CN110562349A - Transport vehicle - Google Patents
Transport vehicle Download PDFInfo
- Publication number
- CN110562349A CN110562349A CN201910740658.9A CN201910740658A CN110562349A CN 110562349 A CN110562349 A CN 110562349A CN 201910740658 A CN201910740658 A CN 201910740658A CN 110562349 A CN110562349 A CN 110562349A
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- CN
- China
- Prior art keywords
- driving wheel
- limiting
- chassis
- turntable
- groove
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
- B62D7/023—Steering turntables
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
Abstract
The invention discloses a transport vehicle, comprising: the chassis, the carousel, first drive wheel, the second drive wheel, first drive arrangement, second drive arrangement and supporting wheel, be equipped with the stopper on the chassis, the carousel rotationally locates on the chassis, be equipped with on the carousel can with the stopper contact and the gag lever post that breaks away from, when gag lever post and stopper contact, the carousel is fixed for the chassis, when gag lever post and stopper break away from, the carousel is rotatable for the chassis, first drive wheel and second drive wheel arrange on the chassis for the bilateral symmetry of transport vechicle, first drive arrangement and second drive arrangement all are equipped with on the carousel, first drive arrangement and second drive arrangement are used for driving first drive wheel and second drive wheel action respectively, the supporting wheel is located on the chassis. According to the transport vehicle disclosed by the embodiment of the invention, the transport vehicle can realize omnidirectional motion, and the transport vehicle is small in size, high in precision, simple to control, low in wheel loss rate and the like.
Description
Technical Field
The invention relates to a construction robot, in particular to a transport vehicle.
Background
In the prior art, the trolley for realizing omnidirectional movement at least needs four motors, for example, two steering wheels or four Mecanum wheels, so that the problems of large number of wheels, large number of motors, large size of a chassis, complex control system, large loss of tires, insufficient precision and the like are caused.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a transport vehicle, two wheels of which can realize omnidirectional motion, and the transport vehicle has the advantages of small volume, high precision, simple control and low wheel wear rate.
a transporter according to an embodiment of the present invention includes: a chassis, a turntable, a first driving wheel, a second driving wheel, a first driving device, a second driving device and a supporting wheel, the chassis is provided with a limiting block, the turntable is rotatably arranged on the chassis, the turntable is provided with a limiting rod which can be contacted with and separated from the limiting block, when the limiting rod is contacted with the limiting block, the turntable is fixed relative to the chassis, when the limiting rod is separated from the limiting block, the turntable is rotatable relative to the chassis, the first drive wheel and the second drive wheel are arranged on the chassis in bilateral symmetry relative to the transport vehicle, the first driving device and the second driving device are arranged on the rotary disc, the first driving device and the second driving device are respectively used for driving the first driving wheel and the second driving wheel to act, and the supporting wheel is arranged on the chassis.
therefore, according to the transport vehicle provided by the embodiment of the invention, the first driving wheel and the second driving wheel are arranged on the chassis, so that the transport vehicle can better walk and transport, the chassis design is simplified and effective, and the two driving wheels, namely the first driving wheel and the second driving wheel, are arranged, so that the control on the transport vehicle is simpler, and the wheel loss rate is low.
In addition, because the first driving wheel and the second driving wheel are arranged on the turntable, the turntable can rotate relative to the chassis, namely the turntable can rotate relative to the chassis in the direction of 360 degrees, so that when the first driving wheel and the second driving wheel are in differential operation, the whole transport vehicle can be controlled to turn and advance in the direction of 360 degrees, namely the transport vehicle according to the embodiment of the invention can realize omnidirectional movement in the direction of 360 degrees in a horizontal plane.
In addition, through locating spacing block on the chassis and locating breaking away from and contacting of spacing post on the carousel, can control and switch under relative rotation and relatively fixed two kinds of states between carousel and the chassis to can control the transport vechicle and switch in omnidirectional movement and linear motion two kinds of modes. And when the carriage moves linearly, the limiting rod and the limiting block are contacted with each other, so that the linear motion mode of the carriage can be locked without being interfered by the outside.
In addition, the transport vehicle according to the invention may also have the following additional features:
In some embodiments of the present invention, the stopper comprises: first stopper and second stopper, first stopper with the second stopper is followed the fore-and-aft direction of transport vechicle is apart from arranging, the gag lever post includes: the first limiting rod and the second limiting rod are arranged at intervals in the front-back direction, the first limiting rod is suitable for being in contact with and separated from the first limiting block, and the second limiting rod is suitable for being in contact with and separated from the second limiting block.
optionally, the surfaces of the first limiting block and the first limiting rod, which are opposite to each other, are respectively provided with a first limiting surface and a first limiting groove, the first limiting surface and the first limiting groove are matched with each other to limit the rotation of the turntable, the surfaces of the second limiting block and the second limiting rod, which are opposite to each other, are respectively provided with a second limiting surface and a second limiting groove, and the second limiting surface and the second limiting groove are matched with each other to limit the rotation of the turntable.
