Chassis suspension structure of stacking type AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to the technical field of AGVs (Automatic Guided Vehicles), in particular to a chassis suspension structure of a stacking type AGV, which is characterized in that a plurality of driving suspension assemblies and spring modules are arranged on a chassis of the AGV, so that vibration caused by uneven ground can be effectively reduced, and the safety of goods is ensured; the driving suspension assemblies and the spring modules are assembled and arranged to be of a detachable structure, so that a user can maintain and replace conveniently, and the maintenance cost is reduced; the driving suspension assemblies are arranged in two structures, namely a floatable structure and a fixed structure, and the driving suspension assemblies of different structures can be specifically installed according to the operation requirements and working conditions of the AGV so as to adapt to the AGV with the higher bearing requirement; the mounting height of each wheel can be adjusted by matching different suspension assemblies, so that the posture of the whole vehicle is balanced, and the stability of stacking operation is ensured; and the arranged driving suspension assembly enables the driving wheels to obtain enough ground positive pressure so as to exert enough driving force, so that slipping and deviation are avoided, and the running trafficability is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV dolly technical field more specifically, it relates to a chassis suspension structure of stack version AGV dolly. BACKGROUND

[0002] With the development of logistics industry, AGV dolly is widely used in warehousing, distribution and other fields. The existing AGV dolly adopts fixed chassis structure, that is, the driving unit and auxiliary wheel unit are fixed relative to the chassis, and cannot float up and down. Although it has simple structure and low cost, it still cannot fully meet the market demand for stacking storage operation under the condition of insufficient height. Specifically, it is easy to be affected by the vehicle body structure arrangement, and the center of gravity position deviates to one side, which makes the whole vehicle attitude unbalanced. The driving wheel or auxiliary universal wheel far from the center of gravity is easy to be suspended, or the driving force is insufficient due to insufficient ground pressure, which causes skidding phenomenon, and even the whole vehicle attitude is unstable during stacking operation, which causes overturning phenomenon. During stacking operation, AGV dolly needs to move on uneven ground and carry heavy goods, which puts higher requirements on the stability, passability and load capacity of the chassis suspension structure. The existing traditional fixed chassis structure cannot maintain good passability when passing through uneven ground or when the load is unbalanced, which may cause deviation, skidding, even goods falling and other out-of-control phenomena, seriously affecting the work efficiency, and the carrying capacity is insufficient, which cannot fully meet the stacking and carrying requirements of overweight goods. Therefore, a new type of AGV dolly chassis suspension structure is proposed, which can provide higher stability, easy maintenance and adapt to various terrains and load conditions. CONTENT OF THE UTILITY MODEL

[0003] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a chassis suspension structure of stack version AGV dolly to solve the problems in the background art.

[0004] The above technical purpose of the utility model is realized by the following technical scheme: a chassis suspension structure of stack version AGV dolly, comprising: AGV dolly chassis; the AGV dolly chassis is provided with: a plurality of driving suspension assemblies for driving the AGV dolly chassis to move and a plurality of fixed support universal wheels for guiding and supporting; a plurality of driving suspension assemblies are respectively detachably connected with the AGV dolly chassis; a plurality of fixed support universal wheels are respectively detachably connected with the AGV dolly chassis.

[0005] Optionally, the driving suspension assembly comprises a first driving wheel, a first mounting seat, a first driving member for driving the first driving wheel, a hinge member and a first spring module for keeping the first driving wheel in close contact with the ground; the first mounting seat is detachably connected with the first driving member; the first driving wheel is fixedly connected with the output end of the first driving member; the first spring module is detachably connected with the first mounting seat; one end of the hinge member is detachably connected with the first mounting seat, and the other end is detachably connected with the AGV chassis.

[0006] Optionally, the driving suspension assembly comprises a second driving wheel, a second mounting seat, a second driving member for driving the second driving wheel, a fixing frame and at least one second spring module for shock absorption; one end of the second mounting seat is detachably connected with the second driving member; the second driving wheel is fixedly connected with the output end of the second driving member; one end of the fixing frame is detachably connected with the AGV chassis; one end of the second spring module is detachably connected with one end of the second mounting seat, and the other end is detachably connected with the other end of the fixing frame.

[0007] Optionally, the first spring module comprises a first spring mounting seat, at least one guide shaft, at least one first compression spring corresponding to the guide shaft and an adjusting member for adjusting the elasticity of the first compression spring; the guide shaft is detachably connected with the first spring mounting seat; the compression spring is sleeved on the guide shaft; the adjusting member is slidably connected with the guide shaft and can abut against one end of the compression spring away from the first spring mounting seat.

