CN223751010U - Floating chassis and automatic guide vehicle - Google Patents

Abstract

This utility model belongs to the field of intelligent handling technology, and discloses a floating chassis and an automated guided vehicle. The floating chassis includes a base plate and a caster lever assembly. The caster lever assembly includes a first support and a connecting rod. The first support is disposed on the base plate. A first caster is mounted on the first end of the connecting rod, and a drive wheel assembly is mounted on the second end of the connecting rod. The connecting rod is rotatably connected to the first support, and the first caster and the drive wheel assembly are located on opposite sides of the first support. In this utility model, when the first caster moves adaptively, it can drive the connecting rod to rotate around the first support, thereby causing the drive wheel assembly to change its posture accordingly. Under the gravity of the vehicle body and load, the first caster and the drive wheel assembly are always in contact with the ground, improving the obstacle-crossing ability of the first caster and the grip of the drive wheel assembly, realizing the adaptive road surface capability of the floating chassis, and thus improving the passability and stability of the floating chassis.

Description

Floating chassis and automatic guide vehicle

Technical Field

The utility model relates to the technical field of intelligent transportation, in particular to a floating chassis and an automatic guide vehicle.

Background

Automatic guided vehicle (Automated Guided Vehicle, AGV for short), be one kind possess automatic guided and transport the dolly of transporting the function, compare in manual drive fork truck etc. and carry out the material transport, automatic guided vehicle has characteristics small, that the motion is nimble, obtains extensive application in scene such as storage commodity circulation. When the automatic guided vehicle runs on a hollow road or a cross-region seam step road, if the automatic guided vehicle cannot be adaptively adjusted, the problem of overturning or dropping load exists.

The chassis structure of the automatic guiding vehicle comprises a bottom plate, a driving wheel and a trundle, wherein the driving wheel and the trundle are arranged on the bottom plate, the driving wheel is rotatably arranged on the bottom plate through a bearing so as to drive the driving wheel to rotate through a driving piece to drive the bottom plate to integrally move, and the trundle is rotatably arranged on the bottom plate and used for supporting the bottom plate and guiding. In the prior art, the self-adaptability of a chassis structure to an uneven road surface is improved by adopting a spring suspension mode when the driving wheel and the casters are installed, the spring suspension mode has the problems that when the road surface is uneven, the two casters float simultaneously, unstable support of the chassis and loss of the gripping force of the driving wheel are easily caused, obstacle crossing capability is insufficient, if the elastic force of the spring on the driving wheel is too large, the self-adaptability of the driving wheel is reduced, the gripping force of the driving wheel is insufficient due to too small elastic force of the spring, especially on the uneven road surface, the gripping force of the driving wheel is greatly reduced due to the spring suspension mode, and the spring suspension mode has the defects of braking point head and the like.

Disclosure of utility model

The utility model aims to provide a floating chassis and an automatic guiding vehicle, which are used for solving the problems of insufficient ground grabbing force and poor stability of the automatic guiding vehicle on a concave-convex road surface and improving obstacle crossing capability of the floating chassis and the automatic guiding vehicle.

To achieve the purpose, the utility model adopts the following technical scheme:

A floating chassis comprising a floor and a caster lever assembly, the caster lever assembly comprising:

the first support is arranged on the bottom plate;

the first foot wheel is installed to the first end of connecting rod, drive wheel subassembly is installed to the second end of connecting rod, the connecting rod rotate connect in first support, just first foot wheel with drive wheel subassembly is located respectively the both sides of first support.

In some embodiments, the caster lever assembly further comprises a limiting plate located above the link to define the angle of rotation of the link.

In some embodiments, the caster lever assembly further comprises:

the support shaft penetrates through the connecting rod and is rotatably connected to the first support;

The two elastic pieces are arranged on the bottom plate or the limiting plate, along the length direction of the connecting rod, the two elastic pieces are respectively arranged on two sides of the supporting shaft, and the two elastic pieces are respectively in butt joint with the connecting rod.

In some embodiments, a limiting block is protruding on one side of the limiting plate, which faces the connecting rod, and the limiting block is located between the two elastic pieces.

