CN114715282A - AGV chassis that self-adaptation ground just can initiatively level - Google Patents

Abstract

The utility model provides a AGV chassis that self-adaptation ground just can initiatively level, includes that bridge frame formula front wheel assembly, frame welding assembly, level sensor, steering wheel adjust assembly and universal wheel adjustment assembly, and bridge frame formula front wheel assembly sets up in frame welding assembly front side, and steering wheel adjusts assembly and universal wheel adjustment assembly and sets up the both ends in frame welding assembly rear side respectively, level sensor fixed mounting is at the middle part of frame welding assembly. According to the AGV chassis which is adaptive to the ground and can be actively leveled, when the AGV body walks onto an uneven road surface, the AGV body cannot incline; in the high-precision butt joint, deviation can not occur, so that production accidents are prevented.

Description

AGV chassis that self-adaptation ground just can initiatively level

Technical Field

The invention relates to the technical field of AGV, in particular to an AGV chassis which is adaptive to the ground and can be actively leveled.

Background

With the rapid development of the AGV industry, AGVs have not only engaged in simple handling operations, but have gradually developed into the full automation field of high-precision docking. The AGV chassis mainly adopts floated drive structure and crane span structure drive structure at present, and this two kinds of drive structure principal principles are through spring or articulated crane span structure, make drive wheel and universal wheel (bearing wheel) can all land, and the purpose is mainly in order to solve the road surface at ordinary times, and the drive wheel grabs the land fertility not enough, the problem that can not normally travel that factors such as wheel skids lead to. However, the two AGV chassis described above suffer from the following deficiencies and drawbacks:

1. when an AGV body of the chassis runs on an uneven road surface, the AGV body can incline;

2. in the high-precision butt joint, deviation can occur, and even production accidents can occur.

Disclosure of Invention

To overcome the deficiencies of the above-described technology, it is an object of the present invention to provide a floor adaptive AGV chassis that is actively leveled.

The technical scheme adopted by the invention is as follows: an AGV chassis which is adaptive to the ground and can be actively leveled comprises a bridge frame type front wheel assembly, a frame welding assembly, a level sensor, a steering wheel adjusting assembly and a universal wheel adjusting assembly, wherein the bridge frame type front wheel assembly is arranged on the front side of the frame welding assembly; the bridge frame type front wheel assembly comprises a first steering wheel, a first universal wheel, two bearing seats, a bridge frame hinged shaft, eight fixing bolts and an adjusting shim plate, wherein the bridge frame is hinged with a frame welding assembly through the bridge frame hinged shaft, two ends of the bridge frame hinged shaft are respectively arranged in the two bearing seats in a penetrating mode, each bearing seat is respectively arranged on the frame welding assembly through the four fixing bolts, the bridge frame hinged shaft is arranged in the middle of the bridge frame in a penetrating mode, the first steering wheel and the first universal wheel are arranged on two sides of the bridge frame hinged shaft, the first steering wheel and the first universal wheel are respectively arranged at two ends of the bridge frame, the adjusting shim plate is arranged between the first universal wheel and the bridge frame, the adjusting shim plate is arranged on the bridge frame, and the first universal wheel is arranged on the adjusting shim plate; the steering wheel adjusting assembly comprises a first mounting plate, a first electric push rod, a first steering wheel fixing plate, four first guide posts, four first flanging bushes, four first guide seats and a second steering wheel, wherein the second steering wheel is fixedly mounted on the first steering wheel fixing plate, the first mounting plate is arranged above the first steering wheel fixing plate, the first electric push rod is mounted on the first mounting plate, the front end of a piston rod of the first electric push rod penetrates through the first mounting plate and then is bolted to the first steering wheel fixing plate, the four first guide seats are fixedly mounted on the first mounting plate, the four first guide posts respectively penetrate through the four first guide seats, the first guide posts sequentially penetrate through the first guide seats and the first mounting plate and are fixedly connected with the first steering wheel fixing plate, the four first flanging bushes are respectively arranged in the four first guide seats, and the first flanging bushes are sleeved on the corresponding first guide posts, the first mounting plate is fixedly connected with the frame welding assembly; the universal wheel adjusting assembly comprises a second mounting plate, a second electric push rod, a second universal wheel fixing plate, four second guide posts, four second flanging bushes, four second guide seats and a second universal wheel, wherein the second universal wheel is fixedly mounted on the second universal wheel fixing plate, the second mounting plate is arranged above the second universal wheel fixing plate, the second electric push rod is mounted on the second mounting plate, the front end of a piston rod of the second electric push rod penetrates through the second mounting plate and then is bolted to the second universal wheel fixing plate, the four second guide seats are fixedly mounted on the second mounting plate, the four second guide posts respectively penetrate through the four second guide seats, the second guide posts sequentially penetrate through the second guide seats and the second mounting plate and then are fixedly connected with the second universal wheel fixing plate, and the four second flanging bushes are respectively arranged in the four second guide seats, the second flanging bushing sleeves the corresponding second guide posts, and the second mounting plate is fixedly connected with the frame welding assembly.

