CN109677504A - Mobile device and mobile system - Google Patents
Mobile device and mobile system Download PDFInfo
- Publication number
- CN109677504A CN109677504A CN201710968873.5A CN201710968873A CN109677504A CN 109677504 A CN109677504 A CN 109677504A CN 201710968873 A CN201710968873 A CN 201710968873A CN 109677504 A CN109677504 A CN 109677504A
- Authority
- CN
- China
- Prior art keywords
- linked
- mobile device
- limit
- limit plate
- belt pulley
- 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.)
- Granted
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention provides a kind of mobile device, including motor, transmission component, limit assembly, two linked components and two wheels.Transmission component is linked in motor.Limit assembly includes the two limit plate portions configured in parallel and neighboringly.Two linked components partially protrude between two limit plate portions respectively and are articulated in two limit plate portions.Limit of two linked components on first axle by two limit plate portions.Two wheels are configured along before and after second axis.Two wheels are linked in transmission component respectively and are articulated in two linked components, wherein two wheels drive via transmission component and by motor respectively, and two wheels pass through two linked components by the limit on first axle.In addition, a kind of mobile system including above-mentioned mobile device is also provided.
Description
Technical field
The invention relates to a kind of mobile device and mobile systems, and in particular to a kind of straight mobile device
With mobile system.
Background technique
Automatic guided vehicle is one of the trend of current transportation system development.In general, when automatic guided vehicle is for walking
Collimation it is more demanding, and the depth of parallelism for being not easy to adjust two sides wheel when walking of existing vehicle, therefore be easy to produce partially
It moves and leaves predefined paths.In addition, the wheel of automatic guided vehicle on the market is driving wheel and does not have dynamic auxiliary wheel at present
Combination.If automatic guided vehicle is in uneven ground running, it may occur that driving wheel fails to touch ground and dally
The case where or auxiliary wheel the case where being stuck in recess and can not moving.
Summary of the invention
The present invention provides a kind of mobile device, can have good collimation when walking, and wheel all has driving energy
Power.
The present invention provides a kind of mobile system, with above-mentioned mobile device.
Mobile device of the invention includes motor, transmission component, limit assembly, two linked components and two wheels.Transmission
Component is linked in motor.Limit assembly includes the two limit plate portions configured in parallel and neighboringly.Linked component is partially stretched respectively
Enter between two limit plate portions and is articulated in two limit plate portions.Limit of the linked component on first axle by two limit plate portions.
Two wheels are configured along before and after second axis.Two wheels are linked in transmission component respectively and are articulated in linked component, wherein two
Wheel drives via transmission component and by motor respectively, and two wheels pass through linked component by the limit on first axle.
In an embodiment of the present invention, above-mentioned mobile device further includes lid and two elastic components.Lid is fixed on limit
Hyte part.Elastic component is respectively arranged between lid and linked component.
In an embodiment of the present invention, above-mentioned each linked component includes interlock plate and extending seat.Each interlock plate is parallel to
It limit plate portion and partially protrudes between limit plate portion.Extending seat connection interlock plate exposes to the position in limit plate portion, and each bullet
Property part is connected to lid and corresponding extending seat.
In an embodiment of the present invention, above-mentioned transmission component includes gear set and belt pulley set.Gear set includes connection
In motor driving gear and be engaged in two driven gears of driving gear.Belt pulley set includes two first belt pulleys, two second
Belt pulley and two belts.First belt pulley is linked in driven gear respectively, and belt is sheathed on the first belt pulley and the second skin respectively
Belt wheel, and axletree is connected to the second belt pulley.
In an embodiment of the present invention, the first above-mentioned belt pulley is coaxial respectively is articulated in limit plate portion in linked component
Two articulated sections.
In an embodiment of the present invention, above-mentioned mobile device further includes two fixing pieces.Fixing piece is respectively by linked component
It is fixed at least one limit plate portion.
In an embodiment of the present invention, above-mentioned mobile device further includes bottom plate.Bottom plate is connected to limit assembly, and motor
It is set on bottom plate.
In an embodiment of the present invention, above-mentioned first axle is perpendicular to second axis.
Mobile system of the invention includes that bearing seat and two above-mentioned mobile devices, mobile device are configured at bearing seat
Opposite sides.
In an embodiment of the present invention, above-mentioned motor configurations are in the middle section region of bearing seat.
