CN208469917U - A kind of chassis guiding transport vehicle - Google Patents

Abstract

The utility model provides a kind of holding driving wheel and ground face contact, the chassis of the guidance transport vehicle of adaptive topography variation, including chassis, has an at least accommodating space；Castor installation unit, including the movable floor being set in accommodating space；The movable floor and the chassis are pivotally connected by pivot, so that the movable floor can be overturn in accommodating space；At least two groups of wheel assemblies are arranged in the movable floor bottom, and the wheel assembly is located at the pivot two sides.

Description

A kind of chassis guiding transport vehicle

Technical field

The utility model relates to adaptive chassis more particularly to a kind of chassis for guiding transport vehicle.

Background technique

Modern logistics systems, warehousing system or industrial production line to it is intelligentized require it is higher and higher.Smart motion body, with For robot (english abbreviation of magnetic navigation automatic guided vehicle Automated Guided Vehicle), be it is a kind of usually with Battery is motive power, and equipped with non-contact guiding device and other robot control system(RCS)s.It can be travelled along defined guide path, Have the function of safeguard protection and carry to move kinds of goods.

The drive part of robot includes driving motor, driving wheel and suspension mechanism, and wherein suspension mechanism is driving portion One of the core component divided, lands jointly for solving the multiple wheels of robot, adapts to pavement roughness situation, and enhancing vehicle body is steady The problems such as qualitative.In order to solve the problems, such as that hanging be usually used of driving wheel installs damping spring on driving wheel or driven wheel.This Kind is directly on wheel plus the suspension of spring is there is with the rugged and rough of landing ground, and amount of spring compression variation can wheel pair The pressure on ground changes, and weakens the damping effect of suspension.The spring-compressed quantitative change being directly installed on driving wheel Change will lead to the variation of driving wheel road holding, or even skid.The spring of installation on the driven wheel can weaken damping effect and can not Completely eliminate the hanging risk of driving wheel.And it leans on wheel damping completely, in the more complex out-of-flatness of road conditions, guides transport vehicle Chassis can tremble with it is unstable.On ground in the case where out-of-flatness, driving wheel can not always with ground face contact, to can not mention For driving force, robot is caused to can't continue to exercise.

Utility model content

The utility model above-mentioned existing product there are aiming at the problem that, a kind of holding driving wheel and ground face contact are provided, from The chassis of the guidance transport vehicle of adaptation to the ground variation.

The utility model includes chassis, has an at least accommodating space；

Castor installation unit, including the movable floor being set in accommodating space；The movable floor and the chassis It is pivotally connected by pivot, so that the movable floor can be overturn in accommodating space；

At least two groups of wheel assemblies are arranged in the movable floor bottom, and the wheel assembly is located at the pivot two Side.

The flexible overturning of castor installation unit makes the wheel assembly not be restricted to same plane, but can basis Landform highland rises and falls and adjusts, and wheel assembly can adaptively be bonded ground in front-rear direction according to topography variation, beats to reduce Sliding and ground flutter.

Preferably, the wheel assembly includes one or both of drive wheel assemblies and driven wheel assembly.It is installed on The movable floor, can be two groups or multiple groups driven wheel, or two groups or multiple groups driving wheel, according to actual use Situation is adjusted.

Preferably, being equipped with rotating mechanism, the rotation between the movable floor and the drive wheel assemblies For the rotation center of mechanism perpendicular to the movable floor, the rotating mechanism that the drive wheel assemblies can be described is in rotation The heart is rotated relative to the movable floor.The rotating mechanism provides convenience for the steering of drive wheel assemblies, makes described Drive wheel assemblies can rotate independent adjustment direction of advance relative to movable floor, more flexible.Such situation is different from passing through tune The direction of whole movable plate is turned to, more simple and reliable in structure, easy to operate.

Preferably, the drive wheel assemblies include two driving wheels, the driving wheel coaxial spaced setting is described Drive wheel assemblies include two driving motors, the output end of the driving motor independently drive one described in driving Wheel.Two driving motors independently drive the corresponding driving wheel, and when needing to turn to, two driving wheels are set as having There is rotational speed difference, realizes differential turning, reduce turning radius, move more flexible.It can be by controlling the driving motor, together The adjustment in the direction Shi Shixian and speed.

