CN208801834U - The chassis of transport vehicle and its walking mechanism - Google Patents
The chassis of transport vehicle and its walking mechanism Download PDFInfo
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- CN208801834U CN208801834U CN201821162487.3U CN201821162487U CN208801834U CN 208801834 U CN208801834 U CN 208801834U CN 201821162487 U CN201821162487 U CN 201821162487U CN 208801834 U CN208801834 U CN 208801834U
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- mounting base
- walking mechanism
- chassis
- vehicle frame
- bracket
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Abstract
The utility model discloses chassis and its walking mechanism of a kind of transport vehicle, is related to transport vehicle technical field.The chassis of transport vehicle includes walking mechanism.Walking mechanism characterized by comprising bracket (21)；Mounting base (24), with the bracket (21) elastic connection；First idler wheel (22) is arranged on the mounting base (24)；Damper (23) is separately connected the bracket (21) and mounting base (24).After this running gear is installed on the chassis of transport vehicle, the damper in this walking mechanism can decay chassis be biased to the walking mechanism swing amplitude, so as to achieve the effect that inhibit chassis swing.
Description
Technical field
The utility model relates generally to a kind of transport vehicle technical field, in particular to a kind of bottom of transport vehicle
Disk and its walking mechanism.
Background technique
Automated guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to equipped with electricity magnetically or optically etc.
Homing guidance device can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.From
Dynamic guide transport lorry is not required to driver in industrial application.The battery of automated guided vehicle provides the energy for it.Generally may be used
Its travelling route and behavior are controlled through computer.Also it can use electromagnetic path (electromagnetic path-
Following system) its travelling route is set up, electromagnetic path sticks on floor, automated guided vehicle then follows electricity
Information brought by magnetic orbital is moved and is acted.
Be usually provided with damping spring to enhance to the adaptability on out-of-flatness ground, on the chassis of existing AGV so that
It obtains and forms elastic connection between chassis and idler wheel, idler wheel is set to float up and down.Idler wheel, which floats up and down, can make idler wheel suitable
The ground for answering out-of-flatness, enables idler wheel to offset always with ground.
But due to idler wheel and chassis elastic connection, the AGV of cargo is loaded in acceleration or deceleration, can be generated because of inertia
It shakes.Especially, when spring rate is lower, this shaking can be very serious.
Above- mentioned information are only used for reinforcing the understanding to the background of the utility model disclosed in the background technology part, because
This it may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Utility model content
A series of concept of reduced forms is introduced in utility model content part, this will be in specific embodiment part
Middle further description.The content of the present invention part is not meant to attempt to limit technical solution claimed
Key feature and essential features, do not mean that the protection scope for attempting to determine technical solution claimed more.
A technical problem to be solved in the utility model is how chassis to be inhibited to swing.
One main purpose of the utility model is to overcome at least one defect of the above-mentioned prior art, provides a kind of row
Walk mechanism comprising: bracket；Mounting base is connect with the rack elasticity；First idler wheel is arranged in the mounting base；Damping
Device is separately connected the bracket and mounting base.
One embodiment according to the present utility model, the damper include cylinder body and the piston rod from cylinder body stretching；
The cylinder body is connected to one in the bracket and the mounting base, the piston rod be connected to the bracket and
Another in the mounting base.
One embodiment according to the present utility model, the bracket include the transverse slat for being provided with the first mounting hole；The peace
Dress seat structure is the plate parallel with the transverse slat；The cylinder body be arranged in the transverse slat away from the mounting base side and with
The first mounting hole alignment, the piston rod pass through first mounting hole and vertically connect the mounting base, and described first
The side that the mounting base deviates from the transverse slat is arranged in idler wheel.
One embodiment according to the present utility model, the damper are viscous damper.
One embodiment according to the present utility model, the damper only hinder between the transverse slat and the mounting base
It moves toward one another.
One embodiment according to the present utility model, the walking mechanism further include being arranged in the mounting base and the cross
The first elastic element between plate；
The both ends of first elastic element are connected to the transverse slat and the mounting base respectively.
One embodiment according to the present utility model, the walking mechanism further include from the mounting base stretch out and perpendicular to
The guide post of the mounting base；
The bracket is provided with the sleeve that is sleeved in the guide post and can slide along the guide post.
One embodiment according to the present utility model, first elastic element are the spiral being sleeved in the guide post
Spring.
One embodiment according to the present utility model, first idler wheel are universal wheel.
