CN109677504B - Mobile device and mobile system - Google Patents
Mobile device and mobile system Download PDFInfo
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- CN109677504B CN109677504B CN201710968873.5A CN201710968873A CN109677504B CN 109677504 B CN109677504 B CN 109677504B CN 201710968873 A CN201710968873 A CN 201710968873A CN 109677504 B CN109677504 B CN 109677504B
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- wheels
- pulleys
- mobile device
- limiting
- axis
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- 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
Abstract
The invention provides a moving device which comprises a motor, a transmission assembly, a limiting assembly, two linkage assemblies and two wheels. The transmission component is linked with the motor. The limiting component comprises two limiting plate parts which are arranged in parallel and adjacent. The two linkage components respectively partially extend into the space between the two limit board parts and are pivoted with the two limit board parts. The two linkage assemblies are limited by the two limiting plate parts on the first axis. The two wheels are arranged in tandem along a second axis. The two wheels are respectively linked with the transmission assembly and are pivoted with the two linkage assemblies, wherein the two wheels are respectively driven by the motor through the transmission assembly, and the two wheels are limited on the first axis through the two linkage assemblies. Furthermore, a mobile system comprising the above mobile device is also provided.
Description
Technical Field
The present invention relates to a mobile device and a mobile system, and more particularly, to a straight-moving mobile device and a mobile system.
Background
Automated guided vehicles are one of the trends in the development of transportation systems. Generally, the automated guided vehicle requires high alignment during traveling, and the parallelism of the wheels on both sides of the automated guided vehicle is not easily adjusted during traveling, so that the automated guided vehicle is likely to be deviated from a predetermined path. In addition, the wheels of the automated guided vehicles on the market at present are a combination of driving wheels and unpowered auxiliary wheels. When the automated guided vehicle travels on an uneven ground, the driving wheel may not contact the ground and idle, or the auxiliary wheel may be caught in a recess and cannot move.
Disclosure of Invention
The invention provides a moving device, which has good alignment when walking and has driving capability for wheels.
The invention provides a mobile system which is provided with the mobile device.
The moving device comprises a motor, a transmission assembly, a limiting assembly, two linkage assemblies and two wheels. The transmission component is linked with the motor. The limiting component comprises two limiting plate parts which are arranged in parallel and adjacent. The linkage assembly extends into the space between the two limit plate parts and is pivoted to the two limit plate parts. The linkage assembly is limited by the two limiting plate parts on the first axis. The two wheels are arranged in tandem along a second axis. The two wheels are respectively linked with the transmission component and pivoted with the linking component, wherein the two wheels are respectively driven by the motor through the transmission component, and the two wheels are limited on the first axis through the linking component.
In an embodiment of the invention, the moving device further includes a cover and two elastic members. The cover body is fixed on the limiting assembly. The elastic pieces are respectively arranged between the cover body and the linkage assembly.
In an embodiment of the invention, each of the linking components includes a linking plate and an extending seat. Each linkage plate is parallel to the limiting plate parts and partially extends into the space between the limiting plate parts. The extending seat is connected with the part of the linkage plate exposed out of the limiting plate part, and each elastic part is respectively connected with the cover body and the corresponding extending seat.
In an embodiment of the invention, the transmission assembly includes a gear set and a pulley set. The gear set comprises a driving gear connected to the motor and two driven gears meshed with the driving gear. The pulley set comprises two first pulleys, two second pulleys and two belts. The first belt wheel is respectively linked with the driven gear, the belt is respectively sleeved on the first belt wheel and the second belt wheel, and the wheel shaft is connected with the second belt wheel.
In an embodiment of the invention, the first belt pulley is respectively coaxial with the two pivoting parts of the linking component pivoted to the limiting plate part.
In an embodiment of the invention, the moving device further includes two fixing members. The fixing piece is used for fixing the linkage assembly on at least one limiting plate part respectively.
In an embodiment of the invention, the moving device further includes a bottom plate. The bottom plate is connected to the limiting assembly, and the motor is arranged on the bottom plate.
In an embodiment of the invention, the first axis is perpendicular to the second axis.
The moving system comprises a bearing seat and two moving devices, wherein the moving devices are arranged on two opposite sides of the bearing seat.
In an embodiment of the invention, the motor is disposed in a middle region of the load-bearing seat.
In view of the above, in the moving device of the present invention, the interlocking unit extends between the two limit plate portions, and is limited by the two limit plate portions located on both sides and arranged along the first direction on the first axis so as not to deflect, so that the two wheels pivotally connected to the interlocking unit are jointly prevented from deflecting in the first direction. Therefore, the mobile device can maintain better collimation in the process of moving. In addition, in the moving device of the invention, the two wheels are respectively driven by the motor through the transmission assembly, in other words, all the wheels have driving capability, and the situation that the wheels are clamped in the concave part and cannot move and bounce when passing through an uneven road surface is not easy to occur.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 shows a perspective view of a mobile system which is an embodiment of the present invention.