[0008] Optionally, the hinge member comprises a hinge seat, a hinge shaft and a hinge base; the hinge shaft is rotationally connected with the hinge base; the hinge base is detachably connected with the AGV chassis; one end of the hinge seat is fixedly connected with the hinge shaft, and the other end is detachably connected with the first mounting seat.

[0009] Optionally, the second spring module comprises a second spring mounting seat, at least one guide column, at least one second compression spring corresponding to the guide column and a linear bearing; the second spring mounting seat is detachably connected with the second mounting seat; one end of the guide column is detachably connected with the second spring mounting seat, and the other end is slidably accommodated in the linear bearing; the linear bearing is detachably connected with the fixing frame; the second compression spring is sleeved on the guide column, one end of the second compression spring abuts against the second spring mounting seat, and the other end abuts against the fixing frame.

[0010] Optionally, the fixed support universal wheel comprises a mounting plate and a guide wheel; the mounting plate is detachably connected with the AGV chassis; the guide wheel is detachably connected with the mounting plate.

[0011] Optionally, the auxiliary universal wheel suspension assembly is further provided; the universal wheel suspension assembly is detachably connected with the AGV chassis; the auxiliary universal wheel suspension assembly comprises an auxiliary universal wheel, a universal wheel mounting piece, a plurality of spring columns for buffering and damping, and a fixed top plate; the fixed top plate is detachably connected with the AGV chassis; one end of each of the plurality of spring columns is detachably connected with the fixed top plate, and the other end is detachably connected with the universal wheel mounting piece; the auxiliary universal wheel is detachably connected with the universal wheel mounting piece.

[0012] In summary, the utility model has the following beneficial effects:

[0013] 1. A plurality of drive suspension assemblies and spring modules are arranged on the chassis of the AGV, which can effectively reduce the vibration caused by uneven ground and ensure the safety of goods; the assembly of each drive suspension assembly and spring module is a detachable structure, which facilitates user maintenance and replacement and reduces maintenance cost.

[0014] 2. The drive suspension assembly adopts two structures, which are floating or fixed, and according to the operation demand and working condition of the AGV, different structures of the drive suspension assembly and the auxiliary universal wheel suspension assembly can be installed to adapt to the AGV with higher load bearing demand.

[0015] 3. By matching different suspension assemblies, the installation height of each wheel can be adjusted to balance the posture of the whole vehicle and ensure the stability of the stacking operation; the drive suspension assembly is arranged to enable the drive wheel to obtain sufficient ground normal pressure and thus generate sufficient driving force, thereby avoiding slipping and deviation and ensuring the driving performance. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of the main assembly structure in the first embodiment of the utility model;

[0017] Figure 2 is a schematic diagram of the main assembly structure in the second embodiment of the utility model;

[0018] Figure 3 is a schematic diagram of the drive suspension assembly in the first embodiment of the utility model;

[0019] Figure 4 is an exploded schematic diagram of the drive suspension assembly in the first embodiment of the utility model;

[0020] Figure 5is the structural schematic diagram of the driving suspension assembly in the embodiment two in the utility model;

[0021] Figure 6 is the explosion structural schematic diagram of the driving suspension assembly in the embodiment two in the utility model;

[0022] Figure 7 is the specific structural schematic diagram of the auxiliary universal wheel suspension assembly of the utility model.

[0023] In the drawing: 1, AGV trolley chassis;2, driving suspension assembly;21, first driving wheel;22, first mounting seat;23, first driving part;24, hinge part;241, hinge seat;242, hinge shaft;243, hinged seat;25, second driving wheel;26, second mounting seat;27, second driving part;28, fixed frame;3, fixed support universal wheel;31, mounting plate;32, guide wheel;4, first spring module;41, first spring mounting seat;42, guide shaft;43, first compression spring;44, adjusting part;5, second spring module;51, second spring mounting seat;52, guide column;53, second compression spring;54, linear bearing;6, auxiliary universal wheel suspension assembly;61, auxiliary universal wheel;62, universal wheel mounting part;63, spring column;64, fixed top plate. DETAILED DESCRIPTION

[0024] In order to make the purpose, characteristics and advantages of the utility model more apparent and easy to understand, the specific implementation of the utility model is described in detail below in combination with the drawings. The drawings show several embodiments of the utility model. However, the utility model can be realized in many different forms, and is not limited to the embodiments described herein.

