CN106476889A - A kind of unmanned transfer robot and its chassis - Google Patents
A kind of unmanned transfer robot and its chassis Download PDFInfo
- Publication number
- CN106476889A CN106476889A CN201610877131.7A CN201610877131A CN106476889A CN 106476889 A CN106476889 A CN 106476889A CN 201610877131 A CN201610877131 A CN 201610877131A CN 106476889 A CN106476889 A CN 106476889A
- Authority
- CN
- China
- Prior art keywords
- chassis
- slave unit
- transfer robot
- unmanned transfer
- base plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses a kind of unmanned transfer robot and its chassis, described chassis includes base plate, driver element and driven unit；Driven unit is used for bearing the load of chassis and carrier, and including multiple slave units, multiple slave units are arranged on base plate, enable base plate easy motion (i.e. not run-off the straight, vibration etc.)；Driver element includes the first driver part and the second driver part, and the first driver part and the second driver part are symmetrically located at the two ends of base plate.The invention also discloses a kind of transfer robot including above-mentioned chassis.The chassis of the unmanned transfer robot of the present invention has the advantages that compact conformation, size are little and bearing capacity is strong.
Description
Technical field
The present invention relates to a kind of warehouse logisticses auxiliary device, more particularly, to a kind of unmanned transfer robot and its chassis.
Background technology
Unmanned transfer robot is also referred to as automatic guided vehicle (AGV), is that a kind of automated material that is applied to carries setting of field
Standby, have high degree of automation, apply flexible, safe and reliable, efficiency high and easy to maintenance many advantages, such as, thus widely should
For the logistics transportation such as auto manufacturing, food service industry, tobacco business, construction machinery industry place, it is in all kinds of public services
Place such as airport, hospital, office block are also gained ground.These advantages also make unmanned transfer robot become modern thing
Key equipment in streaming system, becomes one of " machine substitute human labor " calculated important member.
Chassis is to evaluate chassis performance as the major part of unmanned transfer robot, its size with the ratio of bearing capacity
Important indicator.But the chassis of existing unmanned transfer robot is because limited by size, bearing capacity is not enough.
Content of the invention
In view of the drawbacks described above of prior art, the technical problem to be solved be provide a kind of compact conformation,
The chassis of the unmanned transfer robot that size is little and bearing capacity is strong.
For achieving the above object, the invention provides a kind of chassis of unmanned transfer robot, including base plate, driver element
And driven unit；Driven unit is used for bearing the load of chassis and carrier, including multiple slave units, multiple slave unit cloth
Put on base plate, enable base plate easy motion (i.e. not run-off the straight, vibration etc.)；Driver element include the first driver part and
Second driver part, the first driver part and the second driver part are symmetrically located at the two ends of base plate.
Further, multiple slave units include the first slave unit, the second slave unit, the 3rd slave unit and the 4th
Slave unit, the first slave unit, the second slave unit, the 3rd slave unit and the 4th slave unit along base plate girth successively
It is respectively arranged at four angles of base plate.
Further, the first driver part is arranged between the first slave unit and the second slave unit, the second drive division
Part is arranged between the 3rd slave unit and the 4th slave unit, real by the differential of the first driver part and the second driver part
Show the forward-reverse on chassis, turn and rotate in place.
Further, the first slave unit, the second slave unit, the 3rd slave unit and the 4th slave unit all include ten thousand
To castor, universal caster wheel is used for carrying and/or prevent chassis from toppling.
Further, the first driver part and the second driver part all include driving wheel, compression module, oriented module and subtract
Speed motor module；Reducing motor module is connected with driving wheel；Driving wheel and reducing motor module pass through oriented module with base plate even
Connect it is possible to slide along oriented module perpendicular to ground；Compression module is arranged on oriented module, for just providing to driving wheel
Pressure.
Further, reducing motor module is right-angle reduction motor module, the outfan axis of right-angle reduction motor module
Conllinear with the rotary shaft of driving wheel, the rear end major part body of right-angle reduction motor module is vertical with outfan axis and favours
Base plate is installed, to avoid interfering with universal caster wheel.
Further, oriented module is combining of linear bearing and guide rod, or for line slideway.
Further, driving wheel and ground have contact point, and contact point is coplanar with the glide direction of oriented module.
Further, compression module is spring.
Further, driving wheel is plastic roller, for increasing frictional force over the ground.
The driving wheel on the chassis of unmanned transfer robot of the present invention compresses ground, driving wheel pair by compression module
The normal pressure on ground is provided by compression module, and the size of this normal pressure does not change with the change of chassis load；Chassis load is logical
Cross universal caster wheel to bear.
The constant speed rotating Vortex that the driving wheel at base plate two ends is passed through on the chassis of unmanned transfer robot of the present invention is real
Now advance or retreat, realize by the differential rotating Vortex of the driving wheel at base plate two ends or turn right, the bottom of by
The constant speed of the driving wheel at plate two ends reversely rotates to be realized rotating in place clockwise or rotating in place counterclockwise.
