CN219056372U

CN219056372U - Automobile chassis AGV with small turning radius

Info

Publication number: CN219056372U
Application number: CN202223323701.8U
Authority: CN
Inventors: 任志勇; 马锡亮; 杨国安; 张斌鹏
Original assignee: Tianjin Langyu Robot Co ltd
Current assignee: Tianjin Langyu Robot Co ltd
Priority date: 2022-12-12
Filing date: 2022-12-12
Publication date: 2023-05-23
Anticipated expiration: 2032-12-12

Abstract

The utility model discloses an AGV with a small turning radius for an automobile chassis, which comprises an AGV body and the automobile chassis arranged at the lower end of the AGV body; the automobile chassis comprises a first chassis unit and a second chassis unit which are symmetrically arranged in structure; the first chassis unit comprises a first wheel set, a second wheel set and a driving motor, wherein the first wheel set and the second wheel set are connected through a rubber suspension, and each of the first wheel set and the second wheel set comprises an axle and two wheels arranged at two ends of the axle; the two ends of the axles of the first wheel set and the second wheel set are respectively and rotatably connected with the longitudinal rotating shafts of the wheel hubs on the corresponding sides; the middle part of each axle is respectively connected with the wheel hubs on the corresponding sides through two hydraulic cylinders which are symmetrically arranged on the left and right sides. Four wheel hubs in every chassis unit are controlled through a pneumatic cylinder respectively, the steering of wheels can be achieved through the expansion and contraction of the pneumatic cylinder, and the front chassis unit and the rear chassis unit can be matched for steering when the steering is achieved.

Description

Automobile chassis AGV with small turning radius

Technical Field

The utility model relates to the technical field of AGV structures, in particular to an automobile chassis AGV with a small turning radius.

Background

An AGV is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. AGVs have a carrier advantage not available with other vehicles and are becoming increasingly popular in various industries, such as dock operations.

In the operation of the wharf, the traditional AGV uses polyurethane rubber coated wheels and the wheels are smaller, so that the speed of the vehicle is slower and the obstacle crossing capability is not strong. Therefore, the automobile chassis with AGV changed into commonly used chassis is designed in the industry, and the wheels of the automobile chassis are rubber wheels and the wheels are large, so that the problem that the speed of the automobile is slow and the obstacle crossing capacity is not strong can be solved by the structure. However, the conventional automobile chassis is large in turning radius because only the front wheel system usually has steering and the rear wheel system is driven to walk, so that the automobile chassis is not easy to turn and is low in efficiency when being used in a limited working space of a wharf.

Disclosure of Invention

Aiming at the technical problems pointed out in the background art, the utility model aims to provide an automobile chassis AGV with small turning radius.

In order to achieve the above purpose, the technical scheme provided by the utility model is as follows:

an automobile chassis AGV with small turning radius comprises an AGV body and an automobile chassis arranged at the lower end of the AGV body;

the automobile chassis comprises a first chassis unit and a second chassis unit which are symmetrically arranged in structure;

the first chassis unit comprises a first wheel set, a second wheel set and a driving motor, the first wheel set and the second wheel set are connected through a rubber suspension, the first wheel set and the second wheel set both comprise an axle and two wheels arranged at two ends of the axle,

the axle of the first wheel set is in transmission connection with the driving motor through a transmission shaft; the two ends of the axles of the first wheel set and the second wheel set are respectively and rotatably connected with the longitudinal rotating shafts of the wheel hubs on the corresponding sides; the middle part of each axle is respectively connected with wheel hubs on the corresponding sides through two hydraulic cylinders which are symmetrically arranged on the left and right sides, the tail ends of the hydraulic cylinders are hinged with the axles, the end parts of piston rods of the hydraulic cylinders are hinged with hinge lugs arranged on the wheel hubs, and the steering of wheels is realized through the expansion and contraction of the hydraulic cylinders.

The wheel hubs on two sides of the first wheel set and the second wheel set are connected through a linkage rod, the longitudinal rotating shafts of the wheel hubs on each side are fixedly connected with one end of a rotating block, and the other end of the rotating block is hinged with one end of the linkage rod.

