CN112706838A - Chassis for automatic guided vehicle and automatic guided vehicle - Google Patents
Chassis for automatic guided vehicle and automatic guided vehicle Download PDFInfo
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- CN112706838A CN112706838A CN202110178656.2A CN202110178656A CN112706838A CN 112706838 A CN112706838 A CN 112706838A CN 202110178656 A CN202110178656 A CN 202110178656A CN 112706838 A CN112706838 A CN 112706838A
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- driven wheel
- chassis
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- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本发明适用机器人技术领域，公开了一种用于自动导引车的底盘及自动导引车。其中，用于自动导引车的底盘包括底座、驱动机构、悬挂机构、驱动轮、第一从动轮组和第二从动轮组，第一从动轮组和第二从动轮组分别设于驱动轮相对的两侧；悬挂机构包括第一悬挂组件和第二悬挂组件；驱动机构和第一从动轮组通过第一悬挂组件悬挂安装于底座上，且驱动机构传动连接于驱动轮；第二从动轮组通过第二悬挂组件悬挂安装于底座上，并且第二悬挂组件之远离第二从动轮组的端部活动连接第一悬挂组件之远离第一从动轮组的端部。本发明提供的用于自动导引车的底盘在遇到障碍物或凹坑时，底座高度保持不变，驱动轮抓地效果好，底盘在前后移动时更加平稳可靠。
The invention is applicable to the technical field of robots, and discloses a chassis for an automatic guided vehicle and an automatic guided vehicle. Wherein, the chassis used for the automatic guided vehicle includes a base, a driving mechanism, a suspension mechanism, a driving wheel, a first driven wheel set and a second driven wheel set, and the first driven wheel set and the second driven wheel set are respectively arranged on the driving wheels Opposite two sides; the suspension mechanism includes a first suspension assembly and a second suspension assembly; the driving mechanism and the first driven wheel group are suspended and installed on the base through the first suspension assembly, and the driving mechanism is drivingly connected to the driving wheel; the second driven wheel The group is suspended and mounted on the base through the second suspension assembly, and the end of the second suspension assembly away from the second driven wheel group is movably connected with the end of the first suspension assembly away from the first driven wheel group. When the chassis for the automatic guided vehicle provided by the present invention encounters obstacles or pits, the height of the base remains unchanged, the driving wheel has a good grip effect, and the chassis moves forward and backward more smoothly and reliably.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a chassis for an automatic guided vehicle and the automatic guided vehicle.
Background
With the continuous development of society, robots are widely applied to various fields such as civil affairs, military affairs and industrial production. The wheel-type mobile robot is more widely applied due to the advantages of speed and stability in an indoor environment, but some robots are unreasonable in structural design, and in some occasions with poor working environments, such as a slope or a small obstacle on the ground, the driving wheels cannot firmly grab the ground, and the chassis cannot be in an unstable state, so that a safe and stable running state cannot be provided.
Disclosure of Invention
The invention aims to solve the technical problems that the driving wheel of the existing chassis has poor ground gripping effect and the chassis runs unstably.
In order to achieve the purpose, the invention provides the following scheme: a chassis for an automatic guided vehicle comprises a base, a driving mechanism, a suspension mechanism, a driving wheel, a first driven wheel set and a second driven wheel set, wherein the first driven wheel set and the second driven wheel set are respectively arranged on two opposite sides of the driving wheel;
the suspension mechanism comprises a first suspension assembly and a second suspension assembly; the driving mechanism and the first driven wheel set are mounted on the base in a suspension mode through the first suspension assembly, and the driving mechanism is connected to the driving wheel in a transmission mode; the second driven wheel set is mounted on the base in a hanging mode through the second hanging assembly, and the end portion, far away from the second driven wheel set, of the second hanging assembly is movably connected with the end portion, far away from the first driven wheel set, of the first hanging assembly.
Furthermore, a slot and a first rotating shaft are arranged at the end part, far away from the first driven wheel set, of the first suspension assembly, the slot is provided with a slot opening towards the second driven wheel set and two slot side walls arranged oppositely at intervals, and the first rotating shaft is convexly arranged on one slot side wall;
the end part of the second suspension assembly, which is far away from the second driven wheel set, extends from the notch to penetrate through the slot, and the end part of the second suspension assembly, which is far away from the second driven wheel set, penetrates through a connecting hole for the first rotating shaft to penetrate through and be capable of supplying the first rotating shaft to slide.
Further, the connecting hole is a waist-shaped hole, a rectangular hole or an elliptical hole.
Further, the suspension mechanism further comprises at least one rolling component which is rotatably installed on the second suspension assembly, the rolling component extends from the end part, far away from the second driven wheel set, of the second suspension assembly to penetrate through the slot, and the outer side wall of the rolling component abuts against the two slot side walls.
Further, the suspension mechanism comprises two rolling parts which are respectively arranged above and below the first rotating shaft at intervals; and/or the presence of a gas in the atmosphere,
the rolling part is a bearing or a roller.
