Floating chassis and intelligent carrier
Through the floating chassis design, the hinged chassis and linkage structure solve the problems of AGV's adaptability and insufficient grip on uneven ground, and achieve stable driving on complex road surfaces.
Patent Information
- Application Number
- CN202520173781.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-26
- Publication Date
- 2026-03-06
- Estimated Expiration
- 2035-01-26
AI Technical Summary
When AGVs travel on uneven ground, they have problems with adaptability and insufficient grip, and are prone to nose-diving when encountering potholes and uneven road surfaces.
The system employs a floating chassis design, with a first and second chassis connected by hinges, and a combination structure of linkages and casters. This allows the chassis to float in multiple directions, ensuring that the casters alternately touch the ground, thus improving adaptability and grip.
It improves the adaptability and grip of the AGV on uneven roads, avoids braking nose-diving, and ensures smooth driving and effective grip of the drive wheels.
Smart Images
Figure CN223972611U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of intelligent handling equipment technology, and in particular to a floating chassis and an intelligent handling vehicle. Background Technology
[0002] AGVs (Automated Guided Vehicles) are small vehicles with automated guidance and material handling capabilities. Compared to manually driven forklifts for material transport, AGVs are characterized by their small size and flexible movement, making them widely used in warehousing and logistics scenarios. However, because AGVs are equipped with automatic control devices, they generally need to travel and operate on flat ground. When the road surface is uneven or has gaps between sections, the existing AGVs, which use spring suspension, suffer from insufficient adaptability and grip, and exhibit issues such as brake dive. Utility Model Content
[0003] The purpose of this invention is to provide a floating chassis and an intelligent transport vehicle to solve the problems of insufficient adaptability and grip of AGV vehicles.
[0004] To achieve this objective, the present invention adopts the following technical solution:
[0005] A floating chassis, comprising:
[0006] A first chassis and a second chassis are connected by a hinge, wherein a first pivot of the hinge extends along a first direction.
[0007] A drive wheel, which is rotatably mounted on the first chassis or the second chassis at one end facing the hinge;
[0008] Casters are provided on the first chassis and the second chassis at the ends away from the hinge;
[0009] A connecting rod is rotatably connected to the first chassis or the second chassis via a second rotating shaft. A caster is rotatably mounted at each end of the connecting rod, and the two casters can alternately contact the ground to support the first chassis or the second chassis. The second rotating shaft extends along a second direction, and the first direction and the second direction are set at an angle A, where 0° < A ≤ 90°.
[0010] In some embodiments, both ends of the connecting rod are curved upwards relative to the second pivot.
[0011] In some embodiments, the first direction and the second direction are perpendicular to each other, and the joints between the first chassis and the second chassis are staggered.
[0012] In some embodiments, there are two hinges, which are spaced apart between the first chassis and the second chassis along the first direction.
[0013] In some embodiments, the floating chassis further includes a first limiting member, which is disposed on the first chassis or the second chassis, and can abut against the first limiting member when the first chassis and the second chassis rotate relative to each other.
[0014] In some embodiments, the first limiting member is disposed on the upper surface of the first chassis or the second chassis; and / or, the first limiting member is disposed on the lower surface of the first chassis or the second chassis.
[0015] In some embodiments, both the first chassis and the second chassis are provided with a fixed seat, and the fixed seat is provided with the second rotating shaft, which passes through the middle position of the connecting rod.
[0016] In some embodiments, the floating chassis further includes a second limiting member disposed above the connecting rod. When the caster at one end of the connecting rod contacts the ground, the other end of the connecting rod abuts against the second limiting member.
[0017] In some embodiments, the floating chassis further includes two third limiting members, which are spaced apart on the connecting rod. When the third limiting member at one end of the connecting rod abuts against the second limiting member, the third limiting member at the other end of the connecting rod abuts against the first chassis or the second chassis.
[0018] This utility model also provides an intelligent transport vehicle, including the floating chassis provided by this utility model.
