Pavement self-adaptive AGV (Automatic Guided Vehicle) chassis

Abstract

The utility model relates to the technical field of AGV manufacturing, in particular to a road surface self-adaptive AGV chassis. The front swing balance wheel assembly, the left swing balance wheel assembly and the right swing balance wheel assembly are all hinged to the frame. After assembly is finished, in a horizontal state, the trend of the front swing balance wheel assembly is kept consistent with the width direction of the frame, and the trend of the left swing balance wheel assembly and the trend of the right swing balance wheel assembly are kept consistent with the length direction of the frame. Thus, on one hand, vibration of the AGV in the running process is effectively reduced, bumping and instability of the AGV can be effectively reduced, and loading and weight bearing are facilitated; and on the other hand, the AGV has excellent driving adaptability on a complex road surface, it is ensured that the chassis wheel trains land together, and the phenomenon that due to the fact that the ground is uneven, part of the chassis wheel trains are suspended or friction force is not enough, and consequently traction force of the AGV is insufficient can be avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV transport vehicle manufacturing, in particular to a road surface self-adaptive AGV transport vehicle chassis. Background Art

[0002] According to Japanese JI SD6801, an AGV is a battery-powered, autonomous industrial vehicle. Its route and destination can be controlled by a management program, offering high maneuverability. Its loading platform can adopt various mounting structures and loading and unloading methods, and it has a strong load-bearing capacity.

[0003] In the AGV's operating environment, uneven road surfaces can cause the drive wheels to float or slip, resulting in the AGV losing power or being lifted. Current technology utilizes springs (for cushioning), shock absorbers (for vibration reduction), and guide mechanisms (for force transmission) to mitigate the adverse effects of uneven road surfaces, thereby maintaining smooth driving and load-carrying. However, in practice, these systems present the following challenges: 1) The suspension system's design is complex, and its components utilize advanced materials and technologies, resulting in high implementation costs. 2) Because components such as shock absorbers and springs are subject to constant excitation forces, they require regular replacement and maintenance, leading to high maintenance costs. 3) The complex suspension system also increases the AGV's weight, impacting its power performance and increasing battery consumption, reducing its range. Consequently, there is an urgent need for technical personnel to address these issues. Utility Model Content

[0004] Therefore, in view of the above-mentioned existing problems and defects, the designers of this utility model collected relevant information, conducted multiple evaluations and considerations, and, after continuous experimentation and modifications by technicians with many years of R&D experience in this industry, ultimately led to the emergence of this road-adaptive AGV truck chassis.

[0005] In order to solve the above-mentioned technical problems, the utility model relates to a road-adaptive AGV transporter chassis, which includes a frame, a front swing balancing wheel assembly, a left swing balancing wheel assembly, and a right swing balancing wheel assembly. The front swing balancing wheel assembly, the left swing balancing wheel assembly, and the right swing balancing wheel assembly are all assembled with the frame in an articulated manner. When assembled and placed flat, the direction of the front swing balancing wheel assembly is consistent with the width direction of the frame, while the directions of the left swing balancing wheel assembly and the right swing balancing wheel assembly are consistent with the length direction of the frame. When the road-adaptive AGV transporter chassis passes over a rough road surface, the front swing balancing wheel assembly, the left swing balancing wheel assembly, and the right swing balancing wheel assembly all perform swinging motions in the height direction on their own.

