CN214776244U

CN214776244U - Self-adaptation road surface device and AGV car

Info

Publication number: CN214776244U
Application number: CN202120053676.2U
Authority: CN
Inventors: 曾子航
Original assignee: Shenzhen Sun&moon Electronic Co ltd
Current assignee: Shenzhen Sun&moon Electronic Co ltd
Priority date: 2021-01-08
Filing date: 2021-01-08
Publication date: 2021-11-19
Anticipated expiration: 2031-01-08

Abstract

The utility model belongs to the technical field of chassis system, especially, relate to a self-adaptation road surface device and AGV car. The self-adaptive pavement device comprises a first driving piece, a second driving piece, a first wheel, a second wheel, a movable support, a bottom shell and a connecting rod rotatably connected to the bottom end of the bottom shell; the first driving piece is arranged on the movable support and connected with the first wheel; the second driving piece is arranged on the movable support and is connected with a second wheel; the rotating shaft of the first wheel is superposed with the rotating shaft of the second wheel to form a wheel axis; the connecting rod is rotatably connected to the center of the movable support, the first wheel and the second wheel are both arranged on the movable support, and the first wheel and the second wheel are symmetrically arranged by taking the center line of the connecting rod as a symmetry axis; the central line of the connecting rod is perpendicular to the rotating shaft of the first wheel, and the central line of the connecting rod is parallel to the horizontal plane. The utility model discloses in, this self-adaptation road surface device has improved the ability of crossing the ditch and crossing the bank of AGV car.

Description

Self-adaptation road surface device and AGV car

Technical Field

The utility model belongs to the technical field of the chassis, especially, relate to a self-adaptation road surface device and AGV car.

Background

Agvs (automated Guided vehicles) are transport vehicles equipped with an electromagnetic or optical automatic guide device and capable of traveling along a predetermined guide path. The AGV has safety protection and various carrying functions, is widely applied to factories, can automatically transport goods to a specific position, generally takes a rechargeable storage battery as a power source, controls a transport path and a behavior thereof through a terminal, sets a traveling route thereof by using an electromagnetic track, or moves and acts by depending on information brought by the electromagnetic track.

In the prior art, in the running process of an AGV, if the AGV encounters obstacles such as a ditch and the like on a running path, the AGV cannot continue to run due to wheel slip, or a method of continuing to run by bypassing the obstacles is adopted; therefore, the AGV in the prior art has the problem that the AGV is difficult to cross the obstacle in the driving process.

SUMMERY OF THE UTILITY MODEL

The utility model provides a AGV car among the prior art be difficult to cross technical problem such as barrier in the in-process existence of traveling, provide a self-adaptation road surface device and AGV car.

In view of the above problems, an embodiment of the present invention provides a self-adaptive pavement device, which includes a first driving member, a second driving member, a first wheel, a second wheel, a movable bracket, a bottom case, and a connecting rod rotatably connected to a bottom end of the bottom case; the first driving piece is arranged on the movable bracket and is connected with the first wheel; the second driving piece is arranged on the movable bracket and is connected with the second wheel; the rotating shaft of the first wheel is superposed with the rotating shaft of the second wheel to form a wheel axis;

the connecting rod is rotatably connected to the center of the movable support, the first wheel and the second wheel are both mounted on the movable support, and the first wheel and the second wheel are symmetrically arranged by taking the center line of the connecting rod as a symmetry axis; the center line of the connecting rod is perpendicular to the rotating shaft of the first wheel, and the center line of the connecting rod is parallel to the horizontal plane.

Optionally, the adaptive pavement device further comprises a first support seat provided with a first through hole, a second support seat provided with a second through hole, and a third support seat provided with a third through hole; the first supporting seat is mounted at the bottom end of the bottom shell, and the connecting rod penetrates through the first through hole to be rotatably connected with the first supporting seat; the second supporting seat and the third supporting seat are installed on the movable support, and the two opposite ends of the connecting rod are respectively rotatably connected to the second through hole and the third through hole.

Optionally, an accommodating groove is formed in the movable support, and the first support seat, the second support seat and the third support seat are located in the accommodating groove.

Optionally, the adaptive pavement device further comprises a bottom plate, and a first through groove and a second through groove are formed in the bottom plate; the bottom plate is arranged on the bottom shell, and an installation space is formed between the bottom plate and the bottom shell; the movable bracket, the first driving piece, the second driving piece, the first wheel and the second wheel are all installed in the installation space; the first wheel extends out of the first channel and the second wheel extends out of the second channel.

