CN111469948A - AGV car - Google Patents
AGV car Download PDFInfo
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- CN111469948A CN111469948A CN201811548339.XA CN201811548339A CN111469948A CN 111469948 A CN111469948 A CN 111469948A CN 201811548339 A CN201811548339 A CN 201811548339A CN 111469948 A CN111469948 A CN 111469948A
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- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 13
- 230000003139 buffering effect Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000009194 climbing Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- Motorcycle And Bicycle Frame (AREA)
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Abstract
The invention provides an AGV (automatic guided vehicle) with the driving force capable of being increased in proportion along with load and compact structure, which comprises a chassis structure, a battery module, a control module, a driving module and a lifting mechanism, wherein the chassis structure comprises a bottom plate, a first movable frame, a second movable frame, a driving device and bearing wheels, the driving device is provided with a driving wheel, and the first movable frame is hinged with the front end of the bottom plate through a first hinge point to form a first force arm extending to the outer side of the bottom plate and a second force arm extending to the inner side of the bottom plate; the second movable frame is hinged with the rear end of the bottom plate through a second hinge point, so that a third force arm extending towards the inner side of the bottom plate and a fourth force arm extending towards the outer side of the bottom plate are formed; an installation cavity is formed among the second force arm, the third force arm and the bottom plate, the lifting mechanism is fixed in the installation cavity, the battery module is arranged on the third force arm, the control module is arranged on the first force arm and connected with the battery module, bearing plates are arranged on two sides of the control module, and the driving module is arranged on the bearing plates and electrically connected with the control module.
Description
Technical Field
The invention relates to the technical field of AGV chassis, in particular to an AGV.
Background
Backpack AGV means leans on AGV automobile body self to bear the AGV car of goods weight, and this type of AGV car is used for fields such as assembly, commodity circulation more. However, the existing AGV chassis structure adopts a coaxial connection mode for the output shaft of the output device and the hinge shafts of the two frames, which makes the AGV meet uneven road surfaces, although the wheels of the two frames can be kept on the ground, the problem of slip caused by insufficient driving force of the driving wheels due to the simultaneous swing of the two frames can occur, the pivot positions of the frames can not ensure that the bodies and the goods shelves have sufficient anti-overturning capability under the condition of advancing or braking of the bodies, a dead point is easy to occur between the two frames when swinging, so that the frames lack a relative sliding space, thereby affecting the climbing capability of the AGV, making the AGV work unstable, and reducing the working efficiency of the AGV; and the internal space of the conventional AGV is complex, the structure is not compact, and the whole size is large.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the AGV which has the advantages that the driving force can be increased in proportion along with the load, the structure is compact, the slipping can be avoided, and the stable work of the AGV is kept.
In order to solve the technical problems, the invention adopts the following technical scheme:
an AGV comprises a chassis structure, a battery module, a control module, a driving module and a lifting mechanism, wherein the chassis structure comprises a bottom plate, a first movable frame, a second movable frame, a driving device and a bearing wheel, the driving device is provided with a driving wheel, the driving device drives the driving wheel to rotate through a driving shaft, the first movable frame is hinged with the front end of the bottom plate through a first hinge point, so that the first movable frame forms a first force arm extending towards the outer side of the bottom plate and a second force arm extending towards the inner side of the bottom plate; the second movable frame is hinged with the rear end of the bottom plate through a second hinge point, so that a third force arm extending towards the inner side of the bottom plate and a fourth force arm extending towards the outer side of the bottom plate are formed on the second movable frame, the bearing wheels are respectively arranged on the first force arm and the fourth force arm, the end parts of the second force arm and the third force arm are hinged through the third hinge point, and the driving device is arranged on the second force arm and is positioned between the first hinge point and the third hinge point.
Preferably, enclose between the second arm of force of first activity frame, the third arm of force of second activity frame and the bottom plate and close and form the installation cavity of undercut, lifting mechanism fixes in the installation cavity, battery module locates the third arm of force top through the support bracket, the control module both sides are located first arm of force top through the connecting plate and are connected with the battery module electricity, the connecting plate respectively with bottom plate fixed connection, the control module both sides are equipped with the bearing board, drive module locates on the bearing board and is connected with the control module electricity.
Preferably, the ratio of the load pressure of the load bearing wheel on the first force arm, the load pressure of the drive wheel and the load bearing wheel on the fourth force arm is 3:4:3, and the load weight of the chassis structure is increased by utilizing the lever principle, so that the load pressure of the drive wheel is increased proportionally, the balance of the driving force of the chassis structure is ensured, and the sufficient driving force of the drive wheel is ensured.
Preferably, a first connecting seat is arranged at the front end of the bottom plate, a second connecting seat is arranged at the rear end of the bottom plate, the first movable frame is hinged to the first connecting seat through a first hinge point, the second movable frame is hinged to the second connecting seat through a second hinge point, and an installation cavity is formed by enclosing the first movable frame, the second movable frame and the bottom plate.
