CN114701586A

CN114701586A - AGV chassis and mobile robot

Info

Publication number: CN114701586A
Application number: CN202210378989.4A
Authority: CN
Inventors: 陈青戈; 高永占; 梁瑞权; 陈志鹏; 柏林; 刘彪; 舒海燕; 祝涛剑; 沈创芸
Original assignee: Guangzhou Gosuncn Robot Co Ltd
Current assignee: Guangzhou Gosuncn Robot Co Ltd
Priority date: 2021-11-04
Filing date: 2022-04-12
Publication date: 2022-07-05
Anticipated expiration: 2042-04-12
Also published as: CN114701586B

Abstract

The application discloses AGV chassis and mobile robot, AGV chassis includes: a chassis frame; a power battery; a driver module; a magnetic encoding component; the driving wheel assembly is connected with the driver module; the first bearing assembly is arranged on the driving wheel assembly; the magnetic part is arranged on the first bearing component; a second bearing assembly disposed opposite the first bearing assembly; the shock absorption assembly is partially arranged between the first bearing assembly and the second bearing assembly, and the first bearing assembly, the second bearing assembly and the shock absorption assembly are matched to realize the functions of hanging and absorbing shock of the AGV chassis; the linear speed fixing assembly is arranged on the first bearing assembly. The AGV chassis of this application is from taking suspension, when facing the road surface of unevenness, has certain difference in height compensation mechanism, guarantees that drive wheel assembly can contact with ground, provides effective drive power for the AGV chassis.

Description

AGV chassis and mobile robot

Technical Field

The application relates to the technical field of robot manufacturing, in particular to an AGV chassis and a mobile robot.

Background

In the prior art, hard direct connection AGV chassis, hinge vibration reducing and damping AGV chassis and swing arm type connection AGV chassis are mostly adopted for AGV (automatic Guided Vehicle) chassis, wherein the hard direct connection AGV chassis comprises two driving wheels in the middle and two universal driven wheels in the front and the back, and due to the fact that the driving wheels are connected with the chassis in a direct mode, when the ground is uneven, any one driving wheel is suspended instantaneously, the chassis deviates from the original driving route, and the requirement on ground flatness is high at the same time when accurate control cannot be achieved. Hinge adds bumper shock absorber AGV chassis, realizes through the hinge that many connecting rods are connected, cooperates the bumper shock absorber realization again to realize the shock attenuation effect in many connecting rods motion. The swing arm type AGV comprises a swing arm, a driving wheel, a shock absorber, a driving wheel, a chassis, a driving wheel and a shock absorber.

AGV chassis among the prior art, the structure is complicated, and the motion fulcrum that the many connecting rods of hinge are connected is many and to assembly and machining precision requirement height, simultaneously because spare part is more, leads to the dismouting difficulty, is difficult for assembly and maintenance. And AGV chassis among the prior art, the space accounts for than big, and swing arm connection structure is because the vertical runout and shock attenuation installation need occupy a large amount of chassis spaces, leads to reserving the runout amount in advance, influences other components and parts installation.

Disclosure of Invention

An object of the present application is to provide a new technical solution for an AGV chassis and a mobile robot, which can solve at least the above technical problems in the prior art.

According to a first aspect of the present application, there is provided an AGV chassis comprising: a chassis frame; the power battery is arranged on the chassis frame; a driver module disposed on the chassis frame; the magnetic coding assembly is arranged on the chassis frame; the driving wheel assembly is arranged below the chassis frame and is connected with the driver module so as to drive the driving wheel assembly to move by the driver module; a first bearing assembly provided on the drive wheel assembly; the magnetic part is arranged on the first bearing assembly, and the position of the magnetic part corresponds to that of the magnetic coding assembly; a second bearing assembly disposed opposite the first bearing assembly; a shock assembly, a portion of said shock assembly being positioned between said first bearing assembly and said second bearing assembly, said first bearing assembly, said second bearing assembly and said shock assembly cooperating to perform suspension and shock absorption functions of said AGV chassis; a linear speed fixing assembly provided on the first bearing assembly to power the drive wheel assembly.

Optionally, the driving wheel assemblies are four groups, each group of driving wheel assemblies comprises two in-wheel motors as driving wheels, each group of driving wheel assemblies corresponds to one magnetic coding assembly, and each driving wheel assembly is provided with the first bearing assembly, the second bearing assembly, a damping assembly and the linear speed fixing assembly.

