A type of vehicle and AGV trolley

Abstract

This utility model discloses a chassis and an AGV (Automated Guided Vehicle) trolley. The chassis includes a first chassis, a second chassis, driven wheels, and drive wheels. The second chassis is hinged to the first chassis via a pivot shaft; the axial direction of the pivot shaft is horizontal; the driven wheels are installed diagonally on the first and second chassis; the drive wheels are installed on both sides of the second chassis. This embodiment divides the chassis into two parts and hinges them with a horizontal pivot shaft, allowing the first chassis to rotate relative to the second chassis around a horizontal axis; thus, even on uneven ground, both sets of wheels can always maintain simultaneous contact with the ground. The driven wheels and drive wheels are placed on different chassis, ensuring that the driving force and follow-up support functions do not interfere with each other, resulting in a more reasonable distribution of the vehicle's center of gravity and preventing rollovers or cargo falls due to suspended wheels. The "front and rear adaptive hinge" and "drive / follow-up separation" ensure that the small-volume AGV maintains full four-wheel contact with the ground on uneven surfaces, significantly improving traction and driving stability, and suppressing the risks of slippage, deviation, and cargo damage.

Description

Technical Field

[0001] This utility model relates to the field of warehousing equipment technology, and more specifically, to a pallet truck and an AGV trolley. Background Technology

[0002] With the continuous development of technology, automated equipment is increasingly being used for material handling in production. AGV (Automated Guided Vehicle) vehicles, as a type of automated material transport equipment, have become an indispensable and important component of factory intelligence and automation. AGV is an abbreviation for "Automated Guided Vehicle," a type of self-navigating, driverless vehicle.

[0003] AGVs are mainly used for material handling and transportation tasks in industrial and commercial environments. They can travel along predetermined paths and perform specific tasks, such as picking up and placing goods.

[0004] Existing AGVs with concealed lifting mechanisms, when used to transport small goods, generally employ a small body and compact design. In such cases, when the ground is uneven during operation, the wheels may not make contact with the ground or the pressure may be uneven, resulting in insufficient traction, slippage, loss of steering control, and ultimately, the goods falling off. The AGV's driving stability and safety are relatively poor. This design, with its small body, does not need to consider the ground adaptation in the left and right directions, but it still needs to address the uneven ground in the front and rear directions so that the vehicle can adapt to the ground. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a vehicle chassis and an AGV trolley to solve at least some of the technical problems mentioned in the background art.

[0006] To achieve the above objectives, the first aspect of this utility model provides a wheel chuck, the wheel chuck comprising:

[0007] First chassis,

[0008] The second chassis is hinged to the first chassis via a pivot shaft; the axial direction of the pivot shaft is horizontal.

[0009] Two driven wheels are installed diagonally between the first chassis and the second chassis;

[0010] Drive wheels are mounted on both sides of the second chassis.

[0011] The specific technical effects of this embodiment are as follows: This embodiment divides the chassis into two parts and hinges them together with a horizontal pivot, allowing the first chassis to rotate relative to the second chassis around a horizontal axis; thus, even if the ground is uneven, both sets of wheels can always maintain simultaneous contact with the ground. The driven wheels and drive wheels are placed on different chassis, and the driving force and follow-up support functions do not interfere with each other, making the overall center of gravity distribution of the vehicle more reasonable and preventing rollover or cargo falling due to suspension wheels; "front and rear adaptive hinge" + "drive / follow-up separation" ensures that the small-volume AGV still has all four wheels in contact with the ground on uneven surfaces, significantly improving traction and driving stability, and suppressing the risks of slippage, deviation, and cargo damage.

[0012] Optionally, the first chassis includes a first disc body and a first connector fixedly connected to the first disc body; the driven wheel is mounted on the first disc body;

[0013] The second chassis includes a second chassis body and a second connector fixedly connected to the second chassis body; the drive wheel is mounted on the second connector.

[0014] The first connector and the second connector are hinged together by the pivot.

