Chassis device and automated guided vehicle

Abstract

The utility model relates to a chassis device and an automatic guided vehicle, the chassis device comprises a chassis, a driving mechanism, at least one connecting rod mechanism and two auxiliary mechanisms, and the chassis comprises a first vehicle body and a second vehicle body which are arranged at intervals in the first direction; the driving mechanisms are arranged between the first vehicle body and the second vehicle body, the two driving mechanisms are arranged at intervals in the second direction, and the second direction is perpendicular to the first direction; the connecting rod mechanism is hinged with the first vehicle body and the second vehicle body; the two auxiliary mechanisms are hinged to the first vehicle body and the second vehicle body correspondingly. The chassis device can be self-adaptive to the rugged ground, meanwhile, the road holding force of the driving wheels is guaranteed, the supporting effect is guaranteed, it is guaranteed that objects located on the chassis device can be kept stable in the transportation process, and the situation of rollover is avoided.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, and in particular to a chassis device and an automated guided vehicle. Background Technology

[0002] In the traditional brewing process of baijiu, the koji blocks produced in the koji-making workshop mainly rely on manual transportation. After the team completes the koji block treading and spreading out to cool, the koji blocks need to be manually transported from the cooling area to the designated fermentation chamber using handcarts. This transportation efficiency is low and the manual labor intensity is high.

[0003] Currently, automated guided vehicles (AGVs) are mostly used to transfer trolleys, solving the problem of high labor intensity associated with manual trolley pushing. AGVs are transport equipment that moves along a guided path. AGVs are mostly composed of a support section and a drive section. The drive section is often a set of drive wheels mounted on a chassis, which is generally a one-piece molded flat structure.

[0004] The koji-making workshop has narrow passages and a large flow of people. After long-term use, the ground in the koji-making workshop is uneven. When the automated guided vehicle encounters slopes or uneven road surfaces that are difficult to avoid during its journey, the flat chassis and wheel set do not have buffering and adjustment when passing over them, which can easily lead to accidents such as rollover. Utility Model Content

[0005] Based on this, a chassis device and an automated guided vehicle are provided to solve the problem of low adaptive capability of automated guided vehicles in the prior art.

[0006] Therefore, in a first aspect, embodiments of this application provide a chassis device, including:

[0007] The chassis includes a first vehicle body and a second vehicle body spaced apart along a first direction;

[0008] A drive mechanism is disposed between the first vehicle body and the second vehicle body, and two sets of drive mechanisms are spaced apart along a second direction, the second direction being perpendicular to the first direction;

[0009] At least one linkage mechanism, hingedly connecting the first vehicle body and the second vehicle body; and

[0010] Two sets of auxiliary mechanisms are respectively hinged to the first vehicle body and the second vehicle body.

[0011] In one embodiment, the linkage mechanism includes:

[0012] A first link, the first end of which is hinged to the first vehicle body; and

[0013] A second connecting rod, a first end of the second connecting rod is hingedly connected to the second vehicle body, and a second end of the second connecting rod is hingedly connected to the second end of the first connecting rod.

[0014] In one of the embodiments, the first connecting rod comprises a first rod part and a second rod part which are angularly connected, the first rod part is hingedly connected to the first vehicle body, and the second rod part is hingedly connected to the second connecting rod, and the second rod part is arranged to extend in a horizontal direction.

[0015] In one of the embodiments, the auxiliary mechanism comprises:

[0016] An auxiliary frame is hingedly arranged on the chassis; and

[0017] Two universal wheels are respectively arranged at two ends of the auxiliary frame.

[0018] In one of the embodiments, the first vehicle body has a first vehicle end, and the second vehicle body has a second vehicle end, and the first vehicle end and the second vehicle end are both provided with a safety touch edge.

[0019] In one of the embodiments, an alarm mechanism is further included, and the safety touch edge is electrically connected to the alarm mechanism.

[0020] In a second aspect, the embodiments of the present application provide an automatic guided vehicle, which comprises the chassis device of the first aspect and a jacking and rotating device, a navigation device and a protection device, the jacking and rotating device, the navigation device and the protection device are all arranged on the chassis device, and a jacking disc is arranged at a movable end of the jacking and rotating device.

