CN216332278U - Chassis device of general AGV robot of multisensor - Google Patents
Chassis device of general AGV robot of multisensor Download PDFInfo
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- CN216332278U CN216332278U CN202123024674.XU CN202123024674U CN216332278U CN 216332278 U CN216332278 U CN 216332278U CN 202123024674 U CN202123024674 U CN 202123024674U CN 216332278 U CN216332278 U CN 216332278U
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Abstract
The utility model discloses a chassis device of a general AGV robot with multiple sensors, which comprises a chassis, wherein notches are formed in the left side and the right side of the chassis, a driving wheel is arranged at each notch of the chassis, a through hole is formed in the rear part of the chassis, universal wheels are arranged at the lower end of the through hole of the chassis, and a support frame is arranged at each notch and the through hole at the upper end of the chassis; each driving wheel and each universal wheel are connected with a height adjusting assembly arranged on the chassis supporting frame, each height adjusting assembly comprises an adjusting sleeve, a supporting shaft and a first driving motor for driving the adjusting sleeve to rotate, each supporting shaft is connected with the driving wheel or the universal wheel, the inner wall of each adjusting sleeve is provided with a spiral bulge, and the periphery of each supporting shaft is provided with a spiral groove; the lower end of the chassis is provided with a distance sensor right in front of each driving wheel and the universal wheel. The chassis of the utility model can automatically adjust the height of the wheels according to the condition of the road surface, so that the chassis is always kept horizontal, and the popularization of AGV in agricultural application is facilitated.
Description
Technical Field
The utility model relates to the technical field of AGV, in particular to a chassis device of a general AGV robot with multiple sensors.
Background
(Automated Guided Vehicle, AGV), also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.
The extensive each field that applies to of AGV, along with the development of wisdom agricultural, AGV also begins to use in the agricultural to constantly developing AGV application in the farmland, nevertheless current AGV is difficult to walk at complicated farmland because the reason on its chassis, makes AGV application in the farmland limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a chassis device of a general AGV robot with multiple sensors, wherein the chassis of the chassis device can automatically adjust the height of wheels according to the condition of a road surface, so that the chassis is always kept horizontal, and popularization of the AGV in agricultural application is facilitated.
The technical purpose of the utility model is realized by the following technical scheme:
a chassis device of a general AGV robot with multiple sensors comprises a chassis, wherein notches are formed in the left side and the right side of the chassis, a driving wheel is arranged at each notch of the chassis, a through hole is formed in the rear portion of the chassis, universal wheels are arranged at the lower end of the through hole of the chassis, each driving wheel comprises an outer rotor motor and a rubber wheel arranged on the periphery of the outer rotor motor, supporting frames are arranged at each notch and the through hole in the upper end of the chassis, and each supporting frame penetrates downwards to form a rotating hole;
each driving wheel and the universal wheel are connected with a height adjusting assembly arranged at the upper end of the corresponding supporting frame, the height adjusting assembly comprises an adjusting sleeve, a supporting shaft which is arranged in the adjusting sleeve and can slide up and down relative to the adjusting sleeve, and a first driving motor for driving the adjusting sleeve to rotate, the supporting shaft is connected with a stator of the outer rotor motor or the upper end of the universal wheel, each adjusting sleeve is rotatably connected above the corresponding rotating hole, a rotating gear is arranged on the periphery of the upper end of each adjusting sleeve, a power output shaft of each first driving motor is connected with a first driving gear meshed with the corresponding driving gear, a spiral bulge is arranged on the inner wall of each adjusting sleeve, and a spiral groove matched with the spiral bulge is arranged on the periphery of each supporting shaft;
distance sensors are arranged at the lower end of the chassis right in front of each driving wheel and the universal wheel, and each distance sensor is arranged downwards.
By adopting the technical scheme, in the driving process of the AGV, the distance sensor monitors the road surface condition right in front of each driving wheel and each universal wheel in real time, when the change of the distance is detected, the change is judged to be a road surface groove or a road surface lug through program calculation, the corresponding first driving motor is controlled to work, the adjusting sleeve is driven to rotate, due to the connection of the spiral protrusion and the spiral groove, when the adjusting sleeve rotates, the supporting shaft can correspondingly move up and down to drive the driving wheels or the universal wheels to move up and down, so that the driving wheels or the universal wheels can closely cling to the road surface groove or the road surface lug to walk, the chassis can be kept horizontal, the horizontal driving of the AGV can be ensured, the horizontal driving of the AGV can be kept, the agricultural automatic operation equipment can be additionally arranged on the AGV more favorably, when the AGV needs to steer, the second driving motor works to drive the steering gear disc and the connecting pipe to rotate to drive the supporting shaft, The first driving motor and the driving wheel rotate to realize steering.
