Automated guided vehicle

Abstract

The utility model discloses an automatic guided vehicle, through set up the stepped chassis, can reduce the height of automatic guided vehicle's loading surface, thereby reduce the difficulty when the worker carries the server. The automatic guided vehicle includes stepped chassis, rudder wheel subassembly and driven wheel. The stepped chassis divides into upper bottom and lower bottom, and the height of upper bottom is higher than the height of lower bottom. Rudder wheel subassembly sets up below upper bottom, is used for driving stepped chassis moves. Driven wheel rotatory setting is in lower bottom, is used for with rudder wheel subassembly together to support stepped chassis.

Description

Technical Field

[0001] This utility model belongs to the field of transportation equipment technology, and specifically relates to an automated guided vehicle. Background Technology

[0002] In data center installation and maintenance scenarios, server transportation is involved. Currently, the industry has begun using Automated Guided Vehicles (AGVs) for server transportation.

[0003] like Figure 1 As shown, existing automated guided vehicles (AGVs) include a chassis, steering wheels, and auxiliary wheels. The steering wheels and auxiliary wheels are located at the four corners below the chassis, used to drive the chassis to move and support it. To ensure the AGV can meet the requirements for carrying and transporting servers, the existing steering wheel assembly has a large drive motor and wheel size, resulting in a relatively high overall height of the steering wheel assembly (greater than 200mm). The loading surface (top surface) of the chassis on the steering wheel assembly is also relatively high (greater than 200mm). This makes it difficult for workers to move servers onto or unload them from the AGV, and also increases the risk of servers falling and being damaged during transport. Utility Model Content

[0004] The technical problem to be solved by this utility model is to address the above-mentioned shortcomings of the existing technology by providing an automated guided vehicle. By setting a stepped chassis, the height of the loading surface of the automated guided vehicle can be reduced, thereby reducing the difficulty for workers to move servers.

[0005] In a first aspect, this utility model provides an automated guided vehicle (AGV), comprising a stepped chassis, a steering wheel assembly, and driven wheels. The stepped chassis is divided into an upper chassis and a lower chassis, with the upper chassis being higher than the lower chassis. The steering wheel assembly is disposed below the upper chassis and is used to drive the stepped chassis to move. The driven wheels are rotatably disposed on the lower chassis and, together with the steering wheel assembly, support the stepped chassis.

[0006] In some embodiments, a driven wheel mounting groove is provided at the bottom of the lower chassis; a portion of the driven wheel is embedded in the driven wheel mounting groove.

[0007] In some embodiments, the steering wheel assembly includes a frame, drive wheels, a steering assembly, and a traveling assembly. The frame is rotatably disposed below the upper chassis and is capable of rotating in a horizontal plane relative to the upper chassis. The drive wheels are rotatably disposed on the frame. The steering assembly is disposed on the frame and is drivenly connected to the upper chassis, for driving the frame to rotate in a horizontal plane relative to the upper chassis, thereby steering the drive wheels via the frame. The traveling assembly is disposed on the frame and is drivenly connected to the drive wheels, for driving the drive wheels to rotate.

[0008] In some embodiments, a gear disk is fixed to the bottom of the upper chassis, and the gear disk is horizontally arranged. The frame is rotatably disposed in the middle of the gear disk and is capable of rotating in a horizontal plane about the axis of the gear disk; the steering assembly is meshed with the gear disk and is used to drive the frame to rotate about the axis of the gear disk.

[0009] In some embodiments, the steering assembly includes a steering motor and a drive gear. The steering motor is fixed to the vehicle frame and drives the drive gear to rotate. The drive gear is mounted on the drive shaft of the steering motor and meshes with the gear disc.

[0010] In some embodiments, the frame includes a main frame, side frames, and shock absorbers. The main frame is rotatably disposed at the center of the gear disk and is capable of rotating in a horizontal plane about the axis of the gear disk; the steering assembly is fixed to the main frame. There are two side frames, each disposed on one side of the main frame and hinged to the main frame via the same horizontal pivot; the drive wheel is rotatably disposed between the two side frames; the travel assembly is disposed on one of the side frames. The shock absorbers are disposed between the main frame and one of the side frames.

[0011] In some embodiments, the number of shock absorbers is two, and the two shock absorbers are correspondingly arranged with the two side frames.

[0012] In some embodiments, the travel assembly includes a travel motor and a transmission component; the travel motor is fixed to one of the side frames and is connected to the drive wheel via the transmission component to drive the drive wheel to rotate.

[0013] In some embodiments, the diameter of the driven wheel is smaller than the diameter of the driving wheel.