Preferably, a first connecting shaft is arranged at the first hinge point, the first connecting shaft is arranged on a first connecting seat, and the first movable frame is hinged with the first connecting seat through a first connecting shaft; the second articulated point is provided with a second connecting shaft, the second connecting shaft is arranged on a second connecting seat, the second movable frame is articulated with the second connecting seat through the second connecting shaft, an articulated shaft is arranged at a third articulated point, and the end parts of the second force arm and the third force arm are articulated through the articulated shaft.
Preferably, the bearing wheels comprise a first bearing wheel and a second bearing wheel, the first bearing wheel is arranged on the first force arm, the second bearing wheel is arranged on the fourth force arm, the first bearing wheel and the second bearing wheel are respectively provided with two or more than two, and the first bearing wheel is a universal wheel; or, first bearing wheel and second bear the wheel and be the universal wheel for AGV walking is more smooth and easy steady.
Further, still include the elastic buffering subassembly, the elastic buffering subassembly includes first fixed plate, first fixing bolt and first spring, the upside at first activity frame is fixed to first fixed plate, be equipped with first trompil on the first fixed plate, first fixing bolt passes first trompil and with bottom plate fixed connection, first spring housing is established in the first fixing bolt outside and is compressed between first fixed plate and bottom plate, and the elastic buffering subassembly plays the absorbing effect of buffering at AGV walking in-process, and then has improved the performance of automobile body.
The chassis structure comprises a base plate, a first fixing bolt, a first spring, a second fixing bolt, a first fixing block, a first spring and a regulating block, wherein the base plate is provided with a first fixing hole, the first fixing bolt is fixed on the first fixing plate, the regulating block is connected with the upper side of the first fixing bolt, the first spring is sleeved on the outer side of the first fixing bolt and is compressed between the regulating block and the first fixing plate, the compression degree of the first spring can be regulated through the regulating block, and the base plate structure is additionally provided with the base plate regulating component, so that the two regulating components can provide constant pressure for a driving wheel by the first spring outside the proportion to achieve the effect of improving the driving force; and can adjust according to actual conditions, make the automobile body have bigger drive power, further improve the performance of automobile body.
Furthermore, a second opening is formed in the position between the second connecting seat and the second connecting shaft, and the radius of the second opening is larger than that of the second connecting shaft, so that dead points cannot occur in the first movable frame and the second movable frame under the condition of swinging, and the swinging amplitude of the frames is determined by the sliding space, so that the climbing capacity is provided for the vehicle body; meanwhile, the second hinge point is designed on the second movable frame, because the anti-overturning capacity of the vehicle body and the goods shelf is ensured by the position design of the front pivot point under the condition that the vehicle body moves forwards or brakes, and the stability of the whole vehicle is not influenced by the second hinge point on the second movable frame; the radius of the second opening is 4-6mm larger than the outer diameter of the second connecting shaft, the climbing height can be limited if the virtual position is too small, and the second movable frame is not limited and is unstable in working due to too large virtual position; preferably, the second connecting shaft is of a follower structure, so that the friction resistance and the abrasion are reduced, and the service life of the second connecting shaft is prolonged.
Preferably, the outside of first connecting axle, articulated shaft and drive shaft all is equipped with self-lubricating bush, and it has improved joint department operating mode, reduces the loss, has reduced the maintenance risk and the cost of whole car.
Preferably, the first movable frame is Z-shaped, the section of the first movable frame positioned on the first force arm is higher than the section of the first movable frame positioned on the second force arm, the second movable frame is horizontal, the section of the second movable frame positioned on the third force arm is as high as the section positioned on the fourth force arm, and the section of the first movable frame positioned on the first force arm is higher than the second movable frame, so that an adjusting space can be reserved for the first bearing wheel while the strength of the chassis structure is ensured; moreover, the first movable frame is required to bear larger load in the acceleration and braking processes, and the gravity center moves forwards when the vehicle body is stressed, so that the vehicle body and the goods shelf are in overturning risk, and therefore the vertical height of the first hinge point and the horizontal distance from the center are increased, and the overturning resistance of the vehicle body can be improved; the distance difference of the vertical distances from the top of the battery module, the control module, the driving module and the lifting mechanism to the bottom plate is less than or equal to 220mm, so that the whole vehicle is small in size and compact in structure.
