CN212765566U

CN212765566U - Carrier vehicle chassis

Info

Publication number: CN212765566U
Application number: CN202021033803.4U
Authority: CN
Inventors: 乔景彬; 王仁杰; 倪菲
Original assignee: Shanghai Quicktron Intelligent Technology Co Ltd
Current assignee: Kuaichang Automation Technology (Jiangsu) Co.,Ltd.
Priority date: 2020-06-08
Filing date: 2020-06-08
Publication date: 2021-03-23
Anticipated expiration: 2030-06-08

Abstract

The utility model relates to a carrier chassis, the bottom on chassis is equipped with preceding, two sets of universal wheels in back and a set of drive wheel, it is vice to form a set of universal articulated between two preceding universal wheels, establish that the drive wheel at chassis side middle part forms a set of drive with a back universal wheel of homonymy and articulates vice, make the chassis supported by three hinge point, two sets of drive articulate pair and set up along chassis center line symmetry, the articulated vice swing hinge point of drive is located between drive wheel and the rear wheel, make the drive wheel float along with the hinge point motion from top to bottom. During the use, three points have stronger stability for three group's trains can both keep in contact with ground all the time, and every group train all can rotate around the hinge point of oneself, has formed 3 solitary levers promptly, so the atress of drive wheel and universal wheel can evenly share the load according to the proportion of lever length, keeps the real-time equal proportion of automobile body load to transmit the drive wheel on, guarantees the stability of supporting, solves the problem of skidding.

Description

Carrier vehicle chassis

Technical Field

The utility model belongs to the technical field of the technique on automobile-used chassis and specifically relates to a carrier chassis especially relates to a chassis structure for large-scale AGV carrier.

Background

With the rapid development of warehouse logistics, the conventional driving modes (such as steering wheels and two-wheel differential units) of the AGV are gradually reduced, and a two-wheel differential driving mode is adopted instead. The structure has the advantages of small volume, flexible operation, low cost and the like, so the structure is adopted in various light load fields. The differential chassis mainly relates to the differential chassis, and the differential chassis advances, retreats, spin, the function of turning in order to reach the AGV through the different speed of control two-wheeled, and the integral type chassis is then one kind of differential chassis, is one kind through the universal wheel concreties at chassis + drive wheel spring suspension or the drive wheel concreties at the chassis + the chassis structure cooperation of universal wheel spring suspension thereby reach the chassis structure of AGV steady operation, and the shortcoming then is that the load can not be too big, and the phenomenon that the wheel skidded will appear in the load surpassing certain quota.

The integrated six-wheel chassis structure is provided with four universal wheels and two driving wheels, the four universal wheels are fixed with the chassis, the two directional wheels are suspended by springs, and when the vehicle body is not large in bearing capacity, the driving force converted by the springs can be met; when the load of the vehicle body is gradually increased to be far larger than the pressure of the spring, the load of the universal wheel is multiplied, the load of the driving wheel still only has the pressure provided by the spring, and the driving force at the moment is not enough to overcome the resistance of the universal wheel, so that the slipping can occur.

Disclosure of Invention

An object of the utility model is to provide a modified transport vehicle chassis through set up four universal wheels and two drive wheels under the chassis, forms three hinge point atress, increases the stability on chassis, and the phenomenon of avoiding skidding takes place, is fit for being used for large-scale carrier.

In order to realize the purpose, the technical scheme of the utility model is that:

carrier chassis, including the chassis body, its characterized in that: the bottom on chassis is equipped with preceding, two sets of universal wheels in back and a set of drive wheel, forms a set of universal articulated pair between two preceding universal wheels, and every drive wheel of establishing at chassis side middle part forms a set of drive with a back universal wheel of homonymy and articulates vice, and two sets of drives articulate pair and set up along chassis central line symmetry for the chassis is supported by three hinge point.

Preferably, the pivot point of the drive hinge pair is located between the drive wheel and the rear wheel such that the drive wheel floats up and down as the pivot point moves.

Furthermore, the two front universal wheels are connected through a universal hinge connecting rod, and the length of the universal hinge connecting rod is 1/2-3/5 of the width of the chassis; the driving wheel is connected with the rear universal wheel through a driving hinge connecting rod, and the length of the driving hinge connecting rod is 2/5-1/2 of the length of the chassis.

Furthermore, the driving wheel is connected with a driving motor arranged on the side part, and the driving motor and the driving hinge pair are arranged on the same straight line.

