Floating chassis and automatic guided vehicle

Abstract

The utility model belongs to the technical field of intelligent carrying, and discloses a floating chassis and an automatic guided vehicle, the floating chassis comprises a bottom plate and a trundle lever assembly, the trundle lever assembly comprises a first support and a connecting rod, and the first support is arranged on the bottom plate; the first end of the connecting rod is provided with the first trundle, the second end of the connecting rod is provided with the driving wheel assembly, the connecting rod is rotationally connected to the first support, and the first trundle and the driving wheel assembly are located on the two sides of the first support respectively. The first caster can drive the connecting rod to rotate around the first support during self-adaptive movement, so that the driving wheel assembly correspondingly changes postures, the first caster and the driving wheel assembly are always in contact with the ground under the gravity action of a vehicle body and a load, the obstacle crossing ability of the first caster and the road holding force of the driving wheel assembly are improved, and the driving wheel assembly is more stable in driving. The road surface self-adaption capacity of the floating chassis is achieved, and then the trafficability and stability of the floating chassis are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent handling technical field especially relates to a floating chassis and automatic guided vehicle. BACKGROUND

[0002] Automated Guided Vehicle (AGV for short), it is a kind of small car with automatic guiding and handling transfer function, compared to artificial driving fork truck and carries out material transport, automated guided vehicle has the characteristics such as small size, flexible movement, is widely applied in warehousing logistics and other scenes.When automated guided vehicle travels on uneven road surface or cross-region joint step road surface, if automated guided vehicle cannot be self-adaptive adjustment, there is the problem of overturning or falling load.

[0003] The chassis structure of automated guided vehicle includes bottom plate and driving wheel and trundle arranged on the bottom plate, the driving wheel is rotatably installed on the bottom plate by bearing to drive the driving wheel to rotate by driving member to drive the whole bottom plate to move, the trundle is rotatably installed on the bottom plate for supporting the bottom plate and guiding.In prior art, driving wheel and trundle are installed by adopting spring suspension mode to improve the self-adaptability of chassis structure to uneven road surface, the problem of spring suspension mode is that two trundles will float simultaneously when road surface is uneven, it is easy to cause the instability of chassis support and the loss of driving wheel's grip force, insufficient obstacle-crossing ability;If the spring force of driving wheel is too large, the self-adaptability of driving wheel is reduced, and the spring force is too small, which will result in insufficient grip force of driving wheel, especially on uneven road surface, spring suspension mode will greatly reduce the grip force of driving wheel, and spring suspension mode has brake nodding and other adverse phenomena. SUMMARY

[0004] The utility model aims at providing a kind of floating chassis and automatic guided vehicle, to solve the problem of insufficient grip force and poor stability of automated guided vehicle on uneven road surface, improve the obstacle-crossing ability of floating chassis and automatic guided vehicle.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A kind of floating chassis, including bottom plate and trundle lever assembly, the trundle lever assembly includes:

[0007] First support, the first support is arranged on the bottom plate;

[0008] Connecting rod, the first end of the connecting rod is installed first trundle, the second end of the connecting rod is installed driving wheel assembly, the connecting rod is rotatably connected to the first support, and the first trundle and the driving wheel assembly are located on the two sides of the first support respectively.

[0009] In some embodiments, the caster lever assembly further comprises a limiting plate, which is located above the connecting rod to limit the rotation angle of the connecting rod.

[0010] In some embodiments, the caster lever assembly further comprises:

[0011] a support shaft, which is arranged through the connecting rod and rotationally connected to the first support;

[0012] two elastic members, which are arranged on the bottom plate or the limiting plate, and are arranged on both sides of the support shaft along the length direction of the connecting rod, and each of the two elastic members is in abutment with the connecting rod.

[0013] In some embodiments, a limiting block is arranged on the side of the limiting plate facing the connecting rod, and the limiting block is located between the two elastic members.

[0014] In some embodiments, the driving wheel assembly comprises a driving wheel and a driving member, an output shaft of the driving member is arranged through the connecting rod and connected to the driving wheel, and the connecting rod is fixedly connected to the driving member.

