CN210822525U

CN210822525U - Mobile device

Info

Publication number: CN210822525U
Application number: CN201921345096.XU
Authority: CN
Inventors: 黄先科; 穆方波
Original assignee: Zhejiang Dahua Robot Technology Co ltd
Current assignee: Zhejiang Huaray Technology Co Ltd
Priority date: 2019-08-19
Filing date: 2019-08-19
Publication date: 2020-06-23
Anticipated expiration: 2029-08-19

Abstract

The utility model provides a mobile device, this mobile device includes: a main body; the suspension component is movably arranged on the main body; the driving assembly comprises a driven wheel assembly and a driving wheel assembly, the driving wheel assembly is arranged on the suspension assembly, the driven wheel assembly is arranged at the bottom of the main body, and the driven wheel assembly and the driving wheel assembly jointly drive the main body to move; and the adjusting assembly is used for adjusting the distance between the suspension assembly and the ground so as to adjust the distance between the driving wheel assembly and the ground. Through the technical scheme provided by the application, the problem that a mobile device in the prior art is difficult to move when in failure can be solved.

Description

Mobile device

Technical Field

The utility model relates to a mechanical device technical field particularly, relates to a mobile device.

Background

Typically, an AGV robot includes a main body, a suspension, and a drive including a driven wheel and a driving wheel, and the driving wheel is disposed on the suspension. In particular, the suspension is used to maintain a sufficient positive pressure on the drive wheel with the ground so that the drive wheel provides sufficient driving force. In order to brake the robot, the robot further comprises a band-type brake, and when the band-type brake is powered off, the band-type brake can brake the driving wheel so as to stop the robot.

However, in the prior art, when the robot is powered off due to a fault, the band-type brake brakes the driving wheel, and the robot cannot be pushed at this time, and if the robot needs to be moved, the robot can only be lifted or transported by other devices. Therefore, the prior art has the problem that the movement is difficult when the fault occurs.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mobile device to there is the problem that is difficult to remove when the trouble in the mobile device who solves among the prior art.

The utility model provides a mobile device, mobile device includes: a main body; the suspension component is movably arranged on the main body; the driving assembly comprises a driven wheel assembly and a driving wheel assembly, the driving wheel assembly is arranged on the suspension assembly, the driven wheel assembly is arranged at the bottom of the main body, and the driven wheel assembly and the driving wheel assembly jointly drive the main body to move; and the adjusting assembly is used for adjusting the distance between the suspension assembly and the ground so as to adjust the distance between the driving wheel assembly and the ground.

Further, the adjusting assembly is respectively connected with the main body and the suspension assembly, and the adjusting assembly is used for adjusting the relative position of the suspension assembly and the main body.

Furthermore, the adjusting component is provided with a first end and a second end which are oppositely arranged, the main body is provided with a first hole, the second end of the adjusting component penetrates through the first hole and is connected with the suspension component, the suspension component is provided with a second hole, the second hole corresponds to the first hole, the second end of the adjusting component is located in the second hole, and the second end of the adjusting component is in threaded connection with the second hole.

Furthermore, the first end of the adjusting component is provided with a limiting boss, and the limiting boss is used for limiting in cooperation with the end face of the first hole.

Further, the adjusting part includes screw rod and link assembly, and the main part has the third hole, and the third hole is the screw hole, screw rod and third hole threaded connection, and the screw rod is worn to establish in the third hole and is stretched out in following the third hole, and link assembly's one end is articulated with the screw rod, and link assembly's the other end is articulated with suspension assembly.

Further, the suspension assembly comprises a suspension spring and a swing arm, the swing arm can move relative to the main body, and two ends of the suspension spring are respectively connected with the swing arm and the main body.

Further, the first hole is kidney-shaped hole, the first end of the swing arm is hinged to the main body, one end of the suspension spring is hinged to the main body, the other end of the suspension spring is hinged to the second end of the swing arm, the driving wheel assembly is arranged on the swing arm, and the extending direction of the kidney-shaped hole is the same as the extending direction of the first end of the swing arm to the second end of the swing arm.

Further, the driving assembly comprises a driving wheel, a motor and a speed reducer, and the motor is in driving connection with the driving wheel through the speed reducer.

Further, the mobile device comprises a plurality of driving assemblies and a plurality of adjusting assemblies, and the plurality of driving assemblies and the plurality of adjusting assemblies are arranged in a one-to-one correspondence mode.

Furthermore, the moving device also comprises a braking device, the braking device is connected with the driving assembly, and the braking device is used for braking the driving assembly.

