CN212685726U

CN212685726U - Low-cost large-load AGV moving chassis

Info

Publication number: CN212685726U
Application number: CN202021591111.1U
Authority: CN
Inventors: 李广云
Original assignee: Tianjin Abeimo Robot Technology Co ltd
Current assignee: Tianjin Abeimo Robot Technology Co ltd
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2021-03-12
Anticipated expiration: 2030-08-04

Abstract

The utility model relates to a big load AGV of low cost removes chassis, including chassis frame, its characterized in that: the novel chassis frame is characterized by further comprising an object carrying platform, a slewing bearing, slewing bottom plates, a differential steering mechanism and plate springs, wherein the object carrying platform is installed at the top of the chassis frame in a covering mode, the slewing bearing is connected to the front end and the rear end of the bottom surface of the object carrying platform in the chassis frame through bolts, the slewing bottom plates are installed on the lower portions of the slewing bearings, the plate springs are hung on the two sides of each slewing bottom plate, the middle portions of the plate springs are limited on connecting shafts for installing wheels, and the wheels on the connecting shafts are driven by the differential steering mechanism. The utility model discloses structural design scientific and reasonable has reduction in manufacturing cost, can cushion, have shock-absorbing function, operate steadily, the advantage of easily realizing the gravity of load, is an AGV with higher novelty.

Description

Low-cost large-load AGV moving chassis

Technical Field

The utility model belongs to the commodity circulation field relates to a AGV, especially a big load AGV removal chassis of low cost.

Background

With the rapid development of logistics systems, the application range of the AGV is also expanding continuously, and the AGV is widely applied to the fields of industry, military, transportation, electronics, and the like, and has good environmental adaptability, strong anti-interference capability and strong target identification capability.

The existing large-load AGV moving chassis is complex in structure, the moving and turning of the large-load AGV are usually realized by matching of directional wheels and a hydraulic steering mechanism or four steering wheels which are driven to steer independently, and the manufacturing cost is high.

Moreover, the existing AGV moving chassis has poor damping capacity for buffering the gravity of a load and working, when the load of the AGV moving chassis is large, the moving chassis of the AGV deforms due to the weight of a load, and wheels are difficult to move and even turn, so that the normal work of the AGV moving chassis is influenced. During operation, once walk the working face of unevenness, the AGV dolly will jolt, produces certain vibrations, and this causes dropping of goods easily, has seriously influenced the AGV dolly and has carried steady effect of thing.

Disclosure of Invention

An object of the utility model is to provide a structural design scientific and reasonable reduces manufacturing cost, can cushion, have shock-absorbing function, operate steadily, the big load AGV that easily realizes the gravity of load thing.

The utility model provides a its technical problem realize through following technical scheme:

the utility model provides a big load AGV of low cost removes chassis, includes chassis frame, its characterized in that: the novel chassis frame is characterized by further comprising an object carrying platform, a slewing bearing, slewing bottom plates, a differential steering mechanism and plate springs, wherein the object carrying platform is installed at the top of the chassis frame in a covering mode, the slewing bearing is connected to the front end and the rear end of the bottom surface of the object carrying platform in the chassis frame through bolts, the slewing bottom plates are installed on the lower portions of the slewing bearings, the plate springs are hung on the two sides of each slewing bottom plate, the middle portions of the plate springs are limited on connecting shafts for installing wheels, and the wheels on the connecting shafts are driven by the differential steering mechanism.

And the rotary base plate is provided with an arc-shaped limiting hole on the outer side of the rotary support, and the carrying platform is provided with a limiting column which moves in the arc-shaped limiting hole.

And the bearing column is composed of a column body and a universal ball arranged on the column body.

And the differential steering mechanism comprises a first motor and a second motor, wheels connected by connecting shafts are mounted at the front end and the rear end of the chassis frame, and two wheels on each connecting shaft are respectively driven by a first motor and a second motor through chains.

And the rotary base plates are arranged on the base plate, and the rotary base plates are arranged on the base plate and are provided with a plurality of rotary base plates.

And, still include code reader mounting bracket, each be provided with the code reader mounting bracket of installing on the gyration bottom plate in the outside of wheel, this code reader mounting bracket comprises shock absorber support body, spring, auxiliary wheel and code reader installation head gyration bottom plate lateral part install the shock absorber support body, install the spring on the shock absorber support body, install the auxiliary wheel on the shock absorber support body, the bottom of this auxiliary wheel is located same horizontal plane with the bottom of wheel, extend code reader installation head on the lateral part of auxiliary wheel is by the shock absorber support body, install the code reader on this code reader installation head.

And, the shock attenuation support body constitute by L shape support body and U-shaped support body, the horizontal part of L shape support body is connected in the side of gyration bottom plate, is equipped with first spacing separation blade in the vertical portion upper end of L shape support body, wears to be equipped with the spring on the vertical portion body of rod under first spacing separation blade, the horizontal part of U-shaped support body is passed to the lower extreme of the vertical portion of L shape support body to it is spacing through the spacing separation blade of the second that sets up on it, the auxiliary wheel install on the U-shaped support body the welding has the sign indicating number ware installation head on the one end horizontal part of U-shaped support body.