[0021] In one of the embodiments, the jacking and rotating device comprises:

[0022] A base is arranged on the chassis device, and a guide mechanism is movably arranged on the base;

[0023] A slewing bearing is movably arranged on the guide mechanism, and the jacking disc is arranged on the slewing bearing;

[0024] A jacking mechanism is arranged on the base, and the guide mechanism is arranged at a lifting end of the jacking mechanism; and

[0025] A rotating mechanism is arranged on the guide mechanism, and the slewing bearing is arranged at a rotating end of the rotating mechanism.

[0026] In one of the embodiments, the navigation device comprises:

[0027] A bottom plate is arranged on the chassis device, and

[0028] A laser scanning head is arranged on the bottom plate.

[0029] In one embodiment, the protective device includes:

[0030] The control box is mounted on the chassis assembly;

[0031] Two laser obstacle scanners are respectively installed on the front and rear sides of the chassis device; and

[0032] At least one emergency stop button is provided on the chassis assembly.

[0033] According to the chassis device and automated guided vehicle provided in the embodiments of this application, the drive mechanism in the chassis device is used to drive the chassis to move, and the auxiliary mechanism is used to provide auxiliary support and guidance for the chassis. The chassis is separated by a first vehicle body and a second vehicle body, and the first vehicle body and the second vehicle body are hinged together by a linkage structure, so that when encountering obstacles during driving, the drive mechanism and the auxiliary mechanism at different positions can bend at different angles. Each set of auxiliary mechanisms is respectively hinged to the first vehicle body and the second vehicle body, so that when the first vehicle body and the second vehicle body tilt relative to each other during driving, they can adaptively adjust to ensure the support effect, thereby ensuring that the items located on the chassis device can remain stable during transportation and avoid the situation of tipping over. Attached Figure Description

[0034] Figure 1 This diagram illustrates the structure of a chassis device according to an embodiment of this application.

[0035] Figure 2 This image shows a perspective view of an automated guided vehicle provided in an embodiment of this application;

[0036] Figure 3 Show Figure 2 The image shows the front view of the automated guided vehicle.

[0037] Figure 4 This is a perspective view of a lifting and rotating device in an automated guided vehicle according to an embodiment of this application;

[0038] Figure 5 This is a cross-sectional view of a lifting and rotating device in an automated guided vehicle provided in an embodiment of this application.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Chassis; 11. First vehicle body; 12. Second vehicle body; 13. Safety contact edge;

[0041] 2. Drive mechanism; 21. Drive wheel; 22. Drive component;

[0042] 3. Linkage mechanism; 31. First link; 311. First link section; 312. Second link section; 32. Second link;

[0043] 4. Auxiliary mechanisms; 41. Auxiliary frames; 42. Casters;

[0044] 5. Lifting and rotating device; 51. Base; 52. Guide mechanism; 53. Slewing bearing;

[0045] 54. Lifting mechanism; 541. Lifting motor; 542. Lifting gear; 543. Lead screw; 544. Nut;

[0046] 55. Rotating mechanism; 551. Rotary motor; 552. Rotary gear;

[0047] 6. Navigation device; 61. Base plate; 62. Laser scanning head;

[0048] 7. Protective devices; 71. Control box; 72. Laser obstacle scanner; 73. Emergency stop button;

[0049] 8. Lifting plate. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this utility model. Therefore, the drawings only show the components related to this utility model and are not drawn according to the actual number, shape and size of the components. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0052] The structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0053] The orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "transverse," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] like Figures 1-5 As shown, this embodiment provides a chassis device, which includes a chassis 1, a drive mechanism 2, at least one set of linkage mechanisms 3, and two sets of auxiliary mechanisms 4. The chassis 1 includes a first vehicle body 11 and a second vehicle body 12 spaced apart along a first direction; the drive mechanism 2 is disposed between the first vehicle body 11 and the second vehicle body 12, and two sets of drive mechanisms 2 are spaced apart along a second direction, which is perpendicular to the first direction; the linkage mechanisms 3 are hinged to the first vehicle body 11 and the second vehicle body 12; the two sets of auxiliary mechanisms 4 are respectively hinged to the first vehicle body 11 and the second vehicle body 12.