Fig. 2 is an exploded view of the mobile device of fig. 1.
Fig. 3 and 4 are schematic views of one of the linkage assemblies and the elastic member of the mobile device in fig. 1 before and after receiving a force from the ground, respectively.
Fig. 5 is a schematic view illustrating two linkage assemblies of the mobile device of fig. 1 fixed to a position limiting assembly by two fixing members.
Fig. 6 is a perspective view of another perspective of the drive assembly of the movement system of fig. 1.
Description of the reference numerals
10: mobile system
100: mobile device
110: motor with a stator having a stator core
112: electrical connector
114: rotating shaft
120: transmission assembly
122: driving gear
123a, 123 b: driven gear
127a, 127 b: first belt pulley
128a, 128 b: second belt pulley
129a, 129 b: leather belt
130: limiting assembly
132a, 132 b: limiting plate part
134: base plate
140a, 140 b: linkage assembly
142a, 142 b: linkage board
143a, 143 b: pivoting part
144a, 144 b: extension seat
150a, 150 b: wheel of vehicle
160: cover body
170a, 170 b: elastic piece
180a, 180 b: fixing piece
200: bearing seat
P: ground force
A1: first axis
A2: second axis
Detailed Description
Fig. 1 shows a perspective view of a mobile system which is an embodiment of the present invention. Referring to fig. 1, the moving system 10 of the present embodiment is, for example, a vehicle body applicable to an automated guided vehicle, but the type of the moving system 10 is not limited thereto. The mobile system 10 includes two mobile devices 100 and a carrier 200, wherein the mobile devices 100 are respectively disposed on two opposite sides of the carrier 200, and the two motors 110 of the two mobile devices 100 are disposed in a middle region of the carrier 200, so as to maintain the overall center of gravity in the middle region. Of course, the number of the mobile devices 100 and the position of the mobile devices 100 relative to the carriage 200 are not limited thereto.
Fig. 2 is an exploded view of the mobile device of fig. 1. Please refer to fig. 2. The moving device 100 of the present embodiment includes a motor 110, a transmission assembly 120, a position-limiting assembly 130, two linkage assemblies 140a and 140b, and two wheels 150a and 150 b. The motor 110 includes an electrical connector 112 and a rotating shaft 114. The electrical connector 112 is used for supplying external power to the motor 110, and the transmission assembly 120 is coupled to the rotating shaft 114 of the motor 110. The spacing assembly 130 includes parallel and adjacent along a first axis a1Two limit plate parts 132a, 132b are arranged, and the motor 110 is provided on the bottom plate 134. The two linking members 140a, 140b partially extend into the space between the two limiting plate portions 132a, 132b and are pivotally connected to the two limiting plate portions 132a, 132b, respectively. The two wheels 150a, 150b are respectively linked to the transmission assembly 120 and pivoted to the two linking assemblies 140a, 140b, and the two wheels 150a, 150b are driven by the motor 110 through the transmission assembly 120.
In detail, the position-limiting assembly 130 may be composed of two position-limiting plate portions 132a and 132b separated and independent from each other as shown in fig. 2, or may be composed of a single member having inner opposite surfaces like a concave shape, and the present invention is not limited thereto. In the present embodiment, since the two linking members 140a, 140b partially extend between the two limiting plate portions 132a, 132b, the two linking members 140a, 140b are located on the first axis a1The upward movement is restricted by the two limit plate portions 132a, 132b and can only rotate about the axis pivoted to the two limit plate portions 132a, 132 b. Therefore, during the moving process of the moving system 10, the two linking elements 140a and 140b will not swing and maintain good parallelism.
On the other hand, the carriage 200 can define a second axis A relative to the center line of the left and right mobile devices 1002Wherein the second axis A2To the first axis A1Perpendicular to and the second axis A2Parallel to the upper surface of the carrier 200. As shown in FIG. 1, the two wheels 150a, 150b of the mobile device 100 on one side are along the second axis A2The two wheels 150a and 150b are respectively pivoted to the two linkage elements 140a and 140 b. Since the two linkage assemblies 140a, 140b are on the first axis A1Upper receiving two limit board parts132a, 132b, so that the two wheels 150a, 150b pivotally connected to the two linking members 140a, 140b are also connected to the first axis a via the two linking members 140a, 140b and received by the two limiting plate portions 132a, 132b1The upper limit position can not swing, so that good parallelism can be maintained, and the alignment of the two wheels 150a and 150b of the mobile device 100 on both sides can be maintained well when the whole mobile system 10 travels.