In some embodiments, the driving wheel assembly comprises a driving wheel and a driving member, wherein an output shaft of the driving member penetrates through the connecting rod and is connected with the driving wheel, and the connecting rod is fixedly connected with the driving member.

In some embodiments, the second end of the connecting rod is provided with a first through hole, a sinking groove is formed in one side, facing the driving piece, of the first through hole, the output shaft of the driving piece penetrates through the first through hole, the shell of the driving piece is at least partially installed in the sinking groove, and the shell of the driving piece is connected to the connecting rod.

In some embodiments, the floating chassis further comprises a caster support assembly disposed on the base plate, the caster support assembly and the first caster being disposed at opposite ends of the drive wheel assembly.

In some embodiments, the caster support assembly comprises:

the two second casters are respectively arranged at two ends of the mounting frame;

The second support is arranged on the bottom plate, a rotating shaft is arranged on the second support, and the mounting frame is rotatably mounted on the rotating shaft.

In some embodiments, the rotational axis is disposed parallel to the link.

The utility model provides an automatic guide vehicle, which comprises a load platform and the floating chassis provided by the utility model, wherein the load platform is arranged on a bottom plate of the floating chassis in a height-adjustable manner.

The utility model has the beneficial effects that:

According to the floating chassis provided by the utility model, the caster lever assembly is arranged, so that the first caster and the driving wheel assembly are rotatably arranged on the first support through the connecting rod, a seesaw is formed between the first caster and the driving wheel assembly, the driving wheel assembly drives the bottom plate to move through the first support, when the road surface is uneven, the first caster self-adaptively lifts and drives the connecting rod to rotate around the first support, the driving wheel assembly correspondingly adjusts the gesture, under the action of gravity of the bottom plate and the load, the first caster and the driving wheel assembly always contact the ground, the obstacle crossing capacity of the first caster and the ground grabbing capacity of the driving wheel are improved, the self-adaptive road surface capacity of the floating chassis is realized, and the trafficability and stability of the floating chassis are further improved.

Drawings

FIG. 1 is a schematic view of a floating chassis provided by an embodiment of the present utility model;

FIG. 2 is a top view of a floating chassis provided by an embodiment of the present utility model;

FIG. 3 is a schematic view of a first angle configuration of a caster lever assembly in a floating chassis provided in accordance with an embodiment of the present utility model;

FIG. 4 is a schematic view of a second angular configuration of the caster lever assembly in the floating chassis provided by an embodiment of the present utility model;

FIG. 5 is a front view of a caster lever assembly in a floating chassis provided by an embodiment of the present utility model;

FIG. 6 is a cross-sectional view A-A of FIG. 5;

FIG. 7 is a schematic view of the structure of a link in a floating chassis provided by an embodiment of the present utility model;

FIG. 8 is a front view of the caster support assembly in the floating chassis provided by an embodiment of the present utility model;

FIG. 9 is a top view of the caster support assembly in the floating chassis provided by an embodiment of the present utility model;

Fig. 10 is a schematic structural view of an automatic guided vehicle according to an embodiment of the present utility model.

In the figure:

1. A bottom plate;

2. The device comprises a castor lever assembly, 21, a first support, 211, a support plate, 212, a first bearing, 22, a connecting rod, 221, a first through hole, 222, a sinking groove, 223, a second through hole, 224, a third through hole, 23, a first castor, 24, a driving wheel assembly, 241, a driving wheel, 242, a driving piece, 25, a support shaft, 26, a limiting plate, 27, an elastic piece, 28 and a limiting block;

3. The caster comprises a caster support assembly, 31, a second caster, 32, a mounting frame, 33, a second support, 34, a second bearing, 35 and a rotating shaft;

4. And a load platform.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

As shown in fig. 1-9, embodiments of the present utility model provide a floating chassis that can be used in devices with low-height latency requirements, such as auto guided vehicles. The floating chassis comprises a bottom plate 1 and a castor lever assembly 2, wherein the castor lever assembly 2 comprises a first support 21 and a connecting rod 22, the first support 21 is arranged on the bottom plate 1, a first castor 23 is arranged at a first end of the connecting rod 22, a driving wheel assembly 24 is arranged at a second end of the connecting rod 22, the connecting rod 22 is rotatably connected to the first support 21, and the first castor 23 and the driving wheel assembly 24 are respectively positioned at two sides of the first support 21.

