CN116080792A - AGV chassis - Google Patents

Abstract

The invention relates to an AGV chassis, which comprises a chassis body, a driving wheel module and a follower module, wherein the driving wheel module and the follower module are arranged on the chassis body, the follower module comprises a frame, a moving mechanism and a positioning mechanism, the moving mechanism is arranged on the frame and can rotate relative to the frame, the positioning mechanism is arranged on the frame above the moving mechanism and comprises a power assembly and a jacking assembly, and the power assembly drives the second end of the jacking assembly to move up and down so as to enable the movement mechanism of the jacking assembly to prop against each other. This AGV chassis is through setting up drive wheel module and follower module on the chassis body, wherein drive wheel module provides the power supply for whole chassis body is gone, and the cooperation follower module makes the chassis body atress even when going on ground, can turn to the action simultaneously, and tight subassembly in top offsets with movement mechanism when the AGV chassis is going on uneven ground makes it by stable suppression in ground, and then with whole follower module stable suppression in ground, makes the AGV chassis keep static not rocking.

Description

AGV chassis

Technical Field

The invention relates to the technical field of automatic guided vehicles, in particular to an AGV chassis.

Background

With the gradual development of factory automation and computer integrated manufacturing system technology and the wide application of flexible manufacturing systems and automated stereoscopic warehouses, AGVs (Automated Guided Vehicle, automated guided vehicles) have been rapidly developed as a necessary automated handling means for connecting and adjusting discrete logistics management systems to allow continuous operation. In order to realize the removal of AGV dolly and going, be provided with multiunit drive wheel and follow driving wheel on the AGV chassis, however the AGV dolly that is configured with this AGV chassis in the relevant art mostly only can go on the subaerial that the planarization is better, this is because when the AGV dolly was gone on subaerial at the unevenness, the unable whole contact ground of wheel that sets up on the AGV chassis can make the AGV chassis take place not rocking of degree, can't be through the secondary positioning mechanism high accuracy location on the AGV dolly, consequently make whole automobile body unable to keep balance.

Disclosure of Invention

Accordingly, it is necessary to provide an AGV chassis that can stabilize an AGV trolley, in order to solve the problem that the AGV chassis cannot be balanced when the AGV trolley travels on uneven ground and is subject to different degrees of shake.

An AGV chassis comprising:

a chassis body;

the driving wheel module is arranged at the bottom of the chassis body and used for driving the chassis body to run;

the follower module, the follower module set up in chassis body bottom, cooperate the drive wheel module is so that the chassis body turns to the activity, wherein, the follower module includes:

a frame;

the motion mechanism is arranged on the frame and can rotate relative to the frame;

the positioning mechanism is arranged on the frame above the moving mechanism, the positioning mechanism comprises a power assembly and a jacking assembly, one end of the power assembly is arranged on the frame, a first end of the jacking assembly is connected with the power assembly, a second end of the jacking assembly is propped against the moving mechanism, and the power assembly is used for driving the jacking assembly to move so that the second end of the jacking assembly moves up and down.

In one embodiment, the driving wheel module comprises an idler wheel body, a walking power mechanism, a gear revolving mechanism and a first brake, the gear revolving mechanism comprises a gear box and a revolving motor, the driving end of the revolving motor is connected with the gear box, the gear box is in transmission connection with the idler wheel body so that the idler wheel body can steer, the walking power mechanism is arranged on one side of the idler wheel body, the output end of the walking power mechanism is connected with the idler wheel body, the first brake is arranged on the other side of the idler wheel body, and the walking power mechanism is matched with the first brake so that the idler wheel body can run or brake.

In one embodiment, the frame comprises a first frame body and a second frame body, the first frame body comprises a first support plate and a plurality of bushings, the bushings are arranged along the edges of the first support plate, the second frame body comprises a second support plate and a third support plate which are arranged in parallel with the first support plate, the second support plate is connected with the third support plate through a first guide post, and the first support plate is movably connected with the first guide post through the bushings, so that the second support plate and the third support plate can move relative to the first support plate along the first guide post at the same time.