[0055] The drive mechanism 2 is used to drive the chassis 1 to move, and the auxiliary mechanism 4 is used to provide auxiliary support and guidance for the chassis 1. The chassis 1 is separated by the first vehicle body 11 and the second vehicle body 12, and is connected to the first vehicle body 11 and the second vehicle body 12 by a linkage structure. This allows the drive mechanism 2 and the auxiliary mechanism 4 at different positions to bend at different angles when encountering obstacles during the journey. Each set of auxiliary mechanisms 4 is respectively hinged to the first vehicle body 11 and the second vehicle body 12, so that the first vehicle body 11 and the second vehicle body 12 can adaptively adjust when they tilt relative to each other during the journey, ensuring the support effect and thus ensuring that the items located on the chassis can remain stable during transportation and avoid tipping over.

[0056] Specifically, the drive mechanism 2 includes a drive wheel 21 and a drive component 22. The drive component 22 is used to drive the drive wheel 21 to rotate. The drive component 22 can be mounted on the first vehicle body 11 or on the second vehicle body 12. The drive component 22 includes a drive motor or a rotary cylinder, etc. In this embodiment, the drive component 22 is a drive motor. The drive motor is detachably mounted on the first vehicle body 11 by bolts. The output shaft of the drive motor is coaxially fixed to the drive wheel 21 by a coupling; therefore, the rotation of the output shaft of the drive motor will drive the synchronous rotation of the drive wheel 21.

[0057] Optionally, the two sets of drive mechanisms 2 are located on opposite sides of the chassis 1 and are arranged axially symmetrically to ensure the stability of the chassis 1 and the reliability of the chassis 1's movement.

[0058] Of course, the drive mechanism 2 may also include a drive housing, which covers the drive component 22 and protects the drive component 22 to ensure the reliability of the rotation of the drive wheel 21.

[0059] like Figure 1 As shown, in some embodiments, the linkage mechanism 3 includes a first link 31 and a second link 32, wherein the first end of the first link 31 is hinged to the first vehicle body 11; the first end of the second link 32 is hinged to the second vehicle body 12, and the second end of the second link 32 is hinged to the second end of the first link 31. The first vehicle body 11 and the second vehicle body 12 are connected through the arrangement of the first link 31 and the second link 32, and the connection between the first vehicle body 11 and the second vehicle body 12 can be adaptively adjusted during travel.

[0060] Furthermore, the first connecting rod 31 includes a first rod portion 311 and a second rod portion 312 connected at an angle. The first rod portion 311 is hinged to the first vehicle body 11, and the second rod portion 312 is hinged to the second connecting rod 32. The second rod portion 312 extends horizontally. The horizontal arrangement of the second rod portion 312 facilitates the placement of items on it, achieving stable support and transportation of the items.

[0061] Optionally, the linkage mechanism 3 is provided with two, three or more sets at intervals along the second direction, and the reliability of the connection between the first vehicle body 11 and the second vehicle body 12 is further improved by setting multiple sets of linkage mechanism 3.

[0062] like Figure 1 As shown, in some embodiments, the auxiliary mechanism 4 includes an auxiliary frame 41 and two casters 42, wherein the auxiliary frame 41 is hinged to the chassis 1. The two casters 42 are respectively disposed at both ends of the auxiliary frame 41, and the casters 42 protrude from the bottom of the chassis 1, and play a steering role during the movement of the chassis 1.

[0063] The auxiliary frame 41 can extend along a first direction or a second direction. Of course, in different application scenarios, the auxiliary frame 41 can also extend along any horizontal direction to meet usage requirements. In this embodiment, the auxiliary frame 41 extends along the second direction, and its middle position is hinged to the chassis 1. That is, the two middle positions corresponding to the two sets of auxiliary frames 41 are respectively hinged to the first vehicle body 11 and the second vehicle body 12.

[0064] Optionally, in order to further improve the stability of the chassis 1 during operation, the two sets of auxiliary mechanisms 4 are respectively set on the side of the first vehicle body 11 and the second vehicle body 12 that are far apart from each other.