The floating chassis is characterized in that the bottom plate 1 is provided with the trundle lever assembly 2, the first trundle 23 and the driving wheel assembly 24 are connected and rotatably arranged on the first support 21 through the connecting rod 22, so that a teeterboard is formed between the first trundle 23 and the driving wheel assembly 24, and the driving wheel assembly 24 drives the bottom plate 1 to move through the first support 21 in the driving movement process, and the driving wheel assembly 24 is not directly connected with the bottom plate 1 in a rotating way, so that the stable operation of the bottom plate 1 is facilitated. When the road surface is uneven, the first castor 23 drives the connecting rod 22 to rotate around the first support 21 in a self-adaptive lifting manner, so that the stability of the base plate 1 is ensured, the driving wheel assembly 24 correspondingly adjusts and changes the gesture under the action of the connecting rod 22, the floating between the first castor 23 and the driving wheel assembly 24 is realized, the motion stability of the base plate 1 is ensured, the first castor 23 and the driving wheel assembly 24 always contact the ground under the action of the gravity of a vehicle body and a load, the obstacle surmounting capacity of the first castor 23 and the ground grabbing capacity of the driving wheel assembly 24 are improved, the self-adaptive road surface capacity of the floating chassis is realized, and the trafficability and the stability of the floating chassis are further improved.

When there is only one caster lever assembly 2, the above-described floating chassis needs to be provided with the caster lever assembly 2 at the middle position of the base plate 1 to ensure the balance of the base plate 1. Preferably, the floating chassis of the present embodiment is provided with two caster lever assemblies 2, as shown in fig. 1 and 2, the two caster lever assemblies 2 are disposed on both sides of the floating chassis in the Y direction (width direction of the floating chassis), the driving wheel assembly 24 is used for driving the floating chassis to move, the first caster 23 is disposed in front of the driving wheel assembly 24 in the X direction (length direction of the floating chassis), when the driving wheel assembly 24 provides driving movement force, the driving wheel assembly 24 drives the base plate 1 to move integrally through the link 22 and the first support 21, and the first caster 23 supports the base plate 1 and guides the moving movement of the base plate 1. The floating chassis of the embodiment has the floating connection of the first foot wheel 23 and the driving wheel assembly 24, so that the road surface adaptability of the floating chassis is enhanced, the obstacle crossing capability is improved, and compared with the prior art, the first foot wheel 23 and the driving wheel assembly 24 in the embodiment cancel the spring suspension, and the ground grabbing force of the driving wheel assembly 24 is ensured.

In some embodiments, the caster lever assembly 2 further includes a stopper plate 26, the stopper plate 26 being located above the link 22 to define the rotational angle of the link 22.

Referring to fig. 3 to 6, the limiting plate 26 is disposed above the link 22, and in particular, the limiting plate 26 is detachably mounted on the first support 21, such as a bolt connection, and a certain distance is provided between the limiting plate 26 and the link 22, and when the link 22 rotates, the limiting plate 26 can limit a maximum rotation angle of the link 22. When the road surface is convex, the first castor 23 floats upwards and rotates through the connecting rod 22 to enable the driving wheel 241 to have larger ground grabbing force, and when the road surface is concave, the driving wheel assembly 24 provides downward acting force towards the road surface for the first castor 23 through the connecting rod 22 and the limiting plate 26 under the action of the driving wheel assembly 24, so that the first castor 23 can be contacted with the road surface to ensure the stability of the base plate 1. In some embodiments, the opposite inner walls of the two support plates 211 have a clamping groove, the limiting plate 26 is slidably mounted in the clamping groove, the sliding movement of the limiting plate 26 in the clamping groove can adjust the position of the limiting plate 26 above the connecting rod 22, and then the limiting plate 26 is further fixed by screwing the jackscrews into the support plates 211. The limiting plate 26 is detachably connected with the first support 21, so that the limiting plate 26 can be replaced conveniently, and the limitation of different requirements on the rotation range of the connecting rod 22 is met. As shown in fig. 5, in the present embodiment, the limiting plate 16 extends along the long axis direction of the connecting rod 22 and spans the rotational connection position between the connecting rod 22 and the first support 21, and it can be understood that the rotational movement of the connecting rod 22 includes the situation that the two ends of the connecting rod 22 rotate upwards and downwards respectively, and the two ends of the limiting plate 16 abut against the connecting rod 22 respectively, so that the bidirectional rotational angle of the connecting rod 22 can be defined, and further the floating angle of the first caster 23 and the driving wheel assembly 24 can be defined. In other embodiments, two limiting plates 16 may be provided, where the two limiting plates 16 are separately disposed on two sides of the rotational connection between the connecting rod 22 and the first support 21, and are used to respectively abut against two sides of the connecting rod 2, so as to define the floating angle of the connecting rod 22. The limiting plate 16 may be disposed on the base plate 1 or on the first support 21.

