CN215043249U

CN215043249U - Driving device for automatic guided vehicle, automatic guided vehicle and robot

Info

Publication number: CN215043249U
Application number: CN202120355331.2U
Authority: CN
Inventors: 张弢
Original assignee: Shenzhen Youibot Robotics Technology Co ltd
Current assignee: Shenzhen Youibot Robotics Technology Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-12-07
Anticipated expiration: 2031-02-08

Abstract

The utility model is suitable for a robot field discloses a drive arrangement, automated guided vehicle and robot for automated guided vehicle. The driving device for the automatic guided vehicle comprises a bottom plate, a driving wheel, a driving motor, a speed reducer in transmission connection between the driving motor and the driving wheel, and a first encoder which is arranged on the speed reducer and used for monitoring the output rotating speed of the speed reducer; the speed reducer and/or the driving motor are/is arranged on the bottom plate, and the speed reducer and the first encoder are arranged between the center of the bottom plate and the driving wheel. The utility model discloses an install the motion information of the indirect control drive wheel of first encoder on the reduction gear, and reduction gear and first encoder all are the axial inboard of locating the drive wheel, like this, can do benefit to the first encoder of protection to effectively avoided first encoder when the automated guided vehicle walking, collided with the barrier and the phenomenon of damage takes place, and then improved the fail safe nature of automated guided vehicle and robot.

Description

Driving device for automatic guided vehicle, automatic guided vehicle and robot

Technical Field

The utility model relates to an automated guided vehicle field especially relates to a robot that is used for the drive arrangement of automated guided vehicle, has this drive arrangement's automated guided vehicle and has this automated guided vehicle.

Background

Automatic Guided Vehicles (AGVs) are often combined with different functional mechanisms to form different robots, wherein the automatic Guided vehicles are mainly used for providing driving traction for the robots to walk. In the automatic guided vehicle provided by the prior art, the safety encoder is directly mounted on the driving wheel, and the safety encoder is convexly arranged on the axial outer side of the driving wheel, which is back to the center of the automatic guided vehicle, so that the phenomenon that the safety encoder is easily collided with an obstacle and damaged when the automatic guided vehicle travels is avoided.

SUMMERY OF THE UTILITY MODEL

A first object of the utility model is to provide a drive arrangement for automated guided vehicle, it aims at solving current automated guided vehicle and sets up the encoder protrusion in the axial outside of drive wheel and lead to the encoder to be bumped technical problem easily.

In order to achieve the above purpose, the utility model provides a scheme is: a driving device for an automatic guided vehicle comprises a bottom plate, a driving wheel, a driving motor, a speed reducer in transmission connection between the driving motor and the driving wheel, and a first encoder arranged on the speed reducer and used for monitoring the output rotating speed of the speed reducer; the speed reducer and/or the driving motor are/is arranged on the bottom plate, and the speed reducer and the first encoder are arranged between the center of the bottom plate and the driving wheel.

In one embodiment, the speed reducer is disposed between the drive wheel and the first encoder.

As an implementation mode, the speed reducer includes a first housing, a speed reduction transmission mechanism disposed in the first housing, an input shaft at least partially disposed in the first housing and connected to the speed reduction transmission mechanism, and a first output shaft at least partially disposed in the first housing and connected to the speed reduction transmission mechanism, the input shaft being in transmission connection with the driving motor, the first output shaft having a first output end and a second output end that are disposed opposite to each other, the first output end being in transmission connection with the driving wheel, and the second output end being connected to the first encoder.

As an embodiment, the first housing has a first side portion, a second side portion and a third side portion, the first side portion and the second side portion are disposed opposite to each other, two sides of the third side portion are respectively connected to the first side portion and the second side portion, the first output end is in transmission connection with the driving wheel from the first side portion, the second output end is in transmission connection with the first encoder from the second side portion, and the input shaft is in transmission connection with the driving motor from the third side portion; and/or the presence of a gas in the atmosphere,

the central shaft of the first output shaft and the central shaft of the driving wheel are coaxially arranged.

As an embodiment, two driving wheels, two driving motors, two speed reducers and two first encoders are provided, the two driving wheels are respectively provided on two opposite sides of the bottom plate, central shafts of the two driving wheels are coaxially arranged, the two speed reducers are provided between the two driving wheels along an axial direction of the driving wheels, and the two first encoders are provided between the two speed reducers along the axial direction of the driving wheels; each speed reducer is correspondingly connected with one driving motor and one driving wheel in a transmission way, and each first encoder is correspondingly connected with one speed reducer; and/or the presence of a gas in the atmosphere,

the driving motor is a motor capable of rotating in forward and reverse directions.

In one embodiment, the driving device for the automated guided vehicle further includes a suspension mechanism, and the speed reducer is mounted on the bottom plate in a suspended manner by the suspension mechanism.

As an implementation mode, the suspension mechanism includes a link member, a rotation connection assembly and an elastic connection assembly, the link member includes a first connection portion, a second connection portion and a third connection portion disposed between the first connection portion and the second connection portion, the first connection portion is disposed on one side of the driving wheel and is connected to the bottom plate through the rotation connection assembly, the second connection portion is disposed on the other side of the driving wheel and is elastically connected to the bottom plate through the elastic connection assembly in a liftable manner, and the third connection portion is connected to the speed reducer.

