CN206437093U - A kind of ground auto―adaptive test drives floating gear train - Google Patents
A kind of ground auto―adaptive test drives floating gear train Download PDFInfo
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- CN206437093U CN206437093U CN201621489545.4U CN201621489545U CN206437093U CN 206437093 U CN206437093 U CN 206437093U CN 201621489545 U CN201621489545 U CN 201621489545U CN 206437093 U CN206437093 U CN 206437093U
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Abstract
The utility model provides a kind of ground auto―adaptive test and drives floating gear train, and front wheels include connecting by fulcrum shaft in front fork support, front fork support is provided with universal wheel below laterally floating bar, the two ends of laterally floating bar；Rear wheels are that two groups of vertical floating wheels perpendicular to laterally floating bar are constituted, the vertical floating wheel includes bow after one, the vertical floating bar being placed in rear bow, the front end of vertical floating bar is provided with driving wheel, the rear end of vertical floating bar is provided with universal wheel, two groups of vertical floating wheel medial surfaces are relative and are connected by transverse axis through respective rear bow with vertical floating bar, respectively equipped with a motor, motor drive connection driving wheel on the medial surface of vertical floating bar.The train has the features such as easy to use, detachable maintaining simple in construction facilitates.The utility model is simple in construction, with low cost, the automatic guided vehicle that can be applied under various operating modes, the advantages of not high to the flatness requirement on ground.
Description
Technical field
The utility model is related to a kind of differential drive train with floating roller equilibrium system, belongs to motor driving car and automatic
Change guiding car field, specially a kind of ground auto―adaptive test driving floating gear train.
Background technology
" industry 4.0 " promotion under, intelligence manufacture has obtained unprecedented development, so as to drive automatic guided vehicle technology
Development and the market demand increasing.This demand extend to all trades and professions, demand of the different industries to automatic guided vehicle
It is different.Traditional differential driving is general without relocation mechanism, even if minority has the floatable amplitude of floating structure all little, correspondence
Harsher with the requirement in place, the cost of implementation is high, therefore the scope of application is not broad.Meanwhile, traditional floating roller is only capable of
It is enough in a direction float keep balance, but the condition on road surface is complicated at random, not exclusively one direction it is recessed
Convex injustice, the actual stablizing effect brought of traditional floating roller is unsatisfactory, and is difficult to the automatic operatings such as turning, and
And there is noise during use greatly, the problems such as floating vibration transmission effect is obvious.
Utility model content
The utility model is for defect and deficiency present in above-mentioned prior art, it is desirable to provide a kind of to possess very big floating
Dynamic space, also can provide preferably supportive to the adaptability on ground, the limitation in reduction application place.
What the utility model was realized in：A kind of ground auto―adaptive test drives floating gear train, including front wheels are with after
Wheel group, front wheels are included by fulcrum shaft (2) connection laterally floating bar (3) in front fork support (1), front fork support (1), horizontal
Universal wheel (4) is installed below to the two ends of floating lever (3)；Rear wheels are floating for two groups of longitudinal directions perpendicular to laterally floating bar (3)
Driving wheel is constituted, and the vertical floating wheel includes bow (5), the vertical floating bar being placed in rear bow (5) after one
(6), the front end of vertical floating bar (6) is provided with driving wheel (7), and the rear end of vertical floating bar (6) is provided with universal wheel (4), two
Group vertical floating wheel medial surface is relative and is connected by transverse axis (8) through respective rear bow (5) with vertical floating bar (6)
Connect, transverse axis (8) is total on connecting shaft, the medial surface of vertical floating bar (6) respectively equipped with a driving electricity as two vertical floating bars (6)
Machine (12), motor (12) drive connection driving wheel (7).
Further, equipped with a sprocket wheel for being communicated to motor (12) on the lateral surface of the vertical floating bar (6)
(9), sprocket wheel (9) drive connection is to driving wheel (7), and the driving wheel (7) is glue coating wheel.
Further, the front fork support (1) and rear bow (5) are floating respectively at laterally floating bar (3) and longitudinal direction
Lower section is equipped with the spacing backplate (10) extended downwardly, the underface of spacing backplate (10) at two ends on the direction of lever (6)
Corresponding to respective laterally floating bar (3) or vertical floating bar (6).
Further, flexible material block (11) is installed on the lower bottom back side of the spacing backplate (10).
