CN110758597A - Guide vehicle chassis, guide vehicle and ceramic tile paving and pasting robot - Google Patents
Guide vehicle chassis, guide vehicle and ceramic tile paving and pasting robot Download PDFInfo
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- CN110758597A CN110758597A CN201911226800.4A CN201911226800A CN110758597A CN 110758597 A CN110758597 A CN 110758597A CN 201911226800 A CN201911226800 A CN 201911226800A CN 110758597 A CN110758597 A CN 110758597A
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- chassis
- connecting plate
- rotating shaft
- chassis body
- wheel
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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
- B62D63/04—Component parts or accessories
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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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
Abstract
The invention discloses a chassis of a guide vehicle, the guide vehicle and a ceramic tile paving robot. The chassis of the guided vehicle of the present invention comprises: a chassis body; the wheel connecting plate is rotatably arranged at the bottom of the chassis body and can rotate around a first axis, and the first axis extends along the front-back direction of the chassis body; and the wheel assembly is arranged at the bottom of the wheel connecting plate. According to the guiding vehicle chassis, the guiding vehicle and the ceramic tile paving and pasting robot, the wheel connecting plate is designed to be arranged at the bottom of the chassis body in a rotating mode, and can rotate around the first axis extending along the front-back direction of the chassis body, so that when a pit or an obstacle is encountered in the moving process, the wheel connecting plate can drive the wheel assembly located at the bottom of the wheel connecting plate to rotate around the first axis together, the unevenness degree of the ground is adapted, the wheel assembly is guaranteed to be in contact with the ground all the time, the adaptability of the guiding vehicle chassis to the unevenness ground is greatly improved, and the obstacle crossing capability of the guiding vehicle chassis is enhanced.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a guide vehicle chassis, a guide vehicle and a ceramic tile paving robot.
Background
Need carry out the shop of wall ceramic tile to the wall after building blank room is accomplished, because blank room site environment is relatively poor, the ground unevenness, and unevenness ground can influence the normal walking of AGV dolly, leads to the AGV dolly to appear automobile body slope easily, the phenomenon that the wheel skidded, has the danger of toppling of jolting. Therefore, it is highly desirable to enhance the obstacle crossing capability of the AGV so that the AGV can better adapt to uneven ground of the blank room.
Disclosure of Invention
One purpose of the invention is to provide a chassis of a guiding vehicle, which can better adapt to uneven ground and enhance obstacle crossing capability.
Another object of the present invention is to provide a guiding vehicle comprising the above-mentioned guiding vehicle chassis.
A further object of the present invention is to propose a tile laying robot comprising the above-mentioned guide carriage.
To achieve the purpose, on one hand, the invention adopts the following technical scheme:
a guided vehicle chassis, comprising:
a chassis body;
the wheel connecting plate is rotatably arranged at the bottom of the chassis body and can rotate around a first axis, and the first axis extends along the front-back direction of the chassis body; and the number of the first and second groups,
and the wheel assembly is arranged at the bottom of the wheel connecting plate.
In some embodiments, the wheel connecting plate comprises a front wheel connecting plate and a rear wheel connecting plate, the wheel assembly comprises a front wheel assembly and a rear wheel assembly, the front wheel assembly is arranged at the bottom of the front wheel connecting plate, and the rear wheel assembly is arranged at the bottom of the rear wheel connecting plate.
In some embodiments, the guided vehicle chassis further comprises:
the rotating shaft base is connected to the wheel connecting plate;
the bearing block is connected with the chassis body, and a bearing is arranged on the bearing block; and the number of the first and second groups,
the rotating shaft penetrates through the rotating shaft base and is fixedly connected with the rotating shaft base, two ends of the rotating shaft are respectively arranged in the bearings on the two bearing blocks, the wheel connecting plate can rotate around the central axis of the rotating shaft, and the central axis of the rotating shaft coincides with the first axis.
In some embodiments, the chassis of the guided vehicle further includes a rotating shaft stopper, a C-shaped groove for the rotating shaft to penetrate through is formed at the top of the rotating shaft base, and the rotating shaft stopper is detachably connected to an opening of the C-shaped groove.