In one embodiment, the power assembly comprises a driving motor, the tightening assembly comprises a cam and a follow-up bearing, the follow-up bearing is movably connected to one end of the cam, which is close to the movement mechanism, and a driving shaft of the driving motor is connected with the cam, so that the cam drives the follow-up bearing to rotate.

In one embodiment, the motion mechanism comprises a rotation assembly and a wheel assembly, the rotation assembly is mounted on the second frame body, and an output end of the rotation assembly is connected with the wheel assembly and is used for driving the wheel assembly to rotate around an axis of the rotation assembly.

In one embodiment, the rotating assembly comprises a central turntable, a first rotating shaft and a transmission frame, the transmission frame is arranged above the central turntable, one end of the first rotating shaft, which is inserted into the wheel assembly, is provided with a clamping disc, and the first rotating shaft axially penetrates through the center turntable, the transmission frame and the center of the wheel assembly and is used for rotatably arranging the wheel assembly at the lower end of the rotating assembly.

In one embodiment, the wheel assembly comprises a rotating arm, a second rotating shaft and rollers, wherein the rotating arm comprises an upper substrate and arm plates respectively arranged on two sides of the upper substrate, the upper substrate is provided with inserting holes matched with the clamping discs and used for enabling the rotating arm to be connected with the first rotating shaft in a rotating mode, shaft holes are respectively formed in the arm plates and oppositely arranged, the second rotating shaft is matched with the shaft holes to be arranged between the arm plates, and the rollers are arranged on the second rotating shaft.

In one embodiment, the rack further comprises an elastic component arranged between the first rack body and the second rack body, the elastic component comprises a spring and a stabilizing disc, the spring is sleeved on the first guide post, one end of the spring is connected with the bushing, the other end of the spring is connected with the stabilizing disc, the stabilizing disc is arranged on the first guide post, one side of the stabilizing disc is connected with the spring, and the other side of the stabilizing disc is connected with the third support plate.

In one embodiment, the positioning mechanism further comprises a second brake arranged on the rotating assembly, the second brake is used for limiting the rotation of the first rotating shaft, and a third brake arranged on one side of the wheel assembly, and the third brake is used for limiting the rotation of the second rotating shaft.

In one embodiment, the AGV chassis further comprises an auxiliary mechanism, the auxiliary mechanism comprises a 3D camera and a proximity switch sensor, the 3D camera is oppositely arranged on two sides of the chassis body, an adjusting plate is further arranged on the rack, and the proximity switch sensor is detachably connected to the adjusting plate and used for accurately detecting the position of the follow-up bearing.

Above-mentioned AGV chassis through setting up drive wheel module and follower module on the chassis body, wherein drive wheel module is for whole chassis body and goes and provide the power supply, cooperation follower module makes the chassis body atress when going on ground even, simultaneously can make the chassis body turn to the action, and owing to be provided with the frame in the follower module, actuating mechanism and positioning mechanism, the power component drive tight subassembly in the positioning mechanism pushes up, make tight subassembly's of pushing up second end up-and-down motion, when tight subassembly second end of pushing up is close to actuating mechanism, will offset with actuating mechanism, make actuating mechanism by stable suppression in ground, in practice when the AGV chassis is going on uneven ground, positioning mechanism can be with the stable suppression of actuating mechanism, and then with whole follower module stable suppression in ground, make the AGV chassis keep static and not rock.

Drawings

FIG. 1 is a schematic view of the bottom structure of an AGV chassis;

FIG. 2 is a perspective view of the AGV chassis;

FIG. 3 is a schematic perspective view of a follower wheel module in an AGV chassis;

FIG. 4 is a schematic perspective view of another view of a follower wheel module in an AGV chassis;

FIG. 5 is a schematic illustration of the connection of the power and take-up components in the AGV chassis;

FIG. 6 is a side view of a follower wheel assembly in the AGV chassis;

FIG. 7 is a cross-sectional view of the AGV chassis of FIG. 6 taken along the direction A-A;

FIG. 8 is a cross-sectional view of the AGV chassis of FIG. 6 taken along the direction B-B.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

According to the AGV chassis, the driving wheel module 2 and the follower wheel module 3 are arranged on the AGV chassis, so that the running and steering movement requirements required in the daily transportation process are met, and different chassis layout structures have different steering and control modes.

