CN211764776U

CN211764776U - Take floating machanism's chassis and AGV

Info

Publication number: CN211764776U
Application number: CN201922083930.9U
Authority: CN
Inventors: 苏毅宾; 黎扬福; 崔俊健
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2019-11-27
Filing date: 2019-11-27
Publication date: 2020-10-27
Anticipated expiration: 2029-11-27

Abstract

The utility model discloses a chassis with a floating mechanism and an AGV, the chassis with the floating mechanism comprises a chassis, a floating mechanism, a bearing wheel and a driving mechanism, the bearing wheel is arranged on the chassis through the floating mechanism, and the driving mechanism is used for driving the bearing wheel; the chassis is equipped with the frame, and the relocation mechanism is including rotating seat, first elastic mechanism and second elastic mechanism, and actuating mechanism installs on rotating the seat, and its output is connected with the carrier wheel, rotates seat one side and is equipped with first switching portion, rotates seat one side and rotationally installs in the frame through first switching portion, and the both ends of second elastic mechanism rotate with the frame respectively with rotating the seat and be connected, and first elastic mechanism sets up in the frame with rotating between the seat with the downward sloping. The utility model discloses a take relocation mechanism's chassis, the first elastic mechanism downward sloping setting of connecting chassis and carrier wheel has reduced the terrain clearance on chassis betterly, and relocation mechanism can provide the precompression and guarantee its effect that can surely paste ground for the carrier wheel, and chassis operation effect is more steady.

Description

Take floating machanism's chassis and AGV

Technical Field

The utility model belongs to the technical field of the dolly chassis, concretely relates to take relocation mechanism's chassis and AGV.

Background

Present multiple dolly, like AGV, in the face of the more and road surface unevenness's of road surface undulation condition, set up the spring between each bearing wheel and chassis usually, go the unevenness that adapts to the road surface through the spring is flexible to increase the dolly and to the adhesive force on ground, however, because the chassis bottom passes through the spring and is connected with the bearing wheel, make the height on dolly chassis higher relatively, the focus when leading to dolly load goods also higher relatively, the goods rocks easily and emptys, is unfavorable for the dolly to carry the reliability of thing.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a chassis and AGV of taking relocation mechanism that reduces the terrain clearance on dolly chassis.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the chassis with the floating mechanism comprises a chassis, the floating mechanism, a bearing wheel and a driving mechanism, wherein the bearing wheel is installed on the chassis through the floating mechanism, and the driving mechanism is used for driving the bearing wheel; the chassis is provided with a rack, the floating mechanism comprises a rotating seat, a first elastic mechanism and a second elastic mechanism, the driving mechanism is installed on the rotating seat, the output end of the driving mechanism is connected with the bearing wheel, a first rotating part is arranged on one side of the rotating seat, one side of the rotating seat is rotatably installed on the rack through the first rotating part, two ends of the second elastic mechanism are respectively rotatably connected with the rack and the rotating seat, the second elastic mechanism, the sliding seat and the rack form three triangular edges, and the first elastic mechanism is obliquely arranged between the rack and the rotating seat in a downward inclined mode.

Compared with the prior art, the chassis with the floating mechanism of the utility model has the advantages that the first elastic mechanism connecting the chassis and the bearing wheels is arranged in a downward inclination manner, so that the ground clearance of the chassis is well reduced, the gravity center of the material can be reduced when the chassis bears the material, and the material is reliably transported; and a dynamically deformable triangular structure is formed between the rotating seat connected with the bearing wheel and the second elastic mechanism and between the rotating seat and the frame, so that pre-pressure can be provided for the bearing wheel and the bearing wheel can be ensured to be stably and properly attached to the ground.

Further, the first transfer part is positioned at the lower side of the connection point of the second elastic mechanism and the frame; through setting up like this, the line limit that makes the seat of rotating form in the triangle-shaped can arrange with first elastic mechanism vertical relatively, and the normal stress to first elastic mechanism is the biggest when making the bearing wheel atress, and chassis operation effect is more steady.

Furthermore, a second switching part is arranged on the other side of the rotating seat, the rotating seat is rotatably connected with one end of the second elastic mechanism through the second switching part, and the first switching part and the second switching part are oppositely arranged; through setting up like this, make the relative frame's of rotation seat of installation bearing wheel swing more rapidly, bearing wheel self-adaptation ground effect is better.

