CN106741295A - A kind of ground auto―adaptive test drives floating gear train - Google Patents
A kind of ground auto―adaptive test drives floating gear train Download PDFInfo
- Publication number
- CN106741295A CN106741295A CN201611269704.4A CN201611269704A CN106741295A CN 106741295 A CN106741295 A CN 106741295A CN 201611269704 A CN201611269704 A CN 201611269704A CN 106741295 A CN106741295 A CN 106741295A
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- Prior art keywords
- floating
- vertical
- floating bar
- bar
- wheel
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- 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.)
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Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
Floating gear train is driven the invention provides a kind of ground auto―adaptive test, front wheels include connecting laterally floating bar by fulcrum shaft in front fork support, front fork support, and the two ends lower section of laterally floating bar is provided with universal wheel；Rear wheels are that two groups of vertical floating wheels perpendicular to laterally floating bar are constituted, the vertical floating wheel includes bow after, the vertical floating bar being placed in rear bow, the front end of vertical floating bar is provided with driving wheel, the rear end of vertical floating bar is provided with universal wheel, two groups of vertical floating wheel medial surfaces are relative and are connected with vertical floating bar through respective rear bow by transverse axis, and a motor, motor drive connection driving wheel are respectively housed on the medial surface of vertical floating bar.The train has the features such as simple structure is easy to use, detachable maintaining facilitates.Simple structure of the present invention, it is with low cost, the automatic guided vehicle under various operating modes is can be applied to, the advantages of the flatness requirement to ground is not high.
Description
Technical field
The present invention relates to a kind of differential drive train with floating roller equilibrium system, belong to motor and drive car and automation to lead
Draw car field, specially a kind of ground auto―adaptive test drives floating gear train.
Background technology
Under the promotion of " industry 4.0 ", intelligence manufacture has obtained unprecedented development, so that
The development of automatic guided vehicle technology and the increasing of the market demand are driven.This demand extend to all trades and professions,
Different industries are also different to the demand of automatic guided vehicle.Traditional differential is driven typically without relocation mechanism, even if minority has floating
The floatable amplitude of dynamic structure is all little, and the requirement to applied field ground is harsher, the high cost of implementation, therefore the scope of application is not
It is broad.Meanwhile, traditional floating roller is merely capable of in a direction float keeping balance, but the condition on road surface is random multiple
Hydridization, not exclusively one direction it is uneven, the actual stablizing effect for bringing of traditional floating roller is unsatisfactory, and
It is difficult to there is the problems such as noise is big, and floating vibration transmission effect is obvious during the automatic operatings, and use such as turning.
The content of the invention
The present invention is for defect and deficiency present in above-mentioned prior art, it is desirable to provide a kind of to possess very big floating sky
Between, also can provide preferably supportive to the adaptability on ground, reduce the limitation in application place.
What the present invention was realized in：A kind of ground auto―adaptive test drives floating gear train, including front wheels and rear wheels,
Front wheels include connecting laterally floating bar (3) by fulcrum shaft (2) in front fork support (1), front fork support (1), laterally floating
The two ends lower section of lever (3) is provided with universal wheel (4)；Rear wheels are two groups of vertical floating wheels perpendicular to laterally floating bar (3)
Constitute, the vertical floating wheel include one after bow (5), the vertical floating bar (6) being placed in rear bow (5),
The front end of vertical floating bar (6) is provided with driving wheel (7), and the rear end of vertical floating bar (6) is provided with universal wheel (4), and two groups are indulged
It is connected with vertical floating bar (6) through respective rear bow (5) relatively and by transverse axis (8) to floating roller medial surface,
Transverse axis (8) is respectively equipped with a motor as two vertical floating bars (6) common connecting shaft on the medial surface of vertical floating bar (6)
(12), motor (12) drive connection driving wheel (7).
Further, equipped with a sprocket wheel for being communicated to motor (12) on the lateral surface of the vertical floating bar (6)
(9), to driving wheel (7), the driving wheel (7) is glue coating wheel for sprocket wheel (9) drive connection.