Preferably, a front foot mounting plate is arranged at the front end part below the chassis, a group of front universal wheels arranged in parallel is arranged below the front foot mounting plate, a front foot hinged lower plate is arranged below the front foot mounting plate, the front foot hinged lower plate is connected with the front mounting plate through a front hinged seat, the front foot hinged lower plate is hinged with the front hinged seat through a front wheel hinged pin shaft, and a front driving shaft fixing plate used for controlling the rotation angle of the front wheel hinged pin shaft is arranged on the front foot hinged lower plate.

Furthermore, the front hinged seat and the front caster hinged lower plate are respectively provided with a corresponding downward convex block and a corresponding upward convex block, and the front caster hinged pin shaft is just arranged on the upward convex block and the downward convex block.

Furthermore, a set of rotatable driving fixing plates is arranged in the middle of the lower portion of the chassis, a driving wheel is connected to the outer side portion of each driving fixing plate, a set of universal fixing plates is arranged at the rear end portion of the lower portion of the chassis, a rear universal wheel is connected to the lower portion of each universal fixing plate, and each driving wheel is hinged to the corresponding rear universal wheel through the corresponding driving fixing plates.

Compared with the prior art, the technical scheme of the utility model except whole technical scheme's improvement, still include the improvement in the aspect of many details, particularly, have following beneficial effect:

1. the improved scheme of the utility model is used for a large-scale carrier, which is provided with a front and a back two groups of universal wheels and a group of driving wheels, a group of universal hinge pair is formed between the two front universal wheels, the driving wheels and the back universal wheels at the same side form a group of driving hinge pair, so that the chassis is supported by three hinge points, three points have stronger stability, three groups of wheel trains can always keep contact with the ground, and the problem of skidding is solved;

2. in the technical scheme of the utility model, six wheels form three hinge points, each group of wheel trains can rotate around the own hinge point, the universal hinge pair forms a structure that a lever is additionally provided with a wane, and the two driving hinge pairs form the wane structure, so the six wheels can float, the three hinge points can evenly share the load, the real-time equal proportion of the load of the vehicle body is transmitted to the driving wheel, and the stability of the support is ensured;

3. the utility model enhances the linking mode of each component, so that three hinge points form a linked integral structure, and simultaneously, the rotation angle of the hinge points is controlled by arranging the front and rear driving shaft fixing pieces, the hinged fixing seat and the buffer block, so that the device has good ground adaptability, strong obstacle passing capability, can thoroughly solve the problem of skidding, also has large bearing capacity and is suitable for occasions of large AGV carriers;

4. the utility model discloses a structure sets up rationally, and the part is laid properly, and excellent in use effect is suitable for commercial popularization and utilization.

Drawings

Fig. 1-4 are schematic diagrams of the layout structure of 6 wheels in each state of the present invention.

Fig. 5 is a schematic structural diagram of an embodiment of the present invention.

Fig. 6-7 are schematic structural views of a set of front universal wheels according to the present invention.

Fig. 8-9 are schematic structural diagrams of the combination of the driving wheel and the rear universal wheel of the present invention.

Reference numerals:

1 driving a wheel; 2, front universal wheels; 3, a groove limiting block; 4 driving the fixed plate; 5, a hinge fixing seat; 6, a buffer block; 7, fixing a shaft through a hinge; 8, a rear driving shaft fixing piece; 9 universal wheel fixing plates; 10 rear universal wheels;

21 a front foot mounting plate; 22 a front hinge seat; 23 the front caster is hinged with the lower plate; 24, hinging the front wheel with a pin shaft; 25 front driving shaft fixing sheet.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a carrier chassis, specifically refer to FIG. 1, including the chassis body, its difference with prior art lies in: the bottom on chassis is equipped with preceding, two sets of universal wheels in back and a set of drive wheel, forms a set of universal articulated pair between two preceding universal wheels, and every drive wheel of establishing at chassis side middle part forms a set of drive with a back universal wheel of homonymy and articulates vice, and two sets of drives articulate pair and set up along chassis central line symmetry for the chassis is supported by three hinge point.

Furthermore, the swing hinge point of the driving hinge pair is positioned between the driving wheel and the rear wheel, so that the driving wheel and the rear wheel can float up and down along with the movement of the hinge point, and the balance is better.

Furthermore, the two front universal wheels are connected through a universal hinge connecting rod to form a universal hinge pair, and the length of the universal hinge connecting rod is 1/2-3/5 of the width of the chassis, and the optimal value is 1/2; the driving wheel and the rear universal wheel are connected through a driving hinge connecting rod to form a driving hinge pair, and the length of the driving hinge connecting rod is 2/5-1/2 of the length of the chassis, and the preferable value is 2/5.

