CN211032738U

CN211032738U - Chassis and vehicle

Info

Publication number: CN211032738U
Application number: CN201921401051.XU
Authority: CN
Inventors: 许庆顺
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-07-17
Anticipated expiration: 2029-08-26

Abstract

The utility model provides a chassis, which comprises a bottom plate, a first driven wheel and a first driving mechanism; the first driving mechanism comprises a first driving connecting rod, a first motor reducer assembly and a first driving wheel; the first driving connecting rod is hinged to the bottom plate, the first motor reducer assembly is fixedly connected with the first driving connecting rod, the first driving wheel and the first driven wheel are respectively arranged at two ends of the first driving connecting rod, and the first driving wheel is connected with an output shaft of the first motor reducer assembly. The embodiment of the utility model provides a chassis, if the chassis moves to the ridge position, can avoid the unsettled of drive wheel to ensure to provide and last effectual drive power, and, the active state from the driving wheel provides the buffering space for its motion, has avoided the motion to strike.

Description

Chassis and vehicle

Technical Field

The utility model belongs to the mechanical structure field especially relates to a chassis and vehicle.

Background

Currently, with the development and progress of robotics, various AGV (Automated Guided Vehicle) carts are widely used in manufacturing industry, warehousing industry and other industries and various dangerous places.

In order to realize the movement of the conventional AGV trolley, universal wheels are usually arranged at the front end and the rear end of a bottom plate, and a driving wheel is arranged between the universal wheels at the front end and the rear end.

However, the AGV dolly that possesses above-mentioned chassis structure if there is bellied arris bank on its route of traveling, when the universal wheel in the place ahead contacts with the arris bank, the arris bank can be with chassis jack-up, and at this moment, the universal wheel combined action of front and back is built on stilts with the drive wheel in the middle of to lead to AGV dolly drive wheel liftoff, lose power, and the universal wheel in the place ahead lacks the buffering with the contact process of arris bank, still lead to the impact force big, be unfavorable for AGV dolly safe and steady operation.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a chassis and vehicle to solve the AGV dolly chassis drive power that prior art exists and lose and the big problem of external shock.

According to a first aspect of embodiments of the present invention, there is provided a chassis comprising a base plate first driven wheel and a first driving mechanism;

the first driving mechanism comprises a first driving connecting rod, a first motor reducer assembly and a first driving wheel;

the first driving connecting rod is hinged to the bottom plate, the first motor reducer assembly is fixedly connected with the first driving connecting rod, the first driving wheel and the first driven wheel are respectively arranged at two ends of the first driving connecting rod, and the first driving wheel is connected with an output shaft of the first motor reducer assembly.

According to a second aspect of embodiments of the present invention, there is provided a vehicle comprising the aforementioned chassis.

The embodiment of the utility model provides a, through articulated first drive connecting rod on the bottom plate on chassis, set up first drive wheel and the first both ends at first drive connecting rod respectively from the driving wheel, thereby, if the chassis moves to ridge position, when first from the driving wheel contact ridge, first drive connecting rod is equivalent to a lever this moment, first from driving wheel atress by jack-up, it is corresponding, first drive wheel is forced to push down, can avoid unsettled of first drive wheel, thereby ensure to provide and last effectual drive power, and, first active state from the driving wheel provides the buffering space for its motion, motion impact has been avoided.

The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the present invention is given.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic view of a chassis according to an embodiment of the present invention;

fig. 2 is a schematic view of the embodiment of the present invention in the direction of M in fig. 1;

fig. 3 is a schematic diagram of a first driving mechanism provided by an embodiment of the present invention;

fig. 4 is a schematic view of the embodiment of the present invention in fig. 1 along the N direction.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Referring to fig. 1 to 3, a chassis provided by an embodiment of the present invention is shown, and the chassis includes a base plate 10, a first driven wheel 11, and a first driving mechanism 12;

the first drive mechanism 12 includes a first drive link 121, a first motor reducer assembly 122, and a first drive wheel 123;

the first driving connecting rod 121 is hinged to the base plate 10, the first motor reducer assembly 122 is fixedly connected to the first driving connecting rod 121, the first driving wheel 123 and the first driven wheel 11 are respectively disposed at two ends of the first driving connecting rod 121, and the first driving wheel 123 is connected to an output shaft of the first motor reducer assembly 122.

Specifically, as shown in fig. 1 and 2, the base plate 10 is a main structure of the chassis, and other various accessories are directly or indirectly fixed on the base plate 10.

The first driving link 121 is hinged to the base plate 10, and the first driving link 121 is rotatable about a hinge point thereof. The first motor reducer assembly 122 is fixedly connected with the first driving link 121 through screws or other methods, and the first motor reducer assembly 122 can synchronously swing with the first driving link 121. The first driving wheel 123 is fixedly connected to the output shaft of the first motor reducer assembly 122 through a flange or a coupling, a screw, and the like, so that the first motor reducer assembly 122 can output power to the first driving wheel 123 to drive the first driving wheel 123 to rotate. The first driving wheel 123 and the first driven wheel 11 are respectively provided at both ends of the first driving link 121 so that the first driving wheel 123 is lowered when the first driven wheel 11 is lifted, and the first driven wheel 11 is lowered when the first driving wheel 123 is lifted. Further, when the first driven pulley 11 contacts a convex position on the road, and the first driving link 121 acts as a lever, the first driven pulley 11 is forced to be lifted, and accordingly, the first driving pulley 123 is forced to be pressed down.

The embodiment of the utility model provides a, through articulated first drive connecting rod on the bottom plate on chassis, set up first drive wheel and the first both ends at first drive connecting rod respectively from the driving wheel, thereby, when first protruding position on the road of contact from the driving wheel, first drive connecting rod is equivalent to a lever this moment, first from driving wheel atress by jack-up, it is corresponding, first drive wheel is forced to push down, can avoid the unsettled of first drive wheel, thereby ensure to provide and last effectual drive power, and, first active state from the driving wheel provides the buffer space for its motion, motion impact has been avoided.

Optionally, referring to fig. 1 and 2, the chassis further includes a hinge base 13 and a pin 14;

the hinge base 13 is fixed on the bottom plate 10, a first hinge hole is formed in the hinge base 13, a second hinge hole is formed in the first driving connecting rod 121, and the first hinge hole and the second hinge hole are coaxially connected through the pin shaft 14. The first hinge hole is coaxially connected with the second hinge hole, so that radial constraint of the first hinge hole and the second hinge hole can be realized, and radial play is avoided

Optionally, the first driving link 121 is provided with a plurality of second hinge holes at intervals along a length direction thereof, and any one of the plurality of second hinge holes is coaxial with the first hinge hole.

When the first driving connecting rod 121 is hinged with the hinged support 13 on the chassis, any one of the second hinged holes can be coaxially assembled with the first hinged hole, and specifically which hole is selected can be determined according to the size of the chassis and the power requirement. The arrangement of the plurality of second hinge holes enables the hinge position of the first driving link 121 to be adjustable, so as to be adaptable to different power requirements. By adjusting the distance ratio between the first driving wheel 123 and the first driven wheel 11 of the hinge base 13, the working pressure to which the first driving wheel 123 and the first driven wheel 11 are subjected can be adjusted.

Optionally, referring to fig. 1, the chassis further includes a limiting plate 15;

the limiting plate 15 is fixedly connected with the bottom plate 10, a U-shaped groove is formed in the limiting plate 15, and the first driving connecting rod 121 moves in the U-shaped groove around a hinge center, wherein the hinge center is a center where the first driving connecting rod 121 is hinged to the bottom plate 10.

The U-shaped channel opens towards the first drive link 121, and when the first drive link 121 moves in the U-shaped channel about the hinge center, the two upright side walls of the U-shaped channel limit the swinging movement of the first drive link 121 in the direction of the hinge axis, and the bottom of the U-shaped channel also prevents the first drive link 121 from falling excessively.

Optionally, with reference to fig. 4, the chassis further comprises two guide wheels 16;

the two guide wheels 16 are respectively arranged at two sides of the opening of the U-shaped groove, wherein the shortest distance s between the rims of the two guide wheels 16 is the same as the thickness t of the first driving connecting rod 121, and the thickness t of the first driving connecting rod 121 is parallel to the axial direction of the first driving connecting rod 121 hinged with the bottom plate 10.

Through setting up a leading wheel respectively in the opening both sides of U-shaped groove for first drive connecting rod 121 presss from both sides and moves between two leading wheels, when first drive connecting rod 121 exists the risk with the lateral wall contact of U-shaped groove, can turn into the roll with the friction slip, avoids the structural damage that often friction caused.

Optionally, the curved surfaces of the two guide wheels 16 are both elastic structures. This can reduce noise of the first drive link 121 rolling in contact with the guide wheel 16. For example, silica gel or sound-absorbing sponge is coated on the surface of the guide wheel 15, which is helpful for reducing the running noise.

Optionally, the chassis further includes a buffer member (not shown in the figure), which is disposed between the bottom plate 10 and an end of the first driving link 121 where the first driving wheel 123 is fixed. This prevents the first driving link 121 from hitting the base plate 10 when the first driving wheel 123 falls to one side, thereby preventing the base plate 10 from being damaged by impact. For example, the buffer member may be a buffer rubber, a buffer spring, or the like.

Optionally, referring to fig. 1, the chassis further comprises a second drive mechanism 17 and a second driven wheel 18;

the second driving mechanism 17 includes a second driving link 171, a second motor reducer assembly 172, and a second driving wheel 173;

the second driving link 171 is hinged to the base plate 10, the second motor reducer assembly 172 is fixedly connected to the second driving link 171, the second driving wheel 173 and the second driven wheel 174 are respectively disposed at two ends of the second driving link 171, and the second driving wheel 173 is connected to an output shaft of the second motor reducer assembly 172;

the second driving mechanism 17 is arranged symmetrically to the first driving mechanism 12.

The second driving mechanism 17 has the same composition as the first driving mechanism 12, and has a similar connection form, and the second driving mechanism 17 is arranged symmetrically with the first driving mechanism 12. Specifically, the second drive link 171 is symmetrical to the first drive link 121, the second motor reducer assembly 172 is symmetrical to the first motor reducer assembly 122, and the second drive wheel 173 is symmetrical to the first drive wheel 123. Accordingly, the second driven pulley 18 is symmetrical to the first driven pulley 11. For the driving wheels in the two groups of driving mechanisms, the driving wheels can be coaxially arranged, and the smoothness of movement is improved. Thereby two sets of actuating mechanism can provide sufficient power for the chassis, also can more convenient realization turn to through the differential of two drive wheels, still do not have the unsettled risk of drive wheel simultaneously.

Optionally, with reference to fig. 1, the chassis further comprises a third driven wheel 19 and a fourth driven wheel 20;

the third driven wheel 19 and the fourth driven wheel 20 are symmetrically disposed on the bottom plate 10, and the first driving wheel 123 is close to a connecting line of the third driven wheel 19 and the fourth driven wheel 20. Therefore, the contact point with the ground can be increased, and the motion stability is improved.

It should be noted that, when only the first drive mechanism 12 is mounted on the chassis, the first drive wheel 123 and the first driven wheel 11 are located on a perpendicular bisector of a line connecting the third driven wheel 19 and the fourth driven wheel 20. At this time, when passing through a convex position on the road, one of the first driving wheel 123 and the first driven wheel 11, the third driven wheel 19, and the fourth driven wheel 20 form a triangular traveling mechanism, at least three points contact with the ground, and the traveling is relatively smooth.

As shown in fig. 1, when two sets of driving mechanisms, namely the first driving mechanism 12 and the second driving mechanism 17, are mounted on the chassis, the first driving wheel 123, the first driven wheel 11 and the third driven wheel 19 are located on one side of the chassis, the second driving wheel 173, the second driven wheel 18 and the fourth driven wheel 20 are located on the other side of the chassis, the first driving wheel is located between the first driven wheel 11 and the third driven wheel 19, and the second driving wheel 173 is located between the second driven wheel 18 and the fourth driven wheel 20. Therefore, the motion stability can be improved while sufficient driving force is ensured.

It should be noted that, the first driven wheel 11, the second driven wheel 18, the third driven wheel 19 and the fourth driven wheel 20 mentioned above may be rolling wheels, or universal wheels or mecanum wheels with flexible directions, and the present invention does not limit this.

The embodiment of the utility model provides a vehicle is still provided, the vehicle includes aforementioned arbitrary chassis.

The vehicle can be various vehicles with chassis systems, such as an AGV.

The embodiment of the utility model provides a, through the chassis after using above-mentioned improvement on the vehicle, can avoid the unsettled of drive wheel to ensure to provide and last effectual drive power, and, the active state from the driving wheel provides the buffering space for its motion, has avoided the motion to strike, has guaranteed the operation stationarity of vehicle.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As is readily imaginable to the person skilled in the art: any combination of the above embodiments is possible, and thus any combination of the above embodiments is an embodiment of the present invention, but the present disclosure is not necessarily detailed herein due to space limitations.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. A chassis, characterized in that the chassis comprises a base plate, a first driven wheel and a first driving mechanism;

2. The chassis of claim 1, further comprising a hinge mount and a pin;

the hinge seat is fixed on the bottom plate, a first hinge hole is formed in the hinge seat, a second hinge hole is formed in the first driving connecting rod, and the first hinge hole and the second hinge hole are coaxially connected through the pin shaft.

3. The chassis of claim 2,

the first driving connecting rod is provided with a plurality of second hinge holes at intervals along the length direction of the first driving connecting rod, and any hinge hole in the second hinge holes is coaxial with the first hinge hole.

4. The chassis of any one of claims 1 to 3, further comprising a limit plate;

the limiting plate is fixedly connected with the bottom plate, a U-shaped groove is formed in the limiting plate, the first driving connecting rod moves in the U-shaped groove around a hinge center, and the hinge center is the center where the first driving connecting rod is hinged to the bottom plate.

5. The chassis of claim 4, further comprising two guide wheels;

the two guide wheels are respectively arranged on two sides of the opening of the U-shaped groove, wherein the shortest distance between the rims of the two guide wheels is the same as the thickness of the first driving connecting rod.

6. The chassis of claim 5, wherein the curved surfaces of both guide wheels are of a resilient construction.

7. The chassis of any one of claims 1 to 3, further comprising a buffer member disposed between the base plate and an end of the first drive link to which the first drive wheel is secured.

8. The chassis of any of claims 1 to 3, further comprising a second drive mechanism and a second driven wheel;

the second driving mechanism comprises a second driving connecting rod, a second motor reducer assembly and a second driving wheel;

the second driving connecting rod is hinged with the bottom plate, the second motor reducer assembly is fixedly connected with the second driving connecting rod, the second driving wheel and the second driven wheel are respectively arranged at two ends of the second driving connecting rod, and the second driving wheel is connected with an output shaft of the second motor reducer assembly;

the second driving mechanism and the first driving mechanism are symmetrically arranged.

9. The chassis of any of claims 1 to 3, further comprising third and fourth driven wheels;

the third driven wheel and the fourth driven wheel are symmetrically arranged on the bottom plate, and the first driving wheel is close to a connecting line of the third driven wheel and the fourth driven wheel.

10. A vehicle, characterized in that it comprises a chassis according to any one of claims 1 to 9.