Preferably, the drive wheel assemblies include drive installation plate and drive module upper plate, described in described two Driving wheel be installed on the drive installation plate bottom, lead between the drive installation plate and the drive module upper plate It is hinged to cross articulated shaft.The articulated shaft allows two driving wheels in left and right to be not at same plane, according to topography variation in left and right It is spatially adaptively bonded ground, gives more adjustment spaces of the driving wheel other than the adjustment of pivot.

Preferably, the articulated shaft and the pivot are angled therebetween.

Preferably, the rotating mechanism includes rotating part and driving portion, the driving portion includes rotating electric machine, is driven It moves the rotating part and drives the drive wheel assemblies rotation, the rotating part is turning joint or the centre of gyration or tooth Any one of wheel group.The rotating part includes steering motor, provides power for the rotation of rotating mechanism, so that the drive Drive wheel assemblies are rotated relative to the movable floor.

Preferably, the tray bottom is set there are two the castor installation unit, the castor is installed single Member is respectively arranged on the both ends of the tray bottom.

Preferably, one end of the tray bottom is equipped with the castor installation unit, the other end is equipped with universal wheel. It can change direction with the drive wheel assemblies and change direction at any time.

Preferably, the driven wheel assembly includes one or more universal wheels.

Preferably, accommodating space edge on the chassis is equipped with several block mechanisms, the block mechanism with The movable floor is overlapped in horizontal space, keeps gap in vertical space, the block Distribution of Institutions is in described Pivot two sides.The block mechanism is in order to limit the flip angle of the movable floor, especially when robot quilt When suspention, since the gravity of drive wheel assemblies and driven wheel assembly is there are difference, one end of weight can sink, light one end can on It turns over, the block mechanism is for avoiding the movable floor flip angle excessive.

After using the above structure, the utility model compared with prior art, is had the advantage that

Out-of-flatness ground, when robot weight is excessive, spring support are coped with using spring damper system in the prior art Elastic force adjustment dynamics is inadequate, be easy to cause the skidding of driving wheel.The utility model in such a way that movable floor is articulated in chassis, Make the movable floor comply with road surface carry out front and rear angles adaptively overturning, roughness pavement increase wheel assembly with The laminating degree on ground reduces the probability that wheel assembly skids, and improves the mobile stationarity of robot, small by the influence of topography.It drives The normal pressure of driving wheel and the car weight are in a linear relationship, make driving wheel close proximity to ground, when encountering uneven ground, the activity Bottom plate has the freedom degree of certain rotation, makes corresponding angle adjustment, realizes the adaptive adjustment to uneven ground, guarantee Driving wheel lands, and makes robot normally travel.

Detailed description of the invention

Fig. 1 is a kind of bottom view on the chassis for guiding transport vehicle of the utility model.

Fig. 2 is a kind of top view on the chassis for guiding transport vehicle of the utility model.

Fig. 3 is a kind of A-A cross-sectional view of the Fig. 2 on the chassis for guiding transport vehicle of the utility model.

Fig. 4 is a kind of movable floor on the chassis for guiding transport vehicle of the utility model, drive wheel assemblies, driven wheel assembly Assembling figure.

Fig. 5 is a kind of drive wheel assemblies disassembly diagram on the chassis for guiding transport vehicle of the utility model.

1, chassis, 2, movable floor, 3, drive wheel assemblies, 4, driven wheel assembly, 5, pivot, 6, rotating mechanism, 7, hinged Axis, 8, block mechanism, 9, encoder；31, drive wheel bracket, 3101, drive installation plate, 3102, drive module upper plate, 32, drive Driving wheel, 33, driving motor, 41, driven wheel.

Specific embodiment

The utility model is described in further detail in the following with reference to the drawings and specific embodiments.