[0025] In the utility model, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrally connected;Can be mechanically connected, or electrically connected;Can be directly connected, or indirectly connected through an intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. The terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly include one or more features.

[0026] In the utility model, unless another definite provision and limitation, first feature is "on" or "under" second feature, can include that first and second features are direct contact, also can include that first and second features are not direct contact but contact through other feature between them. Moreover, first feature "on", "above" and "on" second feature include that first feature is directly above and obliquely above second feature, or only indicate that first feature horizontal height is higher than second feature. First feature "under", "below" and "under" second feature include that first feature is directly below and obliquely below second feature, or only indicate that first feature horizontal height is less than second feature. The term "vertical", "horizontal", "left", "right", "up", "down" and similar expressions are only for the purpose of illustration, and not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0027] The utility model is described in detail below in connection with the drawings and examples.

[0028] The utility model provides a chassis suspension structure of stack version AGV dolly, as Figure 1 Shown, including: AGV dolly chassis 1;AGV dolly chassis 1 is provided with: a plurality of drive suspension assembly 2 for driving AGV dolly chassis 1 to move and a plurality of fixed support universal wheel 3 for guiding and supporting;A plurality of drive suspension assembly 2 is detachably connected with AGV dolly chassis 1 respectively;A plurality of fixed support universal wheel 3 is detachably connected with AGV dolly chassis 1 respectively.

[0029] In the specific implementation process, AGV dolly chassis 1 is provided with a plurality of drive suspension assembly 2 and fixed support universal wheel 3, and each drive suspension assembly 2 is connected with the chassis in a detachable manner, and the drive suspension assembly 2 is used to keep the overall stability of AGV dolly when AGV dolly drives to the bumpy and uneven ground, so that the side turning or falling situation does not occur.

[0030] Further, the drive suspension assembly 2 comprises: a first driving wheel 21, a first mounting seat 22, a first driving member 23 for driving the first driving wheel 21, a hinge member 24 and a first spring module 4 for always making the first driving wheel 21 in firm contact with the ground, the first mounting seat 22 is detachably connected with the first driving member 23, the first driving wheel 21 is fixedly connected with the output end of the first driving member 23, the first spring module 4 is detachably connected with the first mounting seat 22, one end of the hinge member 24 is detachably connected with the first mounting seat 22, and the other end is detachably connected with the AGV dolly chassis 1.

[0031] In embodiment one, the AGV vehicle has no higher demand for carrying goods at this time, and the driving suspension assembly 2 used at this time is a hinged mounting mode, which can float up and down. Specifically, the first mounting seat 22 floats up and down around the hinge 24, thereby driving the first driving wheel 21 to float up and down in the direction of gravity, so as to adapt to the terrain and keep the AGV vehicle stable as a whole, without side turning or falling. At the same time, the first spring module 4 arranged on the first mounting seat 22 increases the normal pressure on the first driving wheel, so that it always maintains close contact with the ground, and also adjusts the front and rear pitch attitude of the vehicle.

[0032] Further, the driving suspension assembly 2 comprises: a second driving wheel 25, a second mounting seat 26, a second driving member 27 for driving the second driving wheel 25, a fixed frame 28, and at least one second spring module 5 for damping and buffering; one end of the second mounting seat 26 is detachably connected with the second driving member 27; the second driving wheel 25 is fixedly connected with the output end of the second driving member 27; one end of the fixed frame 28 is detachably connected with the AGV vehicle chassis 1; one end of the second spring module 5 is detachably connected with one end of the second mounting seat 26, and the other end is detachably connected with the other end of the fixed frame 28.

[0033] In embodiment two, the AGV vehicle has higher demand for carrying goods at this time, and the driving suspension assembly 2 used at this time is a hinged mounting mode, which is a straight-line mounting mode. The driving suspension assembly 2 cannot float up and down, and the second spring module 5 arranged on the second mounting seat 26 achieves the effect of damping. In the straight-line mounting mode, in order to ensure good terrain adaptability, it is generally used in combination with an auxiliary universal wheel suspension assembly 6, thereby improving the scene adaptability of the AGV vehicle. Figure 2 As shown in the figure, in order to ensure good terrain adaptability, it is generally used in combination with an auxiliary universal wheel suspension assembly 6, thereby improving the scene adaptability of the AGV vehicle.