Compared with the chassis of existing unmanned transfer robot, the chassis of unmanned transfer robot of the present invention has
The advantage that compact conformation, size are little and bearing capacity is strong.
Present invention also offers a kind of unmanned transfer robot, including any one chassis described above.
Technique effect below with reference to design, concrete structure and generation to the present invention for the accompanying drawing is described further, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description
Fig. 1 is the chassis perspective view of the unmanned transfer robot of a preferred embodiment of the present invention；
Fig. 2 is the chassis front view of the unmanned transfer robot of a preferred embodiment of the present invention；
Fig. 3 is the chassis side view of the unmanned transfer robot of a preferred embodiment of the present invention.
Specific embodiment
As shown in Figures 1 to 3, a preferred embodiment of the present invention provides a kind of chassis of unmanned transfer robot, bag
Include base plate 1, driver element and driven unit.Driven unit is used for bearing the load of chassis and carrier, including multiple followers
Part, multiple slave units are arranged on base plate 1, enable base plate 1 easy motion (i.e. not run-off the straight, vibration etc.).Multiple from
Dynamic component includes the first slave unit 301, the second slave unit 302, the 3rd slave unit 303 and the 4th slave unit 304, the
One slave unit 301, the second slave unit 302, the 3rd slave unit 303 and the 4th slave unit 304 along base plate 1 girth according to
At secondary four angles being respectively arranged at base plate 1.Driver element includes the first driver part 201 and the second driver part 202, and first
Driver part 201 is arranged between the first slave unit 301 and the second slave unit 302, and the second driver part 202 is arranged at
Between three slave units 303 and the 4th slave unit 304 so that the first driver part 201 and the second driver part 202 symmetrically
Two ends positioned at base plate 1.The present invention is realized before chassis by the differential of the first driver part 201 and the second driver part 202
Enter retreat, turn and rotate in place.
Preferably, the first slave unit 301, the second slave unit 302, the 3rd slave unit 303 and the 4th follower
Part 304 all includes universal caster wheel 31, and this universal caster wheel 31 is used for carrying and prevent chassis from toppling.
Preferably, the first driver part 201 and the second driver part 202 all include driving wheel 21, compression module 22, lead
To module 23 and reducing motor module.Preferably, reducing motor module is right-angle reduction motor module 24, right-angle reduction motor
Module 24 is connected with driving wheel 21；Driving wheel 21 and right-angle reduction motor module 24 are connected with base plate 1 by oriented module 23, and
Can slide along oriented module 23 perpendicular to ground；Compression module 22 is arranged on oriented module 23, for carrying to driving wheel 21
For normal pressure.Preferably, the outfan axis of right-angle reduction motor module 24 is conllinear with the rotary shaft of driving wheel 21, right angle subtracts
The rear end major part body of speed motor module 24 is vertical with outfan axis and favours base plate 1 and installs, to avoid and multi-axis foot
Wheel 31 interference.
Preferably, oriented module 23 is combining of linear bearing and guide rod, or for line slideway.
Preferably, driving wheel 21 and ground have contact point, described contact point is common with the glide direction of oriented module 23
Face.
Preferably, compression module 22 is spring.
Preferably, driving wheel 21 is plastic roller, for increasing frictional force over the ground.
The driving wheel 21 on the chassis of unmanned transfer robot of the present invention compresses ground, driving wheel 21 by compression module 22
The normal pressure on ground is provided by compression module 22, the size of this normal pressure does not change with the change of chassis load；Chassis is born
Carry and born by universal caster wheel 31.
The constant speed rotating Vortex of the driving wheel 21 at base plate 1 two ends is passed through on the chassis of unmanned transfer robot of the present invention
Realize advancing or retreat, realize by the differential rotating Vortex of the driving wheel 21 at base plate 1 two ends or turn right, lead to
The constant speed reverse rotation crossing the driving wheel 21 at base plate 1 two ends is realized rotating in place clockwise or rotating in place counterclockwise.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art is no
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technology in the art
It is available that personnel pass through logical analysis, reasoning, or a limited experiment under this invention's idea on the basis of existing technology
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (12)
1. a kind of chassis of unmanned transfer robot is it is characterised in that include base plate, driver element and driven unit；Described from
Moving cell includes multiple slave units, and the plurality of slave unit is arranged on described base plate, so that described base plate is steadily transported
Dynamic；Described driver element includes the first driver part and the second driver part, described first driver part and described second driving
Part is symmetrically located at the two ends of described base plate.
2. the chassis of unmanned transfer robot according to claim 1 is it is characterised in that the plurality of slave unit includes
First slave unit, the second slave unit, the 3rd slave unit and the 4th slave unit, described first slave unit, described
Two slave units, described 3rd slave unit and described 4th slave unit are respectively arranged at institute successively along the girth of described base plate
State at four angles of base plate.