In some embodiments, a stopping piece is arranged on one side, facing the chassis body, of the wheel connecting plate, and the distance between the top of the stopping piece and the bottom surface of the chassis body is adjustable.
In some embodiments, the guided vehicle chassis further comprises a support mechanism disposed at a bottom of the chassis body, the support mechanism comprising:
the linear driving piece is connected to the bottom of the chassis body; and the number of the first and second groups,
the supporting plate is connected to the output end of the linear driving piece, and the output end of the linear driving piece can drive the supporting plate to do telescopic motion along the direction perpendicular to the bottom surface of the chassis body.
In some embodiments, the guided vehicle chassis further comprises a shock absorbing spring having one end connected to one of the wheel connecting plate and the chassis body and the other end abutting or connected to the other of the wheel connecting plate and the chassis body.
In some embodiments, the guided vehicle chassis further comprises:
one end of the guide post is connected with the wheel connecting plate, and the damping spring is sleeved on the guide post; and the number of the first and second groups,
and the top block is connected to the other end of the damping spring and is abutted or connected with one of the wheel connecting plate and the chassis body.
On the other hand, the invention adopts the following technical scheme:
the guiding vehicle comprises a mounting plate and the guiding vehicle chassis, wherein the mounting plate is connected to the top of the chassis body of the guiding vehicle chassis.
In another aspect, the invention adopts the following technical scheme:
a tile laying robot, comprising:
the above-described guide vehicle; and the number of the first and second groups,
the ceramic tile gluing and paving mechanism is used for paving the ceramic tiles on the wall surface after the ceramic tile glue is coated on the ceramic tiles, and the ceramic tile gluing and paving mechanism is arranged on the mounting plate of the guide vehicle.
The invention has at least the following beneficial effects:
according to the guiding vehicle chassis, the wheel connecting plate is designed to be arranged at the bottom of the chassis body in a rotating mode, and the wheel connecting plate can rotate around the first axis extending along the front-back direction of the chassis body, so that when a pit or an obstacle is encountered in the moving process, the wheel connecting plate can drive the wheel assembly positioned at the bottom of the wheel connecting plate to rotate around the first axis together, the wheel assembly is adapted to the unevenness degree of the ground, the wheel assembly is guaranteed to be in contact with the ground all the time, the adaptability of the guiding vehicle chassis to the unevenness ground is greatly improved, and the obstacle crossing capability of the guiding vehicle chassis is enhanced.
The guide vehicle comprises the guide vehicle chassis, and the ceramic tile paving robot comprises the guide vehicle, so that the ceramic tile paving robot can adapt to unevenness of the ground and enhance obstacle crossing capability.
Drawings
Fig. 1 is a schematic structural diagram of a chassis of a guiding vehicle according to an embodiment of the present invention;
fig. 2 is a top view of the guiding vehicle chassis shown in fig. 1;
FIG. 3 is a schematic structural view of a front wheel connecting plate according to an embodiment of the present invention;
FIG. 4 is a partial schematic structural view of a front wheel attachment plate according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a rear wheel connecting plate according to an embodiment of the present invention;
FIG. 6 is a partial schematic structural view of a rear wheel connecting plate according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a tile laying robot according to an embodiment of the present invention;
FIG. 8 is a schematic view of another angle of the tile laying robot of FIG. 7;
the reference numbers illustrate:
the device comprises a chassis body 101, a mounting plate 102, a steering wheel 103, a supporting mechanism 104, universal wheels 105, a rear wheel connecting plate 106, a laser radar 107, a laser radar connecting flange 108, a front wheel connecting plate 109, a rear wheel rotating shaft 110, a front wheel rotating shaft 111, a rotating shaft stop block 112, a stop part 113, a damping spring 114, a guide column 115, a bearing seat 116, a bearing 117, a rotating shaft base 118, a top block 119, a tile glue nozzle 201, a tile glue output pipe 202, a screw pump motor 203, a screw pump 204, a nozzle support 205, an air compressor 206, tiles 207, a support 208, a tile glue barrel 209, a six-degree-of-freedom mechanical arm 210, a suction cup switching flange 211 and a suction cup 212.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
The embodiment provides a chassis of a guiding vehicle, as shown in fig. 1 and 2, the chassis of the guiding vehicle comprises a chassis body 101, a wheel connecting plate and a wheel assembly, wherein the wheel assembly is arranged at the bottom of the wheel connecting plate; the wheel attachment plate is rotatably provided at the bottom of the chassis body 101, and the wheel attachment plate is rotatable about a first axis (i.e., an AB axis shown in fig. 2) extending in the front-rear direction of the chassis body 101.