[0006] As a further improvement to the technical solution disclosed in the present invention, a front-mounted oscillating balancing wheel assembly includes a front-mounted balancing beam, a first front-mounted universal wheel, and a second front-mounted universal wheel. The first and second front-mounted universal wheels are both mounted on the front-mounted balancing beam and are symmetrically arranged on the left and right sides of the front-mounted balancing beam. A left-mounted oscillating balancing wheel assembly includes a left-mounted balancing beam, a left-mounted universal wheel, a left-mounted drive wheel, and a left-mounted drive unit. The left-mounted drive unit and the left-mounted universal wheel are both mounted on the left-mounted balancing beam and are respectively arranged at the front and rear ends of the left-mounted balancing beam. The left-mounted drive wheel continuously rotates in a circumferential direction under the torque from the left-mounted drive unit. A right-mounted oscillating balancing wheel assembly includes a right-mounted balancing beam, a right-mounted universal wheel, a right-mounted drive wheel, and a right-mounted drive unit. The right-mounted drive unit and the right-mounted universal wheel are both mounted on the right-mounted balancing beam and are respectively arranged at the front and rear ends of the right-mounted balancing beam. The right-hand drive wheel continuously performs circumferential rotational motion under the action of the rotational torque from the right-hand drive unit.

[0007] As a further improvement to the technical solution disclosed in this utility model, both the first and second front universal wheels utilize flange connections to achieve a fixed connection to the front balance beam. The front balance beam comprises a welded front main beam, a left lower extension leg, a right lower extension leg, a left flange plate, and a right flange plate. The left and right flange plates serve as flange connection bases for the first and second front universal wheels, respectively.

[0008] As a further improvement to the technical solution disclosed in this utility model, the front balance beam also includes upper and lower reinforcing gussets. The upper reinforcing gussets are used to further strengthen the structural stability of the connection between the front main beam and the left and right lower extension legs, and multiple upper reinforcing gussets are provided. The lower reinforcing gussets are used to further strengthen the structural stability of the connection between the left lower extension leg and the left flange plate, and between the right lower extension leg and the right flange plate, and multiple lower reinforcing gussets are provided.

[0009] As a further improvement to the technical solution disclosed in this utility model, the design structures of the left-mounted oscillating balance wheel assembly and the right-mounted oscillating balance wheel assembly are mirror images. The left-mounted universal wheel utilizes a flange connection to achieve a fixed connection to the left-mounted balance beam. The left-mounted oscillating balance wheel assembly also includes a first rear flange plate. A first rear-mounted neck-lift avoidance portion and a first front-mounted U-shaped load-bearing frame are respectively provided at the rear and front ends of the left-mounted balance beam. The first rear flange plate, serving as the mounting base for the left-mounted universal wheel, abuts against the first rear-mounted neck-lift avoidance portion and is welded to the frame. The first front-mounted U-shaped load-bearing frame is used to receive and secure the left-mounted drive unit.

[0010] As a further improvement of the technical solution disclosed in the utility model, the main structure of the left-mounted driving part is composed of a left-mounted rotating motor and a left-mounted reduction gearbox.

[0011] As a further improvement to the technical solution disclosed in this utility model, the chassis of the road-adaptive AGV transporter also includes a front articulated seat assembly, a left articulated seat assembly, and a right articulated seat assembly. The front articulated seat assembly, the left articulated seat assembly, and the right articulated seat assembly are all welded to the vehicle frame and serve as the articulated assembly base for the front, left, and right swing balancing wheel assemblies, respectively.

[0012] In actual application, when the AGV transport vehicle passes through a bumpy road, the front swing balance wheel assembly, the left swing balance wheel assembly and the right swing balance wheel assembly all perform swinging motion in the height direction due to the reaction force of the ground, and the swing direction of the left swing balance wheel assembly and the right swing balance wheel assembly is different from the swing direction of the front swing balance wheel assembly.

[0013] In view of this, the road-adaptive AGV chassis disclosed in the present invention can achieve at least the following beneficial technical effects, specifically:

[0014] 1) The front, left, and right swing balance wheel assemblies work together to effectively reduce the vibration of the AGV during travel. This not only effectively reduces the bumps and instability of the AGV, but also ensures the stability and safety of the load.

[0015] 2) This allows the AGV to have excellent driving adaptability on complex roads, ensuring that the chassis wheels are on the ground together. The ground always provides the friction and adhesion required by the chassis wheels, ensuring that the AGV will not lose power due to uneven roads. This can avoid the phenomenon of insufficient traction of the AGV caused by part of the chassis wheels being suspended in the air or insufficient friction due to uneven ground.