Optionally, the first bearing assembly comprises: the bearing outer sleeve is arranged on the damping component; one end of the central shaft is arranged in the bearing outer sleeve, the magnetic part is arranged at the end part of the other end of the central shaft, and the linear speed fixing component is arranged on the outer wall of the central shaft; the two groups of angular contact bearings are distributed at intervals along the axial direction of the central shaft, and each group of angular contact bearings are respectively connected with the bearing outer sleeve through snap springs; the bearing blocking piece is arranged in the bearing outer sleeve and is coaxially arranged with the bearing outer sleeve, and the bearing blocking piece is used for protecting the angular contact bearing; the limiting column is arranged on the damping assembly and matched with the bearing outer sleeve to limit the self-rotation angle of the driving wheel assembly to be less than 360 degrees.

Optionally, the shock absorbing assembly comprises: the damping fixing plate is arranged between the first bearing assembly and the second bearing assembly, the lower end of the center shaft is connected with the damping fixing plate, and the upper end of the second bearing assembly is connected with the damping fixing plate; the damping spring is arranged on one side of the damping fixing plate, which is back to the central shaft; the spring outer sleeve is arranged on the damping spring; and the adjusting bolt is connected with the damping spring to adjust the prepressing value of the damping spring.

Optionally, the second bearing assembly comprises: a linear bearing; and one end of the guide shaft is connected with the damping fixing plate through the linear bearing.

Optionally, the AGV chassis further comprises: the other end of the guide shaft is connected with the swinging shaft supporting frame through the linear bearing; the hub motor is connected with the motor pressing block through the swing shaft support frame and the differential wheel pin shaft.

Optionally, the linear speed fixing assembly further comprises: the power wire harness is connected with the central shaft through the fixed coil and the coil locking block.

Optionally, the AGV chassis further comprises: the ultrasonic wave component and the touch switch component are respectively arranged on the chassis frame so as to detect obstacles on a driving route.

Optionally, the AGV chassis further comprises a plurality of universal wheels spaced apart at the bottom of the chassis frame.

According to a second aspect of the present application, there is provided a mobile robot comprising an AGV chassis as described in the above embodiments.

According to the AGV chassis provided by the embodiment of the invention, the rotation angle of the driving wheel assembly can be detected and judged through the matching of the magnetic piece and the magnetic coding assembly, so that the running precision is ensured. The drive wheel subassembly provides the power on AGV chassis, and the drive wheel subassembly is from taking suspension, through first bearing subassembly the second bearing subassembly with damper assembly's cooperation realizes hanging and shock-absorbing function on AGV chassis, and when facing the road surface of unevenness, there is certain difference in height compensation mechanism, guarantees drive wheel subassembly and ground contact, provides effective drive power for the AGV chassis. This AGV chassis overall structure is simple, easily the assembly.

Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic diagram of the AGV chassis of the present invention;

FIG. 2 is a bottom view of the AGV chassis of the present invention;

FIG. 3 is a schematic diagram of one configuration of the drive wheel assembly of the AGV chassis of the present invention;

FIG. 4 is a side view of the drive wheel assembly of the AGV chassis of the present invention;

FIG. 5 is yet another side view of the drive wheel assembly of the AGV chassis of the present invention;

FIG. 6 is a cross-sectional view of the drive wheel assembly of the AGV chassis of the present invention.

Reference numerals:

an AGV chassis 100;

a chassis frame 1; a power battery 2; a driver module 3; a magnetic encoding component 4; a drive wheel assembly 5; a hub motor 6; a magnetic member 7; a bearing outer sleeve 8; a central shaft 9; an angular contact bearing 10; a bearing retainer 11; a stopper post 12; a shock-absorbing fixing plate 13; a damper spring 14; a spring outer sleeve 15; an adjusting bolt 16; a fastening bolt 17; a linear bearing 18; a guide shaft 19; a swing shaft support frame 20; a differential wheel pin 21; a motor press block 22; a motor fixing plate 23; a power line bundle 24; a stationary coil 25; a harness fixing plate 26; a coil locking block 27; an ultrasonic assembly 28; a touch switch assembly 29; a universal wheel 30.

Detailed Description

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

An AGV chassis 100 according to an embodiment of the present invention is described in detail below with reference to the drawings.

