Road surface adaptive agv chassis and mobile robot

Abstract

The utility model provides a kind of road surface self-adapting AGV chassis and mobile robot.The road surface self-adapting AGV chassis includes disc body (1), the front side of disc body (1) is provided with at least two first universal wheel (2), the rear side of disc body (1) is provided with at least two second universal wheel (3), at least one in at least two first universal wheel (2) is height self-adapting adjustable floating universal wheel (4), at least one in at least two second universal wheel (3) is height self-adapting adjustable floating universal wheel (4), the floating universal wheel (4) of the front side of disc body (1) and the floating universal wheel (4) of the rear side of disc body (1) are diagonally arranged.According to the road surface self-adapting AGV chassis of the utility model, the phenomenon of chassis eccentric load can be effectively avoided, and the running stability and reliability of chassis are improved.

Description

Technical Field

[0001] This utility model relates to the field of road mobile machinery technology, specifically to a road adaptive AGV chassis and a mobile robot. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic guidance devices, capable of traveling along predetermined paths and possessing functions such as safety protection, cargo handling, stacking, and destacking. AGVs are an important component of industrial automation, especially in intelligent manufacturing and intelligent logistics systems. They can complete material handling tasks without human intervention, improving production efficiency, reducing labor costs, and enhancing operational flexibility and safety.

[0003] To ensure stable operation of AGVs, technicians in related fields have long conducted continuous research and exploration, improving the chassis to achieve stable operation. AGV chassis typically employ either an integral or bridge-floating design. Integral chassis are commonly used in heavy-duty AGVs to meet overall strength requirements, offering advantages such as high overall stability and reliability. However, they are less maneuverable, have high requirements for road surface conditions, and are poorly adaptable to slopes, uneven surfaces, and bumpy terrain. Bridge-floating chassis offer high adaptability to road surfaces, lower environmental requirements, and strong obstacle-crossing ability, with maximum grooves and protrusions reaching 10mm. Furthermore, the chassis' self-adaptive floating design ensures stability for the materials being transported.

[0004] In terms of wheel system design, a typical configuration uses two idler wheels equipped with four omnidirectional wheels. This design is commonly used in heavy-duty AGVs, accommodating the movement and steering of heavy AGVs. Additionally, the idler wheels themselves incorporate shock-absorbing springs, providing some degree of adaptability to different road surfaces. Light-duty AGVs generally employ a dual-drive differential system. This approach is cost-effective and simple to control. It uses motors for left and right drives, equipped with reducers for power output, and features two conventional omnidirectional wheels at the front and rear. Under normal conditions, on relatively smooth surfaces, AGVs offer highly flexible movement, transportation, and steering, meeting the needs of everyday factory use.

[0005] However, in typical dual-drive differential systems, the drive wheels themselves are not equipped with compression springs, so they cannot achieve the functions of shock absorption and road surface adaptive pressure. At the same time, the conventionally used wheel system is a floating articulated type, and the front and rear chassis can be regarded as a four-wheel system structure with four wheels on the ground. When the road surface is uneven, one wheel may be suspended in the air. At this time, when the power is output normally, the vehicle will deviate and derail. In severe cases, it may throw the cargo off and cause damage to the cargo. Utility Model Content

[0006] The main purpose of this invention is to provide a road-adaptive AGV chassis and mobile robot that can effectively avoid chassis off-center loading and improve chassis operation stability and reliability.

[0007] To achieve the above objectives, according to one aspect of the present invention, a road-adaptive AGV chassis is provided, including a chassis body, at least two first universal wheels are provided on the front side of the chassis body, and at least two second universal wheels are provided on the rear side of the chassis body. At least one of the at least two first universal wheels is a height-adjustable floating universal wheel, and at least one of the at least two second universal wheels is a height-adjustable floating universal wheel. The floating universal wheels on the front side of the chassis body and the floating universal wheels on the rear side of the chassis body are arranged diagonally.