[0015] In some embodiments, the second end of the connecting rod is provided with a first through hole, a recess is arranged on the side of the first through hole facing the driving member, an output shaft of the driving member is arranged through the first through hole, and a housing of the driving member is at least partially arranged in the recess, and the housing of the driving member is connected to the connecting rod.

[0016] In some embodiments, the floating chassis further comprises a caster support assembly, which is arranged on the bottom plate, and the caster support assembly and the first caster are arranged on both ends of the driving wheel assembly.

[0017] In some embodiments, the caster support assembly comprises:

[0018] two second casters and a mounting bracket, the two second casters are respectively arranged on both ends of the mounting bracket;

[0019] a second support, which is arranged on the bottom plate, and a rotation shaft is arranged on the second support, and the mounting bracket is rotationally arranged on the rotation shaft.

[0020] In some embodiments, the rotation shaft is parallel to the connecting rod.

[0021] The utility model provides a kind of automatic guided vehicle, including load platform and the utility model provides the floating chassis, the load platform height adjustable being arranged on the bottom plate of the floating chassis.

[0022] The utility model has the advantages of:

[0023] The floating chassis provided by the utility model, through setting up the trundle lever assembly, the first trundle and the driving wheel assembly are rotatably installed on the first support through the connecting rod, the first trundle and the driving wheel assembly form a seesaw, the driving wheel assembly drives the bottom plate to move through the first support, when the road surface is uneven, the first trundle self-adapts to lift and drive the connecting rod to rotate around the first support, the driving wheel assembly adjusts the posture correspondingly, under the gravity of the bottom plate and the load, the first trundle and the driving wheel assembly always contact the ground, the obstacle crossing ability of the first trundle and the grip of the driving wheel are improved, the self-adaptive road surface ability of the floating chassis is realized, and then the passability and the stability of the floating chassis are improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the structure schematic view of the floating chassis provided by the utility model embodiment;

[0025] Figure 2 It is the top view of the floating chassis provided by the utility model embodiment;

[0026] Figure 3 It is the first angle structure schematic view of the trundle lever assembly in the floating chassis provided by the utility model embodiment;

[0027] Figure 4 It is the second angle structure schematic view of the trundle lever assembly in the floating chassis provided by the utility model embodiment;

[0028] Figure 5 It is the front view of the trundle lever assembly in the floating chassis provided by the utility model embodiment;

[0029] Figure 6 It is Figure 5 A-A section view in it;

[0030] Figure 7 It is the structure schematic view of the connecting rod in the floating chassis provided by the utility model embodiment;

[0031] Figure 8 It is the front view of the trundle support assembly in the floating chassis provided by the utility model embodiment;

[0032] Figure 9 It is the top view of the trundle support assembly in the floating chassis provided by the utility model embodiment;

[0033] Figure 10 It is the structure schematic view of the automatic guided vehicle provided by the utility model embodiment.

[0034] In the drawing:

[0035] 1, bottom plate;

[0036] 2, caster lever assembly; 21, first support; 211, support plate; 212, first bearing; 22, connecting rod; 221, first through hole; 222, sink; 223, second through hole; 224, third through hole; 23, first caster; 24, drive wheel assembly; 241, drive wheel; 242, drive piece; 25, support shaft; 26, limiting plate; 27, elastic piece; 28, limiting block;

[0037] 3, caster support assembly; 31, second caster; 32, mounting frame; 33, second support; 34, second bearing; 35, rotating shaft;

[0038] 4, load platform. DETAILED DESCRIPTION

[0039] The utility model will be described in further detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model, and not to limit the utility model. In addition, it should be noted that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all structures.

[0040] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of 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.

[0041] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0042] In the description of the embodiments, the terms "upper", "lower", "left", "right", and the like orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do 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 a limitation on the utility model. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0043] As shown in Figures 1-9 The utility model discloses a floating chassis can be used for the device with low height latent demand such as automatic guided vehicle. The floating chassis of the utility model includes bottom plate 1 and trundle lever assembly 2, and trundle lever assembly 2 includes first support 21 and connecting rod 22, and first support 21 is arranged on bottom plate 1;The first end of connecting rod 22 is installed first trundle 23, and the second end of connecting rod 22 is installed drive wheel assembly 24, and connecting rod 22 is rotatably connected to first support 21, and first trundle 23 and drive wheel assembly 24 are located at both sides of first support 21 respectively.