Furthermore, the driving wheel is connected with a driving motor arranged on the side part, and the driving motor and the driving hinge pair are arranged on the same straight line, so that the space is saved, and the whole chassis is more compact and reasonable in layout.

Specifically, the universal hinge pair is a universal hinge point, namely two front universal wheels are fixedly connected to a connecting rod, and any point on the connecting rod is selected as a rotary joint point; the driving hinge pair is a driving universal hinge point, namely a driving wheel and a universal wheel are fixedly connected on a connecting rod, and any point on the connecting rod is taken as a rotating hinge point. From fig. 1-4, the distribution of three hinges can be seen, that is, 2 pairs of driving universal hinges, one pair of universal hinges, and 6 wheels are separated into 3 sets of wheel trains, because three points have stability, that is, 3 sets of wheel trains can always keep contact with the ground. Six wheels form three hinge points, each wheel train rotates around the hinge point, the universal hinge pair forms a structure that a lever is additionally provided with a rocker, two driving hinge pairs form a rocker structure, the six wheels are floatable, the three hinge points can evenly distribute load, and the stress ratio of the driving wheel to the universal wheel is F1/F2= L2/L1 (F1: driving wheel stress, F2: universal wheel stress, L1: driving wheel to hinge point distance, L2: universal wheel to hinge point distance) because the distance from the driving wheel to the hinge point is different from the distance from the universal wheel to the hinge point, so that the driving wheel and the universal wheel are stressed differently, and the stress ratio of the driving wheel to the universal wheel is F1/F2= L2/L1 in normal conditions

And simultaneously, the utility model discloses an in the scheme, driving motor sets up on the sharp line position between drive wheel and preceding universal wheel, can utilize the space better for the overall arrangement is more compact.

Example 1

This device is the differential chassis of a 6 wheel structure, the chassis has a set of drive wheel and preceding, two sets of universal wheels in back, form a set of universal hinge pair between two preceding universal wheels, establish the drive wheel at chassis side middle part and a back universal wheel of homonymy and form a set of drive hinge pair, 6 wheels and three hinge point are laid respectively just also to three side along the chassis, make the chassis supported by three hinge point, 3 points have stability, can guarantee that 3 groups of wheel systems can both keep in contact with ground and can float all the time. Meanwhile, the device has the advantages of small structure volume, flexible operation, low cost and the like.

Furthermore, a front foot mounting plate is arranged at the front end part below the chassis, a group of front universal wheels arranged in parallel is arranged below the front foot mounting plate, a front foot hinged lower plate is arranged below the front foot mounting plate, the front hinged lower plate is arranged in the middle of the front foot mounting plate, the front foot hinged lower plate is connected with the front mounting plate through a front hinged seat, the front foot hinged lower plate is hinged with the front hinged seat through a front wheel hinged pin shaft, and a front drive shaft fixing plate used for controlling the rotation angle of the front wheel hinged pin shaft is arranged on the front foot hinged lower plate.

Particularly, the front hinged seat and the front caster hinged lower plate are respectively of a triangular structure which is arranged in an inverted mode and arranged in a forward direction, meanwhile, the front hinged seat and the front caster hinged lower plate are respectively provided with corresponding downward and upward protruding blocks, the front caster hinged pin shaft is just arranged on the upward and downward protruding blocks, the two protruding blocks are hinged points, the front drive shaft fixing plate is arranged above the front caster hinged pin shaft and is arc-shaped, the rotating angle of the front caster hinged pin shaft can be controlled, and the reasonability and the stability of the rotating angle are guaranteed.

Example 2

This device adopts integral type chassis and six round structures, and the chassis has a set of drive wheel and preceding, two sets of universal wheels in back, forms a set of universal hinge pair between two preceding universal wheels, and every drive wheel forms a set of drive hinge pair with a back universal wheel of homonymy, so be exactly three hinge point atress altogether, and three point atress has stability, can keep the real-time equal proportion of automobile body load to transmit to the drive wheel on, solves the problem of skidding.

Particularly, the chassis below is equipped with two sets of parallel arrangement's rotatable drive fixed plate, and the outside portion of every drive fixed plate is connected with a drive wheel, and the rear end of chassis below is equipped with a set of universal fixed plate, and every universal fixed plate below is connected with a back universal wheel, and it is articulated to form through the drive fixed plate between every drive wheel and the back universal wheel that corresponds. One end of the driving fixing plate is connected with the driving wheel, and the other end of the driving fixing plate is connected with the rear universal wheel, so that the bridge connecting effect is achieved.