[0065] For ease of description, the front and rear ends of chassis 1 are described on opposite sides in the first direction. The front end of chassis 1 refers to the front portion during its movement, and the rear end refers to the rear portion during its movement. The first vehicle body 11 is located at the front of chassis 1, and the second vehicle body 12 is located at the rear of chassis 1.

[0066] In some embodiments, the first vehicle body 11 has a first end and the second vehicle body 12 has a second end, both the first end and the second end being provided with a safety edge 13. The safety edge 13 provides protection for the chassis 1 during its movement, preventing damage from collisions when the chassis 1 comes into contact with other components.

[0067] Optionally, the first vehicle end is the end of the first vehicle body 11 away from the second vehicle body 12, that is, the front end of the chassis 1; the second vehicle end is the end of the second vehicle body 12 away from the first vehicle body 11, that is, the rear end of the chassis 1. Of course, the first vehicle end can also be the periphery of the first vehicle body 11, and the second vehicle end can also be the periphery of the second vehicle body 12, thereby increasing the protection range.

[0068] Optionally, the safety contact edge 13 is connected to the drive mechanism 2. When the safety contact edge 13 is triggered, the drive mechanism 2 is stopped, which means the chassis 1 is stopped from moving, thereby protecting the chassis 1.

[0069] Furthermore, the chassis device also includes an alarm mechanism. The safety contact edge 13 is electrically connected to the alarm mechanism. When the safety contact edge 13 is triggered, it controls the alarm mechanism to start, putting the alarm mechanism into an audible and visual alarm state to provide a warning.

[0070] Optionally, an operation panel may also be provided on the chassis 1. The operation panel is electrically connected to the safety contact edge 13, the drive mechanism 2, and the alarm mechanism. After the safety contact edge 13 is triggered, technicians can perform corresponding operations on the operation panel to make the chassis 1 continue to move.

[0071] In summary, the chassis device provided in this embodiment features a front-to-rear split design for the chassis 1. Combined with the linkage mechanism 3, this allows the chassis 1 to float forward and backward. An auxiliary mechanism 4 is hinged to the chassis 1, ensuring that the casters 42 simultaneously contact the ground. By integrating these two structures, all drive wheels 21 and casters 42 on the chassis 1 can contact the ground, achieving adaptive handling to uneven terrain while maintaining the traction of the drive wheels 21, ensuring support, and guaranteeing that items on the chassis remain stable during transportation, preventing tipping.

[0072] like Figures 1-5As shown, this embodiment provides an automated guided vehicle (AGV), including the chassis device provided in the above embodiment. The AGV also includes a lifting and rotating device 5, a navigation device 6, and a protective device 7. The lifting and rotating device 5, the navigation device 6, and the protective device 7 are all mounted on the chassis device, and a lifting plate 8 is provided at the movable end of the lifting and rotating device 5.

[0073] The lifting plate 8 is mounted on the lifting and rotating device 5. The automated guided vehicle (AGV) then moves the trolley between the cooling area and the fermentation chamber after it lies submerged beneath it. This facilitates the transfer of koji blocks from the cooling area to the fermentation chamber, reducing manual intervention, lowering labor intensity, and improving production efficiency. The AAV can lie submerged under the material cart, and the lifting and rotating device 5 can lift, lower, and rotate the trolley to ensure proper transport. Furthermore, the AAV features the aforementioned chassis, allowing it to adapt to uneven road surfaces during operation, ensuring stability and reliability.

[0074] In some embodiments, the lifting and rotating device 5 includes a base 51, a slewing bearing 53, a lifting mechanism 54, and a rotating mechanism 55; wherein, the base 51 is disposed on a chassis device, and a guide mechanism 52 is movably disposed on the base 51; the slewing bearing 53 is movably disposed on the guide mechanism 52, and the lifting plate 8 is disposed on the slewing bearing 53; the lifting mechanism 54 is disposed on the base 51, and the guide mechanism 52 is disposed at the lifting end of the lifting mechanism 54; the rotating mechanism 55 is disposed on the guide mechanism 52, and the slewing bearing 53 is disposed at the rotating end of the rotating mechanism 55.