The invention has the beneficial effects that:
1. the chassis structure is provided with an installation cavity for installing the lifting mechanism, and meanwhile, the two sides of the control module are provided with the bearing plates, so that the whole vehicle forms a double-layer structure, the space of the chassis structure is more reasonably utilized, the vehicle body structure is more compact, and the whole vehicle is small in size;
2. the driving device is arranged on the second force arm and positioned between the first hinge point and the third hinge point, so that the phenomenon of slipping of the driving wheel caused when the first movable frame and the second movable frame swing simultaneously is effectively avoided;
3. the chassis structure can improve the load pressure of the driving wheel according to the increase of the load weight, and ensures that the driving wheel has enough driving force, so that the AGV works more stably and reliably, and further the working efficiency of the AGV is ensured;
4. the buffering effect of the AGV is improved by using the elastic buffering assembly, and the driving force of the AGV is improved by using the pre-pressure adjusting assembly;
5. the section of the first movable frame positioned on the first force arm is higher than the second movable frame, so that the strength of the chassis structure is ensured, and meanwhile, an adjusting space is reserved for the first bearing wheel; moreover, the first movable frame is required to bear larger load in the acceleration and braking processes, and the gravity center of the vehicle body moves forwards when the vehicle body is stressed, so that the vehicle body and the goods shelf are in overturning risk, and therefore the vertical height of the first hinge point and the horizontal distance from the center are increased, and the overturning resistance of the vehicle body can be improved;
6. the installation cavity is sunken downwards, and the setting height of the lifting mechanism can be effectively reduced, so that the height of the whole vehicle is further reduced, and the anti-overturning capability is more excellent.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic illustration of the present invention (with the housing removed);
FIG. 3 is a first schematic diagram of the chassis configuration of the present invention;
FIG. 4 is a second schematic view of the base structure of the present invention;
FIG. 5 is a top view of the chassis structure of the present invention;
FIG. 6 is a partial side view of the chassis structure of the present invention;
FIG. 7 is a schematic view of a first load wheel adjustment assembly and a first load wheel of the present invention;
FIG. 8 is a top cross-sectional view of the chassis structure of the present invention;
FIG. 9 is an enlarged view of area A of FIG. 8;
FIG. 10 is a second sectional top view of the tray structure of the present invention;
FIG. 11 is an enlarged view of area B of FIG. 10;
FIG. 12 is an enlarged view of area C of FIG. 10;
FIG. 13 is a partial schematic view of the chassis structure of the present invention;
FIG. 14 is an enlarged view of area D of FIG. 13;
fig. 15 is an enlarged view of the region E in fig. 13.
Detailed Description
A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 1-15, an AGV vehicle includes a chassis structure 1001, a battery module 1002, a control module 1003, a drive module (not shown), a lift mechanism 1004 and a housing 1005, the chassis structure 1001 includes a base plate 1, a first movable frame 2, a second movable frame 3, a driving device 4 and a bearing wheel (not shown), the driving device 4 comprises a driving motor 41, a driving shaft 42 and a driving wheel 43, the driving motor 41 is fixed on the first movable frame 2, the driving shaft 42 is connected with a driving motor 41, the driving motor 41 drives the driving wheel 43 through the driving shaft 42, the first movable frame 2 is hinged with the front end of the bottom plate 1 through a first hinge point (not marked in the figure), so that the first movable frame 2 forms a first force arm 21 extending towards the outer side of the bottom plate 1 and a second force arm 22 extending towards the inner side of the bottom plate 1; the second movable frame 3 is hinged to the rear end of the bottom plate 1 through a second hinge point (not shown in the figures), so that the second movable frame 3 forms a third force arm 31 extending towards the inner side of the bottom plate 1 and a fourth force arm 32 extending towards the outer side of the bottom plate 1, the load wheels include a first load wheel 51 and a second load wheel 52, the first load wheel 51 is disposed on the first force arm 21, the second load wheel 52 is disposed on the fourth force arm 32, the first load wheel 51 and the second load wheel 52 are respectively provided with two or more than two, the first load wheel 51 is a universal wheel, the ends of the second force arm 22 and the third force arm 31 are hinged through a third hinge point (not shown in the figures), and the driving shaft 42 is disposed on the second force arm 22 and located between the first hinge point and the third hinge point.
A mounting cavity 93 which is recessed downwards is formed by enclosing the second force arm 22 of the first movable frame 2, the third force arm 31 of the second movable frame 3 and the bottom plate 1, the lifting mechanism 1004 is fixed in the mounting cavity 93, the battery module 1002 is arranged on the third force arm 31 through a support bracket 1221, two sides of the control module 1003 are arranged above the first force arm 22 through connecting plates (not shown in the figure) and are electrically connected with the battery module 1002, the connecting plates are respectively and fixedly connected with the bottom plate 1, two sides of the control module 1003 are provided with support plates, and the driving module is arranged on the support plates and is electrically connected with the control module 1003; the support plate includes a first support plate 1051, a second support plate 1052 and a third support plate 1053, the driving module includes two walking drivers 1061, a rotating driver 1062 and a lifting driver 1063, the first support plate 1051 and the second support plate 1052 are respectively disposed at two sides of the control module 1003 and fixedly connected to the first movable frame 2, the two walking drivers 1061 are respectively disposed on the first support plate 1051 and the second support plate 1052, the third support plate 1053 is disposed between the first support plate 1051 and the battery module 1002 and fixedly connected to the bottom plate 1 through a first connecting column (not shown in the figure), a connecting plate (not shown in the figure) is vertically disposed on the third support plate 1053, and the rotating driver 1062 and the lifting driver 1063 are disposed on the third support plate 1053 and fixedly connected to the connecting plate.
