CN112389545A

CN112389545A - Automated guided vehicle and vehicle chassis assembly

Info

Publication number: CN112389545A
Application number: CN201910739444.XA
Authority: CN
Inventors: 刘哲; 王悦翔; 曹抒阳; 尹慧昕
Original assignee: Zhuineng Robot Shanghai Co ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-08-12
Filing date: 2019-08-12
Publication date: 2021-02-23

Abstract

The application discloses automated guided vehicle and vehicle chassis subassembly. The vehicle chassis assembly includes a base plate and at least four wheels, wherein the wheels are connected to the base plate, the base plate includes a first base plate and a second base plate, the first base plate and the second base plate are rotatably connected by a rotating shaft, and the first base plate and the second base plate are each connected with at least two wheels. A damping device is arranged between the first bottom plate and the second bottom plate. The vehicle chassis assembly can improve the running stability of a vehicle.

Description

Automated guided vehicle and vehicle chassis assembly

Technical Field

The invention relates to the field of intelligent warehousing, in particular to an automatic guided vehicle and a vehicle chassis assembly.

Background

With the development of logistics technology, various automatic guided vehicles (also called AGV vehicles) have appeared, which are widely used for goods handling. One issue to consider when designing an AGV is the smoothness of its operation, particularly on rough roads. The existing AGV generally adopts a spring to be arranged between each wheel and a bottom plate to realize the damping function, so that the running stability of the AGV is improved. The inventors of the present invention found that problems with this structure are:

1. the number of springs to be installed is large, the installation procedure is complex, the number of installation parts is large, and the compression amount of each spring is difficult to control to be consistent, so that each wheel is stressed unevenly, and slipping cannot be avoided well;

2. the spring structure can repeat the process of compression rebound when the robot accelerates and decelerates, causes the round trip of robot to sway, and is the phenomenon of "nodding", can even make the transport goods drop when serious.

Therefore, a structure that helps improve the smoothness of the AGV car is needed.

Disclosure of Invention

The invention aims to provide a vehicle chassis component and an automatic guided vehicle, which can adapt to uneven road surfaces and reduce the slip probability.

In order to achieve the above object, the present invention provides a vehicle chassis assembly comprising a base plate and at least four wheels, wherein the wheels are connected to the base plate, the base plate comprises a first base plate and a second base plate, the first base plate and the second base plate are rotatably connected through a rotating shaft, and at least two wheels are connected to each of the first base plate and the second base plate, characterized in that a shock-absorbing device is provided between the first base plate and the second base plate.

In one embodiment, the first base plate and the second base plate are respectively provided with a base opposite to each other, and the two bases are rotatably connected through the rotating shaft, wherein the base of the first base plate is arranged on a first side of the first base plate, and the base of the second base plate is arranged on a second side of the second base plate opposite to the first side of the first base plate.

In one embodiment, the damping device includes a supporting seat disposed on one of the first base plate and the second base plate, and an elastic member disposed between the supporting seat and the other of the first base plate and the second base plate.

In one embodiment, one end of the elastic member is connected to the supporting seat on one of the first base plate and the second base plate, and the other end of the elastic member is connected to the other of the first base plate and the second base plate.

In one embodiment, the elastic member is arranged in a vertical direction.

In one embodiment, the resilient member is arranged to be pre-compressed.

In one embodiment, the elastic member is a spring.

In one embodiment, the bottom end of the supporting seat is fixed to one of the first bottom plate and the second bottom plate, and the top end of the supporting seat extends above the other of the first bottom plate and the second bottom plate and is connected to the elastic member.

In one embodiment, the support base has a pillar fixedly attached to one of the first and second bottom plates and a connecting plate integrally and vertically extending from a top end of the pillar to above the other of the first and second bottom plates.

In one embodiment, the damping device is disposed adjacent to the rotating shaft.

In one embodiment, at least one damping device is arranged on each of two sides of the rotating shaft.

In one embodiment, the wheels mounted to the first base plate are located on opposite sides of the first base plate transverse to the first side, and the wheels connected to the second base plate are located on opposite sides of the second base plate transverse to the second side.