The utility model also proposed a kind of chassis of transport vehicle comprising:
Vehicle frame；And walking mechanism as described above, it is mounted on the vehicle frame.
One embodiment according to the present utility model, there are two the walking mechanism settings, and two walking mechanisms are set respectively
It sets in the front-end and back-end of vehicle frame.
One embodiment according to the present utility model, the chassis further include the running gear being arranged on the vehicle frame；
The running gear includes
Guide rod, one end are rotatably connected on the vehicle frame；
Sliding sleeve is sleeved on the guide rod and can slide on the guide rod；
Swing arm, one end is rotatably connected on the vehicle frame, the other end is rotatably connected on the sliding sleeve；
The other end of the guide rod is arranged in locating part；
Second elastic element, is sleeved on the guide rod and both ends abut the locating part and the sliding sleeve respectively；And
Second idler wheel is mounted on the swing arm.
One embodiment according to the present utility model, there are two the running gear settings, is separately positioned on the two of vehicle frame
Side,
First idler wheel is driven wheel, and second idler wheel is driving wheel.
One embodiment according to the present utility model, second idler wheel are mounted on the middle part of the swing arm.
One embodiment according to the present utility model, the guide rod are hinged with the vehicle frame, the sliding sleeve and the pendulum
Swing arm is hinged, and the swing arm is hinged with the vehicle frame；
Shaft that shaft that the guide rod is rotated relative to the vehicle frame, the swing arm are rotated relative to the vehicle frame and
The sliding sleeve is parallel to each other relative to the shaft rotated on the swing arm.
One embodiment according to the present utility model, the guide rod include cylinder and the support that cylinder one end is arranged in；
The other end of the cylinder is arranged in the locating part, described in the sliding sleeve and second elastic element are set with
It on cylinder and is respectively positioned between the locating part and the support, the support limits the sliding sleeve.
As shown from the above technical solution, it the advantages of the chassis of the transport vehicle of the utility model and has the active effect that
After this running gear is installed on the chassis of transport vehicle, the damper in this walking mechanism can decay chassis
It is biased to the amplitude of the swing of the walking mechanism, so as to achieve the effect that chassis is inhibited to swing.
Detailed description of the invention
Consider the detailed description of the following preferred embodiment to the utility model in conjunction with the accompanying drawings, the utility model it is each
Kind target, feature and advantage will become apparent.Attached drawing is only the exemplary diagram of the utility model, is not necessarily
It is drawn to scale.In the accompanying drawings, same appended drawing reference always shows same or similar component.Wherein:
Fig. 1 is a kind of stereoscopic schematic diagram on the chassis of transport vehicle shown according to an illustrative embodiments；
Fig. 2 is a kind of stereoscopic schematic diagram of walking mechanism shown according to an illustrative embodiments；
Fig. 3 is a kind of stereoscopic schematic diagram of running gear shown according to an illustrative embodiments；
Fig. 4 is a kind of partial sectional view of running gear shown according to an illustrative embodiments；
Fig. 5 is a kind of stereoscopic schematic diagram of guide rod shown according to an illustrative embodiments；
Fig. 6 is a kind of stereoscopic schematic diagram of sliding sleeve shown according to an illustrative embodiments；
Fig. 7 is a kind of stereoscopic schematic diagram of vehicle frame shown according to an illustrative embodiments.
Wherein, the reference numerals are as follows:
1, chassis；10, vehicle frame；11, the first installing port；12, the second installing port；20, walking mechanism；21, bracket；211, horizontal
Plate；212, riser；22, the first idler wheel；23, damper；231, cylinder body；232, piston rod；24, mounting base；25, the first elasticity member
Part；26, guide post；261, limiting section；27, sleeve；30, running gear；31, swing arm；32, the second idler wheel；33, guide rod；
331, cylinder；332, support；333, axis hole；34, the second elastic element；35, locating part；36, sliding sleeve；361, pivot；362, in
Heart hole；37, the second hinged seat；371, mandrel；38, the first hinged seat；39, third hinged seat.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that this is practical new
Type will be full and complete, and the design of example embodiment is comprehensively communicated to those skilled in the art.It is identical in figure
Appended drawing reference indicates same or similar structure, thus the detailed description that will omit them.
Referring to Fig.1, Fig. 1 shows 1 structure of chassis of one of the present embodiment transport vehicle.The transport vehicle can be automatically
Guide transport lorry.