As shown in fig. 1-6, an AGV chassis 100 according to an embodiment of the present invention includes a chassis frame 1, a power battery 2, a driver module 3, a magnetic encoding assembly 4, a drive wheel assembly 5, a first bearing assembly, a magnetic member 7, a second bearing assembly, a shock absorbing assembly, and a linear speed fixing assembly.

Specifically, the power battery 2 is provided on the chassis frame 1, and the driver module 3 is provided on the chassis frame 1. The magnetic encoding assembly 4 is provided on the chassis frame 1. The driving wheel assembly 5 is arranged below the chassis frame 1, and the driving wheel assembly 5 is connected with the driver module 3 so that the driving wheel assembly 5 is driven to move by the driver module 3. The first bearing assembly is provided on the drive wheel assembly 5. The magnetic member 7 is provided on the first bearing assembly and the magnetic member 7 corresponds to the position of the magnetic encoding assembly 4. The second bearing assembly is disposed opposite the first bearing assembly. A portion of the shock assembly is located between the first bearing assembly and the second bearing assembly, which cooperate to perform the suspension and shock absorption functions of the AGV chassis 100. The linear speed fixing assembly is provided on the first bearing assembly to power the drive wheel assembly 5.

In other words, referring to FIG. 1, an AGV chassis 100 according to an embodiment of the present invention is largely comprised of a chassis frame 1, a power battery 2, a drive module 3, a magnetic encoding assembly 4, a drive wheel assembly 5, a first bearing assembly, a magnetic member 7, a second bearing assembly, a shock absorbing assembly, and a line speed fixing assembly. AGV is an abbreviation for Automated Guided Vehicle, i.e., "Automated Guided Vehicle". An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions.

In an AGV chassis 100 of an embodiment of the present invention, as shown in FIG. 1, a power battery 2 is mounted on a chassis frame 1, and the power battery 2 provides power to the entire machine. A driver module 3 is mounted on the chassis frame 1, the driver module 3 being used to control the movement of the drive wheel assembly 5. The magnetic encoding assembly 4 is mounted on the chassis frame 1. A drive wheel assembly 5 is mounted under the chassis frame 1, and the drive wheel assembly 5 is connected to the driver module 3, the drive wheel assembly 5 being driven in motion by the driver module 3. The first bearing assembly is provided on the drive wheel assembly 5. The magnetic piece 7 is arranged on the first bearing assembly, the magnetic piece 7 corresponds to the magnetic coding assembly 4 in position, the magnetic coding assembly 4 is matched with the magnet, the rotating angle of the driving wheel assembly 5 is detected and judged, and the running precision is guaranteed.

The second bearing assembly is disposed opposite the first bearing assembly. A portion of the shock absorbing assembly is positioned between the first bearing assembly and the second bearing assembly. Drive wheel assembly 5 provides AGV chassis 100's power, drive wheel assembly 5 from taking suspension, through first bearing assembly the second bearing assembly with damper assembly's cooperation realizes AGV chassis 100's suspension and shock-absorbing function, and when facing the road surface of unevenness, there is certain difference in height compensation mechanism, guarantees that drive wheel assembly 5 can contact with ground, provides effective drive power for AGV chassis 100. The linear speed fixing assembly is mounted on the first bearing assembly and can power the drive wheel assembly 5.

Therefore, according to the AGV chassis 100 provided by the embodiment of the invention, the magnetic piece 7 and the magnetic coding assembly 4 are matched, so that the rotation angle of the driving wheel assembly 5 can be detected and judged, and the running precision is ensured. Drive wheel assembly 5 provides AGV chassis 100's power, drive wheel assembly 5 from taking suspension, through first bearing assembly the second bearing assembly with damper assembly's cooperation realizes AGV chassis 100's suspension and shock-absorbing function, and when facing the road surface of unevenness, there is certain difference in height compensation mechanism, guarantees that drive wheel assembly 5 can contact with ground, provides effective drive power for AGV chassis 100.

According to one embodiment of the present invention, the driving wheel assemblies 5 are four sets, each set of driving wheel assemblies 5 includes two in-wheel motors 6 as driving wheels, each set of driving wheel assemblies 5 corresponds to one magnetic encoding assembly 4, and each driving wheel assembly 5 is provided with a first bearing assembly, a second bearing assembly, a shock absorbing assembly and a linear speed fixing assembly.