[0044] The floating chassis is provided with trundle lever assembly 2 on bottom plate 1, and first trundle 23 and drive wheel assembly 24 are connected by connecting rod 22 and rotatably installed on first support 21, so that first trundle 23 and drive wheel assembly 24 form a seesaw, and in the process of driving movement, bottom plate 1 is driven to move by first support 21, and drive wheel assembly 24 is not directly rotatably connected with bottom plate 1, thereby facilitating the stable operation of bottom plate 1. When the road surface is uneven, first trundle 23 is first driven to rotate connecting rod 22 around first support 21 when self-adaptively lifting, to ensure the stability of bottom plate 1, and drive wheel assembly 24 is correspondingly adjusted to change the posture under the action of connecting rod 22, to realize the floating between first trundle 23 and drive wheel assembly 24, and ensure the movement stability of bottom plate 1;Under the gravity of the vehicle body and load, first trundle 23 and drive wheel assembly 24 are always in contact with the ground, improving the obstacle-crossing ability of first trundle 23 and the grip of drive wheel assembly 24, realizing the self-adaptive road surface ability of the floating chassis, and thereby facilitating to improve the passability and stability of the floating chassis.

[0045] The floating chassis described above, when only having one trundle lever assembly 2, needs to be arranged at the middle position of bottom plate 1 to ensure the balance of bottom plate 1. Preferably, the floating chassis of the embodiment is provided with two trundle lever assemblies 2, as shown in Figure 1 and Figure 2, two caster lever assemblies 2 are arranged on both sides of the floating chassis along the Y direction (the width direction of the floating chassis), the driving wheel assembly 24 is used to drive the floating chassis to move, along the X direction (the length direction of the floating chassis), the first caster 23 is arranged in front of the driving wheel assembly 24, when the driving wheel assembly 24 provides driving movement force, the driving wheel assembly 24 drives the whole bottom plate 1 to move through the connecting rod 22 and the first support 21, and the first caster 23 supports and guides the movement of the bottom plate 1. In the floating chassis of the embodiment, the first caster 23 and the driving wheel assembly 24 are floatingly connected, so that the road surface adaptability of the floating chassis is enhanced, and the obstacle crossing ability is improved. Compared with the prior art, the first caster 23 and the driving wheel assembly 24 in the embodiment cancel the spring suspension, and the grip of the driving wheel assembly 24 is guaranteed.

[0046] In some embodiments, the caster lever assembly 2 further comprises a limiting plate 26, which is arranged above the connecting rod 22 to limit the rotation angle of the connecting rod 22.

[0047] In combination Figures 3-6 , the limiting plate 26 is arranged above the connecting rod 22, specifically, the limiting plate 26 is detachably mounted on the first support 21, such as bolt connection, and has a certain spacing between the limiting plate 26 and the connecting rod 22. When the connecting rod 22 rotates, the limiting plate 26 can limit the maximum rotation angle of the connecting rod 22. When the road surface is raised, the first caster 23 is floated upward and rotated through the connecting rod 22, so that the driving wheel 241 has greater grip; when the road surface is depressed, under the action of the driving wheel assembly 24, the driving wheel assembly 24 provides downward force to the first caster 23 through the connecting rod 22 and the limiting plate 26, so as to ensure that the first caster 23 can contact the road surface to ensure the stability of the bottom plate 1. In some embodiments, the opposite inner walls of the two supporting plates 211 have clamping grooves, and the limiting plate 26 is slidingly installed in the clamping grooves. The sliding movement of the limiting plate 26 in the clamping grooves can adjust the position of the limiting plate 26 above the connecting rod 22, and then the limiting plate 26 is further fixed by screwing the jackscrew into the supporting plate 211. The detachable connection between the limiting plate 26 and the first support 21 facilitates the replacement of the limiting plate 26 to meet different requirements for limiting the rotation amplitude of the connecting rod 22. For example Figure 5As shown, in this embodiment, the limiting plate 16 extends along the long axis of the connecting rod 22 and spans the rotational connection between the connecting rod 22 and the first support 21. It can be understood that the rotational movement of the connecting rod 22 includes both ends rotating upwards and downwards respectively. The two ends of the limiting plate 16 abut against the connecting rod 22, thus limiting the bidirectional rotation angle of the connecting rod 22, and consequently limiting the floating angle of the first caster 23 and the drive wheel assembly 24. In other embodiments, two limiting plates 16 can be provided, respectively located on both sides of the rotational connection between the connecting rod 22 and the first support 21, abutting against both sides of the connecting rod 22 to limit the floating angle of the connecting rod 22. The limiting plate 16 can be provided on the base plate 1 or on the first support 21.