Compared with the prior art, the invention has the following beneficial effects: according to the AGV chassis which is adaptive to the ground and can be actively leveled, when the AGV body walks onto an uneven road surface, the AGV body cannot incline; in the high-precision butt joint, deviation can not occur, so that production accidents are prevented.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic bottom view of the structure of FIG. 1;

FIG. 3 is a schematic structural view of a bridge front wheel assembly of the present invention;

FIG. 4 is a schematic structural view of a steering wheel adjustment assembly of the present invention;

FIG. 5 is a schematic view of the construction of the universal wheel adjustment assembly of the present invention.

Detailed Description

The invention is described in detail below with reference to the figures and the specific embodiments.

As shown in fig. 1-2, an AGV chassis that is adaptive to ground and can initiatively level includes bridge typefront wheel assembly 1,frame welding assembly 2,level sensor 3, steeringwheel adjustment assembly 4 and universalwheel adjustment assembly 5, bridge typefront wheel assembly 1 is arranged atframe welding assembly 2 front side, steeringwheel adjustment assembly 4 and universalwheel adjustment assembly 5 are respectively arranged at two ends offrame welding assembly 2 rear side,level sensor 3 is fixedly mounted at the middle part offrame welding assembly 2.

Frame welding assembly 2 adopts rectangular pipe and panel beating welding to form, bears whole AGV weight support.

The bridge type front wheel assembly is fixed on theframe welding assembly 2 through 8bolts 15, the strength is borne by the frame welding assembly and the bridge, and the bolts do not bear pulling force and only play a role in fixing. The steeringwheel adjusting assembly 4 and the universalwheel adjusting assembly 5 are respectively fixed on theframe welding assembly 2 through 4 bolts, and the bolts are free from tension.

As shown in fig. three, the bridge typefront wheel assembly 1 includes afirst steering wheel 11, a firstuniversal wheel 12, two bearingseats 13, abridge 14, abridge hinge shaft 17, eightfixing bolts 15, and an adjustingshim plate 16, where thebridge 14 is hinged to theframe welding assembly 2 through thebridge hinge shaft 17, two ends of thebridge hinge shaft 17 are respectively inserted into the two bearingseats 13, eachbearing seat 13 is respectively installed on theframe welding assembly 2 through fourfixing bolts 15, thebridge hinge shaft 17 is inserted in the middle of thebridge 14, thefirst steering wheel 11 and the firstuniversal wheel 12 are arranged on two sides of thebridge hinge shaft 17, thefirst steering wheel 11 and the firstuniversal wheel 12 are respectively installed on two ends of thebridge 14, the adjustingshim plate 16 is arranged between the firstuniversal wheel 12 and thebridge 14, the adjustingshim plate 16 is installed on thebridge 14, and the firstuniversal wheel 12 is installed on the adjustingshim plate 16. The height position of the firstuniversal wheel 12 can be adjusted by selecting the adjustingbase plates 16 with different heights. In order to ensure the strength, thebridge 14 is formed by welding I-shaped steel, sheet metal parts and pin shafts.

