CN209739208U - AGV chassis structure - Google Patents
AGV chassis structure Download PDFInfo
- Publication number
- CN209739208U CN209739208U CN201822131612.0U CN201822131612U CN209739208U CN 209739208 U CN209739208 U CN 209739208U CN 201822131612 U CN201822131612 U CN 201822131612U CN 209739208 U CN209739208 U CN 209739208U
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- Prior art keywords
- movable frame
- force arm
- bottom plate
- wheel
- bearing wheel
- Prior art date
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- 230000003139 buffering effect Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 5
- 230000009194 climbing Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007246 mechanism Effects 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
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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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
Abstract
The utility model provides an AGV chassis structure, which comprises a bottom plate, a first movable frame, a second movable frame, a driving device and a bearing wheel, wherein 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 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 the second movable frame forms 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, 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. The utility model discloses can guarantee the drive power of drive wheel, it is more reliable and more stable.
Description
The application is a divisional application of an original application of 'an AGV chassis structure' (with the application number of 201821017616.X), and the application date of the original application is 2018, 06 and 28.
Technical Field
The utility model relates to a AGV chassis technical field mainly relates to an AGV chassis structure.
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. The chassis structure of current AGV car especially miniature AGV car generally is through two articulated adaptive ground deformation that realize the AGV car of frame, however, present AGV chassis structure all is the articulated shaft with output device's output shaft and two frames adopts the coaxial coupling mode, this kind of mode makes the AGV car when meetting the road surface of unevenness, although can keep the wheel of a frame to land, but can appear because two frames swing simultaneously and lead to the not enough and then problem of skidding that arouses of drive power of drive wheel, make AGV car work unstable, the work efficiency of AGV car has been reduced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide one kind can avoid skidding, keep AGV car job stabilization's AGV chassis structure.
In order to solve the technical problem, the utility model discloses a following technical scheme:
An AGV 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 driving shafts, 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.
Compared with the prior art, the utility model provides a AGV chassis structure, it sets up drive arrangement just is located on the second arm of force between first pin joint and the third pin joint, when effectively avoiding the drive wheel phenomenon of skidding that leads to when first movable frame and second movable frame swing simultaneously, this chassis structure can increase the load pressure that makes the drive wheel according to load weight and improve, has guaranteed that the drive wheel has sufficient drive power for AGV car work is more reliable and stable, and then has guaranteed the work efficiency of AGV car.
The ratio of the load pressure of the bearing wheel on the first force arm, the load pressure of the driving wheel and the load pressure of the bearing wheel on the fourth force arm is 3:4:3, the load weight of the chassis structure is increased by utilizing the lever principle, the load pressure of the driving wheel is proportionally increased, the balance of the driving force of the chassis structure is ensured, and the driving wheel is ensured to have enough driving force.
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 pre-pressure adjusting assembly is additionally arranged on the chassis structure, so that the two adjusting assemblies can provide a constant pressure for the driving wheel by the second 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.
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 needs to bear larger load in the acceleration and braking processes, the gravity center of the first movable frame moves forwards when the vehicle body is stressed, 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.
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
Drawings
Fig. 1 is a first schematic diagram of the present invention;
Fig. 2 is a second schematic diagram of the present invention;
Fig. 3 is a top view of the present invention;
Fig. 4 is a partial side view of the present invention;
FIG. 5 is a schematic view of a first load wheel adjustment assembly and a first load wheel of the present invention;
Fig. 6 is a first top cross-sectional view of the present invention;
FIG. 7 is an enlarged view of area A of FIG. 6;
Fig. 8 is a top cross-sectional view of the present invention;
FIG. 9 is an enlarged view of area B of FIG. 8;
FIG. 10 is an enlarged view of area C of FIG. 8;
Fig. 11 is a partial schematic view of the present invention;
FIG. 12 is an enlarged view of area D of FIG. 11;
Fig. 13 is an enlarged view of the region E in fig. 11.
Detailed Description
a preferred embodiment of the present invention will be described below with reference to the accompanying drawings.
referring to fig. 1 to 13, an AGV chassis structure includes a bottom plate 1, a first movable frame 2, a second movable frame 3, a driving device 4 and load-bearing wheels (not labeled), wherein the driving device 4 includes a driving motor 41, a driving shaft 42 and driving wheels 43, the driving motor 41 is fixed on the first movable frame 2, the driving shaft 42 is connected with the driving motor 41, the driving motor 41 drives the driving wheels 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 labeled), so that the first movable frame 2 forms a first force arm 21 extending to the outer side of the bottom plate 1 and a second force arm 22 extending to 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.
Compared with the prior art, the utility model provides a AGV chassis structure, it sets up drive arrangement just is located on the second arm of force 22 between first pin joint and the third hinge point, when effectively avoiding the drive wheel phenomenon of skidding that leads to when first movable frame 2 and the 3 simultaneous oscillations of second movable frame, this chassis structure can make the load pressure of drive wheel improve according to load weight increase, has guaranteed that the drive wheel has sufficient drive power for AGV car work is more reliable and stable, and then has guaranteed the work efficiency of AGV car.