Based on above-mentioned, in mobile device of the invention, linked component is protruded between two limit plate portions, and in first axle
On by the limit in two limit plate portions for being located at two sides and configuring along a first direction be unable to beat, jointly make the company of being articulated in
Two wheels of dynamic component not beat in a first direction.In this way, which mobile device is able to maintain that preferably during traveling
Collimation.In addition, two wheels drive via transmission component and by motor respectively, in other words in mobile device of the invention
Say, whole wheels all has driving capability, when by uneven road surface, be also not susceptible to wheel be stuck in recess and can not
The case where moving.
To make the foregoing features and advantages of the present invention clearer and more comprehensible, special embodiment below, and it is detailed to cooperate attached drawing to make
Carefully it is described as follows.
Detailed description of the invention
Fig. 1 is shown as a kind of stereoscopic schematic diagram of mobile system of the embodiment of the present invention.
Fig. 2 shows the perspective view of the explosions for the mobile device in Fig. 1.
Fig. 3 and Fig. 4 is shown as one of linked component of the mobile device in Fig. 1 and elastic component is being come from
Before the power on ground with schematic diagram later.
Fig. 5 is the schematic diagram that two linked components of the mobile device of Fig. 1 are fixed to limit assembly using two fixing pieces.
Fig. 6 is shown as the stereoscopic schematic diagram at another visual angle of the transmission component of the mobile system of Fig. 1.
Drawing reference numeral explanation
10: mobile system
100: mobile device
110: motor
112: electrical connector
114: shaft
120: transmission component
122: driving gear
123a, 123b: driven gear
127a, 127b: the first belt pulley
128a, 128b: the second belt pulley
129a, 129b: belt
130: limit assembly
132a, 132b: limit plate portion
134: bottom plate
140a, 140b: linked component
142a, 142b: interlock plate
143a, 143b: articulated section
144a, 144b: extending seat
150a, 150b: wheel
160: lid
170a, 170b: elastic component
180a, 180b: fixing piece
200: bearing seat
P: ground force
A1: first axle
A2: second axis
Specific embodiment
Fig. 1 is shown as a kind of stereoscopic schematic diagram of mobile system of the embodiment of the present invention.Referring to Fig. 1, the present embodiment
Mobile system 10 be, for example, that can be applicable to the car body of automatic guided vehicle, but the type of mobile system 10 is not limited system.It moves
Dynamic system 10 includes two mobile devices 100 and a bearing seat 200, and wherein mobile device 100 is respectively arranged at bearing seat
200 opposite sides, and two motors 110 of two mobile devices 100 configure in the middle section region of bearing seat 200, so that whole
Center of gravity maintains middle section region.Certainly, the quantity of mobile device 100, mobile device 100 relative to bearing seat 200 position simultaneously
It is not limited system.
Fig. 2 shows the perspective view of the explosions for the mobile device in Fig. 1.Please refer to Fig. 2.The mobile device 100 of the present embodiment
Including motor 110, transmission component 120, limit assembly 130, two linked component 140a, 140b and two wheel 150a, 150b.Horse
It include electrical connector 112 and shaft 114 up to 110.Electrical connector 112 is to be supplied to motor 110, transmission component for external power
120 are linked in the shaft 114 of motor 110.Limit assembly 130 includes parallel and neighboringly along first axle A1Two limits of configuration
Position plate portion 132a, 132b, and motor 110 is set on bottom plate 134.Two linked component 140a, 140b respectively partially protrude into two
Between limit plate portion 132a, 132b and it is articulated in two limit plate portion 132a, 132b.Two wheel 150a, 150b are linked in biography respectively
It moves component 120 and is articulated in two linked component 140a, 140b, and two wheel 150a, 150b are via transmission component 120 and by horse
Up to 110 drivings.
Specifically, limit assembly 130 can as shown in Figure 2 by be separated from each other and independent two limit plate portion 132a,
132b is formed, and is also possible to that there is the solid memder of internal apparent surface to be formed as concave shape, and the present invention is herein not
It limits.In the present embodiment, due to two linked component 140a, 140b be extended partially into two limit plate portion 132a, 132b it
Between, so two linked component 140a, 140b are in first axle A1On movement limited by two limit plate portion 132a, 132b,
And it can only be rotated centered on the axis for being articulated in two limit plate portion 132a, 132b.Therefore, work as in the moving process of mobile system 10
In, two linked component 140a, 140b each other will not beat and the good depth of parallelism can be maintained.