That is, as shown in fig. 1 and 2, the driving wheel assemblies 5 of the present invention are four groups, each group of driving wheel assemblies 5 includes two in-wheel motors 6, and each two in-wheel motors 6 are one group to serve as driving wheels. Each set of drive wheel assemblies 5 corresponds to one magnetic encoding assembly 4, and each drive wheel assembly 5 is provided with a first bearing assembly, a second bearing assembly, a shock absorbing assembly and a linear speed fixing assembly. When the AGV turns, the hub motors 6 in each group of driving wheel assemblies 5 rotate at different speeds respectively, rotate to a specified angle, the required angle of the AGV chassis 100 is completed, the movement reserved space is small, and the whole space occupation ratio is small. Four sets of driving wheel assemblies 5 are used for providing power for the AGV chassis 100, and straight line and turning driving of the AGV chassis 100 is achieved by adjusting the relative angle of each driving assembly. Meanwhile, each group of driving assemblies is provided with a suspension system, and a certain height difference compensation mechanism is arranged when the driving assemblies face uneven road surfaces, so that the eight hub motors 6 can be in contact with the ground, and driving force is provided for the AGV chassis 100.

According to one embodiment of the invention, the first bearing assembly comprises an outer bearing sleeve 8, a central shaft 9, two sets of angular contact bearings 10, bearing catches 11 and a restraining post 12.

In particular, the bearing outer sleeve 8 is provided on the damping assembly. One end of the central shaft 9 is arranged in the bearing outer sleeve 8, the magnetic element 7 is arranged at the end part of the other end of the central shaft 9, and the linear speed fixing component is arranged on the outer wall of the central shaft 9. Two groups of angular contact bearings 10 are distributed at intervals along the axial direction of the central shaft 9, and each group of angular contact bearings 10 are respectively connected with the bearing outer sleeve 8 through snap springs. The bearing baffle 11 is arranged in the bearing outer sleeve 8 and is coaxially arranged with the bearing outer sleeve 8, and the bearing baffle 11 is used for protecting the angular contact bearing 10. The limiting column 12 is arranged on the damping component, and the limiting column 12 is matched with the bearing outer sleeve 8 to limit the self-rotation angle of the driving wheel component 5 to be less than 360 degrees.

In other words, referring to fig. 3, 4 and 6, the first bearing assembly is mainly composed of the bearing outer sleeve 8, the center shaft 9, two sets of angular contact bearings 10, bearing catches 11 and the limit posts 12. Wherein the bearing outer sleeve 8 is mounted on the damping assembly. One end of the central shaft 9 is arranged in the bearing outer sleeve 8, the magnetic part 7 is arranged at the end part of the other end of the central shaft 9, the magnetic part 7 can adopt a magnet, the magnet corresponds to the magnetic coding component 4, the rotating angle of the driving wheel component 5 is detected, and the running precision is ensured. The linear speed fixing assembly is arranged on the outer wall of the central shaft 9 and used for fixing the power wire harness 24. Two groups of angular contact bearings 10 are distributed at intervals along the axial direction of the central shaft 9, and each group of angular contact bearings 10 are respectively connected with the bearing outer sleeve 8 through snap springs. A bearing stop 11 is mounted within the bearing outer sleeve 8 and the bearing stop 11 is arranged coaxially with the bearing outer sleeve 8. The bearing retainer 11 is used for protecting the angular contact bearing 10, and the service life of the angular contact bearing 10 is prolonged. The limiting column 12 is arranged on the shock absorption assembly, the limiting column 12 is matched with the bearing outer sleeve 8, the rotation angle of the driving wheel assembly 5 is guaranteed to be limited to be smaller than 360 degrees, and the power wire harness 24 is prevented from being wound.

According to one embodiment of the present invention, the damper assembly includes a damper fixing plate 13, a damper spring 14, a spring outer sleeve 15, and an adjustment bolt 16.

Specifically, the damping fixing plate 13 is disposed between the first bearing assembly and the second bearing assembly, the lower end of the center shaft 9 is connected with the damping fixing plate 13, and the upper end of the second bearing assembly is connected with the damping fixing plate 13. The damper springs 14 are arranged on the side of the damper fixing plate 13 facing away from the central axis 9. The outer spring sleeve 15 is provided on the damper spring 14. The adjusting bolt 16 is connected with the damper spring 14 to adjust a preload value of the damper spring 14.

