Three-rocker-arm chassis suspension structure of AGV (Automatic Guided Vehicle)
By installing a three-rocker arm suspension structure on the AGV chassis, the problem of instability of traditional suspension structures on complex terrain is solved, thereby improving the flexibility and stability of the AGV and reducing maintenance costs.
Patent Information
- Application Number
- CN202520239120.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-14
- Publication Date
- 2025-12-23
- Estimated Expiration
- 2035-02-14
AI Technical Summary
When traditional AGV chassis suspension structures operate on uneven or complex terrain, vibrations and impacts affect stability and safety, leading to unstable operation, equipment damage, and increased transportation costs.
It adopts a three-rocker chassis suspension structure, including an independent first front drive module, a second front drive module and a rear universal module, which are set in the swing cavity of the AGV chassis. This allows the modules to swing dynamically in complex terrain to maintain close contact with the ground and prevent spinning and slipping.
It improves the flexibility and stability of AGVs in complex environments, reduces maintenance costs, and ensures safe and efficient operation.
Smart Images
Figure CN223702197U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to AGV dolly technical field more specifically, it relates to a three swing arm chassis suspension structure of AGV dolly. BACKGROUND
[0002] With the development of industrial automation, the automatic guided vehicle (AGV) is widely used in production line, warehouse, logistics and other scenes to realize efficient material handling and transportation. The traditional chassis suspension structure is mostly designed in a fixed manner. Such design can run well on flat ground, but on uneven or complex terrain, the AGV dolly is often subjected to vibration and impact, affecting the stability and safety of operation. When facing high dynamic load and complex environment, the traditional chassis suspension structure often cannot adapt, which not only affects the handling efficiency, but also damages the equipment, causing an increase in transportation cost. Therefore, a new type of three swing arm chassis suspension structure is proposed to provide better flexibility, stability and adaptability, and to ensure the safe and efficient operation of the AGV dolly in various working environments. SUMMARY
[0003] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a three swing arm chassis suspension structure of AGV dolly to solve the problems existing in the background art.
[0004] The above technical purpose of the utility model is achieved by the following technical scheme: a three swing arm chassis suspension structure of AGV dolly, comprising: an AGV dolly chassis, a first front drive module for moving the AGV dolly chassis, a second front drive module for moving the AGV dolly chassis, and a rear universal module; the AGV dolly chassis is provided with: a first swing cavity for floating swing of the first front drive module, a second swing cavity for floating swing of the second front drive module, and a third swing cavity for floating swing of the rear universal module; the first swing cavity and the second swing cavity are respectively arranged on the two sides of the AGV dolly chassis; the third swing cavity is arranged on the tail end of the AGV dolly chassis; the first front drive module is detachably connected with the AGV dolly chassis, and the first front drive module is arranged in the first swing cavity; the second front drive module is detachably connected with the AGV dolly chassis, and the second front drive module is arranged in the second swing cavity; the rear universal module is detachably connected with the AGV dolly chassis, and the rear universal module is arranged in the third swing cavity.
[0005] Optionally, the first front driving module comprises a first bearing seat, a first rocker arm, a first front universal wheel, a first driving wheel and a first driving member for driving the first driving wheel; the first bearing seat is detachably connected with the AGV chassis; the first rocker arm is rotationally connected with the first bearing seat; the first front universal wheel is fixedly connected with one end of the first rocker arm; the first driving wheel is fixedly connected with the other end of the first rocker arm; the first driving member is detachably connected with the first bearing seat; and the output end of the first driving member is in transmission connection with the first driving wheel.
[0006] Optionally, one end of the first rocker arm close to the first front universal wheel is provided with a first limiting block for limiting the swing of the first front universal wheel; and one end of the first rocker arm close to the first driving wheel is provided with a second limiting block for preventing the first driving wheel from swinging upward along the direction of gravity; and the first limiting block and the second limiting block are respectively abuttable against the AGV chassis.