Furthermore, the outer side of the driving fixing plate is connected with a hinged fixing seat for limiting the rotation angle of the driving fixing plate and a groove limiting block for guiding, and the hinged fixing seat is fixed and limits the degree of freedom of the driving fixing plate, so that the driving wheel and the universal wheel can only rotate around a hinge point at a small angle and are fixedly connected with the vehicle body; the groove limiting block is used for limiting the left and right movement of the driving fixing plate, plays a role in guiding, is fixedly connected with the vehicle body and is mainly used for ensuring the walking precision of the driving wheel.

The hinged fixing seat is rotatably connected with the driving fixing plate through a hinge fixing shaft, a buffer block is arranged on one side of the hinged fixing seat, and a rear driving shaft fixing piece used for limiting the axial displacement of the driving fixing plate is arranged on the periphery of the hinged fixing shaft. The diameter of the driving wheel is larger than that of the front and the rear universal wheels, the driving wheel is a driving wheel for supporting the vehicle body, and the front and the rear universal wheels are driven wheels.

Therefore, the device has the characteristics of good ground adaptability, strong obstacle passing capacity, large bearing capacity and suitability for large AGV occasions, and can thoroughly solve the problem of skidding.

The foregoing is a more detailed description of the invention, taken in conjunction with the accompanying preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described above. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.

Claims

1. Carrier chassis, including the chassis body, its characterized in that: the bottom on chassis is equipped with preceding, two sets of universal wheels in back and a set of drive wheel, forms a set of universal articulated pair between two preceding universal wheels, and every drive wheel of establishing at chassis side middle part forms a set of drive with a back universal wheel of homonymy and articulates vice, and two sets of drives articulate pair and set up along chassis central line symmetry for the chassis is supported by three hinge point.

2. The cart chassis of claim 1, wherein: the swing hinge point of the driving hinge pair is positioned between the driving wheel and the rear wheel, so that the driving wheel floats up and down along with the movement of the hinge point.

3. The cart chassis of claim 1, wherein: the two front universal wheels are connected through a universal hinge connecting rod to form a universal hinge pair, and the length of the universal hinge connecting rod is 1/2-3/5 of the width of the chassis; the driving wheel and the rear universal wheel are connected through a driving hinge connecting rod to form a driving hinge pair, and the length of the driving hinge connecting rod is 2/5-1/2 of the length of the chassis.

4. The cart chassis of claim 1, wherein: the driving wheel is connected with a driving motor arranged on the side part, and the driving motor and the driving hinge pair are arranged on the same straight line.

5. The cart chassis of claim 1, wherein: the front end part below the chassis is provided with a front foot mounting plate, a group of front universal wheels arranged in parallel is arranged below the front foot mounting plate, a front foot hinged lower plate is arranged below the front foot mounting plate, the front foot hinged lower plate is connected with the front mounting plate through a front hinged seat, the front foot hinged lower plate is hinged with the front hinged seat through a front wheel hinged pin shaft, and a front driving shaft fixing plate used for controlling the rotation angle of the front wheel hinged pin shaft is arranged on the front foot hinged lower plate.

6. The truck chassis of claim 5, characterized in that: the front hinged seat and the front caster hinged lower plate are respectively provided with a corresponding downward convex block and a corresponding upward convex block, and the front caster hinged pin shaft is just arranged on the upward convex block and the downward convex block.

7. The cart chassis of claim 1, wherein: the middle part of chassis below is equipped with a set of rotatable drive fixed plate, and the outside portion of every drive fixed plate is connected with a drive wheel, and the rear end of chassis below is equipped with a set of universal fixed plate, and every universal fixed plate below is connected with a back universal wheel, and it is articulated to form through the drive fixed plate between every drive wheel and the back universal wheel that corresponds.

8. The truck chassis of claim 7, wherein: the articulated fixing base that is used for restricting drive fixed plate turned angle and the recess stopper that is used for the direction are connected with in the drive fixed plate outside, and articulated fixing base passes through to form rotatable coupling between hinge fixed axle and the drive fixed plate, and one side of articulated fixing base is equipped with the buffer block, is equipped with the rear drive axle stationary blade that is used for restricting drive fixed plate axial displacement around the articulated fixed axle.