Further, the first suspension assembly comprises a first connecting rod, a first rotating connection assembly, an elastic connection assembly, a fixed frame and the first rotating shaft;
the mount is equipped with the slot and first pivot install in on the mount, first connecting rod has first end, second end, first connecting portion and second connecting portion, first connecting portion with the second connecting portion are all located first end with between the second end, first end fixed connection the mount, first end with one of mount passes through elastic connection assembly elastic connection ground liftable the base, the second end is connected first driven wheelset, first connecting portion are located first end with between the second connecting portion and fixed connection actuating mechanism, the second connecting portion pass through first rotating connection assembly rotates to be connected the base.
Furthermore, the first connecting portion is provided with a first through hole and at least two first mounting holes distributed on the periphery of the first through hole in a penetrating manner along the axial direction of the driving wheel, and the first connecting portion is sleeved on the driving mechanism through the first through hole and is connected with the driving mechanism through a fastener penetrating through the first mounting hole; and/or the presence of a gas in the gas,
the first rotating connection assembly comprises a second rotating shaft, a second through hole penetrates through the second connection part along the direction parallel to the axial direction of the driving wheel, and the second connection part is rotatably sleeved on the second rotating shaft through the second through hole; and/or the presence of a gas in the gas,
the first end portion is provided with a second mounting hole, and the first end portion is fixedly connected with the fixing frame through a fastener penetrating through the second mounting hole.
Further, the elastic connection assembly comprises a first connecting piece, a second connecting piece and an elastic piece arranged between the first connecting piece and the second connecting piece, the first connecting piece and the second connecting piece are arranged at an upper interval and a lower interval, the first connecting piece is fixedly connected with the base, and the second connecting piece is fixedly arranged on the fixing frame.
Further, the elastic component is coil spring, elastic connection subassembly still including wear to locate in the elastic component in order to be used for right the flexible spacing direction gag lever post that leads of elastic component, the one end of direction gag lever post set firmly in on one of first connecting piece with the second connecting piece, the other end with first connecting piece with another one interval setting in the second connecting piece.
Further, the first suspension assembly further comprises a first limiting member mounted on the base; the first limiting part comprises a first limiting plate and/or a second limiting plate, the first limiting plate is arranged above the first connecting rod at intervals and used for limiting the ascending amplitude of the first end part and the second end part, and/or the second limiting plate is arranged below the first connecting rod at intervals and used for limiting the descending amplitude of the first end part and the second end part.
Further, the second hangs the subassembly and includes second connecting rod and second rotation coupling assembling, the second connecting rod includes third tip, fourth tip and locates the third tip with third connecting portion between the fourth tip, the third tip is equipped with the connecting hole and the third tip is followed the notch extends to wear to locate in the slot, the fourth end connection the driven wheelset of second, the third connecting portion pass through second rotation coupling assembling rotates to be connected the base.
Further, the second rotates coupling assembling and includes the third pivot, the third connecting portion along being on a parallel with the axial direction of drive wheel is run through and is equipped with the third through-hole, the third connecting portion pass through the third through-hole cover is located in the third pivot and with the third pivot is rotated and is connected.
Further, the second suspension assembly further comprises a second limiting member mounted on the base, the second limiting member includes a third limiting plate disposed above the second connecting rod at an interval for limiting the ascending range of the third end and the fourth end, and/or a fourth limiting plate disposed below the second connecting rod at an interval for limiting the descending range of the third end and the fourth end.
Further, the driving mechanism comprises a driving motor and a speed reduction transmission assembly in transmission connection between the driving motor and the driving wheel, and the speed reduction transmission assembly is fixedly connected with the first suspension assembly.
Further, the chassis comprises two driving wheels, two first driven wheel sets, two second driven wheel sets and two suspension mechanisms; the base comprises a first side plate, a second side plate and a bottom plate for connecting the first side plate and the second side plate, and the first side plate and the second side plate are arranged above the bottom plate and are oppositely arranged at intervals;
the first side plate and the second side plate are respectively provided with one suspension mechanism, one driving wheel, one driven wheel set and one driven wheel set are connected with the first side plate through one suspension mechanism, and the other driving wheel, the other driven wheel set and the other driven wheel set are connected with the second side plate through the other suspension mechanism.
The second objective of the present invention is to provide an automatic guided vehicle, which includes a battery module, a controller and the chassis for an automatic guided vehicle as described above, wherein the battery module and the controller are respectively installed on the bottom plate, and the controller is respectively electrically connected to the battery module and the driving mechanism.