[0034] Further, the first spring module 4 comprises: a first spring mounting seat 41, at least one guide shaft 42, at least one first compression spring 43 corresponding to the guide shaft 42, and an adjusting member 44 for adjusting the elasticity of the first compression spring 43; the guide shaft 42 is detachably connected with the first spring mounting seat 41; the compression spring is sleeved on the guide shaft 42; the adjusting member 44 is slidably connected with the guide shaft 42, and can abut away from one end of the compression spring away from the first spring mounting seat 41.

[0035] In the extension of embodiment one, by adjusting the height position of the adjusting part 44 on the guide shaft 42, the compression amount of the first compression spring 43 is adjusted, the pressure of the first driving wheel 21 is adjusted, and the first driving wheel 21 is more tightly contacted with the ground to avoid the phenomenon of idling and slipping of the first driving wheel 21.

[0036] Further, the hinge part 24 comprises a hinge seat 241, a hinge shaft 242 and a hinge base 243; the hinge shaft 242 is rotationally connected with the hinge base 243; the hinge base 243 is detachably connected with the AGV chassis 1; one end of the hinge seat 241 is fixedly connected with the hinge shaft 242, and the other end is detachably connected with the first mounting seat 22.

[0037] In the extension of embodiment one, the first mounting seat 22 is connected with the hinge seat 241, and rotates on the hinge seat 241 under the action of the hinge shaft 242, so as to realize the up-and-down floating of the first mounting seat 22.

[0038] Further, the second spring module 5 comprises a second spring mounting seat 51, at least one guide column 52, at least one second compression spring 53 corresponding to the guide column 52, and a linear bearing 54; the second spring mounting seat 51 is detachably connected with the second mounting seat 26; one end of the guide column 52 is detachably connected with the second spring mounting seat 51, and the other end is slidably arranged in the linear bearing 54; the linear bearing 54 is detachably connected with the fixed frame 28; the second compression spring 53 is sleeved on the guide column 52, one end of the second compression spring 53 abuts against the second spring mounting seat 51, and the other end abuts against the fixed frame 28.

[0039] In the extension of embodiment two, the spring suspension structure formed by the second spring mounting seat 51, the guide column 52, the second compression spring 53 and the linear bearing 54 can achieve a certain degree of damping effect under the condition that the second driving wheel 25 is fixed.

[0040] Further, the fixed support universal wheel 3 comprises a mounting plate 31 and a guide wheel 32; the mounting plate 31 is detachably connected with the AGV chassis 1; the guide wheel 32 is detachably connected with the mounting plate 31.

[0041] In other embodiments, the mounting plate 31 is fixedly connected with the AGV chassis 1, and the guide wheel 32 is detachably mounted on the mounting plate 31, and this combination ensures that the AGV can be quickly moved even in a very small space, and provides good support and flexibility for the AGV.

[0042] Further, it also comprises an auxiliary universal wheel suspension assembly 6; the universal wheel suspension assembly is detachably connected with the AGV chassis 1; the auxiliary universal wheel suspension assembly 6 comprises an auxiliary universal wheel 61, a universal wheel mounting 62, a plurality of spring columns 63 for buffering and damping, and a fixed top plate 64; the fixed top plate 64 is detachably connected with the AGV chassis 1; one end of the plurality of spring columns 63 is detachably connected with the fixed top plate 64, and the other end is detachably connected with the universal wheel mounting 62; the auxiliary universal wheel 61 is detachably connected with the universal wheel mounting 62.

[0043] In other embodiments, the auxiliary universal wheel suspension assembly 6 is generally installed in combination with the in-line driving suspension assembly 2, which comprises an auxiliary universal wheel 61, a universal wheel mounting 62, and a plurality of spring columns 63 for damping. The fixed top plate 64 is connected with the AGV chassis 1 to provide additional support for the entire structure, improve the flexibility of operation, and increase the damping adaptability of the AGV chassis 1.

[0044] The chassis suspension structure of the stacking version AGV vehicle of the utility model, a plurality of driving suspension assemblies 2 and spring modules are arranged on the chassis of the AGV vehicle, which can effectively reduce the vibration caused by uneven ground and ensure the safety of goods; the assembly of each driving suspension assembly 2 and spring module is a detachable structure, which facilitates user maintenance and replacement and reduces maintenance costs; the driving suspension assembly 2 is provided in two structures, which are floating or fixed, according to the operation requirements and working conditions of the AGV vehicle, different structures of the driving suspension assembly 2 can be installed to adapt to AGV vehicles with higher load-bearing requirements; by matching different suspension assemblies, the installation height of each wheel can be adjusted, the attitude of the whole vehicle can be balanced, and the stability of the stacking operation can be ensured; the driving suspension assembly 2 is arranged to enable the driving wheel to obtain sufficient ground normal pressure and thus exert sufficient driving force, avoid slipping and deviation, and ensure the driving performance.