In some embodiments, the caster lever assembly 2 further includes a support shaft 25 and two elastic members 27, the support shaft 25 is penetrated through the connecting rod 22 and is rotatably connected to the first support 21, the two elastic members 27 are disposed on the bottom plate 1 or the limiting plate 26, along the length direction of the connecting rod 22, the two elastic members 27 are separately disposed on two sides of the support shaft 25, and the two elastic members 27 are both abutted to the connecting rod 22.

As shown in fig. 3 to 6, the connecting rod 22 is rotatably connected to the first support 21 through the support shaft 25, and has a simple structure and is easy to implement. Specifically, in this embodiment, the first support 21 includes support plates 211 disposed at two sides of the connecting rod 22 at intervals, the two support plates 211 are respectively provided with a first bearing 212, two ends of the support shaft 25 are respectively connected to the two first bearings 212 to realize rotational connection, and the first bearings 212 can reduce rotational friction force of the support shaft 25. The middle position of the connecting rod 22 is penetrated and supported on the supporting shaft 25, so that the two ends of the connecting rod 22 can freely rotate around the supporting shaft 25, and the floating connection of the first foot wheel 23 and the driving wheel assembly 24 is realized. It will be appreciated that the connecting rod 22 is connected by the support shaft 25 while the displacement movement of the connecting rod 22 is defined such that the connecting rod 22 has only a rotational movement.

As shown in fig. 5, the elastic member 27 may employ a spring or a compression spring. In this embodiment, the limit plate 26 is exemplified by a compression spring. Specifically, limiting plate 26 extends along the length direction of connecting rod 22 and fixes on first support 21, two elastic component 27 divide and locate the both sides of back shaft 25, connecting rod 22 and limiting plate 26 are pressed respectively at the both ends of elastic component 27, when the road surface is not at ordinary times, first foot wheel 23 floats and drives connecting rod 22 and rotate, under the effect of elastic component 27, have elastic buffering between connecting rod 22 and the first support 21, realize the buffering to bottom plate 1, do benefit to the operation that bottom plate 1 is more steady, and the floating of first foot wheel 23 and drive wheel subassembly 24 has strengthened the holistic obstacle crossing ability of floating chassis, road surface self-adaptation and grabbing power. It will be appreciated that the elastic member 27 may also be disposed on the base plate 1 to simultaneously abut against the lower portion of the connecting rod 22, and the limiting plate 26 and the elastic member 27 doubly limit the rotation of the connecting rod 22, thereby improving the reliability. Further, one of the two elastic members 27 is provided between the stopper plate 26 and the link 22, and the other is provided between the base plate 1 and the link 22, so that an elastic buffer effect between the link 22 and the base plate 1 can be also achieved.

In some embodiments, a limiting block 28 is disposed on a side of the limiting plate 26 facing the connecting rod 22, the limiting block 28 is disposed between two elastic members 27, and a height of a surface of the limiting block 28 protruding from the limiting plate 26 is not less than a minimum compression size of the elastic members 27.