Further, the first limit groove is formed into a V-shaped groove, a notch of the first limit groove is opened towards the front side, the first limit surface is formed into a V-shaped surface, a sharp corner of the first limit surface faces towards the first limit groove, the second limit groove is formed into a V-shaped groove, a notch of the second limit groove is opened towards the front side, the second limit surface is formed into a V-shaped surface, and a sharp corner of the second limit surface faces towards the second limit groove.
In some embodiments of the present invention, the first driving device is a first electric motor, the second driving device is a second electric motor, and the first electric motor and the second electric motor can drive the first driving wheel and the second driving wheel to rotate at the same speed and at different speeds, respectively.
In some embodiments of the invention, the transportation vehicle further comprises a damping device, the damping device being arranged between the first driving wheel and the turntable, the damping device being further arranged between the second driving wheel and the turntable.
Optionally, the transportation vehicle further comprises: the first support plate and the second support plate are arranged on the rotary table, and the first driving wheel and the second driving wheel are respectively connected with the first driving wheel support and the second driving wheel support.
Further, damping device includes damping spring and attenuator, damping spring includes four, and locates respectively between first mounting plate and the first drive wheel support, between second mounting plate and the first drive wheel support, between first mounting plate and the second drive wheel support second mounting plate and the second drive wheel support between, the attenuator includes two and connects respectively between first mounting plate and the first drive wheel support between second mounting plate and the second drive wheel support.
In some embodiments of the present invention, the supporting wheel includes a plurality of supporting wheels, the plurality of supporting wheels are spaced apart from each other on the chassis, a line connecting centers of rotation of the plurality of supporting wheels is rectangular, and the first driving wheel, the second driving wheel, the first driving device, and the second driving device are all located inside the rectangular line.
Further, the supporting wheels are universal wheels.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a bottom view of a restraint bar of a transport vehicle according to an embodiment of the invention in a first position;
FIG. 2 is a bottom view of a restraint bar of a transport vehicle according to an embodiment of the invention in a second position;
FIG. 3 is a front view of a transporter in accordance with an embodiment of the invention;
fig. 4 is a top view of a drive-off chassis of a transporter in accordance with an embodiment of the invention.
Reference numerals:
100: a transport vehicle;
1: a chassis; 11: a limiting block; 111: a first stopper; 1111: a first limiting surface; 112: a second limiting block; 1121: a second limiting surface;
2: a turntable; 21: a limiting rod; 211: a first limit rod; 2111: a first limit groove; 212: a second limiting rod; 2121: a second limit groove;
3: a first drive wheel;
4: a second drive wheel;
5: a first driving device; 51: a first motor;
6: a second driving device; 61: a second motor;
7: a support wheel;
8: a damping device; 81: a damping spring; 811: a first damping spring; 812: a second damping spring; 813: a third damping spring; 814: a fourth damping spring; 82: a damper; 821: a first damper; 822: a second damper;
9: a first brace plate;
10: a second bracket plate;
12: a first drive wheel support;
13: a second drive wheel support;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
in the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A transporter 100 according to an embodiment of the invention is described below with reference to fig. 1-4.
As shown in fig. 1 to 4, a transporting carriage 100 according to an embodiment of the present invention includes: chassis 1, carousel 2, first drive wheel 3, second drive wheel 4, first drive arrangement 5, second drive arrangement 6 and supporting wheel 7.
Specifically, the chassis 1 is provided with a limiting block 11, and optionally, the limiting block 11 may be disposed below the chassis 1.
Optionally, the turntable 2 is rotatably disposed on the chassis 1, the turntable 2 is provided with a limiting rod 21 capable of contacting and separating from the limiting block 11, when the limiting rod 21 contacts with the limiting block 11, the turntable 2 is fixed relative to the chassis 1, and when the limiting rod 21 separates from the limiting block 11, the turntable 2 is rotatable relative to the chassis 1.