Further, the floating range angular range of the front wheels and rear wheels is between 25 °~40 °.
Operation principle introduction of the present utility model：A kind of ground auto―adaptive test drives floating gear train, including front wheels and
Flushed when rear wheels, front wheels and rear wheels are positioned on level ground on same horizontal plane, front wheels include front fork
Shape support, front fork support is used to install the main body of moving cart, is connected in front fork support by fulcrum shaft
Laterally floating bar, laterally floating bar being capable of dipping and heaving rotary motion, the two ends lower section of laterally floating bar by fulcrum of fulcrum shaft
Universal wheel is installed；In actual use, front wheels are front-wheel, and universal wheel can provide the steering demand of dolly；Rear wheels are
Two groups of vertical floating wheels perpendicular to laterally floating bar are constituted, and rear wheels, which only have one group of vertical floating wheel, can also reach that this practicality is new
The purpose of type, front wheels and one group of vertical floating wheel can also form a stable triangular system, can also provide its motion walking and
Stable effect, still, when only with two groups of vertical floating wheels, could provide the operation of differential steering, meanwhile, four angle sides
All there is wheel group upwards, it is possible to increase more preferable stability and floating effect, reach preferably action effect；The vertical floating
Wheel includes bow after one, and rear bow is also the bottom surface for being fixed on small vehicle main body, is placed in rear bow
Interior vertical floating bar, the front end of vertical floating bar is provided with driving wheel, and the rear end of vertical floating bar is provided with universal wheel, two groups
Vertical floating wheel medial surface is relative and is connected by transverse axis through respective rear bow with vertical floating bar, transverse axis conduct
The common connecting shaft of two vertical floating bars, transverse axis is swung also cross two groups of vertical floating wheels, the both floating there is provided vertical floating bar
Pole point action, serves the two wheel groups that are connected so that two wheel groups are parallel to each other stable effect；Vertical floating
Respectively equipped with a motor, motor drive connection driving wheel on the medial surface of bar.In actual use, motor is provided
Power, drive dolly advance movement, when running into horizontal rugged road surface, front wheels can with road surface situation of jolting
Adaptive floating adjustment is made, to keep the stability of small vehicle main body above wheel group, when the rugged portion of jolting on road surface
When lease making crosses rear wheels, adaptive adjustment, the wheel train structure of such front and back wheel group, energy can be also made according to surface conditions
Enough effective resistances to overturning for improving floating roller group so that at least form a triangle stabilising system, can effectively protect
The stability of the small vehicle main body above train is demonstrate,proved, meanwhile, by the improvement in structure, the height distance of forward and backward bow is horizontal,
The range difference of vertical floating bar is higher, so that bigger floating range is reached there is provided more preferable floating effect, so as to ensure dolly
The stablizing effect of main body；
Equipped with a sprocket wheel for being communicated to motor on the lateral surface of the vertical floating bar, chain gear transmission is connected to drive
Driving wheel, the driving wheel is glue coating wheel.Here by sprocket wheel, chain drive in driving wheel, this is only one of kind of drive,
Directly driving wheel can be installed in the rotating shaft of motor and driving is provided, it would however also be possible to employ gear drive, belt transmission etc.
Mode is driven；
The front fork support and rear bow are respectively at the two ends on the direction of laterally floating bar and vertical floating bar
Place lower section is equipped with the spacing backplate extended downwardly, and the underface of spacing backplate corresponds to respective laterally floating bar or longitudinal direction is floating
Lever.Floating range is excessive for being protected from for spacing backplate, and flexible material is provided with the lower bottom back side of the spacing backplate
Block, flexible material block enables to floating lever to be flexible contact between flexible material block is contacted, and reduces the noise of contact
Collision between part；The floating range angular range of the front wheels and rear wheels is between 25 °~40 °.In this model
Stable transport effect can be improved in enclosing；
In summary, there is following beneficial effect in a kind of ground auto―adaptive test driving floating gear train that the utility model is provided
Really：The train has the features such as easy to use, detachable maintaining simple in construction facilitates.The utility model is simple in construction, with low cost,
It is easily installed debugging.The automatic guided vehicle that can be applied under various operating modes, the advantages of not high to the flatness requirement on ground.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram that a kind of ground auto―adaptive test drives floating gear train；
Fig. 2 is the use state design sketch of rear wheels；
Fig. 3 is the use state design sketch of front wheels；
Wherein：1-front fork support, 2-fulcrum shaft, 3-laterally floating bar, 4-universal wheel, 5-rear bow,
6-vertical floating bar, 7-driving wheel, 8-transverse axis, 9-sprocket wheel, 10-spacing backplate, 11-flexible material block, 12-drive
Motor, 13-ground.
