Vehicle body chassis with precise steering function and agv transport vehicle

Abstract

The utility model discloses a car body chassis with accurate steering function and AGV transport car, wherein the car body chassis with accurate steering function includes chassis body, the bottom of chassis body is provided with two drive wheels and two driven wheels, two drive wheels and two driven wheels are four angle distribution, wherein two drive wheels are diagonally arranged, the drive wheel includes first drive part, second drive part, first drive part is connected and drives first wheel body, second drive part is connected and drives second wheel body, first wheel body and second wheel body are side by side arrangement, when the rotation speed of first wheel body and the rotation speed of second wheel body are different, the drive wheel rotates to drive the chassis body turns to. The chassis body is provided with controller, and the controller is electric connection first drive part, second drive part respectively to control the drive wheel straight and / or control the rotation angle when the drive wheel turns to.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicle technology, and in particular to a vehicle chassis with precise steering function and an AGV transport vehicle. Background Technology

[0002] In logistics and industrial automation, Automated Guided Vehicles (AGVs) are widely used as important automated transportation equipment for handling and transferring goods. The chassis, as the core component of the AGV, directly affects its transportation efficiency and operational quality due to the precision and stability of its steering function.

[0003] In related technologies, the steering methods of AGV chassis mainly suffer from insufficient steering precision and poor steering flexibility. Traditional single-wheel drive steering is prone to steering deviation due to factors such as ground friction and load changes during steering, making precise steering control difficult. Furthermore, while some AGV chassis employ differential steering, they typically only have one set of drive wheels. Steering requires adjusting the speed difference between the two drive wheels, which can lead to excessively large turning radii or inflexible steering, failing to meet steering needs in confined spaces and limiting the application range of AGVs. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a vehicle chassis with precise steering function, which can improve the transportation efficiency and adaptability of AGVs in various operating scenarios through differential steering with independent drive wheel structure and high-precision steering angle control.

[0005] This utility model also proposes an AGV transport vehicle equipped with the aforementioned chassis having precise steering function.

[0006] A vehicle chassis with precise steering function according to a first aspect embodiment of the present invention includes a chassis body. Two drive wheels and two driven wheels are disposed at the bottom of the chassis body, with the two drive wheels and two driven wheels distributed at four corners, wherein the two drive wheels are arranged diagonally. Each drive wheel includes a first drive member and a second drive member. The first drive member is connected to and drives a first wheel body, and the second drive member is connected to and drives a second wheel body. The first wheel body and the second wheel body are arranged side-by-side. When the rotational speeds of the first wheel body and the second wheel body are different, the drive wheel rotates to steer the chassis body. The chassis body is provided with a controller, which is electrically connected to the first drive member and the second drive member respectively, to control the drive wheels when they travel straight and / or control the rotation angle of the drive wheels when they steer.

[0007] The vehicle chassis with precise steering function according to the embodiments of this utility model has at least the following beneficial effects: the diagonally arranged drive wheels can produce a more coordinated rotation effect during steering, and because the diagonally arranged drive wheels can better distribute power and torque during steering, the vehicle's steering action is more precise and controllable. The diagonally arranged drive wheels can provide more reasonable layout space for other components of the vehicle. Furthermore, the drive wheels, through differential steering, can achieve flexible steering in a smaller space, without relying on a complex transmission mechanism like a traditional mechanical differential, making it particularly suitable for vehicles operating in narrow passages, warehouses, and other environments. Since the control system can accurately calculate and adjust the speed of the drive components based on real-time collected information, high-precision steering control can be achieved, improving the vehicle's driving stability and safety.

[0008] According to some embodiments of the present invention, the drive wheel is provided with a steering angle measuring device, which is used to acquire the rotation angle information of the drive wheel and transmit it to the controller.

[0009] According to some embodiments of the present invention, the steering angle measuring component includes a fixed tooth and a measuring tooth. The fixed tooth is fixedly disposed on the chassis body, and the measuring tooth is connected to the drive wheel. The measuring tooth meshes with the fixed tooth. When the drive wheel rotates, the measuring tooth makes a circular motion around the edge of the fixed tooth. The controller acquires the movement data of the measuring tooth to calculate the rotation angle of the drive wheel.