[0016] 3) In the event of emergency braking, the AGV transporter disclosed in the present invention can quickly adjust the body posture to prevent rollover or other dangerous situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a three-dimensional schematic diagram from one perspective of the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0019] Figure 2 It is a three-dimensional schematic diagram from another perspective of the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0020] Figure 3 It is a three-dimensional schematic diagram of a frame in a chassis of a road-adaptive AGV transporter disclosed in the present invention from one perspective (the front articulated seat assembly, the left articulated seat assembly and the right articulated seat assembly are all welded in place).

[0021] Figure 4 It is a three-dimensional schematic diagram of the frame in the chassis of the road-adaptive AGV transporter disclosed in the present invention from another perspective (the front articulated seat assembly, the left articulated seat assembly and the right articulated seat assembly have all been welded in place).

[0022] Figure 5 It is a three-dimensional schematic diagram of a front swing balance wheel assembly in the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0023] Figure 6 It is a three-dimensional schematic diagram of the front balance beam in the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0024] Figure 7 It is a three-dimensional schematic diagram of a left-mounted swing balance wheel assembly in the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0025] Figure 8 It is a three-dimensional schematic diagram of the left-mounted balance beam in the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0026] Figure 9 It is a three-dimensional schematic diagram of the right-mounted rocking balance wheel assembly in the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0027] Figure 10 It is a three-dimensional schematic diagram of the right-placed balance beam in the chassis of the road-adaptive AGV transporter disclosed in the utility model.

[0028] 1-frame; 2-front swing balance wheel assembly; 21-front balance beam; 211-front main beam; 212-left lower extension leg; 213-right lower extension leg; 214-left flange plate; 215-right flange plate; 216-upper reinforcement angle plate; 217-lower reinforcement angle plate; 22-first front universal wheel; 23-second front universal wheel; 3-left swing balance wheel assembly; 31-left balance beam; 311-first rear neck avoidance part; 312-first front U-shaped load-bearing frame; 32-left universal wheel; 33-left Driving wheel; 34-left-mounted driving part; 341-left-mounted rotating motor; 342-left-mounted reduction gearbox; 35-first rear flange plate; 4-right-mounted swing balancing wheel assembly; 41-right-mounted balancing beam; 411-second rear-mounted tilting neck avoidance part; 412-second front-mounted U-shaped load-bearing frame; 42-right-mounted universal wheel; 43-right-mounted driving wheel; 44-right-mounted driving part; 441-right-mounted rotating motor; 442-right-mounted reduction gearbox; 45-second rear flange plate; 5-front articulated seat assembly; 6-left-mounted articulated seat assembly; 7-right-mounted articulated seat assembly. DETAILED DESCRIPTION

[0029] In the description of the present invention, it should be understood that the terms "left", "right", "up", "down", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0030] The following is a further detailed description of the present invention in conjunction with specific embodiments. Figure 1 、 Figure 2 The three-dimensional schematic diagrams of the chassis of the road-adaptive AGV transporter disclosed in the present invention under two different perspectives are respectively shown. It can be seen that it is mainly composed of several parts such as a frame 1, a front swing balancing wheel assembly 2, a left swing balancing wheel assembly 3, a right swing balancing wheel assembly 4, a front articulated seat assembly 5, a left articulated seat assembly 6 and a right articulated seat assembly 7. Among them, the front swing balancing wheel assembly 2, the left swing balancing wheel assembly 3 and the right swing balancing wheel assembly 4 are all assembled with the frame in an articulated manner. The front articulated seat assembly 5, the left articulated seat assembly 6 and the right articulated seat assembly 7 are all welded and fixed to the frame 1 as a whole, and respectively serve as the articulated assembly basis of the front swing balancing wheel assembly 2, the left swing balancing wheel assembly 3 and the right swing balancing wheel assembly 4 (such as Figure 3 、 4). When assembled and lying flat, the front oscillating balancing wheel assembly 2 aligns with the width of the frame 1, while the left and right oscillating balancing wheel assemblies 3 and 4 align with the length of the frame 1. When the self-adaptive AGV chassis traverses uneven terrain, the front, left, and right oscillating balancing wheel assemblies 2, 3, and 4 all independently oscillate along the height direction.

