AGV chassis active suspension structure and AGV

Abstract

The utility model discloses an AGV chassis active suspension structure which comprises a vehicle body, a front installation frame is arranged on the front side of the vehicle body, a front follow-up component driven by a front motor is arranged on the front installation frame, and front grooves are formed in the two ends of the front follow-up component respectively. A rear mounting frame is arranged on the rear side of the vehicle body, a rear follow-up component driven by a rear motor is arranged on the rear mounting frame, and rear grooves are formed in the two ends of the rear follow-up component respectively; the wheel carriers are arranged on the two sides of the lower portion of the vehicle body and are the left side wheel carrier and the right side wheel carrier respectively. A horizon sensor and a controller are arranged on the vehicle body, and the front motor, the rear motor and the horizon sensor are all connected with the controller. The utility model further discloses an AGV (Automatic Guided Vehicle). The trolley can be kept in a horizontal state when being used on an inclined surface.

Description

TECHNICAL FIELD

[0001] The utility model relates to a suspension structure, especially to AGV chassis active suspension structure and AGV car. BACKGROUND

[0002] When AGV car is used on the inclined surface, the trolley body will also be inclined, which affects the work of the tool system carried on the trolley. UTILITY MODEL CONTENTS

[0003] The utility model aims at providing a kind of AGV chassis active suspension structure, maintains trolley in horizontal state when being used on the inclined surface.

[0004] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme: a kind of AGV chassis active suspension structure, characterized by comprising:

[0005] trolley body, front side of trolley body is provided with front mounting bracket, and front mounting bracket is provided with front follow-up component driven by front motor, and the both ends of front follow-up component are respectively provided with front groove;The rear side of trolley body is provided with rear mounting bracket, and rear mounting bracket is provided with rear follow-up component driven by rear motor, and the both ends of rear follow-up component are respectively provided with rear groove;

[0006] wheel frame, which is arranged on the both sides below trolley body, is respectively left side wheel frame and right side wheel frame;

[0007] Among them, the both ends of left side wheel frame are respectively provided with first left side guide shaft and second left side guide shaft, first left side guide shaft is passed through trolley body upwards, and is connected with front groove by first left side rocker, second left side guide shaft is passed through trolley body upwards, and is connected with rear groove by second left side rocker;

[0008] the both ends of right side wheel frame are respectively provided with first right side guide shaft and second right side guide shaft, first right side guide shaft is passed through trolley body upwards, and is connected with front groove by first right side rocker, second right side guide shaft is passed through trolley body upwards, and is connected with rear groove by second right side rocker;

[0009] horizontal sensor and controller are arranged on trolley body, front motor, rear motor, horizontal sensor are all connected with controller.

[0010] A kind of AGV car, characterized by comprising the AGV chassis active suspension structure described above.

[0011] Further, protective top cover is arranged on trolley body, and first anti-collision wheel, second anti-collision wheel, third anti-collision wheel and fourth anti-collision wheel are respectively arranged at the four corners of top cover;

[0012] The top of the front carrier and the top of the rear carrier are flush.

[0013] Further, the first left rotating shaft is provided with a first left pulley, the second left rotating shaft is provided with a second left pulley and a third left pulley, the third left rotating shaft is provided with a fourth left pulley and a fifth left pulley, and the fourth left rotating shaft is provided with a sixth left pulley.

[0014] The first right rotating shaft is provided with a first right pulley, the second right rotating shaft is provided with a second right pulley and a third right pulley, the third right rotating shaft is provided with a fourth right pulley and a fifth right pulley, and the fourth right rotating shaft is provided with a sixth right pulley.

[0015] Compared with the prior art, the utility model has the beneficial effects that: the utility model can maintain the trolley in a horizontal state when the trolley is used on an inclined surface. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a first direction perspective view of the AGV chassis active suspension structure.

[0017] Figure 2 It is a second direction perspective view of the AGV chassis active suspension structure.

[0018] Figure 3 It is a third direction perspective view of the AGV chassis active suspension structure.

[0019] Figure 4 It is a fourth direction perspective view of the AGV chassis active suspension structure, and part of the mechanism is omitted in the drawing.

[0020] Figure 5 It is a fifth direction perspective view of the AGV chassis active suspension structure, and part of the mechanism is omitted in the drawing.

[0021] Figure 6It is the sixth direction perspective view of AGV chassis active suspension structure, part of the mechanism is omitted in the figure.

[0022] Figure 7 It is the structure diagram at the front mounting bracket.

[0023] Figure 8 It is the structure diagram at the rear mounting bracket.

[0024] Figure 9 It is the perspective view of AGV car. DETAILED DESCRIPTION

[0025] Embodiment 1

[0026] Unless otherwise specified, the orientation such as front, back, left, right is shown by the arrow in the drawing as a reference.

