rear left spring double wheel 110, and the rear right spring double wheel 109 are all double AGV wheels with spring height adjustment.

[0027] In one embodiment, specifically: The AGV drive assembly 106 includes a drive motor 201, a reducer 202, an AGV load-bearing mounting plate 203, a bearing 204, a fixed seat 205, a load-bearing shaft seat 206, an AGV drive wheel 208, an output shaft 209, and a screw 210;

[0028] At the front and rear center parts of the side of the chassis main board 105 close to the front reader seat 101, AGV load-bearing mounting plates 203 are respectively installed. On the closer sides of the two AGV load-bearing mounting plates 203, reducers 202 are respectively fixedly connected. On the closer sides of the two reducers 202, drive motors 201 are respectively fixedly connected. The output end of the drive motor 201 is fixedly connected to the input end of the reducer 202. On the farther sides of the two AGV load-bearing mounting plates 203, fixed seats 205 are respectively fixedly connected. The output end of the reducer 202 is fixedly connected to an output shaft 209. The outer side wall of the output shaft 209 close to the reducer 202 is rotatably connected to the inner side wall of the fixed seat 205 through a bearing 204. The outer side wall of the output shaft 209 far from the reducer 202 is fixedly connected to a load-bearing shaft seat 206. The outer side of the load-bearing shaft seat 206 far from the fixed seat 205 is fixedly connected to an AGV drive wheel 208 through a plurality of screws 210. By driving the reducer 202 to work through the drive motor 201, the output shaft 209 is driven to rotate, and then the load-bearing shaft seat 206 and the AGV drive wheel 208 are driven to rotate.

[0029] In one embodiment, specifically: on one side of the two AGV load-bearing mounting plates 203 away from the chassis main board 105, an AGV drive group connecting piece 108 is fixedly connected. By fixing the two AGV load-bearing mounting plates 203 through the AGV drive group connecting piece 108, the firmness of the two AGV load-bearing mounting plates 203 is increased.

[0030] In one embodiment, specifically: on one side of the load-bearing shaft seat 206 away from the fixed seat 205, a shaft end cover 207 is fixedly connected through a plurality of screws 213. By sealing the end of the output shaft 209 through the shaft end cover 207, dust is prevented from entering the interior.

[0031] In one embodiment, specifically: on the inner side wall of the fixed seat 205, on the side away from the AGV load-bearing mounting plate 203, an annular limiting groove 211 is provided. On the inner side of the load-bearing shaft seat 206, on the side close to the fixed seat 205, an annular limiting ring 212 is fixedly connected. The outer side wall of the annular limiting ring 212 is rotatably connected to the inner side wall of the annular limiting groove 211. By rotating the annular limiting ring 212 on the load-bearing shaft seat 206 inside the annular limiting groove 211, the annular limiting ring 212 is limited, thereby increasing the stability of the rotation of the load-bearing shaft seat 206.

[0032] In one embodiment, specifically: the load-bearing shaft seat 206 and the fixed seat 205 are rotatably connected on the side close to each other. By rotatably connecting the side of the load-bearing shaft seat 206 and the fixed seat 205 close to each other, the stability of the rotation of the load-bearing shaft seat 206 is increased.

[0033] In one embodiment, specifically: on the upper part of one side of the chassis main board 105 close to the rear code reader seat 111, a mounting hole 113 is provided. Through the mounting hole 113, it is convenient to install other devices on the AGV cart.

[0034] In one embodiment, specifically: on both the front surface and the rear surface of the chassis main board 105, a plurality of mounting grooves 114 are provided. The inner side wall of the mounting groove 114 is fixedly connected with a sensor 115. Through the plurality of sensors 115, the environmental information around the AGV cart can be sensed in real time, such as the distance from obstacles, the positions of surrounding objects, etc. This helps the AGV cart to adjust the driving path in time during driving, avoid collisions with obstacles, and improve the safety of operation.