The chassis 1 includes vehicle frame 10 and the walking mechanism 20 being arranged on vehicle frame 10.Vehicle frame 10 is the skeleton on chassis 1
Structure.Vehicle frame 10 is used for the car body of carried and transported vehicle.Walking mechanism 20 is used to support vehicle frame 10.Walking mechanism 20 can be set more
It is a.Walking mechanism 20 is for example arranged two, and two walking mechanisms 20 can be set in the front-end and back-end of vehicle frame 10.Vehicle frame 10
Direction of advance of the front end towards transport vehicle；Direction of retreat of the rear end of vehicle frame 10 towards transport vehicle.
Referring to Fig. 2, walking mechanism 20 includes bracket 21, mounting base 24, the first idler wheel 22 and damper 23.Bracket 21 is used for
It is connected with vehicle frame 10.Between bracket 21 and vehicle frame 10 can using welding, be bolted or screw connection.
Mounting base 24 is resiliently attached to bracket 21.First idler wheel 22 is arranged in mounting base 24.First idler wheel 22 can be on ground
It is rolled on face.First idler wheel 22 can be universal wheel.Damper 23 is connected to bracket 21 and mounting base 24.Damper 23 for pair
Relative motion between bracket 21 and mounting base 24 provides resistance, to hinder the phase between the bracket 21 and the mounting base 24
To movement.
Walking mechanism 20 is separately positioned on to the rear end on the chassis 1 of transport vehicle, when transport vehicle accelerates, because acceleration generates
Pressure from the bracket 21 that vehicle frame 10 is transmitted to walking mechanism 20, bracket 21 is by additional downward pressure, bracket 21 and peace
There is the trend moved toward one another between dress seat 24, at this point, damper 23 generates resistance, which is offset suffered by portion support 21
Downward pressure, obstruction bracket 21 are moved toward one another with mounting base 24, so that decaying accelerates brought impact by transport vehicle.And by
In bracket 21 and 24 elastic connection of mounting base, after transport vehicle stops accelerating, the distance between bracket 21 and mounting base 24 are being returned
It is resetted under the action of multiple elastic force.
Walking mechanism 20 is separately positioned on to the front end on the chassis 1 of transport vehicle, when transport vehicle slows down, because acceleration generates
Pressure from the bracket 21 that vehicle frame 10 is transmitted to walking mechanism 20, bracket 21 is by additional downward pressure, bracket 21 and peace
There is the trend moved toward one another between dress seat 24, at this point, damper 23 generates resistance, which is offset suffered by portion support 21
Downward pressure, obstruction bracket 21 are moved toward one another with mounting base 24, thus decaying impact brought by transport vehicle deceleration.And by
In bracket 21 and 24 elastic connection of mounting base, after transport vehicle stops slowing down, the distance between bracket 21 and mounting base 24 are being returned
It is resetted under the action of multiple elastic force.
As a result, the damper 23 in this walking mechanism 20 can decay chassis 1 be biased to the walking mechanism 20 swing width
Degree keeps transport vehicle start and stop, acceleration more stable so as to achieve the effect that chassis 1 is inhibited to swing.
In a schematical embodiment, mounting base 24 is arranged between bracket 21 and the first idler wheel 22.Damper 23
For one-way damper.Damper 23 only moves toward one another the resistance of offer to bracket 21 and mounting base 24.Damper 23 does not hinder to prop up
24 back movement of frame 21 and mounting base.
The front-end and back-end on chassis 1 are mounted on the walking mechanism 20.When transport vehicle accelerates, the walking mechanism 20 of rear end
Damper 23 plays inhibition to decay and swing, and the damper 23 of the walking mechanism 20 of front end does not play inhibition, the row of front end
Walking the bracket 21 in mechanism 20, distance makes first in the walking mechanism 20 to roll far from mounting base 24 rapidly under the effect of elasticity
Wheel 22 can be grounded always；When transport vehicle stops accelerating, the bracket 21 in the walking mechanism 20 of front end is to close to mounting base 24
Direction movement, at this point, the damper 23 in the walking mechanism 20 of front end, which plays inhibition, makes bracket 21 and mounting base 24
It moves toward one another more stable.Similar, when transport vehicle slows down, the walking mechanism 20 of front end and the walking mechanism 20 of rear end are matched
Also transport vehicle can be made more stable.
In a schematical embodiment, damper 23 includes cylinder body 231 and the piston rod 232 from the stretching of cylinder body 231.