[0048] In some embodiments, the caster lever assembly 2 further includes a support shaft 25 and two elastic members 27. The support shaft 25 passes through the connecting rod 22 and is rotatably connected to the first support 21. The two elastic members 27 are disposed on the base plate 1 or the limiting plate 26. Along the length direction of the connecting rod 22, the two elastic members 27 are disposed on both sides of the support shaft 25, and both elastic members 27 abut against the connecting rod 22.

[0049] like Figures 3-6 As shown, the connecting rod 22 is rotatably connected to the first support 21 via the support shaft 25, resulting in a simple and easy-to-implement structure. Specifically, in this embodiment, the first support 21 includes support plates 211 spaced apart on both sides of the connecting rod 22. Each of the two support plates 211 is equipped with a first bearing 212. The two ends of the support shaft 25 are respectively connected to the two first bearings 212 for rotatable connection. The first bearings 212 reduce the rotational friction of the support shaft 25. The connecting rod 22 passes through and is supported on the support shaft 25 at its middle position, allowing both ends of the connecting rod 22 to rotate freely around the support shaft 25, thus achieving a floating connection between the first caster 23 and the drive wheel assembly 24. It can be understood that connecting the connecting rod 22 via the support shaft 25 simultaneously limits the displacement movement of the connecting rod 22, ensuring that the connecting rod 22 only has rotational movement.

[0050] like Figure 5As shown, the elastic members 27 can adopt springs or compression springs. In this embodiment, the compression spring on the limiting plate 26 is taken as an example for description. Specifically, the limiting plate 26 extends along the length direction of the connecting rod 22 and is fixed on the first support 21, and the two elastic members 27 are respectively arranged on the two sides of the support shaft 25, and the two ends of the elastic member 27 respectively abut against the connecting rod 22 and the limiting plate 26. When the road surface is uneven, the first caster wheel 23 floats and drives the connecting rod 22 to rotate, and under the action of the elastic member 27, the connecting rod 22 and the first support 21 have elastic buffering, which realizes the buffering of the bottom plate 1, and is beneficial to the more stable operation of the bottom plate 1. The floating of the first caster wheel 23 and the driving wheel assembly 24 enhances the overall obstacle crossing ability, road surface adaptability and grip of the floating chassis. It can be understood that the elastic members 27 can also be arranged on the bottom plate 1 at the same time to abut against the lower side of the connecting rod 22, and the limiting plate 26 and the elastic member 27 double limit the rotation of the connecting rod 22, thereby improving the reliability. Further, one of the two elastic members 27 is arranged between the limiting plate 26 and the connecting rod 22, and the other is arranged between the bottom plate 1 and the connecting rod 22, which can also realize the elastic buffering effect between the connecting rod 22 and the bottom plate 1.

[0051] In some embodiments, the side of the limiting plate 26 towards the connecting rod 22 is provided with a limiting block 28, the limiting block 28 is arranged between the two elastic members 27, and the height of the limiting block 28 protruding from the surface of the limiting plate 26 is not less than the minimum compression size of the elastic member 27.

[0052] As Figure 5 and Figure 6 , the limiting plate 26 is arranged on the first support 21 and above the connecting rod 22, the lower surface of the limiting plate 26 is provided with a limiting block 28, the limiting block 28 is arranged between the two elastic members 27, and the protruding size of the limiting block 28 is not less than the minimum elastic compression size of the two elastic members 27. On the one hand, the limiting block 28 can protect the elastic member 27 and improve the service life of the elastic member 27; on the other hand, the limiting block 28 has a limiting effect on the maximum floating angle of the first caster wheel 23 and the driving wheel assembly 24, which avoids the instability of the overall floating chassis caused by the floating at a large angle. The limiting block 28 can be an integral structure with the limiting plate 26, or can be detachably connected to the limiting plate 26. When any one end of the limiting block 28 abuts against the connecting rod 22, the continuous rotation of the connecting rod 22 is limited, thereby limiting the floating angle.