That is, as shown in fig. 3 and 4, the damper assembly is mainly composed of a damper fixing plate 13, a damper spring 14, a spring outer sleeve 15, and an adjusting bolt 16. Wherein the damping fixing plate 13 is installed between the first bearing assembly and the second bearing assembly for intermediate connection. The lower end of the center shaft 9 is connected with the shock-absorbing fixing plate 13 through bolts, and the upper end of the second bearing assembly is connected with the shock-absorbing fixing plate 13. The upper portion of the shock-absorbing fixing plate 13 secures the rotational movement of the single-unit driving wheel assembly 5, and the lower portion of the shock-absorbing fixing plate 13 is responsible for the shock-absorbing portion of the single-unit driving wheel assembly 5. The damping springs 14 are mounted on the side of the damping fixed plate 13 facing away from the central axis 9. The outer spring sleeve 15 is mounted on the damper spring 14. The adjusting bolt 16 is connected with the damping spring 14, and the adjusting bolt 16 can adjust the prepressing value of the damping spring 14. Alternatively, the shock-absorbing fixing plate 13 is provided with a sinking platform corresponding to the shock-absorbing spring 14, and the upper end of the shock-absorbing spring 14 is connected with the sinking platform of the shock-absorbing fixing plate 13. Two groups of second bearing assemblies, damping springs 14, outer spring sleeves 15 and adjusting bolts 16 are arranged in each group of driving wheel assemblies 5, and the damping effect is guaranteed. The prepressing value of the damping spring 14 can be adjusted by controlling the adjusting depth of the adjusting bolt 16, and the fastening bolt 17 is tightened after the adjustment is completed, so that a good damping effect is still achieved under the condition that the AGV chassis 100 is under different loads.

According to one embodiment of the invention, referring to fig. 3 and 4, the second bearing assembly comprises a linear bearing 18 and a guide shaft 19. One end of the guide shaft 19 is connected to the shock-absorbing fixing plate 13 through a linear bearing 18. The shock absorbing portion is implemented by bolting the upper end of the guide shaft 19 to the shock absorbing fixing plate 13.

According to one embodiment of the invention, the AGV chassis 100 also includes a swing axle support frame 20, a differential wheel pin 21, and a motor press block 22.

Specifically, the other end of the guide shaft 19 is connected to the swing shaft support bracket 20 through the linear bearing 18. The hub motor 6 is connected with a motor pressing block 22 through a swing shaft support frame 20, a differential wheel pin 21 and a bolt.

That is, as shown in fig. 3-5, the AGV chassis 100 may also include a swing axle support bracket 20, a differential wheel pin 21, and a motor press 22. The other end of the guide shaft 19 is connected with the swing shaft support frame 20 through a bolt through a linear bearing 18, so that the freedom degree of the hub motor 6 and the connecting piece thereof is restrained, and the driving wheel assembly 5 is ensured to move only in the vertical direction. Meanwhile, the upper end of the damping spring 14 is connected with the damping fixing plate 13, and the lower end of the damping spring 14 is bolted with the swing shaft support bracket 20 through the outer spring sleeve 15.

The hub motor 6 is connected with a motor pressing block 22 through a swing shaft support frame 20, a differential wheel pin shaft 21 and a bolt. The motor pressing block 22 is fixed by a motor fixing plate 23. The lower part of the damping component is formed by connecting a hub motor 6 through a swing shaft support frame 20, a differential wheel pin shaft 21 and a motor press block 22 by bolts. The two in-wheel motors 6 can move up and down relatively under the action of the differential wheel pin shaft 21, so that the ground adaptability of the in-wheel motors 6 is further improved, and the eight in-wheel motors 6 can be simultaneously grounded on uneven road surfaces.

According to one embodiment of the present invention, the linear velocity fixing assembly further comprises: the power wire bundle 24, the fixed coil 25 and the coil locking block 27 are arranged on the central shaft 9, and the power wire bundle 24 is connected with the central shaft 9 through the fixed coil 25 and the coil locking block 27.

In other words, as shown in fig. 1 and 3, the motion of the in-wheel motor 6 can be controlled and realized by the power line bundle 24 and the driver module 3. One end in the power pencil 24 both ends is through solid coil 25 and coil locking piece 27 and center pin 9 bolted connection, guarantees that center pin 9 is in the rotation in-process, and power pencil 24 can not lead to the electric leakage risk of cutting off the power supply because of the friction. The other end is connected with a wire harness fixing plate 26 through a fixed coil 25 and a coil locking block 27, and the tail end of the power wire harness 24 and the chassis frame 1 are ensured to be relatively static. The magnetic coding component 4 is matched with a magnet (a magnetic part 7) to detect and judge the rotation angle of the driving wheel component 5, so that the running precision is ensured. Meanwhile, the bearing outer sleeve 8 and the limiting column 12 ensure that the self rotation angle of the driving assembly is less than 360 degrees, and the power wire harness 24 is prevented from being wound.