[0014] In some embodiments, there are two steering wheel assemblies and two driven wheels. The two steering wheel assemblies are arranged on opposite sides of the upper chassis, and the two driven wheels are arranged on opposite sides of the lower chassis. The two steering wheel assemblies and the two driven wheels are respectively arranged at the four corners of the stepped chassis.

[0015] Therefore, the automated guided vehicle (AGV) provided in this embodiment of the invention, by setting a stepped chassis and dividing the stepped chassis into an upper chassis and a lower chassis, with the upper chassis being higher than the lower chassis, provides sufficient space underneath the higher upper chassis to accommodate the steering wheel assembly. By mounting the driven wheels on the lower chassis, they can support the stepped chassis together with the steering wheel assembly. Furthermore, the top surface of the lower chassis is lower than the top surface of the upper chassis. When transporting servers using the AGV, even if the top surface of the upper chassis is higher due to the height of the steering wheel assembly, the top surface of the lower chassis can be used as the loading surface of the AGV, thus reducing the height of the loading surface. This reduces the labor intensity of workers when moving servers onto or unloading them from the AGV and lowers the risk of servers falling and being damaged during transport. Attached Figure Description

[0016] Figure 1 : A schematic diagram of an automated guided vehicle provided in the prior art;

[0017] Figure 2 : A side view of an automated guided vehicle provided in an embodiment of this utility model;

[0018] Figure 3 : A schematic diagram of an automated guided vehicle provided in an embodiment of this utility model;

[0019] Figure 4 : A structural diagram of a driven wheel provided in an embodiment of this utility model;

[0020] Figure 5 : A structural diagram of a steering wheel assembly provided in an embodiment of this utility model.

[0021] Among them, 1-stepped chassis; 2-upper chassis; 3-lower chassis; 4-steering wheel assembly; 5-driven wheel; 6-frame; 7-drive wheel; 8-steering assembly; 9-travel assembly; 10-gear disk; 11-steering motor; 12-transmission gear; 13-main frame; 14-side frame; 15-shock absorber; 16-horizontal pivot. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0023] Example 1:

[0024] like Figure 2As shown in the figure, this utility model embodiment provides an automated guided vehicle, which is applied to the process of moving servers in a communication equipment room.

[0025] like Figure 2 and Figure 3 As shown, the automated guided vehicle includes a stepped chassis 1, a steering wheel assembly 4, and driven wheels 5. The stepped chassis 1 is divided into an upper chassis 2 and a lower chassis 3, with the upper chassis 2 being higher than the lower chassis 3. The steering wheel assembly 4 is located below the upper chassis 2 and is used to move the stepped chassis 1. The driven wheels 5 are rotatably mounted on the lower chassis 3 and, together with the steering wheel assembly 4, support the stepped chassis 1.

[0026] For example, the stepped chassis 1 can be formed by welding steel plates and angle steel.

[0027] The height of the upper chassis 2 can be set according to the overall height of the steering wheel assembly 4 so that the steering wheel assembly 4 can be accommodated below the upper chassis 2.

[0028] For example, the overall height of the steering wheel assembly 4 is 200mm, and the height of the bottom surface of the upper chassis 2 is set to 200mm.

[0029] For example, such as Figure 4 As shown, the driven wheel 5 is rotatably mounted on the lower chassis 3 via its shaft.

[0030] For example, the driven wheel 5 can be located below the lower chassis 3.

[0031] At this time, with the driven wheel 5 having a diameter of 50mm and the lower chassis 3 having a thickness of 10mm, the top surface height of the lower chassis 3 will be higher than 60mm.

[0032] In some examples, such as Figure 2 and Figure 3 As shown, the bottom of the lower chassis 3 has a driven wheel mounting groove; a part of the driven wheel 5 is embedded in the driven wheel mounting groove.

[0033] For example, the driven wheel mounting groove extends from the bottom surface of the lower chassis 3 to the top surface of the lower chassis 3.

[0034] In this case, such as Figure 2 As shown, only a portion of the driven wheel 5 extends below the lower chassis 3. With a diameter of 50mm for the driven wheel 5 and a thickness of 10mm for the lower chassis 3, the top surface height of the lower chassis 3 can also be 50mm. Compared to directly fixing the driven wheel 5 below the lower chassis 3, the top surface height of the lower chassis 3 can be reduced as much as possible.

[0035] With the above settings, even if the top surface of the upper chassis 2 is high due to the height of the steering wheel assembly 4, the top surface of the lower chassis 3 can be lower than that of the upper chassis 2. When transporting servers by automated guided vehicles (AGVs), the top surface of the lower chassis 3 can be used as the loading surface of the AAV to reduce the height of the loading surface of the AAV. This reduces the labor intensity of workers when moving servers onto or unloading them from the AAV, and also reduces the risk of servers falling from the AAV and being damaged during transportation.

