CN211107773U

CN211107773U - AGV chassis and AGV dolly

Info

Publication number: CN211107773U
Application number: CN201922154530.2U
Authority: CN
Inventors: 度咸熙
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2020-07-28
Anticipated expiration: 2029-12-04

Abstract

The utility model discloses a AGV chassis and AGV dolly relates to AGV chassis technical field. This AGV chassis, comprising a base plate, first running gear and adjustment mechanism, first running gear includes first drive wheel, head rod and first universal wheel, first drive wheel and first universal wheel are connected respectively in the both ends of head rod, the middle part of head rod is rotated and is connected in the bottom plate, so that first drive wheel and first universal wheel can go up and down for the bottom plate, adjustment mechanism installs in the bottom plate, and be connected with the head rod, and can apply and predetermine strength in the head rod, so that the head rod has for bottom plate pivoted trend. This AGV chassis and AGV dolly have can adjust the characteristics of efficiency of traveling through the proportion of adjusting driving force and moving resistance.

Description

AGV chassis and AGV dolly

Technical Field

The utility model relates to a AGV chassis technical field particularly, relates to an AGV chassis and AGV dolly.

Background

Autonomous Guided vehicles (Automated Guided vehicles) are increasingly used in the warehousing industry and the like.

The pressure of its universal wheel will increase gradually along with the increase of its load for current AGV dolly leads to the motion resistance of universal wheel also to increase gradually for the drive power of drive wheel has the decline of certain degree with the motion resistance proportion, and the efficiency of traveling of AGV dolly descends.

Along with the increasingly extensive application of AGV dolly, also more pluralism to the requirement of AGV dolly, and current AGV dolly, along with the increase of its load, its efficiency of traveling descends gradually, is difficult to adjust its efficiency of traveling, satisfies the demand of pluralism.

In view of this, it is very important to develop an AGV chassis and an AGV that can solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a AGV chassis, it has the characteristics that can adjust the efficiency of traveling through the proportion of adjusting driving force and moving resistance.

Another object of the utility model is to provide an AGV dolly, it has the characteristics that can adjust the efficiency of traveling through the proportion of adjusting driving force and moving resistance.

The utility model provides a technical scheme:

in a first aspect, an embodiment of the present invention provides an AGV chassis, which includes a bottom plate, a first traveling mechanism, and an adjusting mechanism; the first travelling mechanism comprises a first driving wheel, a first connecting rod and a first universal wheel, the first driving wheel and the first universal wheel are respectively connected to two ends of the first connecting rod, and the middle part of the first connecting rod is rotatably connected to the bottom plate so that the first driving wheel and the first universal wheel can lift relative to the bottom plate; the adjusting mechanism is mounted on the bottom plate, connected with the first connecting rod and capable of applying a preset force to the first connecting rod so that the first connecting rod tends to rotate relative to the bottom plate.

With reference to the first aspect, in a first implementation manner of the first aspect, the adjusting mechanism includes an adjusting driving member and a first adjusting elastic member; the adjusting driving piece is installed on the bottom plate, two ends of the first adjusting elastic piece are respectively connected with the first connecting rod and the adjusting driving piece, and the adjusting driving piece can compress or stretch the first adjusting elastic piece to adjust the preset force.

With reference to the first aspect and the foregoing implementation manner, in a second implementation manner of the first aspect, the first adjusting elastic element is connected to an end of the first connecting rod away from the first driving wheel, and the first universal wheel is located between the first adjusting elastic element and the first driving wheel.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in a third implementation manner of the first aspect, the adjusting mechanism further includes a guide post and a guide sliding piece; the guide post is fixedly connected to the bottom plate, the guide sliding part is connected to the guide post in a sliding mode and is connected with one end, away from the first connecting rod, of the first adjusting elastic part, and the adjusting driving part is connected with the guide sliding part and is connected with the first connecting rod through the guide sliding part.

With reference to the first aspect and the foregoing implementation manner, in a fourth implementation manner of the first aspect, the AGV chassis further includes a second traveling mechanism, where the second traveling mechanism includes a second driving wheel, a second connecting rod and a second universal wheel, the second driving wheel is mounted at one end of the second connecting rod, the second universal wheel is mounted at the other end of the second connecting rod, the middle of the second connecting rod is rotatably connected to the bottom plate, so that the second driving wheel and the second universal wheel can lift relative to the bottom plate, the second driving wheel and the second universal wheel are used to jointly support the bottom plate, and the second connecting rod and the first connecting rod are symmetrically arranged on two opposite sides of the bottom plate; the adjusting mechanism further comprises a second adjusting elastic piece, two ends of the second adjusting elastic piece are respectively connected with the second connecting rod and the adjusting driving piece, and the adjusting driving piece can compress or stretch the second adjusting elastic piece so as to apply the preset force to the second connecting rod.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in a fifth implementation manner of the first aspect, the adjusting mechanism further includes a linkage piece; the adjusting driving piece is connected to the middle of the linkage piece, two ends of the linkage piece are respectively connected with the first adjusting elastic piece and the second adjusting elastic piece, and the adjusting driving piece can drive the first adjusting elastic piece and the second adjusting elastic piece to move relative to the bottom plate through the linkage piece.

With reference to the first aspect and the foregoing implementation manner, in a sixth implementation manner of the first aspect, the AGV chassis further includes a following mechanism, where the following mechanism includes a third connecting rod, a third universal wheel and a fourth universal wheel, the third universal wheel and the fourth universal wheel are respectively connected to two ends of the third connecting rod, a middle portion of the third connecting rod is rotatably connected to the bottom plate, so that the third universal wheel and the fourth universal wheel can be lifted and lowered relative to the bottom plate, and the first connecting rod, the third connecting rod and the second connecting rod together form an L shape.

With reference to the first aspect and the foregoing implementation manner, in a seventh implementation manner of the first aspect, the AGV chassis further includes a detection mechanism and a bearing plate, where the detection mechanism includes a weighing sensor electrically connected to the adjustment mechanism; the loading plate is connected with the bottom plate and used for bearing goods, the weighing sensor is arranged between the loading plate and the bottom plate and used for detecting the load on the loading plate, and the adjusting mechanism can adjust the size of the preset force according to the load.

With reference to the first aspect and the foregoing implementation manner, in an eighth implementation manner of the first aspect, the detection mechanism further includes a plurality of support columns, the number of the weighing sensors is multiple, the plurality of support columns are distributed and connected to the bottom plate, the bearing plate is respectively connected to one ends of the plurality of support columns, which are far away from the bottom plate, and the plurality of weighing sensors are arranged between the plurality of support columns and the bearing plate one by one.

In a second aspect, the embodiment of the present invention further provides an AGV cart, including the AGV chassis. The AGV chassis comprises a bottom plate, a first travelling mechanism and an adjusting mechanism; the first travelling mechanism comprises a first driving wheel, a first connecting rod and a first universal wheel, the first driving wheel and the first universal wheel are respectively connected to two ends of the first connecting rod, and the middle part of the first connecting rod is rotatably connected to the bottom plate so that the first driving wheel and the first universal wheel can lift relative to the bottom plate; the adjusting mechanism is mounted on the bottom plate, connected with the first connecting rod and capable of applying a preset force to the first connecting rod so that the first connecting rod tends to rotate relative to the bottom plate.

Compared with the prior art, the embodiment of the utility model provides a AGV chassis and AGV dolly include for prior art's beneficial effect:

the first walking mechanism comprises a first driving wheel, a first connecting rod and a first universal wheel, wherein the first driving wheel and the first universal wheel are respectively connected to two ends of the first connecting rod and the middle of the first connecting rod. The adjusting mechanism is mounted on the bottom plate and connected with the first connecting rod, and can apply preset force to the first connecting rod, so that the first connecting rod has a tendency of rotating relative to the bottom plate. Therefore, the adjusting mechanism can enable the first connecting rod to rotate, the first driving wheel on the first connecting rod has the tendency of turning to the ground, the pressure of the first driving wheel on the ground is increased, the first driving wheel can provide large driving force for the AGV chassis, meanwhile, the first universal wheel on the first connecting rod has the tendency of turning away from the ground, the pressure of the first universal wheel on the ground is reduced, the movement resistance of the first universal wheel when the ground rolls is reduced, the movement resistance of the AGV trolley is reduced, the proportion of the driving force of the first driving wheel to the movement resistance of the AGV trolley is increased, and the running efficiency of the AGV trolley is improved. On the contrary, the adjusting mechanism can also enable the first driving wheel on the first connecting rod to have the tendency of rotating away from the ground, so that the pressure of the first driving wheel on the ground is reduced, the maximum driving force can be provided for the AGV chassis by the first driving wheel, meanwhile, the first universal wheel on the first connecting rod has the tendency of turning to the ground, so that the pressure of the first universal wheel on the ground is increased, the supporting force and the movement resistance of the first universal wheel when the ground rolls are increased, the movement resistance of the AGV trolley is increased, the proportion of the driving force of the first driving wheel to the movement resistance of the AGV trolley is increased, the running efficiency of the AGV trolley is reduced, and meanwhile, the safety of the AGV trolley is increased by increasing the supporting effect of the first universal wheel. And then the purpose of adjusting the running efficiency of the AGV trolley is realized.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.