[0027] Reference Figures 1 to 8 An AGV chassis active suspension structure, comprising a vehicle body 11, a front mounting bracket 12 is arranged at the front side of the vehicle body 11, a front follow-up component 22 driven by a front motor 21 is arranged at the front mounting bracket 12 (the output shaft of the front motor is connected with the front follow-up component, and the front follow-up component is rotatable), front grooves 23 are arranged at both ends of the front follow-up component 22 (they are respectively a front groove on the left side and a front groove on the right side); a rear mounting bracket 13 is arranged at the rear side of the vehicle body 11, a rear follow-up component 32 driven by a rear motor 31 is arranged at the rear mounting bracket 13 (the output shaft of the rear motor is connected with the rear follow-up component, and the rear follow-up component is rotatable), rear grooves 33 are arranged at both ends of the rear follow-up component 32 (they are respectively a rear groove on the left side and a rear groove on the right side).

[0028] Wheel carriers are arranged at both sides below the vehicle body, which are respectively a left wheel carrier 41 and a right wheel carrier 42.

[0029] Among them, the left wheel carrier 41 is respectively provided with a first left guide shaft 411 and a second left guide shaft 412 at both ends, the first left guide shaft 411 passes through the vehicle body 11 upwards (the first left guide shaft is movable up and down), and is connected with the front groove 23 (the front groove on the left side) through a first left rocker 411a, the second left guide shaft 412 passes through the vehicle body 11 upwards (the second left guide shaft is movable up and down), and is connected with the rear groove 33 (the rear groove on the left side) through a second left rocker 412a.

[0030] The right wheel bracket 42 is provided with a first right guide shaft 421 and a second right guide shaft 422 at both ends, respectively. The first right guide shaft 421 passes through the vehicle body 11 upwardly (the first right guide shaft can move up and down) and is connected to the front groove 23 (the front groove on the right side) through a first right rocker 421a. The second right guide shaft 422 passes through the vehicle body 11 upwardly (the second right guide shaft can move up and down) and is connected to the rear groove 33 (the rear groove on the right side) through a second right rocker 422a.

[0031] A horizontal sensor and a controller are arranged on the vehicle body. The front motor, the rear motor, and the horizontal sensor are connected to the controller.

[0032] When working on a horizontal ground, the vehicle body remains in a horizontal state, and the front motor and the rear motor are not working (in an initial state).

[0033] When the vehicle body is tilted, the horizontal sensor transmits a signal to the controller, and the controller controls the front motor and the rear motor to work, so that the front follower and the rear follower rotate to the tilted side to adjust the state of the vehicle body until it is horizontal.

[0034] For example, when the vehicle body tilts to the left side, the controller controls the front motor to rotate so that the front follower rotates to the left side, and controls the rear motor to rotate so that the rear follower rotates to the left side. The first left rocker and the first left guide shaft move downward (the first right rocker and the first right guide shaft move upward), the second left rocker and the second left guide shaft move downward (the second right rocker and the second right guide shaft move upward), and the vehicle body gradually becomes horizontal. When the vehicle body tilts to the right side, the adjustment method is the same.

[0035] Embodiment 2

[0036] Referring to Figure 9 An AGV vehicle adopts the AGV chassis active suspension structure of embodiment 1.

[0037] In the embodiment, the vehicle body 11 is provided with a protective top cover 5. Four corners of the top cover 5 are respectively provided with a first anti-collision wheel 51a, a second anti-collision wheel 51b, a third anti-collision wheel 51c, and a fourth anti-collision wheel 51d. The front and rear parts of the top cover 5 are respectively provided with a front carrier 52a and a rear carrier 52b, and the top parts of the front carrier 52a and the rear carrier 52b are flush.

[0038] The first left rotating shaft 61a is internally provided with a first left pulley 62a, the second left rotating shaft 61b is provided with a second left pulley 62b and a third left pulley 62c, the third left rotating shaft 61c is provided with a fourth left pulley 62d and a fifth left pulley 62e, and the fourth left rotating shaft 61d is provided with a sixth left pulley 62f; the first left pulley 62a and the second left pulley 62b are connected by a belt, the third left pulley 62c and the fourth left pulley 62d are connected by a belt, and the fifth left pulley 62e and the sixth left pulley 62f are connected by a belt; the first left rotating shaft 61a is provided with a left motor 63 (the left motor 63 is fixed to the left wheel frame 41) for driving; and the first left rotating shaft, the second left rotating shaft, the third left rotating shaft and the fourth left rotating shaft are all provided with traveling wheels.

[0039] The left motor works to drive the traveling wheels on the left wheel frame to travel.