In order to realize that the AGV chassis normally runs, two groups of driving wheel modules 2 and two groups of follower wheel modules 3 are arranged at the bottom of the chassis body 1, the two groups of driving wheel modules 2 are arranged in a diagonal mode respectively, the same two groups of follower wheel modules 3 are also arranged in a diagonal mode, wherein the driving wheel modules 2 provide running power for the whole chassis body 1 and are main stress modules, and the follower wheel modules 3 are used for universal rotation and auxiliary support.

Simultaneously can also adopt to set up a set of drive wheel module 2 at chassis body 1 bottom center, set up three sets of follower wheel module 3 that are equilateral triangle and distribute around the drive wheel module 2 in center, perhaps set up four sets of follower wheel module 3 respectively in chassis body 1 bottom summit department, set up multiunit drive wheel module 2 at the center rationally, for example: the number and the mode of arranging the driving wheel modules 2 and the follower wheel modules 3 at the bottom of the chassis body 1 are not limited, so long as the whole chassis body 1 can stably run.

Referring to fig. 1 to 3, an AGV chassis according to an embodiment of the present invention is shown, including a chassis body 1, a driving wheel module 2 and a follower wheel module 3, where the driving wheel module 2 is disposed at the bottom of the chassis body 1 and is used for driving the chassis body 1 to travel, and the follower wheel module 3 is disposed at the bottom of the chassis body 1 and cooperates with the driving wheel module 2 to steer the chassis body 1. Specifically, the follower wheel module 3 includes a frame 31, a movement mechanism 32 and a positioning mechanism 33, wherein the movement mechanism 32 is disposed on the frame 31, the movement mechanism 32 can rotate relative to the frame 31, the positioning mechanism 33 is disposed on the frame 31 above the movement mechanism 32, the positioning mechanism 33 includes a power component 331 and a tightening component 332, one end of the power component 331 is disposed on the frame 31, a first end of the tightening component 332 is connected with the power component 331, a second end of the tightening component 332 abuts against the movement mechanism 32, and the power component 331 is used for driving the tightening component 332 to move so as to enable a second end of the tightening component 332 to move up and down.

The AGV chassis in this embodiment, through setting up drive wheel module 2 and follower module 3 on chassis body 1, wherein drive wheel module 2 provides the power supply for whole chassis body 1 is gone, cooperation follower module 3 makes chassis body 1 atress even when going on ground, simultaneously can make chassis body 1 turn to the action, and owing to be provided with frame 31 in the follower module 3, motion 32 and positioning mechanism 33, drive tight subassembly 332 of top through the power pack 331 in the positioning mechanism 33, make the second end up-and-down motion of tight subassembly 332, when tight subassembly 332 second end is close to motion 32, will offset with motion 32, make motion 32 by stable suppression in ground, in fact, when the AGV chassis is going on uneven ground, positioning mechanism 33 can be with motion 32 stable suppression, and then with whole follower module 3 stable suppression in ground, make the AGV chassis keep static and not rock.

In some embodiments, the driving wheel module 2 includes an idler body 21, a running power mechanism 22, a gear revolving mechanism 23 and a first brake 24, the gear revolving mechanism 23 includes a gear box 231 and a revolving motor 232, the driving end of the revolving motor 232 is connected with the gear box 231, the gear box 231 is in transmission connection with the idler body 21 so as to make the idler body 21 perform steering movement, the running power mechanism 22 is arranged at one side of the idler body 21, the output end of the running power mechanism 22 is connected with the idler body 21, the first brake 24 is arranged at the other side of the idler body 21, and the running power mechanism 22 is matched with the first brake 24 so as to make the idler body 21 run or brake.

Further, the idler wheel body 21 in this embodiment adopts a horizontal idler wheel, the gear box 231 includes a first transmission gear disposed on an upper end surface of the idler wheel body 21 and connected with the idler wheel body 21, and a second transmission gear meshed with the first transmission gear, the rotary motor 232 is disposed on one side of the idler wheel body 21, and a driving end of the rotary motor 232 is connected with the second transmission gear, and when the rotary motor 232 is started and electrified, the gear box 231 is matched to drive the idler wheel body 21 to rotate, so that omni-directional rotation of the idler wheel body 21 is realized. The running power mechanism 22 is disposed on one side of the idler wheel body 21, and is used for driving the idler wheel body 21 to run, and the first brake 24 is an electromagnetic brake and is disposed on the other side of the idler wheel body 21, and cooperates with the running power mechanism 22 to drive the idler wheel body 21 to run or brake.