Optionally, the adaptive pavement device further comprises a first motor frame, a second motor frame, a first connecting shaft and a second connecting shaft; the movable support comprises a first vertical plate, a second vertical plate and a first transverse plate connected between the first vertical plate and the second vertical plate;

the first motor frame is arranged on the first transverse plate, a first mounting hole is formed in the first motor frame, and a second mounting hole is formed in the first vertical plate; the first driving piece is mounted on the first motor frame, one end of the first connecting shaft is rotatably mounted in the second mounting hole, and the other end of the first connecting shaft sequentially penetrates through the first wheel and the first mounting hole to be connected with the first driving piece;

the second motor frame is arranged on the first transverse plate, a third mounting hole is formed in the second motor frame, and a fourth mounting hole is formed in the second vertical plate; the second driving piece is installed on the second motor frame, one end of the second connecting shaft is rotatably installed in the fourth mounting hole, and the other end of the second connecting shaft sequentially penetrates through the second wheel and the third mounting hole to be connected with the second driving piece.

Optionally, the adaptive road device further comprises a third motor frame, a fourth motor frame, a third driving piece, a fourth driving piece, a third wheel and a fourth wheel; the third motor frame is arranged on the bottom shell; the third driving piece is arranged on the third motor frame and is connected with the third wheel;

the fourth motor frame is arranged on the bottom shell; the fourth driving part is arranged on the fourth motor frame and is connected with the fourth wheel; and the rotating shaft of the third wheel is superposed with the rotating shaft of the fourth wheel.

Optionally, the adaptive pavement device further comprises a third connecting shaft, a fourth connecting shaft, and a first fixing block and a second fixing block which are both mounted on the bottom case; the third motor frame comprises a third vertical plate and a second transverse plate connected with the third vertical plate, the second transverse plate is installed on the bottom shell, and the third driving piece is installed on the third vertical plate; a fifth mounting hole is formed in the third vertical plate, a sixth mounting hole is formed in the first fixing block, one end of the third connecting shaft is rotatably mounted in the sixth mounting hole, and the other end of the third connecting shaft sequentially penetrates through the third wheel and the fifth mounting hole to be connected with the third driving piece;

the fourth motor frame comprises a fourth vertical plate and a third transverse plate connected with the fourth vertical plate, the third transverse plate is installed on the bottom shell, and the fourth driving piece is installed on the fourth vertical plate; the fourth vertical plate is provided with a seventh mounting hole, the second fixing block is provided with an eighth mounting hole, one end of the fourth connecting shaft is rotatably mounted in the eighth mounting hole, and the other end of the fourth connecting shaft sequentially penetrates through the fourth wheel and the seventh mounting hole to be connected with the fourth driving part.

Optionally, the adaptive pavement device further comprises a battery, and a control board, a first battery bracket and a second battery bracket which are all mounted on the bottom case; a first groove is formed in the first battery support, a second groove is formed in the second battery support, and two opposite ends of the battery are respectively inserted into the first groove and the second groove; the control panel is connected with the battery, the first driving piece and the second driving piece. In the utility model, the first driving piece is arranged on the movable bracket and is connected with the first wheel; the second driving piece is arranged on the movable bracket and is connected with the second wheel; the connecting rod is rotatably arranged on the movable support, and the first wheel and the second wheel are respectively positioned at two opposite ends of the connecting rod; the central line of the connecting rod is vertical to the rotating shaft of the first wheel and the horizontal plane. The utility model discloses in, meet pit or protruding bank at the in-process of marcing as this self-adaptation road surface device, just during first wheel contact ditch bank, the movable support will wind the connecting rod rotates, the movable support will drive second wheel upwards or move down, thereby guarantees first wheel keeps in the contact ditch bank the time, the second wheel keeps with the state of ground contact, and then first wheel with the second wheel all has drive power, has improved the ability of crossing the ditch and crossing the bank of AGV car. In addition, the movable support winds the connecting rod pivoted in-process, the drain pan remains at the horizontality throughout to when having guaranteed that the AGV car crosses the bank, AGV car top remains horizontally stable state throughout, has avoided AGV car top goods to take place the phenomenon that drops when crossing the bank. Moreover, the adaptive road surface device 1 has a simple structure and low manufacturing cost.

The utility model discloses another embodiment still provides a AGV car, including storing box and foretell adaptive pavement device, the storing box is installed on the drain pan.

Optionally, the adaptive pavement device further comprises a path sensor for sensing a driving path, and an obstacle sensor and an alarm both mounted on the bottom case, wherein the obstacle sensor is connected to the alarm.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of a self-adaptive pavement device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another view angle of the adaptive pavement device according to an embodiment of the present invention;

fig. 3 is a schematic view of a partial structure of a self-adaptive pavement device according to an embodiment of the present invention;

fig. 4 is a schematic view illustrating a first supporting seat, a second supporting seat, and a third supporting seat of the adaptive pavement device according to an embodiment of the present invention are mounted on a movable bracket;

fig. 5 is a schematic structural diagram of an AGV according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a self-adaptive pavement device; 11. a first driving member; 12. a second driving member; 13. a first wheel; 14. a second wheel; 15. a movable support; 151. accommodating grooves; 152. a first vertical plate; 153. a second vertical plate; 154. a first transverse plate; 16. a first support base; 17. a connecting rod; 18. a bottom case; 181. an installation space; 19. a second support seat; 21. a third support seat; 22. a base plate; 221. a first through groove; 222. a second through groove; 223. a third through groove; 224. a fourth through groove; 23. a path sensor; 24. an obstacle sensor; 25. a first motor mount; 26. a second motor mount; 27. a first connecting shaft; 28. a second connecting shaft; 29. a third motor mount; 31. a fourth motor mount; 32. a third driving member; 33. a fourth drive; 34. a third wheel; 35. a fourth wheel; 36. a third connecting shaft; 37. a fourth connecting shaft; 38. a first fixed block; 39. a second fixed block; 41. a control panel; 42. a first battery holder; 43. a second battery holder; 10. a storage box.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 3 and 4, an embodiment of the present invention provides an adaptive pavement device 1, which includes a first driving member 11, a second driving member 12, a first wheel 13, a second wheel 14, a movable bracket 15, a bottom case 18, and a connecting rod 17 rotatably connected to the bottom case 18; the first driving member 11 is mounted (by means of screw connection or the like) on the movable bracket 15 and connected with the first wheel 13; the second driving member 12 is mounted (by means of screw connection or the like) on the movable bracket 15 and connected with the second wheel 14; the rotating shaft of the first wheel 13 and the rotating shaft of the second wheel 14 are overlapped and form a wheel axis; it is understood that the movable bracket 15 spans the bottom shell 18, and the first wheel 13 and the second wheel 14 are respectively located at the left and right ends of the bottom shell 18. Further, the first driving member 11 and the second driving member 12 include, but are not limited to, a motor and the like.

The connecting rod 17 is rotatably installed at the central position of the movable bracket 15, the first wheel 13 and the second wheel 15 are both installed on the movable bracket 15, and the first wheel 13 and the second wheel 14 are symmetrically arranged with the central line of the connecting rod 17 as a symmetry axis; the center line of the connecting rod 17 is perpendicular to the rotating shaft of the first wheel 13, and the center line of the connecting rod 17 is parallel to the horizontal plane. As can be understood, the connecting rod 17 is arranged on the bottom shell 18 along the front-back direction of the bottom shell 18, and the movable bracket 15 is rotatably mounted on the bottom shell 18 through the connecting rod 17; and the first wheel 13 and the second wheel 14 are symmetrically arranged on the left and right sides of the connecting rod 17.

When the first wheel 13 and the second wheel 14 are stressed unevenly, the wheel axis rotates around the center line of the connecting rod 14 to form a preset angle with the horizontal plane, and the center line of the connecting rod 17 and the bottom end of the bottom shell 18 are both kept parallel to the horizontal plane. It can be understood that, when the adaptive road device 1 passes through a ditch, the first wheel 13 and the second wheel 14 are stressed unevenly due to obstacles such as the ditch, that is, the first wheel 13 and the second wheel 14 are not on the same horizontal plane, at this time, the wheel axis rotates with the connecting rod 17 as a rotating shaft, so that the first wheel 13 and the second wheel 14 both maintain a state of being in contact with external fixed objects (that is, obstacles, the ground, and the like), and thus the first driving member 11 can drive the first wheel 13 to output driving force, and at the same time, the second driving member 13 can drive the second wheel 14 to output driving force.

Specifically, first wheel 13 with second wheel 14 can be AGV car left front wheel and right front wheel respectively, also can be AGV car left rear wheel and right rear wheel respectively, just first driving piece 11 drive first wheel 13 rotates, second driving piece 12 drive second wheel 14 rotates, so first wheel 13 with second wheel 14 is the drive wheel. Further, two first wheels 13 and two first driving pieces 11 can be arranged, and the two first wheels 13 are respectively a left front wheel and a left rear wheel of the AGV; and the number of the second wheels 14 and the number of the second driving pieces 12 can be two, and the two second wheels 14 are respectively the front right wheel and the rear right wheel of the AGV.

In the utility model, the first driving piece 11 is mounted on the movable bracket 15 and connected with the first wheel 13; the second driving element 12 is mounted on the movable bracket 15 and connected with the second wheel 14; the connecting rod 17 is rotatably mounted on the movable bracket 15, and the first wheel 13 and the second wheel 14 are respectively located at two opposite ends of the connecting rod 17; the center line of the connecting rod 17 is perpendicular to the rotation axis of the first wheel 13 and the horizontal plane. The utility model discloses in, meet pit or protruding bank at the in-process of marcing as this self-adaptation road surface device 1, just during first wheel 13 contact bank of ditches, movable support 15 will wind connecting rod 17 rotates, movable support 15 will drive second wheel 14 and upwards or move down, thereby guarantees first wheel 13 keeps in the contact bank of ditches, second wheel 14 keeps the state with ground contact, and then first wheel 13 with second wheel 14 all has drive power, has improved the ditch of AGV car and has crossed the ability of bank. In addition, the movable support 15 winds the connecting rod 17 rotates, the bottom shell 18 is always kept in a horizontal state, so that when the AGV passes over the ditch sill, the upper portion of the AGV always keeps a horizontal stable state, and the phenomenon that goods above the AGV fall off when passing over the ditch sill is avoided. Moreover, the adaptive road surface device 1 has a simple structure and low manufacturing cost.

In one embodiment, as shown in fig. 4, the adaptive pavement apparatus 1 further includes a first support seat 16 having a first through hole, a second support seat 19 having a second through hole, and a third support seat 21 having a third through hole; the second supporting seat 19 and the third supporting seat 21 are both mounted (mounted by means of screw connection and the like) on the movable support 15, the first supporting seat 16 is mounted (mounted by means of screw connection and the like) at the bottom end of the bottom shell 18, and the connecting rod 17 penetrates through the first through hole to be rotatably connected with the first supporting seat 16; the opposite ends of the connecting rod 17 are rotatably connected in the second through hole and the third through hole, respectively.

That is, the connecting rod 17 is rotatably connected to the bottom case 18 through the first through hole; meanwhile, the connecting rod 17 is rotatably installed on the movable support 15 through the second through hole and the third through hole. It will be understood that the first support seat 16 is located between the second support seat 19 and the third support seat 21. Specifically, the middle of the connecting rod 17 is rotatably mounted in the first through hole through a first bearing; one end of the connecting rod 17 is rotatably installed in the second through hole through a second bearing, and the other end of the connecting rod 17 is installed in the third through hole through a third bearing. In the utility model, the connecting rod 17 is used as a rotating fulcrum to drive the first wheel 13 and the second wheel 14 to swing up and down; and in the swinging process of the connecting rod 17, the connecting rod 17 rotates relative to the first supporting seat 16, the second supporting seat 19 and the third supporting seat 21, so that the compactness of the AVG vehicle and the stability in the driving process are ensured.

In another embodiment, the first support seat 16 is mounted on the movable bracket 15, and the second support seat 19 and the third support seat 21 are mounted on the movable bracket 15.

In yet another embodiment, the adaptive pavement apparatus 1 further comprises a fourth supporting seat provided with a fourth through hole and a fifth supporting seat provided with a fifth through hole; the fourth supporting seat is arranged on the bottom shell 18, and the fifth supporting seat is arranged on the movable bracket 15; it will be appreciated that the movable bracket 15 is rotatably mounted on the bottom shell 18 by means of the connecting rod 17 passing through the fourth and fifth through holes. The utility model discloses in, the number and the mounting means of supporting seat can be set for according to the actual demand to not be limited to with above-mentioned three kinds of forms.

In an embodiment, as shown in fig. 1, a receiving groove 151 is formed on the movable bracket 15, and the first support seat 16, the second support seat 19 and the third support seat 21 are all located in the receiving groove 151. As can be understood, the accommodating groove 151 is disposed at the middle position of the movable bracket 15, and the design of the accommodating groove 151 improves the compactness of the adaptive pavement device 1, avoids the connecting rod 17 from being interfered by the external environment, and improves the stability and the service life of the adaptive pavement device 1.

In an embodiment, as shown in fig. 1 and fig. 2, the adaptive pavement device 1 further includes a bottom plate 22, and a first through groove 221 and a second through groove 222 are disposed on the bottom plate 22; the bottom plate 22 is mounted (by means of screw connection, clamping connection and the like) on the bottom shell 18, and a mounting space 181 is formed between the bottom plate 22 and the bottom shell 18; the movable bracket 15, the first driving member 11, the second driving member 12, the first wheel 13 and the second wheel 14 are all installed in the installation space 181; the first wheel 13 extends out of the first channel 221 and the second wheel 14 extends out of the second channel 222. It is understood that the bottom plate 22 is installed at the bottom end of the bottom shell 18, the bottom shell 18 corresponds to a box body with an opening facing downwards, and the bottom plate 22 corresponds to a box cover covering the opening of the bottom shell 18; the first wheel 13 contacts the ground through the first through-groove 221, and the second wheel 14 contacts the ground through the second through-groove 222. The utility model discloses in, movable support 15 first driving piece 11 the second driving piece 12 first wheel 13 and second wheel 14 is all installed in installation space 181 to guaranteed the AGV car process of traveling, it is right to avoid external barrier first driving piece 11 the harm of second driving piece 12, battery and control panel 41 etc. has prolonged this self-adaptation road surface device 1's life.

In one embodiment, as shown in fig. 1 and 3, the adaptive pavement apparatus 1 further includes a first motor frame 25, a second motor frame 26, a first connecting shaft 27, and a second connecting shaft 28; the movable support 15 comprises a first vertical plate 152, a second vertical plate 153 and a first transverse plate 154 connected between the first vertical plate 152 and the second vertical plate 153, wherein the first transverse plate 154 is provided with the accommodating groove 151; it can be understood that the receiving groove 151 is disposed at a central position of the first horizontal plate 154, and the first horizontal plate 154 is rotatably mounted on the bottom shell 18 through the first supporting seat 16 and the connecting rod 17.

The first motor frame 25 is mounted on the first transverse plate 154, a first mounting hole is formed in the first motor frame 25, and a second mounting hole is formed in the first vertical plate 152; the first driving member 11 is mounted on the first motor frame 25, one end of the first connecting shaft 27 is rotatably mounted in the second mounting hole, and the other end of the first connecting shaft 27 sequentially passes through the first wheel 13 and the first mounting hole to be connected with the first driving member 11; it is understood that the first wheel 13 is installed between the first riser 152 and the first motor frame 25, one end of the first connecting shaft 27 is installed in the first installation hole through a fourth bearing, and the other end of the first connecting shaft 27 is installed in the second installation hole through a fifth bearing.

The second motor frame 26 is mounted on the first transverse plate 154, a third mounting hole is formed in the second motor frame 26, and a fourth mounting hole is formed in the second vertical plate 153; the second driving element 12 is mounted on the second motor frame 26, one end of the second connecting shaft 28 is rotatably mounted in the fourth mounting hole, and the other end of the second connecting shaft 28 sequentially passes through the second wheel 14 and the third mounting hole to be connected to the second driving element 12. It is to be understood that the second wheel 14 is mounted between the second riser 153 and the second motor mount 26, one end of the second connecting shaft 28 is mounted in the third mounting hole through a sixth bearing, and the other end of the second connecting shaft 28 is mounted in the fourth mounting hole through a seventh bearing. The utility model discloses in, self-adaptation road surface device 1's compact structure, stability is high.

In one embodiment, as shown in fig. 1, the adaptive pavement apparatus 1 further includes a third motor frame 29, a fourth motor frame 31, a third driving member 32, a fourth driving member 33, a third wheel 34, and a fourth wheel 35; the third motor mount 29 is mounted on the bottom case 18; the third driving member 32 is mounted (by means of screw connection or the like) on the third motor frame 29 and connected to the third wheel 34; it is understood that the third driving member 32 and the fourth driving member 33 include, but are not limited to, a motor, etc.; the third wheel 34 and the fourth wheel 35 may be a left front wheel and a right front wheel of the AGV, or a left rear wheel and a right rear wheel of the AGV; therefore, the self-adaptive pavement device 1 is a four-wheel drive mechanism, and the power performance and the capability of crossing the groove bank of the AGV are improved.

