CN113815375B - Automatic guiding transport vehicle and walking wheel set thereof - Google Patents
Automatic guiding transport vehicle and walking wheel set thereof Download PDFInfo
- Publication number
- CN113815375B CN113815375B CN202011040286.8A CN202011040286A CN113815375B CN 113815375 B CN113815375 B CN 113815375B CN 202011040286 A CN202011040286 A CN 202011040286A CN 113815375 B CN113815375 B CN 113815375B
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- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 230000000149 penetrating effect Effects 0.000 claims 1
- 239000000725 suspension Substances 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
- B60G2200/34—Stabilising mechanisms, e.g. for lateral stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
Abstract
The embodiment of the invention provides an automatic guiding transport vehicle and a traveling wheel set thereof, wherein the traveling wheel set comprises a mounting piece, a first wheel assembly, a second wheel assembly and a swinging assembly, and the first wheel assembly is movably connected with the mounting piece; the second wheel assembly is movably connected to the mounting member; the swinging component is hinged to the mounting piece and can swing around a hinge point; one end of the swing assembly is hinged to the first wheel assembly, and the other end of the swing assembly is hinged to the second wheel assembly; when one of the first and second wheel assemblies is moved relative to the mounting member, the swing assembly swings such that the other of the first and second wheel assemblies follows to bring both the first and second wheel assemblies into contact with the ground. The running wheel set of the embodiment of the invention does not generate driving slipping phenomenon, and solves the problem of uncontrollable movement caused by suspension of wheels.
Description
Technical Field
The present invention relates generally to the technical field of automated guided vehicles, and more particularly, to a traveling wheel set and an automated guided vehicle including the traveling wheel set.
Background
Related art trolleys, such as automated guided vehicles (Automated Guided Vehicle, AGV), typically travel by way of road wheels that contact the ground, thereby effecting transport of the items. When pits or protrusions appear on the ground, the driving wheel of the trolley can be suspended at the pits or protrusions, so that positive pressure between the driving wheel and the ground is lost, and the movement of the trolley is uncontrollable.
Disclosure of Invention
The automatic guiding transport vehicle and the traveling wheel set thereof can effectively solve the problem that the motion is uncontrollable due to suspension of the wheels when the vehicle runs on road conditions with uneven ground.
The walking wheel set comprises a mounting piece, a first wheel assembly, a second wheel assembly and a swinging assembly, wherein the first wheel assembly is movably connected with the mounting piece; a second wheel assembly is movably coupled to the mounting member; the swinging component is hinged to the mounting piece and can swing around a hinge point; one end of the swing assembly is hinged to the first wheel assembly, and the other end of the swing assembly is hinged to the second wheel assembly; when one of the first and second wheel assemblies is moved relative to the mount, the swing assembly swings such that the other of the first and second wheel assemblies follows to bring both the first and second wheel assemblies into contact with the ground.
In some of these embodiments, the first wheel assembly is movably coupled to the mounting member in a vertical direction, and the second wheel assembly is movably coupled to the mounting member in the vertical direction;
when the swing assembly swings, the movement directions of the first wheel assembly and the second wheel assembly along the vertical direction are opposite.
In some embodiments, the swing assembly includes a swing member, a first link and a second link, the swing member being hinged to the mounting member, one end of the swing member being hinged to one end of the first link, the other end of the swing member being hinged to one end of the second link;
the other end of the first connecting rod is hinged to the first wheel assembly, and the other end of the second connecting rod is hinged to the second wheel assembly.
In some embodiments, the first link is the same length as the second link;
the swinging piece and the mounting piece form a first hinge point, the swinging piece and the first connecting rod form a second hinge point, the swinging piece and the second connecting rod form a third hinge point, and the distance between the first hinge point and the second hinge point is equal to the distance between the first hinge point and the third hinge point.
In some embodiments, the first and second wheel assemblies move equidistant from each other as the swing assembly swings about a hinge point.
In some embodiments, the device further comprises a first guide shaft and a second guide shaft;
the mounting piece is provided with a first guide hole and a second guide hole;
the first wheel assembly having a first aperture and the second wheel assembly having a second aperture;
the first guide shaft penetrates through the first guide hole and the first perforation to guide the first wheel assembly to move along the vertical direction;
the second guide shaft penetrates through the second guide hole and the second perforation to guide the second wheel assembly to move along the vertical direction.
In some of these embodiments, the first wheel assembly includes:
the first installation part is movably connected with the installation piece, and one end of the swinging component is hinged with the first installation part;
a first wheel portion rotatably coupled to the first mounting portion; and
the first elastic element is arranged between the first mounting part and the mounting piece and can provide an elastic force, so that the first mounting part has a trend of being far away from the mounting piece along the vertical direction.
In some of these embodiments, the mount has a first through hole;
the first wheel assembly further comprises a first pressing piece, the first pressing piece comprises a first rod part and a first cap part, and the first elastic element is sleeved outside the first rod part;
the first mounting part is provided with a first groove, the first rod part and the first elastic element penetrate through the first through hole, one ends of the first rod part and the first elastic element are arranged in the first groove, and the first cap part is arranged at the other end of the first rod part and connected with the mounting part;
the two ends of the first elastic element are respectively propped against the bottom wall of the first groove and the first cap part.
In some of these embodiments, the first wheel portion is a universal wheel.
In some of these embodiments, the second wheel assembly includes:
the second installation part is movably connected with the installation piece, and the other end of the swinging component is hinged with the second installation part;
a second wheel portion rotatably coupled to the second mounting portion; and
the second elastic element is arranged between the second installation part and the installation piece and can provide an elastic force, so that the second installation part has a trend of being far away from the installation piece along the vertical direction.
In some of these embodiments, the mount has a second through hole;
the second wheel assembly further comprises a second pressing piece, the second pressing piece comprises a second rod part and a second cap part, and the second elastic element is sleeved outside the second rod part;
the second mounting part is provided with a second groove, the second rod part and the second elastic element penetrate through the second through hole, one ends of the second rod part and the second elastic element are arranged in the second groove, and the second cap part is arranged at the other end of the second rod part and connected with the mounting part;
the two ends of the second elastic element are respectively propped against the bottom wall of the second groove and the second cap part.
In some embodiments, the second wheel portion is a steering wheel.
In some embodiments, the mounting member includes a mounting plate capable of mounting the bottom of a vehicle body and an articulating frame coupled to the mounting plate and articulating with the swing assembly.
The automatic guiding transport vehicle comprises a vehicle body and the traveling wheel set, wherein the traveling wheel set is arranged on the vehicle body.
One embodiment of the above invention has the following advantages or benefits:
when the walking wheel set of the embodiment of the invention walks on uneven ground, one of the first wheel assembly and the second wheel assembly may be suspended, so that the other of the first wheel assembly and the second wheel assembly is lifted relative to the suspended wheel. When the raised wheel assembly is active, the suspended wheel assembly will follow by the swing assembly until both the first wheel assembly and the second wheel assembly are in contact with the ground. Through the design, the running wheel set provided by the embodiment of the invention can not generate a driving slipping phenomenon, and the problem of uncontrollable movement caused by suspension of wheels is solved.
Drawings
The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 is a schematic structural view of a running wheel set according to an embodiment of the present invention.
Fig. 2 shows an exploded view of a running gear set according to an embodiment of the present invention.
Fig. 3 shows a partial enlarged view at a in fig. 2.
Fig. 4 shows a schematic diagram of the mechanism of the running wheel set according to an embodiment of the present invention.
Fig. 5 is a schematic view of a running wheel set according to an embodiment of the invention in a flat ground.
Fig. 6 is a schematic view of a running wheel set according to an embodiment of the present invention when the running wheel set is on uneven ground.
Fig. 7 is a schematic view showing a structure of an angle of view of an automated guided vehicle according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of another view of the automated guided vehicle according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of the operation of the running wheel set of the automatic guided vehicle according to an embodiment of the present invention when the vehicle is running on an uneven road surface.
Wherein reference numerals are as follows:
100. mounting member
110. Mounting plate
111. First guide hole
112. Second guide hole
113. First through hole
114. Second through hole
120. Hinge frame
200. First wheel assembly
210. A first mounting part
220. First wheel part
240. First pressing piece
300. Second wheel assembly
310. A second mounting part
311. Second perforation
312. Second groove
320. Second wheel part
330. Second elastic element
340. Second pressing piece
341. A second rod part
342. A second cap part
400. Swing assembly
410. Swinging piece
420. First connecting rod
430. Second connecting rod
510. First guide shaft
520. Second guide shaft
700. Vehicle body
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many 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, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted.
As shown in fig. 1 and 2, fig. 1 is a schematic structural view of a running wheel set according to an embodiment of the present invention, and fig. 2 is an exploded view of the running wheel set according to an embodiment of the present invention. The walking wheel set of the embodiment of the invention can be arranged at the bottom of a vehicle body 700 to drive the vehicle body 700 to move, thereby realizing the transportation of articles. For example, the running wheel set according to the embodiments of the present invention may be applied to an automatic guided vehicle. Of course, it is understood that the running wheel set according to the embodiment of the present invention may also be applied to other devices, which are not listed here.
The running gear set of the embodiment of the present invention includes a mounting member 100, a first wheel assembly 200, a second wheel assembly 300, and a swing assembly 400. The mounting member 100 can be mounted on the bottom of a vehicle body 700, the first wheel assembly 200 is movably connected to the mounting member 100, the second wheel assembly 300 is movably connected to the mounting member 100, the swing assembly 400 is hinged to the mounting member 100 and can swing around a hinge point, one end of the swing assembly 400 is hinged to the first wheel assembly 200, and the other end of the swing assembly 400 is hinged to the second wheel assembly 300.
As shown in fig. 2, the mount 100 of the embodiment of the present invention includes a mounting plate 110 and two hinge brackets 120. One side of the mounting plate 110 can mount the bottom of a vehicle body 700, such as by a bolt assembly. The two hinge brackets 120 are disposed opposite to each other and connected to the other side of the mounting plate 110. Each of the hinge brackets 120 may have a substantially triangular shape to enhance the structural strength of the hinge brackets 120.
The mounting plate 110 may have a substantially rectangular shape, and both ends of the mounting plate 110 are used to connect the first wheel assembly 200 and the second wheel assembly 300, respectively, and the two hinge brackets 120 are connected to a middle region of the mounting plate 110.
A first guide hole 111 and a first through hole 113 are opened at one end of the mounting plate 110. The first guide hole 111 is configured to have the first guide shaft 510 inserted therethrough to guide the first wheel assembly 200 to move in a vertical direction. The first through hole 113 is configured to allow the first pressing member 240 and the first elastic element to pass therethrough to provide an elastic force to the first wheel assembly 200, such that the first wheel assembly 200 has a tendency to move away from the mounting plate 110.
In one embodiment, the number of the first guide holes 111 may be four, and uniformly disposed around one end of the mounting plate 110. The number of the first through holes 113 may be four, and may be uniformly disposed. The four first guide holes 111 are uniformly provided, on the one hand, the first wheel assembly 200 can be guided to move only in the vertical direction, and the first wheel assembly 200 is prevented from tilting relative to the vertical direction due to the swing of the swing assembly 400; on the other hand, the four first guide holes 111 may make the first wheel assembly 200 more stable when moving in the vertical direction.
Similarly, four first through holes 113 may be provided with four elastic elements, so that the elastic force provided by the elastic elements to the first wheel assembly 200 is more stable.
Of course, it is understood that the number of the first guide holes 111 and the first through holes 113 is not limited to four, but may be other numbers, and the present invention is not particularly limited thereto, so long as it is ensured that the first wheel assembly 200 can be stably guided and the elastic force can be provided.