[0053] In some embodiments, the driving wheel assembly 24 includes a driving wheel 241 and a driving member 242, the output shaft of the driving member 242 penetrates the connecting rod 22 and is connected to the driving wheel 241, and the connecting rod 22 is fixedly connected to the driving member 242.

[0054] As Figure 3 and Figure 4As shown, the driving wheel assembly 24 serves as a power source of the floating chassis for driving the moving motion of the whole floating chassis. In the embodiment, the driving wheel 241 is connected to the output shaft of the driving member 242, which can be an electric motor, having the advantage of small size. The two driving wheels 241 of the driving wheel assembly 24 are respectively driven to rotate by one electric motor. The second end of the connecting rod 22 is located between the driving wheel 241 and the driving member 242, which is beneficial to balance the weight between the driving wheel 241 and the driving member 242. The driving member 242 is connected to the connecting rod 22, which is rotatably supported on the first support 21 and then connected to the bottom plate 1. When the driving member 242 drives the driving wheel 241 to rotate, the bottom plate 1 is moved through the connecting rod 22 and the first support 21, and the first caster 23 moves synchronously. It can be understood that the bottom plate 1 is provided with mounting positions of the driving wheel assembly 24 and the first caster 23, so that the caster lever assembly 2 is symmetrically arranged on both sides of the bottom plate 1. When driving on a flat road, the first caster 23 and the driving wheel 241 are in contact with the road surface. When driving on a road with uneven road surface, the first caster 23 and the driving wheel 241 can float to ensure the stability of the bottom plate 1, the grip of the driving wheel 241 and the road self-adaptability of the whole floating chassis, and improve the overall passability and stability of the floating chassis.

[0055] In some embodiments, the second end of the connecting rod 22 is provided with a first through hole 221, and the side of the first through hole 221 facing the driving member 242 is provided with a recess 222. The output shaft of the driving member 242 is arranged in the first through hole 221, and the shell of the driving member 242 is at least partially arranged in the recess 222. The shell of the driving member 242 is connected to the connecting rod 22.

[0056] In combination with Figure 3 and Figure 7 , the second end of the connecting rod 22 is provided with a first through hole 221, and the first through hole 221 cooperates with the outer diameter of the output shaft of the driving member 242, so that the output shaft of the driving member 242 is connected to the driving wheel 241 after being arranged in the first through hole 221. The recess 222 is rectangular in shape, and the shell of the driving member 242 is at least partially arranged in the recess 222, so as to limit the relative rotation between the driving member 242 and the connecting rod 22. The bottom of the recess 222 is provided with a threaded hole, and the shell of the driving member 242 is provided with a mounting hole. A connecting member is arranged in the mounting hole and is threadedly connected to the threaded hole to realize the fixed connection between the connecting rod 22 and the shell of the driving member 242, which is simple in structure and easy to disassemble and assemble. It is to be supplemented that the first end of the connecting rod 22 is provided with a mounting plate for mounting the first caster 23. The size of the first end and the second end of the connecting rod 22 in the height direction is pre-set according to the height of the first caster 23 and the driving wheel assembly 24, so as to ensure that the first caster 23 and the driving wheel 241 are in contact with the ground when the connecting rod 22 is in the initial state, and the bottom plate 1 is stable.

[0057] Further, as Figure 7The second through hole 223 is arranged on the connecting rod 22, and the second through hole 223 is used for penetrating the connecting support shaft 25. The second through hole 223 is in clearance fit with the support shaft 25, so as to facilitate rotation of the connecting rod 22. The hole wall of the second through hole 223 is provided with a through groove, and the through groove can be filled with lubricating oil to reduce the rotating friction between the connecting rod 22 and the second through hole 223 and reduce wear. In order to reduce the self weight of the connecting rod 22, a third through hole 224 is arranged on the connecting rod 22 as a lightening hole, and the third through hole 224 is arranged at intervals on the connecting rod 22. The third through hole 224 is a long hole, so as to be distinguished from the second through hole 223 and facilitate installation. Figure 7

[0058] In some embodiments, the floating chassis further comprises a caster support assembly 3 arranged on the bottom plate 1, and the caster support assembly 3 is arranged at two ends of the driving wheel assembly 24 separately from the first caster 23.