That is, the turntable 2 is engaged with the chassis 1 and disposed below the chassis 1 as shown in fig. 3, the turntable 2 is rotatable relative to the chassis 1, and the limiting rod 21 is disposed on the turntable 2, i.e., the limiting rod 21 can rotate along with the turntable 2. In addition, through the spacing rod 21 on the carousel 2 and the spacing block 11 on the chassis 1 separation and contact, can control carousel 2 to rotate or fix for chassis 1, specifically: when the limiting rod 21 contacts the limiting block 11, the limiting block 11 generates an acting force on the limiting rod 21, the limiting rod 21 and the limiting block 11 are relatively fixed, the limiting action of the limiting block 11 on the limiting rod 21 is utilized, namely, the turntable 2 connected with the limiting rod 21 is fixed relative to the limiting block 11, and the limiting block 11 is mounted on the chassis 1, so that the turntable 2 cannot rotate relative to the chassis, namely, the turntable 2 is relatively fixed on the chassis 1.
At this time, the transporter 100 can walk and transport in a linear direction, and the stopper rod 21 and the stopper 11 contact each other, so that the linear motion mode of the transporter 100 can be kept in a locked state, and when the transporter 100 encounters an uneven road surface, the first driving wheel 3 and the second driving wheel 4 can still ensure linear motion.
When the limiting rod 21 is separated from the limiting block 11, the limiting block 11 cannot limit the action of the limiting rod 21, so that the fixed limitation between the turntable 2 and the chassis 1 is released, that is, the turntable 2 can rotate relative to the chassis 1.
alternatively, the first driving wheel 3 and the second driving wheel 4 are symmetrically arranged on the chassis 1 with respect to the left and right of the transportation vehicle 100, that is, the first driving wheel 3 and the second driving wheel 4 are mounted on the chassis 1 of the transportation vehicle 100, and the first driving wheel 3 and the second driving wheel 4 are symmetrically arranged with respect to the center line in the front-rear direction or the left-right direction as shown in fig. 1, and by the rotation of the first driving wheel 3 and the second driving wheel 4, the first driving wheel 3 and the second driving wheel 4 can drive the chassis 1 to move, so that the transportation vehicle 100 can walk.
in some examples, as shown in fig. 1, the first and second drive wheels 3 and 4 are installed on the left and right opposite sides of the carriage 100 as shown in fig. 1, and the first and second drive wheels 3 and 4 are symmetrical with respect to the left and right direction as shown in fig. 1.
in other examples, the first and second drive wheels 3 and 4 may be installed on both front and rear sides of the transporter 100 as shown in fig. 1, with the first and second drive wheels 3 and 4 being symmetrical about the front-to-rear direction as shown in fig. 1.
it should be noted that, the front-back and left-right directions described above are determined in the case where the stopper rod 21 and the stopper 11 are in contact with each other, and when the turntable is rotated, the arrangement direction of the first driving wheel 3 and the second driving wheel 4 with respect to the transporting carriage 100 is also changed accordingly.
Optionally, the first driving device 5 and the second driving device 6 are both disposed on the turntable 2, and the first driving device 5 and the second driving device 6 are respectively used for driving the first driving wheel 3 and the second driving wheel 4 to move, that is, the first driving device 5 and the second driving device 6 can be cooperatively mounted on the turntable 2, and the turntable 2 can drive the first driving device 5 and the second driving device 6 to rotate through the rotation of the turntable 2. Further, the first driving device 5 and the second driving device 6 are respectively connected with the first driving wheel 3 and the second driving wheel 4, and the first driving device 5 and the first driving wheel 3 are cooperatively installed and the second driving device 6 and the second driving wheel 4 are cooperatively installed, so that the first driving device 5 and the second driving device 6 can drive the first driving wheel 3 and the second driving wheel 4 to rotate. The first drive device 5 and the second drive device 6 may also control the rotational speed of the first driving wheel 3 and the second driving wheel 4, respectively. It is understood that the rotation speed of the first driving wheel 3 driven by the first driving device 5 and the rotation speed of the second driving wheel 4 driven by the second driving device 6 can be the same or different, in other words, the first driving device 5 drives the first driving wheel 3 to move and the second driving device 6 drives the second driving wheel 4 to move are independent and not influenced by each other.
when the rotating speeds of the first driving wheel 3 and the second driving wheel 4 are the same, the transporter 100 can be controlled to walk and transport along the preset linear direction, and when the rotating speeds of the first driving wheel 3 and the second driving wheel 4 are different, the transporter 100 can be controlled to turn when the rapid differential speed rotates. Since the first driving wheel 3 and the second driving wheel 4 are both arranged on the turntable 2, the turntable 2 can rotate relative to the chassis 1, that is, the turntable 2 can rotate in the direction of 360 ° relative to the chassis 1, so that when the first driving wheel 3 and the second driving wheel 4 are in differential operation, the whole transport vehicle 100 can be controlled to turn and advance in the direction of 360 °, that is, the transport vehicle 100 according to the embodiment of the invention can realize omnidirectional movement in the direction of 360 ° in the horizontal plane.