The other end portion of the mounting plate 110 is provided with a second guide hole 112 and a second through hole 114. The second guide hole 112 is configured to receive the second guide shaft 520 therethrough to guide the second wheel assembly 300 to move in a vertical direction. The second through hole 114 is configured for the second pressing member 340 and the second elastic element 330 to pass therethrough to provide an elastic force to the second wheel assembly 300, such that the second wheel assembly 300 has a tendency to move away from the mounting plate 110.
In one embodiment, the number of the second guide holes 112 may be four, and uniformly disposed around the other end portion of the mounting plate 110. The number of the second through holes 114 may be four, and may be uniformly arranged. The four second guide holes 112 are uniformly provided, on the one hand, the second wheel assembly 300 can be guided to move only along the vertical direction, and the second wheel assembly 300 is prevented from tilting relative to the vertical direction due to the swing of the swing assembly 400; on the other hand, the four second guide holes 112 may make the second wheel assembly 300 more stable when moving in the vertical direction.
Similarly, the four second through holes 114 may be disposed corresponding to the four second elastic elements, so that the elastic force provided by the second elastic elements to the second wheel assembly 300 is more stable.
Of course, it is understood that the number of the second guide holes 112 and the second through holes 114 is not limited to four, but may be other numbers, and the present invention is not limited thereto, and it is sufficient to ensure stable guiding of the second wheel assembly 300 and providing of the elastic force.
As shown in fig. 2 and 3, fig. 3 shows a partial enlarged view at a in fig. 2. The first wheel assembly 200 of the embodiment of the present invention includes a first mounting portion 210, a first pressing member 240, a first wheel portion 220, and a first elastic member.
The first mounting portion 210 is movably coupled to the mounting member 100. The first mounting portion 210 is provided with a first through hole, and the first through hole is provided corresponding to the first guide hole 111 of the mounting plate 110. In an embodiment, the number of the first holes may be four, and the four first holes are uniformly disposed around the first mounting portion 210 and are disposed corresponding to the four first guide holes 111, respectively. The first guide shaft 510 penetrates the first guide hole 111 and the first penetration hole to guide the first wheel assembly 200 to move in the vertical direction.
It should be understood that the movable connection between the first mounting portion 210 and the mounting plate 110 is not limited to the above-mentioned manner in which the first guide shaft 510 is inserted into the first guide hole 111 and the first through hole, and may be, for example, a manner in which a slider is engaged with a guide rail.
The first elastic element may be a compression spring. The first pressing member 240 includes a first rod portion and a first cap portion, and the first elastic element is sleeved outside the first rod portion. The first mounting portion 210 has a first groove, the first rod portion and the first elastic element penetrate through the first through hole 113, one end of the first rod portion and one end of the first elastic element are disposed in the first groove, and the first cap portion is connected to the other end of the first rod portion and to the mounting member 100. The two ends of the first elastic element are respectively propped against the bottom wall of the first groove and the first cap part. In an embodiment, the number of the first pressing members 240 may be four, and the number of the corresponding first elastic elements may be four, and the four first elastic elements are disposed corresponding to the four first pressing members 240 respectively.
When the first wheel 220 is subjected to the force of the ground and moves in the vertical direction close to the mounting plate 110, the first elastic element can provide an elastic damping force, so that the first mounting portion 210 is subjected to an elastic supporting force, thereby forming an auxiliary fulcrum at the first wheel 220.
In one embodiment, the first wheel portion 220 of the first wheel assembly 200 is rotatably connected to the first mounting portion 210, for example, the first wheel portion 220 may be a universal wheel.
As shown in fig. 3, the second wheel assembly 300 of the embodiment of the present invention includes a second mounting portion 310, a second pressing member 340, a second wheel portion 320, and a second elastic member 330.
The second mounting portion 310 is movably coupled to the mounting member 100. The second mounting portion 310 is provided with a second through hole 311, and the second through hole 311 is provided corresponding to the second guide hole 112 of the mounting plate 110. In an embodiment, the number of the second holes 311 may be four, and the four second holes 311 are uniformly disposed around the second mounting portion 310 and are disposed corresponding to the four second guide holes 112, respectively. The second guide shaft 520 penetrates the second guide hole 112 and the second penetration hole 311 to guide the second wheel assembly 300 to move in the vertical direction.
It should be understood that the movable connection between the second mounting portion 310 and the mounting plate 110 is not limited to the above-mentioned manner in which the second guide shaft 520 is inserted through the second guide hole 112 and the second through hole 311, and may be, for example, a manner in which a slider is engaged with a guide rail.
The second elastic member 330 may be a compression spring. The second pressing member 340 includes a second rod portion 341 and a second cap portion 342, and the second elastic element 330 is sleeved outside the second rod portion 341. The second mounting portion 310 has a second groove 312, the second rod portion 341 and the second elastic element 330 are disposed through the second through hole 114, one ends of the second rod portion 341 and the second elastic element 330 are disposed in the second groove 312, and the second cap portion 342 is disposed at the other end of the second rod portion 341 and connected to the mounting member 100. Both ends of the second elastic element 330 respectively abut against the bottom wall of the second groove 312 and the second cap 342. In an embodiment, the number of the second pressing members 340 may be four, and the number of the corresponding second elastic elements 330 may be four, and the four second elastic elements 330 are disposed corresponding to the four second pressing members 340, respectively.
When the second wheel 320 is subjected to the force of the ground and moves in the vertical direction near the mounting plate 110, the second elastic element 330 can provide an elastic damping force, so that the second mounting 310 is subjected to an elastic supporting force, thereby forming an auxiliary fulcrum at the second wheel 320.
In one embodiment, the second wheel portion 320 of the second wheel assembly 300 is rotatably coupled to the second mounting portion 310, for example, the second wheel portion 320 may be a steering wheel.
As shown in fig. 2, the swing assembly 400 according to the embodiment of the present invention is hinged to the hinge bracket 120, one end of the swing assembly 400 is hinged to the first mounting portion 210, and the other end of the swing assembly 400 is hinged to the second mounting portion 310. When one of the first and second wheel assemblies 200, 300 is moved relative to the mounting member 100, the swing assembly 400 can swing about the hinge point such that the other of the first and second wheel assemblies 200, 300 follows to enable both the first and second wheel assemblies 200, 300 to contact the ground.
The swing assembly 400 of the embodiment of the present invention includes a swing member 410, a first link 420 and a second link 430, the swing member 410 being hinged to the hinge bracket 120, one end of the swing member 410 being hinged to one end of the first link 420, and the other end of the swing member 410 being hinged to one end of the second link 430. The other end of the first link 420 is hinged to the first mounting portion 210 of the first wheel assembly 200, and the other end of the second link 430 is hinged to the second mounting portion 310 of the second wheel assembly 300.
The following describes the movement process of the running wheel set according to an embodiment of the present invention in detail with reference to fig. 4 to 6, wherein fig. 4 is a schematic diagram illustrating the mechanism of the running wheel set according to an embodiment of the present invention, fig. 5 is a schematic diagram illustrating the running wheel set according to an embodiment of the present invention when the running wheel set is on a flat ground, and fig. 6 is a schematic diagram illustrating the running wheel set according to an embodiment of the present invention when the running wheel set is on an uneven ground.
As shown in fig. 4, the first wheel assembly 200 is movably connected to the mounting member 100 in the vertical direction, and the second wheel assembly 300 is movably connected to the mounting member 100 in the vertical direction. One end of the swing member 410 is hinged to the first wheel assembly 200 through a first link 420, and the other end of the swing member 410 is hinged to the second wheel assembly 300 through a second link 430. Meanwhile, the swing member 410 is hinged to the hinge bracket 120.
As shown in fig. 5, the distance between the upper surface of the first mounting portion 210 and the lower surface of the mounting plate 110 is T1, and the distance between the upper surface of the second mounting portion 310 and the lower surface of the mounting plate 110 is T2. When the running wheel set of the embodiment of the invention runs on a flat ground, t1=t2.
