Attitude-adjustable AVG chassis
By setting front and rear passive adjustment wheel sets and sensor systems on the AGV chassis, dynamic attitude adjustment is achieved, which solves the problem of poor stability of traditional AGV chassis on uneven terrain and improves driving stability and adaptability on complex terrain.
Patent Information
- Application Number
- CN202520410162.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2025-12-23
- Estimated Expiration
- 2035-03-11
AI Technical Summary
Traditional AGV chassis struggle to maintain stability and efficiency on uneven terrain, and are prone to tilting and bumping, which can lead to instability of the center of gravity and even damage to equipment or goods.
An adjustable AGV chassis was designed, which adopts front and rear passive adjustment wheel sets and sensor system, and achieves attitude adjustment through angle adjustment motor and shock absorber, combined with ECU controller for dynamic balance control.
Maintaining a smooth ride on complex terrain reduces the risk of rollover, improves stability and adaptability, and enhances driving ability in rugged environments.
Smart Images
Figure CN223702214U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of AVG vehicles, specifically to an adjustable AVG chassis. Background Technology
[0002] AGV chassis are a crucial component of modern logistics, industrial automation, and intelligent manufacturing. Currently, AGVs are primarily designed for flat, enclosed environments, such as factory workshops and warehouses. These environments typically have flat ground, and the structural design of the AGV chassis only needs to ensure stable movement on flat surfaces. However, with the expansion of AGV applications, such as in warehousing and outdoor environments with uneven terrain, traditional AGV chassis struggle to guarantee stability and efficiency on rugged terrain. On uneven terrain, if the AGV cannot adjust its posture, it may experience tilting and bumps, affecting its operating efficiency and even leading to instability and damage to equipment or goods. Therefore, it is necessary to develop an adjustable-posture AGV chassis. Summary of the Invention
[0003] In view of the above-mentioned shortcomings of the prior art, the present invention provides an adjustable AVG chassis.
[0004] To achieve the aforementioned objectives, the technical solution adopted by this utility model is as follows: It includes a vehicle floor, with a front passive adjustment wheel assembly and a rear passive adjustment wheel assembly respectively provided on the front and rear sides of the floor; the front passive adjustment wheel assembly includes a front passive support arm and a front axle frame, the top of the front passive support arm is hinged to the vehicle floor, the vehicle floor is provided with swing holes that cooperate with the front passive support arm, the bottom of the front passive support arm is fixedly connected to the front axle frame, front wheel motors are fixedly installed on both the left and right ends of the front axle frame, and front wheels are fixedly attached to the output ends of the front wheel motors; a left axle frame is hinged to the left end of the front axle frame. The front shock absorber is hinged to the right end of the front axle frame and the vehicle floor. The rear passive adjustable wheel assembly includes a right rear wheel assembly and a left rear wheel assembly with identical structures. The right rear wheel assembly includes an angle adjustment motor, a rear wheel control arm, a rear wheel motor, and a rear wheel. The angle adjustment motor is fixed to the vehicle floor, and its output end is fixedly connected to the top of the rear wheel control arm. The rear wheel motor is fixedly installed at the bottom of the rear wheel control arm, and its output end is fixed to the rear wheel. The angle adjustment motor is used to adjust the tilt angle of the rear wheel control arm. The rear shock absorber is hinged between the rear wheel control arm and the vehicle floor.
[0005] Furthermore, a swing seat that cooperates with the front passive control arm is provided on the vehicle floor. The swing seat has a horizontal circular hole and a swing pin is provided inside the horizontal circular hole. One end of the swing pin is fixedly connected to the front passive control arm, and the other end of the swing pin has a limiting protrusion that cooperates with the swing seat.
[0006] Furthermore, the front and rear wheels are Mecanum wheels or rubber wheels.
[0007] Furthermore, it also includes an ECU controller, and the angle adjustment motor, front wheel motor, and rear wheel motor are electrically connected to the ECU controller.
[0008] Furthermore, a gyroscope is installed on the vehicle floor, and the gyroscope is electrically connected to the ECU controller.