Further, the front fork support (1) and rear bow (5) are floating respectively at laterally floating bar (3) and longitudinal direction
Lower section is equipped with the spacing backplate (10) for extending downwardly, the underface of spacing backplate (10) at two ends on the direction of lever (6)
Corresponding to respective laterally floating bar (3) or vertical floating bar (6).
Further, flexible material block (11) is installed on the lower bottom back side of the spacing backplate (10).
Further, the floating range angular range of the front wheels and rear wheels is between 25 °~40 °.
Operation principle introduction of the invention：A kind of ground auto―adaptive test drives floating gear train, including front wheels and trailing wheel
Flushed on same horizontal plane when group, front wheels and rear wheels are positioned on level ground, front wheels include front fork branch
Frame, front fork support is used to install the main body of moving cart, is connected laterally by fulcrum shaft in front fork support
Floating lever, laterally floating bar being capable of dipping and heaving rotary motion, the two ends lower section installation of laterally floating bar by fulcrum of fulcrum shaft
There is universal wheel；In actual use, front wheels are front-wheel, and universal wheel can provide the steering demand of dolly；Rear wheels are two groups
Vertical floating wheel perpendicular to laterally floating bar is constituted, and rear wheels only have one group of vertical floating wheel can also reach mesh of the invention
, front wheels can also form a stable triangular system with one group of vertical floating wheel, can also provide it and move what is walked and stablize
Effect, but, when only with two groups of vertical floating wheels, the operation of differential steering could be provided, meanwhile, on four angular direction all
With wheel group, it is possible to increase more preferable stability and floating effect, preferably action effect is reached；The vertical floating wheel includes
Bow after one, rear bow is also the bottom surface for being fixed on small vehicle main body, and what is be placed in rear bow is vertical
To floating lever, the front end of vertical floating bar is provided with driving wheel, and the rear end of vertical floating bar is provided with universal wheel, and two groups of longitudinal directions are floating
Driving wheel medial surface is relative and is connected with vertical floating bar through respective rear bow by transverse axis, and transverse axis is vertical as two
To the common connecting shaft of floating lever, transverse axis swings pole branch also cross two groups of vertical floating wheels, the both floating there is provided vertical floating bar
Point effect, serves the two wheel groups that are connected so that two wheel groups are parallel to each other the effect of stabilization；Vertical floating bar it is interior
One motor, motor drive connection driving wheel are respectively housed on side.In actually used, driving motor supplies power,
Drive dolly to advance to move, when horizontal rugged road surface is run into, front wheels can be made with the situation of jolting on road surface
The floating adjustment of self adaptation, to keep the stability of the small vehicle main body in wheel group top, when the rugged part warp that jolts on road surface
When crossing rear wheels, it is also possible to the adjustment of self adaptation, the wheel train structure of such front and back wheel group, Neng Gouyou are made according to surface conditions
The resistance to overturning of the raising floating roller group of effect so that at least form a triangle stabilising system, can effectively ensure that wheel
The stability of the small vehicle main body of the side of fastening, meanwhile, by the improvement in structure, the height distance of forward and backward bow is horizontal, longitudinal
The range difference of floating lever is higher, so as to reach bigger floating range, there is provided more preferable floating effect, so as to ensure small vehicle main body
Stablizing effect；
Equipped with a sprocket wheel for being communicated to motor on the lateral surface of the vertical floating bar, chain gear transmission is connected to drive
Driving wheel, the driving wheel is glue coating wheel.Here by sprocket wheel, chain drive in driving wheel, this is only one of kind of drive,
Directly driving wheel can be installed on and driving is provided in the rotating shaft of motor, it would however also be possible to employ gear drive, belt transmission etc.