Embodiment
Embodiment 1：As shown in figure 1, a kind of ground auto―adaptive test driving floating gear train, including front wheels and rear wheels,
Flushed when front wheels and rear wheels are positioned on level ground 13 on same horizontal plane, front wheels include front fork support
1, front fork support 1 is used to install the main body of moving cart, and horizontal stroke is connected by fulcrum shaft 2 in front fork support 1
To floating lever 3, laterally floating bar 3 with fulcrum shaft 2 be fulcrum can dipping and heaving rotary motion, under the two ends of laterally floating bar 3
Side is provided with universal wheel 4；In actual use, front wheels are front-wheel, and universal wheel 4 can provide the steering demand of dolly；Trailing wheel
Group is constituted for two groups of vertical floating wheels perpendicular to laterally floating bar 3, and rear wheels, which only have one group of vertical floating wheel, can also reach this
The purpose of utility model, front wheels can also form a stable triangular system with one group of vertical floating wheel, can also provide its motion
Walking and stable effect, still, when only with two groups of vertical floating wheels, could provide the operation of differential steering, meanwhile, four
All there is wheel group, it is possible to increase more preferable stability and floating effect on individual angular direction, reach preferably action effect；It is described vertical
Include bow 5 after one to floating roller, rear bow 5 is also the bottom surface for being fixed on small vehicle main body, after being placed in
Vertical floating bar 6 in bow 5, the front end of vertical floating bar 6 is provided with driving wheel 7, and the rear end of vertical floating bar 6 is installed
There is universal wheel 4, two groups of vertical floating wheel medial surfaces are relative and pass through respective rear bow 5 and vertical floating by transverse axis 8
Bar 6 is connected, and transverse axis 8 was both provided as the common connecting shaft of two vertical floating bars 6, transverse axis 8 also cross two groups of vertical floating wheels
The floating of vertical floating bar 6 swings pole point action, serves the two wheel groups that are connected so that two wheel groups are mutually put down
The stable effect of row；Respectively equipped with a motor 12, the driving of the drive connection of motor 12 on the medial surface of vertical floating bar 6
Wheel 7.In actual use, motor 12 provides power, drives dolly to advance movement, when running into horizontal rugged road surface
When, front wheels can make adaptive floating adjustment with the situation of jolting on road surface, to keep the steady of the small vehicle main body in wheel group top
It is qualitative, when the rugged part of jolting on road surface is by rear wheels, adaptive tune can be also made according to surface conditions
Whole, the wheel train structure of such front and back wheel group can effectively improve the resistance to overturning of floating roller group so that at least form one
Individual triangle stabilising system, can effectively ensure that the stability of the small vehicle main body above train, meanwhile, pass through changing in structure
Enter, the height distance horizontal stroke of forward and backward bow 5, the range difference of vertical floating bar 6 are higher, so that bigger floating range is reached,
More preferable floating effect is provided, so as to ensure the stablizing effect of small vehicle main body；
Embodiment 2：As shown in Figure 2, shown in Fig. 3, on the basis of embodiment 1, on the lateral surface of the vertical floating bar 6
Equipped with a sprocket wheel 9 for being communicated to motor 12, sprocket wheel 9 is connected to driving wheel 7, and the driving wheel 7 is glue coating wheel.This
Place is by sprocket wheel 9, chain drive in driving wheel 7, and this is only one of kind of drive, directly can also be installed on driving wheel 7
Driving is provided in the rotating shaft of motor 12, it would however also be possible to employ the mode such as gear drive, belt transmission is driven；
The front fork support 1 and rear bow 5 are respectively on the direction of laterally floating bar 3 and vertical floating bar 6
Lower section is equipped with the spacing backplate 10 extended downwardly at two ends, and the underface of spacing backplate 10 corresponds to respective laterally floating bar
3 or vertical floating bar 6.Floating range is excessive for being protected from for spacing backplate 10, on the lower bottom back side of the spacing backplate 10
Flexible material block 11 is installed, flexible material block 11 enables to floating lever to be that flexibility connects between flexible material block 11 is contacted
Touch, reduce the collision between the noise of contact and part；The floating range angular range of the front wheels and rear wheels is
Between 25 °~40 °.Stable transport effect can be improved within this range.