[0015] The specific technical advantages of this implementation are as follows: After disassembling the chassis into the "chassis body" and the "connector," the chassis body can maintain a low center of gravity layout (heavy components such as batteries and forks are placed here), while the connector is dedicated to "articulation + drive," making its function modular. When maintenance of the drive wheels is required, only the first or second connector needs to be disassembled and reassembled, without affecting the chassis body and its upper components, thus reducing maintenance time; the first and second connectors are small in size and have high precision, making it easy to adjust the shaft fit clearance individually on the assembly line, thereby improving the overall assembly accuracy.

[0016] Optionally, the first chassis includes two second connectors, which are distributed sequentially along the axial direction of the rotating shaft;

[0017] The first connector includes two connecting parts, which are respectively hinged to the two second connectors via the pivot.

[0018] The specific technical effects of this embodiment are as follows: the double second connectors and double connecting parts form a "double pivot" structure, changing the stress on the shaft from single shear to double shear, halving the bending stress, thereby improving the shaft's lifespan. Simultaneously, the double pivots restrict the chassis's torsional freedom in the horizontal plane, avoiding lateral swaying caused by "hinged gaps" and improving straight-line driving accuracy.

[0019] Optionally, the connecting portion is provided with a first through hole extending along the axial direction of the rotating shaft; the second connecting head is provided with a second through hole extending along the axial direction of the rotating shaft.

[0020] The wheel also includes a first bushing and a second bushing sleeved on the rotating shaft; the first bushing sleeve is located in the first through hole, and the second bushing sleeve is located in the second through hole.

[0021] The specific technical advantages of this embodiment are as follows: the first and second bushings are replaceable wear-resistant parts, avoiding direct friction between the hole wall and the rotating shaft; after wear, only the bushings need to be replaced, reducing maintenance costs. Moreover, bushings of different materials (copper-based, PTFE, etc.) can be selected for different working conditions, reducing the coefficient of friction, making the hinge rotation more flexible and the adaptive response faster.

[0022] Optionally, the second connector is further provided with a mounting groove; the second through hole is located on the side wall of the mounting groove and is used for the shaft to pass through; the mounting groove is used to mount the drive wheel.

[0023] The specific technical advantages of this implementation method are as follows: the drive wheels are partially embedded in the groove, reducing the overall height and allowing the AGV to "lie low" at the bottom of the shelf, meeting the requirements of low-profile lifting scenarios. The overall structure is compact and low in height, satisfying the space constraints of low-profile handling.

[0024] Optionally, the drive wheel has a wheel body and a drive motor; the drive motor is mounted on the mounting groove and is used to drive the wheel body to rotate; wherein, there are two drive wheels, which are distributed sequentially along the axial direction of the rotating shaft.

[0025] The specific technical effects of this implementation are as follows: Each wheel body is driven independently by a drive motor, so that the two wheels can achieve differential control separately. When the AGV is on an uneven road or turning, the speed difference compensates for the ground height difference and turning radius requirements, avoiding the volume and efficiency loss of traditional mechanical differentials. This not only continues the low-profile and stealthy advantages, but also achieves differential control, redundant traction and convenient maintenance, significantly enhancing the passability and reliability of complex terrain.

[0026] Optionally, the rotating shaft includes a shaft body and a fixing part; the fixing part is disposed on the shaft body and extends outward along the radial direction of the shaft body; the fixing part is used for fixed connection with one of the first connector and the second connector.

[0027] The specific technical effects of this embodiment are: this embodiment simplifies the axial fixing structure and improves assembly / disassembly efficiency.

[0028] Optionally, there is a gap between the first connector and the second connector; the width of the gap is horizontal and perpendicular to the axial direction of the rotating shaft.

[0029] The specific technical effect of this embodiment is that the gap simultaneously serves the dual functions of "free rotation space" and "mechanical angle limit", which not only ensures adaptation to uneven ground, but also precisely locks the maximum pitch angle by fixing the width of the gap, thus avoiding excessive rotation.

[0030] Optionally, the chassis also includes a buffer element located within the gap.

[0031] The specific technical effects of this embodiment are as follows: the buffer transforms the "rigid mechanical limit" into the "elastic soft limit", which significantly weakens the impact, reduces noise, protects the structure, and improves the stability of the cargo.

[0032] The second aspect of this utility model provides an AGV trolley, the AGV trolley including a controller and a chassis as described above; the controller is installed on the first connector and / or the second connector.