The chassis for the automatic guided vehicle is provided with the driving mechanism for providing power for the driving wheel to rotate so as to drive the chassis to move; the first driven wheel set and the second driven wheel set are arranged to assist the driving wheels to support the chassis, so that the stability of the chassis is improved; the driving mechanism in transmission connection with the driving wheel and the first driven wheel set are mounted on the base in a suspended mode through the first suspension assembly, so that linkage is generated between the driving wheel and the first driven wheel set, and when the driving wheel is lifted up or lowered down due to an obstacle or a pit, the first driven wheel set performs corresponding coordination action along with the driving wheel, and the height of the base is kept unchanged; the second driven wheel set is arranged on the base in a suspended mode through the second suspension assembly, the end, far away from the second driven wheel set, of the second suspension assembly is movably connected with the end, far away from the first driven wheel set, of the first suspension assembly, namely the driving wheel is movably connected with the second driven wheel set, linkage can be generated between the driving wheel and the second driven wheel set, and when the driving wheel is lifted up or lowered down due to an obstacle or a pit, the second driven wheel set correspondingly coordinates with the driving wheel, so that the height of the base is kept unchanged; through locating the relative both sides of drive wheel from driving wheel group with first driven wheelset and second, and set up and hang the mechanism and link the drive wheel with first driven wheelset and second driven wheelset simultaneously, when the drive wheel because barrier or pit are raised or are reduced, first driven wheelset and second driven wheelset all can carry out corresponding coordinated action thereupon, make the height of base remain unchanged, and can make the drive wheel laminate ground all the time, the ground performance of grabbing of drive wheel has been improved, in addition, the drive wheel is in the motion process of advancing the backspacing, it can both play a role to hang the mechanism, the motion performance on chassis is improved. Therefore, the chassis for the automatic guided vehicle can be self-adjusted when meeting obstacles or pits, the height of the base is kept unchanged, the ground grabbing effect of the driving wheel is good, and the chassis is more stable and reliable when moving forwards and backwards.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of an angle of a chassis for a robotic guided vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of another angle of the chassis for the automated guided vehicle according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic structural diagram of a fixing frame according to an embodiment of the present invention;
FIG. 5 is a schematic view of an assembly structure of the first connecting rod, the second connecting rod, the fixing frame, the first rotating shaft and the rolling component according to the embodiment of the present invention;
FIG. 6 is a schematic view of a further angle of the chassis for an automated guided vehicle according to an embodiment of the present invention;
FIG. 7 is a partial enlarged view at B in FIG. 6;
FIG. 8 is a schematic view of a further angle of the chassis for a automated guided vehicle according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a second link according to an embodiment of the present invention.
The reference numbers illustrate: 100. a chassis; 1. a base; 11. a first side plate; 12. a second side plate; 13. a base plate; 2. a drive mechanism; 21. a drive motor; 22. a speed reduction transmission assembly; 3. a suspension mechanism; 31. a first suspension assembly; 311. a first link; 3111. a first end portion; 3112. a second end portion; 3113. a first connection portion; 3114. a second connecting portion; 3115. a first through hole; 3116. a first mounting hole; 3117. a second through hole; 3118. a second mounting hole; 312. a first rotating connection assembly; 3121. a second rotating shaft; 313. an elastic connection assembly; 3131. a first connecting member; 3132. a second connecting member; 3133. an elastic member; 3134. guiding a limiting rod; 314. a fixed mount; 3140. a slot; 3141. a notch; 3142. a trench sidewall; 3143. a first fixing plate; 3144. a second fixing plate; 3145. a third fixing plate; 3146. avoiding holes; 315. a first rotating shaft; 316. a first limit piece; 3161. a first limit plate; 3162. a second limiting plate; 3163. a first connecting plate; 32. a second suspension assembly; 321. a second link; 3211. a third end portion; 3212. a fourth end portion; 3213. a third connecting portion; 3214. connecting holes; 3215. a third through hole; 322. a second rotating link assembly; 3221. a third rotating shaft; 323. a second limiting member; 3231. a third limiting plate; 3232. a fourth limiting plate; 3233. a second connecting plate; 33. a rolling member; 4. a drive wheel; 5. a first driven wheel set; 51. a first driven wheel; 6. a second driven wheel set; 61. a second driven wheel.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture, and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a chassis 100 for an automatic guided vehicle, including a base 1, a driving mechanism 2, a suspension mechanism 3, a driving wheel 4, a first driven wheel set 5 and a second driven wheel set 6, where the first driven wheel set 5 and the second driven wheel set 6 are respectively disposed on two opposite sides of the driving wheel 4; the suspension mechanism 3 includes a first suspension assembly 31 and a second suspension assembly 32; the driving mechanism 2 and the first driven wheel set 5 are suspended and mounted on the base 1 through a first suspension assembly 31, and the driving mechanism 2 is in transmission connection with the driving wheel 4; the second driven wheel set 6 is suspended and mounted on the base 1 through a second suspension assembly 32, and the end of the second suspension assembly 32 far away from the second driven wheel set 6 is movably connected with the end of the first suspension assembly 31 far away from the first driven wheel set 5. The driving mechanism 2 is arranged for providing power for the driving wheel 4 to rotate so as to drive the chassis 100 to move; the first driven wheel set 5 and the second driven wheel set 6 are arranged to assist the driving wheel 4 to support the chassis 100, so that the stability of the chassis 100 is improved; through the arrangement of the first suspension assembly 31, the driving mechanism 2 in transmission connection with the driving wheel 4 and the first driven wheel set 5 are suspended and mounted on the base 1 through the first suspension assembly 31, so that linkage is generated between the driving wheel 4 and the first driven wheel set 5, and when the driving wheel 4 is lifted or lowered due to an obstacle or a pit, the first driven wheel set 5 performs corresponding coordination action along with the linkage, so that the height of the base 1 is kept unchanged; through the arrangement of the second suspension assembly 32, the second driven wheel set 6 is suspended and mounted on the base 1 through the second suspension assembly 32, and the end part of the second suspension assembly 32 far away from the second driven wheel set 6 is movably connected with the end part of the first suspension assembly 31 far away from the first driven wheel set 5, namely, the driving wheel 4 is movably connected with the second driven wheel set 6, and linkage can be generated between the driving wheel 4 and the second driven wheel set 6, when the driving wheel 4 is lifted up or lowered down due to an obstacle or a pit, the second driven wheel set 6 correspondingly coordinates with the obstacle, so that the height of the base 1 is kept unchanged; through locating the relative both sides of drive wheel 4 with first driven wheelset 5 and second driven wheelset 6, and set up and hang mechanism 3 with drive wheel 4 simultaneously with the linkage of first driven wheelset 5 and second driven wheelset 6, when drive wheel 4 is raised or is reduced because of barrier or pit, first driven wheelset 5 and second driven wheelset 6 all can carry out corresponding coordinated action thereupon, make base 1's height remain unchanged, and can make drive wheel 4 laminate ground all the time, the ground performance of grabbing of drive wheel 4 has been improved, in addition, drive wheel 4 advances the motion process of moving backwards, it can both play the effect to hang mechanism 3, improve chassis 100's motion performance. Therefore, the chassis 100 for the automatic guided vehicle provided by the invention can be self-adjusted when encountering obstacles or pits, the height of the base 1 is kept unchanged, the ground gripping effect of the driving wheel 4 is good, and the chassis 100 is more stable and reliable when moving forwards and backwards.
