Self-adaptive balance chassis assembly of AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses an AGV self-adaptive balance chassis assembly. A base frame is fixedly arranged on a bottom plate assembly and arranged above a hinge piece in a covering mode. The multiple lifting assemblies are arranged at intervals in the plate width direction of the front bottom plate and the rear bottom plate, the first working ends of the lifting assemblies are fixedly arranged on the front bottom plate, and the second working ends of the lifting assemblies are fixedly arranged on the rear bottom plate; the reset assembly is fixedly arranged on the hinge piece. The driving parts are fixedly arranged on the plate faces of the front bottom plate and the rear bottom plate, and the driving wheels are arranged on the two sides of the front bottom plate and the rear bottom plate in the width direction of the front bottom plate and the rear bottom plate and fixedly connected with the output ends of the driving parts. Through the synergistic effect of the hinge piece, the lifting assembly and the reset assembly, the lifting assembly can automatically adjust and balance the pitching angle according to the inclination condition of the chassis, and the reset assembly can conduct reset operation after the chassis is greatly inclined, so that the chassis assembly can be kept in a relatively horizontal state on an uneven road surface, and the service life of the chassis assembly is prolonged. Inclination of a vehicle body is reduced, and driving stability and butt joint precision are improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of ACV trolley devices, and particularly relates to an AGV self-adaptive balance chassis assembly. BACKGROUND

[0002] With the rapid development of the AGV industry, AGVs have not only engaged in simple carrying operations, but have gradually developed into the field of full automation with high-precision docking.

[0003] At present, AGV chassis mainly adopts a suspension type driving structure and a bridge type driving structure. The main principle of the two types of driving structures is to enable the driving wheels and universal wheels (load-bearing wheels) to all be in contact with the ground by means of springs or hinged bridges, so as to mainly solve the problem of the inability to normally travel due to the insufficient driving wheel grip and wheel skidding caused by uneven road surfaces.

[0004] However, the above two types of AGV chassis have the following deficiencies and defects: when the AGV body of the chassis travels on uneven road surfaces, the AGV body will be inclined; in high-precision docking, deviation will occur, and even production accidents will occur; the carrying and pulling work is highly dependent on the flatness of the ground.

[0005] Therefore, an AGV self-adaptive balance chassis assembly is urgently needed to solve the above problems. CONTENT OF THE INVENTION

[0006] The embodiment of the application provides an AGV self-adaptive balance chassis assembly, which aims to ensure that the chassis assembly can adapt to the ground while improving the docking precision.

[0007] To achieve the above object, the application provides the following technical scheme:

[0008] An AGV self-adaptive balance chassis assembly, comprising a front bottom plate and a rear bottom plate arranged horizontally, and further comprising a hinge piece, a front universal wheel set, a rear universal wheel set, a swing bridge, a base frame, a lifting assembly, a reset assembly, a driving piece and two driving wheels;

[0009] The hinge piece is rotationally connected between the front bottom plate and the rear bottom plate, and is used to hinge the front bottom plate and the rear bottom plate to form a bottom plate assembly;

[0010] The front universal wheel set is fixedly arranged at one end of the front bottom plate away from the rear bottom plate;

[0011] The rear universal wheel set is fixedly arranged at one end of the rear bottom plate away from the front bottom plate;

[0012] The swing bridge is arranged at the connection between the rear universal wheel set and the rear bottom plate;

[0013] The base frame is fixedly arranged on the bottom plate assembly and covers the upper portion of the hinge piece;

[0014] The lifting assemblies are arranged at intervals along the plate width direction of the bottom plate assembly, the first working end of the lifting assembly is fixedly arranged on the front bottom plate, and the second working end of the lifting assembly is fixedly arranged on the rear bottom plate, so that the pitch angles of the front bottom plate and the rear bottom plate when the front bottom plate and the rear bottom plate rotate relative to each other can be balanced respectively.

[0015] The reset assembly is fixedly arranged on the hinge member, and is used for secondary resetting of the bottom plate assembly.

[0016] The driving member is fixedly arranged in the base frame, and the extension directions of the two output ends of the driving member are consistent with the width direction of the bottom plate assembly.