[0059] As shown in Figure 1 and Figure 2 , the other end of the bottom plate 1 relative to the first caster 23 is provided with the caster support assembly 3, and the caster support assembly 3 and the two caster lever assemblies 2 constitute a three-point support for the bottom plate 1, that is, the caster support assembly 3 is arranged at the center of the rear end of the bottom plate 1, the two caster lever assemblies 2 are arranged on the two sides of the bottom plate 1 along the Y direction, and the first caster 23 is arranged in front of the driving wheel 241. In this way, the driving wheel 241 can have improved grip during operation of the floating chassis, and the bottom plate 1 is more stable.

[0060] In some embodiments, the caster support assembly 3 comprises two second casters 31, a mounting bracket 32 and a second support 33, the two second casters 31 are respectively arranged at two ends of the mounting bracket 32, the second support 33 is arranged on the bottom plate 1, and the mounting bracket 32 is rotatably arranged on a rotating shaft 35 arranged on the second support 33.

[0061] As shown in Figure 8 and Figure 9 , the two second casters 31 are rotatably arranged on the bottom plate 1 through the mounting bracket 32, realizing floating installation of the two second casters 31. Compared with the spring suspension mode in the prior art, the two second casters 31 in the embodiment can realize alternating contact with the ground through floating when the road surface is uneven, the obstacle surmounting capability is improved, and at least one of the second casters 31 contacts the road surface, so that the support force for the bottom plate 1 is guaranteed, thereby facilitating to ensure the grip of the driving wheel 241.

[0062] It is to be further explained that the first caster 23 and the second caster 31 in the embodiment can adopt the same structure, and can be single-row or double-row casters, and preferably universal wheels.

[0063] As shown in Figure 8 and Figure 9 , the two second casters 31 are rotatably arranged on the bottom plate 1 through the mounting bracket 32, realizing floating installation of the two second casters 31. Compared with the spring suspension mode in the prior art, the two second casters 31 in the embodiment can realize alternating contact with the ground through floating when the road surface is uneven, the obstacle surmounting capability is improved, and at least one of the second casters 31 contacts the road surface, so that the support force for the bottom plate 1 is guaranteed, thereby facilitating to ensure the grip of the driving wheel 241.As shown, the rotating shaft 35 is arranged on the second support 33, so that the rotating shaft 35 can provide stable support and rotating installation for the mounting frame 32, and by arranging the positions of the second support 33 and the rotating shaft 35, the floating angle of the two second casters 31 on the mounting frame 32 can be adjusted. It should be noted that, according to the needs, a limiting structure can be arranged to further limit the floating angle of the two second casters 31, which can be arranged below the mounting frame 32 or on the bottom plate 1, and the specific position and form are not limited. By arranging the second support 33, the height of the rotating shaft 35 can be adjusted to adapt to the installation of second casters 31 of different sizes. Preferably, the second support 33 is provided with a second bearing 34, and the two ends of the rotating shaft 35 are rotatably installed on the second support 33 through the second bearing 34, which can improve the rotating flexibility of the mounting frame 32, so that the two second casters 31 can float more smoothly to stably support the bottom plate 1.

[0064] In some embodiments, the rotating shaft 35 is parallel to the connecting rod 22. Figure 1 and Figure 2 As shown, the connecting rod 22 of the caster lever assembly 2 is arranged along the X direction, so that the first caster 23 and the driving wheel 241 can float forward and backward along the X direction, and the two second casters 31 rotatably connected on the rotating shaft 35 can float left and right along the Y direction, so that the floating chassis as a whole can have the adaptability of forward and backward and left and right, can adapt to complex uneven road conditions, and can ensure the grip of the driving wheel 241. Of course, the rotating shaft 35 and the connecting rod 22 can also form an included angle A in the horizontal direction, and A is less than 90°, which can also provide three-point support and adaptive adjustment for the bottom plate 1. Preferably, the included angle A is 90°, which is beneficial to the installation and layout of other loads on the bottom plate 1.