In this embodiment, the chassis 100 includes two driving wheels 4, two first driven wheel sets 5, two second driven wheel sets 6, and two suspension mechanisms 3; the base 1 comprises a first side plate 11, a second side plate 12 and a bottom plate 13 for connecting the first side plate 11 and the second side plate 12, wherein the first side plate 11 and the second side plate 12 are arranged above the bottom plate 13 and are oppositely arranged at intervals; a suspension mechanism 3 is respectively mounted on the first side plate 11 and the second side plate 12, one driving wheel 4, one first driven wheel set 5 and one second driven wheel set 6 are connected to the first side plate 11 through one suspension mechanism 3, and the other driving wheel 4, the other first driven wheel set 5 and the other second driven wheel set 6 are connected to the second side plate 12 through the other suspension mechanism 3. By this arrangement, the stability of the chassis 100 is improved. It is understood that in other embodiments, the number of the driving wheels 4 may be one or three or four, and the like, and the number of the suspension mechanisms 3 may be one or three or four, and the like, and the number of the driving wheels 4, the suspension mechanisms 3, the first driven wheel set 5, and the second driven wheel set 6 is not limited herein.
Referring to fig. 1, fig. 3 to fig. 5, fig. 7 and fig. 9, an insertion groove 3140 and a first rotation shaft 315 are disposed at an end of the first suspension assembly 31 away from the first driven wheel set 5, the insertion groove 3140 has a groove opening 3141 opened toward the second driven wheel set 6 and two groove side walls 3142 disposed opposite to each other at an interval, and the first rotation shaft 315 is protruded on one groove side wall 3142; the end of the second suspension member 32 far from the second driven wheel set 6 extends from the notch 3141 to penetrate through the slot 3140, and the end of the second suspension member 32 far from the second driven wheel set 6 is provided with a connecting hole 3214 through which the first rotating shaft 315 penetrates and the first rotating shaft 315 can slide. Through the arrangement, the end part of the second suspension assembly 32 far away from the second driven wheel set 6 is movably connected with the end part of the first suspension assembly 31 far away from the first driven wheel set 5.
Preferably, the connection hole 3214 is a kidney-shaped hole. By arranging the connecting hole 3214 as a kidney-shaped hole, the end of the second suspension assembly 32 away from the second driven wheel set 6 can be connected in a rotating manner or can be connected in a sliding manner with the end of the first suspension assembly 31 away from the first driven wheel set 5. Of course, in other embodiments, the connecting hole 3214 may be a rectangular hole or an elliptical hole.
Referring to fig. 1, 3 to 5, the suspension mechanism 3 further includes at least one rolling member 33 rotatably mounted on the second suspension assembly 32, the rolling member 33 extends from an end of the second suspension assembly 32 away from the second driven wheel set 6 and is disposed in the slot 3140, and an outer sidewall of the rolling member 33 abuts against two slot sidewalls 3142. Through this kind of mode of setting, prevent that second suspension assembly 32 from rocking from side to side, improve the stationarity of chassis 100.
Preferably, the suspension mechanism 3 includes two rolling members 33, and the two rolling members 33 are spaced above and below the first rotating shaft 315. With this arrangement, the effectiveness of preventing the second hanging component 32 from shaking left and right is improved. It is understood that in other embodiments, one or three or four rolling members 33 may be provided, and the number of the rolling members 33 is not limited in this embodiment.
Preferably, the rolling members 33 are bearings. It is understood that in other embodiments, the rolling member 33 may be a roller or a roller.