[0008] Furthermore, the chassis includes a front chassis and a rear chassis, which are hinged together. The first omnidirectional wheel is located on the front side of the front chassis, and the second omnidirectional wheel is located on the rear side of the rear chassis.

[0009] Furthermore, a drive wheel is provided on each of the two sides of the middle part of the disc.

[0010] Furthermore, each drive wheel is connected to a drive motor, and the two drive wheels are independently driven and controlled by their respective drive motors.

[0011] Furthermore, the front and rear chassis are connected by hinges to form a floating connection, and the drive wheels are fixed to the front chassis.

[0012] Furthermore, a connecting plate is provided on the rear side of the front chassis, and a floating column is provided on the front side of the rear chassis. A floating hole is provided on the connecting plate, and the floating column passes through the floating hole. A stop structure is provided at one end of the floating column that passes through the floating hole. An elastic element is sleeved on the floating column, and the elastic element is located between the stop structure and the connecting plate.

[0013] Furthermore, the end of the floating column is provided with an external thread, and the stop structure includes a lock nut and a washer. The lock nut is locked on the external thread, and the washer is located between the elastic element and the lock nut. The elastic element abuts against the washer.

[0014] Furthermore, a limiting flange is provided at the bottom of the floating column to limit the vertical movement of the rear chassis relative to the connecting plate.

[0015] Furthermore, there are two first omnidirectional wheels, one of which is a fixed omnidirectional wheel and the other is a floating omnidirectional wheel; there are also two second omnidirectional wheels, one of which is a fixed omnidirectional wheel and the other is a floating omnidirectional wheel.

[0016] According to an embodiment of the present invention, the mobile robot includes the aforementioned road-adaptive AGV chassis.

[0017] Furthermore, the mobile robot also includes obstacle avoidance radar and a lifting tray, with the lifting tray positioned on top of the road-adaptive AGV chassis and the obstacle avoidance radar positioned between the lifting tray and the road-adaptive AGV chassis.

[0018] By cleverly arranging floating casters on the front and rear sides of the AGV's chassis, the floating characteristics of these casters can be utilized to adapt to road conditions, particularly enhancing the AGV's ability to handle complex road conditions. On the front side of the chassis, at least one of the two first casters is designed as a height-adjustable floating caster. Similarly, on the rear side of the chassis, at least one of the two second casters is also configured with this type of floating caster. The diagonal arrangement of these floating casters ensures the AGV's adaptability to the ground in any direction. Even when encountering uneven surfaces, the height of the wheels can be adjusted promptly to maintain good contact between all wheels and the ground, thereby preventing vehicle deviation and derailment caused by wheels being suspended in the air. Attached Figure Description

[0019] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments and descriptions of this utility model are used to explain this utility model and do not constitute an undue limitation thereof. In the drawings:

[0020] Figure 1 A three-dimensional structural schematic diagram of the road adaptive AGV chassis according to an embodiment of the present invention is shown;

[0021] Figure 2 It shows Figure 1 A magnified structural diagram at point L;

[0022] Figure 3 A bottom view of the road adaptive AGV chassis according to an embodiment of the present invention is shown.

[0023] Figure 4 A front view structural schematic diagram of the road adaptive AGV chassis according to an embodiment of the present invention is shown;

[0024] Figure 5 A three-dimensional structural schematic diagram of a mobile robot according to an embodiment of the present invention is shown.

[0025] The above figures include the following reference numerals:

[0026] 1. Chassis; 2. First caster wheel; 3. Second caster wheel; 4. Floating caster wheel; 5. Fixed caster wheel; 6. Front chassis; 7. Rear chassis; 8. Drive wheel; 9. Hinge; 10. Connecting plate; 11. Floating column; 12. Floating hole; 13. Elastic element; 14. Locking nut; 15. Washer; 16. Limiting flange; 17. Lifting tray; 18. Obstacle radar. Detailed Implementation

[0027] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] See also Figures 1 to 5 As shown, according to an embodiment of the present invention, the road adaptive AGV chassis includes a chassis 1. At least two first universal wheels 2 are provided on the front side of the chassis 1, and at least two second universal wheels 3 are provided on the rear side of the chassis 1. At least one of the at least two first universal wheels 2 is a height-adjustable floating universal wheel 4, and at least one of the at least two second universal wheels 3 is a height-adjustable floating universal wheel 4. The floating universal wheels 4 on the front side of the chassis 1 and the floating universal wheels 4 on the rear side of the chassis 1 are arranged diagonally.