[0075] The base 51 is located on the second rod portion 312 of the chassis 1. The lifting mechanism 54 drives the guide mechanism 52 to rise and fall, thereby moving the lifting plate 8. The rotating mechanism 55 drives the rotation of the slewing bearing 53, thereby rotating the lifting plate 8. This achieves the rising, falling, and rotating of the lifting plate 8. The lifting plate 8 works in conjunction with a trolley, allowing the trolley to detach from or contact the ground by rising or falling. The rotation of the lifting plate 8 enables independent rotation between the trolley and the automated guided vehicle, and, in conjunction with vertical lifting actions, completes the automatic loading and transfer of the trolley.

[0076] The lifting mechanism 54 includes a lifting motor 541 and a lifting gear 542. The lifting motor 541 is fixed to the base 51 by bolts, and the lifting gear 542 is fixedly connected to the output shaft of the lifting motor 541. The rotation of the output shaft of the lifting motor 541 drives the synchronous rotation of the lifting gear 542. A lead screw 543 is rotatably fitted on the lifting gear 542. The lead screw 543 is rotatably connected to the base 51 via bearings, and a nut 544 is fitted on the lead screw 543. The rotation of the lifting gear 542 drives the lead screw 543 to rotate synchronously, thereby driving the rotation of the nut 544. During rotation, the nut 544 moves along the axis of the lead screw 543. The axis of the lead screw 543 extends vertically, so the nut 544 moves vertically. The nut 544 is connected to a guide device. Under the guidance of the guide device, the nut 544 moves vertically without rotating, and the guide device rises and falls synchronously with the nut 544.

[0077] Optionally, the guide mechanism 52 includes a guide post and a guide sleeve that are fitted together. The guide post is fixedly mounted on the base 51, and the guide sleeve is movably mounted on the base 51. The nut 544 is connected to the guide sleeve, so the raising and lowering of the nut 544 will drive the synchronous raising and lowering of the guide sleeve. The slewing bearing 53 and the rotating mechanism 55 are mounted on the guide sleeve. Specifically, the inner ring of the slewing bearing 53 is fixed to the guide sleeve, and the outer ring of the slewing bearing 53 is fixed to the lifting plate 8.

[0078] Of course, the lifting mechanism 54 can also be any other component that can drive lifting, such as a lifting cylinder, an electric push rod, etc.

[0079] The rotating mechanism 55 includes a rotary motor 551 and a rotary gear 552. The rotary motor 551 is bolted to the guide mechanism 52, and the rotary gear 552 is connected to the output shaft of the rotary motor 551. Therefore, the rotation of the output shaft of the rotary motor 551 will drive the synchronous rotation of the rotary gear 552. The slewing bearing 53 is rotatably mounted on the guide mechanism 52. An external gear that meshes with the rotary gear 552 is provided on the outer periphery of the slewing bearing 53. The rotation of the rotary gear 552 will drive the synchronous rotation of the slewing bearing 53, thereby driving the rotation of the lifting plate 8.

[0080] Of course, the rotating mechanism 55 can also be any other component that can drive rotation, such as a rotary cylinder.

[0081] The lifting and rotating device 5 employs a ball screw pair with a small lift angle, making lifting less labor-intensive. The ball screw pair is a helical transmission mechanism; guided by the guide mechanism 52, the rotation of the screw 543 drives the nut 544 to rise and fall vertically, achieving low-power operation of the automated guided vehicle and ensuring its long-term continuous operation. The rotating mechanism 55 uses a rotating gear 552 connected to the rotating motor 551 to directly drive the slewing bearing 53, reducing rotational inertia and facilitating control.

[0082] like Figures 1-5 As shown, in some embodiments, the protective device 7 includes a control box 71, which is mounted on the chassis. In this embodiment, the control box 71 is fixed to the first vehicle body 11 by screws and is located at the front of the chassis 1. The control box 71 is used to promptly detect fault information during the operation of the automated guided vehicle and perform error processing, thereby achieving the first level of safety protection for the automated guided vehicle.

[0083] Optionally, laser obstacle scanners 72 are respectively installed at the front and rear ends of the chassis 1. By setting up two laser obstacle scanners 72, the second level of safety protection for the automated guided vehicle is achieved by scanning a 180-degree range in front and behind the vehicle.