Referring to fig. 1 and 5, the first suspension assembly 31 includes a first link 311, a first rotation connection assembly 312, an elastic connection assembly 313, a fixing frame 314, and a first rotation shaft 315; mount 314 is equipped with slot 3140 and first pivot 315 installs on mount 314, first connecting rod 311 has first end 3111, second end 3112, first connecting portion 3113 and second connecting portion 3114 all locate between first end 3111 and second end 3112, first end 3111 fixed connection mount 314, mount 314 passes through elastic connection base 1 of elastic connection subassembly 313 liftable ground, first driven wheelset 5 is connected to second end 3112, first connecting portion 3113 is located between first end 3111 and the second connecting portion 3114 and fixed connection actuating mechanism 2, second connecting portion 3114 rotates through second rotation coupling subassembly 322 and connects base 1. The first connecting part 3113 is fixedly connected with the driving mechanism 2 in transmission connection with the driving wheel 4, and the second end part 3112 is connected with the first driven wheel set 5, so that the driving wheel 4 is connected with the first driven wheel set 5; the second connecting part 3114 is rotatably connected to the base 1 by the first rotating connection assembly 312; through setting up elastic connection assembly 313, mount 314 passes through elastic connection assembly 313 elastic connection base 1 with liftable ground, and first end 3111 fixed connection mount 314 to realize first end 3111 elastic connection base 1 with liftable ground, after drive wheel 4 crossed barrier or pit, elastic connection assembly 313 can provide the restoring force for drive wheel 4, and elastic connection assembly 313's elastic action also plays certain cushioning effect to chassis 100 simultaneously, improves chassis 100's stationarity. It is understood that, as an alternative embodiment, the first end portion 3111 may be elastically connected to the base 1 through the elastic connection assembly 313 in a liftable manner. In this embodiment, the first link 311 and the fixing frame 314 are fixedly connected and assembled together. It is understood that in other embodiments, the first link 311 and the fixing frame 314 may be integrally formed.
As a preferred embodiment, the fixing frame 314 includes a first fixing plate 3143, a second fixing plate 3144 disposed opposite to the first fixing plate 3143 at an interval, and a third fixing plate 3145 connecting the first fixing plate 3143 and the second fixing plate 3144, the first fixing plate 3143, the second fixing plate 3144, and the third fixing plate 3145 enclose to form an insertion groove 3140, wherein a side of the first fixing plate 3143 facing the second fixing plate 3144 and a side of the second fixing plate 3144 facing the first fixing plate 3143 form a groove sidewall 3142 of the insertion groove 3140, respectively, and the first rotating shaft 315 is disposed on the first fixing plate 3143 in a protruding manner and extends in a direction close to the second fixing plate 3144. The design mode has simple structure and convenient and quick installation.
Preferably, the second fixing plate 3144 is provided with an escape hole 3146. Through setting up dodging hole 3146, be convenient for install parts such as first pivot 315, improve assembly efficiency. Of course, in other embodiments, it is possible to eliminate the avoiding hole 3146.
Referring to fig. 1, 2 and 5, the first connecting portion 3113 is provided with a first through hole 3115 and at least two first mounting holes 3116 distributed on the periphery of the first through hole 3115 along the axial direction of the driving wheel 4, and the first connecting portion 3113 is sleeved on the driving mechanism 2 through the first through hole 3115 and is connected to the driving mechanism 2 through a fastener (not shown) penetrating through the first mounting hole 3116. The first rotating connection assembly 312 includes a second rotating shaft 3121, the second connection portion 3114 is provided with a second through hole 3117 extending through the direction parallel to the axial direction of the driving wheel 4, and the second connection portion 3114 is rotatably sleeved on the second rotating shaft 3121 through the second through hole 3117. The first end portion 3111 is provided with a second mounting hole 3118, and the first end portion 3111 is fixedly connected to the fixing frame 314 through a fastener (not shown) penetrating through the second mounting hole 3118. Through this kind of mode of setting, simple structure, installation are firm to convenient operation, swift. In this embodiment, the first end portion 3111 is fixedly connected to the first fixing plate 3143 by a fastener penetrating the second mounting hole 3118. It is understood that in other embodiments, the first end portion 3111 may be mounted on the second fixing plate 3144 or the third fixing plate 3145.
Referring to fig. 4, 6 and 7, the elastic connecting assembly 313 includes a first connecting element 3131, a second connecting element 3132 and an elastic element 3133 disposed between the first connecting element 3131 and the second connecting element 3132, the first connecting element 3131 and the second connecting element 3132 are spaced apart from each other vertically, the first connecting element 3131 is fixedly connected to the base 1, and the second connecting element 3132 is fixedly disposed on the fixing frame 314. In this embodiment, the first connecting element 3131 is fixedly connected to the first side plate 11 or the second side plate 12, and the second connecting element 3132 is fixedly disposed on the second fixing plate 3144 and located at an end of the second fixing plate 3144 away from the first connecting element 3131. By providing the elastic element 3133, the elastic element 3133 is connected to the first end portion 3111 through the second connecting element 3132 and the fixing frame 314, and under the elastic force of the elastic element 3133, the first end portion 3111 can be driven to move up and down relative to the base 1. In addition, the elastic element 3133 has a certain buffer effect on the base 1, which is beneficial to improving the stability of the base 1.
Referring to fig. 7, the elastic element 3133 is a coil spring, and the elastic connection element 313 further includes a guiding limiting rod 3134 penetrating the elastic element 3133 for guiding and limiting the expansion and contraction of the elastic element 3133. By providing the guide stopper 3134, the elastic element 3133 is prevented from being deformed during a long-term expansion and compression process, thereby extending the lifespan of the elastic element 3133. In other embodiments, the elastic element 3133 may be another elastic member such as an elastic sheet.
Preferably, one end of the guiding limiting rod 3134 is fixed to the first connector 3131, and the other end is spaced from the second connector 3132. By disposing the other end of the guide stopper 3134 to be spaced apart from the second connector 3132, it is ensured that the elastic element 3133 has a sufficient space to be compressed. In other embodiments, one end of the guiding limiting rod 3134 is fixed to the second connector 3132, and the other end is spaced apart from the first connector 3131.
Referring to fig. 1, 5 and 8, the first suspension assembly 31 further includes a first limiting member 316 mounted on the base 1, the first limiting member 316 includes a first limiting plate 3161 spaced above the first connecting rod 311 and a second limiting plate 3162 spaced below the first connecting rod 311, the first limiting plate 3161 is used for limiting the ascending range of the first end portion 3111 and the second end portion 3112, and the second limiting plate 3162 is used for limiting the descending range of the first end portion 3111 and the second end portion 3112. In this embodiment, the first limiting member 316 is mounted on the first side plate 11 or the second side plate 12. Through this kind of setting mode, effectively prevent the condition emergence of skidding from appearing in drive wheel 4. It is understood that, in other embodiments, the first limiting member 316 is not provided with the first limiting member 3161 or the second limiting member 3162.
Preferably, the first limiting member 316 further includes a first connection plate 3163 connecting the first limiting plate 3161 and the second limiting plate 3162. By providing the first connection plate 3163, the stability of the first position-limiting member 316 is improved.
Referring to fig. 1, 3, 4 and 9, the second suspension assembly 32 includes a second connecting rod 321 and a second rotation connection assembly 322, the second connecting rod 321 includes a third end portion 3211, a fourth end portion 3212 and a third connection portion 3213 disposed between the third end portion 3211 and the fourth end portion 3212, the third end portion 3211 is provided with a connection hole 3214, the third end portion 3211 extends from the notch 3141 to penetrate through the insertion slot 3140, the fourth end portion 3212 is connected to the second driven wheel set 6, and the third connection portion 3213 is rotatably connected to the base 1 through the second rotation connection assembly 322. Through setting up second rotation coupling assembling 322, realize that third connecting portion 3213 rotates and connects in base 1. In this embodiment, the rolling member 33 is rotatably attached to the third end portion 3211. Specifically, the third end portion 3211 is provided with two rolling members 33, and the two rolling members 33 are respectively located above and below the connecting hole 3214.
Preferably, the second rotating connection assembly 322 includes a third rotating shaft 3221, the third connecting portion 3213 is provided with a third through hole 3215 extending in a direction parallel to the axial direction of the driving wheel 4, and the third connecting portion 3213 is sleeved on the third rotating shaft 3221 through the third through hole 3215 and is rotatably connected to the third rotating shaft 3221.
Referring to fig. 1, 8 and 9, the second suspension assembly 32 further includes a second limiting member 323 installed on the base 1, the second limiting member 323 includes a third limiting member 3231 spaced above the second connecting rod 321 and a fourth limiting member 3232 spaced below the second connecting rod 321, the third limiting member 3231 is used for limiting the ascending amplitude of the third end 3211 and the fourth end 3212, and the fourth limiting member 3232 is used for limiting the descending amplitude of the third end 3211 and the fourth end 3212. In this embodiment, the second limiting member 323 is mounted on the first side plate 11 or the second side plate 12. Through this kind of setting mode, effectively prevent the condition emergence of skidding from appearing in drive wheel 4. It is to be understood that, in other embodiments, the second limiting member 323 may not be provided with the third limiting plate 3231 or the fourth limiting plate 3232.
Preferably, the second limiting member 323 further includes a second connecting plate 3233 connecting the third limiting plate 3231 and the fourth limiting plate 3232. By providing the second connecting plate 3233, the stability of the second limiting member 323 is improved.
Preferably, the driving mechanism 2 comprises a driving motor 21 and a reduction transmission assembly 22 in transmission connection between the driving motor 21 and the driving wheel 4, and the reduction transmission assembly 22 is fixedly connected with the first suspension assembly 31. In this embodiment, the first connecting portion 3113 is sleeved on the speed reduction transmission assembly 22 through the first through hole 3115, and penetrates through the first mounting hole 3116 and is fixedly connected with the speed reduction transmission assembly 22 through the fastener. The arrangement of the speed reducing transmission assembly 22 can adjust the rotating speed output by the driving motor 21 to a proper rotating speed and transmit the rotating speed to the driving wheel 4, so that the moving speed of the driving wheel 4 is not too fast or too slow; on the other hand, the transmission direction of the variable force may be changed so that the output shaft of the drive motor 21 does not necessarily have to be coaxial with the drive shaft of the drive wheel 4.