Fig. 1 is the embodiment of the utility model provides a structural schematic diagram that AGV chassis is applied to AGV dolly.

Fig. 2 is a schematic structural diagram of an AGV chassis according to an embodiment of the present invention.

Fig. 3 is an enlarged schematic view of the structure at III in fig. 2.

Fig. 4 is a schematic structural diagram of an AGV chassis according to an embodiment of the present invention from a top view.

Fig. 5 is a schematic structural diagram of an AGV chassis according to another perspective view of the present invention.

Icon: 100-an AGV; 20-a housing; 30-a main controller; 10-an AGV chassis; 12-a base plate; 13-a first travel mechanism; 131-a first drive wheel; 132-a first connecting rod; 1323-pilot hole; 133-a first universal wheel; 15-a second running gear; 151-second drive wheel; 152-a second connecting rod; 153-a second universal wheel; 16-an adjustment mechanism; 161-adjusting the drive; 162-a first adjustment spring; 1621-a coil spring; 1622-a guide rod; 163-second adjustment spring; 164-a linkage; 165-connecting plate; 166-guide post; 167-a guide slide; 168-position sensor; 17-a follower mechanism; 171-a third connecting rod; 172-a third universal wheel; 173-a fourth castor; 18-a detection mechanism; 181-a weighing sensor; 182-support column; 19-carrying plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally used to place the products of the present invention, or orientations or positional relationships that are conventionally understood by those skilled in the art, and are used merely to facilitate the description of the present invention and to simplify the description, but do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The following describes in detail embodiments of the present invention with reference to the accompanying drawings.

Example (b):

referring to fig. 1, fig. 1 is a schematic structural diagram of an AGV chassis 10 applied to an AGV cart 100 according to an embodiment of the present invention.

An embodiment of the utility model provides an AGV chassis 10, this AGV chassis 10 have can adjust the characteristics of efficiency of traveling through the proportion of adjusting driving force and moving resistance. The AGV chassis 10 can be applied to an AGV cart 100 or a tractor or the like.

The AGV 100 comprises an AGV chassis 10 and uses the AGV chassis 10 as a walking unit and a carrying unit, of course, the AGV 100 may further comprise a housing 20 and a main controller 30, the housing 20 covers the AGV chassis 10 to cover the AGV chassis 10, and the main controller 30 is electrically connected to the AGV chassis 10 to control the movement of the AGV chassis 10.

It is understood that the main Controller 30 may also be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a voice Processor, a video Processor, etc., a digital signal Processor, an application specific integrated circuit, a field Programmable gate array or other Programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, the main Controller 30 may also be any conventional Processor, such as a P L C (Programmable L analog Controller), a single chip, etc., of course, the main Controller 30 may also be a relay contactor control system, which uses a combination of switches, relays, buttons, etc. to control electrical appliances, so as to receive signals and perform functions of switching, adjusting, etc. of lines.

Because AGV dolly 100 has adopted the utility model discloses AGV chassis 10 that the embodiment provided, so this AGV dolly 100 also has the characteristics that can adjust the efficiency of traveling through the proportion of adjusting driving force and moving resistance.

The structural composition, the operation principle and the advantageous effects of the AGV chassis 10 according to the embodiment of the present invention will be described in detail below.

Referring to fig. 2, fig. 2 is a schematic structural diagram of an AGV chassis 10 according to an embodiment of the present invention in a three-dimensional view.