As an embodiment, the elastic connection assembly includes a guiding and limiting member and at least one elastic element, the guiding and limiting member is connected to the bottom plate, the second connection portion is slidably connected to the guiding and limiting member in a liftable manner, and the elastic element is disposed between the second connection portion and the guiding and limiting member and/or between the second connection portion and the bottom plate.

As an implementation manner, the guiding and limiting member includes a guiding and limiting rod and a fixing block, the fixing block is mounted on the bottom plate, the guiding and limiting rod includes a main rod body with one end connected with the fixing block and a limiting boss protruding from the other end of the main rod body, the second connecting portion is sleeved on the main rod body and is arranged between the limiting boss and the fixing block in a lifting manner, and the elastic member is arranged between the second connecting portion and the limiting boss and/or between the second connecting portion and the fixing block; or,

the guide limiting component comprises a guide limiting rod, the guide limiting rod comprises a main rod body and a limiting boss, one end of the main rod body is connected with the bottom plate, the limiting boss is convexly arranged at the other end of the main rod body, the second connecting portion is sleeved on the main rod body and is arranged between the limiting boss and the bottom plate in a lifting mode, and the elastic piece is arranged between the second connecting portion and the limiting boss and/or between the second connecting portion and the bottom plate.

As an implementation mode, the suspension mechanism further comprises a guide limiting support, the guide limiting support is arranged at the side of the guide limiting rod and connected with the bottom plate, a guide limiting groove is formed in the guide limiting support, and the connecting rod member further comprises a fourth connecting portion which is arranged in the guide limiting groove in a penetrating mode and in sliding fit with the guide limiting groove.

In one embodiment, the second connection portion is disposed between the third connection portion and the fourth connection portion; and/or the presence of a gas in the atmosphere,

the distance from the second connecting part to the fourth connecting part is smaller than the distance from the second connecting part to the third connecting part.

As an embodiment, the link member includes a link and a rolling member rotatably mounted at one end of the link, an end of the link away from the rolling member constitutes the first connecting portion, an end of the link close to the rolling member and the rolling member constitute the fourth connecting portion, the link is formed with the second connecting portion and the third connecting portion, an outer side wall of the rolling member abuts against two inner side walls of the guide limit groove, and an end of the link close to the rolling member and two inner side walls of the guide limit groove have a gap therebetween; or,

the connecting rod component comprises a connecting rod and a rolling part which is rotatably arranged at one end of the connecting rod, the end part of the connecting rod, which is far away from the rolling part, forms the first connecting part, the second connecting part and the third connecting part are formed on the connecting rod, the rolling part forms the fourth connecting part, and the outer side wall of the rolling part is abutted against the two inner side walls of the guide limiting groove.

In one embodiment, the rolling element is a bearing or a roller; and/or the presence of a gas in the atmosphere,

the connecting rod is perpendicular to the central shaft of the driving wheel.

As an implementation mode, the guiding and limiting support comprises two vertical support arms which are oppositely arranged at intervals and convexly arranged on the bottom plate, and the two vertical support arms enclose to form the guiding and limiting groove.

As an implementation mode, the guiding and limiting support further comprises a transverse support arm connected between the two vertical support arms, and the transverse support arm is arranged above the bottom plate at intervals.

A second object of the present invention is to provide an automatic guided vehicle, which comprises a battery module, a controller and a driving device for the automatic guided vehicle, wherein the battery module and the controller are respectively installed on the bottom plate, and the controller is respectively connected to the battery module, the driving motor and the first encoder.

A third object of the present invention is to provide a robot, which has the above automatic guided vehicle and a function executing mechanism disposed on the automatic guided vehicle.

The utility model provides a drive arrangement, automated guided vehicle and robot for automated guided vehicle, through installing first encoder in the output rotational speed of reduction gear with the monitoring on the reduction gear to can monitor the motion information of drive wheel indirectly, and then do benefit to the motion of accurate control drive wheel, and do benefit to and avoid the drive wheel in situ slip out of control or lead to the automated guided vehicle to hit the bad phenomenon of barrier to take place, ensured the operation fail safe and reliable nature of automated guided vehicle and robot. Furthermore, the utility model discloses a all locate between the center of drive wheel and bottom plate with reduction gear and first encoder, reduction gear and first encoder all are the axial inboard of locating the drive wheel promptly, like this, can do benefit to the first encoder of protection to effectively avoided first encoder when the automated guided vehicle walking, collided with the barrier and the phenomenon of damage takes place, and then improved the fail safe nature of automated guided vehicle and robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective assembly view of a driving device for an automated guided vehicle according to an embodiment of the present invention;

fig. 2 is a schematic perspective assembly view of another view angle of the driving device for the automated guided vehicle according to the embodiment of the present invention;

fig. 3 is an exploded schematic view of a driving device for an automated guided vehicle according to an embodiment of the present invention;

fig. 4 is an exploded schematic view of a driving motor, a reducer and a first encoder according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a speed reducer according to an embodiment of the present invention;

fig. 6 is a perspective assembly view of a suspension mechanism according to an embodiment of the present invention;

fig. 7 is a perspective assembly view of another perspective of the suspension mechanism according to the embodiment of the present invention.