[0009] Furthermore, a tilt sensor is installed on the vehicle floor, and the tilt sensor is electrically connected to the ECU controller.
[0010] The beneficial effects of this utility model are as follows:
[0011] The chassis of this invention features an actively adjustable rear passive adjustment wheel set. By swinging the rear wheels, the vehicle's ground clearance can be adjusted, thereby changing the vehicle's posture to ensure the AGV maintains a level chassis on various terrain surfaces, preventing instability and rollover due to terrain conditions. The front chassis features a front passive adjustment wheel set that can swing left and right according to the vehicle's posture and terrain conditions, maintaining contact between all four wheels and the ground, improving stability. Furthermore, compared to solutions that equip each of the four wheels with separate drive components and sensors, this design is simpler to control and lower in cost.
[0012] The AGV chassis of this invention can detect tilt angle information through sensors, and control the rear wheel swing mechanism to swing at the corresponding angle by controlling the servo motor to adjust the vehicle posture.
[0013] This utility model's AGV chassis, through active and passive posture adjustments, enables the AGV to maintain stability when driving on complex terrain, reducing the risk of rollover or instability and improving vehicle stability. On different slopes and uneven terrain, the AGV can adjust its posture through the coordinated movement of its front and rear wheels, improving its adaptability and driving ability in rugged environments and enhancing its terrain adaptability. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;
[0015] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;
[0016] Figure 3 for Figure 1 A magnified view of a section at point A in the middle;
[0017] Figure 4 This is a schematic diagram illustrating the working principle of this utility model;
[0018] Figure 5 The workflow for adjusting the attitude of the AGV chassis;
[0019] Figure 6This is a simplified structural diagram of the present invention;
[0020] Figure 7 This is a schematic diagram after the vehicle coordinate system has changed;
[0021] Figure 8 The motion control process of this utility model is shown in the figure;
[0022] The symbols for each component are as follows:
[0023] 1. Vehicle floor plate; 101. Swing hole; 102. Swing seat; 103. Swing pin;
[0024] 2. Front passive adjustable wheel assembly; 21. Front passive control arm; 22. Front axle; 23. Left front shock absorber; 24. Right front shock absorber; 25. Front wheel motor; 26. Front wheel;
[0025] 3. Rear passive adjustable wheel assembly; 31. Right rear wheel assembly; 311. Angle adjustment motor; 312. Rear wheel control arm; 313. Rear wheel motor; 314. Rear wheel; 315. Rear shock absorber; 32. Left rear wheel assembly. Detailed Implementation
[0026] The specific embodiments of this utility model are described below to enable those skilled in the art to understand this utility model. However, it should be understood that this utility model is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of this utility model as defined and determined by the appended claims, these changes are obvious. All utility model creations utilizing the concept of this utility model are within the scope of protection.
[0027] like Figure 1 and 2 As shown, the adjustable AVG chassis includes a chassis 1, with a front passive adjustment wheel set 2 and a rear passive adjustment wheel set 3 respectively installed on the front and rear sides of the chassis 1.
[0028] The front passive adjustable wheel assembly 2 includes a front passive control arm 21 and a front axle frame 22. The top of the front passive control arm 21 is hinged to the vehicle floor 1. The vehicle floor 1 is provided with swing holes 101 that cooperate with the front passive control arm 21. The bottom of the front passive control arm 21 is fixedly connected to the front axle frame 22. Front wheel motors 25 are fixedly installed on both the left and right ends of the front axle frame 22. Front wheels 26 are fixed to the output ends of the front wheel motors 25. The front wheels 26 are preferably Mecanum wheels or rubber wheels. A left front shock absorber 23 is hinged between the left end of the front axle frame 22 and the vehicle floor 1, and a right front shock absorber 24 is hinged between the right end of the front axle frame 22 and the vehicle floor 1.