[0007] Optionally, the second front driving module comprises a second bearing seat, a second rocker arm, a second front universal wheel, a second driving wheel and a second driving member for driving the second driving wheel; the second bearing seat is detachably connected with the AGV chassis; the second rocker arm is rotationally connected with the second bearing seat; the second front universal wheel is fixedly connected with one end of the second rocker arm; the second driving wheel is fixedly connected with the other end of the second rocker arm; the second driving member is detachably connected with the second bearing seat; and the output end of the second driving member is in transmission connection with the second driving wheel.
[0008] Optionally, one end of the second rocker arm close to the second front universal wheel is provided with a third limiting block for limiting the swing of the second front universal wheel; and one end of the second rocker arm close to the second driving wheel is provided with a fourth limiting block for preventing the second driving wheel from swinging upward along the direction of gravity; and the third limiting block and the fourth limiting block are respectively abuttable against the AGV chassis.
[0009] Optionally, the rear universal module comprises a third bearing seat, a third rocker arm and two rear universal wheels; the third bearing seat is detachably connected with the AGV chassis; the third rocker arm is rotationally connected with the third bearing seat; and the two rear universal wheels are respectively detachably connected with two ends of the third rocker arm.
[0010] Optionally, two fifth limiting blocks for preventing the third rocker arm from swinging beyond a maximum distance are respectively and symmetrically arranged on the third rocker arm; and the two fifth limiting blocks are respectively abuttable against the AGV chassis.
[0011] In summary, the present application has the following beneficial effects:
[0012] 1. By setting three independent swing cavities, when the AGV car drives to the road section with uneven or more obstacles, the modules in the swing cavity can dynamically swing alone to adapt to the uneven ground, reduce the influence on the operation of the car, keep the driving end in close contact with the ground at all times, and prevent the AGV car from idling or skidding.
[0013] 2. The detachable connection design of each driving module and the chassis allows users to quickly replace related components when a fault occurs, reduces maintenance costs, and improves use efficiency. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 is the main structure schematic diagram of the utility model;
[0015] Figure 2 is the main structure gravity center schematic diagram of the utility model;
[0016] Figure 3 is the stable state schematic diagram in embodiment one of the utility model;
[0017] Figure 4 is the unstable state schematic diagram in embodiment one of the utility model;
[0018] Figure 5 is the stable state schematic diagram in embodiment five of the utility model;
[0019] Figure 6 is the unstable state schematic diagram in embodiment five of the utility model.
[0020] In the drawing: 1, AGV car chassis; 11, first swing cavity; 12, second swing cavity; 13, third swing cavity; 2, first front driving module; 21, first bearing seat; 22, first rocker arm; 23, first front universal wheel; 24, first driving wheel; 25, first limit block; 3, second front driving module; 4, rear universal module; 41, third bearing seat; 42, third rocker arm; 43, rear universal wheel; 44, fifth limit block. DETAILED DESCRIPTION
[0021] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model will be described in detail below. 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.
[0022] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and so on should be understood broadly, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be direct connection, also can be indirectly connected through intermediate medium, can be the intercommunication of two elements. For ordinary skilled in the art, the above terms can be understood according to the specific meaning of the utility model. The terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features.
[0023] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and so on should be understood broadly, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be direct connection, also can be indirectly connected through intermediate medium, can be the intercommunication of two elements. For ordinary skilled in the art, the above terms can be understood according to the specific meaning of the utility model. The terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features.
[0024] The utility model is described in detail below in connection with the drawings and examples.
[0025] The utility model provides a kind of three rocker arm chassis suspension structure of AGV dolly, as Figure 1As shown, it comprises: AGV chassis 1, for driving the AGV chassis 1 moves the first front drive module 2, for driving the AGV chassis 1 moves the second front drive module 3 and the rear universal module 4; the AGV chassis 1 is provided with: for the first front drive module 2 for floating swing first swing cavity 11, for the second front drive module 3 for floating swing second swing cavity 12 and for the rear universal module 4 floating swing third swing cavity 13; the first swing cavity 11 and the second swing cavity 12 are respectively arranged on both sides of the AGV chassis 1; the third swing cavity 13 is arranged on the tail end of the AGV chassis 1; the first front drive module 2 is detachably connected with the AGV chassis 1, and the first front drive module 2 is arranged in the first swing cavity 11; the second front drive module 3 is detachably connected with the AGV chassis 1, and the second front drive module 3 is arranged in the second swing cavity 12; the rear universal module 4 is detachably connected with the AGV chassis 1, and the rear universal module 4 is arranged in the third swing cavity 13.
[0026] In the specific implementation process, the AGV chassis 1 structure adopts three groups of rocker arm design, respectively adds swing cavity on both sides and tail end of the chassis, the first front drive module 2, the second front drive module 3 and the rear universal module 4 are arranged in the corresponding swing cavity, allowing each module to float and swing during the movement of the AGV, so as to adapt to complex terrain and ensure its smooth running; when the AGV is empty or driving to the stable ground, such as Figure 2 As shown, the center of gravity of the AGV is at the geometric center position of the line connecting the first front drive module 2, the second front drive module 3 and the rear universal module 4, which ensures that the AGV is evenly stressed and will not be biased to either end, so that the first front drive module 2 and the second front drive module 3 are evenly stressed and will not cause the phenomenon of slipping or idling; when the AGV drives to the unstable terrain, in order to ensure the stability of the AGV as a whole, such as Figures 2-6 As shown, the first front drive module 2, the second front drive module 3 and the rear universal module 4 will dynamically swing in the corresponding swing cavity, so that the driving end of the first front drive module 2 and the second front drive module 3 is always in close contact with the ground, and the dynamic swing of the rear universal module 4 realizes that the surface of the AGV is always kept in a relatively horizontal state, which ensures the stability of the load.
[0027] Further, the first front driving module 2 comprises a first bearing seat 21, a first swing arm 22, a first front universal wheel 23, a first driving wheel 24 and a first driving member for driving the first driving wheel 24; the first bearing seat 21 is detachably connected with the AGV chassis 1; the first swing arm 22 is rotationally connected with the first bearing seat 21; the first front universal wheel 23 is fixedly connected with one end of the first swing arm 22; the first driving wheel 24 is fixedly connected with the other end of the first swing arm 22; the first driving member is detachably connected with the first bearing seat 21; and the output end of the first driving member is in transmission connection with the first driving wheel 24.
[0028] In the first embodiment, the first swing arm 22 is rotationally connected with the bearing in the first bearing seat 21, so as to realize the swing of the first swing arm 22 with the first bearing seat 21 as the center; as shown in Figure 3 When the AGV vehicle runs on the flat ground, the first swing arm does not swing, at this time, the first driving wheel 24 and the first front universal wheel 23 connected with the first swing arm are in close contact with the ground, so as to ensure the running stability of the AGV vehicle; as shown in Figure 4 When the AGV vehicle runs in the irregular or obstacle-rich state, at this time, the center of gravity of the AGV vehicle can be changed, so that the first swing arm 22 swings in the first swing cavity 11 with the first bearing seat 21 as the center, so that the first front universal wheel 23 swings upward, so as to realize the downward swing of the first driving wheel 24, so as to ensure the running of the AGV vehicle and avoid the idling phenomenon of the first driving wheel 24.
[0029] Further, one end of the first swing arm 22 close to the first front universal wheel 23 is provided with a first limiting block 25 for limiting the swing of the first front universal wheel 23; one end of the first swing arm 22 close to the first driving wheel 24 is provided with a second limiting block for preventing the first driving wheel 24 from swinging upward along the direction of gravity; and the first limiting block 25 and the second limiting block are respectively in abutment with the AGV chassis 1.
[0030] In the second embodiment, as shown in Figure 4As shown, in order to ensure that the swing of the first swing arm exceeds the maximum swing position of the first front universal wheel 23, a first limiting block 25 is arranged at the end of the first swing arm 22 close to the first front universal wheel 23, and the swing position of the first swing arm is limited through the abutment of the first limiting block 25 and the AGV chassis 1; in order to ensure that the swing of the first swing arm 22 does not cause the first drive wheel 24 to move upward along the direction of gravity in any driving condition, which will cause the first drive wheel 24 to separate from the ground and form an idling phenomenon, a second limiting block is arranged on the first swing arm 22, so that when the first swing arm 22 is about to separate the first drive wheel 24 from the ground, the swing of the first swing arm 22 is limited, and the first drive wheel 24 cannot swing upward.