The lower end of the casing 1005 is open, a via hole (not shown) for the movement of the lifting mechanism 1004 is formed in the upper side of the casing 1005, the front end of the casing 1005 is fixedly connected with the first supporting plate 1051 and the second supporting plate 1052 through the second connecting column 1007, the rear end of the casing 1005 is fixedly connected with the supporting bracket 1221 through the third connecting column 1008, the lifting mechanism 1004 is provided with a lifting plate 1041, and the lifting plate 1041 is matched with the via hole in size.
It should be noted that the first supporting plate 1051 and the second supporting plate 1052 are fixedly connected to the bottom plate 1 through connecting plates (not shown in the figure) on two sides of the bottom plate 1, two sides of the control module 1003 are fixedly connected to the connecting plates, and the control module 1003 is not in contact with the first movable frame 2, so as to ensure that the battery module 1002, the control module 1003 and the driving module are not in direct contact with the first movable frame 2 and the second movable frame 3, so as to prevent the shaking of the swing link of the chassis structure during the movement from affecting the stability and the service life of each module, and reduce the potential safety hazard caused by frequent shaking of the battery module 1002.
Referring to fig. 2, preferably, a junction box is disposed on the second support plate 1052, which facilitates the collection of wires for connecting components together, so that the structure of the AGV is cleaner.
Referring to fig. 2, preferably, the lifting mechanism 1004 is a ball screw lifting mechanism, which is more stable and efficient than a trapezoidal screw lifting mechanism or a chain type lifting mechanism, and the lifting weight can reach 600kg, and the required driving element has a small volume, and is more balanced with the space of the AGV vehicle, so that the AGV vehicle has a smaller volume and a more compact structure.
Referring to fig. 3 to 5, the ratio of the load pressures of the first bearing wheel 51, the driving wheel and the second bearing wheel 52 is 3:4:3, and by using the lever principle, the increase of the load weight of the chassis structure is ensured to increase the load pressure of the driving wheel proportionally, the balance of the driving force of the chassis structure is ensured, the driving wheel 43 has enough driving force, and the ratio of the distance from the bearing point of the first bearing wheel to the first hinge point to the distance from the first hinge point to the driving wheel is 2: 3; the ratio of the distance from the bearing point of the second bearing wheel to the second hinge point to the distance from the second hinge point to the driving wheel is 2:3, so that the weight of the first hinge point and the second hinge point is divided into the driving wheels in proportion during pressure bearing, in the embodiment, under the condition of weight of 270KG, the positive pressure of the left driving wheel and the right driving wheel is 550N and 570N, and under the condition of 500KG, the positive pressure is 1080N and 1150N, and the total increase is according to the design proportion; because the maximum driving force of the vehicle body is determined by the maximum driving force provided by the motor and the driving force friction force, under the condition that the driving force provided by the motor is satisfied, the friction force of the driving wheel determines the maximum driving force of the vehicle body, and the friction force of the driving wheel is determined by the pressure born by the driving wheel; the design is that the pressure of the driving wheel increases with increasing load, so that the driving wheel can always provide enough driving force to overcome the motion resistance.
In addition, the position design of the first hinge point and the second hinge point can also influence the state of the vehicle body under extreme conditions in the operation process, so that the overturn-preventing moment of the pivot is calculated by combining the deceleration during emergency braking of the vehicle body, the positions of the first hinge point and the second hinge point are determined, the lever proportion is determined by the required acceleration of the vehicle body, and the position parameters of the main hinge point of the vehicle body are obtained.
Referring to fig. 7, as a preferable scheme, the vehicle further includes a first bearing wheel adjusting assembly 6, where the first bearing wheel adjusting assembly 6 includes a first connecting block 61, a first swing axle 62 and a first swing frame 63, the first connecting block 61 is fixed on the first movable frame 2, the first swing axle 62 passes through the first connecting block 61 and is rotatably disposed on the first connecting block 61, the first swing frame 63 is fixedly connected to the first swing axle 62, and the first bearing wheel 51 is fixed on the lower side of the first swing frame 63; the first bearing wheel adjusting assembly 6 can ensure that the universal wheels can simultaneously land on uneven road surfaces, and more balanced load and motion conditions are provided for the AGV; meanwhile, the function of the AGV is strengthened by the matching of the first bearing wheel adjusting assembly 6 and the universal wheels.