The AGV chassis 10 includes a bottom plate 12, a first traveling mechanism 13 and an adjusting mechanism 16, wherein the first traveling mechanism 13 includes a first driving wheel 131, a first connecting rod 132 and a first universal wheel 133, the first driving wheel 131 and the first universal wheel 133 are respectively connected to two ends of the first connecting rod 132, the middle part of the first connecting rod 132 is rotatably connected to the bottom plate 12, so that the first driving wheel 131 and the first universal wheel 133 can be lifted relative to the bottom plate 12, in other words, the first connecting rod 132 acts as a lever, when any one of the first driving wheel 131 and the first universal wheel 133 respectively arranged at two ends of the first connecting rod 132 is lowered relative to the other one, the other one is lifted relative to the bottom plate 12, so that when the AGV chassis 10 passes through a lying ground, the first driving wheel 131 and the first universal wheel 133 can rise and fall with the ground, so that the AGV chassis 10 can travel more smoothly on the lying ground.

The adjusting mechanism 16 is mounted on the base plate 12, and the adjusting mechanism 16 is connected to the first connecting rod 132 and can apply a predetermined force to the first connecting rod 132, so that the first connecting rod 132 tends to rotate relative to the base plate 12.

Thus, the adjusting mechanism 16 can rotate the first link, so that the first driving wheel 131 on the first link has a tendency to turn to the ground, so that the pressure of the first driving wheel 131 on the ground is increased, so that the first driving wheel 131 provides a larger driving force for the AGV chassis 10, and meanwhile, the first universal wheel 133 on the first link has a tendency to turn away from the ground, so that the pressure of the first universal wheel 133 on the ground is decreased, so that the movement resistance of the first universal wheel 133 when rolling on the ground is decreased, so that the movement resistance of the AGV 100 is decreased, further, the ratio of the driving force of the first driving wheel 131 to the movement resistance of the AGV 100 is increased, and the traveling efficiency of the AGV 100 is improved. Conversely, the adjusting mechanism 16 can also make the first driving wheel 131 on the first link have a tendency to rotate away from the ground, so that the pressure of the first driving wheel 131 on the ground is reduced, so that the first driving wheel 131 can provide the maximum driving force for the AGV chassis 10, and at the same time, the first universal wheel 133 on the first link has a tendency to rotate toward the ground, so that the pressure of the first universal wheel 133 on the ground is increased, so that the supporting force and the movement resistance of the first universal wheel 133 when rolling on the ground are increased, so that the movement resistance of the AGV 100 is increased, and further, the ratio of the driving force of the first driving wheel 131 to the movement resistance of the AGV 100 is increased, so as to reduce the traveling efficiency of the AGV 100, and at the same time, the safety of the AGV 100 is increased by increasing the supporting effect of the first universal wheel 133. Thereby achieving the purpose of adjusting the running efficiency of the AGV 100.

The driving efficiency of the AGV vehicle needs to be adjusted in situations where the driving safety requirement is high, such as when the AGV vehicle is fully loaded, the driving efficiency of the AGV vehicle 100 needs to be reduced to ensure the driving safety, and the driving efficiency of the AGV vehicle 100 needs to be increased when the flexibility is higher than the safety requirement, such as when the AGV vehicle is unloaded.

It should be noted that, the middle part refers to a position corresponding to the middle part, which divides the corresponding object into three equal parts according to the length direction of the corresponding object. And the main controller 30 may be electrically connected to the adjustment drive 161 and the drive wheels in this embodiment to control the AGV chassis 10 movement and adjust travel efficiency. In addition, in the present embodiment, the driving wheel is a wheel and driving motor assembly, and of course, in other embodiments, the driving wheel may also be an in-wheel motor.

Referring to fig. 2 and 3, fig. 3 is an enlarged view of the structure at III in fig. 2. Wherein the web 165 is shown in phantom for ease of illustration.