The code reader mounting head is composed of a mounting cylinder and a jackscrew arranged on the body of the mounting cylinder.

The utility model discloses an advantage and beneficial effect do:

1. this big load AGV of low cost moves chassis, through the design of differential steering mechanism and leaf spring, when satisfying big load and bearing the requirement, has simplified its structure greatly to manufacturing cost has been reduced. The design of the plate spring buffers the weight of the load, thereby avoiding the damage to the chassis; meanwhile, the shock absorption effect is achieved on the uneven ground, and the running stability of the AGV is guaranteed.

2. This big load AGV of low cost removes chassis through gyration stop gear's setting, can carry on spacingly to the gyration angle of gyration bottom plate, avoids it too big because of gyration angle, leads to the focus skew, and the AGV problem of turning on one's side that causes.

3. This big load AGV mobile chassis of low cost through the design of bearing post, can satisfy the great objective platform's of area use needs, can play the effect of bearing to it, guarantees the stationarity of placing of its overhead load thing.

4. This big load AGV removes chassis with low costs, through the design of absolute value encoder, can monitor the gyration angle of gyration bottom plate, make the gyration angle obtain accurate control.

5. This big load AGV of low cost removes chassis, through the design of code reader mounting bracket, can guarantee the reading distance of signal, can make this AGV also can realize the reading to subaerial navigation code in hollow road surface, guarantees going smoothly of AGV.

6. The utility model discloses structural design scientific and reasonable has reduction in manufacturing cost, can cushion, have shock-absorbing function, operate steadily, the advantage of easily realizing the gravity of load, is an AGV with higher novelty.

Drawings

Fig. 1 is a schematic structural diagram of the present invention (an absolute value encoder is omitted);

fig. 2 is a bottom view of the present invention (omitting the code reader mounting frame);

fig. 3 is a side view of the present invention;

fig. 4 is a schematic structural view of the revolving bottom plate of the present invention;

fig. 5 is a schematic structural view of the code reader mounting frame of the present invention;

fig. 6 is a side view of fig. 5.

Description of reference numerals:

the device comprises a carrying platform 1, a rotary bottom plate 2, wheels 3, a plate spring 4, a rotary support 5, a chain 6, a code reader mounting frame 7, a first motor 8, an absolute value encoder 9, a second motor 10, a bearing column 11, a limiting column 12, an arc limiting hole 13, an L-shaped frame body 14, a first limiting baffle 15, a spring 16, a U-shaped frame body 17, an auxiliary wheel 18, a code reader mounting head 19 and a code reader 20.

Detailed Description

The present invention will be described in further detail with reference to specific examples, which are provided for illustrative purposes only, and are not intended to be limiting, and the scope of the present invention should not be limited thereby.

A big load AGV removes chassis of low-cost, includes the chassis frame, and its innovation point lies in: the novel vehicle-mounted rotary platform is characterized by further comprising an object carrying platform 1, a rotary support 5, a rotary bottom plate 2, a differential steering mechanism and plate springs 4, wherein the object carrying platform is mounted at the top of the chassis frame in a covering mode, the rotary support is connected to the front end and the rear end of the bottom surface of the object carrying platform in the chassis frame through bolts, the rotary bottom plate is mounted on the lower portion of each rotary support, the plate springs are hung on the two sides of each rotary bottom plate, the middle portions of the plate springs are limited on a connecting shaft for mounting wheels 3, and the wheels on the connecting shaft are driven by the differential steering mechanism.

The rotary base plate is provided with an arc-shaped limiting hole 13 on the outer side of the rotary support, and the carrying platform is provided with a limiting column 12 moving in the arc-shaped limiting hole.

The bearing device is characterized by further comprising bearing columns 11, wherein the bearing columns for bearing the object carrying platform are evenly arranged on the rotary bottom plate at intervals, and each bearing column is composed of a column body and a universal ball arranged on the column body.

The differential steering mechanism comprises a first motor 8 and a second motor 10, wheels connected by connecting shafts are mounted at the front end and the rear end of the chassis frame, two wheels on each connecting shaft are driven by a first motor and a second motor chain 6 respectively, and steering is achieved by changing the differential degree of the wheels on the inner side and the outer side of each connecting shaft.

The device also comprises an absolute value encoder 9, wherein an absolute value encoder arranged at the bottom of the loading platform is arranged on the central line of each rotary bottom plate in the length direction. The absolute value encoder is connected with a control system of the AGV, and the control of the turning angle is realized by controlling the turning angle of the rotary bottom plate relative to the deflection angle of the loading platform.

Still include code reader mounting bracket 7, each the outside of wheel is provided with the code reader mounting bracket of installing on the gyration bottom plate, this code reader mounting bracket comprises shock absorber support body, spring 16, auxiliary wheel 18 and code reader installation head 19 gyration bottom plate lateral part install the shock absorber support body, install the spring on the shock absorber support body, install the auxiliary wheel that stretches out and draws back from top to bottom along with its spring on the shock absorber support body, under the condition that the spring does not receive the force, the bottom of this auxiliary wheel is located same horizontal plane with the bottom of wheel, extend the code reader installation head on the lateral part of auxiliary wheel is by the shock absorber support body, install code reader 20 on this code reader installation head.