[0019] The beneficial effects of this utility model are:
[0020] The floating chassis provided by this utility model has a first chassis and a second chassis that are floatingly connected by a hinge. The casters on the first chassis and the second chassis are also floatingly connected by the rotation of a connecting rod around a second pivot, thereby realizing the floating chassis in the first and second directions and improving the adaptability of the floating chassis. When walking on uneven roads, the two casters on one connecting rod float and move, and the two casters can not touch the ground at the same time, thereby improving the obstacle crossing ability of the casters and helping to ensure the grip of the drive wheels and the stability of the floating chassis. Compared with the prior art, it improves the adverse phenomena such as brake dive caused by spring suspension.
[0021] The intelligent transport vehicle provided by this utility model includes a floating chassis, which improves the road adaptability of the intelligent transport vehicle and helps to ensure the grip of the drive wheels. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the structure of the floating chassis provided in this embodiment of the utility model;
[0023] Figure 2 This is a structural schematic diagram of the intelligent transport vehicle provided in this embodiment of the utility model.
[0024] In the picture:
[0025] 1. First chassis; 2. Second chassis; 3. Drive wheel; 4. Caster; 5. Linkage; 6. Hinge; 7. First pivot; 8. Second pivot; 9. First limiting member; 10. Fixed seat; 11. Second limiting member; 12. Frame; 13. Third limiting member. Detailed Implementation
[0026] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.
[0027] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0029] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.
[0030] like Figures 1-2 As shown, this utility model provides a floating chassis, including a first chassis 1, a second chassis 2, a drive wheel 3, casters 4, and a connecting rod 5. The first chassis 1 and the second chassis 2 are connected by a hinge 6, and the first pivot 7 of the hinge 6 extends along a first direction (X direction). The drive wheel 3 is rotatably disposed on both sides of the first chassis 1 or the second chassis 2 near the hinge 6. The casters 4 are disposed on the first chassis 1 and the second chassis 2 at the ends away from the hinge 6. The connecting rod 5 is rotatably connected to the first chassis 1 or the second chassis 2 by a second pivot 8. A caster 4 is rotatably mounted on each end of the connecting rod 5, and the two casters 4 can alternately contact the ground to support the first chassis 1 or the second chassis 2. The second pivot 8 extends along a second direction, and the first direction and the second direction are set at an angle A, where 0° < A ≤ 90°.
[0031] like Figure 1As shown, the first direction (X direction) is the width direction of the floating chassis, and the second direction is the front-to-back direction of the floating chassis. The first pivot 7 of the hinge 6 is along the first direction, so the first chassis 1 and the second chassis 2 can float back and forth. When there are potholes or uneven surfaces on the road surface where the drive wheel 3 is traveling along the second direction, the first chassis 1 and the second chassis 2 rotate and float relative to the first pivot 7 of the hinge 6, which allows the casters 4 at both ends to swing along the height direction to adapt to the drive wheel 3 and support the first chassis 1 and the second chassis 2. The floating chassis has high adaptability, which helps to ensure the grip of the drive wheel 3. Meanwhile, since a caster 4 is rotatably mounted on each end of the connecting rod 5, when the road surface is uneven, the two casters 4 can not contact the ground at the same time. The alternating floating contact enhances the obstacle-crossing ability of the casters 4. Through the rotatable mounting of the connecting rod 5, only one caster 4 on the first chassis 1 and the second chassis 2 is in contact with the ground. The caster 4 in contact with the ground and the two drive wheels 3 form a three-point support, ensuring the stability of the first chassis 1 and the second chassis 2. The second rotating shaft 8 is set along the second direction, so the two casters 4 can float left and right at both ends of the floating chassis to adapt to the complex conditions of the left and right road surfaces, further improving the adaptability of the floating chassis. The floating chassis provided by this utility model features a first chassis 1 and a second chassis 2 that are floatingly connected via a hinge 6. Casters 4 on the first chassis 1 and the second chassis 2 are also floatingly connected via a connecting rod 5 rotating around a second pivot 8. This allows the floating chassis to float in both the first and second directions, improving its adaptability. The floating casters 4 support the first chassis 1 and the second chassis 2, and their floating movement helps ensure the traction of the drive wheels 3. Compared to existing technologies, the floating chassis in this embodiment eliminates the need for springs, avoiding the problem of brake dive.