Referring to fig. 3, 5, 13 and 14, as a preferred solution, the first movable frame 2 includes two first movable frame side arms 201 symmetrically arranged and a first connecting beam 202, a second connecting beam 203 and a third connecting beam 204 respectively connecting two ends of the two first movable frame side arms 201, the two first movable frame side arms 201 are hinged to the front end of the base plate 1 through a first hinge point, the two first movable frame side arms 201 extend to the outer side of the base plate 1 to form a first moment arm 21, the two first movable frame side arms 201 extend to the inner side of the base plate 1 to form a second moment arm 22, the first connecting beam 202 is arranged at the end of the second moment arm 22, and the second connecting beam 203 and the third connecting beam 204 are arranged on the first moment arm 21;
the second movable frame 3 comprises two second movable frame side arms 301 which are symmetrically arranged, and a fourth connecting beam 302 and a fifth connecting beam 303 which are connected with the outer ends of the two second movable frame side arms 301, the two second movable frame side arms 301 are hinged with the front end of the bottom plate 1 through a second hinge point, a fourth force arm 32 extends towards the outer side of the bottom plate 1 from the two second movable frame side arms 301, a third force arm 31 extends towards the inner side of the bottom plate 1 from the two second movable frame side arms 301, and the fourth connecting beam 302 and the fifth connecting beam 303 are arranged on the fourth force arm 32;
the upper sides of the second connecting beam 203 and the third connecting beam 204 are provided with a first transverse plate 205, the upper sides of the fourth connecting beam 302 and the fifth connecting beam 303 are provided with a second transverse plate 304, the first bearing wheels 51 are arranged on the lower side of the first connecting transverse plate 205, and the second bearing wheels 52 are arranged on the lower side of the second transverse plate 304.
Referring to fig. 3, 5, 13 and 14, as a preferable scheme, the chassis structure further includes an elastic buffer assembly 7, where the elastic buffer assembly 7 includes a first fixing plate 71, a first fixing bolt 72 and a first spring 73, the first fixing plate 71 is fixed on an upper side of a connection portion of the first connecting beam 202 and the first movable frame side arm 201, a first opening (not shown) is formed in the first fixing plate 71, the first fixing bolt 72 passes through the first opening and is fixedly connected with the bottom plate 1, the first spring 73 is sleeved on an outer side of the first fixing bolt 72 and is compressed between the first fixing plate 71 and the bottom plate 1, and the elastic buffer assembly 7 plays a role of buffering and shock absorption during the traveling process of the AGV, so as to improve the performance of the vehicle body.
Referring to fig. 3, 13 and 14, preferably, a pre-pressure adjustment assembly 8 is further included, the pre-pressure adjusting assembly 8 includes a second fixing plate 81, a second fixing bolt 82, a second spring 83 and an adjusting block 84, the second fixing plate 81 is fixed at the lower side of the joint of the first connecting beam 202 and the first movable frame-side arm 201, the second fixing bolt 82 is fixed to the second fixing plate 81, the adjusting block 84 is coupled to an upper side of the second fixing bolt 82, the second spring 83 is sleeved outside the second fixing bolt 82 and compressed between the adjusting block 84 and the second fixing plate 81, the degree of compression of the second spring 83 can be adjusted by the adjusting block 84, the chassis structure is additionally provided with the pre-pressure adjusting components, so that the two adjusting components can provide a constant pressure for the driving wheel 43 by the second spring 83 outside the proportion to achieve the effect of improving the driving force; and can adjust according to actual conditions, make the automobile body have bigger drive power, further improve the performance of automobile body.
Referring to fig. 5, as a preferable scheme, the driving device 4 is provided with two first movable frame side arms 201 and symmetrically installed at the outer sides of the two first movable frame side arms 201, a supporting plate 211 is arranged at the outer side of the first movable frame side arms 201, the supporting plate 211 is fixedly connected with the first movable frame side arms 201, and the driving device 4 is fixedly installed on the supporting plate 211; the elastic buffer components 7 are respectively and symmetrically arranged at the joints of the two first movable frame side arms 201 and the first connecting beam 202, and the elastic pre-pressure adjusting components 8 are respectively and symmetrically arranged at the joints of the two first movable frame side arms 201 and the first connecting beam 202.
Referring to fig. 3 to 5, preferably, the first movable frame 2 is Z-shaped, a section of the first movable frame 2 located on the first force arm 21 is higher than a section of the first movable frame 2 located on the second force arm 22, the second movable frame 3 is horizontal, a section of the second movable frame 3 located on the third force arm 31 is equal to a section located on the fourth force arm 32, and a section of the first movable frame 2 located on the first force arm 21 is higher than the second movable frame 3, so that the strength of the chassis structure is ensured, and an adjustment space can be reserved for the first load wheel 51; moreover, the first movable frame 2 needs to bear larger load in the acceleration and braking processes, and the gravity center moves forwards when the vehicle body is stressed, so that the vehicle body and the goods shelf are in overturning risk, and therefore the vertical height of the first hinge point and the horizontal distance from the center are increased, and the overturning resistance of the vehicle body can be improved; the distance difference of the vertical distances from the tops of the battery module 1002, the control module 1003, the driving module and the lifting mechanism 1004 to the bottom plate is less than or equal to 220 mm.