[0010] According to some embodiments of this utility model, the steering angle measuring component includes a fixed tooth and a measuring tooth. The fixed tooth is connected to the drive wheel, and the measuring tooth is fitted onto a fixed rod. The fixed rod is connected to the chassis body. The measuring tooth meshes with the fixed tooth. When the drive wheel rotates, the fixed tooth rotates and drives the measuring tooth to rotate. The controller acquires the rotation data of the measuring tooth to calculate the rotation angle of the drive wheel.

[0011] According to some embodiments of the present invention, the drive wheel is connected to the chassis body via a floating mounting bracket. The floating mounting bracket includes an upper mounting plate, a lower mounting plate, and a buffer. The upper mounting plate is connected to the chassis body, the lower mounting plate is connected to the drive wheel, and the buffer is disposed between the upper mounting plate and the lower mounting plate.

[0012] According to some embodiments of the present invention, the first driving member and the second driving member are arranged side by side at the bottom of the lower mounting plate, and the output ends of the first driving member and the second driving member are arranged opposite to each other to connect to the first wheel body and the second wheel body located on both sides of the lower mounting plate, respectively.

[0013] According to some embodiments of the present invention, the buffer includes a guide post and an elastic member. One end of the guide post is fixed to the upper mounting plate, and the other end passes through the lower mounting plate. The lower mounting plate can move up and down along the guide post. The elastic member is fitted onto the guide post, and both ends of the elastic member abut against the upper mounting plate and the lower mounting plate, respectively.

[0014] According to some embodiments of the present invention, four buffer members are provided between the upper mounting plate and the lower mounting plate, and the four buffer members are distributed at four corners to each other.

[0015] According to some embodiments of this utility model, the driven wheel includes a swivel wheel, which is also connected to the chassis body through the buffer member.

[0016] According to a second aspect of the present invention, an AGV transport vehicle includes a chassis with precise steering function as described in any of the preceding claims. The AGV transport vehicle includes a lifting mechanism, a telescopic mechanism, and a gripping mechanism. The lifting mechanism is disposed on the chassis. The lifting mechanism is connected to and drives the telescopic mechanism to move up and down. The telescopic mechanism is connected to and drives the gripping mechanism to extend and retract. The gripping mechanism is used to drive two grippers to move relative to each other, away from each other, or in the same direction to grip goods.

[0017] The AGV transport vehicle according to the embodiments of this utility model has at least the following beneficial effects: The AGV transport vehicle, employing a chassis with precise steering function, possesses high-precision steering capability, enabling it to navigate flexibly and accurately reach designated locations in various complex industrial environments and logistics scenarios. This AGV transport vehicle can improve the efficiency and accuracy of logistics transportation, reduce manual operation and errors, and lower logistics costs. Simultaneously, its stable driving performance and good adaptability can meet the automated transportation needs of different industries, and it has broad application prospects.

[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0020] Figure 1 This is a schematic diagram of a vehicle chassis with precise steering function according to an embodiment of the present utility model;

[0021] Figure 2 This is a schematic diagram of the drive wheels of a vehicle chassis with precise steering function according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of an AGV transport vehicle according to an embodiment of the present utility model.

[0023] Reference numerals: Chassis body 100; Drive wheel 200; First drive component 210; First wheel body 211; Second drive component 220; Second wheel body 221; Floating mounting bracket 230; Upper mounting plate 231; Lower mounting plate 232; Buffer component 233; Driven wheel 300; Steering angle measuring component 400; Fixed tooth 410; Measuring tooth 420; Lifting mechanism 500; Telescopic mechanism 600; Gripping mechanism 700. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0025] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, 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.

[0026] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of these terms in this utility model based on the specific content of the technical solution. In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In the description of this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0028] Reference Figure 1 and Figure 2 This utility model proposes a vehicle chassis with precise steering function, including a chassis body 100, a drive wheel 200, a driven wheel 300 and a controller.

[0029] Specifically, the chassis body 100 has two drive wheels 200 and two driven wheels 300 at its bottom, arranged at four corners, with the two drive wheels 200 positioned diagonally. This layout provides better stability and balance during driving, evenly distributing the vehicle's weight and reducing instability caused by center of gravity shift. Simultaneously, the diagonally positioned drive wheels 200 provide structural support for subsequent precise steering.