On the other hand, bearing seat 200 can define second axis A relative to the middle line of left and right sides mobile device 1002,
Wherein second axis A2With first axle A1Vertically, and second axis A2It is parallel to the upper surface of bearing seat 200.As shown in Figure 1,
Wherein two wheel 150a, 150b in the mobile device 100 of side are along second axis A2It configures to front and back, and two wheels
150a, 150b are respectively pivoted to two linked component 140a, 140b.Since two linked component 140a, 140b are in first axle A1On
It is limited by two limit plate portion 132a, 132b, therefore is articulated in two wheel 150a, 150b of two linked component 140a, 140b
Also it is related by two linked component 140a, 140b by two limit plate portion 132a, 132b in first axle A1On limit without
Can beat, therefore can maintain the good depth of parallelism so that entirely the walking of mobile system 10 when two sides mobile device 100 two wheels
150a, 150b parasexuality maintain good collimation.
More specifically, two linked component 140a, 140b of the present embodiment include that two interlock plate 142a, 142b and two prolong
144a, 144b are stretched, two interlock plate 142a, 142b are parallel to two limit plate portion 132a, 132b and are extended partially into two limit plates
Between portion 132a, 132b.Two extending seat 144a, 144b are respectively connected on two interlock plate 142a, 142b and expose to two limit plate portions
The position of 132a, 132b.
In addition to this, the mobile device 100 of the present embodiment further includes lid 160 and two elastic component 170a, 170b.Lid
160 are fixed on limit assembly 130.Two elastic component 170a, 170b are respectively arranged at lid 160 and two linked component 140a, 140b
Between, and be capable of providing elastic force after two linked component 140a, 140b are rotated relative to lid 160 and allow two linked components
140a, 140b reset.
Fig. 3 and Fig. 4 is shown as one of linked component of the mobile device in Fig. 1 and elastic component is being come from
Before the power on ground with schematic diagram later.It should be noted that concealed in Fig. 3 and Fig. 4 motor 110, transmission component 120,
Two wheel 150a, 150b, to simplify drawing.
Please refer to Fig. 3 and Fig. 4.In the present embodiment, two elastic component 170a, 170b are flexible two spring respectively,
It can compress or extend in certain field of load, but two elastic component 170a, 170b are also possible to other flexible objects, this
Invention is without restriction herein.When mobile system 10, which travels on, jolts uneven road surface, height of the wheel 150a in response to road surface
It rises and falls and generates the power P from ground and be applied to interlock plate 142a, interlock plate 142a is to stress and towards the side close to lid 160
To movement.Because one end of interlock plate 142a is articulated in two limit plate portion 132a, 132b, interlock plate 142a by connecting shaft
It is only capable of rotating centered on the axis for being articulated in two limit plate portion 132a, 132b, to be (arrow in such as figure clockwise for Fig. 4
Shown in head direction).At this point, elastic component 170a is compressed by original original state.After ground force P is eliminated, elastic component
170a starts to uphold and restore to the length of original state.Compression and extension institute in this process, by elastic component 170a
The elastic force of generation, and can achieve the effect that damping to mobile device 100.
In addition, mobile device 100 of the invention can further include two fixing piece 180a, 180b.Fig. 5 is to utilize two fixing pieces
Two linked component 140a, 140b are fixed to the schematic diagram of limit assembly 130 by 180a, 180b.Please refer to Fig. 6.In an embodiment
In, if needed without damping, can be used the fixed limit assembly 130 of two fixing piece 180a, 180b and two linked component 140a,
140b makes two linked component 140a, 140b not generate relative motion with limit assembly 130, can simplify structure and corresponding
Motor pattern.In the present embodiment, two fixing piece 180a, 180b are, for example, screw, but the present invention limits not to this, only
If the element of fixed limit assembly 130 and two linked component 140a, 140b effect can be played, all in protection model of the invention
In enclosing.
Fig. 6 is shown as the stereoscopic schematic diagram at another visual angle of the transmission component of the mobile system of Fig. 1.Please refer to Fig. 6.This hair
Bright transmission component 120 (being shown in Fig. 1) includes gear set and belt pulley set.Gear set includes the shaft for being connected to motor 110
114 driving gear 122 and two driven gear 123a, the 123b for being engaged in driving gear 122.Belt pulley set includes two first skins
Belt wheel 127a, 127b, two second belt pulley 128a, 128b and two belt 129a, 129b.Two first belt pulley 127a, 127b points
It is not linked in two driven gear 123a, 123b.Two belt 129a, 129b be sheathed on respectively two first belt pulley 127a, 127b with
Two second belt pulley 128a, 128b, and two wheel 150a, 150b pass through two articulated section 143a, 143b axis respectively and are connected to two second
Belt pulley 128a, 128b.