Furthermore, the two linking components 140a and 140b of the present embodiment include two linking plates 142a and 142b and two extending seats 144a and 144b, wherein the two linking plates 142a and 142b are parallel to the two limiting plate portions 132a and 132b and partially extend between the two limiting plate portions 132a and 132 b. The two extending seats 144a and 144b are respectively connected to the portions of the two linking plates 142a and 142b exposed from the two limiting plate portions 132a and 132 b.
In addition, the mobile device 100 of the embodiment further includes a cover 160 and two elastic members 170a and 170 b. The cover 160 is fixed to the position limiting assembly 130. The two elastic members 170a and 170b are respectively disposed between the cover 160 and the two linkage assemblies 140a and 140b, and can provide an elastic force to reset the two linkage assemblies 140a and 140b after the two linkage assemblies 140a and 140b rotate relative to the cover 160.
Fig. 3 and 4 are schematic views of one of the linkage assemblies and the elastic member of the mobile device in fig. 1 before and after receiving a force from the ground, respectively. It should be noted that the motor 110, the transmission assembly 120, and the two wheels 150a and 150b are hidden in fig. 3 and 4 to simplify the drawing.
Please refer to fig. 3 and 4. In the embodiment, the two elastic members 170a and 170b are two springs having elasticity, respectively, and can be compressed or extended within a certain stress range, but the two elastic members 170a and 170b may also be other objects having elasticity, and the invention is not limited thereto. When the mobile system 10 travels on a bumpy road surface, the wheel 150a generates a force P from the ground surface according to the height of the road surface, and the force P is applied to the linkage plate 142a, so that the linkage plate 142a is forced to move toward the cover 160. Since one end of the linking plate 142a is pivotally connected to the two limiting plate portions 132a, 132b through the connecting shaft, the linking plate 142a can only rotate around the axis pivotally connected to the two limiting plate portions 132a, 132b, which is clockwise in fig. 4 (as shown by the arrow in the figure). At this time, the elastic member 170a starts to be compressed from the original initial state. When the ground force P is removed, the elastic member 170a begins to stretch and return to the original length. In this process, the elastic force generated by the compression and extension of the elastic member 170a can achieve the effect of damping the vibration of the mobile device 100.
In addition, the mobile device 100 of the present invention may further include two fixing members 180a and 180 b. Fig. 5 is a schematic view of two fixing members 180a and 180b for fixing two linkage assemblies 140a and 140b to the position-limiting assembly 130. Please refer to fig. 6. In an embodiment, if there is no need for shock absorption, the two fixing members 180a and 180b can be used to fix the position-limiting assembly 130 and the two linking assemblies 140a and 140b, so that the two linking assemblies 140a and 140b do not move relative to the position-limiting assembly 130, thereby simplifying the structure and the corresponding movement mode. In the embodiment, the two fixing members 180a and 180b are screws, for example, but the invention is not limited thereto, and any element that can function as the fixing and limiting member 130 and the two linking members 140a and 140b is within the scope of the invention.
Fig. 6 is a perspective view of another perspective of the drive assembly of the movement system of fig. 1. Please refer to fig. 6. The transmission assembly 120 (shown in FIG. 1) of the present invention includes a gear set and a pulley set. The gear set includes a driving gear 122 connected to the rotating shaft 114 of the motor 110 and two driven gears 123a, 123b engaged with the driving gear 122. The pulley set includes two first pulleys 127a, 127b, two second pulleys 128a, 128b and two belts 129a, 129 b. The two first pulleys 127a, 127b are linked to the two driven gears 123a, 123b, respectively. The two belts 129a and 129b are respectively sleeved on the two first pulleys 127a and 127b and the two second pulleys 128a and 128b, and the two wheels 150a and 150b are respectively coupled to the two second pulleys 128a and 128b through the two pivot portions 143a and 143 b.
In the present embodiment, when the motor 110 is operated to drive the driving gear 122 to rotate, the two driven gears 123a, 123b engaged with the driving gear 122 rotate in opposite directions at the same speed as the driving gear 122, and simultaneously drive the two first pulleys 127a, 127b coaxial with the two driven gears 123a, 123 b. Since the two belts 129a, 129b are respectively sleeved on the two first belt pulleys 127a, 127b and the two second belt pulleys 128a, 128b, the two second belt pulleys 128a, 128b rotate in conjunction with the rotation of the two belts 129a, 129b driven by the two first belt pulleys 127a, 127b, respectively, and the two wheels 150a, 150b coupled to the two second belt pulleys 128a, 128b are driven by the driving force, so as to rotate the two wheels 150a, 150 b. In other words, in the present embodiment, both wheels 150a, 150b are driving wheels. Thus, when the wheels 150a and 150b travel on a rough road, the probability of the wheels 150a and 150b being stuck on a concave road or spinning is reduced.