Use the technical scheme of the utility model, this mobile device includes main part, suspension assembly, drive assembly and adjusting part. Wherein, drive assembly includes driven wheel subassembly and action wheel subassembly, and driven wheel subassembly and action wheel subassembly drive the main part jointly and remove. Specifically, the suspension assembly is movably arranged on the main body, and the driving wheel assembly is arranged on the suspension assembly. Through set up adjusting part on the device, can utilize adjusting part to adjust the distance that hangs the subassembly and ground to adjust the distance of driving wheel subassembly and ground. When the action wheel subassembly breaks down and can't rotate, can utilize adjusting part to promote hanging the subassembly to make the action wheel subassembly break away from ground, then utilize from the driving wheel subassembly can thrust unit remove. The problem that the device is inconvenient to move when the driving wheel breaks down in the conventional device can be solved through the device.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural diagram of a mobile device provided by the present invention;

fig. 2 is a schematic view illustrating a driving wheel assembly of the mobile device according to the present invention in contact with the ground;

fig. 3 shows a schematic view of the driving wheel assembly of the mobile device of the present invention when it leaves the ground.

Wherein the figures include the following reference numerals:

10. a main body; 11. a first hole;

20. a suspension assembly; 21. a second hole; 22. a suspension spring; 23. swinging arms;

30. a drive assembly; 31. a driven wheel assembly; 32. a drive wheel assembly;

40. an adjustment assembly; 41. a first end; 411. a limiting boss; 42. a second end.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 to 3, a mobile device according to an embodiment of the present invention includes a main body 10, a suspension assembly 20, a driving assembly 30, and an adjusting assembly 40. Wherein, the suspension assembly 20 is movably disposed on the main body 10, and the suspension assembly 20 can be lifted and lowered relative to the main body 10. Specifically, the driving assembly 30 includes a driven wheel assembly 31 and a driving wheel assembly 32, and the driven wheel assembly 31 includes a universal wheel. Through setting up the action wheel subassembly 32 on hanging subassembly 20, action wheel subassembly 32 can go up and down along with hanging subassembly 20 to make the device move in-process action wheel subassembly 32 and can contact with ground, and then action wheel subassembly 32 can provide sufficient drive power for the device. And, the driven wheel assembly 31 is disposed at the bottom of the main body 10, and the driven wheel assembly 31 and the driving wheel assembly 32 drive the main body 10 to move together. In this embodiment, when the device causes the driving wheel assembly 32 to be unable to rotate due to a fault, the distance between the suspension assembly 20 and the ground can be adjusted by using the adjusting assembly 40, so as to adjust the distance between the driving wheel assembly 32 and the ground, further to separate the driving wheel assembly 32 from the ground, and then the device can be pushed to move by using the driven wheel assembly 31.

By applying the moving device provided by the embodiment, through the arrangement of the adjusting component 40, when the device cannot rotate due to the failure of the driving wheel component 32, the distance between the suspension component 20 and the ground is adjusted by using the adjusting component 40, so that the driving wheel component 32 arranged on the suspension component 20 is separated from the ground, and then the pushing device moves by using the driven wheel component 31 at the bottom of the main body 10, so that the problem that the moving device in the prior art is difficult to move when in failure can be solved.

In the present embodiment, the adjusting assemblies 40 are respectively connected to the main body 10 and the suspension assemblies 20, and the adjusting assemblies 40 are used for adjusting the relative positions of the suspension assemblies 20 and the main body 10 so as to adjust the distance between the suspension assemblies 20 and the ground.

Specifically, the adjusting assembly 40 has a first end 41 and a second end 42 disposed opposite to each other, the main body 10 has a first hole 11, and the first hole 11 is a through hole. Wherein the second end 42 of the adjustment assembly 40 passes through the first aperture 11 and is connected to the suspension assembly 20. Specifically, the suspension assembly 20 has a second hole 21, the second hole 21 is disposed corresponding to the first hole 11, and an axis of the second hole 21 coincides with an axis of the first hole 11. The second end 42 of the adjustment assembly 40 is threadably connected to the second bore 21 by positioning the second end 42 of the adjustment assembly 40 within the second bore 21, thereby connecting the second end 42 of the adjustment assembly 40 to the suspension assembly 20.

In order to prevent the first end 41 of the adjusting assembly 40 from being separated from the first hole 11, the first end 41 of the adjusting assembly 40 is provided with a limiting boss 411, and the limiting boss 411 is used for limiting the position of the first end in cooperation with the end surface of the first hole 11, so that the adjusting assembly 40 is prevented from being separated from the main body 10. In the present embodiment, the adjustment assembly 40 includes a screw.