Above-mentioned guide vehicle chassis rotates through the wheel connecting plate of design and sets up in the bottom of chassis body 101, and the wheel connecting plate can rotate around the first axis that extends along chassis body 101's fore-and-aft direction, thereby when moving in-process and running into pit or barrier, the wheel connecting plate can take the wheel subassembly that is located its bottom to rotate around first axis together, in order to adapt to the unevenness degree on ground, guarantee wheel subassembly and ground contact all the time, the adaptability of guide vehicle chassis to unevenness ground has been improved greatly, it hinders the ability more to have strengthened it.
Optionally, as shown in fig. 1, the wheel assembly includes two steering wheels 103 and two universal wheels 105, wherein the steering wheel 103 is a walking wheel capable of actively steering and walking, the universal wheel 105 is a walking wheel capable of following and steering, the two steering wheels 103 are arranged diagonally, and the two universal wheels 105 are arranged diagonally, that is, a connection line of the two steering wheels 103 intersects a connection line of the two universal wheels 105, so that the steering operation of the chassis of the guided vehicle can be completed through the steering of the two steering wheels 103, and the guided vehicle on which the chassis of the guided vehicle is mounted can complete the operation in a narrower space, and has high flexibility. In particular, the two steering wheels 103 and the two universal wheels 105 may be distributed in a rectangular or isosceles trapezoid shape. It should be understood that in other embodiments, the wheel assembly may be other types of wheel combinations as long as the walking function is satisfied.
As shown in fig. 1 to 6, in some embodiments, the chassis of the guided vehicle further includes a rotating shaft, a rotating shaft base 118 and a bearing seat 116, the bearing seat 116 is connected to the chassis body 101, and a bearing 117 is disposed on the bearing seat 116; the rotating shaft base 118 is connected to the wheel connecting plate, the rotating shaft penetrates through the rotating shaft base 118 and is fixedly connected with the rotating shaft base 118, two ends of the rotating shaft are respectively arranged in the bearings 117 on the two bearing seats 116, the wheel connecting plate can rotate around the central axis of the rotating shaft, and the central axis of the rotating shaft coincides with the first axis.
In some embodiments, the chassis of the guided vehicle further includes a rotation shaft stopper 112, a C-shaped groove for the rotation shaft to penetrate is formed at the top of the rotation shaft base 118, and the rotation shaft stopper 112 is detachably connected to the opening of the C-shaped groove to prevent the rotation shaft from coming out of the C-shaped groove of the rotation shaft base 118, and facilitate the installation operation of the rotation shaft and the rotation shaft base 118. During specific installation, the rotating shaft penetrates into the C-shaped groove of the rotating shaft base 118, two ends of the rotating shaft extend out of the rotating shaft base 118, and then the rotating shaft stopper 112 is connected to the opening of the C-shaped groove of the rotating shaft base 118.
In some embodiments, a stop member 113 is disposed on a side of the wheel connecting plate facing the chassis body 101, and a distance between a top of the stop member 113 and a bottom surface of the chassis body 101 is adjustable. The rotation amplitude of the wheel assembly driven by the wheel connecting plate around the first axis can be adjusted by adjusting the distance between the top of the stop member 113 and the bottom surface of the chassis body 101, so that the adaptability of the guided vehicle to uneven ground is greatly improved.
In some embodiments, a threaded hole is formed in the wheel connecting plate, one end of the stop member 113 is inserted into the threaded hole and is in threaded fit with the threaded hole, and the distance between the top of the stop member 113 and the bottom surface of the chassis body 101 can be adjusted by adjusting the insertion depth of the stop member 113 in the threaded hole in the wheel connecting plate. Alternatively, the stop 113 may be a bolt or a screw.
In other embodiments, the chassis of the guided vehicle may also include a plurality of stop members 113 with different lengths, the stop members 113 may be detachably disposed on the wheel connecting plate, and the adjustment of the distance between the top of the stop members 113 and the bottom surface of the chassis body 101 may also be achieved by replacing the stop members 113 with different lengths.