[0032] In some embodiments, both ends of the connecting rod 5 are curved upwards relative to the second pivot 8.
[0033] like Figure 1 The connecting rod 5 has a structure that is lower in the middle and higher at both ends. Compared with the prior art, the position of the second pivot 8 is lower, which reduces the installation height requirement of the casters 4. This allows for a lower overall height of the floating chassis or more installation space on the floating chassis, maximizing the installation space. Preferably, the connecting rod 5 is V-shaped. The two ends of the V-shaped connecting rod 5 are at the installation height of the casters 4, while the height of the second pivot 8 in the middle is lower. This helps to increase the floating angle of the two casters 4 at both ends, thereby adapting to a greater range of uneven conditions. This allows the two casters 4 to alternately contact the ground, ensuring that the first chassis 1 and the second chassis 2 are always supported at three points, resulting in good stability, higher adaptability to uneven road surfaces, and better traction of the drive wheel 3.
[0034] In some embodiments, the first direction and the second direction are perpendicular to each other, and the joints of the first chassis 1 and the second chassis 2 are staggered.
[0035] like Figure 1 As shown, in this embodiment, the width and length directions of the floating chassis are the first and second directions, respectively, with an included angle A of 90°, which is beneficial to the overall stability and coordination of the floating chassis during movement. Since a hinge 6 is provided between the first chassis 1 and the second chassis 2, the joints of the first chassis 1 and the second chassis 2 are staggered. For example, the joints of the first chassis 1 and the second chassis 2 can be set as a meshing structure between teeth or a convex-concave fit structure, which can increase the joint length and thus facilitate the control and layout of the floating angles of the first chassis 1 and the second chassis 2, avoiding positional interference between the drive wheel 3 and the hinge 6.
[0036] In some embodiments, there are two hinges 6, which are spaced apart along a first direction between the first chassis 1 and the second chassis 2.
[0037] like Figure 1 In this embodiment, two hinges 6 are disposed on the upper surfaces of the first chassis 1 and the second chassis 2, and two drive wheels 3 are disposed on both sides of the first chassis 1. The two hinges 6 are symmetrically arranged about the central axis of the first chassis 1, and the first pivots 7 of the two hinges 6 are coaxially arranged, enabling the first chassis 1 and the second chassis 2 to achieve floating motion under the action of the two hinges 6, resulting in more balanced and stable force distribution. The staggered joints on the first chassis 1 and the second chassis 2 prevent positional interference between the hinges 6 and the drive wheels 3, and effectively utilize and save installation space. Compared with spring-suspended trolleys, the floating chassis of this invention can achieve the installation of drive wheels 3 and hinges 6 in a smaller height space, allowing the floating chassis to have a smaller height dimension. Of course, in other embodiments, the hinges 6 can also be disposed on the lower surfaces of the first chassis 1 and the second chassis 2 to further reduce the space occupied above the floating chassis. However, placing the hinges 6 on the lower surface is easily affected by complex ground or road surfaces, which may affect the floating effect.
[0038] In some embodiments, the floating chassis further includes a first limiting member 9, which is disposed on the first chassis 1 or the second chassis 2, and can abut against the first limiting member 9 when the first chassis 1 and the second chassis 2 rotate relative to each other.