[0031] like Figure 5 As shown in the figure, the front swing balance wheel assembly 2 is mainly composed of the front balance beam 21, the first front universal wheel 22 and the second front universal wheel 23. The first front universal wheel 22 and the second front universal wheel 23 are both installed on the front balance beam 21 and are symmetrically arranged on the left and right sides of the front balance beam 21. Figure 7 As shown in the figure, the left-mounted swing balance wheel assembly 3 is mainly composed of the left-mounted balance beam 31, the left-mounted universal wheel 32, the left-mounted drive wheel 33, and the left-mounted drive unit 34. The left-mounted drive unit 34 and the left-mounted universal wheel 32 are both mounted on the left-mounted balance beam 31 and are respectively arranged at the front and rear ends of the left-mounted balance beam 31. The left-mounted drive wheel 33 continuously performs circumferential rotation under the action of the rotational torque from the left-mounted drive unit 34. Figure 9 As shown in FIG, the right-mounted swing balance wheel assembly 4 primarily comprises a right-mounted balance beam 41, a right-mounted universal wheel 42, a right-mounted drive wheel 43, and a right-mounted drive unit 44. The right-mounted drive unit 44 and the right-mounted universal wheel 42 are both mounted on the right-mounted balance beam 41 and are located at the front and rear ends of the right-mounted balance beam 41, respectively. The right-mounted drive wheel 43 continuously rotates in a circumferential direction under the torque from the right-mounted drive unit 44.

[0032] In actual use, the front, left, and right oscillating balance wheel assemblies 2, 3, and 4 work together to effectively reduce vibration during the AGV's travel. When the AGV traverses a bumpy surface, the front, left, and right oscillating balance wheel assemblies 2, 3, and 4 independently oscillate in the vertical direction due to ground reaction forces. The oscillation directions of the left and right oscillating balance wheel assemblies 3 and 4 differ from those of the front oscillating balance wheel assembly 2. This effectively reduces the AGV's jolting and instability while also ensuring the stability and safety of its load. Furthermore, in the event of an emergency brake, the AGV can quickly adjust its posture to prevent rollover or other dangerous situations.

[0033] In addition, when the AGV transport vehicle is dealing with complex road conditions, the front swing balance wheel assembly 2, the left swing balance wheel assembly 3 and the right swing balance wheel assembly 4 work together to facilitate the first front universal wheel 22, the second front universal wheel 23, the left universal wheel 32, the left drive wheel 33, the right universal wheel 42 and the right drive wheel 43 to touch the ground together. In this way, on the one hand, the AGV transport vehicle has excellent all-terrain driving adaptability; on the other hand, the ground always provides the friction and adhesion required by the chassis wheel system (the first front universal wheel 22, the second front universal wheel 23, the left universal wheel 32, the left drive wheel 33, the right universal wheel 42 and the right drive wheel 43), ensuring that the AGV transport vehicle will not lose power due to uneven road conditions, and avoiding the phenomenon of insufficient traction of the AGV transport vehicle caused by part of the chassis wheel system being suspended in the air or insufficient friction due to uneven ground.

[0034] Under the premise of ensuring that the first front universal wheel 22 and the second front universal wheel 23 are stably and securely assembled, in order to simplify the design structure of the front swing balance wheel assembly 2 as much as possible, thereby reducing its manufacturing difficulty and subsequent maintenance difficulty, as a further optimization of the above technical solution, Figure 5 As shown in FIG, the first front universal wheel front balance beam 21 and the second front universal wheel 23 are both flange-connected to achieve fixed connection with the front balance beam 21. Figure 6 As shown in FIG, the front balance beam 21 is a tailor-welded structure, with its main body consisting of a front main beam body 211, a left lower extension leg 212, a right lower extension leg 213, a left flange plate 214, and a right flange plate 215, which are welded together. The left flange plate 214 and the right flange plate 215 serve as flange connection bases for the first front universal wheel 22 and the second front universal wheel 23, respectively.