[0029] The road-adaptive AGV chassis of this embodiment cleverly utilizes floating casters 4 on the front and rear sides of its chassis 1 to adapt to road conditions, particularly excelling in improving the AGV's ability to handle complex road conditions. On the front side of the chassis 1, at least one of the at least two first casters 2 is designed as a height-adaptive floating caster 4. Similarly, on the rear side of the chassis 1, at least one of the at least two second casters 3 is also equipped with such a floating caster 4. The diagonally arranged floating casters 4 ensure the AGV's adaptability to the ground in any direction. Even when encountering uneven road surfaces, the height of the wheels can be adjusted promptly to maintain good contact between all wheels and the ground, thereby preventing vehicle deviation and derailment caused by wheels being suspended in the air.

[0030] When the AGV travels on a surface with height differences, the diagonally positioned floating casters 4 can quickly respond to changes in road surface. For example, when the ground on the right side rises, the floating caster 4 on the left side will automatically adjust downwards to fill the height difference and maintain overall balance. Conversely, when the ground on the left side falls, the floating caster 4 on the right side will rise to ensure the vehicle does not tilt. This automatic adjustment mechanism benefits from the adaptive up-and-down floating characteristics of the floating casters 4, which can extend and retract according to the actual road conditions, thereby instantly adjusting the height of the floating casters 4 to adapt to changes in road surface height.

[0031] Furthermore, the configuration of the floating casters 4 effectively improves the AGV's ability to overcome obstacles, allowing the vehicle to smoothly traverse ditches or protrusions with a maximum adaptability range of up to 10mm. This significantly enhances the vehicle's adaptability and maneuverability. By diagonally equipping the AGV chassis with height-adjustable floating casters 4, the technical challenges of traditional AGVs being unstable and prone to derailment in complex road conditions are solved. This enables stable driving and efficient transportation on uneven terrain, significantly enhancing the AGV's practical application value and market competitiveness.

[0032] In one embodiment, the chassis 1 includes a front chassis 6 and a rear chassis 7, which are hinged together. A first omnidirectional wheel 2 is located on the front side of the front chassis 6, and a second omnidirectional wheel 3 is located on the rear side of the rear chassis 7.

[0033] In this embodiment, the AGV chassis comprises two parts: a front chassis 6 and a rear chassis 7, which are connected by a hinge. This structural design allows the front chassis 6 and the rear chassis 7 to independently adjust their posture when encountering uneven road surfaces to adapt to changes in road conditions. The first omnidirectional wheel 2 and the second omnidirectional wheel 3 are respectively located on the front side of the front chassis 6 and the rear side of the rear chassis 7. At least one of the omnidirectional wheels is a floating design. The floating omnidirectional wheel can be equipped with an adjusting spring, which can automatically adjust its height when encountering raised or lower road surfaces, ensuring that all four wheels are in contact with the ground simultaneously, thereby maintaining the stability and balance of the AGV.

[0034] In one embodiment, a drive wheel 8 is provided on each of the two sides of the middle part of the disc body 1.

[0035] In this embodiment, a drive wheel 8 is respectively provided on both sides of the center of the disk, which can enhance the contact stability between the drive wheel 8 and the ground and improve the driving performance of the AGV in complex road conditions. When the AGV encounters uneven road surfaces, such as raised or sunken terrain, the drive wheel 8 located in the middle can always maintain contact with the road surface and cooperate with the front and rear omnidirectional wheels to form a wheel system structure that adapts to the road conditions. This allows the entire AGV chassis system to better adapt to various road conditions and maintain a state where all four wheels are in contact with the ground at the same time. Even when there is a height difference on one side, it can maintain the vehicle's driving direction and balance, which significantly enhances the AGV's obstacle crossing ability and overall operational stability.