[0039] For example Figure 1As shown, in this embodiment, two first limiting members 9 are provided, respectively disposed on both sides of the two hinges 6 along a first direction, for limiting the floating angle between the first chassis 1 and the second chassis 2. Exemplarily, the first limiting member 9 is fixed to the second chassis 2 and extends above the first chassis 1. When floating movement occurs between the first chassis 1 and the second chassis 2, the first limiting member 9 can limit the floating angle between the first chassis 1 and the second chassis 2, thereby ensuring the stability of the frame 12 or load mounted on the floating chassis. In some embodiments, the first limiting member 9 is a flat plate and is detachably connected to the second chassis 2 by bolts. In other embodiments, the first limiting member 9 may also be fixed to the first chassis 1 and extend above the second chassis 2.
[0040] In some embodiments, the first limiting member 9 is disposed on the upper surface of the first chassis 1 or the second chassis 2; and / or, the first limiting member 9 is disposed on the lower surface of the first chassis 1 or the second chassis 2.
[0041] like Figure 1 In the illustrated embodiment, two first limiting members 9 are spaced apart on the second chassis 2 and extend above the first chassis 1. When the end of the first chassis 1 away from the second chassis 2 floats upward, the first limiting members 9 can abut against the first chassis 1 to limit its floating angle. Similarly, when the hinge 6 is provided on the lower surface of the first chassis 1 and the second chassis 2, the first limiting members 9 are also provided on the lower surface to further optimize the upper space of the floating chassis. The upper and lower surfaces of the first chassis 1 and the second chassis 2 can also be provided with the first limiting members 9 simultaneously to ensure that the first chassis 1 and the second chassis 2 float within a controllable angle range, improving reliability. In some embodiments, to further ensure that the first limiting members 9 can abut against the limiting position, the first chassis 1 and the second chassis 2 are provided with slots or protrusions. When the first limiting members 9 abut against the slots or protrusions, they limit the floating angle of the first chassis 1 or the second chassis 2, making the structure more reliable.
[0042] In some embodiments, a fixed seat 10 is provided on both the first chassis 1 and the second chassis 2, and a second rotating shaft 8 is provided on the fixed seat 10. The second rotating shaft 8 passes through the middle position of the connecting rod 5.
[0043] like Figure 1 As shown, in order to facilitate the installation of casters 4, the connecting rods 5 are arranged in pairs. The two connecting rods 5 are parallel to each other and located at both ends of the second rotating shaft 8. The connecting rods 5 can rotate freely around the second rotating shaft 8, thereby realizing the floating of the two casters 4.
[0044] In some embodiments, the floating chassis further includes a second limiting member 11, which is located above the connecting rod 5. When the caster 4 at one end of the connecting rod 5 contacts the ground, the other end of the connecting rod 5 abuts against the first limiting member 9.
[0045] like Figure 2 As shown, in this embodiment, the second limiting member 11 is disposed on the first chassis 1 or the second chassis 2. Specifically, it can be disposed on the frame 12 on the first chassis 1 and the second chassis 2. The second limiting member 11 is disposed at the positions corresponding to the casters 4 at both ends of the frame 12. The height of the second limiting member 11 is related to the rotation amplitude of the connecting rod 5 and is used to control the maximum rotation amplitude of the connecting rod 5, thereby controlling the floating angle of the two casters 4.
[0046] In some embodiments, the floating chassis further includes two third limiting members 13, which are spaced apart at both ends of the connecting rod 5. When the third limiting member 13 at one end of the connecting rod 5 abuts against the second limiting member 11, the third limiting member 13 at the other end of the connecting rod 5 abuts against the first chassis 1 or the second chassis 2.