The reference numbers illustrate:

10. a drive device; 100. a base plate; 110. a first edge; 120. a second edge; 130. avoiding holes; 200. a drive wheel; 300. a drive motor; 310. a second housing; 320. a second output shaft; 400. a speed reducer; 410. a first housing; 411. a first side portion; 412. a second side portion; 413. a third side portion; 420. an input shaft; 430. a first output shaft; 431. a first output terminal; 432. a second output terminal; 440. a fixed flange; 500. a first encoder; 600. a second encoder; 700. a driven wheel set; 710. a driven wheel; 800. a suspension mechanism; 810. a link member; 8101. a first connection portion; 8102. a second connecting portion; 8103. a third connecting portion; 8104. a fourth connecting portion; 8105. a first through hole; 8106. a second through hole; 811. a connecting rod; 812. a rolling member; 820. rotating the connecting assembly; 821. a rotating shaft; 822. a fixed seat; 830. an elastic connection assembly; 831. a guide limit member; 8311. guiding a limiting rod; 8301. a main rod body; 8302. a limiting boss; 8312. a fixed block; 832. an elastic member; 840. a guide limit bracket; 841. a guide limit groove; 842. a vertical support arm; 843. and (4) a transverse support arm.

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. 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.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1 to 7, a driving apparatus 10 for an automated guided vehicle according to an embodiment of the present invention includes a base plate 100, a driving wheel 200, a driving motor 300, a speed reducer 400 connected between the driving motor 300 and the driving wheel 200 in a transmission manner, and a first encoder 500 installed on the speed reducer 400 for monitoring an output rotation speed of the speed reducer 400; the decelerator 400 and/or the driving motor 300 are installed on the base plate 100, and the decelerator 400 and the first encoder 500 are provided between the center of the base plate 100 and the driving wheel 200. The first encoder 500 indirectly monitors the output rotation speed of the driving wheel 200 by monitoring the output rotation speed of the reduction gear 400. In this embodiment, the speed reducer 400 and the first encoder 500 are both disposed between the centers of the driving wheel 200 and the bottom plate 100, that is, the distance from the speed reducer 400 to the center of the bottom plate 100 and the distance from the first encoder 500 to the center of the bottom plate 100 are both smaller than the distance from the driving wheel 200 to the center of the bottom plate 100, and the speed reducer 400 and the first encoder 500 are both located on the inner side in the axial direction of the driving wheel 200, so that the speed reducer 400 and the first encoder 500 are protected, and the phenomenon that the speed reducer 400 and the first encoder 500 collide with an obstacle and are damaged when the automated guided vehicle travels is effectively avoided.

In one embodiment, the speed reducer 400 is disposed between the driving wheel 200 and the first encoder 500, that is, the first encoder 500 is disposed inside the speed reducer 400, which is beneficial to protect the first encoder 500 and to avoid the first encoder 500 from interfering with the transmission connection between the speed reducer 400 and the driving wheel 200.

Referring to fig. 1, 3, 4 and 5, as an embodiment, the reducer 400 includes a first housing 410, a reduction transmission mechanism (not shown) disposed in the first housing 410, an input shaft 420 at least partially disposed in the first housing 410 and connected to the reduction transmission mechanism, and a first output shaft 430 at least partially disposed in the first housing 410 and connected to the reduction transmission mechanism, the input shaft 420 is in transmission connection with the driving motor 300, the first output shaft 430 has a first output end 431 and a second output end 432 opposite to each other, the first output end 431 is in transmission connection with the driving wheel 200, and the second output end 432 is connected to the first encoder 500. The reduction transmission mechanism may be a gear transmission mechanism, and the reducer 400 is a gear reduction box, which has the characteristics of compact structure, stable transmission and high transmission efficiency. The first output shaft 430 adopts a design scheme with double output ends, so that the power output by the speed reducer 400 can be transmitted to the driving wheel 200, and the second encoder 600 can monitor the output rotating speed of the speed reducer 400.

Referring to fig. 3, 4 and 5, as an embodiment, the first housing 410 has a first side portion 411, a second side portion 412 and a third side portion 4113, the first side portion 411 and the second side portion 412 are oppositely disposed, two sides of the third side portion 4113 are respectively connected to the first side portion 411 and the second side portion 412, one end of the first output shaft 430 is in transmission connection with the driving wheel 200 from the first side portion 411, the other end of the first output shaft is in transmission connection with the first encoder 500 from the second side portion 412, and the input shaft 420 is in transmission connection with the driving motor 300 from the third side portion 4113. The driving motor 300, the first encoder 500 and the driving wheel 200 are respectively disposed at three lateral sides of the driving wheel 200, which is compact in structure and beneficial to avoiding interference.

As an embodiment, the central axis of the first output shaft 430 is arranged coaxially with the central axis of the driving wheel 200, which is beneficial to improving the compactness and the running stability of the driving device 10.

Referring to fig. 1 and 3, as an embodiment, two driving wheels 200, two driving motors 300, two speed reducers 400 and two first encoders 500 are provided, the two driving wheels 200 are respectively provided on opposite sides of the base plate 100, central axes of the two driving wheels 200 are coaxially disposed, the two speed reducers 400 are disposed between the two driving wheels 200 along an axial direction of the driving wheels 200, and the two first encoders 400 are disposed between the two speed reducers 400 along the axial direction of the driving wheels 200; each speed reducer 400 is correspondingly connected with one driving motor 300 and one driving wheel 200 in a transmission way, and each first encoder 500 is correspondingly connected with one speed reducer 200. The central shafts of the two driving wheels 200 are coaxially arranged, so that the two driving wheels 200 can be symmetrically arranged, and the running stability of the automatic guided vehicle can be guaranteed. In addition, in this embodiment, the two driving motors 300 are used to drive the two driving wheels 200 to move respectively, so as to drive the automated guided vehicle to travel, thereby facilitating independent flexible control of each driving wheel 200, facilitating guarantee of the traveling stability of the automated guided vehicle, and facilitating guarantee of sufficient traction of the automated guided vehicle.

As a preferred embodiment of this embodiment, the driving motor 300 is a driving motor capable of rotating in forward and reverse directions, so that the forward and backward movements and the steering of the automated guided vehicle can be flexibly controlled. Specifically, when both the driving motors 300 are controlled to rotate in the forward direction, the automated guided vehicle can be driven to move forward; when the two driving motors 300 are controlled to rotate reversely, the automatic guided vehicle can be driven to move backwards; when one driving motor 300 is controlled to rotate in the forward direction and the other driving motor 300 is controlled to rotate in the reverse direction, the automatic guided vehicle can be driven to steer.

Referring to fig. 1, 3 and 4, as an embodiment, the driving apparatus 10 for the automated guided vehicle further includes two second encoders 600, and each second encoder 600 is correspondingly connected to one driving motor 300 for monitoring the output rotation speed of the driving motor 300. In this embodiment, the output rotation speed of the driving motor 300 is monitored by the first encoder 500, and the output rotation speed of the reducer 400 is monitored by the second encoder 600, so that when one of the first encoder 500 and the second encoder 600 fails, the other one can still feed back the motion information of the driving wheel 200 in real time, thereby facilitating the accurate control of the motion of the driving wheel 200, and avoiding the bad phenomenon that the driving wheel 200 is out of control and skids in situ or the automatic guided vehicle collides with an obstacle, and greatly improving the running safety and reliability of the automatic guided vehicle.

Referring to fig. 1, 3 and 4, as an embodiment, the driving motor 300 includes a second housing 310, a stator (not shown), a rotor (not shown) and a second output shaft 320, the stator and the rotor are both disposed in the second housing 310, a middle portion of the second output shaft 320 is inserted into the second housing 310 and connected to the rotor, one end of the second output shaft 320 is in transmission connection with the speed reducer 400 from one side of the second housing 310, and the other end of the second output shaft is in transmission connection with the second encoder 600 from the other side of the second housing 310. The second output shaft 320 adopts a design scheme with double output ends, so that the power output by the driving motor 300 can be transmitted to the speed reducer 400, and the second encoder 600 can monitor the output rotating speed of the driving motor 300. The second encoder 600 is installed at the end of the driving motor 300 far from the decelerator 400, which is beneficial to preventing the second encoder 600 from interfering the power transmission between the driving motor 300 and the decelerator 400.

Referring to fig. 2, as an embodiment, the driving apparatus 10 for the automated guided vehicle further includes an even number of driven wheel sets 700 rotatably connected to the base plate 100, respectively. The driven wheel set 700 and the driving wheel 200 are used to support the automated guided vehicle to travel on the ground. The arrangement of the driven wheel set 700 can improve the bearing capacity and the running stability of the automatic guided vehicle on the premise of not increasing power parts.

Referring to fig. 2, as an embodiment, the number of the driven wheel sets 700 is four, and the base plate 100 has a first edge 110 and a second edge 120 that are oppositely disposed, wherein two sets of the driven wheel sets 700 and one driving wheel 200 are disposed near the first edge 110, two other sets of the driven wheel sets 700 and one other driving wheel 200 are disposed near the second edge 120, the two sets of the driven wheel sets 700 disposed near the first edge 110 are symmetrically disposed on two sides of the driving wheel 200 disposed near the first edge 110, and the two sets of the driven wheel sets 700 disposed near the second edge 120 are symmetrically disposed on two sides of the driving wheel 200 disposed near the second edge 120. In this embodiment, the four driven wheel sets 700 are respectively disposed near the four top corners of the bottom plate 100, and the two driving wheels 200 are respectively disposed near the middle of the first edge 110 and the middle of the second edge 120. Of course, the number and distribution of the driven wheel sets 700 are not limited to this, and for example, two or six or eight or more driven wheel sets 700 may be provided.

Referring to fig. 2 and 3, as an embodiment, an avoiding hole 130 is formed through the bottom plate 100 at a position near the middle of the first edge 110 and a position near the middle of the second edge 120, and the driving wheel 200 is movably and elevatably inserted into the avoiding hole 130.

As a preferred embodiment of this embodiment, two driving wheels 200 are symmetrically disposed, and four sets of driven wheels 700 are symmetrically disposed in pairs, which is beneficial to ensure the traveling stability of the automated guided vehicle.

Referring to fig. 2, as a preferred embodiment of the present embodiment, each set of driven wheels 700 includes two driven wheels 710 arranged side by side, which is beneficial to improve the bearing capacity of the automated guided vehicle; in addition, when one driven wheel 710 in one group of driven wheel sets 700 breaks down, the other driven wheel 710 can still normally operate, so the driven wheel set 700 adopts the scheme that the double driven wheels 710 are arranged side by side, which is beneficial to ensuring the reliability of the long-term operation of the automatic guided vehicle. Of course, in a specific application, the driven wheel set 700 includes no limited number of driven wheels 710, such as one or three or four or more.

Referring to fig. 1, as an embodiment, the driving apparatus 10 for the automated guided vehicle further includes two suspension mechanisms 800, and each speed reducer 400 is mounted on the floor 100 in a suspended manner by one suspension mechanism 800. Due to the arrangement of the hanging mechanism 800, the driving wheel 200 can float and lift relative to the bottom plate 100, so that the self-adjusting adaptability of the automatic guided vehicle to uneven ground can be improved, the driving wheel 200 is in full contact with the ground when the automatic guided vehicle runs to uneven road sections, the driving wheel 200 has good ground gripping force, the phenomenon of toppling or slipping when the automatic guided vehicle runs to uneven road sections is avoided, and the running stability and safety and reliability of the automatic guided vehicle are fully guaranteed.

Referring to fig. 1 and 3, as an embodiment, the suspension mechanism 800 includes a link member 810, a rotation connection assembly 820, and an elastic connection assembly 830, the link member 810 includes a first connection portion 8101, a second connection portion 8102, and a third connection portion 8103 disposed between the first connection portion 8101 and the second connection portion 8102, the first connection portion 8101 is disposed at one side of the driving wheel 200 and rotatably connected to the base plate 100 through the rotation connection assembly 820, the second connection portion 8102 is disposed at the other side of the driving wheel 200 and elastically connected to the base plate 100 through the elastic connection assembly 830 in a liftable manner, and the third connection portion 8103 is connected to the reducer 400. In this embodiment, the link member 810 is connected across the reduction gear 400 so as to indirectly connect the driving wheel 200, and one end of the link member 810 can rotate relative to the base plate 100, and the other end can elastically move up and down relative to the base plate 100, so that the link member 810 can perform upward swinging movement or downward swinging movement with the connecting portion of the link member and the rotation connecting assembly 820 as a rotation center under the external force, thereby realizing the suspended installation of the driving wheel 200 on the base plate 100, and the structure thereof is simple. In specific application, when the automated guided vehicle travels to a section with an uphill road or a road with a protruding obstacle, the front of the driving wheel 200 first touches an uphill surface or the protruding obstacle, the driving wheel 200 overcomes the elastic force of the elastic connecting component 830 under the extrusion of the uphill surface or the protruding obstacle, and drives the connecting rod component 810 to be lifted upwards, so that the phenomenon that the automated guided vehicle topples due to the hard extrusion of the driving wheel 200 and the protruding part of the ground is avoided; when the automated guided vehicle travels to a downhill section or a section with a pit, the front of the driving wheel 200 sinks first, and the driving wheel 200 overcomes the elastic force of the elastic connection assembly 830 under the action of gravity to drive the link member 810 to descend, so that the driving wheel 200 is in full contact with the ground, the driving wheel 200 is ensured to have good ground gripping force, and the automated guided vehicle is prevented from slipping.

Referring to fig. 1, 3 and 6, as an embodiment, the elastic connection assembly 830 includes a guide limiting member 831 and at least one elastic member 832, the guide limiting member 831 is connected to the chassis 100, the second connection portion 8102 is slidably connected to the guide limiting member 831 in a liftable manner, and the elastic member 832 is disposed between the second connection portion 8102 and the guide limiting member 831. In this embodiment, the two ends of the elastic member 832 are respectively connected to the link member 810 and the guide stopper 831, and the link member 810 can compress or stretch the elastic member 832 under the action of external force, thereby achieving the floatable lifting effect of the driving wheel 200. Of course, in a specific application, the position of the elastic element 832 is not limited thereto, for example, as an alternative embodiment, the elastic element 832 may be disposed between the second connection portion 8102 and the base plate 100, in which case, two ends of the elastic element 832 are respectively connected to the second connection portion 8102 and the base plate 100; or, as another alternative embodiment, at least one elastic member 832 may be provided between the second connection part 8102 and the soleplate 100, while at least one elastic member 832 may be provided between the second connection part 8102 and the guide stopper 831.

Referring to fig. 1, 3, 6, and 7, as an embodiment, the guide limiting member 831 includes a guide limiting rod 8311 and a fixing block 8312, the fixing block 8312 is mounted on the base plate 100, the guide limiting rod 8311 includes a main rod 8301 having one end connected to the fixing block 8312 and a limiting boss 8302 protruding from the other end of the main rod 8301, the second connecting portion 8102 is sleeved on the main rod 8301 and is liftable between the limiting boss 8302 and the fixing block 8312, and the elastic member 832 is disposed between the second connecting portion 8102 and the limiting boss 8302. In this embodiment, the two ends of the elastic member 832 are respectively connected to the link member 810 and the limit boss 8302. Of course, in a specific application, the arrangement manner of the elastic element 832 is not limited thereto, for example, as an alternative embodiment, the elastic element 832 may be arranged between the second connection portion 8102 and the fixed block 8312, in which case, two ends of the elastic element 832 are respectively connected to the second connection portion 8102 and the fixed block 8312; or, as another alternative embodiment, at least one elastic element 832 may be disposed between the second connection portion 8102 and the limit boss 8302, and at least one elastic element 832 may be disposed between the second connection portion 8102 and the fixing block 8312; alternatively, as another alternative embodiment, the fixing block 8312 may not be provided, and the second connection part 8102 may be sleeved on the main rod body 8301 and may be disposed between the limiting boss 8302 and the base plate 100 in a lifting manner, in this case, the elastic member 832 may be disposed between any one of the second connection part 8102 and the limiting boss 8302 and between the second connection part 8102 and the base plate 100; alternatively, the elastic member 832 may be provided between the second connection portion 8102 and the stopper boss 8302 and between the second connection portion 8102 and the base plate 100 at the same time.

In one embodiment, the elastic member 832 is a coil spring, the coil spring is sleeved on the outer circumference of the main rod body 8301, and two ends of the coil spring are respectively connected to the limit boss 8302 and the first connection portion 8101. Of course, in a specific application, the arrangement of the elastic element 832 is not limited thereto, for example, the elastic element 832 may not be sleeved on the main rod 8301 but may be spaced apart from the main rod 8301, and the elastic element 832 may also be a spring sheet.

As an embodiment, referring to fig. 1, 3, 6 and 7, the suspension mechanism 400 further includes a guiding limiting bracket 840, the guiding limiting bracket 840 is disposed beside the guiding limiting rod 8311 and connected to the bottom plate 100, a guiding limiting groove 841 is disposed on the guiding limiting bracket 840, and the link member 810 further includes a fourth connecting portion 8104 inserted into the guiding limiting groove 841 and slidably engaged with the guiding limiting groove 841. The guide limit bracket 840 can guide and limit the swing of the connecting rod member 810, thereby improving the stability and reliability of the floating lifting of the driving wheel 200.

In one embodiment, the second connection portion 8102 is disposed between the third connection portion 8103 and the fourth connection portion 8104, that is, the first connection portion 8101 and the fourth connection portion 8104 are respectively located at two ends of the link member 810.

In one embodiment, the distance from the second connection portion 8102 to the fourth connection portion 8104 is smaller than the distance from the second connection portion 8102 to the third connection portion 8103.

As an embodiment, referring to fig. 3, 6 and 7, the link member 810 includes a link 811 and a rolling part 812 rotatably mounted at one end of the link 811, an end of the link 811 remote from the rolling part 812 constitutes a first connection part 8101, an end of the link 811 near the rolling part 812 and the rolling part 812 constitute a fourth connection part 8104, and the link 811 is formed with a second connection part 8102 and a third connection part 8103, an outer sidewall of the rolling part 812 abuts against opposite inner sidewalls of the guide stopper groove 841, and an end of the link 811 near the rolling part 812 and the opposite inner sidewalls of the guide stopper groove 841 are spaced apart from each other. When the connecting rod member 810 swings up or down, only the outer side wall of the rolling component 812 is in butt fit with the inner side wall of the guide limiting groove 841, so that on the premise of ensuring the limiting reliability of the guide limiting groove 841, the friction force between the connecting rod member 810 and the guide limiting bracket 840 is reduced, and the smoothness of ascending and descending of the driving wheel 200 is ensured. In this embodiment, the fourth connection portion 8104 is composed of the rolling component 812 and the end portion of the connecting rod 811 close to the rolling component 812, that is, the end portions of the rolling component 812 and the connecting rod 811 close to the rolling component 812 are both inserted into the guide limiting groove 841, but the end portion of the connecting rod 811 is not in contact with the inner side wall of the guide limiting groove 841, and only the outer side wall of the rolling component 812 is in contact with the inner side wall of the guide limiting groove 841; of course, in a specific application, as an alternative embodiment, the fourth connection portion 8104 may also be composed of the rolling component 812 alone, that is, only the rolling component 812 is inserted into the guiding and limiting groove 841, and the end of the connecting rod 811 close to the rolling component 812 is not inserted into the guiding and limiting groove 841.

As an embodiment, the rolling component 812 is a bearing. The bearing has good rotation performance and good wear resistance; in addition, the bearing can adopt the standard component, is convenient for acquire, does benefit to the maintenance of later stage and changes. Of course, the arrangement of the rolling member 812 is not limited to this, and for example, the rolling member 812 may be a roller as an alternative embodiment.

