CN209225270U - Unmanned guidance carrier and its chassis - Google Patents
Unmanned guidance carrier and its chassis Download PDFInfo
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- CN209225270U CN209225270U CN201821803256.6U CN201821803256U CN209225270U CN 209225270 U CN209225270 U CN 209225270U CN 201821803256 U CN201821803256 U CN 201821803256U CN 209225270 U CN209225270 U CN 209225270U
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Abstract
The utility model discloses a kind of chassis of unmanned guidance carrier, including chassis body (100), first universal wheel (300), second universal wheel (400) and two driving wheel group modules (200), using the center of gravity of the chassis body (100) or geometric center as in the plane coordinate system of origin, first reference axis is parallel with the bottom surface of the chassis body (100) with the second reference axis, the bottom surface of the chassis body (100) is divided into four quadrant areas by the plane coordinate system, first universal wheel (300), second universal wheel (400) and two driving wheel group modules (200) are separately positioned in four quadrant areas.A kind of unmanned guidance carrier is also disclosed in the utility model.Above scheme can solve the higher problem of chassis cost of current unmanned guidance carrier.
Description
Technical field
The utility model relates to warehouse logistics technical fields, more particularly to a kind of unmanned guidance carrier and its chassis.
Background technique
With the increasingly prosperity of logistics, the considerations of needing more aspects, is stored in the transhipment of cargo.It is usually stored in warehouse
There is a large amount of cargo.In order to reduce the human cost in logistics progress, more and more logistics companies are carried using cargo at present
Trolley substitutes manual handling, to realize the transfer to cargo.Cargo floor truck can be realized the online work of long period
Make, can undoubtedly reach efficient operation effectiveness.
Current cargo floor truck is usually unmanned guidance carrier, and the chassis of unmanned guidance carrier is to realize its shifting
Dynamic walking mechanism, in order to realize that more flexible cargo is carried, current chassis is omnidirectional chassis, can realize that omnidirectional transports
It is dynamic.
The chassis of unmanned guidance carrier includes there are four driving wheel group module at present, and each driving wheel group module is two-wheel
Differential mould group, can be realized the omnidirectional moving on chassis.Firstly, the price of driving wheel group module is higher, using four driving wheel groups
The cost that module undoubtedly will lead to entire chassis is higher.
In addition, in actual traveling process, due to ground injustice, will lead to some of wheel group can not and meanwhile contiguously
Face, and then may result in the phenomenon skidded or maked somebody a mere figurehead, and then the traveling control precision that will lead to unmanned guidance carrier reduces,
Travel track does not meet control and requires.
Utility model content
The utility model discloses the unmanned guidance carrier of one kind and its chassis, to solve current unmanned guidance carrier
The higher problem of chassis cost.
To solve the above-mentioned problems, the utility model adopts the following technical solutions:
A kind of chassis of unmanned guidance carrier, including chassis body, the first universal wheel, the second universal wheel and two drivings
Wheel group module, using the center of gravity of the chassis body or geometric center as in the plane coordinate system of origin, the first reference axis and second
Reference axis is parallel with the bottom surface of the chassis body, and the bottom surface of the chassis body is divided into four by the plane coordinate system
A quadrant area, first universal wheel, second universal wheel and two driving wheel group modules are separately positioned on four
In the quadrant area.
A kind of unmanned guidance carrier, including chassis described above.
The technical solution adopted in the utility model can reach it is following the utility model has the advantages that
In the chassis of unmanned guidance carrier disclosed by the utility model, two driving wheel group modules, the first universal wheel and
Second universal wheel is mounted on the bottom surface of chassis body, and the bottom surface that is separately mounted to chassis body is divided by plane coordinate system
In four quadrant areas, for plane coordinate system using the center of gravity of chassis body or geometric center as origin, above-mentioned distribution mode can be true
Under the premise of guarantor provides stabilized driving power for chassis, moreover it is possible to which more stable support is provided for chassis.Entire chassis only needs two
A driving wheel group module, this undoubtedly reduces the quantity of driving wheel group module, and then can reduce the cost on chassis.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and constitutes one of the utility model
Point, the exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the utility model
Improper restriction.In the accompanying drawings:
Fig. 1 is the bottom view on the chassis of unmanned guidance carrier disclosed in the utility model embodiment；
Fig. 2 is the perspective view of the explosion of driving wheel group module disclosed in the utility model embodiment；
Fig. 3 is the structural schematic diagram of the first universal wheel disclosed in the utility model embodiment.