[0030] Furthermore, each drive wheel 200 includes a first drive member 210, a second drive member 220, a first wheel body 211, and a second wheel body 221. The first drive member 210 connects to and drives the first wheel body 211, and the second drive member 220 connects to and drives the second wheel body 221. The first wheel body 211 and the second wheel body 221 are arranged side by side. When the rotational speed of the first wheel body 211 is different from that of the second wheel body 221, the drive wheel 200 generates a rotational torque, thereby causing the chassis body 100 to steer. This dual-wheel drive structure of the drive wheel 200, by controlling the rotational speed of the two wheels separately, can more precisely control the steering angle and steering speed of the drive wheel 200, achieving high-precision steering control.

[0031] The chassis body 100 is equipped with a controller, which is electrically connected to the first drive component 210 and the second drive component 220. The controller can precisely control the rotational speeds of the first drive component 210 and the second drive component 220 based on preset commands or sensor feedback, thereby achieving straight-line and steering control of the drive wheels 200. During steering, the controller can adjust the rotational speeds of the first wheel 211 and the second wheel 221 according to the required steering angle, causing the drive wheels 200 to rotate to a specified angle, thus precisely steering the chassis body 100.

[0032] It should be noted that the first drive unit 210 and the second drive unit 220 are typically electric motors. Taking a DC motor as an example, the motor controls its speed and direction by receiving different electrical signals. When a positive voltage is applied to the motor, the motor rotates forward; when a reverse voltage is applied, the motor rotates in reverse; and the magnitude of the voltage determines the motor's speed—the higher the voltage, the faster the speed. When traveling in a straight line, the first drive unit 210 and the second drive unit 220 receive the same control signal, causing them to drive the first wheel 211 and the second wheel 221 to rotate at the same speed. At this time, the linear velocities of the two wheels of the vehicle are equal, and the vehicle travels stably along a straight line.

[0033] When the chassis body 100 turns, assuming the first wheel 211 is the inner wheel and the second wheel 221 is the outer wheel, the controller calculates the required speed difference between the first wheel 211 and the second wheel 221 based on the direction and angle of the turn. For example, if the vehicle turns towards the side where the first wheel 211 is located: the controller reduces the input voltage of the first drive unit 210 or changes its current, reducing the output power of the first drive unit 210, thereby reducing the speed of the first wheel 211. This reduces the linear velocity of the first wheel 211, meeting the requirement that the inner wheel needs to travel a shorter distance when turning. Simultaneously, the controller maintains or appropriately increases the input voltage or current of the second drive unit 220, increasing its output power and driving the second wheel 221 to rotate at a higher speed. The high speed of the second wheel 221 gives it a larger linear velocity, meeting the requirement that the outer wheel needs to travel a longer distance when turning. After the vehicle completes the steering action, the controller will readjust the control signals of the first drive component 210 and the second drive component 220 to restore the rotational speed of the first wheel 211 and the second wheel 221 to the same state, and the vehicle will re-enter the straight-line driving mode.

[0034] It should be noted that the controller collects information such as the vehicle's steering direction, steering angle, and speed in real time through various sensors installed on the vehicle. Based on the collected information, the controller uses a preset algorithm and model to calculate the required speed difference between the first wheel 211 and the second wheel 221 to achieve smooth and precise steering. The controller sends the calculated control commands to the first drive component 210 and the second drive component 220, adjusting their input voltage, current, and other parameters to control the speed of the first wheel 211 and the second wheel 221, thereby achieving differential steering.