Wherein, the gangbar is telescopic structure, and length adjustable.

The first wheel set and the second wheel set are connected with the rubber suspension through a V-shaped stabilizer respectively, and openings of the two V-shaped stabilizers are arranged oppositely.

Wherein, at least one encoder is respectively arranged on the rubber suspensions of the first wheel group and the second wheel group, the encoders are connected with the axle through a bracket, the encoder is matched with the longitudinal rotating shaft of the wheel hub at the corresponding side for use and is used for collecting the rotating angle of the longitudinal rotating shaft.

The driving motor is arranged on the motor base, and the motor base is connected with the AGV body.

Compared with the prior art, the utility model has the beneficial effects that:

according to the four-wheel hub in each chassis unit, the four-wheel hub is controlled through the hydraulic cylinder, the steering of wheels can be achieved through the expansion and contraction of the hydraulic cylinder, the front chassis unit and the rear chassis unit can be matched for steering when the steering is achieved, and the result of small turning radius can be achieved.

Drawings

FIG. 1 is a schematic structural view of an embodiment of the bottom of the present application;

FIG. 2 is a schematic structural view of an embodiment of the first chassis unit of the present application;

FIG. 3 is a schematic structural view of another embodiment of the first chassis unit of the present application;

FIG. 4 is a schematic structural view of an embodiment of a hub and axle connection structure of the present application;

FIG. 5 is a schematic view of a first state of wheel rotation according to the present application;

FIG. 6 is a schematic view of a second state of wheel rotation according to the present application;

in the figure, a first chassis unit 1, an AGV body 2, a second chassis unit 3, a driving motor 11, a first wheel set 12, a transmission shaft 13, a second wheel set 14, a hydraulic cylinder 15, a linkage rod 16, a V-shaped stabilizer 18, a rubber suspension 19, a rotating block 110, an encoder 111, and a wheel hub 112.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

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

In the description of this patent, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.

Referring to fig. 1-4, an embodiment structure is provided in the present utility model.

The embodiment provides an automobile chassis AGV with small turning radius, which comprises an AGV body 2 and an automobile chassis arranged at the lower end of the AGV body 2;

the automobile chassis comprises a first chassis unit 1 and a second chassis unit 3 which are symmetrically arranged in structure;

the first chassis unit 1 comprises a first wheel set 12, a second wheel set 14 and a driving motor 11, wherein the first wheel set 12 and the second wheel set 14 are connected through a rubber suspension 19, and the first wheel set 12 and the second wheel set 14 comprise an axle and two wheels arranged at two ends of the axle;

the axle of the first wheel set 12 is in transmission connection with the driving motor 11 through a transmission shaft 13; the two ends of the axles of the first wheel set 12 and the second wheel set 14 are respectively and rotatably connected with the longitudinal rotating shafts of the wheel hubs 112 on the corresponding sides, and the wheel hubs can rotate relative to the axles; the middle part of each axle is respectively connected with the wheel hubs 112 on the corresponding sides through two hydraulic cylinders 15 symmetrically arranged on the left and right sides, the tail ends of the hydraulic cylinders 15 are hinged with the axles, the end parts of piston rods of the hydraulic cylinders 15 are hinged with hinge lugs arranged on the wheel hubs 112, and the steering of wheels is realized through the expansion and contraction of the hydraulic cylinders 15.

It should be noted that the axles in the first wheel set are steering driving axles, and the axles in the second wheel set are steering axles, which are all known in the art.

The wheel hubs 112 on both sides of the first wheel set 12 and the second wheel set 14 are connected through a linkage rod 16, the longitudinal rotation shaft of each wheel hub 112 is fixedly connected with one end of a rotating block 110, and the other end of the rotating block 110 is hinged with one end of the linkage rod 16. The linkage rod is arranged to ensure that the wheels on two sides act synchronously and are operated consistently.

Wherein, the linkage rod 16 can be a telescopic structure, so that the length can be adjusted.