[0017] The two driving wheels are symmetrically arranged on the two sides of the front bottom plate and the rear bottom plate along the width direction of the front bottom plate and the rear bottom plate, and are fixedly connected with the two output ends of the corresponding driving member.

[0018] Further, the lifting assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a first transmission tooth and a second transmission tooth.

[0019] One end of the first connecting rod is rotatably connected to the side of the base frame, and the other end thereof is rotatably connected to the middle of the second connecting rod and faces the side of the bottom plate assembly away from the ground.

[0020] One end of the second connecting rod is rotatably connected to one end of the third connecting rod, and the other end thereof is rotatably connected to one end of the fourth connecting rod.

[0021] The other end of the third connecting rod extends to the side close to the bottom plate assembly and is hingedly connected to the upper plate surface of the rear bottom plate, and the other end of the fourth connecting rod extends to the side close to the bottom plate assembly.

[0022] One end of the fifth connecting rod is rotatably connected to the side of the front bottom plate, and the other end thereof is rotatably connected to the end of the fourth connecting rod close to the bottom plate assembly.

[0023] The first transmission tooth is rotatably arranged at the end of the fourth connecting rod close to the bottom plate assembly.

[0024] The second transmission tooth is rotatably arranged on the front bottom plate, and the second transmission tooth and the first transmission tooth are in tooth mesh transmission.

[0025] Further, the rod length of the first connecting rod is less than the rod length of the third connecting rod, the rod length of the third connecting rod is equal to the rod length of the fourth connecting rod, and the rod length of the fifth connecting rod is less than the rod length of the first connecting rod.

[0026] Further, the reset assembly comprises a sleeve, a torsional spring and at least two limiting rings.

[0027] The sleeve penetrates along the width direction of the hinge member, the peripheral surface of the sleeve is rotatably connected to the hinge member, and the tube length of the sleeve is greater than the width of the hinge member.

[0028] The torsion spring is arranged in the lumen of the sleeve, and one end of the torsion spring is inserted into the end of the rear bottom plate close to the front bottom plate, and the other end of the torsion spring is inserted into the end of the front bottom plate close to the rear bottom plate.

[0029] The two limiting rings are arranged at intervals on the periphery of the sleeve, and the partial circumferential surfaces of the two limiting rings abut against the end surface of the front bottom plate close to the rear bottom plate and the end surface of the rear bottom plate close to the front bottom plate, respectively, and form limiting cooperation.

[0030] Further, the side end surface of the front bottom plate close to the rear bottom plate and the side end surface of the rear bottom plate close to the front bottom plate are both provided with limiting grooves, the grooves of the limiting grooves are towards one side of the limiting ring, and the groove wall of the limiting groove away from the limiting ring is horizontally provided with a positioning plate, and the positioning plate abuts against the circumferential surface of the limiting ring.

[0031] Further, the addendum circle of the first transmission tooth is larger than the addendum circle of the second transmission tooth.

[0032] The one or more technical solutions provided in the embodiment of the utility model have at least the following technical effects:

[0033] The application can automatically adjust the lifting assembly according to the inclination of the chassis, balance the pitch angle, and reset the reset assembly after the chassis is greatly inclined, so that the chassis assembly can maintain a relatively horizontal state on uneven road surface, reduce the inclination of the vehicle body, and improve the driving stability and docking accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the utility model or the prior art. Obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0035] Figure 1 The structural schematic diagram provided for the embodiment of the application;

[0036] Figure 2 The structural schematic diagram of the front floor provided for the embodiment of the application;

[0037] Figure 3 The structural schematic diagram of the reset assembly provided for the embodiment of the application;

[0038] Figure 4 The structural schematic diagram of the sleeve and the hinge provided for the embodiment of the application.