In the present embodiment, when motor 110 operates and driving gear 122 is driven to rotate, it is engaged in driving gear 122
Two driven gear 123a, 123b will be rotated in the opposite direction with revolving speed identical with driving gear 122, at the same drive with two from
Two first moving gear 123a, 123b coaxial belt pulley 127a, 127b.Since two belt 129a, 129b are sheathed on two respectively
One belt pulley 127a, 127b and two second belt pulley 128a, 128b, therefore two second belt pulley 128a, 128b are in response to two first
The rotation of two belt 129a, 129b that belt pulley 127a, 127b respectively drive and related rotation, and assign and two second belts
Two wheel 150a, 150b driving forces that wheel 128a, 128b axis connects, rotate two wheel 150a, 150b.In other words, in this reality
It applies in example, two wheel 150a, 150b are driving wheels.In this way, when two wheel 150a, 150b are on rugged road surface
When walking, two wheel 150a, 150b are stuck in recess road surface or the probability of idle running and can be lowered.
In the present embodiment, belt, and two first belt pulley 127a, 127b and two are advised when two belt 129a, 129b are
Two belt pulley 128a, 128b advise belt pulley, but two belt 129a, 129b, two first belt pulley 127a, 127b and two when being
Second belt pulley 128a, 128b is also possible to other kinds of belt and belt pulley, and the present invention is without restriction to this.
In conclusion linked component protrudes between two limit plate portions in mobile device of the invention, and in first axle
On by be located at two sides two limit plate portions limit and be unable to beat, jointly make two wheels for being articulated in linked component not inclined
Pendulum.In this way, which mobile device is able to maintain that preferable collimation during traveling.In addition, in mobile device of the invention
In, two wheels drive via transmission component and by motor respectively, and in other words, whole wheels all has driving capability,
When by uneven road surface, it is also not susceptible to the case where wheel is stuck in recess and can not move.In addition, in movement of the invention
In system, two motors are respectively arranged at the middle section region of bearing seat, and the center of gravity of mobile system can be allowed to concentrate, and increase when walking
Stability.
Although the present invention is disclosed as above with embodiment, however, it is not to limit the invention, any technical field
Middle technical staff, without departing from the spirit and scope of the present invention, when can make some changes and embellishment, therefore protection of the invention
Range is subject to view as defined in claim.
Claims (10)
1. a kind of mobile device characterized by comprising
Motor；
Transmission component is linked in the motor；
Limit assembly, including two limit plate portions that are parallel and neighboringly configuring；
Two linked components, respectively partially protrude between two limit plate portion and are articulated in two limit plate portion, and described two
Limit of the linked component on first axle by two limit plate portion；And
Two wheels are configured along before and after second axis, and two wheel is linked in the transmission component respectively and is articulated in institute
Two linked components are stated, wherein two wheel drives via the transmission component and by the motor respectively, and two vehicle
Wheel is by two linked component by the limit on the first axle.
2. mobile device according to claim 1, which is characterized in that further include:
Lid is fixed on the limit assembly；And
Two elastic components are respectively arranged between the lid and two linked component.
3. mobile device according to claim 2, which is characterized in that each linked component includes interlock plate and extension
Seat, each interlock plate are parallel to two limit plate portion and are extended partially between two limit plate portion, the extending seat
Be connected to the position that the interlock plate exposes to two limit plate portion, and each elastic component be connected to the lid with
The corresponding extending seat.
4. mobile device according to claim 1, which is characterized in that the transmission component includes gear set and belt pulley
Group, the gear set include two driven gears for being connected to the driving gear of the motor and being engaged in the driving gear, institute
Stating belt pulley set includes two first belt pulleys, two second belt pulleys and two belts, and two first belt pulley is linked in institute respectively
Two driven gears are stated, two belt is sheathed on two first belt pulley and two second belt pulley, and described two respectively
Axletree is connected to two second belt pulley.
5. mobile device according to claim 4, which is characterized in that two first belt pulley is coaxial in described two respectively
Linked component is articulated in two articulated sections in two limit plate portion.
6. mobile device according to claim 1, which is characterized in that further include:
Two linked component is fixed at least one described limit plate portion respectively by two fixing pieces.