Referring to fig. 1 to 3, 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. 5, 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. 1, 3, 11 and 12, 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 force arm 21, the two first movable frame side arms 201 extend to the inner side of the base plate 1 to form a second force arm 22, the first connecting beam 202 is arranged at the end of the second force arm 22, and the second connecting beam 203 and the third connecting beam 204 are arranged on the first force 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. 1, 3, 11 and 12, 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. 1, 11 and 12, preferably, a pre-pressure adjustment assembly 8 is also 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. 3, 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 arm 201, the supporting plate 211 is fixedly connected with the first movable frame side arm 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. 1 to 3, 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 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.
Referring to fig. 1 to 3, as a preferred scheme, a first connecting seat 91 is arranged at the front end of a bottom plate 1, a second connecting seat 92 is arranged at the rear end of the bottom plate 1, and a mounting cavity 93 is formed by enclosing the first movable frame 2, the second movable frame 3 and the bottom plate 1, so that the mounting of other mechanisms of an AGV body is facilitated, and the space utilization rate of the AGV body is improved; 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 with 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. 11 and 13, 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. 1, 3 and 9, 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. 6 to 10, as a preferred scheme, the self-lubricating bushings 10 are respectively sleeved on the outer sides of the first connecting shaft 93, 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 93, 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.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection 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 chassis structure, its includes bottom plate, first movable carriage, second movable carriage, drive arrangement and bearing wheel, the last drive wheel that is equipped with of drive arrangement, drive arrangement passes through drive shaft drive wheel and rotates its characterized in that: 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 chassis structure 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 chassis structure 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 chassis structure 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.
5. The AGV chassis structure of claim 4, 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.
6. The AGV chassis structure of claim 1, wherein: the first movable frame is Z-shaped, one section of the first movable frame, which is positioned on the first force arm, is higher than one section of the first movable frame, which is positioned on the second force arm, the second movable frame is horizontal, one section of the second movable frame, which is positioned on the third force arm, is as high as one section of the second movable frame, which is positioned on the fourth force arm, and one section of the first movable frame, which is positioned on the first force arm, is higher than the second movable frame.
7. The AGV chassis structure of claim 6, 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.
8. An AGV chassis structure according to claim 6 or 7, wherein: the first movable frame comprises two first movable frame side arms which are symmetrically arranged and a first connecting beam, a second connecting beam and a third connecting beam which are respectively connected with two ends of the two first movable frame side arms, the two first movable frame side arms are hinged with the front end of the bottom plate through first hinge points, the two first movable frame side arms extend towards the outer side of the bottom plate and are first force arms, the two first movable frame side arms extend towards the inner side of the bottom plate and are second force arms, the first connecting beam is arranged at the end part of the second force arm, and the second connecting beam and the third connecting beam are arranged on the first force arms; the pre-pressure adjusting assembly comprises a second fixing plate, a second fixing bolt, a second spring and an adjusting block, the second fixing plate is fixed on the lower side of the joint of the first connecting beam and the first movable frame side arm, the second fixing bolt is fixed on the second fixing plate, 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.
9. The AGV chassis structure 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, and the end parts of the second force arm and the third force arm are articulated through the articulated shaft.
10. the AGV chassis structure of claim 9, wherein: and a second opening is formed in the positions 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822131612.0U CN209739208U (en) | 2018-06-28 | 2018-06-28 | AGV chassis structure |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821017616.X | 2018-06-28 | ||
| CN201822131612.0U CN209739208U (en) | 2018-06-28 | 2018-06-28 | AGV chassis structure |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821017616.X Division | 2018-06-28 | 2018-06-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209739208U true CN209739208U (en) | 2019-12-06 |
Family
ID=67938896
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822131612.0U Withdrawn - After Issue CN209739208U (en) | 2018-06-28 | 2018-06-28 | AGV chassis structure |
| CN201822132528.0U Active CN209410201U (en) | 2018-06-28 | 2018-12-18 | A kind of AGV vehicle |
| CN201811548339.XA Pending CN111469948A (en) | 2018-06-28 | 2018-12-18 | AGV car |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822132528.0U Active CN209410201U (en) | 2018-06-28 | 2018-12-18 | A kind of AGV vehicle |
| CN201811548339.XA Pending CN111469948A (en) | 2018-06-28 | 2018-12-18 | AGV car |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN209739208U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791569A (en) * | 2018-06-28 | 2018-11-13 | 广东嘉腾机器人自动化有限公司 | A kind of AGV chassis structures |
| 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 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3848324A1 (en) * | 2019-12-30 | 2021-07-14 | STILL GmbH | Automatic guided vehicle |
| CN112590933A (en) * | 2020-12-02 | 2021-04-02 | 广东嘉腾机器人自动化有限公司 | AGV Chassis |
| CN113525507B (en) * | 2021-07-16 | 2024-04-12 | 湖南国科智能技术研究院有限公司 | Damping steering wheel suitable for robot |
-
2018
- 2018-06-28 CN CN201822131612.0U patent/CN209739208U/en not_active Withdrawn - After Issue
- 2018-12-18 CN CN201822132528.0U patent/CN209410201U/en active Active
- 2018-12-18 CN CN201811548339.XA patent/CN111469948A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791569A (en) * | 2018-06-28 | 2018-11-13 | 广东嘉腾机器人自动化有限公司 | A kind of AGV chassis structures |
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN209410201U (en) | 2019-09-20 |
| CN111469948A (en) | 2020-07-31 |
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