In one embodiment, the wheels mounted to the first base plate are on a side opposite the first side of the first base plate and the wheels mounted to the second base plate are on a side opposite the second side of the second base plate.

In one embodiment, each of the wheels is connected to the base plate through a wheel frame, wherein the wheel frame is fixedly connected to the base plate, and a cushion pad is disposed between the wheel frame and the base plate.

In one embodiment, the area of the first base plate is larger than the area of the second base plate.

The application also discloses an automated guided vehicle, the automated guided vehicle is provided with the vehicle chassis assembly and the driving mechanism, the driving mechanism comprises at least one driving motor and a corresponding driving shaft connected with the driving motor, and the wheels are connected with the corresponding driving shaft.

In an embodiment, the first bottom plate and the second bottom plate are respectively provided with two wheels, the wheels on the first bottom plate and the rotating shaft form a triangular structure, and the wheels on the second bottom plate and the rotating shaft form a triangular structure.

In one embodiment, a plurality of electric push rods are arranged on the first bottom plate, and a tray is arranged at the top end of each electric push rod.

In one embodiment, at least two of the wheels are omni wheels or mecanum wheels.

In one embodiment, the first bottom plate is further provided with a shooting mechanism composed of a support, a first camera and a second camera, the first camera and the second camera are arranged at two ends of the support, the first camera is used for shooting the bottom mark of the goods shelf and automatically searching the goods shelf and carrying goods according to a shooting result, and the second camera is used for scanning and identifying the ground mark or the grain to carry out space positioning calibration on the omnidirectional moving trolley.

In one embodiment, the support is connected with a connecting rod perpendicular to the first base plate for fixing, and a camera hole is formed in the position, corresponding to the second camera, of the first base plate, so that the second camera scans and identifies ground marks or grains through the camera hole to perform space positioning calibration on the omnidirectional moving trolley.

In one embodiment, a plurality of obstacle avoidance modules are arranged at the edges of the first bottom plate and the second bottom plate, and the obstacle avoidance modules are used for sensing the distance between the omnidirectional moving trolley and an obstacle so as to control the omnidirectional moving trolley to brake.

In one embodiment, a charging module is arranged on one side, back to the pillar, of the first bottom plate, and is connected with a power supply of a trolley to charge the power supply, and the charging module automatically charges when the omnidirectional moving trolley runs to a charging pile.

In one embodiment, the automatic guided vehicle further comprises a processor, wherein the processor is connected with a central system, receives a scheduling instruction of the central system, feeds back the state of the equipment to the central system, simultaneously receives the sensing signal of the obstacle avoidance module, the electric quantity information of the power supply and the shooting information of the shooting mechanism, and after analysis and processing, sends an operation instruction to each driving motor to control the running and the rotation of the corresponding steering wheel, sends a charging instruction to control the omnidirectional moving trolley to reach the charging pile to charge and sends a loading and unloading instruction to control the electric push rod to lift the goods for loading and unloading.

The invention has the beneficial effects that: the vehicle chassis of the invention is applicable to various types of transport vehicles, in particular to automatic guided vehicles. Adopt the vehicle chassis simple structure of this application, the vehicle that adopts the vehicle chassis of this application can effectively reduce the probability of skidding for the dolly operation is more steady.

Drawings

FIG. 1 is a schematic structural view of a vehicle chassis assembly of an embodiment;

FIG. 2 is a schematic structural view of another embodiment of a vehicle chassis assembly;

FIG. 3 is a schematic structural view of a variation of the vehicle chassis assembly of the embodiment shown in FIG. 2;

FIG. 4 is a schematic structural view of yet another variation of the vehicle chassis assembly of the embodiment shown in FIG. 2;

FIG. 5 is a schematic structural view of a further embodiment of a vehicle chassis assembly;

FIGS. 6a and 6b are schematic views of the vehicle chassis assembly of the embodiment of FIGS. 1 and 2-5, respectively, operating on a rough road;

FIGS. 7a and 7b are schematic views of two wheel mounting configurations of the vehicle chassis assembly of the embodiment of FIGS. 1-5;

FIG. 8 is a schematic diagram of an AGV configuration utilizing the vehicle chassis assembly of the present application;

FIG. 9 is a schematic view of the AGV of FIG. 8 with the outer covering and some components removed.