[0035] When the utility model works: when the AGV cart is running in the middle of the shelves, a composite method of magnetic stripe and two-dimensional code navigation is adopted. The front code reader 102 on the front code reader seat 101 supplies the AGV cart for forward navigation between the shelves, and the rear code reader 112 on the rear code reader seat 111 supplies the AGV cart for backward navigation between the shelves. The advantage of magnetic stripe navigation is that as long as the cart has a little deviation angle, the host computer program of the cart can immediately correct it, enabling the cart to respond quickly. And in narrow shelves, the lidar may not be able to move forward due to the approaching of set obstacles, while magnetic stripe navigation can well adapt to this environment. When the AGV drive assembly works, the drive motor 201 is directly connected to the reducer 202 and installed on the AGV main load-bearing mounting plate 203. Through the forward and reverse rotation of the shaft of the reducer 202, the power is transmitted to the load-bearing shaft seat 206 through the bearing box composed of the bearing 204 and the bearing fixing seat 205, and then drives the AGV drive wheel 208 installed on the load-bearing shaft seat 206 to rotate. This mechanism effectively ensures that the drive motor 201 and the reducer 202 can effectively transmit the axial force externally, and the bearing box composed of the AGV load-bearing mounting plate 203, the bearing 204, the bearing fixing seat 205, and the load-bearing shaft seat 206 effectively cancels the radial force, increasing the service life of the drive motor 201 and the reducer 202. Moreover, the front left spring double wheels 103, front right spring double wheels 104, rear left spring double wheels 110, and rear right spring double wheels 109 at the four corners of the chassis main board 105 all adopt double AGV wheels with spring height adjustment. The left AGV drive wheel group and the right AGV drive assembly in the middle adopt a fixed installation method. Since the front left spring double wheels 103, front right spring double wheels 104, rear left spring double wheels 110, and rear right spring double wheels 109 at the four corners of the chassis main board 105 are elastic, the middle AGV drive wheels can always contact the ground. In this way, the driving distances on both sides are basically the same during the driving process of the cart, ensuring that the accuracy of the cart can reach plus or minus 0.5 millimeters within a short distance range.

[0036] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of various changes or substitutions, and these should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claimed rights.

Claims

1. An AGV chassis structure, characterized in that: It includes a chassis assembly (1), and the chassis assembly (1) includes a front code reader seat (101), a front code reader body (102), a front left spring double wheel (103), a front right spring double wheel (104), a chassis main board (105), an AGV drive assembly (106), a rear right spring double wheel (109), a rear left spring double wheel (110), a rear code reader seat (111) and a rear code reader body (112); A front code reader seat (101) and a rear code reader seat (111) are respectively fixedly connected to the top and bottom centers of the chassis main board (105). A front code reader body (102) and a rear code reader body (112) are respectively fixedly connected to the closer sides of the front code reader seat (101) and the rear code reader seat (111). A front right spring double wheel (104) and a front left spring double wheel (103) are respectively installed at the front and rear parts of the side of the chassis main board (105) close to the front code reader seat (101). A rear right spring double wheel (109) and a rear left spring double wheel (110) are respectively installed at the front and rear parts of the side of the chassis main board (105) close to the rear code reader seat (111). AGV drive assemblies (106) are installed at the front and rear centers of the side of the chassis main board (105) close to the front code reader seat (101).

2. The AGV chassis structure according to claim 1, characterized in that: The AGV drive assembly (106) includes a drive motor (201), a reducer (202), an AGV load-bearing mounting plate (203), a bearing (204), a fixed seat (205), a load-bearing shaft seat (206), an AGV drive wheel (208), an output shaft (209) and screws (210); AGV load-bearing mounting plates (203) are installed at the front and rear centers of the side of the chassis main board (105) close to the front code reader seat (101). Reducers (202) are fixedly connected to the closer sides of the two AGV load-bearing mounting plates (203). Drive motors (201) are fixedly connected to the closer sides of the two reducers (202). The output end of the drive motor (201) is fixedly connected to the input end of the reducer (202). Fixed seats (205) are fixedly connected to the farther sides of the two AGV load-bearing mounting plates (203). The output end of the reducer (202) is fixedly connected to an output shaft (209). The outer side wall of the output shaft (209) close to the reducer (202) is rotatably connected to the inner side wall of the fixed seat (205) through a bearing (204). A load-bearing shaft seat (206) is fixedly connected to the outer side wall of the output shaft (209) far from the reducer (202). An AGV drive wheel (208) is fixedly connected to the outer side of the load-bearing shaft seat (206) far from the fixed seat (205) through a plurality of screws (210).

3. The AGV chassis structure according to claim 2, characterized in that: An AGV drive group connector (108) is fixedly connected to the side of the two AGV load-bearing mounting plates (203) far from the chassis main board (105).

4. The AGV chassis structure according to claim 2, wherein: One side of the load-bearing shaft seat (206) away from the fixed seat (205) is fixedly connected with a shaft end cover (207) through a plurality of screws (213).

5. The AGV chassis structure according to claim 2, characterized in that: An annular limiting groove (211) is formed on one side of the inner side wall of the fixed seat (205) away from the AGV load-bearing mounting plate (203). An annular limiting ring (212) is fixedly connected to the inner side of one side of the load-bearing shaft seat (206) close to the fixed seat (205). The outer side wall of the annular limiting ring (212) is rotatably connected to the inner side wall of the annular limiting groove (211).

6. The AGV chassis structure according to claim 5, characterized in that: The load-bearing shaft seat (206) and the fixed seat (205) are rotatably connected to each other on the side close to each other.

7. An AGV chassis structure according to claim 1, characterized in that: An installation hole (113) is formed in the upper part of one side of the chassis main board (105) close to the rear code reader seat (111).

8. The AGV chassis structure according to claim 1, characterized in that: A plurality of installation grooves (114) are formed on both the front surface and the rear surface of the chassis main board (105). A sensor (115) is fixedly connected to the inner side wall of the installation groove (114).

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