In some embodiments, the guided vehicle chassis further comprises a shock absorbing spring 114, one end of the shock absorbing spring 114 being connected to one of the wheel connecting plate and the chassis body 101, and the other end abutting or being connected to the other of the wheel connecting plate and the chassis body 101. The wheel connecting plate is in supporting connection with the chassis body 101 through the damping spring 114, so that the impact of an operating mechanism arranged on the chassis body 101 on a wheel assembly is relieved, and the structure of the wheel assembly is not easy to deform or damage; meanwhile, the damping spring 114 realizes flexible connection, so that the vibration of the joint is reduced, the looseness and deformation are less prone to occurring, and the service life of the chassis of the guiding vehicle is prolonged
In some embodiments, the guideway chassis also includes a guideway column 115 and a top block 119. The guide column 115 is used for guiding the telescopic motion of the damping spring 114, one end of the guide column 115 is connected with the wheel connecting plate, and the damping spring 114 is sleeved on the guide column 115; the top block 119 is connected to the above-mentioned other end of the shock-absorbing spring 114, and abuts against or is connected to one of the wheel connecting plate and the chassis body 101.
As shown in fig. 1, 3-6, in some embodiments, the wheel connecting plate includes a front wheel connecting plate 109 and a rear wheel connecting plate 106, the wheel assembly is divided into a front wheel assembly and a rear wheel assembly, the front wheel assembly is disposed at the bottom of the front wheel connecting plate 109, and the rear wheel assembly is disposed at the bottom of the rear wheel connecting plate 106. When the guiding vehicle encounters a pit or an obstacle in the moving process, the front wheel connecting plate 109 can drive the front wheel assembly at the bottom of the guiding vehicle to rotate around the first axis, and the rear wheel connecting plate 106 can drive the rear wheel assembly at the bottom of the guiding vehicle to rotate around the first axis so as to adapt to the unevenness of the ground, so that the front wheel assembly and the rear wheel assembly are always ensured to be respectively contacted with the ground and better adapt to the unevenness of the ground.
Optionally, the front wheel assembly comprises a steering wheel 103 and a universal wheel 105, the rear wheel assembly comprises a steering wheel 103 and a universal wheel 105, the steering wheel 103 of the front wheel assembly is arranged diagonally to the steering wheel 103 of the rear wheel assembly, and the universal wheel 105 of the front wheel assembly is arranged diagonally to the universal wheel 105 of the rear wheel assembly.
On the basis of the structures of the front wheel connecting plate 109 and the rear wheel connecting plate 106, the rotating shaft comprises a front wheel rotating shaft 111 and a rear wheel rotating shaft 110, the front wheel connecting plate 109 and the rear wheel connecting plate 106 are respectively provided with a rotating shaft base 118, the front wheel connecting plate 109 is rotatably connected with the chassis body 101 through the front wheel rotating shaft 111, and the rear wheel connecting plate 106 is rotatably connected with the chassis body 101 through the rear wheel rotating shaft 110.
Specifically, as shown in fig. 3 and 4, the front wheel rotating shaft 111 is fixed on the front wheel connecting plate 109 through two rotating shaft bases 118, two bearing seats 116 are respectively fixed on the chassis body 101, angular contact ball bearings 117 are respectively installed inside the two bearing seats 116, and two ends of the front wheel rotating shaft 111 are respectively installed in the two angular contact ball bearings 117; two sides of the front wheel connecting plate 109 are respectively provided with a guide post 115, each guide post 115 is respectively sleeved with a damping spring 114, the tops of the two damping springs 114 are respectively connected with a top block 119, and the two top blocks 119 are fixedly connected to the chassis body 101; two stop members 113 are mounted on the front wheel connecting plate 109, the stop members 113 are fixed on the front wheel connecting plate 109 through threaded connection, and the rotation amplitude of the steering wheel 103 and the universal wheel 105 carried by the front wheel connecting plate 109 around the axial direction of the front wheel rotating shaft 111 can be adjusted by adjusting the distance between the top of the stop members 113 and the bottom surface of the chassis body 101.