[0035] Depend on Figure 5 、 6 It can be clearly seen that both the left lower extension leg 212 and the right lower extension leg 213 have a large downward extension, which can easily lead to insufficient rigidity, thereby causing the left lower extension leg 212 and the right lower extension leg 213 to tilt or break at the root due to lateral force. In view of this, as a further optimization of the above technical solution, the front balance beam 21 is also equipped with a plurality of upper reinforcement angle plates 216. The upper reinforcement angle plates 216 are used to help strengthen the structural stability of the connection between the front main beam body 211 and the left lower extension leg 212 and the right lower extension leg 213.

[0036] Of course, to further enhance the structural stability of the connection between the left lower leg 212 and the left flange plate 214, and between the right lower leg 213 and the right flange plate 215, the front balance beam 21 may further include a plurality of lower reinforcement gussets 217. The two sides of the lower reinforcement gussets 217 are respectively abutted against the outer wall of the left lower leg 212 and the top wall of the left flange plate 214, and are welded together. Alternatively, the two sides of the lower reinforcement gussets 217 are respectively abutted against the outer wall of the right lower leg 213 and the top wall of the right flange plate 215, and are welded together.

[0037] Depend on Figure 1 、 2 As shown in FIG, it can be clearly seen that the left-mounted rocking balance wheel assembly 3 and the right-mounted rocking balance wheel assembly 4 are designed in a mirror-image manner.

[0038] In order to simplify the design structure of the left-mounted swing balance wheel assembly 3 as much as possible, thereby reducing its manufacturing difficulty and subsequent maintenance difficulty, as a further optimization of the above technical solution, as follows Figure 7 As shown in FIG, the left universal wheel 32 is connected with the left balance beam 31 by a flange connection method. Correspondingly, the left swing balance wheel assembly 3 is additionally provided with a first rear flange plate 35. Figure 8 As shown in FIG, a first rear-mounted tilt-back avoidance portion 311 and a first front-mounted U-shaped support frame 312 are respectively provided at the rear and front ends of the left-mounted balance beam 31. A first rear-mounted flange plate 35, serving as the mounting base for the left-mounted universal wheel 32, is welded to and abuts against the first rear-mounted tilt-back avoidance portion 311. The first front-mounted U-shaped support frame 312 is used to house and secure the left-mounted drive unit 34. The main structure of the left-mounted drive unit 34 is composed of a left-mounted rotary motor 341 and a left-mounted reduction gearbox 342.

[0039] To achieve the same design purpose, such as Figure 9 、 10 As shown in the figure, the right-mounted universal wheel 42 is flange-connected to the right-mounted balance beam 41. Accordingly, the right-mounted swing balance wheel assembly 4 is equipped with a second rear flange plate 45. A second rear-mounted neck-lift avoidance portion 411 and a second front-mounted U-shaped support frame 412 are respectively provided at the rear and front ends of the right-mounted balance beam 41. The second rear flange plate 45, serving as the mounting base for the right-mounted universal wheel 42, is welded to and abuts against the second rear-mounted neck-lift avoidance portion 411. The second front-mounted U-shaped support frame 412 is used to house and secure the right-mounted drive unit 44. The main structure of the right-mounted drive unit 44 is composed of a right-mounted rotary motor 441 and a right-mounted reduction gearbox 442.