Description of symbols:
100- chassis body,
200- driving wheel group module, 210- matrix, 211- installation base plate, 212- floating bearing, 213- attachment base, 220- are poor
Dynamic driving ontology, 221- driving wheel, 222- driving motor, the second pin shaft of 230-,
The first universal wheel of 300-, 310- universal wheel ontology, 320- support, the second positioning region 321-, 330- elastic component, 340-
Mounting base, the first positioning region 341-, the first pin shaft of 350-,
The second universal wheel of 400-.
Specific embodiment
It is specific below in conjunction with the utility model to keep the purpose of this utility model, technical solution and advantage clearer
Technical solutions of the utility model are clearly and completely described in embodiment and corresponding attached drawing.Obviously, described embodiment
It is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, this field
Those of ordinary skill's every other embodiment obtained without making creative work, belongs to the utility model
The range of protection.
Below in conjunction with attached drawing, technical solution disclosed in each embodiment of the utility model is described in detail.
Fig. 1-Fig. 3 is please referred to, the utility model embodiment discloses a kind of chassis of unmanned guidance carrier, disclosed bottom
Disk includes chassis body 100, two driving wheel group modules 200, the first universal wheel 300 and the second universal wheel 400.
Chassis body 100 is the main part on chassis, other components for unmanned guidance carrier provide installation site.Two
A driving wheel group module 200, the first universal wheel 300 and the second universal wheel 400 are installed in chassis body 100.
Two driving wheel group modules 200 are drive module, for providing the driving force of chassis traveling, driving wheel group module
200 generally include driving motor, and then by driving motor supplies power.Two driving wheel group modules 200 be guarantee chassis advance,
The building blocks of function of the locomotive functions such as retrogressing, steering.It is more clever that first universal wheel 300 and the second universal wheel 400 can be realized chassis
Deflecting living.
In the chassis of unmanned guidance carrier disclosed in the utility model embodiment, with the center of gravity of chassis body 100 or several
What center is the first reference axis (can be the x-axis in Fig. 1) and the second coordinate of plane coordinate system in the plane coordinate system of origin
Axis (can be the y-axis in Fig. 1) is parallel with the bottom surface of chassis body 100.It should be noted that the bottom of chassis body 100
Face refers to surface of the chassis body 100 towards ground.
The bottom surface of chassis body 100 is divided into four quadrant areas by the plane coordinate system, the first universal wheel 300,
Second universal wheel 400 and two driving wheel group modules 200 are separately positioned in four quadrant areas.
In the chassis of unmanned guidance carrier disclosed in the utility model embodiment, two driving wheel group modules 200, first
Universal wheel 300 and the second universal wheel 400 are mounted on the bottom surface of chassis body 100, and are separately mounted to the bottom of chassis body 100
In four quadrant areas that face is divided by plane coordinate system, plane coordinate system is with the center of gravity or geometric center of chassis body 100
Origin, under the premise of above-mentioned distribution mode can be ensured to be chassis offer stabilized driving power, moreover it is possible to be provided for chassis more stable
Support.Entire chassis only needs two driving wheel group modules 200, this undoubtedly reduces the quantity of driving wheel group module, in turn
The cost on chassis can be reduced.
In order to further increase the flexibility of traveling, in preferred scheme, two driving wheel group modules 200 can be set respectively
It sets in two quadrant areas being diagonally distributed, the first universal wheel 300 and the second universal wheel 400, which are separately positioned on, to be diagonally distributed
In other two quadrant area.In above-mentioned set-up mode, the first universal wheel 300 and the second diagonally distribution of universal wheel 400 can be more preferable
Ground ensures the driveability that vehicle is advanced, while the first universal wheel 300 and the second diagonally setting of universal wheel 400, then can be improved
Traveling deflecting is more flexible.
In the present embodiment, the structure of chassis body 100 can there are many, for example, the top surface of chassis body 100 can be flat
Face, chassis body 100 be square perpendicular to the projection of shape on the direction of top surface, rectangle or circle.Certainly, chassis body
100 can also be other shapes, and the present embodiment does not limit the concrete shape of chassis body 100.
