阅读说明：本技术 Agv底盘及agv小车 (AGV chassis and AGV dolly ) 是由 度咸熙 于 2019-12-04 设计创作，主要内容包括：本发明公开了一种AGV底盘及AGV小车,涉及AGV底盘技术领域。该AGV底盘,包括底板、第一行走机构及调节机构,第一行走机构包括第一驱动轮、第一连接杆及第一万向轮,第一驱动轮和第一万向轮分别连接于第一连接杆的两端,第一连接杆的中部转动连接于底板,以使第一驱动轮和第一万向轮能够相对于底板升降,调节机构安装于底板,且与第一连接杆连接,并能够施加预设力量于第一连接杆,以使第一连接杆具有相对于底板转动的趋势。该AGV底盘及AGV小车具有能够通过调节驱动力和运动阻力的比例来调节行驶效率的特点。(The invention discloses an AGV chassis and an AGV, and relates to the technical field of AGV chassis. 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.)

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 connecting rod, the third connecting rod and the second connecting rod form a U shape together.

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.

Technical Field

The invention relates to the technical field of AGV chassis, in particular to an AGV chassis and an AGV.

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.

Disclosure of Invention

The invention aims to provide an AGV chassis which has the characteristic of being capable of adjusting the running efficiency by adjusting the proportion of driving force and movement resistance.

It is another object of the present invention to provide an AGV that has features that enable the efficiency of travel to be adjusted by adjusting the ratio of drive force to resistance to movement.

The invention provides a technical scheme that:

in a first aspect, an embodiment of the present invention provides an AGV chassis, including 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, and 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; the first connecting rod, the third connecting rod and the second connecting rod form a U shape together.

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, an 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 AGV chassis and the AGV provided by the embodiment of the invention have the beneficial effects that compared with the prior art, the AGV chassis and the AGV have the following advantages:

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 a schematic structural view of an AGV chassis applied to an AGV according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of an AGV chassis according to an embodiment of the present invention in a three-dimensional view.

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

FIG. 4 is a schematic top view of an AGV chassis according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of an AGV chassis according to an embodiment of the present invention from another perspective view.

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 technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention 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 an orientation or positional relationship as shown in the drawings, or as would be conventionally found in use of the inventive product, or as would be conventionally understood by one skilled in the art, and are used merely to facilitate the description and simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to 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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following detailed description of embodiments of the invention refers to the accompanying drawings.