[0033] The specific technical effects of this embodiment are as follows: both the first connector and the second connector are located near the hinge center, and the vibration amplitude is smaller than that of the first disc body and the second disc body, which helps to protect the precision electronic components in the controller; at the same time, the controller is close to the drive wheel, shortening the motor power line and encoder harness, reducing EMI, and improving signal integrity. Attached Figure Description

[0034] Figure 1 This is an exploded schematic diagram of a wheel chock according to the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of a rotating shaft according to the present invention;

[0036] Figure 3 This is a schematic diagram illustrating the movement of a wheel chock on a level road surface according to the present invention.

[0037] Figure 4 This is a schematic diagram illustrating the movement of a wheel chute of this utility model on an uphill road.

[0038] Figure 5 This is a schematic diagram of the movement of a wheel chute of this utility model on a downhill road.

[0039] The attached figures are labeled as follows: 1. First chassis; 2. Second chassis; 3. Driven wheel; 4. Drive wheel; 11. First disc body; 12. First connector; 21. Second disc body; 22. Second connector; 121. Connecting part; 122. First through hole; 221. Second through hole; 5. Rotating shaft; 51. First bushing; 52. Second bushing; 222. Mounting groove; 41. Wheel body; 42. Drive motor; 53. Shaft; 54. Fixing part; 6. Gap; 7. Controller. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] like Figure 1 , Figure 3 , Figure 4 and Figure 5 The illustrated chassis includes a first chassis 1, a second chassis 2, driven wheels 3, and drive wheels 4. The second chassis 2 is hinged to the first chassis 1 via a pivot 5; the axial direction of the pivot 5 is horizontal; there are two driven wheels 3, which are respectively installed at opposite corners of the first chassis 1 and the second chassis 2; the drive wheels 4 are installed on both sides of the second chassis 2. In this embodiment, the chassis is divided into two parts and hinged together by a horizontal pivot 5, allowing the first chassis 1 to rotate relative to the second chassis 2 around a horizontal axis; thus, even if the ground is uneven, both sets of wheels can always maintain simultaneous contact with the ground. The driven wheels 3 and drive wheels 4 are placed on different chassis, and the driving force and follow-up support functions do not interfere with each other, making the overall center of gravity distribution of the vehicle more reasonable and preventing rollover or cargo falling due to suspended wheels; the "front and rear adaptive hinge" and "drive / follow-up separation" ensure that the small-volume AGV still has all four wheels in contact with the ground on uneven surfaces, significantly improving traction and driving stability, and suppressing the risks of slippage, deviation, and cargo damage.

[0042] As an optional implementation, the driven wheel 3 is a swivel wheel, which facilitates the turning of the vehicle.

[0043] As an optional implementation, the first chassis 1 includes a first tray body 11 and a first connector 12 fixedly connected to the first tray body 11; a driven wheel 3 is mounted on the first tray body 11; the second chassis 2 includes a second tray body 21 and a second connector 22 fixedly connected to the second tray body 21; a drive wheel 4 is mounted on the second connector 22; wherein the first connector 12 and the second connector 22 are hinged together by a pivot 5. The first chassis 1 includes the first tray body 11 and the first connector 12, and the second chassis 2 includes the second tray body 21 and the second connector 22; wherein the first tray body 11 and the second tray body 21 can maintain a low center of gravity layout (heavy components such as batteries and forks are placed here), while the first connector 12 and the second connector 22 are dedicated to "hinging + driving", with modular functions. When maintenance of the drive wheel 4 is required, only the first connector 12 or the second connector 22 needs to be disassembled and reassembled. The main body of the disc and its upper accessories are not affected, reducing maintenance time. The first connector 12 and the second connector 22 are small in size and have high precision, which makes it easy to adjust the fit clearance 6 of the shaft 5 separately on the assembly line, improving the overall assembly accuracy.