Referring again to Fig. 1, in a kind of specific embodiment, during chassis body 100 extends along length direction
Heart line is the first center line, and the center line extended along local width direction is the second center line, the first reference axis and the first center
Line is overlapped, and the second reference axis is overlapped with the second center line, and in such cases, the first reference axis is the x-axis in Fig. 1, the second coordinate
Axis is the y-axis in Fig. 1.In such cases, chassis body 100 has length and width.
In a kind of specific embodiment, the top surface of chassis body 100 can be plane, chassis body 100 perpendicular to
The projection of shape in the direction of top surface is rectangle.It should be noted that the top surface of chassis body 100 refers to chassis body 100
Away from the surface on ground.In the present embodiment, two driving wheel group modules 200, the first universal wheel 300 and the second universal wheel 400 are
It is mounted on the bottom surface of chassis body 100, and then realizes the support to chassis body 100.
In the present embodiment, the first universal wheel 300 can be elastic universal wheel, and the first universal wheel 300 can be with floor resilient properties
Contact, plays the role of resilient support.Since the first universal wheel 300 is elastic universal wheel, the first universal wheel 300 can be with ground
Elastic Contact plays the role of preferably flexibly supporting, when chassis is traveling on rugged ground, the first universal wheel
300, due to itself elasticity, can preferably adapt to the height variation on ground, it is ensured that can have with ground it is good contact, delay
The phenomenon that solution part wheel has skidded or makes somebody a mere figurehead.
Under the premise of first universal wheel 300 can be realized the function of common universal wheel, moreover it is possible to realize resilient support.It please refers to
Fig. 3, the utility model embodiment disclose a kind of the first universal wheel 300 of specific structure, which includes universal wheel
Ontology 310, support 320 and elastic component 330.
Universal wheel ontology 310 is the main component of the first universal wheel 300, itself has the function of flexible deflecting, can also be with
It is that universal wheel ontology 310 is rotatedly connected with support 320, and then universal wheel ontology 310 is enabled to rotate relative to support 320.
One end of support 320 is rotatably assorted with chassis body 100.The flexibly positioned other end in support 320 of elastic component 330
Between chassis body 100, elastic component 330 makes it be adjacent to the elastic force on ground to the application of universal wheel ontology 310.Elastic component 330 has
Have certain pretightning force so that the first universal wheel 300 always with ground face contact.
In specific walking process, when ground be uneven or the first universal wheel 300 corresponding in chassis body 100
Region it is larger by load when, support 320 the other end rotation, and then adjust the first universal wheel 300 bearing height, reach
The problem of preferably adapting to ground level.
In order to facilitate connection, in preferred scheme, the first universal wheel 300 can also include mounting base 340 and the first pin shaft
350, mounting base 340 is fixedly linked with chassis body 100, and support 320 can be rotated by the first pin shaft 350 with mounting base 340
Cooperation, and then realize the rotation of support 320.First universal wheel 300 of above structure can be assembled into an entirety, in installation
In the process, it is only necessary to mounting base 340 is fixed in chassis body 100, and then installation can be facilitated.
In order to realize that elastic component 330 more stably stretches, in preferred scheme, mounting base 340 may include the first positioning
The second positioning region 321 can be set in portion 341, the other end of support 320, and the both ends of elastic component 330 are respectively sleeved at the first positioning
It, can be along the first positioning region 341 and the second positioning region during elastic component 330 is flexible in portion 341 and the second positioning region 321
321 carry out.Specifically, the first positioning region 341 and the second positioning region 321 all can be column structure, certainly, the first positioning region
341 and second positioning region 321 can also be other structures, the present embodiment do not limit the first positioning region 341 and the second positioning region 321
Concrete shape.
In order to realize that unmanned guidance carrier is advanced more flexiblely, in preferred scheme, two driving wheel group modules 200
All can be two-wheeled differential driving module, specifically, each driving wheel group module 200 include two driving wheels and two driving
Mechanism (such as driving motor 222), two driving mechanisms respectively drive two driving wheels and roll, and the revolving speed of two driving wheels is not
Together, and then differential cooperation is realized.