Claims (5)
1. a kind of ground auto―adaptive test drives floating gear train, including front wheels and rear wheels, it is characterised in that front wheels include
Laterally floating bar (3), the two of laterally floating bar (3) are connected by fulcrum shaft (2) in front fork support (1), front fork support (1)
End lower section is provided with universal wheel (4)；Rear wheels are that two groups of vertical floating wheels perpendicular to laterally floating bar (3) are constituted, described vertical
Include bow (5), the vertical floating bar (6) being placed in rear bow (5), vertical floating bar after one to floating roller
(6) front end is provided with driving wheel (7), and the rear end of vertical floating bar (6) is provided with universal wheel (4), two groups of vertical floating wheels
Side is relative and is connected by transverse axis (8) through respective rear bow (5) with vertical floating bar (6), transverse axis (8) conduct
Respectively equipped with a motor (12), driving electricity on the common connecting shaft of two vertical floating bars (6), the medial surface of vertical floating bar (6)
Machine (12) drive connection driving wheel (7).
2. floating gear train according to claim 1, it is characterised in that be equipped with the lateral surface of the vertical floating bar (6)
One be communicated to motor (12) sprocket wheel (9), sprocket wheel (9) drive connection is to driving wheel (7), and the driving wheel (7) is bag
Rubber tire.
3. floating gear train according to claim 1, it is characterised in that the front fork support (1) and rear bow (5)
Lower section is equipped with the spacing shield extended downwardly at the two ends on the direction of laterally floating bar (3) and vertical floating bar (6)
Plate (10), the underface of spacing backplate (10) corresponds to respective laterally floating bar (3) or vertical floating bar (6).
4. floating gear train according to claim 3, it is characterised in that installed on the lower bottom back side of the spacing backplate (10)
There is flexible material block (11).
5. floating gear train according to claim 1, it is characterised in that the floating range angle of the front wheels and rear wheels
Scope is between 25 °~40 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621489545.4U CN206437093U (en) | 2016-12-30 | 2016-12-30 | A kind of ground auto―adaptive test drives floating gear train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621489545.4U CN206437093U (en) | 2016-12-30 | 2016-12-30 | A kind of ground auto―adaptive test drives floating gear train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206437093U true CN206437093U (en) | 2017-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621489545.4U Active CN206437093U (en) | 2016-12-30 | 2016-12-30 | A kind of ground auto―adaptive test drives floating gear train |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741295A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of ground auto―adaptive test drives floating gear train |
| CN108839725A (en) * | 2018-07-11 | 2018-11-20 | 苏州元谋智能机器人系统有限公司 | A kind of suspension and full backpack mobile robot |
| CN109703965A (en) * | 2019-02-25 | 2019-05-03 | 昆山紫东智能科技有限公司 | A kind of transfer robot |
| WO2019169824A1 (en) * | 2018-03-08 | 2019-09-12 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
| EP3848324A1 (en) * | 2019-12-30 | 2021-07-14 | STILL GmbH | Automatic guided vehicle |
| CN114761309A (en) * | 2019-07-23 | 2022-07-15 | Fb工业自动化有限公司 | Unmanned transport system |
-
2016
- 2016-12-30 CN CN201621489545.4U patent/CN206437093U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741295A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of ground auto―adaptive test drives floating gear train |
| WO2019169824A1 (en) * | 2018-03-08 | 2019-09-12 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
| CN108839725A (en) * | 2018-07-11 | 2018-11-20 | 苏州元谋智能机器人系统有限公司 | A kind of suspension and full backpack mobile robot |
| CN109703965A (en) * | 2019-02-25 | 2019-05-03 | 昆山紫东智能科技有限公司 | A kind of transfer robot |
| CN114761309A (en) * | 2019-07-23 | 2022-07-15 | Fb工业自动化有限公司 | Unmanned transport system |
| EP3848324A1 (en) * | 2019-12-30 | 2021-07-14 | STILL GmbH | Automatic guided vehicle |
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