Referring to fig. 3 to 5, as a preferable scheme, a first connecting seat 91 is arranged at the front end of the bottom plate 1, a second connecting seat 92 is arranged at the rear end of the bottom plate 1, a first connecting shaft 94 is arranged at the first hinge point, the first connecting shaft 94 is arranged on the first connecting seat 91, and the first movable frame 2 is hinged to the first connecting seat 91 through the first connecting shaft 94; the second hinge point is provided with a second connecting shaft 95, the second connecting shaft 95 is arranged on the second connecting seat 92, the second movable frame 3 is hinged to the second connecting seat 92 through the second connecting shaft 95, the third hinge point is provided with a hinge shaft 96, and the ends of the second force arm 22 and the third force arm 31 are hinged through the hinge shaft 96.
Preferably, the first connecting seat 91 is provided with two parts which are respectively and symmetrically arranged at the inner sides of the two first movable frame side arms 201, the second connecting seat 92 is provided with two parts which are respectively and symmetrically arranged at the inner sides of the two second movable frame side arms 301, and the hinge shaft 96 is provided with two parts which are respectively and symmetrically arranged at the hinge joints of the two first movable frame side arms 201 and the two second movable frame side arms 301; meanwhile, the driving device 4 is arranged on the outer side of the side arm 201 of the first movable frame, so that a larger space is reserved for the installation cavity 93, the installation of other mechanisms of the AGV body is facilitated, and the space utilization rate of the AGV body is improved.
Referring to fig. 13 and 15, as a preferable scheme, a second opening 97 is formed in the position of the second connecting seat 92 and the second connecting shaft 95, and the radius of the second opening 97 is greater than the radius of the second connecting shaft 95, so that dead points do not occur in the swinging condition of the first movable frame 2 and the second movable frame 3, and the swinging amplitude of the frames is determined by the sliding space, so that the climbing capability is provided for the vehicle body; meanwhile, the second hinge point is designed on the second movable frame 3, because the anti-overturning capacity of the vehicle body and the goods shelf is ensured by the position design of the front pivot point under the condition that the vehicle body moves forwards or brakes, and the stability of the whole vehicle cannot be influenced by the second hinge point on the second movable frame; preferably, the radius of the second opening 97 is 5mm larger than the outer diameter of the second connecting shaft 95, the climbing height is limited if the virtual position is too small, and the second movable frame 3 is not limited if the virtual position is too large and is unstable during operation; preferably, the second connecting shaft 95 is a follower structure, which reduces the friction resistance and the wear condition, and increases the service life of the second connecting shaft 95.
Referring to fig. 3, 5 and 11, preferably, a protective cover 98 is disposed on an outer side of the second connecting shaft 95, and the protective cover 98 is connected to the second movable frame 3 by screws.
Referring to fig. 8 to 12, as a preferred scheme, the self-lubricating bushings 10 are respectively sleeved on the outer sides of the first connecting shaft 94, the hinge shaft 96 and the driving shaft 42, so that the working condition of joints is improved, the loss is reduced, and the maintenance risk and the cost of the whole vehicle are reduced; further, with respect to the position of the first connecting shaft 94, a first washer 901 is provided between the first movable frame 2 and the first connecting seat 91; for the position of the second connecting shaft 95, a second washer 902 is arranged between the second movable frame 3 and the second connecting seat 92; with respect to the position of the hinge shaft 96, a third washer 903 is provided between the first movable frame 2 and the second movable frame 3; the arrangement of the gaskets at each hinge joint can reduce the loss between the frame and the frame or between the frame and the connecting piece.
The invention has the beneficial effects that:
1. the chassis structure is provided with an installation cavity 93 for installing a lifting mechanism 1004, and meanwhile, the two sides of the control module 1003 are provided with bearing plates, so that the whole vehicle forms a double-layer structure, the space of the chassis structure is more reasonably utilized, the vehicle body structure is more compact, and the size of the whole vehicle is small;
2. the chassis structure arranges the driving device on the second force arm 22 and between the first hinge point and the third hinge point, so as to effectively avoid the driving wheel slipping phenomenon caused when the first movable frame 2 and the second movable frame 3 swing simultaneously;
3. the chassis structure can improve the load pressure of the driving wheel according to the increase of the load weight, and ensures that the driving wheel has enough driving force, so that the AGV works more stably and reliably, and further the working efficiency of the AGV is ensured;
4. the buffering effect of the AGV is improved by using the elastic buffering assembly, and the driving force of the AGV is improved by using the pre-pressure adjusting assembly;
5. the section of the first movable frame 2 positioned on the first force arm 21 is higher than the second movable frame 3, which ensures the strength of the chassis structure and simultaneously can leave a regulating space for the first bearing wheel 51; moreover, the first movable frame 2 needs to bear larger load in the acceleration and braking processes, and the gravity center of the vehicle body moves forwards when the vehicle body is stressed, so that the vehicle body and the goods shelf are in overturning risk, and therefore the vertical height of the first hinge point and the horizontal distance from the center are increased, and the overturning resistance of the vehicle body can be improved;
6. the mounting cavity 93 is recessed downwards, so that the setting height of the lifting mechanism 1004 can be effectively reduced, the height of the whole vehicle is further reduced, and the anti-overturning capability is more excellent.