Preferably, the number of the driving mechanisms 2 is the same as that of the driving wheels 4, and one driving mechanism 2 is correspondingly connected with one driving wheel 4 in a transmission way. In the present embodiment, the number of the drive mechanisms 2 is two. One driving mechanism 2 is correspondingly connected with one driving wheel 4 in a transmission manner, so that each driving wheel 4 is flexibly controlled, for example, one driving wheel 4 can be controlled to move forwards while the other driving wheel 4 can be controlled to move backwards, and steering is realized.
Preferably, the first driven wheel set 5 comprises two first driven wheels 51 arranged side by side, and the second driven wheel set 6 comprises two second driven wheels 61 arranged side by side. Of course, in other embodiments, it is also possible that the first driven wheel group 5 includes one or three or four first driven wheels 51, and it is also possible that the second driven wheel group 6 includes one or three or four second driven wheels 61, and the number of the first driven wheels 51 and the second driven wheels 61 is not limited by this embodiment. In this embodiment, each of first driven wheel 51 and second driven wheel 61 is a universal wheel, and first driven wheel 51 and second driven wheel 61 are provided as universal wheels, which is beneficial for chassis 100 to turn.
The embodiment of the present invention further includes an automatic guided vehicle (not shown), which includes a battery module (not shown), a controller (not shown), and the chassis 100 for the automatic guided vehicle, wherein the battery module and the controller are respectively installed on the base 1, and the controller is respectively electrically connected to the battery module and the driving mechanism 2. With the chassis 100, the automated guided vehicle can move more smoothly and the ability to pass obstacles can be enhanced.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (16)
1. A chassis for an automatic guided vehicle is characterized by comprising a base, a driving mechanism, a suspension mechanism, a driving wheel, a first driven wheel set and a second driven wheel set, wherein the first driven wheel set and the second driven wheel set are respectively arranged on two opposite sides of the driving wheel;
the suspension mechanism comprises a first suspension assembly and a second suspension assembly; the driving mechanism and the first driven wheel set are mounted on the base in a suspension mode through the first suspension assembly, and the driving mechanism is connected to the driving wheel in a transmission mode; the second driven wheel set is mounted on the base in a hanging mode through the second hanging assembly, and the end portion, far away from the second driven wheel set, of the second hanging assembly is movably connected with the end portion, far away from the first driven wheel set, of the first hanging assembly.
2. The chassis for the automated guided vehicle of claim 1, wherein the end of the first suspension assembly remote from the first driven wheel set is provided with a slot having a slot opening towards the second driven wheel set and two spaced opposite slot side walls, and a first pivot protruding from one of the slot side walls;
the end part of the second suspension assembly, which is far away from the second driven wheel set, extends from the notch to penetrate through the slot, and the end part of the second suspension assembly, which is far away from the second driven wheel set, penetrates through a connecting hole for the first rotating shaft to penetrate through and be capable of supplying the first rotating shaft to slide.
3. The chassis for automated guided vehicles of claim 2, wherein the connection hole is a kidney-shaped hole or a rectangular hole or an elliptical hole.
4. The chassis for a automated guided vehicle of claim 2, wherein the suspension mechanism further comprises at least one rolling member rotatably mounted on the second suspension assembly, the rolling member extending from an end of the second suspension assembly distal from the second driven wheel set through the slot, and an outer sidewall of the rolling member abutting both of the slot sidewalls.
5. The chassis for automated guided vehicles of claim 4, wherein the suspension mechanism comprises two of the rolling members spaced above and below the first axis of rotation, respectively; and/or the presence of a gas in the atmosphere,
the rolling part is a bearing or a roller.
6. The chassis for automated guided vehicles of any of claims 2-5, wherein the first suspension assembly comprises a first link, a first rotational connection assembly, a resilient connection assembly, a mount, and the first shaft;
the mount is equipped with the slot and first pivot install in on the mount, first connecting rod has first end, second end, first connecting portion and second connecting portion, first connecting portion with the second connecting portion are all located first end with between the second end, first end fixed connection the mount, first end with one of mount passes through elastic connection assembly elastic connection ground liftable the base, the second end is connected first driven wheelset, first connecting portion are located first end with between the second connecting portion and fixed connection actuating mechanism, the second connecting portion pass through first rotating connection assembly rotates to be connected the base.
7. The chassis for the automated guided vehicle of claim 6, wherein the first connecting portion has a first through hole and at least two first mounting holes distributed on the periphery of the first through hole, and the first connecting portion is disposed on the driving mechanism through the first through hole and connected to the driving mechanism through a fastener disposed in the first mounting hole; and/or the presence of a gas in the gas,
the first rotating connection assembly comprises a second rotating shaft, a second through hole penetrates through the second connection part along the direction parallel to the axial direction of the driving wheel, and the second connection part is rotatably sleeved on the second rotating shaft through the second through hole; and/or the presence of a gas in the gas,
the first end portion is provided with a second mounting hole, and the first end portion is fixedly connected with the fixing frame through a fastener penetrating through the second mounting hole.