[0036] Therefore, the automated guided vehicle provided in this embodiment of the invention, by setting a stepped chassis 1 and dividing the stepped chassis 1 into an upper chassis 2 and a lower chassis 3, with the upper chassis 2 being higher than the lower chassis 3, provides sufficient space below the higher upper chassis 2 to accommodate the steering wheel assembly 4. By mounting the driven wheels 5 on the lower chassis 3, they can support the stepped chassis 1 together with the steering wheel assembly 4. Furthermore, the top surface height of the lower chassis 3 is lower than that of the upper chassis 2. When transporting servers using the automated guided vehicle, even if the top surface of the upper chassis 2 is higher due to the height of the steering wheel assembly 4, the top surface of the lower chassis 3 can be used as the loading surface of the automated guided vehicle to reduce the height of the loading surface. This reduces the labor intensity of workers when moving servers onto or unloading them from the automated guided vehicle and reduces the risk of damage from servers falling from the automated guided vehicle during transportation.

[0037] In some embodiments, such as Figure 5 As shown, the steering wheel assembly 4 includes a frame 6, a drive wheel 7, a steering assembly 8, and a travel assembly 9. The frame 6 is rotatably mounted below the upper chassis 2 and can rotate horizontally relative to the upper chassis 2. The drive wheel 7 is rotatably mounted on the frame 6. The steering assembly 8 is mounted on the frame 6 and is drivenly connected to the upper chassis 2, used to drive the frame 6 to rotate horizontally relative to the upper chassis 2, thereby steering the drive wheel 7 via the frame 6. The travel assembly 9 is mounted on the frame 6 and is drivenly connected to the drive wheel 7, used to drive the drive wheel 7 to rotate.

[0038] For example, a vertical rotation shaft is provided on the top of the frame 6, and the frame 6 is rotatably connected to the upper chassis 2 through the vertical rotation shaft so that the frame 6 can rotate in the horizontal plane relative to the upper chassis 2.

[0039] For example, the drive wheel 7 is rotatably positioned below the frame 6. The drive wheel 7 can be a metal wheel with a rubber layer covering its outer side.

[0040] For example, the steering assembly 8 and the travel assembly 9 are both fixed to the frame 6.

[0041] For example, when the automated guided vehicle needs to turn, the steering assembly 8 drives the frame 6 to rotate in the horizontal plane relative to the upper chassis 2, and the frame 6 drives the drive wheels 7 to rotate in the horizontal plane, thereby achieving steering of the drive wheels 7. After the travel assembly 9 drives the drive wheels 7 to rotate, it moves the automated guided vehicle.

[0042] With the above settings, the steering component 8 and the travel component 9 can respectively drive the automated guided vehicle to steer and move.

[0043] In some embodiments, combined with Figure 2 and Figure 5 A gear disk 10 is fixed below the upper chassis 2, and the gear disk 10 is horizontally positioned. The frame 6 is rotatably positioned in the middle of the gear disk 10 and can rotate in the horizontal plane around the axis of the gear disk 10. The steering assembly 8 is meshed with the gear disk 10 and is used to drive the frame 6 to rotate around the axis of the gear disk 10.

[0044] For example, the gear disk 10 is horizontally fixed to the bottom surface of the upper chassis 2 by screws, and the axis of the gear disk 10 is in the vertical direction. When a vertical rotation shaft is provided at the top of the frame 6, a through hole is formed in the middle of the gear disk 10. The vertical rotation shaft at the top of the frame 6 passes through the through hole of the gear disk 10 and is rotatably connected to the gear disk 10, so as to rotatably position the frame 6 in the middle of the gear disk 10.

[0045] When the steering assembly 8 is in operation, it can move around the axis of the gear disk 10. The steering assembly 8 and the gear disk 10 move relative to each other, thereby driving the frame 6 to rotate around the axis of the gear disk 10 through the steering assembly 8, and finally driving the drive wheel 7 to steer through the frame 6.

[0046] In some embodiments, such as Figure 5 As shown, the steering assembly 8 includes a steering motor 11 and a transmission gear 12. The steering motor 11 is fixed to the frame 6 and drives the transmission gear 12 to rotate. The transmission gear 12 is mounted on the drive shaft of the steering motor 11 and meshes with the gear disc 10.