Mode is driven；
The front fork support and rear bow are respectively at the two ends on the direction of laterally floating bar and vertical floating bar
Place lower section is equipped with the spacing backplate for extending downwardly, and the underface of spacing backplate corresponds to respective laterally floating bar or longitudinal direction is floating
Lever.Floating range is excessive for being protected from for spacing backplate, and flexible material is provided with the lower bottom back side of the spacing backplate
Block, it is flexible contact that flexible material block enables to floating lever between flexible material block is contacted, and reduces the noise of contact
Collision and part between；The floating range angular range of the front wheels and rear wheels is between 25 °~40 °.In this model
The transport effect of stabilization can be improved in enclosing；
In sum, a kind of ground auto―adaptive test that the present invention is provided drives floating gear train to there is following beneficial effect：
The train has the features such as simple structure is easy to use, detachable maintaining facilitates.Simple structure of the present invention, it is with low cost, it is easy to pacify
Debug examination.The automatic guided vehicle under various operating modes is can be applied to, the advantages of the flatness requirement to ground is not high.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram that a kind of ground auto―adaptive test drives floating gear train；
Fig. 2 is the use state design sketch of rear wheels；
Fig. 3 is the use state design sketch of front wheels；
Wherein：1-front fork support, 2-fulcrum shaft, 3-laterally floating bar, 4-universal wheel, 5-rear bow,
6-vertical floating bar, 7-driving wheel, 8-transverse axis, 9-sprocket wheel, 10-spacing backplate, 11-flexible material block, 12-driving
Motor, 13-ground.
Specific embodiment
Embodiment 1：As shown in figure 1, a kind of ground auto―adaptive test drives floating gear train, including front wheels and rear wheels,
Flushed on same horizontal plane when front wheels and rear wheels are positioned on level ground 13, front wheels include front fork support
1, front fork support 1 is used to install the main body of moving cart, and horizontal stroke is connected by fulcrum shaft 2 in front fork support 1
To floating lever 3, laterally floating bar 3 with fulcrum shaft 2 be fulcrum can dipping and heaving rotary motion, under the two ends of laterally floating bar 3
Side is provided with universal wheel 4；In actual use, front wheels are front-wheel, and universal wheel 4 can provide the steering demand of dolly；Trailing wheel
Group is constituted for two groups of vertical floating wheels perpendicular to laterally floating bar 3, and rear wheels only have one group of vertical floating wheel can also reach this
The purpose of invention, front wheels can also form a stable triangular system with one group of vertical floating wheel, can also provide its motion walking
With stabilization effect, but, when only with two groups of vertical floating wheels, the operation of differential steering could be provided, meanwhile, four angles
All there is wheel group, it is possible to increase more preferable stability and floating effect on direction, reach preferably action effect；Float the longitudinal direction
Driving wheel includes bow 5 after, and rear bow 5 is also the bottom surface for being fixed on small vehicle main body, is placed in rear fork-shaped
Vertical floating bar 6 in support 5, the front end of vertical floating bar 6 is provided with driving wheel 7, and the rear end of vertical floating bar 6 is provided with ten thousand
To wheel 4, two groups of vertical floating wheel medial surfaces are relative and pass through respective rear bow 5 and the phase of vertical floating bar 6 by transverse axis 8
Connection, transverse axis 8 as two vertical floating bars 6 altogether connecting shaft, transverse axis 8 also cross two groups of vertical floating wheels, both there is provided longitudinal direction
The floating of floating lever 6 swings pole point action, serves the two wheel groups that are connected so that two wheel groups are parallel to each other surely
Fixed effect；One motor 12, the drive connection driving wheel 7 of motor 12 are respectively housed on the medial surface of vertical floating bar 6.
