WO2021073348A1 - Transport system - Google Patents

Abstract

Disclosed is a transport system (100) comprising at least two moving devices, wherein each moving device comprises a chassis (2) and a traveling mechanism (3); every two adjacent chassis (2) are coupled; each traveling mechanism (3) comprises at least one axle (31) configured to be mounted on a chassis (2), and rollers (32); each chassis (2) is defined to have a virtual limiting line (1), and the gravity centers of every two adjacent chassis (2) fall between the two virtual limiting lines (1) of the two chassis (2); if one axle (31) is arranged on each chassis (2), the virtual limiting line (1) of each chassis (2) is the axis of the corresponding axle (31); if at least two axles (31) are arranged on each chassis (2), the virtual limiting line (1) of each chassis (2) is a perpendicular bisector between the two outermost axles (31); and the traveling mechanism (3) of the moving device, which mechanism is located at a front side in the advancing direction of the transport system, is a self-driven traveling mechanism. The gravity centers of every two adjacent chassis are arranged between the axes and/or the perpendicular bisectors of the two chassis, such that a bearing system swings little and runs stably in a traveling process.

Description

Transportation System

This application claims the priority of the Chinese patent applications whose application date is October 18, 2019, and the application numbers are 201910993253.6 and 201921753444.7, the entire contents of which are incorporated into this application by reference.

Technical field

The invention relates to a transportation system and belongs to the technical field of robots.

Background technique

In order to be able to transport multiple materials at one time, the robot platform is generally connected to form a transportation system. The transportation system includes at least two robot platforms, each robot platform includes a chassis, and every two adjacent chassis are coupled together by a coupling to advance and retreat together. In the forward direction of the robot platform, every two adjacent chassis can be defined as a front chassis and a rear chassis. The position of the center of gravity of the chassis is an important factor for the stability of the robot platform during the forward process, especially when the robot platform is driving on bumpy/concave roads. In order to avoid the unstable state of the vehicle due to the center of gravity problem of the front chassis and the rear chassis during the forward process, it is necessary to reasonably allocate the center of gravity of the front chassis and the rear chassis. If the center of gravity distribution between the front chassis and the rear chassis is unreasonable, it will cause unstable problems such as swaying, snaking, and overturning of the vehicle.

Summary of the invention

The purpose of the present invention is to provide a load-bearing system and a self-moving device that can run stably on roads, especially bumpy/concave roads.

In order to achieve the above objective, the present invention provides the following technical solutions: a transportation system including at least two mobile devices, each of the mobile devices includes a chassis and a walking mechanism arranged on the chassis, and every two adjacent ones The chassis is coupled between the chassis, the running mechanism includes at least one axle to be installed on each of the chassis and rollers installed on both sides of each of the axles, each of the chassis is defined with a virtual limit Line, the center of gravity of every two adjacent chassis falls between the two virtual lines of the two chassis:

If one axle is provided on each chassis, the virtual limit line of each chassis is the axis of the axle;

If at least two axles are provided on each chassis, the virtual limit line of each chassis is the vertical bisector between the two outermost axles;

Wherein, the traveling mechanism of the mobile device located at the front side of the forward direction of the transportation system is a self-driving traveling mechanism.

Further, each two adjacent chassis is provided with one axle, and the center of gravity of each two adjacent chassis falls between the axes of the two chassis.

Further, one of the chassis is provided with one axle in every two adjacent chassis, and at least two axles are provided on the other chassis, and the chassis of every two adjacent chassis are provided with at least two axles. The center of gravity falls between the axis of the two chassis and the vertical bisector.

Further, at least two axles are provided on every two adjacent chassis, and the center of gravity of each two adjacent chassis falls between the two vertical bisectors of the two chassis.

Further, the center of gravity of each chassis is close to the axis of the chassis or the vertical bisector, or is set on the axis or the vertical bisector of the chassis.

Further, the centers of gravity of every two adjacent chassis are located at or close to the same horizontal line.

Further, the weight ratio of every two adjacent chassis is in the range of 5:4 to 4:5.