[0039] Icon: 10 - base plate assembly; 101 - front base plate; 102 - rear base plate; 103 - limiting groove; 104 - positioning plate; 11 - hinged piece; 12 - front universal wheel set; 13 - rear universal wheel set; 14 - swing bridge; 15 - base frame; 16 - driving piece; 17 - driving wheel; 20 - first connecting rod; 21 - second connecting rod; 22 - third connecting rod; 23 - fourth connecting rod; 24 - fifth connecting rod; 25 - first transmission tooth; 26 - second transmission tooth; 30 - sleeve; 31 - torsion spring; 32 - limiting ring. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. The terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In addition, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements inside. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0042] As Figures 1-4As shown, an AGV adaptive balance chassis assembly includes a horizontally placed front bottom plate 101 and a rear bottom plate 102, and further includes a hinged piece 11, a front universal wheel set 12, a rear universal wheel set 13, a swing bridge 14, a base frame 15, a lifting assembly, a reset assembly, a driving piece 16 and a driving wheel 17; the hinged piece 11 is rotationally connected between the front bottom plate 101 and the rear bottom plate 102, and is used to hinge the front bottom plate 101 and the rear bottom plate 102 to form a bottom plate assembly 10; the front universal wheel set 12 is fixedly arranged at one end of the front bottom plate 101 away from the rear bottom plate 102; the rear universal wheel set 13 is fixedly arranged at one end of the rear bottom plate 102 away from the front bottom plate 101; the swing bridge 14 is arranged at the connection between the rear universal wheel set 13 and the rear bottom plate 102; the base frame 15 is fixedly arranged on the bottom plate assembly 10 and is located at the hinge of the front bottom plate 101 and the rear bottom plate 102; the lifting assembly is arranged in the plate width direction of the front bottom plate 101 and the rear bottom plate 102, a first working end of the lifting assembly is fixedly arranged on the front bottom plate 101, and a second working end of the lifting assembly is fixedly arranged on the rear bottom plate 102, so as to balance the pitch angle when the front bottom plate 101 and the rear bottom plate 102 rotate relative to each other; the reset assembly is fixedly arranged on the hinged piece 11 and is used for secondary resetting of the bottom plate assembly 10; the driving piece 16 is fixedly arranged on the plate surface of the front bottom plate 101 and the rear bottom plate 102; and the driving wheel 17 is arranged on both sides of the front bottom plate 101 and the rear bottom plate 102 along the width direction thereof and is fixedly connected with two output ends of the driving piece 16.

[0043] In the above scheme, the front bottom plate 101 and the rear bottom plate 102 are horizontally placed on the ground and are rotationally connected through the hinged piece 11 to form a relatively rotatable bottom plate assembly 10. The hinged piece 11 is located between the front bottom plate 101 and the rear bottom plate 102 to realize the hinged connection of the front bottom plate 101 and the rear bottom plate 102 and allow a certain degree of relative rotation. The front universal wheel set 12 and the rear universal wheel set 13 are respectively fixedly arranged on the front bottom plate 101 and the rear bottom plate 102 to provide steering and support for the bottom plate assembly 10. The swing bridge 14 is fixedly connected with the rear universal wheel set 13 to enhance the support for the bottom plate assembly 10. The base frame 15 not only provides a mounting basis for the lifting assembly but also enhances the overall structural strength of the bottom plate assembly 10. The lifting assembly is arranged in the plate width direction of the front bottom plate 101 and the rear bottom plate 102 and can balance the pitch angle when the front bottom plate 101 and the rear bottom plate 102 rotate relative to each other to keep the chassis horizontal. The reset assembly is fixedly arranged on the hinged piece 11 and is used for secondary resetting after the chassis is inclined to ensure that the chassis returns to the horizontal state. The driving piece 16 is fixedly arranged on the plate surface of the front bottom plate 101 and the rear bottom plate 102 to provide power. The driving wheel 17 is arranged on both sides of the front bottom plate 101 and the rear bottom plate 102 along the width direction thereof and is fixedly connected with the output end of the driving piece 16 to realize the movement of the chassis.

[0044] The application can automatically adjust the lifting assembly according to the inclination of the chassis, balance the pitch angle, and reset the chassis after a large inclination of the chassis, so that the chassis assembly can maintain a relatively horizontal state on uneven road surfaces, reduce the inclination of the vehicle body, and improve the driving stability and docking accuracy.