Further, the second elastic mechanism is a nitrogen spring, and the nitrogen spring is transversely connected between the rack and the adapter; by adopting the structure, the nitrogen spring has small volume, long stroke, stable work and good elastic effect.

Further, the rack is arranged on the upper side of the chassis, the first elastic mechanism is a return spring, one side of the rack corresponding to the first elastic mechanism is provided with an installation groove, the other side of the rotating seat corresponding to the return spring is provided with an installation part, and the first elastic mechanism is installed between the installation groove and the installation part; through setting up like this, reset spring simple structure, the assembly is fixed firm.

Furthermore, the rotating seat is provided with an installation sleeve with an opening at the side part, and the driving mechanism is installed in the installation sleeve; by such arrangement, the driving mechanism is more stably assembled.

Furthermore, the floating mechanism also comprises a bearing sleeve, a bearing and a connecting shaft sleeve, the driving mechanism is a motor, the outer ring of the bearing is arranged in the bearing sleeve, the connecting sleeve of the rotating seat is arranged in the inner ring of the bearing, and the output shaft of the driving mechanism passes through the connecting sleeve and is connected with the bearing wheel through the connecting shaft sleeve; the outer side of the connecting shaft sleeve is provided with an annular connecting part, and the bearing wheel and the bearing sleeve are respectively connected to two sides of the connecting part; through setting up like this, the drive mechanism is more firm with the transmission connection of bearing wheel.

Furthermore, the bearing wheel is provided with a sleeve hole, and the bearing sleeve and the connecting shaft sleeve are arranged in the sleeve hole; by the arrangement, the assembly connection of the bearing wheel is more stable.

Another object of the present invention is to provide the AGV with a chassis having a floating mechanism, wherein four bearing wheels are arranged on the chassis, and the bearing wheels are mecanum wheels; through the arrangement, the first elastic mechanism connecting the chassis and the bearing wheels is arranged in a downward inclined manner, so that the ground clearance of the chassis is well reduced, the gravity center of materials can be reduced when the chassis bears the materials, and the materials are reliably transported; and a dynamically deformable triangular structure is formed between the rotating seat connected with the bearing wheel and the second elastic mechanism and the frame, so that pre-pressure can be provided for the bearing wheel, the bearing wheel can be guaranteed to be stably and properly attached to the ground, the four Mecanum wheels can be guaranteed to be close to the ground, the running effect of the chassis is more stable, in addition, when the bearing wheel is stressed, the first elastic mechanism and the second elastic mechanism play a role in buffering at the same time, and the buffering effect is good.

Drawings

FIG. 1 is a schematic view of a chassis with a floating mechanism

FIG. 2 is an exploded view of the float mechanism and carrier wheel

FIG. 3 is a side view of the float mechanism

FIG. 4 is a cross-sectional view of the float mechanism and carrier wheel

FIG. 5 is a schematic view of a chassis

Detailed Description

The technical scheme of the utility model is described below with the accompanying drawings:

the first embodiment is as follows:

referring to fig. 1 to 5, the chassis with the floating mechanism of the present invention includes a chassis 1, four floating mechanisms 2, four bearing wheels 3 and a driving mechanism 4, wherein the four bearing wheels 3 are respectively located at the front and rear sides of the chassis 1, the bearing wheels 3 are mounted on the chassis 1 through the floating mechanisms 2, and the driving mechanism 4 is used for driving the bearing wheels 3; the chassis 1 is provided with a frame 11, the floating mechanism 2 comprises a rotating seat 21, a first elastic mechanism 22 and a second elastic mechanism 23, the driving mechanism 4 is installed on the rotating seat 21, the output end of the driving mechanism is connected with the bearing wheel 3, a first rotating part 20 is arranged on one side of the rotating seat 21, one side of the rotating seat 21 is rotatably installed on the frame 11 through the first rotating part 20, two ends of the second elastic mechanism 23 are respectively rotatably connected with the frame 11 and the rotating seat 21, so that the second elastic mechanism 23, the sliding seat and the frame 11 form three triangular sides, and the first elastic mechanism 22 is obliquely arranged between the frame 11 and the rotating seat 21 downwards.