The embodiment of the utility model provides a second provides a mobile device, and this mobile device lies in with the difference of embodiment one, and adjusting part 40 includes screw rod and link assembly, and main part 10 has the third hole, and the third hole is the screw hole. Through with screw rod and third hole threaded connection, make the screw rod wear to establish and stretch out in the third hole from the third hole, articulate link assembly's one end and screw rod, link assembly's the other end and hang subassembly 20 and articulate to realize adjusting part 40 and the being connected of hanging subassembly 20. Specifically, the connecting rod assembly comprises a first connecting rod and a second connecting rod, wherein the first end of the first connecting rod is hinged to the bottom of the screw rod, one end of the second connecting rod is hinged to the second end of the first connecting rod, and the other end of the second connecting rod is hinged to the suspension assembly 20. Adopt above-mentioned structure, when adjusting the high position of action wheel subassembly 32, through rotating the screw rod, because the bottom and the link assembly of screw rod are articulated, the screw rod can not take place to control and rock at the lift in-process, can protect the internal thread of third hole and the external screw thread of screw rod to the phenomenon that screw rod and third hole damaged can not appear.

Wherein, suspension assembly 20 includes suspension spring 22 and swing arm 23, and swing arm 23 can be relative main part 10 activity, and suspension spring 22's both ends are connected with swing arm 23 and main part 10 respectively, and second hole 21 sets up on swing arm 23. Wherein, the swing arm 23 can translate relative to the main body 10 and also can swing relative to the main body 10. The swing arm 23 can realize the lifting of the driving wheel assembly 32 through the two modes.

In this embodiment, the suspension assembly 20 includes a suspension spring 22 and a swing arm 23, a first end of the swing arm 23 is hinged to the main body 10 through a rotating shaft, a second end of the swing arm 23 is hinged to one end of the suspension spring 22, the other end of the suspension spring 22 is hinged to the main body 10, and the driving wheel assembly 32 is disposed on the swing arm 23. The first hole 11 is a waist-shaped hole, and the extending direction of the waist-shaped hole is the same as the extending direction from the first end to the second end of the swing arm 23. When the driving wheel assembly 32 needs to be lifted off the ground, the screw rod can drive the swing arm 23 to lift relative to the ground by rotating the screw rod, so that the driving wheel assembly 32 is separated from the ground. In the process, the screw rod can move in the waist-shaped hole along the extending direction of the screw rod, so that the main body 10 is prevented from blocking the movement of the screw rod.

In other embodiments, the suspension assembly 20 may include a plurality of suspension springs 22 and a swing arm 23, one end of the plurality of suspension springs 22 is connected to the swing arm 23, the other end of the plurality of suspension springs 22 is connected to the main body 10, and the adjustment of the distance between the suspension assembly 20 and the main body 10 may also be achieved by moving the swing arm 23 up and down with respect to the main body 10. Because the swing arm 23 moves up and down relative to the main body 10, the swing arm 23 does not rotate relative to the main body 10, and the first hole 11 does not need to be a waist-shaped hole, so long as the first hole 11 can enable the screw to pass through.

Specifically, the driving assembly 30 includes a driving wheel, a motor and a speed reducer, and the motor is in driving connection with the driving wheel through the speed reducer. When the speed reducer breaks down, the distance between the suspension assembly 20 and the ground can be adjusted by the adjusting assembly 40, so that the driving wheel assembly 32 is separated from the ground, and the driving device is driven to move by the driven wheel assembly 31.

The moving device comprises a plurality of driving assemblies 30 and a plurality of adjusting assemblies 40, wherein the plurality of driving assemblies 30 and the plurality of adjusting assemblies 40 are arranged in a one-to-one correspondence manner. Moreover, each adjusting assembly 40 works independently, and when the device fails, only the corresponding driving wheel assembly 32 needs to be lifted by the adjusting assembly 40, so that the driving wheel assembly 32 is separated from the ground.

In this embodiment, the moving device further comprises a braking device, the braking device is connected with the driving assembly 30, and the braking device is used for braking the driving assembly 30. Specifically, arresting gear includes the band-type brake, and the theory of operation of band-type brake does: the brake on the driving wheel is released when the band-type brake is powered on, and the driving wheel is braked when the band-type brake is powered off.

To facilitate understanding of the apparatus provided in the present embodiment, the following description is made in conjunction with the operation of the apparatus:

(1) as shown in fig. 1, the height of the driven universal wheel determines the vertical position of the device in a normal stop or driving state of the device, and the driving wheel is tightly held against the ground by the downward elastic force generated by the suspension spring 22.