[0031] Further, the second front drive module 3 comprises a second bearing seat, a second swing arm, a second front universal wheel, a second drive wheel, and a second drive member for driving the second drive wheel; the second bearing seat is detachably connected with the AGV chassis 1; the second swing arm is rotationally connected with the second bearing seat; the second front universal wheel is fixedly connected with one end of the second swing arm; the second drive wheel is fixedly connected with the other end of the second swing arm; the second drive member is detachably connected with the second bearing seat; and the output end of the second drive member is in transmission connection with the second drive wheel.
[0032] In the third embodiment, the second swing arm is rotationally connected with the bearing in the second bearing seat, so as to realize the swing of the second swing arm with the second bearing seat as the center; when the AGV vehicle drives on a flat ground, the second swing arm does not swing, and at this time, the second drive wheel and the second front universal wheel connected with the second swing arm are in close contact with the ground, so as to ensure the driving stability of the AGV vehicle; in the driving state of irregular or many obstacles, the center of gravity of the AGV vehicle may change, so that the second swing arm swings in the second swing cavity 12 with the second bearing seat as the center, so that the second front universal wheel swings upward, and the second drive wheel swings downward, so as to realize the contact of the second drive wheel with the ground at all times, ensure the driving of the AGV vehicle, and avoid the idling phenomenon of the second drive wheel.
[0033] Further, the end of the second swing arm close to the second front universal wheel is provided with a third limiting block for limiting the swing of the second front universal wheel; the end of the second swing arm close to the second drive wheel is provided with a fourth limiting block for preventing the second drive wheel from swinging upward along the direction of gravity; and the third limiting block and the fourth limiting block are respectively in abutment with the AGV chassis 1.
[0034] In the embodiment four, in order to ensure that the swing of the second swing arm exceeds the maximum swing position of the second front universal wheel, a third limiting block is arranged at the end of the second swing arm close to the second front universal wheel, and the swing position of the second swing arm is limited through the abutment of the third limiting block and the AGV chassis 1; in order to ensure that the swing of the second swing arm does not cause the second driving wheel to move upward along the gravity direction in any driving condition, which will cause the separation of the second driving wheel from the ground and the occurrence of the idling phenomenon, a fourth limiting block is arranged on the second swing arm, so that when the second swing arm is about to separate the second driving wheel from the ground, the swing of the second swing arm is limited, and the second driving wheel cannot swing upward.
[0035] Further, the rear universal module 4 comprises a third bearing seat 41, a third swing arm 42 and two rear universal wheels 43; the third bearing seat 41 is detachably connected with the AGV chassis 1; the third swing arm 42 is rotationally connected with the third bearing seat 41; and the two rear universal wheels 43 are respectively detachably connected with the two ends of the third swing arm 42.
[0036] In the embodiment five, the third swing arm 42 is connected with the bearing in the third bearing seat 41, so that the third swing arm 42 is centered on the third bearing seat 41, and the two rear universal wheels 43 connected with the third swing arm 42 are dynamically swung; as shown in the figure, when facing the uneven terrain, the third swing arm 42 is dynamically swung to make the two rear universal wheels 43 have a certain height difference to adapt to the uneven terrain, so that the surface of the AGV vehicle always keeps a relatively horizontal state. Figure 6
[0037] Further, two fifth limiting blocks 44 for preventing the third swing arm 42 from swinging beyond the maximum distance are symmetrically arranged on the third swing arm 42; and the two fifth limiting blocks 44 can respectively abut against the AGV chassis 1.
[0038] In the embodiment six, as shown in the figure, in order to ensure that the swing of the third swing arm 42 does not exceed the maximum distance, a third limiting block is arranged on the third swing arm 42 to protect the structure of the AGV chassis 1 and avoid damage. Figure 6
[0039] The three-swing-arm chassis suspension structure of the AGV vehicle can make the modules in the swing cavities independently and dynamically swing when the AGV vehicle drives to the road section with uneven terrain or many obstacles, so as to adapt to the uneven ground, reduce the influence on the operation of the vehicle, keep the driving end in close contact with the ground at all times, and prevent the AGV vehicle from idling or slipping.