[0035] It's easy to understand that when the vehicle is turning, the two diagonally positioned drive wheels 200 can work together. One drive wheel 200 provides forward driving force, while the other drive wheel 200 generates an auxiliary steering torque by adjusting its speed and direction. This cooperation allows the vehicle to change direction more easily, reducing the turning radius required. This is especially suitable for vehicles operating in confined spaces, such as AGVs moving through warehouses, allowing them to avoid obstacles more flexibly and improving operational efficiency. Furthermore, the controller can precisely control the speed and steering angle of each drive wheel 200 based on the vehicle's driving status and steering requirements, achieving high-precision steering. For example, in automated production lines, material handling AGVs need to travel along precise paths; diagonally arranged drive wheels 200 help them accurately reach designated workstations, reducing positioning errors. Moreover, compared to other drive wheel 200 arrangements, diagonal arrangements allow for more installation space for components such as batteries, controllers, and cargo-carrying devices without increasing the overall vehicle size. For example, in AGV transport vehicles, larger capacity batteries can be used to extend the vehicle's range; or more complex sensors and controllers can be installed to improve the vehicle's automation and intelligence levels.

[0036] Understandably, diagonally arranged drive wheels 200 produce a more coordinated rotational effect during steering. Furthermore, because they can better distribute power and torque during steering, the vehicle's steering becomes more precise and controllable. The diagonally arranged drive wheels 200 also provide more space for the layout of other vehicle components. Through differential steering, the drive wheels 200 can achieve agile steering in smaller spaces, eliminating the need for complex transmission mechanisms like traditional mechanical differentials. This makes them particularly suitable for vehicles operating in narrow passages, warehouses, and other similar environments. Since the control system can accurately calculate and adjust the speed of the drive components based on real-time data, it can achieve high-precision steering control, improving vehicle stability and safety.

[0037] Reference Figure 2 By installing a steering angle measuring device 400 on each drive wheel 200 of the vehicle chassis, the controller can obtain the rotation angle information of the drive wheel 200 in real time, thereby controlling the steering of the drive wheel 200 more precisely. During the operation of the AGV transport vehicle, especially in scenarios requiring precise steering, such as passing through narrow passages or performing complex path planning, the controller can adjust the speed of the drive wheel 200 in a timely manner based on the real-time obtained rotation angle information, avoiding oversteering or understeering, greatly improving the accuracy and stability of steering, and enhancing the working efficiency and safety of the AGV transport vehicle.

[0038] In some embodiments, the steering angle measuring device 400 is a high-precision encoder. The encoder is coaxially connected to the rotation shaft of the drive wheel 200 to ensure that the encoder rotates synchronously with the rotation of the drive wheel 200. Simultaneously, the encoder is electrically connected to the controller on the chassis body 100 via a signal line, enabling the real-time transmission of the drive wheel 200 rotation angle information acquired by the encoder to the controller. During the assembly of the AGV transport vehicle, the encoder is first fixed in a suitable position on the drive wheel 200, ensuring precise alignment of its rotation shaft with the drive wheel 200's rotation shaft. Then, the signal line is carefully connected and adjusted to ensure stable signal transmission.

[0039] Reference Figure 2 In some embodiments, the angle measuring component includes a fixed tooth 410 and a measuring tooth 420. Specifically, the fixed tooth 410 is fixedly installed on the chassis body 100. The fixed tooth 410 is made of a high-strength, wear-resistant metal material to ensure that it will not easily deform or be damaged during use. The measuring tooth 420 is connected to the drive wheel 200 through a connector, so that the measuring tooth 420 can move in a circular motion around the edge of the fixed tooth 410 as the drive wheel 200 rotates. A corresponding algorithm program is preset in the controller to calculate the rotation angle of the drive wheel 200 based on the movement data of the measuring tooth 420. For example, during the manufacturing of the vehicle chassis, the size and positional relationship of the fixed tooth 410 and the measuring tooth 420 are accurately measured, and relevant parameters are input into the controller to accurately calculate the rotation angle. When the drive wheel 200 rotates, the measuring tooth 420 moves. The controller obtains data such as the movement distance and direction of the measuring tooth 420 through sensors, and obtains the rotation angle of the drive wheel 200 through algorithm processing. This steering angle measuring component 400 has a simple structure, low cost, and is easy to manufacture and install. The meshing of the fixed tooth 410 and the measuring tooth 420 provides a relatively stable measurement reference, reduces the influence of external factors on the measurement results, and improves measurement accuracy. At the same time, due to its relatively simple structure, maintenance and replacement are also convenient, reducing the maintenance cost and ease of use of the AGV transport vehicle.