Compared with the prior art, the chassis with the floating mechanism of the utility model has the advantages that the first elastic mechanism 22 connecting the chassis 1 and the bearing wheel 3 is arranged in a downward inclination way, so that the ground clearance of the chassis 1 is reduced, the gravity center of the material can be reduced when the chassis 1 bears the material, and the material transportation is reliable; and a dynamically deformable triangular structure is formed between the rotating seat 21 connected with the bearing wheel 3, the second elastic mechanism 23 and the frame 11, so that pre-pressure can be provided for the bearing wheel 3 and the bearing wheel can be ensured to be firmly attached to the ground, when the bearing wheel 3 is stressed, the first elastic mechanism 22 and the second elastic mechanism 23 play a role in buffering at the same time, and the running effect of the chassis 1 is more stable.

Referring to fig. 1 to 4, in an embodiment, the first transfer portion 20 is located at a lower side of a connection point of the second elastic mechanism 23 and the frame 11; through the arrangement, the line edge formed by the rotating seat 21 in the triangle can be arranged vertically relative to the first elastic mechanism 22, so that the normal stress on the first elastic mechanism 22 is maximum when the bearing wheel 3 is stressed, and the running effect of the chassis 1 is more stable.

In one embodiment, a second adaptor portion 24 is disposed on the other side of the rotating base 21, the rotating base 21 is rotatably connected to one end of the second elastic mechanism 23 through the second adaptor portion 24, the first adaptor portion 20 is disposed opposite to the second adaptor portion 24, the second elastic mechanism 23 is a nitrogen spring, and the nitrogen spring is transversely connected between the rack 11 and the adaptor base; through setting up like this, make the swing of the relative frame 11 of rotation seat 21 of installation carrier wheel 3 more rapid, carrier wheel 3 self-adaptation ground effect is better, adopts nitrogen spring moreover, and its is small, the stroke is long, work is steady, and elasticity effect is good.

In one embodiment, the frame 11 is disposed on the upper side of the chassis 1, the first elastic mechanism 22 is a return spring, one side of the frame 11 corresponding to the first elastic mechanism 22 is provided with a mounting groove 12, the other side of the rotating seat 21 corresponding to the return spring is provided with a mounting portion 25, the bottom of the mounting groove 12 and the mounting portion 25 are provided with positioning portions 251, the first elastic mechanism 22 is mounted between the mounting groove 12 and the mounting portion 25, and two ends of the return spring are sleeved outside the positioning portions 251; through setting up like this, reset spring simple structure, the assembly is fixed firm.

Further, one end of the second elastic mechanism 23 rotatably connected to the frame 11 is disposed at one side of the mounting groove 12, a third adapter 13 is disposed at the other side of the mounting groove 12, and the third adapter 13 is rotatably connected to the first adapter 20 through a rotating shaft 131; through the arrangement, the position relation between the rack 11 and the rotating seat 21, the first elastic mechanism 22 and the second elastic mechanism 23 is arranged in a staggered arrangement mode, and the structure is compact and reasonable.

Referring to fig. 2 and 4, in one embodiment, the rotating base 21 is provided with a mounting sleeve 211 with an inner opening, and the driving mechanism 4 is mounted in the mounting sleeve 211; by so arranging, the drive mechanism 4 is more firmly assembled.

Referring to fig. 1 to 4, in an embodiment, the floating mechanism 2 further includes a bearing housing 26, a bearing 27 and a connecting shaft housing 28, the driving mechanism 4 includes a motor and a speed reducer, an outer ring of the bearing 27 is mounted in the bearing housing 26, a connecting sleeve 210 of the rotating seat 21 is mounted in an inner ring of the bearing 27, and an output shaft of the driving mechanism 4 passes through the connecting sleeve 210 and is connected with the carrier wheel 3 through the connecting shaft housing 28; an annular connecting part 281 is arranged on the outer side of the connecting shaft sleeve 28, and the bearing wheel 3 and the bearing sleeve 26 are respectively connected to two sides of the connecting part 281 in a screw connection mode; by this arrangement, the drive mechanism 4 is more firmly connected with the bearing wheel 3.

In a further embodiment, the carrier wheel 3 is provided with a sleeve hole 31, and the bearing sleeve 26 and the connecting sleeve 28 are mounted in the sleeve hole 31; through the arrangement, the bearing sleeve 26 replaces the bearing wheel 3 to bear the shaft pressure, so that the load of the output shaft of the driving mechanism is reduced, and the reliability of the product is improved.