[0084] The safety contact edge 13 is located on the first body 11 and the second body 12 of the automated guided vehicle. When triggered, the automated guided vehicle will stop all actions and enter an audible and visual alarm state, thus achieving the third level of safety protection for the automated guided vehicle through contact.

[0085] Optionally, the chassis device is also equipped with at least one emergency stop button 73. In an emergency, either emergency stop button 73 can be manually pressed, and the automated guided vehicle will stop all operations and issue an audible and visual alarm, achieving the fourth level of safety protection for the automated guided vehicle. In this embodiment, there are two emergency stop buttons 73, located on the front and rear sides of the chassis 1, respectively.

[0086] In some embodiments, the navigation device 6 includes a base plate 61, which is mounted on a chassis device. A laser scanning head 62 is mounted on the base plate 61. The laser scanning head 62 is used to scan the surrounding environment to enable the automated guided vehicle to achieve real-time localization and mapping (SLAM) navigation. The base plate 61 is mounted on the control box 71 by a mounting assembly, and the laser scanning head 62 is fixed to the base plate 61 by screws.

[0087] Optionally, the navigation device 6 is located in the middle of the front end of the chassis 1 to ensure scanning effect.

[0088] The mounting components include any connectable parts, such as screw-in or snap-fit ​​components. In this embodiment, the mounting components include mating mounting bolts and mounting nuts 544. The mounting bolts screw the base plate 61 and the control box 71 together, and the mounting nuts 544 lock them in place, thus achieving the connection. Furthermore, to ensure the stability of the connection, there can be two, three, or more mounting components. In this embodiment, there are four mounting components, each located at one of the corners of the base plate 61.

[0089] like Figures 1-5 As shown in the figure, the automated guided vehicle provided in this embodiment consists of two drive wheels 21 and four auxiliary omnidirectional wheels 42 forming a differential drive mode. The chassis 1 adopts a front and rear split design and integrates a multi-link mechanism 3. The drive wheels 21 can realize the function of adapting to uneven ground, ensuring the normal driving of the automated guided vehicle.

[0090] The lifting and rotating device 5 uses a hollow ball screw assembly, supplemented by a vertical guide device to constrain the screw 543 in the direction of rotation. The lifting drive motor drives the nut 544 of the ball screw assembly to rotate, causing the screw 543 to rise and fall vertically, realizing automatic loading and unloading of the trolley. A slewing bearing 53 is installed on the screw 543 of the ball screw assembly, enabling the trolley to rotate independently and allowing the automatic guided vehicle to adapt to narrow passages.

[0091] The automated guided vehicle is equipped with a laser scanner 62 at the center of its front end. It uses SLAM navigation and achieves highly autonomous navigation and positioning through simultaneous localization and map building, which improves work efficiency and safety.

[0092] The automated guided vehicle is equipped with four levels of safety protection, including an on-board control system with self-diagnostic function, non-contact safety protection, contact safety protection, and an emergency stop button 73 for emergency situations.

[0093] The first level of safety protection is the control box 71, which has a vehicle control system with self-diagnostic function. It can detect fault information in the operation of the automatic guided vehicle in a timely manner and report the error. The vehicle can only operate normally after the fault is manually eliminated.

[0094] The second level of safety protection consists of laser obstacle scanners 72. One laser obstacle scanner 72 is installed at the front and rear of the automated guided vehicle (AGV), providing non-contact, multi-distance protection at 180 degrees both front and rear. When the laser obstacle scanner 72 detects an obstacle on its operating path, it divides the path into safety zones. When an obstacle appears in the laser scanner's deceleration zone, the AGV will slow down. When an obstacle appears in the emergency stop zone, the AGV will stop and enter a fault alarm state. After the obstacle disappears, the AGV will automatically resume normal operation.

[0095] The third level of safety protection consists of safety contact edges 13 installed on chassis 1. By installing safety contact edges 13 around the perimeter of the automated guided vehicle (AGV), when these edges are triggered, the AGV will stop all operations and enter an audible and visual alarm state. The AGV will only resume automatic operation after the reset button on the control panel is pressed.