Because thebridge 14 is hinged with theframe welding assembly 2 through thebridge hinge shaft 17, thebridge 14 can rotate around thebridge hinge shaft 17, so that thefirst steering wheel 11 and the firstuniversal wheel 12 are driven to move together, and further at least one of thefirst steering wheel 11 and the firstuniversal wheel 12 is in contact with the ground in the moving process of the AGV, the condition that the wheels do not touch the ground is prevented, and the shortage of driving wheels is avoided.

As shown in the fourth drawing, the steeringwheel adjusting assembly 4 includes afirst mounting plate 41, a firstelectric putter 42, a first steeringwheel fixing plate 43, fourfirst guide posts 46, four first flangedbushes 44, fourfirst guide seats 45 and asecond steering wheel 47, thesecond steering wheel 47 is fixedly mounted on the first steeringwheel fixing plate 43, thefirst mounting plate 41 is disposed above the first steeringwheel fixing plate 43, the firstelectric putter 42 is mounted on thefirst mounting plate 41, the front end of the piston rod of the firstelectric putter 42 is bolted to the first steeringwheel fixing plate 43 through thefirst mounting plate 41, the fourfirst guide seats 45 are all fixedly mounted on thefirst mounting plate 41, the fourfirst guide posts 46 are respectively mounted on the fourfirst guide seats 45, thefirst guide posts 46 are sequentially mounted through thefirst guide seats 45 and thefirst mounting plate 41 and then fixedly connected to the first steeringwheel fixing plate 43, the fourfirst flanging bushings 44 are respectively arranged in the fourfirst guide seats 45, thefirst flanging bushings 44 are sleeved on the correspondingfirst guide columns 46, and thefirst mounting plate 41 is fixedly connected with theframe welding assembly 2.

Thefirst mounting plate 41 is formed by processing a thick plate, the first steeringwheel fixing plate 43 is welded with fourfirst guide columns 46, the first flanging bushing 44 plays a role in lubrication, thesecond steering wheel 47 is fixed on the first steeringwheel fixing plate 43 through bolts, and when the first electric push rod stretches, thesecond steering wheel 47 and the first steeringwheel fixing plate 43 lift along with the first electric push rod, so that an adjusting effect is achieved.

As shown in fig. five, the universalwheel adjusting assembly 5 includes asecond mounting plate 51, a secondelectric push rod 52, a second universalwheel fixing plate 53, foursecond guide posts 56, foursecond flanging bushes 54, foursecond guide seats 55 and a seconduniversal wheel 57, the seconduniversal wheel 57 is fixedly mounted on the second universalwheel fixing plate 53, thesecond mounting plate 51 is disposed above the second universalwheel fixing plate 53, the secondelectric push rod 52 is mounted on thesecond mounting plate 51, the front end of the piston rod of the secondelectric push rod 52 is inserted through thesecond mounting plate 51 and then bolted to the second universalwheel fixing plate 53, the foursecond guide seats 55 are all fixedly mounted on thesecond mounting plate 51, the foursecond guide posts 56 are respectively inserted through the foursecond guide seats 55, thesecond guide posts 56 are sequentially inserted through thesecond guide seats 55 and thesecond mounting plate 51 and then fixedly connected to the second universalwheel fixing plate 53, the foursecond flanging bushings 55 are respectively arranged in the foursecond guide seats 55, thesecond flanging bushings 55 are sleeved on the correspondingsecond guide posts 56, and thesecond mounting plate 51 is fixedly connected with theframe welding assembly 2.

Thesecond mounting plate 51 is formed by processing a thick plate, the second universalwheel fixing plate 53 is welded together with foursecond guide posts 56, thesecond flanging bush 55 plays a role in lubrication, the seconduniversal wheel 57 is fixed on the second universalwheel fixing plate 53 through a bolt, and when the second electric push rod stretches out and draws back, the seconduniversal wheel 57 and the second universalwheel fixing plate 53 lift along with the second electric push rod, so that the adjusting effect is achieved.