As shown in Figs. 1-5, the utility model includes chassis 1；Further include,

Movable floor 2 is articulated in the chassis 1, and can overturn around a horizontally disposed pivot 5；The dump bottom There are gaps between the edge of plate 2 and the chassis 1, so that the movable floor 2 will not connect when overturning with chassis 1 Touching overturns more flexible smooth not Caton.The accommodating space overturn for the movable floor 2 is reserved in the chassis 1, is used To reserve the space of the movable floor overturning.The thickness of the movable floor 2 is at 10 centimetres or so.

At least two groups of wheel assemblies, including drive wheel assemblies 3 and/or driven wheel assembly are arranged in 2 bottom of movable floor 4.The wheel assembly is located at 5 two sides of pivot.

The drive wheel assemblies 3 can surround the axis perpendicular to the movable floor 2 relative to the movable floor 2 Heart rotation；Preferably, the drive wheel assemblies 3 include drive wheel bracket 31 and two driving wheels 32, the driving wheel 32 coaxial spaceds are set to the bottom of the drive wheel bracket 31, and the rotating mechanism 6 is set to the driving wheel branch The top of frame 31.Preferably, the driving wheel 32 can be rubber wheel, also can according to need the wheel of selection other materials Son, this is not restricted.

Driven wheel assembly 4 is installed on 2 bottom of movable floor；Preferably rotatable universal wheel.

The drive wheel assemblies 3 and driven wheel assembly 4 are respectively arranged at the two sides of 5 lower section of pivot.

Embodiment one,

As an implementation, it is single that the castor installation is respectively set in the front-end and back-end of 1 bottom of chassis Member.

The movable floor 2 includes narrow end and wide end, and narrow end and wide end are located at the opposition two of the left and right of the pivot 5 Side.The narrow end of the movable floor 2 is located at the chassis side rear and front end proximal edge direction, the movable floor 2 Wide end is located at the closely intermediate direction in the chassis.The drive wheel assemblies 3 are arranged in 2 narrow end of movable floor Between, the left and right sides of wide end is arranged in two driven wheels 41 of the driven wheel assembly 4.Driving wheel 32 and the formation of driven wheel 41 The structure of supported at three point.

In the present embodiment, the drive wheel assemblies 3 include two driving wheels 32,32 coaxial spaced of driving wheel Setting, the drive wheel assemblies 3 include two driving motors 33.Preferably, being equipped in the drive wheel bracket 31 Rotary encoder 9.The encoder 9 and 33 link control module of driving motor, so that the revolving speed of the driving wheel 32 can Be refined control, the driving motor 33 independently connect one described in driving wheel 32, pass through two driving motors 33 respectively drive two driving wheels 32, and making two driving wheels 32, there are rotational speed differences, realize differential turning, reduce turning radius, fortune It moves more flexible.It can be realized simultaneously the adjustment of direction and speed.The driven wheel assembly 4 plays the work of steering and support With.

5 both ends of pivot are installed on the chassis 1, the pivot and the movable floor by bearing block 2 are fixedly mounted by U-bolt and pivot mount.The chassis 1 includes rack outline border and is fixed on outside the rack Stiffening plate on frame, the bearing block at the both ends of the pivot 5 are installed in the strengthening version.

Embodiment two,

As an implementation, the front end setting of 1 bottom of the chassis castor installation unit, the bottom One or more groups of universal wheels are arranged in the rear end of 1 bottom of disk.Its castor installation unit principle is the same as example 1, and is not done herein superfluous It states.

As an implementation, steering motor is installed, on the output shaft of steering motor in the drive wheel bracket 31 Tooth sector is installed, the tooth sector is engaged with the rotating mechanism 6.

Preferably, being equipped with rotary encoder 9 in the drive wheel bracket 31.The encoder 9 and steering electricity Machine link control module.It can be precisely controlled the rotation angle of the steering motor, to control in the drive wheel assemblies 3 Driving wheel 32 direction, to control the direction of motion of robot.

Rotating mechanism 6, the driving wheel are equipped between 3 top of drive wheel assemblies and the movable floor 2 Component 3 can be rotated relative to the movable floor 2.