The cylinder body 231 of damper 23 is connected to bracket 21.The piston rod 232 of damper 23 is connected to mounting base 24.Damper 23 is preferred
For viscous damper 23.This damper 23 is sensitive to distance change between bracket 21 and mounting base 24.
It is of course also possible to the cylinder body 231 of damper 23 is connected in mounting base 24, by the piston rod 232 of damper 23
On the stent 21, damper 23 can also serve the same role for connection.
In a schematical embodiment, bracket 21 includes transverse slat 211 and two pieces of risers 212.Two pieces of risers 212 with
Transverse slat 211 is vertical.The both ends of every piece of riser 212 are separately connected transverse slat 211 and vehicle frame 10.The first installation is provided on transverse slat 211
Hole.The top of transverse slat 211 is arranged in the cylinder body 231 of damper 23.The lower section of transverse slat 211 is arranged in mounting base 24, is located at two pieces
Between riser 212.The piston rod 232 of damper 23 is stretched out from cylinder body 231, and first mounting hole of piston cylinder extends downwardly into
In mounting base 24.Mounting base 24 is arranged to the plate parallel with transverse slat 211.Mounting base 24 can be horizontally disposed.Damper 23
Piston rod 232 perpendicular to mounting base 24.The telescopic direction of damper 23 is perpendicular to mounting base 24.The setting of first idler wheel 22 is being pacified
Fill the lower section of seat 24.First idler wheel 22 is preferably universal wheel.Screw connects between the wheel carrier and mounting base 24 of first idler wheel 22.
In a schematical embodiment, walking mechanism 20 further includes the first elastic element 25.First elastic element 25
It can be helical spring.First elastic element 25 is arranged between mounting base 24 and transverse slat 211.The both ends of first elastic element 25
It is connected to transverse slat 211 and mounting base 24 respectively.First elastic element 25 is in compressive state.In this way, the first elastic element 25 makes
It obtains and makes that there is isolated trend between transverse slat 211 and mounting base 24 between bracket 21 and mounting base 24 with elastic force.
In a schematical embodiment, walking mechanism 20 further includes guide post 26.Guide post 26 is arranged in mounting base
On 24.Guide post 26 extends from mounting base 24 to transverse slat 211.Guide post 26 is perpendicular to transverse slat.Guide post 26 and damper 23
Telescopic direction is parallel.Bracket 21 further includes sleeve 27.Transverse slat 211 is additionally provided with the second mounting hole.Sleeve 27 is arranged in transverse slat 211
On, the centre bore 362 of sleeve 27 is aligned with the second mounting hole.It is worn from the second mounting hole one end that guide post 26 stretches to mounting base 24
In the centre bore 362 for crossing and being inserted into sleeve 27.It is clearance fit between sleeve 27 and guide post 26, sleeve 27 can be along guide post
26 slidings.
Mounting base 24 and support 332 are constrained to by the cooperation between sleeve 27 and guide post 26 to be only capable of moving toward one another or be only capable of
Back movement connects more stable between mounting base 24 and support 332.
In a schematical embodiment, there are two the settings of guide post 26, and there are two the settings of sleeve 27.Two guide posts
26 match with two sleeves 27 respectively.Damper 23 is arranged between two guide posts 26.After being arranged in this way, entire vehicle with walking machine
The structural strength of structure 20 is high, and stress is more reasonable.
In a schematical embodiment, the first elastic element 25 is the helical spring being sleeved in guide post 26.It leads
First elastic element 25 is limited to column 26, so that the first elastic element 25 is only capable of stretching along guide post 26.Simultaneously as
First elastic element 25 is sleeved in guide post 26, but also the structure of entire walking mechanism 20 is more compact.
In a schematical embodiment, one end that guide post 26 is upward through sleeve 27 is provided with limiting section 261.Limit
Position portion 261 can offset to avoid 26 slide downward of guide post with sleeve 27 and deviate from sleeve 27.
In a schematical embodiment, referring to Fig. 3 and Fig. 4, chassis 1 further includes the row being arranged on the vehicle frame 10
Walking apparatus 30.The running gear 30 includes guide rod 33, sliding sleeve 36, swing arm 31 and locating part 35.
The first hinged seat 38 and the second hinged seat 37 are provided on vehicle frame 10.37 phase of first hinged seat 38 and the second hinged seat
Mutually separate.
Referring to Fig. 5, guide rod 33 is configured to rough vertical bar shape.One end of guide rod 33 is rotatably connected on vehicle frame 10, limit
Part 35 is arranged on the other end of guide rod 33.Guide rod 33 can be swung in perpendicular.Guide rod 33 includes cylinder 331 and setting
Support 332 in 331 one end of cylinder.Squarely can be set in support 332.Axis hole 333 is provided on support 332.First is hinged
Mandrel 371 is provided on seat 38.Mandrel 371 is inserted into the axis hole 333 of support 332, and support 332 can be rotated around the mandrel 371.
Cylinder 331 is arranged on one end of support 332 in locating part 35.
Referring to Fig. 6, it is provided with through-hole in the middle part of sliding sleeve 36, which can be with 33 clearance fit of guide rod.Sliding sleeve 36, which is sleeved on, leads
It can slide on bar 33 and on guide rod 33.Squarely can be set in the outer profile of sliding sleeve 36.The opposite sides of sliding sleeve 36 is provided with
Pivot 361.
Second elastic element 34 is sleeved on the cylinder 331 of guide rod 33.Second elastic element 34 can be helical spring.The
One end of two elastic elements 34 is connected to locating part 35, and the other end of the second elastic element 34 is connected to sliding sleeve 36.Second elasticity
The elastic force of element 34 pushes sliding sleeve 36 to support 332.
Growth batten can be set in swing arm 31, and the plate face of swing arm 31 is vertically arranged.Swing arm is provided on 31 one end
Axis hole, the other end are provided with third hinged seat 39.Mandrel is provided on second hinged seat 37, mandrel is inserted into the axis hole.Pendulum
Swing arm 31 can be swung around the mandrel.The pivot 361 of sliding sleeve 36 is pivotally attached on third hinged seat 39.Sliding sleeve 36 can be 361 turns of around the pivot
It is dynamic.Mandrel on first hinged seat 38, the mandrel on the second hinged seat 37 and pivot 361 are parallel to each other.Guide rod 33 relative to
Shaft that shaft that vehicle frame 10 rotates, swing arm 31 are rotated relative to vehicle frame 10 and sliding sleeve 36 on the swing arm 31 relative to revolving
The shaft turned is parallel to each other.
Second idler wheel 32 is arranged on swing arm 31.Second idler wheel 32 is vertically arranged, and the shaft of the second idler wheel 32 is mounted on
On swing arm 31.First idler wheel 22 and the second idler wheel 32 are grounded simultaneously.First idler wheel 22 is preferably driven wheel, and the second idler wheel 32 is excellent
It is selected as driving wheel.
When second idler wheel 32 rolls on the ground, when encountering the protrusion on ground, the second idler wheel 32 floats, the second idler wheel 32
Swing arm 31 is jacked up upwards, swing arm 31 is swung up, meanwhile, swing arm 31 pushes up sliding sleeve 36, the second elastic element quilt
Compression.After the second idler wheel 32 is by protrusion, the back stretch of the second elastic element pushes down on sliding sleeve 36, under swing arm 31
Pendulum, the second idler wheel 32 are floated downward.The second idler wheel 32 also close proximity to ground, transport vehicle can adapt to the energy on uneven ground always as a result,
Power is stronger.
Especially, when floating to sliding sleeve 36 under the second idler wheel 32 and support 332 abuts against, support 332 prevent sliding sleeve 36 into
One step glides, and at this moment, the degree that the second idler wheel 32 is floated downward reaches maximum, is thus avoided that transport vehicle second idler wheel in zero load
32 float downward degree it is excessive caused by transport vehicle body it is excessively high and the problem of cannot be drilled into below shelf and the first idler wheel 22
Hanging problem.
In a schematical embodiment, the second idler wheel 32 is mounted on the middle part of swing arm 31.Second idler wheel 32 floats
Or the distance floated downward is about the half that the second idler wheel 32 floats or floats downward caused 34 deformation quantity of the second elastic element.
In this way, the second idler wheel 32 is during floating and floating downward, the variation of the elastic force of the second elastic element is gentle, and the second idler wheel 32 exists
It is more stable when floating and floating downward.
In a schematical embodiment, there are two the settings of running gear 30, and two running gears 30 are separately positioned on
The two side ends of vehicle frame 10.