[0047] For example, the steering motor 11 can be an existing servo motor. The steering motor 11 is vertically fixed on the frame 6, and the drive shaft of the steering motor 11 is vertically upward. The transmission gear 12 is sleeved on the drive shaft of the steering motor 11. When the steering motor 11 is running, the drive shaft of the steering motor 11 drives the transmission gear 12 to rotate. Because the gear disk 10 is fixed in position, the steering motor 11 moves around the axis of the gear disk 10.

[0048] With the above settings, the steering angle of the frame 6 can be precisely controlled by controlling the action of the steering motor 11, thereby precisely controlling the steering angle of the drive wheel 7.

[0049] In some embodiments, such as Figure 5 As shown, the frame 6 includes a main frame 13, side frames 14, and shock absorbers 15. The main frame 13 is rotatably mounted in the center of the gear disk 10 and can rotate horizontally about the axis of the gear disk 10. The steering assembly 8 is fixed to the main frame 13. There are two side frames 14, which are respectively mounted on both sides of the main frame 13 and hinged to the main frame 13 via the same horizontal pivot 16. The drive wheel 7 is rotatably mounted between the two side frames 14; the travel assembly 9 is mounted on one of the side frames 14. The shock absorbers 15 are mounted between the main frame 13 and one of the side frames 14.

[0050] For example, the vertical rotation axis at the top of the frame 6 is provided on the main frame 13, so that the main frame 13 can rotate in the horizontal plane about the axis of the gear disk 10.

[0051] For example, such as Figure 5 As shown, the upper part of the main frame 13 is a plate structure, and the steering assembly 8 is fixed to the plate structure on the upper part of the main frame 13 by bolts or screws.

[0052] For example, the lower part of the main frame 13 is a semi-circular structure, and the drive wheel 7 is located below the semi-circular structure at the bottom of the main frame 13.

[0053] For example, such as Figure 5 As shown, the horizontal pivot 16 is located at the front of the main frame 13, and the front of both side frames 14 are rotatably connected to the horizontal pivot 16.

[0054] For example, the two sides of the drive wheel 7 are rotatably connected to the middle portions of the two side frames 14. The travel assembly 9 is fixed to the outer side of the middle portion of one of the side frames 14.

[0055] For example, the shock absorber 15 is disposed at the rear of the side frame 14, and the shock absorber 15 can be an existing shock absorber. The upper end of the shock absorber 15 is connected to the main frame 13, and the lower end of the shock absorber 15 is connected to the side frame 14, so as to support the rear end of the main frame 13 at the rear of the side frame 14 through the shock absorber 15.

[0056] With the above settings, when the automated guided vehicle travels on bumpy roads and the main frame 13 vibrates vertically, the shock absorber 15 can buffer the impact force exerted by the main frame 13 on the side frame 14 and drive wheel 7, reduce the vibration amplitude of the main frame 13 in the vertical direction, thereby reducing the vibration amplitude of the stepped chassis 1 on the main frame 13 in the vertical direction and improving the stability of the automated guided vehicle when transporting goods.

[0057] In some embodiments, such as Figure 5As shown, there are two shock absorbers 15, and the two shock absorbers 15 are correspondingly set with the two side frames 14.

[0058] That is, combining Figure 5 Shock absorbers 15 are provided on both sides of the drive wheel 7 to support the rear end of the main frame 13 on both sides of the drive wheel 7, so as to buffer the impact force applied by the main frame 13 to the side frame 14 and the drive wheel 7.

[0059] The above settings can further reduce the vibration amplitude of the main frame 13 in the vertical direction, further reduce the vibration amplitude of the stepped chassis 1 in the vertical direction, and improve the stability of the automated guided vehicle when transporting goods.

[0060] In some embodiments, such as Figure 5 As shown, the travel assembly 9 includes a travel motor and a transmission component; the travel motor is fixed on a side frame 14 and is connected to the drive wheel 7 via the transmission component to drive the drive wheel 7 to rotate.

[0061] For example, the travel motor can be a servo motor, which is fixed to the side frame 14 by screws; the transmission component can be a gear reducer, which is fixed to the side frame 14 by screws.

[0062] With the above settings, the rotation of the drive wheel 7 can be precisely controlled by the travel motor, thereby controlling the movement of the automated guided vehicle.

[0063] In some embodiments, combined with Figure 2 and Figure 5 The diameter of the driven wheel 5 is smaller than the diameter of the driving wheel 7.

[0064] For example, the diameter of the driven wheel 5 is between 50mm and 80mm, such as 50mm, 60mm, or 80mm. The diameter of the drive wheel 7 is between 180mm and 220mm, such as 180mm, 200mm, or 220mm.