7. mobile device according to claim 1, which is characterized in that further include:
Bottom plate is connected to the limit assembly, and the motor is set on the bottom plate.
8. mobile device according to claim 1, which is characterized in that the first axle is perpendicular to the second axis.
9. a kind of mobile system characterized by comprising
Bearing seat；And
Two mobile devices according to any one of claim 1 to 8, are configured at the opposite sides of the bearing seat.
10. mobile system according to claim 9, which is characterized in that two motor configurations are in the bearing seat
Section region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710968873.5A CN109677504B (en) | 2017-10-18 | 2017-10-18 | Mobile device and mobile system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710968873.5A CN109677504B (en) | 2017-10-18 | 2017-10-18 | Mobile device and mobile system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109677504A true CN109677504A (en) | 2019-04-26 |
| CN109677504B CN109677504B (en) | 2020-09-01 |
Family
ID=66183894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710968873.5A Active CN109677504B (en) | 2017-10-18 | 2017-10-18 | Mobile device and mobile system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109677504B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230025592A1 (en) * | 2020-10-20 | 2023-01-26 | Wistron Corporation | Independent-drive set and wheeled vehicle having the same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2757373A (en) * | 1950-04-25 | 1956-07-31 | A Reponsabilite Limitee S E B | Four wheel driven tractors with spring mounted walking beams |
| GB2081656A (en) * | 1980-08-06 | 1982-02-24 | Caswell Graham Anwyl Penson | A motorised vehicle |
| US20010006127A1 (en) * | 1999-07-23 | 2001-07-05 | Yazoo Power Equiqment L.L.L.C. | Vehicle drive/suspension system |
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN107226147A (en) * | 2017-05-19 | 2017-10-03 | 常州轻工职业技术学院 | 4 wheel driven wheeled robot is used in industrial and mineral detection |
-
2017
- 2017-10-18 CN CN201710968873.5A patent/CN109677504B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2757373A (en) * | 1950-04-25 | 1956-07-31 | A Reponsabilite Limitee S E B | Four wheel driven tractors with spring mounted walking beams |
| GB2081656A (en) * | 1980-08-06 | 1982-02-24 | Caswell Graham Anwyl Penson | A motorised vehicle |
| US20010006127A1 (en) * | 1999-07-23 | 2001-07-05 | Yazoo Power Equiqment L.L.L.C. | Vehicle drive/suspension system |
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN107226147A (en) * | 2017-05-19 | 2017-10-03 | 常州轻工职业技术学院 | 4 wheel driven wheeled robot is used in industrial and mineral detection |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230025592A1 (en) * | 2020-10-20 | 2023-01-26 | Wistron Corporation | Independent-drive set and wheeled vehicle having the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109677504B (en) | 2020-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107031322B (en) | Active driving device | |
| CN105730553A (en) | AGV chassis structure capable of adapting to ground deformation | |
| WO2014076837A1 (en) | Mobile body | |
| CN109677504A (en) | Mobile device and mobile system | |
| EP2465757A1 (en) | Tracked system with variable geometry | |
| US20240198805A1 (en) | Module Active Response System | |
| CN103252093A (en) | Steering engine component | |
| CN205417853U (en) | But AGV chassis structure that self -adaptation ground warp | |
| CN208957997U (en) | Hoofing part mechanism and self-moving device with it | |
| CN205360563U (en) | Brush rail mounted multi freedom funabout follows | |
| CN214565756U (en) | Crawler-type running gear and robot | |
| CN105774448B (en) | Multi link driving device and transport vehicle | |
| CN213441925U (en) | Electric drive axle assembly and vehicle | |
| CN105082965A (en) | Electric motor combined acceleration engine | |
| US20120312616A1 (en) | Vehicle traction module and respective terrestrial vehicle | |
| CN220814056U (en) | Transmission buffer device and loader | |
| CN215097929U (en) | Self-adaptive chassis and automatic guide vehicle thereof | |
| CN218986768U (en) | Robot chassis and robot | |
| CN209545113U (en) | Cable power receiving device and the electronic engineering machinery of external power supply type | |
| CN113696986B (en) | Flexible tracked robot connecting device | |
| CN103398140A (en) | Adjustable damping device | |
| KR102212728B1 (en) | Suspension for personal mobility | |
| CN217412922U (en) | Walking mechanism and welding robot | |
| US11827105B2 (en) | Independent-drive set and wheeled vehicle having the same | |
| CN115622356B (en) | Be applied to new energy automobile's focus and rock power generation facility |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |