CN111137374A - Unmanned guided vehicle and chassis thereof - Google Patents
Unmanned guided vehicle and chassis thereof Download PDFInfo
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- CN111137374A CN111137374A CN201811303541.6A CN201811303541A CN111137374A CN 111137374 A CN111137374 A CN 111137374A CN 201811303541 A CN201811303541 A CN 201811303541A CN 111137374 A CN111137374 A CN 111137374A
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- 239000000758 substrate Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000272165 Charadriidae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
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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
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a chassis of an unmanned guided vehicle, which comprises a chassis body (100), a first universal wheel (300), a second universal wheel (400) and two driving wheel set modules (200), wherein in a plane coordinate system taking the gravity center or the geometric center of the chassis body (100) as an origin, a first coordinate axis and a second coordinate axis are both parallel to the bottom surface of the chassis body (100), the plane coordinate system divides the bottom surface of the chassis body (100) into four quadrant areas, the first universal wheel (300), the second universal wheel (400) and the two driving wheel set modules (200) are respectively arranged in the four quadrant areas, and the driving wheel set modules (200) comprise driving motors. The invention also discloses an unmanned guided vehicle. Above-mentioned scheme can solve the higher problem of chassis cost of present unmanned guide carrier.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to an unmanned guided carrier and a chassis thereof.
Background
With the increasing development of the logistics industry, more considerations are needed for the transportation and storage of goods. Warehouses typically hold a large number of goods. In order to reduce the labor cost in the logistics process, more and more logistics companies adopt cargo carrying trolleys to replace manual carrying, so that the transfer of cargoes is realized. The goods handling trolley can realize long-time online work, and can achieve efficient operation effect undoubtedly.
The current cargo handling trolley is an unmanned guided carrier generally, a chassis of the unmanned guided carrier is a traveling mechanism for realizing the movement of the unmanned guided carrier, and the current chassis is an omnidirectional chassis in order to realize more flexible cargo handling, namely, omnidirectional movement can be realized.
The chassis of the existing unmanned guided vehicle comprises four driving wheel set modules, and each driving wheel set module is a double-wheel differential module, so that the omnidirectional motion of the chassis can be realized. Firstly, the driving wheel set modules are expensive, and the use of four driving wheel set modules will undoubtedly result in a high cost of the whole chassis.
In addition, in an actual traveling process, due to uneven ground, some wheel sets cannot simultaneously contact the ground, and further, a slipping or overhead phenomenon may occur, and further, the traveling control accuracy of the automated guided vehicle may be reduced, and a traveling track may not meet a control requirement.
Disclosure of Invention
The invention discloses an unmanned guided vehicle and a chassis thereof, which aim to solve the problem that the chassis of the existing unmanned guided vehicle is high in cost.
In order to solve the problems, the invention adopts the following technical scheme:
the chassis of the unmanned guided carrier comprises a chassis body, a first universal wheel, a second universal wheel and two driving wheel set modules, wherein a first coordinate axis and a second coordinate axis are parallel to the bottom surface of the chassis body in a plane coordinate system with the gravity center or the geometric center of the chassis body as an original point, the bottom surface of the chassis body is divided into four quadrant areas by the plane coordinate system, the first universal wheel, the second universal wheel and the two driving wheel set modules are respectively arranged in the four quadrant areas, and the driving wheel set modules comprise driving motors.
An unmanned guided vehicle comprising the chassis described above.
The technical scheme adopted by the invention can achieve the following beneficial effects:
in the chassis of the unmanned guided vehicle disclosed by the invention, the two driving wheel set modules, the first universal wheel and the second universal wheel are arranged on the bottom surface of the chassis body and are respectively arranged in four quadrant areas of the bottom surface of the chassis body divided by a plane coordinate system, the plane coordinate system takes the gravity center or the geometric center of the chassis body as an origin, and the distribution mode can provide more stable support for the chassis on the premise of ensuring stable driving force for the chassis. The whole chassis only needs two driving wheel set modules, which undoubtedly reduces the number of the driving wheel set modules and further can reduce the manufacturing cost of the chassis.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a bottom view of a chassis of an unmanned guided vehicle according to an embodiment of the present disclosure;
FIG. 2 is an exploded view of a drive wheel set module according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a first universal wheel according to an embodiment of the disclosure.
