The self-leveling AGV comprises front wheel assemblies, rear wheel assemblies, a frame assembly, an inclination sensor and a control system, the two front wheel assemblies are arranged on the two sides of the front end of the frame assembly, the rear wheel assemblies are located in the middle of the rear side of the frame assembly, and the inclination sensor and the control system are installed on the frame assembly. The front wheel assembly comprises a driving device, a steering device and a leveling device. The driving balance and stability of the AGV trolley are ensured when the AGV trolley runs on the uneven ground, and when the AGV trolley runs on the uneven ground, the AGV trolley is adaptive to the ground and can be actively leveled, and an AGV body does not incline; during high-precision butt joint, deviation is avoided, so that production accidents are prevented; the obstacle crossing and climbing capabilities are high; the structure is relatively simple and clear, the manufacturing and using cost is low, and the occupied space is small; the robot can walk straightly or transversely conveniently, can rotate by 360 degrees in situ, is higher in flexibility, and improves the moving and posture adjusting efficiency.

    本发明公开了一种适应凹凸地面自调平AGV及其调平方法,包括前轮总成,后轮总成,车架总成,倾斜传感器,控制系统,两个前轮总成设置在车架总成的前端两侧,后轮总成位于车架总成的后侧居中,所述倾斜传感器和控制系统安装在车架总成上,所述前轮总成包括驱动装置、转向装置和调平装置。本发明实现了在凹凸不平的地面运行时确保AGV小车的行驶平衡性和稳定性,走到不平的路面上时,自适应地面且能够主动调平,AGV车身不会发生倾斜现象;在高精度对接中,不会发生偏差,从而防止生产事故发生;越障和爬坡能力强;结构相对简单明了,制造和使用成本较低,空间占用小;方便地直走或横行,也可以实现原地360°旋转,灵活性更高,提高移动和调姿效率。


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    Title :

    Self-leveling AGV adapting to concave-convex ground and leveling method thereof


    Additional title:

    一种适应凹凸地面自调平AGV及其调平方法


    Contributors:
    MAO TINGWEI (author) / CHEN XINGQIN (author) / JIANG MINHUA (author) / WANG JIN (author) / JIANG QINJIAN (author)

    Publication date :

    2025-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS



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