As shown in fig. 6, when the ground surface is uneven, for example, the bottom surface of the second wheel portion 320 of the second wheel assembly 300 has a pit, causing the first wheel assembly 200 to rise, the first wheel assembly 200 approaches the mounting plate 110 in the vertical direction, and T1 becomes smaller. In the process of moving the first mounting portion 210 toward the mounting plate 110, one end of the swinging member 410 moves upward along with the movement of the first mounting portion 210, and since the swinging member 410 can swing around the hinge point, the other end of the swinging member 410 drives the second mounting portion 310 to move away from the mounting plate 110, so that the bottom surface of the second wheel portion 320 moves toward the bottom surface of the pit, and the swinging member 410 does not continue to swing until contacting the bottom surface of the pit. Finally, when the traveling wheel set passes over uneven ground, the first wheel assembly 200 and the second wheel assembly 300 can both be contacted with the ground, and positive pressure of the two wheels cannot be lost.
As shown in fig. 4, the swing member 410 forms a first hinge point O with the mount member 100, the swing member 410 forms a second hinge point P with the first link 420, the swing member 410 forms a third hinge point Q with the second link 430, and a distance between the first hinge point O and the second hinge point P is equal to a distance between the first hinge point O and the third hinge point Q, i.e., op=oq. The first link 420 is the same length as the second link 430.
By such a design, the first link 420, the second link 430 and the swing member 410 form a parallelogram, and the moving distances of the first wheel assembly 200 and the second wheel assembly 300 are equal when the swing assembly 400 swings about the hinge point.
Of course, it is understood that the two ends of the swing member 410 may be directly hinged to the first and second wheel assemblies 200 and 300, without using the first and second links 420 and 430. In this direct articulation case, the first wheel assembly 200 is movably coupled to the mounting member 100 and the second wheel assembly 300 is movably coupled to the mounting member 100.
The embodiment of the invention also provides an automatic guiding transport vehicle, which comprises a vehicle body 700 and the walking wheel set in any one of the embodiments, wherein the walking wheel set is arranged on the vehicle body 700. The automatic guided vehicle according to the embodiment of the present invention has the advantages and beneficial effects of any of the above embodiments because the automatic guided vehicle includes the traveling wheel set in any of the above embodiments, and the description thereof is omitted herein.
Fig. 7 is a schematic structural view of one view of an automatic guided vehicle according to an embodiment of the present invention, and fig. 8 is a schematic structural view of another view of the automatic guided vehicle according to an embodiment of the present invention, as shown in fig. 7 and 8. The automatic guiding transport vehicle comprises a vehicle body 700 and two traveling wheel sets, wherein the two traveling wheel sets are arranged on the bottom surface of the vehicle body 700.
The body 700 may be generally rectangular with two running gear sets spaced apart along the length of the body 700, the first wheel assembly 200 of each running gear set including universal wheels and the second wheel assembly 300 including steering wheels. Two universal wheels of the two traveling wheel sets are disposed along one diagonal of the vehicle body 700, and two steering wheels of the two traveling wheel sets are disposed along the other diagonal of the vehicle body 700.
The following describes in detail the working principle diagram of the traveling wheel set of the automatic guided vehicle according to the embodiment of the present invention when traveling on an uneven road surface with reference to fig. 9. The automatic guided vehicle according to the embodiment of the present invention includes two traveling wheel sets, and it is assumed that the point a represents the first wheel assembly 200 of one of the traveling wheel sets, the point b represents the second wheel assembly 300 of the traveling wheel set, the point c represents the first wheel assembly 200 of the other traveling wheel set, the point d represents the second wheel assembly 300 of the other traveling wheel set, and the point e represents the supporting point of the swing assembly 400 of the traveling wheel set and the mounting member 100. Meanwhile, it is assumed that the ground at the point B has pits.