Further, the supporting wheels 7 are provided on the chassis 1, that is, by fitting the supporting wheels 7 on the chassis 1, the transporting vehicle 100 can be made to walk and transport more stably.
Therefore, according to the transporter 100 of the embodiment of the invention, the first driving wheel 3 and the second driving wheel 4 are arranged on the chassis 1, so that the transporter 100 can better walk and transport, the design of the chassis 1 is more simplified and effective, and the two driving wheels of the first driving wheel 3 and the second driving wheel 4 are arranged, so that the transporter 100 can be more simply controlled, and the wheel loss rate is low.
In addition, since the first driving wheel 3 and the second driving wheel 4 are both arranged on the turntable 2, the turntable 2 can rotate relative to the chassis 1, that is, the turntable 2 can rotate in the direction of 360 ° relative to the chassis 1, so that when the first driving wheel 3 and the second driving wheel 4 are in differential operation, the whole transport vehicle 100 can be controlled to turn and advance in the direction of 360 °, that is, the transport vehicle 100 according to the embodiment of the invention can realize omnidirectional movement in the direction of 360 ° in the horizontal plane.
In addition, through the separation and contact of the limiting block 11 arranged on the chassis 1 and the limiting column arranged on the turntable 2, the turntable 2 and the chassis 1 can be controlled to be switched between a relative rotation state and a relative fixing state, and therefore the transport vehicle 100 can be controlled to be switched between an omnidirectional motion mode and a linear motion mode. And when moving in a straight line, because the limiting rod 21 and the limiting block 11 contact each other, the straight line movement mode of the transporter 100 can be locked without being disturbed by the outside.
In some embodiments of the present invention, as shown in fig. 1-2, the stopper 11 includes: first stopper 111 and second stopper 112, first stopper 111 and second stopper 112 are arranged along the fore-and-aft direction of transport vechicle 100 at intervals, that is to say, first stopper 111 and second stopper 112 can set up on the fore-and-aft direction as shown in fig. 1, namely the position line that sets up first stopper 111 and second stopper 112 is mutually perpendicular with setting up two drive wheel lines, further, first stopper 111 and second stopper 112 set up respectively in the both sides of first drive wheel 3 and second drive wheel 4 axis, and first stopper 111 and second stopper 112 set up separately at a certain distance apart, set up at the both sides of drive wheel at interval through first stopper 111 and second stopper 112, can make stopper 11 carousel 2 carry on spacingly well.
The limiting rod 21 comprises a first limiting rod 211 and a second limiting rod 212, the first limiting rod 211 and the second limiting rod 212 are arranged at intervals in the front-back direction, the first limiting rod 211 is suitable for being in contact with and separated from the first limiting block 111, and the second limiting rod 212 is suitable for being in contact with and separated from the second limiting block 112, that is, the limiting rod 21 is arranged in cooperation with the limiting block 11. The first limiting rod 211 and the second limiting rod 212 are arranged at intervals along the front-back direction shown in fig. 1, the axes of the first limiting rod 211 and the second limiting rod 212 are perpendicular to the rotation axes of the first driving wheel 3 and the second driving wheel 4, it can be understood that the first limiting rod 211 is arranged in cooperation with the first limiting block 111, the second limiting rod 212 is arranged in cooperation with the second limiting block 112, and the first limiting rod 211 is arranged in cooperation with the first limiting block 111, and the second limiting rod 212 is arranged in cooperation with the second limiting block 112, so that the first limiting rod 211 can be in contact with and separated from the first limiting block 111 and the second limiting rod 212 can be in contact with and separated from the second limiting block 112, thereby controlling the rotation of the turntable 2 and further realizing the switching of the motion modes of the transport vehicle 100.
Alternatively, the surfaces of the first stopper 111 and the first stopper rod 211 facing each other are respectively formed with a first stopper surface 1111 and a first stopper groove 2111, the first stopper surface 1111 and the first stopper groove 2111 are engaged with each other to restrict the rotation of the turntable 2, the surfaces of the second stopper 112 and the second stopper rod 212 facing each other are respectively formed with a second stopper surface 1121 and a second stopper groove 2121, and the second stopper surface 1121 and the second stopper groove 2121 are engaged with each other to restrict the rotation of the turntable 2.