As shown in fig. 5 and 6, the limiting plate 26 is disposed on the first support 21 and located above the connecting rod 22, the limiting block 28 is disposed on the lower surface of the limiting plate 26, the limiting block 28 is disposed between the two elastic members 27, and the protruding dimension of the limiting block 28 is not smaller than the minimum elastic compression dimension of the two elastic members 27, on one hand, the limiting block 28 can protect the elastic members 27 and prolong the service life of the elastic members 27, and on the other hand, the limiting block 28 has a limiting effect on the maximum floating angle of the first caster 23 and the driving wheel assembly 24, so that the integral instability of the floating chassis caused by the floating of a larger angle is avoided. The limiting block 28 may be an integral structure with the limiting plate 26, or may be detachably connected to the limiting plate 26, where any end of the limiting block 28 can limit the continuous rotation of the connecting rod 22 when abutting against the connecting rod 22, so as to limit the floating angle.

In some embodiments, the drive wheel assembly 24 includes a drive wheel 241 and a drive member 242, with an output shaft of the drive member 242 passing through the link 22 and connected to the drive wheel 241, the link 22 being fixedly connected to the drive member 242.

As shown in fig. 3 and 4, the drive wheel assembly 24 serves as a power source for the floating chassis for driving the overall mobile motion of the floating chassis. In this embodiment, the driving wheel 241 is connected to the output shaft of the driving member 242, and the driving member 242 may be a motor, which has the advantage of small size. The driving wheels 241 of the two driving wheel assemblies 24 are individually driven to rotate by one motor. The second end of the link 22 is located between the drive wheel 241 and the drive member 242 to facilitate balancing the weight between the drive wheel 241 and the drive member 242. The driving member 242 is connected to the link 22, the link 22 is rotatably supported on the first support 21 and is further connected to the base plate 1, and when the driving member 242 drives the driving wheel 241 to rotate, the base plate 1 is driven to move by the link 22 and the first support 21, and the first caster wheel 23 moves synchronously therewith. It can be understood that the base plate 1 is provided with mounting positions of the driving wheel assembly 24 and the first castor wheel 23, so that the castor wheel lever assemblies 2 are symmetrically arranged on two sides of the base plate 1, the first castor wheel 23 and the driving wheel 241 are in contact with a road surface when the vehicle runs on a flat road surface, and the first castor wheel 23 and the driving wheel 241 can float to ensure the stability of the base plate 1, the ground grabbing force of the driving wheel 241 and the road surface self-adaptability of the whole floating chassis and the whole trafficability and stability of the floating chassis are improved when the vehicle runs on the flat road surface.

In some embodiments, the second end of the connecting rod 22 is provided with a first through hole 221, a side of the first through hole 221 facing the driving piece 242 is provided with a sink 222, an output shaft of the driving piece 242 is arranged in the first through hole 221 in a penetrating manner, and a shell of the driving piece 242 is at least partially installed in the sink 222, and the shell of the driving piece 242 is connected to the connecting rod 22.

Referring to fig. 3 and 7, the second end of the connecting rod 22 is provided with a first through hole 221, and the first through hole 221 is matched with the outer diameter of the output shaft of the driving piece 242, so that the output shaft of the driving piece 242 is connected to the driving wheel 241 after passing through the first through hole 221. The countersink 222 is rectangular in shape, and the housing of the driver 242 is mounted at least partially within the countersink 222 to limit relative rotation between the driver 242 and the link 22. The tank bottom of the sinking tank 222 is provided with a threaded hole, the shell of the driving piece 242 is provided with a mounting hole, and the connecting piece penetrates through the mounting hole to be in threaded connection with the threaded hole so as to realize the fixed connection of the connecting rod 22 and the shell of the driving piece 242, and the device is simple in structure and easy to assemble and disassemble. It is added that the first end of the connecting rod 22 is provided with a mounting plate for mounting the first foot wheel 23, and the dimensions of the first end and the second end of the connecting rod 22 along the height direction are preset according to the heights of the first foot wheel 23 and the driving wheel assembly 24, so that when the connecting rod 22 is in the initial state, the first foot wheel 23 and the driving wheel 241 are in contact with the ground, and the bottom plate 1 is stable.