[0044] As an optional implementation, the first chassis 1 includes two second connectors 22, which are sequentially distributed along the axial direction of the shaft 5. The first connector 12 includes two connecting portions 121, which are respectively hinged to the two second connectors 22 via the shaft 5. The double second connectors 22 and double connecting portions 121 form a "double pivot" structure, changing the force on the shaft 5 from single shear to double shear, halving the bending stress, thereby improving the lifespan of the shaft 5. At the same time, the double pivot restricts the chassis's torsional freedom in the horizontal plane, avoiding lateral swaying caused by the "hinged gap 6", and improving straight-line driving accuracy.

[0045] As an optional implementation, the connecting part 121 is provided with a first through hole 122 extending along the axial direction of the rotating shaft 5; the second connecting head 22 is provided with a second through hole 221 extending along the axial direction of the rotating shaft 5; the wheel also includes a first bushing 51 and a second bushing 52 sleeved on the rotating shaft 5; the first bushing 51 is located in the first through hole 122, and the second bushing 52 is located in the second through hole 221. The first bushing 51 and the second bushing 52 are replaceable wear-resistant parts, avoiding direct friction between the hole wall and the rotating shaft 5; after wear, only the bushing needs to be replaced, reducing maintenance costs. Moreover, bushings of different materials (copper-based, PTFE, etc.) can be selected for different working conditions, reducing the coefficient of friction, making the hinge rotation more flexible and the adaptive response faster.

[0046] As an optional implementation, the second connector 22 is also provided with a mounting groove 222; the second through hole 221 is located on the side wall of the mounting groove 222 and is used for the rotating shaft 5 to pass through; the mounting groove 222 is used to mount the drive wheel 4. The drive wheel 4 is partially embedded in the groove, reducing the overall height and allowing the AGV to "lie low" at the bottom of the shelf, meeting the requirements of the low-profile lifting scenario. The overall structure is compact and low in height, meeting the space constraints of low-profile handling.

[0047] As an optional implementation, the drive wheel 4 has a wheel body 41 and a drive motor 42; the drive motor 42 is mounted on the mounting groove 222 and is used to drive the rotation of the drive wheel body 4; there are two drive wheels 4, which are distributed sequentially along the axial direction of the shaft 5. Each wheel body 41 is independently driven by the drive motor 42, so that the two wheels can achieve differential control. When the AGV is on an uneven road surface or turning, the speed difference compensates for the difference in ground height and the turning radius requirement, avoiding the volume and efficiency loss of traditional mechanical differentials. This not only continues the low-profile and stealthy advantage, but also achieves differential control, redundant traction and convenient maintenance, significantly enhancing the passability and reliability of complex terrain.

[0048] like Figure 2As shown, in one optional embodiment, the rotating shaft 5 includes a shaft body 53 and a fixing part 54; the fixing part 54 is disposed on the shaft body 53 and extends outward along the radial direction of the shaft body 53; the fixing part 54 is used for fixed connection with one of the first connector 12 and the second connector 22. This embodiment simplifies the axial fixing structure and improves assembly / disassembly efficiency.

[0049] Continue to refer to Figure 3 , Figure 4 and Figure 5 As an optional implementation, a gap 6 exists between the first connector 12 and the second connector 22; the width of the gap 6 is horizontal and perpendicular to the axial direction of the rotating shaft 5. The gap 6 serves primarily as "necessary rotation space." When there is a height difference on the road surface, the first chassis 1 can rotate relative to the second chassis 2 around the rotating shaft 5, and the gap 6 ensures that the two will not immediately interfere with each other. More importantly, the width d of the gap 6 is directly converted into a mechanical limiting angle θ: when the relative rotation reaches a certain angle, the opposite end faces of the two connectors abut against each other, forming a purely mechanical limiting. θ ≈ arctan(d / L), where L is the effective contact height of the connector. Therefore, by designing d, the maximum allowable pitch angle can be precisely controlled, preventing excessive overturning that could cause goods to fall. Since the limiting is achieved entirely through end face contact, no additional parts are required, resulting in a minimalist structure and high reliability. The gap 6 simultaneously serves the dual functions of "free rotation space" and "mechanical angle limiting," ensuring both adaptation to uneven ground and precise locking of the maximum pitch angle through the fixed width of the gap 6, avoiding excessive overturning.