In the embodiment, the two belts 129a and 129b are timing belts, and the two first pulleys 127a and 127b and the two second pulleys 128a and 128b are timing pulleys, but the two belts 129a and 129b, the two first pulleys 127a and 127b, and the two second pulleys 128a and 128b may be other types of belts and pulleys, which is not limited in the present invention.
In summary, in the moving device of the present invention, the linking assembly extends between the two limiting plate portions, and is limited by the two limiting plate portions located at the two sides on the first axis so as not to deflect, so that the two wheels pivoted to the linking assembly are not deflected. Therefore, the mobile device can maintain better collimation in the process of moving. In addition, in the moving device of the invention, the two wheels are respectively driven by the motor through the transmission assembly, in other words, all the wheels have driving capability, and the situation that the wheels are clamped in the concave part and cannot move and bounce when passing through an uneven road surface is not easy to occur. In addition, in the moving system of the invention, the two motors are respectively arranged in the middle section area of the bearing seat, so that the center of gravity of the moving system can be concentrated, and the stability during walking is improved.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (9)
1. A mobile device, comprising:
a motor;
the transmission assembly is linked with the motor;
a limiting assembly comprising two limiting plate parts which are arranged in parallel and adjacent to each other;
the two linkage assemblies respectively extend into the space between the two limiting plate parts partially and are pivoted to the two limiting plate parts, and the two linkage assemblies are limited by the two limiting plate parts on a first axis;
the two wheels are arranged in a front-back manner along a second axis, are respectively linked with the transmission assembly and are pivoted with the two linkage assemblies, wherein the two wheels are respectively driven by the motor through the transmission assembly, and are limited on the first axis through the two linkage assemblies; and
and the two fixing pieces are used for fixing the two linkage assemblies to at least one limiting plate part respectively.
2. The mobile device of claim 1, further comprising:
the cover body is fixed on the limiting assembly; and
and the two elastic pieces are respectively arranged between the cover body and the two linkage assemblies.
3. The mobile device as claimed in claim 2, wherein each of the linkage assemblies includes a linkage plate and an extension seat, each of the linkage plates is parallel to the two position-limiting plates and partially extends between the two position-limiting plates, the extension seat is connected to a portion of the linkage plate exposed from the two position-limiting plates, and each of the elastic members is respectively connected to the cover and the corresponding extension seat.
4. The mobile device according to claim 1, wherein the transmission assembly comprises a gear set and a pulley set, the gear set comprises a driving gear connected to the motor and two driven gears meshed with the driving gear, the pulley set comprises two first pulleys, two second pulleys and two belts, the two first pulleys are respectively linked with the two driven gears, the two belts are respectively sleeved on the two first pulleys and the two second pulleys, and the two wheels are axially connected to the two second pulleys.
5. The mobile device according to claim 4, wherein the two first pulleys are respectively coaxial with the two pivoting portions of the two linking components pivoted to the two limiting plate portions.
6. The mobile device of claim 1, further comprising:
the bottom plate, connect in spacing subassembly, just the motor set up in on the bottom plate.
7. The mobile device of claim 1, wherein the first axis is perpendicular to the second axis.
8. A mobile system, comprising:
a bearing seat; and
two moving devices according to any one of claims 1 to 7, arranged on opposite sides of the carrier.
9. The movement system of claim 8, wherein the two motors are disposed in a middle region of the carriage.
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 CN109677504A (en) | 2019-04-26 |
| CN109677504B true CN109677504B (en) | 2020-09-01 |
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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 |
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| Country | Link |
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| CN (1) | CN109677504B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11827105B2 (en) * | 2020-10-20 | 2023-11-28 | Wistron Corporation | Independent-drive set and wheeled vehicle having the same |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1016684A (en) * | 1950-04-25 | 1952-11-19 | Independent four-wheel drive farm tractor | |
| GB2081656A (en) * | 1980-08-06 | 1982-02-24 | Caswell Graham Anwyl Penson | A motorised vehicle |
| US6179075B1 (en) * | 1999-07-23 | 2001-01-30 | William L. Figura | Vehicle drive/suspension system |
| DE10334956B4 (en) * | 2003-07-31 | 2014-10-02 | Rheinmetall Landsysteme Gmbh | 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
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11827105B2 (en) * | 2020-10-20 | 2023-11-28 | Wistron Corporation | Independent-drive set and wheeled vehicle having the same |
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| Publication number | Publication date |
|---|---|
| CN109677504A (en) | 2019-04-26 |
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