Further, as shown in fig. 7, the connecting rod 22 is further provided with a second through hole 223, the second through hole 223 is used for penetrating and connecting the supporting shaft 25, and the second through hole 223 is in clearance fit with the supporting shaft 25 so as to facilitate the rotation of the connecting rod 22. The wall of the second through hole 223 is provided with a through groove, and lubricating oil can be filled in the through groove to reduce the rotating friction force between the connecting rod 22 and the second through hole 223 and reduce abrasion. In order to reduce the dead weight of the connecting rod 22, as shown in fig. 7, the connecting rod 22 is further provided with a third through hole 224, and the third through hole 224 is used as a weight reducing hole and is arranged on the connecting rod 22 at intervals, wherein the third through hole 224 is a strip hole so as to be conveniently distinguished from the second through hole 223 and convenient to install.

In some embodiments, the floating chassis further comprises a caster support assembly 3, wherein the caster support assembly 3 is disposed on the base plate 1, and the caster support assembly 3 and the first caster 23 are disposed at two ends of the driving wheel assembly 24.

Referring to fig. 1 and 2, the other end of the base plate 1, which is disposed opposite to the first caster 23, of the caster support assembly 3, the caster support assembly 3 and the two caster lever assemblies 2 form a three-point support for the base plate 1, that is, the caster support assembly 3 is disposed at a central position of the rear end of the base plate 1, the two caster lever assemblies 2 are disposed at two sides of the base plate 1 along the Y direction, and the first caster 23 is disposed in front of the driving wheel 241, so that the ground grabbing force of the driving wheel 241 in the running process of the floating chassis can be improved, and the base plate 1 is more stable.

In some embodiments, the caster support assembly 3 includes two second casters 31, a mounting frame 32, and a second support 33, the two second casters 31 are respectively mounted at two ends of the mounting frame 32, the second support 33 is disposed on the base plate 1, a rotation shaft 35 is disposed on the second support 33, and the mounting frame 32 is rotatably mounted on the rotation shaft 35.

As shown in fig. 8 and 9, the two second casters 31 are rotatably mounted on the base plate 1 through the mounting frame 32, so that floating mounting of the two second casters 31 is realized, and compared with a spring suspension mode in the prior art, the two second casters 31 in the embodiment can realize alternate ground contact through floating when the road surface is uneven, the obstacle surmounting capability is improved, at least one second caster 31 contacts with the road surface, the supporting force of the base plate 1 is ensured, and further the ground grasping capability of the driving wheel 241 is facilitated to be ensured.

It should be noted that the first caster 23 and the second caster 31 in this embodiment may have the same structure, may be single-row or double-row casters, and are preferably universal wheels.

As shown in fig. 8 and 9, by providing the rotation shaft 35 on the second support 33, the rotation shaft 35 can provide stable support and rotation installation for the mounting frame 32, and by providing the positions of the second support 33 and the rotation shaft 35, it is convenient to adjust the floating angles of the two second casters 31 on the mounting frame 32. It should be noted that, according to the need, a limiting structure may be provided to further limit the floating angle of the two second casters 31, specifically, a limiting structure may be provided below the mounting frame 32 or a limiting structure may be provided on the bottom plate 1, and the specific position and form are not limited. By providing the second support 33, it is facilitated to adjust the height of the rotation shaft 35 so as to adapt to the installation of the second casters 31 of different sizes. Preferably, the second support 33 is provided with a second bearing 34, and two ends of the rotating shaft 35 are rotatably mounted on the second support 33 through the second bearing 34, so that the rotation flexibility of the mounting frame 32 is improved, and the floating of the two second casters 31 is smoother to stably support the base plate 1.

In some embodiments, the rotational axis 35 is disposed parallel to the link 22. As shown in fig. 1 and 2, the connecting rod 22 of the caster lever assembly 2 is disposed along the X direction, so as to realize the front-back floating of the first caster 23 and the driving wheel 241 along the X direction, and the two second casters 31 rotatably connected on the rotating shaft 35 float left and right along the Y, so that the whole floating chassis can have front-back left-right self-adaptability, adapt to complex uneven road conditions, and ensure the ground gripping force of the driving wheel 241. Of course, the rotation axis 35 and the connecting rod 22 can also form an included angle A in the horizontal direction, wherein the included angle A is smaller than 90 degrees, three-point support and self-adaptive adjustment can be provided for the bottom plate 1, and the condition that the included angle A is 90 degrees is preferable, so that other loads can be installed and laid on the bottom plate 1.