The adjusting mechanism 16 may include an adjusting driving member 161 and a first adjusting elastic member 162, the adjusting driving member 161 is mounted on the bottom plate 12, two ends of the first adjusting elastic member 162 are respectively connected to the first connecting rod 132 and the adjusting driving member 161, the adjusting driving member 161 can compress or stretch the first adjusting elastic member 162 to adjust the predetermined force, in other words, the adjusting driving member 161 can apply the predetermined force to the first connecting rod 132 through the first adjusting elastic member 162 to make the first connecting rod have a tendency to rotate relative to the bottom plate 12, and apply the predetermined force to the first connecting rod 132 through the first adjusting elastic member 162 having elasticity, or the adjusting driving member 161 is flexibly connected to the first connecting rod 132 through the first adjusting elastic member 162 to make the AGV chassis 10 walk smoothly on rough ground.

Further, the first adjusting elastic element 162 is connected to an end of the first connecting rod 132 away from the first driving wheel 131, and the first universal wheel 133 is located between the first adjusting elastic element 162 and the first driving wheel 131, so as to increase the length of the arm of force for the adjusting driving element 161 to drive the first connecting rod 132 to rotate, and improve the adjusting efficiency of the adjusting mechanism 16.

It should be noted that, in this embodiment, the adjusting driving member 161 is a screw transmission mechanism composed of a screw rod and a nut, in other embodiments, a rack and pinion mechanism, a pneumatic telescoping mechanism, an oil-driven telescoping mechanism, a belt drive mechanism, a chain drive mechanism, or the like may be used, and further, in this embodiment, the first adjusting elastic member 162 includes a coil spring 1621 and a guide rod 1622, the guide rod 1622 is fixedly connected to the base plate 12, the guiding rod 1622 is movably disposed in the bar-shaped guiding hole 1323 of the first connecting rod 132, the guiding rod 1622 is sleeved with the coil spring 1621, and the upper and lower ends thereof are respectively connected or abutted with the first connecting rod 132 and the adjusting driving member 161, when the adjusting driver 161 drives the bottom end of the coil spring 1621 to move upward, the top end of the coil spring 1621 pushes up the first connecting rod 132, and the guiding rod 1622 moves in the guiding hole 1323 relative to the first connecting rod 132. In other embodiments, the first adjusting elastic member 162 may be other elastic members such as rubber.

Furthermore, the adjusting mechanism 16 may further include a guiding post 166 and a guiding sliding member 167, wherein the guiding post 166 is fixedly connected to the bottom plate 12, the guiding sliding member 167 is slidably connected to the guiding post 166 and is connected to an end of the first adjusting elastic member 162 away from the first connecting rod 132, the adjusting driving member 161 is connected to the guiding sliding member 167 to be driven by the guiding sliding member 167 to connect the first connecting rod 132, the adjusting driving member 161 drives the guiding sliding member 167 to move along the guiding post 166, and the guiding sliding member 167 drives the first adjusting elastic member 162 to move to apply a predetermined force to the first connecting rod 132, and the guiding post 166 and the guiding sliding member 167 are provided to improve the adjusting stability of the adjusting mechanism 16.

It should be noted that the adjusting mechanism 16 further includes a connecting plate 165, and the guiding post 166 is fixedly connected to the base plate 12 through the connecting plate 165, wherein the connecting plate 165 is fixedly connected to the base plate 12. In addition, the adjustment mechanism 16 may also include a position sensor 168, which may be electrically connected to the main controller 30, is mounted to the base 12 and is used to detect the position of the movable end of the adjustment actuator 161 and to feedback position information to the main controller 30 to facilitate obtaining a detected position of the movable end of the adjustment actuator 161 during an empty condition of the AGV chassis 10 and to facilitate controlling the amount of movement of the adjustment actuator 161.

Referring to fig. 3, 4 and 5, fig. 4 is a schematic top view of an AGV chassis 10 according to an embodiment of the present invention. Fig. 5 is a schematic structural diagram of an AGV chassis 10 from another perspective view according to an embodiment of the present invention.

The AGV chassis 10 may further include a second traveling mechanism 15, the second traveling mechanism 15 includes a second driving wheel 151, a second connecting rod 152 and a second universal wheel 153, the second driving wheel 151 is installed at one end of the second connecting rod 152, the second universal wheel 153 is installed at the other end of the second connecting rod 152, the middle portion of the second connecting rod 152 is rotatably connected to the bottom plate 12, so that the second driving wheel 151 and the second universal wheel 153 can be lifted and lowered relative to the bottom plate 12, the second driving wheel 151 and the second universal wheel 153 are used for jointly supporting the bottom plate 12, and the second connecting rod 152 and the first connecting rod 132 are symmetrically disposed at two opposite sides of the bottom plate 12, so that the bottom plate 12 is jointly supported by the first driving wheel 131, the first universal wheel 133, the second driving wheel 151 and the second universal wheel 153, and the stability of the AGV chassis 10 is improved.