Referring to FIG. 1, the AGV chassis 100 further includes: the ultrasonic wave assembly 28 and the touch switch assembly 29 are respectively arranged on the chassis frame 1, and the ultrasonic wave assembly 28 and the touch switch assembly 29 can detect obstacles on a driving route in the driving process so as to ensure driving safety. The AGV chassis 100 also includes a plurality of universal wheels 30, with the plurality of universal wheels 30 spaced apart at the bottom of the chassis frame 1. The universal wheels 30 are responsible for front and rear support of the AGV chassis 100, and load part of the load of the AGV chassis 100, ensuring that the stress of the damping spring 14 is within its design range. The AGV chassis 100 is simple in overall structure, easy to assemble, small in movement space reserve and space-saving.

In the present application, as shown in fig. 1 to 6, the principle of the structure of the single-unit drive wheel assembly 5 is as follows: the central shaft 9 is connected with the bearing outer sleeve 8 through two groups of angular contact bearings 10 through clamp springs. Meanwhile, the bearing baffle plate 11 is used for protecting the angular contact bearing 10, and the service life of the angular contact bearing 10 is prolonged. The damping fixing plate 13 plays a role of intermediate connection, and the bolt is connected with the lower end of the central shaft 9 through the damping fixing plate 13. The upper part of the shock-absorbing fixed plate 13 ensures the rotational movement of the mono-group drive wheel assembly 5, and the lower part thereof is responsible for the shock-absorbing part of the mono-group drive wheel assembly 5. The shock-absorbing part is implemented by bolting the shock-absorbing fixing plate 13 to the upper end of the guide shaft 19. Meanwhile, the lower end of the guide shaft 19 is in bolted connection with the oscillating shaft support frame 20 through the linear bearing 18 to restrict the freedom degree of the hub motor 6 and the connecting piece thereof, so that the driving wheel assembly 5 only moves in the vertical direction, meanwhile, the upper end of the damping spring 14 is connected with a sinking platform in the damping fixing plate 13, the lower end of the damping spring is in bolted connection with the oscillating shaft support frame 20 through the spring outer sleeve 15, and each group of driving wheel assemblies 5 is respectively provided with two groups of guide and damping structures to ensure the damping effect. Secondly, the prepressing value of the damping spring 14 can be adjusted by adjusting the depth of the adjusting bolt 16, and the fastening bolt 17 is tightened after the adjustment is completed, so that a good damping effect is still achieved under the condition that the AGV chassis 100 is under different loads. The lower part of the damping component is formed by connecting hub motors 6 through swing shaft support frames 20, differential wheel pin shafts 21 and motor pressing blocks 22 through bolts, two hub motors 6 can move up and down relatively under the action of the differential wheel pin shafts 21, the ground adaptability of the hub motors 6 is further improved, and the eight hub motors 6 can be simultaneously grounded on uneven road surfaces. The AGV chassis 100 provided with the suspension system has the advantages that the requirement on the ground flat whole body is low, the load bearing capacity is high, the space required by damping motion is small, and the arrangement space is saved. Through adopting the drive of wheel hub motor 6, the structure is simpler, the later maintenance of being convenient for.

In the present application, the AGV chassis 100 is specifically controlled as follows:

four sets of universal wheels 30 support a portion of the weight of the AGV chassis 100 and four sets of drive wheel assemblies 5 are responsible for the power output of the AGV chassis 100. Wherein, every group drive wheel subassembly 5 is from taking shock mitigation system, and under the detection of magnetic encoder subassembly and magnet, two in-wheel motor 6 in the drive wheel subassembly 5 carry out differential motion for drive wheel subassembly 5 rotates certain angle. When each set of drive wheel assemblies 5 is traveling at a particular angle, the AGV chassis 100 is able to achieve steering and straight travel.

Of course, other structures and principles of operation of the AGV chassis 100 will be understood and can be implemented as well known to those skilled in the art and will not be described in detail herein.

In summary, the AGV chassis 100 according to the present invention has a self-contained suspension system with low requirements for the floor leveling, high load bearing capability, small space required for shock absorbing movement, and reduced layout space. Through adopting the drive of wheel hub motor 6, the structure is simpler, the later maintenance of being convenient for.