Referring to fig. 3 and 4, in some embodiments, the frame 31 includes a first frame 311 and a second frame 312, the first frame 311 includes a first support plate 3111 and a plurality of bushings 3112, the plurality of bushings 3112 are disposed along edges of the first support plate 3111, the second frame 312 includes a second support plate 3121 and a third support plate 3122 disposed parallel to the first support plate 3111, the second support plate 3121 and the third support plate 3122 are connected by a first guide post 313, and the first support plate 3111 is movably connected to the first guide post 313 by the bushings 3112 such that the second support plate 3121 and the third support plate 3122 can simultaneously move along the first guide post 313 relative to the first support plate 3111.

Further, the first frame body 311 and the second frame body 312 in the frame 31 are used for fixing the moving mechanism 32 and the positioning mechanism 33 relatively, and the specific first support plate 3111, second support plate 3121 and third support plate 3122 are all arranged in parallel, in this embodiment, four first guide posts 313 respectively pass through the first support plate 3111, the second support plate 3121 and the third support plate 3122, and both ends after passing through the first guide posts are fixed by nuts, and at the same time, the first guide posts 313 are matched with a plurality of bushings 3112 arranged at the edge of the first support plate 3111, so that the second support plate 3121 and the third support plate 3122 can simultaneously move along the first guide posts 313 relatively to the first support plate 3111.

In addition, in order to reduce the volume of the whole follower wheel module 3 structure, the moving mechanism 32 and the positioning mechanism 33 are embedded on the frame 31, a first avoidance groove 316 adapted to the positioning mechanism 33 is formed in the first support plate 3111, a second avoidance groove 317 adapted to the positioning mechanism 33 is formed in the second support plate 3121, a mounting groove 318 adapted to the moving mechanism 32 is formed in the third support plate 3122, and meanwhile, an action space is reserved for the second end movement of the tightening assembly 332 by the arrangement of the first avoidance groove 316 and the second avoidance groove 317.

Referring to fig. 5, in some embodiments, the power assembly 331 includes a driving motor 3311, the tightening assembly 332 includes a cam 3321 and a follower bearing 3322, the follower bearing 3322 is movably connected to one end of the cam 3321 near the moving mechanism 32, and a driving shaft of the driving motor 3311 is connected to the cam 3321 so that the cam 3321 drives the follower bearing 3322 to rotate.

Further, the cam 3321 includes a connection section connected to the driving shaft of the driving motor 3311 and a rotation section provided at one end of the connection section, one end of the rotation section is provided with a first rotation hole, the other end is provided with a second rotation hole, the rotation section is connected to the connection section through the first rotation hole, and the follower bearing 3322 is mounted at one end of the cam 3321 remote from the driving motor 3311 through the second rotation hole. In this embodiment, by providing the cam 3321 rotating with the driving motor 3311, and matching the follower bearing 3322 movably connected in the second rotation hole, when the tightening assembly 332 rotates downward to abut against the movement mechanism 32, the rotatable follower bearing 3322 can reduce the friction between the cam 3321 and the movement mechanism 32, so as to further press the whole rotation assembly 321 downward.

Referring to fig. 3, in some embodiments, the movement mechanism 32 includes a rotation assembly 321 and a wheel assembly 322, the rotation assembly 321 is mounted on the second frame 312, and an output end of the rotation assembly 321 is connected to the wheel assembly 322 for driving the wheel assembly 322 to rotate around an axis of the rotation assembly 321. In this embodiment, the motion mechanism 32 is provided to realize universal rotation of the follower wheel module 3, specifically, the rotation component 321 realizes axial rotation, and the wheel component 322 realizes rolling rotation.