[0065] The larger diameter of drive wheel 7 increases the axle output force, thereby enabling drive wheel 7 to better drive the automated guided vehicle. For example... Figure 2 As shown, the driven wheel 5 has a smaller diameter, which allows the lower chassis 3 to be made lower, reducing the height of the top surface of the lower chassis 3, which serves as the loading surface, making it easier to move items onto the lower chassis 3 or unload items from the lower chassis 3.

[0066] In some embodiments, such as Figure 4As shown, there are two steering wheel assemblies 4 and two driven wheels 5. The two steering wheel assemblies 4 are located on opposite sides of the upper chassis 2, and the two driven wheels 5 are located on opposite sides of the lower chassis 3. The two steering wheel assemblies 4 and the two driven wheels 5 are respectively located at the four corners of the stepped chassis 1.

[0067] With the above configuration, the stepped chassis 1 can be better supported by two steering wheel assemblies 4 and two driven wheels 5, and the stability and overall load-bearing capacity of the automated guided vehicle can be improved.

[0068] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of this utility model, and the utility model is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of this utility model, and these modifications and improvements are also considered to be within the protection scope of this utility model.

Claims

1. An automated guided vehicle, characterized in that, include: A stepped chassis (1) is divided into an upper chassis (2) and a lower chassis (3), wherein the height of the upper chassis (2) is higher than the height of the lower chassis (3); A steering wheel assembly (4), disposed below the upper chassis (2), is used to drive the stepped chassis (1) to move; and, Driven wheel (5) is rotatably mounted on the lower chassis (3) and is used together with the steering wheel assembly (4) to support the stepped chassis (1).

2. The automated guided vehicle according to claim 1, characterized in that, The lower chassis (3) has a driven wheel mounting groove at its bottom; a part of the driven wheel (5) is embedded in the driven wheel mounting groove.

3. The automated guided vehicle according to claim 1, characterized in that, The steering wheel assembly (4) includes: The frame (6) is rotatably disposed below the upper chassis (2) and is capable of rotating in the horizontal plane relative to the upper chassis (2); The drive wheel (7) is rotatably mounted on the frame (6); A steering assembly (8), mounted on the frame (6) and connected to the upper chassis (2), is used to drive the frame (6) to rotate relative to the upper chassis (2) in a horizontal plane, so as to steer the drive wheels (7) via the frame (6); and, The travel assembly (9) is mounted on the frame (6) and is connected to the drive wheel (7) for driving the drive wheel (7) to rotate.

4. The automated guided vehicle according to claim 3, characterized in that, A gear disk (10) is fixed to the bottom of the upper chassis (2), and the gear disk (10) is horizontally arranged; The frame (6) is rotatably disposed in the middle of the gear disk (10) and can rotate in the horizontal plane around the axis of the gear disk (10); the steering assembly (8) is meshed with the gear disk (10) and is used to drive the frame (6) to rotate around the axis of the gear disk (10).

5. The automated guided vehicle according to claim 4, characterized in that, The steering component (8) includes: A steering motor (11), fixed to the frame (6), is used to drive the transmission gear (12) to rotate; and, The transmission gear (12) is mounted on the drive shaft of the steering motor (11) and meshes with the gear disk (10).

6. The automated guided vehicle according to claim 4, characterized in that, The frame (6) includes: The main frame (13) is rotatably mounted in the middle of the gear disk (10) and can rotate in the horizontal plane around the axis of the gear disk (10); the steering assembly (8) is fixed on the main frame (13); Two side frames (14) are respectively disposed on both sides of the main frame (13) and hinged to the main frame (13) via the same horizontal pivot (16); the drive wheel (7) is rotatably disposed between the two side frames (14); the travel assembly (9) is disposed on one of the side frames (14); and, A shock absorber (15) is disposed between the main frame (13) and one of the side frames (14).

7. The automated guided vehicle according to claim 6, characterized in that, The number of shock absorbers (15) is two, and the two shock absorbers (15) are correspondingly arranged with the two side frames (14).

8. The automated guided vehicle according to claim 6, characterized in that, The traveling assembly (9) includes a traveling motor and a transmission component; the traveling motor is fixed on a side frame (14) and is connected to the drive wheel (7) via the transmission component to drive the drive wheel (7) to rotate.

9. The automated guided vehicle according to claim 3, characterized in that, The diameter of the driven wheel (5) is smaller than the diameter of the driving wheel (7).

10. The automated guided vehicle according to claim 9, characterized in that, The number of steering wheel assemblies (4) and driven wheels (5) are both two. The two steering wheel assemblies (4) are arranged on opposite sides of the upper chassis (2), and the two driven wheels (5) are arranged on opposite sides of the lower chassis (3). The two steering wheel assemblies (4) and the two driven wheels (5) are respectively arranged at the four corners of the stepped chassis (1).

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