That is to say, the surface of the first limiting block 111 is provided with a first limiting surface 1111, and the surface of the second limiting block 112 is provided with a second limiting surface 1121; correspondingly, the first limiting rod 211 is provided with a first limiting groove 2111, and the second limiting rod 212 is provided with a second limiting groove 2121. When the first limiting block 111 contacts with the first limiting rod 211, the first limiting surface 1111 and the first limiting groove 2111 are matched with each other, so that the rotation of the turntable 2 can be limited; when the second stopper 112 and the second stopper rod 212 are in a contact state, the second stopper surface 1121 and the second stopper groove 2121 are engaged with each other, so as to restrict the rotation of the turntable 2.
When the first limit block 111 and the first limit rod 211 are in a disengaged state, the first limit surface 1111 and the first limit groove 2111 are in a disengaged state; when the second stopper 112 and the second stopper rod 212 are in the disengaged state, the second stopper surface 1121 and the second stopper groove 2121 are separated from each other, so that the turntable 2 can rotate in any direction.
it can be understood that the surfaces of the first stopper 111 and the second stopper 112 may also be the first stopper groove 2111 and the second stopper groove 2121, respectively, and the surfaces of the first stopper rod 211 and the second stopper rod 212, which are matched with the first stopper 111 and the second stopper 112, are the first stopper surface 1111 and the second stopper surface 1121, respectively, and the stopper function may also be achieved by the contact between the first stopper groove 2111 and the first stopper surface 1111, or between the second stopper groove 2121 and the second stopper surface 1121. The distribution that the appearance surfaces of the limiting block 11 and the limiting rod 21 are limiting grooves or limiting surfaces is not limited, the rotation of the turntable 2 can be limited when the limiting block 11 is contacted with the limiting rod 21, and the turntable 2 can rotate towards any direction when the limiting block 11 is separated from the limiting rod 21.
further, the first limit groove 2111 is formed as a V-shaped groove, and a notch of the first limit groove 2111 is opened toward the front side, the first limit surface 1111 is formed as a V-shaped surface, and a sharp corner of the first limit surface 1111 is disposed toward the first limit groove 2111. The second limiting groove 2121 is formed as a V-shaped groove, a notch of the second limiting groove 2121 opens toward the front side, the second limiting surface 1121 is formed as a V-shaped surface, and a sharp corner of the second limiting surface 1121 is disposed toward the second limiting groove 2121.
That is to say, the horizontal projection of the first limiting groove 2111 may be a V-shaped groove, the opening of the V-shaped groove is open to the front side as shown in fig. 1, that is, the opening of the V-shaped groove faces the first limiting surface 1111, while the horizontal projection of the first limiting surface 1111 matched with the first limiting groove 2111 is also set to be V-shaped, and the tip portion of the V-shaped surface of the first limiting surface 1111 needs to be set toward the V-shaped groove of the first limiting groove 2111, and the V-shaped groove of the first limiting groove 2111 is in contact fit with the V-shaped surface of the first limiting surface 1111, so that the rotation of the turntable 2 can be better controlled; similarly, the horizontal projection of the second limiting groove 2121 may be a V-shaped groove, an opening of the V-shaped groove is open to the rear side as shown in fig. 1, that is, the opening of the V-shaped groove faces the second limiting surface 1121, the horizontal projection of the second limiting surface 1121 is a V-shaped groove, a tip portion of the V-shaped surface of the second limiting surface 1121 faces the V-shaped groove of the second limiting groove 2121, and the V-shaped groove of the second limiting groove 2121 and the V-shaped surface of the second limiting surface 1121 may be in contact fit, so that the rotation of the turntable 2 may be better controlled.
of course, it can be understood that the first limiting groove 2111 may also have a concave shape, the first limiting surface 1111 may have a convex shape, the opening of the groove of the first limiting groove 2111 is disposed toward the first limiting surface 1111, and the groove of the first limiting groove 2111 is in contact and fit with the convex portion of the first limiting surface 1111, so that the direction of the turntable 2 can be controlled.
in a specific embodiment, the transportation vehicle may further include an electric push rod, one end of the electric push rod is connected to the first limiting rod 211, and the other end of the electric push rod is connected to the second limiting rod 212, so as to control the movement of the first limiting rod 211 and the second limiting rod 212 connected to the electric push rod through the telescopic function of the electric push rod.