In one embodiment, a first step 261 is disposed on one side of the inner circumference of the bearing sleeve 26 close to the driving mechanism 4, a snap spring groove 262 is disposed on the other side of the inner circumference of the bearing sleeve 26 opposite to the first step 261, two bearings 27 are disposed and respectively mounted in the bearing sleeve 26 in an overlapping manner close to the first step 261, and a snap spring 263 abutting against the two bearings 27 is mounted in the snap spring groove 262, so that the mounting position of the bearing 27 is well fixed, and the assembly is reliable.

Example two:

referring to fig. 1 to 5, the present invention is directed to provide an AGV with a chassis having a floating mechanism, in which four load wheels 3 are disposed on the chassis 1, and the load wheels 3 are mecanum wheels; through the arrangement, the first elastic mechanism 22 connecting the chassis 1 and the bearing wheels 3 is arranged in a downward inclined manner, so that the ground clearance of the chassis 1 is well reduced, the gravity center of materials can be reduced when the chassis 1 bears the materials, and the materials are reliably transported; and a dynamically deformable triangular structure is formed between the rotating seat 21 connected with the bearing wheel 3, the second elastic mechanism 23 and the frame 11, so that pre-pressure can be provided for the bearing wheel 3, the bearing wheel can be ensured to be stably and properly attached to the ground, the four Mecanum wheels can be ensured to be close to the ground, the running effect of the chassis 1 is more stable, and in addition, when the bearing wheel 3 is stressed, the first elastic mechanism 22 and the second elastic mechanism 23 play a role of buffering at the same time, and the buffering effect is good.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The chassis with the floating mechanism comprises a chassis, the floating mechanism, a bearing wheel and a driving mechanism, wherein the bearing wheel is installed on the chassis through the floating mechanism, and the driving mechanism is used for driving the bearing wheel; the method is characterized in that: the chassis is provided with a rack, the floating mechanism comprises a rotating seat, a first elastic mechanism and a second elastic mechanism, the driving mechanism is installed on the rotating seat, the output end of the driving mechanism is connected with the bearing wheel, a first rotating part is arranged on one side of the rotating seat, one side of the rotating seat is rotatably installed on the rack through the first rotating part, two ends of the second elastic mechanism are respectively rotatably connected with the rack and the rotating seat, the second elastic mechanism, the sliding seat and the rack form three triangular edges, and the first elastic mechanism is obliquely arranged between the rack and the rotating seat in a downward inclined mode.

2. The chassis with floatation mechanism of claim 1, wherein: the first transfer part is positioned at the lower side of the connection point of the second elastic mechanism and the frame.

3. The chassis with floatation mechanism of claim 1, wherein: the other side of the rotating seat is provided with a second switching part, the rotating seat is rotatably connected with one end of the second elastic mechanism through the second switching part, and the first switching part and the second switching part are oppositely arranged.

4. The chassis with floating mechanism according to any one of claims 1 to 3, wherein: the second elastic mechanism is a nitrogen spring which is transversely connected between the rack and the adapter.

5. The chassis with floatation mechanism of claim 1, wherein: the frame sets up the chassis upside, first elastic mechanism is reset spring, the frame corresponds first elastic mechanism one side is equipped with the mounting groove, it corresponds to rotate the seat reset spring opposite side is equipped with the installation department, first elastic mechanism install the mounting groove with between the installation department.

6. The chassis with floatation mechanism of claim 1, wherein: the rotating seat is provided with an installation sleeve with an opening at the side part, and the driving mechanism is installed in the installation sleeve.

7. The chassis with floating mechanism according to claim 1 or 6, wherein: the floating mechanism further comprises a bearing sleeve, a bearing and a connecting shaft sleeve, the driving mechanism is a motor, an outer ring of the bearing is installed in the bearing sleeve, a connecting sleeve of the rotating seat is installed at an inner ring of the bearing, an output shaft of the driving mechanism penetrates through the connecting sleeve and passes through the connecting shaft sleeve to be connected with the bearing wheel, an annular connecting portion is arranged on the outer side of the connecting shaft sleeve, and the bearing wheel and the bearing sleeve are respectively connected to two sides of the connecting portion.

8. The chassis with floatation mechanism of claim 7, wherein: the bearing wheel is provided with a sleeve hole, and the bearing sleeve and the connecting shaft sleeve are arranged in the sleeve hole.

9. An AGV using a chassis with a floating mechanism according to any of claims 1 to 8, characterised in that four load wheels are provided on the chassis, the load wheels being mecanum wheels.