Furthermore, the adjusting mechanism 16 may further include a second adjusting elastic member 163, two ends of the second adjusting elastic member 163 are respectively connected to the second connecting rod 152 and the adjusting driving member 161, and the adjusting driving member 161 can compress or stretch the second adjusting elastic member 163 to apply a predetermined force to the second connecting rod 152, so that the adjusting driving member 161 can simultaneously adjust the positive pressure of the first driving wheel 131 and the second driving wheel 151 on the ground, thereby improving the adjustment balance of the adjusting mechanism 16.

With reference to fig. 3, the adjusting mechanism 16 may further include a linking member 164, the adjusting driving member 161 is connected to a middle portion of the linking member 164, two ends of the linking member 164 are respectively connected to the first adjusting elastic member 162 and the second adjusting elastic member 163, and the adjusting driving member 161 can drive the first adjusting elastic member 162 and the second adjusting elastic member 163 to move relative to the bottom plate 12 through the linking member 164.

It should be noted that, in this embodiment, there are two sets of the guide posts 166 and the guide sliders 167, and the linkage 164 is respectively connected to the two guide sliders 167 symmetrically arranged, so that the linkage 164 can slide along the guide posts 166 under the driving of the adjustment driving member 161.

Referring to fig. 4 and 5, the AGV chassis 10 may further include a following mechanism 17, the following mechanism 17 includes a third connecting rod 171, a third universal wheel 172 and a fourth universal wheel 173, the third universal wheel 172 and the fourth universal wheel 173 are respectively connected to two ends of the third connecting rod 171, the third universal wheel 172 and the fourth universal wheel 173 are also used for supporting the bottom plate 12, a middle portion of the third connecting rod 171 is rotatably connected to the bottom plate 12, so that the third universal wheel 172 and the fourth universal wheel 173 can be lifted and lowered relative to the bottom plate 12, in other words, the third connecting rod 171 acts as a lever, when any one of the third universal wheel 172 and the fourth universal wheel 173 respectively arranged at two ends of the third connecting rod 171 is lowered relative to the bottom plate 12, the other one is lifted relative to the bottom plate 12, so that the AGV chassis 10 can more smoothly walk on the rough ground.

Moreover, the first connecting rod 132, the third connecting rod 171 and the second connecting rod form L shape together, in other words, the first connecting rod 132 and the second connecting rod 152 are symmetrically disposed on both sides of the bottom plate 12, and both ends of the third connecting rod 171 are disposed near one end of each of the first connecting rod 132 and the second connecting rod 152 to form L shape together, wherein the third connecting rod 171 is not connected to the adjusting mechanism 16 to improve the overturn-preventing capability of the AGV chassis 10.

With continued reference to FIG. 2, the AGV chassis 10 may also include a detection mechanism 18 and a load board 19. the detection mechanism 18 includes a load cell 181 electrically connected to the adjustment mechanism 16. it is to be understood that the adjustment mechanism 16 and the load cell 181 may also be electrically connected via the main controller 30.

And a loading plate 19 is coupled to the bottom plate 12 and is used to load goods, a load cell 181 is disposed between the loading plate 19 and the bottom plate 12, and is used to sense the load on the load bearing plate 19, the adjustment mechanism 16 can adjust the amount of force preset based on the load, so that the AGV chassis 10 can adjust the ride efficiency based on the load, for example, when the load increases, the first driving wheel 131 and the second driving wheel 151 on the rotation of the first link can have a tendency to turn towards the ground by controlling the adjustment drive 161, so that the first driving wheel 131 provides a larger driving force for the AGV chassis 10, and the movement resistance of the first universal wheel 133 when rolling on the ground is reduced, so that the movement resistance of the AGV 100 is reduced, and then the proportion of the driving force of the first driving wheel 131 to the motion resistance of the AGV 100 is increased, and the running efficiency of the AGV 100 is improved, so that the AGV 100 has higher running efficiency under a larger load.

