Chassis structure of AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a chassis structure of an AGV (Automatic Guided Vehicle), which comprises a chassis and a bearing wheel arranged on the chassis, the chassis is also provided with a driving wheel, and the driving wheel is connected to the chassis through an elastic component; the elastic assembly comprises a plurality of plate springs, the first ends of the plate springs are connected with the chassis, the second ends of the plate springs are connected with the driving wheels and can elastically move up and down, and when the driving wheels are not subjected to upward acting force, the lower ends of the driving wheels are lower than the lower ends of the bearing wheels; the suspension structure that the plate spring is connected with the driving wheel and the chassis is adopted, and the complex mechanical design of traditional hinged swing type suspension is changed. According to the innovation, the number of parts is obviously reduced, and the structural complexity is reduced. Structural simplification brings many benefits, on one hand, the requirement for the machining precision of parts is greatly lowered, and the production cost and the machining difficulty are lowered accordingly; and on the other hand, the assembling time is shortened, and the labor cost is correspondingly reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV technical field, especially a chassis structure of AGV dolly. BACKGROUND

[0002] Differential wheel AGV (automatic guided vehicle) has been widely applied in the fields of logistics storage, industrial production and the like. At present, in the suspension mode of the driving wheel of the differential wheel AGV, the hinged swing type is a relatively common structure. The structure is fixed by the driving wheel and the mounting seat and forms a hinge with the vehicle body, so that the driving unit can swing around the hinge point with the vehicle body, realizes the floating in the up-down direction, and the swing amplitude of the driving unit is determined by setting the spring damping device.

[0003] However, the existing hinged swing type suspension has the following disadvantages: it needs a plurality of parts such as a hinge seat, a hinge shaft, a shaft sleeve, a hinge swing arm, a spring and corresponding spring fixing positions and pins. In the design, the machining precision of the hinge seat, the hinge swing arm and the hinge shaft is required to be high; in the assembly process, the above series of parts need to be assembled step by step, and jigs need to be used for assembling the spring. The number of parts is large, the machining precision is required to be high, and the assembly process is relatively complicated. SUMMARY

[0004] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the utility model is to provide a chassis structure of AGV dolly, which aims to simplify the mechanical implementation scheme of the existing hinged swing type suspension, reduce the number of parts and the machining precision requirement, simplify the assembly process, thereby realizing the simplification of the machining and assembly of the suspension mechanism, while ensuring that it can effectively provide ground close contact force and ensure the stable operation of the AGV dolly.

[0005] To solve the above-mentioned technical problems, one technical scheme of the utility model is to provide a chassis structure of AGV dolly, which comprises a chassis and a load wheel arranged on the chassis. A driving wheel is further arranged on the chassis, and the driving wheel is connected to the chassis through an elastic assembly. The elastic assembly comprises a plurality of leaf springs, the first end of each leaf spring is connected to the chassis, the second end of each leaf spring is connected to the driving wheel and can move up and down elastically, and the lower end of the driving wheel is lower than the lower end of the load wheel when the driving wheel is not subjected to upward force.

[0006] Further, the leaf springs are configured as two, a convex column is arranged on the chassis, the first end of each leaf spring is connected to the upper and lower end of the convex column respectively, and the second end of each leaf spring is connected to the upper and lower part of the central shaft of the driving wheel respectively.

[0007] Further, the plate spring is configured as two, the chassis is provided with a convex column, the first end of the two plate springs is connected with the upper and lower end of the convex column respectively, the second end of the two plate springs is connected through a connecting piece, and the central shaft of the driving wheel is fixedly connected to the connecting piece.

[0008] Further, the convex column is detachably arranged on the chassis; and the two plate springs are detachably connected with the convex column.

[0009] Further, the bottom end of the convex column is provided with a connecting plate, and the convex column is detachably connected with the chassis through the connecting plate.

[0010] Further, the width of the two ends of the plate spring is greater than the width of the middle part.

[0011] Further, the chassis is provided with an avoiding groove corresponding to the position of the driving wheel, and the avoiding groove vertically penetrates the chassis to accommodate the driving wheel.

[0012] Further, the chassis is provided with an installation groove corresponding to the position of the convex column, the connecting plate and the plate spring, the installation groove vertically penetrates the chassis to accommodate the convex column and the plate spring, the connecting plate is in U-shaped matching with the cross section of the installation groove, the connecting plate is arranged below the chassis corresponding to the position of the installation groove, and the side wall of the convex column is in contact with the inner wall of the installation groove.