When the automatic guided vehicle of the embodiment of the invention runs on the uneven road, the point B is suspended due to the pit at the point B, so that the point A, C and the point D are lifted relative to the point B. Because the point A and the point B belong to the same walking wheel group, the point A can be pressed down by the swinging assembly 400 while being lifted up based on the action of the swinging assembly 400 until the point B contacts the bottom surface of the pit. At this time, although the pit is formed at the point B, the wheels at the point A, B, C and the point D are both in contact with the ground by the swing assembly 400, and the suspension of the wheels at the point B does not occur. If the wheels at the point B are driving wheels, the phenomena of driving slip and uncontrollable movement can not occur.
Meanwhile, as the point a is lifted, the elastic element at the point a is compressed to form an auxiliary fulcrum, and finally four-point support of the point A, C, D and the point E to the vehicle body 700 is formed, so that the stability of the vehicle body 700 can be improved.
In summary, the advantages and beneficial effects of the automatic guiding transport vehicle and the traveling wheel set thereof in the embodiment of the invention are as follows:
when the running wheel set of the embodiment of the present invention runs on uneven ground, one of the first wheel assembly 200 and the second wheel assembly 300 may be suspended, so that the other of the first wheel assembly 200 and the second wheel assembly 300 is elevated with respect to the suspended wheel. When the elevated wheel assembly is active, the suspended wheel assembly will follow by the swing assembly 400 until both the first wheel assembly 200 and the second wheel assembly 300 are in contact with the ground. Through the design, the running wheel set provided by the embodiment of the invention can not generate a driving slipping phenomenon, and the problem of uncontrollable movement caused by suspension of wheels is solved.
It should be noted here that the automated guided vehicle and its running gear set shown in the drawings and described in this specification are merely one example of the principles of the present invention. It will be clearly understood by those of ordinary skill in the art that the principles of the present invention are not limited to any details or any components of the devices shown in the drawings or described in the specification.
It should be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the specification. The invention is capable of other embodiments and of being practiced and carried out in various ways. The foregoing variations and modifications are intended to fall within the scope of the present invention. It should be understood that the invention disclosed and defined in this specification extends to all alternative combinations of two or more of the individual features mentioned or evident from the text and/or drawings. All of these different combinations constitute various alternative aspects of the present invention. The embodiments described in this specification illustrate the best mode known for carrying out the invention and will enable those skilled in the art to make and use the invention.
Claims (11)
1. A running gear set, comprising:
a mounting member (100) having a first guide hole (111) and a second guide hole (112);
a first wheel assembly (200) movably coupled to the mounting member (100) and having a first aperture therethrough;
a second wheel assembly (300) movably connected to the mounting member (100) and having a second aperture (311); and
a swing assembly (400) comprising a swing member (410), a first link (420) and a second link (430), the swing member (410) being hinged to the mounting member (100) and being capable of swinging about a hinge point; one end of the swinging piece (410) is hinged to one end of the first connecting rod (420), and the other end of the swinging piece (410) is hinged to one end of the second connecting rod (430); the other end of the first connecting rod (420) is hinged to the first wheel assembly (200), and the other end of the second connecting rod (430) is hinged to the second wheel assembly (300);
wherein, when one of the first and second wheel assemblies (200, 300) is moved relative to the mounting member (100), the swing assembly (400) swings such that the other of the first and second wheel assemblies (200, 300) follows to bring both the first and second wheel assemblies (200, 300) into contact with the ground;
the walking wheel set further comprises a first guide shaft (510) and a second guide shaft (520), wherein the first guide shaft (510) penetrates through the first guide hole (111) and the first perforation to guide the first wheel assembly (200) to be movably connected with the mounting piece (100) along a vertical direction, and the second guide shaft (520) penetrates through the second guide hole (112) and the second perforation (311) to guide the second wheel assembly (300) to be movably connected with the mounting piece (100) along the vertical direction;
when the swing assembly (400) swings, the movement directions of the first wheel assembly (200) and the second wheel assembly (300) along the vertical direction are opposite.
2. The running gear set according to claim 1, characterized in that the first link (420) is the same length as the second link (430);
the swinging member (410) and the mounting member (100) form a first hinge point, the swinging member (410) and the first connecting rod (420) form a second hinge point, the swinging member (410) and the second connecting rod (430) form a third hinge point, and the distance between the first hinge point and the second hinge point is equal to the distance between the first hinge point and the third hinge point.