when the electric push rod contracts, the first limiting rod 211 and the second limiting rod 212 in the limiting rod 21 are both in a retraction state, and the state is recorded as the state that the limiting rod 21 is at the first position, namely the state shown in fig. 1, then the first limiting groove 2111 and the second limiting groove 2121 are respectively in a separation state with the first limiting surface 1111 and the second limiting surface 1121, and at this time, the rotating disc 2 can rotate without being limited; when the electric push rod extends out, the first limiting rod 211 and the second limiting rod 212 in the driving limiting rod 21 of the electric push rod respectively move towards the first limiting block 111 and the second limiting block 112 and are contacted with each other in response, and the state is recorded as that the limiting rod 21 is at the second position, which is the state shown in fig. 2, when the first limiting rod 211 and the second limiting rod 212 respectively move towards the first limiting block 111 and the second limiting block 112, the first limiting groove 2111 and the second limiting groove 2121 are respectively contacted and matched with the first limiting surface 1111 and the second limiting surface 1121, and the first limiting groove 2111 and the second limiting groove 2121 are respectively contacted with the first limiting surface 1111 and the second limiting surface 1121, so that the turntable 2 cannot rotate, the turntable 2 and the chassis 1 are relatively fixed, and the transport vehicle 100 can be better transported along the linear traveling direction.
In some embodiments of the present invention, the first driving device 5 is a first electric motor 51, the second driving device 6 is a second electric motor 61, and the first electric motor 51 and the second electric motor 61 can drive the first driving wheel 3 and the second driving wheel 4 to rotate at the same speed and at different speeds, respectively.
from this, drive first drive wheel 3 and second motor 61 drive second drive wheel 4 through first motor 51, can make the fine rotation of first drive wheel 3 and second drive wheel 4 to make first drive wheel 3 and second drive wheel 4 drive chassis 1 remove, and then drive transport vechicle 100 walking, transport through two drive wheel drive transport vechicles 100, make chassis 1 design simplify more effectively.
In one embodiment, the first motor 51 and the second motor 61 respectively drive the first driving wheel 3 and the second driving wheel 4 to rotate at the same speed, that is, the first driving wheel 3 and the second driving wheel 4 rotate at the same speed, and the transportation vehicle 100 can walk in one direction through the rotation of the first driving wheel 3 and the second driving wheel 4 at the same speed, so that the transportation is faster and more stable.
In another embodiment, first motor 51 and second motor 61 respectively drive first driving wheel 3 and second driving wheel 4 to rotate at different speeds, that is, the first driving wheel 3 and second driving wheel 4 rotate at different speeds, when the rotating speed of first driving wheel 3 is lower than the rotating speed of second driving wheel 4, transport vehicle 100 is supported by first driving wheel 3, and second driving wheel 4 is a moving part, so that transport vehicle 100 deflects to the direction in which first driving wheel 3 is located, and the deflection depends on the speed difference between first driving wheel 3 and second driving wheel 4 and the time length of the deflection; similarly, when the rotational speed of first drive wheel 3 is higher than the rotational speed of second drive wheel 4, transport vechicle 100 can use second drive wheel 4 to support for relative, and first drive wheel 3 is the moving point for the deflection takes place for transport vechicle 100 to the direction that second drive wheel 4 was located, and differential rotation through first drive wheel 3 and second drive wheel 4 can make transport vechicle 100 carry out omnidirectional movement, and simple structure, and the practicality is strong.
in some embodiments of the present invention, the transportation vehicle 100 further includes a damping device 8, the damping device 8 is disposed between the first driving wheel 3 and the turntable 2, and the damping device 8 is further disposed between the second driving wheel 4 and the turntable 2, that is, by disposing the damping device 8 on the transportation vehicle 100, the influence of the vibration of the transportation vehicle 100 on the load during the walking process can be reduced. Alternatively, two damping devices 8 of the transportation vehicle 100 may be provided, which are respectively denoted as a first damping device 8 and a second damping device 8, the first damping device 8 may be disposed between the first driving wheel 3 and the turntable 2, the second damping device 8 may be disposed between the second driving wheel 4 and the turntable 2, and the first damping device 8 and the second damping device 8 are respectively disposed between the first driving wheel 3 and the turntable 2 and between the second driving wheel 4 and the turntable 2, so as to reduce the influence of the vibration of the first driving wheel 3 and the second driving wheel 4 on the turntable 2, thereby enabling the loaded object to be transported more stably.
Optionally, as shown in fig. 1 and 2, the transportation vehicle 100 further includes: first mounting plate 9, second mounting plate 10, first drive wheel support 12 and second drive wheel support 13, first mounting plate 9 and second mounting plate 10 all locate on carousel 2, and first drive wheel 3 and second drive wheel 4 link to each other with first drive wheel support 12 and second drive wheel support 13 respectively. So that the first driving wheel 3 and the second driving wheel 4 can be well and stably arranged on the turntable 2.