3. the chassis of unmanned transfer robot according to claim 2 is it is characterised in that described first driver part is arranged
Between described first slave unit and described second slave unit, described second driver part is arranged at described 3rd follower
Between part and described 4th slave unit.
4. the chassis of unmanned transfer robot according to claim 2 is it is characterised in that described first slave unit, institute
State the second slave unit, described 3rd slave unit and described 4th slave unit and all include universal caster wheel, described universal caster wheel
For carrying and/or preventing described chassis from toppling.
5. the chassis of unmanned transfer robot according to claim 1 is it is characterised in that described first driver part and institute
State the second driver part and all include driving wheel, compression module, oriented module and reducing motor module；Described reducing motor module with
Described driving wheel connects；Described driving wheel and described reducing motor module are connected with described base plate by described oriented module, and
Can slide along described oriented module perpendicular to ground；Described compression module is arranged on described oriented module, for described
Driving wheel provides normal pressure.
6. the chassis of unmanned transfer robot according to claim 5 is it is characterised in that described reducing motor module is straight
Angle reducing motor module, the outfan axis of described right-angle reduction motor module is conllinear with the rotary shaft of described driving wheel, described
The rear end major part body of right-angle reduction motor module is vertical with outfan axis and favours described base plate installation.
7. the chassis of unmanned transfer robot according to claim 5 is it is characterised in that described oriented module is linear axis
Hold and the combining of guide rod.
8. the chassis of unmanned transfer robot according to claim 5 is it is characterised in that described oriented module is led for straight line
Rail.
9. the chassis of unmanned transfer robot according to claim 5 is it is characterised in that described driving wheel and ground have
Contact point, described contact point is coplanar with the glide direction of described oriented module.
10. the chassis of unmanned transfer robot according to claim 5 is it is characterised in that described compression module is spring.
The chassis of 11. unmanned transfer robots according to claim 5 is it is characterised in that described driving wheel is plastic roller.
A kind of 12. unmanned transfer robots, including the chassis described in any one in claim 1～11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610877131.7A CN106476889A (en) | 2016-10-08 | 2016-10-08 | A kind of unmanned transfer robot and its chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610877131.7A CN106476889A (en) | 2016-10-08 | 2016-10-08 | A kind of unmanned transfer robot and its chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106476889A true CN106476889A (en) | 2017-03-08 |
Family
ID=58268571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610877131.7A Pending CN106476889A (en) | 2016-10-08 | 2016-10-08 | A kind of unmanned transfer robot and its chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106476889A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN108622193A (en) * | 2018-06-19 | 2018-10-09 | 河南森源电气股份有限公司 | AGV transport vehicles |
| CN111301081A (en) * | 2018-12-12 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Mechanical structure capable of increasing driving force |
Citations (7)
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|---|---|---|---|---|
| US20110168474A1 (en) * | 2010-01-14 | 2011-07-14 | Boomerang Systems, Inc. | Slewing ring drive |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN104015836A (en) * | 2014-06-13 | 2014-09-03 | 苏州工业园区艾吉威自动化设备有限公司 | Agv |
| DE102013019726A1 (en) * | 2013-11-27 | 2015-05-28 | Sew-Eurodrive Gmbh & Co Kg | Vehicle, in particular AGV or FTS, with frame and at least one steering unit |
| CN105172562A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Chassis for AGV having suspension mechanism |
| CN105947506A (en) * | 2016-05-31 | 2016-09-21 | 芜湖智久机器人有限公司 | Intelligent transfer robot for warehouse |
| CN206107324U (en) * | 2016-10-08 | 2017-04-19 | 浙江国自机器人技术有限公司 | Unmanned transfer robot and chassis thereof |
-
2016
- 2016-10-08 CN CN201610877131.7A patent/CN106476889A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110168474A1 (en) * | 2010-01-14 | 2011-07-14 | Boomerang Systems, Inc. | Slewing ring drive |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| DE102013019726A1 (en) * | 2013-11-27 | 2015-05-28 | Sew-Eurodrive Gmbh & Co Kg | Vehicle, in particular AGV or FTS, with frame and at least one steering unit |
| CN104015836A (en) * | 2014-06-13 | 2014-09-03 | 苏州工业园区艾吉威自动化设备有限公司 | Agv |
| CN105172562A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Chassis for AGV having suspension mechanism |
| CN105947506A (en) * | 2016-05-31 | 2016-09-21 | 芜湖智久机器人有限公司 | Intelligent transfer robot for warehouse |
| CN206107324U (en) * | 2016-10-08 | 2017-04-19 | 浙江国自机器人技术有限公司 | Unmanned transfer robot and chassis thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN108622193A (en) * | 2018-06-19 | 2018-10-09 | 河南森源电气股份有限公司 | AGV transport vehicles |
| CN111301081A (en) * | 2018-12-12 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Mechanical structure capable of increasing driving force |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170308 |
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| RJ01 | Rejection of invention patent application after publication |