Referring to fig. 6 to 8, in some embodiments, the rotating assembly 321 includes a central turntable 3211, a first rotating shaft 3212, and a transmission frame 3214, the transmission frame 3214 is disposed above the central turntable 3211, a clamping disc 3213 is disposed at one end of the first rotating shaft 3212, which is inserted into the wheel assembly 322, and the first rotating shaft 3212 is axially disposed through the centers of the central turntable 3211, the transmission frame 3214, and the wheel assembly 322, so as to rotatably dispose the wheel assembly 322 at a lower end of the rotating assembly 321.

Further, the driving frame 3214 includes a driving top plate 3215 and two side frame arms 3216, wherein the length of the driving top plate 3215 is longer than the length between the two side frame arms 3216, i.e. the length of the driving top plate 3215 is longer than the diameter of the central turntable 3211. By providing the transmission top plate 3215, the cam 3321 drives the follower bearing 3322 to rotate downward and then to abut against the transmission top plate 3215, thereby pressing the rotating assembly 321 downward. The drive rack 3214 is coupled to the central turntable 3211 by a rack arm 3216, which rotates with the central turntable 3211.

In some embodiments, the wheel assembly 322 includes a rotating arm 3221, a second rotating shaft 3226 and a roller 3227, the rotating arm 3221 includes an upper base plate 3222 and arm plates 3224 respectively disposed on two sides of the upper base plate 3222, the upper base plate 3222 is provided with insertion holes 3223 adapted to the clamping discs 3213, the rotating arm 3221 is rotatably connected to the first rotating shaft 3212, the arm plates 3224 disposed opposite to each other are provided with shaft holes 3225, the second rotating shaft 3226 is matched with the shaft holes 3225 and is installed between the arm plates 3224, and the roller 3227 is installed on the second rotating shaft 3226.

In this embodiment, a groove adapted to the clamping disc 3213 is disposed around the insertion hole 3223, so as to fix the clamping disc 3213 at the insertion hole 3223, so that the wheel assembly 322 may rotate along the first rotation axis 3212. The scroll wheel 3227 may also be provided as a plurality of scroll wheels 3227 arranged side by side. Specifically, a shaft sleeve 3228 is disposed between the second rotating shaft 3226 and the shaft hole 3225.

Referring to fig. 3 and 4, in some embodiments, the frame 31 further includes an elastic assembly 314 disposed between the first frame 311 and the second frame 312, the elastic assembly 314 includes a spring 3141 and a stabilizing disc 3142, the spring 3141 is sleeved on the first guide post 313, one end is connected with the bushing 3112, the other end is connected with the stabilizing disc 3142, the stabilizing disc 3142 is disposed on the first guide post 313, one side is connected with the spring 3141, and the other side is connected with the third support plate 3122.

Further, stabilizing pins 3143 are disposed opposite to each other on both sides of the stabilizing disc 3142, one end of each stabilizing pin 3143 is connected to the stabilizing disc 3142, and the other end abuts against the third support plate 3122. By providing the elastic member 314 in the present embodiment, on the one hand, a cushioning effect can be provided for the entire frame 31 during traveling, and on the other hand, a supporting force can be provided for the first support plate 3111, and a restoring traction force can be provided for the movement of the second support plate 3121 and the third support plate 3122 with respect to the first support plate 3111.

Referring to fig. 7, in one embodiment, the positioning mechanism 33 further includes a second brake 333 disposed on the rotating assembly 321, the second brake 333 is configured to limit rotation of the first rotating shaft 3212, and a third brake 334 disposed on one side of the wheel assembly 322, the third brake 334 is configured to limit rotation of the second rotating shaft 3226.

Further, in the present embodiment, the second brake 333 and the third brake 334 are both electromagnetic brakes, specifically, the second brake 333 is formed by providing an armature 3332 hub 3331 on the first rotating shaft 3212 between the transmission frame 3214 and the central rotating disc 3211, providing an armature 3332 and a stator 3333 on the first rotating shaft 3212 in the central rotating disc 3211, and providing a coil 3334 between the stator 3333 and the first rotating shaft 3212, and further connecting the armature 3332 and the armature 3332 hub 3331 by a plate spring. The first shaft 3212 rotates together with the hub 3331 of the armature 3332, and when the brake is energized, the stator 3333 generates electromagnetic force by the coil 3334, and the armature 3332 and the stator 3333 are attracted to stop the rotation of the first shaft 3212. When the brake is de-energized, the electromagnetic force of the stator 3333 is lost, the brake is lost, and the first rotating shaft 3212 is released. The second brake 333 operates in the same principle as the first brake 24 to restrict rotation of the second rotation shaft 3226.

