CN211893464U

CN211893464U - Moving chassis and automatic guide transport vehicle

Info

Publication number: CN211893464U
Application number: CN202020589400.1U
Authority: CN
Inventors: 裴蓓蓓; 周俊杰; 沈健; 陈祝权
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-04-20
Filing date: 2020-04-20
Publication date: 2020-11-10
Anticipated expiration: 2030-04-20

Abstract

The utility model relates to a remove chassis and automatic guide transport vechicle, it includes to remove the chassis: a tray body; four sets of driving wheel assemblies, wherein the four sets of driving wheel assemblies are respectively and rotatably connected to the disc body; the steering mechanism comprises a first steering piece, a second steering piece and four steering connecting rods, two ends of the first steering piece are respectively connected with two sets of driving wheel assemblies positioned on one diagonal line through one steering connecting rod, and two ends of the second steering piece are respectively connected with two sets of driving wheel assemblies positioned on the other diagonal line through one steering connecting rod; and the driving piece is in driving connection with the steering mechanism so that the first steering piece and the second steering piece can synchronously and reversely rotate. The mobile chassis is small in size, low in cost, capable of achieving omnidirectional movement and well suitable for occasions with complex terrains and narrow spaces.

Description

Moving chassis and automatic guide transport vehicle

Technical Field

The utility model relates to a AGV technical field especially relates to a remove chassis and automatic guide transport vechicle.

Background

Automatic Guided vehicles (agvs) have been widely used in various industries, and can realize automatic transportation of articles, which is helpful for realizing efficient, economical and flexible unmanned production. With the diversified requirements of the application scenarios, higher requirements are also put forward on the AGV. For example, in some situations where the terrain is complex and the space is narrow, such as a construction site, it is generally necessary for the AGV to be able to achieve zero turning radius and full-direction movement.

At present, a moving chassis of an AGV usually adopts a Makenam wheel to realize omnidirectional movement, and as the Makenam wheel has higher requirements on the ground, the moving chassis can lose effectiveness once being clamped into an obstacle, is easy to wear and has high maintenance cost, so that the moving chassis has greater limitation in practical use; some AGV's removal chassis adopts two helm to realize omnidirectional movement in addition, because helm self integrated level is higher, its height is also higher, and occupation space is big, is not suitable for some narrow places of short size in building site, and in addition, the helm is compared ordinary drive wheel and is needed much more, and the cost is also high.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a mobile chassis and an automatic guided vehicle, in which the mobile chassis has a small size and low cost, can realize omnidirectional movement, and is well applicable to situations with complex terrain and narrow space.

A mobile chassis, the mobile chassis comprising:

a tray body;

four sets of driving wheel assemblies, wherein the four sets of driving wheel assemblies are respectively and rotatably connected to the disc body;

the steering mechanism comprises a first steering piece, a second steering piece and four steering connecting rods, two ends of the first steering piece are respectively connected with two sets of driving wheel assemblies positioned on one diagonal line through one steering connecting rod, and two ends of the second steering piece are respectively connected with two sets of driving wheel assemblies positioned on the other diagonal line through one steering connecting rod; and

the driving piece is in driving connection with the steering mechanism so that the first steering piece and the second steering piece can synchronously and reversely rotate.

The movable chassis drives the first steering part and the second steering part to synchronously and reversely rotate through the driving part, so that the four steering connecting rods respectively act on the corresponding driving wheel assemblies, and the driving wheel assemblies are rotatably connected with the disk body, so that the rotating motion can be realized under the driving of the steering connecting rods, the four driving wheel assemblies can synchronously steer under the driving of the steering mechanism, the transverse moving and the self-rotating motion are realized, and the omnidirectional movement of the movable chassis is realized. Above-mentioned removal chassis through simple steering mechanism with four sets of drive assembly cooperations alright realize omnidirectional movement, and need not to adopt mecanum wheel and steering wheel, overall structure is simple, the cost is lower, and whole volume is less, can be applicable to the complicated and narrow and small occasion in space of topography well.

In one embodiment, the steering mechanism further comprises a first bevel gear, a second bevel gear and a third bevel gear, wherein the first bevel gear and the second bevel gear are meshed with the third bevel gear, the first bevel gear is connected with the first steering member, the second bevel gear is connected with the second steering member, and the driving member is in driving connection with the first bevel gear or the second bevel gear.