[0013] Further, the driving wheels are arranged in pairs, the chassis is provided with at least one group of driving wheels, the two driving wheels of the at least one group of driving wheels are arranged on the two sides of the chassis respectively, and each driving wheel is connected to the chassis through a group of elastic components.

[0014] Further, the load wheels are configured as a plurality of, the plurality of load wheels are distributed in a rectangular shape at the end corners of the chassis, the chassis is provided with an installation cavity corresponding to the position of each load wheel on the upper end respectively, and each load wheel is arranged on the top wall of the installation cavity and extends downward out of the installation cavity.

[0015] The chassis structure of the AGV trolley has at least the following beneficial effects: the suspension structure of connecting the driving wheel and the chassis by the leaf spring changes the complicated mechanical design of the traditional hinged swing type suspension. The innovation significantly reduces the number of parts and the structural complexity. The structural simplification brings many benefits. On the one hand, the requirement for the machining precision of the parts is greatly reduced, and the production cost and machining difficulty are reduced accordingly; on the other hand, the assembly time is shortened, and the labor cost is also reduced. At the same time, the leaf spring can well cope with the unevenness of the ground by virtue of its unique elastic properties, and continuously provide stable ground close force for the driving wheel, which effectively guarantees the smooth running of the AGV trolley under complex ground conditions. Moreover, the simplified design makes the maintenance and part replacement more convenient, further improves the reliability of the AGV trolley, and prolongs the service life. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and do not limit the application. In the drawings:

[0017] Figure 1 Structure diagram of the chassis structure of the AGV trolley according to an embodiment of the present application Figure One ;

[0018] Figure 2 Structure diagram of the chassis structure of the AGV trolley according to an embodiment of the present application Figure Two ;

[0019] Figure 3 Structure diagram of the driving wheel and the elastic assembly in the chassis structure of the AGV trolley according to an embodiment of the present application Figure One ;

[0020] Figure 4 Structure diagram of the driving wheel and the elastic assembly in the chassis structure of the AGV trolley according to an embodiment of the present application Figure Two .

[0021] The meanings of the reference numerals in the drawings are as follows:

[0022] Chassis 1, mounting cavity 11, top wall 111, side wall 112, recess 12, avoiding groove 13, mounting groove 14, load wheel 2, driving wheel 3, center shaft 31, elastic assembly 4, leaf spring 41, protruding column 5, screw hole 51, screw 52, connecting plate 6, fixing hole 61, fixing bolt 62, connecting piece 7. DETAILED DESCRIPTION

[0023] The present application will be further described below in conjunction with the drawings.

[0024] Reference is made to Figure 1 ,Figure 2 and Figure 3 The chassis structure of the AGV trolley comprises a chassis 1, load wheels 2 and drive wheels 3. The drive wheels 3 are connected to the chassis 1 through elastic components 4. Under the action of the elastic components 4, the drive wheels 3 can move up and down elastically. When the drive wheels 3 are not subjected to upward force, the lower end of the drive wheels 3 is lower than the lower end of the load wheels 2.

[0025] The load wheels 2 are arranged in multiple numbers and are distributed in a rectangular shape at the corner of the chassis 1. In the shown embodiment, the number of load wheels 2 is four, and the four load wheels 2 are distributed in a rectangular shape at the four corners of the chassis 1. The chassis 1 is provided with an installation cavity 11 at the position corresponding to each load wheel 2 for installing the load wheel 2. A groove 12 is formed at the corner of the chassis 1. The groove 12 vertically penetrates the chassis 1 and penetrates two sides of the chassis 1 outward. The installation cavity 11 is located at the position of the groove 12. Specifically, the installation cavity 11 is enclosed by a top wall 111 and two side walls 112. The two side walls 112 are vertically fixed to the upper end surface of the chassis 1. The inner side of the two side walls 112 is located on the same vertical plane as the inner wall of the corresponding groove 12. The two side walls 112 are perpendicular to each other. The top wall 111 is fixed to the upper end of the two side walls 112 and is horizontal. The groove 12, the two side walls 112 and the top wall 111 collectively enclose the installation cavity 11. The load wheel 2 is installed on the top wall 111 of the corresponding installation cavity 11 and extends downward out of the installation cavity 11. In other embodiments, the number of load wheels 2 can also be other numbers.