Since two walking mechanisms 20 are separately positioned on the rear and front end of vehicle frame 10, vehicle frame 10 is arranged in running gear 30
Left and right sides end, four rolling diamondwise arrangement the One On The Chassis in this way.If the second idler wheel 32 of running gear 30 is driving wheel,
It can be then rolled by the differential between two the second idler wheels 32 to change direction, or even be able to achieve transport vehicle original place and spin.Together
When, since the four rolling on transport vehicle can flexibly float up and down, the ability that transport vehicle adapts to various landform is stronger.
In a schematical embodiment, referring to Fig. 7, vehicle frame 10 is arranged to plate, preferably plectane.Before vehicle frame 10
End and rear end are respectively set there are two the first installing port 11.The bracket 21 of two walking mechanisms 20 is arranged across ground first respectively
On installing port 11.First idler wheel 22 of two walking mechanisms 20 is separately positioned in two the first installing ports 11.It can be, bracket
21 two risers 212 are separately positioned on the two sides of the first installing port 11, and transverse slat 211 is across on the first installing port 11.
The two side ends of vehicle frame 10 are respectively set there are two the second installing port 12.The swing arm 31 of two running gears 30 is distinguished
Across two the second installing ports 12.First idler wheel 22 of two running gears 30 is separately positioned in two the second installing ports 12.
After being arranged in this way, the structure on entire chassis 1 is more compact.
It should be understood that multiple examples described above can along multiple directions (such as inclination, reverse, horizontal, vertical, etc.) and
It is utilized with multiple constructions, without departing from the principles of the present invention.Embodiment shown in the accompanying drawings is only used as the utility model
Principle the example effectively applied and be shown and described, the utility model is not limited to these examples any specific
Details.
Certainly, once thinking over the above description of representative embodiment, those skilled in the art are just it will be readily understood that can
A variety of remodeling, addition, substitution, deletion and other variations are made to these specific embodiments, and these variations are in this reality
In the range of novel principle.Therefore, the detailed description of front should be clearly understood that it is only with explanation and exemplary side
Come what is provided, the spirit and scope of the utility model are only limited by the appended claims and its equivalent formula.
Claims (16)
1. a kind of walking mechanism characterized by comprising
Bracket (21)；
Mounting base (24), with the bracket (21) elastic connection；
First idler wheel (22) is arranged on the mounting base (24)；
Damper (23) is separately connected the bracket (21) and mounting base (24).
2. walking mechanism as described in claim 1, which is characterized in that the damper (23) include cylinder body (231) and from
The piston rod (232) that cylinder body (231) stretches out；
The cylinder body (231) is connected to one in the bracket (21) and the mounting base (24), and the piston rod (232) is even
It is connected to another in the bracket (21) and the mounting base (24).
3. walking mechanism as claimed in claim 2, which is characterized in that
The bracket (21) includes the transverse slat (211) for being provided with the first mounting hole；
The mounting base (24) is configured to the plate parallel with the transverse slat (211)；
Cylinder body (231) setting deviates from the side of the mounting base (24) in the transverse slat (211) and installs with described first
Hole alignment, the piston rod (232) pass through first mounting hole and vertically connect the mounting base (24)；
First idler wheel (22) setting deviates from the side of the transverse slat (211) in the mounting base (24).
4. walking mechanism as claimed in claim 2, which is characterized in that the damper (23) is viscous damper.
5. walking mechanism as claimed in claim 3, which is characterized in that the damper (23) only hinders the transverse slat (211)
Moving toward one another between the mounting base (24).
6. walking mechanism as claimed in claim 3, which is characterized in that the walking mechanism further includes being arranged in the mounting base
(24) the first elastic element (25) between the transverse slat (211)；
The both ends of first elastic element (25) are connected to the transverse slat (211) and the mounting base (24) respectively.
7. walking mechanism as claimed in claim 6, which is characterized in that the walking mechanism further includes from the mounting base (24)
It stretches out and perpendicular to the guide post of the mounting base (24) (26)；
The bracket (21) is provided with the sleeve that is sleeved on the guide post (26) and can slide along the guide post (26)
(27)。
8. walking mechanism as claimed in claim 7, which is characterized in that first elastic element (25) is to be sleeved on described lead
Helical spring on Xiang Zhu (26).
9. such as walking mechanism described in any item of the claim 1 to 8, which is characterized in that first idler wheel (22) is universal
Wheel.
10. a kind of chassis of transport vehicle characterized by comprising
Vehicle frame (10)；And
Walking mechanism (20) as claimed in any one of claims 1-9 wherein, is mounted on the vehicle frame (10).