Further, every two adjacent chassis are connected by a coupling.

Further, each of the chassis has a connecting portion for docking with the adjacent chassis, and the connecting portion is coupled with the coupling; in the advancing direction of the traveling mechanism, every two adjacent chassis In the chassis, the connecting portion of the chassis on the front side is located below the connecting portion of the chassis on the rear side.

Further, the coupling member bears at least part of the weight of the chassis on the rear side.

Further, the relationship between the weight of the coupling member and the weight of the chassis on the rear side is:

F ₁ ＝10%～15%*G ₂

Wherein, F ₁ is the weight of the coupling, and G ₂ is the weight of the chassis on the rear side.

The beneficial effect of the present invention is that by setting the center of gravity of every two adjacent chassis between the axis and/or the vertical bisector of the two chassis, the transportation system swings less during driving to ensure stable operation;

In the forward direction of the transportation system, a coupling piece that can bear 10% to 15% of the weight of the rear chassis is provided between every two adjacent chassis to obtain the best traction performance and balance performance to achieve the transportation system During driving, the swing is small to stabilize the running effect.

The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it in accordance with the content of the description, the preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Description of the drawings

Fig. 1 is a schematic structural diagram of the chassis center of gravity of the transportation system of the present invention falling within the virtual limit line.

Fig. 2 is another schematic diagram of the structure in which the center of gravity of the chassis of the transportation system of the present invention falls within the virtual limit line.

Fig. 3 is another schematic diagram of the structure in which the center of gravity of the chassis of the transportation system of the present invention falls within the virtual limit line.

Fig. 4 is another structural schematic diagram in which the center of gravity of the chassis of the transportation system of the present invention falls within the virtual limit line.

FIG. 6 is a schematic structural diagram of the chassis center of gravity of the transportation system in the prior art that does not fall within the virtual limit line.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that the terms "installed", "connected", and "connected" should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood in specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. In the description of the present invention, the axis direction is consistent with the height direction.

Referring to FIG. 1, the transportation system 100 of the present invention includes at least two signal-connected mobile devices, each mobile device includes a chassis 2 and a walking mechanism 3 provided on the chassis, and every two adjacent chassis 2 are coupled. The running mechanism can be a roller directly connected to the chassis, or it can include an axle connected to the chassis and a roller installed on both sides of each axle, depending on the actual situation. In this embodiment, the traveling mechanism includes an axle and rollers. Among them, the walking mechanism of the mobile device located in the forward direction of the transportation system is a self-driving walking mechanism, that is, a mobile device with a self-driving walking mechanism is a self-moving device, and the self-moving device can be a robot platform, an intelligent lawn mower, etc., Other mobile devices in the transportation system can be follow-up devices used to transport objects, such as trash cans, trailers, etc., which are not specifically limited here, and depend on actual conditions.

Referring to FIG. 2, the traveling mechanism 3 includes at least one axle 31 installed on each chassis 2 and a roller 32 installed on each axle 31. The rollers 32 are arranged on both sides of the chassis 2. Each chassis 2 is defined with a virtual limit line 1, and the area between the two virtual limit lines 1 of every two adjacent chassis 2 is defined to be useful to prevent the chassis from being unbalanced during driving and causing the entire vehicle to sway The center of gravity 21 of each two adjacent chassis 2 falls between the two virtual limit lines 1 of the two chassis 2, that is, falls within the balance area. As shown in the figure, G represents the center of gravity twenty one. Wherein, if each chassis 2 is provided with an axle 31, the virtual limit line 1 of each chassis 2 is the axis of the axle 31, and the axis of the axle 31 is arranged in parallel with the axle 31; if at least one axle 31 is arranged on each chassis 2 If there are two axles 31, the virtual limit line 1 of each chassis 2 is the vertical bisector between the two outermost axles 31, and the vertical bisector is parallel to the axle 31.