[0026] The drive wheels 3 are arranged in pairs and are configured to be arranged on the chassis 1 in at least one group. The two drive wheels 3 of the at least one group of drive wheels 3 are symmetrically arranged on the two sides of the chassis 1. Each drive wheel 3 is located between two load wheels 2 on the same side. In the shown embodiment, the drive wheels 3 have one group. In other embodiments, the number of groups of drive wheels 3 can be multiple groups. The multiple groups of drive wheels 3 are arranged along the length direction of the chassis 1. Specifically, an avoiding groove 13 is formed on the chassis 1 at the position corresponding to the drive wheels 3. The avoiding groove 13 vertically penetrates the chassis 1 to accommodate the drive wheels 3. In this way, the outer side of the drive wheels 3 does not exceed the outer side of the chassis 1, and the overall structure of the device is more compact.

[0027] Each of the driving wheels 3 is arranged on the chassis 1 by a set of the elastic components 4. The elastic components 4 include a plurality of leaf springs 41, the first ends of some of the leaf springs 41 are connected with the chassis 1, and the second ends are connected with the driving wheels 3 to drive the driving wheels 3 to move up and down elastically.

[0028] In the embodiment shown, the number of the leaf springs 41 is two. Specifically, the chassis 1 is provided with a mounting groove 14 at a position corresponding to the avoiding groove 13. The mounting groove 14 is recessed from the inner wall of the avoiding groove 13 to the other side of the chassis 1 along the width direction of the chassis 1, and the mounting groove 14 penetrates the chassis 1 along the vertical direction. The mounting groove 14 is used to accommodate two leaf springs 41, so the width of the mounting groove 14 matches the width of the leaf springs 41. One protruding column 5 is arranged at the end of the mounting groove 14 away from the avoiding groove 13, and the protruding column 5 is detachably connected between the connecting plate 6 and the chassis 1. Please refer to Figure 3 and Figure 4 The connecting plate 6 is U-shaped and matches the cross section of the mounting groove 14, the connecting plate 6 is arranged below the chassis 1, and the connecting plate 6 and the chassis 1 are jointly provided with a fixing hole 61, and a fixing bolt 62 is screwed into the fixing hole 61. In order to make the connection between the connecting plate 6 and the chassis 1 more stable, the number of the fixing holes 61 is several, and the number of the fixing bolts 62 also corresponds to the number of the fixing holes 61. The protruding column 5 is fixedly arranged on the connecting plate 6, and the three side walls of the protruding column 5 are in contact with the three inner walls of the mounting groove 14, respectively. Two leaf springs 41 are detachably arranged at the upper and lower ends of the protruding column 5, specifically, the first ends of the two leaf springs 41 are jointly provided with a screw hole 51 between the upper end and the lower end of the protruding column 5, and a screw 52 is screwed into the screw hole 51. In order to make the connection between the leaf springs 41 and the protruding column 5 more stable, the number of the screw holes 51 is several, and the number of the screws 52 also corresponds to the number of the screw holes 51. The two leaf springs 41 extend outward along the width direction of the chassis 1 to form second ends, and the second ends of the two leaf springs 41 are connected by a connecting piece 7. In this embodiment, the connecting piece 7 is a vertical flat plate, the upper and lower ends of the flat plate are fixedly connected with the second ends of the two leaf springs 41, and the flat plate and the two leaf springs 41 form a C-shaped whole. It should be emphasized that the width of the two ends of the leaf spring 41 is greater than the width of the middle part, so that the middle part of the leaf spring 41 is more easily deformed, and the leaf spring 41 has better follow-up performance to the vibration of the device.

[0029] The driving wheel 3 has a center shaft 31 at the center of the shaft, which is used to connect with an external driving device (not shown in the figure), the center shaft 31 is horizontally arranged through the plate, and the center shaft 31 is fixedly connected with the plate, the driving wheel 3 can rotate around the center shaft 31, and the external driving device drives the driving wheel 3 to rotate through the center shaft 31.

[0030] In other embodiments, the number of the plate springs 41 can also be configured to be more than two, and several plate springs 41 can be arranged horizontally or vertically, as long as one end is connected with the chassis 1 and the other end is connected with the driving wheel 3, so that the driving wheel 3 can be driven to move up and down elastically.