[0040] In other embodiments, the fixed tooth 410 is connected to the drive wheel 200, allowing it to rotate together with the drive wheel 200. The measuring tooth 420 is fitted onto a fixed rod, which is vertically connected to the chassis body 100, ensuring that the measuring tooth 420 can rotate freely on the fixed rod. The measuring tooth 420 meshes with the fixed tooth 410, and when the drive wheel 200 rotates, the fixed tooth 410 drives the measuring tooth 420 to rotate. A corresponding data acquisition and processing program is set in the controller to acquire the rotation data of the measuring tooth 420 and calculate the rotation angle of the drive wheel 200. For example, during assembly, the fixed rod and measuring tooth 420 are installed first, and then the fixed tooth 410 is accurately connected to the drive wheel 200, ensuring good meshing. The controller is then debugged to correctly identify and process the rotation data of the measuring tooth 420. This structure directly correlates the rotation of the measuring tooth 420 with the rotation of the drive wheel 200, allowing for accurate measurement of the drive wheel 200's rotation angle. This design reduces error accumulation during measurement, improving accuracy and reliability. Furthermore, its rational layout avoids interfering with the normal rotation of the drive wheel 200, ensuring the AGV's stability.

[0041] Reference Figure 2 The drive wheel 200 is connected to the chassis body 100 via a floating mounting bracket 230. Specifically, when manufacturing the floating mounting bracket 230, an upper mounting plate 231, a lower mounting plate 232, and a buffer component 233 are prepared first. The upper mounting plate 231 is securely connected to the chassis body 100 using bolts or other connectors to ensure a stable and reliable connection. The lower mounting plate 232 is used to connect the drive wheel 200, and mounting holes matching the drive wheel 200 are provided on the lower mounting plate 232. The buffer component 233 is installed between the upper mounting plate 231 and the lower mounting plate 232. The buffer component 233 can be a spring, rubber pad, or other component with a cushioning function. For example, when installing a spring, both ends of the spring are fixed to the corresponding positions on the upper mounting plate 231 and the lower mounting plate 232 to ensure that the spring can extend and retract normally. Finally, the drive wheel 200 is installed on the lower mounting plate 232, completing the connection between the floating mounting bracket 230 and the drive wheel 200.

[0042] It is easy to understand that the design of the floating mounting bracket 230 allows the drive wheels 200 to make certain floating adjustments based on the unevenness of the ground during operation. When the AGV transport vehicle travels on uneven roads, the buffer 233 can absorb and cushion the impact force transmitted from the ground, reducing damage to the drive wheels 200 and the chassis body 100, and extending the service life of the equipment. At the same time, this floating adjustment ensures that the drive wheels 200 always maintain good contact with the ground, improving the grip and driving stability of the drive wheels 200, and ensuring that the AGV transport vehicle can drive normally under various road conditions.

[0043] Furthermore, a precise layout design is implemented at the bottom of the lower mounting plate 232, with the first drive component 210 and the second drive component 220 mounted side-by-side at the bottom of the lower mounting plate 232, such that the output ends of the first drive component 210 and the second drive component 220 are positioned opposite each other. Then, the first wheel 211 and the second wheel 221 are respectively mounted on the output ends of the first drive component 210 and the second drive component 220, ensuring that the first wheel 211 and the second wheel 221 are located on opposite sides of the lower mounting plate 232. For example, a customized connecting bracket is used to fix the drive components to the lower mounting plate 232, and the direction of the output ends is adjusted so that the two wheels can be installed according to design requirements. This layout makes the driving force distribution of the two drive wheels 200 more uniform, improving the overall driving efficiency of the drive wheels 200. Simultaneously, the oppositely positioned output ends allow the two wheels to better cooperate during steering, reducing energy loss and interference during steering, further improving steering flexibility and accuracy. Moreover, this layout structure is compact, saving space in the vehicle chassis and facilitating the miniaturization design of the AGV transport vehicle.