The utility model is further provided with: the rotary holes of the support frames corresponding to the driving wheels are all rotatably connected with connecting pipes with I-shaped sections, the edges of the upper ends of the connecting pipes are all outwards provided with steering gear discs, adjusting sleeves corresponding to the driving wheels are all rotatably connected to the upper ends of the corresponding connecting pipes, the first driving motors are installed on the corresponding steering gear discs, the adjusting sleeves corresponding to the universal wheels are rotatably connected to the upper ends of the corresponding support frames, the second driving motors corresponding to the steering gear discs are installed at the upper ends of the chassis, and power output shafts of the second driving motors are all connected with second driving gears meshed with the corresponding steering gear discs.
Through adopting above-mentioned technical scheme, when needing to turn to, second driving motor work, and the drive turns to the rotation of toothed disc and connecting pipe, drives back shaft, first driving motor and drive wheel and rotates, realizes turning to.
The utility model is further provided with: obstacle avoidance sensors are mounted at the front end and the rear end of the chassis.
The utility model is further provided with: the chassis all is provided with lower extreme open-ended mounting groove in each drive wheel and the dead ahead of universal wheel, and each distance sensor all installs in the mounting groove that corresponds.
Compared with the prior art, the utility model has the following beneficial effects:
according to the utility model, the flatness of the running road surface is detected in advance through the distance sensor, and if the running road surface is uneven, the wheels are controlled to automatically lift up and down, so that the wheels are automatically attached to the uneven road surface to run, thus the chassis is kept horizontal, the AGV can keep horizontal running, various agricultural automatic operation devices are convenient to be additionally arranged on the AGV, and the popularization of the AGV in agricultural application is facilitated.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a view showing the bottom structure of the chassis;
FIG. 3 is a view showing the connection relationship between the driving wheel and the height adjustment assembly and the second driving motor;
fig. 4 is used for showing the connection relationship between the universal wheel and the height adjusting assembly.
In the figure: 1. a chassis; 11. a notch; 12. a through hole; 13. a support frame; 14. mounting grooves; 2. a drive wheel; 21. an outer rotor motor; 22. a rubber wheel; 3. a universal wheel; 4. an adjusting sleeve; 41. a spiral protrusion; 42. a transmission gear; 5. a support shaft; 51. a helical groove; 6. a first drive motor; 61. a first drive gear; 7. a connecting pipe; 71. a steering gear wheel; 8. a second drive motor; 81. a second drive gear; 9. a distance sensor; 10. keep away barrier sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment, refer to fig. 1-4, a general AGV robot chassis device of multisensor, including chassis 1, a breach 11 has all been seted up to the left and right sides of chassis 1, chassis 1 all installs a drive wheel 2 in each breach 11 department, a through-hole 12 has been seted up at the rear portion of chassis 1, chassis 1 installs a universal wheel 3 in the lower extreme of through-hole 12, each drive wheel 2 all includes external rotor motor 21, set up the rubber tyer 22 in external rotor motor 21 periphery, chassis 1's upper end all is provided with the support frame 13 of an inverted U type in each breach 11 and through-hole 12 department, each support frame 13 all runs through downwards and has seted up a commentaries on classics hole (the picture is slightly).
Each driving wheel 2 and universal wheel 3 are connected with a height adjusting component which is arranged at the upper end of the corresponding supporting frame 13, each height adjusting component comprises an adjusting sleeve 4, a supporting shaft 5 which is arranged in the adjusting sleeve 4 and can slide up and down relative to the adjusting sleeve, a first driving motor 6 which drives the adjusting sleeve 4 to rotate, the supporting shaft 5 is connected with the stator of the outer rotor motor 21 or the upper end of the universal wheel 3, each adjusting sleeve 4 is rotatably connected above the corresponding rotating hole, a rotating gear is arranged at the periphery of the upper end of each adjusting sleeve 4, the power output shaft of each first driving motor 6 is connected with a first driving gear 61 which is meshed with the corresponding transmission gear 42, two spiral protrusions 41 are arranged on the inner wall of each adjusting sleeve 4, and two spiral grooves 51 which are matched with the spiral protrusions 41 are arranged at the periphery of each supporting shaft 5.
The rotary holes of the support frame 13 corresponding to the driving wheels 2 are rotatably connected with connecting pipes 7 with I-shaped sections, the edge of the upper end of each connecting pipe 7 is outwards provided with a steering gear disc 71, the adjusting sleeves 4 corresponding to the driving wheels 2 are rotatably connected to the upper ends of the corresponding connecting pipes 7, the first driving motors 6 are installed on the corresponding steering gear discs 71, the adjusting sleeves 4 corresponding to the universal wheels 3 are rotatably connected to the upper ends of the corresponding support frames 13, the upper end of the chassis 1 is provided with a second driving motor 8 corresponding to each steering gear disc 71, and the power output shaft of each second driving motor 8 is connected with a second driving gear 81 meshed with the corresponding steering gear disc 71.
A distance sensor 9 is all installed in the dead ahead of each drive wheel 2 and universal wheel 3 to the lower extreme of chassis 1, and each distance sensor 9 all sets up downwards, and chassis 1 all is provided with a lower extreme open-ended mounting groove 14 in the dead ahead of each drive wheel 2 and universal wheel 3, and each distance sensor 9 is all installed in the mounting groove 14 that corresponds, and obstacle avoidance sensor 10 is all installed at both ends around chassis 1.