Referring to fig. 2 and 3, in one embodiment, the AGV chassis further includes an auxiliary mechanism 34, the auxiliary mechanism 34 includes a 3D camera 341 and a proximity switch sensor 342,3D, the camera 341 is disposed on two sides of the chassis body 1, an adjusting plate 315 is further disposed on the frame 31, and the proximity switch sensor 342 is detachably connected to the adjusting plate 315.

Specifically, by arranging the 3D cameras 341 for vision-assisted obstacle avoidance on two sides of the AGV chassis, the mechanical structure or the mechanical arm carried on the chassis body 1 can be subjected to high-precision positioning operation under the assistance of the mechanical structure or the mechanical arm. The proximity switch sensor 342 is movably connected to the auxiliary adjusting plate 315, and can adjust the installation position according to the requirement of the user, and the proximity switch sensor 342 is arranged to detect whether the cam 3321 returns to the original position after rotating.

In practice, when the AGV chassis is driven on uneven ground, the following wheel module 3 is matched with the driving wheel module 2, so that the AGV chassis can be stabilized, and the specific principle is as follows:

taking two sets of driving wheel modules 2 and two sets of follower wheel modules 3 as examples in the diagonal setting, when the AGV chassis is driven on uneven ground, according to the principle of determining a plane through three points, the two sets of driving wheel modules 2 and one set of follower wheel modules 3 form three points of contact with the ground, and the cam 3321 in the jacking component 332 in the other follower wheel module 3 can press the movement mechanism 32 downwards to contact with the ground under the action of the driving motor 3311, so that the roller 3227 is abutted with the ground, and at the moment, the cam 3321 is locked to prevent the roller 3227 from rebounding off the ground. The second brake 333 and the third brake 334 in the follower wheel module 3 lock the rotation and the rotation degrees of freedom of the roller 3227 respectively, so as to prevent the roller 3227 from rotating, and the other follower wheel module 3 in a stressed state also performs the same operation as the follower wheel module 3, meanwhile, the first brake 24 makes the two driving wheel modules 2 in a locked state, so that the four wheel modules are in contact with the ground, and finally the chassis body 1 keeps static and does not shake.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. An AGV chassis comprising:

a chassis body (1);

the driving wheel module (2) is arranged at the bottom of the chassis body (1) and used for driving the chassis body (1) to run;

the follower module (3), follower module (3) set up in chassis body (1) bottom, cooperation drive wheel module (2) so that chassis body (1) turns to the activity, wherein, follower module (3) include:

a frame (31);

the motion mechanism (32), the motion mechanism (32) is arranged on the frame (31), and the motion mechanism (32) can rotate relative to the frame (31);

the positioning mechanism (33), positioning mechanism (33) set up in on frame (31) of the top of motion (32), positioning mechanism (33) include power component (331) and tight subassembly (332) in top, power component (331) one end set up in frame (31), tight subassembly (332) first end in top with power component (331) are connected, tight subassembly (332) second end with motion (32) offset, power component (331) are used for the drive tight subassembly (332) motion in order to make tight subassembly (332) in top second end up-and-down motion.

2. The AGV chassis according to claim 1, wherein the driving wheel module (2) comprises an idler wheel body (21), a walking power mechanism (22), a gear revolving mechanism (23) and a first brake (24), the gear revolving mechanism (23) comprises a gear box (231) and a revolving motor (232), the driving end of the revolving motor (232) is connected with the gear box (231), the gear box (231) is in transmission connection with the idler wheel body (21) so as to enable the idler wheel body (21) to conduct steering movement, the walking power mechanism (22) is arranged on one side of the idler wheel body (21), the output end of the walking power mechanism (22) is connected with the idler wheel body (21), the first brake (24) is arranged on the other side of the idler wheel body (21), and the walking power mechanism (22) is matched with the first brake (24) so as to enable the idler wheel body (21) to conduct running or braking.