Driving wheel group module 200 can also be steering wheel drive module, be also possible to other drives for having the differential ability of two-wheel
Driving wheel group structure.Referring to FIG. 2, the utility model embodiment discloses a kind of driving wheel group module 200, the driving wheel group module
200 may include matrix 210 and Differential Driving ontology 220.
Matrix 210 is the basic component of driving wheel group module 200, and matrix 210 is connected with chassis body 100.Differential Driving
Ontology 220 be driving wheel group module 200 driving main body, Differential Driving ontology 220 include two can differential cooperation driving wheel
221, and then can be realized differential walking, be conducive to the flexibility for improving chassis walking.
Differential Driving ontology 220 is rotatably arranged on matrix 210, and two driving wheels 221 can be located at Differential Driving sheet
The two sides of the center of rotation of body 220.In the specific course of work, Differential Driving ontology 220 can be 210 turns relative to matrix
It is dynamic, and then at the region by ground injustice, Differential Driving ontology 220 is realized same by rotating more flexiblely
Two driving wheels 221 in a driving wheel group module 200 can preferably adapt to rugged ground, reach and more preferably drive
Effect avoids the part driving wheel 221 of driving wheel group module 200 that hanging, phenomena such as skidding occurs.
In driving wheel group module 200, two driving wheels 221 of Differential Driving ontology 220 are respectively positioned on Differential Driving ontology 220
Center of rotation two sides, and then contact of two driving wheels 221 with ground can be adjusted by rotating, rugged
When advancing on ground, that there is no driving wheels 221 is hanging, phenomena such as skidding, and then can improve the precision of entire chassis traveling.
In preferred scheme, matrix 210 may include installation base plate 211, floating bearing 212 and attachment base 213, install base
Plate 211 is fixedly linked with chassis body 100, and attachment base 213 is rotatedly connected by floating bearing 212 with installation base plate 211, turns round
The rotational plane of bearing 212 and the rotation direction of Differential Driving ontology 220 are perpendicular, and Differential Driving ontology 220 rotationally connects
On attachment base 213.Specifically, Differential Driving ontology 220 can be hinged by the second pin shaft 230 and attachment base 213, Jin Ershi
Existing rotation of the Differential Driving ontology 220 relative to attachment base 213.In above scheme, the driving wheel 221 of driving wheel group module 200
Can differential traveling on the ground, carry out can improve chassis traveling flexibility.
In the present embodiment, driving wheel group module 200 can also be widely used steering wheel drive module, this implementation in fork truck
Example does not limit the specific type of driving wheel group module 200, other, which can be realized two differential gears and can rotate, reaches while landing
Structure can also.
Based on chassis disclosed in the utility model embodiment, a kind of unmanned guidance carrying is also disclosed in the utility model embodiment
Vehicle, disclosed unmanned guidance carrier includes chassis described in foregoing embodiments.
Emphasis describes the difference between each embodiment in the utility model foregoing embodiments, between each embodiment
As long as different optimization feature non-contradiction, can combine to form more preferably embodiment, it is contemplated that style of writing is succinct, this then no longer
It repeats.
The above description is only the embodiments of the present invention, is not intended to limit the utility model.For this field
For technical staff, various modifications and changes may be made to the present invention.All institutes within the spirit and principle of the utility model
Any modification, equivalent substitution, improvement and etc. of work, should be included within the scope of the claims of the utility model.
Claims (12)
1. a kind of unmanned chassis of guidance carrier, which is characterized in that including chassis body (100), the first universal wheel (300),
Second universal wheel (400) and two driving wheel group modules (200) are with the center of gravity or geometric center of the chassis body (100)
In the plane coordinate system of origin, the first reference axis is parallel with the bottom surface of the chassis body (100) with the second reference axis, institute
It states plane coordinate system and the bottom surface of the chassis body (100) is divided into four quadrant areas, first universal wheel (300),
Second universal wheel (400) and two driving wheel group modules (200) are separately positioned in four quadrant areas.
2. chassis according to claim 1, which is characterized in that two driving wheel group modules (200) are separately positioned on
In two quadrant areas being diagonally distributed, first universal wheel (300) is respectively set with second universal wheel (400)
In other two the described quadrant area being diagonally distributed.