The fourth motor mount 31 is mounted (by means of screw connection or the like) on the bottom case 18; the fourth driving part 33 is mounted on the fourth motor frame 31 and connected to the fourth wheel 35; the rotational axis of the third wheel 34 coincides with the rotational axis of the fourth wheel 35. It is understood that a third through groove 223 and a fourth through groove 224 are further formed on the base plate 22, the third driving member 32, the fourth driving member 33, the third wheel 34 and the fourth wheel 35 are also installed in the installation space 181, the third wheel 34 passes through the third through groove 223, and the fourth wheel 35 passes through the fourth through groove 224. The utility model discloses in, this self-adaptation road surface device 1's compact structure, stability are high, simple to operate.

In one embodiment, as shown in fig. 1, the adaptive pavement apparatus 1 further includes a third connecting shaft 36, a fourth connecting shaft 37, and a first fixing block 38 and a second fixing block 39 both mounted on the bottom case 18; the third motor frame 29 comprises a third vertical plate and a second transverse plate connected with the third vertical plate, the second transverse plate is mounted on the bottom shell 18, and the third driving piece 32 is mounted on the third vertical plate; a fifth mounting hole is formed in the third vertical plate, a sixth mounting hole is formed in the first fixing block 38, one end of the third connecting shaft 36 is rotatably mounted in the sixth mounting hole, and the other end of the third connecting shaft 36 sequentially penetrates through the third wheel 34 and the fifth mounting hole to be connected with the third driving piece 32; it is understood that one end of the third connecting shaft 36 is mounted in the fifth mounting hole through an eighth bearing, the other end of the third connecting shaft 36 is mounted in the sixth mounting hole through a ninth bearing, and the third wheel 34 is located between the first fixing block 38 and the third riser.

The fourth motor frame 31 comprises a fourth vertical plate and a third transverse plate connected with the fourth vertical plate, the third transverse plate is mounted on the bottom case 18, and the fourth driving part 33 is mounted on the fourth vertical plate; be equipped with the seventh mounting hole on the fourth riser, be equipped with the eighth mounting hole on the second fixed block 39, the one end of fourth connecting axle 37 is rotated and is installed in the eighth mounting hole, the other end of fourth connecting axle 37 passes in proper order fourth wheel 35 with the seventh mounting hole is connected fourth drive 33. It is understood that one end of the fourth connecting shaft 37 is mounted in the seventh mounting hole through a ninth bearing, the other end of the fourth connecting shaft 37 is mounted in the eighth mounting hole through a tenth bearing, and the fourth wheel 35 is located between the second fixing block 39 and the fourth riser. The utility model discloses in, this self-adaptation road surface device 1's compact structure, stability is high, simple to operate.

In one embodiment, as shown in fig. 1, the adaptive pavement apparatus 1 further includes a battery (not shown), and a control board 41, a first battery bracket 42 and a second battery bracket 43, all mounted on the bottom case 18; a first groove is formed in the first battery support 42, a second groove is formed in the second battery support 43, and two opposite ends of the battery are respectively inserted into the first groove and the second groove; the control board 41 is connected to the battery, the first driving member 11, and the second driving member 12. It is to be understood that the control board 41 is also connected to the third driving member 32, the fourth driving member 33, the path sensor 23, the obstacle sensor 24 and the alarm device. The battery is a rechargeable battery, and the battery can provide power for the adaptive road surface device 1, so that the normal running of the adaptive road surface device 1 is ensured.

The utility model discloses another embodiment still provides a AGV car, including storing box 10 and foretell adaptive pavement device 1, storing box 10 is installed on the drain pan 18. Understandably, the self-adaptive road surface device 1 can ensure that the first wheels 13 and the second wheels 14 are always in contact with an external fixed object in the running process of the AGV, and the body of the AGV keeps a balanced and non-inclined state, so that the phenomenon that materials fall off due to the inclination of the storage box 10 is avoided.