3. The AGV chassis according to claim 1, wherein the frame (31) comprises a first frame body (311) and a second frame body (312), the first frame body (311) comprises a first support plate (3111) and a plurality of bushings (3112), the plurality of bushings (3112) are disposed along an edge of the first support plate (3111), the second frame body (312) comprises a second support plate (3121) and a third support plate (3122) disposed parallel to the first support plate (3111), the second support plate (3121) and the third support plate (3122) are connected by a first guide post (313), and the first support plate (3111) is movably connected to the first guide post (313) by the bushings (3112) such that the second support plate (3121) and the third support plate (3122) can move simultaneously along the first guide post (313) relative to the first support plate (3111).

4. The AGV chassis according to claim 1, wherein the power assembly (331) includes a driving motor (3311), the tightening assembly (332) includes a cam (3321) and a follower bearing (3322), the follower bearing (3322) is movably connected to one end of the cam (3321) near the movement mechanism (32), and a driving shaft of the driving motor (3311) is connected to the cam (3321) so that the cam (3321) drives the follower bearing (3322) to rotate.

5. The AGV chassis according to claim 3, wherein the movement mechanism (32) comprises a rotation assembly (321) and a wheel assembly (322), the rotation assembly (321) is mounted on the second frame (312), and an output end of the rotation assembly (321) is connected to the wheel assembly (322) for driving the wheel assembly (322) to rotate around an axis of the rotation assembly (321).

6. The AGV chassis according to claim 5, wherein the rotating assembly (321) includes a central turntable (3211), a first rotating shaft (3212) and a transmission frame (3214), the transmission frame (3214) is disposed above the central turntable (3211), one end of the first rotating shaft (3212) inserted into the wheel assembly (322) is provided with a clamping disc (3213), and the first rotating shaft (3212) axially penetrates through the centers of the central turntable (3211), the transmission frame (3214) and the wheel assembly (322) and is used for rotatably disposing the wheel assembly (322) at the lower end of the rotating assembly (321).

7. The AGV chassis according to claim 6, wherein the wheel assembly (322) comprises a rotating arm (3221), a second rotating shaft (3226) and rollers (3227), the rotating arm (3221) comprises an upper base plate (3222) and arm plates (3224) respectively arranged on two sides of the upper base plate (3222), the upper base plate (3222) is provided with a plug hole (3223) adapted to the clamping disc (3213), the rotating arm (3221) is rotatably connected with the first rotating shaft (3212), shaft holes (3225) are respectively formed in the arm plates (3224) which are oppositely arranged, the second rotating shaft (3226) is matched with the shaft holes (3225) to be arranged between the arm plates (3224), and the rollers (3227) are arranged on the second rotating shaft (3226).

8. The AGV chassis according to claim 3, wherein the frame (31) further comprises an elastic assembly (314) disposed between the first frame body (311) and the second frame body (312), the elastic assembly (314) comprises a spring (3141) and a stabilizing disc (3142), the spring (3141) is sleeved on the first guide post (313), one end is connected with the bushing (3112), the other end is connected with the stabilizing disc (3142), the stabilizing disc (3142) is disposed on the first guide post (313), one side is connected with the spring (3141), and the other side is connected with the third support plate (3122).

9. The AGV chassis according to claim 7, wherein the positioning mechanism (33) further comprises a second brake (333) provided on the rotation assembly (321), the second brake (333) being configured to limit rotation of the first rotation shaft (3212), and a third brake (334) provided on one side of the wheel assembly (322), the third brake (334) being configured to limit rotation of the second rotation shaft (3226).

10. The AGV chassis according to claim 4, further comprising an auxiliary mechanism (34), wherein the auxiliary mechanism (34) comprises a 3D camera (341) and a proximity switch sensor (342), the 3D camera (341) is disposed on two sides of the chassis body (1) relatively, the chassis (31) is further provided with an adjusting plate (315), and the proximity switch sensor (342) is detachably connected to the adjusting plate (315) for accurately detecting the position of the follower bearing (3322).

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