Theframe welding assembly 2 is rectangular, and thehorizontal sensor 3 can detect horizontal values of theframe welding assembly 2 in the transverse direction and the longitudinal direction. Thefirst steering wheel 11 and thesecond steering wheel 47 are arranged at two diagonal positions of theframe welding assembly 2, and the firstuniversal wheel 12 and the seconduniversal wheel 57 are arranged at the other two diagonal positions of theframe welding assembly 2, i.e. the universal wheels and the steering wheels are arranged in a crossed manner.

After the AGV drives into the station, before carrying out the high accuracy butt joint, level sensor can detect the horizontal difference value offrame welding assembly 2's horizontal and vertical two directions, then first electric putter and second electric putter are through flexible adjustment, makeframe welding assembly 2 be the level. Thereby guarantee that whole AGV automobile body is parallel with the horizontal plane to can carry out the high accuracy butt joint, avoid the production accident to take place.

The above embodiments are based on the technical solution of the present invention, and detailed implementation and specific operation processes are given, but the scope of the present invention is not limited to the above embodiments.

Claims (1)

1. The utility model provides a AGV chassis that self-adaptation ground just can initiatively level which characterized in that: the bridge-type front wheel assembly is arranged on the front side of the frame welding assembly, the steering wheel adjusting assembly and the universal wheel adjusting assembly are respectively arranged at two ends of the rear side of the frame welding assembly, and the horizontal sensor is fixedly arranged in the middle of the frame welding assembly; the bridge frame type front wheel assembly comprises a first steering wheel, a first universal wheel, two bearing seats, a bridge frame hinged shaft, eight fixing bolts and an adjusting shim plate, wherein the bridge frame is hinged with a frame welding assembly through the bridge frame hinged shaft, two ends of the bridge frame hinged shaft are respectively arranged in the two bearing seats in a penetrating mode, each bearing seat is respectively arranged on the frame welding assembly through the four fixing bolts, the bridge frame hinged shaft is arranged in the middle of the bridge frame in a penetrating mode, the first steering wheel and the first universal wheel are arranged on two sides of the bridge frame hinged shaft, the first steering wheel and the first universal wheel are respectively arranged at two ends of the bridge frame, the adjusting shim plate is arranged between the first universal wheel and the bridge frame, the adjusting shim plate is arranged on the bridge frame, and the first universal wheel is arranged on the adjusting shim plate; the steering wheel adjusting assembly comprises a first mounting plate, a first electric push rod, a first steering wheel fixing plate, four first guide posts, four first flanging bushes, four first guide seats and a second steering wheel, wherein the second steering wheel is fixedly mounted on the first steering wheel fixing plate, the first mounting plate is arranged above the first steering wheel fixing plate, the first electric push rod is mounted on the first mounting plate, the front end of a piston rod of the first electric push rod penetrates through the first mounting plate and then is bolted to the first steering wheel fixing plate, the four first guide seats are fixedly mounted on the first mounting plate, the four first guide posts respectively penetrate through the four first guide seats, the first guide posts sequentially penetrate through the first guide seats and the first mounting plate and are fixedly connected with the first steering wheel fixing plate, the four first flanging bushes are respectively arranged in the four first guide seats, and the first flanging bushes are sleeved on the corresponding first guide posts, the first mounting plate is fixedly connected with the frame welding assembly; the universal wheel adjusting assembly comprises a second mounting plate, a second electric push rod, a second universal wheel fixing plate, four second guide posts, four second flanging bushes, four second guide seats and a second universal wheel, wherein the second universal wheel is fixedly mounted on the second universal wheel fixing plate, the second mounting plate is arranged above the second universal wheel fixing plate, the second electric push rod is mounted on the second mounting plate, the front end of a piston rod of the second electric push rod penetrates through the second mounting plate and then is bolted to the second universal wheel fixing plate, the four second guide seats are fixedly mounted on the second mounting plate, the four second guide posts respectively penetrate through the four second guide seats, the second guide posts sequentially penetrate through the second guide seats and the second mounting plate and then are fixedly connected with the second universal wheel fixing plate, and the four second flanging bushes are respectively arranged in the four second guide seats, the second flanging bushing sleeves the corresponding second guide posts, and the second mounting plate is fixedly connected with the frame welding assembly.

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