As shown in fig. 10, the embodiment of the utility model further provides an automatic guiding vehicle, which comprises a load platform 4 and the floating chassis provided by the embodiment of the utility model, wherein the load platform 4 is arranged on the bottom plate 1 of the floating chassis in a height-adjustable manner. The automatic guiding vehicle with the functions of hiding and lifting can be realized. The floating chassis provided by the utility model is beneficial to the layout design of the automatic guided vehicle with more chassis spaces, and compared with the spring suspension mode in the prior art, the overall height of the automatic guided vehicle provided by the utility model is greatly reduced, and the self-adaptability and obstacle surmounting capability to uneven road surfaces are improved. The load platform 4 may be any one or a combination of a lifting component, a shell component or a roller platform component, and is added according to actual needs. Taking fig. 10 as an example, the load platform 4 is an object stage with a lifting function, the lifting function is realized by converting rotary motion into lifting motion through a screw, for example, a gear transmission assembly is arranged at the output end of a motor to drive the screw to rotate, a fixed plate is pre-installed on the bottom plate 1, the other end of the screw is in threaded connection with the fixed plate, and the rotary motion of the screw relative to the fixed plate is converted into lifting motion.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the utility model. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. Floating chassis, comprising a base plate (1), characterized in that it further comprises a castor lever assembly (2), said castor lever assembly (2) comprising:

The first support (21) is arranged on the bottom plate (1);

The connecting rod (22), first foot wheel (23) is installed to the first end of connecting rod (22), drive wheel subassembly (24) is installed to the second end of connecting rod (22), connecting rod (22) rotate connect in first support (21), just first truckle (23) with drive wheel subassembly (24) are located respectively the both sides of first support (21).

2. The floating chassis according to claim 1, characterized in that the caster lever assembly (2) further comprises a limiting plate (26), the limiting plate (26) being located above the link (22) to define the angle of rotation of the link (22).

3. The floating chassis of claim 2, wherein the caster lever assembly further comprises:

The support shaft (25) penetrates through the connecting rod (22) and is connected to the first support (21) in a rotating mode;

The two elastic pieces (27), two elastic pieces (27) are arranged on the bottom plate (1) or the limiting plate (26), along the length direction of the connecting rod (22), the two elastic pieces (27) are respectively arranged on two sides of the supporting shaft (25), and the two elastic pieces (27) are in butt joint with the connecting rod (22).

4. A floating chassis according to claim 3, characterized in that a limit block (28) is provided on the limit plate (26) on the side facing the connecting rod (22), said limit block (28) being located between the two elastic elements (27).

5. The floating chassis according to claim 1, characterized in that the driving wheel assembly (24) comprises a driving wheel (241) and a driving member (242), an output shaft of the driving member (242) penetrates the connecting rod (22) and is connected to the driving wheel (241), and the connecting rod (22) is fixedly connected to the driving member (242).

6. The floating chassis according to claim 5, wherein the second end of the connecting rod (22) is provided with a first through hole (221), a sinking groove (222) is arranged on one side of the first through hole (221) facing the driving piece (242), an output shaft of the driving piece (242) is arranged in the first through hole (221) in a penetrating manner, a shell of the driving piece (242) is at least partially arranged in the sinking groove (222), and the shell of the driving piece (242) is connected with the connecting rod (22).

7. A floating chassis according to any one of claims 1-6, characterized in that the floating chassis further comprises a castor support assembly (3), the castor support assembly (3) being provided on the floor (1), the castor support assembly (3) being provided separately from the first castor (23) at both ends of the drive wheel assembly (24).

8. The floating chassis according to claim 7, characterized in that the caster support assembly (3) comprises:

Two second casters (31) and a mounting frame (32), wherein the two second casters (31) are respectively arranged at two ends of the mounting frame (32);

The second support (33), second support (33) are located on bottom plate (1), be equipped with axis of rotation (35) on second support (33), mounting bracket (32) rotate install in on axis of rotation (35).

9. A floating chassis according to claim 8, characterized in that the rotation axis (35) is arranged parallel to the link (22).

10. The automatic guiding vehicle is characterized by comprising a load platform (4) and the floating chassis according to any one of claims 1-9, wherein the load platform (4) is arranged on a bottom plate (1) of the floating chassis in a height-adjustable manner.