In one embodiment, as shown in fig. 1, the adaptive pavement apparatus 1 further includes a path sensor 23 for sensing a driving path, and an obstacle sensor 24 and an alarm (not shown) mounted (by means of screws, snaps, etc.) on the bottom housing 18, wherein the obstacle sensor 24 is connected to the alarm. It will be appreciated that the path sensor 23 is mounted below the floor 22, and that the path sensor 23 includes, but is not limited to, a magnetic sensor or the like that senses a magnetic strip on the floor to guide the AGV vehicle along the path of the magnetic strip. Preferably, two path sensors 23 are provided, and the two path sensors 23 are respectively installed in front of and behind the base plate 22. Further, the obstacle sensors 24 include, but are not limited to, laser equidistant sensors. Specifically, when the obstacle sensor 24 detects a large obstacle in front during the running process of the AGV, the first alarm will give out alarm information, prompt a worker to remove the obstacle in front, or prompt the obstacle in front to leave. The utility model discloses in, path inductor 23 with the normal travel of AGV car has been guaranteed to obstacle inductor 24's design.

It is to be understood that the adaptive pavement apparatus 1 can also be applied to a vehicle such as a stroller or a cart, and is not limited to the AGV side.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A self-adaptive pavement device is characterized by comprising a first driving piece, a second driving piece, a first wheel, a second wheel, a movable support, a bottom shell and a connecting rod which is rotatably connected to the bottom end of the bottom shell; the first driving piece is arranged on the movable bracket and is connected with the first wheel; the second driving piece is arranged on the movable bracket and is connected with the second wheel; the rotating shaft of the first wheel is superposed with the rotating shaft of the second wheel to form a wheel axis;

2. The adaptive pavement apparatus according to claim 1, further comprising a first support seat provided with a first through hole, a second support seat provided with a second through hole, and a third support seat provided with a third through hole; the first supporting seat is mounted at the bottom end of the bottom shell, and the connecting rod penetrates through the first through hole to be rotatably connected with the first supporting seat; the second supporting seat and the third supporting seat are installed on the movable support, and the two opposite ends of the connecting rod are respectively rotatably connected to the second through hole and the third through hole.

3. An adaptive pavement apparatus according to claim 2, wherein the movable frame includes a receiving slot, and the first support seat, the second support seat and the third support seat are disposed in the receiving slot.

4. The adaptive pavement apparatus of claim 1, further comprising a base plate having a first channel and a second channel; the bottom plate is arranged on the bottom shell, and an installation space is formed between the bottom plate and the bottom shell; the movable bracket, the first driving piece, the second driving piece, the first wheel and the second wheel are all installed in the installation space; the first wheel extends out of the first channel and the second wheel extends out of the second channel.

5. The adaptive pavement apparatus of claim 1, further comprising a first motor mount, a second motor mount, a first connecting shaft, and a second connecting shaft; the movable support comprises a first vertical plate, a second vertical plate and a first transverse plate connected between the first vertical plate and the second vertical plate;

6. The adaptive pavement apparatus of claim 1, further comprising a third motor mount, a fourth motor mount, a third drive, a fourth drive, a third wheel, and a fourth wheel; the third motor frame is arranged on the bottom shell; the third driving piece is arranged on the third motor frame and is connected with the third wheel;

7. The adaptive pavement apparatus according to claim 6, further comprising a third connecting shaft, a fourth connecting shaft, and a first fixing block and a second fixing block both mounted on the bottom case; the third motor frame comprises a third vertical plate and a second transverse plate connected with the third vertical plate, the second transverse plate is installed on the bottom shell, and the third driving piece is installed on the third vertical plate; a fifth mounting hole is formed in the third vertical plate, a sixth mounting hole is formed in the first fixing block, one end of the third connecting shaft is rotatably mounted in the sixth mounting hole, and the other end of the third connecting shaft sequentially penetrates through the third wheel and the fifth mounting hole to be connected with the third driving piece;

8. The adaptive pavement apparatus according to claim 1, further comprising a battery, and a control board, a first battery bracket and a second battery bracket, all mounted on the bottom case; a first groove is formed in the first battery support, a second groove is formed in the second battery support, and two opposite ends of the battery are respectively inserted into the first groove and the second groove; the control panel is connected with the battery, the first driving piece and the second driving piece.

9. An AGV vehicle comprising a storage compartment mounted on the bottom housing and an adaptive pavement apparatus as claimed in any one of claims 1 to 8.

10. The AGV vehicle of claim 9, wherein the adaptive roadway device further includes a path sensor for sensing a travel path, and a barrier sensor and an alarm both mounted on the bottom housing, the barrier sensor being connected to the alarm.