It should be noted that the sizes of the conventional AGV generally are as follows: the rotating diameter is more than 1000mm, the motion space requirement under the goods shelf is larger, and the acceleration is 0.5m/s and is influenced by the maximum driving force provided by the structure2The maximum speed is 1m/s, the driving force is insufficient, and the AGV car is unstable in work.
The size of the AGV provided by the invention is as follows: length 950mm, width 910mm, height 295mm, rotation diameter 990mm, lifting height 55mm, and acceleration up to 1m/s2The maximum speed can reach 1.5m/s, the size is small, the requirement of the motion space under the goods shelf can be reduced, the driving force is sufficient, and the work is stable and reliable.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The utility model provides a AGV car, its includes chassis structure, battery module, control module, drive module and lifting mechanism set up on chassis structure, its characterized in that: the chassis structure comprises a bottom plate, a first movable frame, a second movable frame, a driving device and bearing wheels, wherein the driving device is provided with driving wheels, the driving device drives the driving wheels to rotate through a driving shaft, and the first movable frame is hinged with the front end of the bottom plate through a first hinge point, so that the first movable frame forms a first force arm extending towards the outer side of the bottom plate and a second force arm extending towards the inner side of the bottom plate; the second movable frame is hinged with the rear end of the bottom plate through a second hinge point, so that a third force arm extending towards the inner side of the bottom plate and a fourth force arm extending towards the outer side of the bottom plate are formed on the second movable frame, the bearing wheels are respectively arranged on the first force arm and the fourth force arm, the end parts of the second force arm and the third force arm are hinged through the third hinge point, and the driving device is arranged on the second force arm and is positioned between the first hinge point and the third hinge point.
2. The AGV vehicle of claim 1, wherein: the ratio of the load bearing wheel on the first force arm, the load bearing wheel on the driving wheel and the load bearing wheel on the fourth force arm is 3:4: 3.
3. The AGV vehicle of claim 1, wherein: the front end of the bottom plate is provided with a first connecting seat, the rear end of the bottom plate is provided with a second connecting seat, the first movable frame is hinged with the first connecting seat through a first hinge point, the second movable frame is hinged with the second connecting seat through a second hinge point, and an installation cavity is formed by enclosing the first movable frame, the second movable frame and the bottom plate.
4. The AGV vehicle of claim 3, wherein: a first connecting shaft is arranged at the first hinge point and is arranged on a first connecting seat, and the first movable frame is hinged with the first connecting seat through a first connecting shaft; the second articulated point is provided with a second connecting shaft, the second connecting shaft is arranged on a second connecting seat, the second movable frame is articulated with the second connecting seat through the second connecting shaft, the third articulated point is provided with an articulated shaft, the end parts of the second force arm and the third force arm are articulated through the articulated shaft, a second opening is formed in the position of the second connecting seat and the second connecting shaft, the radius of the second opening is larger than that of the second connecting shaft, and the radius of the second opening is 4-6mm larger than the outer diameter of the second connecting shaft.
5. The AGV vehicle of claim 1, wherein: enclose between the second arm of force of first activity frame, the third arm of force of second activity frame and the bottom plate and close and form the installation cavity of undercut, lifting mechanism fixes in the installation cavity, battery module locates the third arm of force top through the support bracket, the control module both sides are located first arm of force top through the connecting plate and are connected with the battery module electricity, the connecting plate respectively with bottom plate fixed connection, the control module both sides are equipped with the bearing board, drive module locates on the bearing board and is connected with the control module electricity.
6. The AGV vehicle of claim 1, wherein: the bearing wheels comprise a first bearing wheel and a second bearing wheel, the first bearing wheel is arranged on the first force arm, the second bearing wheel is arranged on the fourth force arm, the first bearing wheel and the second bearing wheel are respectively provided with two or more than two, and the first bearing wheel is a universal wheel; or the first bearing wheel and the second bearing wheel are universal wheels.
7. The AGV vehicle of claim 6, wherein: still include first bearing wheel adjusting part, first bearing wheel adjusting part includes first connecting block, first pendulum shaft and first swing span, first connecting block sets up on first activity frame, first pendulum shaft passes on first connecting block rotationally locates first connecting block, first swing span and first pendulum shaft fixed connection, the downside at first swing span is fixed to first bearing wheel.