(2) When the device fails and cannot be started or under the condition of no electric power, the driving wheel is locked and cannot rotate, but the driving wheel is tightly attached to the road surface under the pressure of the suspension spring 22, so that the sliding friction force between the driving wheel and the ground is very large, the device cannot be pushed manually, and even if the device can be pushed, the damage to the driving wheel is also very large.

(3) As shown in fig. 2 and 3, the screw rod passes through the first hole 11 of the main body 10, then is screwed into the second hole 21 of the swing arm 23, and then is rotated in the locking direction, under the pulling force of the screw rod, the swing arm 23 will overcome the elastic force provided by the suspension spring 22 to move upwards, so that the driving wheel is separated from the ground, and the device is supported by four driven universal wheels.

(4) When the device is supported by four driven universal wheels, the device can be freely pushed under the condition of manpower without damaging other devices.

(5) When the device returns to the normal position and can be normally started, the screw rod is reversely screwed out, and the driving wheel of the device normally lands on the ground, so that the normal function can be realized.

Through the device that this embodiment provided, only need set up a screw rod between main part 10 and swing arm 23, when the device broke down, utilize the screw rod to adjust the relative position of swing arm 23 and main part 10, can break away from ground with the action wheel promotion to realize that the device removes under the support from the driving wheel, have simple structure, be convenient for processing and advantage with low costs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile device, comprising:

a main body (10);

a suspension assembly (20) movably disposed on the main body (10);

a driving assembly (30), wherein the driving assembly (30) comprises a driven wheel assembly (31) and a driving wheel assembly (32), the driving wheel assembly (32) is arranged on the suspension assembly (20), the driven wheel assembly (31) is arranged at the bottom of the main body (10), and the driven wheel assembly (31) and the driving wheel assembly (32) jointly drive the main body (10) to move;

an adjustment assembly (40), the adjustment assembly (40) being for adjusting the distance of the suspension assembly (20) from the ground to adjust the distance of the drive wheel assembly (32) from the ground.

2. The displacement device according to claim 1, characterized in that the adjustment assembly (40) is connected with the main body (10) and the suspension assembly (20), respectively, the adjustment assembly (40) being adapted to adjust the relative position of the suspension assembly (20) and the main body (10).

3. The displacement device according to claim 2, wherein the adjustment assembly (40) has a first end (41) and a second end (42) which are oppositely arranged, the main body (10) has a first hole (11), the second end (42) of the adjustment assembly (40) passes through the first hole (11) and is connected with the suspension assembly (20), the suspension assembly (20) has a second hole (21), the second hole (21) is arranged corresponding to the first hole (11), the second end (42) of the adjustment assembly (40) is positioned in the second hole (21), and the second end (42) of the adjustment assembly (40) is in threaded connection with the second hole (21).

4. A displacement device according to claim 3, characterized in that the first end (41) of the adjustment assembly (40) is provided with a limit boss (411), which limit boss (411) is intended to cooperate with an end surface of the first bore (11) for limiting.

5. The displacement device according to claim 2, characterized in that the adjustment assembly (40) comprises a threaded rod and a connecting rod assembly, the main body (10) has a third hole, the third hole is a threaded hole, the threaded rod is in threaded connection with the third hole, the threaded rod is inserted into the third hole and protrudes from the third hole, one end of the connecting rod assembly is hinged with the threaded rod, and the other end of the connecting rod assembly is hinged with the suspension assembly (20).

6. The displacement device according to claim 3, characterized in that the suspension assembly (20) comprises a suspension spring (22) and a swing arm (23), the swing arm (23) being movable relative to the main body (10), the suspension spring (22) being connected at both ends to the swing arm (23) and the main body (10), respectively.

7. The moving device according to claim 6, wherein the first hole (11) is a kidney-shaped hole, a first end (41) of the swing arm (23) is hinged with the main body (10), one end of the suspension spring (22) is hinged with the main body (10), the other end of the suspension spring (22) is hinged with a second end (42) of the swing arm (23), the driving wheel assembly (32) is arranged on the swing arm (23), and the kidney-shaped hole extends in the same direction as the first end (41) to the second end (42) of the swing arm (23).

8. The mobile device according to claim 1, wherein the drive assembly (30) comprises a drive wheel, a motor and a reducer, the motor being in driving connection with the drive wheel via the reducer.

9. The mobile device according to claim 1, characterized in that it comprises a plurality of said drive assemblies (30) and a plurality of said adjustment assemblies (40), a plurality of said drive assemblies (30) and a plurality of said adjustment assemblies (40) being arranged in a one-to-one correspondence.

10. The displacement device according to claim 1, further comprising a braking device connected to the drive assembly (30), the braking device being adapted to brake the drive assembly (30).