In one embodiment, the axis of the third bevel gear extends in a horizontal direction, the axes of the first bevel gear and the second bevel gear both extend in a vertical direction, the second bevel gears are arranged above the first bevel gear at intervals, the top of the second bevel gear is connected with the second steering component, the first steering component is positioned above the second steering component, the first bevel gear is connected with a transmission shaft, the transmission shaft penetrates through the second bevel gear and the second steering component to be in transmission connection with the first steering component, and the driving component is in driving connection with the first bevel gear.

In one embodiment, each of the driving wheel assemblies includes a driving wheel and a driving motor in driving connection with the driving wheel, in the driving direction, the driving wheels of the two sets of driving wheel assemblies located at the front side all adopt omni-directional wheels, and the driving wheels of the two sets of driving wheel assemblies located at the rear side all adopt differential wheels.

In one embodiment, each driving wheel assembly further comprises a mounting frame, a swinging frame and a spring damper, the mounting frame is hinged to the steering connecting rod, a bearing rotatably connected to the disc body is arranged at the top of the mounting frame, the swinging frame is hinged to the mounting frame, the driving wheel is mounted on the swinging frame, one end of the spring damper is connected to the swinging frame, and the other end of the spring damper is connected to the mounting frame.

In one embodiment, each driving wheel assembly further comprises a brake and a swing connecting rod, the brake is connected to the mounting frame, one end of the swing connecting rod is hinged to the swing frame, the other end of the swing connecting rod is connected with the brake, and the brake is used for braking the swing connecting rod so as to adjust the damping of the spring shock absorber; the mobile chassis further comprises a controller and a multi-sensor fusion detection module, the multi-sensor fusion detection module and the brake are respectively electrically connected with the controller, and the controller is used for controlling the working state of the brake according to detection information fed back by the multi-sensor fusion detection module.

In one embodiment, the multi-sensor fusion detection module includes a vision detector mounted on the tray body and an acceleration sensor mounted on the swing frame.

In one embodiment, the multi-sensor fusion detection module comprises an angle sensor, and the angle sensor is mounted at the hinged part of the swinging connecting rod and the swinging frame.

In one embodiment, the swing frame comprises two swing arms arranged oppositely and at intervals, and a connecting part connected to the same ends of the two swing arms, one ends of the two swing arms far away from the connecting part are respectively hinged with two opposite sides of the mounting frame, and the driving wheel is mounted between the two swing arms.

The present application also proposes an automated guided vehicle comprising a mobile chassis as described above.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a mobile chassis according to an embodiment of the present invention;

FIG. 2 is a bottom view of the mobile chassis of FIG. 1;

FIG. 3 is a rear view of the mobile chassis of FIG. 1;

FIG. 4 is a side view of the mobile chassis of FIG. 1;

FIG. 5 is a schematic diagram of a portion of a mobile chassis according to an embodiment;

FIG. 6 is a bottom view of the mobile chassis of FIG. 5;

FIG. 7 is a partial schematic view of a steering mechanism according to an embodiment;

FIG. 8 is a schematic structural view of a drive wheel assembly of an embodiment;

fig. 9 is a schematic structural view of an omni wheel.

10. A tray body; 20. a drive wheel assembly; 21. a drive wheel; 21a, an omni wheel; 201. a hub; 202. a roller; 21b, a differential wheel; 22. a drive motor; 23. a mounting frame; 231. a bearing; 24. a swing frame; 241. a swing arm; 242. a connecting portion; 25. a spring damper; 26. a brake; 27. a swing link; 31. a first steering member; 32. a second steering member; 33. a steering link; 34. a first bevel gear; 341. a drive shaft; 35. a second bevel gear; 36. a third bevel gear; 40. a drive member; 51. a connecting plate; 52. a fixed mount; 60. a controller; 70. a vision detector; 80. an acceleration sensor; 90. an angle sensor.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying 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, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to 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", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

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

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" 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 as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 4, a schematic structural diagram of a mobile chassis according to an embodiment of the present invention is shown, and the mobile chassis according to an embodiment of the present invention includes a disk body 10, four sets of driving wheel assemblies 20, a steering mechanism, and a driving member 40. Four sets of drive wheel assemblies 20 are each rotatably connected to the tray body 10. Referring to fig. 5, the steering mechanism includes a first steering member 31, a second steering member 32 and four steering links 33, two ends of the first steering member 31 respectively connect two sets of driving wheel assemblies 20 located on one diagonal line through one steering link 33, and two ends of the second steering member 32 respectively connect two sets of driving wheel assemblies 20 located on the other diagonal line through one steering link 33; the driving member 40 is drivingly connected to the steering mechanism so that the first steering member 31 and the second steering member 32 can be synchronously rotated in opposite directions.