[0040] The above merely is preferred implementation manner of the present application, the protection scope of the present application is not only limited to the above examples, and belongs to the technical scheme under the idea of the present application all belongs to the protection scope of the present application. It should be pointed out that, for ordinary skilled person in the art, under the premise of not departing from the principle of the present application, some improvements and decorations, these improvements and decorations should also be considered as the protection scope of the present application.
Claims
1. A three-rocker arm chassis suspension structure for an AGV (Automated Guided Vehicle), characterized in that, include: AGV chassis, a first front drive module for moving the AGV chassis, a second front drive module for moving the AGV chassis, and a rear universal module; The AGV chassis is provided with: a first swing cavity for the first front drive module to float and swing, a second swing cavity for the second front drive module to float and swing, and a third swing cavity for the rear universal module to float and swing; the first and second swing cavities are respectively located on both sides of the AGV chassis; the third swing cavity is located at the rear end of the AGV chassis. The first front drive module is detachably connected to the AGV chassis and is disposed in the first swing cavity; the second front drive module is detachably connected to the AGV chassis and is disposed in the second swing cavity; the rear universal module is detachably connected to the AGV chassis and is disposed in the third swing cavity.
2. The three-rocker arm chassis suspension structure of an AGV trolley according to claim 1, characterized in that, The first front drive module includes: a first bearing housing, a first rocker arm, a first front caster wheel, a first drive wheel, and a first drive component for driving the first drive wheel; The first bearing housing is detachably connected to the AGV chassis; the first rocker arm is rotatably connected to the first bearing housing; the first front universal wheel is fixedly connected to one end of the first rocker arm; the first drive wheel is fixedly connected to the other end of the first rocker arm; the first drive component is detachably connected to the first bearing housing; and the output end of the first drive component is drively connected to the first drive wheel.
3. The three-rocker arm chassis suspension structure of an AGV trolley according to claim 2, characterized in that, The first rocker arm is provided with a first limiting block at one end near the first front universal wheel to limit the swing of the first front universal wheel; the first rocker arm is provided with a second limiting block at one end near the first drive wheel to prevent the first drive wheel from swinging upward along the direction of gravity; the first limiting block and the second limiting block can respectively abut against the chassis of the AGV.
4. The three-rocker arm chassis suspension structure of an AGV trolley according to claim 1, characterized in that, The second front drive module includes: a second bearing housing, a second rocker arm, a second front caster wheel, a second drive wheel, and a second drive component for driving the second drive wheel; The second bearing housing is detachably connected to the AGV chassis; the second rocker arm is rotatably connected to the second bearing housing; the second front universal wheel is fixedly connected to one end of the second rocker arm; the second drive wheel is fixedly connected to the other end of the second rocker arm; the second drive component is detachably connected to the second bearing housing; and the output end of the second drive component is drively connected to the second drive wheel.
5. The three-rocker arm chassis suspension structure of an AGV trolley according to claim 4, characterized in that, The second rocker arm is provided with a third limiting block at one end near the second front universal wheel to limit the swing of the second front universal wheel; the second rocker arm is provided with a fourth limiting block at one end near the second drive wheel to prevent the second drive wheel from swinging upward along the direction of gravity; the third limiting block and the fourth limiting block can respectively abut against the chassis of the AGV trolley.
6. The three-rocker arm chassis suspension structure of an AGV trolley according to claim 1, characterized in that, The rear universal module includes: a third bearing housing, a third rocker arm, and two rear universal wheels; The third bearing housing is detachably connected to the AGV chassis; the third rocker arm is rotatably connected to the third bearing housing; and the two rear casters are detachably connected to both ends of the third rocker arm.
7. The three-rocker arm chassis suspension structure of an AGV trolley according to claim 6, characterized in that, The third rocker arm is symmetrically provided with two fifth limit blocks to prevent the third rocker arm from swinging beyond the maximum distance; the two fifth limit blocks can respectively abut against the chassis of the AGV.