As an implementation, the rotating mechanism 6 is pivoting support, and the pivoting support has can be opposite The movable floor 2 is fixed in the inner ring and outer ring of rotation, outer ring, and inner ring and the drive wheel assemblies 3 are affixed.As another A kind of implementation is also possible to inner ring and is fixed on the movable floor 2, and outer ring and the drive wheel assemblies 3 are affixed.

In further embodiments, the rotating mechanism 6 be planetary gear, the planetary gear include outer gear ring, Sun gear and with the outer gear ring, the intermeshing planet pinion of sun gear, the planet pinion or the sun Gear or outer gear ring are connected to the output end of motor, drive other component rotation.

In further embodiments, the rotating mechanism 6 is also possible to the turntable of other structures.

In order to lower the center of gravity, keep robot traveling more steady, the movable floor 2 can be positioned below being open, institute The drive wheel assemblies 3 and driven wheel assembly 4 stated can protrude into opening from the lower section of the movable floor 2.

At the same time it can also add damping device in the drive wheel assemblies 3 and/or driven wheel assembly 4, described subtracts Shaking device includes damping spring, connecting shaft and suspension part.

The driven wheel assembly 4 includes one or more universal wheels.The drive wheel assemblies 3 include driving wheel 32, The driving wheel 32 uses rubber wheel, can also use the driving wheel 32 of other materials, this is not restricted.

As an implementation, the articulated shaft 7 is installed on the middle line of driving wheel 32 described in left and right two, is used for The hinged drive installation plate 3101 and drive module upper plate 3103, allow two driving wheels 32 in left and right to be in different level Still it is bonded ground.When left and right sides driving wheel 32, which runs over roughness pavement, is in different level, it is suitable for ground level It is bonded ground, the drive installation plate 3101 carries out the adjustment in certain angle according to the height difference of left and right sidesing driving wheel 32 and turns over Turn, increase contacting to earth for left and right sides driving wheel 32, improves the mobile stationarity of robot.

As an implementation, the One On The Chassis accommodating space edge is equipped with several block mechanisms 8, described Block mechanism 8 is overlapped in horizontal space with the movable floor 2, keeps gap, the block machine in vertical space Structure 8 is distributed in the two sides of the pivot 5.The block mechanism 8 in order to limit the flip angle of the movable floor 2, Especially when robot is suspended, since there are difference, one end meetings of weight for the gravity of drive wheel assemblies 3 and driven wheel assembly 4 Sink, light one end can upwarp, and the block mechanism 8 is for avoiding the movable floor flip angle excessive.

In the present embodiment, the block mechanism 8 is horizontally disposed baffle, is set to the movable floor 2 Three adjacent edges in three directions.The vertical height of the baffle installation site is higher than the flapper, to about The extreme position of the flapper overturning of Shu Suoshu.Preferably, the edge of the movable floor 2 and the block mechanism Gap between 8 is between 1-3 centimetres, and preferably 2 centimetres.Preferably, the space reserved in the chassis 1, can make institute The movable floor 2 stated overturn forward or backward after with the angle of horizontal plane between 10-20 degree, optimal is 15 degree.

As an implementation, the articulated shaft and the pivot are angled therebetween.

In the specific implementation process, when the drive wheel assemblies 3 and driven wheel assembly 4 are located at the movable floor 2 Bottom, when the movable floor 2 is travelled in the rough rough road in road surface, when the driving wheel 32 with it is driven When wheel is not at same plane, the movable floor 2 carries out one according to the height difference of the driving wheel 32 and driven wheel Determine the overturning in angle.As the movable floor 2 is passively rotated along the pivot 5, the driving wheel 32 and driven Wheel 41 can be bonded road surface along pavement-height and roll.It is described when the left and right sides driving wheel 32 is not at same plane Drive installation plate 3101 according to the height difference of two driving wheels 32 carry out certain angle in overturning.With described Drive installation plate 3101 along the articulated shaft 7 passively rotate, the left and right sides driving wheel 32 can be along pavement-height Road surface is bonded to roll.

In the present invention, the chassis 1 indicates the structure for being installed on guidance transport vehicle bottom.