In actually used, motor 12 provides power, drives dolly to advance and moves, when horizontal rugged road surface is run into,
The floating that front wheels can make self adaptation with the situation of jolting on road surface is adjusted, to keep the stabilization of the small vehicle main body in wheel group top
Property, when the rugged part of jolting on road surface is by rear wheels, it is also possible to the adjustment of self adaptation is made according to surface conditions,
The wheel train structure of such front and back wheel group, can effectively improve the resistance to overturning of floating roller group so that at least form one
Triangle stabilising system, can effectively ensure that the stability of the small vehicle main body above train, meanwhile, by changing in structure
Enter, the height distance horizontal stroke of forward and backward bow 5, the range difference of vertical floating bar 6 are higher, so as to reach bigger floating range,
More preferable floating effect is provided, so as to ensure the stablizing effect of small vehicle main body；
Embodiment 2：As shown in Figure 2, shown in Fig. 3, on the basis of embodiment 1, on the lateral surface of the vertical floating bar 6
Equipped with a sprocket wheel 9 for being communicated to motor 12, sprocket wheel 9 is connected to driving wheel 7, and the driving wheel 7 is glue coating wheel.This
By sprocket wheel 9, chain drive in driving wheel 7, this is only one of kind of drive, it is also possible to be directly installed on driving wheel 7 at place
Driving is provided in the rotating shaft of motor 12, it would however also be possible to employ the mode such as gear drive, belt transmission is driven；
The front fork support 1 and rear bow 5 are respectively on the direction of laterally floating bar 3 and vertical floating bar 6
Lower section is equipped with the spacing backplate 10 for extending downwardly at two ends, and the underface of spacing backplate 10 corresponds to respective laterally floating bar
3 or vertical floating bar 6.Floating range is excessive for being protected from for spacing backplate 10, on the lower bottom back side of the spacing backplate 10
Flexible material block 11 is installed, it is that flexibility connects between flexible material block 11 is contacted that flexible material block 11 enables to floating lever
Touch, reduce the collision between the noise of contact and part；The floating range angular range of the front wheels and rear wheels is
Between 25 °~40 °.The transport effect of stabilization can be improved within this range.
Claims (5)
1. a kind of ground auto―adaptive test drives floating gear train, including front wheels and rear wheels, it is characterised in that front wheels include
Laterally floating bar (3), the two of laterally floating bar (3) are connected by fulcrum shaft (2) in front fork support (1), front fork support (1)
End lower section is provided with universal wheel (4)；Rear wheels are that two groups of vertical floating wheels perpendicular to laterally floating bar (3) are constituted, described vertical
Bow (5), the vertical floating bar (6) being placed in rear bow (5), vertical floating bar after including one to floating roller
(6) front end is provided with driving wheel (7), and the rear end of vertical floating bar (6) is provided with universal wheel (4), in two groups of vertical floating wheels
Side is relative and is connected with vertical floating bar (6) through respective rear bow (5) by transverse axis (8), transverse axis (8) conduct
Two common connecting shafts of vertical floating bar (6), are respectively equipped with a motor (12) on the medial surface of vertical floating bar (6), drive electricity
Machine (12) drive connection driving wheel (7).
2. floating gear train according to claim 1, it is characterised in that be equipped with the lateral surface of the vertical floating bar (6)
One sprocket wheel for being communicated to motor (12) (9), sprocket wheel (9) drive connection to driving wheel (7), the driving wheel (7) is bag
Rubber tire.
3. floating gear train according to claim 1, it is characterised in that the front fork support (1) and rear bow (5)
Lower section is equipped with the spacing shield for extending downwardly at the two ends on the direction of laterally floating bar (3) and vertical floating bar (6)
Plate (10), the underface of spacing backplate (10) corresponds to respective laterally floating bar (3) or vertical floating bar (6).
4. floating gear train according to claim 3, it is characterised in that installed on the lower bottom back side of the spacing backplate (10)
There is flexible material block (11).