3. chassis according to claim 2, which is characterized in that the chassis body (100) extends along length direction
Center line be the first center line, along local width direction extend center line be the second center line, first reference axis with
First center line is overlapped, and second reference axis is overlapped with second center line.
4. chassis according to claim 3, which is characterized in that the top surface of the chassis body (100) is plane, the bottom
Projection of shape of the disk ontology (100) in the direction perpendicular to the top surface is rectangle.
5. chassis according to claim 1, which is characterized in that first universal wheel (300) is elastic universal wheel.
6. chassis according to claim 5, which is characterized in that first universal wheel (300) includes universal wheel ontology
(310), support (320) and elastic component (330), the universal wheel ontology (310) is rotatedly connected with the support (320), described
One end of support (320) is rotatably assorted with the chassis body (100), and the elastic component (330) is flexibly positioned in the support
(320) between the other end and the chassis body (100), elastic component (330) the Xiang Suoshu universal wheel ontology (310) applies
It is set to be adjacent to the elastic force on ground.
7. chassis according to claim 6, which is characterized in that first universal wheel (300) further includes mounting base (340)
With the first pin shaft (350), the mounting base (340) is fixedly linked with the chassis body (100), and the support (320) passes through
First pin shaft (350) is rotatably assorted with the mounting base (340).
8. chassis according to claim 7, which is characterized in that the mounting base (340) includes the first positioning region (341),
The other end of the support (320) can be set the second positioning region (321), and the both ends of the elastic component (330) are respectively sleeved at
On first positioning region (341) and second positioning region (321).
9. chassis according to claim 1, which is characterized in that the driving wheel group module (200) is the differential drive of two-wheeled
Dynamic model block.
10. chassis according to claim 9, which is characterized in that the driving wheel group module (200) includes matrix (210)
With Differential Driving ontology (220), described matrix (210) is connected with the chassis body (100), the Differential Driving ontology
(220) include two can differential cooperation driving wheel (221), the Differential Driving ontology (220) is rotatably arranged at the base
On body (210), two driving wheels (221) are located at the two sides of the center of rotation of the Differential Driving ontology (220).
11. chassis according to claim 10, which is characterized in that described matrix (210) includes installation base plate (211), returns
Shaft holds (212) and attachment base (213), and the installation base plate (211) is fixedly linked with the chassis body (100), the company
Joint chair (213) is rotatedly connected by the floating bearing (212) with the installation base plate (211), the floating bearing (212)
Rotational plane and the rotation direction of the Differential Driving ontology (220) are perpendicular, and the Differential Driving ontology (220) rotationally connects
It connects on the attachment base (213).
12. a kind of unmanned guidance carrier, which is characterized in that including chassis of any of claims 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821803256.6U CN209225270U (en) | 2018-11-02 | 2018-11-02 | Unmanned guidance carrier and its chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821803256.6U CN209225270U (en) | 2018-11-02 | 2018-11-02 | Unmanned guidance carrier and its chassis |
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| Publication Number | Publication Date |
|---|---|
| CN209225270U true CN209225270U (en) | 2019-08-09 |
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ID=67501725
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821803256.6U Active CN209225270U (en) | 2018-11-02 | 2018-11-02 | Unmanned guidance carrier and its chassis |
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| CN (1) | CN209225270U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916567A (en) * | 2019-12-12 | 2020-03-27 | 上海高仙自动化科技发展有限公司 | Mobile device and cleaning robot with same |
| CN114450179A (en) * | 2019-10-08 | 2022-05-06 | 松下知识产权经营株式会社 | Traction device and automated guided vehicle with traction device |
-
2018
- 2018-11-02 CN CN201821803256.6U patent/CN209225270U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114450179A (en) * | 2019-10-08 | 2022-05-06 | 松下知识产权经营株式会社 | Traction device and automated guided vehicle with traction device |
| CN114450179B (en) * | 2019-10-08 | 2024-01-30 | 松下知识产权经营株式会社 | Traction device and unmanned carrier with traction device |
| CN110916567A (en) * | 2019-12-12 | 2020-03-27 | 上海高仙自动化科技发展有限公司 | Mobile device and cleaning robot with same |
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Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |