CN219116992U - Running gear and use travelling car of this mechanism - Google Patents

Abstract

The utility model relates to a travelling trolley technical field provides a running gear, including base member, walking subassembly and drive assembly, drive assembly locates on the base member, the walking subassembly is including rotating connecting piece, installed part, rolling element and driving medium, the rolling element is rotationally located along the walking direction on the installed part, it locates to rotate the connecting piece the installed part is kept away from rolling element one side, drive assembly's power take off end with the power input end of driving medium is connected, the power take off end of driving medium with the rolling element is connected, be used for with drive assembly's drive power is via the transmission of driving medium drives the rolling element rolls. Based on this, the demand for the driving force of the steering assembly can be reduced. In addition, a travelling trolley is also provided.

Description

Running gear and use travelling car of this mechanism

Technical Field

The application relates to the field of travelling trolleys, in particular to a travelling mechanism and a travelling trolley using the same.

Background

The traveling trolley is a trolley integrating traveling and steering, such as an AGV trolley. The AGV car is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. Wherein, running gear is the important part of AGV dolly.

Currently, the existing travelling mechanism generally adopts a steering wheel mechanism, and the steering wheel mechanism comprises travelling wheels, a driving assembly for driving the travelling wheels to roll and a steering assembly for driving the travelling wheels to steer. In the steering process of the steering assembly driving the travelling wheels, the driving assembly needs to be steered together with the travelling wheels, so that the driving force required by the steering assembly is high.

Disclosure of Invention

In order to reduce the demand for the driving force of the steering assembly, in a first aspect, the present application provides a running gear.

The application provides a running gear adopts following technical scheme:

the utility model provides a running gear, includes base member, walking subassembly and drive assembly, drive assembly locates on the base member, the walking subassembly is including rotating connecting piece, installed part, rolling piece and driving medium, the rolling piece is rotationally located along the walking direction on the installed part, it locates to rotate the connecting piece the installed part is kept away from rolling piece one side, drive assembly's power take off end with the power input of driving medium is connected, the power take off end of driving medium with the rolling piece is connected, be used for with drive assembly's drive power is via the transmission of driving medium drives the rolling piece rolls.

Through adopting above-mentioned technical scheme, running gear during operation, drive assembly's driving force is through the driving medium, drives the rolling member and rolls along the walking direction under the transmission of driving medium to realize running gear's walking, because drive assembly locates on the base member, when turning to the subassembly and order about the rolling member through rotating the connecting piece and turn to, need not to drive assembly together and turn to, thereby reduce the requirement to turning to the subassembly driving force.

Preferably, the walking assembly further comprises a rotating transition piece, and the power output end of the driving assembly is connected with the power input end of the transmission piece through the rotating transition piece.

By adopting the technical scheme, under the action of the rotating transition piece, the power output end of the driving assembly and the power input end of the transmission piece are driven more stably.

Preferably, the rotary transition piece is limited to the rotary connection piece.

Through adopting above-mentioned technical scheme, rotate the transition piece and limit in rotating the connecting piece for walking subassembly's structure is compacter, thereby reduces walking subassembly's size.

Preferably, the rotary transition piece comprises a first rotary part, a second rotary part and a third rotary part, wherein the first rotary part is connected with a power output end of the driving assembly, the second rotary part is connected with a power input end of the transmission piece, the third rotary part is rotatably sleeved on the outer side wall of the rotary connecting piece, and the free end of the first rotary part and the free end of the second rotary part are respectively in transmission connection with the third rotary part.

Through adopting above-mentioned technical scheme, drive assembly's power passes through first rotation portion and transmits to third rotation portion, and by third rotation portion transmission to the power input of driving medium again, because the rotatable cover of third rotation portion locates the lateral wall of rotating the connecting piece for third rotation portion is motionless when rotating the connecting piece, in order to realize that the rolling member is after the turning, drive assembly can normally order about the rolling member to roll along the walking direction.

Preferably, the free end of the first rotating part, the free end of the second rotating part and the third rotating part are respectively and correspondingly provided with a first engagement surface, a second engagement surface and a third engagement surface in sequence, and the first engagement surface and the second engagement surface are respectively in engagement connection with the third engagement surface.

Through adopting above-mentioned technical scheme for the connection between first rotation portion and second rotation portion and the third rotation portion is more stable, thereby improves the stability of walking subassembly work.

Preferably, the walking assembly further comprises a stabilizing piece, the second rotating part is rotatably arranged on the stabilizing piece, and one end of the stabilizing piece extends to penetrate through the rotating connecting piece.

Through adopting above-mentioned technical scheme, when rotating the connecting piece and turning to, rotate the connecting piece and drive the second and rotate the portion along third rotation portion circumferential direction in step to improve and rotate the driven stability between the transition piece.

Preferably, the walking device further comprises two differential linkage assemblies, wherein the two walking assemblies are connected and symmetrically arranged through the differential linkage assemblies, and the driving assembly is respectively connected with the transmission parts of the two walking assemblies through the differential linkage assemblies.

Through adopting above-mentioned technical scheme, two sets of running gear have improved running gear overall walking's stability to under differential linkage subassembly effect, make drive assembly drive two sets of running gear's rolling member roll simultaneously, thereby reduce drive assembly's quantity, reduction in production cost.

Preferably, the differential linkage assembly comprises a differential part and a linkage part, and the power output end of the driving assembly is connected with the differential part through the linkage part and is used for realizing differential rotation of the two transmission parts.

Through adopting above-mentioned technical scheme, differential rotation of two driving medium has been realized to the differential piece to make running gear after turning to, the rolling speed of the rolling member of two sets of running gear is different, with the stability that improves the walking after turning to.

In a second aspect, the present application provides a walking trolley.

The application provides a travelling trolley adopts following technical scheme:

the walking trolley comprises a framework and the walking mechanism, wherein the walking mechanism is characterized in that the matrix is fixedly connected to the framework.

Through adopting above-mentioned technical scheme, when the walking dolly during operation, drive assembly drives the rolling member of two sets of walking subassemblies simultaneously through differential linkage subassembly and rolls to reduce the quantity of drive assembly, reduce the manufacturing cost of walking dolly, and running gear is turning to the back, differential linkage subassembly makes the rolling speed of the rolling member of two sets of walking subassemblies different, in order to improve the stability of walking after turning to. And when the steering assembly drives the rolling element to steer through the rotating connecting piece, the driving assembly is not required to be driven to steer together, so that the requirement on the driving force of the steering assembly is reduced.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when the travelling mechanism works, the driving force of the driving component drives the rolling component to roll along the travelling direction through the transmission component, so as to realize travelling of the travelling mechanism;

2. by arranging the rotary transition piece, the power output end of the driving assembly and the power input end of the transmission piece are stably transmitted, and the walking assembly is compact in structure;

3. when the travelling trolley works, the driving assembly drives the rolling elements of the two groups of travelling assemblies to roll simultaneously through the differential linkage assembly, so that the number of the driving assemblies is reduced, the production cost of the travelling trolley is reduced, and after the travelling mechanism turns, the differential linkage assembly enables the rolling speeds of the rolling elements of the two groups of travelling assemblies to be different, so that the travelling stability after turning is improved. And when the steering assembly drives the rolling element to steer through the rotating connecting piece, the driving assembly is not required to be driven to steer together, so that the requirement on the driving force of the steering assembly is reduced.

Drawings

FIG. 1 is a schematic view of the overall structure of a running gear in an embodiment of the present application;

FIG. 2 is a schematic view of another view of the overall structure of the running gear in an embodiment of the present application;

FIG. 3 is a schematic view of the overall structure of a walking assembly according to an embodiment of the present application;

FIG. 4 is a schematic view of an exploded view of a walking assembly in an embodiment of the present application;

FIG. 5 is a schematic diagram of an exploded structure of a running gear in an embodiment of the present application;

FIG. 6 is an enlarged schematic view of portion A of FIG. 5;

fig. 7 is a schematic diagram of an explosion structure of the travelling trolley in the embodiment of the application.