[0050] As an optional implementation, the chassis also includes a buffer element located within the gap 6. When the first chassis 1 and the second chassis 2 rotate relative to each other until the gap 6 closes, the rigid end faces will directly collide, generating impact loads and noise. The buffer element undergoes elastic compression before the end faces, absorbing impact energy, reducing peak force, and preventing structural damage and cargo vibration caused by rigid restraint. The stiffness of the buffer element can be designed to be progressive, providing a soft "soft restraint" feel near the maximum angle, further suppressing residual oscillations and allowing the vehicle to quickly regain stability. The buffer element transforms "rigid mechanical restraint" into "elastic soft restraint," significantly weakening impact, reducing noise, protecting the structure, and improving cargo stability.

[0051] The second aspect of this utility model provides an AGV (Automated Guided Vehicle) trolley, which includes a controller 7 and a chassis as described above. The controller 7 is mounted on a first connector 12 and / or a second connector 22. Both the first connector 12 and the second connector 22 are located near the hinge center, resulting in vibration amplitudes smaller than those of the first chassis body 11 and the second chassis body 21, which helps protect the precision electronic components inside the controller 7. At the same time, the controller 7 is close to the drive wheel 4, shortening the motor power line and encoder wiring harness, reducing EMI, and improving signal integrity.

[0052] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A vehicle disc characterized in that, The vehicle chassis includes: First chassis (1), The second chassis (2) is hinged to the first chassis (1) via a pivot (5); the axial direction of the pivot (5) is horizontal. Two driven wheels (3) are respectively installed at opposite corners of the first chassis (1) and the second chassis (2); Drive wheels (4) are installed on both sides of the second chassis (2).

2. A vehicle disc according to claim 1 wherein, The first chassis (1) includes a first disc body (11) and a first connector (12) fixedly connected to the first disc body (11); the driven wheel (3) is mounted on the first disc body (11); The second chassis (2) includes a second chassis body (21) and a second connector (22) fixedly connected to the second chassis body (21); the drive wheel (4) is mounted on the second connector (22); The first connector (12) and the second connector (22) are hinged together by the pivot (5).

3. A vehicle disc according to claim 2, wherein The first chassis (1) includes two second connectors (22), which are distributed sequentially along the axial direction of the rotating shaft (5); The first connector (12) includes two connecting parts (121), which are respectively hinged to the two second connectors (22) via the pivot (5).

4. A vehicle disc according to claim 3, wherein The connecting part (121) is provided with a first through hole (122) extending along the axial direction of the rotating shaft (5); the second connecting head (22) is provided with a second through hole (221) extending along the axial direction of the rotating shaft (5); The wheel also includes a first bushing (51) and a second bushing (52) sleeved on the rotating shaft (5); the first bushing (51) is located in the first through hole (122), and the second bushing (52) is located in the second through hole (221).

5. A vehicle disc according to claim 4, wherein The second connector (22) is also provided with a mounting groove (222); the second through hole (221) is located on the side wall of the mounting groove (222) and is used for the shaft (5) to pass through; the mounting groove (222) is used to install the drive wheel (4).

6. A vehicle disc according to claim 5 wherein, The drive wheel (4) has a wheel body (41) and a drive motor (42); the drive motor (42) is mounted on the mounting groove (222) and is used to drive the wheel body (41) to rotate; wherein, there are two drive wheels (4) and they are distributed sequentially along the axial direction of the shaft (5).

7. A vehicle disc according to claim 2 wherein, The rotating shaft (5) includes a shaft body (53) and a fixing part (54); the fixing part (54) is disposed on the shaft body (53) and extends outward in the radial direction of the shaft body (53); the fixing part (54) is used to fixally connect with one of the first connector (12) and the second connector (22).

8. A vehicle disc according to claim 2 wherein, There is a gap (6) between the first connector (12) and the second connector (22); the width of the gap (6) is horizontal and perpendicular to the axial direction of the rotating shaft (5).

9. A vehicle tray as claimed in claim 8 wherein, The chassis also includes a buffer element located in the gap (6).

10. An AGV vehicle, characterized by The AGV includes a controller (7) and a chassis as described in any one of claims 1-9; the controller (7) is mounted on the first connector (12) and / or the second connector (22).

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