In some embodiments of the present invention, as shown in fig. 3, the damping device 8 includes four damping springs 81 and four dampers 82, the four damping springs 81 are respectively disposed between the first bracket plate 9 and the first driving wheel bracket 12, between the second bracket plate 10 and the first driving wheel bracket 12, between the first bracket plate 9 and the second driving wheel bracket 13, and between the second bracket plate 10 and the second driving wheel bracket 13, and the dampers 82 include two dampers and are respectively connected between the first bracket plate 9 and the first driving wheel bracket 12, and between the second bracket plate 10 and the second driving wheel bracket 13.
In one embodiment, four damping springs 81 may be labeled as a first damping spring 811, a second damping spring 812, a third damping spring 813, and a fourth damping spring 814, one end of the first damping spring 811 is connected to the first support plate 9, the other end of the first damping spring 811 is connected to the first driving wheel support 12, one end of the second damping spring 812 is connected to the first support plate 9, and the other end of the second damping spring 812 is connected to the second driving wheel support 13, and the first driving wheel support 12 is uniformly connected through the first damping spring 811 and the second damping spring 812, so that the influence of the vibration of the first driving wheel 3 on the turntable 2 can be reduced. Further, one end of a third damping spring 813 is connected to the second support plate 10, the other end of the third damping spring 813 is connected to the second driving wheel support 13, one end of a fourth damping spring 814 is connected to the second support plate 10, the other end of the fourth damping spring 814 is connected to the first driving wheel support 12, and the third damping spring 813 and the fourth damping spring 814 are connected to the second driving wheel support 13, so that the influence of the vibration of the second driving wheel 4 on the turntable 2 can be reduced.
The dampers 82 in the transportation vehicle 100 may be provided with two dampers, which are respectively referred to as a first damper 821 and a second damper 822, one end of the first damper 821 may be connected to the first frame plate 9, and the other end of the first frame plate 9 may be connected to the first driving wheel support 12, then one end of the second damper 822 may be connected to the second frame plate 10, and the other end of the second frame plate 10 may be connected to the second driving wheel support 13, of course, it is understood that one end of the first damper 821 may be connected to the first frame plate 9, and the other end of the first frame plate 9 may also be connected to the second driving wheel support 13. Similarly, one end of the second damper 822 is connected to the second supporting plate 10, and the other end of the second supporting plate 10 may also be connected to the first driving wheel support 12, so that the first damper 821 and the second damper 822 are respectively disposed in the front-back direction of the transporter 100 as shown in fig. 1, and the transporter 100 can stably travel by the arrangement of the first damper 821 and the second damper 822 on the transporter 100.
Therefore, the four damping springs 81 and the two dampers 82 are matched with the first support plate 9, the second support plate 10, the first driving wheel support 12 and the second driving wheel support 13, so that the influence of the vibration of the first driving wheel 3 and the second driving wheel 4 on the turntable 2 can be reduced, the influence on the load on the chassis 1 is reduced, and the load can be stably transported to a designated place.
In some embodiments of the present invention, the supporting wheels 7 include a plurality of supporting wheels 7, the plurality of supporting wheels 7 are spaced apart from each other on the chassis 1, wherein a line connecting the rotation centers of the plurality of supporting wheels 7 is rectangular, and the first driving wheel 3, the second driving wheel 4, the first driving device 5, and the second driving device 6 are all located inside the rectangular line, that is, the plurality of supporting wheels 7 can be disposed on the chassis 1 of the transportation vehicle 100, and the transportation vehicle 100 can stably run without toppling over by disposing the plurality of supporting wheels 7 on the chassis 1, the supporting wheels 7 can be assembled at four corners of the chassis 1, that is, at least one supporting wheel 7 is disposed at each of the four corners of the chassis 1, so that the line connecting the four supporting wheels 7 is rectangular, the chassis 1 can be better supported by disposing the supporting wheels 7 uniformly at the four corners of the chassis 1, and the chassis 1 can be driven by the supporting wheels 7, thereby allowing for better transport of transporter 100.
it will be appreciated that support wheels 7 may also be provided on the side edges of the chassis 1, the configuration of the support wheels 7 being such that it may be arranged according to the work requirements, and the number of support wheels 7 is not limited herein.
First drive wheel 3 and first drive arrangement 5 cooperation installation, second drive wheel 4 and second drive arrangement 6 cooperation installation, first drive wheel 3 and second drive wheel 4 respectively with first drive arrangement 5 and second drive arrangement 6 installation cooperation back, can locate first drive wheel 3, second drive wheel 4, first drive arrangement 5 and second drive arrangement 6 inside the line of supporting wheel 7, through locating first drive wheel 3, second drive wheel 4, inside the line of supporting wheel 7 first drive arrangement 5 and second drive arrangement 6, not only can make two drive wheels more convenient when omnidirectional rotation, also can make drive wheel and drive arrangement can not hit by other objects in the walking process, thereby protection drive wheel and drive arrangement.