Referring to fig. 1, 3, 4 and 5, as an embodiment, a reducer 400 is provided with a fixing flange 440, and a third connection portion 8103 is fitted over the reducer 400 and connected to the fixing flange 440 by screws or bolts. The fixing flange 440 may be provided on the first housing 410 of the decelerator 400. Specifically, the third connecting portion 8103 is provided with a first through hole 8105 and a plurality of second through holes 8106 surrounding the periphery of the first through hole 8105 in a penetrating manner along a direction parallel to the axial direction of the driving wheel 200, and the third connecting portion 8103 is sleeved on the speed reducer 400 through the first through hole 8105 and is connected to the fixing flange 440 through screws or bolts penetrating through the second through holes 8106.

As an embodiment, the connecting rod 811 is perpendicular to the central axis of the driving wheel 200, which facilitates the connection of the decelerator 400 and the connecting rod 811 and helps to ensure the stable and reliable connection of the decelerator 400 and the connecting rod 811.

Referring to fig. 1, 3 and 6, as an embodiment, the guiding and limiting bracket 840 includes two vertical arms 842 arranged opposite to each other at intervals and protruding from the bottom plate 100, and the two vertical arms 842 enclose to form a guiding and limiting groove 841. The bottom ends of the two vertical support arms 842 are respectively connected with the bottom plate 100, and the opposite wall surfaces of the two vertical support arms 842 are two inner side walls opposite to the guide limiting groove 841.

Referring to fig. 1, 3 and 6, as an embodiment, the guide limit bracket 840 further includes a transverse arm 843 connected between the two vertical arms 842, and the transverse arm 843 is spaced above the base plate 100. The transverse support arm 843 can be used for limiting the ascending stroke of the fourth connecting part 8104 in the guide limiting groove 841, so that the safety and reliability of the automatic guided vehicle are improved.

As a preferred embodiment of this embodiment, two ends of the transverse arm 843 are respectively connected to the top ends of the two vertical arms 842, so that the volume of the guiding and limiting bracket 840 can be reduced on the premise of ensuring that the guiding and limiting groove 841 has a sufficiently large stroke. Of course, the shape of the guide and position-limiting bracket 840 is not limited to this, and for example, the ends of the transverse arm 843 may be connected to a portion of the vertical arm 842 that is spaced below the top end of the vertical arm 842, rather than to the top end of the vertical arm 842.

Referring to fig. 1 and 7, as an embodiment, the rotation connection assembly 820 includes a rotating shaft 821 and a fixing seat 822, the fixing seat 822 is installed on the base plate 100, and the first connection portion 8101 is rotatably connected to the fixing seat 822 through the rotating shaft 821, which is simple in structure and stable and reliable in connection. Of course, in a specific application, the arrangement manner of the rotating connection assembly 820 is not limited to this, and for example, the first connection portion 8101 may be directly connected to the base plate 100 through the rotating shaft 821.

Further, the present embodiment further provides an automated guided vehicle, which includes a battery module (not shown), a controller (not shown), and the driving device 10 for an automated guided vehicle, where the battery module and the controller are respectively installed on the bottom plate 100, and the controller is respectively connected to the battery module, the two driving motors 300, the two second encoders 600, and the two first encoders 500. The automatic guided vehicle of the embodiment adopts the driving device 10, so that the safety reliability and the running stability of the automatic guided vehicle are effectively improved.

Further, the present embodiment also provides a robot, which includes the above-mentioned automated guided vehicle and a function executing mechanism (not shown) disposed on the automated guided vehicle. In a specific application, different function executing mechanisms can be arranged on the automatic guided vehicle to form robots with different functions, for example, the function executing mechanism can be a manipulator for clamping goods, and in this case, the robot is a transfer robot; alternatively, the function executing mechanism may also be a scanning component for scanning, in which case the robot is a scanning robot; alternatively, the function executing means may be means for executing other functions. The robot of this embodiment, owing to adopted above-mentioned automated guidance car, so, effectively improved the fail safe nature and the operating stability of robot.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. A drive device for an automated guided vehicle, characterized by: the device comprises a bottom plate, a driving wheel, a driving motor, a speed reducer in transmission connection between the driving motor and the driving wheel, and a first encoder which is arranged on the speed reducer and used for monitoring the output rotating speed of the speed reducer; the speed reducer and/or the driving motor are/is arranged on the bottom plate, and the speed reducer and the first encoder are arranged between the center of the bottom plate and the driving wheel.

2. The drive device for automated guided vehicles according to claim 1, wherein: the speed reducer is arranged between the driving wheel and the first encoder.

3. The drive device for automated guided vehicles according to claim 2, wherein: the speed reducer comprises a first shell, a speed reduction transmission mechanism arranged in the first shell, at least one part of the speed reduction transmission mechanism is arranged in the first shell, an input shaft connected with the speed reduction transmission mechanism and at least one part of the first output shaft are arranged in the first shell, the first output shaft is connected with the speed reduction transmission mechanism, the input shaft is in transmission connection with the driving motor, the first output shaft is provided with a first output end and a second output end which are arranged in a back-to-back mode, the first output end is in transmission connection with the driving wheel, and the second output end is connected with the first encoder.