5. floating gear train according to claim 1, it is characterised in that the floating range angle of the front wheels and rear wheels
Scope is between 25 °~40 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611269704.4A CN106741295A (en) | 2016-12-30 | 2016-12-30 | A kind of ground auto―adaptive test drives floating gear train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611269704.4A CN106741295A (en) | 2016-12-30 | 2016-12-30 | A kind of ground auto―adaptive test drives floating gear train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741295A true CN106741295A (en) | 2017-05-31 |
Family
ID=58951833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611269704.4A Withdrawn CN106741295A (en) | 2016-12-30 | 2016-12-30 | A kind of ground auto―adaptive test drives floating gear train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741295A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773793A (en) * | 2018-07-11 | 2018-11-09 | 深圳市井智高科机器人有限公司 | A kind of unmanned floor truck |
| CN108928622A (en) * | 2018-07-16 | 2018-12-04 | 诺力智能装备股份有限公司 | A kind of sorting vehicle |
| CN109131629A (en) * | 2018-09-28 | 2019-01-04 | 上海快仓智能科技有限公司 | Chassis and carrier with the chassis |
| CN109383663A (en) * | 2017-08-09 | 2019-02-26 | 杭州海康机器人技术有限公司 | A kind of automated guided vehicle |
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| WO2019169824A1 (en) * | 2018-03-08 | 2019-09-12 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
| CN111017029A (en) * | 2020-02-26 | 2020-04-17 | 云南昆船智能装备有限公司 | Ground self-adaptation device of AGV actuating mechanism |
| CN113247141A (en) * | 2020-02-10 | 2021-08-13 | 株式会社理光 | Drive wheel unit and traveling device |
| CN113860217A (en) * | 2021-08-24 | 2021-12-31 | 深圳东瑞兴联智能科技有限公司 | Horizontal control system and RGV with single track |
| CN114987654A (en) * | 2022-06-30 | 2022-09-02 | 东风汽车股份有限公司 | Suspension type ground self-adaptive AGV chassis |
| EP3770046B1 (en) | 2019-07-23 | 2022-09-14 | MAGNA STEYR Fahrzeugtechnik AG & Co KG | Driverless transport system |
| JP7343244B1 (en) * | 2023-05-10 | 2023-09-12 | 佳一 米山 | Wheel mechanisms and vehicles equipped with wheel mechanisms |
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| CN112389540A (en) * | 2020-12-11 | 2021-02-23 | 云南昆船智能装备有限公司 | Novel differential vertical steering wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109383663A (en) * | 2017-08-09 | 2019-02-26 | 杭州海康机器人技术有限公司 | A kind of automated guided vehicle |
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| WO2019169824A1 (en) * | 2018-03-08 | 2019-09-12 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
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| CN108773793B (en) * | 2018-07-11 | 2024-03-15 | 深圳市井智高科机器人有限公司 | Unmanned floor truck |
| CN108928622A (en) * | 2018-07-16 | 2018-12-04 | 诺力智能装备股份有限公司 | A kind of sorting vehicle |
| CN109131629A (en) * | 2018-09-28 | 2019-01-04 | 上海快仓智能科技有限公司 | Chassis and carrier with the chassis |
| EP3770046B1 (en) | 2019-07-23 | 2022-09-14 | MAGNA STEYR Fahrzeugtechnik AG & Co KG | Driverless transport system |
| JP2021126913A (en) * | 2020-02-10 | 2021-09-02 | 株式会社リコー | Drive wheel unit and running device |
| CN113247141A (en) * | 2020-02-10 | 2021-08-13 | 株式会社理光 | Drive wheel unit and traveling device |
| JP7413810B2 (en) | 2020-02-10 | 2024-01-16 | 株式会社リコー | Drive wheel unit and traveling device |
| CN111017029A (en) * | 2020-02-26 | 2020-04-17 | 云南昆船智能装备有限公司 | Ground self-adaptation device of AGV actuating mechanism |
| CN113860217A (en) * | 2021-08-24 | 2021-12-31 | 深圳东瑞兴联智能科技有限公司 | Horizontal control system and RGV with single track |
| CN114987654A (en) * | 2022-06-30 | 2022-09-02 | 东风汽车股份有限公司 | Suspension type ground self-adaptive AGV chassis |
| CN114987654B (en) * | 2022-06-30 | 2023-05-26 | 东风汽车股份有限公司 | Suspension type ground self-adaptation AGV chassis |
| JP7343244B1 (en) * | 2023-05-10 | 2023-09-12 | 佳一 米山 | Wheel mechanisms and vehicles equipped with wheel mechanisms |
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