In particular, the moving chassis includes, but is not limited to, an automatic guided vehicle (hereinafter referred to as AGV) or a moving robot, and is mainly illustrated as an AGV. This removal chassis specifically is four drive omnidirectional movement chassis, as shown in fig. 2, four sets of drive wheel subassembly 20 are arranged into two rows and two rows, and through disk body 10 integration in an organic whole, and form the major structure on removal chassis, every set of drive wheel subassembly 20 all can be around vertical pivot rotation relative to disk body 10, and every set of drive wheel subassembly 20 all includes drive wheel 21 and the driving motor 22 of being connected with drive wheel 21 drive, can realize corresponding drive wheel 21's independent drive through driving motor 22, make the climbing of removal chassis and the comprehensive ability of hindering more stronger. The steering mechanism and the driving member 40 are both disposed at the center of the bottom of the disc body 10, the driving member 40 can be mounted on a connecting plate 51, and the connecting plate 51 is connected to the bottom of the disc body 10 through a fixing frame 52. As shown in fig. 5, two ends of the first steering member 31 are respectively hinged with a steering link 33, one end of the steering link 33 away from the first steering member 31 is respectively hinged with the corresponding driving wheel assembly 20, and when the first steering member 31 rotates, the corresponding driving wheel assembly 20 can be driven to rotate by the steering link 33 connected with the first steering member; similarly, both ends of the second steering member 32 are respectively hinged with a steering link 33, one end of the steering link 33 away from the second steering member 32 is respectively hinged with the corresponding driving wheel assembly 20, and when the second steering member 32 rotates, the steering link 33 connected with the second steering member can drive the corresponding driving wheel assembly 20 to rotate.

The movable chassis drives the first steering piece 31 and the second steering piece 32 to synchronously and reversely rotate through the driving piece 40, so that the four steering connecting rods 33 respectively act on the corresponding driving wheel assemblies 20, and the driving wheel assemblies 20 are rotatably connected with the disc body 10, so that the rotating motion can be realized under the driving of the steering connecting rods 33, the four driving wheel assemblies 20 can synchronously steer under the driving of the steering mechanism, the transverse moving and the self-rotating motion are realized, and the omnidirectional movement of the movable chassis is realized. Above-mentioned removal chassis through simple steering mechanism with four sets of drive assembly cooperations alright realize omnidirectional movement, and need not to adopt mecanum wheel and steering wheel, overall structure is simple, the cost is lower, and whole volume is less, can be applicable to the complicated and narrow and small occasion in space of topography well.

Referring to fig. 7, in one embodiment, the steering mechanism further includes a first bevel gear 34, a second bevel gear 35 and a third bevel gear 36, the first bevel gear 34 and the second bevel gear 35 are engaged with the third bevel gear 36, the first bevel gear 34 is connected to the first steering member 31, the second bevel gear 35 is connected to the second steering member 32, and the driving member 40 is drivingly connected to the first bevel gear 34 or the second bevel gear 35. Specifically, the first bevel gear 34 and the second bevel gear 35 are driven by the third bevel gear 36, so that the first bevel gear 34 and the second bevel gear 35 can move in opposite directions; the first bevel gear 34 rotates to drive the first steering member 31 to rotate, and the second bevel gear 35 rotates to drive the second steering member 32 to rotate, so that the first steering member 31 and the second steering member 32 can rotate oppositely. The bevel gear steering mechanism is adopted to realize synchronous steering of the driving wheel assemblies 20, and has the advantages of simple structure, reliable transmission and small occupied space.