Reference numerals: 1. a base; 11. a substrate; 12. a top plate; 13. a first side plate; 14. a second side plate; 15. rotating the shaft sleeve; 2. a walking assembly; 21. rotating the connecting piece; 22. a mounting member; 221. a first mounting plate; 222. a second mounting plate; 223. a third mounting plate; 23. a rolling member; 24. a transmission member; 241. a first transmission part; 242. a second transmission part; 243. a third transmission part; 25. rotating the transition piece; 251. a first rotating part; 252. a second rotating part; 253. a third rotating part; 26. a first connecting shaft; 27. a second connecting shaft; 28. a stabilizer; 3. a drive assembly; 31. a driving member; 32. a speed reducing member; 33. a drive connection; 4. a differential linkage assembly; 41. a differential member; 411. a planet carrier; 412. solar cone teeth; 413. planetary bevel teeth; 42. a linkage member; 5. and (3) a framework.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-7.

The embodiment of the application discloses a travelling mechanism.

Referring to fig. 1 and 2, the traveling mechanism includes a base 1, a traveling assembly 2, and a driving assembly 3, wherein the traveling assembly 2 is rotatably disposed on the base 1, and the driving assembly 3 is fixedly connected to the base 1. The base body 1 includes a base plate 11, a top plate 12, a first side plate 13, a second side plate 14, and two rotating shaft sleeves 15, wherein the first side plate 13, the second side plate 14, and the two rotating shaft sleeves 15 are disposed oppositely, the base plate 11 is disposed horizontally, the top plate 12 and the two rotating shaft sleeves 15 are fixedly connected to the lower side of the base plate 11 through bolts, the two first side plates 13 are fixedly connected to the lower side of the top plate 12 through bolts, and the second side plate 14 is fixedly connected to the same side of the two first side plates 13 through bolts.

Referring to fig. 2 and 3, the traveling assembly 2 includes a rotation link 21, a mounting member 22, a rolling member 23, and a transmission member 24, one end of the rotation link 21 is rotatably provided to the rotation shaft sleeve 15, and the other end is provided to one side of the mounting member 22. Specifically, the mounting member 22 includes a first mounting plate 221, a second mounting plate 222 and a third mounting plate 223 fixedly connected to two sides of the first mounting plate 221, the rolling member 23 is rotatably disposed between the second mounting plate 222 and the third mounting plate 223, the rotating connecting member 21 is fixedly connected to one side of the first mounting plate 221 far away from the rolling member 23, the driving member 24 is disposed on one side of the third mounting plate 223 far away from the rolling member 23, and the power output end of the driving assembly 3 is connected with the power input end of the driving member 24, and the power output end of the driving member 24 is connected with the rolling member 23, so that the driving force of the driving assembly 3 drives the rolling member 23 to roll via the driving of the driving member 24.

When the travelling mechanism works, the driving force of the driving component 3 drives the rolling component 23 to roll along the travelling direction through the transmission component 24 under the transmission of the transmission component 24, so that the travelling of the travelling mechanism is realized, and the driving component 3 is arranged on the base body 1, so that the driving component 3 does not need to be driven to turn together when the steering component drives the rolling component 23 to turn through the rotating connecting component 21, and the requirement on the driving force of the steering component is reduced.

Further, the walking assembly 2 further comprises a rotating transition piece 25, wherein the rotating transition piece 25 is limited on the rotating connecting piece 21, so that the power output end of the driving assembly 3 is connected with the power input end of the transmission piece 24 through the rotating transition piece 25, and the stability of transmission between the driving assembly 3 and the transmission piece 24 is improved.

Specifically, the rotary transition piece 25 includes a first rotary portion 251, a second rotary portion 252, and a third rotary portion 253, where the first rotary portion 251 is connected to the power output end of the driving assembly 3 through a first connecting shaft 26, and the first connecting shaft 26 is fixedly connected to the first rotary portion 251 and rotatably disposed on the first side plate 13. The second rotating portion 252 is connected to the power input end of the transmission member 24 through a second connecting shaft 27, and the second connecting shaft 27 is fixedly connected to the second rotating portion 252 and rotatably provided on the third mounting plate 223. The third rotating portion 253 is rotatably sleeved on the outer side wall of the rotating connecting piece 21. The free end of the first rotating part 251 and the free end of the second rotating part 252 are respectively in transmission connection with the third rotating part 253.