[0065] As shown, Figure 10 The utility model embodiment further provides an automatic guided vehicle, which comprises a load platform 4 and the floating chassis provided by the utility model embodiment, and the load platform 4 is arranged on the bottom plate 1 of the floating chassis in a height-adjustable mode. The automatic guided vehicle with the functions of hiding and lifting can be realized. The floating chassis provided by the utility model is beneficial to the layout design of the automatic guided vehicle with more chassis space, and compared with the spring suspension mode of the prior art, the overall height of the automatic guided vehicle provided by the utility model is greatly reduced, and the adaptability to uneven road surfaces and the obstacle-crossing ability are improved. The load platform 4 can be any one or a combination of a lifting assembly, a shell assembly or a roller platform assembly, and can be added according to actual needs. Figure 10As shown, the load platform 4 is a loading platform with lifting function, and the lifting function is realized by converting the rotating motion into lifting motion through a screw rod, such as setting a gear transmission assembly at the output end of the motor to drive the screw rod to rotate, pre-installing a fixed plate on the bottom plate 1, and threadedly connecting the other end of the screw rod to the fixed plate, so that the rotating motion of the screw rod relative to the fixed plate is converted into lifting motion.

[0066] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present application. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A floating floor comprising a floor panel (1), characterized in that The floating chassis further comprises a caster lever assembly (2), the caster lever assembly (2) comprises: a first support (21) arranged on the bottom plate (1); a connecting rod (22), a first end of the connecting rod (22) is provided with a first caster (23), a second end of the connecting rod (22) is provided with a driving wheel assembly (24), the connecting rod (22) is rotatably connected to the first support (21), and the first caster (23) and the driving wheel assembly (24) are respectively arranged on two sides of the first support (21).

2. The floating chassis of claim 1, wherein, The caster lever assembly (2) further comprises a limiting plate (26), the limiting plate (26) is arranged above the connecting rod (22) to limit the rotation angle of the connecting rod (22).

3. The floating chassis of claim 2, wherein, The caster lever assembly further comprises: a supporting shaft (25) penetrating the connecting rod (22) and rotatably connected to the first support (21); two elastic members (27) arranged on the bottom plate (1) or the limiting plate (26), along the length direction of the connecting rod (22), the two elastic members (27) are respectively arranged on two sides of the supporting shaft (25), and the two elastic members (27) are both in abutment with the connecting rod (22).

4. The floating chassis of claim 3, wherein, A limiting block (28) is arranged on one side of the limiting plate (26) facing the connecting rod (22), and the limiting block (28) is arranged between the two elastic members (27).

5. The floating chassis of claim 1, wherein, The driving wheel assembly (24) comprises a driving wheel (241) and a driving member (242), an output shaft of the driving member (242) penetrates the connecting rod (22) and is connected to the driving wheel (241), and the connecting rod (22) is fixedly connected to the driving member (242).

6. The floating chassis of claim 5, wherein, A first through hole (221) is arranged at the second end of the connecting rod (22), a recess (222) is arranged on one side of the first through hole (221) facing the driving member (242), an output shaft of the driving member (242) penetrates the first through hole (221), and a housing of the driving member (242) is at least partially arranged in the recess (222), and the housing of the driving member (242) is connected to the connecting rod (22).

7. The floating chassis of any of claims 1-6, wherein, The floating chassis further comprises a caster supporting assembly (3) arranged on the bottom plate (1), and the caster supporting assembly (3) is arranged on two ends of the driving wheel assembly (24) separately from the first caster (23).

8. The floating chassis of claim 7, wherein, The caster supporting assembly (3) comprises: two second casters (31) and a mounting frame (32), the two second casters (31) are respectively arranged on two ends of the mounting frame (32); a second support (33) arranged on the bottom plate (1), and a rotating shaft (35) is arranged on the second support (33), and the mounting frame (32) is rotatably arranged on the rotating shaft (35).

9. The floating chassis of claim 8, wherein, The rotating shaft (35) is parallel to the connecting rod (22).

10. An automated guided vehicle, characterized by A floating floor comprising a load platform (4) and a floating floor according to any one of claims 1-9, said load platform (4) being height adjustable arranged on the floor (1) of said floating floor.

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