[0036] Due to the presence of the floating caster wheel 4, the drive wheel 8 can obtain more stable and balanced contact pressure, avoiding possible slippage or spinning on uneven surfaces, and further improving the power output efficiency and driving safety of the AGV.

[0037] In one embodiment, each drive wheel 8 is connected to a drive motor, and the two drive wheels 8 are independently driven and controlled by their respective drive motors.

[0038] In this embodiment, each drive wheel 8 is connected to a drive motor, and the two drive wheels 8 are independently driven and controlled by their respective drive motors. This gives the AGV chassis better flexibility and control precision, ensuring stable operation of the AGV in complex environments. The independently driven drive wheels 8 can adjust power output according to actual road conditions, and the drive motors can respond instantly when encountering uneven road surfaces. By equipping each drive wheel 8 with an independent drive motor, dual-drive differential control is achieved, enabling the AGV to adjust the power distribution between the left and right wheels in real time according to road conditions. This maintains vehicle stability and handling flexibility when turning or facing uneven road surfaces, significantly improving the AGV's terrain adaptability and driving safety.

[0039] In one embodiment, the front chassis 6 and the rear chassis 7 are connected by a hinge 9, and the drive wheel 8 is fixed to the front chassis 6.

[0040] The front chassis 6 and the rear chassis 7 are connected by a hinge 9, while the drive wheel 8 is fixedly installed in the position of the front chassis 6. The floating connection property of the hinge 9 can give the AGV chassis the ability to self-adjust in complex terrain, thereby enhancing the overall terrain adaptability and stability of the vehicle.

[0041] Hinge 9 allows for free vertical floating between the front chassis 6 and the rear chassis 7. When encountering rough or uneven road surfaces, the rear chassis 7 can rise and fall according to the actual road conditions. The floating feedback transmitted to the front chassis 6 through hinge 9 ensures that the drive wheels 8 always maintain optimal contact with the ground, preventing the drive wheels 8 from losing traction or slipping due to being suspended in the air. This ensures the continuity and reliability of the AGV in terms of power output and directional control.

[0042] Furthermore, the floating connection of hinge 9 can absorb some of the impact from uneven road surfaces, providing cushioning and shock absorption, protecting the drive wheels 8 and the entire chassis system from damage, and extending the AGV's service life. Moreover, this structural design can reduce material swaying during transport, ensuring the stability of the materials above, especially during high-speed travel or sharp turns. The floating characteristic of hinge 9 helps maintain the overall vehicle's stability, reducing the risk of cargo damage.

[0043] In one embodiment, a connecting plate 10 is provided on the rear side of the front chassis 6, and a floating column 11 is provided on the front side of the rear chassis 7. A floating hole 12 is provided on the connecting plate 10, and the floating column 11 passes through the floating hole 12. A stop structure is provided at one end of the floating column 11 that passes through the floating hole 12. An elastic element 13 is sleeved on the floating column 11, and the elastic element 13 is located between the stop structure and the connecting plate 10.

[0044] In this embodiment, a connecting plate 10 is mounted on the rear side of the front chassis 6, while a floating column 11 is correspondingly mounted on the front side of the rear chassis 7. The floating holes 12 on the connecting plate 10 allow the floating column 11 to move freely within them along the vertical axis, giving the rear chassis 7 the ability to float up and down relative to the front chassis 6, flexibly adapting to changes in road surface height. An elastic element 13 is positioned above the connecting plate 10, which is fixedly connected to the front chassis 6. The drive wheel 8 is fixedly mounted on the front chassis 6. The stop structure provides a stop and abutment to the elastic element 13, allowing it to press downwards against the connecting plate 10, shifting the positive pressure originally acting on the hinge to directly above the drive wheel 8, ensuring the overall structural integrity of the chassis. The elastic element 13 also shares the load force acting on the rear chassis 7, transferring the force to the front chassis 6 and preventing stress on the hinge. The drive wheel 8 is fixedly mounted on the front chassis 6, relatively stationary, and does not have a floating function, ensuring the stability and reliability of the drive wheel 8's mounting structure.