[0045] The lifting assembly comprises a first connecting rod 20, a second connecting rod 21, a third connecting rod 22, a fourth connecting rod 23, a fifth connecting rod 24, a first transmission gear 25, and a second transmission gear 26. One end of the first connecting rod 20 is rotatably connected to the side of the base frame 15, and the other end is rotatably connected to the middle of the second connecting rod 21 away from the side of the chassis assembly 10 close to the ground. One end of the second connecting rod 21 is rotatably connected to one end of the third connecting rod 22, and the other end is rotatably connected to one end of the fourth connecting rod 23. The other end of the third connecting rod 22 extends towards the side of the chassis assembly 10 close to the ground and is hingedly connected to the upper plate surface of the rear bottom plate 102. The other end of the fourth connecting rod 23 extends towards the side of the chassis assembly 10 close to the ground. One end of the fifth connecting rod 24 is rotatably connected to the side of the front bottom plate 101, and the other end is rotatably connected to the end of the fourth connecting rod 23 close to the chassis assembly 10. The first transmission gear 25 is rotatably arranged at the end of the fourth connecting rod 23 close to the chassis assembly 10. The second transmission gear 26 is rotatably arranged on the front bottom plate 101, and the second transmission gear 26 is in gear transmission with the first transmission gear 25.

[0046] In the above scheme, the first connecting rod 20, the second connecting rod 21, the third connecting rod 22, the fourth connecting rod 23, and the fifth connecting rod 24 form a connecting rod system. The first connecting rod 20 is rotatably connected to the side of the base frame 15 as the connection basis of the entire connecting rod system and the base frame 15. The middle of the second connecting rod 21 is connected to the first connecting rod 20. At this time, the first connecting rod 20 serves as a rotatable fulcrum. The third connecting rod 22 located at one end of the second connecting rod 21 is hingedly connected to the upper plate surface of the rear bottom plate 102 to support and transmit force. The fourth connecting rod 23 located at the other end of the second connecting rod 21 is hingedly connected to the front bottom plate 101 through the fifth connecting rod 24 to form a quadrilateral connection structure. The first transmission gear 25 is rotatably arranged at the end of the fourth connecting rod 23 close to the chassis assembly 10 for gear transmission with the second transmission gear 26. The second transmission gear 26 is rotatably arranged on the front bottom plate 101 and is in gear transmission with the first transmission gear 25 to realize the lifting or lowering action through transmission.

[0047] When the chassis runs on uneven road and tilts, the linkage system will deform according to the tilt angle. When the front bottom plate 101 and the rear bottom plate 102 tilt relative to each other, the fourth linkage 23 will move downward or upward relative to the third linkage 22 based on the first linkage 20, at this time, the relative position between the first transmission gear 25 and the second transmission gear 26 will also change, thereby triggering the gear meshing transmission, and driving the linkage system to balance the tilt angle of the chassis assembly, so as to keep it in a relatively horizontal state.

[0048] The length of the first linkage 20 is less than the length of the third linkage 22, the length of the third linkage 22 is equal to the length of the fourth linkage 23, and the length of the fifth linkage 24 is less than the length of the first linkage 20.

[0049] In the above scheme, the length of the first linkage 20 is less than the length of the third linkage 22. The purpose of this setting is to make the third linkage 22 have a greater leverage effect in the linkage system. When the chassis tilts, the third linkage 22 can more effectively transmit and adjust the force, thereby quickly balancing the tilt angle of the chassis assembly. The equal length of the third linkage 22 and the fourth linkage 23 makes the linkage system more stable during balance adjustment. The shorter fifth linkage 24 makes its movement range in the linkage system relatively small, and when the chassis assembly tilts, the fifth linkage 24 can quickly respond and transmit the tilt signal, thereby triggering the balance adjustment mechanism of the entire linkage system.

[0050] The reset assembly includes a sleeve 30, a torsional spring 31 and at least two limit rings 32; the sleeve 30 penetrates the hinge 11 and is rotationally connected with the hinge 11, and the length of the sleeve 30 is greater than the width of the hinge 11; the torsional spring 31 is rotationally arranged in the lumen of the sleeve 30, and one end of the torsional spring 31 is inserted into the end of the rear bottom plate 102 close to the front bottom plate 101, and the other end is inserted into the end of the front bottom plate 101 close to the rear bottom plate 102; the two limit rings 32 are arranged at intervals on the periphery of the sleeve 30, and part of the circumferential surface of the two limit rings 32 respectively abuts against the end surface of the front bottom plate 101 close to the rear bottom plate 102 and the end surface of the rear bottom plate 102 close to the front bottom plate 101, and forms a limiting fit.