As shown in fig. 5 and fig. 6, similarly, the rear wheel rotating shaft 110 is fixed on the rear wheel connecting plate 106 through two rotating shaft bases 118, two bearing seats 116 are respectively fixed on the chassis body 101, angular contact ball bearings 117 are respectively installed inside the two bearing seats 116, and two ends of the rear wheel rotating shaft 110 are respectively installed in the two angular contact ball bearings 117; two sides of the rear wheel connecting plate 106 are respectively provided with a guide post 115, each guide post 115 is respectively sleeved with a damping spring 114, the tops of the two damping springs 114 are respectively connected with a top block 119, and the two top blocks 119 are connected to the chassis body 101; two stop members 113 are mounted on the rear wheel connecting plate 106, the stop members 113 are fixed on the rear wheel connecting plate 106 through threaded connection, and the amplitude of rotation of the rear wheel connecting plate 106 with the steering wheel 103 and the universal wheel 105 around the axis direction of the rear wheel rotating shaft 110 can be adjusted by adjusting the distance between the top of the stop members 113 and the bottom surface of the chassis body 101.
As shown in fig. 1, the guiding vehicle chassis further includes a supporting mechanism 104, the supporting mechanism 104 is disposed at the bottom of the chassis body 101, and the supporting mechanism 104 can be extended and retracted to support on the ground or lift off the ground. When the operation mechanism arranged on the chassis of the guide vehicle operates, the support mechanism 104 extends out to support the ground, so that the stability of the operation mechanism can be greatly improved, the shaking of the whole equipment during the operation of the operation mechanism is greatly reduced, and the operation precision is improved; when the guiding vehicle chassis travels, the supporting mechanism 104 can be retracted to lift off the ground, so that the normal movement of the guiding vehicle chassis is ensured.
In some embodiments, the supporting mechanism 104 includes a linear driving member and a supporting plate, the linear driving member is connected to the bottom of the chassis body 101, the supporting plate is connected to an output end of the linear driving member, and the output end of the linear driving member can drive the supporting plate to perform a telescopic motion in a direction perpendicular to the bottom surface of the chassis body 101, so that the supporting plate is supported on the ground or lifted off the ground. Optionally, the linear driving part can be an electric cylinder, a hydraulic cylinder or an air cylinder, preferably a servo electric cylinder, the servo electric cylinder adopts closed-loop servo control, the thrust control precision is high, the motion is stable, the noise is low, and the linear driving part can be easily connected with a control system such as a Programmable Logic Controller (PLC) and the like to realize high-precision linear motion control; the operation and maintenance are simple, the grease is only required to be injected and lubricated regularly when the device works in a complex environment, no wearing parts need to be maintained and replaced, and the maintenance cost is greatly lower than that of a hydraulic cylinder and an air cylinder.
As shown in fig. 1, in some embodiments, the chassis of the guided vehicle further includes a laser radar 107 and a laser radar flange 108, the laser radar 107 is connected to the chassis body 101 through the laser radar flange 108, and the laser radar 107 scans and detects the surrounding environment where the guided vehicle is located.
The embodiment also provides a guiding vehicle, as shown in fig. 7 and 8, the guiding vehicle comprises a mounting plate 102 and the above-mentioned guiding vehicle chassis, and the mounting plate 102 is connected to the top of the chassis body 101 of the guiding vehicle chassis. Further, the mounting plate 102 can be detachably connected to the top block 119 of the chassis of the guiding vehicle, and some working mechanisms, such as a tile gluing and paving mechanism, can be mounted on the mounting plate 102. The guiding vehicle provided by the embodiment has the technical advantages of the chassis of the guiding vehicle, and the description is omitted here.
The present embodiment further provides a tile laying robot, as shown in fig. 7 and 8, the tile laying robot includes a tile gluing and laying mechanism and the above-mentioned guide vehicle, wherein the tile gluing and laying mechanism is configured to apply tile glue on a tile 207 and then lay the tile 207 on a wall surface, and the tile gluing and laying mechanism is disposed on the mounting plate 102 of the guide vehicle. The tile paving robot provided by the embodiment has the technical advantages of the guide vehicle, and the description is omitted here.