In the present embodiment, the first rotating portion 251 is provided as a first bevel gear, the free end of the first bevel gear has a first engagement surface, the second rotating portion 252 is provided as a second bevel gear, the free end of the second bevel gear has a second engagement surface, the third rotating portion 253 is provided as a conical disc, the lower side of the conical disc has a third engagement surface, and the first engagement surface and the second engagement surface are respectively engaged with the third engagement surface.

Further, the walking assembly 2 further includes a stabilizing member 28, one end of the stabilizing member 28 is fixedly connected to one end of the second rotating portion 252, which is far away from the third mounting plate 223, and the other end of the stabilizing member 28 extends to penetrate through the rotating connecting member 21, so that the rotating connecting member 21 synchronously drives the second rotating portion 252 to rotate along the circumferential direction of the third rotating portion 253, and the stability of transmission between the rotating transition members 25 is improved.

Referring to fig. 4, the transmission member 24 is a conventional transmission structure, and the transmission member 24 specifically disclosed in this embodiment includes a first transmission portion 241, a second transmission portion 242, and a third transmission portion 243, where the first transmission portion 241, the second transmission portion 242, and the third transmission portion 243 are gears, the second transmission portion 242 is meshed with the first transmission portion 241 and the second transmission portion 242, the first transmission portion 241 is fixedly connected with the first connecting shaft 26, and the third transmission portion 243 is fixedly connected with the rolling member 23.

Referring to fig. 5, the running mechanism further includes differential linkage assemblies 4, the number of the running assemblies 2 is two, the two sets of running assemblies 2 are connected through the differential linkage assemblies 4 and symmetrically arranged at the lower side of the base plate 11, and the driving assemblies 3 are respectively connected with respective driving members 24 in the two sets of running assemblies 2 through the differential linkage assemblies 4.

Referring to fig. 5 and 6, specifically, the differential linkage assembly 4 includes a differential member 41 and a linkage member 42, the differential member 41 includes a planet carrier 411, two sun bevel teeth 412 disposed opposite to each other, and two planet bevel teeth 413 disposed opposite to each other, two sides of the planet carrier 411 are rotatably disposed on the first connecting shafts 26 of the two sets of traveling assemblies 2, and the two sun bevel teeth 412 are fixedly connected with ends of the first connecting shafts 26 of the two sets of traveling assemblies 2. The two planetary bevel gears 413 are rotatably connected to the inner side of the planet carrier 411, and the two planetary bevel gears 413 are respectively meshed with the two sun bevel gears 412. The linkage member 42 is a conical disc, the linkage member 42 is rotatably arranged on one of the first connecting shafts 26, and the linkage member 42 is fixedly connected to the planet carrier 411.

Further, the driving assembly 3 includes a driving member 31, a speed reducing member 32, and a driving connecting member 33, the driving member 31 is set as a servo motor, the speed reducing member 32 is set as a speed reducer, the driving connecting member 33 is set as a bevel gear, a power output end of the driving member 31 is fixedly connected with a power input end of the speed reducing member 32, a power output end of the speed reducing member 32 is fixedly connected to a side, far away from the first side plate 13, of the second side plate 14, the driving connecting member 33 is fixedly connected to a power output end of the speed reducing member 32, and the driving connecting member 33 is meshed with the linkage member 42.

In actual operation, the power of the driving member 31 is transmitted to the driving connecting member 33 through the decelerating member 32, and the driving connecting member 33 drives the planet carrier 411 to rotate, so that the first connecting shafts 26 of the two sets of traveling assemblies 2 rotate at different speeds or at the same speed under the action of the two sun bevel gears 412 and the two planet bevel gears 413. The power of the first connecting shaft 26 is sequentially transmitted to the second connecting shaft 27 through the first rotating part 251, the third rotating part 253 and the second rotating part 252, and the rolling part 23 is driven to roll under the action of the transmission part 24.

The implementation principle of the embodiment is as follows: when the travelling mechanism works, the driving force of the driving component 3 drives the rolling component 23 to roll along the travelling direction through the transmission component 24 under the transmission of the transmission component 24, so that the travelling of the travelling mechanism is realized, and the driving component 3 is arranged on the base body 1, so that the driving component 3 does not need to be driven to turn together when the steering component drives the rolling component 23 to turn through the rotating connecting component 21, and the requirement on the driving force of the steering component is reduced.