[0051] The sleeve 30 penetrates the hinge 11 and is rotationally connected with the hinge 11, allowing the front bottom plate 101 and the rear bottom plate 102 to rotate relative to each other. The length of the sleeve 30 is greater than the width of the hinge 11, ensuring that the sleeve 30 can rotate freely within the hinge 11, while providing sufficient space to install the torsion spring 31 and the limiting ring 32. When the chassis is tilted, the torsion spring 31 is compressed or stretched, generating a torsional force. When the chassis tilt is eliminated or needs to be restored to a horizontal state, the torsion spring 31 releases the torsional force, pushing the front bottom plate 101 and the rear bottom plate 102 back to the initial position, achieving the reset function. The two limiting rings 32 are spaced apart on the periphery of the sleeve 30, and part of the peripheral surface of each limiting ring 32 abuts against the end surface of the front bottom plate 101 near the rear bottom plate 102 and the end surface of the rear bottom plate 102 near the front bottom plate 101, respectively, limiting the relative rotation range between the sleeve 30 and the front bottom plate 101 and the rear bottom plate 102, preventing the chassis from tilting excessively or damaging the reset assembly.

[0052] The side end surface of the front bottom plate 101 near the rear bottom plate 102 and the side end surface of the rear bottom plate 102 near the front bottom plate 101 are each provided with a limiting groove 103, and the groove opening of the limiting groove 103 faces one side of the limiting ring 32. A positioning plate 104 is horizontally arranged on the groove wall of the limiting groove 103 away from the limiting ring 32, and the positioning plate 104 abuts against the peripheral surface of the limiting ring 32.

[0053] In the above scheme, when the chassis assembly is in a horizontal state, the limiting ring 32 is located in the middle position of the limiting groove 103 and does not contact the positioning plate 104. At this time, the relative rotation between the sleeve 30 and the front bottom plate 101 and the rear bottom plate 102 is free; when the chassis assembly is tilted, the sleeve 30 and the limiting ring 32 will rotate accordingly. As the tilt angle increases, the limiting ring 32 will gradually approach the end of the limiting groove 103 and eventually contact the positioning plate 104. When the limiting ring 32 contacts the positioning plate 104, the positioning plate 104 will prevent the limiting ring 32 from continuing to rotate, thereby limiting the tilt angle of the chassis. This ensures that the chassis does not exceed the set range when tilted, protecting the reset assembly and other components of the chassis from damage.

[0054] The addendum circle of the first transmission tooth 25 is larger than the addendum circle of the second transmission tooth 26.

[0055] In the above scheme, when the addendum circle of the first transmission tooth 25 is larger than that of the second transmission tooth 26, the number of teeth on the first transmission tooth 25 is greater than that of the second transmission tooth 26, thereby increasing the contact area of the first transmission tooth 25, making it easier for the chassis assembly to return to a horizontal state and reducing the risk of meshing failure due to vibration or charging.

[0056] The various embodiments in the specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the difference from other embodiments.

[0057] The above examples are only used to illustrate the technical solutions of the present application, and are not limited to the present application; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the present application.

Claims

1. An AGV adaptive balance chassis assembly, comprising a front bottom plate (101) and a rear bottom plate (102) placed horizontally, characterized in that, It also comprises a hinge (11), a front universal wheel set (12), a rear universal wheel set (13), a swing bridge (14), a base frame (15), a lifting assembly, a reset assembly, a driving member (16) and two driving wheels (17); The hinge (11) is rotationally connected between the front bottom plate (101) and the rear bottom plate (102) for hinging the front bottom plate (101) and the rear bottom plate (102) to form a bottom plate assembly (10); The front universal wheel set (12) is fixedly arranged at one end of the front bottom plate (101) away from the rear bottom plate (102); The rear universal wheel set (13) is fixedly arranged at one end of the rear bottom plate (102) away from the front bottom plate (101); The swing bridge (14) is arranged at the connection between the rear universal wheel set (13) and the rear bottom plate (102); The base frame (15) is fixedly arranged on the bottom plate assembly (10) and covers the hinge (11) above; The lifting assembly is arranged in the plate width direction of the bottom plate assembly (10), the first working end of the lifting assembly is fixedly arranged on the front bottom plate (101), the second working end of the lifting assembly is fixedly arranged on the rear bottom plate (102), and the lifting assembly can balance the pitch angle when the front bottom plate (101) and the rear bottom plate (102) relatively rotate; The reset assembly is fixedly arranged on the hinge (11) for secondary reset of the bottom plate assembly (10); The driving member (16) is fixedly arranged in the base frame (15), and the extension directions of the two output ends of the driving member (16) are consistent with the width direction of the bottom plate assembly (10); The two driving wheels (17) are symmetrically arranged on both sides of the front bottom plate (101) and the rear bottom plate (102) in the width direction thereof and are fixedly connected with the two output ends of the corresponding driving member (16).