As shown in fig. 7, in an embodiment, an axis of the third bevel gear 36 extends in a horizontal direction, axes of the first bevel gear 34 and the second bevel gear 35 both extend in a vertical direction, the second bevel gear 35 is disposed above the first bevel gear 34 at an interval, a top of the second bevel gear 35 is connected to the second steering component 32, the first steering component 31 is located above the second steering component 32, the first bevel gear 34 is connected to the transmission shaft 341, the transmission shaft 341 passes through the second bevel gear 35 and the second steering component 32 to be in transmission connection with the first steering component 31, and the driving component 40 is in driving connection with the first bevel gear 34. Specifically, the first steering member 31 and the second steering member 32 may be configured in a diamond plate shape, as shown in fig. 2, in a normal state, the first steering member 31 and the second steering member 32 are overlapped with each other, and at this time, the axes of the driving wheels 21 (i.e., the two omnidirectional wheels 21a shown in fig. 2) of the two sets of driving wheel assemblies 20 located on the front side are overlapped, and the axes of the driving wheels 21 (i.e., the two differential wheels 21b shown in fig. 2) of the two sets of driving wheel assemblies 20 located on the rear side are overlapped; when steering is required, as shown in fig. 6, the first steering member 31 and the second steering member 32 rotate in opposite directions and are staggered in a cross shape, so as to drive the corresponding driving wheel assemblies 20 to rotate, and the axes of the driving wheels 21 (for example, the upper right omni wheel 21a and the lower left differential wheel 21b in fig. 2) of the two sets of driving wheel assemblies 20 which are originally located on the diagonal line are substantially overlapped, so that zero-radius pivot steering can be realized.

The moving chassis is a four-drive moving chassis, each driving wheel assembly 20 comprises a driving wheel 21 and a driving motor 22 in driving connection with the driving wheel 21, and the four-drive moving chassis has strong climbing and obstacle crossing capabilities, but the four-drive moving chassis is inevitably deviated in a linear walking process, and the deviation has a severe influence on AGVs or robots (such as floor tile paving robots) with high requirements on linear walking accuracy. The traditional deviation rectifying method is that an inertia measuring unit is used for detecting the running posture of a moving chassis and feeding the moving chassis back to a main control system for deviation rectifying and correcting, but the method is difficult to overcome the lateral friction force of wheels on the ground in the deviation rectifying process, when the posture of the moving chassis deviates from the set straight line direction, the main control system sends a pull-back instruction, the running track of the moving chassis is similar to an arc line, the wheels are subjected to the friction force in the running direction and the lateral friction force, the direction of the lateral friction force is perpendicular to the deviation rectifying running direction, and the lateral friction force generated on the ground in the deviation rectifying process cannot be overcome only by the inertia measuring unit and the main control program, so that the straight line running precision of an AGV or a robot is influenced.

To overcome this lateral friction, further, as shown in fig. 2, in one embodiment, in the traveling direction, the drive wheels 21 of the two sets of drive wheel assemblies 20 located on the front side each employ an omni wheel 21a, and the drive wheels 21 of the two sets of drive wheel assemblies 20 located on the rear side each employ a differential wheel 21 b. In the present embodiment, the wheels (the front wheel is the double all-directional wheel 21a, and the rear wheel is the double differential wheel 21b) are arranged by analyzing the mechanical theory using the combination of the double differential wheel 21b and the double all-directional wheel 21a, and the rotation center is set on the line connecting the rear wheels. As shown in fig. 9, the omni wheel 21a includes a hub 201 and a plurality of rollers 202 arranged along the circumferential direction of the hub 201, and the rollers 202 on the hub 201 on the omni wheel 21a roll to change the lateral force of the front wheel from sliding friction to rolling friction (at this time, the rolling friction is much smaller than the sliding friction and can be ignored) in the deviation rectifying process, so that the negative influence of the lateral friction on the deviation rectifying is overcome, and the high-precision linear walking performance can be obtained.

Referring to fig. 1, 5 and 8, in one embodiment, each driving wheel assembly 20 further includes a mounting frame 23, a swing frame 24 and a spring damper 25, the mounting frame 23 is hinged to the steering link 33, a bearing 231 rotatably connected to the disc body 10 is disposed on the top of the mounting frame 23, the swing frame 24 is hinged to the mounting frame 23, the driving wheel 21 is mounted on the swing frame 24, and one end of the spring damper 25 is connected to the swing frame 24 and the other end is connected to the mounting frame 23. Specifically, the top of the mounting frame 23 may be rotatably connected to the disc body 10 through the crossed roller bearing 231, the mounting frame 23, the swing frame 24 and the spring damper 25 cooperate with each other to form a suspension system for connecting the driving wheel 21 to the disc body 10, and the moving chassis can play a certain damping role through the spring damper 25 during the driving process, so that the moving chassis can stably move.