[0029] like Figure 3As shown, a swing seat 102 that cooperates with the front passive support arm 21 is provided on the vehicle floor 1. The swing seat 102 is provided with a horizontal circular hole, and a swing pin 103 is provided in the horizontal circular hole. One end of the swing pin 103 is fixedly connected to the front passive support arm 21, and the other end of the swing pin 103 is provided with a limiting protrusion that cooperates with the swing seat 102.
[0030] The rear passive adjustable wheel assembly 3 includes a right rear wheel assembly 31 and a left rear wheel assembly 32 with identical structures. The right rear wheel assembly 31 includes an angle adjustment motor 311, a rear wheel control arm 312, a rear wheel motor 313, and a rear wheel 314. The angle adjustment motor 311 is fixed to the vehicle floor 1, and its output end is fixedly connected to the top of the rear wheel control arm 312. The rear wheel motor 313 is fixedly installed at the bottom of the rear wheel control arm 312, and the output end of the rear wheel motor 313 is fixed to the rear wheel 314. The angle adjustment motor 311 is used to adjust the tilt angle of the rear wheel control arm 312. By adjusting the tilt angles of the two rear wheel control arms 312, the vehicle floor 1 is kept on the same horizontal plane, ensuring the support function of the AVG chassis. A rear shock absorber 315 is hinged between the rear wheel control arm 312 and the vehicle floor 1. The rear wheel 314 is preferably a Mecanum wheel or a rubber wheel.
[0031] The 311 model angle-adjustable motor can use the Zhonggu Weike GP120-CF, which has a built-in rotation angle measurement. The motor can be equipped with a braking device. When the motor is powered off, the brake spring causes the brake block to grip the motor shaft, thereby locking it and achieving the effect of a brake motor.
[0032] It also includes an ECU controller, with the angle adjustment motor 311, front wheel motor 25, and rear wheel motor 313 electrically connected to the ECU controller. The preferred ECU controller model is Infineon TC27x, which integrates FlexRay and LIN communication interfaces, has strong anti-interference capabilities, and can effectively resist electromagnetic interference in the AGV's working environment. A gyroscope is installed on the chassis 1, electrically connected to the ECU controller. The gyroscope is used to collect angular velocity and acceleration data of the AVG chassis. A Bosch BMI088 gyroscope can be used, with selectable angular velocity measurement range (e.g., ±2000 dps), high accuracy, and low noise density. A tilt sensor is installed on the chassis 1, electrically connected to the ECU controller, and is used to collect tilt angle data of the AVG chassis.
[0033] Working process and its principle: such as Figure 4 and 5When the left and right rear wheels swing in the same direction, the overall height of the AGV's rear axle relative to the front axle changes, thus affecting the vehicle's pitch angle. When the left and right rear wheels swing in opposite directions, the height of one side of the AGV changes, thus affecting the vehicle's roll angle. Utilizing this characteristic in motion control, the AGV's tilt angle on lateral and longitudinal slopes can be adjusted separately, giving it attitude adjustment capabilities without affecting its normal functions, thereby improving vehicle stability and terrain adaptability. The specific principle is as follows:
[0034] As shown in Figure 6: Define the spatial coordinate system of the AGV vehicle body: It is an absolute coordinate system in space. The axis is perpendicular to the ground. The plane remains parallel to the ground. Right rear passive adjustment wheel coordinate system. Left rear passive adjustment wheel set coordinate system Front passive adjustment wheel set coordinate system and the AGV's main body coordinate system Its origin D is located at the midpoint of the left and right output axes. The horizontal direction points in the direction the AGV is moving. The tractor is collinear with the left and right output axes. The tractor is positioned on a level surface with all four wheel centers at the same height and the rear axle adjustment mechanism not in its initial state.
[0035] The centers of the four wheels of an AGV in the absolute coordinate system of space The coordinate system is:
[0036]
[0037] For the first The position of the center of each wheel, ( , , ) is the first Each wheel in the absolute coordinate system of space lower edge axis, axis, The coordinate values along the axis.