As shown in fig. 7 and 8, the tile glue spreading mechanism comprises a tile glue nozzle 201, a tile glue output pipe 202, a screw pump motor 203, a screw pump 204, a nozzle support 205, an air compressor 206, a support 208, a tile glue barrel 209, a six-degree-of-freedom mechanical arm 210, a suction cup adapter flange 211 and a suction cup 212. The ceramic tile glue barrel 209 is used for storing ceramic tile glue, the ceramic tile glue barrel 209 is arranged on the support 208, and the support 208 is arranged on the mounting plate 102 of the chassis of the guiding vehicle; the air compressor 206 is communicated with the inside of the ceramic tile glue barrel 209 through an air pipe, and the air compressor 206 can introduce high-pressure air into the ceramic tile glue barrel 209 so that the ceramic tile glue in the ceramic tile glue barrel 209 can be discharged from a glue discharging opening of the ceramic tile glue barrel 209 under the action of air pressure; the screw pump 204 is positioned below the ceramic tile glue barrel 209, the inlet of the screw pump 204 is communicated with the glue discharging port of the ceramic tile glue barrel 209, and the outlet of the screw pump 204 is communicated with the inlet of the ceramic tile glue output pipe 202; the nozzle support 205 is provided with a plurality of ceramic tile glue nozzles 201, all the ceramic tile glue nozzles 201 are communicated with a ceramic tile glue output pipe 202, the six-degree-of-freedom mechanical arm 210 is installed on the installation plate 102 of the guide vehicle chassis, the tail end of the six-degree-of-freedom mechanical arm 210 is connected with a suction cup 212 through a suction cup adapter flange 211, and the suction cup 212 is used for adsorbing a ceramic tile 207.
When the tile paving robot lays and pastes the tiles 207, the guiding vehicle stops moving, an air compressor 206 of the tile gluing and paving mechanism is started to introduce high-pressure air into a tile glue barrel 209, so that tile glue in the tile glue barrel 209 is discharged to a screw pump 204 from a glue discharging port of the tile glue barrel 209 under the action of air pressure, the screw pump motor 203 is started to drive the screw pump 204 to discharge the tile glue to a tile glue output pipe 202 and flow out through a tile glue nozzle 201, a six-degree-of-freedom mechanical arm 210 drives a suction disc 212 to grab the tiles 207, then the tiles 207 are driven to move to the tile glue nozzle 201 and move to the back of the tiles 207 for gluing, and the glued tiles 207 are driven to move to a wall by the six-degree-of-freedom mechanical arm 210 for paving and pasting after the gluing is. Because the six-degree-of-freedom mechanical arm 210 generates larger inertia in the movement process and the screw pump motor 203 drives the screw pump 204 to work to generate vibration, the guide vehicle and the mechanisms on the guide vehicle can generate larger vibration, and the tile paving precision is seriously influenced, the servo electric cylinders of the four supporting mechanisms 104 at the bottom of the chassis body 101 are opened, and the servo electric cylinders of the four supporting mechanisms 104 extend out to support (contact) the supporting plate on the ground, so that the shaking of the whole equipment is reduced, and the tile paving precision is improved; when the tile laying robot needs to move, the supporting mechanism 104 can be retracted to be lifted off the ground, so that the tile laying robot can normally move.
It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A guided vehicle chassis, comprising:
a chassis body (101);
the wheel connecting plate is rotatably arranged at the bottom of the chassis body (101), can rotate around a first axis, and extends along the front-back direction of the chassis body (101); and the number of the first and second groups,
and the wheel assembly is arranged at the bottom of the wheel connecting plate.
2. The guide vehicle chassis of claim 1, wherein the wheel attachment plate comprises a front wheel attachment plate (109) and a rear wheel attachment plate (106), and the wheel assembly comprises a front wheel assembly and a rear wheel assembly, the front wheel assembly being disposed at a bottom of the front wheel attachment plate (109), and the rear wheel assembly being disposed at a bottom of the rear wheel attachment plate (106).