Detailed Description

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings in order to more clearly understand the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.

In the following description, for the purposes of clearly illustrating the structure and operation of the present invention, directional terms will be used, but terms such as "front", "rear", "left", "right", "outer", "inner", "outer", "inward", "upper", "lower", etc. should be construed as words of convenience and should not be construed as limiting terms.

As shown in fig. 1, a structure of a vehicle chassis assembly 100 according to an embodiment of the present invention is shown. The vehicle chassis assembly 100 comprises two pivotally connected first and second

bottom plates

101, 102 and wheels 103. The first side of the first base plate 101 and the second side of the second base plate 102 are provided with a base 105 and a base 106, respectively, protruding from the base plate. The base 105 and the base 106 are rotatably connected by a rotating shaft 107. The base 105 and the base 106 may be fixed to the first base plate 101 and the second base plate 102 by welding, screwing, snapping, riveting, or the like, or may be integrally formed with the base plates. The

pedestals

105 and 106 may be provided as polygonal cylinders or other irregular shapes. Preferably, the base 105 and the base 106 are disposed on a central axis of the vehicle chassis assembly 100. In other embodiments, the base 105 and the base 106 may be slightly offset from the central axis of the vehicle chassis assembly 100, so long as the first base plate 101 can rotate relative to the second base plate 102. In another embodiment, the base is not provided, and two ends of the rotating shaft can be directly connected to the first bottom plate and the second bottom plate respectively. In this embodiment, the first bottom plate and the second bottom plate are rectangular in shape. It should be understood that the shape of the first bottom plate and the second bottom plate can be semicircular, semi-elliptical, irregular triangle, isosceles triangle, equilateral triangle or other irregular shapes, and can be set according to actual needs. The shape of the first base plate and the shape of the second base plate may be the same or different. Further, in one embodiment, one of the first and second bottom panels is a relatively large panel and the other is a relatively small panel. In other embodiments, the areas of the first and second bottom plates may be the same, and may be configured according to the specific configuration of the cart.

As shown in fig. 1, between the first base plate 101 and the second base plate 102, i.e., between the first side and the second side, a shock-absorbing device is provided. The damping devices are arranged on both sides of the base. When the base works, each bottom plate forms a lever structure by taking the mutual rotating points as fulcrums, and the damping devices on the two sides of the base mutually serve as force application points and force bearing points on the two sides of the fulcrums to keep the lever structure balanced to buffer vibration. It should be understood that only one damping device may be disposed on one side of the mutual rotation axis of the first base plate 101 and the second base plate 102, and a plurality of damping devices may be disposed on the same side.

In this embodiment, the damping device comprises a bearing seat 108 disposed on the first base plate, and an elastic member 109 disposed between the bearing seat 108 and the other base plate. In particular, the bearing 108 and the base 105 are both arranged on the same side of the first base plate, i.e. both arranged on a first side of the first base plate 101. The elastic member 109 is arranged vertically. In this case, the amount of elastic deformation may be relatively large. The elastic member 109 may be arranged to have a certain amount of precompression. In other embodiments, the elastic member 109 may not be configured to have a certain amount of precompression. When the first base plate 101 and the second base plate 102 rotate relatively on a rough road, the supporting seat presses or pulls the elastic member 109 to absorb the vibration. It should be understood that the bearing block 108 may also be provided on the second base plate, with one end of the resilient member being connected to the bearing block 108 and the other end of the resilient member being connected to the first base plate. Or, in one of the damping devices, the supporting seat is arranged on the first bottom plate, and the elastic member is arranged on the second bottom plate, while in the other damping device, the supporting seat is arranged on the second bottom plate, and the elastic member is arranged on the first bottom plate. The number of the shock-absorbing means may be one, two or more.