[0040] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A road-adaptive AGV truck chassis, characterized in that: It includes a frame, a front swing balancing wheel assembly, a left swing balancing wheel assembly and a right swing balancing wheel assembly; the front swing balancing wheel assembly, the left swing balancing wheel assembly and the right swing balancing wheel assembly are all hinged to complete the assembly with the frame; and when assembled and laid flat, the direction of the front swing balancing wheel assembly is consistent with the width direction of the frame, while the directions of the left swing balancing wheel assembly and the right swing balancing wheel assembly are consistent with the length direction of the frame; when the road-adaptive AGV transporter chassis passes through a rough road, the front swing balancing wheel assembly, the left swing balancing wheel assembly and the right swing balancing wheel assembly all perform swinging motions in the height direction by themselves.

2. The road-adaptive AGV truck chassis according to claim 1 is characterized in that The front swing balance wheel assembly includes a front balance beam, a first front universal wheel and a second front universal wheel; the first front universal wheel and the second front universal wheel are both mounted on the front balance beam and are symmetrically arranged on the left and right sides of the front balance beam; the left swing balance wheel assembly includes a left balance beam, a left universal wheel, a left drive wheel and a left drive unit; the left drive unit and the left universal wheel are both mounted on the left balance beam and are respectively arranged on the left side of the left balance beam. The front and rear ends of the balance beam; the left-mounted drive wheel continuously performs circumferential rotation under the action of the rotational torque from the left-mounted drive unit; the right-mounted swing balance wheel assembly includes a right-mounted balance beam, a right-mounted universal wheel, a right-mounted drive wheel and a right-mounted drive unit; the right-mounted drive unit and the right-mounted universal wheel are both installed on the right-mounted balance beam and are respectively arranged at the front and rear ends of the right-mounted balance beam; the right-mounted drive wheel continuously performs circumferential rotation under the action of the rotational torque from the right-mounted drive unit.

3. The road-adaptive AGV truck chassis according to claim 2 is characterized in that The first front universal wheel and the second front universal wheel both adopt flange connection to achieve fixed connection with the front balance beam; the front balance beam includes a front main beam body, a left lower extension leg, a right lower extension leg, a left flange plate and a right flange plate welded together; the left flange plate and the right flange plate serve as flange connection bases for the first front universal wheel and the second front universal wheel respectively.

4. The road-adaptive AGV truck chassis according to claim 3 is characterized in that The front balance beam also includes an upper reinforcing angle plate and a lower reinforcing angle plate; the upper reinforcing angle plate is used to assist in strengthening the stability of the connection structure between the front main beam body and the left lower extension leg and the right lower extension leg, and the number thereof is set to multiple; the lower reinforcing angle plate is used to assist in strengthening the stability of the connection structure between the left lower extension leg and the left flange plate and between the right lower extension leg and the right flange plate, and the number thereof is set to multiple.

5. The road-adaptive AGV truck chassis according to claim 2 is characterized in that The design structures of the left-mounted swing balance wheel assembly and the right-mounted swing balance wheel assembly are mirror images; the left-mounted universal wheel adopts a flange connection method to achieve a fixed connection with the left-mounted balance beam; the left-mounted swing balance wheel assembly also includes a first rear flange plate; a first rear-mounted neck-up avoidance portion and a first front-mounted U-shaped load-bearing frame are respectively provided at the tail end and the front end of the left-mounted balance beam; the first rear-mounted flange plate serving as the installation base of the left-mounted universal wheel is in contact with the first rear-mounted neck-up avoidance portion and is welded; the first front-mounted U-shaped load-bearing frame is used to install and fix the left-mounted drive unit.

6. The road-adaptive AGV truck chassis according to claim 5 is characterized in that The main structure of the left-mounted driving part is composed of a left-mounted rotating motor and a left-mounted reduction gearbox.

7. The road-adaptive AGV chassis according to any one of claims 2 to 6, characterized in that , also includes a front articulated seat assembly, a left articulated seat assembly and a right articulated seat assembly; the front articulated seat assembly, the left articulated seat assembly and the right articulated seat assembly are all welded and fixed to the frame as a whole, and serve as the articulated assembly basis of the front swing balancing wheel assembly, the left swing balancing wheel assembly and the right swing balancing wheel assembly respectively.

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