The first wheel set 12 and the second wheel set 14 are respectively connected with a rubber suspension 19 through a V-shaped stabilizer 18, and openings of the two V-shaped stabilizers 18 are arranged oppositely. The stabilizer is arranged to make the whole structure more firm.

The rubber suspensions 19 of the first wheel set 12 and the second wheel set 14 are respectively provided with at least one encoder 111, the encoders 111 are connected with the axle through brackets, and the encoders 111 are matched with longitudinal rotating shafts of wheel hubs 112 on corresponding sides for collecting the rotating angles of the longitudinal rotating shafts. The controller is connected to the encoder so that the angle of steering can be controlled.

The driving motor 11 is installed on a motor base, and the motor base is connected with the AGV car body 2, and the driving motor can drive wheels to rotate.

In the state of wheel rotation, please refer to fig. 5 and 6, fig. 5 is a schematic diagram illustrating a first state of wheel rotation in the present application; fig. 6 is a schematic view of a second state of wheel rotation of the present application.

It should be noted that, the structure of the second chassis unit refers to the description of the first chassis unit, and will not be repeated herein.

The automobile chassis described in the application means that rims, tires, axles, suspensions, drive shafts and the like are all of commercial automobile grade, or means that partial structural improvement is made on the basis of the above.

It should be noted that, the techniques not described in detail in this application all adopt the prior art.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present utility model, and are not intended to limit the utility model, and that various changes and modifications may be made therein without departing from the spirit and scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The automobile chassis AGV with the small turning radius is characterized by comprising an AGV body (2) and an automobile chassis arranged at the lower end of the AGV body (2);

the automobile chassis comprises a first chassis unit (1) and a second chassis unit (3) which are symmetrically arranged in structure;

the first chassis unit (1) comprises a first wheel set (12), a second wheel set (14) and a driving motor (11), the first wheel set (12) and the second wheel set (14) are connected through a rubber suspension (19), the first wheel set (12) and the second wheel set (14) both comprise an axle and two wheels arranged at two ends of the axle,

the axle of the first wheel set (12) is in transmission connection with the driving motor (11) through a transmission shaft (13); the two ends of the axles of the first wheel set (12) and the second wheel set (14) are respectively and rotatably connected with the longitudinal rotating shafts of the wheel hubs (112) on the corresponding sides; each axle middle part is connected with wheel hubs (112) on corresponding sides through two hydraulic cylinders (15) symmetrically arranged on the left and right sides, the tail ends of the hydraulic cylinders (15) are hinged with the axles, the end parts of piston rods of the hydraulic cylinders (15) are hinged with hinge lugs arranged on the wheel hubs (112), and the steering of wheels is realized through the telescopic operation of the hydraulic cylinders (15).

2. The AGV with small turning radius according to claim 1, wherein the wheel hubs (112) on both sides of the first wheel set (12) and the second wheel set (14) are connected through a link lever (16), the longitudinal rotation shaft of each wheel hub (112) on each side is fixedly connected with one end of a rotating block (110), and the other end of the rotating block (110) is hinged with one end of the link lever (16).

3. The small radius vehicle chassis AGV of claim 2 wherein the linkage bar (16) is of a telescoping construction and is adjustable in length.

4. A small radius automotive chassis AGV according to any of claims 1-3, characterized in that the first (12) and second (14) wheel sets are connected to the rubber suspension (19) by a V-shaped stabilizer (18), respectively, the two V-shaped stabilizers (18) being arranged with their openings facing each other.

5. A small turning radius automotive chassis AGV according to any one of claims 1-3, characterized in that at least one encoder (111) is arranged on the rubber suspensions (19) of the first wheel set (12) and the second wheel set (14), respectively, said encoder (111) being connected to the axle by means of a bracket, said encoder (111) being used in cooperation with the longitudinal rotation axis of the wheel hub (112) on the respective side for acquiring the angle of rotation of the longitudinal rotation axis.

6. A small radius automotive chassis AGV according to any of claims 1-3, characterized in that the drive motor (11) is mounted on a motor mount, which is connected to the AGV body (2).