In the description of the present invention, it should be understood that term " on ", "lower", "bottom", "inner", "outside", " preceding ", The orientation or positional relationship of instructions such as " rear " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this reality It is described with novel with simplified, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific Orientation construction and operation, therefore should not be understood as limiting the present invention.

In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or it "lower" may include that the first and second features directly contact, and also may include that the first and second features are not direct contacts but lead to Cross the other characterisation contact between them.Moreover, fisrt feature includes above the second feature " above ", " above " and " above " One feature is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.First is special Sign includes fisrt feature right above second feature and oblique upper under the second feature " below ", " below " and " below ", or only Indicate that first feature horizontal height is less than second feature.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be It can be combined in any suitable manner in any one or more embodiment or examples.

Although the embodiments of the present invention have been shown and described above, it is not to be construed as to claim Limitation.The utility model is not limited only to above embodiments, and specific structure is allowed to vary, all in the utility model independent right It is required that protection scope in made various change it is within the protection scope of the present utility model.

Claims (11)

1. a kind of chassis for guiding transport vehicle, which is characterized in that including

Chassis (1) has an at least accommodating space；

Castor installation unit, including the movable floor (2) being set in accommodating space；The movable floor (2) and the bottom Disk (1) is pivotally connected by pivot (5), so that the movable floor (2) can be overturn in accommodating space；

At least two groups of wheel assemblies are arranged in movable floor (2) bottom, and the wheel assembly is located at the pivot (5) Two sides.

2. a kind of chassis for guiding transport vehicle according to claim 1, it is characterised in that: the wheel assembly includes driving One or both of wheel assembly (3) and driven wheel assembly (4).

3. a kind of chassis for guiding transport vehicle according to claim 2, it is characterised in that: the movable floor (2) with Rotating mechanism (6) are equipped between the drive wheel assemblies (3), the rotation center of the rotating mechanism (6) is perpendicular to described Movable floor (2), the rotating mechanism (6) that the drive wheel assemblies (3) can be described is rotation center relative to described Movable floor (2) rotation.

4. a kind of chassis for guiding transport vehicle according to claim 2, it is characterised in that: the drive wheel assemblies (3) Including two driving wheels (32), the setting of the driving wheel (32) coaxial spaced, the drive wheel assemblies (3) include two drives Dynamic motor (33), the output end of the driving motor (33) independently drive one described in driving wheel (32).

5. a kind of chassis for guiding transport vehicle according to claim 4, it is characterised in that: the drive wheel assemblies (3) Including drive installation plate (3101) and drive module upper plate (3102), driving wheel (32) described in described two is installed on described Drive installation plate (3101) bottom, between the drive installation plate (3101) and the drive module upper plate (3102) lead to It is hinged to cross articulated shaft (7).

6. a kind of chassis for guiding transport vehicle according to claim 5, it is characterised in that: the articulated shaft (7) and institute The pivot (5) stated is angled therebetween.

7. a kind of chassis for guiding transport vehicle according to claim 3, it is characterised in that: the rotating mechanism includes rotation Transfer part and driving portion, the driving portion include rotating electric machine, and the rotating part is driven to drive the drive wheel assemblies (3) Rotation, the rotating part are turning joint or any one of the centre of gyration or gear set.

8. a kind of chassis for guiding transport vehicle according to claim 1, it is characterised in that: described chassis (1) bottom If the castor installation unit is respectively arranged on the both ends of described chassis (1) bottom there are two the castor installation unit.

9. a kind of chassis for guiding transport vehicle according to claim 1, it is characterised in that: described chassis (1) bottom One end is equipped with the castor installation unit, and the other end is equipped with universal wheel.

10. a kind of chassis for guiding transport vehicle according to claim 2, it is characterised in that: the driven wheel assembly (4) Including one or more universal wheels.

11. a kind of chassis for guiding transport vehicle according to claim 1, it is characterised in that: the appearance on the chassis (1) Spatial edge is set equipped with several block mechanisms, the block mechanism is with the movable floor (2) in horizontal space phase mutual respect It is folded, gap is kept in vertical space, the block Distribution of Institutions is in the two sides of the pivot (5).