11. chassis as claimed in claim 10, which is characterized in that there are two walking mechanism (20) settings, two walkings
Mechanism (20) is separately positioned on the front-end and back-end of vehicle frame (10).
12. chassis as described in claim 10 or 11, which is characterized in that the chassis further includes being arranged in the vehicle frame (10)
On running gear (30)；
The running gear (30) includes
Guide rod (33), one end are rotatably connected on the vehicle frame (10)；
Sliding sleeve (36) is sleeved on the guide rod (33) and can slide on the guide rod (33)；
Swing arm (31), one end is rotatably connected on the vehicle frame (10), the other end is rotatably connected on the sliding sleeve (36)；
The other end in the guide rod (33) is arranged in locating part (35)；
Second elastic element (34), is sleeved on the guide rod (33) and both ends abut the locating part (35) and the cunning respectively
It covers (36)；And
Second idler wheel (32) is mounted on the swing arm (31).
13. chassis as claimed in claim 12, which is characterized in that there are two running gear (30) settings, is respectively set
In the two sides of vehicle frame (10),
First idler wheel (22) is driven wheel, and second idler wheel (32) is driving wheel.
14. chassis as claimed in claim 12, which is characterized in that second idler wheel (32) is mounted on the swing arm (31)
Middle part.
15. chassis as claimed in claim 12, which is characterized in that the guide rod (33) is hinged with the vehicle frame (10), institute
It states sliding sleeve (36) to be hinged with the swing arm (31), the swing arm (31) is hinged with the vehicle frame (10)；
Shaft that the guide rod (33) rotates relative to the vehicle frame (10), the swing arm (31) are relative to the vehicle frame (10)
The shaft of rotation and the sliding sleeve (36) are parallel to each other relative to the shaft rotated on the swing arm (31).
16. chassis as claimed in claim 12, which is characterized in that the guide rod (33) includes that cylinder (331) and setting exist
The support (332) of cylinder (331) one end；
The other end in the cylinder (331), the sliding sleeve (36) and second elastic element is arranged in the locating part (35)
(34) it is set on the cylinder (331) and is respectively positioned between the locating part (35) and the support (332), the support
(332) sliding sleeve (36) is limited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821162487.3U CN208801834U (en) | 2018-07-20 | 2018-07-20 | The chassis of transport vehicle and its walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821162487.3U CN208801834U (en) | 2018-07-20 | 2018-07-20 | The chassis of transport vehicle and its walking mechanism |
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| CN208801834U true CN208801834U (en) | 2019-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821162487.3U Active CN208801834U (en) | 2018-07-20 | 2018-07-20 | The chassis of transport vehicle and its walking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110254154A (en) * | 2019-06-21 | 2019-09-20 | 上海灵至科技有限公司 | A kind of suspension arrangement, movement chassis and robot |
| CN113651019A (en) * | 2021-07-21 | 2021-11-16 | 中国长城科技集团股份有限公司 | Server carrying device |
| WO2022143632A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市普渡科技有限公司 | Mobile robot and traveling mechanism thereof |
| CN114919352A (en) * | 2022-04-11 | 2022-08-19 | 南京邮电大学 | Multi-degree-of-freedom fly-climbing robot capable of flexibly fitting curved surface of wind power blade |
| CN114919673A (en) * | 2022-04-11 | 2022-08-19 | 南京邮电大学 | Multi-degree-of-freedom fly-climbing robot capable of being flexibly attached to surface of bridge cable tower |
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2018
- 2018-07-20 CN CN201821162487.3U patent/CN208801834U/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110254154A (en) * | 2019-06-21 | 2019-09-20 | 上海灵至科技有限公司 | A kind of suspension arrangement, movement chassis and robot |
| WO2022143632A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市普渡科技有限公司 | Mobile robot and traveling mechanism thereof |
| CN113651019A (en) * | 2021-07-21 | 2021-11-16 | 中国长城科技集团股份有限公司 | Server carrying device |
| CN114919352A (en) * | 2022-04-11 | 2022-08-19 | 南京邮电大学 | Multi-degree-of-freedom fly-climbing robot capable of flexibly fitting curved surface of wind power blade |
| CN114919673A (en) * | 2022-04-11 | 2022-08-19 | 南京邮电大学 | Multi-degree-of-freedom fly-climbing robot capable of being flexibly attached to surface of bridge cable tower |
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