The stable motion of removal chassis on gentle topography can be satisfied through spring damper 25 in the above-mentioned embodiment, however, to some complicated topography, especially on the building site, often have some unexpected potholes and more barriers, if rely on above-mentioned shock-absorbing structure can appear great rocking, unsettled and the situation such as turn on one's side even, can't satisfy the demand of complicated topography. In order to enable the mobile chassis to stably run on complex terrains, further, as shown in fig. 1, each driving wheel assembly 20 further includes a brake 26 and a swing link 27, the brake 26 is connected to the mounting frame 23, one end of the swing link 27 is hinged to the swing frame 24, the other end of the swing link 27 is connected to the brake 26, and the brake 26 is used for braking the swing link 27, so as to adjust the damping of the spring damper 25; the mobile chassis further comprises a controller 60 and a multi-sensor fusion detection module, the multi-sensor fusion detection module and the brake 26 are electrically connected with the controller 60 respectively, and the controller 60 is used for controlling the working state of the brake 26 according to the detection information fed back by the multi-sensor fusion detection module.

In this embodiment, the road condition is monitored in real time through the multi-sensor fusion detection module, the terrain where the road condition is located is judged according to the fusion information, the detection information is fed back to the controller 60 in real time, the controller 60 controls the brake 26 to act through the current change so as to brake or brake the swing connecting rod 27, and then the damping of the spring damper 25 can be adjusted, so that the movable chassis can smoothly and stably cope with various uneven complex terrains. The brake 26 includes, but is not limited to, an electromagnetic brake or other mechanical brakes, for example, in the present embodiment, the brake 26 employs an electromagnetic brake, which is simple in structure and convenient to install.

Specifically, when the AGV is in a driving process and the multi-sensor fusion detection module determines that the terrain is flat and does not need damping, the brake 26 can lock the spring damper 25, so that the loss of the spring damper 25 can be reduced to the maximum extent, and the service life is prolonged; if the multi-sensor fusion detection module judges that the terrain is uneven and various obstacles exist, the controller 60 controls the brake 26 by changing the current in real time according to a multi-sensor system matching algorithm, the brake 26 brakes the swing connecting rod 27, and then the compression amount of the spring shock absorber 25 can be changed in real time to adjust the damping of the spring shock absorber 25, so that the AGV can be guaranteed to run stably in the large-hole and multi-obstacle complex terrain.

Further, as shown in fig. 3, the multi-sensor fusion detection module includes a vision detector 70 and an acceleration sensor 80, the vision detector 70 is mounted on the tray body 10, the vision detector 70 can be adjusted in angle according to the tracking state, and the acceleration sensor 80 is mounted on the swing frame 24. The vision detector 70 is used for detecting the road condition, the acceleration sensor 80 is used for detecting the stationarity of the moving chassis, and the acceleration sensor 80 has obvious change when the AGV encounters obstacles such as potholes and the like, so that the vision detector can be used for detecting the stationarity of the AGV in the driving process. When the AGV is running, the vision detector 70 detects the road condition, the acceleration sensor 80 can detect the motion states of the two front driving wheels 21, the signals are transmitted to the controller 60 for analysis, and the controller 60 determines the terrain condition by a multi-sensor fusion matching algorithm. In addition, the multi-sensor fusion detection module can also comprise a laser detection sensor or a displacement sensor and the like, and the accuracy of the detection information can be further ensured through the fusion of various sensors.

Further, as shown in fig. 1, the multi-sensor fusion detection module includes an angle sensor 90, and the angle sensor 90 is installed at a hinge portion of the swing link 27 and the swing frame 24. The rotation angle of the swing link 27 can be detected by the angle sensor 90, and the compression amount of the spring damper 25 is calculated. The angle sensor 90 can be used for feeding back whether the compression amount of the spring shock absorber 25 is in place or not to the controller 60 in real time, and the controller 60 controls the brake 26 to act by adjusting the current, so that the damping of the spring shock absorber 25 can be adjusted in an electrodeless manner at a frequency of up to one millionth of a second, and the motion stability of the AGV in a large hollow and multi-obstacle complex terrain is further ensured.