[0038] When the terrain changes, the AGV's main body coordinate system absolute coordinate system in space The changes are shown in the figure: First, the coordinate system is translated. relative to the absolute coordinate system in space The origins coincide. At this moment, and The included angle of the axis is , and The included angle of the axis is ,like Figure 7 As shown.
[0039] Therefore, it can be done by the included angle and included angle This is used to represent the AGV's vehicle posture. The coordinate system is used when its right rear wheel swings. Rotating around the motor node, its swing angle is defined as... Since the left rear wheel's sway is the same as or opposite to that of the right rear wheel, the sway angle of the left rear wheel is... or The front axle's passively adjusted sway angle is... In summary, the spatial attitude parameters involved in the entire attitude adjustment process are as follows: The forward motion model of the AGV is defined as follows: .
[0040] Based on the positive kinematics model, change the active adjustment angle By determining the direction and magnitude of the swing angle, the attitude of the tractor can be controlled. Therefore, the main objective of motion control is to determine the swing angle of the AGV trolley's rear wheel active adjustment mechanism. ,like Figure 8 The diagram shows the motion control process of the AGV (Automated Guided Vehicle).
Claims
1. An adjustable-attitude AVG chassis, characterized in that, Includes a vehicle floor (1), and the front and rear sides of the vehicle floor (1) are respectively provided with a front passive adjustment wheel set (2) and a rear passive adjustment wheel set (3). The front passive adjustable wheel assembly (2) includes a front passive support arm (21) and a front axle frame (22). The top of the front passive support arm (21) is hinged to the vehicle floor (1). The vehicle floor (1) is provided with a swing hole (101) that cooperates with the front passive support arm (21). The bottom of the front passive support arm (21) is fixedly connected to the front axle frame (22). Front wheel motors (25) are fixedly installed on both the left and right ends of the front axle frame (22). Front wheels (26) are fixedly attached to the output end of the front wheel motors (25). A left front shock absorber (23) is hinged between the left end of the front axle frame (22) and the vehicle floor (1). A right front shock absorber (24) is hinged between the right end of the front axle frame (22) and the vehicle floor (1). The rear passive adjustable wheel assembly (3) includes a right rear wheel assembly (31) and a left rear wheel assembly (32) with the same structure. The right rear wheel assembly (31) includes an angle adjustment motor (311), a rear wheel support arm (312), a rear wheel motor (313), and a rear wheel (314). The angle adjustment motor (311) is fixed on the vehicle floor (1). The output end of the angle adjustment motor (311) is fixedly connected to the top of the rear wheel support arm (312). The rear wheel motor (313) is fixedly installed at the bottom of the rear wheel support arm (312). The output end of the rear wheel motor (313) is fixed to the rear wheel (314). The angle adjustment motor (311) is used to adjust the tilt angle of the rear wheel support arm (312). A rear shock absorber (315) is hinged between the rear wheel support arm (312) and the vehicle floor (1).
2. The adjustable attitude AVG chassis according to claim 1, characterized in that, The vehicle floor (1) is provided with a swing seat (102) that cooperates with the front passive support arm (21). The swing seat (102) is provided with a horizontal circular hole, and a swing pin (103) is provided in the horizontal circular hole. One end of the swing pin (103) is fixedly connected to the front passive support arm (21), and the other end of the swing pin (103) is provided with a limiting protrusion that cooperates with the swing seat (102).
3. The adjustable attitude AVG chassis according to claim 1, characterized in that, The front wheel (26) and rear wheel (314) are Mecanum wheels or rubber wheels.
4. The adjustable attitude AVG chassis according to claim 1, characterized in that, It also includes an ECU controller, and the angle adjustment motor (311), the front wheel motor (25) and the rear wheel motor (313) are electrically connected to the ECU controller.
5. The adjustable attitude AVG chassis according to claim 1, characterized in that, A gyroscope is provided on the vehicle floor (1), and the gyroscope is electrically connected to the ECU controller.
6. The adjustable attitude AVG chassis according to claim 1, characterized in that, An inclination sensor is provided on the vehicle floor (1), and the inclination sensor is electrically connected to the ECU controller.