3. The guideway vehicle chassis of claim 1, further comprising:
a rotating shaft base (118) connected to the wheel connecting plate;
the bearing seat (116), the bearing seat (116) is connected with the chassis body (101), and a bearing (117) is arranged on the bearing seat (116); and the number of the first and second groups,
the rotating shaft penetrates through the rotating shaft base (118) and is fixedly connected with the rotating shaft base (118), two ends of the rotating shaft are respectively arranged in the bearings (117) on the two bearing seats (116), the wheel connecting plate can rotate around the central axis of the rotating shaft, and the central axis of the rotating shaft is coincided with the first axis.
4. The guiding vehicle chassis of claim 3, further comprising a rotating shaft stopper (112), wherein a C-shaped groove for the rotating shaft to penetrate through is formed in the top of the rotating shaft base (118), and the rotating shaft stopper (112) is detachably connected to an opening of the C-shaped groove.
5. The guided vehicle chassis as claimed in claim 1, wherein a stop (113) is provided on the side of the wheel connecting plate facing the chassis body (101), and the distance between the top of the stop (113) and the bottom surface of the chassis body (101) is adjustable.
6. The guideway vehicle chassis of claim 1, further comprising a support mechanism (104) disposed at a bottom of the chassis body (101), the support mechanism (104) comprising:
the linear driving piece is connected to the bottom of the chassis body (101); and the number of the first and second groups,
the supporting plate is connected to the output end of the linear driving piece, and the output end of the linear driving piece can drive the supporting plate to do telescopic motion along the direction perpendicular to the bottom surface of the chassis body (101).
7. The guideway vehicle chassis of claim 1, further comprising a shock spring (114), the shock spring (114) having one end connected to one of the wheel connection plate and the chassis body (101) and another end abutting or connected to the other of the wheel connection plate and the chassis body (101).
8. The guide vehicle chassis of claim 7, further comprising:
one end of the guide column (115) is connected with the wheel connecting plate, and the damping spring (114) is sleeved on the guide column (115); and the number of the first and second groups,
a top block (119) connected to the other end of the damper spring (114), the top block (119) abutting against or being connected to one of the wheel connecting plate and the chassis body (101).
9. A guide vehicle, comprising:
the guideway vehicle chassis of any of claims 1-8; and the number of the first and second groups,
the mounting plate (102) is connected to the top of the chassis body (101) of the guiding vehicle chassis.
10. A tile laying robot, comprising:
the guide vehicle of claim 9; and the number of the first and second groups,
the ceramic tile gluing and paving mechanism is used for paving the ceramic tile (207) on a wall surface after ceramic tile glue is coated on the ceramic tile (207), and the ceramic tile gluing and paving mechanism is arranged on the mounting plate (102) of the guide vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911226800.4A CN110758597A (en) | 2019-12-04 | 2019-12-04 | Guide vehicle chassis, guide vehicle and ceramic tile paving and pasting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911226800.4A CN110758597A (en) | 2019-12-04 | 2019-12-04 | Guide vehicle chassis, guide vehicle and ceramic tile paving and pasting robot |
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| CN110758597A true CN110758597A (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911226800.4A Pending CN110758597A (en) | 2019-12-04 | 2019-12-04 | Guide vehicle chassis, guide vehicle and ceramic tile paving and pasting robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112078688A (en) * | 2020-09-28 | 2020-12-15 | 苏州盈科电子有限公司 | Vehicle chassis |
| WO2021196186A1 (en) * | 2020-04-03 | 2021-10-07 | 昆山代克智能科技有限公司 | Intelligent robot moving wheel set capable of being conveniently disassembled and assembled |
| CN114435051A (en) * | 2022-02-28 | 2022-05-06 | 深圳优艾智合机器人科技有限公司 | Chassis for automatic guided vehicle, automatic guided vehicle and robot |
| WO2022262505A1 (en) * | 2021-06-16 | 2022-12-22 | 广东博智林机器人有限公司 | Sheet paving device, paving method, plate coating apparatus, and sheet paving apparatus |
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| WO2022262505A1 (en) * | 2021-06-16 | 2022-12-22 | 广东博智林机器人有限公司 | Sheet paving device, paving method, plate coating apparatus, and sheet paving apparatus |
| CN114435051A (en) * | 2022-02-28 | 2022-05-06 | 深圳优艾智合机器人科技有限公司 | Chassis for automatic guided vehicle, automatic guided vehicle and robot |
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Application publication date: 20200207 |