[0044] Furthermore, in manufacturing the floating mounting bracket 230, mounting holes matching the guide posts are first machined on the upper mounting plate 231. One end of the guide post is then securely fixed to the upper mounting plate 231 by welding or bolting. Corresponding through holes are also machined on the lower mounting plate 232, allowing the guide post to pass through and ensuring that the lower mounting plate 232 can move freely up and down along the guide posts. Elastic elements are fitted onto the guide posts, and their positions are adjusted so that both ends abut against the upper mounting plate 231 and the lower mounting plate 232, respectively. For example, when installing a spring, it is first compressed a certain distance, then fitted onto the guide post, and then slowly released so that both ends accurately abut against the upper and lower mounting plates 232. The buffer 233, composed of the guide posts and elastic elements, provides stable cushioning and guidance for the floating mounting bracket 230. The guide posts ensure the directional accuracy of the lower mounting plate 232 during its lifting and lowering movement, preventing offset and swaying, and improving the installation stability of the drive wheel 200. The elastic element can automatically adjust the position of the mounting plate 232 according to the unevenness of the ground, absorbing impact and protecting the drive wheel 200 and the chassis body 100. This buffer element 233 has a simple structure and good buffering effect, which can effectively improve the driving performance of AGV transport vehicles in complex road conditions.

[0045] Optionally, when installing the buffer components 233, four buffer components 233 are accurately installed between the upper mounting plate 231 and the lower mounting plate 232 according to the requirement of a four-corner distribution. First, determine the installation positions of the four buffer components 233, ensuring that the distance between them is uniform and that the force between the upper and lower mounting plates 232 is evenly distributed. Then, install each buffer component 233 sequentially, including fixing the guide post and installing the elastic element. After installation, check and adjust to ensure that the working state of the four buffer components 233 is consistent. The four buffer components 233 distributed at four corners provide more even support and cushioning for the floating mounting frame 230. During the AGV's operation, regardless of the direction of impact, the four buffer components 233 can work together to effectively disperse stress and reduce damage caused by excessive local stress. This layout improves the overall stability and reliability of the floating mounting frame 230, further enhances the adaptability of the drive wheel 200 to different road conditions, and ensures the smooth operation of the AGV.

[0046] For the omnidirectional wheel in the driven wheel 300, the same buffer connection method as that used for the drive wheel 200 is adopted. First, a mounting bracket matching the omnidirectional wheel is manufactured, and a structure connecting to the buffer element 233 is set on the mounting bracket. The buffer element 233 is installed between the mounting bracket and the chassis body 100, allowing the omnidirectional wheel to connect to the chassis body 100 via the buffer element 233. For example, during installation, the buffer element 233 is first fixed to the chassis body 100, then the mounting bracket is connected to the buffer element 233, and finally the omnidirectional wheel is installed on the mounting bracket, ensuring a secure connection. The use of the same buffer connection method for the driven wheel 300 as for the drive wheel 200 allows the entire chassis to maintain better balance and stability during operation. When the AGV transport vehicle travels on uneven roads, the omnidirectional wheel can also adjust to a certain extent via the buffer element 233, reducing bumps and vibrations caused by uneven ground. This not only improves the driving comfort of the AGV transport vehicle but also reduces wear caused by vibration, extending the equipment's service life.

[0047] The second aspect of this utility model also proposes an AGV transport vehicle, including a chassis with precise steering function as described in any of the preceding claims, a lifting mechanism 500, a telescopic mechanism 600, and a gripping mechanism 700. Specifically, based on the chassis, a vehicle body shell, a cargo-carrying device, a power system, a control system, and other necessary components are installed. The vehicle body shell is fixed to the chassis body 100100 to ensure sealing and aesthetics. The cargo-carrying device is installed to stably carry cargo, and is rationally designed according to the size and weight of the cargo. The power system is installed in a suitable location and connected to the circuit to provide power to the AGV transport vehicle. The control system, including a navigation system, sensors, etc., is installed to communicate with the controller of the chassis to realize automatic navigation and control of the AGV transport vehicle.

[0048] Understandably, AGV transport vehicles using chassis with precise steering capabilities possess high-precision steering abilities, enabling them to navigate flexibly and accurately reach designated locations in various complex industrial environments and logistics scenarios. These AGV transport vehicles can improve the efficiency and accuracy of logistics transportation, reduce manual operation and errors, and lower logistics costs. Simultaneously, their stable driving performance and good adaptability can meet the automated transportation needs of different industries, demonstrating broad application prospects.