[0045] The elastic element 13 is, for example, a spring. When the chassis floats due to uneven road surfaces, the spring will apply the elastic force of the floating deformation to the drive wheel 8 to prevent the drive wheel 8 from slipping due to suspension, and at the same time prevent the front chassis 6 and the rear chassis 7 from excessive deformation, thus having a restoring function.

[0046] When the AGV encounters uneven road surfaces, the floating column 11 can rise and fall within the floating holes 12 of the connecting plate 10 to compensate for the height difference between the chassis and the ground. For example, when the AGV drives over a depression, one side of the rear chassis 7 may sink. At this time, the corresponding floating column 11 moves upward, and the compression of the elastic element 13 buffers this action, ensuring that the movement of the rear chassis 7 is smooth and controllable. Conversely, when encountering a raised road surface, the floating column 11 will be subjected to downward pressure, and the elastic element 13 will stretch accordingly to absorb the impact and maintain relative stability between the chassis. The position of the elastic element 13 is designed between the stop structure and the connecting plate 10, which not only ensures the free movement of the floating column 11, but also limits the range of movement of the floating column 11 through the stop structure, preventing excessive floating from damaging the vehicle structure.

[0047] This hinge connection method, which combines floating column 11 and elastic element 13, not only significantly improves the driving performance of AGV on uneven roads, but also effectively avoids vehicle bumps and instability caused by ground undulations, thereby improving the safety of goods during transportation and the operating efficiency of AGV itself.

[0048] The design also has a certain self-resetting capability. That is, after the road surface returns to flat or the AGV leaves the abnormal terrain, the elastic element 13 can drive the floating column 11 to return to the initial position, thereby ensuring the long-term stability and consistency of the AGV chassis and reducing the difficulty of maintenance.

[0049] In one embodiment, the end of the floating column 11 is provided with an external thread, and the stop structure includes a locking nut 14 and a washer 15. The locking nut 14 is locked on the external thread, and the washer 15 is located between the elastic member 13 and the locking nut 14. The elastic member 13 abuts against the washer 15.

[0050] The limiting design between the floating column 11 and the stop structure ensures that the movement of the floating column 11 is both free and controlled when the AGV chassis automatically adjusts to different road conditions, ensuring stable and safe operation of the vehicle on any terrain. The end of the floating column 11 is specially provided with an external thread, and a matching locking nut 14 is tightened onto this external thread, forming the upper limit of the floating column 11's range of motion, preventing excessive extension or contraction that could affect the integrity of the vehicle structure or the stability of operation. A gasket 15 is placed between the locking nut 14 and the elastic element 13. On one hand, it enhances the contact surface between the locking nut 14 and the floating column 11, ensuring a tight and reliable connection; on the other hand, the gasket 15 serves as a support surface for the elastic element 13, ensuring uniform force distribution during compression and tension, thereby guaranteeing the smoothness of the floating column 11's movement and the accuracy of its response. In one embodiment, a gasket 15 is also provided on the upper side of the connecting plate 10, with the other end of the elastic element 13 directly abutting against this gasket 15.

[0051] When the AGV travels on uneven surfaces, the elastic element 13 on the floating column 11 adapts to changes in road surface height through compression and extension. Simultaneously, the stop structure formed by the locking nut 14 and the washer 15 limits the movement range of the floating column 11, ensuring the vehicle remains within a safe range of motion while adapting to the road surface. The presence of the washer 15 not only optimizes the contact conditions between the elastic element 13 and the floating column 11 but also acts as a buffer, reducing direct friction between components and extending the service life of the entire system.