In some embodiments of the present invention, the supporting wheels 7 are universal wheels, and since the two driving wheels of the transportation vehicle 100 can perform omni-directional steering through differential rotation, and then the transportation vehicle 100 travels, that is, the transportation vehicle 100 cannot be divided into front, rear, left, and right, the supporting wheels are universal wheels, so that the universal wheels are flexible and convenient, the supporting wheels 7 can be better matched with the driving wheels, and then the transportation vehicle 100 can perform omni-directional rotation.
in the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A transportation vehicle, comprising:
The chassis is provided with a limiting block;
The turntable is rotatably arranged on the chassis, a limiting rod capable of contacting and separating from the limiting block is arranged on the turntable, the turntable is fixed relative to the chassis when the limiting rod contacts with the limiting block, and the turntable can rotate relative to the chassis when the limiting rod separates from the limiting block;
A first drive wheel and a second drive wheel, the first drive wheel and the second drive wheel being arranged on the chassis in bilateral symmetry with respect to the transporter;
the first driving device and the second driving device are arranged on the turntable and are respectively used for driving the first driving wheel and the second driving wheel to act;
and the supporting wheels are arranged on the chassis.
2. Transport vehicle according to claim 1,
The stopper includes: the first limiting block and the second limiting block are arranged at intervals along the front-rear direction of the transport vehicle;
The gag lever post includes: the first limiting rod and the second limiting rod are arranged at intervals in the front-back direction, the first limiting rod is suitable for being in contact with and separated from the first limiting block, and the second limiting rod is suitable for being in contact with and separated from the second limiting block.
3. the transportation vehicle of claim 2, wherein the surfaces of the first limit block and the first limit rod opposite to each other are respectively formed with a first limit surface and a first limit groove, and the first limit surface and the first limit groove are matched with each other to limit the rotation of the turntable;
The surfaces, opposite to each other, of the second limiting block and the second limiting rod are respectively provided with a second limiting surface and a second limiting groove, and the second limiting surface and the second limiting groove are matched with each other to limit the rotation of the rotary table.
4. The transportation vehicle according to claim 3, wherein the first stopper groove is formed as a V-shaped groove, and a notch of the first stopper groove opens toward a front side, the first stopper surface is formed as a V-shaped surface, and a sharp corner of the first stopper surface is disposed toward the first stopper groove;
The second limiting groove is formed into a V-shaped groove, the notch of the second limiting groove is opened towards the front side, the second limiting surface is formed into a V-shaped surface, and the sharp corner of the second limiting surface is configured towards the second limiting groove.
5. the transporter according to claim 1, wherein the first drive device is a first electric motor, the second drive device is a second electric motor, and the first electric motor and the second electric motor can drive the first driving wheel and the second driving wheel to rotate at the same speed and at different speeds, respectively.
6. The transporter according to claim 1, further comprising a shock absorber disposed between the first drive wheel and the turntable, the shock absorber further disposed between the second drive wheel and the turntable.
7. The transporter according to claim 6, further comprising:
the first support plate and the second support plate are arranged on the rotary table;
The first driving wheel support and the second driving wheel support are respectively connected with the first driving wheel support and the second driving wheel support.
8. Carriage as claimed in claim 6, characterized in that the damping means comprise:
the damping springs comprise four damping springs and are respectively arranged between the first support plate and the first driving wheel support, between the second support plate and the first driving wheel support, between the first support plate and the second driving wheel support and between the second support plate and the second driving wheel support;
the damper comprises two dampers, wherein the two dampers are respectively connected between the first support plate and the first driving wheel support and between the second support plate and the second driving wheel support.
9. the transportation vehicle of claim 1, wherein the supporting wheels comprise a plurality of supporting wheels, the supporting wheels are spaced apart from each other on the chassis, a line connecting centers of rotation of the supporting wheels is rectangular, and the first driving wheel, the second driving wheel, the first driving device and the second driving device are all located inside the rectangular line.
10. The transporter according to claim 1, wherein the support wheels are universal wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910740658.9A CN110562349A (en) | 2019-08-12 | 2019-08-12 | Transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910740658.9A CN110562349A (en) | 2019-08-12 | 2019-08-12 | Transport vehicle |
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| Publication Number | Publication Date |
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| CN110562349A true CN110562349A (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910740658.9A Pending CN110562349A (en) | 2019-08-12 | 2019-08-12 | Transport vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604157A (en) * | 2020-12-08 | 2022-06-10 | 广东博智林机器人有限公司 | Material transportation equipment |
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