In the embodiment shown in fig. 1, the support base has a pillar 108a fixedly connected to the first base plate 101 and a connecting plate 108b integrally and vertically extending from the top end of the pillar 108a to above the second base plate, and is formed in a substantially L-shape. The bottom end of the upright 108a is fixed to the first base plate 101, and the end of the connecting plate is connected to the top end of the elastic member 109. The bottom end of the elastic member 109 is directly or indirectly connected to the second base plate 102. In this embodiment, the supporting seat may have a limiting function while being connected to the elastic member 109. It is understood that in another embodiment, a limiting structure may be additionally provided.

The support 108 may be a rod, a strip with hooks, or other suitable shapes. The number of the bearing blocks 108 may be set to one or more. The elastic element 109 or the stroke of the reciprocating movement of the elastic element 109 can be arranged perpendicular to the second base plate 102 or at an oblique angle to the second base plate 102, for example at an oblique angle of 30 ° to 85 °, preferably at an angle of 45 °, 60 ° or 70 °.

The bearing block 108 may also be provided without a connecting plate extending to the second base plate 102, and the elastic member 109 is correspondingly disposed at an angle to the second base plate 102 and obliquely disposed between the bearing block 108 and the second base plate 102, or obliquely disposed between a cross arm of the bearing block 108 and the second base plate 102.

The supporting seats 108 of the plurality of shock absorbing devices may be all disposed on the first base plate 101, and correspondingly, the elastic members 109 are all disposed on the second base plate 102; or both may be disposed on the second bottom plate 102, and correspondingly, both the elastic members 109 are disposed on the first bottom plate 101; or partially disposed on the first bottom plate 101 and partially disposed on the second bottom plate 102, and correspondingly, the elastic member 109 is partially disposed on the first bottom plate 101 and partially disposed on the first bottom plate 101. It will also be appreciated that the bearing block 108 may be provided as a rigid member, or as an elastic member, or at least comprise a partially elastic portion, to further dampen vibrations.

The supporting seat 108 and the elastic member 109 may also be arranged in other manners as long as the reciprocating stroke direction of the elastic member 109 and the mutual rotation direction of the first base plate 101 and the second base plate 102 are arranged at a certain intersecting angle, and the relative rotation of the elastic member and the first base plate can be blocked and buffered to a certain extent.

The elastic member 109 is a spring, and may be a coil spring, a leaf spring, a gas spring, a rubber spring, or the like. Preferably, when the first base plate 101 and the second base plate 102 are in a predetermined state, in some cases balanced, and do not rotate relatively, the elastic member 109 is in a partially compressed state, and the force for compressing the elastic member 109 may be derived from the gravity of the supporting seat 109 itself or the gravity transmitted by other components, such as the first base plate 101. This arrangement can obtain a preferable shock-absorbing effect in some cases.

The first base plate 101 and the second base plate 102 are each provided with at least two wheels 103. In the embodiment shown in fig. 1, the wheels connected to the first base plate are arranged on two opposite sides of the first base plate, transverse to the first side. Wheels connected to the second base plate are disposed on opposite sides of the second base plate transverse to the second side. Specifically, first bottom plate with the second bottom plate respectively is equipped with two wheels, wheel on the first bottom plate with the pivot forms the triangle-shaped structure, just wheel on the second bottom plate with the pivot forms the triangle-shaped structure. The wheels 103 may include a drive wheel and a driven wheel, wherein the drive wheel may be coupled to a drive mechanism. Specifically, the drive mechanism includes a drive motor and a drive shaft. The driving wheel is connected with a driving motor through a driving shaft. The drive wheels may be omni-wheels, such as mecanum wheels. The driven wheel may be a universal wheel or the like. In another embodiment, the wheels 103 may all be omni wheels or mecanum wheels. In other embodiments, other wheel arrangements may also be made as desired.

Fig. 2 shows the structure of a vehicle chassis assembly 200 according to another embodiment of the present invention. As shown in fig. 2, the vehicle chassis assembly 200 includes two pivotally connected first and second

bottom plates

201 and 202. The first side of the first base plate 201 and the second side of the second base plate 202 are provided with a base 205 and a base 206, respectively, protruding from the base plates. The base 205 and the base 206 are rotatably connected by a rotating shaft 207 so that the first base plate and the second base plate can relatively rotate about a rotating axis. The structure of the base and its mounting are the same as in the embodiment shown in fig. 1 and will not be described in detail here.

As shown in fig. 2, between the first base plate 201 and the second base plate 202, i.e., between the first side and the second side, a shock-absorbing device is disposed. The damping devices are arranged on both sides of the base. When the base works, each bottom plate forms a lever (balance) structure by taking the mutual rotating points as fulcrums, the damping devices on the two sides of the base are mutual force application points and force bearing points on the two sides of the fulcrums, and the left side and the right side of the lever (balance) structure are kept balanced to buffer vibration. It is understood that only one damping device may be disposed on one side of the mutual rotation axis of the first base plate 201 and the second base plate 202, and a plurality of damping devices may be disposed on the same side. Here, the structure, operation principle and action of the damper device are the same as those of the damper device shown in fig. 1, and are not described in detail.

In the embodiment shown in fig. 2, the first bottom plate 201 and the second bottom plate 202 are rectangular plate-shaped bodies and are arranged substantially in parallel along the left and right. In other embodiments, the first and second bottom plates may be arranged in other shapes or in non-parallel rows as desired. The first and second bottom plates are each mounted with at least two wheels 203. The wheels mounted to the first base plate 201 are located on a side opposite to the first side of the first base plate 201, i.e., on a side opposite to the side on which the base 205 is mounted. The wheels mounted to the second base plate 202 are located on the side opposite to the second side of the second base plate, i.e., the side opposite to the side on which the base 206 is mounted. Wheels 203 may be mounted on the floor by wheel frames 204. The wheels 203 may include a drive wheel and a driven wheel, wherein the drive wheel may be coupled to a drive mechanism. Specifically, the drive mechanism includes a drive motor and a drive shaft. The driving wheel is connected with a driving motor through a driving shaft. The drive wheels may be omni wheels or mecanum wheels. The driven wheel may be a universal wheel or the like. In another embodiment, wheels 203 may all be omni wheels or mecanum wheels. In other embodiments, other wheel arrangements may also be made as desired.

Fig. 3-4 show schematic structural views of the

vehicle chassis assembly

400, 500 of two variations of the embodiment shown in fig. 2, respectively. The vehicle chassis assembly 400 of the modified example shown in fig. 3 to 4 is different from the vehicle chassis assembly 200 of the embodiment shown in fig. 2 in the shock absorbing device, and the rest is the same and will not be described in detail. As shown in fig. 3, in the modification shown in fig. 3, the shock absorbing means of the vehicle chassis assembly 400 is a plate spring 401. Both ends of the plate spring 401 are directly connected to the first base plate 201 and the second base plate 202, respectively. As shown in fig. 4, in the modification shown in fig. 4, the shock absorbing means of the vehicle chassis assembly 500 is a spring 501. Both ends of the spring 501 are connected to the mounting pins 502 of the first base plate 201 and the mounting pins 502 of the second base plate 202, respectively. Of course, both ends of the spring 501 may be directly connected to the first base plate 201 and the second base plate 202.

It should be understood that in the embodiment shown in fig. 1, the shock absorbing device may be replaced with the shock absorbing device shown in fig. 3-4.

Fig. 5 shows the structure of a vehicle chassis assembly 300 according to yet another embodiment of the present invention. The difference between the embodiment shown in fig. 5 and the embodiment shown in fig. 2 is that the embodiment of fig. 5 is not provided with damping

means

208, 209, but the rest is the same and will not be described in detail here.

FIGS. 6a and 6b are schematic views of the vehicle chassis assembly of the embodiment of FIGS. 1 and 2-5, respectively, operating on a rough road. As shown in fig. 6a and 6b, when the two pivotally connected bottom plates of the vehicle chassis assembly 100 swing in the left-right direction during rough road operation, especially during rough road operation on the left and right sides, the centers of the wheels 103 may be deviated from the ground; while the two pivotally connected bottom plates of the vehicle chassis assembly 300 swing in the fore-and-aft direction, the center of the wheel 203 is always aligned with the ground without deviation. Therefore, for the setting mode of transversely arranging the polylith bottom plate around for, the advantage of vertically arranging the polylith bottom plate about, when meetting uneven road surface, the slant when having avoided the wheel swing lands.

In cooperation with the damping device, the present invention also provides a wheel structure with damping function, and the wheel structure of the vehicle chassis assembly 100 is taken as an example for description. As shown in fig. 7a and 7b, two kinds of wheel mounting structures of the vehicle chassis assembly 100 are respectively shown. As shown in fig. 7a, the wheel 103 is mounted on the wheel carrier 104 through the rotating shaft 110, and the wheel carrier 104 is connected with the first base plate 101 through a rigid manner such as screw locking, and the vibration generated by the rigidly connected lower wheel 103 is directly transmitted to the first base plate 101. As shown in fig. 7b, a cushion pad 111 is disposed between the wheel frame 104 and the first base plate 101. When the vibration of the wheel 103 is transmitted through the wheel carrier 104, the vibration to the first base plate 101 is greatly reduced after being buffered by the buffer pad 110, and the vehicle operation is more stable. Practice shows that the arrangement of the wheel structure and the matching of the damping device have unexpected damping effect. The cushion pad 111 and the shock-absorbing means perform different shock-absorbing tasks in which the cushion pad 111 is prominent in the elimination of small micro-shocks and the shock-absorbing means is excellent in the elimination of middle-and large-sized shocks.

The vehicle chassis assembly 100, the vehicle chassis assembly 200 and the like can be applied to various carrying vehicles, particularly automatic guided vehicles, have outstanding shock absorption effects, and can effectively reduce the probability of vehicle skidding.

In one embodiment, as shown in FIGS. 8-9, an Automated Guided Vehicle (AGV) 600 is provided with any of the

Vehicle chassis assemblies

100, 200, 300, 400, 500 described above. In this embodiment, the AGV cart 600 employs a vehicle chassis assembly 100. The automatic guided vehicle is further provided with a housing 601 and a driving mechanism (not shown). The drive mechanism comprises at least one drive motor and a corresponding drive shaft connected to the drive motor, wherein a corresponding number of the wheels are connected to the corresponding drive shaft, respectively. Further, a plurality of electric push rods (linear actuators) 602 are disposed on the first base plate. The top end of the electric push rod is provided with a tray 603 for carrying goods. Further, a shooting mechanism (not shown) is arranged on the first bottom plate and consists of a support, a first camera and a second camera. First camera and second camera set up in the support both ends. Shooting mechanism sets up in the sign of goods shelves bottom through first camera scanning, like bar code or two-dimensional code etc. carries out automatic seeking goods shelves and cargo handling through the scanning. The trolley space positioning calibration is carried out by the identification of the second camera on the ground mark of the warehouse or directly scanning the ground grains. In the present invention, the number of the first camera and the second camera may be 1 or more.

Furthermore, a plurality of obstacle avoidance modules (not shown) are arranged at the edges of the first bottom plate and the second bottom plate, and the distance between the trolley and an obstacle on a travelling line is sensed through the obstacle avoidance modules so as to brake the trolley. Meanwhile, the automatic guided vehicle is also provided with an automatic charging module. After the power supply electric quantity of the trolley is lower than the preset electric quantity, the trolley automatically charges when moving to the charging pile arranged in the warehouse.

Further, the automated guided vehicle further comprises a processor, wherein the processor is connected with a central system (not shown), receives a scheduling instruction of the central system, feeds back the state of the equipment to the central system, receives the sensing signal of the obstacle avoidance module, analyzes and processes the sensing signal, and sends an operation instruction to the driving motor so as to brake the trolley. For example, after the processor receives the sensing signal, the sensing signal is analyzed, the distance between the corresponding obstacle avoidance module and the obstacle is judged, and when the distance between the trolley and the obstacle is smaller than or equal to a preset distance threshold, an operation instruction is sent to the driving motor to control the trolley to slow down or stop. Meanwhile, the processor receives the electric quantity information of the power supply of the trolley, sends a charging request to the central system when the electric quantity is less than or equal to a preset electric quantity threshold value, and sends a charging instruction to the driving motor after receiving a specified path, so that the trolley stops charging when the trolley travels to the charging pile, and continues to run after the charging is finished. The processor receives shooting information of the camera, sends a coordinate calibration instruction or a parking instruction to the driving motor after shooting a specified mark or ground texture, and simultaneously sends a loading and unloading instruction to the electric push rod, so that the electric push rod lifts the tray and loads and unloads goods.

Meanwhile, the processor can be connected to a remote computer (not shown), various instructions are sent to the computer at the same time, and the computer determines information such as the running time, the carrying times, the charging times and the like of the trolley by counting the various instructions so as to count the running condition of the trolley and further realize the monitoring of the trolley.

The processor can be arranged on a bottom plate of the trolley and is connected with the obstacle avoidance module, the driving motor, the electric push rod and a power supply of the trolley through leads to receive information and transmit instructions; or the processor can be a remote computer and is connected with the obstacle avoidance module, the driving motor, the electric push rod and the power supply of the trolley in a wireless communication mode to receive information and transmit instructions.

It is to be understood that the above-described configurations of automated guided vehicle 600 are merely exemplary, and that one skilled in the art may employ automated guided vehicle 600 or a handling vehicle of other configurations as desired, and as such may be adapted to the various vehicle chassis assemblies of the present application.

While the preferred embodiments of the present invention have been described in detail above, it should be understood that the various embodiments may be combined with each other. Aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.

Claims

1. A vehicle chassis assembly comprising a base plate and at least four wheels, wherein the wheels are connected to the base plate, the base plate comprises a first base plate and a second base plate, the first base plate and the second base plate are rotatably connected by a shaft, and the first base plate and the second base plate are each connected to at least two of the wheels, characterised in that a damping means is provided between the first base plate and the second base plate.

2. The vehicle chassis assembly of claim 1, wherein the first floor and the second floor are each disposed opposite a base, the two bases being rotatably coupled by the pivot axis, wherein the base of the first floor is disposed on a first side of the first floor and the base of the second floor is disposed on a second side of the second floor opposite the first side of the first floor.

3. The vehicle chassis assembly of claim 1, wherein the shock absorbing device includes a bearing seat disposed on one of the first and second bottom plates, and a resilient member disposed between the bearing seat and the other of the first and second bottom plates.

4. The vehicle chassis assembly of claim 3, wherein one end of the resilient member is coupled to a support base on one of the first and second bottom plates and the other end of the resilient member is coupled to the other of the first and second bottom plates.

In one embodiment, the elastic member is arranged in a vertical direction.

In one embodiment, the resilient member is arranged to be pre-compressed.

In one embodiment, the elastic member is a spring.

5. The vehicle chassis assembly of claim 3, wherein a bottom end of the bearing block is secured to one of the first and second bottom plates and a top end of the bearing block extends above the other of the first and second bottom plates and is coupled to the resilient member.

6. The vehicle chassis assembly of claim 3, wherein the support pedestal has a pillar fixedly attached to one of the first and second bottom plates and a connecting plate extending integrally vertically from a top end of the pillar above the other of the first and second bottom plates.

7. The vehicle chassis assembly of claim 1, wherein wheels mounted to the first floor are located on opposite sides of the first floor transverse to the first side and wheels connected to the second floor are located on opposite sides of the second floor transverse to the second side; alternatively, the wheels mounted to the first base plate are located on a side opposite to the first side of the first base plate, and the wheels mounted to the second base plate are located on a side opposite to the second side of the second base plate.

8. The vehicle chassis assembly of claim 1, wherein the shock absorbing device is a resilient member having one end secured to the first floor and another end secured to the second floor.

In one embodiment, the elastic member is a spring or a plate spring.

9. The vehicle chassis assembly of claim 1, wherein each of the wheels is connected to the floor via a wheel carrier, wherein the wheel carrier is fixedly connected to the floor and a cushion is disposed between the wheel carrier and the floor.

10. Automated guided vehicle provided with a vehicle chassis assembly according to any of claims 1-9 and a drive mechanism comprising at least one drive motor and a respective drive shaft connected to the drive motor, wherein the wheels are connected to the respective drive shaft.