The shock absorption support body comprise L shape support body 14 and U-shaped support body 17, the horizontal part of L shape support body is connected in the side of gyration bottom plate, is equipped with first spacing separation blade 15 in the vertical portion upper end of L shape support body, wears to be equipped with the spring on the vertical portion body of rod under first spacing separation blade, the horizontal part of U-shaped support body is passed to the lower extreme of the vertical portion of L shape support body to it is spacing through the spacing separation blade of the second that sets up on it, the auxiliary wheel install on the U-shaped support body the welding has the installation head on the one end horizontal part of U-shaped support body.

The utility model discloses a differential steering mechanism and leaf spring's design, when satisfying big load and bear the weight of the requirement, has simplified its structure greatly to manufacturing cost has been reduced. The design of the plate spring buffers the weight of the load, thereby avoiding the damage to the chassis; meanwhile, the shock absorption effect is achieved on the uneven ground, and the running stability of the AGV is guaranteed.

When the movable chassis is used, a lifting mechanism with large load, a material self-unloading mechanism and other cargo transportation mechanisms can be carried on the carrying platform, and the front-back walking and turning requirements of the mechanisms can be met.

The mobile chassis can be used for remote control walking and also can be used for automatic driving walking under different navigation modes including magnetic navigation, satellite navigation, laser navigation and the like.

Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims, and therefore, the scope of the present invention is not limited to the disclosure of the embodiments and the accompanying drawings.

Claims

1. The utility model provides a big load AGV of low cost removes chassis, includes chassis frame, its characterized in that: the novel chassis frame is characterized by further comprising an object carrying platform, a slewing bearing, slewing bottom plates, a differential steering mechanism and plate springs, wherein the object carrying platform is installed at the top of the chassis frame in a covering mode, the slewing bearing is connected to the front end and the rear end of the bottom surface of the object carrying platform in the chassis frame through bolts, the slewing bottom plates are installed on the lower portions of the slewing bearings, the plate springs are hung on the two sides of each slewing bottom plate, the middle portions of the plate springs are limited on connecting shafts for installing wheels, and the wheels on the connecting shafts are driven by the differential steering mechanism.

2. A low cost, heavy load AGV moving chassis according to claim 1, further comprising: the rotary base plate is provided with an arc-shaped limiting hole on the outer side of the rotary support, and the carrying platform is provided with a limiting column moving in the arc-shaped limiting hole.

3. A low cost, heavy load AGV moving chassis according to claim 1, further comprising: the bearing column is characterized by further comprising bearing columns, wherein the bearing columns for bearing the loading platform are uniformly arranged on the rotary bottom plate at intervals, and each bearing column is composed of a column body and a universal ball arranged on the column body.

4. A low cost, heavy load AGV moving chassis according to claim 1, further comprising: the differential steering mechanism comprises a first motor and a second motor, wheels connected by connecting shafts are mounted at the front end and the rear end of the chassis frame, and two wheels on each connecting shaft are respectively driven by chains of the first motor and the second motor.

5. A low cost, heavy load AGV moving chassis according to claim 1, further comprising: the rotary base plates are arranged on the base plate, and the rotary base plates are arranged on the base plate and are provided with a plurality of rotary base plates.

6. A low cost, heavy load AGV moving chassis according to claim 1, further comprising: still include the code reader mounting bracket, at each the outside of wheel is provided with the code reader mounting bracket of installing on the gyration bottom plate, and this code reader mounting bracket comprises shock absorber support body, spring, auxiliary wheel and code reader installation head gyration bottom plate lateral part install the shock absorber support body, install the spring on the shock absorber support body, install the auxiliary wheel on the shock absorber support body, the bottom of this auxiliary wheel is located same horizontal plane with the bottom of wheel, extend the code reader installation head on the lateral part of auxiliary wheel is by the shock absorber support body, install the code reader on this code reader installation head.

7. A low cost, high capacity AGV moving chassis according to claim 6, wherein: the utility model discloses a damping support body, including the damping support body, the horizontal part of L shape support body is equipped with the vertical portion of L shape support body, the damping support body constitute by L shape support body and U-shaped support body, the horizontal part of L shape support body is connected in the side of gyration bottom plate, is equipped with first spacing separation blade in the vertical portion upper end of L shape support body, wears to be equipped with the spring on the vertical portion body of rod under first spacing separation blade, the lower extreme of the vertical portion of L shape support body passes the horizontal part of U-shaped support body to it is spacing through the spacing separation blade of the second that sets up on it, the auxiliary wheel install on the U-.

8. A low cost, large capacity AGV movement chassis according to claim 7, wherein: the code reader mounting head is composed of a mounting cylinder and a jackscrew arranged on the body of the mounting cylinder.