[0040] The first right rotating shaft 71a is internally provided with a first right pulley 72a, the second right rotating shaft 71b is provided with a second right pulley 72b and a third right pulley 72c, the third right rotating shaft 71c is provided with a fourth right pulley 72d and a fifth right pulley 72e, and the fourth right rotating shaft 71d is provided with a sixth right pulley 72f; the first right pulley 72a and the second right pulley 72b are connected by a belt, the third right pulley 72c and the fourth right pulley 72d are connected by a belt, and the fifth right pulley 72e and the sixth right pulley 72f are connected by a belt; the first right rotating shaft 71a is provided with a right motor 73 (the right motor 73 is fixed to the right wheel frame 42) for driving; and the first right rotating shaft, the second right rotating shaft, the third right rotating shaft and the fourth right rotating shaft are all provided with traveling wheels.

[0041] The right motor works to drive the traveling wheels on the right wheel frame to travel.

[0042] The above merely describes preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical scheme falling within the principles of the present application shall be deemed to fall within the protection scope of the present application. Any improvement made by those skilled in the art without departing from the principles of the present application shall also be deemed to fall within the protection scope of the present application.

Claims

1. An AGV chassis active suspension structure, characterized in that, The application relates to an AGV chassis active suspension structure. The AGV chassis active suspension structure comprises a vehicle body (11), a front mounting rack (12) arranged on the front side of the vehicle body (11), a front follow-up component (22) driven by a front motor (21) arranged at the front mounting rack (12), front grooves (23) arranged at the two ends of the front follow-up component (22) respectively, a rear mounting rack (13) arranged on the rear side of the vehicle body (11), a rear follow-up component (32) driven by a rear motor (31) arranged at the rear mounting rack (13), and rear grooves (33) arranged at the two ends of the rear follow-up component (32) respectively. A wheel frame is arranged below the vehicle body and comprises a left wheel frame (41) and a right wheel frame (42). The left wheel frame (41) is provided with a first left guide shaft (411) and a second left guide shaft (412) at the two ends respectively, the first left guide shaft (411) passes through the vehicle body (11) upwards and is connected with the front grooves (23) through a first left rocker (411a), and the second left guide shaft (412) passes through the vehicle body (11) upwards and is connected with the rear grooves (33) through a second left rocker (412a). The right wheel frame (42) is provided with a first right guide shaft (421) and a second right guide shaft (422) at the two ends respectively, the first right guide shaft (421) passes through the vehicle body (11) upwards and is connected with the front grooves (23) through a first right rocker (421a), and the second right guide shaft (422) passes through the vehicle body (11) upwards and is connected with the rear grooves (33) through a second right rocker (422a). A horizontal sensor and a controller are arranged on the vehicle body, and the front motor, the rear motor and the horizontal sensor are connected with the controller.

2. An AGV vehicle characterized by The AGV chassis active suspension structure comprises the AGV chassis active suspension structure as claimed in claim 1.

3. The AGV vehicle of claim 2, wherein, A protective top cover (5) is arranged on the vehicle body (11), and a first anti-collision wheel (51a), a second anti-collision wheel (51b), a third anti-collision wheel (51c) and a fourth anti-collision wheel (51d) are arranged at the four corners of the top cover (5) respectively. A front carrier (52a) and a rear carrier (52b) are arranged at the front and rear of the top cover (5) respectively, and the top parts of the front carrier (52a) and the rear carrier (52b) are flush.

4. The AGV vehicle of claim 2, wherein, The first left rotating shaft (61a) is internally provided with the first left pulley (62a), the second left rotating shaft (61b) is provided with the second left pulley (62b) and the third left pulley (62c), the third left rotating shaft (61c) is provided with the fourth left pulley (62d) and the fifth left pulley (62e), the fourth left rotating shaft (61d) is provided with the sixth left pulley (62f), the first left pulley (62a) and the second left pulley (62b) are connected through a belt, the third left pulley (62c) and the fourth left pulley (62d) are connected through a belt, the fifth left pulley (62e) and the sixth left pulley (62f) are connected through a belt, the first left rotating shaft (61a) is provided with the left driving motor (63), and the first left rotating shaft, the second left rotating shaft, the third left rotating shaft and the fourth left rotating shaft are all provided with traveling wheels. The first right rotating shaft (71a) is internally provided with the first right pulley (72a), the second right rotating shaft (71b) is provided with the second right pulley (72b) and the third right pulley (72c), the third right rotating shaft (71c) is provided with the fourth right pulley (72d) and the fifth right pulley (72e), the fourth right rotating shaft (71d) is provided with the sixth right pulley (72f), the first right pulley (72a) and the second right pulley (72b) are connected through a belt, the third right pulley (72c) and the fourth right pulley (72d) are connected through a belt, the fifth right pulley (72e) and the sixth right pulley (72f) are connected through a belt, the first right rotating shaft (71a) is provided with the right driving motor (73), and the first right rotating shaft, the second right rotating shaft, the third right rotating shaft and the fourth right rotating shaft are all provided with traveling wheels.

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