Further, the detecting mechanism 18 may further include a plurality of supporting columns 182, the number of the weighing sensors 181 is plural, the plurality of supporting columns 182 are distributed and connected to the bottom plate 12, the supporting plate 19 is respectively connected to one end of the plurality of supporting columns 182 far away from the bottom plate 12, the plurality of weighing sensors 181 are disposed between the plurality of supporting columns 182 and the supporting plate 19 one by one, and the supporting columns 182 prop up the supporting plate 19 to provide a larger moving space for the first connecting rod 132, the second connecting rod 152 and the third connecting rod 171.

It should be noted that, in this embodiment, the number of the supporting columns 182 and the number of the load cells 181 are four, the four supporting columns 182 are respectively disposed near four corners of the loading board 19, and the two supporting members on one side are respectively disposed near the first universal wheel 133 and the second universal wheel 153, so that the main control can control the preset forces applied to the first connecting rod 132 and the second connecting rod 152 by the adjusting mechanism 16 according to the weights detected by the four load cells 181, so as to adjust the load distribution on the first driving wheel 131 and the first universal wheel 133, and the second driving wheel 151 and the second universal wheel 153, so as to improve the stability of the AGV chassis 10.

The embodiment of the utility model provides a working principle is on AGV chassis 10:

the first traveling mechanism 13 includes a first driving wheel 131, a first connecting rod 132 and a first universal wheel 133, the first driving wheel 131 and the first universal wheel 133 are respectively connected to both ends of the first connecting rod 132, the middle portion of the first connecting rod 132 is rotatably connected to the bottom plate 12 so that the first driving wheel 131 and the first universal wheel 133 can be lifted relative to the bottom plate 12, in other words, the first connecting rod 132 acts as a lever, and when any one of the first driving wheel 131 and the first universal wheel 133 respectively arranged at both ends of the first connecting rod 132 is lowered relative to the other one, the other one is lifted relative to the bottom plate 12, so that when the AGV chassis 10 passes through a raised ground, the first driving wheel 131 and the first universal wheel 133 can be raised and lowered with the ground, so that the AGV chassis 10 can travel smoothly on the raised ground. The adjusting mechanism 16 is mounted on the base plate 12, and the adjusting mechanism 16 is connected to the first connecting rod 132 and can apply a predetermined force to the first connecting rod 132, so that the first connecting rod 132 tends to rotate relative to the base plate 12. Thus, the adjusting mechanism 16 can rotate the first link, so that the first driving wheel 131 on the first link has a tendency to turn to the ground, so that the pressure of the first driving wheel 131 on the ground is increased, so that the first driving wheel 131 provides a larger driving force for the AGV chassis 10, and meanwhile, the first universal wheel 133 on the first link has a tendency to turn away from the ground, so that the pressure of the first universal wheel 133 on the ground is decreased, so that the movement resistance of the first universal wheel 133 when rolling on the ground is decreased, so that the movement resistance of the AGV 100 is decreased, further, the ratio of the driving force of the first driving wheel 131 to the movement resistance of the AGV 100 is increased, and the traveling efficiency of the AGV 100 is improved. Conversely, the adjusting mechanism 16 can also make the first driving wheel 131 on the first link have a tendency to rotate away from the ground, so that the pressure of the first driving wheel 131 on the ground is reduced, so that the first driving wheel 131 can provide the maximum driving force for the AGV chassis 10, and at the same time, the first universal wheel 133 on the first link has a tendency to rotate toward the ground, so that the pressure of the first universal wheel 133 on the ground is increased, so that the supporting force and the movement resistance of the first universal wheel 133 when rolling on the ground are increased, so that the movement resistance of the AGV 100 is increased, and further, the ratio of the driving force of the first driving wheel 131 to the movement resistance of the AGV 100 is increased, so as to reduce the traveling efficiency of the AGV 100, and at the same time, the safety of the AGV 100 is increased by increasing the supporting effect of the first universal wheel 133. Thereby achieving the purpose of adjusting the running efficiency of the AGV 100.