8. The chassis for the automated guided vehicle of claim 6, wherein the elastic connection assembly comprises a first connection member, a second connection member and an elastic member disposed between the first connection member and the second connection member, the first connection member and the second connection member are disposed at an interval from top to bottom, the first connection member is fixedly connected to the base, and the second connection member is fixedly disposed on the fixing frame.
9. The chassis for the automated guided vehicle of claim 8, wherein the elastic member is a coil spring, the elastic connection assembly further comprises a guide limiting rod inserted into the elastic member for guiding and limiting the expansion and contraction of the elastic member, one end of the guide limiting rod is fixedly arranged on one of the first connecting member and the second connecting member, and the other end of the guide limiting rod is spaced from the other of the first connecting member and the second connecting member.
10. The chassis for a automated guided vehicle of claim 6, wherein the first suspension assembly further comprises a first stop mounted to the base; the first limiting part comprises a first limiting plate and/or a second limiting plate, the first limiting plate is arranged above the first connecting rod at intervals and used for limiting the ascending amplitude of the first end part and the second end part, and/or the second limiting plate is arranged below the first connecting rod at intervals and used for limiting the descending amplitude of the first end part and the second end part.
11. The chassis for the automated guided vehicle of any one of claims 2 to 5, wherein the second suspension assembly comprises a second link and a second rotation connection assembly, the second link comprises a third end portion, a fourth end portion and a third connection portion arranged between the third end portion and the fourth end portion, the third end portion is provided with the connection hole and extends from the notch to penetrate through the slot, the fourth end portion is connected with the second driven wheel set, and the third connection portion is rotatably connected with the base through the second rotation connection assembly.
12. The chassis for the automated guided vehicle of claim 11, wherein the second rotation connection assembly comprises a third rotation shaft, the third connection portion has a third through hole extending therethrough in a direction parallel to the axial direction of the driving wheel, and the third connection portion is sleeved on the third rotation shaft through the third through hole and is rotatably connected to the third rotation shaft.
13. The chassis for an automated guided vehicle of claim 12, wherein the second suspension assembly further comprises a second limiting member mounted on the base, the second limiting member comprising a third limiting plate spaced above the second link for limiting the ascending magnitude of the third end and the fourth end, and/or a fourth limiting plate spaced below the second link for limiting the descending magnitude of the third end and the fourth end.
14. The chassis for automated guided vehicle of any of claims 1 to 5, wherein the drive mechanism comprises a drive motor and a reduction transmission assembly drivingly connected between the drive motor and the drive wheel, the reduction transmission assembly being fixedly connected to the first suspension assembly.
15. The chassis for automated guided vehicle of any of claims 1 to 5, wherein the chassis comprises two of the drive wheels, two of the first driven wheel sets, two of the second driven wheel sets, and two suspension mechanisms; the base comprises a first side plate, a second side plate and a bottom plate for connecting the first side plate and the second side plate, and the first side plate and the second side plate are arranged above the bottom plate and are oppositely arranged at intervals;
the first side plate and the second side plate are respectively provided with one suspension mechanism, one driving wheel, one driven wheel set and one driven wheel set are connected with the first side plate through one suspension mechanism, and the other driving wheel, the other driven wheel set and the other driven wheel set are connected with the second side plate through the other suspension mechanism.
16. An automated guided vehicle, comprising a battery module, a controller and the chassis for an automated guided vehicle according to any one of claims 1 to 15, wherein the battery module and the controller are respectively mounted on the bottom plate, and the controller is respectively electrically connected with the battery module and the driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178656.2A CN112706838A (en) | 2021-02-08 | 2021-02-08 | Chassis for automatic guided vehicle and automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178656.2A CN112706838A (en) | 2021-02-08 | 2021-02-08 | Chassis for automatic guided vehicle and automatic guided vehicle |
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| CN112706838A true CN112706838A (en) | 2021-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110178656.2A Pending CN112706838A (en) | 2021-02-08 | 2021-02-08 | Chassis for automatic guided vehicle and automatic guided vehicle |
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| CN113581318A (en) * | 2021-08-10 | 2021-11-02 | 歌尔科技有限公司 | Running gear and robot |
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Effective date of registration: 20210517 Address after: Room 1f326, room c0101, building 1, pioneer Plaza, 48 Keji Road, high tech Zone, Xi'an, Shaanxi 710000 Applicant after: YOUIBOT ROBOTICS Co.,Ltd. Address before: 518000 5th floor, block D, electronic technology building, 2070 Shennan Middle Road, Futian District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN YOUIBOT ROBOTICS TECHNOLOGY Co.,Ltd. |
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Country or region after: China Address after: Building 3, northwest corner of the intersection of Xianghe Road and Guanjing Road, Feidong Economic Development Zone, Feidong County, Hefei City, Anhui Province 231600 Applicant after: Hefei Youai Zhihe Intelligent Robot Co.,Ltd. Address before: No. 4068, 4th Floor, Huigui Building, No. 18 Gaoxin 1st Road, Zhangba Street Office, High tech Zone, Xi'an City, Shaanxi Province Applicant before: YOUIBOT ROBOTICS Co.,Ltd. Country or region before: China |
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Application publication date: 20210427 |