The working principle is as follows: in the running process of the AGV, a distance sensor 9 monitors the road surface condition right in front of each driving wheel 2 and each universal wheel 3 in real time, when a distance change is detected, and a road surface groove or a road surface lug is judged through program calculation, the corresponding first driving motor 6 is controlled to work to drive the adjusting sleeve 4 to rotate, due to the connection of the spiral protrusion 41 and the spiral groove 51, when the adjusting sleeve 4 rotates, the supporting shaft 5 moves up and down correspondingly to drive the driving wheels 2 or the universal wheels 3 to move up and down to enable the driving wheels to walk tightly attached to the road surface groove or the road surface lug, so that the chassis 1 is kept horizontal, the AGV can be ensured to run horizontally, the AGV cannot bump up, down, left and right due to an uneven road surface, agricultural automatic operation equipment is more favorably arranged on the AGV, when steering is needed, the second driving motor 8 works to drive the steering wheel 71 and the connecting pipe 7 to rotate, the supporting shaft 5, the first driving motor 6 and the driving wheel 2 are driven to rotate, and steering is achieved.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (4)
1. The utility model provides a general AGV robot chassis device of multisensor, includes chassis (1), its characterized in that: notches (11) are formed in the left side and the right side of the chassis (1), driving wheels (2) are mounted at each notch (11) of the chassis (1), through holes (12) are formed in the rear portion of the chassis (1), universal wheels (3) are mounted at the lower ends of the through holes (12) of the chassis (1), each driving wheel (2) comprises an outer rotor motor (21) and a rubber wheel (22) arranged on the periphery of the outer rotor motor (21), supporting frames (13) are arranged at each notch (11) and the through holes (12) in the upper end of the chassis (1), and each supporting frame (13) penetrates downwards to form a rotating hole;
each driving wheel (2) and the universal wheel (3) are connected with a height adjusting component which is arranged at the upper end of a corresponding supporting frame (13), the height adjusting component comprises an adjusting sleeve (4), a supporting shaft (5) which is arranged in the adjusting sleeve (4) and can slide up and down relative to the adjusting sleeve, and a first driving motor (6) which drives the adjusting sleeve (4) to rotate, the supporting shaft (5) is connected with the stator of the outer rotor motor (21) or the upper end of the universal wheel (3), each adjusting sleeve (4) is rotatably connected above a corresponding rotating hole, the periphery of the upper end of each adjusting sleeve (4) is provided with a rotating gear, the power output shaft of each first driving motor (6) is connected with a first driving gear (61) which is meshed with a corresponding transmission gear (42), and the inner wall of each adjusting sleeve (4) is provided with a spiral bulge (41), the periphery of each supporting shaft (5) is provided with a spiral groove (51) matched with the spiral bulge (41);
distance sensors (9) are installed at the lower end of the chassis (1) right in front of each driving wheel (2) and the universal wheel (3), and each distance sensor (9) is arranged downwards.
2. The AGV robot chassis apparatus of claim 1, further comprising: with the commentaries on classics hole of the corresponding support frame (13) of drive wheel (2) all rotates and is connected with connecting pipe (7) that the cross-section is the I shape, and the edge of each connecting pipe (7) upper end all outwards is provided with steering gear dish (71), with the corresponding adjusting collar (4) of drive wheel (2) all rotate and connect in the upper end that corresponds connecting pipe (7), and first driving motor (6) are installed on the steering gear dish (71) that corresponds, wherein rotate with the corresponding adjusting collar (4) of universal wheel (3) and connect in the upper end that corresponds support frame (13), second driving motor (8) corresponding with each steering gear dish (71) are installed to the upper end on chassis (1), and the power output shaft of each second driving motor (8) all is connected with and corresponds second drive gear (81) that steering gear dish (71) engaged with.
3. The AGV robot chassis apparatus of claim 1, further comprising: obstacle avoidance sensors (10) are mounted at the front end and the rear end of the chassis (1).
4. The AGV robot chassis apparatus of claim 1, further comprising: the chassis (1) is provided with mounting grooves (14) with lower end openings right in front of each driving wheel (2) and the universal wheel (3), and each distance sensor (9) is mounted in the corresponding mounting groove (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123024674.XU CN216332278U (en) | 2021-12-03 | 2021-12-03 | Chassis device of general AGV robot of multisensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123024674.XU CN216332278U (en) | 2021-12-03 | 2021-12-03 | Chassis device of general AGV robot of multisensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216332278U true CN216332278U (en) | 2022-04-19 |
Family
ID=81158767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123024674.XU Active CN216332278U (en) | 2021-12-03 | 2021-12-03 | Chassis device of general AGV robot of multisensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216332278U (en) |
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2021
- 2021-12-03 CN CN202123024674.XU patent/CN216332278U/en active Active
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