8. The AGV vehicle of claim 7, wherein: still include the elastic buffering subassembly, the elastic buffering subassembly includes first fixed plate, first fixing bolt and first spring, the upside at first activity frame is fixed to first fixed plate, be equipped with first trompil on the first fixed plate, first fixing bolt passes first trompil and with bottom plate fixed connection, first spring housing is established in the first fixing bolt outside and is compressed between first fixed plate and bottom plate.
9. The AGV vehicle of claim 7 or 8, wherein: the pre-pressure adjusting assembly comprises a second fixing plate, a second fixing bolt, a second spring and an adjusting block, the lower side of the first movable frame is fixed on the second fixing plate through the second fixing bolt, the adjusting block is connected with the upper side of the second fixing bolt, and the second spring is sleeved on the outer side of the second fixing bolt and compressed between the adjusting block and the second fixing plate.
10. The AGV vehicle of claim 1, wherein: the first movable frame is Z-shaped, one section of the first movable frame positioned on the first force arm is higher than one section of the first movable frame positioned on the second force arm, the second movable frame is horizontal, one section of the second movable frame positioned on the third force arm is as high as one section of the fourth force arm, and one section of the first movable frame positioned on the first force arm is higher than the second movable frame; the distance difference of the vertical distances from the top of the battery module, the control module, the driving module and the lifting mechanism to the bottom plate is less than or equal to 220 mm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821017616.X | 2018-06-28 | ||
| CN201821017616X | 2018-06-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111469948A true CN111469948A (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822131612.0U Withdrawn - After Issue CN209739208U (en) | 2018-06-28 | 2018-06-28 | AGV chassis structure |
| CN201811548339.XA Pending CN111469948A (en) | 2018-06-28 | 2018-12-18 | AGV car |
| CN201822132528.0U Active CN209410201U (en) | 2018-06-28 | 2018-12-18 | A kind of AGV vehicle |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822131612.0U Withdrawn - After Issue CN209739208U (en) | 2018-06-28 | 2018-06-28 | AGV chassis structure |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822132528.0U Active CN209410201U (en) | 2018-06-28 | 2018-12-18 | A kind of AGV vehicle |
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| Country | Link |
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| CN (3) | CN209739208U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590933A (en) * | 2020-12-02 | 2021-04-02 | 广东嘉腾机器人自动化有限公司 | AGV Chassis |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN114212734A (en) * | 2021-12-24 | 2022-03-22 | 北京捷象灵越科技有限公司 | Mobile device and AGV fork truck |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209739208U (en) * | 2018-06-28 | 2019-12-06 | 广东嘉腾机器人自动化有限公司 | AGV chassis structure |
| CN108791569B (en) * | 2018-06-28 | 2024-03-01 | 广东嘉腾机器人自动化有限公司 | AGV chassis structure |
| EP3848324B1 (en) * | 2019-12-30 | 2024-07-31 | STILL GmbH | Automatic guided vehicle |
| CN111267997A (en) * | 2020-02-26 | 2020-06-12 | 广东博智林机器人有限公司 | Ground self-adaptation AGV chassis and AGV car |
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| US4706770A (en) * | 1986-04-21 | 1987-11-17 | Deere & Company | Utility hauling vehicle having four wheel drive |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN105730553A (en) * | 2016-02-05 | 2016-07-06 | 广东嘉腾机器人自动化有限公司 | AGV chassis structure capable of adapting to ground deformation |
| CN209410201U (en) * | 2018-06-28 | 2019-09-20 | 广东嘉腾机器人自动化有限公司 | A kind of AGV vehicle |
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2018
- 2018-06-28 CN CN201822131612.0U patent/CN209739208U/en not_active Withdrawn - After Issue
- 2018-12-18 CN CN201811548339.XA patent/CN111469948A/en active Pending
- 2018-12-18 CN CN201822132528.0U patent/CN209410201U/en active Active
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|---|---|---|---|---|
| US4706770A (en) * | 1986-04-21 | 1987-11-17 | Deere & Company | Utility hauling vehicle having four wheel drive |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN105730553A (en) * | 2016-02-05 | 2016-07-06 | 广东嘉腾机器人自动化有限公司 | AGV chassis structure capable of adapting to ground deformation |
| CN209410201U (en) * | 2018-06-28 | 2019-09-20 | 广东嘉腾机器人自动化有限公司 | A kind of AGV vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590933A (en) * | 2020-12-02 | 2021-04-02 | 广东嘉腾机器人自动化有限公司 | AGV Chassis |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN114212734A (en) * | 2021-12-24 | 2022-03-22 | 北京捷象灵越科技有限公司 | Mobile device and AGV fork truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN209739208U (en) | 2019-12-06 |
| CN209410201U (en) | 2019-09-20 |
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