[0049] Reference Figure 3In some embodiments, the chassis body 100 is welded from high-strength steel to ensure the stability of the overall structure. Two drive wheels 200 and two driven wheels 300 are distributed at four corners, with the two drive wheels 200 arranged diagonally. The first drive component 210 and the second drive component 220 of the drive wheels 200 are high-performance stepper motors, which have advantages such as high positioning accuracy and convenient control. In the warehouse, the AGV transport vehicle needs to travel to the designated shelf position according to a preset path. The precise steering function of the chassis ensures that the vehicle can turn flexibly in narrow shelf aisles and accurately reach the target shelf. For example, when encountering a right-angle turn, the controller precisely controls the speed difference between the first drive component 210 and the second drive component 220 of the two drive wheels 200 according to the path planning, so that the chassis can smoothly and accurately complete a 90-degree turn. The lifting mechanism 500 is installed on the chassis and can adopt a screw and nut transmission method. The lifting motor drives the screw to rotate, and the nut is connected to the telescopic mechanism 600, thereby realizing the lifting movement of the telescopic mechanism 600. In e-commerce warehouses, different shelves have different heights. The lifting mechanism 500 can raise the telescopic mechanism 600 and the gripping mechanism 700 to a suitable height according to the storage location of the goods. The telescopic mechanism 600 is connected to the lifting mechanism 500 and can use an electric push rod as the driving element. One end of the electric push rod is fixed to the lifting mechanism 500, and the other end is connected to the gripping mechanism 700, so that the telescopic mechanism 600 connects to and drives the gripping mechanism 700 to extend and retract. Through the extension and retraction movement of the electric push rod, the gripping mechanism 700 can move laterally. When gripping goods, after the gripping mechanism 700 reaches the height of the goods, the telescopic mechanism 600 controls the extension and retraction of the electric push rod according to the lateral position of the goods, so that the gripping mechanism 700 accurately approaches the goods.

[0050] The gripping mechanism 700 is used to drive two grippers to move relative to each other, away from each other, or in the same direction to grip goods.

[0051] Specifically, the gripping mechanism 700 includes two motors. Each motor independently controls the movement of the two grippers. The motors are DC servo motors, characterized by fast response and high control precision. When gripping goods, the controller can independently control the two grippers to move relative to each other, away from each other, or in the same direction, depending on the shape and size of the goods. For example, for rectangular goods, the two grippers move relative to each other, clamping the sides of the goods; for irregularly shaped goods, stable gripping can be achieved by controlling different movement modes of the two grippers. After gripping the goods, the AGV transport vehicle transports the goods to the order sorting area according to a preset path. During transportation, the precise steering function of the chassis ensures that the vehicle can accurately avoid obstacles and smoothly reach its destination. The gripping mechanism 700 adopts a design where two motors independently drive the two grippers, enabling flexible control of the two grippers to move relative to each other, away from each other, or in the same direction according to the shape and size of the goods, achieving precise gripping and stable placement of goods of different shapes. Whether it's a regularly shaped rectangular cargo or an irregularly shaped component, it can be accurately grasped, greatly improving the accuracy and reliability of cargo handling and reducing the damage rate during transport. Furthermore, the coordinated operation of the lifting mechanism 500, the telescopic mechanism 600, and the gripping mechanism 700 enables flexible manipulation of cargo in three-dimensional space. The lifting mechanism 500 allows for vertical lifting and lowering of cargo, the telescopic mechanism 600 enables lateral movement, and the gripping mechanism 700 enables grasping and releasing cargo. This multi-degree-of-freedom operation allows the AGV transport vehicle to quickly and efficiently complete cargo handling tasks in different warehousing environments and production scenarios, improving logistics efficiency and shortening production cycles.