[0052] This design not only enhances the AGV chassis's adaptability to complex terrain but also ensures smooth and safe vehicle operation, reducing potential shaking and damage when transporting goods on bumpy roads. By precisely controlling the movement range of the floating column 11, damage to the chassis structure caused by excessive floating is avoided, thus improving the overall stability and durability of the AGV.

[0053] In one embodiment, a limiting flange 16 is provided at the bottom of the floating column 11, which limits the vertical movement of the rear chassis 7 relative to the connecting plate 10.

[0054] By setting a limiting flange 16 at the bottom of the floating column 11, the distance between the connecting plate 10 and the rear chassis 7 can be limited by the limiting flange 16, which effectively limits the vertical floating range of the rear chassis 7 relative to the connecting plate 10, ensuring the stability and safety of the chassis structure of the AGV in complex terrain, avoiding damage to the vehicle structure or instability of the cargo that may be caused by excessive floating, thereby improving the reliability and operating efficiency of the AGV.

[0055] In one embodiment, there are two first casters 2, one of which is a fixed caster 5 and the other is a floating caster 4; there are two second casters 3, one of which is a fixed caster 5 and the other is a floating caster 4.

[0056] This claim enables the AGV chassis to dynamically adapt to uneven road surfaces by configuring two sets of omnidirectional wheels, each set including one fixed omnidirectional wheel 5 and one floating omnidirectional wheel 4. The floating omnidirectional wheel 4 can automatically adjust its height to ensure that all four wheels are always in contact with the ground, thereby greatly enhancing the vehicle's stability and ability to pass through complex terrain, effectively preventing driving deviation and cargo shaking, and improving the overall performance and reliability of the AGV.

[0057] The floating caster wheel 4 can include a caster wheel and a floating bracket. The caster wheel is mounted on the floating bracket, which slides against the disc body via a sliding guide rod. Springs or other elastic elements can be fitted over the sliding guide rod, and a sliding limit structure is provided at the end of the sliding guide rod, allowing the sliding bracket to slide relative to the disc body without detaching from it. Utilizing the elasticity of the springs and other elastic elements, the caster wheel can extend and retract according to the actual road conditions, thus adapting to changes in road height and meeting driving requirements.

[0058] When the AGV is operating normally, both the front and rear casters are on the ground, allowing it to move smoothly on the road surface. When one of the front floating casters 4 reaches a raised area, it compresses upwards to maintain relative balance with the other rear floating caster 4. When both casters are on raised areas, the hinge joint can move upwards to adapt to changes in road height. When the road surface where the floating caster 4 is located differs from that where the fixed caster 5 is located, the floating caster 4 compresses upwards to adapt to the road surface when it is higher, and extends downwards when it is lower. Similarly, when one of the front floating casters 4 reaches a low-lying area, it automatically adjusts downwards to maintain contact with the ground and ensure the AGV's stability. When the floating caster 4 is traveling on a normal road surface and the fixed caster 5 reaches a raised area, the floating caster 4 will float upwards to compensate for the height difference due to overall weight balance, stabilizing the overall horizontal position. When the fixed swivel wheel 5 travels on a low-lying road surface, the center of gravity deviates. At this time, the floating swivel wheel 4 compensates downward to maintain the overall level and prevent the vehicle from tilting excessively.

[0059] According to an embodiment of the present invention, the mobile robot includes the aforementioned road-adaptive AGV chassis.

[0060] In one embodiment, the mobile robot further includes a barrier radar 18 and a lifting tray 17, the lifting tray 17 being disposed on top of the road-adaptive AGV chassis, and the barrier radar 18 being disposed between the lifting tray 17 and the road-adaptive AGV chassis.