3. The running wheel set according to claim 1, wherein the first wheel assembly (200) and the second wheel assembly (300) move equally when the swing assembly (400) swings about a hinge point.
4. The running wheel set according to claim 1, wherein the first wheel assembly (200) comprises:
a first mounting portion (210) movably connected to the mounting member (100), one end of the swing assembly (400) being hinged to the first mounting portion (210);
a first wheel portion (220) rotatably connected to the first mounting portion (210); and
the first elastic element is arranged between the first mounting part (210) and the mounting piece (100) and can provide an elastic force, so that the first mounting part (210) has a trend of being far away from the mounting piece (100) along the vertical direction.
5. The running gear set according to claim 4, characterized in that the mounting (100) has a first through hole (113);
the first wheel assembly (200) further comprises a first pressing piece (240), the first pressing piece (240) comprises a first rod portion and a first cap portion, and the first elastic element is sleeved outside the first rod portion;
the first mounting part (210) is provided with a first groove, the first rod part and the first elastic element penetrate through the first through hole (113), one ends of the first rod part and the first elastic element are arranged in the first groove, and the first cap part is arranged at the other end of the first rod part and connected with the mounting piece (100);
the two ends of the first elastic element are respectively propped against the bottom wall of the first groove and the first cap part.
6. The running gear set according to claim 4, wherein the first wheel portion (220) is a universal wheel.
7. The running wheel set of claim 1, wherein the second wheel assembly (300) comprises:
a second mounting portion (310) movably connected to the mounting member (100), the other end of the swing assembly (400) being hinged to the second mounting portion (310);
a second wheel portion (320) rotatably connected to the second mounting portion (310); and
and a second elastic element (330) arranged between the second mounting part (310) and the mounting piece (100) and capable of providing an elastic force so that the second mounting part (310) has a trend of being far away from the mounting piece (100) along the vertical direction.
8. The running gear set according to claim 7, characterized in that the mounting (100) has a second through hole (114);
the second wheel assembly (300) further comprises a second pressing member (340), the second pressing member (340) comprises a second rod portion (341) and a second cap portion (342), and the second elastic element (330) is sleeved outside the second rod portion (341);
the second mounting portion (310) is provided with a second groove (312), the second rod portion (341) and the second elastic element (330) are arranged in the second through hole (114) in a penetrating mode, one ends of the second rod portion (341) and the second elastic element (330) are arranged in the second groove (312), and the second cap portion (342) is arranged at the other end of the second rod portion (341) and connected with the mounting piece (100);
both ends of the second elastic element (330) respectively prop against the bottom wall of the second groove (312) and the second cap part (342).
9. The running gear set according to claim 7, wherein the second wheel portion (320) is a steering wheel.
10. The running gear set according to any one of claims 1 to 9, wherein the mounting member (100) comprises a mounting plate (110) and a hinge bracket (120), the mounting plate (110) being capable of mounting the bottom of a vehicle body (700), the hinge bracket (120) being connected to the mounting plate (110) and being hinged to the swing assembly (400).
11. An automated guided transport vehicle, comprising:
a vehicle body (700);
the running gear set according to any one of claims 1 to 10, being mounted to the vehicle body (700).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011040286.8A CN113815375B (en) | 2020-09-28 | 2020-09-28 | Automatic guiding transport vehicle and walking wheel set thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011040286.8A CN113815375B (en) | 2020-09-28 | 2020-09-28 | Automatic guiding transport vehicle and walking wheel set thereof |
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| CN113815375A CN113815375A (en) | 2021-12-21 |
| CN113815375B true CN113815375B (en) | 2024-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011040286.8A Active CN113815375B (en) | 2020-09-28 | 2020-09-28 | Automatic guiding transport vehicle and walking wheel set thereof |
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| Publication number | Publication date |
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| CN113815375A (en) | 2021-12-21 |
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