Or, if each chassis 2 is provided with one axle 31, the virtual limit line 1 of each chassis 2 is a vertical line vertically arranged along the axle 31 or the axis of the axle 31; if each chassis 2 is provided with at least two axles Axles 31, the virtual limit line 1 of each chassis 2 is the vertical bisector of the horizontal connecting line between the two outermost axles 31, and the balance area formed by it is consistent with the above-mentioned balance area. The purpose of this setting is that the centers of gravity 21 of every two adjacent chassis 2 fall into the balance area. After the transportation system 100 is running, the front chassis 2 and the rear chassis 2 will not be transported due to uneven distribution of the centers of gravity 21. In the process of form, the system 100 is unstable, such as swaying, serpentine, and easy to roll over.

Please refer to Figure 1 and Figure 2 for details, because the greater the distance between the center of gravity 21 of the chassis 2 and the axle 31, the greater the swing of the chassis 2 during driving, and the center of gravity 21 of each chassis 2 is close to the axis of the chassis 2 or vertical The bisecting line is set, or set on the axis or vertical bisecting line of the chassis 2, at this time, the chassis 2 can swing less during operation and run smoothly. It is true that other methods can be used to make the transportation system 100 run smoothly, for example, the center of gravity 21 of every two adjacent chassis 2 is located at or close to the same horizontal line 5, etc. The method is not specifically limited here, and it depends on the actual situation. When the centers of gravity 21 of two adjacent chassis 2 do not fall within the balance area, it is very easy to cause problems such as swaying and snaking of the whole machine during driving. For example, in FIG. 5, the centers of gravity 21 of two adjacent chassis 2 in the figure do not fall within the balance area and are located away from the virtual limit line 1.

Please refer to Fig. 1 to Fig. 3, every two adjacent chassis 2 are connected by a connecting piece 4. Specifically, each chassis 2 has a connecting portion 22 for docking with the adjacent chassis 2, and the connecting portion 22 is coupled with the coupling 4. In the advancing direction of the traveling mechanism 3, the arrow a in the figure indicates the advancing direction. In every two adjacent chassis 2, the connecting portion 22 of the front chassis 2 is located below the connecting portion 22 of the rear chassis 2'. It is true that the connecting portion 22 of the front chassis 2 can also be located above the connecting portion 22 of the rear chassis 2', which is not specifically limited here, and it depends on the actual situation. The coupling member 4 bears at least part of the weight of the rear chassis 2', and the weight ratio of every two adjacent chassis 2 ranges from 5:4 to 4:5. Then, in the present invention, the relationship between the weight of the coupling member 4 and the weight of the rear chassis 2'is:

F ₁ ＝10%～15%*G ₂

Among them, F ₁ is the weight of the coupling 4, and G ₂ is the weight of the rear chassis 2'. That is, the weight range of the coupling 4 needs to be kept between 10% and 15% of the weight of the rear chassis 2'. In order to obtain the best traction performance and balance, the value is preferably 12%.

Now, the distribution of the center of gravity 21 of the chassis 2 in the transportation system 100 will be described in detail through the following embodiments.

Example 1:

1 and FIG. 2, when each two adjacent chassis 2 is provided with an axle 31, the center of gravity 21 of each two adjacent chassis 2 falls on the axis of the two chassis 2. In this embodiment, the transportation system 100 is provided with two chassis 2 and each chassis 2 is provided with an axle 31, and the virtual limit line 1 is the axis of the axle 31. When the center of gravity 21 of each chassis 2 falls within the balance area and is set close to its axis, the transportation system 100 can be made to operate stably.

Example 2:

Referring to Figure 3, one of the two adjacent chassis 2 is provided with an axle 31, and the other chassis 2 is provided with at least two axles 31, and the center of gravity 21 of every two adjacent chassis 2 is Enter between the axis of the two chassis 2 and the vertical bisector. In this embodiment, the transportation system 100 is still provided with only two chassis 2 in the forward direction of the traveling mechanism. The arrow a in the figure indicates the forward direction. The two chassis 2 are the front chassis 2 and the rear chassis 2' . Wherein, two axles 31 are provided on the front chassis 2 and one axle 31' is provided on the rear chassis 2'. The center of gravity 21 of the front chassis 2 and the center of gravity 21' of the rear chassis 2'fall into the balance area, The center of gravity 21 of the front chassis 2 is set close to the vertical bisector between the two axles 31, and the center of gravity 21' of the rear chassis 2'is set close to the axis of its axle 31', so that the transportation system 100 can operate stably. Indeed, when one axle 31 is provided on the front chassis 2 and two axles 31' are provided on the rear chassis 2', the centers of gravity 21 of the front chassis 2 and the rear chassis 2'are distributed as above.