[0031] The working mode of one of the embodiments of the chassis 1 structure of the AGV trolley is as follows: when the driving wheel 3 is not subjected to an upward force, the lower end of the driving wheel 3 is lower than the lower end of the load wheel 2. When the device is placed on the ground, the driving wheel 3 is pushed upward by the ground until the lower end of the driving wheel 3 and the lower end of the load wheel 2 are on the same horizontal plane. At this time, the driving wheel 3 moves up to drive the second ends of the two plate springs 41 to move up, and in this state, the driving wheel 3 will be subjected to the elastic force generated by the deformation of the two plate springs 41, so that the driving wheel 3 always maintains the pressure on the ground, and when the chassis 1 encounters vibration, the driving wheel 3 still maintains the state of being tightly pressed against the ground under the rebound force of the plate springs 41.

[0032] Compared with the prior art, the chassis structure of the AGV trolley adopts a suspension structure for connecting the driving wheel and the chassis, which changes the traditional hinged swing type suspension complex mechanical design. This innovation significantly reduces the number of parts and reduces the structural complexity. The simplified structure brings many benefits. On the one hand, the requirement for part machining precision is greatly reduced, and the production cost and machining difficulty are reduced accordingly; on the other hand, the assembly time is shortened, and the labor cost is also reduced. At the same time, the plate spring can well cope with the unevenness of the ground due to its unique elastic properties, and can continuously provide stable ground close force for the driving wheel, which effectively guarantees the smooth operation of the AGV trolley under complex ground conditions. Moreover, the simplified design makes maintenance and part replacement more convenient, further improves the reliability of the AGV trolley, and prolongs the service life.

Claims

1. A chassis structure of an AGV vehicle, comprising a chassis and a load bearing wheel arranged on the chassis, characterized in that: The chassis is further provided with a driving wheel connected to the chassis through an elastic assembly; the elastic assembly comprises a plurality of leaf springs, the first ends of the leaf springs are connected to the chassis, the second ends of the leaf springs are connected to the driving wheel and can be elastically moved up and down, and the lower end of the driving wheel is lower than the lower end of the load wheel when the driving wheel is not subjected to an upward force.

2. The chassis structure of the AGV trolley according to claim 1, characterized in that: The leaf springs are configured as two, the chassis is provided with a protruding column, the first ends of the two leaf springs are respectively connected to the upper and lower ends of the protruding column, and the second ends of the two leaf springs are respectively connected to the upper and lower parts of the central shaft of the driving wheel.

3. The chassis structure of the AGV trolley according to claim 1, characterized in that: The leaf springs are configured as two, the chassis is provided with a protruding column, the first ends of the two leaf springs are respectively connected to the upper and lower ends of the protruding column, and the second ends of the two leaf springs are connected through a connecting piece, and the central shaft of the driving wheel is fixedly connected to the connecting piece.

4. The chassis structure of the AGV as claimed in claim 2 or 3, characterized in that: The protruding column is detachably arranged on the chassis; the two leaf springs are detachably connected to the protruding column.

5. The chassis structure of the AGV trolley according to claim 4, characterized in that: The bottom end of the protruding column is provided with a connecting plate, and the protruding column is detachably connected to the chassis through the connecting plate.

6. The chassis structure of the AGV trolley according to claim 4, characterized in that: The widths of the two ends of the leaf spring are greater than the width of the middle part of the leaf spring.

7. The chassis structure of the AGV trolley according to claim 5, characterized in that: The chassis is provided with an avoiding groove corresponding to the position of the driving wheel, and the avoiding groove vertically penetrates the chassis to accommodate the driving wheel.

8. The chassis structure of the AGV trolley according to claim 7, characterized in that: The chassis is provided with a mounting groove corresponding to the positions of the protruding column, the connecting plate and the leaf spring, the mounting groove vertically penetrates the chassis to accommodate the protruding column and the leaf spring, the connecting plate is in a U shape matching the cross section of the mounting groove, the connecting plate is arranged below the chassis corresponding to the position of the mounting groove, and the side wall of the protruding column is in contact with the inner wall of the mounting groove.

9. The chassis structure of the AGV cart according to claim 1, wherein: The driving wheels are arranged in pairs, the chassis is provided with at least one group of driving wheels, and the two driving wheels of the at least one group of driving wheels are arranged on the two sides of the chassis, respectively.

10. The chassis structure of the AGV cart according to claim 1, wherein: The load wheels are configured as a plurality of load wheels, the plurality of load wheels are arranged in a rectangular shape at the end corners of the chassis, the chassis is provided with an installation cavity corresponding to each load wheel at the upper end of the chassis, and each load wheel is arranged in the installation cavity and extends downward out of the installation cavity.

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