[0045] The above only describes preferred embodiments of the utility model, and the protection scope of the utility model is not limited to the above-mentioned embodiments, and any technical scheme falling within the concept of the utility model belongs to the protection scope of the utility model. It should be noted that for ordinary technical personnel in the technical field, some improvements and decorations without departing from the principle of the utility model are also regarded as the protection scope of the utility model.

Claims

1. A chassis suspension structure of a stack version AGV, characterized in that, Comprise: AGV chassis; a plurality of driving suspension assemblies for driving the AGV chassis to move and a plurality of fixed support universal wheels for guiding and supporting are arranged on the AGV chassis; A plurality of driving suspension assemblies are respectively detachably connected with the AGV chassis; a plurality of fixed support universal wheels are respectively detachably connected with the AGV chassis.

2. The chassis suspension structure of the stacked AGV according to claim 1, characterized in that, The driving suspension assembly comprises a first driving wheel, a first mounting seat, a first driving member for driving the first driving wheel, a hinge member and a first spring module for making the first driving wheel always in close contact with the ground; The first mounting seat is detachably connected with the first driving member; the first driving wheel is fixedly connected with the output end of the first driving member; the first spring module is detachably connected with the first mounting seat; One end of the hinge member is detachably connected with the first mounting seat, and the other end is detachably connected with the AGV chassis.

3. The chassis suspension structure of the stacked AGV according to claim 1, characterized in that, The driving suspension assembly comprises a second driving wheel, a second mounting seat, a second driving member for driving the second driving wheel, a fixed frame and at least one second spring module for shock absorption and buffering; One end of the second mounting seat is detachably connected with the second driving member; the second driving wheel is fixedly connected with the output end of the second driving member; one end of the fixed frame is detachably connected with the AGV chassis; One end of the second spring module is detachably connected with one end of the second mounting seat, and the other end is detachably connected with the other end of the fixed frame.

4. The chassis suspension structure of the stacked AGV according to claim 2, characterized in that, The first spring module comprises a first spring mounting seat, at least one guide shaft, at least one first compression spring corresponding to the guide shaft, and an adjusting member for adjusting the elasticity of the first compression spring; The guide shaft is detachably connected with the first spring mounting seat; the compression spring is sleeved on the guide shaft; the adjusting member is slidably connected with the guide shaft and can abut against one end of the compression spring away from the first spring mounting seat.

5. The chassis suspension structure of a stacked AGV according to claim 2, characterized in that, The hinge member comprises a hinge seat, a hinge shaft and a hinge base; the hinge shaft is rotationally connected with the hinge base; the hinge base is detachably connected with the AGV chassis; one end of the hinge seat is fixedly connected with the hinge shaft, and the other end is detachably connected with the first mounting seat.

6. The chassis suspension structure of a stacked AGV according to claim 3, characterized in that, The second spring module comprises a second spring mounting seat, at least one guide column, at least one second compression spring corresponding to the guide column, and a linear bearing; The second spring mounting seat is detachably connected with the second mounting seat; one end of the guide column is detachably connected with the second spring mounting seat, and the other end is slidably accommodated in the linear bearing; the linear bearing is detachably connected with the fixed frame; the second compression spring is sleeved on the guide column, one end of the second compression spring abuts against the second spring mounting seat, and the other end abuts against the fixed frame.

7. The chassis suspension structure of a stacked AGV according to claim 1, characterized in that, The fixed support universal wheel comprises a mounting plate and a guide wheel; The mounting plate is detachably connected with the AGV chassis; the guide wheel is detachably connected with the mounting plate.

8. The chassis suspension structure of the stacked AGV according to claim 1, characterized in that, Also comprise: The auxiliary universal wheel suspension assembly is detachably connected with the AGV chassis. The auxiliary universal wheel suspension assembly comprises an auxiliary universal wheel, a universal wheel mounting piece, a plurality of spring columns for buffering and damping, and a fixed top plate. The fixed top plate is detachably connected with the AGV chassis, one end of each of the spring columns is detachably connected with the fixed top plate, the other end of each of the spring columns is detachably connected with the universal wheel mounting piece, and the auxiliary universal wheel is detachably connected with the universal wheel mounting piece.

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