In summary, the following steps:

an embodiment of the utility model provides an AGV chassis 10, it has the characteristics that can adjust the efficiency of traveling through the proportion of adjusting driving force and moving resistance.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it will be apparent to those skilled in the art that the features in the above embodiments may be combined with each other without conflict, and various modifications and variations of the present invention are possible. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. An AGV chassis is characterized by comprising a bottom plate, a first travelling mechanism and an adjusting mechanism;

the first travelling mechanism comprises a first driving wheel, a first connecting rod and a first universal wheel, the first driving wheel and the first universal wheel are respectively connected to two ends of the first connecting rod, and the middle part of the first connecting rod is rotatably connected to the bottom plate so that the first driving wheel and the first universal wheel can lift relative to the bottom plate;

the adjusting mechanism is mounted on the bottom plate, connected with the first connecting rod and capable of applying a preset force to the first connecting rod so that the first connecting rod tends to rotate relative to the bottom plate.

2. The AGV chassis of claim 1, wherein said adjustment mechanism includes an adjustment drive and a first adjustment spring;

the adjusting driving piece is installed on the bottom plate, two ends of the first adjusting elastic piece are respectively connected with the first connecting rod and the adjusting driving piece, and the adjusting driving piece can compress or stretch the first adjusting elastic piece to adjust the preset force.

3. The AGV chassis of claim 2, wherein said first adjustment spring is connected to an end of said first link remote from said first drive wheel and said first universal wheel is positioned between said first adjustment spring and said first drive wheel.

4. The AGV chassis of claim 2, wherein said adjustment mechanism further includes a guide post and a guide slide;

the guide post is fixedly connected to the bottom plate, the guide sliding part is connected to the guide post in a sliding mode and is connected with one end, away from the first connecting rod, of the first adjusting elastic part, and the adjusting driving part is connected with the guide sliding part and is connected with the first connecting rod through the guide sliding part.

5. The AGV chassis according to claim 2, further comprising a second traveling mechanism, wherein the second traveling mechanism comprises a second driving wheel, a second connecting rod and a second universal wheel, the second driving wheel is mounted at one end of the second connecting rod, the second universal wheel is mounted at the other end of the second connecting rod, the middle part of the second connecting rod is rotatably connected to the bottom plate, so that the second driving wheel and the second universal wheel can be lifted and lowered relative to the bottom plate, the second driving wheel and the second universal wheel are used for supporting the bottom plate together, and the second connecting rod and the first connecting rod are symmetrically arranged at two opposite sides of the bottom plate;

the adjusting mechanism further comprises a second adjusting elastic piece, two ends of the second adjusting elastic piece are respectively connected with the second connecting rod and the adjusting driving piece, and the adjusting driving piece can compress or stretch the second adjusting elastic piece so as to apply the preset force to the second connecting rod.

6. The AGV chassis of claim 5, wherein the adjustment mechanism further comprises a linkage;

the adjusting driving piece is connected to the middle of the linkage piece, two ends of the linkage piece are respectively connected with the first adjusting elastic piece and the second adjusting elastic piece, and the adjusting driving piece can drive the first adjusting elastic piece and the second adjusting elastic piece to move relative to the bottom plate through the linkage piece.

7. The AGV chassis of claim 5, further comprising a follower mechanism including a third connecting rod, a third universal wheel and a fourth universal wheel, wherein the third and fourth universal wheels are respectively connected to two ends of the third connecting rod, and a middle portion of the third connecting rod is rotatably connected to the bottom plate so that the third and fourth universal wheels can be lifted and lowered relative to the bottom plate;

the first and third connecting bars and the second connecting bar together form an L-shape.

8. The AGV chassis of claim 1, further comprising a detection mechanism and a load floor, said detection mechanism comprising a load cell electrically connected to said adjustment mechanism;

the loading plate is connected with the bottom plate and used for bearing goods, the weighing sensor is arranged between the loading plate and the bottom plate and used for detecting the load on the loading plate, and the adjusting mechanism can adjust the size of the preset force according to the load.

9. The AGV chassis of claim 8, wherein said detection mechanism further includes a plurality of support posts, said load cells being plural in number;

the supporting columns are connected to the bottom plate in a distributed mode, the bearing plate is connected with one ends, far away from the bottom plate, of the supporting columns respectively, and the weighing sensors are arranged between the supporting columns and the bearing plate one by one.

10. An AGV carriage comprising an AGV chassis according to any one of claims 1 to 9.