[0096] The fourth level of safety protection is the emergency stop button 73. An emergency stop button 73 is installed at both the front and rear of the automated guided vehicle (AGV). In an emergency, manually pressing either emergency stop button 73 will stop the AGV from all operations and activate an audible and visual alarm. To prevent accidental operation, after the emergency stop button is reset, the reset button on the control panel must also be pressed for the AGV to resume automatic operation.

[0097] This automated guided vehicle (AGV) reduces manual labor intensity and improves production efficiency. Utilizing SLAM navigation, it achieves highly autonomous navigation and positioning through simultaneous localization and map building, enhancing both work efficiency and safety. Its multi-level safety protection design adapts to high-traffic and variable environmental conditions in factories; it can also navigate uneven factory surfaces, ensuring normal operation and positioning. Employing a screw drive mechanism, the AGV operates with low power consumption, guaranteeing continuous operation over extended periods.

[0098] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A chassis device, characterized in that, include: The chassis (1) includes a first vehicle body (11) and a second vehicle body (12) spaced apart along a first direction; A drive mechanism (2) is disposed between the first vehicle body (11) and the second vehicle body (12), and two sets of the drive mechanism (2) are spaced apart along a second direction, the second direction being perpendicular to the first direction; At least one set of linkage mechanisms (3) hinges the first vehicle body (11) and the second vehicle body (12); and Two sets of auxiliary mechanisms (4) are respectively hinged to the first vehicle body (11) and the second vehicle body (12).

2. The chassis device according to claim 1, characterized in that, The linkage mechanism (3) includes: A first link (31), the first end of which is hinged to the first vehicle body (11); and The second link (32) has its first end hinged to the second vehicle body (12), and its second end is hinged to the second end of the first link (31).

3. The chassis device according to claim 2, characterized in that, The first link (31) includes a first rod portion (311) and a second rod portion (312) connected at an angle. The first rod portion (311) is hinged to the first vehicle body (11), and the second rod portion (312) is hinged to the second link (32). The second rod portion (312) extends in the horizontal direction.

4. The chassis device according to claim 1, characterized in that, The auxiliary mechanism (4) includes: An auxiliary frame (41) is hinged to the chassis (1); and Two casters (42) are respectively located at both ends of the auxiliary frame (41).

5. The chassis device according to claim 1, characterized in that, The first vehicle body (11) has a first vehicle end, and the second vehicle body (12) has a second vehicle end. Both the first vehicle end and the second vehicle end are provided with safety contact edges (13).

6. The chassis device according to claim 5, characterized in that, It also includes an alarm mechanism, with the safety contact edge (13) electrically connected to the alarm mechanism.

7. An automated guided vehicle, characterized in that, The device includes a chassis assembly as described in any one of claims 1-6, a lifting and rotating device (5), a navigation device (6), and a protective device (7), wherein the lifting and rotating device (5), the navigation device (6), and the protective device (7) are all mounted on the chassis assembly, and a lifting plate (8) is provided at the movable end of the lifting and rotating device (5).

8. The automated guided vehicle according to claim 7, characterized in that, The lifting and rotating device (5) includes: A base (51) is disposed on the chassis device, and a guide mechanism (52) is movably disposed on the base (51); A slewing bearing (53) is movably mounted on the guide mechanism (52), and a lifting plate (8) is mounted on the slewing bearing (53); A lifting mechanism (54) is disposed on the base (51), and a guide mechanism (52) is disposed at the lifting end of the lifting mechanism (54); and A rotating mechanism (55) is disposed on the guide mechanism (52), and a slewing bearing (53) is disposed on the rotating end of the rotating mechanism (55).

9. The automated guided vehicle according to claim 7, characterized in that, The navigation device (6) includes: A base plate (61) is disposed on the chassis assembly, and A laser scanning head (62) is mounted on the base plate (61).

10. The automated guided vehicle according to claim 7, characterized in that, The protective device (7) includes: A control box (71) is mounted on the chassis device; Two laser obstacle scanners (72) are respectively disposed on the front and rear sides of the chassis device; and At least one emergency stop button (73) is provided on the chassis device.

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