4. A drive device for a automated guided vehicle according to claim 3, wherein: the first shell is provided with a first side part, a second side part and a third side part, the first side part and the second side part are arranged in a back mode, two sides of the third side part are respectively connected with the first side part and the second side part, the first output end is in transmission connection with the driving wheel from the first side part, the second output end is in transmission connection with the first encoder from the second side part, and the input shaft is in transmission connection with the driving motor from the third side part; and/or the presence of a gas in the atmosphere,

5. The drive device for the automated guided vehicle according to any one of claims 1 to 4, characterized in that: the two driving wheels, the two driving motors, the two speed reducers and the two first encoders are arranged on two opposite sides of the bottom plate respectively, central shafts of the two driving wheels are coaxially arranged, the two speed reducers are arranged between the two driving wheels along the axial direction of the driving wheels, and the two first encoders are arranged between the two speed reducers along the axial direction of the driving wheels; each speed reducer is correspondingly connected with one driving motor and one driving wheel in a transmission way, and each first encoder is correspondingly connected with one speed reducer; and/or the presence of a gas in the atmosphere,

6. The drive device for the automated guided vehicle according to any one of claims 1 to 4, characterized in that: the driving device for the automatic guided vehicle further comprises a suspension mechanism, and the speed reducer is mounted on the bottom plate in a suspension mode through the suspension mechanism.

7. The drive device for automated guided vehicles according to claim 6, wherein: the suspension mechanism comprises a connecting rod member, a rotating connection assembly and an elastic connection assembly, the connecting rod member comprises a first connection portion, a second connection portion and is arranged at the first connection portion and a third connection portion between the second connection portions, the first connection portion is arranged at one side of the driving wheel and passes through the rotating connection assembly to rotate and connect the bottom plate, the second connection portion is arranged at the other side of the driving wheel and passes through the elastic connection assembly which is elastically connected with the bottom plate in a liftable mode, and the third connection portion is connected with the speed reducer.

8. The drive device for automated guided vehicles according to claim 7, wherein: the elastic connecting assembly comprises a guide limiting component and at least one elastic piece, the guide limiting component is connected with the bottom plate, the second connecting portion is connected with the guide limiting component in a liftable and liftable sliding mode, and the elastic piece is arranged between the second connecting portion and the guide limiting component and/or between the second connecting portion and the bottom plate.

9. The drive device for automated guided vehicles according to claim 8, wherein: the guide limiting component comprises a guide limiting rod and a fixing block, the fixing block is mounted on the bottom plate, the guide limiting rod comprises a main rod body with one end connected with the fixing block and a limiting boss convexly arranged at the other end of the main rod body, the second connecting part is sleeved on the main rod body and is arranged between the limiting boss and the fixing block in a lifting manner, and the elastic part is arranged between the second connecting part and the limiting boss and/or between the second connecting part and the fixing block; or,

10. The drive device for automated guided vehicles according to claim 9, wherein: the suspension mechanism further comprises a guide limiting support, the guide limiting support is arranged at the side of the guide limiting rod and connected with the bottom plate, a guide limiting groove is formed in the guide limiting support, and the connecting rod member further comprises a fourth connecting portion which is arranged in the guide limiting groove in a penetrating mode and in sliding fit with the guide limiting groove.

11. The drive device for automated guided vehicles according to claim 10, wherein: the second connecting part is arranged between the third connecting part and the fourth connecting part; and/or the presence of a gas in the atmosphere,

12. The drive device for automated guided vehicles according to claim 11, wherein: the connecting rod component comprises a connecting rod and a rolling part which is rotatably arranged at one end of the connecting rod, the end part of the connecting rod, which is far away from the rolling part, forms the first connecting part, the end part of the connecting rod, which is close to the rolling part, forms the fourth connecting part with the rolling part, the connecting rod is provided with the second connecting part and the third connecting part, the outer side wall of the rolling part is abutted against the two inner side walls of the guide limiting groove, and the end part of the connecting rod, which is close to the rolling part, and the two inner side walls of the guide limiting groove are spaced; or,

13. The drive device for automated guided vehicles according to claim 12, wherein: the rolling part is a bearing or a roller; and/or the presence of a gas in the atmosphere,

the connecting rod is perpendicular to the central shaft of the driving wheel.

14. The drive device for automated guided vehicles according to claim 10, wherein: the guide limiting support comprises two vertical support arms which are oppositely arranged at intervals and convexly arranged on the bottom plate, and the two vertical support arms are enclosed to form the guide limiting groove.

15. The drive device for automated guided vehicles according to claim 14, wherein: the guide limiting support further comprises a transverse support arm connected between the two vertical support arms, and the transverse support arms are arranged above the bottom plate at intervals.

16. An automated guided vehicle, comprising a battery module, a controller and the driving device for the automated guided vehicle according to any one of claims 1 to 15, wherein the battery module and the controller are respectively mounted on the bottom plate, and the controller is respectively connected with the battery module, the driving motor and the first encoder.

17. A robot having the automated guided vehicle according to claim 16 and a function executing mechanism provided on the automated guided vehicle.