The embodiment of the application also discloses a travelling trolley.

Referring to fig. 7, the traveling carriage includes the frame 5 and two sets of traveling mechanisms as described above, wherein the base plate 11 is fixedly connected to the frame 5 by bolts to achieve the fixation of the traveling mechanisms.

The implementation principle of the embodiment is as follows: when the travelling trolley works, the driving assembly 3 drives the rolling elements 23 of the two groups of travelling assemblies 2 to roll simultaneously through the differential linkage assembly 4, so that the number of the driving assemblies 3 is reduced, the production cost of the travelling trolley is reduced, and after the travelling mechanism turns, the differential linkage assembly 4 enables the rolling speeds of the rolling elements 23 of the two groups of travelling assemblies 2 to be different, so that the travelling stability after turning is improved. And, when the steering assembly drives the rolling element 23 to turn through the rotating connecting piece 21, the driving assembly 3 is not required to be driven to turn together, so that the requirement on the driving force of the steering assembly is reduced.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (9)

1. A running gear, characterized in that: including base member (1), walking subassembly (2) and drive assembly (3), drive assembly (3) are located on base member (1), walking subassembly (2) are including rotating connecting piece (21), installed part (22), rolling element (23) and driving medium (24), rolling element (23) are rotationally located along the walking direction on installed part (22), rotating connecting piece (21) are located installed part (22) are kept away from rolling element (23) one side, the power take off end of drive assembly (3) with the power input end of driving medium (24) is connected, the power take off end of driving medium (24) with rolling element (23) are connected, be used for with the driving force of drive assembly (3) is passed through the transmission of driving medium (24) drives rolling element (23) roll.

2. A travelling mechanism as claimed in claim 1, wherein: the walking assembly (2) further comprises a rotating transition piece (25), and the power output end of the driving assembly (3) is connected with the power input end of the transmission piece (24) through the rotating transition piece (25).

3. A travelling mechanism as claimed in claim 2, wherein: the rotary transition piece (25) is limited on the rotary connecting piece (21).

4. A travelling mechanism as claimed in claim 3, wherein: the rotary transition piece (25) comprises a first rotary part (251), a second rotary part (252) and a third rotary part (253), wherein the first rotary part (251) is connected with a power output end of the driving assembly (3), the second rotary part (252) is connected with a power input end of the transmission piece (24), the third rotary part (253) is rotatably sleeved on an outer side wall of the rotary connecting piece (21), and a free end of the first rotary part (251) and a free end of the second rotary part (252) are respectively connected with the third rotary part (253) in a transmission mode.

5. A walking mechanism as defined in claim 4, wherein: the free end of the first rotating part (251), the free end of the second rotating part (252) and the third rotating part (253) are respectively and correspondingly provided with a first engagement surface, a second engagement surface and a third engagement surface in sequence, and the first engagement surface and the second engagement surface are respectively in engagement connection with the third engagement surface.

6. A walking mechanism as defined in claim 4, wherein: the walking assembly (2) further comprises a stabilizing piece (28), the second rotating part (252) is fixed to the stabilizing piece (28), and one end of the stabilizing piece (28) extends to penetrate through the rotating connecting piece (21).

7. A travelling mechanism as claimed in claim 1, wherein: the walking device is characterized by further comprising differential linkage assemblies (4), wherein the number of the walking assemblies (2) is two, the two groups of the walking assemblies (2) are connected and symmetrically arranged through the differential linkage assemblies (4), and the driving assemblies (3) are respectively connected with the transmission pieces (24) of the two groups of the walking assemblies (2) through the differential linkage assemblies (4).

8. A walking mechanism as claimed in claim 7, wherein: the differential linkage assembly (4) comprises a differential piece (41) and a linkage piece (42), and the power output end of the driving assembly (3) is connected with the differential piece (41) through the linkage piece (42) and is used for realizing differential rotation of the two transmission pieces (24).

9. The utility model provides a walking dolly which characterized in that: comprising a skeleton (5) and a running gear according to any one of claims 1-8, said base body (1) being fixedly connected to said skeleton (5).

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