[0061] The obstacle avoidance radar 18 and the lifting pallet 17 are integrated into the design of the road-adaptive AGV chassis. The lifting pallet 17 is positioned at the highest point of the AGV chassis, while the obstacle avoidance radar 18 is located below it, forming a hierarchical layout. This design not only optimizes the space utilization of the AGV but also enhances its navigation accuracy and safety. When the AGV operates in complex environments, the obstacle avoidance radar 18 is responsible for real-time monitoring of surrounding obstacles, providing timely feedback to assist the AGV in making obstacle avoidance decisions, avoiding collisions, and protecting itself and surrounding objects. The lifting pallet 17 plays a crucial role in carrying goods, being able to be raised and lowered as needed for convenient loading and unloading. Furthermore, combined with the characteristics of the adaptive AGV chassis, it maintains stability even on uneven ground, reducing the risk of goods swaying. Through the intelligent sensing of the obstacle avoidance radar 18 and the efficient carrying capacity of the lifting pallet 17, along with the road-adaptive capabilities of the AGV chassis, autonomous and safe driving and stable load transportation of the AGV in dynamic environments are achieved, significantly improving operational efficiency and safety.

[0062] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0063] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.

[0064] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A road-adaptive AGV chassis, characterized in that, The device includes a disc body (1), with at least two first universal wheels (2) on the front side and at least two second universal wheels (3) on the rear side. At least one of the at least two first universal wheels (2) is a height-adjustable floating universal wheel (4), and at least one of the at least two second universal wheels (3) is a height-adjustable floating universal wheel (4). The floating universal wheels (4) on the front side of the disc body (1) and the floating universal wheels (4) on the rear side of the disc body (1) are arranged diagonally.

2. The road-adaptive AGV chassis according to claim 1, characterized in that, The chassis (1) includes a front chassis (6) and a rear chassis (7), which are hinged together. The first universal wheel (2) is located on the front side of the front chassis (6), and the second universal wheel (3) is located on the rear side of the rear chassis (7).

3. The road-adaptive AGV chassis according to claim 2, characterized in that, A drive wheel (8) is provided on each side of the middle part of the disc (1).

4. The road-adaptive AGV chassis according to claim 3, characterized in that, Each of the drive wheels (8) is connected to a drive motor, and the two drive wheels (8) are independently driven and controlled by their respective drive motors.

5. The road-adaptive AGV chassis according to claim 3, characterized in that, The front chassis (6) and the rear chassis (7) are connected by a hinge (9) in a floating manner, and the drive wheel (8) is fixed on the front chassis (6).

6. The road-adaptive AGV chassis according to claim 5, characterized in that, A connecting plate (10) is provided on the rear side of the front chassis (6), and a floating column (11) is provided on the front side of the rear chassis (7). A floating hole (12) is provided on the connecting plate (10), and the floating column (11) passes through the floating hole (12). A stop structure is provided at one end of the floating column (11) that passes through the floating hole (12). An elastic element (13) is sleeved on the floating column (11), and the elastic element (13) is located between the stop structure and the connecting plate (10).

7. The road-adaptive AGV chassis according to claim 6, characterized in that, The floating column (11) has an external thread at its end. The stop structure includes a locking nut (14) and a washer (15). The locking nut (14) is locked on the external thread. The washer (15) is located between the elastic member (13) and the locking nut (14). The elastic member (13) abuts against the washer (15).

8. The road-adaptive AGV chassis according to claim 6, characterized in that, The bottom of the floating column (11) is provided with a limiting flange (16), which limits the up and down movement of the rear chassis (7) relative to the connecting plate (10).

9. The road-adaptive AGV chassis according to claim 1, characterized in that, The first universal wheel (2) consists of two parts, one of which is a fixed universal wheel (5) and the other is a floating universal wheel (4). The second universal wheel (3) consists of two parts, one of which is a fixed universal wheel (5) and the other is a floating universal wheel (4).

10. A mobile robot, characterized in that, The road-adaptive AGV chassis includes any one of claims 1 to 9.

11. The mobile robot according to claim 10, characterized in that, The mobile robot also includes a barrier radar (18) and a lifting tray (17), the lifting tray (17) being disposed on top of the road adaptive AGV chassis, and the barrier radar (18) being disposed between the lifting tray (17) and the road adaptive AGV chassis.

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