2. The AGV self-balancing chassis assembly of claim 1, wherein, The lifting assembly comprises a first connecting rod (20), a second connecting rod (21), a third connecting rod (22), a fourth connecting rod (23), a fifth connecting rod (24), a first transmission gear (25) and a second transmission gear (26); One end of the first connecting rod (20) is rotationally connected to the side of the base frame (15), and the other end thereof is rotationally connected to the middle of the second connecting rod (21) and faces away from the ground on one side of the bottom plate assembly (10); One end of the second connecting rod (21) is rotationally connected to one end of the third connecting rod (22), and the other end thereof is rotationally connected to one end of the fourth connecting rod (23); The other end of the third connecting rod (22) extends to the side close to the bottom plate assembly (10) and is hinged to the upper plate surface of the rear bottom plate (102), and the other end of the fourth connecting rod (23) extends to the side close to the bottom plate assembly (10); One end of the fifth connecting rod (24) is rotationally connected to the side of the front bottom plate (101), and the other end thereof is rotationally connected to one end of the fourth connecting rod (23) close to the bottom plate assembly (10); The first transmission gear (25) is rotationally arranged at one end of the fourth connecting rod (23) close to the bottom plate assembly (10); The second transmission gear (26) is rotationally arranged at the other end of the fourth connecting rod (23) close to the bottom plate assembly (10). The second transmission tooth (26) is fixedly arranged on the front bottom plate (101), and the second transmission tooth (26) is in gear transmission with the first transmission tooth (25).

3. The AGV self-leveling chassis assembly of claim 2, wherein, The length of the first connecting rod (20) is less than the length of the third connecting rod (22), the length of the third connecting rod (22) is equal to the length of the fourth connecting rod (23), and the length of the fifth connecting rod (24) is less than the length of the first connecting rod (20).

4. The AGV self-leveling chassis assembly of claim 1, wherein, The reset assembly comprises a sleeve (30), a torsional spring (31) and at least two limiting rings (32). The sleeve (30) penetrates along the width direction of the hinge (11), the peripheral surface of the sleeve (30) is rotationally connected with the hinge (11), and the length of the sleeve (30) is greater than the width of the hinge (11). The torsional spring (31) is rotationally arranged in the lumen of the sleeve (30), one end of the torsional spring (31) is inserted into one end of the rear bottom plate (102) close to the front bottom plate (101), and the other end of the torsional spring (31) is inserted into one end of the front bottom plate (101) close to the rear bottom plate (102). The two limiting rings (32) are arranged at intervals on the peripheral part of the sleeve (30), and part of the peripheral surface of the two limiting rings (32) respectively abuts against the side end surface of the front bottom plate (101) close to the rear bottom plate (102) and the side end surface of the rear bottom plate (102) close to the front bottom plate (101), and forms a limiting fit.

5. The AGV self-leveling chassis assembly of claim 4, wherein, The side end surface of the front bottom plate (101) close to the rear bottom plate (102) and the side end surface of the rear bottom plate (102) close to the front bottom plate (101) are both provided with a limiting groove (103), the groove opening of the limiting groove (103) faces one side of the limiting ring (32), and the groove wall of the limiting groove (103) away from the limiting ring (32) is horizontally provided with a positioning plate (104), and the positioning plate (104) abuts against the peripheral surface of the limiting ring (32).

6. The AGV self-leveling chassis assembly of claim 2, wherein, The addendum circle of the first transmission tooth (25) is greater than the addendum circle of the second transmission tooth (26).

Images