Description of reference numerals:
100-chassis body,
200-driving wheel set module, 210-base body, 211-mounting base plate, 212-rotary bearing, 213-connecting seat, 220-differential driving body, 221-driving wheel, 222-driving motor, 230-second pin shaft,
300-a first universal wheel, 310-a universal wheel body, 320-a support, 321-a second positioning part, 330-an elastic part, 340-a mounting seat, 341-a first positioning part, 350-a first pin shaft,
400-second universal wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 3, the disclosed chassis includes a chassis body 100, two driving wheel set modules 200, a first universal wheel 300, and a second universal wheel 400.
The chassis body 100 is a main body of the chassis, and provides a mounting position for other components of the automated guided vehicle. The two driving wheel set modules 200, the first universal wheel 300 and the second universal wheel 400 are all mounted on the chassis body 100.
The two driving wheel set modules 200 are driving modules for providing driving force for chassis traveling, and the driving wheel set modules 200 generally include driving motors, which are then powered by the driving motors. The two drive wheel set modules 200 are functional members for ensuring the moving functions of the chassis such as forward, backward, and steering. The first universal wheel 300 and the second universal wheel 400 can realize flexible direction change of the chassis.
In the chassis of the automated guided vehicle disclosed in the embodiment of the present invention, in a plane coordinate system using the center of gravity or the geometric center of the chassis body 100 as an origin, a first coordinate axis (may be an x axis in fig. 1) and a second coordinate axis (may be a y axis in fig. 1) of the plane coordinate system are both parallel to the bottom surface of the chassis body 100. The bottom surface of the chassis body 100 refers to a surface of the chassis body 100 facing the ground.
The plane coordinate system divides the bottom surface of the chassis body 100 into four quadrant regions, and the first universal wheel 300, the second universal wheel 400 and the two driving wheel set modules 200 are respectively disposed in the four quadrant regions.
In the chassis of the automated guided vehicle disclosed in the embodiment of the present invention, the two driving wheel set modules 200, the first universal wheel 300, and the second universal wheel 400 are mounted on the bottom surface of the chassis body 100, and are respectively mounted in four quadrant regions of the bottom surface of the chassis body 100 divided by a plane coordinate system, where the plane coordinate system uses the center of gravity or the geometric center of the chassis body 100 as an origin, and the above distribution mode can provide a more stable support for the chassis on the premise of providing a stable driving force for the chassis. Only two drive wheel set modules 200 are required for the entire chassis, which undoubtedly reduces the number of drive wheel set modules and can thus reduce the cost of the chassis.
In order to further improve the traveling flexibility, it is preferable that two driving wheel set modules 200 are respectively disposed in two quadrant regions diagonally distributed, and the first and second universal wheels 300 and 400 are respectively disposed in the other two quadrant regions diagonally distributed. In the above arrangement, the first universal wheel 300 and the second universal wheel 400 are diagonally distributed, so that the driving performance of the whole vehicle in traveling can be better ensured, and meanwhile, the first universal wheel 300 and the second universal wheel 400 are diagonally arranged, so that traveling and turning can be improved and more flexible.
In this embodiment, the chassis body 100 may have various structures, for example, the top surface of the chassis body 100 may be a plane, and the projection shape of the chassis body 100 in the direction perpendicular to the top surface is a square, a rectangle, or a circle. Of course, the chassis body 100 may have other shapes, and the embodiment does not limit the specific shape of the chassis body 100.
Referring to fig. 1 again, in a specific embodiment, a center line of the chassis body 100 extending along the length direction thereof is a first center line, a center line of the chassis body extending along the width direction thereof is a second center line, the first coordinate axis coincides with the first center line, and the second coordinate axis coincides with the second center line, in this case, the first coordinate axis is an x-axis in fig. 1, and the second coordinate axis is a y-axis in fig. 1. In this case, the chassis body 100 has a length and a width.
In a specific embodiment, the top surface of the chassis body 100 may be a plane, and the projection shape of the chassis body 100 in a direction perpendicular to the top surface is a rectangle. It should be noted that the top surface of the chassis body 100 refers to the surface of the chassis body 100 facing away from the ground. In this embodiment, the two driving wheel set modules 200, the first universal wheel 300 and the second universal wheel 400 are all installed on the bottom surface of the chassis body 100, so as to support the chassis body 100.
In this embodiment, the first universal wheel 300 may be an elastic universal wheel, and the first universal wheel 300 can elastically contact with the ground to perform an elastic supporting function. Because first universal wheel 300 is the elasticity universal wheel, first universal wheel 300 can with ground elastic contact, play better elastic support's effect, when the chassis marchd on uneven ground, first universal wheel 300 can adapt to the height change on ground better because of self elasticity, ensures to have good contact with ground, alleviates some wheels and appears skidding or built on stilts phenomenon.
The first universal wheel 300 can also realize elastic support on the premise that the function of a common universal wheel can be realized. Referring to fig. 3, the embodiment of the present invention discloses a first universal wheel 300 with a specific structure, where the first universal wheel 300 includes a universal wheel body 310, a support 320, and an elastic member 330.
The universal wheel body 310 is a main body member of the first universal wheel 300, and has a flexible direction changing function, or the universal wheel body 310 may be rotatably connected to the support 320, so that the universal wheel body 310 can rotate relative to the support 320.
One end of the holder 320 is rotatably engaged with the chassis body 100. The elastic member 330 is elastically positioned between the other end of the support 320 and the chassis body 100, and the elastic member 330 applies an elastic force to the caster body 310 to make it close to the ground. The elastic member 330 has a pre-tightening force, so that the first universal wheel 300 can be always in contact with the ground.
In a specific walking process, when the ground is uneven or the area on the chassis body 100 corresponding to the first universal wheel 300 is subjected to a large load, the other end of the support 320 rotates, so that the supporting height of the first universal wheel 300 is adjusted, and the problem of better adapting to the ground height is achieved.
For convenience of connection, in a preferred embodiment, the first universal wheel 300 may further include a mounting seat 340 and a first pin 350, the mounting seat 340 is fixedly connected to the chassis body 100, and the support 320 may be rotatably matched with the mounting seat 340 through the first pin 350, so as to rotate the support 320. The first universal wheel 300 with the above structure can be assembled into a whole, and in the installation process, the installation seat 340 only needs to be fixed on the chassis body 100, so that the installation is convenient.
In order to achieve more stable extension and retraction of the elastic element 330, in a preferred embodiment, the mounting seat 340 may include a first positioning portion 341, the other end of the support 320 may be provided with a second positioning portion 321, two ends of the elastic element 330 are respectively sleeved on the first positioning portion 341 and the second positioning portion 321, and the process of extension and retraction of the elastic element 330 can be performed along the first positioning portion 341 and the second positioning portion 321. Specifically, both the first positioning portion 341 and the second positioning portion 321 may have a columnar structure, and of course, the first positioning portion 341 and the second positioning portion 321 may have other structures, and the specific shapes of the first positioning portion 341 and the second positioning portion 321 are not limited in this embodiment.
In order to realize more flexible traveling of the guided automated guided vehicle, in a preferred embodiment, both of the two driving wheel set modules 200 may be two-wheel differential driving modules, and specifically, each of the driving wheel set modules 200 includes two driving wheels and two driving mechanisms (e.g., driving motor 222), the two driving wheels are respectively driven by the two driving mechanisms to roll, and the two driving wheels have different rotation speeds, so as to realize differential matching.
The driving wheel set module 200 may be a steering wheel driving module, or may be another driving wheel set structure having a two-wheel differential capability. Referring to fig. 2, an embodiment of the invention discloses a driving wheel set module 200, and the driving wheel set module 200 may include a base 210 and a differential driving body 220.
The base 210 is a basic member of the driving wheel set module 200, and the base 210 is connected to the chassis body 100. The differential driving body 220 is a driving main body of the driving wheel set module 200, and the differential driving body 220 includes two driving wheels 221 capable of being in differential matching, so that differential walking can be realized, and the improvement of the flexibility of chassis walking is facilitated.
The differential driving body 220 is rotatably disposed on the base 210, and two driving wheels 221 may be located at both sides of a rotation center of the differential driving body 220. In specific working process, differential drive body 220 can rotate for base member 210, and then when the region of unevenness on ground, differential drive body 220 is through rotating more in a flexible way, and then realizes that two drive wheels 221 in same drive wheel group module 200 can adapt to the uneven ground of height better, reaches more excellent drive effect, avoids drive wheel group module 200's some drive wheels 221 to take place phenomenons such as unsettled, skid.
In the driving wheel set module 200, the two driving wheels 221 of the differential driving body 220 are located on two sides of the rotation center of the differential driving body 220, so that the contact between the two driving wheels 221 and the ground can be adjusted through rotation, when the vehicle travels on the uneven ground, the phenomena of suspension, slipping and the like of the driving wheels 221 cannot occur, and the traveling precision of the whole chassis can be improved.
In a preferred embodiment, the base 210 may include a mounting substrate 211, a pivot bearing 212 and a connecting base 213, the mounting substrate 211 is fixedly connected to the chassis body 100, the connecting base 213 is rotatably connected to the mounting substrate 211 through the pivot bearing 212, a rotation plane of the pivot bearing 212 is perpendicular to a rotation direction of the differential driving body 220, and the differential driving body 220 is rotatably connected to the connecting base 213. Specifically, the differential driving body 220 may be hinged to the connection seat 213 through the second pin 230, so as to rotate the differential driving body 220 relative to the connection seat 213. In the above configuration, the driving wheels 221 of the driving wheel set module 200 can travel differentially on the ground, and the flexibility of chassis travel can be improved.
In this embodiment, the driving wheel set module 200 may also be a steering wheel driving module widely used in a forklift, and this embodiment does not limit the specific type of the driving wheel set module 200, and other structures capable of achieving simultaneous landing of two differential wheels may be used.
Based on the chassis disclosed in the embodiment of the invention, the embodiment of the invention also discloses an unmanned guided vehicle which comprises the chassis described in the embodiment.
In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (12)
1. The chassis of the unmanned guided vehicle is characterized by comprising a chassis body (100), a first universal wheel (300), a second universal wheel (400) and two driving wheel set modules (200), wherein in a plane coordinate system taking the gravity center or the geometric center of the chassis body (100) as an origin, a first coordinate axis and a second coordinate axis are parallel to the bottom surface of the chassis body (100), the plane coordinate system divides the bottom surface of the chassis body (100) into four quadrant areas, the first universal wheel (300), the second universal wheel (400) and the two driving wheel set modules (200) are respectively arranged in the four quadrant areas, and the driving wheel set modules (200) comprise driving motors.
2. Chassis according to claim 1, characterized in that two driving wheel set modules (200) are arranged in two of said quadrant areas diagonally distributed, respectively, and that the first and second universal wheels (300, 400) are arranged in the other two of said quadrant areas diagonally distributed, respectively.
3. The chassis of claim 2, wherein the centerline of the chassis body (100) extending along the length direction of the chassis body is a first centerline, the centerline extending along the width direction of the chassis body is a second centerline, the first coordinate axis coincides with the first centerline, and the second coordinate axis coincides with the second centerline.
4. The chassis according to claim 3, wherein the top surface of the chassis body (100) is a plane, and the projected shape of the chassis body (100) in a direction perpendicular to the top surface is a rectangle.
5. The chassis according to claim 1, wherein the first universal wheel (300) is a resilient universal wheel.
6. The chassis of claim 5, wherein the first universal wheel (300) comprises a universal wheel body (310), a support (320) and an elastic member (330), the universal wheel body (310) is rotatably connected with the support (320), one end of the support (320) is rotatably matched with the chassis body (100), the elastic member (330) is elastically positioned between the other end of the support (320) and the chassis body (100), and the elastic member (330) applies an elastic force to the universal wheel body (310) to make the universal wheel body cling to the ground.
7. The chassis of claim 6, wherein the first universal wheel (300) further comprises a mounting seat (340) and a first pin (350), the mounting seat (340) is fixedly connected with the chassis body (100), and the support (320) is rotatably matched with the mounting seat (340) through the first pin (350).
8. The chassis of claim 7, wherein the mounting seat (340) includes a first positioning portion (341), a second positioning portion (321) is disposed at the other end of the support (320), and two ends of the elastic member (330) are respectively sleeved on the first positioning portion (341) and the second positioning portion (321).