[0047] like Figure 1 and Figure 2 A third limiting member 13 is provided at the top of the paired connecting rods 5. The third limiting member 13 is a flat plate. The two third limiting members 13 are fixed at the two ends of the two connecting rods 5 respectively. The casters 4 are rotatably installed below the third limiting members 13. The first chassis 1 and the second chassis 2 have wheel holes at positions corresponding to the casters 4 to facilitate the floating movement of the casters 4. There is no third limiting member 13 above the position of the middle of the connecting rod 5 directly opposite the second rotating shaft 8, and the position of the second rotating shaft 8 is lower than the installation position of the casters 4 at both ends. Therefore, a large installation space is freed up above the connecting rod 5 and between the two third limiting members 13, which is conducive to the optimized layout of the installation space of the floating chassis, further reducing the overall height and meeting the design requirements of AGV for low height. The four edges of the third limiting member 13 protrude from the edge of the caster 4 and the edge of the wheel hole. Thus, when the caster 4 contacts the ground through the wheel hole, the third limiting member 13 can stop against the first chassis 1 or the second chassis 2, limiting the lowest floating position of the caster 4. In order to adapt to the floating angle of the caster 4, an abutment part can be provided on the side of the third limiting member 13 facing the first chassis 1 or the second chassis 2, or on the side of the first chassis 1 or the second chassis 2 facing the third limiting member 13, so as to adapt to the second limiting member 11 and realize the adjustment and restriction of the floating angle of the caster 4.
[0048] This utility model also provides an intelligent transport vehicle, including the floating chassis provided by this utility model. For example... Figure 2 The floating chassis can be equipped with control components such as batteries and motors, and a frame 12 is installed on the floating chassis for mounting loads. The floating chassis provided by this invention improves the road adaptability and traction of the intelligent transport vehicle.
[0049] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.
Claims
1. A floating chassis, characterized in that The floating chassis comprises: a first chassis (1) and a second chassis (2), which are connected by a hinge (6), a first rotation axis (7) of the hinge (6) extending along a first direction; a drive wheel (3) rotatably arranged on the first chassis (1) or the second chassis (2) at one end close to the hinge (6); caster wheels (4) arranged on the first chassis (1) and the second chassis (2) at one end away from the hinge (6); a connecting rod (5) rotatably connected to the first chassis (1) or the second chassis (2) by a second rotation axis (8), both ends of the connecting rod (5) are rotatably installed with one caster wheel (4), and the two caster wheels (4) can alternately contact the ground to support the first chassis (1) or the second chassis (2), the second rotation axis (8) extends along a second direction, the first direction and the second direction form an angle A, 0°<A≤90°.
2. The floating chassis of claim 1, wherein, Both ends of the connecting rod (5) are upwardly curved relative to the second rotation axis (8).
3. The floating chassis of claim 1, wherein, The first direction and the second direction are perpendicular to each other, and the joint of the first chassis (1) and the second chassis (2) is staggered.
4. The floating chassis of claim 1, wherein, The hinge (6) is provided with two hinges (6) arranged between the first chassis (1) and the second chassis (2) along the first direction.
5. The floating chassis of claim 1, wherein, The floating chassis further comprises a first limiting member (9) arranged on the first chassis (1) or the second chassis (2), and the first limiting member (9) can abut against the first limiting member (9) when the first chassis (1) and the second chassis (2) rotate relative to each other.
6. The floating chassis of claim 5, wherein, The first limiting member (9) is arranged on the upper surface of the first chassis (1) or the second chassis (2); and / or, the first limiting member (9) is arranged on the lower surface of the first chassis (1) or the second chassis (2).
7. The floating chassis of claim 1, wherein, The first chassis (1) and the second chassis (2) are each provided with a fixing seat (10), the second rotation axis (8) is arranged on the fixing seat (10), and the second rotation axis (8) penetrates the middle position of the connecting rod (5).
8. The floating chassis of claim 1, wherein, The floating chassis further comprises a second limiting member (11) arranged above the connecting rod (5), when the caster wheel (4) at one end of the connecting rod (5) contacts the ground, the other end of the connecting rod (5) abuts against the second limiting member (11).
9. The floating chassis of claim 8, wherein, The floating chassis further comprises two third limiting members (13) arranged at both ends of the connecting rod (5), when the third limiting member (13) at one end of the connecting rod (5) abuts against the second limiting member (11), the third limiting member (13) at the other end of the connecting rod (5) abuts against the first chassis (1) or the second chassis (2).
10. The intelligent cart, characterized by, The floating chassis comprises the floating chassis according to any one of claims 1-9.