According to a second aspect of the present application, a mobile robot is provided that includes the AGV chassis 100 of the above-described embodiments. Since the AGV chassis 100 according to the embodiment of the present invention has the above technical effects, the mobile robot according to the embodiment of the present invention should also have corresponding technical effects, that is, the mobile robot according to the present application, by using the AGV chassis 100, has a suspension system, has low requirement for the whole floor, strong load bearing capability, small space required for damping motion, and saves the layout space. Through adopting the drive of wheel hub motor 6, the structure is simpler, the later maintenance of being convenient for.

Of course, other structures and operating principles of the mobile robot are understood and can be realized by those skilled in the art, and detailed description is omitted in this application.

Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present application. It will be appreciated by those skilled in the art that modifications can be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.

Claims

1. An AGV chassis, comprising:

a chassis frame;

the power battery is arranged on the chassis frame;

a driver module disposed on the chassis frame;

the magnetic coding assembly is arranged on the chassis frame;

the driving wheel assembly is arranged below the chassis frame and is connected with the driver module so as to drive the driving wheel assembly to move by the driver module;

a first bearing assembly provided on the drive wheel assembly;

the magnetic part is arranged on the first bearing assembly, and the position of the magnetic part corresponds to that of the magnetic coding assembly;

a second bearing assembly disposed opposite the first bearing assembly;

a shock assembly, a portion of said shock assembly being positioned between said first bearing assembly and said second bearing assembly, said first bearing assembly, said second bearing assembly and said shock assembly cooperating to perform suspension and shock absorption functions of said AGV chassis;

a linear speed fixing assembly provided on the first bearing assembly to power the drive wheel assembly.

2. The AGV chassis of claim 1, wherein said drive wheel assemblies are four sets, each set of drive wheel assemblies including two in-wheel motors as drive wheels, each set of drive wheel assemblies corresponding to a respective one of said magnetic encoding assemblies, each drive wheel assembly being provided with said first bearing assembly, said second bearing assembly, said shock absorbing assembly and said linear speed mount assembly.

3. The AGV chassis of claim 2, wherein the first bearing assembly includes:

the bearing outer sleeve is arranged on the damping component;

one end of the central shaft is arranged in the bearing outer sleeve, the magnetic part is arranged at the end part of the other end of the central shaft, and the linear speed fixing component is arranged on the outer wall of the central shaft;

the two groups of angular contact bearings are distributed at intervals along the axial direction of the central shaft, and each group of angular contact bearings are respectively connected with the bearing outer sleeve through snap springs;

the bearing blocking piece is arranged in the bearing outer sleeve and is coaxially arranged with the bearing outer sleeve, and the bearing blocking piece is used for protecting the angular contact bearing;

the limiting column is arranged on the damping assembly and matched with the bearing outer sleeve to limit the self-rotation angle of the driving wheel assembly to be less than 360 degrees.

4. The AGV chassis of claim 3, wherein said shock assembly comprises:

the damping fixing plate is arranged between the first bearing assembly and the second bearing assembly, the lower end of the center shaft is connected with the damping fixing plate, and the upper end of the second bearing assembly is connected with the damping fixing plate;

the damping spring is arranged on one side of the damping fixing plate, which is back to the central shaft;

the spring outer sleeve is arranged on the damping spring;

and the adjusting bolt is connected with the damping spring to adjust the prepressing value of the damping spring.

5. The AGV chassis of claim 4, wherein the second bearing assembly comprises:

a linear bearing;

and one end of the guide shaft is connected with the damping fixing plate through the linear bearing.

6. The AGV chassis of claim 5, further comprising:

the other end of the guide shaft is connected with the swinging shaft supporting frame through the linear bearing;

the hub motor is connected with the motor pressing block through the swing shaft support frame and the differential wheel pin shaft.

7. The AGV chassis of claim 3, wherein the linear speed mount assembly further comprises: the power wire harness is connected with the central shaft through the fixed coil and the coil locking block.

8. The AGV chassis of claim 1, further comprising: the ultrasonic wave assembly and the touch switch assembly are respectively arranged on the chassis frame to detect obstacles on a driving route.

9. The AGV chassis of claim 1, further including a plurality of universal wheels spaced apart from a bottom of said chassis frame.

10. A mobile robot comprising an AGV chassis according to any of claims 1 to 9.