9. The chassis of claim 1, wherein the drive wheel set modules (200) are each two-wheel differential drive modules.
10. The chassis according to claim 9, wherein the drive wheel set module (200) comprises a base body (210) and a differential drive body (220), the base body (210) being connected to the chassis body (100), the differential drive body (220) comprising two differentially engageable drive wheels (221), the differential drive body (220) being rotatably arranged on the base body (210), the two drive wheels (221) being located on either side of a center of rotation of the differential drive body (220).
11. The chassis of claim 10, wherein the base (210) comprises a mounting substrate (211), a pivot bearing (212) and a connecting seat (213), the mounting substrate (211) is fixedly connected to the chassis body (100), the connecting seat (223) is rotatably connected to the mounting substrate (211) through the pivot bearing (212), a rotation plane of the pivot bearing (212) is perpendicular to a rotation direction of the differential driving body (220), and the differential driving body (220) is rotatably connected to the connecting seat (223).
12. An automated guided vehicle comprising the chassis of any one of claims 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811303541.6A CN111137374A (en) | 2018-11-02 | 2018-11-02 | Unmanned guided vehicle and chassis thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811303541.6A CN111137374A (en) | 2018-11-02 | 2018-11-02 | Unmanned guided vehicle and chassis thereof |
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| Publication Number | Publication Date |
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| CN111137374A true CN111137374A (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811303541.6A Pending CN111137374A (en) | 2018-11-02 | 2018-11-02 | Unmanned guided vehicle and chassis thereof |
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| CN (1) | CN111137374A (en) |
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| DE102007016662A1 (en) * | 2007-04-04 | 2008-10-09 | Kuka Roboter Gmbh | Omnidirectional vehicle, driving module and mobile industrial robot |
| CN203078634U (en) * | 2013-02-19 | 2013-07-24 | 北京机械工业自动化研究所 | Wheel-type omnidirectional moving device and transporter |
| CN205890408U (en) * | 2016-07-06 | 2017-01-18 | 天津市山石机器人有限责任公司 | Shallow income formula automated guided transporting vehicle's shock absorption universal wheel device |
| CN106476929A (en) * | 2016-12-12 | 2017-03-08 | 佛山市新鹏机器人技术有限公司 | A kind of AGV dolly of omnidirectional submarine |
| CN206781438U (en) * | 2017-05-09 | 2017-12-22 | 崔书林 | New vehicle hoofing part direction navigation sector |
| CN107662465A (en) * | 2016-07-27 | 2018-02-06 | 沈阳新松机器人自动化股份有限公司 | The hanging heavily loaded AGV of hydraulic suspension |
| CN108422809A (en) * | 2018-04-08 | 2018-08-21 | 高亚贵 | A kind of universal wheel unit for carrier |
-
2018
- 2018-11-02 CN CN201811303541.6A patent/CN111137374A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10268938A (en) * | 1997-03-26 | 1998-10-09 | Meidensha Corp | Driving device for unmanned vehicle |
| CN200957847Y (en) * | 2006-10-10 | 2007-10-10 | 浙江诺力机械股份有限公司 | Supporting-wheel balance mecahnism for five-wheeled chassis warehousing machinery |
| DE102007016662A1 (en) * | 2007-04-04 | 2008-10-09 | Kuka Roboter Gmbh | Omnidirectional vehicle, driving module and mobile industrial robot |
| CN203078634U (en) * | 2013-02-19 | 2013-07-24 | 北京机械工业自动化研究所 | Wheel-type omnidirectional moving device and transporter |
| CN205890408U (en) * | 2016-07-06 | 2017-01-18 | 天津市山石机器人有限责任公司 | Shallow income formula automated guided transporting vehicle's shock absorption universal wheel device |
| CN107662465A (en) * | 2016-07-27 | 2018-02-06 | 沈阳新松机器人自动化股份有限公司 | The hanging heavily loaded AGV of hydraulic suspension |
| CN106476929A (en) * | 2016-12-12 | 2017-03-08 | 佛山市新鹏机器人技术有限公司 | A kind of AGV dolly of omnidirectional submarine |
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Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
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Application publication date: 20200512 |