Example 3:

Referring to FIG. 4, at least two axles 31 are provided on every two adjacent chassis 2, and the centers of gravity 21 of every two adjacent chassis 2 fall between the two vertical bisectors of the two chassis 2. In this embodiment, the transportation system 100 is still only provided with two chassis 2, and two chassis 2 are provided with two axles 31, then the virtual limit line 1 is the vertical bisector between the two axles 31. When the center of gravity 21 of each chassis 2 falls within the balance area and is set close to its vertical bisector, the transportation system 100 can be made to operate stably.

In the above embodiment, the number of chassis 2 in the self-mobile device 100 is two. In other manners, the number of chassis 2 can be other. The distribution of the center of gravity 21 of each chassis 2 is the same as that described above. Do not repeat it.

To sum up: by setting the center of gravity 21 of every two adjacent chassis 2 between the axes and/or vertical bisectors of the two chassis 2 to achieve the effect of making the transportation system 100 less swing during driving and stable operation ；

In the advancing direction of the traveling mechanism 3, a coupling member 4 that can bear 10% to 15% of the weight of the rear chassis 2 is provided between every two adjacent chassis 2 to obtain the best traction performance and balance performance. This achieves the effect of making the transportation system 100 less oscillating during driving to stabilize its operation.

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

The above-mentioned embodiments only express several embodiments of the present invention, and the descriptions are more specific and detailed, but they should not be understood as limiting the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (7)

A transportation system includes at least two mobile devices, each of the mobile devices includes a chassis and a walking mechanism provided on the chassis, and the walking mechanism includes at least one for mounting on each chassis The axles and the rollers installed on both sides of each axle are characterized in that each of the chassis is defined with a virtual limit line, and the center of gravity of every two adjacent chassis falls on the two said chassis. Between the two virtual lines of the chassis, every two adjacent chassis are connected by a coupling: If one axle is provided on each chassis, the virtual limit line of each chassis is the axis of the axle; If at least two axles are provided on each chassis, the virtual limit line of each chassis is the vertical bisector between the two outermost axles; When one of the chassis is provided with one axle and the other chassis is provided with at least two axles in every two adjacent chassis, the center of gravity of every two adjacent chassis Both fall between the axis of the two chassis and the vertical bisector; When at least two axles are provided on every two adjacent chassis, the centers of gravity of every two adjacent chassis fall between the two vertical bisectors of the two chassis; Wherein, the centers of gravity of every two adjacent chassis are located at or close to the same horizontal line. The transportation system of claim 1, wherein one axle is provided on every two adjacent chassis, and the center of gravity of every two adjacent chassis falls on the two adjacent chassis. Between the axis of the chassis. The transportation system according to claim 1, wherein the center of gravity of each chassis is close to the axis of the chassis or vertically bisects, or is arranged on the axis or vertical bisector of the chassis. The transportation system according to claim 1, wherein the weight ratio of every two adjacent chassis is in the range of 5:4 to 4:5. The transportation system of claim 1, wherein each of the chassis has a connecting portion for docking with the adjacent chassis, and the connecting portion is coupled with the coupling member; In the forward direction of the mechanism, for every two adjacent chassis, the connecting part of the front chassis is located below the connecting part of the rear chassis. The transportation system of claim 5, wherein the coupling member carries at least part of the weight of the chassis on the rear side. The transportation system according to claim 6, wherein the relationship between the weight of the coupling member and the weight of the chassis on the rear side is: F ₁ ＝10%～15%*G ₂ Wherein, F ₁ is the weight of the coupling, and G ₂ is the weight of the chassis on the rear side.

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