[0052] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A vehicle chassis with precise steering function, characterized in that, include: The chassis body (100) has two drive wheels (200) and two driven wheels (300) at its bottom. The two drive wheels (200) and the two driven wheels (300) are distributed at four corners, and the two drive wheels (200) are arranged diagonally. The drive wheel (200) includes a first drive member (210) and a second drive member (220). The first drive member (210) is connected to and drives a first wheel body (211), and the second drive member (220) is connected to and drives a second wheel body (221). The first wheel body (211) and the second wheel body (221) are arranged side by side. When the rotational speed of the first wheel body (211) and the rotational speed of the second wheel body (221) are different, the drive wheel (200) rotates to drive the chassis body (100) to turn. The chassis body (100) is equipped with a controller, which is electrically connected to the first drive member (210) and the second drive member (220) respectively, to control the drive wheel (200) to travel straight and / or control the rotation angle of the drive wheel (200) when it turns.

2. The vehicle chassis with precise steering function according to claim 1, characterized in that, The drive wheel (200) is equipped with a steering angle measuring device (400), which is used to acquire the rotation angle information of the drive wheel (200) and transmit it to the controller.

3. The vehicle chassis with precise steering function according to claim 2, characterized in that, The steering angle measuring component (400) includes a fixed tooth (410) and a measuring tooth (420). The fixed tooth (410) is fixedly disposed on the chassis body (100), and the measuring tooth (420) is connected to the drive wheel (200). The measuring tooth (420) meshes with the fixed tooth (410). When the drive wheel (200) rotates, the measuring tooth (420) makes a circular motion around the edge of the fixed tooth (410). The controller acquires the movement data of the measuring tooth (420) to calculate the rotation angle of the drive wheel (200).

4. The vehicle chassis with precise steering function according to claim 2, characterized in that, The steering angle measuring component (400) includes a fixed tooth (410) and a measuring tooth (420). The fixed tooth (410) is connected to the drive wheel (200), and the measuring tooth (420) is fitted onto a fixed rod. The fixed rod is connected to the chassis body (100). The measuring tooth (420) meshes with the fixed tooth (410). When the drive wheel (200) rotates, the fixed tooth (410) rotates and drives the measuring tooth (420) to rotate. The controller acquires the rotation data of the measuring tooth (420) to calculate the rotation angle of the drive wheel (200).

5. The vehicle chassis with precise steering function according to claim 1, characterized in that, The drive wheel (200) is connected to the chassis body (100) via a floating mounting bracket (230). The floating mounting bracket (230) includes an upper mounting plate (231), a lower mounting plate (232), and a buffer (233). The upper mounting plate (231) is connected to the chassis body (100), the lower mounting plate (232) is connected to the drive wheel (200), and the buffer (233) is disposed between the upper mounting plate (231) and the lower mounting plate (232).

6. The vehicle chassis with precise steering function according to claim 5, characterized in that, The first drive member (210) and the second drive member (220) are arranged side by side at the bottom of the lower mounting plate (232), and the output end of the first drive member (210) and the output end of the second drive member (220) are arranged opposite to each other to connect the first wheel body (211) and the second wheel body (221) located on both sides of the lower mounting plate (232), respectively.

7. The vehicle chassis with precise steering function according to claim 5, characterized in that, The buffer (233) includes a guide post and an elastic member. One end of the guide post is fixed to the upper mounting plate (231), and the other end passes through the lower mounting plate (232). The lower mounting plate (232) can move up and down along the guide post. The elastic member is fitted onto the guide post, and both ends of the elastic member abut against the upper mounting plate (231) and the lower mounting plate (232) respectively.

8. The vehicle chassis with precise steering function according to claim 7, characterized in that, Four buffers (233) are provided between the upper mounting plate (231) and the lower mounting plate (232), and the four buffers (233) are distributed at the four corners of each other.

9. The vehicle chassis with precise steering function according to claim 5, characterized in that, The driven wheel (300) includes a swivel wheel, which is also connected to the chassis body (100) via the floating mounting bracket (230).

10. An AGV transport vehicle, characterized in that, The AGV transport vehicle includes a chassis with precise steering function as described in any one of claims 1 to 9, comprising a lifting mechanism (500), a telescopic mechanism (600), and a gripping mechanism (700), wherein the lifting mechanism (500) is disposed on the chassis, the lifting mechanism (500) is connected to and drives the telescopic mechanism (600) to move up and down, the telescopic mechanism (600) is connected to and drives the gripping mechanism (700) to extend and retract, and the gripping mechanism (700) is used to drive two grippers to move relative to each other, away from each other, or in the same direction to grip goods.

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