Further, as shown in fig. 8, the swing frame 24 includes two swing arms 241 disposed oppositely and at an interval, and a connecting portion 242 connected to the same end of the two swing arms 241, one ends of the two swing arms 241 far from the connecting portion 242 are respectively hinged to two opposite sides of the mounting frame 23, and the driving wheel 21 is mounted between the two swing arms 241. Specifically, the swing frame 24 is substantially in a U-shaped structure, the mounting frame 23 is in an inverted L-shaped structure, the driving wheel 21 is rotatably mounted between two swing arms 241 of the swing frame 24, the driving motor 22 is fixed on one of the swing arms 241, and the damping spring 25 is connected with the other swing arm 241, so that the overall structure is compact, and the mounting stability of the driving wheel 21 and the driving motor 22 can be ensured.

The utility model discloses still provide an automatic guide transport vechicle, this automatic guide transport vechicle is including removing the chassis, and the concrete structure on this removal chassis refers to above-mentioned embodiment, because the automatic guide transport vechicle has adopted the whole technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, and the repeated description is no longer given here.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A mobile chassis, comprising:

a tray body;

2. The mobile chassis of claim 1, wherein the steering mechanism further comprises a first bevel gear, a second bevel gear, and a third bevel gear, wherein the first bevel gear and the second bevel gear are both engaged with the third bevel gear, the first bevel gear is coupled to the first steering member, the second bevel gear is coupled to the second steering member, and the driving member is drivingly coupled to the first bevel gear or the second bevel gear.

3. The mobile chassis according to claim 2, wherein an axis of the third bevel gear extends in a horizontal direction, axes of the first bevel gear and the second bevel gear both extend in a vertical direction, the second bevel gear is arranged above the first bevel gear at intervals, a top of the second bevel gear is connected with the second steering member, the first steering member is located above the second steering member, the first bevel gear is connected with a transmission shaft, the transmission shaft passes through the second bevel gear and the second steering member to be in transmission connection with the first steering member, and the driving member is in transmission connection with the first bevel gear.

4. The mobile chassis of claim 1, wherein each of the driving wheel assemblies comprises a driving wheel and a driving motor in driving connection with the driving wheel, and in the driving direction, the driving wheels of the two driving wheel assemblies positioned at the front side adopt omnidirectional wheels, and the driving wheels of the two driving wheel assemblies positioned at the rear side adopt differential wheels.

5. The mobile chassis according to any one of claims 1 to 4, wherein each driving wheel assembly further comprises a mounting frame, a swinging frame and a spring damper, the mounting frame is hinged to the steering link, a bearing rotatably connected to the disc body is arranged at the top of the mounting frame, the swinging frame is hinged to the mounting frame, the driving wheel is mounted on the swinging frame, and one end of the spring damper is connected to the swinging frame while the other end is connected to the mounting frame.

6. The mobile chassis according to claim 5, wherein each driving wheel assembly further comprises a brake and a swing link, the brake is connected to the mounting frame, one end of the swing link is hinged to the swing frame, and the other end of the swing link is connected to the brake, the brake is used for braking the swing link, and thus adjusting the damping of the spring shock absorber; the mobile chassis further comprises a controller and a multi-sensor fusion detection module, the multi-sensor fusion detection module and the brake are respectively electrically connected with the controller, and the controller is used for controlling the working state of the brake according to detection information fed back by the multi-sensor fusion detection module.

7. The mobile chassis of claim 6, wherein the multi-sensor fusion detection module includes a visual detector mounted on the tray body and an acceleration sensor mounted on the swing frame.

8. The mobile chassis of claim 6, wherein the multi-sensor fusion detection module comprises an angle sensor mounted at a hinge point of the swing link and the swing frame.

9. The mobile chassis according to claim 5, wherein the swing frame comprises two swing arms disposed oppositely and at a distance, and a connecting portion connected to the same end of the two swing arms, one ends of the two swing arms far away from the connecting portion are respectively hinged to two opposite sides of the mounting frame, and the driving wheel is mounted between the two swing arms.

10. An automated guided vehicle, characterized in that it comprises a mobile chassis according to any of claims 1 to 9.